adhoc

completed
2026-09-23T21:50:42.025836+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
218.9 s
total steps
392
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see two turquoise baskets at the back and several plush animals clustered between them; the gray plush is the clearest isolated first item, immediately in front-left of the left gripper. I’m moving the left hand slightly forward and toward its left boundary above that plush to align before descending.
move_to
left_x0.3300left_y0.0450left_z0.1400left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.8005, 0.6159, -0.3798, -0.0219, -0.033, 0.9995, -0.0154, 0.7986, 0.6106, -0.374, -0.0128, -0.0261, 0.9992] state[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1837 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2967 right_y=0.0013 right_z=0.1829 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.4034, -1.7983, 9.4154, 1.7558, -0.022, 0.1587, -0.0611, -0.8684, -1.6479, 9.8393, 1.7656, -0.1148, 0.0708, -0.0904] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":0.045,"left_z":0.14,"left_gripper":1.0},"note":"I see two turquoise baskets at the back and several plush animals clustered between them; the gray plush is the clearest isolated first item, immediately in front-left of the left gripper. I’m moving the left hand slightly forward and toward its left boundary above that plush to align before descending."})
tool
executing move_to over 4 steps (0.4s)
step 4
top_cam
camera top_cam step 4
left_cam
camera left_cam step 4
right_cam
camera right_cam step 4
assistant
agent noteThe gray plush is now centered on the left wrist camera’s jaw column and sits at the bottom edge, consistent with being directly beneath the fingertips. I’m descending to mid-body height while keeping the jaws open.
move_to
left_z0.0550left_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]: [0.2184, 1.0359, 0.5243, -0.1013, 0.1616, 0.0792, 0.9996, -0.0154, 0.8024, 0.6086, -0.3782, -0.012, -0.0269, 0.9992] state[eef_state]: left_x=0.3261 left_y=0.0469 left_z=0.1311 left_yaw=0.0227 left_pitch=-0.0394 left_roll=-0.0121 left_gripper=0.9996 right_x=0.2961 right_y=0.0011 right_z=0.1801 right_yaw=-0.0002 right_pitch=-0.0099 right_roll=-0.0009 right_gripper=0.9992 state[joint_eff]: [-0.0068, -3.5624, 6.8855, 2.0049, 0.1538, 0.1099, -0.0659, -0.3487, -1.5658, 7.2547, 1.7851, -0.0562, -0.0073, -0.0122] camera 'top_cam' (step 4): [image omitted: streamed camera frame] camera 'left_cam' (step 4): [image omitted: streamed camera frame] camera 'right_cam' (step 4): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.055,"left_gripper":1.0},"note":"The gray plush is now centered on the left wrist camera’s jaw column and sits at the bottom edge, consistent with being directly beneath the fingertips. I’m descending to mid-body height while keeping the jaws open."})
tool
executing move_to over 5 steps (0.5s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteAt the lower pose, the gray plush fills the space between the fingertips and remains centered, so the grasp height looks appropriate. I’m closing the left gripper 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]: [0.2184, 1.2671, 0.3035, 0.3283, 0.1581, 0.075, 0.9996, -0.0154, 0.8051, 0.6086, -0.3847, -0.012, -0.0269, 0.9992] state[eef_state]: left_x=0.3245 left_y=0.0472 left_z=0.052 left_yaw=0.0276 left_pitch=-0.0619 left_roll=-0.0179 left_gripper=0.9996 right_x=0.2954 right_y=0.0011 right_z=0.1781 right_yaw=-0.0002 right_pitch=-0.0191 right_roll=-0.0008 right_gripper=0.9992 state[joint_eff]: [-0.1436, -3.3026, 5.3128, 1.6044, 0.0952, -0.0415, -0.0611, -0.2393, -1.4701, 7.1179, 1.79, -0.0269, -0.0171, -0.0171] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At the lower pose, the gray plush fills the space between the fingertips and remains centered, so the grasp height looks appropriate. I’m closing the left gripper around it."})
tool
executing move_to over 10 steps (1.0s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe gripper settled at 0.038, which is right at the empty-versus-thin-plush threshold, so the reading alone is inconclusive. I’m lifting straight up to verify whether the gray animal moves with the hand.
move_to
left_z0.1700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.2184, 1.2667, 0.3008, 0.3637, 0.1585, 0.0677, 0.0376, -0.0154, 0.8082, 0.6086, -0.3847, -0.012, -0.0269, 0.9992] state[eef_state]: left_x=0.3287 left_y=0.0481 left_z=0.0581 left_yaw=0.0315 left_pitch=-0.0293 left_roll=-0.0178 left_gripper=0.0376 right_x=0.2956 right_y=0.0011 right_z=0.1772 right_yaw=-0.0002 right_pitch=-0.0221 right_roll=-0.0007 right_gripper=0.9992 state[joint_eff]: [-0.335, -3.6171, 5.9145, 1.3309, 0.0415, 0.0122, 1.0281, -0.3624, -1.4564, 7.0496, 1.7118, -0.0415, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.17},"note":"The gripper settled at 0.038, which is right at the empty-versus-thin-plush threshold, so the reading alone is inconclusive. I’m lifting straight up to verify whether the gray animal moves with the hand."})
tool
executing move_to over 8 steps (0.8s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe gray animal rose with the gripper and its long ears identify it as a rabbit. I’ll use the left basket for rabbits and am carrying this first one high over that basket’s center.
move_to
left_x0.4700left_y-0.1400left_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]: [0.2184, 1.0256, 0.6308, -0.2504, 0.1574, 0.0631, 0.042, -0.0154, 0.8101, 0.6083, -0.3851, -0.012, -0.0269, 0.9992] state[eef_state]: left_x=0.3253 left_y=0.0475 left_z=0.152 left_yaw=0.0345 left_pitch=-0.0718 left_roll=-0.0289 left_gripper=0.042 right_x=0.2957 right_y=0.0011 right_z=0.1764 right_yaw=-0.0002 right_pitch=-0.0248 right_roll=-0.0007 right_gripper=0.9992 state[joint_eff]: [-0.1436, -4.3419, 9.5521, 1.6435, 0.0024, -0.0269, 1.033, -0.253, -1.4564, 7.0906, 1.7558, -0.0464, -0.0611, -0.0122] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.14,"left_z":0.2},"note":"The gray animal rose with the gripper and its long ears identify it as a rabbit. I’ll use the left basket for rabbits and am carrying this first one high over that basket’s center."})
tool
executing move_to over 17 steps (1.7s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe rabbit is suspended over the open interior of the left turquoise basket. I’m lowering it inside to just above the basket floor before release.
move_to
left_z0.0850
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]: [-0.4206, 1.6966, 1.3148, -0.3801, -0.3447, -0.3519, 0.0455, -0.0154, 0.8146, 0.6083, -0.3851, -0.0116, -0.0269, 0.9992] state[eef_state]: left_x=0.4584 left_y=-0.1357 left_z=0.1753 left_yaw=0.0446 left_pitch=-0.143 left_roll=-0.017 left_gripper=0.0455 right_x=0.296 right_y=0.0011 right_z=0.1752 right_yaw=-0.0006 right_pitch=-0.0294 right_roll=-0.0008 right_gripper=0.9992 state[joint_eff]: [-0.4308, -8.8, 10.1128, 1.8437, -0.2857, 0.1783, 1.033, -0.3897, -1.7026, 7.0632, 1.6972, -0.0366, -0.0366, -0.0122] camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.085},"note":"The rabbit is suspended over the open interior of the left turquoise basket. I’m lowering it inside to just above the basket floor before release."})
tool
executing move_to over 6 steps (0.6s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe descent stopped about 6 cm above the commanded grasp-point height, indicating the soft rabbit has contacted the basket floor. I’m opening the jaws to release it inside.
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]: [-0.4252, 1.7355, 1.1198, -0.0002, -0.3637, -0.3557, 0.0455, -0.0154, 0.8146, 0.6079, -0.3851, -0.012, -0.0273, 0.9992] state[eef_state]: left_x=0.4738 left_y=-0.1416 left_z=0.1442 left_yaw=0.0526 left_pitch=-0.0074 left_roll=-0.0757 left_gripper=0.0455 right_x=0.2959 right_y=0.0011 right_z=0.175 right_yaw=-0.0 right_pitch=-0.0298 right_roll=-0.0009 right_gripper=0.9992 state[joint_eff]: [0.1846, -3.2752, 3.3983, 0.4957, 0.0611, 0.0171, 1.033, -0.3761, -1.2239, 7.0769, 1.7705, -0.0317, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The descent stopped about 6 cm above the commanded grasp-point height, indicating the soft rabbit has contacted the basket floor. I’m opening the jaws to release it inside."})
tool
executing move_to over 10 steps (1.0s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe jaws are fully open, but the arm still blocks the basket from the overhead camera. I’m retracting the left arm to its home area to verify the rabbit stayed in the basket and expose the remaining animals.
move_to
left_x0.3000left_y0.0000left_z0.1900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4244, 1.7412, 1.1225, 0.0002, -0.3744, -0.3653, 0.9953, -0.0151, 0.8146, 0.6079, -0.3851, -0.012, -0.0269, 0.9992] state[eef_state]: left_x=0.4749 left_y=-0.1398 left_z=0.1431 left_yaw=0.0672 left_pitch=-0.0072 left_roll=-0.077 left_gripper=0.9953 right_x=0.2959 right_y=0.0013 right_z=0.175 right_yaw=0.0001 right_pitch=-0.0298 right_roll=-0.0006 right_gripper=0.9992 state[joint_eff]: [-0.3897, -9.388, 6.4889, 1.6874, -0.0415, 0.1245, 0.0611, -0.1846, -1.3607, 7.1863, 1.7411, -0.0513, -0.0611, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.30,"left_y":0.0,"left_z":0.19},"note":"The jaws are fully open, but the arm still blocks the basket from the overhead camera. I’m retracting the left arm to its home area to verify the rabbit stayed in the basket and expose the remaining animals."})
tool
executing move_to over 14 steps (1.4s)
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 rabbit fell just in front of the left basket rather than staying inside; because it was grasped by a thin part, its body dangled well below and behind the grasp point. It is still isolated under the left wrist, so I’m descending for a more central regrasp before placing it deeper into the basket.
move_to
left_x0.3400left_y0.0300left_z0.0700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0692, 0.8547, 0.6601, -0.3401, -0.1158, -0.1905, 0.9966, -0.0151, 0.8192, 0.6075, -0.3855, -0.012, -0.0269, 0.9992] state[eef_state]: left_x=0.311 left_y=0.0025 left_z=0.1977 left_yaw=0.1135 left_pitch=0.0317 left_roll=-0.0887 left_gripper=0.9966 right_x=0.2961 right_y=0.0012 right_z=0.1735 right_yaw=0.0002 right_pitch=-0.0351 right_roll=-0.0005 right_gripper=0.9992 state[joint_eff]: [0.1026, -1.5385, 6.735, 1.7021, 0.1734, 0.0952, 0.1392, -0.1983, -1.4291, 7.0632, 1.7167, -0.0611, -0.0317, -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_x":0.34,"left_y":0.03,"left_z":0.07,"left_gripper":1.0},"note":"The rabbit fell just in front of the left basket rather than staying inside; because it was grasped by a thin part, its body dangled well below and behind the grasp point. It is still isolated under the left wrist, so I’m descending for a more central regrasp before placing it deeper into the basket."})
tool
executing move_to over 9 steps (0.9s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe gray rabbit’s torso is now squarely between the fingertips rather than just an ear or limb. I’m closing for a broader, more stable body grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0803, 1.243, 0.3065, 0.308, -0.0002, -0.1303, 0.9987, -0.0154, 0.8246, 0.6075, -0.3862, -0.012, -0.0269, 0.9992] state[eef_state]: left_x=0.3269 left_y=0.0299 left_z=0.0553 left_yaw=0.1333 left_pitch=-0.0663 left_roll=-0.0904 left_gripper=0.9987 right_x=0.2963 right_y=0.0011 right_z=0.1719 right_yaw=-0.0002 right_pitch=-0.0412 right_roll=-0.0004 right_gripper=0.9992 state[joint_eff]: [0.3897, -4.3282, 5.6684, 1.9316, -0.0464, 0.0855, -0.1441, -0.1299, -1.7573, 7.0769, 1.707, -0.0366, -0.0366, -0.0122] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The gray rabbit’s torso is now squarely between the fingertips rather than just an ear or limb. I’m closing for a broader, more stable body grasp."})
tool
executing move_to over 10 steps (1.0s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteThe gripper now holds at 0.21, confirming a substantial body grasp. I’m lifting the rabbit clear before translating it to a deeper drop point.
move_to
left_z0.1900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0818, 1.2526, 0.2943, 0.3325, 0.0002, -0.1307, 0.2092, -0.0151, 0.8268, 0.6075, -0.3855, -0.0116, -0.0273, 0.9992] state[eef_state]: left_x=0.3261 left_y=0.0303 left_z=0.0524 left_yaw=0.1347 left_pitch=-0.0637 left_roll=-0.0911 left_gripper=0.2092 right_x=0.2965 right_y=0.0012 right_z=0.1714 right_yaw=0.0 right_pitch=-0.0427 right_roll=-0.0009 right_gripper=0.9992 state[joint_eff]: [-0.1436, -4.2872, 6.7077, 1.4628, -0.0757, -0.0415, 0.9109, -0.335, -1.6342, 7.0496, 1.7265, -0.0073, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.19},"note":"The gripper now holds at 0.21, confirming a substantial body grasp. I’m lifting the rabbit clear before translating it to a deeper drop point."})
tool
executing move_to over 9 steps (0.9s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteWith the torso grasp, the gray animal stays close to the grasp point instead of dangling far below. I’m moving it laterally over the geometric center of the left basket, using a less extreme forward target than on the failed ear grasp.
move_to
left_x0.4000left_y-0.1500left_z0.2100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0818, 1.0092, 0.7059, -0.3378, 0.0006, -0.131, 0.2112, -0.0151, 0.8288, 0.6071, -0.3855, -0.012, -0.0269, 0.9992] state[eef_state]: left_x=0.3276 left_y=0.0304 left_z=0.1721 left_yaw=0.1346 left_pitch=-0.0789 left_roll=-0.0908 left_gripper=0.2112 right_x=0.2966 right_y=0.0012 right_z=0.1707 right_yaw=0.0002 right_pitch=-0.045 right_roll=-0.0004 right_gripper=0.9992 state[joint_eff]: [-0.0479, -4.041, 9.2239, 1.8144, -0.0317, -0.0513, 0.5592, -0.1983, -1.5932, 7.0906, 1.6777, -0.0269, -0.0562, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.15,"left_z":0.21},"note":"With the torso grasp, the gray animal stays close to the grasp point instead of dangling far below. I’m moving it laterally over the geometric center of the left basket, using a less extreme forward target than on the failed ear grasp."})
tool
executing move_to over 17 steps (1.7s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe gray animal’s body is now visibly centered above the left basket opening. I’m lowering it until the basket supports it, then I’ll release.
move_to
left_z0.0800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5587, 1.5002, 1.1645, -0.4835, -0.4732, -0.5529, 0.2146, -0.0151, 0.8314, 0.6067, -0.3859, -0.012, -0.0269, 0.9992] state[eef_state]: left_x=0.3903 left_y=-0.1448 left_z=0.1853 left_yaw=0.1213 left_pitch=-0.1447 left_roll=-0.0624 left_gripper=0.2146 right_x=0.2966 right_y=0.0012 right_z=0.1697 right_yaw=0.0002 right_pitch=-0.0484 right_roll=-0.0003 right_gripper=0.9992 state[joint_eff]: [-0.3487, -7.4462, 9.7299, 1.6435, -0.5006, 0.1245, 0.3541, 0.0752, -1.6752, 7.0632, 1.6777, -0.0415, -0.0171, -0.0122] camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.08},"note":"The gray animal’s body is now visibly centered above the left basket opening. I’m lowering it until the basket supports it, then I’ll release."})
tool
executing move_to over 7 steps (0.7s)
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 animal has settled into the left basket at the lower pose, with its body supported by the basket. I’m opening the gripper to release it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5594, 1.6043, 0.8837, -0.086, -0.4942, -0.5625, 0.2167, -0.0154, 0.8314, 0.6067, -0.3855, -0.0116, -0.0269, 0.9992] state[eef_state]: left_x=0.3928 left_y=-0.1428 left_z=0.0965 left_yaw=0.1406 left_pitch=-0.1255 left_roll=-0.066 left_gripper=0.2167 right_x=0.2967 right_y=0.0011 right_z=0.1698 right_yaw=-0.0005 right_pitch=-0.0481 right_roll=-0.0005 right_gripper=0.9992 state[joint_eff]: [0.0068, -6.0786, 4.7932, 1.243, 0.0073, 0.0611, 0.2027, -0.2667, -1.4564, 7.0359, 1.7118, -0.0317, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). 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":{"left_gripper":1.0},"note":"The animal has settled into the left basket at the lower pose, with its body supported by the basket. I’m opening the gripper to release it."})
tool
executing move_to over 8 steps (0.8s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe gray elephant again slipped over the left rim; I’ll revisit it with a farther-right drop point. The remaining cluster appears to contain one more large elephant and three smaller dog-like toys, so I’m parking the left arm and bringing the right hand above the isolated small cream dog on the cluster’s right edge.
move_to
right_x0.3600right_y0.1200right_z0.1300right_gripper1.0000left_x0.3000left_y0.0000left_z0.1900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5598, 1.6215, 0.8677, -0.0883, -0.4942, -0.5732, 0.9955, -0.0151, 0.8314, 0.6067, -0.3855, -0.0116, -0.0269, 0.9992] state[eef_state]: left_x=0.3882 left_y=-0.1401 left_z=0.0836 left_yaw=0.1492 left_pitch=-0.1528 left_roll=-0.0511 left_gripper=0.9955 right_x=0.2967 right_y=0.0012 right_z=0.1698 right_yaw=-0.0002 right_pitch=-0.0481 right_roll=-0.0005 right_gripper=0.9992 state[joint_eff]: [-0.1983, -8.6359, 7.3915, 1.4383, -0.2662, 0.0513, -0.1538, -0.212, -1.4701, 7.0359, 1.6679, -0.0122, -0.0366, -0.0122] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.12,"right_z":0.13,"right_gripper":1.0,"left_x":0.3,"left_y":0.0,"left_z":0.19},"note":"The gray elephant again slipped over the left rim; I’ll revisit it with a farther-right drop point. The remaining cluster appears to contain one more large elephant and three smaller dog-like toys, so I’m parking the left arm and bringing the right hand above the isolated small cream dog on the cluster’s right edge."})
tool
executing move_to over 13 steps (1.3s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteThe right hand reached the front of the right basket rather than the small dog; overhead, the dog is about 3 cm to the hand’s left while at nearly the same radial depth. I’m shifting the hand left and descending to the dog’s body height.
move_to
right_x0.3600right_y0.1900right_z0.0550right_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]: [-0.1341, 0.9661, 0.7761, -0.5446, -0.223, -0.2928, 0.9966, 0.485, 1.3155, 0.6739, -0.0895, 0.358, 0.247, 0.9992] state[eef_state]: left_x=0.3048 left_y=0.0019 left_z=0.1796 left_yaw=0.197 left_pitch=-0.149 left_roll=-0.0596 left_gripper=0.9966 right_x=0.3465 right_y=0.1167 right_z=0.1118 right_yaw=0.0408 right_pitch=-0.1139 right_roll=-0.0309 right_gripper=0.9992 state[joint_eff]: [-0.1162, -2.5504, 9.7846, 1.6679, -0.022, 0.149, 0.1148, 0.1573, -4.9573, 9.1556, 1.7314, 0.3443, 0.1685, -0.0952] camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.19,"right_z":0.055,"right_gripper":1.0},"note":"The right hand reached the front of the right basket rather than the small dog; overhead, the dog is about 3 cm to the hand’s left while at nearly the same radial depth. I’m shifting the hand left and descending to the dog’s body height."})
tool
executing move_to over 7 steps (0.7s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteAt the low pose, the right fingertips now bracket the small cream dog in the overhead view; it is too close to the grasp point to appear in the forward-tilted wrist camera. I’m closing around it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1349, 0.9726, 0.783, -0.5594, -0.2092, -0.2916, 0.9968, 0.6731, 1.6508, 0.7139, 0.0814, 0.4702, 0.3653, 0.9992] state[eef_state]: left_x=0.3039 left_y=-0.0006 left_z=0.1777 left_yaw=0.1849 left_pitch=-0.1656 left_roll=-0.0629 left_gripper=0.9968 right_x=0.3478 right_y=0.1795 right_z=0.0416 right_yaw=0.0669 right_pitch=-0.1781 right_roll=-0.073 right_gripper=0.9992 state[joint_eff]: [-0.1026, -2.8239, 6.3111, 1.7216, -0.2222, -0.0415, 0.0024, 0.3487, -6.9538, 7.9111, 1.5653, 0.4225, 0.1587, -0.0952] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At the low pose, the right fingertips now bracket the small cream dog in the overhead view; it is too close to the grasp point to appear in the forward-tilted wrist camera. I’m closing around it."})
tool
executing move_to over 10 steps (1.0s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteThe gripper closed to 0.01, confirming an empty grasp; overhead shows the dog slightly left and closer to the bases than the fingertips. I’m reopening and shifting about 3–4 cm left and inward for the single measured retry.
move_to
right_x0.3200right_y0.2300right_z0.0550right_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]: [-0.1352, 0.9726, 0.7811, -0.5579, -0.2092, -0.2916, 0.9968, 0.6785, 1.6707, 0.7162, 0.0872, 0.4599, 0.3592, 0.0101] state[eef_state]: left_x=0.3038 left_y=-0.0007 left_z=0.1771 left_yaw=0.1845 left_pitch=-0.166 left_roll=-0.0628 left_gripper=0.9968 right_x=0.3464 right_y=0.1832 right_z=0.0354 right_yaw=0.0822 right_pitch=-0.1925 right_roll=-0.0778 right_gripper=0.0101 state[joint_eff]: [-0.1846, -2.2906, 7.0359, 1.536, -0.149, -0.0464, -0.0122, -0.5675, -8.7043, 5.3128, 1.3504, 0.2955, 0.0415, 0.8181] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.23,"right_z":0.055,"right_gripper":1.0},"note":"The gripper closed to 0.01, confirming an empty grasp; overhead shows the dog slightly left and closer to the bases than the fingertips. I’m reopening and shifting about 3–4 cm left and inward for the single measured retry."})
tool
executing move_to over 10 steps (1.0s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteAfter the inward-left correction, the small cream dog is now between the open fingertips in the overhead view. I’m closing for the retry.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1349, 0.9741, 0.7811, -0.5602, -0.2089, -0.2916, 0.9968, 0.8448, 1.6703, 0.8036, -0.0818, 0.5472, 0.4923, 0.9946] state[eef_state]: left_x=0.3036 left_y=-0.0006 left_z=0.1763 left_yaw=0.1848 left_pitch=-0.1697 left_roll=-0.0618 left_gripper=0.9968 right_x=0.3179 right_y=0.225 right_z=0.0474 right_yaw=0.1013 right_pitch=-0.2076 right_roll=-0.0861 right_gripper=0.9946 state[joint_eff]: [-0.0889, -2.3726, 6.8991, 1.6093, -0.1148, -0.0269, -0.0073, 0.6906, -6.9949, 8.2667, 1.1111, 0.4322, 0.1587, -0.022] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"After the inward-left correction, the small cream dog is now between the open fingertips in the overhead view. I’m closing for the retry."})
tool
executing move_to over 10 steps (1.0s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteThe failed dog retry is empty, so I’m switching tasks rather than repeating it. The gray squirrel is clearly visible beside the left basket with its bushy tail, and the left wrist view gives a good body alignment, so I’m descending the left gripper over its torso.
move_to
left_x0.3700left_y0.0000left_z0.0550left_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]: [-0.1349, 0.9745, 0.7811, -0.5602, -0.2089, -0.2916, 0.9968, 0.849, 1.6703, 0.8078, -0.0929, 0.5385, 0.487, 0.0102] state[eef_state]: left_x=0.3036 left_y=-0.0006 left_z=0.1762 left_yaw=0.1848 left_pitch=-0.1701 left_roll=-0.0617 left_gripper=0.9968 right_x=0.3159 right_y=0.2271 right_z=0.0467 right_yaw=0.1136 right_pitch=-0.2177 right_roll=-0.0893 right_gripper=0.0102 state[joint_eff]: [-0.0479, -2.2496, 6.9675, 1.5604, -0.1294, -0.0611, -0.0122, -0.4855, -7.2821, 5.3538, 1.3993, 0.3199, 0.0317, 0.8718] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":0.0,"left_z":0.055,"left_gripper":1.0},"note":"The failed dog retry is empty, so I’m switching tasks rather than repeating it. The gray squirrel is clearly visible beside the left basket with its bushy tail, and the left wrist view gives a good body alignment, so I’m descending the left gripper over its torso."})
tool
executing move_to over 8 steps (0.8s)
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 gray squirrel’s torso now fills the gap between the left fingertips, with the curled tail safely outside the pinch area. I’m closing on the 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]: [-0.0994, 1.4288, 0.5724, 0.0269, -0.1928, -0.2802, 0.9987, 0.849, 1.6722, 0.8051, -0.0879, 0.5308, 0.487, 0.0122] state[eef_state]: left_x=0.3549 left_y=0.0022 left_z=0.0481 left_yaw=0.2054 left_pitch=-0.2456 left_roll=-0.0406 left_gripper=0.9987 right_x=0.3152 right_y=0.2281 right_z=0.0452 right_yaw=0.1191 right_pitch=-0.2216 right_roll=-0.0843 right_gripper=0.0122 state[joint_eff]: [0.253, -6.2154, 5.1761, 1.7314, 0.0464, 0.0757, -0.149, -0.253, -7.4462, 5.8735, 1.16, 0.3004, -0.0464, 0.5543] 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_gripper":0.0},"note":"The gray squirrel’s torso now fills the gap between the left fingertips, with the curled tail safely outside the pinch area. I’m closing on the body."})
tool
executing move_to over 10 steps (1.0s)
step 202
top_cam
camera top_cam step 202
left_cam
camera left_cam step 202
right_cam
camera right_cam step 202
assistant
agent noteThe left gripper also closed empty; the wrist image shows why—the body was centered but still just beyond the actual fingertip point. I’m reopening and advancing 3–4 cm radially, keeping the same lateral and low alignment for the permitted retry.
move_to
left_x0.3900left_y0.0000left_z0.0450left_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]: [-0.0998, 1.4509, 0.561, 0.0368, -0.1867, -0.284, 0.0119, 0.849, 1.6722, 0.8051, -0.0856, 0.5228, 0.487, 0.0146] state[eef_state]: left_x=0.3514 left_y=0.0014 left_z=0.0381 left_yaw=0.2038 left_pitch=-0.2695 left_roll=-0.0404 left_gripper=0.0119 right_x=0.3148 right_y=0.2295 right_z=0.0449 right_yaw=0.1252 right_pitch=-0.2242 right_roll=-0.0777 right_gripper=0.0146 state[joint_eff]: [-0.0615, -7.1316, 6.6667, 1.3309, -0.1734, 0.0366, 1.0965, -0.1709, -7.1316, 5.7504, 1.2039, 0.2369, -0.0562, 0.2369] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":0.0,"left_z":0.045,"left_gripper":1.0},"note":"The left gripper also closed empty; the wrist image shows why—the body was centered but still just beyond the actual fingertip point. I’m reopening and advancing 3–4 cm radially, keeping the same lateral and low alignment for the permitted retry."})
tool
executing move_to over 10 steps (1.0s)
step 212
top_cam
camera top_cam step 212
left_cam
camera left_cam step 212
right_cam
camera right_cam step 212
assistant
agent noteAfter the radial advance, the squirrel’s torso is now at the fingertip line rather than merely centered farther ahead in the camera. I’m closing for the corrected grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0956, 1.5787, 0.6861, 0.0116, -0.1818, -0.2871, 0.9954, 0.849, 1.6722, 0.8051, -0.0853, 0.5129, 0.487, 0.0168] state[eef_state]: left_x=0.3794 left_y=-0.0007 left_z=0.0349 left_yaw=0.2078 left_pitch=-0.2973 left_roll=-0.0376 left_gripper=0.9954 right_x=0.314 right_y=0.231 right_z=0.0443 right_yaw=0.1324 right_pitch=-0.2293 right_roll=-0.0712 right_gripper=0.0168 state[joint_eff]: [0.3214, -5.9692, 8.0479, 1.4286, -0.1245, 0.0659, -0.1978, -0.3214, -7.2957, 5.6821, 1.243, 0.3053, -0.0513, 0.2125] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"After the radial advance, the squirrel’s torso is now at the fingertip line rather than merely centered farther ahead in the camera. I’m closing for the corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 222
top_cam
camera top_cam step 222
left_cam
camera left_cam step 222
right_cam
camera right_cam step 222
assistant
agent noteThe retry still closed empty; the close image shows the squirrel slightly right of the jaw column and still ahead of the fingertip line. I’m making one final combined correction—5 cm farther outward and 2.5 cm to the hand’s right—before abandoning this item if it fails.
move_to
left_x0.4300left_y-0.0250left_z0.0400left_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]: [-0.094, 1.5822, 0.6899, 0.0116, -0.1829, -0.2886, 0.0121, 0.849, 1.6722, 0.8051, -0.0853, 0.5117, 0.487, 0.0187] state[eef_state]: left_x=0.3804 left_y=-0.0 left_z=0.0351 left_yaw=0.2112 left_pitch=-0.2967 left_roll=-0.0379 left_gripper=0.0121 right_x=0.3139 right_y=0.2311 right_z=0.0442 right_yaw=0.1332 right_pitch=-0.2299 right_roll=-0.0705 right_gripper=0.0187 state[joint_eff]: [-0.1436, -6.612, 5.4496, 1.3797, -0.0659, -0.0171, 1.0379, -0.2256, -7.2957, 5.7231, 1.2674, 0.1929, -0.0513, 0.1929] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.025,"left_z":0.04,"left_gripper":1.0},"note":"The retry still closed empty; the close image shows the squirrel slightly right of the jaw column and still ahead of the fingertip line. I’m making one final combined correction—5 cm farther outward and 2.5 cm to the hand’s right—before abandoning this item if it fails."})
tool
executing move_to over 10 steps (1.0s)
step 232
top_cam
camera top_cam step 232
assistant
agent noteThis correction places the squirrel’s body directly across and partly below the fingertip line, unlike the earlier camera-centered but short poses. I’m closing now.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.152, 1.7451, 0.8738, -0.0437, -0.2127, -0.3431, 0.9951, 0.849, 1.6722, 0.8051, -0.0853, 0.5072, 0.487, 0.0198] state[eef_state]: left_x=0.4189 left_y=-0.0228 left_z=0.0309 left_yaw=0.213 left_pitch=-0.3223 left_roll=-0.0398 left_gripper=0.9951 right_x=0.3136 right_y=0.2318 right_z=0.0439 right_yaw=0.1365 right_pitch=-0.2323 right_roll=-0.0676 right_gripper=0.0198 state[joint_eff]: [-0.6222, -7.4051, 8.5128, 1.3504, -0.1685, 0.0659, 0.0562, -0.2803, -7.3094, 5.6957, 1.2283, 0.2369, -0.0415, 0.0904] approver: 9 step(s) modified (delta_clamped ×9). 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_gripper":0.0},"note":"This correction places the squirrel’s body directly across and partly below the fingertip line, unlike the earlier camera-centered but short poses. I’m closing now."})
tool
executing move_to over 10 steps (1.0s)
step 242
assistant
agent noteThe jaws again closed underneath the fluffy body at only 3 cm grasp-point height. I’m raising the open jaws to 8 cm at the same horizontal alignment so they pinch the torso rather than passing under the fur.
move_to
left_z0.0800left_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]: [-0.1539, 1.7527, 0.8787, -0.0444, -0.2131, -0.3511, 0.0121, 0.849, 1.6722, 0.8051, -0.0853, 0.5041, 0.4873, 0.0204] state[eef_state]: left_x=0.4197 left_y=-0.0237 left_z=0.0295 left_yaw=0.2163 left_pitch=-0.3255 left_roll=-0.0435 left_gripper=0.0121 right_x=0.3133 right_y=0.2322 right_z=0.0437 right_yaw=0.1386 right_pitch=-0.2339 right_roll=-0.0654 right_gripper=0.0204 state[joint_eff]: [0.0479, -8.7179, 5.3402, 1.3797, -0.0904, 0.0366, 1.0232, -0.0615, -7.3094, 5.8735, 1.2332, 0.2125, -0.0171, 0.0611] 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":0.08,"left_gripper":1.0},"note":"The jaws again closed underneath the fluffy body at only 3 cm grasp-point height. I’m raising the open jaws to 8 cm at the same horizontal alignment so they pinch the torso rather than passing under the fur."})
tool
executing move_to over 10 steps (1.0s)
step 252
assistant
agent noteAt the raised pose, both fingertips visibly flank the squirrel’s torso at mid-height. I’m closing on the 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]: [-0.1539, 1.6859, 0.9577, -0.2375, -0.2089, -0.3599, 0.9955, 0.849, 1.6722, 0.8051, -0.0853, 0.5003, 0.487, 0.0211] state[eef_state]: left_x=0.4126 left_y=-0.0233 left_z=0.0563 left_yaw=0.224 left_pitch=-0.3709 left_roll=-0.0342 left_gripper=0.9955 right_x=0.313 right_y=0.2327 right_z=0.0434 right_yaw=0.1415 right_pitch=-0.236 right_roll=-0.0632 right_gripper=0.0211 state[joint_eff]: [-0.3487, -10.7282, 8.7726, 1.3016, -0.232, 0.0464, -0.1538, -0.1983, -7.2957, 5.7368, 1.2527, 0.1978, -0.0366, 0.0562] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At the raised pose, both fingertips visibly flank the squirrel’s torso at mid-height. I’m closing on the body."})
tool
executing move_to over 10 steps (1.0s)
step 262
assistant
agent noteThe squirrel’s fur is still riding above the closed fingertips, so I’m disengaging and lifting the left arm. Applying that lesson to the nearby cream dog, I’m reopening the right gripper, shifting left onto its torso, and raising to a mid-body grasp height.
move_to
right_x0.3100right_y0.2600right_z0.0800right_gripper1.0000left_z0.1800left_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]: [-0.1539, 1.681, 0.9607, -0.2462, -0.2092, -0.3676, 0.0121, 0.849, 1.6722, 0.8051, -0.0853, 0.4931, 0.487, 0.022] state[eef_state]: left_x=0.4121 left_y=-0.0232 left_z=0.0582 left_yaw=0.2288 left_pitch=-0.3716 left_roll=-0.0384 left_gripper=0.0121 right_x=0.3124 right_y=0.2337 right_z=0.0429 right_yaw=0.1468 right_pitch=-0.2398 right_roll=-0.0586 right_gripper=0.022 state[joint_eff]: [-0.1299, -7.4188, 5.8872, 1.4042, -0.0757, 0.0806, 1.1062, -0.3214, -6.9949, 5.7231, 1.3016, 0.2857, -0.0366, 0.0806] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.31,"right_y":0.26,"right_z":0.08,"right_gripper":1.0,"left_z":0.18,"left_gripper":1.0},"note":"The squirrel’s fur is still riding above the closed fingertips, so I’m disengaging and lifting the left arm. Applying that lesson to the nearby cream dog, I’m reopening the right gripper, shifting left onto its torso, and raising to a mid-body grasp height."})
tool
executing move_to over 10 steps (1.0s)
step 272
assistant
agent noteThe right fingertips now flank the cream dog at mid-body height, with the toy occluded between them in the overhead view. I’m closing on it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1539, 1.6058, 1.3014, -0.7029, -0.2089, -0.3866, 0.9953, 0.9009, 1.6722, 0.9401, -0.2665, 0.5053, 0.5278, 0.9948] state[eef_state]: left_x=0.412 left_y=-0.0232 left_z=0.1544 left_yaw=0.2459 left_pitch=-0.4097 left_roll=-0.0338 left_gripper=0.9953 right_x=0.3068 right_y=0.2554 right_z=0.0668 right_yaw=0.1596 right_pitch=-0.2664 right_roll=-0.069 right_gripper=0.9948 state[joint_eff]: [-0.3761, -10.1402, 8.9231, 1.3553, -0.1832, 0.1734, -0.1197, 0.7726, -7.9521, 8.5538, 1.0916, 0.4322, 0.0952, -0.1099] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The right fingertips now flank the cream dog at mid-body height, with the toy occluded between them in the overhead view. I’m closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 282
assistant
agent noteThe right gripper closed empty; the wrist camera now clearly shows the cream dog well to the left of the jaw column, while the previous height was still below its torso. I’m reopening, shifting 8 cm left, and raising to 10 cm for a centered body grasp.
move_to
right_x0.3100right_y0.3400right_z0.1000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1539, 1.6028, 1.3098, -0.7166, -0.2089, -0.3901, 0.9966, 0.9012, 1.6722, 0.9428, -0.276, 0.4957, 0.5236, 0.0105] state[eef_state]: left_x=0.4109 left_y=-0.0231 left_z=0.1571 left_yaw=0.2483 left_pitch=-0.4119 left_roll=-0.0349 left_gripper=0.9966 right_x=0.3052 right_y=0.256 right_z=0.0659 right_yaw=0.1678 right_pitch=-0.277 right_roll=-0.0706 right_gripper=0.0105 state[joint_eff]: [-0.253, -7.3504, 5.9419, 1.3651, -0.1392, 0.0122, 0.1245, -0.1709, -7.6239, 5.7915, 1.326, 0.3248, -0.0024, 0.8962] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.31,"right_y":0.34,"right_z":0.1,"right_gripper":1.0},"note":"The right gripper closed empty; the wrist camera now clearly shows the cream dog well to the left of the jaw column, while the previous height was still below its torso. I’m reopening, shifting 8 cm left, and raising to 10 cm for a centered body grasp."})
tool
executing move_to over 10 steps (1.0s)
step 292
assistant
agent noteThe dog moved toward the jaw column but its torso is still left of center; the right arm has another 6 cm of safe leftward travel. I’m using nearly the full lateral range while holding the mid-body height.
move_to
right_y0.3950right_z0.1050right_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]: [-0.1528, 1.61, 1.3067, -0.7177, -0.2089, -0.3935, 0.9968, 1.0168, 1.8793, 1.327, -0.5228, 0.5362, 0.6231, 0.9949] state[eef_state]: left_x=0.4103 left_y=-0.0225 left_z=0.1529 left_yaw=0.2535 left_pitch=-0.4224 left_roll=-0.0321 left_gripper=0.9968 right_x=0.3082 right_y=0.3335 right_z=0.091 right_yaw=0.1858 right_pitch=-0.298 right_roll=-0.0791 right_gripper=0.9949 state[joint_eff]: [-0.3761, -8.0889, 6.8444, 1.2088, -0.1148, 0.0024, 0.0024, 0.7863, -9.0598, 8.5402, 0.906, 0.4664, 0.1587, -0.1978] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.395,"right_z":0.105,"right_gripper":1.0},"note":"The dog moved toward the jaw column but its torso is still left of center; the right arm has another 6 cm of safe leftward travel. I’m using nearly the full lateral range while holding the mid-body height."})
tool
executing move_to over 6 steps (0.6s)
step 298
assistant
agent noteThe cream horse is now centered between the right fingertips; its snout and rounded torso are clearly visible in the wrist view. I’m closing at mid-body height.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1528, 1.6104, 1.3067, -0.7166, -0.2089, -0.3939, 0.9968, 1.0817, 2.0605, 1.6249, -0.6724, 0.5495, 0.6724, 0.9985] state[eef_state]: left_x=0.4106 left_y=-0.0225 left_z=0.1529 left_yaw=0.2535 left_pitch=-0.4218 left_roll=-0.0327 left_gripper=0.9968 right_x=0.3086 right_y=0.391 right_z=0.0986 right_yaw=0.2069 right_pitch=-0.3085 right_roll=-0.0797 right_gripper=0.9985 state[joint_eff]: [-0.1709, -7.6513, 6.9265, 1.2479, -0.1441, -0.0611, -0.0122, 0.7043, -10.8239, 8.5128, 0.7057, 0.525, 0.2076, -0.1636] camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The cream horse is now centered between the right fingertips; its snout and rounded torso are clearly visible in the wrist view. I’m closing at mid-body height."})
tool
executing move_to over 10 steps (1.0s)
step 308
assistant
agent noteThe gripper settled at 0.040, just above the empty threshold, so it may have caught the horse’s fur or a thin limb. I’m lifting and carrying toward the center of the right basket; the overhead view will confirm whether the horse moves with the hand.
move_to
right_x0.4200right_y0.0800right_z0.2100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.152, 1.6112, 1.3067, -0.7174, -0.2089, -0.3939, 0.9968, 1.0843, 2.0686, 1.6287, -0.675, 0.5385, 0.6655, 0.0403] state[eef_state]: left_x=0.4105 left_y=-0.0222 left_z=0.1525 left_yaw=0.2546 left_pitch=-0.4232 left_roll=-0.032 left_gripper=0.9968 right_x=0.3064 right_y=0.3932 right_z=0.095 right_yaw=0.2187 right_pitch=-0.3208 right_roll=-0.0831 right_gripper=0.0403 state[joint_eff]: [-0.253, -7.706, 6.5846, 1.2479, -0.1636, -0.0415, -0.0122, -0.4444, -11.959, 6.106, 1.0916, 0.3199, 0.105, 1.1648] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 308): [image omitted: streamed camera frame] camera 'left_cam' (step 308): [image omitted: streamed camera frame] camera 'right_cam' (step 308): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.08,"right_z":0.21},"note":"The gripper settled at 0.040, just above the empty threshold, so it may have caught the horse’s fur or a thin limb. I’m lifting and carrying toward the center of the right basket; the overhead view will confirm whether the horse moves with the hand."})
tool
executing move_to over 27 steps (2.7s)
step 335
assistant
agent noteThe cream horse moved with the gripper and is hanging just in front of the right basket, confirming the grasp. I’m advancing the grasp point about 9 cm so the dangling body is over the basket interior rather than over its front rim.
move_to
right_x0.5000right_y0.0800right_z0.1800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.152, 1.6131, 1.3067, -0.7174, -0.2089, -0.3939, 0.9968, 0.2085, 1.5875, 1.3716, -0.7425, 0.0486, -0.0811, 0.0412] state[eef_state]: left_x=0.4106 left_y=-0.0222 left_z=0.1518 left_yaw=0.2549 left_pitch=-0.4249 left_roll=-0.0312 left_gripper=0.9968 right_x=0.4103 right_y=0.0817 right_z=0.1805 right_yaw=0.2006 right_pitch=-0.3977 right_roll=-0.0822 right_gripper=0.0412 state[joint_eff]: [-0.3624, -7.8564, 6.5436, 1.1893, -0.1392, -0.0269, -0.0122, -0.4034, -9.0598, 10.359, 1.5165, -0.1001, -0.0073, 1.0281] camera 'top_cam' (step 335): [image omitted: streamed camera frame] camera 'left_cam' (step 335): [image omitted: streamed camera frame] camera 'right_cam' (step 335): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.5,"right_y":0.08,"right_z":0.18},"note":"The cream horse moved with the gripper and is hanging just in front of the right basket, confirming the grasp. I’m advancing the grasp point about 9 cm so the dangling body is over the basket interior rather than over its front rim."})
tool
executing move_to over 7 steps (0.7s)
step 342
assistant
agent noteThe horse is closer but its torso still hangs over the near rim of the right basket. I’m advancing another 6 cm and lowering it so the body settles inside before release.
