adhoc

completed
2026-09-23T22:10:06.757679+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
272 s
total steps
527
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe overhead view shows two object classes: three gray long-eared plush animals in the left/front diagonal and three cream-and-brown spotted plush animals in the right/back diagonal, with two empty turquoise baskets. I’ll sort the gray animals into the left basket and the spotted animals into the right, starting by positioning the left gripper above the nearest gray animal.
move_to
left_x0.2200left_y-0.2600left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8013, 0.6155, -0.3801, -0.0219, -0.0334, 0.9996, -0.0154, 0.7986, 0.6106, -0.3779, -0.0128, -0.0219, 0.9998] state[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1832 left_yaw=0.0001 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2962 right_y=0.0013 right_z=0.1821 right_yaw=0.0004 right_pitch=0.0 right_roll=0.0007 right_gripper=0.9998 state[joint_eff]: [-0.4444, -1.8667, 9.6342, 1.8046, -0.0073, 0.1587, -0.0562, -0.7316, -1.6342, 9.7983, 1.7558, -0.1197, 0.0513, -0.0366] 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":0.22,"left_y":-0.26,"left_z":0.15,"left_gripper":1.0},"note":"The overhead view shows two object classes: three gray long-eared plush animals in the left/front diagonal and three cream-and-brown spotted plush animals in the right/back diagonal, with two empty turquoise baskets. I’ll sort the gray animals into the left basket and the spotted animals into the right, starting by positioning the left gripper above the nearest gray animal."})
tool
executing move_to over 24 steps (2.4s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteWith the arm moved aside, the overhead view now clearly separates the three gray long-eared animals along the far-left edge from the cream/brown animals in the middle; my first estimate landed over a cream animal rather than a gray one. I’m correcting laterally to hover over the nearest gray animal while staying safely above the cluster.
move_to
left_x0.2200left_y-0.0100left_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.3144, 1.5002, 0.9707, -0.6811, -0.936, -1.1412, 0.9996, -0.0143, 0.7986, 0.6086, -0.3847, -0.0124, -0.0227, 0.9998] state[eef_state]: left_x=0.2183 left_y=-0.2577 left_z=0.1399 left_yaw=-0.0108 left_pitch=-0.0227 left_roll=0.0092 left_gripper=0.9996 right_x=0.295 right_y=0.0016 right_z=0.1798 right_yaw=0.0017 right_pitch=-0.0088 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.3624, -6.065, 8.3897, 0.6178, -0.735, 0.0269, -0.0611, 0.0889, -1.0462, 7.4188, 1.8144, -0.0611, -0.0757, -0.0122] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.22,"left_y":-0.01,"left_z":0.15},"note":"With the arm moved aside, the overhead view now clearly separates the three gray long-eared animals along the far-left edge from the cream/brown animals in the middle; my first estimate landed over a cream animal rather than a gray one. I’m correcting laterally to hover over the nearest gray animal while staying safely above the cluster."})
tool
executing move_to over 23 steps (2.3s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe left wrist view shows the nearest gray plush just left of the jaw column, with its torso extending toward the fingertip row. I’m shifting to the arm’s outer y limit to center the jaws across its body before descending.
move_to
left_y0.0450left_z0.1300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1909, 0.3878, 0.4557, -0.6685, -0.1883, -0.141, 0.9996, -0.0147, 0.7986, 0.6083, -0.3851, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.2201 left_y=-0.0052 left_z=0.1508 left_yaw=0.0258 left_pitch=-0.0229 left_roll=0.0046 left_gripper=0.9996 right_x=0.2949 right_y=0.0014 right_z=0.1796 right_yaw=0.001 right_pitch=-0.0095 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.1162, 0.8957, 6.3385, 1.7167, 0.0122, 0.0806, -0.0171, -0.1299, -1.0872, 7.0769, 1.7411, -0.0611, -0.0611, -0.0122] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":0.045,"left_z":0.13},"note":"The left wrist view shows the nearest gray plush just left of the jaw column, with its torso extending toward the fingertip row. I’m shifting to the arm’s outer y limit to center the jaws across its body before descending."})
tool
executing move_to over 5 steps (0.5s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe nearest gray plush is now centered on the jaw column and spans the fingertip row in the wrist view. I’m descending to mid-body height so the parallel jaws can close around the soft torso rather than its ears.
move_to
left_z0.0250
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.4503, 0.4236, 0.3782, -0.6064, 0.3145, 0.207, 0.9995, -0.0147, 0.7986, 0.6083, -0.3851, -0.0116, -0.0227, 0.9998] state[eef_state]: left_x=0.2169 left_y=0.0481 left_z=0.1251 left_yaw=0.0578 left_pitch=-0.049 left_roll=-0.005 left_gripper=0.9995 right_x=0.2949 right_y=0.0013 right_z=0.1796 right_yaw=0.0006 right_pitch=-0.0095 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [0.1709, 0.8957, 6.8034, 1.7998, 0.1636, 0.0708, -0.0171, -0.0752, -1.0735, 7.1726, 1.7802, -0.0317, -0.0464, -0.0122] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.025},"note":"The nearest gray plush is now centered on the jaw column and spans the fingertip row in the wrist view. I’m descending to mid-body height so the parallel jaws can close around the soft torso rather than its ears."})
tool
executing move_to over 7 steps (0.7s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe descent stopped at z≈0.07, well above the table, because the jaws contacted the plush body; the torso remains centered between them. I’m closing now to secure the first gray animal.
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]: [0.4553, 0.432, 0.0547, -0.1425, 0.3145, 0.2092, 0.9995, -0.0147, 0.7986, 0.6083, -0.3855, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.2352 left_y=0.0583 left_z=0.07 left_yaw=0.0609 left_pitch=0.0728 left_roll=0.0476 left_gripper=0.9995 right_x=0.2949 right_y=0.0014 right_z=0.1795 right_yaw=0.001 right_pitch=-0.0099 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [0.1299, 0.5402, 2.6598, 0.9304, 0.0855, -0.022, -0.0122, -0.2256, -1.2513, 7.0496, 1.7314, -0.0415, -0.0366, -0.0122] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The descent stopped at z≈0.07, well above the table, because the jaws contacted the plush body; the torso remains centered between them. I’m closing now to secure the first gray animal."})
tool
executing move_to over 10 steps (1.0s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe gripper settled at 0.032, which is borderline and may be only a light pinch in the plush fur, so the lift is the decisive check. I’m moving directly above the left basket at carrying height; the overhead view will show whether the gray animal comes with the jaws.
move_to
left_x0.4600left_y-0.1800left_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.3687, 0.384, 0.0551, -0.1329, 0.2398, 0.1604, 0.0324, -0.0147, 0.8013, 0.6079, -0.3851, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.2405 left_y=0.0518 left_z=0.0811 left_yaw=0.0615 left_pitch=0.1168 left_roll=0.0571 left_gripper=0.0324 right_x=0.295 right_y=0.0014 right_z=0.1787 right_yaw=0.001 right_pitch=-0.0126 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.1436, 0.6085, 6.9128, 1.3309, 0.022, 0.0171, 1.0232, -0.0342, -1.2239, 7.0632, 1.7021, -0.0464, -0.0659, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.18,"left_z":0.22},"note":"The gripper settled at 0.032, which is borderline and may be only a light pinch in the plush fur, so the lift is the decisive check. I’m moving directly above the left basket at carrying height; the overhead view will show whether the gray animal comes with the jaws."})
tool
executing move_to over 21 steps (2.1s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe lift confirmed success: the front gray animal moved with the gripper and only two gray animals remain on the table. In the wrist view the basket center is slightly to the right of the jaw column, so I’m making a small inward shift to center the held plush over the basket before release.
move_to
left_x0.4700left_y-0.2400left_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]: [-0.5762, 1.6806, 1.2156, -0.1696, -0.6037, -0.3153, 0.0337, -0.0147, 0.8055, 0.6067, -0.3931, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.4494 left_y=-0.1682 left_z=0.1906 left_yaw=0.0713 left_pitch=0.0529 left_roll=0.0875 left_gripper=0.0337 right_x=0.2941 right_y=0.0014 right_z=0.1754 right_yaw=0.001 right_pitch=-0.0259 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-0.8274, -8.8821, 9.894, 1.9658, -0.2515, 0.1245, 1.0281, -0.3487, -1.5111, 7.3231, 1.7656, -0.0366, -0.022, -0.0122] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.24,"left_z":0.19},"note":"The lift confirmed success: the front gray animal moved with the gripper and only two gray animals remain on the table. In the wrist view the basket center is slightly to the right of the jaw column, so I’m making a small inward shift to center the held plush over the basket before release."})
tool
executing move_to over 7 steps (0.7s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe held gray animal is now visibly over the open mouth of the left basket in the overhead view. I’m releasing it from this modest height so it settles inside without the gripper contacting the basket.
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]: [-0.6804, 1.8915, 1.4544, -0.2981, -0.7116, -0.421, 0.0337, -0.0147, 0.8078, 0.6067, -0.3931, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.465 left_y=-0.2232 left_z=0.1766 left_yaw=0.1025 left_pitch=0.0281 left_roll=0.1137 left_gripper=0.0337 right_x=0.2942 right_y=0.0014 right_z=0.1747 right_yaw=0.001 right_pitch=-0.0282 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-1.0188, -9.8256, 9.5795, 1.7998, -0.0171, 0.2076, 1.0232, 0.0068, -1.5111, 7.0085, 1.7363, -0.0317, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The held gray animal is now visibly over the open mouth of the left basket in the overhead view. I’m releasing it from this modest height so it settles inside without the gripper contacting the basket."})
tool
executing move_to over 10 steps (1.0s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteThe release opened fully, but the gray plush caught on the left outer rim instead of falling into the basket; the basket floor is still visible. I’m lowering the open jaws around the plush where it rests beside the rim so I can regrasp and place it farther toward the basket center.
move_to
left_x0.4500left_y-0.1300left_z0.0600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.683, 1.9057, 1.4624, -0.2996, -0.7265, -0.4351, 0.9955, -0.0147, 0.8082, 0.6067, -0.3927, -0.012, -0.0231, 0.9998] state[eef_state]: left_x=0.4663 left_y=-0.2235 left_z=0.1739 left_yaw=0.118 left_pitch=0.0308 left_roll=0.114 left_gripper=0.9955 right_x=0.2943 right_y=0.0014 right_z=0.1747 right_yaw=0.0012 right_pitch=-0.0282 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [0.0889, -11.5624, 6.106, 1.5067, -0.1538, 0.0855, -0.1392, -0.1299, -1.1692, 7.0085, 1.7363, -0.0317, -0.0806, -0.0171] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.13,"left_z":0.06},"note":"The release opened fully, but the gray plush caught on the left outer rim instead of falling into the basket; the basket floor is still visible. I’m lowering the open jaws around the plush where it rests beside the rim so I can regrasp and place it farther toward the basket center."})
tool
executing move_to over 9 steps (0.9s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe gray plush is now between the open fingers beside the basket, centered on the jaw column at a contact-limited height. I’m regrasping it for a more central drop.
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]: [-0.5079, 1.8492, 0.9337, 0.3538, -0.6201, -0.3382, 0.9968, -0.0147, 0.812, 0.6067, -0.3923, -0.0116, -0.0227, 0.9998] state[eef_state]: left_x=0.4628 left_y=-0.136 left_z=0.0944 left_yaw=0.1686 left_pitch=0.117 left_roll=0.0296 left_gripper=0.9968 right_x=0.2946 right_y=0.0013 right_z=0.1737 right_yaw=0.0007 right_pitch=-0.0317 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [0.1299, -6.8171, 3.9179, 0.6618, 0.1392, 0.4078, 0.1148, -0.1162, -1.306, 7.3094, 1.8095, -0.022, -0.0562, -0.0122] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The gray plush is now between the open fingers beside the basket, centered on the jaw column at a contact-limited height. I’m regrasping it for a more central drop."})
tool
executing move_to over 10 steps (1.0s)
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 regrasp closed empty and the low wrist brushed the left basket, rotating it; I’m stopping this attempt rather than forcing near the rim. I’ll park the left arm clear and sort the unobstructed cream/brown animals into the right basket with the right arm, then return to the gray animals.
move_to
left_x0.3000left_y0.0000left_z0.2000left_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]: [-0.5091, 1.853, 0.9218, 0.3775, -0.6132, -0.3405, 0.0112, -0.0147, 0.812, 0.6067, -0.3927, -0.0116, -0.0227, 0.9998] state[eef_state]: left_x=0.4622 left_y=-0.1374 left_z=0.0922 left_yaw=0.1638 left_pitch=0.121 left_roll=0.0196 left_gripper=0.0112 right_x=0.2945 right_y=0.0013 right_z=0.1737 right_yaw=0.0007 right_pitch=-0.032 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.1299, -9.4427, 6.9812, 1.4823, -0.2369, 0.0122, 0.9597, -0.3761, -1.3197, 7.159, 1.746, -0.0269, -0.0171, -0.0171] 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_x":0.30,"left_y":0.0,"left_z":0.20,"left_gripper":1.0},"note":"The regrasp closed empty and the low wrist brushed the left basket, rotating it; I’m stopping this attempt rather than forcing near the rim. I’ll park the left arm clear and sort the unobstructed cream/brown animals into the right basket with the right arm, then return to the gray animals."})
tool
executing move_to over 13 steps (1.3s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteWith the left arm clear, the table shows three gray elephants near the left basket and four cream/brown plush animals, three of which are in a right-side column. I’m moving the right gripper above the nearest cream/brown animal at the front of that column.
move_to
right_x0.2200right_y0.3300right_z0.1500right_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]: [-0.2382, 0.8047, 0.5758, -0.1951, -0.4076, -0.2131, 0.9974, -0.0147, 0.8181, 0.6064, -0.4068, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.3099 left_y=0.0005 left_z=0.2097 left_yaw=0.206 left_pitch=0.1785 left_roll=-0.0145 left_gripper=0.9974 right_x=0.2928 right_y=0.0014 right_z=0.169 right_yaw=0.001 right_pitch=-0.0526 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [-0.0615, -0.6769, 7.4188, 1.8193, 0.0073, 0.1343, -0.0171, -0.1162, -1.388, 7.1316, 1.9316, -0.0171, -0.0562, -0.0122] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.22,"right_y":0.33,"right_z":0.15,"right_gripper":1.0},"note":"With the left arm clear, the table shows three gray elephants near the left basket and four cream/brown plush animals, three of which are in a right-side column. I’m moving the right gripper above the nearest cream/brown animal at the front of that column."})
tool
executing move_to over 28 steps (2.8s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
right_cam
camera right_cam step 167
assistant
agent noteThe nearest large cream/brown plush is centered on the right jaw column and its body reaches the fingertip row. I’m descending onto its torso for a broad, stable grasp.
move_to
right_z0.0400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2398, 0.8108, 0.5755, -0.2153, -0.3965, -0.2169, 0.9981, 1.319, 1.7462, 1.2694, -0.7597, 0.8822, 1.1168, 0.9998] state[eef_state]: left_x=0.3088 left_y=-0.0016 left_z=0.2033 left_yaw=0.1954 left_pitch=0.1523 left_roll=-0.0108 left_gripper=0.9981 right_x=0.2211 right_y=0.3262 right_z=0.1407 right_yaw=0.0221 right_pitch=-0.0781 right_roll=-0.0133 right_gripper=0.9998 state[joint_eff]: [-0.0479, -1.7436, 7.4188, 2.0098, -0.2759, -0.0073, 0.0611, 0.7043, -8.1709, 8.1299, 0.4322, 0.6862, 0.1587, -0.0415] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.04},"note":"The nearest large cream/brown plush is centered on the right jaw column and its body reaches the fingertip row. I’m descending onto its torso for a broad, stable grasp."})
tool
executing move_to over 7 steps (0.7s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe descent stopped at z≈0.063 on the plush torso, which is visibly between both fingers. I’m closing the right gripper to secure 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]: [-0.2398, 0.8108, 0.5755, -0.2169, -0.3958, -0.2173, 0.9981, 1.3201, 1.8702, 1.0698, -0.3775, 0.8875, 1.1252, 0.9997] state[eef_state]: left_x=0.3086 left_y=-0.0016 left_z=0.2029 left_yaw=0.1948 left_pitch=0.1508 left_roll=-0.0108 left_gripper=0.9981 right_x=0.2238 right_y=0.336 right_z=0.0626 right_yaw=0.0205 right_pitch=-0.0575 right_roll=0.0489 right_gripper=0.9997 state[joint_eff]: [-0.1983, -1.4154, 7.0496, 1.7998, -0.1587, -0.0513, -0.0073, -0.1846, -6.4342, 3.6718, 0.2418, 0.3443, -0.1001, -0.0171] 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":"The descent stopped at z≈0.063 on the plush torso, which is visibly between both fingers. I’m closing the right gripper to secure it."})
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 gripper settled wide at 0.21 around the plush body, confirming a solid grasp. I’m carrying this first cream/brown animal above the center of the right basket.
move_to
right_x0.4600right_y0.1800right_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2398, 0.8127, 0.5755, -0.2195, -0.3958, -0.2173, 0.9982, 1.3201, 1.8774, 1.0679, -0.3283, 0.8894, 1.1294, 0.2134] state[eef_state]: left_x=0.3085 left_y=-0.0016 left_z=0.2018 left_yaw=0.1946 left_pitch=0.1466 left_roll=-0.0089 left_gripper=0.9982 right_x=0.2257 right_y=0.3429 right_z=0.0632 right_yaw=0.0195 right_pitch=-0.0453 right_roll=0.0905 right_gripper=0.2134 state[joint_eff]: [-0.0889, -1.4154, 7.0632, 1.8486, -0.149, -0.0464, -0.0073, -0.1299, -9.4974, 5.8872, 0.4664, 0.315, -0.0806, 0.7057] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.18,"right_z":0.22},"note":"The gripper settled wide at 0.21 around the plush body, confirming a solid grasp. I’m carrying this first cream/brown animal above the center of the right basket."})
tool
executing move_to over 19 steps (1.9s)
step 203
top_cam
camera top_cam step 203
left_cam
camera left_cam step 203
right_cam
camera right_cam step 203
assistant
agent noteThe held cream/brown animal is centered above the right basket floor, with clear clearance from the rim. I’m releasing it into the basket.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2398, 0.8162, 0.5755, -0.2214, -0.3954, -0.2173, 0.9982, 0.4984, 1.6764, 1.346, -0.3641, 0.3477, 0.3588, 0.2166] state[eef_state]: left_x=0.3086 left_y=-0.0017 left_z=0.2004 left_yaw=0.1939 left_pitch=0.1417 left_roll=-0.0068 left_gripper=0.9982 right_x=0.4492 right_y=0.18 right_z=0.2008 right_yaw=0.0068 right_pitch=-0.0817 right_roll=0.0777 right_gripper=0.2166 state[joint_eff]: [-0.0889, -1.7436, 7.2274, 1.7851, -0.1587, -0.0269, -0.022, -0.3761, -8.253, 9.9077, 1.5702, 0.1734, -0.0073, 0.315] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The held cream/brown animal is centered above the right basket floor, with clear clearance from the rim. I’m releasing it into the basket."})
tool
executing move_to over 8 steps (0.8s)
step 211
top_cam
camera top_cam step 211
left_cam
camera left_cam step 211
right_cam
camera right_cam step 211
assistant
agent noteThe first cream/brown plush has been released inside the right basket, leaving three cream/brown animals on the table. I’m moving the open right gripper directly to grasping height over the middle animal in the remaining column, using the successful object spacing from the previous pickup.
move_to
right_x0.3100right_y0.3700right_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]: [-0.2398, 0.8165, 0.5755, -0.2211, -0.3954, -0.2176, 0.9982, 0.4961, 1.6836, 1.3434, -0.3767, 0.3298, 0.3519, 0.995] state[eef_state]: left_x=0.3087 left_y=-0.0017 left_z=0.2004 left_yaw=0.1941 left_pitch=0.1417 left_roll=-0.0071 left_gripper=0.9982 right_x=0.4473 right_y=0.1811 right_z=0.1934 right_yaw=0.0218 right_pitch=-0.1067 right_roll=0.0721 right_gripper=0.995 state[joint_eff]: [-0.0752, -1.2923, 7.241, 1.7607, -0.1099, -0.0513, -0.022, 0.0889, -9.2239, 7.1316, 1.7167, 0.2369, 0.0024, -0.149] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.31,"right_y":0.37,"right_z":0.08},"note":"The first cream/brown plush has been released inside the right basket, leaving three cream/brown animals on the table. I’m moving the open right gripper directly to grasping height over the middle animal in the remaining column, using the successful object spacing from the previous pickup."})
tool
executing move_to over 16 steps (1.6s)
step 227
top_cam
camera top_cam step 227
left_cam
camera left_cam step 227
right_cam
camera right_cam step 227
assistant
agent noteThe middle cream/brown plush fills the gap between the right fingertips and is centered across the jaw axis at z≈0.087. I’m closing for the second cream/brown pickup.
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]: [-0.2398, 0.8192, 0.5755, -0.2226, -0.3958, -0.2173, 0.9982, 1.0927, 1.977, 1.3212, -0.3317, 0.7506, 0.8368, 0.9963] state[eef_state]: left_x=0.3088 left_y=-0.0017 left_z=0.1994 left_yaw=0.194 left_pitch=0.138 left_roll=-0.0048 left_gripper=0.9982 right_x=0.3176 right_y=0.3589 right_z=0.0865 right_yaw=0.0299 right_pitch=-0.0911 right_roll=0.0396 right_gripper=0.9963 state[joint_eff]: [-0.1026, -1.5795, 7.1043, 1.7558, -0.1636, -0.0317, -0.022, 0.8547, -8.8684, 7.8427, 0.9841, -0.0171, 0.2369, 0.1197] camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The middle cream/brown plush fills the gap between the right fingertips and is centered across the jaw axis at z≈0.087. I’m closing for the second cream/brown pickup."})
tool
executing move_to over 10 steps (1.0s)
step 237
top_cam
camera top_cam step 237
left_cam
camera left_cam step 237
right_cam
camera right_cam step 237
assistant
agent noteThe second cream/brown plush is firmly held at gripper reading 0.21. I’m carrying it to the same central drop point in the right basket.
move_to
right_x0.4600right_y0.1800right_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2398, 0.8192, 0.5755, -0.2226, -0.3958, -0.2176, 0.9982, 1.0954, 1.9915, 1.327, -0.3275, 0.7555, 0.8307, 0.2092] state[eef_state]: left_x=0.3088 left_y=-0.0017 left_z=0.1994 left_yaw=0.1942 left_pitch=0.138 left_roll=-0.0052 left_gripper=0.9982 right_x=0.3179 right_y=0.3608 right_z=0.0829 right_yaw=0.0326 right_pitch=-0.0896 right_roll=0.0287 right_gripper=0.2092 state[joint_eff]: [-0.1026, -1.4564, 7.2547, 1.7314, -0.1783, -0.0513, -0.022, -0.2667, -11.7812, 5.6821, 1.1404, 0.2222, 0.022, 0.6764] camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.18,"right_z":0.22},"note":"The second cream/brown plush is firmly held at gripper reading 0.21. I’m carrying it to the same central drop point in the right basket."})
tool
executing move_to over 16 steps (1.6s)
step 253
top_cam
camera top_cam step 253
left_cam
camera left_cam step 253
right_cam
camera right_cam step 253
assistant
agent noteThe wrist view reveals that the nominal drop point is over the left edge of the right basket—the basket floor lies to the right of the held plush. I’m shifting 8 cm toward the right-arm’s outer side to place this animal over the actual basket center before releasing.
move_to
right_y0.1000right_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]: [-0.2398, 0.8246, 0.5755, -0.2226, -0.3958, -0.2173, 0.9982, 0.5079, 1.7485, 1.4143, -0.4747, 0.347, 0.3233, 0.2117] state[eef_state]: left_x=0.3092 left_y=-0.0018 left_z=0.1979 left_yaw=0.1937 left_pitch=0.1331 left_roll=-0.0026 left_gripper=0.9982 right_x=0.4477 right_y=0.1845 right_z=0.1774 right_yaw=0.029 right_pitch=-0.1825 right_roll=-0.003 right_gripper=0.2117 state[joint_eff]: [-0.0615, -1.935, 7.2684, 1.7753, -0.1734, -0.0415, -0.022, -0.5675, -11.6444, 10.7692, 1.7363, 0.3346, -0.0171, 0.2418] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.1,"right_z":0.21},"note":"The wrist view reveals that the nominal drop point is over the left edge of the right basket—the basket floor lies to the right of the held plush. I’m shifting 8 cm toward the right-arm’s outer side to place this animal over the actual basket center before releasing."})
tool
executing move_to over 8 steps (0.8s)
step 261
top_cam
camera top_cam step 261
left_cam
camera left_cam step 261
right_cam
camera right_cam step 261
assistant
agent noteThe arm shifted only about 2 cm because the low-held plush is already pressing the basket’s left wall; releasing here would again strand it on the rim. I’m raising above the rim while moving farther right, then I can drop into the open center.
move_to
right_x0.4200right_y0.0900right_z0.2800
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]: [-0.2398, 0.8249, 0.5755, -0.223, -0.3958, -0.2176, 0.9982, 0.4587, 1.7405, 1.3926, -0.4953, 0.3012, 0.284, 0.2136] state[eef_state]: left_x=0.3092 left_y=-0.0018 left_z=0.1977 left_yaw=0.1938 left_pitch=0.1324 left_roll=-0.0026 left_gripper=0.9982 right_x=0.4468 right_y=0.1662 right_z=0.1669 right_yaw=0.0356 right_pitch=-0.2283 right_roll=-0.0162 right_gripper=0.2136 state[joint_eff]: [-0.1436, -1.3197, 7.2, 1.7607, -0.1392, -0.0708, -0.022, -0.5402, -11.7538, 6.9402, 1.536, 0.2027, -0.0659, 0.188] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.09,"right_z":0.28},"note":"The arm shifted only about 2 cm because the low-held plush is already pressing the basket’s left wall; releasing here would again strand it on the rim. I’m raising above the rim while moving farther right, then I can drop into the open center."})
tool
executing move_to over 8 steps (0.8s)
step 269
top_cam
camera top_cam step 269
left_cam
camera left_cam step 269
right_cam
camera right_cam step 269
assistant
agent noteAfter raising, the right gripper reached y≈0.085 and the held plush is now above the basket opening rather than against its wall. I’m releasing it into the right basket.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2398, 0.8249, 0.5755, -0.223, -0.3954, -0.2176, 0.9982, 0.2653, 1.6028, 1.618, -0.8032, 0.2066, 0.1715, 0.2152] state[eef_state]: left_x=0.3092 left_y=-0.0019 left_z=0.1977 left_yaw=0.1935 left_pitch=0.1324 left_roll=-0.0028 left_gripper=0.9982 right_x=0.437 right_y=0.0849 right_z=0.2675 right_yaw=-0.0129 right_pitch=-0.201 right_roll=-0.0123 right_gripper=0.2152 state[joint_eff]: [-0.1162, -1.4974, 7.0906, 1.746, -0.149, -0.0562, -0.022, 1.8667, -7.4872, 7.9795, 1.3895, -0.2808, -0.0122, 0.1636] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"After raising, the right gripper reached y≈0.085 and the held plush is now above the basket opening rather than against its wall. I’m releasing it into the right basket."})
tool
executing move_to over 8 steps (0.8s)
step 277
top_cam
camera top_cam step 277
left_cam
camera left_cam step 277
right_cam
camera right_cam step 277
assistant
agent noteThe second release landed just outside the basket on its left; the held plush trails several centimetres left of the jaw center. I’m lowering around that plush for recovery, and on the next transport I’ll compensate by placing the gripper to the basket’s right side.
move_to
right_x0.4200right_y0.1500right_z0.0700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2398, 0.8257, 0.5755, -0.223, -0.3958, -0.2173, 0.9982, 0.268, 1.615, 1.6108, -0.8276, 0.194, 0.1604, 0.9947] state[eef_state]: left_x=0.3093 left_y=-0.0018 left_z=0.1975 left_yaw=0.1936 left_pitch=0.1318 left_roll=-0.0019 left_gripper=0.9982 right_x=0.4332 right_y=0.0874 right_z=0.2549 right_yaw=0.0039 right_pitch=-0.2458 right_roll=-0.0234 right_gripper=0.9947 state[joint_eff]: [-0.0342, -1.4291, 7.2137, 1.7851, -0.1734, -0.0513, -0.022, -0.5675, -8.5402, 7.2, 1.7021, 0.149, 0.0659, -0.149] camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.15,"right_z":0.07},"note":"The second release landed just outside the basket on its left; the held plush trails several centimetres left of the jaw center. I’m lowering around that plush for recovery, and on the next transport I’ll compensate by placing the gripper to the basket’s right side."})
tool
executing move_to over 12 steps (1.2s)
step 289
top_cam
camera top_cam step 289
left_cam
camera left_cam step 289
right_cam
camera right_cam step 289
assistant
agent noteWith both arms clear, the overhead view shows the full remaining set: two gray elephants on the left and three cream/brown animals in the center; both baskets are still open. To use the remaining time efficiently, I’m positioning the left arm around the front gray elephant and the right arm around the front large cream/brown animal simultaneously, keeping the grippers well separated.
move_to
left_x0.3200left_y-0.1200left_z0.0700left_gripper1.0000right_x0.3500right_y0.3600right_z0.0700right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2398, 0.8276, 0.5755, -0.223, -0.3958, -0.2173, 0.9982, 0.4477, 1.7309, 1.0359, -0.1925, 0.313, 0.2787, 0.9962] state[eef_state]: left_x=0.3094 left_y=-0.0018 left_z=0.1969 left_yaw=0.1935 left_pitch=0.13 left_roll=-0.0011 left_gripper=0.9982 right_x=0.4178 right_y=0.1443 right_z=0.0773 right_yaw=0.0131 right_pitch=-0.2649 right_roll=-0.0474 right_gripper=0.9962 state[joint_eff]: [-0.1709, -1.6752, 7.0769, 1.7216, -0.1636, -0.0415, -0.022, 0.5675, -7.3231, 5.3265, 1.3993, 0.0806, 0.2418, 0.1343] camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.12,"left_z":0.07,"left_gripper":1.0,"right_x":0.35,"right_y":0.36,"right_z":0.07,"right_gripper":1.0},"note":"With both arms clear, the overhead view shows the full remaining set: two gray elephants on the left and three cream/brown animals in the center; both baskets are still open. To use the remaining time efficiently, I’m positioning the left arm around the front gray elephant and the right arm around the front large cream/brown animal simultaneously, keeping the grippers well separated."})
tool
executing move_to over 18 steps (1.8s)
step 307
top_cam
camera top_cam step 307
assistant
agent noteBoth targets are at the fingertip rows: the gray elephant’s torso is centered in the left jaws, and a cream/brown animal’s body is between the right jaws. I’m closing both grippers together while the grasp points remain separated.
move_to
left_gripper0.0000right_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]: [-0.7525, 1.4715, 0.4091, 0.3229, -0.8322, -0.5484, 0.9985, 0.9588, 2.1002, 1.5452, -0.5705, 0.6144, 0.7616, 0.9985] state[eef_state]: left_x=0.3145 left_y=-0.1106 left_z=0.0627 left_yaw=0.1844 left_pitch=0.0934 left_roll=0.0581 left_gripper=0.9985 right_x=0.3593 right_y=0.3409 right_z=0.0684 right_yaw=-0.0054 right_pitch=-0.2655 right_roll=-0.0717 right_gripper=0.9985 state[joint_eff]: [-0.4718, -5.135, 5.9556, 1.8242, -0.3834, -0.0171, -0.1734, 2.3179, -10.2769, 8.5265, 1.0232, 0.1734, 0.0757, -0.1636] camera 'top_cam' (step 307): [image omitted: streamed camera frame] camera 'left_cam' (step 307): [image omitted: streamed camera frame] camera 'right_cam' (step 307): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0,"right_gripper":0.0},"note":"Both targets are at the fingertip rows: the gray elephant’s torso is centered in the left jaws, and a cream/brown animal’s body is between the right jaws. I’m closing both grippers together while the grasp points remain separated."})
tool
executing move_to over 10 steps (1.0s)
step 317
assistant
agent noteThe right gripper retained a nonempty 0.052 pinch on the cream/brown plush, while the left reading is very small and may have missed the gray torso. I’m lifting both: the left arm goes over the left basket as a verification, and the right arm uses the newly learned offset—gripper to the basket’s right—to make the cream plush trail into the right basket.
move_to
left_x0.5000left_y-0.3200left_z0.2600right_x0.4300right_y0.0000right_z0.2900
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]: [-0.754, 1.4864, 0.4091, 0.3298, -0.831, -0.5507, 0.0117, 0.9581, 2.1002, 1.5513, -0.5747, 0.6254, 0.7528, 0.0521] state[eef_state]: left_x=0.3145 left_y=-0.1114 left_z=0.0593 left_yaw=0.1827 left_pitch=0.0881 left_roll=0.0621 left_gripper=0.0117 right_x=0.3611 right_y=0.34 right_z=0.071 right_yaw=-0.0072 right_pitch=-0.2566 right_roll=-0.0821 right_gripper=0.0521 state[joint_eff]: [-0.1026, -6.106, 4.9983, 1.326, -0.3248, 0.0073, 1.0037, 0.0615, -11.535, 5.7915, 1.0525, 0.3736, -0.0464, 0.8962] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 317): [image omitted: streamed camera frame] camera 'left_cam' (step 317): [image omitted: streamed camera frame] camera 'right_cam' (step 317): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.5,"left_y":-0.32,"left_z":0.26,"right_x":0.43,"right_y":0.0,"right_z":0.29},"note":"The right gripper retained a nonempty 0.052 pinch on the cream/brown plush, while the left reading is very small and may have missed the gray torso. I’m lifting both: the left arm goes over the left basket as a verification, and the right arm uses the newly learned offset—gripper to the basket’s right—to make the cream plush trail into the right basket."})
tool
executing move_to over 29 steps (2.9s)
step 346
assistant
agent noteThe lift confirmed both prior pinches were empty or only caught loose fur; all visible animals stayed on the table. Both wrist views had shown clear space below the bodies, so I’m applying the rig’s key correction—advancing each grasp point about 3–4 cm farther forward—while approaching the front gray and front cream/brown animals again.
move_to
left_x0.3600left_y-0.1200left_z0.0500left_gripper1.0000right_x0.3800right_y0.4000right_z0.0500right_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]: [-0.7982, 2.376, 2.4817, -0.8665, -0.868, -0.6456, 0.0136, 0.0322, 1.5986, 1.6901, -0.9565, 0.0746, -0.0277, 0.0523] state[eef_state]: left_x=0.5047 left_y=-0.3196 left_z=0.2535 left_yaw=0.2141 left_pitch=0.1038 left_roll=0.0024 left_gripper=0.0136 right_x=0.4257 right_y=0.0041 right_z=0.2708 right_yaw=-0.0251 right_pitch=-0.2978 right_roll=-0.0678 right_gripper=0.0523 state[joint_eff]: [-0.8, -13.8188, 7.3915, 0.8913, -0.3639, 0.3541, 0.8425, -0.1846, -6.7624, 9.6752, 1.5116, 0.0415, -0.1587, 1.033] camera 'top_cam' (step 346): [image omitted: streamed camera frame] camera 'left_cam' (step 346): [image omitted: streamed camera frame] camera 'right_cam' (step 346): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.12,"left_z":0.05,"left_gripper":1.0,"right_x":0.38,"right_y":0.4,"right_z":0.05,"right_gripper":1.0},"note":"The lift confirmed both prior pinches were empty or only caught loose fur; all visible animals stayed on the table. Both wrist views had shown clear space below the bodies, so I’m applying the rig’s key correction—advancing each grasp point about 3–4 cm farther forward—while approaching the front gray and front cream/brown animals again."})
tool
executing move_to over 33 steps (3.3s)
step 379
assistant
agent noteThe forward correction puts the gray elephant’s thick torso squarely between the left fingers. The cream/brown animal is now close but slightly left of the right jaw column, so I’m using the remaining lateral travel to center it before closing both.
move_to
right_y0.4000
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]: [-0.6399, 1.692, 0.5282, 0.5014, -0.8242, -0.5648, 0.9982, 0.9081, 2.3253, 1.9488, -0.7906, 0.6044, 0.7971, 0.9979] state[eef_state]: left_x=0.3635 left_y=-0.1045 left_z=0.0561 left_yaw=0.3072 left_pitch=0.1348 left_roll=-0.0225 left_gripper=0.9982 right_x=0.4056 right_y=0.3624 right_z=0.0721 right_yaw=-0.0803 right_pitch=-0.2948 right_roll=-0.0778 right_gripper=0.9979 state[joint_eff]: [-1.5795, -6.653, 5.5726, 1.1258, 0.4615, 0.4615, -0.0171, 6.0786, -9.4427, 6.8991, 1.1355, 0.1148, 0.1636, -0.0904] camera 'top_cam' (step 379): [image omitted: streamed camera frame] camera 'left_cam' (step 379): [image omitted: streamed camera frame] camera 'right_cam' (step 379): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.4},"note":"The forward correction puts the gray elephant’s thick torso squarely between the left fingers. The cream/brown animal is now close but slightly left of the right jaw column, so I’m using the remaining lateral travel to center it before closing both."})
tool
executing move_to over 4 steps (0.4s)
step 383
assistant
agent noteBoth plush torsos now overlap the fingertip gaps after the forward and lateral corrections: gray in the left jaws and cream/brown in the right. I’m closing both grippers for the corrected paired pickup.
move_to
left_gripper0.0000right_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]: [-0.6296, 1.692, 0.5171, 0.5358, -0.8639, -0.5804, 0.9982, 0.9173, 2.4561, 2.2047, -0.9333, 0.6338, 0.8204, 0.9982] state[eef_state]: left_x=0.3643 left_y=-0.0948 left_z=0.0611 left_yaw=0.3584 left_pitch=0.1677 left_roll=-0.0426 left_gripper=0.9982 right_x=0.4186 right_y=0.3804 right_z=0.0797 right_yaw=-0.1041 right_pitch=-0.2803 right_roll=-0.0924 right_gripper=0.9982 state[joint_eff]: [-1.0325, -6.4889, 5.5453, 1.1453, 0.2027, 0.1441, -0.022, 3.1111, -12.041, 8.3077, 1.0379, 0.1245, 0.2711, 0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 383): [image omitted: streamed camera frame] camera 'left_cam' (step 383): [image omitted: streamed camera frame] camera 'right_cam' (step 383): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0,"right_gripper":0.0},"note":"Both plush torsos now overlap the fingertip gaps after the forward and lateral corrections: gray in the left jaws and cream/brown in the right. I’m closing both grippers for the corrected paired pickup."})
tool
executing move_to over 10 steps (1.0s)
step 393
assistant
agent noteThe gray animal remains visible in the left wrist view, so that close was empty; the right fingers only pinched a narrow cream appendage. I’m parking the left arm and making one decisive right-arm retry 5 cm farther forward, aiming the jaws across the cream animal’s thick torso rather than its leg or tail.
move_to
left_x0.3000left_y0.0000left_z0.2000left_gripper1.0000right_x0.4700right_y0.3900right_z0.0600right_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]: [-0.6304, 1.692, 0.5156, 0.5423, -0.8642, -0.5915, 0.012, 0.9218, 2.4676, 2.236, -0.9489, 0.5941, 0.8368, 0.044] state[eef_state]: left_x=0.3644 left_y=-0.0951 left_z=0.0616 left_yaw=0.3646 left_pitch=0.1703 left_roll=-0.057 left_gripper=0.012 right_x=0.4148 right_y=0.3892 right_z=0.0789 right_yaw=-0.0867 right_pitch=-0.3086 right_roll=-0.0573 right_gripper=0.044 state[joint_eff]: [0.0615, -6.4889, 5.1624, 1.4481, -0.3101, 0.1001, 0.9353, 2.1812, -12.0957, 7.9248, 0.906, 0.569, 0.315, 1.199] camera 'top_cam' (step 393): [image omitted: streamed camera frame] camera 'left_cam' (step 393): [image omitted: streamed camera frame] camera 'right_cam' (step 393): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0.0,"left_z":0.2,"left_gripper":1.0,"right_x":0.47,"right_y":0.39,"right_z":0.06,"right_gripper":1.0},"note":"The gray animal remains visible in the left wrist view, so that close was empty; the right fingers only pinched a narrow cream appendage. I’m parking the left arm and making one decisive right-arm retry 5 cm farther forward, aiming the jaws across the cream animal’s thick torso rather than its leg or tail."})
tool
executing move_to over 10 steps (1.0s)
step 403
assistant
agent noteThe extra forward motion worked: the cream plush’s thick rounded torso is now centered between both right fingertips, with a finger visible on each side. I’m closing for a full-body grasp.
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]: [-0.3904, 0.8574, 0.5282, -0.1501, -0.6834, -0.4397, 0.9953, 0.8482, 2.6984, 2.6041, -1.0348, 0.5636, 0.749, 0.995] state[eef_state]: left_x=0.3049 left_y=-0.001 left_z=0.1939 left_yaw=0.4012 left_pitch=0.198 left_roll=-0.097 left_gripper=0.9953 right_x=0.4661 right_y=0.3914 right_z=0.0637 right_yaw=-0.0802 right_pitch=-0.3051 right_roll=-0.0553 right_gripper=0.995 state[joint_eff]: [0.1162, -1.1692, 9.7162, 1.536, -0.1978, 0.1343, -0.1685, -0.841, -13.7504, 8.5128, 0.823, 0.3053, 0.0317, -0.188] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 403): [image omitted: streamed camera frame] camera 'left_cam' (step 403): [image omitted: streamed camera frame] camera 'right_cam' (step 403): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The extra forward motion worked: the cream plush’s thick rounded torso is now centered between both right fingertips, with a finger visible on each side. I’m closing for a full-body grasp."})
tool
executing move_to over 10 steps (1.0s)
step 413
assistant
agent noteThe right gripper stopped just above the empty threshold at 0.039 while visibly pinching the torso fabric, so I’ll verify by lifting. I’m carrying to the compensated drop pose on the right side of the right basket, high enough to clear its rim.
move_to
right_x0.4300right_y-0.0200right_z0.3000
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]: [-0.392, 0.8623, 0.5289, -0.1631, -0.6731, -0.4419, 0.9967, 0.8448, 2.7121, 2.6095, -1.0359, 0.548, 0.7418, 0.0389] state[eef_state]: left_x=0.3046 left_y=-0.0029 left_z=0.19 left_yaw=0.3902 left_pitch=0.1824 left_roll=-0.0902 left_gripper=0.9967 right_x=0.466 right_y=0.3917 right_z=0.0561 right_yaw=-0.0726 right_pitch=-0.3224 right_roll=-0.0592 right_gripper=0.0389 state[joint_eff]: [0.0752, -2.0308, 7.1316, 1.7558, -0.3297, -0.0317, 0.1343, 0.2256, -16.5402, 5.9419, 0.989, 0.3639, 0.0366, 0.8278] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 413): [image omitted: streamed camera frame] camera 'left_cam' (step 413): [image omitted: streamed camera frame] camera 'right_cam' (step 413): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":-0.02,"right_z":0.3},"note":"The right gripper stopped just above the empty threshold at 0.039 while visibly pinching the torso fabric, so I’ll verify by lifting. I’m carrying to the compensated drop pose on the right side of the right basket, high enough to clear its rim."})
tool
executing move_to over 35 steps (3.5s)
step 448
assistant
agent noteThe overhead view confirms the cream/brown animal moved with the gripper and is now suspended directly over the right basket opening. I’m releasing it so it settles inside the correct basket.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3923, 0.8631, 0.5289, -0.1638, -0.6727, -0.4423, 0.9968, -0.0166, 1.7142, 1.8824, -1.1069, 0.0841, -0.0025, 0.0406] state[eef_state]: left_x=0.3046 left_y=-0.003 left_z=0.1896 left_yaw=0.3895 left_pitch=0.1812 left_roll=-0.0896 left_gripper=0.9968 right_x=0.4344 right_y=-0.0185 right_z=0.2751 right_yaw=-0.0984 right_pitch=-0.3698 right_roll=-0.0645 right_gripper=0.0406 state[joint_eff]: [0.0342, -1.5932, 6.9949, 1.663, -0.2515, -0.0415, 0.0024, -0.2803, -10.0171, 9.2923, 1.3553, -0.0513, -0.022, 1.033] camera 'top_cam' (step 448): [image omitted: streamed camera frame] camera 'left_cam' (step 448): [image omitted: streamed camera frame] camera 'right_cam' (step 448): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The overhead view confirms the cream/brown animal moved with the gripper and is now suspended directly over the right basket opening. I’m releasing it so it settles inside the correct basket."})
tool
executing move_to over 10 steps (1.0s)
step 458
assistant
agent noteOne cream/brown animal is now clearly settled inside the right basket. I’m applying the successful grasp lesson to the front gray elephant: approaching much farther forward so its thick torso, not the visible near edge, reaches the left fingertip line.
move_to
left_x0.4300left_y-0.1200left_z0.0600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.392, 0.8631, 0.5289, -0.1642, -0.6727, -0.4423, 0.9968, -0.0193, 1.7176, 1.8763, -1.1141, 0.0769, -0.012, 0.9948] state[eef_state]: left_x=0.3046 left_y=-0.0029 left_z=0.1896 left_yaw=0.3898 left_pitch=0.1809 left_roll=-0.0893 left_gripper=0.9968 right_x=0.4329 right_y=-0.0183 right_z=0.2702 right_yaw=-0.0896 right_pitch=-0.3873 right_roll=-0.0656 right_gripper=0.9948 state[joint_eff]: [-0.0479, -1.5385, 6.9949, 1.6532, -0.2125, -0.022, -0.0122, -0.1299, -8.4581, 6.6393, 1.3504, 0.1001, 0.1294, -0.0122] camera 'top_cam' (step 458): [image omitted: streamed camera frame] camera 'left_cam' (step 458): [image omitted: streamed camera frame] camera 'right_cam' (step 458): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.12,"left_z":0.06,"left_gripper":1.0},"note":"One cream/brown animal is now clearly settled inside the right basket. I’m applying the successful grasp lesson to the front gray elephant: approaching much farther forward so its thick torso, not the visible near edge, reaches the left fingertip line."})
tool
executing move_to over 11 steps (1.1s)
step 469
assistant
agent noteThe front gray elephant now fills the left fingertip gap, with both fingers flanking its torso at the correct depth. I’m closing the left gripper for a full-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]: [-0.5732, 1.8904, 0.7528, 0.487, -0.8169, -0.5697, 0.9988, -0.02, 1.7222, 1.8706, -1.1107, 0.0738, -0.0158, 0.9963] state[eef_state]: left_x=0.4182 left_y=-0.1124 left_z=0.0499 left_yaw=0.3725 left_pitch=0.1381 left_roll=-0.0393 left_gripper=0.9988 right_x=0.4338 right_y=-0.0181 right_z=0.2666 right_yaw=-0.0855 right_pitch=-0.3945 right_roll=-0.0658 right_gripper=0.9963 state[joint_eff]: [-0.2393, -9.5111, 6.0513, 1.619, -0.4322, -0.0024, -0.1294, -0.1846, -8.4991, 6.653, 1.2479, 0.0024, -0.022, 0.1392] camera 'top_cam' (step 469): [image omitted: streamed camera frame] camera 'left_cam' (step 469): [image omitted: streamed camera frame] camera 'right_cam' (step 469): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The front gray elephant now fills the left fingertip gap, with both fingers flanking its torso at the correct depth. I’m closing the left gripper for a full-body grasp."})
tool
executing move_to over 10 steps (1.0s)
step 479
assistant
agent noteThe gray elephant was squeezed out to the image-left and the gripper closed empty; its rounded body was slightly off-center. I’m reopening and shifting the jaw column about 6 cm left onto the torso center, then I’ll use a partial close to avoid ejecting it again.
move_to
left_y-0.0500left_z0.0500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5766, 1.9167, 0.7555, 0.487, -0.8124, -0.5766, 0.0117, -0.02, 1.7226, 1.8702, -1.1099, 0.0738, -0.0158, 0.9964] state[eef_state]: left_x=0.4172 left_y=-0.114 left_z=0.0401 left_yaw=0.3669 left_pitch=0.1219 left_roll=-0.028 left_gripper=0.0117 right_x=0.4339 right_y=-0.0181 right_z=0.2664 right_yaw=-0.0855 right_pitch=-0.3945 right_roll=-0.0658 right_gripper=0.9964 state[joint_eff]: [0.212, -10.6598, 4.506, 1.453, -0.3297, 0.0366, 0.9451, -0.253, -8.0889, 6.188, 1.3065, -0.0269, -0.0366, -0.0024] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 479): [image omitted: streamed camera frame] camera 'left_cam' (step 479): [image omitted: streamed camera frame] camera 'right_cam' (step 479): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.05,"left_z":0.05,"left_gripper":1.0},"note":"The gray elephant was squeezed out to the image-left and the gripper closed empty; its rounded body was slightly off-center. I’m reopening and shifting the jaw column about 6 cm left onto the torso center, then I’ll use a partial close to avoid ejecting it again."})
tool
executing move_to over 10 steps (1.0s)
step 489
assistant
agent noteAfter the lateral correction, the gray torso is centered symmetrically between the two fingers. I’m closing only to 30% opening first, enough to hold the broad plush body without squeezing it sideways.
move_to
left_gripper0.3000
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]: [-0.3958, 1.8359, 0.6281, 0.5945, -0.6777, -0.4526, 0.9954, -0.02, 1.7226, 1.8698, -1.1099, 0.0738, -0.0158, 0.9964] state[eef_state]: left_x=0.4152 left_y=-0.0496 left_z=0.0397 left_yaw=0.3841 left_pitch=0.1009 left_roll=-0.0153 left_gripper=0.9954 right_x=0.4339 right_y=-0.0181 right_z=0.2663 right_yaw=-0.0855 right_pitch=-0.3949 right_roll=-0.0658 right_gripper=0.9964 state[joint_eff]: [0.1299, -9.6889, 4.3419, 1.7021, -0.2222, 0.0904, -0.1148, -0.1162, -8.1846, 6.2564, 1.2772, 0.022, -0.0415, -0.0171] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 489): [image omitted: streamed camera frame] camera 'left_cam' (step 489): [image omitted: streamed camera frame] camera 'right_cam' (step 489): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.3},"note":"After the lateral correction, the gray torso is centered symmetrically between the two fingers. I’m closing only to 30% opening first, enough to hold the broad plush body without squeezing it sideways."})
tool
executing move_to over 7 steps (0.7s)
step 496
assistant
agent noteAt 30% the gray torso remains centered but the fingers have not yet compressed it, so I’m tightening modestly to 15% rather than fully closing. This should secure the plush without the sideways ejection seen on the full close.
move_to
left_gripper0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3943, 1.8324, 0.6239, 0.5919, -0.6731, -0.4564, 0.3053, -0.02, 1.7226, 1.8698, -1.1095, 0.0734, -0.0158, 0.9964] state[eef_state]: left_x=0.4141 left_y=-0.0491 left_z=0.0389 left_yaw=0.3838 left_pitch=0.0966 left_roll=-0.0182 left_gripper=0.3053 right_x=0.434 right_y=-0.0181 right_z=0.2663 right_yaw=-0.0852 right_pitch=-0.3945 right_roll=-0.0655 right_gripper=0.9964 state[joint_eff]: [-0.1436, -7.4325, 4.9162, 1.6337, -0.2125, 0.0269, 0.1734, -0.1709, -7.9658, 6.188, 1.3114, 0.0122, -0.0269, -0.0122] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 496): [image omitted: streamed camera frame] camera 'left_cam' (step 496): [image omitted: streamed camera frame] camera 'right_cam' (step 496): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.15},"note":"At 30% the gray torso remains centered but the fingers have not yet compressed it, so I’m tightening modestly to 15% rather than fully closing. This should secure the plush without the sideways ejection seen on the full close."})
tool
executing move_to over 2 steps (0.2s)
step 498
assistant
agent noteThe 15% close visibly traps the gray torso between the fingers without ejecting it. I’m lifting and carrying it high over the left basket, offsetting the gripper to the basket’s right so the plush body trails into the opening.
move_to
left_x0.5000left_y-0.3600left_z0.2800
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]: [-0.395, 1.8324, 0.6239, 0.5915, -0.6727, -0.4572, 0.1559, -0.02, 1.7226, 1.8694, -1.1095, 0.0734, -0.0158, 0.9964] state[eef_state]: left_x=0.414 left_y=-0.0495 left_z=0.0389 left_yaw=0.3832 left_pitch=0.0962 left_roll=-0.0188 left_gripper=0.1559 right_x=0.4339 right_y=-0.0181 right_z=0.2662 right_yaw=-0.0852 right_pitch=-0.3949 right_roll=-0.0655 right_gripper=0.9964 state[joint_eff]: [-0.0342, -7.706, 4.7658, 1.5702, -0.2515, -0.0415, 0.1783, -0.0479, -8.1026, 6.2017, 1.3211, -0.0415, -0.0317, -0.0122] camera 'top_cam' (step 498): [image omitted: streamed camera frame] camera 'left_cam' (step 498): [image omitted: streamed camera frame] camera 'right_cam' (step 498): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.5,"left_y":-0.36,"left_z":0.28},"note":"The 15% close visibly traps the gray torso between the fingers without ejecting it. I’m lifting and carrying it high over the left basket, offsetting the gripper to the basket’s right so the plush body trails into the opening."})
tool
executing move_to over 28 steps (2.8s)
step 526
assistant
agent noteI could not complete the sort within the trial budget. One cream/brown plush was successfully placed in the right basket, but the remaining rounded plush animals repeatedly slipped or were only pinched in loose fur; the latest gray elephant did not lift despite a partial close.
give_up
hindsightOn this rig, these large rounded plush animals must be approached about 8–10 cm farther forward than their wrist-camera appearance initially suggests; even when a torso appears to fill the jaw column, it may still be short of the fingertip line. For the cream plush, a successful pickup occurred near x=0.466 in the right-arm frame, and transport over the right basket required the gripper near right_y≈-0.02 because the held body trailed left of the grasp point. Full closes eject off-center rounded plush; first center the torso precisely, then use a partial close while verifying actual motion immediately. The baskets can be shifted by low contacts, so all basket approaches should stay above z≈0.25 until centered.
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]: [-0.849, 2.6247, 2.875, -1.2575, -0.9741, -0.936, 0.1546, -0.02, 1.7233, 1.8675, -1.1091, 0.0734, -0.0158, 0.9964] state[eef_state]: left_x=0.484 left_y=-0.3233 left_z=0.2182 left_yaw=0.3656 left_pitch=0.0707 left_roll=0.0021 left_gripper=0.1546 right_x=0.4339 right_y=-0.0181 right_z=0.2652 right_yaw=-0.0853 right_pitch=-0.3972 right_roll=-0.0656 right_gripper=0.9964 state[joint_eff]: [-0.9915, -17.3607, 6.8581, 0.8278, -0.6862, 0.0415, -0.1685, -0.1162, -8.335, 6.3248, 1.2625, 0.0024, -0.0269, -0.0122] camera 'top_cam' (step 526): [image omitted: streamed camera frame] camera 'left_cam' (step 526): [image omitted: streamed camera frame] camera 'right_cam' (step 526): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not complete the sort within the trial budget. One cream/brown plush was successfully placed in the right basket, but the remaining rounded plush animals repeatedly slipped or were only pinched in loose fur; the latest gray elephant did not lift despite a partial close.","hindsight":"On this rig, these large rounded plush animals must be approached about 8–10 cm farther forward than their wrist-camera appearance initially suggests; even when a torso appears to fill the jaw column, it may still be short of the fingertip line. For the cream plush, a successful pickup occurred near x=0.466 in the right-arm frame, and transport over the right basket required the gripper near right_y≈-0.02 because the held body trailed left of the grasp point. Full closes eject off-center rounded plush; first center the torso precisely, then use a partial close while verifying actual motion immediately. The baskets can be shifted by low contacts, so all basket approaches should stay above z≈0.25 until centered."})
tool
give_up: I could not complete the sort within the trial budget. One cream/brown plush was successfully placed in the right basket, but the remaining rounded plush animals repeatedly slipped or were only pinched in loose fur; the latest gray elephant did not lift despite a partial close.
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 · 20.25 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]: [-0.0189, 0.8013, 0.6155, -0.3801, -0.0219, -0.0334, 0.9996, -0.0154, 0.7986, 0.6106, -0.3779, -0.0128, -0.0219, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1832 left_yaw=0.0001 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2962 right_y=0.0013 right_z=0.1821 right_yaw=0.0004 right_pitch=0.0 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.8667, 9.6342, 1.8046, -0.0073, 0.1587, -0.0562, -0.7316, -1.6342, 9.7983, 1.7558, -0.1197, 0.0513, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b135dc1595b4e8734ec76a0dd9b3e8c8d857284c32f76b4c0a086dac6e49e51b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6fb2555fd6184149f97cf2a5b224731ea8b98a43df4b753c400e89dc92609dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9f6130d8c55e7362ac9ffefe86944efd56342c0902fb7dfd7884990c36026d5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
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  "role": "user"
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call 1 attempt 0 · /responses · status 200 · 7.288 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_06652852edb03493016ab44e4d8b2c87d0a0dcd75266edd8fe",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_06652852edb03493016ab44e52d50887d0a7c0fe74b01318e4",
  "summary": [],
  "type": "reasoning"
}
{
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  "id": "rs_06652852edb03493016ab44e57d07087d085d9a7580f171a11",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_06652852edb03493016ab44e5da11c87d0854377f3caac44d3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.22,\"left_y\":-0.26,\"left_z\":0.15,\"left_gripper\":1.0},\"note\":\"The overhead view shows two object classes: three gray long-eared plush animals in the left/front diagonal and three cream-and-brown spotted plush animals in the right/back diagonal, with two empty turquoise baskets. I’ll sort the gray animals into the left basket and the spotted animals into the right, starting by positioning the left gripper above the nearest gray animal.\"}",
  "call_id": "call_XA9XA6plChqLiCSWAdIIZYiB",
  "id": "fc_06652852edb03493016ab44e5f7fdc87d0a9ceaa4aca604e7f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XA9XA6plChqLiCSWAdIIZYiB",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.3144, 1.5002, 0.9707, -0.6811, -0.936, -1.1412, 0.9996, -0.0143, 0.7986, 0.6086, -0.3847, -0.0124, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2183 left_y=-0.2577 left_z=0.1399 left_yaw=-0.0108 left_pitch=-0.0227 left_roll=0.0092 left_gripper=0.9996 right_x=0.295 right_y=0.0016 right_z=0.1798 right_yaw=0.0017 right_pitch=-0.0088 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -6.065, 8.3897, 0.6178, -0.735, 0.0269, -0.0611, 0.0889, -1.0462, 7.4188, 1.8144, -0.0611, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85d61c0c198b1fe8d222178efced5390e45049321f8924eca29a7e112c9b94ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee5ca12f6d37ac1ae61211ee62b76fd922d7760d8a93ff7f841991cad59e235c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:103a5cb59b56a476e957a3eef85161bf3345e4e3d1505a387dc01bfe0127215a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 5.347 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 9 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8013, 0.6155, -0.3801, -0.0219, -0.0334, 0.9996, -0.0154, 0.7986, 0.6106, -0.3779, -0.0128, -0.0219, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1832 left_yaw=0.0001 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2962 right_y=0.0013 right_z=0.1821 right_yaw=0.0004 right_pitch=0.0 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.8667, 9.6342, 1.8046, -0.0073, 0.1587, -0.0562, -0.7316, -1.6342, 9.7983, 1.7558, -0.1197, 0.0513, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 9 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.3144, 1.5002, 0.9707, -0.6811, -0.936, -1.1412, 0.9996, -0.0143, 0.7986, 0.6086, -0.3847, -0.0124, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2183 left_y=-0.2577 left_z=0.1399 left_yaw=-0.0108 left_pitch=-0.0227 left_roll=0.0092 left_gripper=0.9996 right_x=0.295 right_y=0.0016 right_z=0.1798 right_yaw=0.0017 right_pitch=-0.0088 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -6.065, 8.3897, 0.6178, -0.735, 0.0269, -0.0611, 0.0889, -1.0462, 7.4188, 1.8144, -0.0611, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85d61c0c198b1fe8d222178efced5390e45049321f8924eca29a7e112c9b94ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee5ca12f6d37ac1ae61211ee62b76fd922d7760d8a93ff7f841991cad59e235c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:103a5cb59b56a476e957a3eef85161bf3345e4e3d1505a387dc01bfe0127215a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE5unrciGCr9Pc3ZDQN1ATURUdx9PasR9vLwCntd6prVX7K3cJzRaXAEqpvoFK4zI3IAMJA7qJ4BEcvwBLon3xBblTvUYls9ZDR5YEIBGv3-a17AaxkJ3sjn-zlF-Zhtx0vhqgUURoTSWgVRt9RcwQC4h1X81o6_gVn9-b2-D6s4EK9B1GFd2yyFhnG1NR8IiAtGoMW-ewC3cLHdDUUJ0acoysu7PHYxchW9MMuslhv9d6Nzxc_5lj89H1fdm8pHe0zx5t7Vnd82oOJoPg3GllEdsQWhzfEmzyANjtbe5x-5pZCndn9FXVbZtXYIyF5rP1PCpSgwefmML1S_2g3AhY6_4Vdp9aVebjaBn0aDQSafDHZ1sVEy06HEN9C7kA3t6z7zIKw3xGi5rb4_GXwCvRKGNCWW3GNahqyfr5d_BSleUuwtJkbrTX4E8FKGklW5EbK-RoGJvsn2-Zy3PIex0WxJ29n42G9yYj13nS5zDgP9qZ0-hy49gxaV1yfiEuqNCvxRsYQmh4-rwTqjXkmMTKV6e8ERr70XSzIoEhMTGaWYiV0CIBkPDTArgkqVvC-Fb0Yqtvb1uNo1zm4g3WOKswxpIfwJEzUotSjOF3X9CnHb4YZg2f0y83IzYsw5FKMHntAWK6lO8n7o3jOZqG-X4Se4BTRXQ3TDM-nX0fXQ1t48ADX-tSuypxOCV6UWa2XZuUCmGwBWxp2_OJpwKlpAZ8oJdF6CI0MG5V3NqyO72he1SKkzFh-aDw4RgcyzhzY6XWUwj47qFLnPnkXfnlD4aW30V0FSRyCI4InWATjlXAYGxkLyZ3dQU4snqGd080B_fgZYjyT00EhWGC_Jt_PNvXK7-47mQGoOiyC5VeDrLy4VM6-7tqMyiBnQc0vlEw_5cnZY6ngsjbFbl-dGl2Hgv6ycELJRAIBvmGwTsKMKt1t4hjlx9cZ5wJPbu70_oo58iLkLg-PsDHsOpUJC78fbvuLVRXlmZkdkXfqpfSwMPctqSIxYhb_wKhDl3lIKPiOBqQb4DXR4PzTQITUnkQWVd3QpGVcJtvMehlbAdJg8hDxp7Uddci18c52zNVP_KcJwEt3G-Nc3buT1dQYCTBZVmvG9WywxgKk0f4a2zVd3rr9Ikxs3uLae9Mi2AKlsqGQyqS2kfFW80MaPWedD8t8yM9ozLAsY9IGL-RqK2DfTsm3hT4D5z1VDSlW5R76hT0BOgextRhvJwH56iJfnDme3RO73iV6Wbx4w-BbIC1MmVAw_7mAd1N7bdPFYuGt8A6do-kz5nK1sUKzMTlqErngkX6JgG8hgf9C85aHG_HhFFUTQscFMnEAEFmREa4o25mWvnsX6dokOkg9m4dSvc50eCTCrVk9nFn8yRL6M7l1ZEc_727ksYQn6Ce3ukoTu1alTTuBfMGsqoYgPyBtjFkGRpVf1me67NRrdy1aoVeKeKppRMH4i9e6H_yz5WzN8VsI4HDNCvrivhcUcp7_s44q_Uo98XfSQEsUeVY1Y8NgtPuQgAYBztrB5Uf5W8HGhBk_eYg4xKCIZkxH3BKfVUUBdN4IFRAYuWBNkg7dapMZivHq6TbH4dUrffsUzskkUVSV9cxhaJpe_tlIqIwDgV-rJc__E7XyhMvbEg5XSwzKmza3FN2ijB3-L4rUWyUss3iw5gYXXy17R1eZUk1DY7ukhnKDYFrglJX1RHYOYvLAGb9PpFXMZkOsGuaxlvjIwF3Kgl5RJtzrcFDsGnyXsdbTEAD234mcWMlzhi_hp4OolNVBP3h17EUVZ87_29i1AjP9ZqcYP4SQFrTdq3CnsxbDhbDO6Vy_RHJIGmuWQ0woqLxdtlN9qlfSFK4jT9Z41e-vfd1RDFzaLUU2FYqEhsayEOL3Z4jSYDRbj787xv0n0_-sVhUIBnXFZtaXw19XIK96wPCqdesVHntu2Hwer8t91ni5WxSypraFkQQmnO-d6N8Eq2pYhpo0Xcd3bo7qf_SX5nfx-vnZ4_35e0Qx9_Lgmx6oSDpjevBsqUtf-izEElOpZkiVP41LpUoSjHIUMCh-oU-QdasgKWF2THHpTF6GCJ4jJz6pD7qVIinXdThZKVKFnRK9bBFIbJ9bQW0N1-uvEd8GM-xAVDJGR2TdAfHsxxbz5vmblpwaUw9YDUZ7WZKi6MepGg3xfmi3Zo3XC7RyxRnFtwCdD3TM39irIj67HhaDK0-L2La9ZKwBbbzARFra1-sSQa-D7hfslkbgYyRSLVNK8mqmHX3zkdt4fDzWf6ESviUQOMQoeJag7emoc1iTL0TQGuBPTPVyGoz8VgnaTfJeFuR3ADVvAd07l0-wiPtylMCgq2SRTPI-RRTDKFUptV3HKQbLxBj_B15VUQR5yCB8JAwB_RKoiJ6bu66AlTJC4xzxfHnmIB28Jy9P3QkUfKk19Z2gbfrSeY6pe3AJC851hzobaFVI3bAPcq_SoLkQaDrvWIGVCc_ObQxfP2YbgHXyaP67H2W29zYM4062FUx0G982SwgCS1s5PY7I9Nvo-Qw-si4K3600zJ95ljhpqsdXfjctFpwIX37mkHkNMtUdRK-A6WXhEHl42M3tX-orND4DQcZiziVIsrzQaeG1HW-xENXd_x48gYFdnYTbKFspQ2LeBfVDK_vHz6jhTnXmePtgRpBVTFOxrXFOIaOHWjqsqfn97nUTXX3YcvfwO54SAoYS2DPbgISH1s4a8z6vrKQpcJ5lYsz-d3SClxtsQMMzw54j4WseT_3Wz2DimNKfEh0leSewwVsmRYIb5-RWz84r6rjLTw7vyf_WJvh0ppFDKcJPF7Enoqze6WeDBknBzDwsfPEQaMPuUYvIDXgNZkjNy5NmMj_pQn_XvxnkTipUx7QyYa3ln4bjG3AYpegH6-DN8P0qG62tH07xI1v-LH68QHO_0NL1FG2RkbILHBDdIVe0vcYXFVFQXKUCPOhPYIQyEDbnq0NYK3LZmc7Pqjfazr7WOwIPIFB10mVs-2glETuDK3_o_6zFXCgb3hnw7GKjbEEgdTASvcHAB2cWKh2HDvJFVve55XEZ1TBlYMElgdgP5Z3O6_WYxO_qTVM73VgGwLgQtc2UkNR7xSwdwYksEmSGS46tMxWmGmy-DnmZKK_bZah-Z4pGIb6xQ9_msq8hA1NcBP9GAlYCUPfMcIbz6uCfGBV2V_Ox6T3Hd7JH3pOLl-DkTOZZZjbE6GUEHVuqcznGIsRvS_s6BW00l6AT9LSbnp8Xk_xMo4PvCu-oGwKtzzKhZyzK_ozIqowhTvvwI5jbdkk6BT8CjQtAybOH2aJa1T4opyh9tSRQKpIUafDMHEvkhutNxfImhKkE-y_jxiJEhpQrYxSxWl71tQujlBoYqVnEVAXlqZvDLZ17o7xHcXvcV5QH5SsL2Pt_U8cay52ZlFOMRC8whTrIjCtypFzgLBvTioNpCRJ41rYMBp6G9Hg-T97j6Pvoo-wgAUnnkUc0ASwvhyc5mmfWcN7Dsh8GhzCA7o_30Fg-PXEKTY2qL2of8NKbIbtSDcRXJ-SwePcemA4Sfu9hL3QdVxPZwIFKNLyXEwhN-fatxsPeOznd-yYFzbl0RF-y7mZt4hYUWjJpSOrXYnFJWAWIhFV_k1XOSqNTYF3W9bB3yOAsp9dLqgj6RwBI0_JdTa4xkxVwAzkb6J35hY1o2W_J9Cg==",
  "id": "rs_06652852edb03493016ab44e6804ac87d0bdb9e9c591affa1e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.22,\"left_y\":-0.01,\"left_z\":0.15},\"note\":\"With the arm moved aside, the overhead view now clearly separates the three gray long-eared animals along the far-left edge from the cream/brown animals in the middle; my first estimate landed over a cream animal rather than a gray one. I’m correcting laterally to hover over the nearest gray animal while staying safely above the cluster.\"}",
  "call_id": "call_XtXhOt3y0bRXDlQKwD8NJddI",
  "id": "fc_06652852edb03493016ab44e6cdb2487d081b2b0eeb80b255e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XtXhOt3y0bRXDlQKwD8NJddI",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "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]: [-0.1909, 0.3878, 0.4557, -0.6685, -0.1883, -0.141, 0.9996, -0.0147, 0.7986, 0.6083, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2201 left_y=-0.0052 left_z=0.1508 left_yaw=0.0258 left_pitch=-0.0229 left_roll=0.0046 left_gripper=0.9996 right_x=0.2949 right_y=0.0014 right_z=0.1796 right_yaw=0.001 right_pitch=-0.0095 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, 0.8957, 6.3385, 1.7167, 0.0122, 0.0806, -0.0171, -0.1299, -1.0872, 7.0769, 1.7411, -0.0611, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:307898bf08728e8e7403161f1d9c9bd8ee9a3f51ff624c7353b47605978d1ad3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30abf258e703431672dc40aa035349458160cbc05a821d3c9f2f4b2521d88254",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09bde43824ed171d281aa8798499bad9e052bf3b64d74e804484b00d20e2ad4b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 2.668 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 9 changed as sent