move_to
right_x0.5500right_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]: [-0.152, 1.6142, 1.3067, -0.7181, -0.2089, -0.3939, 0.9968, 0.1684, 1.916, 1.721, -0.8139, 0.0177, -0.1242, 0.0412] state[eef_state]: left_x=0.4104 left_y=-0.0222 left_z=0.1512 left_yaw=0.2553 left_pitch=-0.4267 left_roll=-0.0303 left_gripper=0.9968 right_x=0.4857 right_y=0.083 right_z=0.1632 right_yaw=0.2148 right_pitch=-0.4494 right_roll=-0.0791 right_gripper=0.0412 state[joint_eff]: [-0.1846, -7.788, 6.5573, 1.2186, -0.1148, -0.022, -0.0122, -0.8, -10.5094, 9.3744, 1.2381, 0.0562, 0.022, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 342): [image omitted: streamed camera frame] camera 'left_cam' (step 342): [image omitted: streamed camera frame] camera 'right_cam' (step 342): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.55,"right_z":0.1},"note":"The horse is closer but its torso still hangs over the near rim of the right basket. I’m advancing another 6 cm and lowering it so the body settles inside before release."})
tool
executing move_to over 5 steps (0.5s)
step 347
assistant
agent noteThe horse is now pressed against and supported by the inside edge of the right basket at the low pose. I’m opening the gripper to release it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.152, 1.6142, 1.3067, -0.7185, -0.2089, -0.3939, 0.9968, 0.1593, 2.1635, 1.8355, -0.7338, 0.0051, -0.1471, 0.0412] state[eef_state]: left_x=0.4104 left_y=-0.0222 left_z=0.1512 left_yaw=0.2553 left_pitch=-0.427 left_roll=-0.0302 left_gripper=0.9968 right_x=0.5317 right_y=0.0881 right_z=0.0935 right_yaw=0.233 right_pitch=-0.5026 right_roll=-0.0765 right_gripper=0.0412 state[joint_eff]: [0.0068, -7.6103, 6.5573, 1.2088, -0.1587, -0.0073, -0.0122, -1.3607, -11.7675, 8.7316, 1.326, -0.0317, 0.022, 1.0281] camera 'top_cam' (step 347): [image omitted: streamed camera frame] camera 'left_cam' (step 347): [image omitted: streamed camera frame] camera 'right_cam' (step 347): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The horse is now pressed against and supported by the inside edge of the right basket at the low pose. I’m opening the gripper to release it."})
tool
executing move_to over 10 steps (1.0s)
step 357
assistant
agent noteThe released horse slid just outside the basket’s near-left rim, but it remains directly against the open fingertips. I’m reclosing to recover it for one farther-forward, right-shifted placement.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.152, 1.6142, 1.3067, -0.7174, -0.2089, -0.3943, 0.9968, 0.181, 2.1803, 1.866, -0.6983, -0.0376, -0.1608, 0.9948] state[eef_state]: left_x=0.4106 left_y=-0.0222 left_z=0.1513 left_yaw=0.2553 left_pitch=-0.426 left_roll=-0.0309 left_gripper=0.9968 right_x=0.5424 right_y=0.1097 right_z=0.1007 right_yaw=0.3011 right_pitch=-0.4505 right_roll=-0.0485 right_gripper=0.9948 state[joint_eff]: [-0.0752, -7.5419, 6.5709, 1.2527, -0.1294, -0.0611, -0.0122, -2.8103, -11.9043, 7.8564, 1.2332, 0.3297, 0.1245, -0.2418] camera 'top_cam' (step 357): [image omitted: streamed camera frame] camera 'left_cam' (step 357): [image omitted: streamed camera frame] camera 'right_cam' (step 357): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The released horse slid just outside the basket’s near-left rim, but it remains directly against the open fingertips. I’m reclosing to recover it for one farther-forward, right-shifted placement."})
tool
executing move_to over 10 steps (1.0s)
step 367
assistant
agent noteThe reclose settled at 0.033, likely a thin fur or limb grasp; I’m testing it while moving to the far-back, right-shifted basket target that compensates for the horse’s observed dangling offset.
move_to
right_x0.5950right_y0.0450right_z0.1700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.152, 1.6142, 1.3067, -0.7177, -0.2089, -0.3943, 0.9968, 0.1822, 2.1826, 1.8652, -0.6983, -0.0418, -0.1642, 0.0327] state[eef_state]: left_x=0.4105 left_y=-0.0222 left_z=0.1513 left_yaw=0.2554 left_pitch=-0.4263 left_roll=-0.0307 left_gripper=0.9968 right_x=0.5419 right_y=0.111 right_z=0.0992 right_yaw=0.3084 right_pitch=-0.4532 right_roll=-0.0462 right_gripper=0.0327 state[joint_eff]: [-0.3624, -7.6239, 6.8444, 1.2137, -0.1636, -0.0415, -0.0122, -0.1709, -12.6838, 6.6803, 1.2723, -0.022, -0.022, 0.5836] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 367): [image omitted: streamed camera frame] camera 'left_cam' (step 367): [image omitted: streamed camera frame] camera 'right_cam' (step 367): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.595,"right_y":0.045,"right_z":0.17},"note":"The reclose settled at 0.033, likely a thin fur or limb grasp; I’m testing it while moving to the far-back, right-shifted basket target that compensates for the horse’s observed dangling offset."})
tool
executing move_to over 6 steps (0.6s)
step 373
assistant
agent noteThe horse did move with the thin grasp, but its body is still left of the basket opening while the grasp point is already at maximum forward reach. I’m shifting the hand 8 cm to its right and lowering so the body lands inside the right basket.
move_to
right_y-0.0200right_z0.0900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.152, 1.6146, 1.3067, -0.7189, -0.2089, -0.3939, 0.9968, 0.0635, 2.5526, 2.6907, -1.1442, -0.1432, -0.2703, 0.0345] state[eef_state]: left_x=0.4103 left_y=-0.0222 left_z=0.151 left_yaw=0.2555 left_pitch=-0.4277 left_roll=-0.0298 left_gripper=0.9968 right_x=0.6019 right_y=0.0671 right_z=0.145 right_yaw=0.3451 right_pitch=-0.4283 right_roll=-0.0183 right_gripper=0.0345 state[joint_eff]: [-0.1846, -7.706, 6.6256, 1.3065, -0.1538, 0.0024, -0.0122, -2.2632, -10.2496, 4.6154, 0.105, 0.7302, -0.0415, 0.6618] camera 'top_cam' (step 373): [image omitted: streamed camera frame] camera 'left_cam' (step 373): [image omitted: streamed camera frame] camera 'right_cam' (step 373): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":-0.02,"right_z":0.09},"note":"The horse did move with the thin grasp, but its body is still left of the basket opening while the grasp point is already at maximum forward reach. I’m shifting the hand 8 cm to its right and lowering so the body lands inside the right basket."})
tool
executing move_to over 8 steps (0.8s)
step 381
assistant
agent noteAt maximum reach the arm could not realize the requested lateral shift, but the horse is now wedged against the inner near wall of the right basket. I’m releasing it in the most supported position available.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.152, 1.6157, 1.3067, -0.7181, -0.2089, -0.3943, 0.9968, 0.0177, 2.4496, 2.3066, -0.9028, -0.4301, -0.3794, 0.0374] state[eef_state]: left_x=0.4105 left_y=-0.0222 left_z=0.1507 left_yaw=0.2558 left_pitch=-0.4281 left_roll=-0.0299 left_gripper=0.9968 right_x=0.5884 right_y=0.0877 right_z=0.1055 right_yaw=0.6112 right_pitch=-0.3551 right_roll=0.172 right_gripper=0.0374 state[joint_eff]: [-0.1983, -7.8154, 6.5573, 1.2088, -0.1587, -0.022, -0.0073, -9.8667, -14.2564, 4.7248, 1.3358, 2.1954, -0.2369, 0.2906] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 381): [image omitted: streamed camera frame] camera 'left_cam' (step 381): [image omitted: streamed camera frame] camera 'right_cam' (step 381): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"At maximum reach the arm could not realize the requested lateral shift, but the horse is now wedged against the inner near wall of the right basket. I’m releasing it in the most supported position available."})
tool
executing move_to over 10 steps (1.0s)
step 391
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]: [-0.152, 1.6157, 1.3067, -0.7177, -0.2085, -0.3943, 0.9968, 0.0238, 2.4615, 2.3116, -0.8978, -0.4282, -0.3874, 0.9952] state[eef_state]: left_x=0.4106 left_y=-0.0223 left_z=0.1507 left_yaw=0.2554 left_pitch=-0.4278 left_roll=-0.0304 left_gripper=0.9968 right_x=0.5897 right_y=0.091 right_z=0.101 right_yaw=0.6207 right_pitch=-0.3568 right_roll=0.1665 right_gripper=0.9952 state[joint_eff]: [-0.335, -7.7197, 6.5573, 1.2137, -0.1441, -0.0366, -0.0122, -0.5402, -15.3094, 6.0513, 1.1111, -0.2515, 0.0855, -0.2076] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 391): [image omitted: streamed camera frame] camera 'left_cam' (step 391): [image omitted: streamed camera frame] camera 'right_cam' (step 391): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 7.34 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"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8005, 0.6159, -0.3798, -0.0219, -0.033, 0.9995, -0.0154, 0.7986, 0.6106, -0.374, -0.0128, -0.0261, 0.9992]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1837 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2967 right_y=0.0013 right_z=0.1829 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -1.7983, 9.4154, 1.7558, -0.022, 0.1587, -0.0611, -0.8684, -1.6479, 9.8393, 1.7656, -0.1148, 0.0708, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36819e9a462648da0cc1bbfb8d2f1008f4a981f6c3013eeb7c355a58927562ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:761974927f7610b0c3c3f3e4e78175f1de82c6807f838ed9d4635167d5ffcc6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2464e2eea7f2d438eeb2c0ec4e1c05b48cff662072e3e5b175f5ad0510d0059",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 3.364 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_069ce64dd6877bf8016ab449c0bf7887d0be92b1dd132764ae",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":0.045,\"left_z\":0.14,\"left_gripper\":1.0},\"note\":\"I see two turquoise baskets at the back and several plush animals clustered between them; the gray plush is the clearest isolated first item, immediately in front-left of the left gripper. I’m moving the left hand slightly forward and toward its left boundary above that plush to align before descending.\"}",
  "call_id": "call_1mZTeKac7ImfPbyQJyvw3j7P",
  "id": "fc_069ce64dd6877bf8016ab449c6448887d08669f90bf7e374e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1mZTeKac7ImfPbyQJyvw3j7P",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2184, 1.0359, 0.5243, -0.1013, 0.1616, 0.0792, 0.9996, -0.0154, 0.8024, 0.6086, -0.3782, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3261 left_y=0.0469 left_z=0.1311 left_yaw=0.0227 left_pitch=-0.0394 left_roll=-0.0121 left_gripper=0.9996 right_x=0.2961 right_y=0.0011 right_z=0.1801 right_yaw=-0.0002 right_pitch=-0.0099 right_roll=-0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.0068, -3.5624, 6.8855, 2.0049, 0.1538, 0.1099, -0.0659, -0.3487, -1.5658, 7.2547, 1.7851, -0.0562, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eba1a5759daa47de9a346a3ef846addbc1505346d77e150eedd9f02602c083f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77441be5f3b3a222897f3a0c62d04e4fe9a79563f7c2406b9f4d83578973c4f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c79413b8537aea34ef9c78657497122f131ae584bdf4f04e9ca73a6489ce011",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 2.108 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 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, 0.8005, 0.6159, -0.3798, -0.0219, -0.033, 0.9995, -0.0154, 0.7986, 0.6106, -0.374, -0.0128, -0.0261, 0.9992]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1837 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2967 right_y=0.0013 right_z=0.1829 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -1.7983, 9.4154, 1.7558, -0.022, 0.1587, -0.0611, -0.8684, -1.6479, 9.8393, 1.7656, -0.1148, 0.0708, -0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2184, 1.0359, 0.5243, -0.1013, 0.1616, 0.0792, 0.9996, -0.0154, 0.8024, 0.6086, -0.3782, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3261 left_y=0.0469 left_z=0.1311 left_yaw=0.0227 left_pitch=-0.0394 left_roll=-0.0121 left_gripper=0.9996 right_x=0.2961 right_y=0.0011 right_z=0.1801 right_yaw=-0.0002 right_pitch=-0.0099 right_roll=-0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.0068, -3.5624, 6.8855, 2.0049, 0.1538, 0.1099, -0.0659, -0.3487, -1.5658, 7.2547, 1.7851, -0.0562, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eba1a5759daa47de9a346a3ef846addbc1505346d77e150eedd9f02602c083f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77441be5f3b3a222897f3a0c62d04e4fe9a79563f7c2406b9f4d83578973c4f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c79413b8537aea34ef9c78657497122f131ae584bdf4f04e9ca73a6489ce011",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEnMUF_NkM3A2Chz8qu40cI6UcTV6XSXIhfljC3SAL56BtWFM2I-4wzuJJQbUyWi4_K59VLdLjTdxdRycElkuLjlBbxMDmlM92Ib46rMYr86TqeiRexaOMdhOFPfsNIrrpJuYl41FNzupnAcNgcAFy9cj9qfMTT1NZda02PbG6S9BcMdneLEVYuA9fpNhysmYKgRZ7BFSMVV1rpxGh4dnYlzn5HDvvg7Rsi1a4k-PUdi-bjKdKjePmfJoG3v9PRHBNu-KYhSkgZevVROnGqrdpiNvAlRdruwOMEMJPdPxk_C62ZRarpfTXlaoUq0H2VdEyK2L9OrdDKCagGu-RI7JYDPWW2XfArtjaZ_yNxpB-ywBIbfDnNFkmfJH5AiP4x7t4jqeCfP7F2h3jTnvJh1h-MJ5Jgyz38hJonLOpjb8P1MfYUMtbJpkWyxTFsspX9hp36IJRoNqplWK7UuXes9s5PDFpEpXT9nEaMrmqGzN9NUGLsv-Zzat-bc9cF9xGZt5NMy9taKGPaxkDOK18P0eeRYHLhWDY6LJHIQAuH5WuYzEA4jlYIvz0zEeJFsGcqCnmJOGoKAeNBoHmWJHrCrAadeFRzfmxglD8IGJhia-ATYaTs5kTBD1xaMqqrviu3ERt76hdkeirqXbEOoWIZMQsOeFWLjuMy-LQGCcPeDDwStxIkJY90VK0NC4nSvt32ovXp_zjuem2PfCnjMk96mjQ92TBQ-G_MBhNHgq5z3oBBvUiZY4X9fZTS7Zb4QSpIEWT-M2zVsSs4u3p_bibXe_N_Ni5rHV0o0hQ0I1z-wiqwrw8sJ6_5Tfa8QvlcMTKV1F3PynB_NZe4Auc2Hc6uH1N7y0yv07ViggiutjJH4_ZqoLHn7228CEcenqJvrHpOuYmdMmP0YNboBM107SgFxUmSfidCE76rSPWabmK7yUINZC_7U9BBCL7Cgw_FnH2PVpWKxUXGXbsvE1V0OnJHqwfTJNQiUKQ82wBT2YJx2oRuJO21Hyq5E8Rdu1vDHO0dz2ydTlPiJHIVyBPkxn6-_fZCjlrO_dpI-k8JwCx7DcQBOvIgnOBR57FAoSHN2Qrz3j3AsRJ__zGHG_U8iZtfZTA6kiYX95Wx5eZnB--XPHxKRS1XXtPigcQnfsfhgs6wS-FysVJarwedIcumaSLACYaiByRRon26zlCUqPtLQzmK0bllgk5yRMTps5bLkVVPe8uLQUrUxv6DOtJqbSDEk9BBBN3MyDstiOs-FbicYARLuVxVUkb4jGnn4zYkKZ8sMdsqH89DOzGvaQqD15P_tiV0ZRJsx_84MxEwkD5ZkBGIA0-nxu__UMy0xCIh1zriesXwyVb7M5DXsEL4Fpm_dbuN5cQHDsd8AIw0DgIX1ceG2hAYwsOWhLGIaZWpBRFE017kD0oV1rPx-xO5Tvrlh8OIV9RXa2BIwUSxcbHvI9HDMvkxgBMh4GimwY5jI6XYhTyHORqLZglVbbLF9Wo-4NWwfmv8U7i7xBB-YRpVoSwMVPxvQHeH_fCXmMT5slSzEgxLDhMAZ-09u_Je4RLhWAjhbum2eJktgfVEYZzpLcu41TRWzf0Foo67tZ2FhBppGxS6MezohC05ldKlGW3eqS2KfjcGlmxfZVpi8T8QCDqfdZnDT2D4dw6ypqvJpswVKo8g3RACGrpsPTnN1m0lan5C-u4_RcE_TzY-Lql9iniLlY6QniDDYXNXMYWImsc9sfbhdzvGSpiHG1tjQF6j8_OdmA5LzcPE8I1Pb4febqJPTzXyMg-NA9DJRx--PdsaDiKC6Zbn0moSWipYQRDU1-aHqExKAafTLXuQkWrOZekeMG8Y=",
  "id": "rs_069ce64dd6877bf8016ab449c99e2887d08ef9a62a270b1a85",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.055,\"left_gripper\":1.0},\"note\":\"The gray plush is now centered on the left wrist camera’s jaw column and sits at the bottom edge, consistent with being directly beneath the fingertips. I’m descending to mid-body height while keeping the jaws open.\"}",
  "call_id": "call_CRcbcqUbJhNhTbCoVEhH4q4w",
  "id": "fc_069ce64dd6877bf8016ab449cae4b887d0bc78dbfb70629707",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CRcbcqUbJhNhTbCoVEhH4q4w",
  "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]: [0.2184, 1.2671, 0.3035, 0.3283, 0.1581, 0.075, 0.9996, -0.0154, 0.8051, 0.6086, -0.3847, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3245 left_y=0.0472 left_z=0.052 left_yaw=0.0276 left_pitch=-0.0619 left_roll=-0.0179 left_gripper=0.9996 right_x=0.2954 right_y=0.0011 right_z=0.1781 right_yaw=-0.0002 right_pitch=-0.0191 right_roll=-0.0008 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -3.3026, 5.3128, 1.6044, 0.0952, -0.0415, -0.0611, -0.2393, -1.4701, 7.1179, 1.79, -0.0269, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58a8bc05cea9a7e5cc80d8b9461ce5d67609d4d88979eed28af340553922b311",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a6cf52bcfa2088ebf494805d25a66d893022f79d89f1a7a0201dd8193f92cab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a34471f0373c0f067041d63375883d61370f265e8f2298f43ff35b089664291",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 3.272 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2184, 1.0359, 0.5243, -0.1013, 0.1616, 0.0792, 0.9996, -0.0154, 0.8024, 0.6086, -0.3782, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3261 left_y=0.0469 left_z=0.1311 left_yaw=0.0227 left_pitch=-0.0394 left_roll=-0.0121 left_gripper=0.9996 right_x=0.2961 right_y=0.0011 right_z=0.1801 right_yaw=-0.0002 right_pitch=-0.0099 right_roll=-0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.0068, -3.5624, 6.8855, 2.0049, 0.1538, 0.1099, -0.0659, -0.3487, -1.5658, 7.2547, 1.7851, -0.0562, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2184, 1.2671, 0.3035, 0.3283, 0.1581, 0.075, 0.9996, -0.0154, 0.8051, 0.6086, -0.3847, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3245 left_y=0.0472 left_z=0.052 left_yaw=0.0276 left_pitch=-0.0619 left_roll=-0.0179 left_gripper=0.9996 right_x=0.2954 right_y=0.0011 right_z=0.1781 right_yaw=-0.0002 right_pitch=-0.0191 right_roll=-0.0008 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -3.3026, 5.3128, 1.6044, 0.0952, -0.0415, -0.0611, -0.2393, -1.4701, 7.1179, 1.79, -0.0269, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58a8bc05cea9a7e5cc80d8b9461ce5d67609d4d88979eed28af340553922b311",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a6cf52bcfa2088ebf494805d25a66d893022f79d89f1a7a0201dd8193f92cab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a34471f0373c0f067041d63375883d61370f265e8f2298f43ff35b089664291",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEnPsLJrbEyiXPw-IjzJUHR5uhQ3a-3plH3y4R1uvupLmh8-Hjei2D_oV5eP-L3XDwW4uIrZkdPVJEevj3yxf6fvwWAGDUsv0LMejr7YebNC-oNkDZZBk60j0kArjrRSqQ26PynSoJ89AZBPFJ7-8zgjFcsHklKr3H1N6KjMO2TnUGE_TnO5vSQ76hTcBq3TMrNpMPeL_iU5znlKOgHF6Xk0jhTpXAfUupyd15E94FjGr0AKLWoXRlk5YywPyRjhabS0qgfDRRJZUwP7L1YpRPiohVgHsG1ZZH_TD9IAsoyRPkecpPUUzL02RA2jWyuE_qtyFFbRQLJwMiCJcxZibBdM1_trJx_iWs17Z0kgAPuSbKgv5siA6w1FxehEFN4pIupC8TxjrKxWNOyNuLV6iV2SvXnVXXNkLJAUu5VJX9HcXhAmb-o8O8uy_x9q1i_8TXgtc0b9Q9KMDTnwXPWPyfPAl1xhKL5Jjh2W7n6HQssKjij7bIrSLNThkxNH4jTOa0PFSVlAvIz4Tcitz-R2ahjpcqSTTqyGjtZ3-fGf0mJU43Z2wDBYB1Cuzck7X7eLmr2lmTpHMGOh46H7enkxGjP5Tm5Jf-_X2po62-Ik_rKbRroXQbsbHsaQ_rMY-q7rSYrqr1yUuJ37dgZl76s8FFSPYhMix5aB0Nb7eVKSmwR5PUsp6cTnOMdbVnUGl9pMSb7MYAcd_iekT30-SBom4O2eH3Zkewrf_ed6PrtmoYybnXGoRpguhg_RyuOuv0l_PiRgv_KiAe0j9Wzt9fOZnKYsKxuA-m4i8OF2AmRykGejDTH1vfLVmcqK6kF_Jd2tK7U3CctjMS4dR5V0nAIkgFSH0-KohmDNnS6G30kJKDmolXljtmvCl1_4lUEy65veSI0UNMJzAaJCm0uUua5Y68IYHe12PU-zHvVlDWX6p6UZsZ9S1eg-em-vXgesRsQga6y6M-e00gVTz82xpchSDGNjZ7_UZnYpHQZEZWIqhFnVuaI9Hh9cvbI_BT1x33OOz2Zf-UWHtsAmL5T-htkQhmFSFW9FiaZAEo8JXMqp5JORYmk2VqP4_GsYDXtyi3Ko22VX08dFJ1lzDOTanB7Cydtm7vnvCIp_ApujbWdEO1FG1UWLfvOy6ZZ4FsPYcdv2usvaNlOkXxXQN1QKu7ZpXr_qMSUKa8Pukpje2b_Rfw87ltw=",
  "id": "rs_069ce64dd6877bf8016ab449cecc7087d08cbb728b80539b34",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At the lower pose, the gray plush fills the space between the fingertips and remains centered, so the grasp height looks appropriate. I’m closing the left gripper around it.\"}",
  "call_id": "call_cNISkiKTwMmDnshazmF3dbhS",
  "id": "fc_069ce64dd6877bf8016ab449cede0887d08f715ff8a9a85367",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cNISkiKTwMmDnshazmF3dbhS",
  "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]: [0.2184, 1.2667, 0.3008, 0.3637, 0.1585, 0.0677, 0.0376, -0.0154, 0.8082, 0.6086, -0.3847, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3287 left_y=0.0481 left_z=0.0581 left_yaw=0.0315 left_pitch=-0.0293 left_roll=-0.0178 left_gripper=0.0376 right_x=0.2956 right_y=0.0011 right_z=0.1772 right_yaw=-0.0002 right_pitch=-0.0221 right_roll=-0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -3.6171, 5.9145, 1.3309, 0.0415, 0.0122, 1.0281, -0.3624, -1.4564, 7.0496, 1.7118, -0.0415, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c3417d03a37635aea77fc377ef84dc295bab8229e0c8369287fc6325de9ee5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5100a4fd4fd8917a1b43332e4daaf376c969b8c6542e0b507a8a8cef191cc039",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a61ddf0e9b950ed5c076f48e7cf2832f510dbd23dde095f59cba39238abd824",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 4.569 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 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, 0.8005, 0.6159, -0.3798, -0.0219, -0.033, 0.9995, -0.0154, 0.7986, 0.6106, -0.374, -0.0128, -0.0261, 0.9992]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1837 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2967 right_y=0.0013 right_z=0.1829 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -1.7983, 9.4154, 1.7558, -0.022, 0.1587, -0.0611, -0.8684, -1.6479, 9.8393, 1.7656, -0.1148, 0.0708, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2184, 1.2671, 0.3035, 0.3283, 0.1581, 0.075, 0.9996, -0.0154, 0.8051, 0.6086, -0.3847, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3245 left_y=0.0472 left_z=0.052 left_yaw=0.0276 left_pitch=-0.0619 left_roll=-0.0179 left_gripper=0.9996 right_x=0.2954 right_y=0.0011 right_z=0.1781 right_yaw=-0.0002 right_pitch=-0.0191 right_roll=-0.0008 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -3.3026, 5.3128, 1.6044, 0.0952, -0.0415, -0.0611, -0.2393, -1.4701, 7.1179, 1.79, -0.0269, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2184, 1.2667, 0.3008, 0.3637, 0.1585, 0.0677, 0.0376, -0.0154, 0.8082, 0.6086, -0.3847, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3287 left_y=0.0481 left_z=0.0581 left_yaw=0.0315 left_pitch=-0.0293 left_roll=-0.0178 left_gripper=0.0376 right_x=0.2956 right_y=0.0011 right_z=0.1772 right_yaw=-0.0002 right_pitch=-0.0221 right_roll=-0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -3.6171, 5.9145, 1.3309, 0.0415, 0.0122, 1.0281, -0.3624, -1.4564, 7.0496, 1.7118, -0.0415, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c3417d03a37635aea77fc377ef84dc295bab8229e0c8369287fc6325de9ee5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5100a4fd4fd8917a1b43332e4daaf376c969b8c6542e0b507a8a8cef191cc039",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a61ddf0e9b950ed5c076f48e7cf2832f510dbd23dde095f59cba39238abd824",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEnWMF1AOOe57x1nxYixceVvi2CAn7VaGzuQacoFWNnEu_9vmf0ZcvrqhAURsO9zeg-OALyQ8X5IBkwefewdYiMogXCbCnFrztHzeRzypevdt7iJTImXT3hvpqFpHpfDdToWTecWYSC_CGAyz074CLQFPwk5l2_0iL3cyTALHcvc3FfrQp8_eYjNPjfqYqVkvlMgSIYYZi0_kYs0ZT8zHdSa9VWqywiB4JWw9frLcb5tBNB8NfvA3lUjtOEMThpB4O8Bcbqo0cY0a0s8NtVTx2bYnFGki9_2esWkhG6O0wULRvfutJo8Djx4oeIopxHCmaPzghyHMHrGdTNZCGUjl-QmNPxz4WKJnXQ9K1QqiSKmfAsTXiCmexekcubc8thnCd3lba548SOrvT4hYQV9cT_o801qwMs2McxsFT-S-CV515_solP0WDhPorhKfcJpYLlDwPwCKF1FUeazuz2OWxMvqMNihPGITy3oaT0ZwSqFjwqSAm2w2of2VPbrMcI6Sh8hFE_zmOyyOrpUYqE-DMVNgKa0Ivu8qDLBcekntGE2uhMDp0gisYHMK1E7z7G3jwwu3n44o2CUm5cOZaZLY_oWDyL_H0n0FrDBZ15dpf8OSfnb8fXKjCesaWOmBF3wI-B2A_GGZDlOsW-gzvMTKbfjdNLdpsqiBCnKcQSzIZxqLUHWSxBkXhsohZH0_8pW8fLW9md3Nk7t98QRkKIBAU_KB6uxUBTmbPR_yfOiilah_Xty6-iZxzPTK-dQkMft0nRQJYX6SOcXlqD88aQm7J5-XKtu3O2-p-An-O_aHf6TmXzRebd_GvtNMlv-sm9wzk00jQtLcp1JgveFqytaVNKhtaHEuMmO7Ts8fW4whBMyOriCswyxOEtbxfDedzKvO9Crju_92lAgg9p0JoyzD4w1JoggGHGYJqx4XGgkZYMxljb_qoAevkLv2JEhTSB0qph7JmhS6JfAKCALSPCRi-P6RYHwS2bnrk_cswtFpIREFbxvKSnSHOG6S8Suj_XiForclDjJ7ukumQwuLzExmVAoeS4o9HSMZrEEOALAcDV_OJTVJf3ShlEI8_bBdI_B6ebp8JUtqWRE074MoyQYe0H-iR78pLTwLy5aJ7RY817OtHLNvySaXPzhQeINTzkZmonAEuF_nE08FhBMVekx5l-2pLrZzbFJRyNd8Xp4DF4GYuikpWiz3YDT5P8HDLTFRZT32Z_nyc5jjlHgKF1RMhTVA0Co0VVdI6eNUGI5GO6CW5I3yrdAG8cjlPnYp7oV5TeTH6_stpwzucWFJ1_G3-mN8lkGaQY4h9wyCSETX3zckggTCOwhUtZSsARNvTbG8SZFHESRbIHigfp_cRzu_yGBoWp2l6XjodZ8WhOh1Nnr2Vm4QecCl0yjeOpezmHjLotOyUklKfepiAZng-Plrid_i0mu21kSL6-ccWY7wUPJnXuICspATNgUGPa9gXL0_HCSzoND9REpdIBSSEewigzq2OzvGZ-2k8cpqtljutDFx65L_rUk1EJAAO0o85KNbpwf",
  "id": "rs_069ce64dd6877bf8016ab449d52d7087d0aa433dba312e93e1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.17},\"note\":\"The gripper settled at 0.038, which is right at the empty-versus-thin-plush threshold, so the reading alone is inconclusive. I’m lifting straight up to verify whether the gray animal moves with the hand.\"}",
  "call_id": "call_9AKBEim59nEwld35avce0JVW",
  "id": "fc_069ce64dd6877bf8016ab449d5ce1087d0ad6cc971996e98d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9AKBEim59nEwld35avce0JVW",
  "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]: [0.2184, 1.0256, 0.6308, -0.2504, 0.1574, 0.0631, 0.042, -0.0154, 0.8101, 0.6083, -0.3851, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3253 left_y=0.0475 left_z=0.152 left_yaw=0.0345 left_pitch=-0.0718 left_roll=-0.0289 left_gripper=0.042 right_x=0.2957 right_y=0.0011 right_z=0.1764 right_yaw=-0.0002 right_pitch=-0.0248 right_roll=-0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -4.3419, 9.5521, 1.6435, 0.0024, -0.0269, 1.033, -0.253, -1.4564, 7.0906, 1.7558, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb3d13c06e65bc3b2e13359a0a69a97555c3886a35a0441c65fbcadcb705bef8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21a331104e83308f235feaf69df67ab38017a2b3ba1e21b1aac5618daca86edf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8caa5d0689bfde9e9ead90e00762ecde24ed0c6472d743f7a724f0c4e2d35216",
      "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 · 2.686 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2184, 1.0359, 0.5243, -0.1013, 0.1616, 0.0792, 0.9996, -0.0154, 0.8024, 0.6086, -0.3782, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3261 left_y=0.0469 left_z=0.1311 left_yaw=0.0227 left_pitch=-0.0394 left_roll=-0.0121 left_gripper=0.9996 right_x=0.2961 right_y=0.0011 right_z=0.1801 right_yaw=-0.0002 right_pitch=-0.0099 right_roll=-0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.0068, -3.5624, 6.8855, 2.0049, 0.1538, 0.1099, -0.0659, -0.3487, -1.5658, 7.2547, 1.7851, -0.0562, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2184, 1.2667, 0.3008, 0.3637, 0.1585, 0.0677, 0.0376, -0.0154, 0.8082, 0.6086, -0.3847, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3287 left_y=0.0481 left_z=0.0581 left_yaw=0.0315 left_pitch=-0.0293 left_roll=-0.0178 left_gripper=0.0376 right_x=0.2956 right_y=0.0011 right_z=0.1772 right_yaw=-0.0002 right_pitch=-0.0221 right_roll=-0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -3.6171, 5.9145, 1.3309, 0.0415, 0.0122, 1.0281, -0.3624, -1.4564, 7.0496, 1.7118, -0.0415, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2184, 1.0256, 0.6308, -0.2504, 0.1574, 0.0631, 0.042, -0.0154, 0.8101, 0.6083, -0.3851, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3253 left_y=0.0475 left_z=0.152 left_yaw=0.0345 left_pitch=-0.0718 left_roll=-0.0289 left_gripper=0.042 right_x=0.2957 right_y=0.0011 right_z=0.1764 right_yaw=-0.0002 right_pitch=-0.0248 right_roll=-0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -4.3419, 9.5521, 1.6435, 0.0024, -0.0269, 1.033, -0.253, -1.4564, 7.0906, 1.7558, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb3d13c06e65bc3b2e13359a0a69a97555c3886a35a0441c65fbcadcb705bef8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21a331104e83308f235feaf69df67ab38017a2b3ba1e21b1aac5618daca86edf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8caa5d0689bfde9e9ead90e00762ecde24ed0c6472d743f7a724f0c4e2d35216",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEnc9FuOAxsHSe7X7t6KMSl4OIkwjc2cvYxHYRxqcy1WETENl1c3QgNdsxqaiZhf-CkpwdtU1fcu1-BYH33OHQWFN0FEELh1v4NlS6KP5z28eLiGc5YdJ-kiG0v4KWzwNSdsqedTLIR9NaevGmCzPw8qO5JFdFUWEgnwLOkIo8WyIxltmOO1ckE3k_L9xk81lfNTTUDzYphj6jh_lSWdxr-s9jN9b9rgpYc5QaUK0AYG3OfcodjOGs84JYeDbBrQJjyIuYMeBEhAWHAYGi-LpT25AjryoX47Y1rkZvrDD67unQf4tphe_ea0sDZ4N7O_aZ-aYCr68Ge37ufFsgLxvOUTtwvvEeSiDQa8wsO88sleLdONHGYkUK8x0XJqtkJwtzfcO1JMQx7Qe1lgrrgqHI8ksGCvmG2W7uhB8jM_Y08fWf7mTj5Iq-F-7NBpiEpq4fPvZcgLz9j3SmovBAUqx3VfLCuVKyfTvQyEfStPnAa-ocShNRbifO6yZnF63zsN9AVMWqpUrjZPrQYVE7PYY1-BrplWTgZ7OsQw8B-VqPCPmHlYkCVbdOW0WKIs-5cZ0PSXl8x_-95lno-koy5KyHRewE1BSEY1tvbSN9t9IXck4tDVZqXcS2bu8tflblAPwR0X8xL2awKodRCMo0N7w7rxOzyVMkO7FQpC6j8FkT9sKRgT8Z2XM-YqMaz5Zi1feakJ3Dp4NCu67AkWFdK0TEGnnzYbxIhkDB34zriDgVFbAOQ4cY7k1NqxQy3TrQ7caa1pAGpauOUAIijSxPJPaaH_LMNVCXrRHMdk9cK28um02X3Cy-3JdC1o9cexGMJ4gwCyQjjec5xMP_p1p8tvV2nAfhwec5xiomIzY06D7pk3Q6M9mDe_S7_kKwB84qX6a2yi8AagjCcsXYz3TmdCkNi55Psgq1DCeM3ZdwVlvZBZfRTEqVh5n5zvl_SzJxPhKBkHVyDfjwhoC0n86FSZ6M8esis1-3NA3zUeoYsjikrznjKYmw2tBaF16q1DWcJ4lxc2ihSKp8KHDbfSin5TWfm0ShXJgPJu67L8uacKc33wcfEhDBYM53nJt2rvhXqUICItgTPiXx2-YTBxkbBssqoym-jrqmh-cxI0zfmL4D4mHC3XdW81E-tlbscYlIdR7NjIbOYXsj-9bQTbprR7OYgHUtm3flkplnYoPhYaPA8eUu9hs8jLcEzLC0TAyEihjG7CtL3cjOFnfQmYk1xI2oka88C9_U5M6Ptuat0p1JhNGk4n-S4ttq9WJERqc_dlkKhYaxnsi9-Ly9gnwg-R7kmyUqBR2mr_LJwjBsPDcnpds3LmzR7-IlMM_2womtci_thLHYs7rYYEe0JHdfYAfcMaq_B8kQtvGCALTz-snZK7HggavUovXjWu1wCAKEsqvvcw8NwwIjHIE-V2j140F2E_-byCvhIvz-zpS-9pcbqM-f5Igh2KLUcnLI4FqwAjp2Ri1Yw72uIBTCmoGQXCJhCk4w2-K9z1PG_ShIbj0yXNpxZDIzOgUD57Y_zuIDM42SqJytZKEWz2z_olZ56mlPciagYbsJ4vexMCINbRmmWLv6YEia09UvVKn_ETWyfxdZlHrIvh7gqxovy2tCBwlR2FzILb6U-pPvSDWaJjphuYqAY-E6i8xhN7wN0oft_SreMmKJKUktqfJYaFYTCqKxzDwUBt56Z4drBBROJEL0MUhk2w0F0Ivs0NnmTCJJwMuB53kzppFPxt41E-geN2CsiHjbfxx7ndrOhA1_R0IQOrqU0WmuDpS8ZzYrhoCSBe9r8qH45mmYyruteg_qyvN7faTZ9Lu_RpZMUgydP2hszFqvN-HssDYy5ByHxuvA49ifUUHxoqFzTGdSJ20ivRD1RuTFfqjPzRBOjH2uPfULYuUWyx8G_O3EZ16O0ww8SCXT39fsYUs3Wx0DAdtr5G7eBmiWtOkrsDff5wCqDzaeTTMXdRd-AzMnMoT7iZXL3QZihoLzCS2L3a4tyfbUbuVm2l5oBhCHxBcMIa7EL281jwHAPqQCJG30mXuDGHerahT9io_e2CYgelyqboJAfqQYF2JqrHp_QAWeGoNyJB4vNTf32hp-38N1z3OZzaQ5KpdWanXc-AnhAT5WbKdr0Qaiq8YITFG3ldA_me-vY0tF_mvvPZUutJ8NOPZdhXzlUOTVvKtCvc1AsfnQyU9w64OkGWOmWSyjvueuQYPdstXKcneC1jR1lGe30cJcEcWswTNqrXYO-Pts0KsIbh_YFGp3aZ65IUGJx2PhE5Qiwqt9Lq6j_smciXuzTs1Oy6sBlKemWnhN4pR_mikvrIY0N0GHixF77DYueirOniHOVdjEXJz5G9Zvg2dXvoi0Mbr9ouw1Pt4DNiA0_-OKLk_vhbO30gVYycHNrkbkyH1P4Zim4y8xn3y3Yy7TYnriEU6u52PcCCz4D_O5C9E1dUVHnglBz96I3XTamBaV_NHkgAA8LfS2bHrD-kjZgyfk7vlv-3dPCi8k96-wkUSVEmDKtiLdBb_Mwg4yiMduUkqOQqDqrmQFdwdeBn9J7nYV7Raf5poWu2W4CO791gY19v4gKBNtO-5ro-mji6yuuVbZUs-7PRJeoZluZnbVYUjpVd62DerNs8_STfJY_eJb6F89MqpCscZYcMFWNiH8CrPLTmqNUh9nsFqL43tviX4Jv8UyfT2KYRtj4y77XMC0fpEEZ2VTMP7p8ySjSQ9ULzWtw6dHZh_6yqW4Ks-0xnm77vgSfrCPVqdCw-gIBpg4VT6AHUnt2GRhxJjv7AKku2xIclrSwgcIA=",
  "id": "rs_069ce64dd6877bf8016ab449d9528087d09cad0aaed86ec11c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.14,\"left_z\":0.2},\"note\":\"The gray animal rose with the gripper and its long ears identify it as a rabbit. I’ll use the left basket for rabbits and am carrying this first one high over that basket’s center.\"}",
  "call_id": "call_X13AhJYHcOrDAyt97PXK4yUD",
  "id": "fc_069ce64dd6877bf8016ab449dc183887d083c049567623f1bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X13AhJYHcOrDAyt97PXK4yUD",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4206, 1.6966, 1.3148, -0.3801, -0.3447, -0.3519, 0.0455, -0.0154, 0.8146, 0.6083, -0.3851, -0.0116, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.4584 left_y=-0.1357 left_z=0.1753 left_yaw=0.0446 left_pitch=-0.143 left_roll=-0.017 left_gripper=0.0455 right_x=0.296 right_y=0.0011 right_z=0.1752 right_yaw=-0.0006 right_pitch=-0.0294 right_roll=-0.0008 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -8.8, 10.1128, 1.8437, -0.2857, 0.1783, 1.033, -0.3897, -1.7026, 7.0632, 1.6972, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65daf8ad285924314f5ee6b7411372da450011732cd1d97255e5eb5ac66671fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8aa69fcdf6478c71a3b6c52ab29a878067a4a7f16009f4c380f8a07bc96273e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06e1e59775f04ab310b3e58842999c75bbc085ec8c57b65e308760d8df43ec51",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 2.187 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2184, 1.2671, 0.3035, 0.3283, 0.1581, 0.075, 0.9996, -0.0154, 0.8051, 0.6086, -0.3847, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3245 left_y=0.0472 left_z=0.052 left_yaw=0.0276 left_pitch=-0.0619 left_roll=-0.0179 left_gripper=0.9996 right_x=0.2954 right_y=0.0011 right_z=0.1781 right_yaw=-0.0002 right_pitch=-0.0191 right_roll=-0.0008 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -3.3026, 5.3128, 1.6044, 0.0952, -0.0415, -0.0611, -0.2393, -1.4701, 7.1179, 1.79, -0.0269, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2184, 1.0256, 0.6308, -0.2504, 0.1574, 0.0631, 0.042, -0.0154, 0.8101, 0.6083, -0.3851, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3253 left_y=0.0475 left_z=0.152 left_yaw=0.0345 left_pitch=-0.0718 left_roll=-0.0289 left_gripper=0.042 right_x=0.2957 right_y=0.0011 right_z=0.1764 right_yaw=-0.0002 right_pitch=-0.0248 right_roll=-0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -4.3419, 9.5521, 1.6435, 0.0024, -0.0269, 1.033, -0.253, -1.4564, 7.0906, 1.7558, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4206, 1.6966, 1.3148, -0.3801, -0.3447, -0.3519, 0.0455, -0.0154, 0.8146, 0.6083, -0.3851, -0.0116, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.4584 left_y=-0.1357 left_z=0.1753 left_yaw=0.0446 left_pitch=-0.143 left_roll=-0.017 left_gripper=0.0455 right_x=0.296 right_y=0.0011 right_z=0.1752 right_yaw=-0.0006 right_pitch=-0.0294 right_roll=-0.0008 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -8.8, 10.1128, 1.8437, -0.2857, 0.1783, 1.033, -0.3897, -1.7026, 7.0632, 1.6972, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65daf8ad285924314f5ee6b7411372da450011732cd1d97255e5eb5ac66671fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8aa69fcdf6478c71a3b6c52ab29a878067a4a7f16009f4c380f8a07bc96273e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06e1e59775f04ab310b3e58842999c75bbc085ec8c57b65e308760d8df43ec51",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEnwQSwOzJksZD_jF-sAbkOdHnZ8Wl72HQbfGDnA6KHPwPS3yCj21OP_b6mREdcqCHhOelxjHHudFTS7X_5-Nj4q8gtToh3LM346-L6yuM_y4S_xuHayzl13A-X3TkoltyCY6pjldUEdAbLiHqa_1R2AfI-P655pno0UJfj1m3bKZXn_Nr5niH6cxHieAJ2pmYaBqlxybg_TpsG73jfwUebqa9iYrpZn7kLfl_3VALGAE-zA6IrR3tL1MFApX3Ym6H5F_VzHx7xvA7aHqQ_nOBz6paELZ-U29uHaIRVNYxuW5YbHKraGPZkw1Xr7nGd4oydXgEj8Mxk4BPB8Eb275y8lagK_pzi0_q1WzltdJ-JJyoQ_iLt1Em8L1TsEtXoAvywMiEHbhI6CWyCFRgvFSvNu0j1_wFijweRGy4jULeXhRd9pwo8BFxIpVBXHiqqC0UzBz03aQmzwyM5-nZzDK_fxNqZY3S4rsniMS2uQQNlHuSkhUhdxOcLEXVZRb8zOiqEbJQBClWLcRN2O7VvJzB22pDz98tdVlAPFqlAkxVNYI_1bYzGHQHWZyIGZ8-lCQCQwQw1yhpWjFYrf129PpluczAuQXjQR34QaDn738Lnzw1NVcKu2eOQRp3aPkG2BWSYVAFdYeh8k2NFWAGWZL-yw3nfwhALyzUqEMmwIgicA_UXBbW1VMAVdGV52hGfRrL-O4URkLHlCNDQeeAhYL-3gOIsutC7gKO_ksN6OHYSawGcbvMVGsrv8IsQqZL63H86db2xDXLhDfByxt2iQJD05nVEU8C99qyb87dyA3LeyU8ZsKzIh9nzZVDTrR3kDDjbxB4gwKLi39MQIBEspoKnnKa7Cx1K0ALgF2j1PJReZokY9CwGLme5UXIeyBZQGa1Dq0_ZYFk0zxzMKhQJtJGjysvNhB7Ptd893n9ci7EtEGrhWA3TYY4U5hzIHkOqZLLiPiLGZ8FRIFx0QKhBB1LfsVwF-Onpg7QKb2SPa9_i8QAI9rfZlaIZ-95DYsfrY9wNp25nUJtJmrugW6v5u4ESbK5_qFCp0dDcBTxQNMs4rvPgFTVPUY7kUAcOHdSC9N5uL5AlT4ZOPl7WZLKpy0pDVv1_O8nJ6e9o5m3MbJxNv-NH3Pz1HEl26g7cL9yp0Jw_XOQ-IWYphFUoiYoy1tYeuBGOae_zcmY7EIFT0K5bngEJ-0enbbZ71XuYW7Z-hzu0Qv9MDZxOxHN4kfrrSsaOZaLC77aPWvNtzCRi78v5ACG5hCKucY-VTkXtwdkmxw6gsqc3OVYAYLo4M7jKhI0BkXldvjOH-MZ4dp91r62CkcrjHYq-5v-3lKEx63YG-73sAdq4yAZvGsx7-yi9VKR6jiglx3wZZK3IKlQGlbs5Oq9Jk4S-UrgD_s3ASgljmVmzgkTUZcr708yw7d0_CF-CnxHJiC_3gfb9N4Rn0k7aCh83I5qxNcFjQS-i9QpqrQ46L8f9uUIccEd3KhZYtKswxhDhnxPo7pIwSbE0fJC_tkMQCf_5O_4v5yyazeXE7Ji0FY-UXqtpT5hB0u4A__wugkg==",
  "id": "rs_069ce64dd6877bf8016ab449ee7d0087d0aaafa5e69ec04954",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.085},\"note\":\"The rabbit is suspended over the open interior of the left turquoise basket. I’m lowering it inside to just above the basket floor before release.\"}",
  "call_id": "call_8LWRNVVOWE2eIup7T8QM48sz",
  "id": "fc_069ce64dd6877bf8016ab449eefb8487d08e4bcd2d825c3c7c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8LWRNVVOWE2eIup7T8QM48sz",
  "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]: [-0.4252, 1.7355, 1.1198, -0.0002, -0.3637, -0.3557, 0.0455, -0.0154, 0.8146, 0.6079, -0.3851, -0.012, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.4738 left_y=-0.1416 left_z=0.1442 left_yaw=0.0526 left_pitch=-0.0074 left_roll=-0.0757 left_gripper=0.0455 right_x=0.2959 right_y=0.0011 right_z=0.175 right_yaw=-0.0 right_pitch=-0.0298 right_roll=-0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.1846, -3.2752, 3.3983, 0.4957, 0.0611, 0.0171, 1.033, -0.3761, -1.2239, 7.0769, 1.7705, -0.0317, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:014f78c257ed74b327f81046ad26b31fc16da6108256de33d9713ba0ee30761f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:079cf0901888328bbe02ab17f5d06a570040b1a29ac421635b3f2cb973bf3660",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e55fa362c49759841d8860bb7e62e3891f2373bf3dc6de602cad90da7458295a",
      "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 · 2.445 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2184, 1.2667, 0.3008, 0.3637, 0.1585, 0.0677, 0.0376, -0.0154, 0.8082, 0.6086, -0.3847, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3287 left_y=0.0481 left_z=0.0581 left_yaw=0.0315 left_pitch=-0.0293 left_roll=-0.0178 left_gripper=0.0376 right_x=0.2956 right_y=0.0011 right_z=0.1772 right_yaw=-0.0002 right_pitch=-0.0221 right_roll=-0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -3.6171, 5.9145, 1.3309, 0.0415, 0.0122, 1.0281, -0.3624, -1.4564, 7.0496, 1.7118, -0.0415, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4206, 1.6966, 1.3148, -0.3801, -0.3447, -0.3519, 0.0455, -0.0154, 0.8146, 0.6083, -0.3851, -0.0116, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.4584 left_y=-0.1357 left_z=0.1753 left_yaw=0.0446 left_pitch=-0.143 left_roll=-0.017 left_gripper=0.0455 right_x=0.296 right_y=0.0011 right_z=0.1752 right_yaw=-0.0006 right_pitch=-0.0294 right_roll=-0.0008 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -8.8, 10.1128, 1.8437, -0.2857, 0.1783, 1.033, -0.3897, -1.7026, 7.0632, 1.6972, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4252, 1.7355, 1.1198, -0.0002, -0.3637, -0.3557, 0.0455, -0.0154, 0.8146, 0.6079, -0.3851, -0.012, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.4738 left_y=-0.1416 left_z=0.1442 left_yaw=0.0526 left_pitch=-0.0074 left_roll=-0.0757 left_gripper=0.0455 right_x=0.2959 right_y=0.0011 right_z=0.175 right_yaw=-0.0 right_pitch=-0.0298 right_roll=-0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.1846, -3.2752, 3.3983, 0.4957, 0.0611, 0.0171, 1.033, -0.3761, -1.2239, 7.0769, 1.7705, -0.0317, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:014f78c257ed74b327f81046ad26b31fc16da6108256de33d9713ba0ee30761f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:079cf0901888328bbe02ab17f5d06a570040b1a29ac421635b3f2cb973bf3660",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e55fa362c49759841d8860bb7e62e3891f2373bf3dc6de602cad90da7458295a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEnyKhFWleWP5SWPUH2fQdIOw0KPSSalo-f37GDiy4Ci3MIhCQJpg4sOMGEnPrcCBfF3YAd_Kd9JRMGbogQte7wuZLIbY0HZZniZEC__7gINRLtohyqcxYtH7-ifyiOcOCilMh0sbBgGu24KC88bkzVygtSvJNo6ikqXf8NdoeSUpeeUzlL88Dy9zdFgjL2RvgpO9ABBzaLyO0vvsKbcXYYxmD_cJftH1Yhf98TJdf_8H6bVyInrSmfBh-XJnKqYJJhSUiwqDQJj9e9bkSGZYVVSxwrKsm7tvlW4x_Nx6qHiK7D-9fK-SbRZgFbLWIl3WPJxG0FESzDe7X-Ol2-_jgSNrXLLGNdqXlj7Ob1B2woG_i0kgyG2vlVkqur8TDDR0OCp2eb7WiKcPbtxgfzkTrVdH4RjQnk2QrsYEaYolFKskRUx0ECsATlIxJUu6o_MPKbmcYM8KCkzVATlUF3n3NLiuhPk9HGngwyW1ygOTkyRBLKRABPJ8_ByB6aBmBKU30eZKKfx2J0t5QM1JZA7Mfezfp6XB3_7v1JO3yJzZTVj5mhyf-jeTeH5xqCxJCv0dLsY2lloL6gmLvZZJh-c_1IpLBD7xX9eLEgVbBcLlZjhJsGgQwYEVQSM6_mEvm8j6NNEC-_NDEJp0KAfn9EyS8xwPmmbInET8AWbCP64uKYoDHUeX7gOYC64J3-MlvvPeuU41le50SIzYZBrZU3E1rEX3OsuZBoZRsC0Ph41lX2yZb42nG8v-WF38rVrJgCn3VDH5XzHUL9hfApbVMC57IS9rRY1FocrkTxCpmC29MRPDPFl-yNqhsI8_PUSSwlb5bWpdytJTHSYYVVmPqqN7pBlLFU5Hcx_FEUJGAQPd2JkEYYTnmQuuLVlCGZUgzbU1g-l7NrBLy14851kPKFblvOCt_PW431IAm1rLYviC54YhLlj2FCqEyVvVmMSttbxbqfcu9m2QzJtQiAG4anEMef_oYV9awP8qXJetmHnrdS_Y-UuYLTj23L58PHzhRXaCFJMjsDkMcUkykbrHV11XCOmiHrNIgOuMBjlKO8_jm0qGTGBxt7OukEnDftdiG5PhSs7vmqq6tVqbvGOrUiXs0ZdoRrwtsQ7sHRj0d2bTnhZt5e3-vzjh6-w7559mbbzGzOiVXWQUmJkXXBEXEWJfy_mzqxVg3N27nizcfQFfYgFcNoK4oCTENvLi9Wu8dhbp9OUPqz82Kb_1Khi-24UaAgWG44XmHb2PrToEUkrA7MDgAugpBVH-FjfFkwPA8Uv9pKRIS-2x8NnaYHHvDTEGz0AGYPom-44A4EKreP11qL6IS3iuNOWmZ_fZvxT5_Et-YdI",
  "id": "rs_069ce64dd6877bf8016ab449f1d32887d0bd9d452513cb45e3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The descent stopped about 6 cm above the commanded grasp-point height, indicating the soft rabbit has contacted the basket floor. I’m opening the jaws to release it inside.\"}",
  "call_id": "call_x1GBtQuSjt1b57xl6qFcpOhw",
  "id": "fc_069ce64dd6877bf8016ab449f2145087d0b7b772f2ab940b71",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_x1GBtQuSjt1b57xl6qFcpOhw",
  "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]: [-0.4244, 1.7412, 1.1225, 0.0002, -0.3744, -0.3653, 0.9953, -0.0151, 0.8146, 0.6079, -0.3851, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.4749 left_y=-0.1398 left_z=0.1431 left_yaw=0.0672 left_pitch=-0.0072 left_roll=-0.077 left_gripper=0.9953 right_x=0.2959 right_y=0.0013 right_z=0.175 right_yaw=0.0001 right_pitch=-0.0298 right_roll=-0.0006 right_gripper=0.9992\nstate[joint_eff]: [-0.3897, -9.388, 6.4889, 1.6874, -0.0415, 0.1245, 0.0611, -0.1846, -1.3607, 7.1863, 1.7411, -0.0513, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee3d958c88951b1764f43c60d4726ab15ee500f925323f370ed074e25cbaf06d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a6e8a11bdb3a6e0a4e60bea4ed515bbb2a3e507ab108105934bc82cf1f19a47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65b02499f9761e2cbc43d544cab3ecc320f5a010bb904793d22ad139974d2ff2",
      "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 · 14.71 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2184, 1.0256, 0.6308, -0.2504, 0.1574, 0.0631, 0.042, -0.0154, 0.8101, 0.6083, -0.3851, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3253 left_y=0.0475 left_z=0.152 left_yaw=0.0345 left_pitch=-0.0718 left_roll=-0.0289 left_gripper=0.042 right_x=0.2957 right_y=0.0011 right_z=0.1764 right_yaw=-0.0002 right_pitch=-0.0248 right_roll=-0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -4.3419, 9.5521, 1.6435, 0.0024, -0.0269, 1.033, -0.253, -1.4564, 7.0906, 1.7558, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4252, 1.7355, 1.1198, -0.0002, -0.3637, -0.3557, 0.0455, -0.0154, 0.8146, 0.6079, -0.3851, -0.012, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.4738 left_y=-0.1416 left_z=0.1442 left_yaw=0.0526 left_pitch=-0.0074 left_roll=-0.0757 left_gripper=0.0455 right_x=0.2959 right_y=0.0011 right_z=0.175 right_yaw=-0.0 right_pitch=-0.0298 right_roll=-0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.1846, -3.2752, 3.3983, 0.4957, 0.0611, 0.0171, 1.033, -0.3761, -1.2239, 7.0769, 1.7705, -0.0317, -0.0708, -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 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4244, 1.7412, 1.1225, 0.0002, -0.3744, -0.3653, 0.9953, -0.0151, 0.8146, 0.6079, -0.3851, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.4749 left_y=-0.1398 left_z=0.1431 left_yaw=0.0672 left_pitch=-0.0072 left_roll=-0.077 left_gripper=0.9953 right_x=0.2959 right_y=0.0013 right_z=0.175 right_yaw=0.0001 right_pitch=-0.0298 right_roll=-0.0006 right_gripper=0.9992\nstate[joint_eff]: [-0.3897, -9.388, 6.4889, 1.6874, -0.0415, 0.1245, 0.0611, -0.1846, -1.3607, 7.1863, 1.7411, -0.0513, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee3d958c88951b1764f43c60d4726ab15ee500f925323f370ed074e25cbaf06d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a6e8a11bdb3a6e0a4e60bea4ed515bbb2a3e507ab108105934bc82cf1f19a47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65b02499f9761e2cbc43d544cab3ecc320f5a010bb904793d22ad139974d2ff2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEn2SwbfeFRPpel2UxJAgBdnsJQejJ4NTK_4FZMHlEISPMsCbB513WbEQM4ialA4OFULuj92qVncX95lRj4nE6hbeG9zFSce6jLLtbaOZrZ83R9zGh-DKfnvVThbLldTMnneZOKU_3zPgOC47OeX8mP7t2McGnqywVDhb32nlvcNnq4_nIxe90CNdp8WctViB3vimdN2N5VwRrojPpPrIAUMuNckNei8jqasArdXZz5IilP2c_Uv7MQCAuTtMSyuUUUlb3tO_oslm5-HtKLuvVZTQKNKUjsRGPrjOmMbjRaSsP6qtQUEqeOaYpVlm4JrE_4qhIC3abGXu2ZZIpo2wgbFtbc4sYD48OFU59fPQMhoBD4dCyggGnyl-qmsIbGvV4-lDd92or_ImcqPoz87NCoLYgke6JiLuR01jGa-IdsTel7P7ZLjqmlap9RIDgU1hq8RPZkg180sv4wS_btXt3WT4cGBkzpg-K4UxIdOb0iEpGRzoOQK1ErQia_2066Vb8s_kyI431skXWf2ZWQhC40T3s8NwizePckyZE5bp-gqoIKNg8sw7JXyXDb-d87fcJnjF0E8C0_HFB2Vdw0LPNutz58irfB2ju8vwZq394nZgwC12OjNzN-g3cUQDj21df7ri7QsQ3MAzbCosaMztAdCFag5-Pj5CEPDH1NkHHmlWr3654vK1Eyif8sIHSLgG72CJzmpN3fc7JU74qJGN4vh2f3l6qU4uwH1THV8HyQ5r7FISJmrwynuvo2pJbxSLXLuMtRRAJNKfflOwAsV3wHbhiptRr1O6oKyxffOFs-00a7fUVFyiUJpc5dEkgWfUZa1MAi8uxq9-aSCTU2mrR92YtSskRC1EZHFgxSmRVWVsSF8wYACq3BfUEfKB7cB2DjPecHPIKAVGhiBHjzCWuRLDSoAYhWWmeMQoGTRmOaW5AgF4o1QdSADi2J-ZYjMY5VWWhjM5bRdXu-yvXHm68qQ2kle7zbUXrPA2KfW8A0ZV14cVqinP7TNiGSWOzfrhzxpvd-pYr1-rXFRC7-BXAXgJPnfKqNSxOIv5IcIAH04BbwGkfDoYM3GOSY2m8p1HtDFqZEpI2GLLtUPQOcOK1erVK0v_AF2YggQdW7B0Z8ga6DEAS7rpRPFO2pDQ_xID3VXEXNeUeBXo12sKRDI1TveiPiavPmX7tgtDM08tuK8uFstFJhbdanX4LwSe-JFl5szocOn_O3aCANchTa8zQ3nvFr9J3gEZAv90Vu0nIg8YvRt_6aW9y1fPLgeLu3Wm0oXfM_JOfGiChigTVQVau2YKDydbN6S3D_DbP3GNs8IlW7jAWngcMHUZpM2flDVAsLcnKT0p3R9LHTDGkGknLZSRl7mPs0Mq4K0phbu9A-FYXcB4EWMoXlD8aGsBCf7pB3DABgm4zeOK_lQ3EAs6nhUA0UXO1gJRPPht6bGGrClYHk=",
  "id": "rs_069ce64dd6877bf8016ab449f4ccc087d0871a169fa2451f57",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.30,\"left_y\":0.0,\"left_z\":0.19},\"note\":\"The jaws are fully open, but the arm still blocks the basket from the overhead camera. I’m retracting the left arm to its home area to verify the rabbit stayed in the basket and expose the remaining animals.\"}",
  "call_id": "call_cDSz3lVNn2uPjNN3k3XigG11",
  "id": "fc_069ce64dd6877bf8016ab449f562e087d0b8d969a7475466e8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cDSz3lVNn2uPjNN3k3XigG11",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0692, 0.8547, 0.6601, -0.3401, -0.1158, -0.1905, 0.9966, -0.0151, 0.8192, 0.6075, -0.3855, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.311 left_y=0.0025 left_z=0.1977 left_yaw=0.1135 left_pitch=0.0317 left_roll=-0.0887 left_gripper=0.9966 right_x=0.2961 right_y=0.0012 right_z=0.1735 right_yaw=0.0002 right_pitch=-0.0351 right_roll=-0.0005 right_gripper=0.9992\nstate[joint_eff]: [0.1026, -1.5385, 6.735, 1.7021, 0.1734, 0.0952, 0.1392, -0.1983, -1.4291, 7.0632, 1.7167, -0.0611, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9006c87f12fc3d1ffcecd482182fd58472df1b6a5df481d3022b05646f3d504",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84ef334a098d3b619041607d0fa16dbb2d72b248d7378f732a3fc7dfd33404c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48356a9c665ba54bf00d8ecb4a5fa38e9c2d19a296ef9691136f4e15adc384d3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 2.164 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4206, 1.6966, 1.3148, -0.3801, -0.3447, -0.3519, 0.0455, -0.0154, 0.8146, 0.6083, -0.3851, -0.0116, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.4584 left_y=-0.1357 left_z=0.1753 left_yaw=0.0446 left_pitch=-0.143 left_roll=-0.017 left_gripper=0.0455 right_x=0.296 right_y=0.0011 right_z=0.1752 right_yaw=-0.0006 right_pitch=-0.0294 right_roll=-0.0008 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -8.8, 10.1128, 1.8437, -0.2857, 0.1783, 1.033, -0.3897, -1.7026, 7.0632, 1.6972, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4244, 1.7412, 1.1225, 0.0002, -0.3744, -0.3653, 0.9953, -0.0151, 0.8146, 0.6079, -0.3851, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.4749 left_y=-0.1398 left_z=0.1431 left_yaw=0.0672 left_pitch=-0.0072 left_roll=-0.077 left_gripper=0.9953 right_x=0.2959 right_y=0.0013 right_z=0.175 right_yaw=0.0001 right_pitch=-0.0298 right_roll=-0.0006 right_gripper=0.9992\nstate[joint_eff]: [-0.3897, -9.388, 6.4889, 1.6874, -0.0415, 0.1245, 0.0611, -0.1846, -1.3607, 7.1863, 1.7411, -0.0513, -0.0611, -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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0692, 0.8547, 0.6601, -0.3401, -0.1158, -0.1905, 0.9966, -0.0151, 0.8192, 0.6075, -0.3855, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.311 left_y=0.0025 left_z=0.1977 left_yaw=0.1135 left_pitch=0.0317 left_roll=-0.0887 left_gripper=0.9966 right_x=0.2961 right_y=0.0012 right_z=0.1735 right_yaw=0.0002 right_pitch=-0.0351 right_roll=-0.0005 right_gripper=0.9992\nstate[joint_eff]: [0.1026, -1.5385, 6.735, 1.7021, 0.1734, 0.0952, 0.1392, -0.1983, -1.4291, 7.0632, 1.7167, -0.0611, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9006c87f12fc3d1ffcecd482182fd58472df1b6a5df481d3022b05646f3d504",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84ef334a098d3b619041607d0fa16dbb2d72b248d7378f732a3fc7dfd33404c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48356a9c665ba54bf00d8ecb4a5fa38e9c2d19a296ef9691136f4e15adc384d3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_069ce64dd6877bf8016ab449f8b1c487d0a99b13f9b906b863",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_069ce64dd6877bf8016ab449fed32c87d08cc73457c26a1854",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEoGO7ppJrIjmDoZ2w8pfoiBQZAYPpF9vkCIx8QzqsUpuRP9hoh4Pl-40ykkPzGNOHYq4zObSqOzQHW2B9T8PK6LSnJMF3u-nkZY3C_F9a-AHIrckf1DYKK5Igkx-K1xc6ShaVuLIAUfEoq-PA65RyX_tTZYRV6ob9NIgIuT1w1aXNxJEaABdP4Klzi3LXHLeWTzSAtKeN2Cs1Jx-6uFhRGmKssJCm543QU3XK_UY0kVpIGxQXtkNFt5hLsMXdCh3TxA48qWWD8jgcX9vwZzfmR8iqwWveOG-fep2ab0xAvGL0Ez2ECVCVLXHdnlFqloyzEqwy_1kXAmrEOJbERuHFt6pkCFJ7LFc-ubsCUPkOxyQmXkBAqzHQ7wee5QTOd2BELw9tPvZnIcDQS-3GywBzRrqlUzCZA4p_W5g1QXcW4r7lEpQg_ViXkCjGWJiKCw91pr53oBApF7CtAImcQD13xKeSy60MlR16JXhY4LpTqUMa1RhJEe09AHWjfPcL85qLQUYrwzOLR-lKUjQll0murZF05KEPv3fV6yqzHkaQpfSDKLXkIl8-kyv3PGDHCcqfjnlnEVVYON5neyiF9ypK99vdGsce7kYvZtNer2IORYQm5xBb5Y0AgCRXbM_8wMH9GPImxCWoiPQHfev924teR-tcox2vleClZh_dgm_OHBaTkJ-BQMNje63PyKJ5I2WAL6eV7Bb2nppG5Jh4eJ5t_jnCcxtNlvtC-RP-PoTZaYoSUrE6hOJabPOJ1T1OvPaGoJE783RrS3kiCDtdJo9gGA5TesIqWXnnqQsoBk1Ez7TPZXT2aBcLsDK9TijKKWH0VYb-NHJv1W0EZm6Sa2CXcekAjaNqZWstFx184hOCtJvj_BEpq51f0GiOMgkM9fQOMHf70F30hR1aNkbJ_JxfPAXip7GA6VgjzMyXMnMlcH-Ja-Xu_AYDzdLBch2eAGBgwauxfyvgCc6sMM9-9eSnlU5tYesdD_opGLA2iYYocJFE8vLBYyfTFeaWGdPSvJa3fYg63aHjCYkzkDEnU-yMEJ3BIULK6Ih7rMwhut0EHB6tdAMciZR7xDOd6BeNQAm1RSGBHKOrkhgZEv72aAhfOSj423gWhOS0u0tagU2qSiCDStGJHSh4O_zFTKy2QMmUFJksm8BNQIpberorwY09jtHXjgJi-O2A_Y-60Q_TuVwyEZSUL7w_cY92qfYXC4IG1vGx5NsHODt9mPqqQYA-jvdh4SH01hEH5CGeejT8bW1ehZrwQdzt7WcGyd_1gmcrLbhqZXA6yprSpD1N6DWWwuQOM2euXXim9i-ihFCUXTBlI=",
  "id": "rs_069ce64dd6877bf8016ab44a04c3ec87d0a4cce37d6bbfa3c7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":0.03,\"left_z\":0.07,\"left_gripper\":1.0},\"note\":\"The rabbit fell just in front of the left basket rather than staying inside; because it was grasped by a thin part, its body dangled well below and behind the grasp point. It is still isolated under the left wrist, so I’m descending for a more central regrasp before placing it deeper into the basket.\"}",
  "call_id": "call_oYUhfvFqiOCUOr5JzEkSRJka",
  "id": "fc_069ce64dd6877bf8016ab44a0523a087d0ac5d4858004c7bc1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oYUhfvFqiOCUOr5JzEkSRJka",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0803, 1.243, 0.3065, 0.308, -0.0002, -0.1303, 0.9987, -0.0154, 0.8246, 0.6075, -0.3862, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3269 left_y=0.0299 left_z=0.0553 left_yaw=0.1333 left_pitch=-0.0663 left_roll=-0.0904 left_gripper=0.9987 right_x=0.2963 right_y=0.0011 right_z=0.1719 right_yaw=-0.0002 right_pitch=-0.0412 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [0.3897, -4.3282, 5.6684, 1.9316, -0.0464, 0.0855, -0.1441, -0.1299, -1.7573, 7.0769, 1.707, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aab35b883a2f37331601f76c8644c89cb390d974cdd009689e765fc5dc9f6c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3464348ebae35b6ed38ad40eda0453ee8ea61c8f2f4dd03dd0a669193d0c55aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceef40d3edc61b847c67b16648c6442d238b4f77df6d9641b776dac5b90c1ca6",
      "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 10 attempt 0 · /responses · status 200 · 3.392 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 40 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4252, 1.7355, 1.1198, -0.0002, -0.3637, -0.3557, 0.0455, -0.0154, 0.8146, 0.6079, -0.3851, -0.012, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.4738 left_y=-0.1416 left_z=0.1442 left_yaw=0.0526 left_pitch=-0.0074 left_roll=-0.0757 left_gripper=0.0455 right_x=0.2959 right_y=0.0011 right_z=0.175 right_yaw=-0.0 right_pitch=-0.0298 right_roll=-0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.1846, -3.2752, 3.3983, 0.4957, 0.0611, 0.0171, 1.033, -0.3761, -1.2239, 7.0769, 1.7705, -0.0317, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0692, 0.8547, 0.6601, -0.3401, -0.1158, -0.1905, 0.9966, -0.0151, 0.8192, 0.6075, -0.3855, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.311 left_y=0.0025 left_z=0.1977 left_yaw=0.1135 left_pitch=0.0317 left_roll=-0.0887 left_gripper=0.9966 right_x=0.2961 right_y=0.0012 right_z=0.1735 right_yaw=0.0002 right_pitch=-0.0351 right_roll=-0.0005 right_gripper=0.9992\nstate[joint_eff]: [0.1026, -1.5385, 6.735, 1.7021, 0.1734, 0.0952, 0.1392, -0.1983, -1.4291, 7.0632, 1.7167, -0.0611, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0803, 1.243, 0.3065, 0.308, -0.0002, -0.1303, 0.9987, -0.0154, 0.8246, 0.6075, -0.3862, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3269 left_y=0.0299 left_z=0.0553 left_yaw=0.1333 left_pitch=-0.0663 left_roll=-0.0904 left_gripper=0.9987 right_x=0.2963 right_y=0.0011 right_z=0.1719 right_yaw=-0.0002 right_pitch=-0.0412 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [0.3897, -4.3282, 5.6684, 1.9316, -0.0464, 0.0855, -0.1441, -0.1299, -1.7573, 7.0769, 1.707, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aab35b883a2f37331601f76c8644c89cb390d974cdd009689e765fc5dc9f6c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3464348ebae35b6ed38ad40eda0453ee8ea61c8f2f4dd03dd0a669193d0c55aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceef40d3edc61b847c67b16648c6442d238b4f77df6d9641b776dac5b90c1ca6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEoJNposkKd3RFxEz6OthXEgb_77alZLSqVigPEevnfNT0KT_d5cLp20bqNbve2YVyyp807RpHl4q7BPXpdm72koEZxU2IsVOpMbaxdjw84OTNz7iwGYy1Usaw9Fsf113KJnKw6JhbUU3035417IdBw5MzAK_-TCtDSpLOlAGt6d2IMqJIt_O2a05uwecULoRp9br_5r9so9n1u1JMPWbP7_rR4qupcYVB77AHrApO_xYJPu2cLe2P8mPekjYnlyETLFJNE1r13nve-khln2LHf6-nMHJ4m4ofHlTqheoWD3ct8YYr7PUOHOA0R8gieDvPcu_QuoBdrklweBNoSXo-Qvogix__P1srmkmKCLr74K8bFvv2Yu0dmL3K5B0vh1Bt93tWlkjUVeTVKyC70liCMprWwpaKw2TTmhtf12nIWG8SAZN86lurWkk2d5n_IeKRvZKiRQFyogQ70xNgVFMk0O3JbcbP6HE70867XzMk4QDUeWlkMBwpV5FR688BWd7z9ST6rO0H7W8ZlFbrvo3HDoU9mFi_AY8_ZyauK9Epa1M1XNBLGixrv0ByFz4rBVvtLhLckdf6AxzP7VD_lDkqJBm6PFjnZNlXCmqFbJOVE1aBDuAejVz_oa64l4ITTVOSScJzx9EMC_xgGsAz_tecK6m-BGT3WEc0nD0UGJsRQdc5zOOP5p-77X5oHHm1GvLdzU8IgxmIw1XHe3gMTy7PtlVtKX7rclW9Vuhd3XnZM05LylGNbsK2qYWe3idAK3Q0O1sCtR4Zzg5DAcykLessJFzGPQMxfcPz0K-RCX_qdXd6pFvU0J9rBggE92ZY7nGUC1DDzOIIajbdFY9o9u4aS0kBvTs0n1O6Q_MGdy8Xa1Uk6G30-TcZyW0V_7qSvKgbq_-jW4ioE-pukUQp11Iyp5WGOhRYShj2aU9kbbXI4F3JFHOG5WPlxH2LjjBFINdte1R1Km7fnC8XXdk7aU2eH4zP-ALVWMHsoYyBSLFSFBxdsfW72ZEWTUkB_F8tfQoVB7FqHAXqoDpMBKWrgutxo-Ee5OcglHp2_0ZwGWV3c81FfDKddqOEizZYpaixNASs27qhWkunvnzSwErDSWAu_56M_45obc8a7rvTiflQHw-brZBu3rKTxx9u0mxrnp9elwxVoGMs5ne1ifqtkGVvot07bUZCVcOBAoZztTSSuiDKAqLNNOoaph9XQbHNwmYuI6bvvv1DS_UbOegS28tvmZ4A==",
  "id": "rs_069ce64dd6877bf8016ab44a0843a887d0af4bfb005a84f2e2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The gray rabbit’s torso is now squarely between the fingertips rather than just an ear or limb. I’m closing for a broader, more stable body grasp.\"}",
  "call_id": "call_CicTa5tmzCD4hhDajhN8cHWu",
  "id": "fc_069ce64dd6877bf8016ab44a0862d887d0b043440fd29f1b05",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CicTa5tmzCD4hhDajhN8cHWu",
  "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]: [0.0818, 1.2526, 0.2943, 0.3325, 0.0002, -0.1307, 0.2092, -0.0151, 0.8268, 0.6075, -0.3855, -0.0116, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3261 left_y=0.0303 left_z=0.0524 left_yaw=0.1347 left_pitch=-0.0637 left_roll=-0.0911 left_gripper=0.2092 right_x=0.2965 right_y=0.0012 right_z=0.1714 right_yaw=0.0 right_pitch=-0.0427 right_roll=-0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -4.2872, 6.7077, 1.4628, -0.0757, -0.0415, 0.9109, -0.335, -1.6342, 7.0496, 1.7265, -0.0073, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82b7fae315ac3aad38bda398e749a135846adb097a76d4ffa20a983bef60e1ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fd1f380d845ec37bf619cf4a080436345edce0edd19dde1d5255a9f1c87a7c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab43deb39a8a3fec0c4df03cf5c9ebd8fa92fb162bf9cf7102f72aeb6dea2713",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 6.954 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 40 changed as sent

message 44 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4244, 1.7412, 1.1225, 0.0002, -0.3744, -0.3653, 0.9953, -0.0151, 0.8146, 0.6079, -0.3851, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.4749 left_y=-0.1398 left_z=0.1431 left_yaw=0.0672 left_pitch=-0.0072 left_roll=-0.077 left_gripper=0.9953 right_x=0.2959 right_y=0.0013 right_z=0.175 right_yaw=0.0001 right_pitch=-0.0298 right_roll=-0.0006 right_gripper=0.9992\nstate[joint_eff]: [-0.3897, -9.388, 6.4889, 1.6874, -0.0415, 0.1245, 0.0611, -0.1846, -1.3607, 7.1863, 1.7411, -0.0513, -0.0611, -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 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]: [0.0803, 1.243, 0.3065, 0.308, -0.0002, -0.1303, 0.9987, -0.0154, 0.8246, 0.6075, -0.3862, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3269 left_y=0.0299 left_z=0.0553 left_yaw=0.1333 left_pitch=-0.0663 left_roll=-0.0904 left_gripper=0.9987 right_x=0.2963 right_y=0.0011 right_z=0.1719 right_yaw=-0.0002 right_pitch=-0.0412 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [0.3897, -4.3282, 5.6684, 1.9316, -0.0464, 0.0855, -0.1441, -0.1299, -1.7573, 7.0769, 1.707, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [0.0818, 1.2526, 0.2943, 0.3325, 0.0002, -0.1307, 0.2092, -0.0151, 0.8268, 0.6075, -0.3855, -0.0116, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3261 left_y=0.0303 left_z=0.0524 left_yaw=0.1347 left_pitch=-0.0637 left_roll=-0.0911 left_gripper=0.2092 right_x=0.2965 right_y=0.0012 right_z=0.1714 right_yaw=0.0 right_pitch=-0.0427 right_roll=-0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -4.2872, 6.7077, 1.4628, -0.0757, -0.0415, 0.9109, -0.335, -1.6342, 7.0496, 1.7265, -0.0073, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82b7fae315ac3aad38bda398e749a135846adb097a76d4ffa20a983bef60e1ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fd1f380d845ec37bf619cf4a080436345edce0edd19dde1d5255a9f1c87a7c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab43deb39a8a3fec0c4df03cf5c9ebd8fa92fb162bf9cf7102f72aeb6dea2713",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEoN_MpFKhcnwBL2HHNwpTcZHo11zYUXLQ9tbeVlVFdOs3MiBWANn4pv7sI6ybyUJrNlpeZBDytQaYpqR1upFUnANa5cpmeCUYQKOLNkw4eaI3X66F1rtIccbtSRw2ebPP8pulRyWJngIO0X-fjm_jZkDeNqULElKvU9mbIyeiuOkroj_6Vjo7YnZuvPmBwWFwhF9ji8BmSsdZIsom20UZCdXbP9aL6AyPYOG-FtDWCM9s00UBO9N_VJ195PGqSCi4z99l5Mieoy9rNXTS635SM1b1RkrPJi6jRByloxNqnPQPRn_9FU7keE7igJTRhF_PH2E1Grl8Rk8_vIIqGM_B3Ajd677VWP5wRf6ATTOTvgOtk-gbJo9xjq5C5a6Ndy9rEgp3E154EFPdJsE67Fb4KNDoCWjwCsvL5IOhIDVTAF43swES30fmh5OK3lNhanVzaOZg2yf0BJuIl3kRPy74sa3jv5E08xaVp43HAhbiOHWrvrtbxhreiNEz-CPb0PlP2IWjkjIsCWvW72HtrRLvF3wZVlJPbtjzYUkwbEkt38KKY5bTmBUL2KJcWSMM0SsJNMQqqDDJ2pgBQT6e0KR7VD1XQuMWc6z4C4TfTxQJTcu6oQpRPcbXHklge99slwm815aLVjbL_kP7rbmETMZRZDvKbeUSgzfPhpoyMsPz6K0GhaoFrziXtQYO35ua2oLJy3ATvDsRXXi67bYON731gZC8_IktcgyOAV4XfiWdr6EV8uZi-9YoYVwqlCrI5lZmh2E1a2Kj_G5KEJv9lgujESu-LhW6jaP7nJNlCOzU_lIHpbP_lBGnRZggVq9ch-f5nMbwzMZE--bHZ2iA2LOzctmSq-3UI9IUCvDnUgNWCndCNmfeDWwiCiHeojZawha8_baXjZkpZiQ5HjX28qgx9Nf40IBk-b4WGRiFuIi6oPOfeTdPaEw_hmt2sC5jyjizbierPKieKQjRSrMJsF-tEdBn4I9jNtRgvEyTTbFDDZlgE3I0XWrjRno-3ySIr5aw5Aw5j2AGLQiDOkK1eVI4f3v_zpnWnYsi7oNE0DBeBJralhbLXyCakW_5LLAIqopQyvvru7EIHq9cJO6jRCQgWUrlXTE-7LRBv6EAGnwi1qYJGCt6fpkAPztQdr8DNk4dl9lh2ecCWHMy6BJh16rSEhqiCv-Xv--kPjhnsJiwqIKfa-Tcxuyc85YzszmqiD7InxvHBFqiB0TXAMk1OiD87uJabTxIiDI_7MtNQzBFAMkcM=",
  "id": "rs_069ce64dd6877bf8016ab44a0c91b887d0b25fef233b790b0c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"The gripper now holds at 0.21, confirming a substantial body grasp. I’m lifting the rabbit clear before translating it to a deeper drop point.\"}",
  "call_id": "call_S1bLyTf4sM6gQ5qw1sFYz5lL",
  "id": "fc_069ce64dd6877bf8016ab44a0cb92487d0a4fec1ca1975f6a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S1bLyTf4sM6gQ5qw1sFYz5lL",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0818, 1.0092, 0.7059, -0.3378, 0.0006, -0.131, 0.2112, -0.0151, 0.8288, 0.6071, -0.3855, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3276 left_y=0.0304 left_z=0.1721 left_yaw=0.1346 left_pitch=-0.0789 left_roll=-0.0908 left_gripper=0.2112 right_x=0.2966 right_y=0.0012 right_z=0.1707 right_yaw=0.0002 right_pitch=-0.045 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -4.041, 9.2239, 1.8144, -0.0317, -0.0513, 0.5592, -0.1983, -1.5932, 7.0906, 1.6777, -0.0269, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04a7b2a974250bf28dbb641aa7c879b662b61b7b0d8d4885a380e4d3dbf18ef6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a68209dcea7e15ff75e2938626c10d01bd6cfe627127ff238f1c28ee5709c93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce530a66499ee829f14f15da2a41e01235e63a0ac57ba75b31610e3ec40b91cb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 2.059 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 44 changed as sent