message 13 changed as sent

message 9 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.3144, 1.5002, 0.9707, -0.6811, -0.936, -1.1412, 0.9996, -0.0143, 0.7986, 0.6086, -0.3847, -0.0124, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2183 left_y=-0.2577 left_z=0.1399 left_yaw=-0.0108 left_pitch=-0.0227 left_roll=0.0092 left_gripper=0.9996 right_x=0.295 right_y=0.0016 right_z=0.1798 right_yaw=0.0017 right_pitch=-0.0088 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -6.065, 8.3897, 0.6178, -0.735, 0.0269, -0.0611, 0.0889, -1.0462, 7.4188, 1.8144, -0.0611, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1909, 0.3878, 0.4557, -0.6685, -0.1883, -0.141, 0.9996, -0.0147, 0.7986, 0.6083, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2201 left_y=-0.0052 left_z=0.1508 left_yaw=0.0258 left_pitch=-0.0229 left_roll=0.0046 left_gripper=0.9996 right_x=0.2949 right_y=0.0014 right_z=0.1796 right_yaw=0.001 right_pitch=-0.0095 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, 0.8957, 6.3385, 1.7167, 0.0122, 0.0806, -0.0171, -0.1299, -1.0872, 7.0769, 1.7411, -0.0611, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:307898bf08728e8e7403161f1d9c9bd8ee9a3f51ff624c7353b47605978d1ad3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30abf258e703431672dc40aa035349458160cbc05a821d3c9f2f4b2521d88254",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09bde43824ed171d281aa8798499bad9e052bf3b64d74e804484b00d20e2ad4b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE53i4OoeNoE-8Ro8cUG4ljrj96O6ILrjgfqQBLY6mGLUAl5bA2Y-HiF8a0NrMBrz8kQobLL3ws987Xbk85_3BAw8PlZXfMkyekOHIcuOLflabJigHdR4Q4CRPn2zF88LQf5CM3qhZz9px4HUeuY-1F7sZnLeJ163HdaGA_1sllB2OOLQ1_UH-94wx_E-b05m9dFIe61-9bVPXxO5E1cWca-JZHTXBHM_tuLOrzFkgLRrvPIYM8tklEyVjJk2RKA3SDNxUsqMRyG0YQpXIVZ4vCEH53_F-k9MX3RMpZ9QwQjrTMdpECgBU7zTa5ypKncWLj3Pen2OVr4unmwtJkRwpNcEUWlx_-K-bGn5_GlnRPr3nSrPM9O1OrrxRk2EmKiNY0Gau9DRz_GW4MQoosEckfIJO4QR6qF7m04BstV8c9ztoWyNmfuxoCa8rok6Sh0UnyV8GL5v67Ss_Om8bSbZRRJxFzdiWpJ-KSYnWiXGk4bNi5zktDkS4Mof-BcUFanfhXeu7gCk83gzYpOoRhMuq2KpyVndw26mBEyaNal2_3ucHVm2Qd3SnJUA6wUx6PPMzKBBucjF8Ux3FIV5L7noiyq_wystfxPjiylZ9xIk8SCUrvLN69ziRkmWSEkpdPeqs5EK6D7AVUCxPxZ_seI73EGy0C2kot0wAvtBGwoVXiU9PEFYGp3zGgeuAvKcCpHOEWDQa1_f_DGWgdbEwBLcA40u_ACBynVnQeGFcXS6_-VDtpIXZrOX_0CfjK3hx2dCyGK8TVBRdTUeteA45vuauMbGTaAKnsa5pJPl76WG2O2LSCYqxLvS2jBaBPDUkXbk3jGqJ_f16iWR8B5VuU0X6weq45nRD3fjSMVC6kQpFkkt6KgcMZsTp3IlfMJQvZzqlJaaVtYPnsLf2Jc0cb3RYEvNLp5pzVQHzzbA25ccfoC5KgqdPcN3teuxvcm-NWE9Kof9tAOmPyrIYQrRXefxuGsY86ZCQ8JRwSRDeZlD2EsuX8FThE4wQ2Kd0lc6qQA3mH-kcSrepWczHkkuEjO9EiGW58WaXVN5vq_TXAEI4r7rx5T0u4TPkilQEbH6A6L6gXKVjG2D_6s7RsPHL67yipDEjOVXefuekhzhlPkdmT8W1rQxY9dbL7cRK8HFXltGooMP0gnTXuZfBlqdwXKRbJTovu7i0kxqoFzuwr8WP3nWmefzwkktsALMHCKyx81idJqvP1o7VfbShYjyOQtGkdMz1A0k6D7pGrS1MFn9oYmVXrmmcjU7LMu56Q8m--Zn-wdpjCXto6tNDzRTtg-VNCrFiYQdGSDR4kG8Scp1__iAQ7nMQIa2nM8lfXjM7DhoxsNNdeD4_2qLr71CHe3kRTsdWs-A5TCGaD2sUvCXoElVKqUaZKqpfX7IJRI9VHHeDcbdALw4GeUKkjWGnGxwB1GBLnxMI4KWpjfFuNr5ng5uGil4htK6L5Adi25gjKmASpYs5vszRdg-_NnvWi-XhkSagV3HCtkGlY-MFFawoYfdbRbYoomsE_Z6GY7VKkXz3YfJxFRLUEsyuQG-YeZE5lZgg2eJ36pOhpzzzIrSts8ZD48aoEXW0RZoTLMUr7nD_bUGvGA2e795k1ncxJtl6H-FBPOOm6kc7r8r_ZHFpXkDSsApSS1E0jBgC_re4BC3SC-Vlpcj5Q2XjqjMN2SHBlXRo04L7jOmduew5E7kBdyLXjb_ufMwqjVaVfodDrCt5bcJTkTJRuO3vEbjvvWAudlmxmLBRA3THqOb-0qwl2y9XDu2nXAGIjyJU2cw--zrSoabbGww3Zm-3ZSpDcu_zKCS0KnjEO1rRYZdZ83ZTaiPYb9C5JqXBtSRyPL6AunU7UKBqQ9nNLTIejBo7PZtOO6zpt_H-aFqoPf7lSP2m6OEG7pTWYW-EYa5s-SanhcSjngqVb2JD2s04fOje9jSfB9hip00yCWSrSniWDBs7JAvRKXnyxewCwLzkMO70CHfvVQLxw-DL318JbBZIU2elxxxs7MyjLKBS7_mQFM1_MVYfW3fd4_WcAHQkZdX3ja1k2gZbnX28G7_ABTbe7ZPqm4EwRatngAv47OLXRXQQK69Q9kl-cQNflzC72VSLLlkYwbusx7txYfbo7rQH2xgtDsz7pvPjbZe-tSU00IGdZIncECrHE7iVO4JvJUZ2DGZAoBBNSQKDipeoGKhHY08XwlzdjMIh1Wvzd_4yh6IXMMI0VnRb4z_AmPjK9rnNuthvx5IjACggtYDJoDU_6nyIEKWKjUtxmfiV31nVfCsjuAIfSYJoJoEtp9OqVUVDSsvz-OFDPrJz-B2ulYFv9vGk-JKoNTdaY49uu3B4cA1PdIO8PIFRAdtM2CrqT8J6nbdTus2KRK4bOkbPLIdoAy-NW_Kd2tSJyH9GH2QakkyX-vE_PRFjtoZALMbaAdJyvHMYQ8P8L4efZb4JVAw8kzHCYxNbB8KXJnQoVwEdq1-Ju-qf5grFKQOZnmPeIEpYzsdCcMZnt3aI8KqPPxEedMeV_vSRb6qV73rlxMavP2kNSBa9sH1ds73fMT72Swd3VaN6xnomRFn6Lox1YY1UxZZWz_k7DKYW_v3SHNobAK9eSgzdwNTwymbM_kdglCAm2SSGA4YDM3xzzGAEqsNoy7gBDSzHRd-Ifp9fzqQBJG0sHXWFK3c57a6iBDn0I7ZffIE40CXCD6k1AdH4cPbnXJenyHAXdeu_uoS7BY4514K_jTLdHYx2p2HBvoEkxkKV1DKqvkHkUSlqjOJfjBtoo3AeycJbPr96n-WdeqgIDH60M7WDHNrx_GCOtpkOUV1iMRzFZfWCqgXS2vzVGOxOdBkKxzS_wWPmMOHKwbZT7naUb54BAoOH-zhuAB9G_FDGwVSmOG6gYsFsKRZDCLpotaUTSzbSf0rN7jaEiPoeAbjwHVvHgxxkc2VAF99EOy4BEqVhvhoSpOEMEZz7Fejyd_GYphXdBof_jMSC71zIfevxEGs9YVIjQmC9_WhSp-4IBE3soHxtyuYEhRF40s1lcOQALuIQ==",
  "id": "rs_06652852edb03493016ab44e73368887d0b61b2bba7db74009",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":0.045,\"left_z\":0.13},\"note\":\"The left wrist view shows the nearest gray plush just left of the jaw column, with its torso extending toward the fingertip row. I’m shifting to the arm’s outer y limit to center the jaws across its body before descending.\"}",
  "call_id": "call_YIk9VbGrBNLRK38Fb8X7jOH6",
  "id": "fc_06652852edb03493016ab44e769e4887d09c28ec6a26369238",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YIk9VbGrBNLRK38Fb8X7jOH6",
  "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]: [0.4503, 0.4236, 0.3782, -0.6064, 0.3145, 0.207, 0.9995, -0.0147, 0.7986, 0.6083, -0.3851, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2169 left_y=0.0481 left_z=0.1251 left_yaw=0.0578 left_pitch=-0.049 left_roll=-0.005 left_gripper=0.9995 right_x=0.2949 right_y=0.0013 right_z=0.1796 right_yaw=0.0006 right_pitch=-0.0095 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1709, 0.8957, 6.8034, 1.7998, 0.1636, 0.0708, -0.0171, -0.0752, -1.0735, 7.1726, 1.7802, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9be5f7d8322f288cc6715b03ca3d30728f77d381cfc41d639e59324ce21c012f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:535bb0b74fd5bfbdeb85af1b9d4813fde1e3ef0129b8a4dea5eb95b4a463d230",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b83d81b1d10b482f8d99e5b51559afe658a39e12ee284f53636555747b645d0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 2.035 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 13 changed as sent

message 17 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8013, 0.6155, -0.3801, -0.0219, -0.0334, 0.9996, -0.0154, 0.7986, 0.6106, -0.3779, -0.0128, -0.0219, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1832 left_yaw=0.0001 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2962 right_y=0.0013 right_z=0.1821 right_yaw=0.0004 right_pitch=0.0 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.8667, 9.6342, 1.8046, -0.0073, 0.1587, -0.0562, -0.7316, -1.6342, 9.7983, 1.7558, -0.1197, 0.0513, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1909, 0.3878, 0.4557, -0.6685, -0.1883, -0.141, 0.9996, -0.0147, 0.7986, 0.6083, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2201 left_y=-0.0052 left_z=0.1508 left_yaw=0.0258 left_pitch=-0.0229 left_roll=0.0046 left_gripper=0.9996 right_x=0.2949 right_y=0.0014 right_z=0.1796 right_yaw=0.001 right_pitch=-0.0095 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, 0.8957, 6.3385, 1.7167, 0.0122, 0.0806, -0.0171, -0.1299, -1.0872, 7.0769, 1.7411, -0.0611, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.4503, 0.4236, 0.3782, -0.6064, 0.3145, 0.207, 0.9995, -0.0147, 0.7986, 0.6083, -0.3851, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2169 left_y=0.0481 left_z=0.1251 left_yaw=0.0578 left_pitch=-0.049 left_roll=-0.005 left_gripper=0.9995 right_x=0.2949 right_y=0.0013 right_z=0.1796 right_yaw=0.0006 right_pitch=-0.0095 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1709, 0.8957, 6.8034, 1.7998, 0.1636, 0.0708, -0.0171, -0.0752, -1.0735, 7.1726, 1.7802, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9be5f7d8322f288cc6715b03ca3d30728f77d381cfc41d639e59324ce21c012f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:535bb0b74fd5bfbdeb85af1b9d4813fde1e3ef0129b8a4dea5eb95b4a463d230",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b83d81b1d10b482f8d99e5b51559afe658a39e12ee284f53636555747b645d0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE57xh30E3Pq4vtrnON8Wrue5ins9_kTjkme6KkAiyw6DOciNV4rvT2trfgi9kCCZygC8DNoppLVWdSGXkpx5sGkFISgG9v_HloTZC7-wATOVSQ6brJt11a9ly3bPDeIxcPtFYFuylGVGr2B7GruSOFaPlEnOiOaU3yovMVRNI3sdLZIJfh97R0gtybZ1xGEEqcPBXY546wLbOOBktUEVsQMTc83cP6w4Ybt0tGD7FV74j2nMII6rB9GQhi2Z-JfgrBmx-UPBe0PtmwoiN45hw6pVVQ5FZnMH8L_o4pM_mM7E2uuo3o6A0xj0OzJWUk_o4A2-NhoGako8xsXXrmfX_Ch61aGI3c6gvBigR0RPCT-l3rEs8FopLp6hQvnTSYoBnIyRWVvoSR_p9eKbfwKvbc3-YTVbvymsDlcnNi2Pve-jUs3C5UqrdUgheT-KshiRrmO4z3c651ocHz796Q2SACVqBMBw1_5yOkxyPBZz4wD03EtXca6IS4ZQXtohpDXFuSZKLOXpCqV6dFPhNiKKA1nMFUxCAzGAyFVgrHAbmFveVBGv5fN8-I18ypcIaeDP2_8IWYAHUaeCiquPPZOPZV1HzEWNAdv490YTZbJWKhdV6bw-aVwgYLmd2frJ1tMB_iiSjymhMNGvvEGdYWs2xcEA56h0kj8E14dydZUuX_ylOF6GnlIKk1WYq7NmFbyQ4f5GmNof8HEXVXhEwGYykQ9zC64sLM8KGDADahh55odUiPsgqwU3g22OSFV_FDK5dvrxoSAdVaPe_evo8MVSypmmx8gRvJXMuizFGJYL-nL2CgFixDIC1x9rH5Ku36Ozy4b2t1yCZAxSCBMtYySxhOLYyzieBm_pCFQ52_cxsAR54chpVj8gzO-65FZ1VUUkCUgFR7eKRcf3DXEQJvN9HoFXmsdThlBwEo9LeimuuAE9LYBGA_kqq3rrq9DqKP4dnFBx7WUB5gpxnHAIEt0Q-_adTfJcuDg5SAwh7cf988ByIfW16zdDHmJiNmx62hunPerSWdWeXEMTYCSETUa_OzU5p6PtUrvVIMbu6sjivRmmpxNklV6QjvolsW0jB_9xJyVuKNG38AzK1AjmeqJLaq9W0hQ7Ph8qm-uMqO9M2zaXSDQ7EFlsSoPQwe0yZJ1WoAuBkUOc9Qc92Qy7ZKfHNDi-ubSO2_yUgLXLtUHzgDiEAZ3hjX83Kh1Vy2zRntxSIntCDQaXIeA9IkfYOkuyYCxGBqp9PXeAsQeDaVUhKummwGMGnZlpiRxaHBncWSvh8akbp4MNJCcZqRYjpgwAFxbQqAuFPUJD7CETfK6tBuqqWWF4kh_MgrzR_WfgTOjEpPGngdzHReUpPlAOrLuA2xCgfGhiZUWBL51nKDkcT37tgRK8QgWmnwMujgMtcTBDlqOWidvy-p2E6lTH59G-NV0h7LjRINGjDa1Ekxzzxxxv9ZzV7bPCRHor1N0Q8TbSlKMY4xLUVHQ-oxNx6ELxntpSCPOIY_gzJeLNMJ_vbJ9iXqgHT_NJ2ZcR5fFDQ5JPp-wI5YAKYHyPGTJOD_4_d9Czea4DFfMBGUGAaOkvDCsSXvrM80KondxkXETcTTEQG5An9uoclBGfrw9-rZnpec6-P4pFE5PnGxDTlcGLhRGWQM=",
  "id": "rs_06652852edb03493016ab44e7a0a5887d0bacb4f37211b4cbd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.025},\"note\":\"The nearest gray plush is now centered on the jaw column and spans the fingertip row in the wrist view. I’m descending to mid-body height so the parallel jaws can close around the soft torso rather than its ears.\"}",
  "call_id": "call_UBNrsTnVR9cl3Ir5dL6559S1",
  "id": "fc_06652852edb03493016ab44e7ae73887d0ac4a5cb368c32615",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UBNrsTnVR9cl3Ir5dL6559S1",
  "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]: [0.4553, 0.432, 0.0547, -0.1425, 0.3145, 0.2092, 0.9995, -0.0147, 0.7986, 0.6083, -0.3855, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2352 left_y=0.0583 left_z=0.07 left_yaw=0.0609 left_pitch=0.0728 left_roll=0.0476 left_gripper=0.9995 right_x=0.2949 right_y=0.0014 right_z=0.1795 right_yaw=0.001 right_pitch=-0.0099 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1299, 0.5402, 2.6598, 0.9304, 0.0855, -0.022, -0.0122, -0.2256, -1.2513, 7.0496, 1.7314, -0.0415, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e36daae8cbe621faf01dee800f9177ab3d0cb7f4c3e8a66333299b31ffb41bf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e134755b0c90f98ced508eb90ddd71b35bd700cfa304a4f1ec492cf17e25f896",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98acb48d95dbf0739c26e343dbe2b56e399a6d02f02aacd71343188574eec7d8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 6.34 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 9 changed as sent