message 48 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0692, 0.8547, 0.6601, -0.3401, -0.1158, -0.1905, 0.9966, -0.0151, 0.8192, 0.6075, -0.3855, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.311 left_y=0.0025 left_z=0.1977 left_yaw=0.1135 left_pitch=0.0317 left_roll=-0.0887 left_gripper=0.9966 right_x=0.2961 right_y=0.0012 right_z=0.1735 right_yaw=0.0002 right_pitch=-0.0351 right_roll=-0.0005 right_gripper=0.9992\nstate[joint_eff]: [0.1026, -1.5385, 6.735, 1.7021, 0.1734, 0.0952, 0.1392, -0.1983, -1.4291, 7.0632, 1.7167, -0.0611, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0818, 1.2526, 0.2943, 0.3325, 0.0002, -0.1307, 0.2092, -0.0151, 0.8268, 0.6075, -0.3855, -0.0116, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3261 left_y=0.0303 left_z=0.0524 left_yaw=0.1347 left_pitch=-0.0637 left_roll=-0.0911 left_gripper=0.2092 right_x=0.2965 right_y=0.0012 right_z=0.1714 right_yaw=0.0 right_pitch=-0.0427 right_roll=-0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -4.2872, 6.7077, 1.4628, -0.0757, -0.0415, 0.9109, -0.335, -1.6342, 7.0496, 1.7265, -0.0073, -0.0659, -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 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]: [0.0818, 1.0092, 0.7059, -0.3378, 0.0006, -0.131, 0.2112, -0.0151, 0.8288, 0.6071, -0.3855, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3276 left_y=0.0304 left_z=0.1721 left_yaw=0.1346 left_pitch=-0.0789 left_roll=-0.0908 left_gripper=0.2112 right_x=0.2966 right_y=0.0012 right_z=0.1707 right_yaw=0.0002 right_pitch=-0.045 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -4.041, 9.2239, 1.8144, -0.0317, -0.0513, 0.5592, -0.1983, -1.5932, 7.0906, 1.6777, -0.0269, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04a7b2a974250bf28dbb641aa7c879b662b61b7b0d8d4885a380e4d3dbf18ef6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a68209dcea7e15ff75e2938626c10d01bd6cfe627127ff238f1c28ee5709c93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce530a66499ee829f14f15da2a41e01235e63a0ac57ba75b31610e3ec40b91cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_069ce64dd6877bf8016ab44a0ff2e887d0bf2e240a7e8c77d0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.15,\"left_z\":0.21},\"note\":\"With the torso grasp, the gray animal stays close to the grasp point instead of dangling far below. I’m moving it laterally over the geometric center of the left basket, using a less extreme forward target than on the failed ear grasp.\"}",
  "call_id": "call_7qfbPJNfOE1tYazhKRmRzfu2",
  "id": "fc_069ce64dd6877bf8016ab44a14555887d0b40cb89abd78b134",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7qfbPJNfOE1tYazhKRmRzfu2",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5587, 1.5002, 1.1645, -0.4835, -0.4732, -0.5529, 0.2146, -0.0151, 0.8314, 0.6067, -0.3859, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3903 left_y=-0.1448 left_z=0.1853 left_yaw=0.1213 left_pitch=-0.1447 left_roll=-0.0624 left_gripper=0.2146 right_x=0.2966 right_y=0.0012 right_z=0.1697 right_yaw=0.0002 right_pitch=-0.0484 right_roll=-0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -7.4462, 9.7299, 1.6435, -0.5006, 0.1245, 0.3541, 0.0752, -1.6752, 7.0632, 1.6777, -0.0415, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:055c05c88ed075bf64daac59e24c1ae0e9f0c02130f48d883411a5a812ee4f5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4df673b2d286f2b4bf7088bdc54645354d43daa8d12f9a686dd4d369981719cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:942a04bc5df6417f86951183acfdc8f670c941cb5545270e92c829582e7d0e80",
      "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 · 1.622 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]: [0.0803, 1.243, 0.3065, 0.308, -0.0002, -0.1303, 0.9987, -0.0154, 0.8246, 0.6075, -0.3862, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3269 left_y=0.0299 left_z=0.0553 left_yaw=0.1333 left_pitch=-0.0663 left_roll=-0.0904 left_gripper=0.9987 right_x=0.2963 right_y=0.0011 right_z=0.1719 right_yaw=-0.0002 right_pitch=-0.0412 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [0.3897, -4.3282, 5.6684, 1.9316, -0.0464, 0.0855, -0.1441, -0.1299, -1.7573, 7.0769, 1.707, -0.0366, -0.0366, -0.0122]",
      "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]: [0.0818, 1.0092, 0.7059, -0.3378, 0.0006, -0.131, 0.2112, -0.0151, 0.8288, 0.6071, -0.3855, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3276 left_y=0.0304 left_z=0.1721 left_yaw=0.1346 left_pitch=-0.0789 left_roll=-0.0908 left_gripper=0.2112 right_x=0.2966 right_y=0.0012 right_z=0.1707 right_yaw=0.0002 right_pitch=-0.045 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -4.041, 9.2239, 1.8144, -0.0317, -0.0513, 0.5592, -0.1983, -1.5932, 7.0906, 1.6777, -0.0269, -0.0562, -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 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]: [-0.5587, 1.5002, 1.1645, -0.4835, -0.4732, -0.5529, 0.2146, -0.0151, 0.8314, 0.6067, -0.3859, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3903 left_y=-0.1448 left_z=0.1853 left_yaw=0.1213 left_pitch=-0.1447 left_roll=-0.0624 left_gripper=0.2146 right_x=0.2966 right_y=0.0012 right_z=0.1697 right_yaw=0.0002 right_pitch=-0.0484 right_roll=-0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -7.4462, 9.7299, 1.6435, -0.5006, 0.1245, 0.3541, 0.0752, -1.6752, 7.0632, 1.6777, -0.0415, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:055c05c88ed075bf64daac59e24c1ae0e9f0c02130f48d883411a5a812ee4f5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4df673b2d286f2b4bf7088bdc54645354d43daa8d12f9a686dd4d369981719cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:942a04bc5df6417f86951183acfdc8f670c941cb5545270e92c829582e7d0e80",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEoY8cDV_Hz27iyoKmAxNY-zzBBHKGsXLZud9BIVix9i2p2taWAomISHmq_AjondU_XJOAduqvQ4E5dF33rC7bDLW1sq_sEju1CvEzgYqEb8YSRawo4JvwrRg0yEAyP8yCGLQ0mnxrHsdCjHuIpTgjxMoMLGVv3j_r4oPeCsrhtUAiQfNDSaBtWb77jDeXAg5e9YUm6_sz3sNfLpJOZA0pIxmLngaSEqO-Yb6oLIHIh5dKDYyCwjDwcQFiolCaHG9ALjJxb-h3txjuFvxhcUP48xVBp4XOnOJ0asB9cq_mrFWDj2aJUh2ObXTQeywleYcqK7zaeds1npEpDBE9uPHKWRAWyyi0IzLZzLmXuFMukqcJSQJ-bs8X_XgMljYvJzNUyhgXWcK35nESPsCffR2E1_4VwHbkDqQPTVYRk1L-jn_2v53N2_Vxscldx4sM1TgsnSWvsIUXEId1YmuLxlL-Ev3afxMm1nhAbDTJ_imPBWfrFJvY3o9ysj10TUYK9hAmhS7YlA4Ded4ZuPTZI1UD0vYpULLqARnTzVNbMgFz0tEWcbkNxIzFh-ss3QZuJSX3ghxXqGPO70z0mNtl4ow23Sg7smMjH9AHlK6MhpYDLkG5V9EP-1gyw5YSI6qLYBxDmC_8JsvvthTpAb9nIEYZYrf7hv11Zxl4fIF5eGmb6qArKhrHYuTXBvFtNloHekA6VdPKwbCU3r-iwktB34zEkNKLhDyOtMxF14aBDUvZy7HgkcQdvpH1xq2Drh10TxoVW4nRhpcsvNjfCOHwQyOPjsoSZ5pAaFn_-ap2WJz5hZqsqVRGm3cJgWVRD7AhNLcM9p9fUFBTZU4khVwH0TE7BSjHsSW4oZ4V_ik8POssppYOAzkFTtjG8kfBDXRpK4C9FDx5ZVX-JGSWxp-4lC5iKXbtkCGShgHbBuwiZazOI7tsS-0HP1k9dNlCmZ7B_sGH2noAbD0kumxJomP1OF-Eazk-fGEXRnCAfVpy_Je90wQ5dwuFqn6XDxuoDTO_dK-cZgUIHFZ_nnvlJb0s9jH0sL-eJX13vYOgQWoe4fHBeZ2YsZnotY_nkZ9fGH-57WoWVeKJextqGuyOQWvLePYv2VYJDxCrOxy0R9CZOBXWnlq6DP9q8pm5lO6Li_zc__J8MMuLDHwc7-HvhaSKFFfq48yyHSbrYJzgln9bPRGt1dRcdJTfyBX0MS4MUwwd8X-IrjfEU9po8Xcd7EwbCDR4JPxRtLhobr3Nh-MZCio5PtLQhK-NP9oAJyeyeK0MY3rpACqd-FS0qTAlbWEzfq7n30OmaTC1o6Rsaiu_7IS8k5D8_WZueXA8rmOY4X3o1dMByF",
  "id": "rs_069ce64dd6877bf8016ab44a180fc087d0905dc646d2b9c109",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.08},\"note\":\"The gray animal’s body is now visibly centered above the left basket opening. I’m lowering it until the basket supports it, then I’ll release.\"}",
  "call_id": "call_dZTc5RSLcYD40Kf0Xms5UbdH",
  "id": "fc_069ce64dd6877bf8016ab44a18567c87d0964774ff46eb447a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dZTc5RSLcYD40Kf0Xms5UbdH",
  "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]: [-0.5594, 1.6043, 0.8837, -0.086, -0.4942, -0.5625, 0.2167, -0.0154, 0.8314, 0.6067, -0.3855, -0.0116, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3928 left_y=-0.1428 left_z=0.0965 left_yaw=0.1406 left_pitch=-0.1255 left_roll=-0.066 left_gripper=0.2167 right_x=0.2967 right_y=0.0011 right_z=0.1698 right_yaw=-0.0005 right_pitch=-0.0481 right_roll=-0.0005 right_gripper=0.9992\nstate[joint_eff]: [0.0068, -6.0786, 4.7932, 1.243, 0.0073, 0.0611, 0.2027, -0.2667, -1.4564, 7.0359, 1.7118, -0.0317, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d83097641ada6e1c5a89cc1302e6e1eca812e24b1c453c384fe7ca1548c9fca6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42e04669b9e6a6a28aa3f891e96fd3255f73c00ccb8bc55c627d25ee851e3328",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f2575c2afa158a89ebe5ee35ce8741af28c57154c3e559ff6925ef3ff8769fb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 6.45 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 56 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]: [0.0818, 1.2526, 0.2943, 0.3325, 0.0002, -0.1307, 0.2092, -0.0151, 0.8268, 0.6075, -0.3855, -0.0116, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3261 left_y=0.0303 left_z=0.0524 left_yaw=0.1347 left_pitch=-0.0637 left_roll=-0.0911 left_gripper=0.2092 right_x=0.2965 right_y=0.0012 right_z=0.1714 right_yaw=0.0 right_pitch=-0.0427 right_roll=-0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -4.2872, 6.7077, 1.4628, -0.0757, -0.0415, 0.9109, -0.335, -1.6342, 7.0496, 1.7265, -0.0073, -0.0659, -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 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]: [-0.5587, 1.5002, 1.1645, -0.4835, -0.4732, -0.5529, 0.2146, -0.0151, 0.8314, 0.6067, -0.3859, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3903 left_y=-0.1448 left_z=0.1853 left_yaw=0.1213 left_pitch=-0.1447 left_roll=-0.0624 left_gripper=0.2146 right_x=0.2966 right_y=0.0012 right_z=0.1697 right_yaw=0.0002 right_pitch=-0.0484 right_roll=-0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -7.4462, 9.7299, 1.6435, -0.5006, 0.1245, 0.3541, 0.0752, -1.6752, 7.0632, 1.6777, -0.0415, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5594, 1.6043, 0.8837, -0.086, -0.4942, -0.5625, 0.2167, -0.0154, 0.8314, 0.6067, -0.3855, -0.0116, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3928 left_y=-0.1428 left_z=0.0965 left_yaw=0.1406 left_pitch=-0.1255 left_roll=-0.066 left_gripper=0.2167 right_x=0.2967 right_y=0.0011 right_z=0.1698 right_yaw=-0.0005 right_pitch=-0.0481 right_roll=-0.0005 right_gripper=0.9992\nstate[joint_eff]: [0.0068, -6.0786, 4.7932, 1.243, 0.0073, 0.0611, 0.2027, -0.2667, -1.4564, 7.0359, 1.7118, -0.0317, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d83097641ada6e1c5a89cc1302e6e1eca812e24b1c453c384fe7ca1548c9fca6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42e04669b9e6a6a28aa3f891e96fd3255f73c00ccb8bc55c627d25ee851e3328",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f2575c2afa158a89ebe5ee35ce8741af28c57154c3e559ff6925ef3ff8769fb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEob9Sts-72jF-F2u2hypNZCQk8BYsc7LGNvzYL3DCoPZrGlvTzRD7N_DvzBLXppIfFoW0FTMfzw0r-k1SGgwWjg-WxPCi-nHPHlo2ZpEAXvRshGbkHmCdUKpcs01221ay5SQ0F-i6-IlQ6Kp-7YgBqZmT3tOeNJTgHTtQ090tahEsHeNmgfJMK1ADDyNK43w63nhA1LM5YglWv1yjAQNkTnT104iz9kroKN-RoaKr5upICo23vMxbfeLH_PHYZVl8AkYgZmZZLVKN7DFYSIgv7qx0xxWPEaM1uawvS23QMXIJzMuBV2Z-EHCIBAoMXBYkLp43fSsqPpNFCM7MHFed018M4E8jwOAWzoKT3x0ZaAdBF7mpUsYZn4ZwqOJ7X8fpU2YryTGKSLGUw4kHdfuG7xFSwCAZWz_bpiN8AUPYm2he8vr74DK54-05CfsrJt07xZrxf4t38yTYuZnRPOjiHOz8xbymsmYscUJcDGuHvd0YIs4Ghdcgi9XkpyBYj9tBGYyXIpxCYzhHjBQYnNrI1olvTqyqInD0yAJlt0mZ_J6qwyTpHuv65wHBqDgkkwpORxl8ciEga5934C9wGWwMLw2Wd0J90uTP7tuz8--OQiyjFK2-MoKjFlYcRvvvT9SuTa1KLMrhEsmyDVVZU9F5X7etKCP8LeBJ3215HwBD7LViGexHRNZQrwnwvl94m0SHau2ZtYNZ4_V_6f1GfiByjE6nHl4xWA7U3jh8pLUZMCOWpvR7cgEeLu1kv1aadZrJqWSNs2pbd_MR2BoEMlTB9FqCmmOWScbAKSB25HGtphgj-4WFzWDJXt9OrrwlfOPDabZXnoAZ3X76BXJK63bQXdwnR2aRIljpR6xnkokSbigJn25U_gRxfA8SDCk_gEGvaLe1MNo6xVm0PP08EnRyDuIw-kgshb02SW_BjxG3T5ARYwQjkeKQz2_53KIm_cnd4I-LUTIL0PVqsV5Jqn3ZwgTqvXD6GJBLI_V_DtwXofrS-PFiLeyAkGwaShHSRYiAOfKwHkAnfEyX7RM7GQVEZ4niIFhItMKxhB_-QFlgFdtcNHJsCaBWYQo70BQ2IP0UCbGyz6Ko06K6gT9YqMZG88gMdIxB8HlHT4hD87tbpA7ePH_T3JD6W9-FivnQnCDbNbysTQt4VFHgvCAnB14MrZLqE9A62pANG-WtC1c_K5Idg=",
  "id": "rs_069ce64dd6877bf8016ab44a1a90f487d0974bf9a5e55c6eab",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The animal has settled into the left basket at the lower pose, with its body supported by the basket. I’m opening the gripper to release it.\"}",
  "call_id": "call_4rTSPViSyTgVdEH7b6V2yTzA",
  "id": "fc_069ce64dd6877bf8016ab44a1aac1087d092fca6c4d44070d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4rTSPViSyTgVdEH7b6V2yTzA",
  "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]: [-0.5598, 1.6215, 0.8677, -0.0883, -0.4942, -0.5732, 0.9955, -0.0151, 0.8314, 0.6067, -0.3855, -0.0116, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3882 left_y=-0.1401 left_z=0.0836 left_yaw=0.1492 left_pitch=-0.1528 left_roll=-0.0511 left_gripper=0.9955 right_x=0.2967 right_y=0.0012 right_z=0.1698 right_yaw=-0.0002 right_pitch=-0.0481 right_roll=-0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -8.6359, 7.3915, 1.4383, -0.2662, 0.0513, -0.1538, -0.212, -1.4701, 7.0359, 1.6679, -0.0122, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acb4530332b59c3d9d316df9ef47a4c7e3006384d27ccca1bb1a9f6ddb5aa505",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dd950c2f7d8ac318f49132c68c514e86d9ee459dbc0fd5d86b3f9aacdb40482",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73dfbe18c678f883f01c73e5237354f9cbb82de534b23e85eea86eabc98b62a6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 4.092 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 48 changed as sent

message 56 changed as sent

message 60 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]: [0.0818, 1.0092, 0.7059, -0.3378, 0.0006, -0.131, 0.2112, -0.0151, 0.8288, 0.6071, -0.3855, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3276 left_y=0.0304 left_z=0.1721 left_yaw=0.1346 left_pitch=-0.0789 left_roll=-0.0908 left_gripper=0.2112 right_x=0.2966 right_y=0.0012 right_z=0.1707 right_yaw=0.0002 right_pitch=-0.045 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -4.041, 9.2239, 1.8144, -0.0317, -0.0513, 0.5592, -0.1983, -1.5932, 7.0906, 1.6777, -0.0269, -0.0562, -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 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5594, 1.6043, 0.8837, -0.086, -0.4942, -0.5625, 0.2167, -0.0154, 0.8314, 0.6067, -0.3855, -0.0116, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3928 left_y=-0.1428 left_z=0.0965 left_yaw=0.1406 left_pitch=-0.1255 left_roll=-0.066 left_gripper=0.2167 right_x=0.2967 right_y=0.0011 right_z=0.1698 right_yaw=-0.0005 right_pitch=-0.0481 right_roll=-0.0005 right_gripper=0.9992\nstate[joint_eff]: [0.0068, -6.0786, 4.7932, 1.243, 0.0073, 0.0611, 0.2027, -0.2667, -1.4564, 7.0359, 1.7118, -0.0317, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5598, 1.6215, 0.8677, -0.0883, -0.4942, -0.5732, 0.9955, -0.0151, 0.8314, 0.6067, -0.3855, -0.0116, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3882 left_y=-0.1401 left_z=0.0836 left_yaw=0.1492 left_pitch=-0.1528 left_roll=-0.0511 left_gripper=0.9955 right_x=0.2967 right_y=0.0012 right_z=0.1698 right_yaw=-0.0002 right_pitch=-0.0481 right_roll=-0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -8.6359, 7.3915, 1.4383, -0.2662, 0.0513, -0.1538, -0.212, -1.4701, 7.0359, 1.6679, -0.0122, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acb4530332b59c3d9d316df9ef47a4c7e3006384d27ccca1bb1a9f6ddb5aa505",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dd950c2f7d8ac318f49132c68c514e86d9ee459dbc0fd5d86b3f9aacdb40482",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73dfbe18c678f883f01c73e5237354f9cbb82de534b23e85eea86eabc98b62a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEoiLKrFibRh85hHQ-gAdB2QpbrBr3dsgdKtdKYBQYezNV3O1-OD29GqKRt1Dy-gjyxZOUwHld8gouEI5Kc9rKbQmAjaDNPO1Zzy6c9Q8xtZcJ0KV4DP86Z5vhE0TDymySjWo-GP6S5XOLn9zZ6iEstVh6vSICzATn7aBXUeMDNzYwI8LI8F2BGwgRehI10sN3nlgRYZfxVHxiI63Uj5BbTt0A0dOmnIxd_2ypXP5Ztj45DZOCLuXVViVFhTdxFNr8LWoO0OrqOnFTp_DWz493ou5gXDuAORBBr0Y83k9zrhz-DCvptxCVgiMrwQAT-zMfFewk9dIaifx6da1Kq2F2IWvUbXwecTD7ziREoSlsX-1iyVyj0SWzIrLVhWa7qd0KUASLB-rpQKfajcBl4V-WLRBdGtnDBQ97AdGLlGTuH7Xw3q_6ZAgzLzV5AkixkOq1EoLhUnDbqp_VaEHIe2z54HeLOuIRKTy0W8u3Xlm3ZOT1xfxEhdaV2N6VzaYxKrEIu5ZwLLhPdSj9IvEmLD0m85G4UAhtr9GmAbxl4vqAZiUAkkyJRfcDepfMCCB04nJ1JLjgP1efuFDEvNiiiWHuLNJ9LcmQ6-1A5ESHXj6YUohz_SRfn2w4RsE2Hc2xxbUpRyh9JDNlZeU0iPyJcJxZ5Mf7h_xAZOjVhg_NQ9mj1sGN_hbsg6KKNxWRKlx6NzecrfZsaXP_98CTbW2Js9y4K1O1jGKvttkP6X4kQje2-yXKRg1onpt0J3sDJ4gukU5wRWlRaUkL_9-c80BAREMyCYly8Tr8kJY-zAV9l9uMRiBuR5GTF9w75hCBEewmM_YkUwBBkiCNdV1hnN5IwXRCj1RGPof-Btd4yZrFOuCnwprUI-wdoO2poRTSnzsm9TEkkfHQuiOWwZTIwJus6aNahsUPOlkQzPSU2oxTKOCt8zUZuewEIfL-xX0IRsP-HdzB8p7m-KdWeiLdo_Fr710_LDmkDN3TMxguMg5cKKDnLAzZmRaw5N_V8t1_uk8pq3viHyTStI5fj-fdooc_iDnhoh9uerxbyE_4XxmAVDcBt19b40pLO4W1g9w1Ya8OGazeztRBaI8B3l7txPBgNAlpp78FGkwJtt3yVxXOiH80n8JngbI6TPqq7M-h_ckSGyfdY1uolGxcLyN3oF0drl0EIf6g9N29Tjla42i5g1bd-Z5ZZKDnd2KBJXoN04N_b1bVOPXdqP2yilesKvcS58hXx_keREuKXeTHSVM5Hha2k8dV0DXoeUCXit5gYSKYj1AWm-UnaVnXfFl0MZGjOiUETCJ0kpKy2tJAnL442gQsooDWSHyEW2sa6zTlpZa4NQRwFAkFZBZFvEwHg4B30xVm2YMh_6Vnsjnkd6TiaUWrCuk8ud8pyaIP_uc5AJc3z_ORF9k0iZi6Bl-FLSrgUChyVM330uVn6k_u1JD_87yqbl1MdZfhqoJiydrRE7IzoA_78WXzC4HaaQwfOJsyzZmFbJg-AbtFesW_98GBG9nY579Q3-9pDLMXVdbiv_yEKq2Hq7eOf0MojuKtWxRUb6wYrBs7Hj_t55IdOUONs8huZsXfAcwer6-tymdgGFdJq3O4HvYGfO6okucKgdnWkiKfuucm3cfzvJX_eYlQdvPFwRTukOjdPdV5YEyCehApnbx5-BzK9Gfp7WtUDbPgrILBhphYvdsFb0Q_po7VeA5k_-AWJ1pmUZXtFcrD8hWEvtL3v2fi2YbYnVzoAq_uQpd43YfUKxt9iPY1i3g5a6ySAgaRU1l9OG8lfdWlHC5IKyBNStcJ8tiYv92MJ_-BYjco7y_ayECDzb9KqpsHdCh1xCBgpmRMgbu6q3BgoQXz2Xcz5Y0k0hjvJTqHoF-Q5N4lBTJOazMeQYUXZLT7uefPUxA2WRQNxyvt_DXTA_l4a9clNl5GhAM9f1uODg0PQyANqEEDWj9xrl5GFoFImtwhQBXJ5g__hu0ZgVevWaLFs6WVIc162QkKa-wWW5XIhKor_GXq9ctv07VSXcfG6KsdIbOFYYhnMoB82-MZ33v8Sqm9r3Rr9eotrNRrYfBOrtivRb_3BAfy60J64Sk7oSr1CHmfvsI9ZdRKY3O9X_HWysHXfL9nW079NGvL2BM11ul9hHq5_r-E73MjdnvdEFdeuBW6s2AfIwQrbGceEB_10e7lJAfjEjhnJO_y3iwcP1uB7jbF1hDW3zUQb961UCm1I5Im78tgHU40rJqbibWR18yawED_yCRFqn3rn9PphnvIR66An71X6dUUTjp4OUt2LLUCyTtTO5R3GqK_wZxdLj-GeqLitFx5BJTPDlR_80Rec9SNvV7Nee6DI9hvb_IG-o26Pzr0HuLlogRh39YoR5QTaWe5PeKjWMh8GOE8JpWl_sdwSUPqMJe5iLu5AiocYxsiFNisIa-75RKw6ZRH2uG88TA_U108kPgy5mwy-D7EWsv0UPwFzK4lFMpy0S0qQJlYdmoH7iUppq0IU0idQkUZ0BTEw0dCraqmqZ38LGrDpzwVqWPmv4SymUIBId1Uw0n2tbS4DLNeq9lHzEAExOmoiefzGzoLl8AY857j66E3M4tiGQTutrDNxPZfo1IrzJr_579RgvObmVF0sfVYp9fbp3GrIy8XKpYsy3thN7Zduf2SuOGpvu1IQh6vgw4DZgopnHqys4alnSF7JXEVSvQHlW7R05Gj--RYRnIsYj2cYTjVbR66ViNpGx72S1E5_Mmu2UEVuU5uduz8U76E3QnVKNm08XzGWd9di0MQoh3YupktOnu9vbEJXkhBaizIfK-jILrjtd35rLe5EFeNVLnDl43RLSmtRwby3apiMS69mPf-5GC3jvSOXy-07MuwTv3zkRhBg-Erp9I_MowedaHw4xWYNHWQ1VC_I5_jr31_9fjWMj6R2h7vY-0U6PumL9iJsdTl95WLi-UMNPvD-N1t2g5-OpaEAHi4Fof_Y61ltipxsht5GYOvg3q-rmrmeER7Q1voQFGmGiN-C0iKsyf7xysf8oPYqvWyJsboxj3Hg4ukFAdwQD2H82if1Z7FjR-crTCkaxGysV8Xu-RG9iEivMpilVNXMK7lZ95Av-jsjQ1nXTlVrhMKhJyUzVEcwvRI2-dy7FqBNxhC7bfh6Pwk7kfPoLZWQ0LA0VyaB9S2EGQsimVwOQ5ugfsi3eLfNIxXMGKGu__UrSLMS-G_o5pGHAowmVDH8UD-MrJkbmDDKEC31tdbRKsT0WQssjBGlVAXoTjV_uRWil8GPznz5oYz1HhWOmwtlhqi1dBDFh6veJV7fPYrvKhL9sK-k3dAR03kmXgPNPXzbHPvKxzBIOM01hRPQEElAZ9zjyOiSXgLTD4CZN0pOrzjMulX1119egIKi7QD3mGJuKgJYJogdsH2hH0AMVUbazCkerE61Zgfjju2bc072zxYVJgb6_IbcK8uTAWfZm5CY-DdeN5aTUP790YXZC7pOITzZDvbPzprROEbbkbkqAUvbBBAK_PdMeb3z3rPgZTrrDkkYkZQcmKtEiqOlYqLMevoan53eXBFC2Afc4L4Ylq3PwuLYGNG3qcvGqcxFrppkU-IWHaKNLfY6D",
  "id": "rs_069ce64dd6877bf8016ab44a1ce41087d0a6ad5c6cdb343ea5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.12,\"right_z\":0.13,\"right_gripper\":1.0,\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.19},\"note\":\"The gray elephant again slipped over the left rim; I’ll revisit it with a farther-right drop point. The remaining cluster appears to contain one more large elephant and three smaller dog-like toys, so I’m parking the left arm and bringing the right hand above the isolated small cream dog on the cluster’s right edge.\"}",
  "call_id": "call_OL2ZoWMIjKvYThHKavcOEYKk",
  "id": "fc_069ce64dd6877bf8016ab44a21222087d08bd0b9f36e37566f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OL2ZoWMIjKvYThHKavcOEYKk",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1341, 0.9661, 0.7761, -0.5446, -0.223, -0.2928, 0.9966, 0.485, 1.3155, 0.6739, -0.0895, 0.358, 0.247, 0.9992]\nstate[eef_state]: left_x=0.3048 left_y=0.0019 left_z=0.1796 left_yaw=0.197 left_pitch=-0.149 left_roll=-0.0596 left_gripper=0.9966 right_x=0.3465 right_y=0.1167 right_z=0.1118 right_yaw=0.0408 right_pitch=-0.1139 right_roll=-0.0309 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -2.5504, 9.7846, 1.6679, -0.022, 0.149, 0.1148, 0.1573, -4.9573, 9.1556, 1.7314, 0.3443, 0.1685, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49b69554367866bf0558550e2bf85079a27dfe9fb5fdae60239b7c232723a468",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e36e5c2363c79774abdd6016fc61e0e7434bede3c91b6e2ee502e910f1bc3bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fac03ffca3b0f3926db80f9146e4861e757b0f11c3670ee41bd8802e27037a6b",
      "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 · 4.494 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 60 changed as sent

message 64 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]: [-0.5587, 1.5002, 1.1645, -0.4835, -0.4732, -0.5529, 0.2146, -0.0151, 0.8314, 0.6067, -0.3859, -0.012, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3903 left_y=-0.1448 left_z=0.1853 left_yaw=0.1213 left_pitch=-0.1447 left_roll=-0.0624 left_gripper=0.2146 right_x=0.2966 right_y=0.0012 right_z=0.1697 right_yaw=0.0002 right_pitch=-0.0484 right_roll=-0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -7.4462, 9.7299, 1.6435, -0.5006, 0.1245, 0.3541, 0.0752, -1.6752, 7.0632, 1.6777, -0.0415, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5598, 1.6215, 0.8677, -0.0883, -0.4942, -0.5732, 0.9955, -0.0151, 0.8314, 0.6067, -0.3855, -0.0116, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3882 left_y=-0.1401 left_z=0.0836 left_yaw=0.1492 left_pitch=-0.1528 left_roll=-0.0511 left_gripper=0.9955 right_x=0.2967 right_y=0.0012 right_z=0.1698 right_yaw=-0.0002 right_pitch=-0.0481 right_roll=-0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -8.6359, 7.3915, 1.4383, -0.2662, 0.0513, -0.1538, -0.212, -1.4701, 7.0359, 1.6679, -0.0122, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1341, 0.9661, 0.7761, -0.5446, -0.223, -0.2928, 0.9966, 0.485, 1.3155, 0.6739, -0.0895, 0.358, 0.247, 0.9992]\nstate[eef_state]: left_x=0.3048 left_y=0.0019 left_z=0.1796 left_yaw=0.197 left_pitch=-0.149 left_roll=-0.0596 left_gripper=0.9966 right_x=0.3465 right_y=0.1167 right_z=0.1118 right_yaw=0.0408 right_pitch=-0.1139 right_roll=-0.0309 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -2.5504, 9.7846, 1.6679, -0.022, 0.149, 0.1148, 0.1573, -4.9573, 9.1556, 1.7314, 0.3443, 0.1685, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49b69554367866bf0558550e2bf85079a27dfe9fb5fdae60239b7c232723a468",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e36e5c2363c79774abdd6016fc61e0e7434bede3c91b6e2ee502e910f1bc3bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fac03ffca3b0f3926db80f9146e4861e757b0f11c3670ee41bd8802e27037a6b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEon_i8gYINnX916s45gDnHxk0-y7d9xiTONQSlhl6NVmNbUimGYNg7F_er7dWaeQFjZVIORZ9tDD_j9gIJArtLVjwXZmks9QM9vZqXyU7am68wuDTPPqj3xZa7Wj3bbrx46m3_OWi-xbRrZlhllSdzhxQ5S4mgIpt91L_5OgD6H4hw5CQHjycwuhy6Pcob3_vHjk8VJuxLZbUWjwmRgUZyP4s2AQc3XNbtiEhZcVGIvRf7A0dgeEIShZ179m9advMRw6XLwbY06kt8H3Bnh8AiKcIJoCbwRbZ3pzBP82fOn-jjiELxbNzybajlgOXjHN6Qt6dsznc_IRoOsbYXiWChGtrQ00GKqmOrT27iIMqffebsTUsjRHRn5iVnUnREBuO8mn8pZE2E-GEWsvXRD_7_VdZnyEEQ0eazOAl2X1VsGgZfSo3kyZn9rqPCcb0avitQTUDtmLNvWEEmYClXNBrFrfe3LKa0zsU5b0f7JtSaLfm1aaPdA7_blmYcikhWjtt39hWCve-JvwtZnrdOO0ybCClc6BATNrVfbEV0f8cRaKmD-LWNICn3CHBHOBU0Z9tjpm0qNN_79zPPU7I3i2ET4fFTJ1Kxe6qdkKqMPHaPuTkWr_zzFM4iCAVtKqw0iTuA4ImCWayv6U_aLLPL1c3njT550JzEeDM-tkJdJGaV08y4fWENzcn71bxOiR1B44ZgiHCh2eOqngVRB0I9ORXWsFUKNsev7tfmBiJVQXk_I4_b95QEH3PbxAebQlxRCHVoZgjXDO1IYCAe0r7bfSfHXPSX4_Io2biLLcGLhYbKhx3lVF77Imq0-L0r4grN-AxK6NhyXeoyLSI9Lf4U5AVK730KnhVVVlNzw6l2Dsv29VixQagfg_mBtnafQIp0odgI72CrmXXXx5hl9dk3SxKyCbciQcYXfhAqpTkm6l9ho5JM80WjZfMg8rA-Q3m_emt7RI2rE2JghQiOLpS-FFb1aZkyU291P37mQk_snKlNyClQGM3Mqd9cs_7Jyg16zhaq6ekklwIbXvSNtkB_W8gZ9H-trcQn4Jmo7y5ehEdW2ycAuAkD6eAReSRjFRHPdkE2aeDuEk4Fof3YO0KvpxqTI3RyeTefqoZN5zmlYc88UX23Sjrq-1vtDQ3gpok7xRIFRT1qGNqck3iRRc1zJdPi5Vn0Vygdu2YmZMsC3QCSScQ9WyJn-sDzXxrSaYdfzDTq3KwdmlgQ5dhah4L_S1_fBRzC7Q0NcL9jI0yPGRSWnqoi-zb7RrUAjqNCScXDnwfrT5pJqEiMsxxf41osMp4s6al-m2Mr133uviJlUVKQ46SRf3V4QjcKbDx0koHSXnghQKWHICpUVIVLub1l7UEQ3jM0QQwY7nFEzVSXCBdFLw7DlcrLZdG_x-s5CAbDZ2nXWX3KtYDO-LglaHgSZVABFv82LOwEx3w7brKRou06op_B5fxWwpi13QfzrhuvRczVXCqNRkMcIToRdcu9R-h5083JUi2HU2ln7e4Ycj-JB63UnRqOX9fYNbnB9b-RrR9gELfNXXfPPuGnPPe-fIAymjJEa4aJIGyUmjM-30nnRrfBZKtyLKO-BDNo_EEwaHN1AkweyFhauv_piypLTM11MZ8b-S-wnN76cHpc5qpNzbT-4m5bbMSVGhMaQavyExxYDSmBGWSGKOhlY4BXBGxO3-S3IjRcmY5E9Bt1SL2ZN4QMlUEsLiltW_G1--Milmrx67JXniXAX17E9xNHr0D_RHlhfSdGy8nY3MTFAY3fkuByVfoFeIOwKAAx9gU7zZmzH0foKRy9ouxu-3FewoE4JQzMTheMn00i9HfqVNDMxVP4yrdGBloULS4XWqDw5ynR_Dk8sz25eOJknXwWIMEDw_qMkvj-ai4y5R4sxQp8qxhbtkkj5qAPy204TImb9pVZm1w8eQd5DDCLDwvK-1MNu8niYn4EDDyYkFKZFcx-FiZ7FLIVFYYe0ItvoaDc40lRCJUZ8omaihJ95KMNQP377rlnQSBhi4gKhqmAOjefUEIYwUqCrK_Mml_GXa6-9Zroxaaabg2-CmQocozVw9YqCBUe3d3NbZPccE1xUmcjDZtv6vKhVnVt5v80z8mY96aRXM4KY_VcFi2xj7jEiNeky2FVFc9FdYcqfC_I_7tLqhRtmi0f8QdjkqzdcfQzFZAramDnYQkct092F4kUGMyiZc_DpBasaupG0IrK4gSH4iwBMxYBYCDDdF_CFqe5h09ZHCFpr3cXeMtdr_HNMNO2e3g==",
  "id": "rs_069ce64dd6877bf8016ab44a24a95887d08e26fd6abf852fdf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.19,\"right_z\":0.055,\"right_gripper\":1.0},\"note\":\"The right hand reached the front of the right basket rather than the small dog; overhead, the dog is about 3 cm to the hand’s left while at nearly the same radial depth. I’m shifting the hand left and descending to the dog’s body height.\"}",
  "call_id": "call_9J20hgAKRKizklSaJuHWxO0u",
  "id": "fc_069ce64dd6877bf8016ab44a269d7c87d0b52941aacb2fa2f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9J20hgAKRKizklSaJuHWxO0u",
  "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]: [-0.1349, 0.9726, 0.783, -0.5594, -0.2092, -0.2916, 0.9968, 0.6731, 1.6508, 0.7139, 0.0814, 0.4702, 0.3653, 0.9992]\nstate[eef_state]: left_x=0.3039 left_y=-0.0006 left_z=0.1777 left_yaw=0.1849 left_pitch=-0.1656 left_roll=-0.0629 left_gripper=0.9968 right_x=0.3478 right_y=0.1795 right_z=0.0416 right_yaw=0.0669 right_pitch=-0.1781 right_roll=-0.073 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -2.8239, 6.3111, 1.7216, -0.2222, -0.0415, 0.0024, 0.3487, -6.9538, 7.9111, 1.5653, 0.4225, 0.1587, -0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79e0badff7ff9ee31baa3bc5e2d9932be6883e2e167efba7399504eb7d440d61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0e85084b2b8ebe24c7d689dc91fff59a0fd24431533779826923e6024d7bb4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9427b318b79376b7b0fb77d4919e794ef0c47e9aaf16097a7b684b154b8b5e8e",
      "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 · 4.36 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5594, 1.6043, 0.8837, -0.086, -0.4942, -0.5625, 0.2167, -0.0154, 0.8314, 0.6067, -0.3855, -0.0116, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3928 left_y=-0.1428 left_z=0.0965 left_yaw=0.1406 left_pitch=-0.1255 left_roll=-0.066 left_gripper=0.2167 right_x=0.2967 right_y=0.0011 right_z=0.1698 right_yaw=-0.0005 right_pitch=-0.0481 right_roll=-0.0005 right_gripper=0.9992\nstate[joint_eff]: [0.0068, -6.0786, 4.7932, 1.243, 0.0073, 0.0611, 0.2027, -0.2667, -1.4564, 7.0359, 1.7118, -0.0317, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1341, 0.9661, 0.7761, -0.5446, -0.223, -0.2928, 0.9966, 0.485, 1.3155, 0.6739, -0.0895, 0.358, 0.247, 0.9992]\nstate[eef_state]: left_x=0.3048 left_y=0.0019 left_z=0.1796 left_yaw=0.197 left_pitch=-0.149 left_roll=-0.0596 left_gripper=0.9966 right_x=0.3465 right_y=0.1167 right_z=0.1118 right_yaw=0.0408 right_pitch=-0.1139 right_roll=-0.0309 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -2.5504, 9.7846, 1.6679, -0.022, 0.149, 0.1148, 0.1573, -4.9573, 9.1556, 1.7314, 0.3443, 0.1685, -0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1349, 0.9726, 0.783, -0.5594, -0.2092, -0.2916, 0.9968, 0.6731, 1.6508, 0.7139, 0.0814, 0.4702, 0.3653, 0.9992]\nstate[eef_state]: left_x=0.3039 left_y=-0.0006 left_z=0.1777 left_yaw=0.1849 left_pitch=-0.1656 left_roll=-0.0629 left_gripper=0.9968 right_x=0.3478 right_y=0.1795 right_z=0.0416 right_yaw=0.0669 right_pitch=-0.1781 right_roll=-0.073 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -2.8239, 6.3111, 1.7216, -0.2222, -0.0415, 0.0024, 0.3487, -6.9538, 7.9111, 1.5653, 0.4225, 0.1587, -0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79e0badff7ff9ee31baa3bc5e2d9932be6883e2e167efba7399504eb7d440d61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0e85084b2b8ebe24c7d689dc91fff59a0fd24431533779826923e6024d7bb4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9427b318b79376b7b0fb77d4919e794ef0c47e9aaf16097a7b684b154b8b5e8e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEoszBTC1BUpW4BgY_DUKNvehA-oXGl8t9gVTNKp-RpFcz9y5OejGo37yHtWu-ydnLJHkAanTgWzVgOTRxECJAjrT2QtEKjMdrFpefacF1T8PnHiN350TBBDPn822XXpKFgCM4AKuFjfPJOwOIbsZz5BxzSlxk01Fl2G4ibywr2MppTCzWp8hfAWj0ZhDIs58P-g8XYWtxrKJm7xQmbJN_cAC-0gNAzM9hZvtsG1hgqDjhD6dHkKIyylwfOtQ_hY0BCAAyZuu-ZVUWyKLihu7u41zBnaEwNTQnCnTclizyP1CIpLCjI8wz_mf-dBp9BQOWvY3WTqYdJ6Ik3BKwr_uYT6cMorntI7LNYiz4BWHG82nMbgYNEjNd4odrFHwFwl1x1VPRHPu-cMVVSt8T565jdbDKZ4kALLDSGLIKvUrDMSllT8BJI0-DXiDYxKTilgXpFoqnKXY3pOAckqQyGC__aBb7POvowzcrcwYVCw47oQ7vOww2ewmXZ108m0k0FV0gJWqgjbLN5GSqEf3LZ1M6EbzBHR2Q2nLr5fyyVqE_Ms6xK0rIwG8VLOYG1ZK-W6KNsAvUfUkxefZzKx_8SeO2en28aQz_B4RXyNK3tiJzdPqBMD93LDQiuZ7G1re0ZDtnE1f165C8YTSt7b2_Of_-LRBG6AfARhvU7E0Soh7JKd1Gh7y1NisON-7C8nwLHTv8AzdDfACXTHRXJI3buZv010vpRrvpin8mkDu4f6DGR2sK4-AIRvz7P1r-5wvVgN6a7xbDOJD8Z9XSEryWVbPReU0Z_n1BBfQmLCDc7uF5TSZ9xQ6DXtsjdDunbllAygEFHLGZYu5fE6ZSoUxw3E00RTal-xwIz-OB6My4xAIc2hHSEtze041eGNLY79rqvQ_J4urXdLMKaHUGCZIDJQe76FksLmkBxgNbyMt6KzysxgoqEFGGmL5HZWDHuh_VZtTkdIxl2Tz2Vm_k_f5GU16F3Rj4K21ImHqBo9NEb0aEASF4dOg4HUfnA-V1OVEy0fiQkq8Toc0d-p3nhwTdj_Ds6hD81De_RlbSFXLVZk9XRAegw9avMjcyJJgJd4Nh8enM8FcJt4NF6CSo6QCjgKS_eWUspBs_WtfzVFL-_hXgDKX-BADE1dolF4LeMNOO9Z9Akvdh9GbubW9uegPsXHIKLmqMfp7qU_6Y9v_pqb4IVbIm-awCfcPeMx7FSVgoTa2wG4AyWVnx096kYziFCoiuI-xJxSHzEjTxMIkomt5md27QwD0o4M7zy968Ws0iErXNNNW4ekJji09f04lsNeXgjrJvv3DmhcWmpErqTwNZgbn9L0AaMwpBLScXIcv1Nx-CnDux-PiVOf2y0oyXxG1-qClg4vp79VSTUUuCaJtcvKKY0eoM7YG6LntvnpkHGD2LUfo0QBJ5G5OemhfMPsBupBjiRlI6N0EEZ6EbyswJNxy5cxEymEdFFPLNo28t2avqnh",