message 17 changed as sent

message 21 changed as sent

message 9 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.3144, 1.5002, 0.9707, -0.6811, -0.936, -1.1412, 0.9996, -0.0143, 0.7986, 0.6086, -0.3847, -0.0124, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2183 left_y=-0.2577 left_z=0.1399 left_yaw=-0.0108 left_pitch=-0.0227 left_roll=0.0092 left_gripper=0.9996 right_x=0.295 right_y=0.0016 right_z=0.1798 right_yaw=0.0017 right_pitch=-0.0088 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -6.065, 8.3897, 0.6178, -0.735, 0.0269, -0.0611, 0.0889, -1.0462, 7.4188, 1.8144, -0.0611, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.4503, 0.4236, 0.3782, -0.6064, 0.3145, 0.207, 0.9995, -0.0147, 0.7986, 0.6083, -0.3851, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2169 left_y=0.0481 left_z=0.1251 left_yaw=0.0578 left_pitch=-0.049 left_roll=-0.005 left_gripper=0.9995 right_x=0.2949 right_y=0.0013 right_z=0.1796 right_yaw=0.0006 right_pitch=-0.0095 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1709, 0.8957, 6.8034, 1.7998, 0.1636, 0.0708, -0.0171, -0.0752, -1.0735, 7.1726, 1.7802, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.4553, 0.432, 0.0547, -0.1425, 0.3145, 0.2092, 0.9995, -0.0147, 0.7986, 0.6083, -0.3855, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2352 left_y=0.0583 left_z=0.07 left_yaw=0.0609 left_pitch=0.0728 left_roll=0.0476 left_gripper=0.9995 right_x=0.2949 right_y=0.0014 right_z=0.1795 right_yaw=0.001 right_pitch=-0.0099 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1299, 0.5402, 2.6598, 0.9304, 0.0855, -0.022, -0.0122, -0.2256, -1.2513, 7.0496, 1.7314, -0.0415, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e36daae8cbe621faf01dee800f9177ab3d0cb7f4c3e8a66333299b31ffb41bf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e134755b0c90f98ced508eb90ddd71b35bd700cfa304a4f1ec492cf17e25f896",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98acb48d95dbf0739c26e343dbe2b56e399a6d02f02aacd71343188574eec7d8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE6BvpUNI4Kl8kJib7e6GuSnx4PHmlC2skDDrf3d0F956WjpfkqXQmRMtUhoBi4o1kTh13WmIYKm45vHhiEsqTvIcYA_fT5WLbelo8L8r8W0rs-9SyC4syHxN9kyDocb5i0IsGvxeT_ZPW0g3v6mahHueYjdJltbzQW4YrmZpD9DCxjvNCGCrou4u8zBCg4jcDs1rSCD-juVftEU-M6cg_XG4BTvWdw2KE9UbpeZ_CzG1bHDttayyf6vsM9aogSpBlhOMltvIPZvOXhly7My9cauBoWtOV5hwUR4oU3w2FnqY8qVGEITZmAWaX1I8AYJAoaH-GGOXreMEvpBkJw45fBTtHiynrP9LYgQ0ymaeotHYtXZMv5pr9OBPcAHmXzEBBxSNz3m41qvXH2i8oK2A0parcMgbrYw-SLZ3zdoZ_VB2pbKtqlNXsoegFcdDl1UJNTD1chtljDM-t00_xsizpSfKXlK2lSFDIF6DQJX0KOOjPrWY-tY0SUnrtH6RC9WkF6Xawr5M5XkCV74y43E4OOG5-BR8aDF6b1xRQTl5wMi_eyk9TU7Y4Vo0wsYWbt66ggZDv-a9-0d5ADpYM4y7IYB8Gd6PHjUf2DeUFH_H7QRKESg3hZjVqy6xfpQ5VJzs141e2WVkF4cfn7YdSFtj5bvno-sfAWA1FMRtIDiD6BNTOgHlPRpxe64uNao63lTATM0DknV3AxMwZ0ewpVLG8VnRi5F_ad0HyRXRtmr_BV9PHnQSvIoWjZXIA3B3Y1b8JulbSEVOZ-8soqZODjMJxMRGm1fKOZcKIXIIF-u6o3CexSUSnRn9YI3q6ZWBuYfN0_Ac3cmQiddIKTobum0EHmf6agwj7Lhqf6_-GJvoM244oZGZ1ylqyJ-z8AMLRG7z0RE5Zs8qXDRvqR6ptNWpkk83W7GDh9mHMR8UrEixcQNzHHuuUcjx33CvOCqHox6a4uFm8T23gcD084ifCsrhKx1jo2TkGXMicTXX5M5hOL3FY7EQ6MOYJ__-ZAXU_6BnFIzrWarGs2pOSHaaXPXXq_VpmBEQr2gGyKdZNnwm1UOVfzOmR2hpDcoyjewwrDVB0_BUgTRTcqvrAmHCarMuJAvcEKvtMSPjUYgV_2a1Z3lZ_7gcRyFNyJcawTP9L3yHHo00HROWvWxUoI0rWTjZrkigT2XFbEYjjImIemCntHQ4EomWZLdDlCTqMjoV2ug-HTd7e8tJajcF3JjrDPhXQIaDJAB0yS89bvvnUAVHc0nyMZqzC2tOjaWB8PCzMwwPLRA_8O3LnUq4lt-u5RR-Og5Yg==",
  "id": "rs_06652852edb03493016ab44e80085c87d0b1a2aeb60394cf9d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The descent stopped at z≈0.07, well above the table, because the jaws contacted the plush body; the torso remains centered between them. I’m closing now to secure the first gray animal.\"}",
  "call_id": "call_YYxWpH2fheTJ2zsJlCt9Tz3B",
  "id": "fc_06652852edb03493016ab44e804fc887d0ae6acfe3baf6d6c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YYxWpH2fheTJ2zsJlCt9Tz3B",
  "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]: [0.3687, 0.384, 0.0551, -0.1329, 0.2398, 0.1604, 0.0324, -0.0147, 0.8013, 0.6079, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2405 left_y=0.0518 left_z=0.0811 left_yaw=0.0615 left_pitch=0.1168 left_roll=0.0571 left_gripper=0.0324 right_x=0.295 right_y=0.0014 right_z=0.1787 right_yaw=0.001 right_pitch=-0.0126 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, 0.6085, 6.9128, 1.3309, 0.022, 0.0171, 1.0232, -0.0342, -1.2239, 7.0632, 1.7021, -0.0464, -0.0659, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7dd178a128883bd5e7308c840ca87cd3dc01b5ba9cd43b44de3f08d1ef54fb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e70cb8773ab79d37d823f65dbecb1d9bcda65b57f39cf83562ed2c981fd0572",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e09da044e6c9c9662bd5977200068cdce4544f45504aa5e94c1cb4c4379affbf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 5.007 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 13 changed as sent

message 21 changed as sent

message 25 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1909, 0.3878, 0.4557, -0.6685, -0.1883, -0.141, 0.9996, -0.0147, 0.7986, 0.6083, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2201 left_y=-0.0052 left_z=0.1508 left_yaw=0.0258 left_pitch=-0.0229 left_roll=0.0046 left_gripper=0.9996 right_x=0.2949 right_y=0.0014 right_z=0.1796 right_yaw=0.001 right_pitch=-0.0095 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, 0.8957, 6.3385, 1.7167, 0.0122, 0.0806, -0.0171, -0.1299, -1.0872, 7.0769, 1.7411, -0.0611, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.4553, 0.432, 0.0547, -0.1425, 0.3145, 0.2092, 0.9995, -0.0147, 0.7986, 0.6083, -0.3855, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2352 left_y=0.0583 left_z=0.07 left_yaw=0.0609 left_pitch=0.0728 left_roll=0.0476 left_gripper=0.9995 right_x=0.2949 right_y=0.0014 right_z=0.1795 right_yaw=0.001 right_pitch=-0.0099 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1299, 0.5402, 2.6598, 0.9304, 0.0855, -0.022, -0.0122, -0.2256, -1.2513, 7.0496, 1.7314, -0.0415, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.3687, 0.384, 0.0551, -0.1329, 0.2398, 0.1604, 0.0324, -0.0147, 0.8013, 0.6079, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2405 left_y=0.0518 left_z=0.0811 left_yaw=0.0615 left_pitch=0.1168 left_roll=0.0571 left_gripper=0.0324 right_x=0.295 right_y=0.0014 right_z=0.1787 right_yaw=0.001 right_pitch=-0.0126 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, 0.6085, 6.9128, 1.3309, 0.022, 0.0171, 1.0232, -0.0342, -1.2239, 7.0632, 1.7021, -0.0464, -0.0659, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7dd178a128883bd5e7308c840ca87cd3dc01b5ba9cd43b44de3f08d1ef54fb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e70cb8773ab79d37d823f65dbecb1d9bcda65b57f39cf83562ed2c981fd0572",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e09da044e6c9c9662bd5977200068cdce4544f45504aa5e94c1cb4c4379affbf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE6QS1JBalcXgL11_-NADIJLV07FkXKctLRKS1vi2G6tTaCFScOoe45zai6a4SouVUe2zvEO6I-drp7lc0rW3yuFv-dGPsxEZ8IBPINGjoxxWWTVaI9agi9LcjzNSkwwA5vy_ah35qHqeP3xzzUOO6mfl_U2qFnmzY52O6pUTIYqGMwXF7YmjSXTYeZgCt5SpYEiKVIi4Fx4hK-pD_Bf-PmGxDCzLY7aF9H_KnB7XIXmSU5vA228YI3ZZkhw9MRjOtiOL3Gc6ke4X42MmXsMF1h_PxpFJdWwW-ZgAqQQeTsgGL5_YqiyRLZVH2MZKW5_EEEHuulRAWJI_jsib7n72nvuQSduTK836oEaceqzeKclA4LLGIBCU5_uSUr67oRkFG1UMNBz6F9qdDkUVmv2SIxmMIMwXTnj3hbFVc32LOl0uuYIgUAJQAYND15iLVkIwHGi7iBhTnAmvOjdyLuUvrxAPTSzSPa4kz2EDHe521VkGX-SEFuTRK7rLcLh0-F0eERN6q-rUmcRKDSM18ifqEFh9FqxOrHz6viP2mYQ5o1Onn84vv2x7c77yt4mmI-o26IpWhl-xttV52f0a6AFCAIiCGQ4vFAwQo8fvleSjKKm_CW2NYRbP816gVpN_fB8EIoreO-s6qBj3MY1eQauNjSgmPO5ySlaTVlIejG9ttBj1MpAV71he8UDmEVibvA6Vh3Z_narlShGDW9rP91loRaPckHlZpbd6l0gBCkq45Ynr8O-vLP5Ea9CCS6sbAZ3D3HpaUtv6wgg77Bo42mowGKjWE_OsI4mUEszCM2I3Pk6ogOJg26RTTgMuq6k4BkMvk3QyOlx0sZCwFYudRZqCaUEY5FUy271XPu-9gXFs3PbwNemRnwwIkqZuJC1Z9L_hphA-nlTDVdVlkcvGzNaDNAW84Z1bTSDVoIsRltK1p-rVeNu_8gmL9e_7it_OGy1d1k6BYCIhfczHQcmzs2vLxFkb_sxDWAOzQ16KQrgJz_fNoMMXgpHHB6j3PlmaAA3OwTU69d4rzgF589D5EmqDkWHw9pj26QS4RmrU2_mJz3xANxyvzCwcOb10J5YEega-Ehutpx6Dqu6qMaOP8YkDSKrlMsuzdGB9p60HZVohThDyI-SpeCKHl6lzATPwpDigR9MSrh4N3jyEE9FNIZg6j0PTwvAsg8ZVui8GhBC8ZNCKHkR2L6U-nGkBxz-2GjF3ajWt272XboMI6tXVses4PFyhLCGOJMHi0ifk8JeHzWPp4bH_WII8h_SymXK9D1wcFBCTUXjN-OeH7NYY3ZBMLkZVjGr9TZYvg4SYOW_jH5HIINs2pFy7xc4khE5H7triRRUuCiHJUlEsajX9K_590PRUOr65woe1DglqjNOquK9LJIKgfro8zBswYBH8d-6lMgxCId5_4l_ATdn1NpgAy5vwY9QixzRAyo9Hej5EvRS4p1vFQXjzBDqGN_ZoQTyeumDRXH4NSe7Aqe7kQxXa4bimeeBByWs72c0CYT7ehPFSlpym96M7TifSUpU9GcxuJwZskAb4A_-wYv1Ar5Cb0XHQtNya53K503vCCM8-3M765LAF48mPrNu6udJsBEaSAGN-rWBk6uKfpdgTHwDhBTecLp5JI_VZ3QUrq3wjsLfiumwyfuCDMvc78kIUA-UgrCi8p3YYGw9IOa09NRaZc1Icmt6p-Is6C2NzzTy69sAyYvpk-0BIpMJDuJ-9Oc32bhnIRbSptdnObgIRGGywVv2_a9ufi4QpsaOrgvst5gmvLSuiIJk5kwsCPWgnXomskd-_nhXqnCY5lGxuNvKP6V0bVrJq27-nMXjwn_N2gmpJgt5W28dKyIjZXhjmKhzmGCZeJJ2vyt6kaiOX8UF2DC0oCV0E-xbYNhQmTxBL6BhPf4Or24sBzUeOkWu9cv_wpqqs9i2TLKsFQZ8dEXuV6Nk1yLPIgc-KeSB5TqKCNDGfSeYJ2lg8lAKmm4WpUg_1TZeGpF0JvfDaBADGW0UXz6Wh_P50wmORpwQUe0ewoWqFuJ-NZSVcABSnf-SOOQT0soZHcnMC6-wKvTGwiIFoIdKg9qvtgnN4bJuqq0o-HTF7omBaBDRedF1FaqUP_aNwu5p",
  "id": "rs_06652852edb03493016ab44e8bc14087d0a0ce62ae19ae9582",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.18,\"left_z\":0.22},\"note\":\"The gripper settled at 0.032, which is borderline and may be only a light pinch in the plush fur, so the lift is the decisive check. I’m moving directly above the left basket at carrying height; the overhead view will show whether the gray animal comes with the jaws.\"}",
  "call_id": "call_bcXzRuyzfsyl05SDVuJsQ9Cb",
  "id": "fc_06652852edb03493016ab44e8ee9ec87d0a66969c72013bc99",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bcXzRuyzfsyl05SDVuJsQ9Cb",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5762, 1.6806, 1.2156, -0.1696, -0.6037, -0.3153, 0.0337, -0.0147, 0.8055, 0.6067, -0.3931, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4494 left_y=-0.1682 left_z=0.1906 left_yaw=0.0713 left_pitch=0.0529 left_roll=0.0875 left_gripper=0.0337 right_x=0.2941 right_y=0.0014 right_z=0.1754 right_yaw=0.001 right_pitch=-0.0259 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.8274, -8.8821, 9.894, 1.9658, -0.2515, 0.1245, 1.0281, -0.3487, -1.5111, 7.3231, 1.7656, -0.0366, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88937c01544339544ac02dc2ff158a329f8965ec1b81b06082cadd287aa068ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11b6f5489309f517afff3735c5fa106c91246e091b9391a91598ab3d0db1b805",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd9f2256c35f146992c78f2804f78bd67576742d0218262a51fc29dff4f3ff4a",
      "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 · 2.782 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 17 changed as sent

message 25 changed as sent

message 29 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.4503, 0.4236, 0.3782, -0.6064, 0.3145, 0.207, 0.9995, -0.0147, 0.7986, 0.6083, -0.3851, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2169 left_y=0.0481 left_z=0.1251 left_yaw=0.0578 left_pitch=-0.049 left_roll=-0.005 left_gripper=0.9995 right_x=0.2949 right_y=0.0013 right_z=0.1796 right_yaw=0.0006 right_pitch=-0.0095 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1709, 0.8957, 6.8034, 1.7998, 0.1636, 0.0708, -0.0171, -0.0752, -1.0735, 7.1726, 1.7802, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.3687, 0.384, 0.0551, -0.1329, 0.2398, 0.1604, 0.0324, -0.0147, 0.8013, 0.6079, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2405 left_y=0.0518 left_z=0.0811 left_yaw=0.0615 left_pitch=0.1168 left_roll=0.0571 left_gripper=0.0324 right_x=0.295 right_y=0.0014 right_z=0.1787 right_yaw=0.001 right_pitch=-0.0126 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, 0.6085, 6.9128, 1.3309, 0.022, 0.0171, 1.0232, -0.0342, -1.2239, 7.0632, 1.7021, -0.0464, -0.0659, -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 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5762, 1.6806, 1.2156, -0.1696, -0.6037, -0.3153, 0.0337, -0.0147, 0.8055, 0.6067, -0.3931, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4494 left_y=-0.1682 left_z=0.1906 left_yaw=0.0713 left_pitch=0.0529 left_roll=0.0875 left_gripper=0.0337 right_x=0.2941 right_y=0.0014 right_z=0.1754 right_yaw=0.001 right_pitch=-0.0259 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.8274, -8.8821, 9.894, 1.9658, -0.2515, 0.1245, 1.0281, -0.3487, -1.5111, 7.3231, 1.7656, -0.0366, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88937c01544339544ac02dc2ff158a329f8965ec1b81b06082cadd287aa068ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11b6f5489309f517afff3735c5fa106c91246e091b9391a91598ab3d0db1b805",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd9f2256c35f146992c78f2804f78bd67576742d0218262a51fc29dff4f3ff4a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE6fpteT-3evD8g00nJ4Gn4icCp9scAOJRy3LPfrRH0LVtGujilNInKSjYQZZ6dJvROa1iDJ63LfD6ToHi3G-VMvMDJWrft7kCA85vdiPChz2D-JBGINY8shCXcrp8arIfB_NfKO5hQm4BwX7v2HocSFJsuOGUa97TKD6OdjpdrpyBxiz_FJcyTiPTHu1Z1mbCxBVDfJ-OT241rGzyLt-IEzRelztAiQTOuOuvV2AsWEjQwEx_y5PuOcBcXwFojoVN0lLmeGcKFoKsezaAt2-Fp-tn_CrfOQoZzy0fnG-4Kw96QZxV4tQZxLN96bDk0p6ocZngTvQmE81W-WAsWCnZREagT17YgTnVsikdtGT8LByszY2Y-z6R0XwA_3tv6EzDiwrxK3UZJ9CcOGtgs768q0vgosKnIHiW3mGcneZgOZ35FCugBfMUyjyWZWSdhf_6H2YcBs_nCDVObLCP7-jXVFgOZCSSa6SeT9cNL3bWThiZxiYP4gGbCd83Ad2xS24qDqx2oF3XGrZhtcmLH0UdMVon00oZ1zOBw8JohwlLMWxOz7Q3XdghQW7iEnaa0C9C142OodbGyNJ22touVPc4NpUmd_REfvqsVwOhnN0-TCB65vtAf_aSR9a54BHWoz3OGok-brX2QtryUKntJZnCZTMS_QuseVVuADeaMc8Qvehxv-8boy75cwXB79B64dHQxJlgj5JJ2rujgijRZgybVeadY1gbjOA_ZJOE33JUSg235lzSfHLQ1k6IIY2ZR7mT0a2o57GLUn1G8vkQkrj4W3t7M9MUR1CYFuNye280fy15D5j7EXLnOQvnrVnE82bq0uRMOsydNJxjJw9nD_anHCpyb8Ea1iPINHvHsmZpBaq8cCwhxAxN1--_Kd6gKllDsfHklBlXVKtvHM8YjkZ-BLtCckiV_jz4pd0abgavfJSIdNUsgz0T5REax23sU_imj-DrsoKx2-lhZ4uzrswlX9JkxKWzJpdTwLCIplSewsaYwplXVggDXrzg9vT6MwL-s0STMllI4r-d71N6j9tmjx1_ME0xSycnasUjnWhomBfriIo3KQ08uvGGST_aHFTQyOd79rhv8BtNg6LjdYIUh12iKeY3ohp7tz3m1x4eNoGCTckEpQely2CM-KL_Rb1pVeP_0oQcWJCOqIOdQKiDL1jrhxUsUByFUUZmM0fLgC6s1F6zrkBgTXn1kgAsH1f0Q0ULmClcMaiYag0kkYxTsW_e8hapmkbFrOZX7SOOCTw6jyYaILl3dGQbVAc46n5mpa6lcsEsiLYg5Qtrca502fJdHftX_mM_5FyiPOGC51BJNkW6S5TH4FHj0OFdQvZeQyHJqlQ8kKHVcZ3Jgx84BpTw3KuIyBtMCb14fjRjcMR-I0Xj37jk6MKIxqj9nxZz1_FEmWRyRxrtRImoVL3yZEShcN5WXvYwqDFzoi692pHZtBJh-dvwzMO0Db0SKtdMvqXLQYI2TGAyqsuSIWQzL9pGEu0iL-feDNvkCdkV0no7T91N8DDp8zM3yQc4u8Dd8Cwu5mXt4Jwd_FmSzxr7V6LFo9b1s-Mu5Q2c54hUrmp2PEH0SfdDLigh5gSi_8Xd4yFCOrpAt9cIWFlHFaF_zf8FxnyS2Ew6zYNkUYixhm6hxa5ZuyRu2hgwB-b6909Bn4QwzDCdUfiZ_rKFmMgqff7I_cZhkgmyw1VWswVWCQGZQ8bmu3_U7RHv9OoU2MrXDKdfZl8CGmOS_TkxLcdljTDE0Mp9bZNVh_7Xfz7bPgDf0PmvOfRtGxZ_cVdedq-3MK0L4jO9o-59DWwY_yndhViEfMk93cf7Klk9V18rglAaEp-m4UnPCS95G24bL-B11FsQOXDEEpr3EZOCsbhiZe64p-gOgsQDanN44IDr7eDzwSU54nq5NWlCbZo83SwX-y3jsJeW3O8pDQeLqcCJdrlf9jFKY9mI9J80UK1ZjybgSAXrymdk-OtygjBZgQiVGEDZinBHzbT55NS3qTnV7hQ7GZSiX1iN6QNiDq-F71jkvohJH5PubPRrmwK2hnQA94XmX_RW6Bq-WndrfkLK7rEXxGHGN4dqJAjBWU-MKaapplbhn0luLuZlfir7S9c_97F3z6_cewAGw3UEozadoBVfc0DggAuw_rWAyRbjYo7T6vdRbDebY3qXcLZiY8m_w05DeLgYJHPwy6hYvxb3RVtYigsUuQtzpS3Umy1MR4XFrJz2jQnk4zXEf3kpCRAPntgFVOzoeZWwjyi9VysSk7ldfbLkSCaG8TYGiGGvK5PmhU_OyNe2ULKdPTYN1K2f1PUfUjeYBykrjJTbJ5WR3vkvXW2dTrvgdum8-P5YI6AE_xWA44Erq9SQVLDY2qHS-mc_tznWxVVEQaaFmET4VHukGIjbADxLjdBPNRoIgqbrLBe5hSNChGo3N0k26R1gitF8mBt3F4Vusze4vOhAta-yZn4BolWC5POAN5ZNZDFhupHQBPpeGm3Ng7LlHMn5plY9cEfOTV19ngcD0VpxkUmjvLF83sy3rtedMWwz84a0-gMnblsbMPY6rDiHkQfD75ujDfUmAEEVWih3T5Ed6bduWXouH5kCTBlO0GM6SqoywbDSzhIdKp9XrkxJ20gdPBDwObxgTyCQEKHEQHmLana6ropPeWws5Dw0N7Xn4J-uYyrp4AKZEIBKaJQDFmyuKC4sKfv-qKl16aCEVC2gm_yQ==",
  "id": "rs_06652852edb03493016ab44e9b703c87d095de71486be2f980",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.24,\"left_z\":0.19},\"note\":\"The lift confirmed success: the front gray animal moved with the gripper and only two gray animals remain on the table. In the wrist view the basket center is slightly to the right of the jaw column, so I’m making a small inward shift to center the held plush over the basket before release.\"}",
  "call_id": "call_LULyh8zLEubdnbIvqfO6n1iu",
  "id": "fc_06652852edb03493016ab44e9e648c87d09701a20ba66036f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LULyh8zLEubdnbIvqfO6n1iu",
  "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]: [-0.6804, 1.8915, 1.4544, -0.2981, -0.7116, -0.421, 0.0337, -0.0147, 0.8078, 0.6067, -0.3931, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.465 left_y=-0.2232 left_z=0.1766 left_yaw=0.1025 left_pitch=0.0281 left_roll=0.1137 left_gripper=0.0337 right_x=0.2942 right_y=0.0014 right_z=0.1747 right_yaw=0.001 right_pitch=-0.0282 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-1.0188, -9.8256, 9.5795, 1.7998, -0.0171, 0.2076, 1.0232, 0.0068, -1.5111, 7.0085, 1.7363, -0.0317, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6de66b1c6af3485970bd780d7f5230398111e64607223e54db46d249fbb69efa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2046f8bcf55069fbb3f2c97528cc0657708e9497b2d9a2abd550bda8a21a71f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3e278aff7e5049893fcacd46461b2ba6a89449a39e815a880bdec928d6e324d",
      "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 · 6.91 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 21 changed as sent

message 29 changed as sent

message 33 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.4553, 0.432, 0.0547, -0.1425, 0.3145, 0.2092, 0.9995, -0.0147, 0.7986, 0.6083, -0.3855, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2352 left_y=0.0583 left_z=0.07 left_yaw=0.0609 left_pitch=0.0728 left_roll=0.0476 left_gripper=0.9995 right_x=0.2949 right_y=0.0014 right_z=0.1795 right_yaw=0.001 right_pitch=-0.0099 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1299, 0.5402, 2.6598, 0.9304, 0.0855, -0.022, -0.0122, -0.2256, -1.2513, 7.0496, 1.7314, -0.0415, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5762, 1.6806, 1.2156, -0.1696, -0.6037, -0.3153, 0.0337, -0.0147, 0.8055, 0.6067, -0.3931, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4494 left_y=-0.1682 left_z=0.1906 left_yaw=0.0713 left_pitch=0.0529 left_roll=0.0875 left_gripper=0.0337 right_x=0.2941 right_y=0.0014 right_z=0.1754 right_yaw=0.001 right_pitch=-0.0259 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.8274, -8.8821, 9.894, 1.9658, -0.2515, 0.1245, 1.0281, -0.3487, -1.5111, 7.3231, 1.7656, -0.0366, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6804, 1.8915, 1.4544, -0.2981, -0.7116, -0.421, 0.0337, -0.0147, 0.8078, 0.6067, -0.3931, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.465 left_y=-0.2232 left_z=0.1766 left_yaw=0.1025 left_pitch=0.0281 left_roll=0.1137 left_gripper=0.0337 right_x=0.2942 right_y=0.0014 right_z=0.1747 right_yaw=0.001 right_pitch=-0.0282 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-1.0188, -9.8256, 9.5795, 1.7998, -0.0171, 0.2076, 1.0232, 0.0068, -1.5111, 7.0085, 1.7363, -0.0317, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6de66b1c6af3485970bd780d7f5230398111e64607223e54db46d249fbb69efa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2046f8bcf55069fbb3f2c97528cc0657708e9497b2d9a2abd550bda8a21a71f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3e278aff7e5049893fcacd46461b2ba6a89449a39e815a880bdec928d6e324d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE6iLqr8kGwMMliZynHu4ON_eyeGTvUjYKJPkD_oFp5T2Cr-yjz-w9JeXgKmeCKEp7loXGmKvfblvXwkdRMGTvrkHdkXQsT2S4qmgo_kF9OCKwoRcg5L0zNqJCZsCtTTbaJf1ngjOdTUUssqtV_zHncPGUOFcegvn6kH-z3m6MMtxuRJNVOk_YOM1RF7NuOzPQMaggs4kjdjnPyqa98a9_P0pPd7TlCWMsUDu0Vs6CGqHcfdB7PeLfo57sy0RpW2XiJXf9Pwii4J2jjxmWnmB9qJexhGul8D0byyRKznh2wyuv6mSk_P3gMCjhH2-_JA8rNCcd-WmYsfy3U8zUCjKvf73AtG8e61IFix3r_G1u7JjbbW1vAiHE1Aw4RqswzWDAad-fPgn0xs3svEG-IcwMN7wYqOl9RsW6D9DpL0isrV-tHau1XT0YXXnVjbzfJBtkMr-KfZbyJ8TqpwrkxUKiyF3tXVhfFSbl5tvMBExQqb3tIxVkPeTO0b6rmNXWASLnPxah9pfm3jT8uVjDIoznLED-_uQpjwZqwvU06_vrgl7yei59X5FWb8pLXMjIKverY2LzWTtjdr7Dc40MjIOTlKk2mQDMssIiFeeyb-ixOjDw1Xrqr3rh2gM-3GkODb2dj8rwkf-03vPFKHWR8EfqWGex3leDS4nMCEq-UMFmyRA0OX-GxY0Y_xbYn6lS4KyHHYIHhtKSamOpYsc4rzvG1jLsx2BYajTo9b5jWoT5X4zJBf1XvwgthEFOI-0Flwl1HEdmpWRZAzLIr4mdtbEby9_JZccHyQuViIqKn-yMCONXT4EEMNzA55tyXYT8kNde5ASRjcxEnTMQrqkRav8SRIVq2_WTJ2--__A3bBB_yu4hgT8vCh4DPoq3Byvi51IPd7Vs8eJHhBm1_AQSqeTiqwnX2TP9TmG7a5ntniPiW9csBlDV25eA2OsaGeruReAQKn88F4QYKeefCobqKpZDCZyeLM6e3OiAM3WwVDrnOqA0w1sCc0s3DPaKH3euRB1HbsOCxSczNYTQs6zbtuMDb1atpah4PLgfAfg6NgJ4MWXTaKdLLXHjyXB28XKlSzmEErUDcUUmX--2lUM9zXDSvc-mUq7ykYy2-ALsMCAnBdnilhp44XichAa-nUPQshyJcYupTqqZt3lXWyq9c_OgYhcShTBC_XhBCfqW-S0OCmsD7LLFJQKyC4PkkO1g3ODUfCEkk4aGac2_3CV3cvIiU7mh7jKvQlwQq67naXmEymJkTqBzo6JbT_0TKP4au1jkBdo9GfpPTH8DSmsipaBH65LTi6MRshnIw_frUVsCTUg6yDNKdiTebivNdKXRLKGuZPlXymie8a-UTF1XjF4dx5DSLkF-13om5aqYIObWD6rLHysK4FhO0DUv2-a7vSuFRv3KbI5MbAZKYJOUI4AjdfYkG8w0XltLNrltG7EqrkucSPaItXAi6vn8msPjztFpWHtletVcjPdoVe3v454LEnJwndaiF-meSpr7p0rSRoX5oDrQkPmK1tvZVN0Rzebin3xhlRGrfXCI7uSAL54Qch2LSINWPOxyeQaCMyWQ-kKTGUfdy8FtMxnrS0oKYS_PAUer8T57M8MaVBJvIFNbhm8vtLGDn6nYGyxWZ8Ta2ZvKmcAeuuUZwAifC6TSGIh4vWFhahnz0gk3y4YtcC4z6wWQ==",
  "id": "rs_06652852edb03493016ab44ea0fbb887d09d4110183451e1e1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The held gray animal is now visibly over the open mouth of the left basket in the overhead view. I’m releasing it from this modest height so it settles inside without the gripper contacting the basket.\"}",
  "call_id": "call_cPqG97n0aWleFKhjHH0Z9mwV",
  "id": "fc_06652852edb03493016ab44ea1e89c87d08b29b6884acbc80e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cPqG97n0aWleFKhjHH0Z9mwV",
  "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]: [-0.683, 1.9057, 1.4624, -0.2996, -0.7265, -0.4351, 0.9955, -0.0147, 0.8082, 0.6067, -0.3927, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4663 left_y=-0.2235 left_z=0.1739 left_yaw=0.118 left_pitch=0.0308 left_roll=0.114 left_gripper=0.9955 right_x=0.2943 right_y=0.0014 right_z=0.1747 right_yaw=0.0012 right_pitch=-0.0282 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -11.5624, 6.106, 1.5067, -0.1538, 0.0855, -0.1392, -0.1299, -1.1692, 7.0085, 1.7363, -0.0317, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cac116893e3b658472f561c9f397084dd2d61cb22e5e5fe069885f71347efdaa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7980349eaa840cee09a922e021347f52ebb0612ae8f40a205ab5255946b4250e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9052f63a784fa7cacf0f5753a65eb0c9d70058a0cdd068aa0e16fcd98596db4b",
      "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 · 2.191 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 33 changed as sent

message 37 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.3687, 0.384, 0.0551, -0.1329, 0.2398, 0.1604, 0.0324, -0.0147, 0.8013, 0.6079, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2405 left_y=0.0518 left_z=0.0811 left_yaw=0.0615 left_pitch=0.1168 left_roll=0.0571 left_gripper=0.0324 right_x=0.295 right_y=0.0014 right_z=0.1787 right_yaw=0.001 right_pitch=-0.0126 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, 0.6085, 6.9128, 1.3309, 0.022, 0.0171, 1.0232, -0.0342, -1.2239, 7.0632, 1.7021, -0.0464, -0.0659, -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 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6804, 1.8915, 1.4544, -0.2981, -0.7116, -0.421, 0.0337, -0.0147, 0.8078, 0.6067, -0.3931, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.465 left_y=-0.2232 left_z=0.1766 left_yaw=0.1025 left_pitch=0.0281 left_roll=0.1137 left_gripper=0.0337 right_x=0.2942 right_y=0.0014 right_z=0.1747 right_yaw=0.001 right_pitch=-0.0282 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-1.0188, -9.8256, 9.5795, 1.7998, -0.0171, 0.2076, 1.0232, 0.0068, -1.5111, 7.0085, 1.7363, -0.0317, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.683, 1.9057, 1.4624, -0.2996, -0.7265, -0.4351, 0.9955, -0.0147, 0.8082, 0.6067, -0.3927, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4663 left_y=-0.2235 left_z=0.1739 left_yaw=0.118 left_pitch=0.0308 left_roll=0.114 left_gripper=0.9955 right_x=0.2943 right_y=0.0014 right_z=0.1747 right_yaw=0.0012 right_pitch=-0.0282 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -11.5624, 6.106, 1.5067, -0.1538, 0.0855, -0.1392, -0.1299, -1.1692, 7.0085, 1.7363, -0.0317, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cac116893e3b658472f561c9f397084dd2d61cb22e5e5fe069885f71347efdaa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7980349eaa840cee09a922e021347f52ebb0612ae8f40a205ab5255946b4250e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9052f63a784fa7cacf0f5753a65eb0c9d70058a0cdd068aa0e16fcd98596db4b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE6qx2GaaHbA_STvgv01AIQq53Ng-GkT5Igyx_spNNX7Ctbu0Fp9OuQca4vIQoTAdeQgN_iEZYJ9IuiNkMQAR6AdFT7bkMjYlsxuz_cEN1zgWxtWK7y1FDx0VLllauh9QFoODIYBR46XaAEtVxOAn_T2ant71VRAKac8Z5Mf4wg6dWhVRpJd7cd_ZnyzBqBTVvEpDUInk5x6s46k_7u5Z22G5RJv0kb6_hrGqEFEF66OGwFR23VCyokwqeRNqmOGRAHflVpFk2YNZDcip-ZZGzOF65fdGIJBYMzta3EyWmX8OxRqX4WoHQGpmDFmnghKg5mvsADlljiX5JZLRWMu0zxzO_x3k5ewJhoz2s-OJTxzBlV28Qk1OvOPyROjrODaDk13XC_XFYTUV4LHKJwIPgz3jxBoI1UCVpSODuLKx-d0rNh7SbND9eW_ItoSxv73GfM6J1ChquS2nkYbpEF7auKT1KlAk0o2NUZNcxx1MSPSI5lbb_tW4vGz6N8NRm1OvyDU0vniUZSFqqybTwbxMsozcP52MTSvGoXv2oizHIusz1TmtgEcYjgPtFVS7Tx0vEG4bbpk4x5VsQoiD3Yzg2E8sfBOAXwFdjw5XQiHKdAR9BSkVg48R0uojkHcGyxMVhse3dTU9_K6mwSAeMk96JHplkK5NEY-uEIsxzZnWRnuTY2FrbjC7Br77kp8D8w3XWS85AnZyeVCIqfFj_ejYoUi3JdnnOfiLsjYW2K234mkXVC7dM9_AT_Z1rj9WAy0b18jCoTo0A-aYw786vpGCNaOfOVJlJPBvUySa6AWxtikGKRzJXiOaqWmBp3Xqz-Q0WGSpJyDrL9h2cxWeyHZGdUAExpMHAKg6btO--0fRB7Xb0GnrGDiZhfCYeUT4KGX1nIZS_mgAfTq6-_aZQk4pzabWOSZkGIROxYJr5xOAJPyXtm3fUWn5QWshMff1A66LWde_WCVGhAb-6F9j9_a_HHbo8QUxtATiwsYsd6bYvvHCJ6hVULVFMHW9FpRO6GRQ9L9eFDThw4-_1i0-dtR2i82OUupt5y65pWlQA1eej46ksf_e__e8vkjlGtO6JyS7hVn3KJWQJTvTfXeKoc5Y1ICAWbbC3rOGU2DKq6HCOADpWccxtSGsPLbpZN8zZmEnSTTHaenYehMfW_lVgR-msJD6AQOme54MLFtNcWd9xDTJEQWmUVshhIO2U51wlVHYOJk1pcQrO1z-4lOHioJULfzRBfbqvASd6Uj7-haIij4XRV4SgfdAhGbwQ2EgVZL7RiwMF1fpI9mrkAeLFt8i54647osrjbpren7Gt5PUqV0iDB5r59iwKO2BWpv2VFSIp71h3TrZ64EcQFBjGd_-7tFWtLqta2bSGm1kFNfoxiv4zLyYmmSoZIS9tiM7CKevDRMhiiEigulxLFJLOU9R_u35rz16atEt-TaVttgEljyNTkDiVNvvKOy9z2JmbnpwXeahaUfHqRKmWGRERJk2Na2ToapQyXngQQlNrKADi9IEG304tcYGTh4NZAV2Q8-mW5aHWZQ-CPbznHnpKdebIeigbaTkaY0087sssVi2-cgByNEHV_4auRVjaiQchwdG_YTrjqcyk8TWgdq5vo5cYMJ8cqaJWbAlUfzdgOE99mbBqJRONqRtZzXffEuOfm1ZVATL2LYx9YF8oV3vdP39weBTLCJdDW2g45nRwDnn6TVrpAnX5ZV4NgQt0QzDSk3klzbhuiKMEw6wxTBH1YevIbsOO-ue03RTBh-b7xK_SGSxmGDMFm6U6GGzTfBjmBCq1n3scQufgRu32DPSoSJeZd3Y0vCAoXSNP3poo4oazR1HDl_UQE-v9n89-ybzr3AAR25aiV2nFI1PNE7v2wVkQqqX7HvZ5Uvt-5QmrC-14fI8_EnKNWi8OSBzthKIR38kAkJssQkyMcWedfbYwsa2hbdWb-6nMojH9JdX-1cjjeKHDSbD6Apm1Kxj_O1zUefGQIzH1yB6XjTZPHRcKKXgMeHbE0Om-PHM3bDu2oKuS2LMYfja3pXi6e1DilkywKT3cc-o8aieeLScw2TMj5OQJG8otS6SQulEiNBEo-xCe1v7bbsnfsqDBxAPJ8lJ70zd5yr4MSdwDPP1BzHG-K3Qw_MvsL4_H_mfU0KJYiq05mOYR43U752-gOAy5nW-ZaKU3UWkFevzFFi4zlx2qTMw6AradRbOJK848S-bt1DZMlhvYdsxlu8V_TmHv1nKb00ZCarGlcD4iJt47CypwhxN1LiGI9sEGn554E6U9sfs5LBwiDYbz5KIK2y7vMD2Uz7_KNt6jpwjor_Vo1PijdTBquNcKiGiqfsHUEq-oEUg1QoNh7z1tkQooIcrfMP3o7hy6AvZTfXKjfvhaVim9b5ZBnsXtDSkconuoQInhm_JRUm8masvYGLawR3DMEivWrdJ_eYzIPv4osBdJWwmQnaIYwga4q1ACS8jErEYtBLZMvrHM9um0MknbvtbzKL51orC2BDVY-JcMUepB_ITtyFP0aboEXEjvt_Lqy3QqacTXk0dxHRpI4T6Ntkf9H81m2dwZlMfyYrOrmVSFyX4HxYh4uxjzBkmOE56J7HraPDlX8KiF62jldXiQ7UKp4UnPnqFAYpLAuADZ5msGg-DQKewImgWrkAlmQCdap-SztatYTqzfBMXOcRN432us76t8-rufDAQ8YM6_ZqN4E4JGobZBJnMeehSAEmy200guRrlF3JwLrNB7hweZqul7CMPwiOO_4PLMzl4mnuMXY1XhfBEgD2ijIbTdfaVbbeEdj5gvIePdYOwzDnP3HlgHp4yzuvKpJHTOPNLoV2ydIszwULrUGpSP2P3Nk8vpI1E9vjg1oxMD9Tdxa6HiY5Iqy7Ebj_Y2RbtFTHPiB09cOx_1SHPI2L0egqv0TJeeaYP5V4otjbj0f1ZddmEtzHwBjlNOXbP0qfwxDvoVnlxvY-mWoatSirdYbdAQh3aqrfgD8yqb1hHGqufyHu2Q2RL_JR2g_pUbEgcH0YMcCKQftUqXPRzlYsGdg1ZW26Pxxe6xkyq9kQopZA4eQfw_RRGROEUvk1H0NmedmD4HOhAXeZKQiC_8_2c8i3sADRC6LyAzZbaFpzacLs0fwFmYl91wLJw_Twrubld9Vj1b6A7dVKfeVAGu1GdXComcbDp_44-SWbfSWXCoOGkOtoLzFr6pVigA4bJsZc-kw_TGuT9eCLGlBGaiTzqtGQfBuOGVB3lnsd4v1xWCWy4CwrhmB6xGWHuMPuQw7NBYM4ePmy_FC6gC6bParmtTZ1qSyldLt0xcikXek6wV1Gu9dB788efgx57E_rJzSWJEakA_emzy67LzIOWATs9se54UkYohFOKns2IKsD1klulzm_QPNpque1f1uXkjxYRYMqsHbqAt1opcfCJKCVdVcMZPGw477lMdvJCpliYH8yk0IAcHFD0oO2faxc2dYxaVNTdDgdaXfCufEd0S7esv0ggA4jy_HsRLGmlRYdU-DgAmFI8nWyGFSSKpXx6kFz_4xRsPr5acf_9yovHTR2vloctgP-zBqBpfgPp4cHKtWLsHVxEe2488IPlTQRYenNgWM4KFUYHHczjwenfP4U3o2HefEYvLE7kxIVvqFMAZCwZA7P1bzLh7l98NzVmdxX_Jb_kccr4slL4szprmi19PTAdJKC9EwlMHw41CUOlLhkNEcwt0-ZdmdBA3Cc04jcP9MCZ_VuEj29hru6YQjxqj8yAr3ls1px20j0BNkBO3Gc0NuoOUypd-K1pdyffV6UMCyqfYuuPwQzH_VWw7r7ADGhdW0ANqQ6KyJZMgFWIk8=",
  "id": "rs_06652852edb03493016ab44ea4901087d0a0542bf1ae98d694",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.13,\"left_z\":0.06},\"note\":\"The release opened fully, but the gray plush caught on the left outer rim instead of falling into the basket; the basket floor is still visible. I’m lowering the open jaws around the plush where it rests beside the rim so I can regrasp and place it farther toward the basket center.\"}",
  "call_id": "call_B1KYtJ2EpBCWxKBE9StZJ4tD",
  "id": "fc_06652852edb03493016ab44ea9729c87d0946a7bf327909258",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_B1KYtJ2EpBCWxKBE9StZJ4tD",
  "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]: [-0.5079, 1.8492, 0.9337, 0.3538, -0.6201, -0.3382, 0.9968, -0.0147, 0.812, 0.6067, -0.3923, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4628 left_y=-0.136 left_z=0.0944 left_yaw=0.1686 left_pitch=0.117 left_roll=0.0296 left_gripper=0.9968 right_x=0.2946 right_y=0.0013 right_z=0.1737 right_yaw=0.0007 right_pitch=-0.0317 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -6.8171, 3.9179, 0.6618, 0.1392, 0.4078, 0.1148, -0.1162, -1.306, 7.3094, 1.8095, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8692aee5b98db30efc757b42fb4f605241f4b3c95fd4dec59c11537ef13f9ae4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a61dd68324571e86f9bd7a6ae6124b3c64a177587469398d50c403561ec87fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59dc68c29cb2fda49755414a46a4142c6ce15ad0645b4f2d60bec4adeb573d43",
      "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 10 attempt 0 · /responses · status 200 · 4.718 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 29 changed as sent