  "id": "rs_069ce64dd6877bf8016ab44a293eb087d08dc1a53afdcfbfdc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At the low pose, the right fingertips now bracket the small cream dog in the overhead view; it is too close to the grasp point to appear in the forward-tilted wrist camera. I’m closing around it.\"}",
  "call_id": "call_h4Q9i3OXcUSwxXHLKSJajUcp",
  "id": "fc_069ce64dd6877bf8016ab44a29e5a087d0801dbb6ffcae7c18",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_h4Q9i3OXcUSwxXHLKSJajUcp",
  "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]: [-0.1352, 0.9726, 0.7811, -0.5579, -0.2092, -0.2916, 0.9968, 0.6785, 1.6707, 0.7162, 0.0872, 0.4599, 0.3592, 0.0101]\nstate[eef_state]: left_x=0.3038 left_y=-0.0007 left_z=0.1771 left_yaw=0.1845 left_pitch=-0.166 left_roll=-0.0628 left_gripper=0.9968 right_x=0.3464 right_y=0.1832 right_z=0.0354 right_yaw=0.0822 right_pitch=-0.1925 right_roll=-0.0778 right_gripper=0.0101\nstate[joint_eff]: [-0.1846, -2.2906, 7.0359, 1.536, -0.149, -0.0464, -0.0122, -0.5675, -8.7043, 5.3128, 1.3504, 0.2955, 0.0415, 0.8181]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30820d05ec2be24d7d637091b3be737f346ebe7ffc255ed5695b593337103b86",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fd6fdf5e6e6e2986cf23bff1861a0cd7592e60d2f8cdc46a7e109ce873ba256",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:741da90ae4d31b2f4efccfaefd3426342d514747f362335fad368f9904262968",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 2.549 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5598, 1.6215, 0.8677, -0.0883, -0.4942, -0.5732, 0.9955, -0.0151, 0.8314, 0.6067, -0.3855, -0.0116, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3882 left_y=-0.1401 left_z=0.0836 left_yaw=0.1492 left_pitch=-0.1528 left_roll=-0.0511 left_gripper=0.9955 right_x=0.2967 right_y=0.0012 right_z=0.1698 right_yaw=-0.0002 right_pitch=-0.0481 right_roll=-0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -8.6359, 7.3915, 1.4383, -0.2662, 0.0513, -0.1538, -0.212, -1.4701, 7.0359, 1.6679, -0.0122, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1349, 0.9726, 0.783, -0.5594, -0.2092, -0.2916, 0.9968, 0.6731, 1.6508, 0.7139, 0.0814, 0.4702, 0.3653, 0.9992]\nstate[eef_state]: left_x=0.3039 left_y=-0.0006 left_z=0.1777 left_yaw=0.1849 left_pitch=-0.1656 left_roll=-0.0629 left_gripper=0.9968 right_x=0.3478 right_y=0.1795 right_z=0.0416 right_yaw=0.0669 right_pitch=-0.1781 right_roll=-0.073 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -2.8239, 6.3111, 1.7216, -0.2222, -0.0415, 0.0024, 0.3487, -6.9538, 7.9111, 1.5653, 0.4225, 0.1587, -0.0952]\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 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1352, 0.9726, 0.7811, -0.5579, -0.2092, -0.2916, 0.9968, 0.6785, 1.6707, 0.7162, 0.0872, 0.4599, 0.3592, 0.0101]\nstate[eef_state]: left_x=0.3038 left_y=-0.0007 left_z=0.1771 left_yaw=0.1845 left_pitch=-0.166 left_roll=-0.0628 left_gripper=0.9968 right_x=0.3464 right_y=0.1832 right_z=0.0354 right_yaw=0.0822 right_pitch=-0.1925 right_roll=-0.0778 right_gripper=0.0101\nstate[joint_eff]: [-0.1846, -2.2906, 7.0359, 1.536, -0.149, -0.0464, -0.0122, -0.5675, -8.7043, 5.3128, 1.3504, 0.2955, 0.0415, 0.8181]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30820d05ec2be24d7d637091b3be737f346ebe7ffc255ed5695b593337103b86",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fd6fdf5e6e6e2986cf23bff1861a0cd7592e60d2f8cdc46a7e109ce873ba256",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:741da90ae4d31b2f4efccfaefd3426342d514747f362335fad368f9904262968",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEoyw88vh_X9yGQAXYOTMugevdVmpV6PCKfPMPDXxrrOwhfF3HdmxqS6ewu1GOGdA1F_eQs7-dxYHj3W8-wEcrYAZUGTCLE2ZjBwjruZ3iFGPPLY7Rt-oniBs3AGa16pJGaiEIkg0ofcQCeTDg8DEBuW2F7N48hlT7Qbc3TutawOWft-52kYLOgLuY9X4lV291iwbbbYTSLVKsjp7HdEbG5XbvA49_wKYgSWeDWAwCbEuwzadK-231YS6f7Q_FWGL4ux8OMq2kEmOUWx9aDNFkgyhl84Uf2HCjS802nhQ2N2VmyZXz_Axom45YzUHgUuOuSvIt80hlAQX_GW0_gh3mw29RA7K3nTqhfXnwSNOHiYX-2wmAgtyCv16VeqrbqIwKe4QSnPmkmiwEkJ4opbgke5mAbJwWvhpij5LCp0L0QKNSmj8gBcxBPbB0F3DnxKGPCuK6HAI9xA4WIkRYWKFtwv_IJoAaosKZAymxBvvvXHEm9BnZc2alH_Wa7bivXwE4u3r0M4THsvKHKTN2e_9wrKioKOPpZ-S-rAaptvr1JOgHELKOmmCo-ldldgpnS4Grcg2jv_k8T_uKXeLHwG1Mh-qACQPRkatxy2f1VcqDEz-7-ihdwJRtzrwUev76_iDomrE2JyFBgiFX1vTqNJtyrmecMyNQP5987tDcRurhvOsT0sTRUva7F5F0PSoU7nLTAITQ2aMbbI_bw4gNkDMHimSwoVXB7dENy3DMvMlC6G7DDT6Kpr9qd1lXKj2toSue_W7PPPKYv8iwzKciMxapJu3wwd4_ib54NlQLgsr8hv52DLg44-kzIoLSfiXxxQ9IGpG1DE-dOQb_X2nKvX1GpSERaPKb71RQi6aEdctB--FeZhrGeMj3Egvfhmijx_fOSBjifGiWinx7HjCVVPYwzuHqk4LZKJNlCAZOSOgcFIG05Cnnpt2I2NgOQru5RC99HNJFy7vU0KPpVM-lMz5B10p8U85lxjrjjKoGnEa_f-bisvp9gnkWTxPgSAkC68qUnQAu1W_X8HO63oQlaCM0VDvBo0tgjwZsooIGRuZNJojI24Ba8EQs794QHonIYv13By4yDviocjX6XpAFHFANHuiO1Xga0bP74HDL3Xainz8DJ8Arho8v1ZyTvXkUyEifKvHQ7kijfdpRPpH8tABZS1LWN_5V5LHqq0hoBc-mrmjreSsPuBMJru2zp9BlteYpPJ4CqfQubYiFfGrSmKlXbd6aGiYg-Rl8z0fCizIECoC810YBHCupJXIb-Kcj020wwQwDGsJ5d5fhHhq08jF9X-W2wEjoRY5X5FIlOrr58j1Q1CodlQbMarWmySkEnqLOLjfAmlqzJ8ngXOsAAHAlTGLKLzpDR34rbvAXXW7NRsSKruCsFBq-uqZHTbEpTCX_yrKt60LJjoisyhtLHGQ2uXmPM0xVSXhF9Yt7pJB5BW2ZFkt-VkSEPXJVOQLQH3-SdL8ildnL7VgDAD6tHRBF7COpMRRtxII6HkKSslcFa8kj61ux_jYkyuoU80tkhI9Nd8U4uzJdmeXFaNdhXIQ-4LZ24o9Ipn2B0vMBpK7_Pefd52hFgUBCibPq5I48KM4R99dQGjsEA2XVgwluFMPJ437fSukoRt5sdZYZbZqolIzr_wOM-IRz20YFyF1v3lXOOKpEmSyO3shE9vW-13eO_CF88KZY0p3BrWz5vQrH-q2xV4S19OIH9ztXQv3bvN7QmQXOgRP-j9pvCdwPrPTZsiApuzKVpLvwsFlf7OJbXXjYEZqt5Te1e6y7vYAyP8zZPRajqxPD_Xb3Iv421XJS6m6w==",
  "id": "rs_069ce64dd6877bf8016ab44a2fdc8087d0bea254a3268e783a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.23,\"right_z\":0.055,\"right_gripper\":1.0},\"note\":\"The gripper closed to 0.01, confirming an empty grasp; overhead shows the dog slightly left and closer to the bases than the fingertips. I’m reopening and shifting about 3–4 cm left and inward for the single measured retry.\"}",
  "call_id": "call_qd6cK9xgtoSd2H0htuodAr8K",
  "id": "fc_069ce64dd6877bf8016ab44a3131bc87d085f78bc23e5eb16f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qd6cK9xgtoSd2H0htuodAr8K",
  "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]: [-0.1349, 0.9741, 0.7811, -0.5602, -0.2089, -0.2916, 0.9968, 0.8448, 1.6703, 0.8036, -0.0818, 0.5472, 0.4923, 0.9946]\nstate[eef_state]: left_x=0.3036 left_y=-0.0006 left_z=0.1763 left_yaw=0.1848 left_pitch=-0.1697 left_roll=-0.0618 left_gripper=0.9968 right_x=0.3179 right_y=0.225 right_z=0.0474 right_yaw=0.1013 right_pitch=-0.2076 right_roll=-0.0861 right_gripper=0.9946\nstate[joint_eff]: [-0.0889, -2.3726, 6.8991, 1.6093, -0.1148, -0.0269, -0.0073, 0.6906, -6.9949, 8.2667, 1.1111, 0.4322, 0.1587, -0.022]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:739ff91a8fb8e843c88646e280cfd7753ee8756d368c7a0c290dabe9ff5d6214",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b314a1bb071671c875b8e3057048524e88f49382c905429d8897034d4c4e15ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f73175248bf6b8b90f3784c6748999c9036b73892681e74d859df410cb501b1",
      "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 · 5.512 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1341, 0.9661, 0.7761, -0.5446, -0.223, -0.2928, 0.9966, 0.485, 1.3155, 0.6739, -0.0895, 0.358, 0.247, 0.9992]\nstate[eef_state]: left_x=0.3048 left_y=0.0019 left_z=0.1796 left_yaw=0.197 left_pitch=-0.149 left_roll=-0.0596 left_gripper=0.9966 right_x=0.3465 right_y=0.1167 right_z=0.1118 right_yaw=0.0408 right_pitch=-0.1139 right_roll=-0.0309 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -2.5504, 9.7846, 1.6679, -0.022, 0.149, 0.1148, 0.1573, -4.9573, 9.1556, 1.7314, 0.3443, 0.1685, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1352, 0.9726, 0.7811, -0.5579, -0.2092, -0.2916, 0.9968, 0.6785, 1.6707, 0.7162, 0.0872, 0.4599, 0.3592, 0.0101]\nstate[eef_state]: left_x=0.3038 left_y=-0.0007 left_z=0.1771 left_yaw=0.1845 left_pitch=-0.166 left_roll=-0.0628 left_gripper=0.9968 right_x=0.3464 right_y=0.1832 right_z=0.0354 right_yaw=0.0822 right_pitch=-0.1925 right_roll=-0.0778 right_gripper=0.0101\nstate[joint_eff]: [-0.1846, -2.2906, 7.0359, 1.536, -0.149, -0.0464, -0.0122, -0.5675, -8.7043, 5.3128, 1.3504, 0.2955, 0.0415, 0.8181]\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 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1349, 0.9741, 0.7811, -0.5602, -0.2089, -0.2916, 0.9968, 0.8448, 1.6703, 0.8036, -0.0818, 0.5472, 0.4923, 0.9946]\nstate[eef_state]: left_x=0.3036 left_y=-0.0006 left_z=0.1763 left_yaw=0.1848 left_pitch=-0.1697 left_roll=-0.0618 left_gripper=0.9968 right_x=0.3179 right_y=0.225 right_z=0.0474 right_yaw=0.1013 right_pitch=-0.2076 right_roll=-0.0861 right_gripper=0.9946\nstate[joint_eff]: [-0.0889, -2.3726, 6.8991, 1.6093, -0.1148, -0.0269, -0.0073, 0.6906, -6.9949, 8.2667, 1.1111, 0.4322, 0.1587, -0.022]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:739ff91a8fb8e843c88646e280cfd7753ee8756d368c7a0c290dabe9ff5d6214",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b314a1bb071671c875b8e3057048524e88f49382c905429d8897034d4c4e15ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f73175248bf6b8b90f3784c6748999c9036b73892681e74d859df410cb501b1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEo1vjFXvgD-7V6XzItUSXGAxICq45qxGISrt7coOx0xAVA-FOyLbrFlweO-bLLNYSZKkNSEHl_Dd0LFGHi6moWDHn9pjR3lbrZRg3N0wqsb-tCmVHBZfpApNRawQ446YJWr3GMsM3tQyhlN9sVamORQbBf4kSSw7aWPTDBYsA-_kKsfFV35LzJT_-8_ciIvq6xE-49UUHA8TSr2qyZBRQb4d03tMko0N6jO7C23NmSqGd4gleAqyJC5upErjxWHDquxwlGHyRwGVq-JA3oPutYhVtX7yLvIRKxyyavr8cp4oyDlAiHFGDIaxy7C0oMFLbp2ncXGiUOO8w9IV5dXtOFhf7otcNToz8bfw3p6i3zsLU7hnbDjr7A--dTc5etGYpuSAwQf65w6W8k1q932fWhKnBMAK1kF4bLOImCNeuv_1p2TmOVM_6PANfPLB68ag22vIqZeAFlmq4UyzIuuvkYPh1B_BDq3-UbQS-Mty3AMv9-xdjWPv_lppoHXk37p-McQMxr0EewNQ3j_sXCSExu-3ySBwKqERfIYa0iG8px3872jNlJ7zc4EiVjOja6CVDW11RvZ1kQ3F0QqES65OwA5PrUkVwR9OayDyj8XxBPFqzQ97NaDjPmwTolcn2rA3zYc8KVFEXmCktC5OjP_nb911-25iG_v-35p-YgUHs23G1vD0Tf0yaLa5YLybG7c5HirVYcblvxKJ9Va-uA4FB45UcnFVGfNXRIBQQPa0Nm01dvWE8DN_jixFgIGpO4BaeJRTP7bxWExION4sBBUpkA_dBD77MQdL40_7aeb3C8hiRJZje7RkWmcnPefylp30E4qhMYOE1JG1VsivpsbjIy6atq7pKjLc5gS0kGdCtEkPFniHsyYzwszKL9TNx-hgzY7VYZYjrmMSjpPYZEnCXgrW53JRxqYLLQDZnXm8mEe7frmniY5XnwMie6nf33qoX1une_eyI15Opj2OzDbJIZe5XAnOdhXuyVo32ZZMyTbiw8oquDiB5vvUUJp_z74BV3T0mA5deG6_6FFKvbd2eZ_cfwP9aKKHCYMh5yktjs39c3Y8M41Q4vJwkey45emgHD0aR67y8fai5JcHX2bTJnkIXLn3tEl3Ddx2-T7V683-wzrUOmbv92xPZeCpvmCpwapL0Q6-3wtOq3QCbXYeBTh9NLJnkb-MmWsKN3-ufivVujz9F9zFsJOty4SwmZ0s8KBImGzZ7re3bW5uhxexW0jxU9o2k9qm6B4ux12DRT9bu9RLBaptSDZSfJ7_k5P4eIMb-LK4bJtRfN8IgFCFUNa9EWluzNbaSlMrn7CNnKCDSuG4eEcWE2Xw-TISc9ck9Vz",
  "id": "rs_069ce64dd6877bf8016ab44a347c5087d0980a7bc42668a8d3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"After the inward-left correction, the small cream dog is now between the open fingertips in the overhead view. I’m closing for the retry.\"}",
  "call_id": "call_2JoDSDvHmOml4nI8DAL2xIfL",
  "id": "fc_069ce64dd6877bf8016ab44a34fb9087d08eadabd27b79b7b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2JoDSDvHmOml4nI8DAL2xIfL",
  "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]: [-0.1349, 0.9745, 0.7811, -0.5602, -0.2089, -0.2916, 0.9968, 0.849, 1.6703, 0.8078, -0.0929, 0.5385, 0.487, 0.0102]\nstate[eef_state]: left_x=0.3036 left_y=-0.0006 left_z=0.1762 left_yaw=0.1848 left_pitch=-0.1701 left_roll=-0.0617 left_gripper=0.9968 right_x=0.3159 right_y=0.2271 right_z=0.0467 right_yaw=0.1136 right_pitch=-0.2177 right_roll=-0.0893 right_gripper=0.0102\nstate[joint_eff]: [-0.0479, -2.2496, 6.9675, 1.5604, -0.1294, -0.0611, -0.0122, -0.4855, -7.2821, 5.3538, 1.3993, 0.3199, 0.0317, 0.8718]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59d8f32750f90e3d5d70e587d03d22f5f497b0b8d178d3d545e95af6313e88a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:408119d9d6748bd9e660e6f8252b7c93e0cfac442a36a86224a078928dfe56db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aa4743fb7747a8322b12f24a94e99e1271fe1ada3f72b17aa2300aa35b18695",
      "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 · 2.044 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1349, 0.9726, 0.783, -0.5594, -0.2092, -0.2916, 0.9968, 0.6731, 1.6508, 0.7139, 0.0814, 0.4702, 0.3653, 0.9992]\nstate[eef_state]: left_x=0.3039 left_y=-0.0006 left_z=0.1777 left_yaw=0.1849 left_pitch=-0.1656 left_roll=-0.0629 left_gripper=0.9968 right_x=0.3478 right_y=0.1795 right_z=0.0416 right_yaw=0.0669 right_pitch=-0.1781 right_roll=-0.073 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -2.8239, 6.3111, 1.7216, -0.2222, -0.0415, 0.0024, 0.3487, -6.9538, 7.9111, 1.5653, 0.4225, 0.1587, -0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1349, 0.9741, 0.7811, -0.5602, -0.2089, -0.2916, 0.9968, 0.8448, 1.6703, 0.8036, -0.0818, 0.5472, 0.4923, 0.9946]\nstate[eef_state]: left_x=0.3036 left_y=-0.0006 left_z=0.1763 left_yaw=0.1848 left_pitch=-0.1697 left_roll=-0.0618 left_gripper=0.9968 right_x=0.3179 right_y=0.225 right_z=0.0474 right_yaw=0.1013 right_pitch=-0.2076 right_roll=-0.0861 right_gripper=0.9946\nstate[joint_eff]: [-0.0889, -2.3726, 6.8991, 1.6093, -0.1148, -0.0269, -0.0073, 0.6906, -6.9949, 8.2667, 1.1111, 0.4322, 0.1587, -0.022]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1349, 0.9745, 0.7811, -0.5602, -0.2089, -0.2916, 0.9968, 0.849, 1.6703, 0.8078, -0.0929, 0.5385, 0.487, 0.0102]\nstate[eef_state]: left_x=0.3036 left_y=-0.0006 left_z=0.1762 left_yaw=0.1848 left_pitch=-0.1701 left_roll=-0.0617 left_gripper=0.9968 right_x=0.3159 right_y=0.2271 right_z=0.0467 right_yaw=0.1136 right_pitch=-0.2177 right_roll=-0.0893 right_gripper=0.0102\nstate[joint_eff]: [-0.0479, -2.2496, 6.9675, 1.5604, -0.1294, -0.0611, -0.0122, -0.4855, -7.2821, 5.3538, 1.3993, 0.3199, 0.0317, 0.8718]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59d8f32750f90e3d5d70e587d03d22f5f497b0b8d178d3d545e95af6313e88a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:408119d9d6748bd9e660e6f8252b7c93e0cfac442a36a86224a078928dfe56db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aa4743fb7747a8322b12f24a94e99e1271fe1ada3f72b17aa2300aa35b18695",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEo7LLxZ29_oyJtStlR4x2UI2oPoQIxJ_pu7tOOv-5j6d7THNnRnKdoz_8p-DYrkQoC-c-R571zplCJJh_z0_HjyIz-odFnOk1__HXVk_Md8dMRBlLC5naGkA20sCo8kP3d73bbakRo2kjpWoxmPYjQllGTcOXMtm0KNoJ4dnQ-GMoZtiX8QWrDb1ov-FeJt64ck-WA-YtlSXakny3wRHF_5shW9qazuUFZ2_8xf-jjnBSGPOomoqEBbwH0WI8V6iNx-AIxDennHJ6Dwxq7H3affpL5zuevHtRJrYBapOmDpknx9cxMJCbmcdKZOI-feWOZbiPuuzoUfl7IAO9MCh3Rd_vqIMAC6WAzWu5ih3GAU03TvkIi8Ovil1F-aHZFbKZhxDtPOno-PrXa5cBGwirDHgJwyHt8DE64hNiYRRqony3ioWgJn5edzYUGPcjLlm5TS41MEA6n2h4kZdh-Lh1A86LtOHTdkE3P4kWQZzwcs_yggejYngvj-K7uwzBz91AxaYsUounixIeZ6DCd3zMjpei4EB0cJiKD5_Kp9fRTMx0KHH2tZV0wh1A-e85esv1kpGEsofABGKn4SJccyxpaIKIgP3EAdUKcEk_4fTYBFNPkCYme2U1ZnGQNC44xhH4jdC3ubcfrD_9vh5uDuDspQvXpeUZqPEm2mgCpW4CpP4gh-GuH3tsVKaH240MfqEUumQq2hD1qGBBkrAVkFeQj9xTSdGkRKtm5rLvyP61J7pykTJ_REHk-NmPbka91apzGmeiR806Fwaon9tDYuymObtfsD9drxOqubjuJLiS0rOaOqdEcMT0bHShEFpxa2-6-wWHMDNUjIe3u7cj6_vG73C862DTg_7SWKFtFiwO4HBom-7UUw3GX3a63omE-i_egA4wcJUckZww-DDZxxhmv4AzhD3Qrvg6vm8JOCTM7pYUtWlof3IQ7Zja_073xTuG2hYP9J-GvlobJTvnF6PBMrqc6J5eOPE94ZSW73SjsFbZqBu2a3u7EhlgmWU--J_NIBJnuQKh72cRVvoWfv0IL5IlPBx9j1-UZ6N7dOVB3-fXBQRPJRcBqnZ6bCybtEDZz-3mVA6z0EgIwisr7rh4ezUMjm8p_66TIb22s1iuhh5EGBrUsIYI0YVy49P2VI14O8YF6CksTsqIfykBYJswHJREC-a67pT2lXqUexIQobQjzBgVrvqzvf1Bj6qvxzjHIj8NPomTL7aach7h-2aAJhvR0QquUke1BwawUDd8WzlnQLpwKpEQjvCBYSSym3rfwWrkUGI7oCWHXwz5P2FTwiQkoOMMe4IR93XtXi1UVv4ngGGMxRqkEkOyACQmMj7u322LZqsl2jefMCQikwtGztEkMicaJlULJKW0VIpQvU4bisWBWBltI2Lzi-X5xkRLCtGIXCenDzv2SfNRHyzc3YXYs2w_Y_Wd5U8Z_wl7V2A5osfs4KkBfBpeFqKv_nZaokgEnSiQTKkaZjbfl-KrL7R8hZZ6W-r2DSClLQU0vzhurECGOt6DLM1YTBmJQIZzGe9k_vAaubIFQlBiD5Sdvd5namPEx3bXLmpWAq7-8yoYUKLfLu0HZTILxgPxPlZosXRCHH_KRcgX98ZxUycWtZ0_X_f1StXymbxk6qNVg1-7ECUW8aO_Yz1jDQnVBlLOUzgnDhjIWKgrUtrVD1uyCf22DbwJQiUAJ0bUS77LFETgmkxH6LUN3Pe-qwC_00_hkWU_9lKk9WuO9Efo_mr_NFOP0vd1saa-9xy2SQCo-66SeJgqUVMwgwYVxu2ivZ1UEiAUkBSNFuz8b91weR-2ca-qJItd_P-46dKVyMm0RWauYIzp8SQcfZ0_x-atWRHeMno00Ofy8CL6zQTYFCqnwJmonKC50t2rFJgnnE34ucwQhePfLHcTxmuBkojYIoviiTcRrgGMuywSAi5ZPyGsTZVHpAuxm3m1oYiaQojU0GNWQrsQ0edPGmWL-YkQuSAv8u0RFIuNpN3iASmAvOPYZcd2O3azWrLG2O9bbxSbotwASXyHmhRevOfQM6_krT5u-GNwfo6bcSMrx0bC9XXtJL37e2P5dEGyWmjUjO2UxdSppeyYvpBrxAGac0uFJrpqtDfST-eubOv7gtTIKsMxqMtLiY_ZWtm79aZLUr9RSPQXZfQqnncePm4dTlvfcS8hSVIU0vlLlHwcXzFc3MootJJQYiNS3_O2cN-AYvEnXbqAfvYOLsDf-BkuyBmeJUA5UqF7vRzikFo9uO_ap3wcAijFgL8Q0ZgKxDrtF8AYK_XpajjaNMAJs5bu_J5v0cCmdGh4tm7SxEy8qyCd9zjKnl67FCWGolSlut509uE6wqxSH1XsIQlRpWz5_C4jBMikNgfj4h7jnL_8oTYR2U3BkP9ai_Xs7COAhLpu5F_asw-UOn-rSQEWgpa5jaSP_na-VABwj1miDfWA9eyXhJVs1jsRnK_WBQdWbQnzVh-_3GSThbVtbWP8ECJuyRmgzOQARqgxF43Zv_XXCohdAPffyJVdBK6muAuhdbFcfQvokAVF5Je9ktU7otjSrXfMMTsBGdnj0DlVS2O1HXW0KbZyc3uO87aZa6iyOnec7RJu4-vgyL3O4M2gb67jdBEb1Ki3HBq8tHdXhFJ-i9sTxiEH11HoFtjenuCn0bgsG0xg0Oi6uNGZsPVN5o3cbgsXK4khuYQcftD4PnYmMUWySnfObbVyo8rJmmE1-3gG3phKaWjTKLwpqCPkK0P4l13JAr0bKwGb8Cf4dSVfaoHo65NsmG7aK1SrycLgSHw5hiS92EfC0iwVledqrVIsizpTXP2QVgimuqhqHri5xISC4-j1kI592zh0xqpv0Ym87AO4s41AY_KcJ_CscJPdkGr4_oeEC1MmyBOSIxinp3WrY96v3TFWTIGcI7kBP_x3fTS3gNmNnuwsIrmAlHGLGHxaln_-_XUQSgXqTRwNDEIUG3gS3RD5MocwYkceu8t-G3jMl-RH8pmfCeXL0QPzypTwL4cHZIPe1kvQodddrrMmvbuqRfy6WpXU4QkuUPHe4AI47Z0Qwrz7lwYZos4YMuRePAc3BIefoEIANdvfUpNR7pQ4taywFHAks2Isge6cCuFk1CUSKvrtr4lTy1ZVUW-QjB2tNgVH2SuLNJ__P2YG1Muav5rg==",
  "id": "rs_069ce64dd6877bf8016ab44a3795ec87d08fbd6a69d20b4b77",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":0.0,\"left_z\":0.055,\"left_gripper\":1.0},\"note\":\"The failed dog retry is empty, so I’m switching tasks rather than repeating it. The gray squirrel is clearly visible beside the left basket with its bushy tail, and the left wrist view gives a good body alignment, so I’m descending the left gripper over its torso.\"}",
  "call_id": "call_TEpowkjecKbHvItlJlMsuBgX",
  "id": "fc_069ce64dd6877bf8016ab44a3bb07087d08dab615e00669da0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TEpowkjecKbHvItlJlMsuBgX",
  "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]: [-0.0994, 1.4288, 0.5724, 0.0269, -0.1928, -0.2802, 0.9987, 0.849, 1.6722, 0.8051, -0.0879, 0.5308, 0.487, 0.0122]\nstate[eef_state]: left_x=0.3549 left_y=0.0022 left_z=0.0481 left_yaw=0.2054 left_pitch=-0.2456 left_roll=-0.0406 left_gripper=0.9987 right_x=0.3152 right_y=0.2281 right_z=0.0452 right_yaw=0.1191 right_pitch=-0.2216 right_roll=-0.0843 right_gripper=0.0122\nstate[joint_eff]: [0.253, -6.2154, 5.1761, 1.7314, 0.0464, 0.0757, -0.149, -0.253, -7.4462, 5.8735, 1.16, 0.3004, -0.0464, 0.5543]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d84c9fc2fd618671c9afe64f6a059e44e2c3b76d296b0f88b9a13b0f35cbfcc1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:652e08c2ab93ef913b203f4a0c168928f0e709d3a3db09190d79e4151a847d9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:787e20c3a50c7371dc9ec361207eecc6cedc013a28aaf114bb29025946dde44c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 3.036 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1352, 0.9726, 0.7811, -0.5579, -0.2092, -0.2916, 0.9968, 0.6785, 1.6707, 0.7162, 0.0872, 0.4599, 0.3592, 0.0101]\nstate[eef_state]: left_x=0.3038 left_y=-0.0007 left_z=0.1771 left_yaw=0.1845 left_pitch=-0.166 left_roll=-0.0628 left_gripper=0.9968 right_x=0.3464 right_y=0.1832 right_z=0.0354 right_yaw=0.0822 right_pitch=-0.1925 right_roll=-0.0778 right_gripper=0.0101\nstate[joint_eff]: [-0.1846, -2.2906, 7.0359, 1.536, -0.149, -0.0464, -0.0122, -0.5675, -8.7043, 5.3128, 1.3504, 0.2955, 0.0415, 0.8181]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1349, 0.9745, 0.7811, -0.5602, -0.2089, -0.2916, 0.9968, 0.849, 1.6703, 0.8078, -0.0929, 0.5385, 0.487, 0.0102]\nstate[eef_state]: left_x=0.3036 left_y=-0.0006 left_z=0.1762 left_yaw=0.1848 left_pitch=-0.1701 left_roll=-0.0617 left_gripper=0.9968 right_x=0.3159 right_y=0.2271 right_z=0.0467 right_yaw=0.1136 right_pitch=-0.2177 right_roll=-0.0893 right_gripper=0.0102\nstate[joint_eff]: [-0.0479, -2.2496, 6.9675, 1.5604, -0.1294, -0.0611, -0.0122, -0.4855, -7.2821, 5.3538, 1.3993, 0.3199, 0.0317, 0.8718]\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 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0994, 1.4288, 0.5724, 0.0269, -0.1928, -0.2802, 0.9987, 0.849, 1.6722, 0.8051, -0.0879, 0.5308, 0.487, 0.0122]\nstate[eef_state]: left_x=0.3549 left_y=0.0022 left_z=0.0481 left_yaw=0.2054 left_pitch=-0.2456 left_roll=-0.0406 left_gripper=0.9987 right_x=0.3152 right_y=0.2281 right_z=0.0452 right_yaw=0.1191 right_pitch=-0.2216 right_roll=-0.0843 right_gripper=0.0122\nstate[joint_eff]: [0.253, -6.2154, 5.1761, 1.7314, 0.0464, 0.0757, -0.149, -0.253, -7.4462, 5.8735, 1.16, 0.3004, -0.0464, 0.5543]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d84c9fc2fd618671c9afe64f6a059e44e2c3b76d296b0f88b9a13b0f35cbfcc1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:652e08c2ab93ef913b203f4a0c168928f0e709d3a3db09190d79e4151a847d9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:787e20c3a50c7371dc9ec361207eecc6cedc013a28aaf114bb29025946dde44c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEo-F0LcC_iAyGUX65HcpiVHzXdeg6G7iBay9G7K9vu2uohbmbkFbP8ZdWt0rsrKZQ54nRbSyzny_kbdnsflNxC50Wv0XBZG3dy4xzIl5Td3se9T9TUNI5H2soGsE6PZk5MR8OMyc_zC5te26T_C7VO_rvwy1ReHmkHIKIG7-9On69LGQqtH4gUcfqVwzlRcDBdtkIFUinbnxoeYQ3JPKwB6nGq2e4iQEjzF8bUi0e0CIT2BS5EdaiCqcB38Bb71GeICkMtNruXTKrObBPF-Mm5hHkcj4ZSm70mzZ9vrtJVFbq-JOiU5Fj9EAqng1KhhDONXoy9EoFrzQXR4yLTlhNlUBQ3Nl8-fOur9pqkACse_LJPVEtDdto-BiWLT-83oCBYSDbxzaJ_EwRlCGuyJXofUudi3sPRxs3RdRHXJlcfEBl0sYRoMf1kVJDGrun0-UmFstXLOsU5U_buBMQNwjelS2q9sH-VT7M1C6cJrxs-3XmhFCec0J7Delq9th6Lqa0dWqiCDILhMGHm4yg2O1yWnoIcEkn8yTZf9yIetMvRbNlxCQU_fpSVYVeUBLt0g2gHN-kAKR4x1JRjWC0g3FbWAWEjhbSJgtRaScKZsbM1pQVodAXvn0bWm3JDvFUHcypOU1et8h6QPAvBUeeY_m01ItgdmIUeRExAW0U4JeIxGBKTB82YWMXdBqpHbA5juua8H1Gk68xaaFxuR70PyU7f0U7FSBPpGWS1KKSIkwwu5ZhxbjjxV8CPQr7KNNsG9U1C88D6km1LSghf6g6yHpZhus5J-ynIXUlTyLsVnz2-AmCqhf1EEK9E7eMdakkm-vgTqREfB5nrJo0aWnFeBai1BecFrSpkEN-2x3ju1g_XxraMnlGFDc-RjvstOsaRH8UESOMNyVk44N1MhuoOHZppMNW4Q2vU7UMexUcq1jOIPkhiAFKYKLziA232BZKiXozKyJg6Ugy39x5p9k14CHerrwxc0coMyEVqrkvokptisTPTcdl1Iv3amcGx_2HhFdlKbKv4_v7SEkC9VRVN552VqIbuVfNQkhNvA1sQkCzcxyiCLpecF2fQX07M26PZGybpHFOv9u-S6xrlg8vnUUOr8gL774C1zLRvrVWdnfonq-mCsd3QfsTuk4LaY4wsfpXeYIJydtdGe8CrB0iNgs7UWMTi-3jl0ZlAewJbJ2k6033XCY1rD7mQ2ZWSZ1sxJr_pf",
  "id": "rs_069ce64dd6877bf8016ab44a3df14487d097c3c9bbda517206",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The gray squirrel’s torso now fills the gap between the left fingertips, with the curled tail safely outside the pinch area. I’m closing on the body.\"}",
  "call_id": "call_Y1oi3HvY4o3uQEIJ9QFfaFy7",
  "id": "fc_069ce64dd6877bf8016ab44a3e135487d0a5ae7d7be192ec34",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Y1oi3HvY4o3uQEIJ9QFfaFy7",
  "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]: [-0.0998, 1.4509, 0.561, 0.0368, -0.1867, -0.284, 0.0119, 0.849, 1.6722, 0.8051, -0.0856, 0.5228, 0.487, 0.0146]\nstate[eef_state]: left_x=0.3514 left_y=0.0014 left_z=0.0381 left_yaw=0.2038 left_pitch=-0.2695 left_roll=-0.0404 left_gripper=0.0119 right_x=0.3148 right_y=0.2295 right_z=0.0449 right_yaw=0.1252 right_pitch=-0.2242 right_roll=-0.0777 right_gripper=0.0146\nstate[joint_eff]: [-0.0615, -7.1316, 6.6667, 1.3309, -0.1734, 0.0366, 1.0965, -0.1709, -7.1316, 5.7504, 1.2039, 0.2369, -0.0562, 0.2369]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:405cdb594497161fdc9b15ead1b9816a54d3e5fb7df130b0503114abf679957b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3398df307f8f3bedf734f20584845fc28bc4f868c29e24f8fd57e19fc1487940",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9030b4a5c97be38681736d33506e71fee5850decfcdb9519e2d9a3631ba7d193",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 1.857 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1349, 0.9741, 0.7811, -0.5602, -0.2089, -0.2916, 0.9968, 0.8448, 1.6703, 0.8036, -0.0818, 0.5472, 0.4923, 0.9946]\nstate[eef_state]: left_x=0.3036 left_y=-0.0006 left_z=0.1763 left_yaw=0.1848 left_pitch=-0.1697 left_roll=-0.0618 left_gripper=0.9968 right_x=0.3179 right_y=0.225 right_z=0.0474 right_yaw=0.1013 right_pitch=-0.2076 right_roll=-0.0861 right_gripper=0.9946\nstate[joint_eff]: [-0.0889, -2.3726, 6.8991, 1.6093, -0.1148, -0.0269, -0.0073, 0.6906, -6.9949, 8.2667, 1.1111, 0.4322, 0.1587, -0.022]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0994, 1.4288, 0.5724, 0.0269, -0.1928, -0.2802, 0.9987, 0.849, 1.6722, 0.8051, -0.0879, 0.5308, 0.487, 0.0122]\nstate[eef_state]: left_x=0.3549 left_y=0.0022 left_z=0.0481 left_yaw=0.2054 left_pitch=-0.2456 left_roll=-0.0406 left_gripper=0.9987 right_x=0.3152 right_y=0.2281 right_z=0.0452 right_yaw=0.1191 right_pitch=-0.2216 right_roll=-0.0843 right_gripper=0.0122\nstate[joint_eff]: [0.253, -6.2154, 5.1761, 1.7314, 0.0464, 0.0757, -0.149, -0.253, -7.4462, 5.8735, 1.16, 0.3004, -0.0464, 0.5543]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0998, 1.4509, 0.561, 0.0368, -0.1867, -0.284, 0.0119, 0.849, 1.6722, 0.8051, -0.0856, 0.5228, 0.487, 0.0146]\nstate[eef_state]: left_x=0.3514 left_y=0.0014 left_z=0.0381 left_yaw=0.2038 left_pitch=-0.2695 left_roll=-0.0404 left_gripper=0.0119 right_x=0.3148 right_y=0.2295 right_z=0.0449 right_yaw=0.1252 right_pitch=-0.2242 right_roll=-0.0777 right_gripper=0.0146\nstate[joint_eff]: [-0.0615, -7.1316, 6.6667, 1.3309, -0.1734, 0.0366, 1.0965, -0.1709, -7.1316, 5.7504, 1.2039, 0.2369, -0.0562, 0.2369]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:405cdb594497161fdc9b15ead1b9816a54d3e5fb7df130b0503114abf679957b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3398df307f8f3bedf734f20584845fc28bc4f868c29e24f8fd57e19fc1487940",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9030b4a5c97be38681736d33506e71fee5850decfcdb9519e2d9a3631ba7d193",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEpCQmtphmRvvWbymweqw4LIj_x91YHSd5r9Beid6N43Wg0CWVsBUeGpSR9tiuZnIj340P5QNKvuPe1c0UDSS_So87F1O7IR44a27eRHYT3LXQJythj-JDIx0p5SRQ3j9YR_YqRiJefKkck-g-bhBcPpBnYzcSLr-lGqMEe-ScHg6sCH_V0q7TlZq5BZraMpAukyc-kiwlyQBPT115N1XQaDj0Am8Iund-HCyrr22kgMWwiTFaubc8vGEFhblrSv_QcQoVoPTgJalusnGAMB4rWazgidu1_A1g7FTw7mSu0HXkM4BHN16eaMyhfNHkVxEHiXgUowKnuOBOeLJ_o_gWSY3hjrJ-kF92sVfOQ4LmT4C5PFu8NjnP5IQAupLKxk4TP_pWgiZDNjEjJ3XUCMtxvLaVZ8YzU6h-K6M_wfZnoH6heB8uvJESsqdpK8KKLybmSua6ha9qjyBb78nGvPVWJp3F-Owe3Es1pybVgnLcPqowaKz026OYGSzia5bhL5pLMKWNJfcpP70rnV0dVLpwPGXhFJMyln6Rd5uTLzDYTOerHkzAfi-W6Cgj12uE7SgBDTB049VXCgSLMQFyCvH2NgrgZFK6eiPdBrKWV1dpNVV-coSmN8m09XhnzcZytWhtedyEXTNgSICkEufGcMFlPff-I4sfC1bw7LKBIPLoWNdepcJce_Qe37TfW_WA2dVmKP4EiPQqBDIbsD91kzsK08VzTAcGwz_LlA6C2VqQ0bjC-O0K9erp7yfx6sv28DzDJacNc9SLKKlEr7T3p-Kq9AN9lWyEhTYc4SCF9e-GmxDq4WgIeG_iWfru8r1Jbmuz8wcqUftEruClaYzOnMiKryOuwffiivGj6UVEIiUiCsMUMbyMpSE_NUqqyuFBkRAhvuOZt_C4xdwqfUg6Cl83DzkvClnCdvCWO3-7GKIeSLfuBEOKA9u-MQ3aBtf6WKss6M_seqaNO1po_WXhXRFbnpAU8iNysOW06dzIl8z_TEbbcTNhAmaazLvAllrHe1yiON_1gO-Pz5lkjKxfr0cDF7hOyQhkNX7NaExzVcMPC3HO6UkhLRKSKXO1doccPbolBM4FKjhVeLfm13NfVhsGa1LZkSsIc5UNNfQzrOnUpAbhfN1iPluNY3ywA-Bf2GhMKag5s_HIpnlpQZ4LKii4PKInXT1DjT9yU-u7tnTsrcb9PWjVBCvayj4kBVwq8i2LvQMh7JBdmgNwD52ZpYZx4g8GNu_1kw2QFe80fCtNReXzRTZYdCbUD1gTgLqaJTA6ZHvqvuG_OW2QXIydXtl-Qwfj3cbrAFzUBENNCJAv2w1-Pk4C2Sv94TKDIIthEOrBliTQ5hcjalmXPWJkhmwxekvmjc_U2NPq8XTAISN88QPBVtMjcvWRrp4fcsC-n1aMWrQNmE34cgKTj7p3UleeiokEAy-7aEIoIdIFjh97mWlT6Akkh34MrQvuhrx19nc4jxRw2SqMHBe57Ty2h9qOi-57N_avsoSHoNR1LNcLWNnMGyXAVmEhW9H8OSTi-UZ7_bWHrwjaBpDZxBLujv692O9Zw3H-CRCIoRSVwwdOdBFpfN-VnC9Lfxqf75qNyG_J7_I-EUTYGN1Cd49iJymv-K8ckxQRzInGAbDZjqUcGJh_VO4-sB-PeywLyG5SAUhPhc2kX3uXeRuO-ZH0I0tIefA5szyDWZBGvmGIFzJ8gzo70=",
  "id": "rs_069ce64dd6877bf8016ab44a40ddbc87d0afa8cc14e5acbf7f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":0.0,\"left_z\":0.045,\"left_gripper\":1.0},\"note\":\"The left gripper also closed empty; the wrist image shows why—the body was centered but still just beyond the actual fingertip point. I’m reopening and advancing 3–4 cm radially, keeping the same lateral and low alignment for the permitted retry.\"}",
  "call_id": "call_izYWb9ufZ1DI21nrqjpHZ5WJ",
  "id": "fc_069ce64dd6877bf8016ab44a41f3d887d0a7a2c873a313ef1f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_izYWb9ufZ1DI21nrqjpHZ5WJ",
  "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]: [-0.0956, 1.5787, 0.6861, 0.0116, -0.1818, -0.2871, 0.9954, 0.849, 1.6722, 0.8051, -0.0853, 0.5129, 0.487, 0.0168]\nstate[eef_state]: left_x=0.3794 left_y=-0.0007 left_z=0.0349 left_yaw=0.2078 left_pitch=-0.2973 left_roll=-0.0376 left_gripper=0.9954 right_x=0.314 right_y=0.231 right_z=0.0443 right_yaw=0.1324 right_pitch=-0.2293 right_roll=-0.0712 right_gripper=0.0168\nstate[joint_eff]: [0.3214, -5.9692, 8.0479, 1.4286, -0.1245, 0.0659, -0.1978, -0.3214, -7.2957, 5.6821, 1.243, 0.3053, -0.0513, 0.2125]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2778f94aab1e50276b071ee9cbe0f2fd77c0df7b55b1ae1c860c00e21bf1a308",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef01a9c4b612397b8d05213afba98016f4e0f63e1277e21962baf7b2ca53eea8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f992b571cbb67dd14244141460df3846622f2cd15b2e03df7e188bc47f7072f",
      "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 · 5.515 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1349, 0.9745, 0.7811, -0.5602, -0.2089, -0.2916, 0.9968, 0.849, 1.6703, 0.8078, -0.0929, 0.5385, 0.487, 0.0102]\nstate[eef_state]: left_x=0.3036 left_y=-0.0006 left_z=0.1762 left_yaw=0.1848 left_pitch=-0.1701 left_roll=-0.0617 left_gripper=0.9968 right_x=0.3159 right_y=0.2271 right_z=0.0467 right_yaw=0.1136 right_pitch=-0.2177 right_roll=-0.0893 right_gripper=0.0102\nstate[joint_eff]: [-0.0479, -2.2496, 6.9675, 1.5604, -0.1294, -0.0611, -0.0122, -0.4855, -7.2821, 5.3538, 1.3993, 0.3199, 0.0317, 0.8718]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0998, 1.4509, 0.561, 0.0368, -0.1867, -0.284, 0.0119, 0.849, 1.6722, 0.8051, -0.0856, 0.5228, 0.487, 0.0146]\nstate[eef_state]: left_x=0.3514 left_y=0.0014 left_z=0.0381 left_yaw=0.2038 left_pitch=-0.2695 left_roll=-0.0404 left_gripper=0.0119 right_x=0.3148 right_y=0.2295 right_z=0.0449 right_yaw=0.1252 right_pitch=-0.2242 right_roll=-0.0777 right_gripper=0.0146\nstate[joint_eff]: [-0.0615, -7.1316, 6.6667, 1.3309, -0.1734, 0.0366, 1.0965, -0.1709, -7.1316, 5.7504, 1.2039, 0.2369, -0.0562, 0.2369]\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 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0956, 1.5787, 0.6861, 0.0116, -0.1818, -0.2871, 0.9954, 0.849, 1.6722, 0.8051, -0.0853, 0.5129, 0.487, 0.0168]\nstate[eef_state]: left_x=0.3794 left_y=-0.0007 left_z=0.0349 left_yaw=0.2078 left_pitch=-0.2973 left_roll=-0.0376 left_gripper=0.9954 right_x=0.314 right_y=0.231 right_z=0.0443 right_yaw=0.1324 right_pitch=-0.2293 right_roll=-0.0712 right_gripper=0.0168\nstate[joint_eff]: [0.3214, -5.9692, 8.0479, 1.4286, -0.1245, 0.0659, -0.1978, -0.3214, -7.2957, 5.6821, 1.243, 0.3053, -0.0513, 0.2125]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2778f94aab1e50276b071ee9cbe0f2fd77c0df7b55b1ae1c860c00e21bf1a308",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef01a9c4b612397b8d05213afba98016f4e0f63e1277e21962baf7b2ca53eea8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f992b571cbb67dd14244141460df3846622f2cd15b2e03df7e188bc47f7072f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEpFqoKVGrd7wbee1h3URTbNhW--wMgVv-o0ayqT4oTirw_GlS6xP4sRm654hPjp1PX33-p-IukNHNZ7AhB-HdSCpbz0cQH9EwNwYgRFEm7QaD8ePNIUU3HJ_cdOhcXCUEXqKYVFnZyhzm9laydtigmKLWdj2GsZ7qC-9NIWbGdpv3dOkDhATMP1UTiF5SAgf6FnhNVU92yg58P1kFfrLG9ycH1GmFELOil_-pHCr-dBKta4hs6k1SMChYSHRPzj_JTNIRRovs0rky3_yJ8Dcsvs8ek89Qtgl5O5F7KoCFjOGbtoIW6MbnteCmpYh29LV98qcsVVBRsWj7WK_F9rQti0SbYQ4K1-Xmg_SVcoHg34mto90ERetYxgbCS4YcJlU7UD30notU9H--AZkLP_QLvpy7n3Ow_prWZsL5sjy9RqSVld0BpTAwg4GMc0fJbowBEXO5BLVKHJygONvni-aAYolo4JMM9YLxMKJtcLAQwPMcVPvxIBQI5kWnKjhaBgKHiCuc--5rVAg9-lGHg1vS2ueRqYk10C7EfBqzHGY8jzH24jpgZyAjbwfpbh_mwJ6uCKwsrqxcxKkyzBzt-RiMWr-ZAngDemFQT0OzjRZ1FDJBw8ufvub6JykHWh4nH1qBI3a5Ff07iM6M5lnOWPIof1KYeDbFj8I6evmGTmh0DG8ScxataDQDfImgcfNKx_b7JwYZKRz_kzGOyvkqfpt3Oh7h85h5HnRitJ1iL9-vwhzVulkqSF5I2ZMqH5iJP02tKiiUCqaSieb_UDDo9JtdiqaZf2saYUhFoIkOwPsinHLHKA-QUoek7S-0QaM8HLGkqhp_Sd5_QEPiBk6_ckpRh9892qKgUWrrWxWHT9gcP9MQB04WsXiI_qezh4ETMh3d_5dRReyxs1gJUZB8eE_V_AS89npAKsZpHRAw2nilnB9OpPExV7L3Qf5kp94n5PqJkDKIUwp_qLVuV_uM0XVEaxfQvm3cZM9Dawt_cJ4208rnDvVLlypYOuTVhPWI0zBx1n4d-b63GeiUdIRPs_tJdVeXOkzsw9u5FdYOFzCERMy2iFUccVjNHh7-Pv3Gmgehp-OAst50xq5lRAJglV7hzN4osd9K3fp55O6UCliwl11H26KpCZuRNaFG73Aod_VThRDQI9wEiggw1dAQQG8cciJDKjvqqud9cjENUli8xmkxDwEISyGBEw5i92YOo9QK8ND1m2eECsQyXaXjJv3kRjyajeIdbhEGDmq3FUvXOli2k=",
  "id": "rs_069ce64dd6877bf8016ab44a449da487d0a81ffda3ba3a16f9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"After the radial advance, the squirrel’s torso is now at the fingertip line rather than merely centered farther ahead in the camera. I’m closing for the corrected grasp.\"}",
  "call_id": "call_lv8sNCW5oTPfpUfoX90kRzlw",
  "id": "fc_069ce64dd6877bf8016ab44a44cce487d0b6fe1e17172a37b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lv8sNCW5oTPfpUfoX90kRzlw",
  "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]: [-0.094, 1.5822, 0.6899, 0.0116, -0.1829, -0.2886, 0.0121, 0.849, 1.6722, 0.8051, -0.0853, 0.5117, 0.487, 0.0187]\nstate[eef_state]: left_x=0.3804 left_y=-0.0 left_z=0.0351 left_yaw=0.2112 left_pitch=-0.2967 left_roll=-0.0379 left_gripper=0.0121 right_x=0.3139 right_y=0.2311 right_z=0.0442 right_yaw=0.1332 right_pitch=-0.2299 right_roll=-0.0705 right_gripper=0.0187\nstate[joint_eff]: [-0.1436, -6.612, 5.4496, 1.3797, -0.0659, -0.0171, 1.0379, -0.2256, -7.2957, 5.7231, 1.2674, 0.1929, -0.0513, 0.1929]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49fcdad458fb953f36cb7b967a6abcb38e95b2a8f75aef2e334db1466472e8e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:165cbcad9aefa40c7b9218c428ec42226885732cc2ac59ccdcd89e8dc81f88dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c6106a04347c56919d6c6fc97a1ccb895b34d3df2f7d00b194cc525abcd2bfb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 3.027 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0994, 1.4288, 0.5724, 0.0269, -0.1928, -0.2802, 0.9987, 0.849, 1.6722, 0.8051, -0.0879, 0.5308, 0.487, 0.0122]\nstate[eef_state]: left_x=0.3549 left_y=0.0022 left_z=0.0481 left_yaw=0.2054 left_pitch=-0.2456 left_roll=-0.0406 left_gripper=0.9987 right_x=0.3152 right_y=0.2281 right_z=0.0452 right_yaw=0.1191 right_pitch=-0.2216 right_roll=-0.0843 right_gripper=0.0122\nstate[joint_eff]: [0.253, -6.2154, 5.1761, 1.7314, 0.0464, 0.0757, -0.149, -0.253, -7.4462, 5.8735, 1.16, 0.3004, -0.0464, 0.5543]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0956, 1.5787, 0.6861, 0.0116, -0.1818, -0.2871, 0.9954, 0.849, 1.6722, 0.8051, -0.0853, 0.5129, 0.487, 0.0168]\nstate[eef_state]: left_x=0.3794 left_y=-0.0007 left_z=0.0349 left_yaw=0.2078 left_pitch=-0.2973 left_roll=-0.0376 left_gripper=0.9954 right_x=0.314 right_y=0.231 right_z=0.0443 right_yaw=0.1324 right_pitch=-0.2293 right_roll=-0.0712 right_gripper=0.0168\nstate[joint_eff]: [0.3214, -5.9692, 8.0479, 1.4286, -0.1245, 0.0659, -0.1978, -0.3214, -7.2957, 5.6821, 1.243, 0.3053, -0.0513, 0.2125]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.094, 1.5822, 0.6899, 0.0116, -0.1829, -0.2886, 0.0121, 0.849, 1.6722, 0.8051, -0.0853, 0.5117, 0.487, 0.0187]\nstate[eef_state]: left_x=0.3804 left_y=-0.0 left_z=0.0351 left_yaw=0.2112 left_pitch=-0.2967 left_roll=-0.0379 left_gripper=0.0121 right_x=0.3139 right_y=0.2311 right_z=0.0442 right_yaw=0.1332 right_pitch=-0.2299 right_roll=-0.0705 right_gripper=0.0187\nstate[joint_eff]: [-0.1436, -6.612, 5.4496, 1.3797, -0.0659, -0.0171, 1.0379, -0.2256, -7.2957, 5.7231, 1.2674, 0.1929, -0.0513, 0.1929]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49fcdad458fb953f36cb7b967a6abcb38e95b2a8f75aef2e334db1466472e8e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:165cbcad9aefa40c7b9218c428ec42226885732cc2ac59ccdcd89e8dc81f88dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c6106a04347c56919d6c6fc97a1ccb895b34d3df2f7d00b194cc525abcd2bfb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEpLsWtUIju8Y21swYtw43BTsBKPHoF6j5DdFdAcvrEJuLXyj7towwx31xUtOg0aYiYFaZgoZFcmgfyRuYJt6IvwXmfJ8ckREuY6IPpt1wfa_hpwQpV9wkja5W64LO9wYqhrQ7XSe-70pfPHNyZtmAYE8qfEZzB9s09cF4F3hNGXpcBju1ZZ-mny3m2zJN8qo5JrvLHYBAdJoMkoNoJcke6HCoKWVFVYJmobyGq9dYE7oBqnKBOCL9DtdHmKSdgXJJlzXTdjwPVmsecb9B9dgqBVGyq2NbkMHgWdXhqL3hrva-qnEfeZ_smWQ5DvIMqQYHXtOeMP0TQmQ7ZY5_ozOFdC-_ftfZi-taTb5Tnh2XLzFVk1qHaXaa0D1LI26fbthqs0Bq26NtpsZPlylACeeB75rSzalE8ypu_9GuD-IrCVwZHJMOzvmN_OeC6jc4r6bMqZ7khEbfMu-BQlFvKdPmqv25rsLM7Fbtwc452zXJo8D8TLJCBw9VLOdVUQSE9w38tcIrXSSCaz-CsiuUI0OzoJBL5C1k4fpav2ayy0I0eZi32eHXVlrxA6Rh-ozXZ_lgxx_PIwnCAuLh-NcHh_ActYaQz_nGRhh7etIO45ltvE_0NjzSbwW0Z2n5gOYAemkns_zCSVbk6gMu8ANtO7C-rTFl1mmU7P8WvPz8bYAE5I8awj_WnTRVbbOxGzFqkcriM8xwk5be1O9n9nKgmHxZSYG4G4huvNf7qpC8etctxlh9KsE12YtabyjCiHQ4bhzMpWteI9HslHjQYckp-sR-EsuFBXRFaXLvUQhCUwtefnJUwDxyL9o2r80Aw4Qf585Z2yn78vkG3-0I3c558lzwClPzLRjBcIGpc7XyG4GOTa8ZRM3PJEJPgSQ3SnBnarP9Ahhs7fqHtMOx7Sp-lg94ffh9yxdbWHBjho6rZO7hGKcgDcy4eRn_7r_YcNB2n9O6YdtL_E7XkwNxW42uChl8nhxkfdKFEld_sAKYhU6M4B-oVAw5juzaQUsaMKDfoZLo1dPu7vXHI_1euUPoUvFlA3DovdqZre800nqktN2r694TAuqJvfRZF8spXg_tiINwVZCeaEWSJdya6Al44_bsDC1Vs1T6oZaiP5F29yt4_k0zqcxbRTl5N7WhsplQM4p-_dH8HFVzIN-lOAkXcCPJ1VWLWcNp21IapF_CDyRK6zK_T1AjmVDUXObcnSZVI1vpR1BHs5qau7vp8EK9QEh8zQt8vS7DMCZts8igkt8BVYJJRuhNo928LymNndBt55_ByMrUJ_9OnbjdrUz5i4quRap21_s0gqwX0uIEtJ07c1J4X6_k_LkLylaoRr-nnBWOZ70D2f9DFYOYYEbJCZgaHjF7346HbpxqtQexYhc_ZfOX0ozn-nEQwgC1yVe9WF1-C3tKfli3v_98K10giAq-Kprcu4kcZvL7CoBrnYoI3Dhi3Wf2YPY5Sjga4ubl3MQ0GCRC7s6W6pEOddgaRCWCut4ur92kt2ciQ9JQRdatZRMhf94k9Plkwt29Z2Ki9Hmhz9LKLxQz3oQdiVrDcAe_uKsU64GQ7JrzRDIvA9P5KIHl4K5c-dkYG4PcVRlg_bNesRfsjSREHsw5S0lk3wS6CIyDohu2Br32ivKM256w6TQ8bU9lpOHRDQ9_rurf63YeQdPyvepnqFiWg3dVYGjtvHynJFtX86NrDYC0B4MXhbiXm4KT-et-FtpmXbvHXzEnDkeJlSe7cYx9xeUvsYDZM1Vwl48o1TtAAGjlHbe_je2hnCMKP755nGxKl6D9l9yK6UpHVptxbpG_ppL6xYbY5uZXClw34zHkF-PYmX5jtr_9zePP_0oDlLhMD4DCaxk8ivR5atBRjN9eE4mtdUawmZUoUcmlCSE1g90ONSK-xKt5irpzuOZOrjhDC5gIgC0c3ZeFlcDBTy5OT-GFIcG0ZxvdN2f6Gyz9eeVSxSfrT8nsJC_PRqPVWn0c7bi4G8uk5U3J0xtsaRspbbfhh3K4uy_XN26xG1g-zhjEGdjyEWOGCXzr4L_RUIviOXcEhT6eiX3EFDoIZ3wTStZidcTO6orjzKsA94xnD-bjBhF3kb9hYr9i61n8BjnkWMw8U38Tiypd6Ef5DTKz07F18rJ-5uCK7ziRsOorvzjIO8dMweHJh8Ubwsn2Ssyx2pZkOf8Dm4oWQqu_xh3VgtdUIfDqgwnqAJSvhEOaUfc9wYE-1o-QorLZWAR72HXDcWpHVPhuknea_aqmdRVOkl9vM-TF8cGrb61g66kzH0umxdTSu8UnpxFGOqxBdoHSUkZ1puGRJAr9WBGCWcX3-hIvhp6vXkqBdAWdZvK3FHtVAJ4Jn6ZB1QyfwvuR5CohZh-jd40reH5RG_tf9wn4xXmHMHPrn4-rQCoU-ROw5Ml-jPPhpsyVvqEiciIb_l6y8vZ8KFB0pPwo5_1qQ7ILcePh44EyA4VWTm2k0zZsRU8kBbCaF_DmfHlq6HcWMbQFtJvjYDno0I-6TngjO4Alnx0j2KJOkIGFdQNvL7D0Dm59ACB1nYY--rTJFRVY1f2gyokV682XBR42mBBqcdoYqgQJYVxbL88JWpgCTQvlMzK80zlsUC-E2KvFohUUpQ9UdmN_EuI_TvDWJe8ZZa7wPg5U8Dno-J01jrLliCk7nc0w69mbzCJLGdfcRJGA8lpDkRsbjnYevdRTtME9X7HSnVe32y6Me1f2loMM15wGHf6wydk2qbexrhBbAdE2CCWBSYFXnCEXG4oKG9R6z9rEdYRm1DkXxVqBvsBoJLmbJWqYb_Cca93uG6lWDF0fK83Y58RRvvwkd7qi0413Sjg_8oDT_fS_I9yIt-g-N8MI_mhWrRx0erYLjwZgTZ6f2wWErbsLhzWlMb",
  "id": "rs_069ce64dd6877bf8016ab44a4785fc87d080b812241eb30321",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.025,\"left_z\":0.04,\"left_gripper\":1.0},\"note\":\"The retry still closed empty; the close image shows the squirrel slightly right of the jaw column and still ahead of the fingertip line. I’m making one final combined correction—5 cm farther outward and 2.5 cm to the hand’s right—before abandoning this item if it fails.\"}",
  "call_id": "call_c9xizk7UmXL3GEm04OImd5gV",
  "id": "fc_069ce64dd6877bf8016ab44a4ac12887d08286505aced73b08",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_c9xizk7UmXL3GEm04OImd5gV",
  "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]: [-0.152, 1.7451, 0.8738, -0.0437, -0.2127, -0.3431, 0.9951, 0.849, 1.6722, 0.8051, -0.0853, 0.5072, 0.487, 0.0198]\nstate[eef_state]: left_x=0.4189 left_y=-0.0228 left_z=0.0309 left_yaw=0.213 left_pitch=-0.3223 left_roll=-0.0398 left_gripper=0.9951 right_x=0.3136 right_y=0.2318 right_z=0.0439 right_yaw=0.1365 right_pitch=-0.2323 right_roll=-0.0676 right_gripper=0.0198\nstate[joint_eff]: [-0.6222, -7.4051, 8.5128, 1.3504, -0.1685, 0.0659, 0.0562, -0.2803, -7.3094, 5.6957, 1.2283, 0.2369, -0.0415, 0.0904]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faa3f8829135df1dc02e3ef2d56d195f5330cb164bd35a293c73ad2c941fa4f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7d635228c1d206e717614afb5303452d9e920322365202f12d71581ecaceb4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f71cc8bb06aa9db3302188feb34f49077f82b929cc9f55ebf6745c6b5cbbde9",
      "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 · 3.576 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0998, 1.4509, 0.561, 0.0368, -0.1867, -0.284, 0.0119, 0.849, 1.6722, 0.8051, -0.0856, 0.5228, 0.487, 0.0146]\nstate[eef_state]: left_x=0.3514 left_y=0.0014 left_z=0.0381 left_yaw=0.2038 left_pitch=-0.2695 left_roll=-0.0404 left_gripper=0.0119 right_x=0.3148 right_y=0.2295 right_z=0.0449 right_yaw=0.1252 right_pitch=-0.2242 right_roll=-0.0777 right_gripper=0.0146\nstate[joint_eff]: [-0.0615, -7.1316, 6.6667, 1.3309, -0.1734, 0.0366, 1.0965, -0.1709, -7.1316, 5.7504, 1.2039, 0.2369, -0.0562, 0.2369]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.094, 1.5822, 0.6899, 0.0116, -0.1829, -0.2886, 0.0121, 0.849, 1.6722, 0.8051, -0.0853, 0.5117, 0.487, 0.0187]\nstate[eef_state]: left_x=0.3804 left_y=-0.0 left_z=0.0351 left_yaw=0.2112 left_pitch=-0.2967 left_roll=-0.0379 left_gripper=0.0121 right_x=0.3139 right_y=0.2311 right_z=0.0442 right_yaw=0.1332 right_pitch=-0.2299 right_roll=-0.0705 right_gripper=0.0187\nstate[joint_eff]: [-0.1436, -6.612, 5.4496, 1.3797, -0.0659, -0.0171, 1.0379, -0.2256, -7.2957, 5.7231, 1.2674, 0.1929, -0.0513, 0.1929]\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 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.152, 1.7451, 0.8738, -0.0437, -0.2127, -0.3431, 0.9951, 0.849, 1.6722, 0.8051, -0.0853, 0.5072, 0.487, 0.0198]\nstate[eef_state]: left_x=0.4189 left_y=-0.0228 left_z=0.0309 left_yaw=0.213 left_pitch=-0.3223 left_roll=-0.0398 left_gripper=0.9951 right_x=0.3136 right_y=0.2318 right_z=0.0439 right_yaw=0.1365 right_pitch=-0.2323 right_roll=-0.0676 right_gripper=0.0198\nstate[joint_eff]: [-0.6222, -7.4051, 8.5128, 1.3504, -0.1685, 0.0659, 0.0562, -0.2803, -7.3094, 5.6957, 1.2283, 0.2369, -0.0415, 0.0904]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faa3f8829135df1dc02e3ef2d56d195f5330cb164bd35a293c73ad2c941fa4f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7d635228c1d206e717614afb5303452d9e920322365202f12d71581ecaceb4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f71cc8bb06aa9db3302188feb34f49077f82b929cc9f55ebf6745c6b5cbbde9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEpP6u-Z1gLtdxAwkaWY9qqfvcURvffVtsiR9pJND2Gu5linscGeDFV6yfLn_d-vBfEyYiJPDHsV1t6_uwXqO9ZJgr0HIvX-8i0SvCGp55l70FINIlQsbFnJ_n9JVqHaQw18ESmCmFIXR2_uq1rij7hIxPpVgXJowxDB6fHIvLqOQvNLNsdnfLuoYbAEF1gXzZzfHzRqyGLbFK-6bgfR5AP_mec1Sxy6thAkdoH1LuZ0BhA9ueERlnjMtmj6vycfACMSeYja73oklJZx0l61B_oA1RfMhklUgWWZs-dPVx1HjSEcpzlzh6niujX7GRiiquI6yw80gb3dJZLRVyWV2oYbC0V5oqwzDhvtoo8PDvwhqqj5C-1txyeVXlOE4Wgw_EGn8G1_3z0OdDYidqIKUdBxCUQYC9R5qKd_Vy50XQszmvtczdECH-pNzwsISEXSDOEVE0hndyJrhYf0UHPrP5B0yuGDc0reclfoaulyEWQkwl3vpmqlOe9pqUWWS9X5e3lTix3ECLleWEnEkw4ao3ijF8mLiM4mY7OmW9GEfMgK_aFtCSoqK-M8E2yHscJeGXqIyt-TGx7PExkMNv19kbzhk0OnQrKYfDBW2FEe99LY2XsTEAp2HrkU9GjA57q0MdTRUrMFae8qlAgbBwz2RtpHcRrVrW8HiqwcTr0tYzLWndJhQXLNYVMcA4jbVVTs0zDz3RZg42IibMYP3fY_4OekIY0N1ZMIcoffOSqt5XWLyvtJcSrP2lwX4ZaIyAQwTk2ZgXbmhpSesWbCYjL7cqoI9o5ncrOGgU5GcTdqK-emOv9mcrgPvmO3RpLwZB2wR5fhOfJSodHw2SMHIzouHU7BAtSlskQ5lchhmKjzBi6X1Oe26WMJpL8lzEF79POPohr0tOCcEf-HPTKrGnB7A7erOPGeLWnbwwws6OnPZnPBy_nZmHeTgggBNVsOSv0SpjBUW7I-_hmeLLx821drnkd-eXZTc-IUXLXdGarKpiHmvPCJ7mkGxIfExxcXPgOzNyQLZT4OltrSpzoVwSqcJdndzhNezU8Jk-YmE1JHoVlABeeTcn2hXZIRNZugNrpu4XgCQAHVmQARWiC87_4U3pQ2T-sCdi0SdSf6S_O6SIcGomV4EM84NZknrExRcvSuCuZsKQs8SFdkSdzu6ODj4uobiefGeRbTG_lU36GrjCp2l_t-3Xo-qSdr2uR_7-VBzMbs4QBw5wHoQf1wiMt42Aku9OzTn3BE0Mp0moQfOwfHEdg=",
  "id": "rs_069ce64dd6877bf8016ab44a4efed087d0a93cc3af963e7450",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"This correction places the squirrel’s body directly across and partly below the fingertip line, unlike the earlier camera-centered but short poses. I’m closing now.\"}",
  "call_id": "call_2BIEmW31OsLEfUNITrTYI0Pq",
  "id": "fc_069ce64dd6877bf8016ab44a4f273487d0b89117ecd99594a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2BIEmW31OsLEfUNITrTYI0Pq",
  "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]: [-0.1539, 1.7527, 0.8787, -0.0444, -0.2131, -0.3511, 0.0121, 0.849, 1.6722, 0.8051, -0.0853, 0.5041, 0.4873, 0.0204]\nstate[eef_state]: left_x=0.4197 left_y=-0.0237 left_z=0.0295 left_yaw=0.2163 left_pitch=-0.3255 left_roll=-0.0435 left_gripper=0.0121 right_x=0.3133 right_y=0.2322 right_z=0.0437 right_yaw=0.1386 right_pitch=-0.2339 right_roll=-0.0654 right_gripper=0.0204\nstate[joint_eff]: [0.0479, -8.7179, 5.3402, 1.3797, -0.0904, 0.0366, 1.0232, -0.0615, -7.3094, 5.8735, 1.2332, 0.2125, -0.0171, 0.0611]\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:30445dc234194228416d6a72d4195c57e3d491da5381107f47b0368206310d66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:804ab11afa682256875961d3f60fc77a037dcbb0646c3e7945cf65c27ada4681",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd59c9a978c590857a1c2e9115664fee254247690405138f34fdeb7a7d542a34",
      "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 · 1.947 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0956, 1.5787, 0.6861, 0.0116, -0.1818, -0.2871, 0.9954, 0.849, 1.6722, 0.8051, -0.0853, 0.5129, 0.487, 0.0168]\nstate[eef_state]: left_x=0.3794 left_y=-0.0007 left_z=0.0349 left_yaw=0.2078 left_pitch=-0.2973 left_roll=-0.0376 left_gripper=0.9954 right_x=0.314 right_y=0.231 right_z=0.0443 right_yaw=0.1324 right_pitch=-0.2293 right_roll=-0.0712 right_gripper=0.0168\nstate[joint_eff]: [0.3214, -5.9692, 8.0479, 1.4286, -0.1245, 0.0659, -0.1978, -0.3214, -7.2957, 5.6821, 1.243, 0.3053, -0.0513, 0.2125]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.152, 1.7451, 0.8738, -0.0437, -0.2127, -0.3431, 0.9951, 0.849, 1.6722, 0.8051, -0.0853, 0.5072, 0.487, 0.0198]\nstate[eef_state]: left_x=0.4189 left_y=-0.0228 left_z=0.0309 left_yaw=0.213 left_pitch=-0.3223 left_roll=-0.0398 left_gripper=0.9951 right_x=0.3136 right_y=0.2318 right_z=0.0439 right_yaw=0.1365 right_pitch=-0.2323 right_roll=-0.0676 right_gripper=0.0198\nstate[joint_eff]: [-0.6222, -7.4051, 8.5128, 1.3504, -0.1685, 0.0659, 0.0562, -0.2803, -7.3094, 5.6957, 1.2283, 0.2369, -0.0415, 0.0904]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1539, 1.7527, 0.8787, -0.0444, -0.2131, -0.3511, 0.0121, 0.849, 1.6722, 0.8051, -0.0853, 0.5041, 0.4873, 0.0204]\nstate[eef_state]: left_x=0.4197 left_y=-0.0237 left_z=0.0295 left_yaw=0.2163 left_pitch=-0.3255 left_roll=-0.0435 left_gripper=0.0121 right_x=0.3133 right_y=0.2322 right_z=0.0437 right_yaw=0.1386 right_pitch=-0.2339 right_roll=-0.0654 right_gripper=0.0204\nstate[joint_eff]: [0.0479, -8.7179, 5.3402, 1.3797, -0.0904, 0.0366, 1.0232, -0.0615, -7.3094, 5.8735, 1.2332, 0.2125, -0.0171, 0.0611]\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,$blob:30445dc234194228416d6a72d4195c57e3d491da5381107f47b0368206310d66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:804ab11afa682256875961d3f60fc77a037dcbb0646c3e7945cf65c27ada4681",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd59c9a978c590857a1c2e9115664fee254247690405138f34fdeb7a7d542a34",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEpUB-haAXl9bf1vH715IMhVtjzHNHDvBe6uPlZxEBo-MEn2Et8apru8968ArD09aElTv3FrX01YiFQ0fhUVPe3qLAdzksk14geJE80955j8FWdN7C2KRAJAA6BPXuGVsE631fCTXqPlPpmpVDIRNC1qIPqE5abXnW3W765Hh2qP9NDi2rYFRnZ5r7JZLcG2kzuhpy1KrVaaRMBR2GoCtNXxLV5WwIFSGZVIp6Vdbmura3JxLC_MvB225Y35Bw4evfdT3kKHxL2MR-8TWveE5AaS5xJzKUriZjK8Vcgh2XDnCuGEv1cxB08LLCpnYIil1zv9oyDV8FZrKNuXfIF_VM70fpPNACWk6-46wUWaGR5FQX3JttH4v8RPtdsAWo_MrBvB4KBPO2RrNyVyZETHSsf-PNMWV4fENbqeIdO5cbJckuDtYG2obj-pwMBujIH2Lqv1x6KBaLTXrCr3RTZfuHHbpfi-6jsP01xqFMgFVUX5mOIfZ2C7NoN-de4AwV2cs6kbS8kSlpfXRN_DpMnyLHL4DbEvAa4SDhmFQFp9JYfN9_BSU9nUuokzJ2Qzid5VMPwHYiC72SRbNqfCUnZZExLkiaxxNlJj2ABkeWSZToGjQM6ITVcsw2-mWoNksApvsPOMhdTUiWuDeh6StwKrls--MUTX_WEle54NAsCOzrUJCxFlhGH7DIROdSieYOi6AbweCvxsEmsHXErb8eOr-D-Bo0ejEqsI9442MqslpiqCeuY_OTOwHNYH3OEJUuW2pH2pjHUBGf04ft73_H00HMIokR4ozeULQXxb5-yuCDKxOrfGWr2NJqPYfJROtRLU4aQtWEHVg29tTv40OUnDfxYeBMjxI-wR3o_YP50vwftvjFhiUbdoUa4VdKZ3B8WVeQyK2LETlQOD2Yf_EqZte7bXHTZv64sQz-IDdDhHTz0VrkyhVyfrRJuaGhJVqLcDHsfVOaHcxfb95T-QNPZXd5Cq09t2MwP5GY8kdhVWXg3jO8FsnM7qXRgo4BkleB3iWA1pM7Hve1pcQkcWS62--SoxiDK532divvJKt4J0ywnKBTbjQK50uiCbuwjpcIpLdHQ6yEgAKtQmddi5UhdF3nUAfyvGd_dFCQOAmxuiQ4jgr0HFyASBJse0sv-VLhIpb75N80DIOOXN8D7K20y5MeN6XVL4iM1T9Ic_3gUhfrJ7CetkHXbh0LvHsIe4C5AYceCCoXpA0KFCtR2PVoIm1L4wjeraaQeYlak0kpmTxfifMKOileLd6Y2xx02wfXevQroOnMsdv4kj_GT0sSMSsXJMnKkacrN3N9fu7CrYi2H8b_iivJ4SQWX5sKR4qzf6XJPXJEXYl-fBA_BV03vMWdUwKS8FcxigeAKjfsrRLUimLI47EXMz9EvTLjuQu4J8khQbqIN46WWIlKqmAlc1F6cmFKFyJpXs4_WiK-8cWYrqQCHkqwbXT-S7lOtvt6766zSFj_6Or63_JsMDQlp_nMoAcTDB6wJ3PRxTfjSeFXP4dXblborRZc2Sn90qOPULowo1oJdzFHI-NkanmpNBqKbuQ8KCR5kNiVH_KZaDRITZTBiU8bXFGxPm7raqbwnXTIzzCcLq2GPKME5SesDx3BpKqMHmS9KKScp_KvpJFKe8V_IAZI50EpEMKvWVNq9ihmFT1hhZPeizdsmdPvRsnOm1TdPf1EVhrerxCTLdCcfIy58Jc4iKhpVUpIMEc1BgRvMJsqbOgRhnQ5F-mG4MBCYe-Fh4gTE_9BPp9O-2WwQfUY2c3XxvI2owYvtwktF885qS",
  "id": "rs_069ce64dd6877bf8016ab44a51d2e887d09652922d85209f4d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.08,\"left_gripper\":1.0},\"note\":\"The jaws again closed underneath the fluffy body at only 3 cm grasp-point height. I’m raising the open jaws to 8 cm at the same horizontal alignment so they pinch the torso rather than passing under the fur.\"}",
  "call_id": "call_FjZwyFxtXBcyBvZEOMO1jbM7",
  "id": "fc_069ce64dd6877bf8016ab44a53417887d0bc246106194be46b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FjZwyFxtXBcyBvZEOMO1jbM7",
  "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]: [-0.1539, 1.6859, 0.9577, -0.2375, -0.2089, -0.3599, 0.9955, 0.849, 1.6722, 0.8051, -0.0853, 0.5003, 0.487, 0.0211]\nstate[eef_state]: left_x=0.4126 left_y=-0.0233 left_z=0.0563 left_yaw=0.224 left_pitch=-0.3709 left_roll=-0.0342 left_gripper=0.9955 right_x=0.313 right_y=0.2327 right_z=0.0434 right_yaw=0.1415 right_pitch=-0.236 right_roll=-0.0632 right_gripper=0.0211\nstate[joint_eff]: [-0.3487, -10.7282, 8.7726, 1.3016, -0.232, 0.0464, -0.1538, -0.1983, -7.2957, 5.7368, 1.2527, 0.1978, -0.0366, 0.0562]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0384cfc04e1ec90bdbe6553040a2c3f784ab30d0b866c91d82142ed4124f2118",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e795d8cad7db1c513dfda3d3f9339e60f096e9da346db93380af214ad38020cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9ab3fcef9774ca71e7af94ad89fdb0d780ee811ccb24c572cb8807826362795",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /responses · status 200 · 5.004 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.094, 1.5822, 0.6899, 0.0116, -0.1829, -0.2886, 0.0121, 0.849, 1.6722, 0.8051, -0.0853, 0.5117, 0.487, 0.0187]\nstate[eef_state]: left_x=0.3804 left_y=-0.0 left_z=0.0351 left_yaw=0.2112 left_pitch=-0.2967 left_roll=-0.0379 left_gripper=0.0121 right_x=0.3139 right_y=0.2311 right_z=0.0442 right_yaw=0.1332 right_pitch=-0.2299 right_roll=-0.0705 right_gripper=0.0187\nstate[joint_eff]: [-0.1436, -6.612, 5.4496, 1.3797, -0.0659, -0.0171, 1.0379, -0.2256, -7.2957, 5.7231, 1.2674, 0.1929, -0.0513, 0.1929]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1539, 1.7527, 0.8787, -0.0444, -0.2131, -0.3511, 0.0121, 0.849, 1.6722, 0.8051, -0.0853, 0.5041, 0.4873, 0.0204]\nstate[eef_state]: left_x=0.4197 left_y=-0.0237 left_z=0.0295 left_yaw=0.2163 left_pitch=-0.3255 left_roll=-0.0435 left_gripper=0.0121 right_x=0.3133 right_y=0.2322 right_z=0.0437 right_yaw=0.1386 right_pitch=-0.2339 right_roll=-0.0654 right_gripper=0.0204\nstate[joint_eff]: [0.0479, -8.7179, 5.3402, 1.3797, -0.0904, 0.0366, 1.0232, -0.0615, -7.3094, 5.8735, 1.2332, 0.2125, -0.0171, 0.0611]\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 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1539, 1.6859, 0.9577, -0.2375, -0.2089, -0.3599, 0.9955, 0.849, 1.6722, 0.8051, -0.0853, 0.5003, 0.487, 0.0211]\nstate[eef_state]: left_x=0.4126 left_y=-0.0233 left_z=0.0563 left_yaw=0.224 left_pitch=-0.3709 left_roll=-0.0342 left_gripper=0.9955 right_x=0.313 right_y=0.2327 right_z=0.0434 right_yaw=0.1415 right_pitch=-0.236 right_roll=-0.0632 right_gripper=0.0211\nstate[joint_eff]: [-0.3487, -10.7282, 8.7726, 1.3016, -0.232, 0.0464, -0.1538, -0.1983, -7.2957, 5.7368, 1.2527, 0.1978, -0.0366, 0.0562]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0384cfc04e1ec90bdbe6553040a2c3f784ab30d0b866c91d82142ed4124f2118",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e795d8cad7db1c513dfda3d3f9339e60f096e9da346db93380af214ad38020cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9ab3fcef9774ca71e7af94ad89fdb0d780ee811ccb24c572cb8807826362795",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEpXtYcwBT6xTMNVxL6RMA5g3n-TnBEDDLcXOABd22RuVse4P6OXfNza7-1j1rUptbPceBJ2DFdo7TG9ZxOUTAG1IfwTrq9PHY_1Ms_V1BSotpz0vLcRwu5cQNYTAOQrmfveOVnPujFsb0_0GwUgLZM4qYUoZ8wZZZPHQRKhZVUrm1pR3defqPllLMS8xhdUDHLMUvet_5v_UDTZvJHcIIn3VLQQWhgyh5rdQlxcEDNWyfWr37t3fDcP7iU6mwdL6Cfgv2rVPqxNxnIN3_yUN39X646fZqD5GPcrZMVw6_Q5yGv3U2jcit8KN4C-wzjAxJcRX-5QVtkHfYWGom1eTTZRJbvJgt0u6qOMy2F7UvPDW_ARIfOunJG_vm7WLyFQ7feBAOCseMlH-V4rcK4BvPqRhlIvZ89nuAuv9ZDp53URtD2-6gHILzOVbl0hkLIG57Did6byvlhbmZQ042NyNoBti13fDBv7TbOQwGleFLUzI7iXdD8VBfOvWCooCWyYAJPE7lrGaBI8esX8TdzsP2FtXgqgD9rEs_3Q9h81oSCB7JTC-taIkAzkArghUqclpXDmnICa_Ke5N-5f8SFTSN9yyrl4N-eoFtxy9rj7DNyy7QEyslUC-pxuxVv3Ue34i82rd3V5c3o4xCbxvbexYtPvqLRK5kwSm9ETyVvfyVb11uBAg1SLGWTjC92WWHS1hRNGEom2E2n0AgETOcaj-_KGfuyPAhaJi44Ej5ZjTWH4JymBFxCwIeHv4OsEFtJJ9oegS9H2sszP2tJCiMNT1Aqvd12IAikYpwZgZNwQYUvSizgTKmWAfF2myrN6skDX1ZQYtmehyikDMVZD1ubQj13N--j_OK9eV902N4JeO3ehSzXEN5KLRsUOl2vBNZirR7sTIjF8gd2CPdv83vNC06C8DIdGCm2Ss1RHgmSOCJQ3zHSiYTtFQd28ZdsAJPFN_K4RiE2zS99sk032-KENexHlXkGqz_j99tF-4dWTmjfxfnQHlZJYNaeSXe872zubMp8AY8BtU7ENgehuTK9J1ksPeo4N9QOmnVE7Eaz9fdTpQ9qOK_DOiAxbK22aO7ewntoReePxO3LJURtmzomw_K65JDZkfZtZqrsxO3uMGBgtXRKQPt-nI6yxZWirfNDiTGttYF09tlmN45KLBCigEbi9BwHmECHNYDrHBeY_5765JQprXbPxv520c3AubTfFmMPZ4WGrIKlHOLo-2un6VUnPb1lhoijQXaImSGUtHfT3ccTm6d0Q3wuttlGmylKGiA4N",
  "id": "rs_069ce64dd6877bf8016ab44a5677e887d0857c89d33551eba5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At the raised pose, both fingertips visibly flank the squirrel’s torso at mid-height. I’m closing on the body.\"}",
  "call_id": "call_n1Ow6Rd7K85L0U9PzVCwLgWr",
  "id": "fc_069ce64dd6877bf8016ab44a56aa7c87d0aaabbafd2e99e571",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_n1Ow6Rd7K85L0U9PzVCwLgWr",
  "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]: [-0.1539, 1.681, 0.9607, -0.2462, -0.2092, -0.3676, 0.0121, 0.849, 1.6722, 0.8051, -0.0853, 0.4931, 0.487, 0.022]\nstate[eef_state]: left_x=0.4121 left_y=-0.0232 left_z=0.0582 left_yaw=0.2288 left_pitch=-0.3716 left_roll=-0.0384 left_gripper=0.0121 right_x=0.3124 right_y=0.2337 right_z=0.0429 right_yaw=0.1468 right_pitch=-0.2398 right_roll=-0.0586 right_gripper=0.022\nstate[joint_eff]: [-0.1299, -7.4188, 5.8872, 1.4042, -0.0757, 0.0806, 1.1062, -0.3214, -6.9949, 5.7231, 1.3016, 0.2857, -0.0366, 0.0806]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2907368a1fa04cd54a0e5963e19c3e0de00d8d42f066d1b3fc878db4f78199d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bec78f2e0b23094740229bd93cefce270fbe540aea33be231bc09e35fe108d38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7b904c37c645d73b177de6631bbe097b7deb36f6f7dc24abfdc4f80c5ab5423",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 3.561 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.152, 1.7451, 0.8738, -0.0437, -0.2127, -0.3431, 0.9951, 0.849, 1.6722, 0.8051, -0.0853, 0.5072, 0.487, 0.0198]\nstate[eef_state]: left_x=0.4189 left_y=-0.0228 left_z=0.0309 left_yaw=0.213 left_pitch=-0.3223 left_roll=-0.0398 left_gripper=0.9951 right_x=0.3136 right_y=0.2318 right_z=0.0439 right_yaw=0.1365 right_pitch=-0.2323 right_roll=-0.0676 right_gripper=0.0198\nstate[joint_eff]: [-0.6222, -7.4051, 8.5128, 1.3504, -0.1685, 0.0659, 0.0562, -0.2803, -7.3094, 5.6957, 1.2283, 0.2369, -0.0415, 0.0904]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1539, 1.6859, 0.9577, -0.2375, -0.2089, -0.3599, 0.9955, 0.849, 1.6722, 0.8051, -0.0853, 0.5003, 0.487, 0.0211]\nstate[eef_state]: left_x=0.4126 left_y=-0.0233 left_z=0.0563 left_yaw=0.224 left_pitch=-0.3709 left_roll=-0.0342 left_gripper=0.9955 right_x=0.313 right_y=0.2327 right_z=0.0434 right_yaw=0.1415 right_pitch=-0.236 right_roll=-0.0632 right_gripper=0.0211\nstate[joint_eff]: [-0.3487, -10.7282, 8.7726, 1.3016, -0.232, 0.0464, -0.1538, -0.1983, -7.2957, 5.7368, 1.2527, 0.1978, -0.0366, 0.0562]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1539, 1.681, 0.9607, -0.2462, -0.2092, -0.3676, 0.0121, 0.849, 1.6722, 0.8051, -0.0853, 0.4931, 0.487, 0.022]\nstate[eef_state]: left_x=0.4121 left_y=-0.0232 left_z=0.0582 left_yaw=0.2288 left_pitch=-0.3716 left_roll=-0.0384 left_gripper=0.0121 right_x=0.3124 right_y=0.2337 right_z=0.0429 right_yaw=0.1468 right_pitch=-0.2398 right_roll=-0.0586 right_gripper=0.022\nstate[joint_eff]: [-0.1299, -7.4188, 5.8872, 1.4042, -0.0757, 0.0806, 1.1062, -0.3214, -6.9949, 5.7231, 1.3016, 0.2857, -0.0366, 0.0806]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2907368a1fa04cd54a0e5963e19c3e0de00d8d42f066d1b3fc878db4f78199d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bec78f2e0b23094740229bd93cefce270fbe540aea33be231bc09e35fe108d38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7b904c37c645d73b177de6631bbe097b7deb36f6f7dc24abfdc4f80c5ab5423",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEpc6sVzoan7I3ZfuUrHHiph4th2-Q0M3kPsfrcE7Gr-b4sBaQU9AptvkfqKRxjPKodCOMGBa4G5VcLGcff7sBGqrf6vCt636R6jKmpgO0oWkFN04TKHgoJUpDXCQKwb1bePSglrfMRiVmS4L_7EuhoFfyTbI8-nPFTwjclSaReXDCYJMsnSSJCxtrAcR1GRfNT9v-8nf_g8s6C18T0uWDzohLiyde2zZj2PuwbfpUQZ6Oi4Bf9s6i-JeFK9sTjhCSY3U68pmR2eXQv6nCyIltWxu8CIEyd_t7whtjxq9e-OufnTW90u1tK2UaQRa9Wt_N9vfj2l2XI1bNWDC2QWMrO5FSr_crUD-xioCkBiqlXLDV76uou21ocZqh97JP7Hen4jawVamr38IY4oUW41C9itKoiiyGcT2wTHQ2lHVytc1XmBz-jNsebk_rTjA-Wt-3gJE1b-rbGMVEkzbX5NioZkJBcqK9_gwaiZIN658La3-vE9y0lEWt9U2c1laqHJO8SVcnPmQfVQCrv1SHe7fqCLkeBn6F5nuyZZ9nFE7G-z9PfihhjP4NJBKfgMtofe57pjWgf_RNqjyTB34edwC8repKEn6Utpc2xGnFL52eNurNGFJZOoKb67VnLnloklpjIawGfa6haddoo5W3p6b6gll1gVbRXUI_luSCkcv5kJbB11lVAMS7dbfxCgZxYN20JtDJn0FtThAlo7hs5ahqz_wbMrJmizCeAP1P4g7u3t_ZM2WMOHBO0reYBJjeR-4QHPIucUNQwHiTPrWqMG8xjLMdFsp3Xm0wnQKgf0Xn0lc-OX-XKSYSybbdEHITPsnjbQR8zpEGMO5Ivj81gRWjm4iEvnOqWwxCTNJredIa3JPMV9wnHObNMPQPaF7r3-BehK-iDWe9qwtzxvBVcYiCY7_ildB4cN-zZaWsjlGLQbpNM-AHXv2rcvMoyJsMXXdGmPleLeSjTI9dWil2NFD58grPWrVyGyWkvVQf2BMVx-a5WdnDzdYvHTm40deaIsczem3_ZjuO7oZR8cqGWY6UlLj7eBlgb3Qmcz5YHG3ROYfFActiTt_hRDrHLb1211Z1y5f948pDJuELOaBgUiOTkwhh2z5ow0JYAmfjeeGT6YICapMtK7HmAXlX_hDyVCN-LtU-hLF4Z-bI9bJQV4pENmXEEwmXh9U4WgN7Q_JNjGrCib2PDYCiv0oGat1R_jTziig8AFyZcCi9Ih_xhX3Q7huKxeNVTvRvuwisJUVj34InHyQCbmB-3TDLiBDCeS0vtCQ3LgUOxMrK4Bm-D9bO5RMliFr-0iqo5R_ac-EYeH0j6EvR-TABzwn7UoX34Pq2F8rzfxKD5N6u4Tq-7qzCa-yM_hT-ECY_RzQCGR7rdwsXyiHKXy6B9NAGnbWMQxInmat5ne4k_mfZ_lsG4QC0k64Bvq-4rm7wcFFsck5Udxv0S-QMHxbsuzjnsKn2W-i_CpwmOkuxkanqqo4qavhTqkDpX9oII0xyWchFuPUFNhQ7Lo9beVzDOLUCFI6F5TDSd0FRT2sAitvNN0iCIR9N_B3f0Cxw10_iVofWgZff_b_9nk7hJG7VrPJtnLGwkKN6i62V2_vEvEOo-8_Jqb_Rd9oPZObIm1nPDOiyaF-bD55R_glQFETj_CjAxxumrAgiAdS7M6uLFI3nPoZKKdIPlx7WNQd6InSs745pcRZxjf139f8sl4uEMESpHpQaC5loK-Gtu1FgXGW_rYIpmCjhU5-hVX0Ut_c3bVfuhcGUvgUqIuB1_OedyCgvHMx5Z6Aw4a5AQdAbG0_Ofegu2SlVfwMV2kjuUMLUmSCHX-dGRAiL84hJyYwjxaOlUSIWlVgUbblfzWdC6a9hqIyCTWCDkXsPaUYzKOdYGbEwnJ37BdVG7ARaFlpI3LYOKZcpVoJnkALIUxY5kduRnUi8szKJC545KE5MVn6v-e9xf2VVQS1VVb21l7L9BpzkQQVL3CGIf8B8vuAe2Ql1eYB0ft7IU8O8S2kCHuQaBS9wZZBbkp66BLNPwfr_tw7YjrBAYT-BdsitWdzrk0c5gLHxI-FN27wf8qXQjBv03nnTpVe-M8_gAtqorfxPjXcUc-mFr_cmCNq_FHSFGYumSI8IHaPXU8gNgFvylTsTgZqxiUle9MwB3qH2VWvQXm2x6fUTqMnq82s2WftYxeBDx6nCGCtL79f7QTM9W1vnSWOw4FiXB-TrShdp9L_KYb1RvAsVVvM74ZMmEQ-pJEAeW-rpGPQcIMUH7ZWZGzrp73TOxVjmJupuvB_-6oCeGxuY3M7zm77iTa",
  "id": "rs_069ce64dd6877bf8016ab44a59cc8887d08009fa43ccfe0e9c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.26,\"right_z\":0.08,\"right_gripper\":1.0,\"left_z\":0.18,\"left_gripper\":1.0},\"note\":\"The squirrel’s fur is still riding above the closed fingertips, so I’m disengaging and lifting the left arm. Applying that lesson to the nearby cream dog, I’m reopening the right gripper, shifting left onto its torso, and raising to a mid-body grasp height.\"}",
  "call_id": "call_r4fzoCel1kEX6QnGHH5XTW8n",
  "id": "fc_069ce64dd6877bf8016ab44a5bc8ec87d0a5d1a9f7a644fe06",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_r4fzoCel1kEX6QnGHH5XTW8n",