message 37 changed as sent

message 41 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5762, 1.6806, 1.2156, -0.1696, -0.6037, -0.3153, 0.0337, -0.0147, 0.8055, 0.6067, -0.3931, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4494 left_y=-0.1682 left_z=0.1906 left_yaw=0.0713 left_pitch=0.0529 left_roll=0.0875 left_gripper=0.0337 right_x=0.2941 right_y=0.0014 right_z=0.1754 right_yaw=0.001 right_pitch=-0.0259 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.8274, -8.8821, 9.894, 1.9658, -0.2515, 0.1245, 1.0281, -0.3487, -1.5111, 7.3231, 1.7656, -0.0366, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.683, 1.9057, 1.4624, -0.2996, -0.7265, -0.4351, 0.9955, -0.0147, 0.8082, 0.6067, -0.3927, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4663 left_y=-0.2235 left_z=0.1739 left_yaw=0.118 left_pitch=0.0308 left_roll=0.114 left_gripper=0.9955 right_x=0.2943 right_y=0.0014 right_z=0.1747 right_yaw=0.0012 right_pitch=-0.0282 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -11.5624, 6.106, 1.5067, -0.1538, 0.0855, -0.1392, -0.1299, -1.1692, 7.0085, 1.7363, -0.0317, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5079, 1.8492, 0.9337, 0.3538, -0.6201, -0.3382, 0.9968, -0.0147, 0.812, 0.6067, -0.3923, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4628 left_y=-0.136 left_z=0.0944 left_yaw=0.1686 left_pitch=0.117 left_roll=0.0296 left_gripper=0.9968 right_x=0.2946 right_y=0.0013 right_z=0.1737 right_yaw=0.0007 right_pitch=-0.0317 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -6.8171, 3.9179, 0.6618, 0.1392, 0.4078, 0.1148, -0.1162, -1.306, 7.3094, 1.8095, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8692aee5b98db30efc757b42fb4f605241f4b3c95fd4dec59c11537ef13f9ae4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a61dd68324571e86f9bd7a6ae6124b3c64a177587469398d50c403561ec87fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59dc68c29cb2fda49755414a46a4142c6ce15ad0645b4f2d60bec4adeb573d43",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE6tXBtuyaP3khZ9IE-qXuUO3Kdw6u_bicVVPVEKEqaf-SLRSw8XVx5Y6av-PiPudFnIAV5lFmkxlFq2gpr3UGEtK8W_sNe4vwZ7HIakUnnrGtin9HfP6KdcQVHiUCTiK6b73DFM5jHyp1JHqniaYuBD3pZfisN4F173GMfHi8pXLGD5PX0qvBXsrY84tvoRlcnybHLPsCrFuJA3zRQFrrr6S25xKkM3kSrIUmeNVUszuoTIhFS19NN7rnT9-OS6UAXr1GDfgh5t0BhUYVQKVt2KrKR74G7lZDsGtEbb3CkheQzsWYFczpNb0OnfrgfSirBnxdXRMJH08hZ02-F-gTd-gxPfN-DH6Nf4ZjEBKAQlmyMTHC0KHUMMkecI7W35iHpYu2iotbrNkNuZ2tO9etmXK31CYjKHCK-EHs1qXeYizJQIcSnh0JVe19v4JCrwoXaLeu5AEOcEyqnZvcToLq4nyBbxG2njvyQl8exLPuunOTZ7iSUYyBdsJ7888eTH0cwmjKGuW-Kbc26e20kgOVueKqMBU-J-2lqktvIMRHlM9Z5Hn57M2AGiVh5vUAZ3F0HQkH4XZOvqMh6OPCwgbDtsqXpCGCevfKprNSo9yfpUlI7kuCaBd4vl1PH9kgGeTb2r1Ux_I6_496_ctBeK5rXN8ARxBzdcOlU1BUgis9AhLtYhMOiXNaWzTjfuJN-CyJ0hmbv-xMBjTeyzeLn8FFrPs3uapfkIN9KePIh05THvjB3uXruycFJEMlHdLnDm4p20b4AcXfJcfXQRTCbQYGY2aDrzHHaXRWdnqWm2gynmOro08237RwJP41NbuRftZW4n86eCpL9udf_Oy2_4iRygmIYEcfydxCVP-18tqI0gC12qr0vpLF7M-fwN66p3KOT0Useu1OXDY4r8UO4L30nJJtFijCiQCMWIeJzh4yxJkx31m0S2QsWqd0oA4ZiIcCx5hqYWoMtzVoSI2Y-7Q6bbBEI-cntywUOtbyplTXmd_fEsKmPPwGG-7ladFzF3ZOZX0kDoZ-Br4Zmg4Ymne7KOdNxgGHVVGRhGvKGJI19g-StQ_yYHziJ_S4hK4RXcRJQOyJwI8X3Hbrxfrei2DQqaEzOQlyQ_l8pXQ-ZWpbsJ2pWv3juxpOPw_XHnZ6VO2sCi1STfKou5yAQ2dEpWsXAEBf5iLavw-NWR45mD_skDWqoeAkWC62UllqZwSHQ2aaSHpE-gkR9u8OtU3afZE-b6awQeW8iD-4xVQhPtd1aIA45VUH29Zsth8Z4B9gtNQfW6uz-LPYSYfUc_Pac_XPYkOg==",
  "id": "rs_06652852edb03493016ab44eac5f7887d0bf138a5fe8321515",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The gray plush is now between the open fingers beside the basket, centered on the jaw column at a contact-limited height. I’m regrasping it for a more central drop.\"}",
  "call_id": "call_kDoQzAnND5DbOApm42O69b2A",
  "id": "fc_06652852edb03493016ab44eacbe1c87d08905a24fbc12c132",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kDoQzAnND5DbOApm42O69b2A",
  "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]: [-0.5091, 1.853, 0.9218, 0.3775, -0.6132, -0.3405, 0.0112, -0.0147, 0.812, 0.6067, -0.3927, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4622 left_y=-0.1374 left_z=0.0922 left_yaw=0.1638 left_pitch=0.121 left_roll=0.0196 left_gripper=0.0112 right_x=0.2945 right_y=0.0013 right_z=0.1737 right_yaw=0.0007 right_pitch=-0.032 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -9.4427, 6.9812, 1.4823, -0.2369, 0.0122, 0.9597, -0.3761, -1.3197, 7.159, 1.746, -0.0269, -0.0171, -0.0171]\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:fce3c3e33e36e074ccd2ec3e9d05b4bc7972697667190fa29467d1b0d436423a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfeb8c2c636f5d285ab259fdfc20c07ae1bb6c4496791ed83a390fe5045e951b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bb160df138bc8686c8b202dac953cc844b9fc861bbcaff3b764b8697467bf50",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 4.766 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 33 changed as sent

message 41 changed as sent

message 45 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6804, 1.8915, 1.4544, -0.2981, -0.7116, -0.421, 0.0337, -0.0147, 0.8078, 0.6067, -0.3931, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.465 left_y=-0.2232 left_z=0.1766 left_yaw=0.1025 left_pitch=0.0281 left_roll=0.1137 left_gripper=0.0337 right_x=0.2942 right_y=0.0014 right_z=0.1747 right_yaw=0.001 right_pitch=-0.0282 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-1.0188, -9.8256, 9.5795, 1.7998, -0.0171, 0.2076, 1.0232, 0.0068, -1.5111, 7.0085, 1.7363, -0.0317, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5079, 1.8492, 0.9337, 0.3538, -0.6201, -0.3382, 0.9968, -0.0147, 0.812, 0.6067, -0.3923, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4628 left_y=-0.136 left_z=0.0944 left_yaw=0.1686 left_pitch=0.117 left_roll=0.0296 left_gripper=0.9968 right_x=0.2946 right_y=0.0013 right_z=0.1737 right_yaw=0.0007 right_pitch=-0.0317 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -6.8171, 3.9179, 0.6618, 0.1392, 0.4078, 0.1148, -0.1162, -1.306, 7.3094, 1.8095, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5091, 1.853, 0.9218, 0.3775, -0.6132, -0.3405, 0.0112, -0.0147, 0.812, 0.6067, -0.3927, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4622 left_y=-0.1374 left_z=0.0922 left_yaw=0.1638 left_pitch=0.121 left_roll=0.0196 left_gripper=0.0112 right_x=0.2945 right_y=0.0013 right_z=0.1737 right_yaw=0.0007 right_pitch=-0.032 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -9.4427, 6.9812, 1.4823, -0.2369, 0.0122, 0.9597, -0.3761, -1.3197, 7.159, 1.746, -0.0269, -0.0171, -0.0171]\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,$blob:fce3c3e33e36e074ccd2ec3e9d05b4bc7972697667190fa29467d1b0d436423a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfeb8c2c636f5d285ab259fdfc20c07ae1bb6c4496791ed83a390fe5045e951b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bb160df138bc8686c8b202dac953cc844b9fc861bbcaff3b764b8697467bf50",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE6zH2AKDiqjVtjzES80SDcHE7NzJQL6eTifkWZ8C6ANpc2hnArqthnZSyEXIWFTAv3qZKDgP0CRphmgxlDZxpnGr6UlZJkIXGfXSl-8K8Q5v48BfbiwEktryS2jvO0D3eMsePgX8UtPxRUq3tnzNCWmxoaO815PeBkn3LxnXLTT5PPZfuztP8YO_2aAofq_q9liq9JxHw8Z8z4poaplQU8OzJkXmqA29RKXlsdqvAMERJHfr2PjF9YULO_yDpAiYobf__RCK-K5OOYl9-xatlTxeqJMM0d8LXgv0w6id__ANwMtKIWVrvYKjtVdbYngYi8e6Jl6Fh4nw5M7vEEpW7NVwU2WDdJsF3QJSKj5WDwxc6VA3YBU4kPzz9jRkRXDUPQWiK5K9umVN3fqDu0fhoGzwEmT7nqu4wEpORDUZjrxToQvrlvrewJqYuZLttxzK2poQ1QP8aOxcqMwpJuxKPS6kzdljV6VZPg07ttEjEAOahqyS8Spu0oHtMhpW42WLwDmyorY050uw7RwkD60YOXVoM6DSQcmiV5qZJh1dtOx9_b0wZbC_2Neb16j1suFf0NFGf9FgdAqfsaaz4nn8Ygb_T81VKsjS6ZoFosdGZPyCsP9HwD0nEOABoufeuaTgaJ3fsKRqRmbR0su6ecVMZmm6cV67mEpRCMPBz88YF1f7MXzkZF2YlH7sWPEkXDGWlMeTtOuW5cR4JXHSma6AeEVPA_I3rqNSJYxZK65Jse12-hVhRAW1Lxd_i_DF4qvnUB33JP6CUFFnMDnudVk_0a6bVm7uggSu-W3NCdh2xpyNFICBqIaB811vIIFUBArDCZcZmcs6UQxVjkuW9qk_6LgbtT1chgHPZ0GeESW1tGzGAmBq4GZ5sI-KP9QNj5Ol8quOz9LmfR3FgpqmaBo9nnxFPvRIbgggW9AEWFfXhjpn9V44gjp-aKh6WLXNk7NNWxTZla843Iz9UotMl-RCpIUneeS8XY0D07bmgI497Ajqg3LJN0S59nS5Y_4TRRgKuhVsBt7CBAaiQ7UYK1Wcrnhm6udWXu6DaPX2AK1U4wjXWtHRmdCPFq1cnEDS7bvpgyxhQoXt28W1ifVWfY7tu5rFUFPhhV3MBIsYfWmzg_fr_JnI7MnUT_t9OP61d-WSgelCLGJxrD8cgLqYW2OlUmrWBQ5v3dIsovRUIfQfKwzWD4E419S3JvGtemeyQW0kW7it_v_ZPaKpdZV1osD9jkMm49sJzL2yVCCK1lXc_MRVQ5jOA8mAP8S0IFjMDNTv9m34KXOwxiGtOmhCzy95rRm7XbPecl6ZfjgWoENW7XUfdEebIYiATA5OBMyyP2qkOv9XqkSsPr1UGfN_9405WCzbj6-GeRhys8-F4Nd1pzvCrKLjjFv8dEaJK1EAfqF7Ua0KO5S3rpRW2N3lYKgbcfeHI3OGbocLRw_wpGfFA2zRG6C8HCObipRLfoaQazCdv13rdKxsZZgWJaUCXgWLEgMCBEEzGjiAlb3yxCj-_g6BL1TE0nsnUvjwN2x_TibAdWGJSvIrSuZiqF_fBh41ze1OGPWyu1VDAWcrg2NTXlRWQ7QSfRbv1ItetA-UueZM9fFBsX-X-0I25EQQMKKo2jDGxAVyo0PZ8QbPa_yZ6A_ET5T4aHSZ9lLAkXz9XzTFJChz5ykwMlP6sJ9qaa8XjaTyzVPjSISq5Rp10dfCFmxPrZYh-mLy9OaMwdYJ_AQ6IhePKJq_5cwy94-h8TX8a_Nk3v7i0Dhf0dK1QcGoWEimXosrfUU0vT2Mk1hDKRvBAcK8h86-vnJNWxtfiRL_EDuep6vh-McACHbe9TJm5hIbPFdIq91hcq-fh4BXuDOcw9eCljG7kER00tE5Nini0C6tTF-lIiLw5PfW-2C2eSGV0rNLY_eF7v7ru7_vz8Hi5wlTsAvaKr9y8WRqdMlD72mP83xQcOtRXfRFlHx8qDUEB2n7TqjJtPxuh_xQzIvwETtxjouLOpnkWvrOyWWxG9SBEQ2H2PAw8WplsDkmTBvtGXkum_qyx7yOqTVcKviB2Ho-kIryqqQ5tjw_9d2TH3da8dmyFg7syuOVa3mYoYmdp8ZNerzNt4eVefBe9pLNoTzAQ8-7Dm7Yc7CK35V7M5-Vv6WUd6Y5u0a_N0lSia-AGnnscAJxoUROqfBYAKAf8eHxuosBeT3twd1Ye0gwofmCvFV3t4K6jklmOQQWND_w4qfmvY55s_m3w1uojdACNWhGzdCyfO3zUozz1y72ALYfEphVQechQnauxLYW_ou37TtfBdPNrQ9ns1wqBeFo4yz8rEfXvJYuScKXFAin4y9mC1j_LfSX3wLMcOoI68TDO7Y4ItACdE7eZipuBQZTYO0hUI01LA0GUjAD1Yt_HRp3oKCFdMpkrf7SSky650buTRrsrk5GEBIJOSdU--YnDTr",
  "id": "rs_06652852edb03493016ab44eaf822487d0bbd737d6ad182d48",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.30,\"left_y\":0.0,\"left_z\":0.20,\"left_gripper\":1.0},\"note\":\"The regrasp closed empty and the low wrist brushed the left basket, rotating it; I’m stopping this attempt rather than forcing near the rim. I’ll park the left arm clear and sort the unobstructed cream/brown animals into the right basket with the right arm, then return to the gray animals.\"}",
  "call_id": "call_KLPdHSNXP8vOjmWlAlYPYB8S",
  "id": "fc_06652852edb03493016ab44eb1c65087d0ab58b19648189823",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KLPdHSNXP8vOjmWlAlYPYB8S",
  "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]: [-0.2382, 0.8047, 0.5758, -0.1951, -0.4076, -0.2131, 0.9974, -0.0147, 0.8181, 0.6064, -0.4068, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3099 left_y=0.0005 left_z=0.2097 left_yaw=0.206 left_pitch=0.1785 left_roll=-0.0145 left_gripper=0.9974 right_x=0.2928 right_y=0.0014 right_z=0.169 right_yaw=0.001 right_pitch=-0.0526 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -0.6769, 7.4188, 1.8193, 0.0073, 0.1343, -0.0171, -0.1162, -1.388, 7.1316, 1.9316, -0.0171, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54b4c509d5909b72e9224dee0e1bd562349048e03d51efb283b5157b6ad44a43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a0f75abff8e6ba23f91d56df69db59e38aef2fc770b891eeca2ec7239f2cc71",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:650e541197bf0fcdc58e5ead390069b309852e543aa3e204fbbbe9abe110df42",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 2.537 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 45 changed as sent