  "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]: [-0.1539, 1.6058, 1.3014, -0.7029, -0.2089, -0.3866, 0.9953, 0.9009, 1.6722, 0.9401, -0.2665, 0.5053, 0.5278, 0.9948]\nstate[eef_state]: left_x=0.412 left_y=-0.0232 left_z=0.1544 left_yaw=0.2459 left_pitch=-0.4097 left_roll=-0.0338 left_gripper=0.9953 right_x=0.3068 right_y=0.2554 right_z=0.0668 right_yaw=0.1596 right_pitch=-0.2664 right_roll=-0.069 right_gripper=0.9948\nstate[joint_eff]: [-0.3761, -10.1402, 8.9231, 1.3553, -0.1832, 0.1734, -0.1197, 0.7726, -7.9521, 8.5538, 1.0916, 0.4322, 0.0952, -0.1099]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43639b4103bd73b1682660b22bf0271c9c6cb12bb9181867e2a8eaadb7e3ee3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f1e84924ed04459580c684f58417855e6d71f0c9c25622d13abef731d477db0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e63753ec51d05568746758e86d17de5b256771b45df18f75221777476b00a160",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 4.659 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1539, 1.7527, 0.8787, -0.0444, -0.2131, -0.3511, 0.0121, 0.849, 1.6722, 0.8051, -0.0853, 0.5041, 0.4873, 0.0204]\nstate[eef_state]: left_x=0.4197 left_y=-0.0237 left_z=0.0295 left_yaw=0.2163 left_pitch=-0.3255 left_roll=-0.0435 left_gripper=0.0121 right_x=0.3133 right_y=0.2322 right_z=0.0437 right_yaw=0.1386 right_pitch=-0.2339 right_roll=-0.0654 right_gripper=0.0204\nstate[joint_eff]: [0.0479, -8.7179, 5.3402, 1.3797, -0.0904, 0.0366, 1.0232, -0.0615, -7.3094, 5.8735, 1.2332, 0.2125, -0.0171, 0.0611]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1539, 1.681, 0.9607, -0.2462, -0.2092, -0.3676, 0.0121, 0.849, 1.6722, 0.8051, -0.0853, 0.4931, 0.487, 0.022]\nstate[eef_state]: left_x=0.4121 left_y=-0.0232 left_z=0.0582 left_yaw=0.2288 left_pitch=-0.3716 left_roll=-0.0384 left_gripper=0.0121 right_x=0.3124 right_y=0.2337 right_z=0.0429 right_yaw=0.1468 right_pitch=-0.2398 right_roll=-0.0586 right_gripper=0.022\nstate[joint_eff]: [-0.1299, -7.4188, 5.8872, 1.4042, -0.0757, 0.0806, 1.1062, -0.3214, -6.9949, 5.7231, 1.3016, 0.2857, -0.0366, 0.0806]\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 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1539, 1.6058, 1.3014, -0.7029, -0.2089, -0.3866, 0.9953, 0.9009, 1.6722, 0.9401, -0.2665, 0.5053, 0.5278, 0.9948]\nstate[eef_state]: left_x=0.412 left_y=-0.0232 left_z=0.1544 left_yaw=0.2459 left_pitch=-0.4097 left_roll=-0.0338 left_gripper=0.9953 right_x=0.3068 right_y=0.2554 right_z=0.0668 right_yaw=0.1596 right_pitch=-0.2664 right_roll=-0.069 right_gripper=0.9948\nstate[joint_eff]: [-0.3761, -10.1402, 8.9231, 1.3553, -0.1832, 0.1734, -0.1197, 0.7726, -7.9521, 8.5538, 1.0916, 0.4322, 0.0952, -0.1099]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43639b4103bd73b1682660b22bf0271c9c6cb12bb9181867e2a8eaadb7e3ee3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f1e84924ed04459580c684f58417855e6d71f0c9c25622d13abef731d477db0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e63753ec51d05568746758e86d17de5b256771b45df18f75221777476b00a160",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEph1Emhr4zc0mVIjyhenexqnz96ocki8XWhoq33fsN_ZEQO76agM_GIt7Rlb4uIev66nHCTrqkS0nnHgNYmBGChQ6GNhKJ7j-XK5KMhjaTAYNS2aZiUnsyNVrieqAC7FOuPzNiIHMKm1CEyHtP7oUtARNZzysdp6uIWnFvpIYmmvr9SLizrtKYeCmVuzGrO0ob2ey0H98KPUeYXyTUMHnbfkNlp6OUJgfwl9NKd2EsC7LYqDkyKZ8TRWVJdglKBOXkiJj2gZxenFr-938UkIsZLOo7QZkh9TZ6R5Z92N4ldYy75lBfrgvYWV8AYoVkPG3YY6DfRjIscGnhGvgOTyW1JXnPp5P4YmWRk2KTQ5G-U6Xti0SWGonCia44S_7CL6PRWPytpahlxsFIRm1lqwyRlk5kF6E5qHLOUSQZxdA2lVoyf4WeD9AYZMSz7lcokTjWFy4Qyaq93t-8lDD3UspoClRo_E92ToGKl46pqCDNN5Xdhe2VnsT6lCV-7N3WSnyjOxBgqWcs0Ltwr6zhsuOyqvzpc-HBWYudtfWN3r3ELVf_iqV6_5zPSzWpEOlioQ5g6SUWJ5fUM7F_oKqrHAnVq7CEHZOcMUrCs5lvgjaciKNwaezCg6mi8eAlqo3ZyQgzKVMgXTXBgqYPaoRKLbHZslx-XuRhf7sPy7AgsGuxyTwPoFQleuvdCXMOKXbnRf5eTW_TMyNzEFaJglKx7Tkvk47v899A0FmFh_aIt6IGmPaBjVzzZcuorVe9cHoXDUbZ6EfC704hGMibXn3Yjr_LPpUnDClqa97dUNdPEQ9SQPKdbojNpeMSzXTpnLPyJYPbiT0v6gd2pyHcsqtvbQMSsibVOguDeQMD1qYy9wtDSqkGM7kT5UPbcX06UfjyGCPB4MGsiTCsPVzOtNwElo4YWyz0L9Uo1HsWNbUNbcRJU5gOYC5l0xOgEvzQqMHQ7fG6OmYv5iiXmfIfxsBUttgViQX6PnRQsqnP3PPZlfwriA-NzK8OKCg1HheU6YkNUVunNciG_tJY_IOJHlvQO8aTWdbm9Dt2rkp1JbNdznDQXiHZBavKac-Yj7XSOUaGAIibmVygHzw5VN1KF_-PBsdoDrRwCkoauDIiUx0eFYkbYP1PVAbbXydefl-Hm9X_STqyaa64kt0qe_LtEuWUQ0XFhclmfj5fSUupvHlx6mvyHWT3MRI_MJC2ROUMurmTDtlk-fw5h7-xpHUiPgH7bkp8oS9ncUYC15PPIprKg-HRcirfL8SW0w6gYYaJcgKUKbWBAi_wAfG9kckJ8XdnRW-rXujg7kymziKTxLOsjEAuZ17kz1lyt27_Y-JHwbMHATwyVzelmKGKC7pc3Cp06nhqDBV-B-bzGNITkZ6sZZoOaK8gOTufCW0x2yZzRil2En6N9UTvSDtAcTiQcpJKpK9YU1Z84CD74ivv_F3TtnrsDf9WEsslY9PauQvs6r4px-2i6",
  "id": "rs_069ce64dd6877bf8016ab44a604c2887d09a65ce5df4731c85",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The right fingertips now flank the cream dog at mid-body height, with the toy occluded between them in the overhead view. I’m closing on it.\"}",
  "call_id": "call_e9Ote1hhTlTeEtohXUGYWshL",
  "id": "fc_069ce64dd6877bf8016ab44a60ce7c87d099afb5da15d12678",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_e9Ote1hhTlTeEtohXUGYWshL",
  "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]: [-0.1539, 1.6028, 1.3098, -0.7166, -0.2089, -0.3901, 0.9966, 0.9012, 1.6722, 0.9428, -0.276, 0.4957, 0.5236, 0.0105]\nstate[eef_state]: left_x=0.4109 left_y=-0.0231 left_z=0.1571 left_yaw=0.2483 left_pitch=-0.4119 left_roll=-0.0349 left_gripper=0.9966 right_x=0.3052 right_y=0.256 right_z=0.0659 right_yaw=0.1678 right_pitch=-0.277 right_roll=-0.0706 right_gripper=0.0105\nstate[joint_eff]: [-0.253, -7.3504, 5.9419, 1.3651, -0.1392, 0.0122, 0.1245, -0.1709, -7.6239, 5.7915, 1.326, 0.3248, -0.0024, 0.8962]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:885016661bfbc2212fdb669a2710a46a4ab5c6bb96ff2b8578bdcaaa341ced52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aae6e01e2282904153e84f04a8a36c0ab5893dcc2674205078448a091b3dccf5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be2d1026f921ad5cd2e8d683f598e78fb75ff192c48db264d9a1f100e9b3fd9f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 2.608 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1539, 1.6859, 0.9577, -0.2375, -0.2089, -0.3599, 0.9955, 0.849, 1.6722, 0.8051, -0.0853, 0.5003, 0.487, 0.0211]\nstate[eef_state]: left_x=0.4126 left_y=-0.0233 left_z=0.0563 left_yaw=0.224 left_pitch=-0.3709 left_roll=-0.0342 left_gripper=0.9955 right_x=0.313 right_y=0.2327 right_z=0.0434 right_yaw=0.1415 right_pitch=-0.236 right_roll=-0.0632 right_gripper=0.0211\nstate[joint_eff]: [-0.3487, -10.7282, 8.7726, 1.3016, -0.232, 0.0464, -0.1538, -0.1983, -7.2957, 5.7368, 1.2527, 0.1978, -0.0366, 0.0562]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1539, 1.6058, 1.3014, -0.7029, -0.2089, -0.3866, 0.9953, 0.9009, 1.6722, 0.9401, -0.2665, 0.5053, 0.5278, 0.9948]\nstate[eef_state]: left_x=0.412 left_y=-0.0232 left_z=0.1544 left_yaw=0.2459 left_pitch=-0.4097 left_roll=-0.0338 left_gripper=0.9953 right_x=0.3068 right_y=0.2554 right_z=0.0668 right_yaw=0.1596 right_pitch=-0.2664 right_roll=-0.069 right_gripper=0.9948\nstate[joint_eff]: [-0.3761, -10.1402, 8.9231, 1.3553, -0.1832, 0.1734, -0.1197, 0.7726, -7.9521, 8.5538, 1.0916, 0.4322, 0.0952, -0.1099]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1539, 1.6028, 1.3098, -0.7166, -0.2089, -0.3901, 0.9966, 0.9012, 1.6722, 0.9428, -0.276, 0.4957, 0.5236, 0.0105]\nstate[eef_state]: left_x=0.4109 left_y=-0.0231 left_z=0.1571 left_yaw=0.2483 left_pitch=-0.4119 left_roll=-0.0349 left_gripper=0.9966 right_x=0.3052 right_y=0.256 right_z=0.0659 right_yaw=0.1678 right_pitch=-0.277 right_roll=-0.0706 right_gripper=0.0105\nstate[joint_eff]: [-0.253, -7.3504, 5.9419, 1.3651, -0.1392, 0.0122, 0.1245, -0.1709, -7.6239, 5.7915, 1.326, 0.3248, -0.0024, 0.8962]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:885016661bfbc2212fdb669a2710a46a4ab5c6bb96ff2b8578bdcaaa341ced52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aae6e01e2282904153e84f04a8a36c0ab5893dcc2674205078448a091b3dccf5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be2d1026f921ad5cd2e8d683f598e78fb75ff192c48db264d9a1f100e9b3fd9f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEpndpsZ0kUyql68X1OvtdX62f7oH0Oi48k0ceHcJKJtalT12Pj5SHzI1tH7JvheTmg-WAY-ojSZY_7iscTGSP08pmHiBDLGj3dOG8N7Rv2T2AS-ODJcDF63BfucoP76AzzgWJp3O1wynVb8Z9Hz9GsIUGQnZBQS1nRs1R-lX6gdVN52smsbvAWDm8osT7SaP2-oqBbZUL7elatrN-4oOOXAr5VecoT43HTn9DH3y7nebpYCEmqprmjKsem_6stYwB6JLW7bickZIA-_4WLsEBx_QW30IA8I73wRxCfk0NITABlfMYkdt3zcETssUF8fV_6cwHH0cuvetAuG_kudF6WBnd1oWE7hezaqqsQSBxA5ndtc9flbHTy9CLgADwDxx90EsqekIKfo2TdkHjzOcAfWMPOttvMEnBV6SDcxeMXjRaawY5TJNHk5gYfzLJ88glQCvb4NvhkXHLObql_xaUWWZmEoK318OIfbQPnJeJv9frIOXckZCjems2-TEX_X4QHnC6RSnjg2RenXmS8oT1srsXS2rzVO585RUoprHTdXyVVgmahV4k97TxbwxHIJPE7lqnYvqy6XAelJTIY9MyGGxZoDhKwfuScxfrpmAdQ09-lR5aXR6Mlh4QgePeaxnXyZK1uCxVoE45m7Q0t-zPAsWuE_dcS7T3pxrniv5RNu5otOIERLmhuDs6OjprgvteCipIjXdGWASNDJP3GKSI2fUd0Bh_A3Bsy_kVb4Iz2jl0Sr9snbh8rYkbYLOv4RwuOLN91Jdqhy7GfeFH_HOjh7TZOMrzqWUke2JRDivo2IIhz_SQWnhseyR6nQRCvd2FNVAuvoAQrqQVSny7EdRZ_WrwZqknVHg3pY3bk0oOhsHdNwEEhFpk14yxOXmhnJRdPF53_-nxbJKTqrxgr0HdK0PNDG_BST8jO16NWoegtt1gzb5TBdaNWYvgYRhmduL2i7RqXbXQzmPwnQRiwT2zt5QwmJzw8wLAheHG4hDB82Xe-U-jEYFWda-4MY8TjPEPz9mqkjfXuA8OjiXI8eIWmb2T8rGTvtPmtu5Tqtjc0cKofhZ2BsC4r1o4y-QPpQYHSaAWnIt-_psV8cs3zvx6GcVjgv1xUk13ZMVQ8nqzY1JdInLCHRausoiBQVYmmWlcVimj5BN1zZJ5CeIt1e1UgGGGQIAx9Yuk3n_w-m0msjF6TGKhv2PDSpZsx9ILIVRhY6qY-lTq7w4JuLhHFGK6icNoEU7gTevZClOEccPHgGLBxjSaElQH7vli7Sr9dmUvK-jB0a1gqmRpLgdmmN_IkF1M9B9R6bGN_xqwQ_3JWI-ItAXJ_GeMXhgiVlb3zaRLUU_6ptB33vnKuKWfNW810SqLEsNIx8izWgMiLy7udT80E8nVEmmaYo8-gFrWlU5-HNEUaqnVCiI5AuUNIe7EnFdR2EhWXhst3XJiVY29IFN9ARLXUY0TMR8dpM9D9THltAztx-iMGyS4lbTGiM2J45su5HnDpV2uwsUuGvZXzGrlluS8zAEMNxMnmmbudwlIBQSaqmwytiiGuzsDn8Z4FxFPG9AVy2IA-syJDVu3ngqPqgGuVtqw5qhWmj3L96McviWrWlCEoiVkE_LCWo8HL8Du1ncbY3L0ZeEBzFG723XMQG7O8uajvNI_NVIShqqRyBGgpxuTT3JRP8JpSHyAPn0GdyHATu3P9sMmp5A4PXnpVPyEyvqqd3YgIYVdLiG2mVVtg4KgcC0za3HoZZqCnrrIess5pg37uYmkfo07Lv-RHxAuUjKoZyNNZzCxXiBXHhcjtLW7svg_OtqslgOFDJVUVd7moHQhOlhJA5Oh98JA8OqrUuti6ks9YGN4EMcDPkSENnZ7-CPKCk-UdpFLVrF9_R1ifBWYZCF_wqbxqxPwCsH8dCXWcSxeZYyj5C4KnWWaZRnvXsEbxf18WVxyZoyHTC1ju_2H0jcUGvbxiMqWMKpr1lcErp6QbApzfdICyIsnUslVxtMjCHU5onCBfKmARf9czS9slKqQO2P1O70f89AGuHT1WV3PTSjPYY8pM-IXJnxG0jFQ3vz4QAi2_QtbTlzTu5JuDeMqL7XCo4V9qMTRkVb157uNOhOtLJFDM9Kz_zKuD3Lg1G_XI_v66LFz_4l-BvnRdMiSTHaUZC_jnGAr5J56I7yWEzjbs_Aw4-PyqbAmao3uf0EZZQ485gg1AqnpWh0tXHD_3OU7G79NnN8Y4ky4tAMrwnXtw9rIZmSzWaCYcCi3gzVz5jFBYDrsOIIPSjyeD9i5LiElkBC9GiXlZI5xCZ1i6_1pd_OHzqNv-0s6y6ZCOOnnuAHeQK7Ld_8l4tBFCuaZvipWilUF2L979eYEOhr4nzd6BGGEbYL8DKB7D4219bjt6O90AJcAM2R0mQBDE10DNdXhBmkaYxYDOFp36NaXmj7Hn6Bn9doMgDggqQ2IH0_NUQRV9yblmPrKFeyJr2ju0JmY8vLt5yyG-tA_Nhzt8rtYccjhb_7O2K6D3vX99XDfpCe-9ie6PClAfxlRHhPBQZTh_PaEeTdPCUNT2rqGB_EUKxVq7HJI5Zi9PMs-80TLdCoORtVJPYvo8SSnrah9rWM-Ip9_8oX4rVH-Qox4LjXZwxKqrXg1zJ42DQzWVB39Q8TVSUQJ-AWGv1LOrsW8XczMzi9Uc=",
  "id": "rs_069ce64dd6877bf8016ab44a63c0b087d0aed6555b8f704e31",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.34,\"right_z\":0.1,\"right_gripper\":1.0},\"note\":\"The right gripper closed empty; the wrist camera now clearly shows the cream dog well to the left of the jaw column, while the previous height was still below its torso. I’m reopening, shifting 8 cm left, and raising to 10 cm for a centered body grasp.\"}",
  "call_id": "call_i5N21afLfREBe8KokV44KBxC",
  "id": "fc_069ce64dd6877bf8016ab44a665ce887d0b6e839c922546dff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_i5N21afLfREBe8KokV44KBxC",
  "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]: [-0.1528, 1.61, 1.3067, -0.7177, -0.2089, -0.3935, 0.9968, 1.0168, 1.8793, 1.327, -0.5228, 0.5362, 0.6231, 0.9949]\nstate[eef_state]: left_x=0.4103 left_y=-0.0225 left_z=0.1529 left_yaw=0.2535 left_pitch=-0.4224 left_roll=-0.0321 left_gripper=0.9968 right_x=0.3082 right_y=0.3335 right_z=0.091 right_yaw=0.1858 right_pitch=-0.298 right_roll=-0.0791 right_gripper=0.9949\nstate[joint_eff]: [-0.3761, -8.0889, 6.8444, 1.2088, -0.1148, 0.0024, 0.0024, 0.7863, -9.0598, 8.5402, 0.906, 0.4664, 0.1587, -0.1978]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22070ad6ecec451bd31a469a59a206d677a88a8c248371b60f496bf4f40df8da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d0b85abb3b847c26094733d0f69aa0288ec768a2d7b795eb88f599ed1e9f061",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:610855d1d1ef31c85192b550c23fc88180ec8337e84dd698335dbb77fa6ce92c",
      "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 · 2.526 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1539, 1.681, 0.9607, -0.2462, -0.2092, -0.3676, 0.0121, 0.849, 1.6722, 0.8051, -0.0853, 0.4931, 0.487, 0.022]\nstate[eef_state]: left_x=0.4121 left_y=-0.0232 left_z=0.0582 left_yaw=0.2288 left_pitch=-0.3716 left_roll=-0.0384 left_gripper=0.0121 right_x=0.3124 right_y=0.2337 right_z=0.0429 right_yaw=0.1468 right_pitch=-0.2398 right_roll=-0.0586 right_gripper=0.022\nstate[joint_eff]: [-0.1299, -7.4188, 5.8872, 1.4042, -0.0757, 0.0806, 1.1062, -0.3214, -6.9949, 5.7231, 1.3016, 0.2857, -0.0366, 0.0806]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1539, 1.6028, 1.3098, -0.7166, -0.2089, -0.3901, 0.9966, 0.9012, 1.6722, 0.9428, -0.276, 0.4957, 0.5236, 0.0105]\nstate[eef_state]: left_x=0.4109 left_y=-0.0231 left_z=0.1571 left_yaw=0.2483 left_pitch=-0.4119 left_roll=-0.0349 left_gripper=0.9966 right_x=0.3052 right_y=0.256 right_z=0.0659 right_yaw=0.1678 right_pitch=-0.277 right_roll=-0.0706 right_gripper=0.0105\nstate[joint_eff]: [-0.253, -7.3504, 5.9419, 1.3651, -0.1392, 0.0122, 0.1245, -0.1709, -7.6239, 5.7915, 1.326, 0.3248, -0.0024, 0.8962]\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 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1528, 1.61, 1.3067, -0.7177, -0.2089, -0.3935, 0.9968, 1.0168, 1.8793, 1.327, -0.5228, 0.5362, 0.6231, 0.9949]\nstate[eef_state]: left_x=0.4103 left_y=-0.0225 left_z=0.1529 left_yaw=0.2535 left_pitch=-0.4224 left_roll=-0.0321 left_gripper=0.9968 right_x=0.3082 right_y=0.3335 right_z=0.091 right_yaw=0.1858 right_pitch=-0.298 right_roll=-0.0791 right_gripper=0.9949\nstate[joint_eff]: [-0.3761, -8.0889, 6.8444, 1.2088, -0.1148, 0.0024, 0.0024, 0.7863, -9.0598, 8.5402, 0.906, 0.4664, 0.1587, -0.1978]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22070ad6ecec451bd31a469a59a206d677a88a8c248371b60f496bf4f40df8da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d0b85abb3b847c26094733d0f69aa0288ec768a2d7b795eb88f599ed1e9f061",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:610855d1d1ef31c85192b550c23fc88180ec8337e84dd698335dbb77fa6ce92c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEpqxY44LTerjoyHmwA6I-YDbdpc8dOGOfrGbBDwMzxEUMsTkstcSD0gMxGRN4I-D8Vzd3mBBQEJ-BepRugPGKO_0RYEk-ndW7pm22Au_uHn3dKjmf9PDChDlfJ8v7oii_BbcjL_LsuNcEwPkWpmMk58s17A-sMB7BjkZ92W3jmOn3nOdLjt2RG-y3oYaltdj_P9XsWFV8bYO5pNS_3UMJWk6emi1iC5mf06ANe86uIU7eKQBP_0QCvLksxk7b4Xi3RMfc7q07aqXwzjfLra0-GUF_SnWQt2ep8ZOm7LEfArSP7qvkz9tyGvMwn7H0VqlPgCREgEy8l9102LYbSutSljsfksrOji6lkgd-AspJgpIwulJ1WxxQTdO9mZDLd4mzOlWsBNxdEGHCOB36p1rLJWh_WT6O0hmD8faP1rP7PVFsYj57TTCVfhAnxx15WTNgB31vMXgQdwzlHi2bJLWH5vynCHMNwyXNU2kBr6YGw0Uwf5T-XTDpfZBvfGQV8yUVXVwAaU9r_Pnw6wkLH2lyq74a5imjBQK-IuU1VsIjtotclff1fAimLrNpKGEg7q6v_9CI9mYlPgk9H7YQL8lQfsqfmN4IBCIAAh2j8z0zkLBndu4WO8D_h_RI5tuEJx93jmfqGgiZQLHybgWrw4zo3rp5xeqXvpdHdo_dW-OG5GA7D22ni-74GObuvLBXGIh0_X9_MeWkOXH7JUnPS1IQT2CnCCwmwhFv6t7LX92A2on7bd6WAr7iO4ZCRPwrZ8qfW_zdY2rRDvhuljcO9CjSvqrt9E_jdqJBgWkhxu924u6c7RqH4QTFHyPeYpJihjYzmRbywKyYDy2OMP17ClK5IjtMUEedc3zfdt1l0lOMDKu7-AN7Y4E__QQN7UGi2k0Mfk2TBX1nzLJ_4dUXu4VvSzz-TsCxG2ScciURisYJfW33c2bb4V52r_di_gCkFL_-NtUhrBe61-tFP1u3f1n8wxU7QMLJAnSt4djnDY1mYQY7PZb7aAqyFqmHNBOov4u72YG4Yknpuu6phSa6YRTtBHbm3Nrqa-r4VTcLFFw3MOdj0u2LaJpMwFndkdZYJ3FMxijTM_dLTNhOJBW3sdsRDzN_A7R-H6ABVOxZ7zSAHajB9a47YGlUClekimwh-mXp5vTTofe7yLZf0gsrxcWgxt69PiQCtV7mV_doztEa9EP_Hsa0P4zuPa-maB6IhMCMruiJ6_9EbyrAXkQ9GwTixwKpmerZJrVuxamBCbSZxr8R1BLgXDh4niTlF2kxnQX8x33Tnxz8ajvY1O-Mq84b1SD6x2ybcRpHCbcl4SFeQi7A7CXVDxn9-4_F6HP7jl5U8h86zO-pjIyOFXEfL4baVHaPf8lzvOq2d2rRnHW6BHg-2UlcTv7muCdblcN8gD6jNkW51RQYtgL7ZQENWzjwso0hg6S6mJelBruD66jADCeZ8=",
  "id": "rs_069ce64dd6877bf8016ab44a694fd887d09ccd837ea30ea5c6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.395,\"right_z\":0.105,\"right_gripper\":1.0},\"note\":\"The dog moved toward the jaw column but its torso is still left of center; the right arm has another 6 cm of safe leftward travel. I’m using nearly the full lateral range while holding the mid-body height.\"}",
  "call_id": "call_k7G1ZMU1PCX9OxImW5fxIql5",
  "id": "fc_069ce64dd6877bf8016ab44a69e83887d091f7d1b5994fad5b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_k7G1ZMU1PCX9OxImW5fxIql5",
  "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]: [-0.1528, 1.6104, 1.3067, -0.7166, -0.2089, -0.3939, 0.9968, 1.0817, 2.0605, 1.6249, -0.6724, 0.5495, 0.6724, 0.9985]\nstate[eef_state]: left_x=0.4106 left_y=-0.0225 left_z=0.1529 left_yaw=0.2535 left_pitch=-0.4218 left_roll=-0.0327 left_gripper=0.9968 right_x=0.3086 right_y=0.391 right_z=0.0986 right_yaw=0.2069 right_pitch=-0.3085 right_roll=-0.0797 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -7.6513, 6.9265, 1.2479, -0.1441, -0.0611, -0.0122, 0.7043, -10.8239, 8.5128, 0.7057, 0.525, 0.2076, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bb9bd10924e020b8f60e5cd3af18a39ee3ffb3feb33944b83cabf080495569c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06782d36229eb8e31db5d89a2c6fe5d992afa42afb0239d05dc05e5e691539f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4eb35f382a2ae5812b353104feca45d4a5e1664d088c78b8e793bce86447e7f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 3.15 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1539, 1.6058, 1.3014, -0.7029, -0.2089, -0.3866, 0.9953, 0.9009, 1.6722, 0.9401, -0.2665, 0.5053, 0.5278, 0.9948]\nstate[eef_state]: left_x=0.412 left_y=-0.0232 left_z=0.1544 left_yaw=0.2459 left_pitch=-0.4097 left_roll=-0.0338 left_gripper=0.9953 right_x=0.3068 right_y=0.2554 right_z=0.0668 right_yaw=0.1596 right_pitch=-0.2664 right_roll=-0.069 right_gripper=0.9948\nstate[joint_eff]: [-0.3761, -10.1402, 8.9231, 1.3553, -0.1832, 0.1734, -0.1197, 0.7726, -7.9521, 8.5538, 1.0916, 0.4322, 0.0952, -0.1099]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1528, 1.61, 1.3067, -0.7177, -0.2089, -0.3935, 0.9968, 1.0168, 1.8793, 1.327, -0.5228, 0.5362, 0.6231, 0.9949]\nstate[eef_state]: left_x=0.4103 left_y=-0.0225 left_z=0.1529 left_yaw=0.2535 left_pitch=-0.4224 left_roll=-0.0321 left_gripper=0.9968 right_x=0.3082 right_y=0.3335 right_z=0.091 right_yaw=0.1858 right_pitch=-0.298 right_roll=-0.0791 right_gripper=0.9949\nstate[joint_eff]: [-0.3761, -8.0889, 6.8444, 1.2088, -0.1148, 0.0024, 0.0024, 0.7863, -9.0598, 8.5402, 0.906, 0.4664, 0.1587, -0.1978]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1528, 1.6104, 1.3067, -0.7166, -0.2089, -0.3939, 0.9968, 1.0817, 2.0605, 1.6249, -0.6724, 0.5495, 0.6724, 0.9985]\nstate[eef_state]: left_x=0.4106 left_y=-0.0225 left_z=0.1529 left_yaw=0.2535 left_pitch=-0.4218 left_roll=-0.0327 left_gripper=0.9968 right_x=0.3086 right_y=0.391 right_z=0.0986 right_yaw=0.2069 right_pitch=-0.3085 right_roll=-0.0797 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -7.6513, 6.9265, 1.2479, -0.1441, -0.0611, -0.0122, 0.7043, -10.8239, 8.5128, 0.7057, 0.525, 0.2076, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bb9bd10924e020b8f60e5cd3af18a39ee3ffb3feb33944b83cabf080495569c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06782d36229eb8e31db5d89a2c6fe5d992afa42afb0239d05dc05e5e691539f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4eb35f382a2ae5812b353104feca45d4a5e1664d088c78b8e793bce86447e7f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEptARVGhQDmITuWNks3hqZjS-eBUf6kBdURctTmTBkGiJo2821K75E0bEqkM6jmgCChpkoR-jdJYKWdH3FBNKypFIaA57AtdENP2i7seEHSgOShsmgk3uaWfrQcYLbayZRoF93os6yj1V_dxXIlJIUs7H3OiZUjuUpDU2vqP_w1r7iDFYMwtJ_spZpX9iDU3RY0UeCadEaI7XN3x8F8Pwvw7dCvay0iUyn1XobCllfgGMDtGl9Hf602B0iMrGUynjbsjExwGGBieKUeceKGJOVm4bk8M7DK9sASUh1pph04r2qNIZuNWG1BFGjZecktqFXxq2tVhwiewhA9OxErjaZvXAditce96QgeXTpVh498pj3gVwspY9DZ7C17q7cXcIqE-aSb0Fj1cEhlOGgDAsGVdflpykhIrur7VeMq8ozmxjAUkaJ2N_KwwWfDHfY2ivP5DZ4dAbwT3OTPh0YSrilQZHcbsPaOSKkLiADrmIPGJCEf9tj6zTrp2yitImanyWwLTUvwPlFzTey_obdzaO5ue7xJ6yzUqvHT4iBRvPEoUGokxImAvFpA9Niv2mkX6fKAWVKtaGHDErF4gTBqPzT6HEvKil4Xg9epyk8YPOIDNS6_rb19Zb2serTlgz1I4xUoQ9bCUq8L5tI2XMu8AiVC1UILXVeyxCEoTCoKtGSb04tus3IOKAIQEirTRrMkwyTWK2tdZXWj_dUeEC_7_cqp31PmCBW4XoZ0b4GIyuJNF3x324L8O_MkydrL7qMVHxSkBQ513TRpEjPp01lhFF-XMO6aCfGDBA4FgiT0p-wlfWIUgvtDmYvRorM4dNpy1zrnNiud76TIVwRkx2mgGXmVqxPvz47WrrCNLcgKRsKT8JaI26MCi--G_buJsvwnYfSCaVWCt4yFuSpcSIsWu_wjh63DIFsRtPecNiDpEU_UWCEMsl2oYCM1GDx_IulSJ8qfy7oeo21XAsNgM79_MwEF2AJnHhOQiPfAg5tXQEYbbNQ64z6SdC38gYu7JUjxi0Z-nFRuAGkeh3dZWKqfkfREkewrx-z-CgIace6lNscxMtInWXILAzBtStaj0SmF3Wt-PU0zxf0Fs1PYcYao54aYJQ3FRqiO4TFKgB9cdEwIsjNExEa8-rFtcpYVQte_AyD1Hwrv4LFJogTKsJk7cBBkkK6JKdnt62wLomrnBmJAMa3PE9mqSQZzW9n8Vj21wYAJXGKRQ-0BrS8EBup858te-uwxv6yBCp2l4v0_8h29qs_Y5oy2PlMqZe4LIiUBzHKwByik1hFOFsjqi6ZvE7TzEZfPVMR_iX6EHV983FGKQjXZw1h93QdaYV1p8t6NfgQbutrbqiZe2cUAZBWS08G3PZFr3FOnBiwYZPulTnos9VJ8NWYjz5lEllBHv-nAR6vyVL4r2XPI_TDGbDxiwlmVr9XkyX4oDwnQrB47Ot3aKzvd0bBRzTnmrlzCt8TONinhGobFg2yhA7E4S6A6yd8D7luzSBwEa69EEk3AHm9DOYNbghxS4-YPkJLeosGw7DIMNkNLZXuohHt8ifAsL5aPIYT6QuOzf_NlYxWkY_Tc5jjS6Fl8ixuM2A9Katt4K908",
  "id": "rs_069ce64dd6877bf8016ab44a6c6d0c87d08e9f39411895d8b2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The cream horse is now centered between the right fingertips; its snout and rounded torso are clearly visible in the wrist view. I’m closing at mid-body height.\"}",
  "call_id": "call_eHcPGgQTDWlh2R4G9sdOLyu0",
  "id": "fc_069ce64dd6877bf8016ab44a6d418487d09467379f8be5652f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eHcPGgQTDWlh2R4G9sdOLyu0",
  "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]: [-0.152, 1.6112, 1.3067, -0.7174, -0.2089, -0.3939, 0.9968, 1.0843, 2.0686, 1.6287, -0.675, 0.5385, 0.6655, 0.0403]\nstate[eef_state]: left_x=0.4105 left_y=-0.0222 left_z=0.1525 left_yaw=0.2546 left_pitch=-0.4232 left_roll=-0.032 left_gripper=0.9968 right_x=0.3064 right_y=0.3932 right_z=0.095 right_yaw=0.2187 right_pitch=-0.3208 right_roll=-0.0831 right_gripper=0.0403\nstate[joint_eff]: [-0.253, -7.706, 6.5846, 1.2479, -0.1636, -0.0415, -0.0122, -0.4444, -11.959, 6.106, 1.0916, 0.3199, 0.105, 1.1648]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1206270970d33460a6f39dc51b98398daf9aaad6db918aceb4b33b50b418e1ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d9a8cd4bc276a3accc8f840998399c94b0f13fbcd5f0ff51099edb2e0d430e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7903c25dc8255fbb18a7068f90a35ae7f29ef03e8bc4df91d54b26772c5a59f1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 3.15 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1539, 1.6028, 1.3098, -0.7166, -0.2089, -0.3901, 0.9966, 0.9012, 1.6722, 0.9428, -0.276, 0.4957, 0.5236, 0.0105]\nstate[eef_state]: left_x=0.4109 left_y=-0.0231 left_z=0.1571 left_yaw=0.2483 left_pitch=-0.4119 left_roll=-0.0349 left_gripper=0.9966 right_x=0.3052 right_y=0.256 right_z=0.0659 right_yaw=0.1678 right_pitch=-0.277 right_roll=-0.0706 right_gripper=0.0105\nstate[joint_eff]: [-0.253, -7.3504, 5.9419, 1.3651, -0.1392, 0.0122, 0.1245, -0.1709, -7.6239, 5.7915, 1.326, 0.3248, -0.0024, 0.8962]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1528, 1.6104, 1.3067, -0.7166, -0.2089, -0.3939, 0.9968, 1.0817, 2.0605, 1.6249, -0.6724, 0.5495, 0.6724, 0.9985]\nstate[eef_state]: left_x=0.4106 left_y=-0.0225 left_z=0.1529 left_yaw=0.2535 left_pitch=-0.4218 left_roll=-0.0327 left_gripper=0.9968 right_x=0.3086 right_y=0.391 right_z=0.0986 right_yaw=0.2069 right_pitch=-0.3085 right_roll=-0.0797 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -7.6513, 6.9265, 1.2479, -0.1441, -0.0611, -0.0122, 0.7043, -10.8239, 8.5128, 0.7057, 0.525, 0.2076, -0.1636]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.152, 1.6112, 1.3067, -0.7174, -0.2089, -0.3939, 0.9968, 1.0843, 2.0686, 1.6287, -0.675, 0.5385, 0.6655, 0.0403]\nstate[eef_state]: left_x=0.4105 left_y=-0.0222 left_z=0.1525 left_yaw=0.2546 left_pitch=-0.4232 left_roll=-0.032 left_gripper=0.9968 right_x=0.3064 right_y=0.3932 right_z=0.095 right_yaw=0.2187 right_pitch=-0.3208 right_roll=-0.0831 right_gripper=0.0403\nstate[joint_eff]: [-0.253, -7.706, 6.5846, 1.2479, -0.1636, -0.0415, -0.0122, -0.4444, -11.959, 6.106, 1.0916, 0.3199, 0.105, 1.1648]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1206270970d33460a6f39dc51b98398daf9aaad6db918aceb4b33b50b418e1ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d9a8cd4bc276a3accc8f840998399c94b0f13fbcd5f0ff51099edb2e0d430e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7903c25dc8255fbb18a7068f90a35ae7f29ef03e8bc4df91d54b26772c5a59f1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEpxd0jfgkLpq8yYJUyFxy9TQzXrJSaEgx0dI4iOywloxyzvBIeOrZcni913UvZOhHY48F9KxgFyfBv1GLaGVMM4_6hiBo7UJKD6rM1AmlSMLwycEmS35kXCv29Rb0RHZNra29ZqRiYZzFB4wnjaeVvA51RYik1Nnkt7NppveMzRl1yIF_oLVQxms8NmwESrw7gxgOeDtnU2wZzLI_7ZIq1yb0HOWpMvQnA8nfoLFILErwTAdI0oRVkJOY5Cjhpr_xSQcjuX24bnWv5feoBd3NTww2Nh4NEkS2EtPJi56vsAaW3hU-MTXLsoAr1scCz5p_k11ePJDys8d90kK3-9baDlt9AHxRW6FYanm-T0hIDxSByip9ZOAoo3gC4TbH3i3dvX3cdsrbFM_s_XpD8-JMykHDvC5PHyWpdl2ZvQxyb0Ht4ecRImY0DAjTItBEDDAG539FrEuO8qoLWObOmT91XuOhIoWN-j4530rGgNhY25PFFhD2q5-lALpEBXogARWklSUwbfBlHzC_tZh9fM2snfyAlaJfcDez5DS760iEpmNDPYVpo_9BhLdU-QDIubqwWURacI-otjFYsFd7tsTP26KBH-H9yzZedEk76B5U_tedEtptckj7MhFy3FhCMIRLhdM8bDbcO8ljdBeT4zWxLOi-Cu0flXbNeXMmDXv-F9PT_hk3r_5ba49eZjF6-YiMHw_sICsEOBhIkHoH6KNm92zr00CRYwM-gI0__npkQHYZv23hVLA4_xwzGD3meK8rVUbwkqnETgwHEdbljMaL2QxUOErxnPEolrcj1QAgCgANjaVk5wDUFxcuVQv8vV37EvulTv5jxIVyQPk1VemjmSGhyN051eWD2dPDjxCCeukWQpaV_IZNYFB9f4vJpLowAl_F_Wm3eQbvQF6Buuvpo9K-Eq8fnO2pfZDDeAoMUV8Z0hiz3L5WH3sJyYWeJgdVyaZgiqe6XLrb-imJJrn14H1cRxqAWUgfJx3IQywPsmhJ4A3jux427xe4zJKoc429VYp-4WOanrTZeT4veKBse5yytkE34AuXYIH2ANOXR_0fL7grQYkm-MgCjps5uYuk_8rSuKlVNb5QwLDYCkPy0_qd-5KKqgOnoe_30T7HlJnACY4hcnMN2vMyPB18OSFY6o2eFq5jp4W-W30zcXBE-HM9z0mF2mjl_cqHi51pV63FjElcGgdVTAdrNJy1JgT-J0MwEWn6B5_aOKRixUC8es8TGl3kO7YawZZvbcifpyAgweXaJmdczoVZ9xwhMuBDwwerduoMUO1KPsP5usBs1GnFDHcOk9Zwp_vCk9WQ5_d2XeWgfgXwIbBuJOhG6VZ9Bw8M9rtL53VVc_dIxjzn6QLIHQzGCQTQNq1k-6jgmXmiKISkx60bIpU3uNOtuOcnAhYdnDZOMi_iXPtPIz-YfNwRx1hjUe_94gDCGf2SxIDwqgh9HDhKTj3VyORoaiH1mD_Vq35EqUduYgO8OE6tBP_Hp7UeKbXw8o0D9Ol7vvoMAB3axt-QHY65O5fQa5Y5ywydmugqvdvLgYwMSUtmLY7Vdi4QX2LJ1HhywrlFIOVe4HZziFTqAQ9BRIiUbzPQjD-DgH2gwXo7aqsdNypv7ypz09lXXo754joowAp6YRyKp9zoislCSX4jnm5MjzaZOD",
  "id": "rs_069ce64dd6877bf8016ab44a7012b487d097904611723d89cd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.08,\"right_z\":0.21},\"note\":\"The gripper settled at 0.040, just above the empty threshold, so it may have caught the horse’s fur or a thin limb. I’m lifting and carrying toward the center of the right basket; the overhead view will confirm whether the horse moves with the hand.\"}",
  "call_id": "call_tDEPt4EBg6qnxAWOeE39V4YP",
  "id": "fc_069ce64dd6877bf8016ab44a70f6cc87d0800782f0a7f64f62",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tDEPt4EBg6qnxAWOeE39V4YP",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.152, 1.6131, 1.3067, -0.7174, -0.2089, -0.3939, 0.9968, 0.2085, 1.5875, 1.3716, -0.7425, 0.0486, -0.0811, 0.0412]\nstate[eef_state]: left_x=0.4106 left_y=-0.0222 left_z=0.1518 left_yaw=0.2549 left_pitch=-0.4249 left_roll=-0.0312 left_gripper=0.9968 right_x=0.4103 right_y=0.0817 right_z=0.1805 right_yaw=0.2006 right_pitch=-0.3977 right_roll=-0.0822 right_gripper=0.0412\nstate[joint_eff]: [-0.3624, -7.8564, 6.5436, 1.1893, -0.1392, -0.0269, -0.0122, -0.4034, -9.0598, 10.359, 1.5165, -0.1001, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:750cc3b0070f993ef432e284f33ae19d43e998060766fbe9ca2803fc667fb147",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9964399c12866de201fd665edd96bb30ee518f27c575605e184dbca5b4f7c9f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ed886ebcb9c53db3d3064b3476b11460ed9ecefb2bb203eadf311412783398a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /responses · status 200 · 3.176 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1528, 1.61, 1.3067, -0.7177, -0.2089, -0.3935, 0.9968, 1.0168, 1.8793, 1.327, -0.5228, 0.5362, 0.6231, 0.9949]\nstate[eef_state]: left_x=0.4103 left_y=-0.0225 left_z=0.1529 left_yaw=0.2535 left_pitch=-0.4224 left_roll=-0.0321 left_gripper=0.9968 right_x=0.3082 right_y=0.3335 right_z=0.091 right_yaw=0.1858 right_pitch=-0.298 right_roll=-0.0791 right_gripper=0.9949\nstate[joint_eff]: [-0.3761, -8.0889, 6.8444, 1.2088, -0.1148, 0.0024, 0.0024, 0.7863, -9.0598, 8.5402, 0.906, 0.4664, 0.1587, -0.1978]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.152, 1.6112, 1.3067, -0.7174, -0.2089, -0.3939, 0.9968, 1.0843, 2.0686, 1.6287, -0.675, 0.5385, 0.6655, 0.0403]\nstate[eef_state]: left_x=0.4105 left_y=-0.0222 left_z=0.1525 left_yaw=0.2546 left_pitch=-0.4232 left_roll=-0.032 left_gripper=0.9968 right_x=0.3064 right_y=0.3932 right_z=0.095 right_yaw=0.2187 right_pitch=-0.3208 right_roll=-0.0831 right_gripper=0.0403\nstate[joint_eff]: [-0.253, -7.706, 6.5846, 1.2479, -0.1636, -0.0415, -0.0122, -0.4444, -11.959, 6.106, 1.0916, 0.3199, 0.105, 1.1648]\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 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.152, 1.6131, 1.3067, -0.7174, -0.2089, -0.3939, 0.9968, 0.2085, 1.5875, 1.3716, -0.7425, 0.0486, -0.0811, 0.0412]\nstate[eef_state]: left_x=0.4106 left_y=-0.0222 left_z=0.1518 left_yaw=0.2549 left_pitch=-0.4249 left_roll=-0.0312 left_gripper=0.9968 right_x=0.4103 right_y=0.0817 right_z=0.1805 right_yaw=0.2006 right_pitch=-0.3977 right_roll=-0.0822 right_gripper=0.0412\nstate[joint_eff]: [-0.3624, -7.8564, 6.5436, 1.1893, -0.1392, -0.0269, -0.0122, -0.4034, -9.0598, 10.359, 1.5165, -0.1001, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:750cc3b0070f993ef432e284f33ae19d43e998060766fbe9ca2803fc667fb147",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9964399c12866de201fd665edd96bb30ee518f27c575605e184dbca5b4f7c9f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ed886ebcb9c53db3d3064b3476b11460ed9ecefb2bb203eadf311412783398a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEp3D42Db4NAQYdzoyIQbqfT8LD36w4___k7pp9J9hm4-iVeJrr494gwo3j_Jbk_Dk73q8iUjtpEiC_jvS1vTKMApUuplFjg5wphrrZUwJcjRPxa4YHIq_DZiJmYjQcUHmo660h3y7Ni08atnjvT8m3sWoLps-Y8rrY3NBU4r-P47CaLK47yL-jo1u-RnLGuz_KM63VtuiZXexxEAM0QebAIXZITdhaU5c6csplCTebtQW3P3HuPYYPCbjOUXqcqvFU5A7lzPYK56XsuDZlWY7y4JNsAlcj5RwJYVlBSsjrJWs_0_XYeTEYoKSoZTTVcdPl4rlWGrUFveO-5sxas0rS34zrFi6eL5VLP3xHznvJcsIn03SXCpaXf0MDPraHErGrV9tZhG5JNKAktUVzsWElze2nolr-KFjgUQSSpIMrD_v0FIE4jCFsxRRNDa68DoVT44pb_oHqDMK-haE_qbpLz4y57TDFejDl1QEbhS2PJi7SkSC2h97hTjBfzBVgNEdLJTzKULDaFpFaFuWy4KyWHHq_gg37iU7JDsOAKGqAkosjut6QWCa2ejRzOkQQLYVnKdVykoDRdXREfPSew8zdusphSGmlxNQS-w0OvR_SfbdIoC7V4k3IgebawXN1hWJ-XsjLXAG6eAoHbKOalqPCFDpMiAO0hvPzpBqqBWnAweR1fvJJ2yK_Bfv7DnCDMfypxnEz5UqqzLbZI2wr5Y_1zhg_yZQekZBAZjOuBlF67itxswFOVTfGtvXcQbsmMP59Wa73OuUaok-jxTvAz9C3Z3yrJC2dqqhPbt-6QTwPEqifjSfWNkSA9JuZJSQepG1vFx7Wfi3K4WBhLLqZjxbom7V0J1lIrmRAAdzDgzgitofi_IRSiraeC2UYynYtfkDEYLWYpxls0caaAylXuTa4Ng8JmO1W87oZ1bNEn-X3ycxKJsImEeGyMgqi0u4KMBjf13uG8unTPmiSjOBj5szzoT4Aen0PdM7iPdW2BQydqriABgqvCbfUDPbTnFT0xqpcpbqS3hiB2U_AuLoVOUwB6XOA71yAfAVHBn5-QrVZne_K2DMTAOC1cbmqCYhgo5dUYgndLZzg-6MzrGKqTFUGPthGs3YGYuBrkbtGKMnovLwgH0Bq7q6a5fuVNArrv4opQrGVNr8w6mPEXgnFQoDd7Lq3eRga3YzHdcUIc74IAOjl3KSiC0roJJgalISJ5m4bkZUyrgwEeM8vg-GcHHDJjI8HNoxlrkY0heu2Dl8v0Kga1FrYW7eq_xJte_gJ1464vQ5wPHozNvOXlU7b7ycEQVa_tmMOTNt_xJa2ojGuzZSah2msvoVVfi4B6ZjXCuvpT30Db2bkt8Ekl46KJwITHP6jDvA_zIO8eQ7jrpEIF4VClQZ68sm4GG6zJswMkwd_ChMntZCNCG6SYeG_0gRKsgNEALO5lnrP7FTpcdMeUpuWO2n1xx58pEbnu8xpy1IWb9gitFlky_pcjKXQWchIl8qSCFN-aZlu8zD4Ibn99kN5JcbV5egqUD2UzaKkgN1bT77j6Z9YTsRyjhB2f1qtBxbFvvlxcrQx9v_KGQ-d-eCLAh4GNGbHhCLoXH5-7FTOti6GIMjgha4pp8SVgcUtI2DfY4U3EW95e5IkKaFEQS_Ivz4A6ZfbMJc6ZAq-0OZJkpAWNBngwEI_25HhWlzNM44XtFTXUC5WeasPVQf4EKGiWosWskJdp6ZwWlweVndEkkZk0zBq71bEoOJzNHzIK1-nBCbLfUkfO2XdFCfusU83dqcOZc9crANXLmZLX7nVhh3n6UX1fPJ_KHm_p9YJnlmNvpa6omEyHWKpye_JcuCmjpsqCLkftSwhkZYj5hCLxUOJZiOLAMr1bxRnPtQHzNvPsTHkjY832KHqtbk5ZgIWv1hIU6j5G5RNbf4t9ui4-B-2AwkCFnrya_xRfEC7cFE0S1wzmborY79DExyT3pxM=",