message 49 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.683, 1.9057, 1.4624, -0.2996, -0.7265, -0.4351, 0.9955, -0.0147, 0.8082, 0.6067, -0.3927, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4663 left_y=-0.2235 left_z=0.1739 left_yaw=0.118 left_pitch=0.0308 left_roll=0.114 left_gripper=0.9955 right_x=0.2943 right_y=0.0014 right_z=0.1747 right_yaw=0.0012 right_pitch=-0.0282 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -11.5624, 6.106, 1.5067, -0.1538, 0.0855, -0.1392, -0.1299, -1.1692, 7.0085, 1.7363, -0.0317, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5091, 1.853, 0.9218, 0.3775, -0.6132, -0.3405, 0.0112, -0.0147, 0.812, 0.6067, -0.3927, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4622 left_y=-0.1374 left_z=0.0922 left_yaw=0.1638 left_pitch=0.121 left_roll=0.0196 left_gripper=0.0112 right_x=0.2945 right_y=0.0013 right_z=0.1737 right_yaw=0.0007 right_pitch=-0.032 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -9.4427, 6.9812, 1.4823, -0.2369, 0.0122, 0.9597, -0.3761, -1.3197, 7.159, 1.746, -0.0269, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2382, 0.8047, 0.5758, -0.1951, -0.4076, -0.2131, 0.9974, -0.0147, 0.8181, 0.6064, -0.4068, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3099 left_y=0.0005 left_z=0.2097 left_yaw=0.206 left_pitch=0.1785 left_roll=-0.0145 left_gripper=0.9974 right_x=0.2928 right_y=0.0014 right_z=0.169 right_yaw=0.001 right_pitch=-0.0526 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -0.6769, 7.4188, 1.8193, 0.0073, 0.1343, -0.0171, -0.1162, -1.388, 7.1316, 1.9316, -0.0171, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54b4c509d5909b72e9224dee0e1bd562349048e03d51efb283b5157b6ad44a43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a0f75abff8e6ba23f91d56df69db59e38aef2fc770b891eeca2ec7239f2cc71",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:650e541197bf0fcdc58e5ead390069b309852e543aa3e204fbbbe9abe110df42",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE65xdDZv18Z37TjjtRdvHC6ilWHhfONbCdIVR58VVHrbpH1XLJ2jPuu_xUsjGnc4fZc8VBPg1TWm1AyaGtVA-nWYsd08qAIz_Kt5uKAZr9fvt-isZSqW8Sngp9FLM2UYdxacVUBGZALWfH1iY4TsqdMLywP-uuQozNHycQAPdpwjdGIKLYirs77kTaKT_leB1LPWOyv_24NULscq73oD2znNHrk0cPHvnJYH_xgCeCCzE9SF7oHeDCYxPlgPh6Dn0nOdCsC8lV85gd8fMPUnbn0cj8HLHRxod8bG3qBxry5OZkTzjfHXeDCf6Uzk3IqZna6AdCNuBcA1PNrAOFd-NqOWnW_lWngNsVh9bsx3-30emu1dc5xJ0oqn5F4hfKkOlUjCRne72uGA6B9nHBHpsfuLLYF-psYiZNfGj4NIww3GCtnBnYMaGQW5Dz2irf2mmp2q4hch48PO8eK19nIWaNpCN5QrmkAO5BDdL8ij_guhtaIDqFYMYh-QiEFuKARJaZaIiA0ITpR3YFEqhXcJOtzQ1dlLUN7HxQabmo3FWxL1jcNY7cQV2yBSYMvU3DiCVv3NuEyynuqtz8ty-gvH-Ji-BOzdvNADOzBZz3iOu4BWMLNLB5RInLoZpjTITa45P6xwQl9KineIutoK5UmnzBcwln7U71gLHC1BLjV9HcJr7zXGT6anhBsA5YrXHTkMyEM3fI1kVHw2kbyV4Xz3lXKctZ_bcClNxI1O1x7-BHSCN_Hy0EI4O1-mhNci4A5zJ4Tq7X0i5LBc8R9WQ9xboLaynxPCuFuUL_941XyZqXzh8NDr0_DnMYJVEiAgt1k8atHGLfVymcDUDnvT-ClqejxpHIxqVgiApFAjQ0G8cc-MYIbrAGJLVu2OmY8V8M-syfdpAsAv3hdMd5cwLJnT-Dl3_JQ3QZ-oso58VK4z1tukWuxEMUQ20XA-LS6LMmg8XnwKjcHp0F0XhARng5IJuRaVQgc_QVzj1Pg1qHaRvmy65mrcB43U1M1WZvrGlDkwdvL-RBqpiswFW6MRvERaoj63r49OiU4DLydQL8gxhrIANdnOW5tmUMbCQ-u6tyYBFtoY-QVbUrOQ-YXjkIOB8pPHbghr6pbtsqfOkaOLm59x1sDQcQ5_HYgSOvLzr2paRbi7xtjohicPASvgP5AZOtSBN5HrJlweTtSZwvYzQimA-rJxsINe_KIjpJ278sR4Aroo8K7reljnwfi8MgS5b7HIbRV8oGiXS7BVv-zqD_NYluUYaYyTtB9ML60wZ9H_sUNiVFrdLsQxcEFX9iLG3vTGK_-uwhO5k6aeZwbrsQ705Z9TVWOAbiQrkD3ApQpGiWaJa2YUYh2qumlEhqgvzSg348NyF8SAycaBSwxlibPOz0hpd0RmW1v7QWnmtULPHBigUoBOmbtkIqWVUIybV2nGsItYy0cjOYRoGr3QVGT-5FffmXIBRhd4_kLLueGpJ-uBdB4pkyKsGQeQ1BON9D1f6GFHQllate7uXs4_GdouUKS4MMPwlsY4e2gyCtxDSzQpuySpobpRYrohz7jDjznl6eZ6BLEMY1FjXGB4hpQuKY2F7GITwg06ZgIjlDFRRcQQWGBG_xfZGjViCeQJ8_Vm4dBhKM-KOCgMqd9veYwID24MDy1e3ea7_P7he2t0foiv_1lCxwhpzzNP3cgLZM940JXYhyNvYmmxyVkVogSj8YUZUeGXHMH6QIQmndvISpHuB31kkcmx9wral4nq7M0h6LZfz7CX7foutOMWjJzHPjx67INkx0cJLdx2hPyxzILDY6LiS-B38LfF2joUVVu3g0exB7d0Jqh9ascysIpBkxppYe8bVQn_45o50P4cp37qPPZPPLpCEehBL2cntc_1j9G2V8rbKDcnDmJUp9GvVOvxS0Odko4iFbZ9HETMZdkf6bxD2eOGddqtwCtqQfO8Vuz1EnCiBCPmOOvsLhtWD6WeWiU1OAfuRhFAlF3SuwhUg4NAcN2p1X5bfeYlsVblvzu92OvBnzm3D408ymHnpl8bLoReKMNmypLb7DJK3l9nEE46Zo3A01MbW_F9xPvPu3j6rYdlHYibqc3pdA_NbcXaSsDKB2M0OXwakVAZe4EpUYW8V_zmzxfKEQYljHG6yjJApkglzsJu1zFfCcQocmzL1_k2Ml7HvmajfcO79d3nEeInjc4JvCqm_wFYxP8HfwmIZIL9yrjCL9zpwvedkcHRtKGQ3Q1vQese29XOF5A103Hm4UiQlKPkyk662h9qqy1pjJMI8d57mhVpkjoboWOghKb2c_ESCGuMII88julsADoSQt0ysowe6eZdHlT_edODgTUDrLVGBoR-s6IdC_i2WZKAm-VrPF9R4wR-hFwoYqcc7V0gHfkEzu7TbzAeM3zV1DwWhBViXfQRPxUH2Z7NKya1KIfUuNNcQ21FzzyuQ5tCGa0R656pLiEhtbwDLQN9JUIqWEArLiHWKfXHVem-ylFW-Sm34m9-BRMUoPUjyEZjkj9fVDPMM_j6zQeLBJjv22XUDRpSzD3EyRdt2fGfGZc22S-Oixg6VEdShFAYJfwDXI1EsMS6eHvShxQYg==",
  "id": "rs_06652852edb03493016ab44eb5806487d0a1c23bf13c059409",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.22,\"right_y\":0.33,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"With the left arm clear, the table shows three gray elephants near the left basket and four cream/brown plush animals, three of which are in a right-side column. I’m moving the right gripper above the nearest cream/brown animal at the front of that column.\"}",
  "call_id": "call_0D1wiD82AFmLayOO7a8cChjh",
  "id": "fc_06652852edb03493016ab44eb8403087d0802cf0ec25e78568",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0D1wiD82AFmLayOO7a8cChjh",
  "output": [
    {
      "text": "executing move_to over 28 steps (2.8s)",
      "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]: [-0.2398, 0.8108, 0.5755, -0.2153, -0.3965, -0.2169, 0.9981, 1.319, 1.7462, 1.2694, -0.7597, 0.8822, 1.1168, 0.9998]\nstate[eef_state]: left_x=0.3088 left_y=-0.0016 left_z=0.2033 left_yaw=0.1954 left_pitch=0.1523 left_roll=-0.0108 left_gripper=0.9981 right_x=0.2211 right_y=0.3262 right_z=0.1407 right_yaw=0.0221 right_pitch=-0.0781 right_roll=-0.0133 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -1.7436, 7.4188, 2.0098, -0.2759, -0.0073, 0.0611, 0.7043, -8.1709, 8.1299, 0.4322, 0.6862, 0.1587, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65b0adaa4cf3b71f31f3159d285b24f8196b18f827f296f0f761688d642840e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f2aefd288ef901244a4f2a20a08b422c841b05ee906d443e76683da926968ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cb88c0f69f5fdc25eb5e9b9165cfb5333564368ae246904627713b80028dd27",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 2.335 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5079, 1.8492, 0.9337, 0.3538, -0.6201, -0.3382, 0.9968, -0.0147, 0.812, 0.6067, -0.3923, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4628 left_y=-0.136 left_z=0.0944 left_yaw=0.1686 left_pitch=0.117 left_roll=0.0296 left_gripper=0.9968 right_x=0.2946 right_y=0.0013 right_z=0.1737 right_yaw=0.0007 right_pitch=-0.0317 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -6.8171, 3.9179, 0.6618, 0.1392, 0.4078, 0.1148, -0.1162, -1.306, 7.3094, 1.8095, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2382, 0.8047, 0.5758, -0.1951, -0.4076, -0.2131, 0.9974, -0.0147, 0.8181, 0.6064, -0.4068, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3099 left_y=0.0005 left_z=0.2097 left_yaw=0.206 left_pitch=0.1785 left_roll=-0.0145 left_gripper=0.9974 right_x=0.2928 right_y=0.0014 right_z=0.169 right_yaw=0.001 right_pitch=-0.0526 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -0.6769, 7.4188, 1.8193, 0.0073, 0.1343, -0.0171, -0.1162, -1.388, 7.1316, 1.9316, -0.0171, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8108, 0.5755, -0.2153, -0.3965, -0.2169, 0.9981, 1.319, 1.7462, 1.2694, -0.7597, 0.8822, 1.1168, 0.9998]\nstate[eef_state]: left_x=0.3088 left_y=-0.0016 left_z=0.2033 left_yaw=0.1954 left_pitch=0.1523 left_roll=-0.0108 left_gripper=0.9981 right_x=0.2211 right_y=0.3262 right_z=0.1407 right_yaw=0.0221 right_pitch=-0.0781 right_roll=-0.0133 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -1.7436, 7.4188, 2.0098, -0.2759, -0.0073, 0.0611, 0.7043, -8.1709, 8.1299, 0.4322, 0.6862, 0.1587, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65b0adaa4cf3b71f31f3159d285b24f8196b18f827f296f0f761688d642840e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f2aefd288ef901244a4f2a20a08b422c841b05ee906d443e76683da926968ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cb88c0f69f5fdc25eb5e9b9165cfb5333564368ae246904627713b80028dd27",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE6-YW5kM6aztRZlvD2Cf7OkOPB7Pz0aobW-rNjYpDDwhtcaCP0oiN3DS01nP0odVUMtrTsLMLafHesNH-eMK03vTYHpt45GRR1m1ziusb_mojQGtV2vcAwPAwzwX68Ek2JfrAndppqej2N_a62UTkvpRn-AGPzs6WzbOhLYmFDBpQFsJjIdhnCAs8F3HYO9AHOpjoXwV-A61pi4l_9Rz7tSuC4VVzNEwTPA-PD9XSt-xj4_cYgV5LgSR1A7fCtGeLPvAexespvkl8zu35i2Qt7cEazso9_YHKcWxlPrMDX-AbNEkLIthG7lnKnTX2APLuX4QBD7cyEMDcLa59lQsNtZwhgC0_Aab5Rj7YXVgog4OoM-oVC7F7IFPRW5SxuBbzsmnwpaIE7bpnXjLGevc4sFL6Ti7UvEH-wPUoeB_j0FvldR2AQQz4FbhGe9QjwSs4v54gNoCfHV4XA0y22MR5CsNTknooHW_joJuYNiaZO95qqYuvJEF9_r7Pl1myAawk-XxKKerq7AvUlgeeITmZxv7vVRQOT6Ih0qUbydvBNegeLD0-CUn_BZAUPFh5hNtKuecDrQlo2RNFepAFBEKYjaEvmEPBBDQF9NbbcedkcyPuTeoygyHNJXgJ14d9k8ZkjIAuXE9liMCUeRMlfOBU6ZnqhlCSntksWsPyCeBGAXiEZAR1iDDYOqv3RMb7Kid_xbBygbXvbeI2GEoR4t8B0wwnStQdio06Yr7bK5djJIgq5R0uVBf_DBmoKrTIl3lWwsgm3o6R0SMMxcZqEb4Xdyl-b30PEd6r-U19M9FIVErLwbNiuHRraTM5aFIEoetBcYdt09rhmNaJNEDgHy3ABjjrfFfUwezjbgHy3Ci8kbjzFI6SPst2fVa5W2DUU7znSZJ6r6xYE38U1tXhDkKpBuIidswxtYVFqItb4e55i_HHgnqjsxBX0Zjz9xILzGwcsymwchjihVY-j7vN7-8gahHcdQwVhgK40AU1218GdTAnkXY384hREKKbFGLsQunnDaeJwJLZz7HlvBwWOC3M5tEoTfhktS_AAVPSJHhEFrgh0-2nzQCXiN6Tz-6a5I1z_aJ3kQ8DNm2boxELrnD1_AQq28kN1Tg2kCGKZQe2EPEg0K3zX-RArhkMv-_QgwGycReCLE_d_KplyMKMWoGgL8UnGcuJpGBkVktY4bB8jlYAJHfFhotLHuL1KCxarMrHZLbEKjqCqQxg9n1dk2DmBWl4jJCMHH2Qm5cvEQvCMvksLCK-7ujK6cOed3HIW_-628389qg2B7_3WrXOSMFWBfgAebEnjfh-3NJbCz5Scbk8LiyAiappI0DDRN5trQCxf3a1Pamgqp6ss8tZMuus7VXapN_g3ZKRN5NzEq1ZYSzcsamEvlfglngm1ElGP60zxeVN11Y77IzhLevlWNnl-_TFtWSOp4Ofq60klE1ge07DYm0f7BRmdP80Yf-JhEx-ogFftk5k2UxSSONv3BjyZEB-flCoDLdrIMFLUFpKl5vsLpdEIMaEGVLsFhetF-qcWD",
  "id": "rs_06652852edb03493016ab44ebcf6e087d0a4fbdc0fcd4b7d28",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.04},\"note\":\"The nearest large cream/brown plush is centered on the right jaw column and its body reaches the fingertip row. I’m descending onto its torso for a broad, stable grasp.\"}",
  "call_id": "call_3azZf4YzQYY4wA4qNXvrnbIw",
  "id": "fc_06652852edb03493016ab44ebda7c887d0818c9d95d0474341",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3azZf4YzQYY4wA4qNXvrnbIw",
  "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]: [-0.2398, 0.8108, 0.5755, -0.2169, -0.3958, -0.2173, 0.9981, 1.3201, 1.8702, 1.0698, -0.3775, 0.8875, 1.1252, 0.9997]\nstate[eef_state]: left_x=0.3086 left_y=-0.0016 left_z=0.2029 left_yaw=0.1948 left_pitch=0.1508 left_roll=-0.0108 left_gripper=0.9981 right_x=0.2238 right_y=0.336 right_z=0.0626 right_yaw=0.0205 right_pitch=-0.0575 right_roll=0.0489 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -1.4154, 7.0496, 1.7998, -0.1587, -0.0513, -0.0073, -0.1846, -6.4342, 3.6718, 0.2418, 0.3443, -0.1001, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:781489fa50840336b3cb5e5d9df6e17609ad8fe9ad731b2f9b8de6e2ca17159a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9799c0b8ba65e363cdb89850712da8a16cdeec9ff1d3f3872857bbc616ea3fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a59c6d04e6985d6436a98a0660b8186e2b7811df29372196209ebc3db722876",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 3.092 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5091, 1.853, 0.9218, 0.3775, -0.6132, -0.3405, 0.0112, -0.0147, 0.812, 0.6067, -0.3927, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4622 left_y=-0.1374 left_z=0.0922 left_yaw=0.1638 left_pitch=0.121 left_roll=0.0196 left_gripper=0.0112 right_x=0.2945 right_y=0.0013 right_z=0.1737 right_yaw=0.0007 right_pitch=-0.032 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -9.4427, 6.9812, 1.4823, -0.2369, 0.0122, 0.9597, -0.3761, -1.3197, 7.159, 1.746, -0.0269, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8108, 0.5755, -0.2153, -0.3965, -0.2169, 0.9981, 1.319, 1.7462, 1.2694, -0.7597, 0.8822, 1.1168, 0.9998]\nstate[eef_state]: left_x=0.3088 left_y=-0.0016 left_z=0.2033 left_yaw=0.1954 left_pitch=0.1523 left_roll=-0.0108 left_gripper=0.9981 right_x=0.2211 right_y=0.3262 right_z=0.1407 right_yaw=0.0221 right_pitch=-0.0781 right_roll=-0.0133 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -1.7436, 7.4188, 2.0098, -0.2759, -0.0073, 0.0611, 0.7043, -8.1709, 8.1299, 0.4322, 0.6862, 0.1587, -0.0415]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8108, 0.5755, -0.2169, -0.3958, -0.2173, 0.9981, 1.3201, 1.8702, 1.0698, -0.3775, 0.8875, 1.1252, 0.9997]\nstate[eef_state]: left_x=0.3086 left_y=-0.0016 left_z=0.2029 left_yaw=0.1948 left_pitch=0.1508 left_roll=-0.0108 left_gripper=0.9981 right_x=0.2238 right_y=0.336 right_z=0.0626 right_yaw=0.0205 right_pitch=-0.0575 right_roll=0.0489 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -1.4154, 7.0496, 1.7998, -0.1587, -0.0513, -0.0073, -0.1846, -6.4342, 3.6718, 0.2418, 0.3443, -0.1001, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:781489fa50840336b3cb5e5d9df6e17609ad8fe9ad731b2f9b8de6e2ca17159a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9799c0b8ba65e363cdb89850712da8a16cdeec9ff1d3f3872857bbc616ea3fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a59c6d04e6985d6436a98a0660b8186e2b7811df29372196209ebc3db722876",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE7B5kv3qgybWWhjNk0M9zKw5noDc2ZyxsRMR2dzCQgxlCfTzgNliqa682fyWdpU0NdsFrzMBRJVG7zNcnnfmHUHNb7Tza7__fCSX6kab58oEaK6NZeCBjufTlSXN0tSsGNUUoi3bjM3u_SduVwbHjM_McpZx8qikIysrJWfNHfmSmYR5LxFId1w_CEqyW31cRdFHXfAa_YPOMAusXdhqCqYGj-q_XlIduqo30dmd2MOdJOaZSJ8Bx8cbv15MjhTxStQizkAFaSRN9udKYwkH8n7Jc7XQ4jYuzjVg5T5F9OGxEgkroT3u5DVyDGLdMAm9LHQVO19a15VKCF8lHkEbukW7nSocEBF8yUtvntWHBAfnQBX_gXs9j_ZL8geQWyu6lWicBqDCsE27m5wQzYAYpA9S0erucTDxMDt9tDHyfBJ1EUC1b_kzDAjRkdZWl586shbtPNPuW0nF_JuT-utjNhz2UZ6UU1Xj4ZRDvRSgz3xA5wtWAkoVbaFWhto_nw3PG_hUyHWLlhLJOH29P-l1MAMVCEPqkLcHYcARa2X1bn6tHzBKv9KNcysfiKDzVjEneBeLcyZCpyQELnDIfj8AxFlgQXxpdo1gq5UqAvp9Qe2dqARrFF5zZdeCfjul5G58LjWMrQhnyG6lcpocoJdbDe7TbeO_ZNOLXSECJcA4yJo09OCeLGwhT5QO0TK0CoGkp5LrPtQyNC_D5lTrfYK-fmTKn5NfNWqDYYiXBbaK7yjN8dGIQbir2o2Nib-pywHOoRBdQRNR8i0xsAtx0PG-obwLsUlCRAY2F644VDXzPC1W3gQTmX_Pj3Ormh2bCOMuJ31wfWF1-Xsr4dZubdXUU7N0AIapmW3S5iBtzne3i-hZGAG-rLWxS_U2qLgwz6I3pGBRifcJWMPr_kGS6tD8qipsDeG56NiAL4ak3lZEIvvNWEHi_PCPgTs352qcPRowkL-Vg-Dm06Gx9lD3vSAmeidHdeFCEmL4hsBZ8geO5A7j3ErzV6xADXUkufd7EsZFZ61uQj5BzbyKQaqP17eFytIS5o5oZp26uHuDo3loK45KTHH2PXh2lBoAD4SWQDRx75wxdQe0rJ5iwSbJvearAy29smdFnyK7S-FxeTDa5j8Wqtite-wJv7FqG2jrDu-_qgRSQvyByG7CMoUQZdsgxS543Wk2ZEDzh88mVzF68jM9TKp27Xm4frmm_pOwO7qubqMUkOFkfNPbNuha4saE2Af3A==",
  "id": "rs_06652852edb03493016ab44ec0a25887d0aea193962bd9fef0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The descent stopped at z≈0.063 on the plush torso, which is visibly between both fingers. I’m closing the right gripper to secure it.\"}",
  "call_id": "call_byQw4l2im2G6sZyBw0HzgEPV",
  "id": "fc_06652852edb03493016ab44ec0c2ac87d0ac3a4c2f62f7bf53",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_byQw4l2im2G6sZyBw0HzgEPV",
  "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]: [-0.2398, 0.8127, 0.5755, -0.2195, -0.3958, -0.2173, 0.9982, 1.3201, 1.8774, 1.0679, -0.3283, 0.8894, 1.1294, 0.2134]\nstate[eef_state]: left_x=0.3085 left_y=-0.0016 left_z=0.2018 left_yaw=0.1946 left_pitch=0.1466 left_roll=-0.0089 left_gripper=0.9982 right_x=0.2257 right_y=0.3429 right_z=0.0632 right_yaw=0.0195 right_pitch=-0.0453 right_roll=0.0905 right_gripper=0.2134\nstate[joint_eff]: [-0.0889, -1.4154, 7.0632, 1.8486, -0.149, -0.0464, -0.0073, -0.1299, -9.4974, 5.8872, 0.4664, 0.315, -0.0806, 0.7057]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32c5bc5e4d9081e06106a8d1c7b3181b1535d0b129e8af2e6a467766f86c1825",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e2f527e41a29abb16b9b7ade0f4970e7601f562fb34bfc87908cc865ae7809f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c650fc65fe8be29e2e361beebbe4b35d4a857a84ac45c56c28cc3945469c8b2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 2.545 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2382, 0.8047, 0.5758, -0.1951, -0.4076, -0.2131, 0.9974, -0.0147, 0.8181, 0.6064, -0.4068, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3099 left_y=0.0005 left_z=0.2097 left_yaw=0.206 left_pitch=0.1785 left_roll=-0.0145 left_gripper=0.9974 right_x=0.2928 right_y=0.0014 right_z=0.169 right_yaw=0.001 right_pitch=-0.0526 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -0.6769, 7.4188, 1.8193, 0.0073, 0.1343, -0.0171, -0.1162, -1.388, 7.1316, 1.9316, -0.0171, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8108, 0.5755, -0.2169, -0.3958, -0.2173, 0.9981, 1.3201, 1.8702, 1.0698, -0.3775, 0.8875, 1.1252, 0.9997]\nstate[eef_state]: left_x=0.3086 left_y=-0.0016 left_z=0.2029 left_yaw=0.1948 left_pitch=0.1508 left_roll=-0.0108 left_gripper=0.9981 right_x=0.2238 right_y=0.336 right_z=0.0626 right_yaw=0.0205 right_pitch=-0.0575 right_roll=0.0489 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -1.4154, 7.0496, 1.7998, -0.1587, -0.0513, -0.0073, -0.1846, -6.4342, 3.6718, 0.2418, 0.3443, -0.1001, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8127, 0.5755, -0.2195, -0.3958, -0.2173, 0.9982, 1.3201, 1.8774, 1.0679, -0.3283, 0.8894, 1.1294, 0.2134]\nstate[eef_state]: left_x=0.3085 left_y=-0.0016 left_z=0.2018 left_yaw=0.1946 left_pitch=0.1466 left_roll=-0.0089 left_gripper=0.9982 right_x=0.2257 right_y=0.3429 right_z=0.0632 right_yaw=0.0195 right_pitch=-0.0453 right_roll=0.0905 right_gripper=0.2134\nstate[joint_eff]: [-0.0889, -1.4154, 7.0632, 1.8486, -0.149, -0.0464, -0.0073, -0.1299, -9.4974, 5.8872, 0.4664, 0.315, -0.0806, 0.7057]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32c5bc5e4d9081e06106a8d1c7b3181b1535d0b129e8af2e6a467766f86c1825",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e2f527e41a29abb16b9b7ade0f4970e7601f562fb34bfc87908cc865ae7809f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c650fc65fe8be29e2e361beebbe4b35d4a857a84ac45c56c28cc3945469c8b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE7FEQeYbEJX_eBAr8_ozDhCESxwu1GiIrbt_-TznamUx9tQzMt7FVwVuH6zxJxJ8Y7fuQBsC8c6bBHBsEcrm0SXLb-vo_GvGtkSE8dRAatq_-y36gHx5teUM5379YoDfIoWkEAIdLMWU5doaybmodG9cUDcaUiDLYUM0o97_kxFc0mrGIUYjlRNWg4C87-UFQSJAEVlbLQgqfx7uZio5_zbDMtVIn7ONKOmy7am8Tmf4Rs1YhG6FjCZk8mG7-6bkjQZmBK8grqM1hPKLFwpJwgUtKdTfWD9GXK-eqW9q5x90H0S4kH8AYsnZo-btQ669FriPKWsGex68WbI4I7qqvvnBV-dgCBWMZ-dPboaC2T9Vbe4f5kdOMmmjtbiEVjCGtqZhKFjeqgbpVkpVZ0jTumzAnCbVcOob2ZyJVURSNgS4XeIcehsesYIDhVJQ5gms1MuKtoLiEGmZoYRVmrnjhy9jyBbs3GOqk2ntoEFyKbWIfhPbZ_rqVhORFuRMM0uGJnQAAoXT2KCgOdANWfF8iMtRuImTk3GxoCrvKINAYRO-GCVkMTrWnDJ7j3y8CYCt-6Kpotk4mJbhstT6ebAYuHFNrvn4m63hwJNl8-vCaBvGDR6Hu1UMVN003dy4eWNeAdW97P-dJJ0I5aCbGAtFtT0VnPkUD0TPwSLLAqWc9BsjsDMWhr1h3y5AND6uHVD0IS2LeMaeP0AQvxoMzf6T_vmIf_j4d0I0X4--Gy48oAX_NzqFInxEDVss90UAnhimW1beaspnBvTrvmmGXdPG4san_wCp7gAJVXV6km9sr5q8XSBij9-DDEqGHNf_45uKSvd2owcSNBRk9TteZ9mlstLG-MCdlVT-yKKBF7L6Dy89ZgZeJU2bmCLVyZpoWnZUw1VLuQyLMjjyzviSwSq1Eyo2GJPgTPlvWEJZ1lfmcWoDtB6NxtlOeiRpGcMd_wUePks6jL7bQs3Nf2t1gplN_-dPewQtTSPYNpeECARbwvp76fcFccAeEHmUvFhq9BRcxKnFzeoJMFn3klMopo6hqeLaqLud-Nuup3QQKOD3Zfc73ULUUWF2_64pzncSBOcEt117d-JsajnsM7om0Lmn_7bow6AbZ0Q-H2nAX7wIeagD110TWCJzi_my3CWxvboqDDiCqPkqn5hvQj6hHvq-bd5vVLm1A6AoTwnuad6iPlQR2pf4VApaCD0Dv0o1JptWkUTIk7FMiDRnWo1dwzpaoD4eug1-V8gnx5Q-KSiNHAWcBd3MF1_BU8nhU4c4HokxSKVInYCmOAC-9foAU9c_44sjNujmnE7fddqEVS93CRB8MTSsr-nXAuWuHmYHp33ML-reAlAkc_7iuLndTyFtvxrpzth2bUiNVvyXxdMgUs-lX7-DPO_-BUgXCa9hUxGmoMNLJeH5Hp39dJNA08rexvIU69mpExUag6juLUMMRYK4I8=",
  "id": "rs_06652852edb03493016ab44ec3946c87d0b4b92d4477692593",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.18,\"right_z\":0.22},\"note\":\"The gripper settled wide at 0.21 around the plush body, confirming a solid grasp. I’m carrying this first cream/brown animal above the center of the right basket.\"}",
  "call_id": "call_UCybkpKozPD0uAZJJs7w4wPN",
  "id": "fc_06652852edb03493016ab44ec4227087d09641c9d723eb2e41",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UCybkpKozPD0uAZJJs7w4wPN",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "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]: [-0.2398, 0.8162, 0.5755, -0.2214, -0.3954, -0.2173, 0.9982, 0.4984, 1.6764, 1.346, -0.3641, 0.3477, 0.3588, 0.2166]\nstate[eef_state]: left_x=0.3086 left_y=-0.0017 left_z=0.2004 left_yaw=0.1939 left_pitch=0.1417 left_roll=-0.0068 left_gripper=0.9982 right_x=0.4492 right_y=0.18 right_z=0.2008 right_yaw=0.0068 right_pitch=-0.0817 right_roll=0.0777 right_gripper=0.2166\nstate[joint_eff]: [-0.0889, -1.7436, 7.2274, 1.7851, -0.1587, -0.0269, -0.022, -0.3761, -8.253, 9.9077, 1.5702, 0.1734, -0.0073, 0.315]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68e00309f7f442aa5783eb8587537af35a0ef5829a874feeb55ef051b39044f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21a716b5413708044ad3303b3f2a50c5de349a0dd50348a3b2210bbac185b8b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7693c812219df3669c498043e44560f0d451d8f26162d81c193db9590dc51489",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 3.55 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8108, 0.5755, -0.2153, -0.3965, -0.2169, 0.9981, 1.319, 1.7462, 1.2694, -0.7597, 0.8822, 1.1168, 0.9998]\nstate[eef_state]: left_x=0.3088 left_y=-0.0016 left_z=0.2033 left_yaw=0.1954 left_pitch=0.1523 left_roll=-0.0108 left_gripper=0.9981 right_x=0.2211 right_y=0.3262 right_z=0.1407 right_yaw=0.0221 right_pitch=-0.0781 right_roll=-0.0133 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -1.7436, 7.4188, 2.0098, -0.2759, -0.0073, 0.0611, 0.7043, -8.1709, 8.1299, 0.4322, 0.6862, 0.1587, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8127, 0.5755, -0.2195, -0.3958, -0.2173, 0.9982, 1.3201, 1.8774, 1.0679, -0.3283, 0.8894, 1.1294, 0.2134]\nstate[eef_state]: left_x=0.3085 left_y=-0.0016 left_z=0.2018 left_yaw=0.1946 left_pitch=0.1466 left_roll=-0.0089 left_gripper=0.9982 right_x=0.2257 right_y=0.3429 right_z=0.0632 right_yaw=0.0195 right_pitch=-0.0453 right_roll=0.0905 right_gripper=0.2134\nstate[joint_eff]: [-0.0889, -1.4154, 7.0632, 1.8486, -0.149, -0.0464, -0.0073, -0.1299, -9.4974, 5.8872, 0.4664, 0.315, -0.0806, 0.7057]\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 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8162, 0.5755, -0.2214, -0.3954, -0.2173, 0.9982, 0.4984, 1.6764, 1.346, -0.3641, 0.3477, 0.3588, 0.2166]\nstate[eef_state]: left_x=0.3086 left_y=-0.0017 left_z=0.2004 left_yaw=0.1939 left_pitch=0.1417 left_roll=-0.0068 left_gripper=0.9982 right_x=0.4492 right_y=0.18 right_z=0.2008 right_yaw=0.0068 right_pitch=-0.0817 right_roll=0.0777 right_gripper=0.2166\nstate[joint_eff]: [-0.0889, -1.7436, 7.2274, 1.7851, -0.1587, -0.0269, -0.022, -0.3761, -8.253, 9.9077, 1.5702, 0.1734, -0.0073, 0.315]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68e00309f7f442aa5783eb8587537af35a0ef5829a874feeb55ef051b39044f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21a716b5413708044ad3303b3f2a50c5de349a0dd50348a3b2210bbac185b8b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7693c812219df3669c498043e44560f0d451d8f26162d81c193db9590dc51489",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE7Jn20D0oiEgMZN7_sRVXfD6cqyHNLpTLubyNbA2s4Hofa11ZQ9lkk-G0BhmG4KTUSwrTCMSw5av-8R0EA0EXOceUhz6j9-B-GwGg1zJjE-XGn312Lw0xz6s9KwzKm5Wjs_uIP9gZ_JLoEhSIHQTJelByndn_uN4SNL8UXHPKs2rHXCXJXTl_DfZGJLMV_dVYH3IhB4rKMODXPuD_2o5LcQd8oiIlz_OWtYV2WdGyDxz2AuL6lcFVSyDDRCnHL-kdLoCbkej6sEM9l9S2cozP9nnpfZGa-cN9-nWeQa3x9p0wdSmQ-wiEOQLcewtygb7BnGrwSnYNTcJaS2TX7_3q-0xZUTN9Inzs248_V2ogvLkXEnNIONryJ9lBuwmD9tEDP2u0eE_9Cpc6cPCoTIyRZAPNuja6f9upz8SBZ4e_UbD_tzZgN3eX2mhMUOMLlahM08ct9QPvE4wY6BB0hPNzV_Orgvx9gbDhftw3nl_Z7g32dhUyAhQSs6bNwSHTdcu5b6ZUVWk-gShu4767auAqF2EwPhAUi3zbTv6MoVzxD_JMaiArtU7JGAoJSbcDSvSLf6hT_Ixmy0MJZtwetBDQsJN_T2P1sEobKmCkdq7eARSBRYPiKs_04pQiWWQtAQ5uPeECS0Vxpdt_Dkxx3GgVH9l9KRjH2SLa295faxYelHEJ4vw6R14vrotwucs7iChSGXtDF4AfsmGPDs9YVViX8iefJSQbWlsmxseV97JXVbp5PrI-ynkf3PsFgqdRRDKFkLZw-BnK19p3tKFzIImb6gFWi7DZzUgbCtb_uvy7Spyk9ZuDTzxEwyRcQYpDo2XofriRCIgi2TSgCx2b0j6lrH9ycFGdy1xph58UP0BJQc2Nj5-xOEnRNNqkZm2sUtn0lM_fygrZ3o5yVvB_Psdldxz7RiZnvGRNT51ejKtygFPyatol-T4oevsM52IdB_g2rufCL9URWdBnYTFOB5R68b3YuoPb7ZF0_lKs5-AddxJUA8toCUonHO0jyHgW_qe-t1yksFeG0SjC4s3r3CEfWUHsqciV1FG3ZVygmEajeiBlgTAqdaIkAfEoWJfrzCroStVZnqvgqj-AdesQmTuW-Q21iBAJttzXC_GBx26xcqUAm4ZKwqHblE_0ADYkGWGCqE1QLTXTXkYm7hzjAGhoXQ5IgYDKW_Pp7fslIXuxJCVKbhjQULegCnr6gEFLQAnbBq",
  "id": "rs_06652852edb03493016ab44ec91a2087d0a23ebf326c06d5f8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The held cream/brown animal is centered above the right basket floor, with clear clearance from the rim. I’m releasing it into the basket.\"}",
  "call_id": "call_O4nEbuMOYxuhI3eyl4wmHgzh",
  "id": "fc_06652852edb03493016ab44ec9341c87d0bb12ea1618c91eae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_O4nEbuMOYxuhI3eyl4wmHgzh",
  "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]: [-0.2398, 0.8165, 0.5755, -0.2211, -0.3954, -0.2176, 0.9982, 0.4961, 1.6836, 1.3434, -0.3767, 0.3298, 0.3519, 0.995]\nstate[eef_state]: left_x=0.3087 left_y=-0.0017 left_z=0.2004 left_yaw=0.1941 left_pitch=0.1417 left_roll=-0.0071 left_gripper=0.9982 right_x=0.4473 right_y=0.1811 right_z=0.1934 right_yaw=0.0218 right_pitch=-0.1067 right_roll=0.0721 right_gripper=0.995\nstate[joint_eff]: [-0.0752, -1.2923, 7.241, 1.7607, -0.1099, -0.0513, -0.022, 0.0889, -9.2239, 7.1316, 1.7167, 0.2369, 0.0024, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d4c070ccba198a4ef55598b68e32358045d014912752fdf311bc22fbf531e70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:126a6a854ea72ea38d7756682b281234bd9a99ede233a415ebabbd861151cad8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d156835f31389093488db08351c3adac438c86e61d003ceb618cbe392e158c42",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 2.311 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8108, 0.5755, -0.2169, -0.3958, -0.2173, 0.9981, 1.3201, 1.8702, 1.0698, -0.3775, 0.8875, 1.1252, 0.9997]\nstate[eef_state]: left_x=0.3086 left_y=-0.0016 left_z=0.2029 left_yaw=0.1948 left_pitch=0.1508 left_roll=-0.0108 left_gripper=0.9981 right_x=0.2238 right_y=0.336 right_z=0.0626 right_yaw=0.0205 right_pitch=-0.0575 right_roll=0.0489 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -1.4154, 7.0496, 1.7998, -0.1587, -0.0513, -0.0073, -0.1846, -6.4342, 3.6718, 0.2418, 0.3443, -0.1001, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8162, 0.5755, -0.2214, -0.3954, -0.2173, 0.9982, 0.4984, 1.6764, 1.346, -0.3641, 0.3477, 0.3588, 0.2166]\nstate[eef_state]: left_x=0.3086 left_y=-0.0017 left_z=0.2004 left_yaw=0.1939 left_pitch=0.1417 left_roll=-0.0068 left_gripper=0.9982 right_x=0.4492 right_y=0.18 right_z=0.2008 right_yaw=0.0068 right_pitch=-0.0817 right_roll=0.0777 right_gripper=0.2166\nstate[joint_eff]: [-0.0889, -1.7436, 7.2274, 1.7851, -0.1587, -0.0269, -0.022, -0.3761, -8.253, 9.9077, 1.5702, 0.1734, -0.0073, 0.315]\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 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8165, 0.5755, -0.2211, -0.3954, -0.2176, 0.9982, 0.4961, 1.6836, 1.3434, -0.3767, 0.3298, 0.3519, 0.995]\nstate[eef_state]: left_x=0.3087 left_y=-0.0017 left_z=0.2004 left_yaw=0.1941 left_pitch=0.1417 left_roll=-0.0071 left_gripper=0.9982 right_x=0.4473 right_y=0.1811 right_z=0.1934 right_yaw=0.0218 right_pitch=-0.1067 right_roll=0.0721 right_gripper=0.995\nstate[joint_eff]: [-0.0752, -1.2923, 7.241, 1.7607, -0.1099, -0.0513, -0.022, 0.0889, -9.2239, 7.1316, 1.7167, 0.2369, 0.0024, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d4c070ccba198a4ef55598b68e32358045d014912752fdf311bc22fbf531e70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:126a6a854ea72ea38d7756682b281234bd9a99ede233a415ebabbd861151cad8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d156835f31389093488db08351c3adac438c86e61d003ceb618cbe392e158c42",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE7OdiAIVHqpzqfiz8xISROKqYlCI4enCT5eULjpJ_dEL8qZ01WWfIcqlT4PUrIPKMPq6U9wt2xVyB3YIW86fNWW90pAe6hR1k_U7t9qyqjTvjendXrTjPPz4T-Cpy_8nU4SUbDv3k744x-ZTg0VHxjnsfNMM85cg1oyQ8D6MUan_RQmdi36Mp9FCusx4yNnu_Dvj9u88YC_i1oGkk3NqRtgbQwX6qBAF2H7Mr6ERBwfA9LkMNT_fHwO9plJZih1tZrnJIlSAGca7o_9eq23mn9FV9H8OYxtCw6WPMKyHVziQKXY2R1ta3Gee3NcuIVEHKtBSunZfMK3dyxg3MInzwJvliiK7xDbjQkR1k1bxOBjZgKCh6aCk3vns8OdC_N8Ty1Da8mYtWKhCHubSoPTmFVrO8-wSYDDHQfh4J3i76cVPNelzoFOAkmkguTJutZsLxAx-WeIAjvamlPHsdoTlmd69qxS5SMSGEjhPdQp5H5YnRVi4Wmdj-2G742hsiXT2pRmqJ__I_4IX6joS1la7U22ZkQ46q51Vp7fqCdn3j6m7CdOmeuVQ4_B6_AakpD7NqThB7FDi1KEJZQZMRmedafZCmXXul9KOXdsAdKJnPIZ69RTXPs0tOgtduowhqvI6jzlykoPYT9IzEviSzZkhVSfAb2Eh9GGffTYgWuytQiEqr8t_SfpwntNhYzaSkLjwwqAvNgVj5lwA8LvRmRzl7UoAEUdRYqpVpttfLfVvJ6R6VBgtZLRpoRfzv5MtQhZdQ6hkk_duO2tDK0r_mUjY7-PlTEGjuHnGh5pH6loWWCBCwWq1rJ67T6SP6Fkonfa9ZuHo8hFH94uHmrVSXsj2V_S4HWMA_F3dNpolSSl7fgEiWv34uUiTpuyLkkkDiKjLh-lsf0O53u1rivxUec2cMhU7ck8IS2tzw5GzdRNq3QCMxTeltjvlh1a8OVwcFe72Ag7IhasnXsaSSZtFx60mrl-tT_NnoHhXFT7IekqNoMDaX83U0hcLYRA5vIHd6I3_9FPSJBPoqMjv73K4cizg_egwEHAWd0aRfLaMpLGC_3rce7zLUkf4rPAXb1xucwbt8q5ma3o6-OuoxupmJml4nJTTorg2cTqXGGFsQs4hFMjbSeoZTohWCRs6beU_kZ49MnxFQIjxmQH9W33-P7sqVTNLD6JkiAGLp8jhZWgWo3pDwQcdisI7mecXNIpVx0oTB9LOnCOAmCBZZ8P-qFg3PQnO79HDr47UjeGuUCf0gzxRf1EgMIWxcMwpOXpE6DGsrwsULpc4bji7xECyR5qq2XiwT5KqdDYw8DmX2IY03sjbxs_PtdyZcKay3CRoFS56WQoFsqW6bjNBGJAaO9d1hSULKaQxOd0PskCzQu0jT2Fsw2MPyjlH3NgZ_nJb4FVM2ZQ1YGThXhLgfmRLU-2U39MjPtnvssXkZjZYPkmzXZ8Jet5GuVS-Tw6JWXe0Ves7k0jMjg_IWxHLlBl2jdRofrDPaxBKzLOV4y5cnvZ9yc2BrY3OewjwqDsZe_o4PHLRmGPL1NcsNx6ZxJ-7tI5yEXHqmAHivDPxwetdFBkdw7j-rAnA2aDO-4oiGNKTajs0_b6diDZq_PSllep0XO_YLWuMTHcnS48cTnkdnLRKDM2yp8HnkSY8rdaxT5C3ZdTZc1ssgqNFAPhBDVa_d7HuTXY4kc-H2snv6ULWKmvCwUHoB1UuAD6Pbg6kellioVUsHiEfcmyG0Jbv3s4GDxduAtvs-t8i0qC_c-auow1YwiJsr9bEwW1a17j62h0vh8-4X6FMSKSasXDgCPicwhyHnZeXaDy-osSGN8RfjWRX466jt0=",
  "id": "rs_06652852edb03493016ab44ecb7fd887d0a8449f4d77dddca0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.37,\"right_z\":0.08},\"note\":\"The first cream/brown plush has been released inside the right basket, leaving three cream/brown animals on the table. I’m moving the open right gripper directly to grasping height over the middle animal in the remaining column, using the successful object spacing from the previous pickup.\"}",
  "call_id": "call_HIA75Y4w0a4qODSktw2faqYM",
  "id": "fc_06652852edb03493016ab44eccc96887d0841df2b914da7470",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HIA75Y4w0a4qODSktw2faqYM",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8192, 0.5755, -0.2226, -0.3958, -0.2173, 0.9982, 1.0927, 1.977, 1.3212, -0.3317, 0.7506, 0.8368, 0.9963]\nstate[eef_state]: left_x=0.3088 left_y=-0.0017 left_z=0.1994 left_yaw=0.194 left_pitch=0.138 left_roll=-0.0048 left_gripper=0.9982 right_x=0.3176 right_y=0.3589 right_z=0.0865 right_yaw=0.0299 right_pitch=-0.0911 right_roll=0.0396 right_gripper=0.9963\nstate[joint_eff]: [-0.1026, -1.5795, 7.1043, 1.7558, -0.1636, -0.0317, -0.022, 0.8547, -8.8684, 7.8427, 0.9841, -0.0171, 0.2369, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf6c8f28241b23370d6da7dbece534d32849c5aab78cc8b67c9d3862a0310d5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b763c3b5823b07ee87d48c7b731e097c1d272428a1c1a4a5d67c42df6b1b892",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:064c519944f9c9b08f040a7b42c098ccbcc4507ac53adf802019668e734db8a3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 2.057 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8127, 0.5755, -0.2195, -0.3958, -0.2173, 0.9982, 1.3201, 1.8774, 1.0679, -0.3283, 0.8894, 1.1294, 0.2134]\nstate[eef_state]: left_x=0.3085 left_y=-0.0016 left_z=0.2018 left_yaw=0.1946 left_pitch=0.1466 left_roll=-0.0089 left_gripper=0.9982 right_x=0.2257 right_y=0.3429 right_z=0.0632 right_yaw=0.0195 right_pitch=-0.0453 right_roll=0.0905 right_gripper=0.2134\nstate[joint_eff]: [-0.0889, -1.4154, 7.0632, 1.8486, -0.149, -0.0464, -0.0073, -0.1299, -9.4974, 5.8872, 0.4664, 0.315, -0.0806, 0.7057]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8165, 0.5755, -0.2211, -0.3954, -0.2176, 0.9982, 0.4961, 1.6836, 1.3434, -0.3767, 0.3298, 0.3519, 0.995]\nstate[eef_state]: left_x=0.3087 left_y=-0.0017 left_z=0.2004 left_yaw=0.1941 left_pitch=0.1417 left_roll=-0.0071 left_gripper=0.9982 right_x=0.4473 right_y=0.1811 right_z=0.1934 right_yaw=0.0218 right_pitch=-0.1067 right_roll=0.0721 right_gripper=0.995\nstate[joint_eff]: [-0.0752, -1.2923, 7.241, 1.7607, -0.1099, -0.0513, -0.022, 0.0889, -9.2239, 7.1316, 1.7167, 0.2369, 0.0024, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8192, 0.5755, -0.2226, -0.3958, -0.2173, 0.9982, 1.0927, 1.977, 1.3212, -0.3317, 0.7506, 0.8368, 0.9963]\nstate[eef_state]: left_x=0.3088 left_y=-0.0017 left_z=0.1994 left_yaw=0.194 left_pitch=0.138 left_roll=-0.0048 left_gripper=0.9982 right_x=0.3176 right_y=0.3589 right_z=0.0865 right_yaw=0.0299 right_pitch=-0.0911 right_roll=0.0396 right_gripper=0.9963\nstate[joint_eff]: [-0.1026, -1.5795, 7.1043, 1.7558, -0.1636, -0.0317, -0.022, 0.8547, -8.8684, 7.8427, 0.9841, -0.0171, 0.2369, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf6c8f28241b23370d6da7dbece534d32849c5aab78cc8b67c9d3862a0310d5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b763c3b5823b07ee87d48c7b731e097c1d272428a1c1a4a5d67c42df6b1b892",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:064c519944f9c9b08f040a7b42c098ccbcc4507ac53adf802019668e734db8a3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE7RRs3IBTGpAn12U_XOFPAQCl_hJudCa3jVOcirgC64LtWmjf558SwzeLVL9Wj2AH3CyN5h5v-Mx0s0qM-_PUeXJa58T96K70WWir_qi5fmFcUIhnK3_KfGjFtMhSva2rWumJrI7si1SQsupPtvtRufReQGbmOtm9qETasfTeX-oJ7H34Z5eOYNSRqbxTdgWkdeYMfTz_E2z9z8bHjEcz29O1tqMfuhHd9ZNkHwtyc2xxDQJMq9Bn5lojl72SqOUwnW6pHaIVURHfOEGeC8tLpBxuMzfo_hm_mlPlGjKmUSRjDQyRWYZ1d5-dLRFD37mk_UOIDx4W7PCyKSuQVsJ32BD8bhu2kso6Tns5BaK1EGkJQFxBxjSbCVlS1Nx8rua3LgryHfu5-6VTXRVqPISSz7wQ_1oX7xXUODwPTQ5Qk-kx-wQONz5Ha3veybShgFlpK986WUxdGNWeUF0MqpN8b6qxKRsOz34ne-qgG-7g_0AW2qI4hzzSf8geRWB8FT1P9OLyK7i71g_DWx2Te0o8jkG1PMYmV9mxIE8TTCR1hcIAldzTceB1Nb7ySK_X5MLeuvqDipk8KZ3B_ohxSNKiAv2IuCwKAVutaXVhaHuAO6uhr1-QZRBY2mGc9Og2mKSt-gAOq6eO31dOoeiUlpIAdRBp8vqJeZCaerQjcMpJNEfthU251a6eODrHZnvOzklUNaU6XXTZxvLvCb2Wdx-jEZ82eGpC7S8uqYmQG0IUobsoWwcURJO1Oiv6Sa_WcHfzrA1qGGhD6Os8e0Hph9tEA8vo1HqL8Fe5BjxPGddBhL35rggF0tw4v_IOmTUPwLCnoGnFLWb9DVqK05jNIuojbsZWp2TKX4VF33VaQYoy0RScTrlu9csE_nG_2OWyl7fI-VZGbGPpoY8Q-wBxNHObaENxWYDdVVgVIIGloEaaVDY8-cGA1XqfBNhIc26fYYkLfXDx66taITzDjPJQ2kg0f1P9JoIP-MqO4eeY7cGe-FdSP-PC4KqtQ1CJHNTGBBS_Hzes0o55AFJDpvrW9xvLxMTUyAA_k9znf0SF0ImJDWqjkA5iazohO1pUcti1Lz4WhXj8TqX8LJDdFX2oHJrrucZJth1Gw-ydYU2W7knLWS_-vPXbIiKHTraODBy0DEY5PRzvaEOheDYM3XRXBxxSAiLF5PQiOPJXZFDlhbms_UjDnObelWwDE51nIXVgy-mOWcsXX9icBTpHNgE3ewJ-M6gUZvvTHh4GLVcYCzgpf_yeQtbqU0SRlwB1ecdx7J7W9SGvDWv-lS7Mo0cvAYNOzx0GNrGVskGaqI2YgLHCFKDGk7_2KDSxrwSutPu0OJ0SJ5",
  "id": "rs_06652852edb03493016ab44ed0c70887d09afb66eefec8ecd3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The middle cream/brown plush fills the gap between the right fingertips and is centered across the jaw axis at z≈0.087. I’m closing for the second cream/brown pickup.\"}",
  "call_id": "call_5PajC85BZgzOYi1QAJN68IG2",
  "id": "fc_06652852edb03493016ab44ed11de087d09383c4199b7d7c4f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5PajC85BZgzOYi1QAJN68IG2",
  "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]: [-0.2398, 0.8192, 0.5755, -0.2226, -0.3958, -0.2176, 0.9982, 1.0954, 1.9915, 1.327, -0.3275, 0.7555, 0.8307, 0.2092]\nstate[eef_state]: left_x=0.3088 left_y=-0.0017 left_z=0.1994 left_yaw=0.1942 left_pitch=0.138 left_roll=-0.0052 left_gripper=0.9982 right_x=0.3179 right_y=0.3608 right_z=0.0829 right_yaw=0.0326 right_pitch=-0.0896 right_roll=0.0287 right_gripper=0.2092\nstate[joint_eff]: [-0.1026, -1.4564, 7.2547, 1.7314, -0.1783, -0.0513, -0.022, -0.2667, -11.7812, 5.6821, 1.1404, 0.2222, 0.022, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a726ed783a7e2a4f02d3f81c42b8fe8dae5e87a6104011cd83cee83b3aa6b28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ff41758abe69ae41e1bdbfaff0d55532308fb58548b568bcc4ee74edded9768",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:809a9bed58077e89f4d19faff48d9cc64b36fcde7fee525fed791b4079a1d911",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 3.514 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8162, 0.5755, -0.2214, -0.3954, -0.2173, 0.9982, 0.4984, 1.6764, 1.346, -0.3641, 0.3477, 0.3588, 0.2166]\nstate[eef_state]: left_x=0.3086 left_y=-0.0017 left_z=0.2004 left_yaw=0.1939 left_pitch=0.1417 left_roll=-0.0068 left_gripper=0.9982 right_x=0.4492 right_y=0.18 right_z=0.2008 right_yaw=0.0068 right_pitch=-0.0817 right_roll=0.0777 right_gripper=0.2166\nstate[joint_eff]: [-0.0889, -1.7436, 7.2274, 1.7851, -0.1587, -0.0269, -0.022, -0.3761, -8.253, 9.9077, 1.5702, 0.1734, -0.0073, 0.315]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8192, 0.5755, -0.2226, -0.3958, -0.2173, 0.9982, 1.0927, 1.977, 1.3212, -0.3317, 0.7506, 0.8368, 0.9963]\nstate[eef_state]: left_x=0.3088 left_y=-0.0017 left_z=0.1994 left_yaw=0.194 left_pitch=0.138 left_roll=-0.0048 left_gripper=0.9982 right_x=0.3176 right_y=0.3589 right_z=0.0865 right_yaw=0.0299 right_pitch=-0.0911 right_roll=0.0396 right_gripper=0.9963\nstate[joint_eff]: [-0.1026, -1.5795, 7.1043, 1.7558, -0.1636, -0.0317, -0.022, 0.8547, -8.8684, 7.8427, 0.9841, -0.0171, 0.2369, 0.1197]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8192, 0.5755, -0.2226, -0.3958, -0.2176, 0.9982, 1.0954, 1.9915, 1.327, -0.3275, 0.7555, 0.8307, 0.2092]\nstate[eef_state]: left_x=0.3088 left_y=-0.0017 left_z=0.1994 left_yaw=0.1942 left_pitch=0.138 left_roll=-0.0052 left_gripper=0.9982 right_x=0.3179 right_y=0.3608 right_z=0.0829 right_yaw=0.0326 right_pitch=-0.0896 right_roll=0.0287 right_gripper=0.2092\nstate[joint_eff]: [-0.1026, -1.4564, 7.2547, 1.7314, -0.1783, -0.0513, -0.022, -0.2667, -11.7812, 5.6821, 1.1404, 0.2222, 0.022, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a726ed783a7e2a4f02d3f81c42b8fe8dae5e87a6104011cd83cee83b3aa6b28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ff41758abe69ae41e1bdbfaff0d55532308fb58548b568bcc4ee74edded9768",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:809a9bed58077e89f4d19faff48d9cc64b36fcde7fee525fed791b4079a1d911",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE7UXiwM9v8ebGvAxaCYLV98YsiW1jLeWDp2S8ujQmowVuDQZ79EontNA6-V7rSsSB-2uB5YCf96jEOg32Fcq491QFx5GPTKYEvX9B57CIxrO0bYNW1he3KV1XUCwLQSV6hbV_fdyxyobuzyOXMBvCH4DhKtoYyN3E2HzZZEHOdFhJ_booknwVhJ2uHcq8uveAAeubXirph0ogL7nfKoEOR_RHawqehHutdNqtEdBiXA6AhDpjyZZy08pLNl0CqfE98SyqrsWt94oj5lYKhTBXT8OePBxn1yiZz750LuoYLRUGFnjxVBtqSNckrnpZNPMtwTeVxrc1bjFKY9gnJ1iqfh9YdI39sk4FzKTSuZcXag-TuaFfjxUBet7vouMGeNp3NPRZFuxSqUJPxZI8_PTtWTk0czar3fARcnmy2iEzN5Nt_hhkL5_z8cLf-ee8T2ymKD9DP-VghEu8bNZ3DA2WhKY5_1m9wd7_Gc8HQ-1OBHq-3zxswRNGfjJtw4CPAIybP4-qPM0z27V4vfnWj7Q_QK7OEgnemFq8ZkMWmAaSxi7n6J6ArxIHQ4s_dAtaoWNE6X6E558iGh6RNd9aJCGKWj1GARfNEgNmrxrU0H2pG5tfkSpSL4bR7Fp-X3eXReecQCTbpg8xSmb8lqJ0fZIoyTP4I6G9-OxRAySHw71Kxxr998MnJZdPaCqiNRVD5GQ094wM0r04GRNNCZ5y955nyo8DC0VPPt7bqVrFFUfIiP0xfWM8vTprC6y1qHxccIW1A9YvvL7gxSlVEp7Nu1Wf71ey7AQxjqgemF8XuFNUmVnGVz21bmGwSidP04Zn4bUx53ipXgYOuvZTyOM8Z4t6PoAs482ZSaP--OrYnPBvzcOfUTOmrFpOuQLSDTP0mTphofyq-yCwWNJ5teEaA0tzKJcLsqOWuprBDx1jhKYllQw-2e56ffl2lWrvaKZ2eUcntTo3YlP5IEZWxkSHkwguaZTJJ2z8TMumedmI9swS0B9g8TxePGTMIa1qw-eqnSgmLCZJibjkj6KTu7bkMeHDR-_d3JtX2eGP5Mfz5g02MvOAb8Y8qzaJbCbs61odAhgYBEhcK1P3_RiTfOLhh1a2Wiaj_9IfW8srIUC6ZOq6jfSVfsXrFvSGAOLtboRLQc-uwlOi5YrIU-_qC2xUGjnd246FaCXDw-L0BfORyPU_EbOHiwFzADepsBR_cp9CRamF1C",
  "id": "rs_06652852edb03493016ab44ed3e67887d09af7493a1aa0d4aa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.18,\"right_z\":0.22},\"note\":\"The second cream/brown plush is firmly held at gripper reading 0.21. I’m carrying it to the same central drop point in the right basket.\"}",
  "call_id": "call_wlkbnjqfGQA9vTvAtA4YJ44i",
  "id": "fc_06652852edb03493016ab44ed40f9c87d09fec769ae5f3a52e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wlkbnjqfGQA9vTvAtA4YJ44i",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8246, 0.5755, -0.2226, -0.3958, -0.2173, 0.9982, 0.5079, 1.7485, 1.4143, -0.4747, 0.347, 0.3233, 0.2117]\nstate[eef_state]: left_x=0.3092 left_y=-0.0018 left_z=0.1979 left_yaw=0.1937 left_pitch=0.1331 left_roll=-0.0026 left_gripper=0.9982 right_x=0.4477 right_y=0.1845 right_z=0.1774 right_yaw=0.029 right_pitch=-0.1825 right_roll=-0.003 right_gripper=0.2117\nstate[joint_eff]: [-0.0615, -1.935, 7.2684, 1.7753, -0.1734, -0.0415, -0.022, -0.5675, -11.6444, 10.7692, 1.7363, 0.3346, -0.0171, 0.2418]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19bc90086f886b9a004715b19081fd1e409d6765dec296abe1fd58c4b901b29f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36f170f7747d3c64fa5d575fac79c206187ad16b96e64191506df7d5b277c3ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de8680954af9c2c537ea4fee26a46dbbbcc29a04f1f1e5c4c3d15fe1bc558ed3",
      "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 20 attempt 0 · /responses · status 200 · 3.82 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8165, 0.5755, -0.2211, -0.3954, -0.2176, 0.9982, 0.4961, 1.6836, 1.3434, -0.3767, 0.3298, 0.3519, 0.995]\nstate[eef_state]: left_x=0.3087 left_y=-0.0017 left_z=0.2004 left_yaw=0.1941 left_pitch=0.1417 left_roll=-0.0071 left_gripper=0.9982 right_x=0.4473 right_y=0.1811 right_z=0.1934 right_yaw=0.0218 right_pitch=-0.1067 right_roll=0.0721 right_gripper=0.995\nstate[joint_eff]: [-0.0752, -1.2923, 7.241, 1.7607, -0.1099, -0.0513, -0.022, 0.0889, -9.2239, 7.1316, 1.7167, 0.2369, 0.0024, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8192, 0.5755, -0.2226, -0.3958, -0.2176, 0.9982, 1.0954, 1.9915, 1.327, -0.3275, 0.7555, 0.8307, 0.2092]\nstate[eef_state]: left_x=0.3088 left_y=-0.0017 left_z=0.1994 left_yaw=0.1942 left_pitch=0.138 left_roll=-0.0052 left_gripper=0.9982 right_x=0.3179 right_y=0.3608 right_z=0.0829 right_yaw=0.0326 right_pitch=-0.0896 right_roll=0.0287 right_gripper=0.2092\nstate[joint_eff]: [-0.1026, -1.4564, 7.2547, 1.7314, -0.1783, -0.0513, -0.022, -0.2667, -11.7812, 5.6821, 1.1404, 0.2222, 0.022, 0.6764]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8246, 0.5755, -0.2226, -0.3958, -0.2173, 0.9982, 0.5079, 1.7485, 1.4143, -0.4747, 0.347, 0.3233, 0.2117]\nstate[eef_state]: left_x=0.3092 left_y=-0.0018 left_z=0.1979 left_yaw=0.1937 left_pitch=0.1331 left_roll=-0.0026 left_gripper=0.9982 right_x=0.4477 right_y=0.1845 right_z=0.1774 right_yaw=0.029 right_pitch=-0.1825 right_roll=-0.003 right_gripper=0.2117\nstate[joint_eff]: [-0.0615, -1.935, 7.2684, 1.7753, -0.1734, -0.0415, -0.022, -0.5675, -11.6444, 10.7692, 1.7363, 0.3346, -0.0171, 0.2418]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19bc90086f886b9a004715b19081fd1e409d6765dec296abe1fd58c4b901b29f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36f170f7747d3c64fa5d575fac79c206187ad16b96e64191506df7d5b277c3ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de8680954af9c2c537ea4fee26a46dbbbcc29a04f1f1e5c4c3d15fe1bc558ed3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE7Z_EaA-fv5tek4nLX6hWcPjRoXXFB3EG-gv68lsLnhoXDBkSZWBwMq4TbXS_AEVuR0UW6g87_mnE8yu5EQfsx57yGPwi531bCPbain5czHWphKcLzsL4ERcAIAGz-irnPCbVmeInxLra9ajxdJ4ly7fO7DOAISA7GITcdSxiVnaRayjgqkqRNi6X_MXXGTRcqUep7vdfuotDE87tgKXqMvb-YCu8adjfs22zTMRJYCEU6t2TFaff1aBYhFFoFkuI-BSbKRM32cAbXFkvsAVH3umlQ72xKDiQpZBmfygFg3RB--F42aysVMohEtdlie_GnYZNONvsfnMYvsLByJqP-Jcg9FqeTlGhz7PN1cdWOlguXgW9Y5BexDH2YAz_rCqNn6Biw7CdDRvhIrRpi0G8kxdvmLLM0iYgdfPrtg_BB0Y-AfSNntSMSGVuSn7rVBzogoSH0ojcbgYBxfGLT4jf2BN8_EAhoSommLZ4qP41KaOyawSu9hNFR2vZUqWWY3ratkw3YEK61RDbzyfi5Aqj94RPBFo5GpbSkyyJjikY9AFukJNo1r4sdau7AS40Y6-CtamFMDL4q3kB0Ish5HdMcIgoe21ce-TtYSg5mWxZBNOQn3KsMk6zmiBdiCVC8Gl-pHZiQbXLrxP0IyxBv-azrxX8Uzj37eIn-RbPeW1y-7N4Ru8GKNX96k_Y_mwazZyaitXVJqL6IpO0NE-ev24ZEtjq0PfsNSrdD7rVEcVo-FBmiWVHQgP18Ra-UWZbsbRmjyYc1QKhJJXRVCbTyokN0ik5yPT9b0RHja0Sv4eDOlyh39JDsVp2v1aS1kPK2I6UKm-gozWnhhkGHdlcYjyKuKB4LpPXDoNE9oAAQKMjlyKmyDguLzMPmHOewGX3HRu0eak93FcjLyLNvfi2uOGVFmJmeWxqBG6XA5L3XnEeP_efjlMKn81ZMfeVWtf6_VQ9qrc5ZjdOjRQ-OkyTev1wFMAswAJPFsvUwrKaU608h5xqs0d8YuiK5tBKlAtMUebUujbgo2lGushQUiWhgHljJuJ-2OKpUGdwmPAdunCllndQPPu3wOOWu3XJ5TM4iTTPtJzIdiZ61zmWhL2CD4mXza-vDdiIMe15WmblxL78GOgJMY3l83ynMNUVqTSbO8Xtn5_BEZJYvNpVrat4L_NJ5D15Xo73ujwXJ8ckatpdK5exvhsXERz0bcHr3uDu4hpM-jJS_4WNTJQtyYVpIa8iNJKfCeSAn_CpEtzGQkh0fdFMn0eE0f_gePIVxf-rphg-HSJIWdnCT2uoWAY6NYICTQsVp7j3xYCFj7m-MuclOQvAVLDjAYW_TLeO0aa_BcS6Rsl7AXuAZ2c7lm_Gfcj_AGyFvd60aG9OPNdsJIMpaI61-48KJac7shH9T1o5ShTpf4wXSx8cnj3s36VdeNG8BpSojcdzenUkcIOEJRphdV2E8l4RBmtRJds6J9Rsmd_wrPJ5nfOO-X34ZWCPClZFKRIqvQMVcpOGnIrQYXSgEJbyPCoChVtFKJRNEsrk8jU4cmdY4hIAmbgTP5d3C5QrPKE8lOGCko3uvi8yTVPiM9Aritq7gqwtvBn0OBR1RNUrRGhAehG7YmCO3aHciIn1uKBGpXijUK-u9xdk4hhjXdmnRaZTC3zkn8UIrjvoa-SezH5gZ8J2Qv90WllE_6hzH9xsf2r6zcuTeE42zAfcaaVnasEgxpkhzBCNlw3tpsPbGeCXfVVchbBrpE2-8Eg8l178Xjh_dT58VXPBgMpqFgC02pDkPluP_YZ9u3OQ5SbwilpqGfMl2SuceRXR5MZM1rezyViXROqKQNMj_ggGrPLA0=",
  "id": "rs_06652852edb03493016ab44ed78e7c87d0a077988fcf816a68",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.1,\"right_z\":0.21},\"note\":\"The wrist view reveals that the nominal drop point is over the left edge of the right basket—the basket floor lies to the right of the held plush. I’m shifting 8 cm toward the right-arm’s outer side to place this animal over the actual basket center before releasing.\"}",
  "call_id": "call_ZZyQGYaN2OBz4EB5Q0xuG95q",
  "id": "fc_06652852edb03493016ab44ed8e92487d0bc2043505866215e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZZyQGYaN2OBz4EB5Q0xuG95q",
  "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]: [-0.2398, 0.8249, 0.5755, -0.223, -0.3958, -0.2176, 0.9982, 0.4587, 1.7405, 1.3926, -0.4953, 0.3012, 0.284, 0.2136]\nstate[eef_state]: left_x=0.3092 left_y=-0.0018 left_z=0.1977 left_yaw=0.1938 left_pitch=0.1324 left_roll=-0.0026 left_gripper=0.9982 right_x=0.4468 right_y=0.1662 right_z=0.1669 right_yaw=0.0356 right_pitch=-0.2283 right_roll=-0.0162 right_gripper=0.2136\nstate[joint_eff]: [-0.1436, -1.3197, 7.2, 1.7607, -0.1392, -0.0708, -0.022, -0.5402, -11.7538, 6.9402, 1.536, 0.2027, -0.0659, 0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb32fe8230d81df92b4de47d618b49e7dd1a20aac436718ac4f7454a6028dbdc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bd2555aba09b3e12240cc82179f18fb66f5242ec51409f4c7d0ea0cc55d35d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f860cb57393d72fe524f4b1574b1a1caa14ea872bf74dd5204dfb79d06ce706",
      "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 21 attempt 0 · /responses · status 200 · 2.307 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8192, 0.5755, -0.2226, -0.3958, -0.2173, 0.9982, 1.0927, 1.977, 1.3212, -0.3317, 0.7506, 0.8368, 0.9963]\nstate[eef_state]: left_x=0.3088 left_y=-0.0017 left_z=0.1994 left_yaw=0.194 left_pitch=0.138 left_roll=-0.0048 left_gripper=0.9982 right_x=0.3176 right_y=0.3589 right_z=0.0865 right_yaw=0.0299 right_pitch=-0.0911 right_roll=0.0396 right_gripper=0.9963\nstate[joint_eff]: [-0.1026, -1.5795, 7.1043, 1.7558, -0.1636, -0.0317, -0.022, 0.8547, -8.8684, 7.8427, 0.9841, -0.0171, 0.2369, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8246, 0.5755, -0.2226, -0.3958, -0.2173, 0.9982, 0.5079, 1.7485, 1.4143, -0.4747, 0.347, 0.3233, 0.2117]\nstate[eef_state]: left_x=0.3092 left_y=-0.0018 left_z=0.1979 left_yaw=0.1937 left_pitch=0.1331 left_roll=-0.0026 left_gripper=0.9982 right_x=0.4477 right_y=0.1845 right_z=0.1774 right_yaw=0.029 right_pitch=-0.1825 right_roll=-0.003 right_gripper=0.2117\nstate[joint_eff]: [-0.0615, -1.935, 7.2684, 1.7753, -0.1734, -0.0415, -0.022, -0.5675, -11.6444, 10.7692, 1.7363, 0.3346, -0.0171, 0.2418]\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 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8249, 0.5755, -0.223, -0.3958, -0.2176, 0.9982, 0.4587, 1.7405, 1.3926, -0.4953, 0.3012, 0.284, 0.2136]\nstate[eef_state]: left_x=0.3092 left_y=-0.0018 left_z=0.1977 left_yaw=0.1938 left_pitch=0.1324 left_roll=-0.0026 left_gripper=0.9982 right_x=0.4468 right_y=0.1662 right_z=0.1669 right_yaw=0.0356 right_pitch=-0.2283 right_roll=-0.0162 right_gripper=0.2136\nstate[joint_eff]: [-0.1436, -1.3197, 7.2, 1.7607, -0.1392, -0.0708, -0.022, -0.5402, -11.7538, 6.9402, 1.536, 0.2027, -0.0659, 0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb32fe8230d81df92b4de47d618b49e7dd1a20aac436718ac4f7454a6028dbdc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bd2555aba09b3e12240cc82179f18fb66f5242ec51409f4c7d0ea0cc55d35d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f860cb57393d72fe524f4b1574b1a1caa14ea872bf74dd5204dfb79d06ce706",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE7eCkSjx0fWLug_xYc74E9XHcsGJl8FsZt0nIV6xVoqTneywQGaf0w8NjF8cBs9SXcuMeQBm9w_TfmB-A8Isia82b6A732a0_OOzDunLqwPAe9r2LnzWk-nRdG_5pnSnlATNRTjvS50UmtX6Snlgm7-YXrRwZbQ2F6zaYZrGUKPpXGLuXj9kvWw6gOlEoW2YC5UuoNXRKJHOf5Uo1hn_ID1fmJVus_xzcXwXtBxwGKt5eWtidKnBa5kLwjfNaQLi6_4VFfSmMLHll9NU4f9OQMFsDX03hJIVBF_2NQE7QU9_P6MzqEizurpK3dMJGgsxjL9NDGRafD9KrzQN9yeYCWeCsv1CU-B5wpzfY-hjfNoKly41wVOLTU8kJ-50m2rV77mYXpPEb10h1uHUBWxA3gT6rmj9c3oIwGMu5TqhB7-Y47tXf0PBfImBzx7UWJKJitQiWiT6ylkebPp4Po0nPPlwhQshzSttpJVaD-Is3Mx5aOoVyifuGsPb1ySaWB4Yvx3f0HqLTWwRRqsRLreXZ4gNAwt_n9UZtVu8-Q2F9FaqEadbcuUX39_F4s5GQ4KCfhyRbmasVuvy1-F1d3I70N_zKC0STxpvvWDTZGJrMfwq0RBTvDlWILxa4k3E9RWP4hZrpSYKZ_ZTFcbnHXWEIdkmIjbO6ERy4ZFfT8xl0H6jL1pKpU70SAlJGuklVDYeNjK2CeBQQr8WRYGbhlIzMoXjhaMJdY87evtmShmMPlK-Q33hUlmYMbzzrT5ROZ4R6OTHXASbptiCUmwdg9ePLp_zAsfBkMro5Oc93VhnPI-vMikhBKuPAcQtXQ1MLCvoGHT5LcagO_ywLUH0QoS4ou1RVyIcoxxytot68A5a-HACTPKzI1BYdCtq518xpQ9JE0HepD5RgGtjMk8GddaeNZ8c9MBl6DxBQGoTV8A1mMzQBvDUCMRKYE6bdaq2s7plYlL-fFmCkMKaq31Jsrv_1O62AtaQJt1UFBoxjkv8OKzid6ymCli9kpO-786vja2BAAxf7o29pMYxaf6sPYpgtI4LVviXxbpaOR2XE4xZdx71739z0GcMoXkHEIHDUD6HB13S61I_5jGBWwkGJcap-f5Lmn_7_PtKjqKo70lkzkbSn_k_ffs9wz6M3Db2ZbDrLpigP0ZIijZsmUhMrjzIHipeqt-ohM_ZEVGjDWL_B95j1Omn4jg0UQ9Jx3J73ebzoCwYn0Fh1I6fIzGekzudBhTRBKP_lulnSaIOgjws1dLRGok4XRUtNSjxIEO6kxDqfzQYr2kVCUWtHNiaTikRl9ezG1MU8VRfmnyyF8yMZpzLR7HCVGkXctYe-UQRQcSer1dGzeoPSWdkmaQNtnLr55EGHmJ8__E_rSKjjpoFVDVQON0A-MtoYasI27RH-o-8yPQwSK4kFyTwkG5wy7AIKsLFpXUKzqCrnZ9U8fNC6L0wMg0HZ25faGlVwBTd0J8qqUGL_HUUfL3f0Qh60TfGA-qVlm2gJfZVuoNVhYORkSRZKkrPlQoGD2qPQviJSkO9CjfzR6CNACpsvLehlzK4nsL3WcqBUxjvx71-Y9zfz6bUCikC6vUFEXoVVZNRM2G-U57a46ddFkAEsq_PIS2tubLCFm2Kd_jqNOQM7c5b8A2OMW3pPCcECUogtVuJ4v8pBnFvrkz11Oqxkl8IS9-G_823BxWOFn1RTDM2rfAC1zO_14vGbCSPURMU6ZINHa62adl8geNXvoSDWZmMSizNaWbKW1uAmwjKpUWaV3yAOzNGQKTDuuML5krvtMYd1oyG47Pzm8mvbetv_dHsHOk6ecaeE1u6YtVcVxQAE-tPF4A6Zo7wNglpkIiOIZbCxDxQ48syMV7S1rn0HRaGmBvzH3vE6pRIow7R7C1BIR7BprD4g-S0C0L229ARb5VnBphg9jRyo3wLRZcfBrxILxUyzpM5GJNJJ5w2PlvMVeG_hQATx9JLxQsqCNvgiO4ZWRANpZY",
  "id": "rs_06652852edb03493016ab44edbad5c87d0a608a2e5b8cbe50c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.09,\"right_z\":0.28},\"note\":\"The arm shifted only about 2 cm because the low-held plush is already pressing the basket’s left wall; releasing here would again strand it on the rim. I’m raising above the rim while moving farther right, then I can drop into the open center.\"}",
  "call_id": "call_Fqkk3a0b76B2rYP4v0sdynZO",
  "id": "fc_06652852edb03493016ab44edd66cc87d0a9ee354703b64f04",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Fqkk3a0b76B2rYP4v0sdynZO",
  "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]: [-0.2398, 0.8249, 0.5755, -0.223, -0.3954, -0.2176, 0.9982, 0.2653, 1.6028, 1.618, -0.8032, 0.2066, 0.1715, 0.2152]\nstate[eef_state]: left_x=0.3092 left_y=-0.0019 left_z=0.1977 left_yaw=0.1935 left_pitch=0.1324 left_roll=-0.0028 left_gripper=0.9982 right_x=0.437 right_y=0.0849 right_z=0.2675 right_yaw=-0.0129 right_pitch=-0.201 right_roll=-0.0123 right_gripper=0.2152\nstate[joint_eff]: [-0.1162, -1.4974, 7.0906, 1.746, -0.149, -0.0562, -0.022, 1.8667, -7.4872, 7.9795, 1.3895, -0.2808, -0.0122, 0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b3ddd7ef791b93573b5592c99842127cd75720560553bde64093e2674631d84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb3539bb214ebad87175c6208b345e372376b5ffc95a48d1181721701016b497",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0be667e93b5a3088004d1ff58dd70b670a76dfd16842bf289fe0ef1e1acc1264",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 13.52 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8192, 0.5755, -0.2226, -0.3958, -0.2176, 0.9982, 1.0954, 1.9915, 1.327, -0.3275, 0.7555, 0.8307, 0.2092]\nstate[eef_state]: left_x=0.3088 left_y=-0.0017 left_z=0.1994 left_yaw=0.1942 left_pitch=0.138 left_roll=-0.0052 left_gripper=0.9982 right_x=0.3179 right_y=0.3608 right_z=0.0829 right_yaw=0.0326 right_pitch=-0.0896 right_roll=0.0287 right_gripper=0.2092\nstate[joint_eff]: [-0.1026, -1.4564, 7.2547, 1.7314, -0.1783, -0.0513, -0.022, -0.2667, -11.7812, 5.6821, 1.1404, 0.2222, 0.022, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8249, 0.5755, -0.223, -0.3958, -0.2176, 0.9982, 0.4587, 1.7405, 1.3926, -0.4953, 0.3012, 0.284, 0.2136]\nstate[eef_state]: left_x=0.3092 left_y=-0.0018 left_z=0.1977 left_yaw=0.1938 left_pitch=0.1324 left_roll=-0.0026 left_gripper=0.9982 right_x=0.4468 right_y=0.1662 right_z=0.1669 right_yaw=0.0356 right_pitch=-0.2283 right_roll=-0.0162 right_gripper=0.2136\nstate[joint_eff]: [-0.1436, -1.3197, 7.2, 1.7607, -0.1392, -0.0708, -0.022, -0.5402, -11.7538, 6.9402, 1.536, 0.2027, -0.0659, 0.188]\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 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8249, 0.5755, -0.223, -0.3954, -0.2176, 0.9982, 0.2653, 1.6028, 1.618, -0.8032, 0.2066, 0.1715, 0.2152]\nstate[eef_state]: left_x=0.3092 left_y=-0.0019 left_z=0.1977 left_yaw=0.1935 left_pitch=0.1324 left_roll=-0.0028 left_gripper=0.9982 right_x=0.437 right_y=0.0849 right_z=0.2675 right_yaw=-0.0129 right_pitch=-0.201 right_roll=-0.0123 right_gripper=0.2152\nstate[joint_eff]: [-0.1162, -1.4974, 7.0906, 1.746, -0.149, -0.0562, -0.022, 1.8667, -7.4872, 7.9795, 1.3895, -0.2808, -0.0122, 0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b3ddd7ef791b93573b5592c99842127cd75720560553bde64093e2674631d84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb3539bb214ebad87175c6208b345e372376b5ffc95a48d1181721701016b497",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0be667e93b5a3088004d1ff58dd70b670a76dfd16842bf289fe0ef1e1acc1264",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE7hKrjQLIRtq0Hnx7jzjcpIKKzWQZVEdF8_Q2YgAqI8Va3HQXUOs9OV_F6caLawLY5peGlV2kdaT2dd5s9u-VyQc6MWdeN34Dw1qLq6IKNMTtEeJdfI1K0flLWWznHJbCHYJQO-gHzmKtkaKkpA_biem0FOAZnY80wwAtrne_HPhqiebtLJhfuLbQ1xv1jZukPDwDIt8EAIjueSGyXE68Q6TJIzqfrLTXalNi1-lCmH5boymiVjZsE72kSy8U7ACMRlwQF-rpDhiTXpPjfKskMm3pKm-Wb7tXjd8i5np9KhlBJh0PqekMfPCKcOsYKG_p2RK4R0-B0Kfd9-t9xGjEwi_q4ZAm-NINNF5bliHBw-pZv7Vyey3IwPMj2yMYLXrkilCG6Crdcr-92Iolry_ssAI5I1YVajOphyrGL4XFBX57aPr6zS1MzLNLV-YugaeKIlwq77SetZd3vwQQsgrkCwYsb4ajNd3N_LjolPpVh2TfLhTQIeVpa371yzTVMdWorbKj4ClU-hVBe2WMmyx60D78X-BOxuR5B-vb2B_pSLvr60gyt9SyScPE-abykbqN9FPGSwhZ3htbUD-n58ftYWY4TdnEuC_f15Fxv08OGj5Cp-p0cSvuij781mPohXkaYwfM5XMpxigSpaC0Wp6ly7EiOA6lhc4gmARh2vlCzEC8dio0shGv55vfv6cuobcs0F8b_N-BH17KfoxXhsp-iYlYn1e7WycQxNXgT2AvHK7CqHqaK1pPU5JDd6lNaltrFrPGEm6950AkracFkd0zoHNudAcN8Opp6i5Wx89orCutY3UIM6yrD6Ujv52D7eNiPRua7Vs_pV20MLIEckk-09cwG4l75G2q-I4CLuAKKvcc4tHD1wMBHuRkHVWfFo9kikW49Xns4qtkDjB8e_hKSOkoBekVR-sGg9_3bFfOy6_77qut9GBH8zRuRAYsFFlSI0btQH4kGUcX5MsxrAiG4gaEoaC5Rtd8s4JxpVIawBwsgsGtWMJ1ZJHedwp8swtZ9kov3RN-eBiuKxQQU6KYizXB6YYcRZuAfP2e-8bVQy_3jWIF5ontVsUAVbDyE4e8hSqrWY657Jjosn84tGv56ue9tS6ur_kZz_N0lLWD6bHf-y_kpYxA4vupzJfJ5UpNF-Z_gmw0C9eHeBE6Dzz8oztH9Koytj6BFAJTmsjidND4UKSVgICjxr_0CR2gSloXMfgMTJ6F2Am39i4anDfu2b4iWEFsfwirEQa9bPj5tWLZxy4e0949qBNPTVdIelO8nxY7uLD9W5VvcmvtDY46IeVBDlZ4ZZdBY-9MWQAm81nHNh0yBPMoI-Q1mqLH8fn1ZmC_YMQq4F9I4Yo_mrgfpaYGp-cLxsGDSSUS9dDerrJ4o=",
  "id": "rs_06652852edb03493016ab44ee0525c87d0a80fcd02efbc1962",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"After raising, the right gripper reached y≈0.085 and the held plush is now above the basket opening rather than against its wall. I’m releasing it into the right basket.\"}",
  "call_id": "call_rmhCApOKpCF7P5F4fSseTUWf",
  "id": "fc_06652852edb03493016ab44ee0bb8887d0824cb2c55ecaa1dc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rmhCApOKpCF7P5F4fSseTUWf",
  "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]: [-0.2398, 0.8257, 0.5755, -0.223, -0.3958, -0.2173, 0.9982, 0.268, 1.615, 1.6108, -0.8276, 0.194, 0.1604, 0.9947]\nstate[eef_state]: left_x=0.3093 left_y=-0.0018 left_z=0.1975 left_yaw=0.1936 left_pitch=0.1318 left_roll=-0.0019 left_gripper=0.9982 right_x=0.4332 right_y=0.0874 right_z=0.2549 right_yaw=0.0039 right_pitch=-0.2458 right_roll=-0.0234 right_gripper=0.9947\nstate[joint_eff]: [-0.0342, -1.4291, 7.2137, 1.7851, -0.1734, -0.0513, -0.022, -0.5675, -8.5402, 7.2, 1.7021, 0.149, 0.0659, -0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c1401c4e9ee38c3b601fcf8e164a9f03b38a8673f727c47a1c3d4ba13b4f9b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:699a63b63f4cdf13f0aab648aeda912451a87405530d9d17aa662ebfcdb98dfc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab9ba3d81b8b3fd13f2f57ad986ed6579e8c1e1dd637e96b2e1c96bec6051f39",
      "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 · 6.95 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8246, 0.5755, -0.2226, -0.3958, -0.2173, 0.9982, 0.5079, 1.7485, 1.4143, -0.4747, 0.347, 0.3233, 0.2117]\nstate[eef_state]: left_x=0.3092 left_y=-0.0018 left_z=0.1979 left_yaw=0.1937 left_pitch=0.1331 left_roll=-0.0026 left_gripper=0.9982 right_x=0.4477 right_y=0.1845 right_z=0.1774 right_yaw=0.029 right_pitch=-0.1825 right_roll=-0.003 right_gripper=0.2117\nstate[joint_eff]: [-0.0615, -1.935, 7.2684, 1.7753, -0.1734, -0.0415, -0.022, -0.5675, -11.6444, 10.7692, 1.7363, 0.3346, -0.0171, 0.2418]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8249, 0.5755, -0.223, -0.3954, -0.2176, 0.9982, 0.2653, 1.6028, 1.618, -0.8032, 0.2066, 0.1715, 0.2152]\nstate[eef_state]: left_x=0.3092 left_y=-0.0019 left_z=0.1977 left_yaw=0.1935 left_pitch=0.1324 left_roll=-0.0028 left_gripper=0.9982 right_x=0.437 right_y=0.0849 right_z=0.2675 right_yaw=-0.0129 right_pitch=-0.201 right_roll=-0.0123 right_gripper=0.2152\nstate[joint_eff]: [-0.1162, -1.4974, 7.0906, 1.746, -0.149, -0.0562, -0.022, 1.8667, -7.4872, 7.9795, 1.3895, -0.2808, -0.0122, 0.1636]\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 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8257, 0.5755, -0.223, -0.3958, -0.2173, 0.9982, 0.268, 1.615, 1.6108, -0.8276, 0.194, 0.1604, 0.9947]\nstate[eef_state]: left_x=0.3093 left_y=-0.0018 left_z=0.1975 left_yaw=0.1936 left_pitch=0.1318 left_roll=-0.0019 left_gripper=0.9982 right_x=0.4332 right_y=0.0874 right_z=0.2549 right_yaw=0.0039 right_pitch=-0.2458 right_roll=-0.0234 right_gripper=0.9947\nstate[joint_eff]: [-0.0342, -1.4291, 7.2137, 1.7851, -0.1734, -0.0513, -0.022, -0.5675, -8.5402, 7.2, 1.7021, 0.149, 0.0659, -0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c1401c4e9ee38c3b601fcf8e164a9f03b38a8673f727c47a1c3d4ba13b4f9b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:699a63b63f4cdf13f0aab648aeda912451a87405530d9d17aa662ebfcdb98dfc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab9ba3d81b8b3fd13f2f57ad986ed6579e8c1e1dd637e96b2e1c96bec6051f39",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE7vDQcsf8tpXXHmcu43bqK90qTQ87Y0DSK_HCzlmtyDz0sCyHtETBetdbPHx-fEEUR66A0mq9YX5WKYo_p2lWw5d5lDdiENGTAMpaAR4EMPUZeIUHMKjgmuHC6eb8J9snAgf6Bfy6dWvpT54yMQATZSKNkOnYl2yds42DzLXPfEi4yejMvu8PGxv9aIDGFuHl9ApSZh_rux48i2tbRKz3qyHbD8XAc3caTdSGFlMdbAWW2gYCUS-QjURVJ3hrNVuYHZz0rkVJs6la4K2IYkgclVynC72Fj--mkw-QtJfRAnlhNYzDvqLIl2n9WzDq521yW4BFu3eF-REGUxVAP1clU_erQd4hgBiDSySMZQFBisnyzZUK2hLC2aGkgCmc8mPVvuc8n6vJKkIx11Ls9N93g3WwM_VcK6qcuN18a97pKFn7C88x1pm6qsjDw22uK6BZGUxxVwwlU_0uDXvsMwuiBYkPVQtVpBNK08hclZIqahZ31UZUI3K215yMR3VDEKNCw90u4ttLKjka9bCHQ5y8yo12Pxg44Gg8E70mJLzRmitH39RcU9MF3QklJoJ3DAAcOuCkM0h5eRm8UI2NAfsE9SR5lBsMR45JrtttXQ0vItcpsNT39tDXUp0lye3YvHyOZlm5TDhaBRAeRdRVhjJsvn26d3WBso9zX65oFgDuUQSv8P1KdbL5ltmt_yQu9U3eZfLYvNgBN9QkD36AO6PPjTKmxz9UeFAV3bp61xq-djcQPjJEIBtUamDKgBYct1rae-hLYREOPO6ZO1JzyUX2-jJcZI7g8ayUNdrfspqdVeRrW6WJtmP4HHVPK7eOsqTyeuZ4rYuCz29P32xeT4pbwAg4xP0gKr8RWoS7UZux5uP8VF_rkzRqa2nZjHhz_SSkFUJV7u7ppPpfujtAgKuTA4fW01svcqrJ4L_wi9HNZfECQt1QUZac1DaSjAIpwNzTL1vMuT0G6nyPX--hjwd4hMZa056kKwI1k0ygwD6lgmXuy055odLCAwlcHUIFGPDHRnTV2S1adOq2rdAjDaeGfDMg1R2GBJX_N1MTdXyJfeJtBADsjP7020ZW2HizMekrs4COqyoNDiCU0gDTMc-nY6S5bs_eUi1jCmyr9YC3CqQHjbPxDSf3s6BEyJW9reDebbr_dbswNSZyy1s9QyzKKNWIBM5zsnvsBMMvz1zoxRl3fOF8KfhAboZGZ9bWAKmmaIZg8T5VXWaWIv2FCEOMLssFQsGd3gu_MdrrSVrqztiT00FjsLIdS6OBH0PV274u0_FN22CZ7KKBJ3CqEs749fycUFNowjsLJcIjJQTKlGBPTsjhkMXOXaFeDZAo1iitefrLmYzls3q8EjoiqiRbzLnjEzi2rdahMTjQfhMjPzJuUw41tKx-rGRTrF930tj5hTBm6gk5g4-fWvr8cK_Nhp1rb9elunhoLvvVEqdvItziTCQb5Jw5AILrKq1jPvG3-rNDLaXOaR_6CZvymMFS2TbG0CCwnBDKdIjUJmz74dqOVN5VhP0FlfZ4nr7V_kdSYLaWSP1xQVuVOWOTajiqJOzumdSRSk_Fga7CkeJ4AyuKf_p3cQtJRFkrJvvYL-rloojYxB_UrD9K63vELWxniZr6ak8RQX6c30e_2WZWSC8J-7F-Ktd9rxyXNr6LXWsMSCQkwjY40nmKVvcORcZT_jB5vTCoReK3GAOctW67Swfnd3ociQB4v-4r1CMkvdDYh3NVe5mtWC3NUaWdJPSwtunD1ZXOYcG6CbTa4pEyx6gbAairh4rW6u3xVkpbNyUrelqT5EXt6xdbZ7YqoV2iNNr2HpNbYspcpFL5YEc3GLZoTnQY_nc1Yf8WA-VnsG8yDbxEaz8g0pt_Op_iai2ryMB1zcIMAb9VHYWFW2v2fUbGt1L9go9_NKVmcaUUUV5UfDy4YPw9MYASL5dthodOCY3VGgP_3I0ytBu400KFlN6eXsAwXDfpu3jlsYYJrVVAtuvHK-of38og9hFmHP9OfXz-anhwf8wNlxPPk_fmWqEZ4ZUmAbf9a0GgGNs-JFBWjRXzIBzlWY7gFP1d8ooNqD8hOIAmthI4oqo-tz5rOePNaC1zvg8BZARpxu1Msn1fswD5W3MEb4TsF7OhJdFviMDWMLbVlZgcphB1jjjTN1M2ToCch_OruFU_H8_IMtYQuj8h658Rj-RI6ZisV7tlxHl3W2sdNqqkNRr2wngD-mxq4e8_xlFH3SzXDnMX0CBqnj46xkU-aLpSCbwF_xAFX5kEhoZudDKJthfDVHXDr--uqzx3WKeAUmHC8Ldh6H0TufmuUGb0r1sUElDvy5pmApybnqXJ3FOTEsKLbHssIsu22icfi3hFsCReNy6RtAfpA4Olg24NKFfX7NBRLcR54eAdNHh2VAtgVkYWPMzUR6vCpOtlimtK37Y3fBWYd9w45OAyv6zCE0yLB4CFdpofd5g391bbdlX1CCqCxx_retfNaMhWiE01vt1dkqil-eMQcDttQsht1rbXno5au9addE2w-gtGN-R6zPsr7mX5OyB4YF3d7HS-8Cog4WpayRz7YuIHZoIIFa7OdstOLXqZbT4-1OA55X7dfmxvH4UAD5cBCH7nlTZPIKHVTWPP-KPLduvVPH67Ew_Kw710m2VaZo9RHvyN3JCsEAszwJ922jEB6_lxb1HMZGZpufFwraCWeRj1aX0YHuODRHsWxYxjjCgo-F5UHDI-33TAXUE0JzurmG7EBl2aeJ8BLUpUINHPDHGPRGLu9PrN5CVXLH7B4gmcyp457jhmGokdOux_FhKUfx-kJBktb-1Q3sjPrDYKw1JMNqGVqEbAxnly7mcvqnZv_YeGhRVKxBl93icaaeW3GG1VrQmPYqMRpUSlMhgtiwJZyk7c-T2slTciA5ibRcEk7zvH5H9y7YEyMkeUjAsrK7GJfvfF_h5CLKCyCQYD5Gc8CLxwTqJoMBPCTLbD3aiU3-VLPhS95wweilbtoKAQBH8f_c8mQg0a6X4uWoUCUTv2Yw6S753SX-I0AkEK-PEtCxVCTLJdgA7AAByNZjgQ-YEfIsswc_5CpJ_gI4dzTCdfORj-Q7N9ClHnwZsLEolGCrImqT53H84IHptljiOUB2uAlt9sl3FzNdt5bkv6-zU_djI8KbqBfM8i0q7C1sxqjFJY0TLATEoWWvocAEfmFM2TcouO1qTXN8vI669xMZcSKJpiLwsXHcHOi5Ks02x27LOpUR5pmTYUBIpqYl-4NSQmpK6xEIzygH32iomb_Gp22WvmrPcQ30gVgr5X6Es1hiUeETvAPj3V4CAdYNs-DJagMs7hy0oHTeZvFu4be_S9py7E59wkMVKGE3gOSi9hVab344Zd0YDtuDcnWt3oqv5BTX06WHEEcXk6RjCjLfB9FxAkz4UdogAvSgMeXwvNiyMXNaJcAv-yv4-fxBIT_wEVTVesQu0QnMslaZNkyF3IiNcp2dZtXARLZdzjSanexdMohhFYBf-WQ1-QEq-j68XBd7yREldAlJejPoIIvsMhzcWcf9U1xjNqqq3vCDf8Omo8m0WPDmrjm3fHC2AQSRkhZDObS2c28zXJ3vJ3ZzyB-V2AaT_bl2AJdo9uz5oaJZPSppKTim_uT-g_l-ER3ZDU9Oebb8MMiOzRA9aBYyE_YtJHoAtt8EgOZ1qKzR5mnSwpucsP_XNjOuFNJGeqGoSZOwqESoX8Z6Cj0hbTb02R-bILTMai_IihKNz-I3C4RUcriWj53FnLDeuEuYHPbX4LUuHONFb_7ZYyPqHyKx18vS74NQ72F_0Rx_p86sIcQd_wY6qU69ZKvnyNFo1HgnJMgHtCB9R9o4y562TwjvDKJSUfVC3Hdf0R6E7iJ6lHYdYIhAkBt27HaZO_SSPflgGOrqTW1HOcriWDfYuWuysfFYKRSXGRMWKk-AN08aS87iVlO4E7yhB5xRIMcL6QuhQvLlR4RVkViXfvWeNikD",
  "id": "rs_06652852edb03493016ab44ee3819887d08d20b46f06f0162b",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_06652852edb03493016ab44ee8ad2c87d08d9dcfe645ceaa00",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.15,\"right_z\":0.07},\"note\":\"The second release landed just outside the basket on its left; the held plush trails several centimetres left of the jaw center. I’m lowering around that plush for recovery, and on the next transport I’ll compensate by placing the gripper to the basket’s right side.\"}",
  "call_id": "call_yvovPfsh6vYEje4WiJOQK9gD",
  "id": "fc_06652852edb03493016ab44eee55e887d0a87e9d701e85f6a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yvovPfsh6vYEje4WiJOQK9gD",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8276, 0.5755, -0.223, -0.3958, -0.2173, 0.9982, 0.4477, 1.7309, 1.0359, -0.1925, 0.313, 0.2787, 0.9962]\nstate[eef_state]: left_x=0.3094 left_y=-0.0018 left_z=0.1969 left_yaw=0.1935 left_pitch=0.13 left_roll=-0.0011 left_gripper=0.9982 right_x=0.4178 right_y=0.1443 right_z=0.0773 right_yaw=0.0131 right_pitch=-0.2649 right_roll=-0.0474 right_gripper=0.9962\nstate[joint_eff]: [-0.1709, -1.6752, 7.0769, 1.7216, -0.1636, -0.0415, -0.022, 0.5675, -7.3231, 5.3265, 1.3993, 0.0806, 0.2418, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:202b9540a0c515a82db3aa66d483fd29a80cbb745747cd78fcdc2ac04c1544d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dff99ef0faa2e3eed9ec32454308fbdb2943335555e141f3711710419621d42a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ec37266b69a6d5ae87d8e518535e63e50f64025bf14d41ef9de621641e45d76",
      "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 · 4.855 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 93 changed as sent