  "id": "rs_069ce64dd6877bf8016ab44a75cf9087d0a4a9cbd91470ff12",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.08,\"right_z\":0.18},\"note\":\"The cream horse moved with the gripper and is hanging just in front of the right basket, confirming the grasp. I’m advancing the grasp point about 9 cm so the dangling body is over the basket interior rather than over its front rim.\"}",
  "call_id": "call_l0BVI50ClVCpDe53NWef9oaM",
  "id": "fc_069ce64dd6877bf8016ab44a76fb4487d0af3f02aec729a5f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_l0BVI50ClVCpDe53NWef9oaM",
  "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]: [-0.152, 1.6142, 1.3067, -0.7181, -0.2089, -0.3939, 0.9968, 0.1684, 1.916, 1.721, -0.8139, 0.0177, -0.1242, 0.0412]\nstate[eef_state]: left_x=0.4104 left_y=-0.0222 left_z=0.1512 left_yaw=0.2553 left_pitch=-0.4267 left_roll=-0.0303 left_gripper=0.9968 right_x=0.4857 right_y=0.083 right_z=0.1632 right_yaw=0.2148 right_pitch=-0.4494 right_roll=-0.0791 right_gripper=0.0412\nstate[joint_eff]: [-0.1846, -7.788, 6.5573, 1.2186, -0.1148, -0.022, -0.0122, -0.8, -10.5094, 9.3744, 1.2381, 0.0562, 0.022, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10d680dc0e0f89af247d6e3fe22fe332392673372f0ecb28b7a2b942c790c060",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3d586b3232308154dd390dd35d9a8d0ea84f783b99533fe6af7a0a785af051c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e08b3cb09e1baa30ea1e4349f8eacaff696fa6287de3ff9631ba50835b48f54",
      "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 35 attempt 0 · /responses · status 200 · 2.189 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1528, 1.6104, 1.3067, -0.7166, -0.2089, -0.3939, 0.9968, 1.0817, 2.0605, 1.6249, -0.6724, 0.5495, 0.6724, 0.9985]\nstate[eef_state]: left_x=0.4106 left_y=-0.0225 left_z=0.1529 left_yaw=0.2535 left_pitch=-0.4218 left_roll=-0.0327 left_gripper=0.9968 right_x=0.3086 right_y=0.391 right_z=0.0986 right_yaw=0.2069 right_pitch=-0.3085 right_roll=-0.0797 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -7.6513, 6.9265, 1.2479, -0.1441, -0.0611, -0.0122, 0.7043, -10.8239, 8.5128, 0.7057, 0.525, 0.2076, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.152, 1.6131, 1.3067, -0.7174, -0.2089, -0.3939, 0.9968, 0.2085, 1.5875, 1.3716, -0.7425, 0.0486, -0.0811, 0.0412]\nstate[eef_state]: left_x=0.4106 left_y=-0.0222 left_z=0.1518 left_yaw=0.2549 left_pitch=-0.4249 left_roll=-0.0312 left_gripper=0.9968 right_x=0.4103 right_y=0.0817 right_z=0.1805 right_yaw=0.2006 right_pitch=-0.3977 right_roll=-0.0822 right_gripper=0.0412\nstate[joint_eff]: [-0.3624, -7.8564, 6.5436, 1.1893, -0.1392, -0.0269, -0.0122, -0.4034, -9.0598, 10.359, 1.5165, -0.1001, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.152, 1.6142, 1.3067, -0.7181, -0.2089, -0.3939, 0.9968, 0.1684, 1.916, 1.721, -0.8139, 0.0177, -0.1242, 0.0412]\nstate[eef_state]: left_x=0.4104 left_y=-0.0222 left_z=0.1512 left_yaw=0.2553 left_pitch=-0.4267 left_roll=-0.0303 left_gripper=0.9968 right_x=0.4857 right_y=0.083 right_z=0.1632 right_yaw=0.2148 right_pitch=-0.4494 right_roll=-0.0791 right_gripper=0.0412\nstate[joint_eff]: [-0.1846, -7.788, 6.5573, 1.2186, -0.1148, -0.022, -0.0122, -0.8, -10.5094, 9.3744, 1.2381, 0.0562, 0.022, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10d680dc0e0f89af247d6e3fe22fe332392673372f0ecb28b7a2b942c790c060",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3d586b3232308154dd390dd35d9a8d0ea84f783b99533fe6af7a0a785af051c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e08b3cb09e1baa30ea1e4349f8eacaff696fa6287de3ff9631ba50835b48f54",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEp7x8glXyGV4iwAJvrmG1WTyFEw9gEu9tsBqCnyZqp05gfsIcKY4h9RWuuwDZG3ENbu_Xxqk0wMgWeCHrLxZ7vJnDM5SdKWSnwarhns4FTuicm749tHKYYenGx1DgViLXu7wbfEfQ012PEap_qkMbGZNG3P9D8NOfSq72dkBouQCp0DvzUQdiPdD95pboaGEOrUfiha2OqLDKpzzxtXfvoAqWH9MtQxybuDFM32jbnmJg1LMxNv3X3K4NMcDduqhVyYM3qAYX05E-_Q8jgv7mhdWiQG51l9vJQ3OBQFSphgAi_Je2Icbv_hUIr6KQ6RqgfxiVXqR42UdCfznEcjqdPhBPR8uNk5ib4riw8FydlwHIpdG-VozCMoVxhc3IGJoTxnEW-ucOhUqbBzzci2aa0Z_7K35bA0cvjY8ifJ7Lx7xfxJKvy9ziFtlgcZefYU2i9SCmqq9ZRHr9408jvnG85QPmYbu5e7Xh40usbr751E-hzSWkABlRYFCAgppByRGKP2MMu5M4NmLBIPRH1OUBvW96Mxo4-m46diitCloFEQ8C4_2C0WFt83TvxtUyMzfMOys1k-AW94ERhxnXtY1-gA_4HSRVhXmN0h0rM4_7ADyddPPqKD2xjgyVUwoGsLL1HCODNbQvZiy_ppjPSU7k0VpFhxG5RDJFLSrX6uuhKPcqvH8GJP-58_Q_9ZBbLUCM4aSKH6vlbub8KcX0PfERjwH8Iuxa5N_Fp9PawTqf9YBhMS8r9dgyZpw07ORgZQ7Ao33yI3yqSlp4xOe6TDz67GWyIEfggrJpAZDlkEAoMfozfNzSWW5Q4y7byJTnNu77t_v2kwPgoK18wdSGMf2sDHEX5DnBI5b_lpc3-OTNFft-32Ti1FKkU2efyRwUioxbSDpruFAGVyYoxOTazYBUkBrTlpWIxpAJF9Q0pDA6ymsW8sougryvirtWdefBlAQq6yOyobrcXCJ3hivi_HGvYws8OBCWVfBKv37UNJsE6ofnQiPE51EvP2dJC9akJ_RMInV40Dtx9iiPbi4a0FxvcsRLJP9lTH__MWGSze0GXiXLIsjUAyOTAZFsqDWwU1foHWQPGI2PMBDAHxgQ9xrMQMZnnR7lDOnu5LWsfpP9zwPuKW6Y8OsTi7SFK5Viy06Ezos-90CzPo59mUoSI3LXkd6Lqb6udKUfDnYjacaKlZtDpxFVJFtlSCrxHvdr0koWWcDkACHFQdw39-UTS_2mSJlUNe0mT5hcQ-q58KYc2jcZvige8rlW69xJ4ZwiOIJlguzgiLjfUqdQu8h3p3-dY0Xcj73bSCd4S311U5GLMgAYEToy-F4v9_gyf8NWn3nAsg2ZSvpzV3YRchEE1bV4OFbcmjC5ZN2QOHWy5i6s56NdQQe_9e8C2KELPPvkoPGORRBz-BYNzYYdWfYEdfaBuGKM4k5qgmPfkfMtQCi9gvpY7_Jrwt8sjUbWSt5mNqldH-4O5DmbpkyjNKtX86nE3xjA==",
  "id": "rs_069ce64dd6877bf8016ab44a79d9ac87d08809603ca1eb8338",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_z\":0.1},\"note\":\"The horse is closer but its torso still hangs over the near rim of the right basket. I’m advancing another 6 cm and lowering it so the body settles inside before release.\"}",
  "call_id": "call_23yuF5zTyXgptPaeW7T1E6gd",
  "id": "fc_069ce64dd6877bf8016ab44a7a95a887d0804bc1e8c6cd985e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_23yuF5zTyXgptPaeW7T1E6gd",
  "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]: [-0.152, 1.6142, 1.3067, -0.7185, -0.2089, -0.3939, 0.9968, 0.1593, 2.1635, 1.8355, -0.7338, 0.0051, -0.1471, 0.0412]\nstate[eef_state]: left_x=0.4104 left_y=-0.0222 left_z=0.1512 left_yaw=0.2553 left_pitch=-0.427 left_roll=-0.0302 left_gripper=0.9968 right_x=0.5317 right_y=0.0881 right_z=0.0935 right_yaw=0.233 right_pitch=-0.5026 right_roll=-0.0765 right_gripper=0.0412\nstate[joint_eff]: [0.0068, -7.6103, 6.5573, 1.2088, -0.1587, -0.0073, -0.0122, -1.3607, -11.7675, 8.7316, 1.326, -0.0317, 0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ecde981bd7e574cd4c11427e6e2c9e08db4c9d24477c0a1532e9668bde1a122",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0564fdc37c51d21950c84d97c5313859baca7fde73f2171596234bc43238e15b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:412a6bd9b5fcb7129904e3956c3707354f23304f27e6e89eeab10237e80f2cdf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 6.13 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.152, 1.6112, 1.3067, -0.7174, -0.2089, -0.3939, 0.9968, 1.0843, 2.0686, 1.6287, -0.675, 0.5385, 0.6655, 0.0403]\nstate[eef_state]: left_x=0.4105 left_y=-0.0222 left_z=0.1525 left_yaw=0.2546 left_pitch=-0.4232 left_roll=-0.032 left_gripper=0.9968 right_x=0.3064 right_y=0.3932 right_z=0.095 right_yaw=0.2187 right_pitch=-0.3208 right_roll=-0.0831 right_gripper=0.0403\nstate[joint_eff]: [-0.253, -7.706, 6.5846, 1.2479, -0.1636, -0.0415, -0.0122, -0.4444, -11.959, 6.106, 1.0916, 0.3199, 0.105, 1.1648]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.152, 1.6142, 1.3067, -0.7181, -0.2089, -0.3939, 0.9968, 0.1684, 1.916, 1.721, -0.8139, 0.0177, -0.1242, 0.0412]\nstate[eef_state]: left_x=0.4104 left_y=-0.0222 left_z=0.1512 left_yaw=0.2553 left_pitch=-0.4267 left_roll=-0.0303 left_gripper=0.9968 right_x=0.4857 right_y=0.083 right_z=0.1632 right_yaw=0.2148 right_pitch=-0.4494 right_roll=-0.0791 right_gripper=0.0412\nstate[joint_eff]: [-0.1846, -7.788, 6.5573, 1.2186, -0.1148, -0.022, -0.0122, -0.8, -10.5094, 9.3744, 1.2381, 0.0562, 0.022, 1.033]\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 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.152, 1.6142, 1.3067, -0.7185, -0.2089, -0.3939, 0.9968, 0.1593, 2.1635, 1.8355, -0.7338, 0.0051, -0.1471, 0.0412]\nstate[eef_state]: left_x=0.4104 left_y=-0.0222 left_z=0.1512 left_yaw=0.2553 left_pitch=-0.427 left_roll=-0.0302 left_gripper=0.9968 right_x=0.5317 right_y=0.0881 right_z=0.0935 right_yaw=0.233 right_pitch=-0.5026 right_roll=-0.0765 right_gripper=0.0412\nstate[joint_eff]: [0.0068, -7.6103, 6.5573, 1.2088, -0.1587, -0.0073, -0.0122, -1.3607, -11.7675, 8.7316, 1.326, -0.0317, 0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ecde981bd7e574cd4c11427e6e2c9e08db4c9d24477c0a1532e9668bde1a122",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0564fdc37c51d21950c84d97c5313859baca7fde73f2171596234bc43238e15b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:412a6bd9b5fcb7129904e3956c3707354f23304f27e6e89eeab10237e80f2cdf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEp-2yNuDaFCCNolG2grqu0Rxq_rOIN5fz3BD1klZZqkfbdphA07ipvOTk6D_jux7PMj5xFIJKHIwAnP3EfUlJloTJ0TpPk8vO_VPBKwxqlAxXlKkvufEGVbtQ6cs4pw4k3EfP0BmGqc4IkxyYtbat4gQsLY7kZ5O0NKLWEdVnlMWeWNDR2b9oL56pNp639vLP4ekWy7i54fZsZIq-mrASigDxvXZQ25yNFsZbFTaMFOGi6pAcTaHqqQZq6WdhMXyNFc2yc-bWfeWvrt7aFDQe-hPDQjyZlmOYtrzSf6MaLGdXQSdXw_i3IU1w6fla3-Y0pu5RGOHH-OJelnZ-g4XCm2t1MtLyPjGQffu0r8EKG6bZov3HBjapvbEyJrqKlilIY7P6CqwxJJX-2-TSlIfCIDxL0WxDLxqohA-IsXQXwAMs90P1fkhkND6JjqO__KdmmJfESEx2xz8K04mjiz-Ey-6oL9HkwvmFjOJ68tCr_E3sfiWLEGo4Qi0Er55GSNe2EDTtErc1Q5t6Qy35J6UA0ginjNAyRVRiRb2vCqZXNO7BPzWDfYCnhBSLJ2qwv2h6MQa_tA9fsuDC9rT-O_SgCgRCNerIxUrlntRL9x9_c7X7f1O1Rz0sxX-k37oprmmsbwqhLlzepX3UCMTQXm_Nd2NBz_pLcKTjz1K9Z-j5sEP14jRJ1KUVSUu1tU43Oedqc_Nt6b_soUQOqVseDGQjPvpuahEQxrOJiSNQYB1outIMOwLBeIfpNzIHZvnP0eBBMPbRCoSvQzM47Zide3YABDyBwpSG6JTrq0NSZJT2_TVH3wH1CHK8ObXkttt4f5e22FZN1zegbIOaKis_6BkSDmpxT2vOP39nqSMXkDhYjVgNJuswWozeA7Xk_Fin-g2K3aueCp7QND8dHQVOpoZi-TqZ1I86GQKQ-bpHhChXai6kkK5tR3j5qYAdtQAO-csmTpEcHxOHaSWRaS0JjW6Q9prSNCKFjPQXpbDHrXl7zJlTZm8av_YVr8jzpd5JccNUOs59l8bMYeCvjr-_kqiCHGr2IMwYGEnaw9SInchzVCZFLPoTvqdRTIqa5K7WR_sQTFy_Y_4aLdpno3VcMmTtGyYOQzhdVjAWiEBDS3Pmq1drETIPQYdxGrPUGnCdj__NhWTGq1bvLHi-KeXyUQU-CtXMBZZUgTvDfDs_3njF7O1R1gM5pb9wWP7d9o0nLnHKDd_bg6icPx35qh8TW7CDT2fcXtdNO4BH4_i0YG9UCoKs-fI9r3orRuhmXQCFGK4lw9JC2Wp0rHhPTsfygd5O_J2hgz2j899LRn1Ba0JXGsDyJMC-oOSVgIa61g2-AqfN45",
  "id": "rs_069ce64dd6877bf8016ab44a7d1da887d09580de0261374bc7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The horse is now pressed against and supported by the inside edge of the right basket at the low pose. I’m opening the gripper to release it.\"}",
  "call_id": "call_UiOUkTJWtzbsxrBl0Z4gaXTs",
  "id": "fc_069ce64dd6877bf8016ab44a7d6f4c87d0a3cf6061177cc755",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UiOUkTJWtzbsxrBl0Z4gaXTs",
  "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]: [-0.152, 1.6142, 1.3067, -0.7174, -0.2089, -0.3943, 0.9968, 0.181, 2.1803, 1.866, -0.6983, -0.0376, -0.1608, 0.9948]\nstate[eef_state]: left_x=0.4106 left_y=-0.0222 left_z=0.1513 left_yaw=0.2553 left_pitch=-0.426 left_roll=-0.0309 left_gripper=0.9968 right_x=0.5424 right_y=0.1097 right_z=0.1007 right_yaw=0.3011 right_pitch=-0.4505 right_roll=-0.0485 right_gripper=0.9948\nstate[joint_eff]: [-0.0752, -7.5419, 6.5709, 1.2527, -0.1294, -0.0611, -0.0122, -2.8103, -11.9043, 7.8564, 1.2332, 0.3297, 0.1245, -0.2418]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a610b1b7a34dccd0798b2a9f0d3c9f47d41700d8d573d079ad862ec23ea64c26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e02fd3f5bc8bc6f247b77f222c5dc551d6258a5222c910c3a6f0594102903c3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c9ee980c70a4fb26c8fdb2990e412b354aef3619209857bbd27010c557ab046",
      "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 37 attempt 0 · /responses · status 200 · 2.597 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.152, 1.6131, 1.3067, -0.7174, -0.2089, -0.3939, 0.9968, 0.2085, 1.5875, 1.3716, -0.7425, 0.0486, -0.0811, 0.0412]\nstate[eef_state]: left_x=0.4106 left_y=-0.0222 left_z=0.1518 left_yaw=0.2549 left_pitch=-0.4249 left_roll=-0.0312 left_gripper=0.9968 right_x=0.4103 right_y=0.0817 right_z=0.1805 right_yaw=0.2006 right_pitch=-0.3977 right_roll=-0.0822 right_gripper=0.0412\nstate[joint_eff]: [-0.3624, -7.8564, 6.5436, 1.1893, -0.1392, -0.0269, -0.0122, -0.4034, -9.0598, 10.359, 1.5165, -0.1001, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.152, 1.6142, 1.3067, -0.7185, -0.2089, -0.3939, 0.9968, 0.1593, 2.1635, 1.8355, -0.7338, 0.0051, -0.1471, 0.0412]\nstate[eef_state]: left_x=0.4104 left_y=-0.0222 left_z=0.1512 left_yaw=0.2553 left_pitch=-0.427 left_roll=-0.0302 left_gripper=0.9968 right_x=0.5317 right_y=0.0881 right_z=0.0935 right_yaw=0.233 right_pitch=-0.5026 right_roll=-0.0765 right_gripper=0.0412\nstate[joint_eff]: [0.0068, -7.6103, 6.5573, 1.2088, -0.1587, -0.0073, -0.0122, -1.3607, -11.7675, 8.7316, 1.326, -0.0317, 0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.152, 1.6142, 1.3067, -0.7174, -0.2089, -0.3943, 0.9968, 0.181, 2.1803, 1.866, -0.6983, -0.0376, -0.1608, 0.9948]\nstate[eef_state]: left_x=0.4106 left_y=-0.0222 left_z=0.1513 left_yaw=0.2553 left_pitch=-0.426 left_roll=-0.0309 left_gripper=0.9968 right_x=0.5424 right_y=0.1097 right_z=0.1007 right_yaw=0.3011 right_pitch=-0.4505 right_roll=-0.0485 right_gripper=0.9948\nstate[joint_eff]: [-0.0752, -7.5419, 6.5709, 1.2527, -0.1294, -0.0611, -0.0122, -2.8103, -11.9043, 7.8564, 1.2332, 0.3297, 0.1245, -0.2418]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a610b1b7a34dccd0798b2a9f0d3c9f47d41700d8d573d079ad862ec23ea64c26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e02fd3f5bc8bc6f247b77f222c5dc551d6258a5222c910c3a6f0594102903c3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c9ee980c70a4fb26c8fdb2990e412b354aef3619209857bbd27010c557ab046",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEqF07vtOaSRqzyxl1gaiE7Tqi-m7yv26vatlNZIkU784jsqPU1cuL0xMpwaQePG0ofwIU2pCIEJmVmvDN81YV0vYNeIDeXZQY9_z7kznGw5jIPzxlvH1olxyZZ-zrkZYVkrtjUFaoIIsssXuN4F6DuMsvIEUIeNdTieiSPPUszzQVsb0NQ_f4xZYwi0Mt_vPH5UU-_h0tjm3lPJoVuAT4oBGt9MX5s2uCoMnVRw2Ai6OA_sFR1zSq_kzJhzhS_JZTWSzis7OlOTzn4H_k6YCug-KW8yTtRZiH5QoZe1dG1IRJkKmRziwuU6DyLYEJj4dl67md0exUFUPUBLKc8NkOI5NWXd42I8KGjYVqHTji4OT7eqRPw7RpqWqjAmQS8cofqaalMD6oBUKh5eXKGs-SPNShflbrhKSYSxAzhQrKL9IF_vhI1IPykHEg4ecqLi-8F76GYgUVgdRimbblthAIX-IARpna1CVPr5b33_eF2XGotk7wGFx25hzuB3EpFQ5_Yq_7a4eK9h_VxdTN72lRY8ozMLvgvSLRp3854paQPTfhc7Xbh5x7iheqk2uY_BUc_valhQt1PhZycLaAZWY_bzgnD8qV2aS7wJWodNtgeJSHD6h403s9oMnJwhq8obF9HMBBXvsew1qDcrSN9o4TlGj0xD-KpZxZMydftPfJG68Bca917-ch3G1Chsck-FIGippSPA4SUgHY_RI4wDc8Zt4MASd7RsTtiycksW4rtitYyuTaV6InOQ46kwbuAf9zUoNZzhsNNlao_I80MW39iP-Lt8ibxEoykVBqKSn4stO9-hgsSaJ99Dd5RW-wFgfbsXl_pb-pyQaCXy5CPT8HQP80hrhpWnZ0cs6-T_LRUIsp6eS2T8LNAmbkpI_QiSvAAVMcPUiRgOz_ru8uMPsg35431h_wbI4Avmi2EQpoBRR2GrfwbRgKtKtQtyJx4C-ddTg9d3nVyLZZqUYjN-GrkDB1sMpfTZFOSc-z9Y6pQEprnTdmNkpkMHk6m8vbUqbsG6ZdE77vPp4dzgD0A5bhG7xLy6ScNTtPtDzYxmhUqUOZcFj8LBMIq0ox_L0ujUiUqdVytuSncIRbuY3uEfKIHwyCeOUSm1htw2CNWWKj76JSI6n-LJX5zLoynM0iFIvCLCvCwG748bF4U9mqNi00t2NWsFY5KGJQi9x1eeiUxhUkUMlkkGoNEK9QmXSLMun7FvsNNXQDd4xXALYq-ZEIuBdIlFOVytmbKrODfTDOqb9CbdXkW2iVe6kcLuS3YDV0QZsF0BMoAcwOB0X1HXkjxi9kM72fa5CgLxoaBexsH5596Y70FOtjzen7Wx4GLBFZABoCUcsYJ68CWFQMkmth-JY1v-8bxyYP94WWo7kCCmbBbFpQl5gT8Q-5u6CmIMZ9oyTManDaNIUthEvuQRFW1fa01ioBhLhI2qmiGtK1kLCN2VmeI3LUszPqytJZUpqTbl_ia0jOBMpPY_baYDh5Z4vg7SuVMCuRFifxStEtucS4YDs5V9gmpKcXtJkfiNPBd0RfrGlvM5RRTyt4x-gH6XK8yEWID17aVUdFMp4RBTldTclZSOnowBwGh9SPYQy0nOHfHeYnAcKS_pG0nXtpzP9I2_fUmYbmC8y-sRXd7tU7Hv2Et0sR9dfbaANXZC0VeK1uIBmlJTsT9bAp_DytLMQXAfdL5WVwuj1QFYWNV_5uneXL1t-QOtY8NI-2vUsXt1CdHQHJg4ajBYSxZSbV_n-c09wzG7xQZ2b-X6-E3zzWOmFp-ixoT9DWapbTzu-H7oy8ubWMbWj_Zw4cX4NMpsaKtF5rJLTM6Na2oSVPcL2K31F3RHDOKEQ9bJ_f8FGM9U1-5kz33EJhk29kSjrz15Cv9xuK0ISV3MH0xPJbrJ5GJKWGmrlb19jm12hQhFTLKOnJxLtxVKucQFlsF9vz-RHEoXpcJLY4zUGLoDV5gbtyYmwItuuscTp_Ng8cW6I85otTP2vILDo6Nj_Y6RzREwei5Yq7TnR6X2rIq2uxcRVSg2m7ioqkFEqX2gLaN4zldYrZouFqqRYkRB6E49iWsxFnu2jsvzkaGTFQ4H2iVuSq76WImf-_pgBg-ZfadfA1OU3d1BE-UgPr0dBRQQJev-D8xlpOCWJWBEVnsErJq-R_J-9RONfDE4t-i16zgabCZEnPVLmSD110Os2yvINWgzPAmRly0sUh-lIDdwwtAfpiu8WLTNnPg2qfOiBCBZzeIfom-C5KSvgjH9YzKa32nQhtCofOA6yTgzHAsCp76aCYdDShYmU6KriwsfFo0nDvk2MWhn4V6il8uRYcZHHVtW9P21upAmHrtjvooajZQW8Oy-gRcqm7Lrw9mS7v_G4RWJrlYfg6UqWXWHhSS2ew1YURdYMv3YQewS_qJxN9AK1RZIpTc1e1hiEhOublI0fwDnI--V9vrc8zKdFAD5n6rkY6zEWVry7xIj_nTHn7LZaSp5oTfRAPgisuk4bkqoHy2VfGcsKNcIpQW7Ne7oAYTh7tPnExhQ1T8OYs-ZTfNVzreduHMt8uD3uQ91avNRJuA-FBY1u3Htwxuj0XHftHPkhLt_DKiq8-Xl2LlJFX345vTKyIDl6ATQ3m1mzcHiAF5-y6mGNvFr62XCPc_k3UP3hRlwlLbtyAbMelHWuYviNjRsYT7v3Rexy6Xq8ZkWfWjuuoxC_azhZuVhfFy5ftkw00UrecXcosejKjzqNEXI4eyi_WDVyxO6Y0VDccR656P9Wi21jzwFScnelC_IEeudCV9BYxXOz04P_fH8LjcBZ3ZQTJ9u4vguH-mV0hezNypsznBreyOgChAggs8F9aCM48tsYsVqUhyORHQywdTpz9fOgoZl0Xp4tZgdk_6y89h52WHmR9H3uqxx-IuakuCDCQs97Gi_98VAxGKdHOjUfBapMTWWo-6wVwj40Wl_NesIXS18BMyh0400OUyXYhl0GVnWdmb5O2-jqWxanHAFK5DL_4_GR1lj3v-eW1mE-FYQCBmtNpLGvXOmwM5zLd3aDbb-Gbr7W6h_E1xW4KAXIdG8nNXxfle5G1BiZPP_JiTbBv7bry87n7qFkOdoLAd5ybzWG74NlDc8-YLP9I73QLMMNy-B2XuKuSLiwurNsC0ygheAMovaxdYRLg-hR5oyPKZDHudC7YGBkahxb3kNixoiI-GqP_65SKQkvjNsiWM7-0LZGXaefzuSj4FpSlU-CQQmA6k1lE2R60MGOM6bse8=",
  "id": "rs_069ce64dd6877bf8016ab44a80426487d099d9ec9f7a4ddc2d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The released horse slid just outside the basket’s near-left rim, but it remains directly against the open fingertips. I’m reclosing to recover it for one farther-forward, right-shifted placement.\"}",
  "call_id": "call_7vPcPMxNIatSt8ZOMTo8DYHG",
  "id": "fc_069ce64dd6877bf8016ab44a84325487d09634ada6e2b285ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7vPcPMxNIatSt8ZOMTo8DYHG",
  "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]: [-0.152, 1.6142, 1.3067, -0.7177, -0.2089, -0.3943, 0.9968, 0.1822, 2.1826, 1.8652, -0.6983, -0.0418, -0.1642, 0.0327]\nstate[eef_state]: left_x=0.4105 left_y=-0.0222 left_z=0.1513 left_yaw=0.2554 left_pitch=-0.4263 left_roll=-0.0307 left_gripper=0.9968 right_x=0.5419 right_y=0.111 right_z=0.0992 right_yaw=0.3084 right_pitch=-0.4532 right_roll=-0.0462 right_gripper=0.0327\nstate[joint_eff]: [-0.3624, -7.6239, 6.8444, 1.2137, -0.1636, -0.0415, -0.0122, -0.1709, -12.6838, 6.6803, 1.2723, -0.022, -0.022, 0.5836]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea39689c688e15b5a3793ca7b74a73a83e209171ca423847c76e32bd2235c061",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fadfb67b020eb1e3ffc2dfae48b76293564e94852a4980e0640356e6d585eef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cceb2717dda521c38257c9212effa6b658e039b17477eccacd65c2639d64af89",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 3.962 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 140 changed as sent

message 148 changed as sent

message 152 changed as sent

message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.152, 1.6142, 1.3067, -0.7181, -0.2089, -0.3939, 0.9968, 0.1684, 1.916, 1.721, -0.8139, 0.0177, -0.1242, 0.0412]\nstate[eef_state]: left_x=0.4104 left_y=-0.0222 left_z=0.1512 left_yaw=0.2553 left_pitch=-0.4267 left_roll=-0.0303 left_gripper=0.9968 right_x=0.4857 right_y=0.083 right_z=0.1632 right_yaw=0.2148 right_pitch=-0.4494 right_roll=-0.0791 right_gripper=0.0412\nstate[joint_eff]: [-0.1846, -7.788, 6.5573, 1.2186, -0.1148, -0.022, -0.0122, -0.8, -10.5094, 9.3744, 1.2381, 0.0562, 0.022, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.152, 1.6142, 1.3067, -0.7174, -0.2089, -0.3943, 0.9968, 0.181, 2.1803, 1.866, -0.6983, -0.0376, -0.1608, 0.9948]\nstate[eef_state]: left_x=0.4106 left_y=-0.0222 left_z=0.1513 left_yaw=0.2553 left_pitch=-0.426 left_roll=-0.0309 left_gripper=0.9968 right_x=0.5424 right_y=0.1097 right_z=0.1007 right_yaw=0.3011 right_pitch=-0.4505 right_roll=-0.0485 right_gripper=0.9948\nstate[joint_eff]: [-0.0752, -7.5419, 6.5709, 1.2527, -0.1294, -0.0611, -0.0122, -2.8103, -11.9043, 7.8564, 1.2332, 0.3297, 0.1245, -0.2418]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.152, 1.6142, 1.3067, -0.7177, -0.2089, -0.3943, 0.9968, 0.1822, 2.1826, 1.8652, -0.6983, -0.0418, -0.1642, 0.0327]\nstate[eef_state]: left_x=0.4105 left_y=-0.0222 left_z=0.1513 left_yaw=0.2554 left_pitch=-0.4263 left_roll=-0.0307 left_gripper=0.9968 right_x=0.5419 right_y=0.111 right_z=0.0992 right_yaw=0.3084 right_pitch=-0.4532 right_roll=-0.0462 right_gripper=0.0327\nstate[joint_eff]: [-0.3624, -7.6239, 6.8444, 1.2137, -0.1636, -0.0415, -0.0122, -0.1709, -12.6838, 6.6803, 1.2723, -0.022, -0.022, 0.5836]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea39689c688e15b5a3793ca7b74a73a83e209171ca423847c76e32bd2235c061",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fadfb67b020eb1e3ffc2dfae48b76293564e94852a4980e0640356e6d585eef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cceb2717dda521c38257c9212effa6b658e039b17477eccacd65c2639d64af89",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEqIXbXtdjE-SCxtkQxOdeb-8LzADGB8EgjAn2TpG0AYeRnZbMBJTAZE0Cwcq-bPCohhFNcf7u05VBc1QfFtSlGS7KbI-ze5F9zD3HDO7gZ9M1cp5CXMJO8iz_Tx7BYje3Db7tTZXN7sfuYdIF6hIGNla41DAB-6m1-I6m267mp8V6SRMf5S2fbtuMXaqH1swJVjed2IEsPRoAlaQo94Q1bVBFxfALerk02yeKtQx3kUYNJZT6OJXlzPPaUId4Modg_5nX_nhlCYzbaQyf0hDpoieWI6JP39n8rOm-kag10kvdjP709Fz41LM6VJQAShMiPQbTgxq97dVmhbK2CuJAEUil8Wauo2Yjng5TEGIDefyOsiNM8oT-N1iIXtb95BQnOzcOLiz8MN-bxApgUrWNosBenNuVK_JfbHRP27wFROH9JhQ7Rypdx-iOBmwARWAlAgfxNgIuRxFlvBvlwogHIIxMOFiSl4q9RqxwKNpPpxDD9BY1Dco25tw-MRDpm7w5J8imHIKYSAJMkD4bhW_68gTTYl4o9CEvA2xu16eZQAIQtY4zSSF4ze0EtBqsieyXZ8RL6E501x33aZVxFXn30btRGvYI9d-pGN157AtFf3ujEIzkckMFkyTgkrr9EXibpPHeHMjGVDwXg-R3ofK0SiVo2x8CDEDCYRfQi3aynJlNcK7S9DOM_ZnEfogTTc7vzxel2xKaiEnuZhbzWpxA0Ffrf9kvHfiPl036kVtOStrPPnFGQU4rX_LZDHojn3F3brQc5rIt13uzN2yE5iy_1GB-l1H2EbVlWQl_pNAR9c_jZcu8iJ-5rl7B2_NoqPcBk2MBOt0Xo_XKlHsp1MZVca5Uo8odb08eogKDFEr8j9a9rPopJSsLpfBuDxLbDAodhtGR_jUS0sGBgnsF6Qw1Am85fygMaBmXIsGT6vb-At2E1xtdt7AuqOs_N8CDJUrL5IdxQxdS0ePXYK7XdcMu82nx5UaeDRObzHmWFBIsGNw1pX5nrBWX7IszCb8dVvn5QR51Wffo7SrAcTnesWxJcywn9-8qQD_bmFKQzzdNvcq1EphXxb45WnkqhpwtjSfuLc0I4d-W6iCkyHJTEpoABdiiPPXo37Ul3_D7SOgz6KUe0vZaz5jQJZICniWABdIumMDDYwrmjTZyNZmilO5amH2_Uns66rmCgEMWwT_3-75jZ2b7FKMNfNG3G7HDs-mKHZ5Zt8BaewS4se7g5rot_HQwiAxA5HKC59WFHEbueYkEohW5dWIftZlX8S-8YdykSnIfztStAM47H-L8uRGQDtBtp45B_Gz0Y3VqzwDZCbCqf9Wqzz74uSId_kc7QwdFfATwpzCRfcFCwiBxaj3ltbXA==",
  "id": "rs_069ce64dd6877bf8016ab44a875db087d09f71da60fa6ced53",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.595,\"right_y\":0.045,\"right_z\":0.17},\"note\":\"The reclose settled at 0.033, likely a thin fur or limb grasp; I’m testing it while moving to the far-back, right-shifted basket target that compensates for the horse’s observed dangling offset.\"}",
  "call_id": "call_mTHC3oK7cxdhbpa4GoeFcvxr",
  "id": "fc_069ce64dd6877bf8016ab44a87cc6c87d08240d4a5e015c4de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mTHC3oK7cxdhbpa4GoeFcvxr",
  "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]: [-0.152, 1.6146, 1.3067, -0.7189, -0.2089, -0.3939, 0.9968, 0.0635, 2.5526, 2.6907, -1.1442, -0.1432, -0.2703, 0.0345]\nstate[eef_state]: left_x=0.4103 left_y=-0.0222 left_z=0.151 left_yaw=0.2555 left_pitch=-0.4277 left_roll=-0.0298 left_gripper=0.9968 right_x=0.6019 right_y=0.0671 right_z=0.145 right_yaw=0.3451 right_pitch=-0.4283 right_roll=-0.0183 right_gripper=0.0345\nstate[joint_eff]: [-0.1846, -7.706, 6.6256, 1.3065, -0.1538, 0.0024, -0.0122, -2.2632, -10.2496, 4.6154, 0.105, 0.7302, -0.0415, 0.6618]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64897f7364dc7eb6a776b060206c6b9d4cb652d8d9e7b5266356f9718827bb25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9f9eca61a523a6fcbfb06029ed77573a59c2e30611bf8edad3be13e5b114d26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdf1dc19ac1a92d883b3e14cbd7f5ce80454a2a2eabb8853b842cb601e58bb4b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 39 attempt 0 · /responses · status 200 · 2.878 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 144 changed as sent

message 152 changed as sent

message 156 changed as sent

message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.152, 1.6142, 1.3067, -0.7185, -0.2089, -0.3939, 0.9968, 0.1593, 2.1635, 1.8355, -0.7338, 0.0051, -0.1471, 0.0412]\nstate[eef_state]: left_x=0.4104 left_y=-0.0222 left_z=0.1512 left_yaw=0.2553 left_pitch=-0.427 left_roll=-0.0302 left_gripper=0.9968 right_x=0.5317 right_y=0.0881 right_z=0.0935 right_yaw=0.233 right_pitch=-0.5026 right_roll=-0.0765 right_gripper=0.0412\nstate[joint_eff]: [0.0068, -7.6103, 6.5573, 1.2088, -0.1587, -0.0073, -0.0122, -1.3607, -11.7675, 8.7316, 1.326, -0.0317, 0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.152, 1.6142, 1.3067, -0.7177, -0.2089, -0.3943, 0.9968, 0.1822, 2.1826, 1.8652, -0.6983, -0.0418, -0.1642, 0.0327]\nstate[eef_state]: left_x=0.4105 left_y=-0.0222 left_z=0.1513 left_yaw=0.2554 left_pitch=-0.4263 left_roll=-0.0307 left_gripper=0.9968 right_x=0.5419 right_y=0.111 right_z=0.0992 right_yaw=0.3084 right_pitch=-0.4532 right_roll=-0.0462 right_gripper=0.0327\nstate[joint_eff]: [-0.3624, -7.6239, 6.8444, 1.2137, -0.1636, -0.0415, -0.0122, -0.1709, -12.6838, 6.6803, 1.2723, -0.022, -0.022, 0.5836]\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 156 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.152, 1.6146, 1.3067, -0.7189, -0.2089, -0.3939, 0.9968, 0.0635, 2.5526, 2.6907, -1.1442, -0.1432, -0.2703, 0.0345]\nstate[eef_state]: left_x=0.4103 left_y=-0.0222 left_z=0.151 left_yaw=0.2555 left_pitch=-0.4277 left_roll=-0.0298 left_gripper=0.9968 right_x=0.6019 right_y=0.0671 right_z=0.145 right_yaw=0.3451 right_pitch=-0.4283 right_roll=-0.0183 right_gripper=0.0345\nstate[joint_eff]: [-0.1846, -7.706, 6.6256, 1.3065, -0.1538, 0.0024, -0.0122, -2.2632, -10.2496, 4.6154, 0.105, 0.7302, -0.0415, 0.6618]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64897f7364dc7eb6a776b060206c6b9d4cb652d8d9e7b5266356f9718827bb25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9f9eca61a523a6fcbfb06029ed77573a59c2e30611bf8edad3be13e5b114d26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdf1dc19ac1a92d883b3e14cbd7f5ce80454a2a2eabb8853b842cb601e58bb4b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEqN_x61qqqOT6bpbeYg5tNkCnAfyJ6W-U_aGgNAdU1T-YoqnPA3ub9IWfF7hTwfsi_g-niowqLGMDklW4eMvhuUeAuae7_rGQx9-wWjjbEYe-laTGWq47NiW49LjMiLmN91UdS6awzKLz9rdBz3zOj3pI3tb09VdWmqjB3iLbh328X5c35s611IpgazUmtfyIIVpWYlJc-JbfV3lInJTYzfhlZY1bHu90R2h7imJn30JqtmjlR1zvKhV3ZhPzF_t4wkPgxTQvgopgKaD_WUaZ-mwviZW4tbIlgECBDpsf_WGB759I4S2_65cnpyEJdI64wJZ80LT3Bh18iLV7syLOlhoWu-JJNAtTZePlwGxx7wQNjWrYgyvP9qetuMn3oWPq2jIpSDtu7EfEDZTdVRc1h4QbER4OZRYK_5jaV1dNaGGGjJEnQeZlxnBUZTPGToW0JGargG0IO4p9TKJrLGsgOGQUbRvoS-BV7F5dNl3xXZyI3JQ75UjPDo48T9qac846USHEF8pro3c4G-y7y-XSyz_4zigzkXjkud_LNRwPy8ZfbQZMXfjGR_t0xQhS5zwgjr1yg8DJg8k_7LzLp_7sEVN3BjVA5GDOIq6-IiAQidfDsOkFL45V1r1VgIsQd2gVzezMHGAdWGFlfufHQuvoNTH3eSWrsnTQsNoLt6LmrA5F4v_LCgo_8vQeZrhCs8gI5NHeM2hnVrhQ8U82G1fpuRU4Gf6x-IyIJuShXJHSBKQu3btSKcoq8OUk5fjnmHinEHyyrtQKWXSDSbjvkmzhsW3SUIp0rla2j_cpz4VqVpABYS1euGt1M7pkOaWQMpG9lwkvYtlat7adISylq2294S_D9Tjwi327y5tT7sDZGM2i2Vl3eX16DW-rLKc4VJoLTePGDJWNpEAUEhhQMV8W6ijJ0SOyoop5TPA_stGaU9a7QzxnC9ml_xQScGG_4A-foPHMY-wOXY-v2-WbeBVmlbTFuFa_GLJKrta3508LGpZS7FTlUUSskBVXu3lTBi6B0jxFSrwPf7QmpG5IgEVkJB1lONobKfKaYUXqWbkDaLWdxEXyPjkor1GQammw8yTXZPexuK2ukSIpA7z2ddw4rwch5ZEta133tJPBqepc7etqKB6DBB2r8aRB1myxAhhFOq-3f46jesT9i45RMep_KI4gBcyK2zpeMcOqJqbpUvRJ5bADooZSzNLmVYOoBg_6hs2a1UgjmgQ0pr1zu51rdheZISYYQ4vJ08MOIhU4Kb1HLHE4WbvAgLb_ysxyTEQ3wpKVuU9RqnlnSbZgs64_OLCgaUM1hPjddRtecGycWVzUJhVxTr_CV573Vx3dNC_nzEkI-A-LbPK-TKiVTCXP37ej4E5d2hiMm7PsjURMHBOtF_oL9Uj_Zzd9OYdQTW-NkJ5sxNrIMHCg8bi_VFT1fJBmAeP7F9e5aZ-CjPBIZ6oCSxLaOUv7jZvB-tq0SxLXHtwFhDNWf11JwXdfQSfE7bmC-xhBphhsZ_HEmHlKa0Ql9qQ6WepU6OW16bOoWTXKNsUxvaPNII_g6zWnxU3v5cPnPH7FLSk4v2zA5WnPKHn0htU0J-a7iA10Hl7CDk9MCRTOJxY_DC_QeldA7PTPIb9X9TPrV9QsRGxMhc7JfnVHSh03CqN0Uf7ImviXfem5NnCCDb_X3id429gwxakHeEz6_BiuEbPoF0uqOgSFSQ1uiHnEgpD6ipA2cF3cTf3wPcvMqj2A45uhgZSU6IBf81j8OQZ5CJeNT74GtUDLGpdTiQ8nmj7b08AwgCfgmBFz3xij4RGRkFuuiG05uU-TG52g8PbQIxcSsBMLXodv-xm-c=",
  "id": "rs_069ce64dd6877bf8016ab44a8afaec87d08d46ef5967ea2862",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":-0.02,\"right_z\":0.09},\"note\":\"The horse did move with the thin grasp, but its body is still left of the basket opening while the grasp point is already at maximum forward reach. I’m shifting the hand 8 cm to its right and lowering so the body lands inside the right basket.\"}",
  "call_id": "call_9b5MtG6t1x5JBj3YjSTgLslJ",
  "id": "fc_069ce64dd6877bf8016ab44a8c676887d0acb06df5d155a8c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9b5MtG6t1x5JBj3YjSTgLslJ",
  "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]: [-0.152, 1.6157, 1.3067, -0.7181, -0.2089, -0.3943, 0.9968, 0.0177, 2.4496, 2.3066, -0.9028, -0.4301, -0.3794, 0.0374]\nstate[eef_state]: left_x=0.4105 left_y=-0.0222 left_z=0.1507 left_yaw=0.2558 left_pitch=-0.4281 left_roll=-0.0299 left_gripper=0.9968 right_x=0.5884 right_y=0.0877 right_z=0.1055 right_yaw=0.6112 right_pitch=-0.3551 right_roll=0.172 right_gripper=0.0374\nstate[joint_eff]: [-0.1983, -7.8154, 6.5573, 1.2088, -0.1587, -0.022, -0.0073, -9.8667, -14.2564, 4.7248, 1.3358, 2.1954, -0.2369, 0.2906]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:997dad3b61a1c1b66fda5cc3008f6c148cdd534ff2c75ff31289fbd492f12918",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bf1cbcc3586ad7b47b2ed97f4a2880ced612d38f954cbc68097743a68be2d22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6f46ec6188829313b986eddeb18fe4878f905b48c480538050abef70b448169",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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