message 98 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8249, 0.5755, -0.223, -0.3958, -0.2176, 0.9982, 0.4587, 1.7405, 1.3926, -0.4953, 0.3012, 0.284, 0.2136]\nstate[eef_state]: left_x=0.3092 left_y=-0.0018 left_z=0.1977 left_yaw=0.1938 left_pitch=0.1324 left_roll=-0.0026 left_gripper=0.9982 right_x=0.4468 right_y=0.1662 right_z=0.1669 right_yaw=0.0356 right_pitch=-0.2283 right_roll=-0.0162 right_gripper=0.2136\nstate[joint_eff]: [-0.1436, -1.3197, 7.2, 1.7607, -0.1392, -0.0708, -0.022, -0.5402, -11.7538, 6.9402, 1.536, 0.2027, -0.0659, 0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8257, 0.5755, -0.223, -0.3958, -0.2173, 0.9982, 0.268, 1.615, 1.6108, -0.8276, 0.194, 0.1604, 0.9947]\nstate[eef_state]: left_x=0.3093 left_y=-0.0018 left_z=0.1975 left_yaw=0.1936 left_pitch=0.1318 left_roll=-0.0019 left_gripper=0.9982 right_x=0.4332 right_y=0.0874 right_z=0.2549 right_yaw=0.0039 right_pitch=-0.2458 right_roll=-0.0234 right_gripper=0.9947\nstate[joint_eff]: [-0.0342, -1.4291, 7.2137, 1.7851, -0.1734, -0.0513, -0.022, -0.5675, -8.5402, 7.2, 1.7021, 0.149, 0.0659, -0.149]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8276, 0.5755, -0.223, -0.3958, -0.2173, 0.9982, 0.4477, 1.7309, 1.0359, -0.1925, 0.313, 0.2787, 0.9962]\nstate[eef_state]: left_x=0.3094 left_y=-0.0018 left_z=0.1969 left_yaw=0.1935 left_pitch=0.13 left_roll=-0.0011 left_gripper=0.9982 right_x=0.4178 right_y=0.1443 right_z=0.0773 right_yaw=0.0131 right_pitch=-0.2649 right_roll=-0.0474 right_gripper=0.9962\nstate[joint_eff]: [-0.1709, -1.6752, 7.0769, 1.7216, -0.1636, -0.0415, -0.022, 0.5675, -7.3231, 5.3265, 1.3993, 0.0806, 0.2418, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:202b9540a0c515a82db3aa66d483fd29a80cbb745747cd78fcdc2ac04c1544d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dff99ef0faa2e3eed9ec32454308fbdb2943335555e141f3711710419621d42a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ec37266b69a6d5ae87d8e518535e63e50f64025bf14d41ef9de621641e45d76",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE73A5xNL4SymIAbcX40jvpCNjv9CAI-irN8KD8RIQri_XO0wFvXb57qPcBHJqHvYJs5OfqXtJFXA-YZv8QNUAP30lcpTsxozd0ngL0yOHmkxe-FVvrY9mu5jnEp8rte2m6YiKn7gEVtVNj3Qil4RVqhG3hxVCR9s8WCtawSw1PHlzt9Ijhq8W3xfaL0ELXXqxIdlRZ6kyRUoKSqRvKhFCDKIROQ-7tmJ8F5uhbjrRMxOT8JJyw4Y1ZzZyczvcwz3usnFT_gWNFjMAwDhQXn-fwdRT2w7VK4EoU9go9mvN8A6agJhrfGvNQKtMBKtHUsBZjoc21GV5N5nbYOfMl46NqLCPxLJNTW5o-ok--rmoktLbrneimIfxWQLBHXan7vaSudBlHiz83_Y_a1nb1UqdQWy0NjsHnmREOimUP7nZ_kfImZ8cV_hNGIdmwXdOhpm4eQvxaKaAuOoz5L6FwOttseKCDXckMx5P0KL7yWqP2XZdgO-iHw9zuKtQ-1xBBElQaN8Xzjoaw3QyuPZMlDEUyn2hdum4wzSDYIJUpab4wfmxL26MWRWiQvl_GKmiY-4fK9LVDh3Wwp9QJUyzipyOpbjzSTAh_XpOcmKcA3JUJzjsWLgEjf7abO6KY7cZ84c3Y0doiZkALVP0V1PfNxQiETvdSfJrjttdBFO16G3-3avUlE_OR754-5YLWVaWGMN_gh4jqNVbZ0axkfx4jM4bkBabnPjCy5ZvWDUt-71iVwtgLEPFnMv3dQzy6qOWq-2hIvDLGY0By5cjeR8pTyL-bPNWb_lI9wmFUwQKRngheYoI6Ng453LM0JWMo5IvfZ_SGKX-4vv4kstRGGDotId3U6iNHrLKZLiqxCF5O7JOy8zpoaRuhDpJzGc3_E97KhfT3ulNTROoWXme4UHKtCb4eUMMzmm2Qe6Ek9JCTToUOTUHr1zp3aKr9UuHMiAm6tAg2ZSQDhijc9F5BGPOehrSSuBsmAmWTL8O1o7ihxL4E5wS8drgHkRghWuRltUIF-lCKzA5H-I-MNl7-YwNoaBIFSjKEqSeUdiIWKi4_j39iUu1baf-TivTYr0kcjAQF9SGf3MHU1-eQVUofv-AcKTGdzHGnH4O-Jk9AQb8kAt-m6kYpTL1Fk7A4_ie3yq2YOdO-xMgtM03W8yBI-km_91kCXf34jSXICkAOaEj-IMjqioJpBGSWBCELhafDz5t9GlG0ZFKlAN53q6ajr49Tboxf-eXB8AMRhEsv4cQM1gVdr8SNbe5pDJ_CJR6TwpnHUcblXl6g7J1mm96Y5LBVzpZaVle_B7TzkO-6xxgynJr8Jt1jdqe4GVab2DWmgiv4JsCymMCIIR-PldEGhaCBWALEs4pZxQ0HOYnKABpD5ry1Nb7hP9BZ4QS_SuOJF79-cSM67kBX5ZUPwIbOZkSAXL3wlMHF_681KtM0U1bBczuUHaTZK_Ibk3DxNJ5n4ds8MTWd0rzAunn_rId5K7FvZC4GaEglzyScXOdHpB0HBg7Es5EI1vaKAYxV4eXEfjdVxUojKflH27DNVfhyhuHXvHTXVLHibrSC1DevRJd37PsjOKRQk9vu4HOm252ovIttdqbQxiu0R4FumXtMK5zHo2kriOs-OOd3EyJk61CKXI9SeBu1seGoPtJNhKwvbZwDK2yzkXUuj4CoOa5962CcPyY0tvQwtjfvlYWPZNa0fGt5HGLw-fbsWn9R2m-cirA8ltIyH5iwxi9jcEKZziQKDHMnNatYofZhJi7GrhZVcllTX8aMmLTAMbSs1b7ZkfWaKcbasbs1kuRzFWgvMKjiMxtqO8t2dIuLGAxpymDlogA8R5exoSsqXR8QSjjJu-f-ML-1atrzcMpdxy49YXE0mr68BrKsqrLiLqboUmZWEzSlXAyirq6W2P7Kcx1ZkwQIoHBbzM9lUvclKxhJF-L9FMlJUwXdbW8mLgT3yytYZdP0gxYgKYelxD7oct7ODAvetIA1g2NyNMipb1wTPiAsGk1erZWx3_mMwnLE_TFC-uDrcbDNkeFkV69T1PBPg1q2BuAcStiOwFokcygWthttehlk9AEjezjzrMEwg3ixJVTmQ7yFoJ2UsKXNW0jHINS-Szthz9aqmr8l0oNlsMFnLKPU5BUzpjEEuf_zToUAKXS9g4dkkvkS5zO0zIQqjMhYdNbBscdNToPVCAB7rjOpqtSe2VVAspL1WxHcqRLVqwvFPKFNM5Yu0rlJainYSjKKFuy_0f4vTky2Gqca4RbelIa-vtGGpslEPGgop7YzvlNNDPA-1clRsenHhGFXjAdqN8hFUtyBa_R_aZ64mxRh2tZKMNUwwV7FvWqDou6GsJJsBsTpCp48t-hDDAMRpA40Hh_2shYaLlALJv47itmLhLBny87c9OsKzaKXVsbsvPCsqRx4DCABSXjzkM3xxomwdxfqBDnQVxu-z5KA7g9mMZdXq9-OYxYroDwVqUk-zgmW-Qzogdl5Sh-0tCLxFqqo4udXFGES3ppwYcgyUFE4n6JzzFMilM0lZTLDQ4FhrWpzF7Zyyp6q6wB4h5Kwxu1WDjGyAGxzrJDBZHrW_j5bVxMMBioM2NF8ly5MyH5jzwhCbA7Li8o0XCeYtjyLKUZac601a_eXzOixZHsbtjz6myw6EQX2bcUZFgIwkGET9x73Ki_SKXC1JwJPw-bGVIxib-l_WGoRT_o8qF28pQ8tqDSh4HL3PEHB49jx69x87xcydLHmXIujcF-h8zYMLZ4sj2sbXuQdLijxMHdDhlu71g5RvbIFeQlEa7Ta58CP3fSpBTtAU_eimF2fp3q1QuONL5Y42l2_SUdyv4uyrbc8ijusL5b32OUkk8yDzdt0aunQbveL83PEJBjRPuQv75UyGp5l1MirW9AdoSyTQEQRsv5IZml2xiJS76gVZKEYdhmpRVWcyyqwbtKpCd28YEJD0c9n4gUSsOBo8rKnGqjEHPPfnW4dkDzMsdZRRCGhZOsOyifDrimofzkosY_djF_XHAQDCVRjgL_oQLYHAlgUt7NsgodP6Ac2NT8rB1Gi2fjB6LQLzctsT4Eq2B-nxD7DpoZNj2dETtLOqA36s4keKBZ1oG-5s1G7J0nU5c2XF97Y4z9xR3mMAcnWqeKAcNE5w-6WTiJza2jt6TcPT43GCHiC1pZ5muf7vwzf5btGZWuOShKnqNXbR4ZLdsTtowfQ-j5sYjJ991ccpqw6TdQVJqhVU0Q8QEh6vZGxiGWsZdVX_dptU633J8j9B3izM8NrOH_vpsZERWSjnekd3dqvb6jNlDFYH4DuFrTZIyfV4aCk5wG1ZBfXEOcaVomghyEcSqidlRGr5ItYfAhAWfj2MmQZ4QzdFkS2tjU4EYxgsmi2em8_8m7mRpltBoyfxCXFmE3gNXLA-FcNyOL911xAy16UHeyYGUamuNbPhk8SbSjaJQKzWKBmHbkMiMNwpbtEuw8QP",
  "id": "rs_06652852edb03493016ab44ef24f2c87d0a5f735eb2b0ceb39",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.12,\"left_z\":0.07,\"left_gripper\":1.0,\"right_x\":0.35,\"right_y\":0.36,\"right_z\":0.07,\"right_gripper\":1.0},\"note\":\"With both arms clear, the overhead view shows the full remaining set: two gray elephants on the left and three cream/brown animals in the center; both baskets are still open. To use the remaining time efficiently, I’m positioning the left arm around the front gray elephant and the right arm around the front large cream/brown animal simultaneously, keeping the grippers well separated.\"}",
  "call_id": "call_UuAOSeDZs38yDJivCh8bTGQU",
  "id": "fc_06652852edb03493016ab44ef6512487d08e305e82ad98546a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UuAOSeDZs38yDJivCh8bTGQU",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7525, 1.4715, 0.4091, 0.3229, -0.8322, -0.5484, 0.9985, 0.9588, 2.1002, 1.5452, -0.5705, 0.6144, 0.7616, 0.9985]\nstate[eef_state]: left_x=0.3145 left_y=-0.1106 left_z=0.0627 left_yaw=0.1844 left_pitch=0.0934 left_roll=0.0581 left_gripper=0.9985 right_x=0.3593 right_y=0.3409 right_z=0.0684 right_yaw=-0.0054 right_pitch=-0.2655 right_roll=-0.0717 right_gripper=0.9985\nstate[joint_eff]: [-0.4718, -5.135, 5.9556, 1.8242, -0.3834, -0.0171, -0.1734, 2.3179, -10.2769, 8.5265, 1.0232, 0.1734, 0.0757, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8091cd50cd1bc6f044c75c82528d2eaa51c8a150f43de04f6ac2577f419b5868",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5a3c39bf7bcf22dbf27eec3dce22723b07e590160bbc349c6642c7536f89305",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d0c2c8ab3d97aeb8228ae63af1e5be9d6a454408bff2d31ff315fe72c99a7cb",
      "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 · 4.7 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 98 changed as sent

message 102 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8249, 0.5755, -0.223, -0.3954, -0.2176, 0.9982, 0.2653, 1.6028, 1.618, -0.8032, 0.2066, 0.1715, 0.2152]\nstate[eef_state]: left_x=0.3092 left_y=-0.0019 left_z=0.1977 left_yaw=0.1935 left_pitch=0.1324 left_roll=-0.0028 left_gripper=0.9982 right_x=0.437 right_y=0.0849 right_z=0.2675 right_yaw=-0.0129 right_pitch=-0.201 right_roll=-0.0123 right_gripper=0.2152\nstate[joint_eff]: [-0.1162, -1.4974, 7.0906, 1.746, -0.149, -0.0562, -0.022, 1.8667, -7.4872, 7.9795, 1.3895, -0.2808, -0.0122, 0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8276, 0.5755, -0.223, -0.3958, -0.2173, 0.9982, 0.4477, 1.7309, 1.0359, -0.1925, 0.313, 0.2787, 0.9962]\nstate[eef_state]: left_x=0.3094 left_y=-0.0018 left_z=0.1969 left_yaw=0.1935 left_pitch=0.13 left_roll=-0.0011 left_gripper=0.9982 right_x=0.4178 right_y=0.1443 right_z=0.0773 right_yaw=0.0131 right_pitch=-0.2649 right_roll=-0.0474 right_gripper=0.9962\nstate[joint_eff]: [-0.1709, -1.6752, 7.0769, 1.7216, -0.1636, -0.0415, -0.022, 0.5675, -7.3231, 5.3265, 1.3993, 0.0806, 0.2418, 0.1343]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7525, 1.4715, 0.4091, 0.3229, -0.8322, -0.5484, 0.9985, 0.9588, 2.1002, 1.5452, -0.5705, 0.6144, 0.7616, 0.9985]\nstate[eef_state]: left_x=0.3145 left_y=-0.1106 left_z=0.0627 left_yaw=0.1844 left_pitch=0.0934 left_roll=0.0581 left_gripper=0.9985 right_x=0.3593 right_y=0.3409 right_z=0.0684 right_yaw=-0.0054 right_pitch=-0.2655 right_roll=-0.0717 right_gripper=0.9985\nstate[joint_eff]: [-0.4718, -5.135, 5.9556, 1.8242, -0.3834, -0.0171, -0.1734, 2.3179, -10.2769, 8.5265, 1.0232, 0.1734, 0.0757, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8091cd50cd1bc6f044c75c82528d2eaa51c8a150f43de04f6ac2577f419b5868",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5a3c39bf7bcf22dbf27eec3dce22723b07e590160bbc349c6642c7536f89305",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d0c2c8ab3d97aeb8228ae63af1e5be9d6a454408bff2d31ff315fe72c99a7cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE793kN4-VlADdDlzzQH1w8P1TkFthefVl0X9sGOKyJmbhHbIo-c8fiJbGPgae8RYwVw4PYP740jvO5cmsrDX7cFZsZoILvwG5b1RmUXMkaaUUJAH79TzhbyNXbn4rPzlEfMDI0wcXNwBupshU8LbZCqT32rHFRD4JQcG2lbGkdNtiO1Kw5E5X19SjfTIrlkpsj0CURVd-HESqCLOxnlSbkKpc1JaLzztWkra6u01-ksBdG4xjLk6JPKSOgU4zQfrAsxUOKSzzqd3TgGsijShWu7EkcVhNSp-tsYuB72BrDipIvSNPj77DojSXqEZNnXuGjp9wMfmPVRqENwT79t7b06l-pkLD7_Sm21Sq0AGZsXS6nA8DIoifAP1EfhDsBpPTmfQPD14b7msGpKQ0Ji9rcWTaft_Bzqra5L2sB-89CgQstNV2tz3e3DQDlhEJVsHZ_USniKUcVdTjvEcNs8Z8seAQ2lLmlvu_mgA9pvsuNa9Il3buROTGqgNFdNFrMd6Emfp03g3DNtQtwvCZ7cNruNvyOMlBvHUqQAOp4N3sHCenNNDl_mOaCfHC2jsZC6mdFJN8HP_h_hEUrWMMzCRyZLYxMG7NaULf1yvMfykx61wDNrkDFVYRBKpav2XRhKm18skfgTMC-qR567r3BxEurpn8kIF6Tlk6ZdhtHaL-S7RwIOQPSTVZUG54-smGu8CNKjyGz6IrEl7NO_pJS6Yc2pt3QW5u9MGvMulJ60krPzwZrgGHWjUYRFQj0oho7N7Zf8xOvi0gcXytNKiG8vghAJEIHk4PU4x34ZpX7HHEcSN7lnTdpf2nwXZY6cFmrvxtx76VOucFTkeuO2u83tcEvJZJ_hNlPU3nF96IBIOIZARVfYINHHSQ0TRI1uPQsDTnbdQtgJIts9jOyMbr6ndDki9RnmXUNatgvkAIdozOxdAf-x7VnGvKCTt9pzzgHw3tzfW_QGLQj29Xr49SG-BAQk_JavaDqrQdl-smOjrzNfSTcnGUh6-s2kKaGuZjYeZZoQBkIAxjDG30uVK2iiIOdnMix2LSBSVjFijIkIJ3e6B4MmtX3JH3D4B2AqGuXJ92eaj-XxBFtx759903Yh381JQYhEKDNESni9cVCx2xJgerZFX6J9M-WzwCWzzCIrl-Jbj7NpKjwXfrJ1F1BicalR_B9KMbL5Qzw1Zy_pqZlbrE3mtcB4RcIBWUksO32n_tG72aO4qvGB78JAoy6rcT61RlcHzldUHkJaHLKrXD74Ug236EoZyZEHy4CL4o5zG2pG5zZftZVKaNRxP8t-s4HGH5D2HAb-hxvSNDVSEhv2SmIWDtHhpsMSGpWrHZUJpYlKIyfzenHtf7XAc_kWe6DEU2STqudtmsHN7-KfAnrF8T2_7cePSSZK8Xc5ZPB4XUYdSlVI9KX9gyTOOlWL3NJatO1L5x3lwyQzpx9ohbwGc8jrnVVcAdEihkzt_MYlojhfeP2LQppQDOlBsuLaiC86FnYIvt1kyVjARnzPEXb9UoyG64Q-SCZ-pAge5qTs24OiYl0bCOCz18ryZLjo-TD6CZd3HKGRhz5_-cjK1BNBRNYLJhBm0aMQrLlFojsE0_kw6J5aZyt1wUuyKuYYSj45YxcyMQt694g7MhEYeM12Hwh1m7nNcNJysIMzwhiMgnw1dnsxrn_nGWXpgc2hNwJEXwJRhT89Sa5mawWqaCWySpmShYUwTWBzRTljImYLBx_j",
  "id": "rs_06652852edb03493016ab44efbe2f887d0a6027e0b0bbbf3fd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0,\"right_gripper\":0.0},\"note\":\"Both targets are at the fingertip rows: the gray elephant’s torso is centered in the left jaws, and a cream/brown animal’s body is between the right jaws. I’m closing both grippers together while the grasp points remain separated.\"}",
  "call_id": "call_b01PrBWdLERml6Tdx4qSYXqj",
  "id": "fc_06652852edb03493016ab44efcf38087d094e03006c854134a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_b01PrBWdLERml6Tdx4qSYXqj",
  "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]: [-0.754, 1.4864, 0.4091, 0.3298, -0.831, -0.5507, 0.0117, 0.9581, 2.1002, 1.5513, -0.5747, 0.6254, 0.7528, 0.0521]\nstate[eef_state]: left_x=0.3145 left_y=-0.1114 left_z=0.0593 left_yaw=0.1827 left_pitch=0.0881 left_roll=0.0621 left_gripper=0.0117 right_x=0.3611 right_y=0.34 right_z=0.071 right_yaw=-0.0072 right_pitch=-0.2566 right_roll=-0.0821 right_gripper=0.0521\nstate[joint_eff]: [-0.1026, -6.106, 4.9983, 1.326, -0.3248, 0.0073, 1.0037, 0.0615, -11.535, 5.7915, 1.0525, 0.3736, -0.0464, 0.8962]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae9b026098bf41866525f3cf0884eb20af4d80d708637a2d5dcdfd4982cfff45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92edffdc93a8ece527a31029a44f3355f03014bc59d5bdc84ea1a0167bbd59a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16ae297292a908dfaf5f35dd6c9c4176c3a74a46adc87b21f64fc964243fc230",
      "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 · 8.398 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 102 changed as sent

message 106 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8257, 0.5755, -0.223, -0.3958, -0.2173, 0.9982, 0.268, 1.615, 1.6108, -0.8276, 0.194, 0.1604, 0.9947]\nstate[eef_state]: left_x=0.3093 left_y=-0.0018 left_z=0.1975 left_yaw=0.1936 left_pitch=0.1318 left_roll=-0.0019 left_gripper=0.9982 right_x=0.4332 right_y=0.0874 right_z=0.2549 right_yaw=0.0039 right_pitch=-0.2458 right_roll=-0.0234 right_gripper=0.9947\nstate[joint_eff]: [-0.0342, -1.4291, 7.2137, 1.7851, -0.1734, -0.0513, -0.022, -0.5675, -8.5402, 7.2, 1.7021, 0.149, 0.0659, -0.149]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7525, 1.4715, 0.4091, 0.3229, -0.8322, -0.5484, 0.9985, 0.9588, 2.1002, 1.5452, -0.5705, 0.6144, 0.7616, 0.9985]\nstate[eef_state]: left_x=0.3145 left_y=-0.1106 left_z=0.0627 left_yaw=0.1844 left_pitch=0.0934 left_roll=0.0581 left_gripper=0.9985 right_x=0.3593 right_y=0.3409 right_z=0.0684 right_yaw=-0.0054 right_pitch=-0.2655 right_roll=-0.0717 right_gripper=0.9985\nstate[joint_eff]: [-0.4718, -5.135, 5.9556, 1.8242, -0.3834, -0.0171, -0.1734, 2.3179, -10.2769, 8.5265, 1.0232, 0.1734, 0.0757, -0.1636]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.754, 1.4864, 0.4091, 0.3298, -0.831, -0.5507, 0.0117, 0.9581, 2.1002, 1.5513, -0.5747, 0.6254, 0.7528, 0.0521]\nstate[eef_state]: left_x=0.3145 left_y=-0.1114 left_z=0.0593 left_yaw=0.1827 left_pitch=0.0881 left_roll=0.0621 left_gripper=0.0117 right_x=0.3611 right_y=0.34 right_z=0.071 right_yaw=-0.0072 right_pitch=-0.2566 right_roll=-0.0821 right_gripper=0.0521\nstate[joint_eff]: [-0.1026, -6.106, 4.9983, 1.326, -0.3248, 0.0073, 1.0037, 0.0615, -11.535, 5.7915, 1.0525, 0.3736, -0.0464, 0.8962]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae9b026098bf41866525f3cf0884eb20af4d80d708637a2d5dcdfd4982cfff45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92edffdc93a8ece527a31029a44f3355f03014bc59d5bdc84ea1a0167bbd59a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16ae297292a908dfaf5f35dd6c9c4176c3a74a46adc87b21f64fc964243fc230",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_06652852edb03493016ab44f006f5487d088e997d569965399",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.5,\"left_y\":-0.32,\"left_z\":0.26,\"right_x\":0.43,\"right_y\":0.0,\"right_z\":0.29},\"note\":\"The right gripper retained a nonempty 0.052 pinch on the cream/brown plush, while the left reading is very small and may have missed the gray torso. I’m lifting both: the left arm goes over the left basket as a verification, and the right arm uses the newly learned offset—gripper to the basket’s right—to make the cream plush trail into the right basket.\"}",
  "call_id": "call_bMA7QGlFSDtdzf925xY1VCri",
  "id": "fc_06652852edb03493016ab44f02c1a887d0aabb754f0b83e73a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bMA7QGlFSDtdzf925xY1VCri",
  "output": [
    {
      "text": "executing move_to over 29 steps (2.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7982, 2.376, 2.4817, -0.8665, -0.868, -0.6456, 0.0136, 0.0322, 1.5986, 1.6901, -0.9565, 0.0746, -0.0277, 0.0523]\nstate[eef_state]: left_x=0.5047 left_y=-0.3196 left_z=0.2535 left_yaw=0.2141 left_pitch=0.1038 left_roll=0.0024 left_gripper=0.0136 right_x=0.4257 right_y=0.0041 right_z=0.2708 right_yaw=-0.0251 right_pitch=-0.2978 right_roll=-0.0678 right_gripper=0.0523\nstate[joint_eff]: [-0.8, -13.8188, 7.3915, 0.8913, -0.3639, 0.3541, 0.8425, -0.1846, -6.7624, 9.6752, 1.5116, 0.0415, -0.1587, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47ef26de5e1d63c63e3dea69271f9944c3db4b69808407b26eb62f5aaa956c89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b853b14f12f166bfc0e66a80c97196ddc0f37bd4509341c58e2e643bde18014c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fd1fc638c66fbb052a6e78db836c40cf909f140680cebe987d75b165c9f5c16",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 4.933 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2398, 0.8276, 0.5755, -0.223, -0.3958, -0.2173, 0.9982, 0.4477, 1.7309, 1.0359, -0.1925, 0.313, 0.2787, 0.9962]\nstate[eef_state]: left_x=0.3094 left_y=-0.0018 left_z=0.1969 left_yaw=0.1935 left_pitch=0.13 left_roll=-0.0011 left_gripper=0.9982 right_x=0.4178 right_y=0.1443 right_z=0.0773 right_yaw=0.0131 right_pitch=-0.2649 right_roll=-0.0474 right_gripper=0.9962\nstate[joint_eff]: [-0.1709, -1.6752, 7.0769, 1.7216, -0.1636, -0.0415, -0.022, 0.5675, -7.3231, 5.3265, 1.3993, 0.0806, 0.2418, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.754, 1.4864, 0.4091, 0.3298, -0.831, -0.5507, 0.0117, 0.9581, 2.1002, 1.5513, -0.5747, 0.6254, 0.7528, 0.0521]\nstate[eef_state]: left_x=0.3145 left_y=-0.1114 left_z=0.0593 left_yaw=0.1827 left_pitch=0.0881 left_roll=0.0621 left_gripper=0.0117 right_x=0.3611 right_y=0.34 right_z=0.071 right_yaw=-0.0072 right_pitch=-0.2566 right_roll=-0.0821 right_gripper=0.0521\nstate[joint_eff]: [-0.1026, -6.106, 4.9983, 1.326, -0.3248, 0.0073, 1.0037, 0.0615, -11.535, 5.7915, 1.0525, 0.3736, -0.0464, 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 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7982, 2.376, 2.4817, -0.8665, -0.868, -0.6456, 0.0136, 0.0322, 1.5986, 1.6901, -0.9565, 0.0746, -0.0277, 0.0523]\nstate[eef_state]: left_x=0.5047 left_y=-0.3196 left_z=0.2535 left_yaw=0.2141 left_pitch=0.1038 left_roll=0.0024 left_gripper=0.0136 right_x=0.4257 right_y=0.0041 right_z=0.2708 right_yaw=-0.0251 right_pitch=-0.2978 right_roll=-0.0678 right_gripper=0.0523\nstate[joint_eff]: [-0.8, -13.8188, 7.3915, 0.8913, -0.3639, 0.3541, 0.8425, -0.1846, -6.7624, 9.6752, 1.5116, 0.0415, -0.1587, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47ef26de5e1d63c63e3dea69271f9944c3db4b69808407b26eb62f5aaa956c89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b853b14f12f166bfc0e66a80c97196ddc0f37bd4509341c58e2e643bde18014c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fd1fc638c66fbb052a6e78db836c40cf909f140680cebe987d75b165c9f5c16",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_06652852edb03493016ab44f081cdc87d08ab9c4eb6a2d1f65",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtE8PVxhLYalctxX_R92n6o0-SvNkjLvWlIQF42N27JKU0VglOKshhxiCuUVBhvgcjuj8j1kLHH2p3cyrg92dlAQkohEcuF62LYR-vSaPragK9W9BtVY6CC7Kw-sB307FE_JnzRnsWtwcCLiF11PDoMrnLKu9IigG50QfYVNzTirnDi56i87SQacnb3S9DHRVMhj3rNY5lTq_tbgpRkT3Mh2IRcTaRH4OibUbJhuGxxkfKIfqDh2220VCcaXJIck3af5xhLjDJq_h6KgsobjFoknT9cEKP4buHDn0tJSlD7CRpklot6OLIia27cihTQ35z7K6Fi9fPQN2We-FWs6k4SYr6l7HO-nBq23KfeHCh5nplb7Zi8xHz7OmmBOjtHW9jbliCUebEVBgMVyTS8H5jf70tNnVYNinUEnY0_HOjt4sKg41fU57ynPI6_tu7uPsZxZDYREB4pu8b2CMalgUdiw0U4zd2ud5dK46kEw5ELQ45wh2PMcvH__eC8cnVD15sXlmCBrGPC0KjL4fnfe7_cYLv9KVqsV6HCtLkUz2PXgOy67UfE6j-bf_vkl3Fp5zIIW9m7u9xqDDBTJot7kIE5KXYv4D9EHpMBvRnwNzY3w8RJu6gQrGzIP38H2QPrCnnXvmPRXtp1bqiwCqZReZ_HoBaf0rZYiJDP-3FuRbKIgxS4xEbHhVMvDxamF3nKJ_HGVuuAkh1V8iTamT5-GhQuJfpUsAm34k1m3mlCXDfD3_LA5SXXIiG6W3TsXKpyeqC9Pz_JHjhPbno7ECxZx-jua2XZKu4dO5Zpj_C1spHWYHCpSg0npLEvsdqju-a2v-AQm8IC_tQDHn1P-_P-e24fFfDILInitKe263qKpZvcnqYf-cBvW_HLL7XDRrNb_CLze1FgZN_KxXXoWRU7RfOBzzh6N0mmsMaprVR1Oy_Ufhf9-gWoOWQ2hNOFkndgcYzWUBjEZAnzMocUYOw4YYNcctpLUvsnffNlEljsSScYdD0KWcIzgtJHcC7gy9zt_Q7LZopahPhs-okizSya-hkJrp62qkFU3pWCjSCUL3uZFEGJfgYscWidCBRWL0AiNJgTyg3ZXP2VbFV0GvqyusUJXh-L9bSf6H2r4UPKr_vHoL5GTiJqqf5RxZ4qOlo9OxOgHU2ABwDB8N2378K817FaN2eHfILKE7IZ6Yy4Tn708paXyh-C6BNcwM12-ggITE5228SV1ChRJmPUgmcVSJnmGOkDiDnI2Klrun2K-UR88oIDA=",
  "id": "rs_06652852edb03493016ab44f0d699c87d091698436859db281",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.12,\"left_z\":0.05,\"left_gripper\":1.0,\"right_x\":0.38,\"right_y\":0.4,\"right_z\":0.05,\"right_gripper\":1.0},\"note\":\"The lift confirmed both prior pinches were empty or only caught loose fur; all visible animals stayed on the table. Both wrist views had shown clear space below the bodies, so I’m applying the rig’s key correction—advancing each grasp point about 3–4 cm farther forward—while approaching the front gray and front cream/brown animals again.\"}",
  "call_id": "call_q2AG8dA2BEcs6Cc3Y8eaTzs2",
  "id": "fc_06652852edb03493016ab44f0dad9887d0bd199e485037b400",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_q2AG8dA2BEcs6Cc3Y8eaTzs2",
  "output": [
    {
      "text": "executing move_to over 33 steps (3.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6399, 1.692, 0.5282, 0.5014, -0.8242, -0.5648, 0.9982, 0.9081, 2.3253, 1.9488, -0.7906, 0.6044, 0.7971, 0.9979]\nstate[eef_state]: left_x=0.3635 left_y=-0.1045 left_z=0.0561 left_yaw=0.3072 left_pitch=0.1348 left_roll=-0.0225 left_gripper=0.9982 right_x=0.4056 right_y=0.3624 right_z=0.0721 right_yaw=-0.0803 right_pitch=-0.2948 right_roll=-0.0778 right_gripper=0.9979\nstate[joint_eff]: [-1.5795, -6.653, 5.5726, 1.1258, 0.4615, 0.4615, -0.0171, 6.0786, -9.4427, 6.8991, 1.1355, 0.1148, 0.1636, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90e54060764bfc776955d82b5c108feecf5fd9afbff407f0c7ea7d8c748aa388",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aef56160e5ba95ef47b11efe1038543d057655a116a8b28d6f00306ccbc41fa2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09d77b130b4ab0443021eebd0f49059801e20a1bb882c8958c5fce34c187146b",
      "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 · 2.758 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 110 changed as sent

message 115 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7525, 1.4715, 0.4091, 0.3229, -0.8322, -0.5484, 0.9985, 0.9588, 2.1002, 1.5452, -0.5705, 0.6144, 0.7616, 0.9985]\nstate[eef_state]: left_x=0.3145 left_y=-0.1106 left_z=0.0627 left_yaw=0.1844 left_pitch=0.0934 left_roll=0.0581 left_gripper=0.9985 right_x=0.3593 right_y=0.3409 right_z=0.0684 right_yaw=-0.0054 right_pitch=-0.2655 right_roll=-0.0717 right_gripper=0.9985\nstate[joint_eff]: [-0.4718, -5.135, 5.9556, 1.8242, -0.3834, -0.0171, -0.1734, 2.3179, -10.2769, 8.5265, 1.0232, 0.1734, 0.0757, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7982, 2.376, 2.4817, -0.8665, -0.868, -0.6456, 0.0136, 0.0322, 1.5986, 1.6901, -0.9565, 0.0746, -0.0277, 0.0523]\nstate[eef_state]: left_x=0.5047 left_y=-0.3196 left_z=0.2535 left_yaw=0.2141 left_pitch=0.1038 left_roll=0.0024 left_gripper=0.0136 right_x=0.4257 right_y=0.0041 right_z=0.2708 right_yaw=-0.0251 right_pitch=-0.2978 right_roll=-0.0678 right_gripper=0.0523\nstate[joint_eff]: [-0.8, -13.8188, 7.3915, 0.8913, -0.3639, 0.3541, 0.8425, -0.1846, -6.7624, 9.6752, 1.5116, 0.0415, -0.1587, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6399, 1.692, 0.5282, 0.5014, -0.8242, -0.5648, 0.9982, 0.9081, 2.3253, 1.9488, -0.7906, 0.6044, 0.7971, 0.9979]\nstate[eef_state]: left_x=0.3635 left_y=-0.1045 left_z=0.0561 left_yaw=0.3072 left_pitch=0.1348 left_roll=-0.0225 left_gripper=0.9982 right_x=0.4056 right_y=0.3624 right_z=0.0721 right_yaw=-0.0803 right_pitch=-0.2948 right_roll=-0.0778 right_gripper=0.9979\nstate[joint_eff]: [-1.5795, -6.653, 5.5726, 1.1258, 0.4615, 0.4615, -0.0171, 6.0786, -9.4427, 6.8991, 1.1355, 0.1148, 0.1636, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90e54060764bfc776955d82b5c108feecf5fd9afbff407f0c7ea7d8c748aa388",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aef56160e5ba95ef47b11efe1038543d057655a116a8b28d6f00306ccbc41fa2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09d77b130b4ab0443021eebd0f49059801e20a1bb882c8958c5fce34c187146b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE8XScKYwXq6hEpeIXZskzdMRIybP9DU_36ZK2kq2YF5HiGTeV_UPjeZ92bgPVBnwiK26P1sVwJAqaosaWiu81hHEz2qGnKePVp5OikOLwYkl5NWD7FUeYVpIIc_QlWVm10OYkqRTbQw9BnH8QVej1PpnZNoC8_ljJCnza39JrSxgH0rBeJC5cQlsXFj3VAh6t5vzg_StsEznVZliTKXbO_9W5qXJWedXhRewARMXIp_eGdWHhSx_En9BTGQHYP5HALefAQWkJAjnkw2Z71wSFSvcD2bforRJhHgXJ9Ix5aLth6R2hAzsmavs5pYU34RW4wIL9hRt8Ul7q3fl80kTLeEwTUOuQIk9_3KwVxq6hyqAoZZkKr08FYv1ONjxjVGTAFLb-v7sItmkg9cnvV29AHNW_3S78Yv953btNzwOhpXGH-3_Bl6T-T48palWNptaAU3tYlg2SB8gB0AkmcPfT0Yr2HF8u5GbxUGjNUYfFSwIIWlZNMHnW2IkZoCLNtzDoH6MugWyKmU8w22J6ox1Xq3y9xkHu9AkcldkSC3FKmfTdqgBet4v5GYoRkmPtX-a4o5FvuKv_0QsaAfQHUGotplQJmDlSr1TWtkAegPX_dJN0E7NO_S1Tpo1y4D5Dxg3YJBn9WUfB_F5ILjxaErQTiGZ9TIcjX5QOj_yqarqdXRX8fG1MDZ5y0wNmmHS-4hYO-3FfRVYQfJnJI8pQDHPgVX8_-rCngpaUN4WK7W9mtvQ6DbRLt3nVxt0w1G932DlPkAEY3H29jhPMCkH3GXtcyKsj8NBK3eP3oYAD5fo--7P0Q7hqgHnI2D5TetfHCOnxOyzqXsMa-Ta9DsUmdT9rggRyEz00d7kiTKM5XV261Qyc3Oo6ST8f4v7y4KhynfNKX2LR6luk7Y8S0-ta1ATVaHsmmUkYQMgmyNXCwwQP-j7qkBxi3awixbPbUna3O7b0hCPnwVw3TvbYIfm-dInkZl8CzJUh8EuVY5pOao_2954uM5gPPAB-7_1uoJJpXfConc9_paupa8Eao3N9cyUTD_P05HePAguI1FgSIiKrux-E711KpbHiX1EZeBqPkC12GFH7hOaSXHL4ZNN7gzkMqSPGl7zUbq1EvwP2fYGtAoAJQJzEG8IKROr-MqQi2VO-5u6XR0h0rJOCRuFbVzC2FihgFSg9V-UkuNeYS78K2Xeg_a5sjsuoO_HjqNkyB4qS5IDk7cz-wOv1zYSFw7dmNvZYEWgTJKHe-W6PbkpwTac4y4WMoUEfVw3geuQByB6tvHdN3u9Q2ARlZImhl8GAnMdv74SojSDNNzPpeNv1f4b5Ui5e5i0M6PLfti-p2C06r7ds0Uofdku6Ymuk8bNKfywklZ13oVyv8vZabMvrKyTJm6p_nM3vtXXYPDaZKIqoo2dBuarirzSVYb75YscwasF-rqd3XXAWKltpkeHYcLM-OYYq1IDrjFgL-3tVzJk3XSdzXXeCHhRBotXb5dLnzcu70O6ytCH2BD7yNUuXRi1wFX-KDF-zTo1-yi8r-fgW5hq37EQWh3qitJ4o-i7yDdsIRqAOUguxy7rEDXDa768_fAcpmAkt1RuHwk--uUQpbSsnm6DuGGv3KWtI4kkMrlvPrlX15ys7SN59mYoV2CRWpd3gfEeM0-ee253tviaGcKAe9gmd0CSH7cN5NGeMOzAxoWzZzTlFtQyPO0cIKG3fIV04tuHMTQ04tKnqftBpF4UDHaF9ovLANxbdtMzUfGflF8Ln_jEiUYRzUWnfBiyrE8DDtX1T_BxXsonGEMFB8OR4DfbtIKCOHoS4GtNh2ON5c3fQnyUGK3W2HqKJIBvfo=",
  "id": "rs_06652852edb03493016ab44f14ff9087d0897c2d8bcdea9db5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.4},\"note\":\"The forward correction puts the gray elephant’s thick torso squarely between the left fingers. The cream/brown animal is now close but slightly left of the right jaw column, so I’m using the remaining lateral travel to center it before closing both.\"}",
  "call_id": "call_fYiNjMuEYUJ35OOS0OxKMxN7",
  "id": "fc_06652852edb03493016ab44f1626d487d0a29422998d61cd76",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fYiNjMuEYUJ35OOS0OxKMxN7",
  "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]: [-0.6296, 1.692, 0.5171, 0.5358, -0.8639, -0.5804, 0.9982, 0.9173, 2.4561, 2.2047, -0.9333, 0.6338, 0.8204, 0.9982]\nstate[eef_state]: left_x=0.3643 left_y=-0.0948 left_z=0.0611 left_yaw=0.3584 left_pitch=0.1677 left_roll=-0.0426 left_gripper=0.9982 right_x=0.4186 right_y=0.3804 right_z=0.0797 right_yaw=-0.1041 right_pitch=-0.2803 right_roll=-0.0924 right_gripper=0.9982\nstate[joint_eff]: [-1.0325, -6.4889, 5.5453, 1.1453, 0.2027, 0.1441, -0.022, 3.1111, -12.041, 8.3077, 1.0379, 0.1245, 0.2711, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42f4c87089d79a4154f5bc6c9f9a3272a6f5699fcddc936ee98405c26c9dc38b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89e01b8be9852b3004b1ef904d250f19240500194a27389609166792e0189c4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:417fe0f74301a352c0e3128bb4d1fb0a7c7244ff962a997e3c941eb50265efa3",
      "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 · 5.793 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 115 changed as sent

message 119 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.754, 1.4864, 0.4091, 0.3298, -0.831, -0.5507, 0.0117, 0.9581, 2.1002, 1.5513, -0.5747, 0.6254, 0.7528, 0.0521]\nstate[eef_state]: left_x=0.3145 left_y=-0.1114 left_z=0.0593 left_yaw=0.1827 left_pitch=0.0881 left_roll=0.0621 left_gripper=0.0117 right_x=0.3611 right_y=0.34 right_z=0.071 right_yaw=-0.0072 right_pitch=-0.2566 right_roll=-0.0821 right_gripper=0.0521\nstate[joint_eff]: [-0.1026, -6.106, 4.9983, 1.326, -0.3248, 0.0073, 1.0037, 0.0615, -11.535, 5.7915, 1.0525, 0.3736, -0.0464, 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 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6399, 1.692, 0.5282, 0.5014, -0.8242, -0.5648, 0.9982, 0.9081, 2.3253, 1.9488, -0.7906, 0.6044, 0.7971, 0.9979]\nstate[eef_state]: left_x=0.3635 left_y=-0.1045 left_z=0.0561 left_yaw=0.3072 left_pitch=0.1348 left_roll=-0.0225 left_gripper=0.9982 right_x=0.4056 right_y=0.3624 right_z=0.0721 right_yaw=-0.0803 right_pitch=-0.2948 right_roll=-0.0778 right_gripper=0.9979\nstate[joint_eff]: [-1.5795, -6.653, 5.5726, 1.1258, 0.4615, 0.4615, -0.0171, 6.0786, -9.4427, 6.8991, 1.1355, 0.1148, 0.1636, -0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6296, 1.692, 0.5171, 0.5358, -0.8639, -0.5804, 0.9982, 0.9173, 2.4561, 2.2047, -0.9333, 0.6338, 0.8204, 0.9982]\nstate[eef_state]: left_x=0.3643 left_y=-0.0948 left_z=0.0611 left_yaw=0.3584 left_pitch=0.1677 left_roll=-0.0426 left_gripper=0.9982 right_x=0.4186 right_y=0.3804 right_z=0.0797 right_yaw=-0.1041 right_pitch=-0.2803 right_roll=-0.0924 right_gripper=0.9982\nstate[joint_eff]: [-1.0325, -6.4889, 5.5453, 1.1453, 0.2027, 0.1441, -0.022, 3.1111, -12.041, 8.3077, 1.0379, 0.1245, 0.2711, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42f4c87089d79a4154f5bc6c9f9a3272a6f5699fcddc936ee98405c26c9dc38b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89e01b8be9852b3004b1ef904d250f19240500194a27389609166792e0189c4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:417fe0f74301a352c0e3128bb4d1fb0a7c7244ff962a997e3c941eb50265efa3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE8afnoaRQCVui9gkow_1YLAOQ38Z2GCJXY8P447Cz_vqCCt4I8i5WSMF3v_onQnViKUxzssaO1qyqc7r69m7VZF6uaSitxTH5PrT9VKgmwKSb73MoZBtntboVr4pW1tjmbcJkiAAJWlQ09TplIEzSZc7TbCT232atTlR_eR_rWwpqLAuEgcqIXN3tyTnBrPfRYDoehcyarhjkwPTnzROjT2-J3u3VrfzOo14464RLi0Zo8ICSE_3HceGB8QaqgDaCntGBNdhlFcfZfl5n7o9o-SK4TERsCpfTWkmpewpxGDEQQeszzV_KrgLQB88nA06DLZaxoI6fqicSYMfbvGkwrxOLZMFS7N981dZUFMA3C3vATo03ZXQ63w57NqDRrnW_fBRfkXeTsyoavfT1hKEQW2dHSmDG9Ye8CoziC3FU-eFmNkhZWdUY5NSwV8fZ50Ai_cj5Yuf2e6910TIMdbZ2BwVfeZFPyClphgamNfxdogkvxIWYw4esFS3OiSrIDVIeCpKi66XUnotHkqXgvPbr7ROxr6S4OlPrXw95gRqpAxcKJPfUxyDWLwVznT2eKEOXAgXgqYcnn4UMMzeI7FVymCJxG5i3f-zkU4WDwNbxq56_EujVTpMBL_gyMEmk50MrqfNPxwH8f4dUtwQWJUp30wUfGqkdIPVGliz5HMviAc_TxCrpZv5dJP1eqaA54HK-EKHmq7mtY0xXiUDsZHJV9VJk1NEiimTANn_RBupkAdMOerGTK3v7L1Ydl3AM1x3BXssYR1Y7rIFy4yLI5mkSNfcqKMoKY8a2ZP_65C398prg8-jGmRzqko1Xy0mjE2dPEeZtppyF8urX9kgs1TnM0Xz7sKWAq02ToXQGzLiuTIRQlDYjwMR9RkBQ8oiLDISIFY1DAUPmSO5qhCzEfpHhF6Sjb9tvjBT0CSQe26ySwJSM7zyukYq1rWBoeSmdTJQLmUQrxCX7WW_Az75zkIfcMZ1CVGRxzMikuZHPvIpgTziSgFUL4l9QGfCyFPr6yu_tPCeTb7ytTL6gZ0OP-TOeTmzX3IUfI3xOE52bUwmIsDCpDNgIEhuC7dEvkd6YPFUMyu-p72oAYcdSEIQil9OJCShw2DRfjj4g974qoI_WijTi1HKFkHJIYYoPVOnjVedqngNgWfv8YKLKHQ0xupRo3_au8QmjNlV8ELEaFvyrnYSOq6qxUYHRJPkIG_7R5GTNqinsvwze0zV4UtR4NoclsPlsdELRnEWXO-XDJAfvAuX1Gi469Acsc-GTgHf8W-D2RXL6KDRW05WKEKdFm1ITAh96bcxVpA0O9Ma5YuU4XxAOk0DmZto0GlW-G0epEpRhnq",
  "id": "rs_06652852edb03493016ab44f1906b887d09c21215254da9999",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0,\"right_gripper\":0.0},\"note\":\"Both plush torsos now overlap the fingertip gaps after the forward and lateral corrections: gray in the left jaws and cream/brown in the right. I’m closing both grippers for the corrected paired pickup.\"}",
  "call_id": "call_NpNnXRkEARVsdrYi91qIP3Uh",
  "id": "fc_06652852edb03493016ab44f195ba087d0b431ace0e623ce23",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NpNnXRkEARVsdrYi91qIP3Uh",
  "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]: [-0.6304, 1.692, 0.5156, 0.5423, -0.8642, -0.5915, 0.012, 0.9218, 2.4676, 2.236, -0.9489, 0.5941, 0.8368, 0.044]\nstate[eef_state]: left_x=0.3644 left_y=-0.0951 left_z=0.0616 left_yaw=0.3646 left_pitch=0.1703 left_roll=-0.057 left_gripper=0.012 right_x=0.4148 right_y=0.3892 right_z=0.0789 right_yaw=-0.0867 right_pitch=-0.3086 right_roll=-0.0573 right_gripper=0.044\nstate[joint_eff]: [0.0615, -6.4889, 5.1624, 1.4481, -0.3101, 0.1001, 0.9353, 2.1812, -12.0957, 7.9248, 0.906, 0.569, 0.315, 1.199]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 393):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cced3ee54fa0f76de2b42e50631e22fb9f87d401406438c44e436b6380b373fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 393):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32fde1c5645e569a8aefc4a4119717ebfd4ae3b08764c1dcb316676986dd0aa6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 393):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e304753e2808b6255d43887734c2455eb4a395d0a075191905f7eb7fa807f7f6",
      "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 · 2.016 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 110 changed as sent

message 119 changed as sent

message 123 changed as sent

message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7982, 2.376, 2.4817, -0.8665, -0.868, -0.6456, 0.0136, 0.0322, 1.5986, 1.6901, -0.9565, 0.0746, -0.0277, 0.0523]\nstate[eef_state]: left_x=0.5047 left_y=-0.3196 left_z=0.2535 left_yaw=0.2141 left_pitch=0.1038 left_roll=0.0024 left_gripper=0.0136 right_x=0.4257 right_y=0.0041 right_z=0.2708 right_yaw=-0.0251 right_pitch=-0.2978 right_roll=-0.0678 right_gripper=0.0523\nstate[joint_eff]: [-0.8, -13.8188, 7.3915, 0.8913, -0.3639, 0.3541, 0.8425, -0.1846, -6.7624, 9.6752, 1.5116, 0.0415, -0.1587, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6296, 1.692, 0.5171, 0.5358, -0.8639, -0.5804, 0.9982, 0.9173, 2.4561, 2.2047, -0.9333, 0.6338, 0.8204, 0.9982]\nstate[eef_state]: left_x=0.3643 left_y=-0.0948 left_z=0.0611 left_yaw=0.3584 left_pitch=0.1677 left_roll=-0.0426 left_gripper=0.9982 right_x=0.4186 right_y=0.3804 right_z=0.0797 right_yaw=-0.1041 right_pitch=-0.2803 right_roll=-0.0924 right_gripper=0.9982\nstate[joint_eff]: [-1.0325, -6.4889, 5.5453, 1.1453, 0.2027, 0.1441, -0.022, 3.1111, -12.041, 8.3077, 1.0379, 0.1245, 0.2711, 0.0269]\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 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6304, 1.692, 0.5156, 0.5423, -0.8642, -0.5915, 0.012, 0.9218, 2.4676, 2.236, -0.9489, 0.5941, 0.8368, 0.044]\nstate[eef_state]: left_x=0.3644 left_y=-0.0951 left_z=0.0616 left_yaw=0.3646 left_pitch=0.1703 left_roll=-0.057 left_gripper=0.012 right_x=0.4148 right_y=0.3892 right_z=0.0789 right_yaw=-0.0867 right_pitch=-0.3086 right_roll=-0.0573 right_gripper=0.044\nstate[joint_eff]: [0.0615, -6.4889, 5.1624, 1.4481, -0.3101, 0.1001, 0.9353, 2.1812, -12.0957, 7.9248, 0.906, 0.569, 0.315, 1.199]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 393):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cced3ee54fa0f76de2b42e50631e22fb9f87d401406438c44e436b6380b373fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 393):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32fde1c5645e569a8aefc4a4119717ebfd4ae3b08764c1dcb316676986dd0aa6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 393):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e304753e2808b6255d43887734c2455eb4a395d0a075191905f7eb7fa807f7f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE8hDKJCHsC_hKg0yLLZqRFpSf00Wqxwb5PY_2zs2thpIMkGfj9r-Sxku4yUPZLuHAeshXpAE0igNmw45sRToz4aZA9r8DX4g1QyFa8BczqZJaJhRSxrv4YxohLjae6g2gXOqzfy5elDvfl6ug1BKjz_IsPtdlRqGmf8YkHTdb3JQqemt6BiqESVhTPU7LyAVQY9Wym3PsfKlRpkmbMGDAJ0SaocrrO6I3y5NLXkclbvxMK6652LN428rwI0I7omJJzDqHbRTa1115ocsH130rnh6nr3UwfQWYjCFgM5IjT1X44nde1D-X3BiFNoyiWiMAo-Lo2wzoceIx7r71XFR6K3Fe-fwqnGB87_Q5EErYzBIXlvaeOnS_3vxzxGCzgtKSnLMiQKCRVd1iZYbDDKRcj5QAabpHywkMRllEF7VpMEVVs_75twnOJmUenxVpJmse5m_LojYLpXl7fPjFIFeoP1iXMDxKWbrbVrbVWIHgihzxdarwXZsdnYiRbKZPZ0nIR_gSOzbVXkM7VIoIu-xAd6WjE646Y_Bf7inOLmlgloe1yzdNG7MjNaoQ201Wzocux8B0xcF6Efdy25zjAtb9MOrPgLU22od1Fvpl8lcUvgj0lA_smR-U7cAH1b0bcNqtDc6r62y2KClxIf7mqwN-6f3AVBe8nGU1LeZkUtKkjrxz0HuJSmRNW80P8_fIxzYmeloD-NeS2_un33BcVu586ceXNhll-gCiVxDKtxieun-u4Z8RO8lF14jlJ-W0De2AN9uW9_pngZg6w3-fcr-9sOuXkV6Y5FV56PDN4lCIz_iblqWqlGU-2tNAtpd77PsYinyu_MlAoSdELI_uT80yRdZl78f7BuokyJuwQt9jO2jEyTfccM9yt5qepy9aev3b_WD6srR-u4WdHvTQuVl7RMg-fu2MHiOrllNk3NBb4SgLJzPui1ANEXVyFnyH23EFVyixpEGuC9FZCXS4DyVp_YHcOq9cr-Orc7eBIlGHlRp7UUHRCgaYDq422m8ELTH9vI-m-Zlj4FoWytaDP-xRhUAg7YDOxpc8cqcifJmx_649IbjzTFzWctq1dEIxJMvJpvPIzZe4qR3A45c66g5CU3Dp3kKD0J-KuJHXhBRwfTTXIHKpQcw4KmDDVxIvUXZiJNQYa1NerbZuUOO5M7uiWjR1pCfPv-Oyv4CQOSK7Sr-i6XOe3r5XIpb2Xcz0sX6mBlxE89i3LxEtKeu_6kDIsxk8NaGCTjXdgOhTk0HBtPfdjnzSydtIDVjLvngLxRJnG55IbaT3vOU9Lab0fDWobKNoms_dEYFAzkXjJcDUqtzoXci8n7rM40F1ex80I7jd3qZc-KZpeeaRnEHN2TT2gGZi37xmKqoh2nO4hGOZMHD5j5KHpOr4V76acOMGDlge0tbri8ZR3Mj1XovsvS-y7n6xVUjDbKgANfHciN2VmkJeApnd5dGeOutVz7-q5BfUhe1H77sSlKcVGXpTUodSB3rVNwSxINuWF7CUpyf8nCV9wJQlZnQ0JzT3bAsnI6a585vPme7n8xhX6of_-Fq4bW20ZelsVjJ2xCHMiCubssaXtcaUM9TLTj6phrhC786kPj0x26OWtCJFEyhU-rE_C4S3Un55TXZMohvvAAiitBQIhE2AMtZexIspZoEgOHCkZlTNg8KJHj3Boh2oEssrAXEJzTBZyuHXq20NOWBRAYLguPdkUOmWUs7T_w9YkE6YlHxuZKm-JmShcPrOwigHbsiDp9d-jS9MhPrLGtbV7LceJ3bO7h6cgeB4rz5FXDxMllmb33_c_cmJVVJfMIMU4IH3ZCWJjswwaY0pkrkTDP3Ta2uW0VZnovwouJCqNvETcsadOwvK8UejJxtqRG1cVs0X2E1AbZV8HrOY5vQfisL8Q7j8gWiti8ZPSTO6yN9CtfAw3NdgFUk_qkZBzt_nzH1HSMoE-FSVaMAa6FYAnWed6itkc4YaWuywlS9LiWM3F8Kd977ciW8cltMEbb1zVGeAIHVQxSnLZ4TnSB5nBsPTPmWlsjcliG5BzSH1jISrZOHdeDZN3Gtfv0TAauWYT8rX7Xu0ADYt4rEFLu1xQsSJkbxkmMLOFo8vRMEVnXkx_VRNtmJD4DCGsSUKUjN-izaUlyM0zaUZmaaleLdyNsdxdVWMe0wnYBkiT0z8TYCai6rnN24dEDiHah0QoPoQ9Q3O_MRw46gf_IUyj_wxsoFPs7SOfoF2aLS1cdL_VTGVju0mwaXUiF3RYpAE1zyjd3qNvkGyNA-oCfmtYkV_0PnBhcZ2Rpcth3MXoyFPv0Zr6YPJorpYQ6peba0Q74kaUpaHK6XeT_OSjOrdlTT5Icb_P9YjVzTbq0Lpn7OLceEKerwSGtAn6Dmuk0l2d2j0C26CdwftiSu3y2sG4iywPggFAqJ1Lv5M2I5Jy9WRJE7u5v5GV1WxgX4mNA-lqEumnsQR46lYfjiADDuRr_IM3p9WRobwJralRPtPz7beHwwj-lgiDLi368uXlMctZmc4q0e7Yt1cu5lq8IxSzCTxof13PlRn3JPm7F2LUybkGh9gtN",
  "id": "rs_06652852edb03493016ab44f1cd3c887d0ae761a6ee0301a6e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.2,\"left_gripper\":1.0,\"right_x\":0.47,\"right_y\":0.39,\"right_z\":0.06,\"right_gripper\":1.0},\"note\":\"The gray animal remains visible in the left wrist view, so that close was empty; the right fingers only pinched a narrow cream appendage. I’m parking the left arm and making one decisive right-arm retry 5 cm farther forward, aiming the jaws across the cream animal’s thick torso rather than its leg or tail.\"}",
  "call_id": "call_NNwgDh8bQF3KtmipAVpZ0Zy8",
  "id": "fc_06652852edb03493016ab44f1fd2b087d0b4558c3bca39a9c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NNwgDh8bQF3KtmipAVpZ0Zy8",
  "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]: [-0.3904, 0.8574, 0.5282, -0.1501, -0.6834, -0.4397, 0.9953, 0.8482, 2.6984, 2.6041, -1.0348, 0.5636, 0.749, 0.995]\nstate[eef_state]: left_x=0.3049 left_y=-0.001 left_z=0.1939 left_yaw=0.4012 left_pitch=0.198 left_roll=-0.097 left_gripper=0.9953 right_x=0.4661 right_y=0.3914 right_z=0.0637 right_yaw=-0.0802 right_pitch=-0.3051 right_roll=-0.0553 right_gripper=0.995\nstate[joint_eff]: [0.1162, -1.1692, 9.7162, 1.536, -0.1978, 0.1343, -0.1685, -0.841, -13.7504, 8.5128, 0.823, 0.3053, 0.0317, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 403):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f80181b372fbb5fc7e4024f7d47080ae1e0c93fa1e1f1d3236e4fe7b65aeb11b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 403):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:722c70e43718dcc5d196b12c8aa3e8a79c4ce6aec549b450fb87fb14b99cc991",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 403):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31cc94491ceb903a35d4c4612af27384ffac6213e2f9e18329c5bdb045f1660b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /responses · status 200 · 3.267 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6399, 1.692, 0.5282, 0.5014, -0.8242, -0.5648, 0.9982, 0.9081, 2.3253, 1.9488, -0.7906, 0.6044, 0.7971, 0.9979]\nstate[eef_state]: left_x=0.3635 left_y=-0.1045 left_z=0.0561 left_yaw=0.3072 left_pitch=0.1348 left_roll=-0.0225 left_gripper=0.9982 right_x=0.4056 right_y=0.3624 right_z=0.0721 right_yaw=-0.0803 right_pitch=-0.2948 right_roll=-0.0778 right_gripper=0.9979\nstate[joint_eff]: [-1.5795, -6.653, 5.5726, 1.1258, 0.4615, 0.4615, -0.0171, 6.0786, -9.4427, 6.8991, 1.1355, 0.1148, 0.1636, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6304, 1.692, 0.5156, 0.5423, -0.8642, -0.5915, 0.012, 0.9218, 2.4676, 2.236, -0.9489, 0.5941, 0.8368, 0.044]\nstate[eef_state]: left_x=0.3644 left_y=-0.0951 left_z=0.0616 left_yaw=0.3646 left_pitch=0.1703 left_roll=-0.057 left_gripper=0.012 right_x=0.4148 right_y=0.3892 right_z=0.0789 right_yaw=-0.0867 right_pitch=-0.3086 right_roll=-0.0573 right_gripper=0.044\nstate[joint_eff]: [0.0615, -6.4889, 5.1624, 1.4481, -0.3101, 0.1001, 0.9353, 2.1812, -12.0957, 7.9248, 0.906, 0.569, 0.315, 1.199]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3904, 0.8574, 0.5282, -0.1501, -0.6834, -0.4397, 0.9953, 0.8482, 2.6984, 2.6041, -1.0348, 0.5636, 0.749, 0.995]\nstate[eef_state]: left_x=0.3049 left_y=-0.001 left_z=0.1939 left_yaw=0.4012 left_pitch=0.198 left_roll=-0.097 left_gripper=0.9953 right_x=0.4661 right_y=0.3914 right_z=0.0637 right_yaw=-0.0802 right_pitch=-0.3051 right_roll=-0.0553 right_gripper=0.995\nstate[joint_eff]: [0.1162, -1.1692, 9.7162, 1.536, -0.1978, 0.1343, -0.1685, -0.841, -13.7504, 8.5128, 0.823, 0.3053, 0.0317, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 403):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f80181b372fbb5fc7e4024f7d47080ae1e0c93fa1e1f1d3236e4fe7b65aeb11b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 403):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:722c70e43718dcc5d196b12c8aa3e8a79c4ce6aec549b450fb87fb14b99cc991",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 403):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31cc94491ceb903a35d4c4612af27384ffac6213e2f9e18329c5bdb045f1660b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE8k_BIo7ul_jnlXxyw2JYdzIMPzZB3XEv9nba7YGvSI4WVVGNq8UJSt6HAOxv-tu0kJFef0BfNOU8UlSyCrDMB2PxhQz4OzCd8Rk1h65i9skLn_Bg-6PzssK8Xa-jC5xG3Fe0ozy6h557FFHwoAWFl9lzSKazYf0Cth6sH6Gezg_hkkY246GHuIvSHrH_OJn81lF3q9Lsfv0L6QKr9QCZG4SkzkVGh-z9v-2o3cRHMW08jpLfzUARJSE8yZh_TJ6KgFFcHihOQci11mqJlQVAIE_Brx-Z3daxeTIahtUdoS9JxVVCu5AYqdKscVcnypCKDDg4NwMY6BRNtYtuUOBzb14q7dVY_fGop22Zg2jJ1XDbqPchHOqBqBUN0xTAkp3HEdX_7jO1vo4ITPLF-92Lv-j05XtCoAFdl639cWaUU7Ct0JnO3BsmpXmyxfkTwfjRk_q7EZjMWLAFlGW8N1ZZIUf736R-70t_uL2tMRmRJhNficX8y30DxjhtS9ic5IvBg2UTQedt84q372UBsXJVStY-9ZAasU2bHPQRf1BCrwHoV6w7ksoc8_Dn64o1eNohTmFybp-GAmD06bUjze7E4bH2RLaStBv6L3WJ6EVxdu5EdgyPax_P35yrmweH4wkfy2TJ2Lk1osGDtvB8v_bRBr9uolOIdD4wqbzdQVSkbFOTF5NKVQUf9aR_e8t5YCaXFdW2rfNczFf5YgYB2DRUxx23iLYsM7C3OXq7UZ8HefX1eR6Flx8lXD4YUUTlrOZhp1j1FyjA--1AdAZEkQi30uwTl-e_fta_AvYxnso4S88Esp0sg2g4uVWBjYmFoJg55rk6xbQc2wAob-yxCDecsY-52g_SyMK79zHdKpKBUOnoDEys9qV3HWUeJsw8bK-4uPYqTpJJKVXGUaFY3rkdQj4OimUpzjMNBm-MCLb9lszPcJfkh36lFlX8NBw8oTR9yBvi_aMVibdzZGAhmo3Ey5GrhD1DoxA4D91nZemQYCBsH_vJe98Yy6_A7tFlceljzcJ3uvYxtYeZ_-pB_yn-Ki1IjXROppRybgS9zKTsX68xSU7mm0MDAiYJa9kvnsz8Zp6l4J176OYlGYdLMWiWJjoErUmwP0yGc2IDDYi3U7qQqqKJ-89h6G1nRpBkJPh1PcP8AZr0ZsTCMCq1ecfjEFxhLgKUq1_h4hoT5ZVk84gXrcGG-ZllzvNuLdmPBSQVDIKQ-rXJk_j2YVTuvbwmpwiBx-pYugnCtA4-4bqEJvV8ZZjHjvWEY3H2B5jXwn0rke",
  "id": "rs_06652852edb03493016ab44f232ffc87d08cda8e085fe960f4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The extra forward motion worked: the cream plush’s thick rounded torso is now centered between both right fingertips, with a finger visible on each side. I’m closing for a full-body grasp.\"}",
  "call_id": "call_ow3br52buuvkltejvH7JuHSg",
  "id": "fc_06652852edb03493016ab44f23596087d095f883d5941c170d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ow3br52buuvkltejvH7JuHSg",
  "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]: [-0.392, 0.8623, 0.5289, -0.1631, -0.6731, -0.4419, 0.9967, 0.8448, 2.7121, 2.6095, -1.0359, 0.548, 0.7418, 0.0389]\nstate[eef_state]: left_x=0.3046 left_y=-0.0029 left_z=0.19 left_yaw=0.3902 left_pitch=0.1824 left_roll=-0.0902 left_gripper=0.9967 right_x=0.466 right_y=0.3917 right_z=0.0561 right_yaw=-0.0726 right_pitch=-0.3224 right_roll=-0.0592 right_gripper=0.0389\nstate[joint_eff]: [0.0752, -2.0308, 7.1316, 1.7558, -0.3297, -0.0317, 0.1343, 0.2256, -16.5402, 5.9419, 0.989, 0.3639, 0.0366, 0.8278]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 413):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20fec041d2131b8e34264a5af0fbe5f910365eabce4bfda69873554f1d411bb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 413):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c9c1256e7ae09729771a9ce6ce14647e0a9de152b00412fe7f8c92e5252b9fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 413):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6973bf2341bdf948a12dba4a17cca6229bc917a2d9e20a185667322e6639cf69",
      "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 32 attempt 0 · /responses · status 200 · 2.912 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6296, 1.692, 0.5171, 0.5358, -0.8639, -0.5804, 0.9982, 0.9173, 2.4561, 2.2047, -0.9333, 0.6338, 0.8204, 0.9982]\nstate[eef_state]: left_x=0.3643 left_y=-0.0948 left_z=0.0611 left_yaw=0.3584 left_pitch=0.1677 left_roll=-0.0426 left_gripper=0.9982 right_x=0.4186 right_y=0.3804 right_z=0.0797 right_yaw=-0.1041 right_pitch=-0.2803 right_roll=-0.0924 right_gripper=0.9982\nstate[joint_eff]: [-1.0325, -6.4889, 5.5453, 1.1453, 0.2027, 0.1441, -0.022, 3.1111, -12.041, 8.3077, 1.0379, 0.1245, 0.2711, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3904, 0.8574, 0.5282, -0.1501, -0.6834, -0.4397, 0.9953, 0.8482, 2.6984, 2.6041, -1.0348, 0.5636, 0.749, 0.995]\nstate[eef_state]: left_x=0.3049 left_y=-0.001 left_z=0.1939 left_yaw=0.4012 left_pitch=0.198 left_roll=-0.097 left_gripper=0.9953 right_x=0.4661 right_y=0.3914 right_z=0.0637 right_yaw=-0.0802 right_pitch=-0.3051 right_roll=-0.0553 right_gripper=0.995\nstate[joint_eff]: [0.1162, -1.1692, 9.7162, 1.536, -0.1978, 0.1343, -0.1685, -0.841, -13.7504, 8.5128, 0.823, 0.3053, 0.0317, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.392, 0.8623, 0.5289, -0.1631, -0.6731, -0.4419, 0.9967, 0.8448, 2.7121, 2.6095, -1.0359, 0.548, 0.7418, 0.0389]\nstate[eef_state]: left_x=0.3046 left_y=-0.0029 left_z=0.19 left_yaw=0.3902 left_pitch=0.1824 left_roll=-0.0902 left_gripper=0.9967 right_x=0.466 right_y=0.3917 right_z=0.0561 right_yaw=-0.0726 right_pitch=-0.3224 right_roll=-0.0592 right_gripper=0.0389\nstate[joint_eff]: [0.0752, -2.0308, 7.1316, 1.7558, -0.3297, -0.0317, 0.1343, 0.2256, -16.5402, 5.9419, 0.989, 0.3639, 0.0366, 0.8278]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 413):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20fec041d2131b8e34264a5af0fbe5f910365eabce4bfda69873554f1d411bb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 413):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c9c1256e7ae09729771a9ce6ce14647e0a9de152b00412fe7f8c92e5252b9fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 413):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6973bf2341bdf948a12dba4a17cca6229bc917a2d9e20a185667322e6639cf69",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE8oAniUvofAVbirFdzLwiKct5xgDcplwBPy94tPVyEuwXlXBzj-ugrU7HnZzM6zwQ0oJni2isqzvGJ9ZTA14hgZfn3BtPFJWFUM-GYHlV1G3nkSlHNraIJij9l-f95gtXL56FcBAhalYAgR3S2zS6GbGkB8oek0_G6HL3L5dJnQae3uRaLvEWUnChy6nFwIqjnfcRMMyb_nZOMAsRdQppr03JRfBwSzkZME-xCZspK2QUI0N9M6wiRPdxOKwaXBLEaiqFfonxHzGcLjqs3wTblIiVPEjUdGc_NYmy2xVKzm-6wQXtpL5H2cRyHzDWxood7N1whRtDxhrVS47CNSd8BztVx9jPHiCPC9zdiIhv2Kq4f2rtmGD_yYr1RPJFZMMZr5KpxWYmWqSpVEl81s8pJ9sHPGQ8G7TzOh4znGCQni2XAynbJGpZU39FC-H8u30rEDmyaRFHwajypLnCzrUrLT9WB63o4q8k-7e7Xvg1oPlcYbQnu5PjJyLzLQksi_Vr312VITVw4pgYlzF5ClJtyevALqZ3En-xtM3TOrrmIeBnmQY1Jh-9-kLw7hpIR3vAWiTxPW8W7x_ZJjeeufx6FVA1MwWIZkL6m6MLGSFP-rlVV3e0b5ryjgysP9BpDl5RHjG63ZMKTRXs-DcMcoMg-JjDu8yJntuSgSDHn3is4NfCw8JDfZp1Sjhq0f8l_NUWQjrO0Vn0wWLS8O7C6mQnKZ0LFxX_QzuYTzzmhldS6X3vfH429WBXMMqhxynmkAnhmfOwzmXNkVozqAmMJ1iA_7IU4ki35bpTbVwcjWb0fFtJN7Jb9fJ2JOnip0ra9LohWgWRESUAJmn4exHci6qDhoi_hdPiw6A8W0RIfqYenRJuvRq8HyB4A--aNT3VB5oar0fcldHSV5NlLEimDh-pDDnqGqnu7r6iC8uy_UIaSeZDBmBxW7WQSYx5phJocaGOZCYRHrlGN124qmdcOibYQr8jWpZNovR4Ad7RXYJeVELQcIihXJ8ZS2jGjsonMMs1r8Q136WY5V9rzEweNYsRhfpJyLvUcFLICmVlGGkhZq828mdN2OKpQTf1Iu9HqWMfZ0R2hxWN1pUJ2eBhwLeAEwGN_CrrT7d5h8irKMTTcasr-393ZWYYPHxA0WpUl8pBXle4BkS8pD8cdmr4QOzFPyaZuQGI2nH8ZoyYZ1DVJigAaD2XhKke4Cnqx7FD_cVN53FDQ1MexZ6AjkcM90FQ3LLyj_BNRLGzPcS5-5WMQnpBTg4tzCmHphXog9g-oBjkLI6Yush2EdFa97L0HZfxYy2dPw5x5L4m2lsqa_KfUbzqLNOrEm5bwhKhe-b61ZkK4OTRf34rcNzxQ2ifE88iFYpyp7xxXRh78b9GUBMcn980_VZpOeC-g7h_459n1rig8lFE995yZV0w4m1b-F26fR3GtiUEj55xPuNHkEOG0sH-Vzw9SU1lC9CdAC__s0sv6e9viHPZtZsNN_QL-kavCFhjg_-W7dFbAwZlueWbOgvNduQe2-uzX4J5F09z68WtM8bGxwKS_T-lx-9fy5EpeSCXNj6EXP5MBLfVcRbjKJRasPs2hLnVJFcaEMUaqVQoXD",
  "id": "rs_06652852edb03493016ab44f264d2887d08758e17bed713acc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":-0.02,\"right_z\":0.3},\"note\":\"The right gripper stopped just above the empty threshold at 0.039 while visibly pinching the torso fabric, so I’ll verify by lifting. I’m carrying to the compensated drop pose on the right side of the right basket, high enough to clear its rim.\"}",
  "call_id": "call_50ziWF2t76hyPkVixfoVglPu",
  "id": "fc_06652852edb03493016ab44f272d4487d0933c9a391194d752",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_50ziWF2t76hyPkVixfoVglPu",
  "output": [
    {
      "text": "executing move_to over 35 steps (3.5s)",
      "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]: [-0.3923, 0.8631, 0.5289, -0.1638, -0.6727, -0.4423, 0.9968, -0.0166, 1.7142, 1.8824, -1.1069, 0.0841, -0.0025, 0.0406]\nstate[eef_state]: left_x=0.3046 left_y=-0.003 left_z=0.1896 left_yaw=0.3895 left_pitch=0.1812 left_roll=-0.0896 left_gripper=0.9968 right_x=0.4344 right_y=-0.0185 right_z=0.2751 right_yaw=-0.0984 right_pitch=-0.3698 right_roll=-0.0645 right_gripper=0.0406\nstate[joint_eff]: [0.0342, -1.5932, 6.9949, 1.663, -0.2515, -0.0415, 0.0024, -0.2803, -10.0171, 9.2923, 1.3553, -0.0513, -0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 448):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e53f66678c50aee08a4ba8afa0a0dbdeb40cc72cc89a164f8085025047800f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 448):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7deca72d3cce3da4634d51c3b32dcefc79f833e9feb731585b77fc464b408230",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 448):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe46df476e146a881faeb2cb7cc34dc0bcb8577fec2414f82bf9814dfd9c8aca",
      "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 · 9.599 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6304, 1.692, 0.5156, 0.5423, -0.8642, -0.5915, 0.012, 0.9218, 2.4676, 2.236, -0.9489, 0.5941, 0.8368, 0.044]\nstate[eef_state]: left_x=0.3644 left_y=-0.0951 left_z=0.0616 left_yaw=0.3646 left_pitch=0.1703 left_roll=-0.057 left_gripper=0.012 right_x=0.4148 right_y=0.3892 right_z=0.0789 right_yaw=-0.0867 right_pitch=-0.3086 right_roll=-0.0573 right_gripper=0.044\nstate[joint_eff]: [0.0615, -6.4889, 5.1624, 1.4481, -0.3101, 0.1001, 0.9353, 2.1812, -12.0957, 7.9248, 0.906, 0.569, 0.315, 1.199]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.392, 0.8623, 0.5289, -0.1631, -0.6731, -0.4419, 0.9967, 0.8448, 2.7121, 2.6095, -1.0359, 0.548, 0.7418, 0.0389]\nstate[eef_state]: left_x=0.3046 left_y=-0.0029 left_z=0.19 left_yaw=0.3902 left_pitch=0.1824 left_roll=-0.0902 left_gripper=0.9967 right_x=0.466 right_y=0.3917 right_z=0.0561 right_yaw=-0.0726 right_pitch=-0.3224 right_roll=-0.0592 right_gripper=0.0389\nstate[joint_eff]: [0.0752, -2.0308, 7.1316, 1.7558, -0.3297, -0.0317, 0.1343, 0.2256, -16.5402, 5.9419, 0.989, 0.3639, 0.0366, 0.8278]\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 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3923, 0.8631, 0.5289, -0.1638, -0.6727, -0.4423, 0.9968, -0.0166, 1.7142, 1.8824, -1.1069, 0.0841, -0.0025, 0.0406]\nstate[eef_state]: left_x=0.3046 left_y=-0.003 left_z=0.1896 left_yaw=0.3895 left_pitch=0.1812 left_roll=-0.0896 left_gripper=0.9968 right_x=0.4344 right_y=-0.0185 right_z=0.2751 right_yaw=-0.0984 right_pitch=-0.3698 right_roll=-0.0645 right_gripper=0.0406\nstate[joint_eff]: [0.0342, -1.5932, 6.9949, 1.663, -0.2515, -0.0415, 0.0024, -0.2803, -10.0171, 9.2923, 1.3553, -0.0513, -0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 448):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e53f66678c50aee08a4ba8afa0a0dbdeb40cc72cc89a164f8085025047800f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 448):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7deca72d3cce3da4634d51c3b32dcefc79f833e9feb731585b77fc464b408230",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 448):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe46df476e146a881faeb2cb7cc34dc0bcb8577fec2414f82bf9814dfd9c8aca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE8uZcfzrzEY_EEUnoKYxlMTH95ZkzTLhO9S52o6O6InLCz9KrP6ezZo_axtPhPsSFC9-zu2C1qLpRNct5RkI6i3LF2Zhauww0ObjB1Ah-CoBR9u-trER6N213llBzg1bJ1o_3iY6VIQzpP-yLqLJWG7tkvS6Sw5C0q8B3S7yu9qXhK5nzqUJlH8dMD_MQDNoI6KxO15avO5T4Kq9hjso_WD10DUue_SXSlndy1A68n9lYveBbHR74AiCKgm5fX7QCaN8aXCoHmAOAbe8zXvjxMrHl7BiSFY9ecemX1wzgUV6uN_AUTJPoXa3-zMWNkyB06ojzbzw44rh2f52uKxOt5KmZos12Y5oib6lmMv584pufygdd6AUChw-CQR9T64B-xuOzZg4gQ00IOodVsc-zXYW9uxvKOQ-Q2KfRR6tLFydrDNsSie43V9v6ivXUKYPU8P_K5Yc7JTlPZ1KxoDXJOk07UuqLgHITodkKec8DykRGHl8MKjmqeFhwHcYpkkdR248TdL90m8UgvF4pB6JUaAaTnOKzAOHsQMi27bSzsv0IZO4ACCCm6tP_ggnoqln7ymz6EeLpTX4SGAOgKoyVJGuN3XAdlrtMLTNnOZX636ZrfLWvjef_dWsMYBmxjb4kg8CC5XgTc03cvtk3gDgJfGxKIjjWjalBB5MLQsLOdVxm6EvbByS26tGTwi_Qsh1GGZhzmsMhebsE5ohOBHf70wquVRj7sCiqC7lpXfSOHavYykjxJRM2ZcT2oBRBSJvkyhOE62hK419IPn5qAwt_50ZVbTw5jJKnUESFy8uZteKhCNsExINZQ7jg-oawGtWTKx5g8k2UwX5hepWB9UcFZUgbjXOMdc-GDdAPVZ1Hj68p_0FbW4v1LjaKxO3KtnbC9fp8LoFtx57LfgZ9gK59v40yO5A_RQ-xbb2OD86G2-K-2ThHd2ej4x7J1Ow3q3wiloZL7elVUudoCHN3raWqlkzXA8r3XSCY9IS1C5YDdDqstvNf_-yBdCJHIz14XUrBIYLFATcFs-ftL9vIfzBh1zzXXwlvVbanw1IefxcaTka00gfyGS9oLqY7F7GMB-rlTKc4DZW__XNNt5VGiMG-y4QRtdqosjy5QSTJBQ8qVth4Z8VNfEeH9K5Zpolus_QsTvvSBjzwjaveHo_jycHfvWRQFHlX_sat4KJCynpZHozxmDvIDZ5VKLdyU-j7k9vsyLY70ixCs7KAbM5E8P6kMcd7Y9Xsl19KZE4GEn4zEtlPaTRSE3NEkoei6HixdFlt8cktTzfFZwto3elEMXCc1TwOb9231l5G1LwPHo18Dw1hNdhk95l_8j6sHbyUqHgCrg-xR8SqrPOoUiZW4B-g8zXTMieeoQX0aKQgzFx1S62pc=",
  "id": "rs_06652852edb03493016ab44f2d166887d08efa4673d235435b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The overhead view confirms the cream/brown animal moved with the gripper and is now suspended directly over the right basket opening. I’m releasing it so it settles inside the correct basket.\"}",
  "call_id": "call_Tum4z9ZcaCeemezbhff3SU79",
  "id": "fc_06652852edb03493016ab44f2ddc1887d0a34256797d25b0eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Tum4z9ZcaCeemezbhff3SU79",
  "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]: [-0.392, 0.8631, 0.5289, -0.1642, -0.6727, -0.4423, 0.9968, -0.0193, 1.7176, 1.8763, -1.1141, 0.0769, -0.012, 0.9948]\nstate[eef_state]: left_x=0.3046 left_y=-0.0029 left_z=0.1896 left_yaw=0.3898 left_pitch=0.1809 left_roll=-0.0893 left_gripper=0.9968 right_x=0.4329 right_y=-0.0183 right_z=0.2702 right_yaw=-0.0896 right_pitch=-0.3873 right_roll=-0.0656 right_gripper=0.9948\nstate[joint_eff]: [-0.0479, -1.5385, 6.9949, 1.6532, -0.2125, -0.022, -0.0122, -0.1299, -8.4581, 6.6393, 1.3504, 0.1001, 0.1294, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 458):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:121e1216859b002f30fea363f5a3a4f3538a0e010e41375e7d8902ee50364b52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 458):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92c6d423214dfe1f8de8e58bc8a9b0deb951b256477123cf64d71a07fd28a369",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 458):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d90ded08fc297c508354f86c8dd6e79f02dcd779670cede0b02a6dadcbaa4ef2",
      "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 · 2.229 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3904, 0.8574, 0.5282, -0.1501, -0.6834, -0.4397, 0.9953, 0.8482, 2.6984, 2.6041, -1.0348, 0.5636, 0.749, 0.995]\nstate[eef_state]: left_x=0.3049 left_y=-0.001 left_z=0.1939 left_yaw=0.4012 left_pitch=0.198 left_roll=-0.097 left_gripper=0.9953 right_x=0.4661 right_y=0.3914 right_z=0.0637 right_yaw=-0.0802 right_pitch=-0.3051 right_roll=-0.0553 right_gripper=0.995\nstate[joint_eff]: [0.1162, -1.1692, 9.7162, 1.536, -0.1978, 0.1343, -0.1685, -0.841, -13.7504, 8.5128, 0.823, 0.3053, 0.0317, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3923, 0.8631, 0.5289, -0.1638, -0.6727, -0.4423, 0.9968, -0.0166, 1.7142, 1.8824, -1.1069, 0.0841, -0.0025, 0.0406]\nstate[eef_state]: left_x=0.3046 left_y=-0.003 left_z=0.1896 left_yaw=0.3895 left_pitch=0.1812 left_roll=-0.0896 left_gripper=0.9968 right_x=0.4344 right_y=-0.0185 right_z=0.2751 right_yaw=-0.0984 right_pitch=-0.3698 right_roll=-0.0645 right_gripper=0.0406\nstate[joint_eff]: [0.0342, -1.5932, 6.9949, 1.663, -0.2515, -0.0415, 0.0024, -0.2803, -10.0171, 9.2923, 1.3553, -0.0513, -0.022, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.392, 0.8631, 0.5289, -0.1642, -0.6727, -0.4423, 0.9968, -0.0193, 1.7176, 1.8763, -1.1141, 0.0769, -0.012, 0.9948]\nstate[eef_state]: left_x=0.3046 left_y=-0.0029 left_z=0.1896 left_yaw=0.3898 left_pitch=0.1809 left_roll=-0.0893 left_gripper=0.9968 right_x=0.4329 right_y=-0.0183 right_z=0.2702 right_yaw=-0.0896 right_pitch=-0.3873 right_roll=-0.0656 right_gripper=0.9948\nstate[joint_eff]: [-0.0479, -1.5385, 6.9949, 1.6532, -0.2125, -0.022, -0.0122, -0.1299, -8.4581, 6.6393, 1.3504, 0.1001, 0.1294, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 458):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:121e1216859b002f30fea363f5a3a4f3538a0e010e41375e7d8902ee50364b52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 458):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92c6d423214dfe1f8de8e58bc8a9b0deb951b256477123cf64d71a07fd28a369",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 458):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d90ded08fc297c508354f86c8dd6e79f02dcd779670cede0b02a6dadcbaa4ef2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE85EmHPjsGARBWDDO0tj7HBYO4CBV3LPjrQYbdNK9p3qhyYyWx3uOyVOulYKgzloSADmFdVtVUwlmeYERKjlKlUpNi-e8Dq0tdKu9FE3q7cYr9F7RJ4VaN9KYDUuHWn0z0X2enVJ4cQQEXJh2Xm03sr4PYITVOlphefkw7QEea1k7icSWTsPA2lw8s_V-5cl8LgPm5bhzsiTt-o9b250LJ_BIUh4XuS3dnPo92-TkCTyRoWO--VLyVrW-rM_y7IjSGLdI4isBS9vsJBV4oG7kn7NJnGDqf-xh9nhrvO_a29cw6ETv6xcxpCNAgT3RojZ41x5-wpjWXm8dlhZ_UHPOjktLMB9PEzf5yXABTKlPEx2TxmfvY_-129WmkIfvk71m9Hhxnl9Sy2x_u5QpTVnOjMfDtWSsAvtfAeMSLz9w5X4_cvVnBRXpuyksCZSxjaN1XEFnPK5Dr9dqQKUcSGlByvQQlfn4a9O-zlW_qH2nnlo0gJO_i2IuIuCk2Yb261gJHglghgetOQTYmLIeY6A2TmDh45YKHIr3BKdBOhGOGqL2ubY_HV1p9eFgprBpLJDEyGDwpzoqwN3xIdGvLvmzpFevtdBtex9QzANkhgh-OmzFDgUbZTfdxoyx0t0tAoT8Txw87H-CIUpNEyBnzRMmBzKW3QeTZiJMymQWLvIMDUSsBORTB8yyJfjYsbgb2UrjJpb7CWFCM08ajfU54ej-hfXj8eV3YzV4h-MQSC1rtc94SffIBBg87OE6UOT4nDRAas2NJwc-qf2MblYjIyg7NamhYU7mzZ0-a1648hRjDhFPKomqVL0bwl7VokloLVMfoskf8CWvm3aqd-EAYwHdihUfHuP43UkOc1NjxQ8-THyDygCbTwwtfa90Zh9-54XhF1D9mh5v1QPnnnI6NVk2jc77Uhubeat_1dnAbOWNG8bD2YNqJeqOOb9LQ4h-mAdpTjwwmwgt5G4Mv1AY3dAnBS-zkrzYgcGH0m_57k7-_YNjAHRrrxgs2XEcGqGUgqwo0L1vuwnznlxZgNDJlrqE3W94Gi51D7yLN6RdXXdo44DfbOncpV_O5T7fGbhLFQ7Jt4rPyB3SYNPdAlNFsgyrd_3SOAeImpScOVWu5TfOrtPHIwQ1Zo4aJxQFDIpAhFrZixFg74FTfGNZVU0J1jQTmMF-P5JhYk-3gUs0eAurdAGRrL8vepEzMPQJ_qkOu-zqjhm9kSwrdZc855DxJ5Mxkr7Wl_MTnCA4s517UrREzjhHYoM3woAyw9HPGYkGAsbEBFfEbQ6KRYfLbIER5EGlIR23FXxJ7LTb_gBJdpfAyJUSpOE-RHOu7dnjHWswOliqfH4wL44PhvoLvOk5GPryQlzZOmpj_O7UGZvafISyDLzlAXiXxoExGqccPKg0Hy54tIeQgcT0aMm0JlbZ67_65J4pdv_JwbxOosOCq8-HfhV89IvlpqL0SCKU8GxXA8KOn6M3zAQbqMoWkleHYyG20qUi2-Yxy-FDiRkMDv2gglI91RtgdbOLl4_5O_SkpF0JAr33gsLJJUBzRKKG8v8GWUTWTzlLwXd99gO5BLRt0TEtX6hdKdp7oI8YahfOpOH5kQ8RCSuhfLaOR0gfH-XrYIFAXp2UDak-6ArBUkNGfJbtnn1LKDuhyfEWJgequLRu7oK5XOTajCI8g2ZSc_GoE0SwAhxQYu1k2yXjUa3mntlnTmKgHav2pFmHydwZ6edgRhjJm17WTDPNb8hbnonEeYtXrML68Qt4XhTp7Zq1afSBoRRBzA8HDGMlsvL3ry3BKPRLembkdXghwQpG_oFZXWDQtII6UEKBMYlD_23jYSkq_EVmUrDhBuq7EQnf8q9s4jbGHYnCm6ReAnLmN72eJkxWQQnLNloRoIwshs6sp750MHrhhFeORHlhyopEfeP8iNOHOjM2kgFdEll3Fc3V3Brb_8kUANPYj1jLBM3ABe1SxppQJvRyjwXJ2OPnEM4yrkoIeedhuKNMtkCzeYzUIfRm--w9TtBAbd7EfvTfCl_oE-Wpwij0wHcbaAotGmh36SMyDqCTux7Fv-etD6xAPBYXY4mC6UV9M9Vj6AVCQUA-PBx71j0NbWndu3GNw2ImpxwWLPSJ7KmuIDc6BVGlmETt-yVH0w6aMGV3PONuMiKHmd2hTR3LbnZuMUQdphLSBG0RXrcR3o9-ChbnQ-mOgRXUETMf8Kp2zCpjxRg380uWVijxWiR7Q-2PKrlzoLLF5r-bv5qibIF8a_-y2_xcgman8RptJFEjdLb9kxTqsD-7PqCqUkDr7LtDL2AZSde6HNAeHPPoAgmXwMArVUQvomA0umenP8Fo2xd00qYAk2V9s4yr3HRGaY9i3kfqgMUa_GN_ZNomdoA0U69LZ5DFuoVGL9CjiCeA9OqNPHPEsp8mA1dIrMlkCD9RyzYFDdUlxboTbqLdg4OAFyr9OKZm4cu2luUnHcu4GakI02P5lb94Q5ULenDwuHe-zVlRLEq9ZlvQWGrcP_RWR1hfJbZ6LF-AJFWfEC12e8PghwjeDqzPfWy8KgIYwWDILjf6PKwhR0XSsrpx1TLX5jRpXzSuvvxwE2VhzdnRb6rClh9KdBUwD0Gn7baIxTgjCzAvuDOQcKHhRTdSUY9tvB5I1U-ev9DJUxKAnVM5JApszKVUhfUzGAu6nqGG5KiILC--0wZ-lbC43WynJwzrKndySw6wvrmgl0yO2KPNjum96NqZeUERDjpB7BfjlOGOa9pAGrd_K10UPDn_IRNU48gaSFbAVGQDG-UOgU2Xgf36z0xxdkpcXCZCdUXP16WbyHawsbQ1ZZve-b_2M9c50WSFIRj90pWq-grNT3anFs7ib8UjuJz5upZxNuQDNPC4ugpznxSskAuRN_XdnqmlW_Eo9ytPEG5s9yYmNA4NLljbHdfZ8jg_bgv-6IFyxc-lv_HHerXVH-FJNJQgZep3qnKFIldZBbShIbmYEh_s8Q8RGPdFF4YKHzjtLRlg5UuiIkXha8Tc4Vgk46k4FBHzUGC2PDRuTIqyPiOKPT_WXIljE1Ib-FtQcs_vYmVOsGD8029tqx_f3OMGY3nQQ-C5Zsj-rYgnccRF0g38Scz-iv1lOvozVbQMbO9EqEKTVmBoehZNIUzLkGmG9Son959x3Yf_sksS1tGb4SNEUt6EgeBqs10JvAqxx9NlpB_jCfFwLd9-ReCVRZBqx_fIMevnIOu4JTSk4PRkWNNZ_XbyneyCEUwSSePSFSqLV7dYkwKFAQXNSsJ0orhWe4wKipX1b6u3yl1wYvzpclp32-BHd1_HrcUBLqAxvbom1caz5Z-wt1STrJcZTOY_xE7B227YtSPJ-sDWfJgL3KgFmuuTyzA7jidDGBxFuV3mcMOp72BBZDn9wZovZDG4EZAojliWZA8J-AcqZOV5WUWXiP82cIlnRP6C4CWr-JulKBlsmcgFZYaljgEYAO8CjGjvqPUfYAIIAlTy2CPjXIjntZ2PdUcWLjKcukysUiSzdkY7PQXCinPYhivW5Dkr3py5sG9WIRFce_oZ4vGnNvooZIV7ifRJSn7KFBOdlN77vPDfXsqMQYkEgEXOfTvYJtAybEVs41bbTkiRW2IxXd1iV0nY08LqlICAJFlzAnYadviHZVX-q_1mSVpzYT4xSx2JXe8PNyoBEmbSgA_C4UYKDSI_uppXQRemWeUe6-2O00lb5HtddqQ4MChDNbeaV4hdv82gNiiEtQ4aBmBMYxk-rX_Fu6a4bT2AxA6azXxxWs01Qih5B_hkMQvPutpBsAzExfVp-nts9JVRjpjXywxRBs-QZxqmHf_yKBOIndsKfj8xih1MXmTbanHeEAtBJLnIKRmgMm8g3pmhkglA==",
  "id": "rs_06652852edb03493016ab44f326a8887d0a696e06942d9bc0d",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtE85ZozFeeR7uEzQazb5R_nvHHTnlLE4g4EYSwqt2yDJe2rUm91tuJjvpJCFqlo5aShBoeqR0nfxQKa2dPaUnt4WIbw8BDl8u8W4JO-6BegXpSSzCNwHtMssGUTQLeq1W3u1tsA6lTz6XGRsuOIJsIQ1Behl-NCesEMIsl6gW2PndaGmma1j1jOSZCFT7HKv1fyNkuZq1zwJykkqikh5IAkHI2HGCdvS4n1qnTglpIVNVTuobjIdyuQSVUPpQ9P7OvZYj2UORdAb_jUlnaFMaGoIAKDG3iXEBiYI6pzEN2Xmf2Kde1bNPePxMFGh9umzStqM9UxmMhwjBwEvqfStyiu0Om2HlZkO08fAOMgRirQoNnvzWA1W2PY6j-5cv8BnFyy8L4gLM_BD3M-LWhXbO9GNBg92Wz_gdxkgO6xdWMdSXpoXIekomIvTSuxZ0SM14Ee4-8-_oK5oQCZH-wokbyfEJ9iahwkq2LMGM05kAhUg-BsLsOtz4xjP9ZTE213Ff7W2Xke1pIohVETtHfebKd4FDP4jP-f7hnTkdOyjNbUS277brUqi6RBtsQ3-UuXF0ZJj7OjESYAACrqaT7YtfXojnXn07I4krq2WAHD7YcGLV19gdcofWxYcubr8O4vCliaLdlH3JdtYXV2asz8-H5EMnNCzdmKJe75NYYkqYpgQM4VNlf_Sg34uYp32F4xjHhA0PbrTi2UMQAaXPZy9RAvJLyuhOCO7jBl0K3SPhmpqfWd75kPwiXDU2C_mtWDwZZvK3cUNccwm16_yY7XN6J8ps4Auz9u14WQt840OUSgy8NOw374E2j63Q284FwiyKGjzfKGiFBdp4-tAVJCuF1CDmzTEnpCOKLBkPjkkn5Fx56qXhw1SPQ-5QYjC2OLXJxcOGt5ItBqlWqgyLJDHKEFj6o1Gm-6FRS6XlmLTRJHKfznpzMGv80rleDcgxotYLfamCVDRB6W_ZmFE2yAx_1Dv3mLTkwM1zykk_i9-E-LFrT9NKPDWu7rESU6HjziU1E3Am_s9KPTH6u0aYGLS8G5mzqkk2nZtiwHX9FJ5hP-4totskcCZNo-doXxNeYDRwiylKkBsY7IEbqSwkOGv1EwTEXmTidar9lg8fG02UT3V1wuk73waF602xQDZ6Q9QYk6kR_HEptQPIc8eOpCeDrVXj1fn0R1XE0cFjzqFLI6WwPnk9Lc9gn5PDGNMaX23CEuQt6AS8o4qtDiGLvh0LeB0HxlWE48xgR9SMs-FP0J9H2AGjRRYpKeqGdHrNokBVJ02fRgIsXCF0OlEYjuf9473viVs3_80zBW_oxjrsVdAtF1Y-k5Ky782Z5IP5yvHz7YHQvw6b1i9KZuPusfsq9A1Zhw7mAdFSN67y1qbAcl36Pd2ysusz2Zg9PNKd-akIQw5NE4KNsFF57292hEqVFb1nWDfhU_qb0OAMLjGPbtGAlKFknHtEXQQbPilKsKxLbuMTXFuyOBQym_AXoR9WR3JA2jpQ0s7XGzuxSbOUqwndXcTItU_qVkqpppcnroBVEo6ZbLZ-Tm2o316qd_nRhfVUqfW3VwkRuQkjg6rFR-wMvT_wyqfdhyuVKnhJPGMpQzSYg5Cvwi8z2OdKrTTlGM7Mu87kZYhq8p6Sj7ESRrghT4-MmDPT5oTJV3-1XcmUndiAF6w7Di1Mw5lKv2gJusUi_UJymIGLvj90WoBThlmChQLYTrzLmi-4yiiLEwYd7xR8ys80On-b4j9lLCEdAzqANSiPDfxJ4KnMVlSb6XOg_xMJ-DJZ84Q9jqHE5mGAlOHsoMN_1vj9OZL8ing9zOevBpP8BT2SyiUmETUTWwBtRCOCsfTTHwze_WJRrUaSmLUzKWvLrdXd7DfHLPrIgI2xKKsYEG4L_GxlTL9rJ0spR10VvvLOxdLT2OdQVyTV5cwos-C26gFI1LJBIR7HM1tIbPDGZWosJqNqRzdBWyaX3K_-FRXAPm_A2sTrWrnExRBOYI_v4ggk-iBy9kpe7VZbkzYTT9VligtVXzjZ3bOjQRHhJ57DDVoDvCShxBN1MYdtO89yJ-UlM-MYvy129Rr5w==",
  "id": "rs_06652852edb03493016ab44f36ca5c87d0885bef6e34431146",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.12,\"left_z\":0.06,\"left_gripper\":1.0},\"note\":\"One cream/brown animal is now clearly settled inside the right basket. I’m applying the successful grasp lesson to the front gray elephant: approaching much farther forward so its thick torso, not the visible near edge, reaches the left fingertip line.\"}",
  "call_id": "call_zoN5LXFfS2fep0ERylCgbIOs",
  "id": "fc_06652852edb03493016ab44f385db487d0b410c1d15f00579e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zoN5LXFfS2fep0ERylCgbIOs",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5732, 1.8904, 0.7528, 0.487, -0.8169, -0.5697, 0.9988, -0.02, 1.7222, 1.8706, -1.1107, 0.0738, -0.0158, 0.9963]\nstate[eef_state]: left_x=0.4182 left_y=-0.1124 left_z=0.0499 left_yaw=0.3725 left_pitch=0.1381 left_roll=-0.0393 left_gripper=0.9988 right_x=0.4338 right_y=-0.0181 right_z=0.2666 right_yaw=-0.0855 right_pitch=-0.3945 right_roll=-0.0658 right_gripper=0.9963\nstate[joint_eff]: [-0.2393, -9.5111, 6.0513, 1.619, -0.4322, -0.0024, -0.1294, -0.1846, -8.4991, 6.653, 1.2479, 0.0024, -0.022, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 469):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7077834cf0a9e0f495858aae60a740b72e86c1d4d9ea48674e27e3f684684ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 469):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1d72dd62dd4b2440d7782adf58e95d74e9c448e5e945e366fd778e6c22ab7fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 469):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71dd1880b558b7587c45a7201d43cd7a40a54a5890b8c5d70fc3a9d3c9c86c2a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 4.235 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 139 changed as sent

message 144 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.392, 0.8623, 0.5289, -0.1631, -0.6731, -0.4419, 0.9967, 0.8448, 2.7121, 2.6095, -1.0359, 0.548, 0.7418, 0.0389]\nstate[eef_state]: left_x=0.3046 left_y=-0.0029 left_z=0.19 left_yaw=0.3902 left_pitch=0.1824 left_roll=-0.0902 left_gripper=0.9967 right_x=0.466 right_y=0.3917 right_z=0.0561 right_yaw=-0.0726 right_pitch=-0.3224 right_roll=-0.0592 right_gripper=0.0389\nstate[joint_eff]: [0.0752, -2.0308, 7.1316, 1.7558, -0.3297, -0.0317, 0.1343, 0.2256, -16.5402, 5.9419, 0.989, 0.3639, 0.0366, 0.8278]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.392, 0.8631, 0.5289, -0.1642, -0.6727, -0.4423, 0.9968, -0.0193, 1.7176, 1.8763, -1.1141, 0.0769, -0.012, 0.9948]\nstate[eef_state]: left_x=0.3046 left_y=-0.0029 left_z=0.1896 left_yaw=0.3898 left_pitch=0.1809 left_roll=-0.0893 left_gripper=0.9968 right_x=0.4329 right_y=-0.0183 right_z=0.2702 right_yaw=-0.0896 right_pitch=-0.3873 right_roll=-0.0656 right_gripper=0.9948\nstate[joint_eff]: [-0.0479, -1.5385, 6.9949, 1.6532, -0.2125, -0.022, -0.0122, -0.1299, -8.4581, 6.6393, 1.3504, 0.1001, 0.1294, -0.0122]",
      "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]: [-0.5732, 1.8904, 0.7528, 0.487, -0.8169, -0.5697, 0.9988, -0.02, 1.7222, 1.8706, -1.1107, 0.0738, -0.0158, 0.9963]\nstate[eef_state]: left_x=0.4182 left_y=-0.1124 left_z=0.0499 left_yaw=0.3725 left_pitch=0.1381 left_roll=-0.0393 left_gripper=0.9988 right_x=0.4338 right_y=-0.0181 right_z=0.2666 right_yaw=-0.0855 right_pitch=-0.3945 right_roll=-0.0658 right_gripper=0.9963\nstate[joint_eff]: [-0.2393, -9.5111, 6.0513, 1.619, -0.4322, -0.0024, -0.1294, -0.1846, -8.4991, 6.653, 1.2479, 0.0024, -0.022, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 469):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7077834cf0a9e0f495858aae60a740b72e86c1d4d9ea48674e27e3f684684ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 469):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1d72dd62dd4b2440d7782adf58e95d74e9c448e5e945e366fd778e6c22ab7fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 469):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71dd1880b558b7587c45a7201d43cd7a40a54a5890b8c5d70fc3a9d3c9c86c2a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE88bH9vvINVGdvtfveX1ckzrZoGpDpohtUWAP6ESmQnvCmGyu0IENqPmCk1McZJmuqwxYIOla9fu7c3VRCr5zpce4tcNK6BSdNvKEokfZu1lnpx_p3gFKdf4PbWVMj-wl2UPOyGzebP2OyMp681mmo2xqZ88Jvis0O3F-Bs8BCpXOWX51CnN5e74ZbJcyMSmQIvVOT39eK7WabqrrdlIh4-NjcV7dkbMx500swi1ur-XWJGCYHg603ZNOYcrdz3z3UGlblBqVaMkqluAJpPC4HuyhyLIli6XNldbU1Hcmhq-xYZeVebut4WpZJkq2i4p41dKqP7WhsIQVfBYCZT9KtoK_qIqVlPL5aXfKGBG7Ck7CVA427VrJE5Ao4EF8CLjO6FWF_bnQ9eqFlqK4OliTS0QWNu1jiBDALHtTb7BDqYfHXPjale5vSjxLp0tBGMiWxUVsudMEhraWvgBVKyuw80Sq-eKMR7LjDCPFk3ymkcjEAugnBoNTgIgB4nlUgXKoNZMBzGUxJoq2LE1FlnK5sz0s05NLIurfflH_Kp1nLs2RZb5p3rVftDMGRNlw9eTTp3XJxOLbQk8nK901RlF82Hld9SdVipyB4t1a3cxNwfDZmDEMidc50rHTCGNKjzAG6WnKQpozDXkxY4jywCcAFlTNOrnxu_e0J0xidHeapDpPux1ThLDCj9LnKgC4ibykGjk34nSmNkYObp4oFZjDO9izXbKl8s_SOouY3n8EuOkpguIMTv2yc6ahP9E91B_uNTv1mNSQmDz57iVjN8B0pxj4Jtb-RycTXbBP8vWcwxCpjqqN3-Z3qN6HUqngGpWJQ7LO2lfwu5vz3KQXSUEzb5FvT8xdntlhwL1hcty0OTQnXVQuLdsIi_1Nz7S3oOLgcAo0SBRRcbX2YY35cMk67ZCBLD60icOUT7yH-V5BZ0o_B6wmzBZ2k-_lljRH5j0x5hACGucBgH6G7w8fNgr02Nnoy0EbRkuTAApDo6zTiRJZXSRywb9HnvbtipKzNv5fUNAhktojEm-Oz2Qn3n-XGIqZbO2FJ-YLFf419ak7QKQVs8NgCESJxNBqErzDb651Ipus6v_XLsNSZdtvtxryG7p52gypys7J0h8Xf9ZssAtl1LHNaxKhSsAXZRvGkSbzynqJBlzPAu1DzuvODaqx7QC_5UzEAuXMWCp35rMaAjXoksp3HjfWiN7VAHuYKHU9kGTfcA4L-UygNQKgdJ49Pws2CEOV1TPvu0gxYbdxnegwcl-_GxARtV1dzPbqkTf--UgceqGIY6_UZ2_s-L3_ZUJSIUEkemCXsFI6jv3HvYy_w=",
  "id": "rs_06652852edb03493016ab44f3b842487d0aa83217a3249a802",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The front gray elephant now fills the left fingertip gap, with both fingers flanking its torso at the correct depth. I’m closing the left gripper for a full-body grasp.\"}",
  "call_id": "call_EQ703M087N0ZRwiqt0KnbWlY",
  "id": "fc_06652852edb03493016ab44f3ba6a487d086dfb55c7177a598",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EQ703M087N0ZRwiqt0KnbWlY",
  "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]: [-0.5766, 1.9167, 0.7555, 0.487, -0.8124, -0.5766, 0.0117, -0.02, 1.7226, 1.8702, -1.1099, 0.0738, -0.0158, 0.9964]\nstate[eef_state]: left_x=0.4172 left_y=-0.114 left_z=0.0401 left_yaw=0.3669 left_pitch=0.1219 left_roll=-0.028 left_gripper=0.0117 right_x=0.4339 right_y=-0.0181 right_z=0.2664 right_yaw=-0.0855 right_pitch=-0.3945 right_roll=-0.0658 right_gripper=0.9964\nstate[joint_eff]: [0.212, -10.6598, 4.506, 1.453, -0.3297, 0.0366, 0.9451, -0.253, -8.0889, 6.188, 1.3065, -0.0269, -0.0366, -0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 479):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:125288a7b78b83e5a2559f7497151c3ec0505ee2aa39eedd318315648ee63257",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 479):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0fb76e236166a02d35e7df536a239195201e1b528b9d578f932257d92e13e62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 479):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c05a820b08628fa0d78cbcd798a1ad1fed91ba5d9560fef96e89dd0b66fcbcc6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 36 attempt 0 · /responses · status 200 · 2.326 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 144 changed as sent

message 148 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3923, 0.8631, 0.5289, -0.1638, -0.6727, -0.4423, 0.9968, -0.0166, 1.7142, 1.8824, -1.1069, 0.0841, -0.0025, 0.0406]\nstate[eef_state]: left_x=0.3046 left_y=-0.003 left_z=0.1896 left_yaw=0.3895 left_pitch=0.1812 left_roll=-0.0896 left_gripper=0.9968 right_x=0.4344 right_y=-0.0185 right_z=0.2751 right_yaw=-0.0984 right_pitch=-0.3698 right_roll=-0.0645 right_gripper=0.0406\nstate[joint_eff]: [0.0342, -1.5932, 6.9949, 1.663, -0.2515, -0.0415, 0.0024, -0.2803, -10.0171, 9.2923, 1.3553, -0.0513, -0.022, 1.033]",
      "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]: [-0.5732, 1.8904, 0.7528, 0.487, -0.8169, -0.5697, 0.9988, -0.02, 1.7222, 1.8706, -1.1107, 0.0738, -0.0158, 0.9963]\nstate[eef_state]: left_x=0.4182 left_y=-0.1124 left_z=0.0499 left_yaw=0.3725 left_pitch=0.1381 left_roll=-0.0393 left_gripper=0.9988 right_x=0.4338 right_y=-0.0181 right_z=0.2666 right_yaw=-0.0855 right_pitch=-0.3945 right_roll=-0.0658 right_gripper=0.9963\nstate[joint_eff]: [-0.2393, -9.5111, 6.0513, 1.619, -0.4322, -0.0024, -0.1294, -0.1846, -8.4991, 6.653, 1.2479, 0.0024, -0.022, 0.1392]",
      "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]: [-0.5766, 1.9167, 0.7555, 0.487, -0.8124, -0.5766, 0.0117, -0.02, 1.7226, 1.8702, -1.1099, 0.0738, -0.0158, 0.9964]\nstate[eef_state]: left_x=0.4172 left_y=-0.114 left_z=0.0401 left_yaw=0.3669 left_pitch=0.1219 left_roll=-0.028 left_gripper=0.0117 right_x=0.4339 right_y=-0.0181 right_z=0.2664 right_yaw=-0.0855 right_pitch=-0.3945 right_roll=-0.0658 right_gripper=0.9964\nstate[joint_eff]: [0.212, -10.6598, 4.506, 1.453, -0.3297, 0.0366, 0.9451, -0.253, -8.0889, 6.188, 1.3065, -0.0269, -0.0366, -0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 479):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:125288a7b78b83e5a2559f7497151c3ec0505ee2aa39eedd318315648ee63257",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 479):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0fb76e236166a02d35e7df536a239195201e1b528b9d578f932257d92e13e62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 479):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c05a820b08628fa0d78cbcd798a1ad1fed91ba5d9560fef96e89dd0b66fcbcc6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE9BObVWUIJBfORFqZ-FMItLyBzaqCBfTwHIvDGRk6VbnG3nK9YJC5Z93YGqzbky_GVb82MuMa0IJ_ShhTLWsdjQP_SWC8iRqu2zl92rmpS7qB590wLqv2pKhILgKnuw4XpFWnnMf8X-Z0MeUn5Oa231QkBEs3833mINm0eJy7ZrU6XaYcmCVafxUUcDlbD1qpf_dSOe9hno1Mvuzpky-N-YUD-Q4vrDpIBg9abOBAR6r1Zc67vqSFWjQAmVLMxIu5flj4kcbhsydsCMl84ASw9tbN4nL-s6eGBBDhXixXGTGbkkFQBMd6ed-xWW20tBd5tds-leaZBo-a0O6XeHvdjlPHEi6dzshXMAD1ys12ERif6ApicLL1Gd9zRi3ujrljFrb_kDQyO3m3aAPDuZcY3hlj2Xa3_3_oM1WgxkC7GVKidg79_d-SgY3y0cAUTo1IhCLDmJfXjveKv7AuQ5L_G-wSIoEaXQgcgNIPNXkf6-sCJi-Ur4I6uTbxtTGAe22RrOgJwwe3yIUfVkWSrhf-hcyig-wDnYeuwtf6uyg1nc3kX35dTcYY-R9xWx8JNBDUTH3xnZNLs8UXEiC687DxarYptzU9dmxm50hT-GeHhwyEt0tDGx1UY8vpd0kjMXo8NU0Zrh0UOlluiiS3fUdlle-mmP4tWGRgDVqmOg76gXYckhVp3SsRdFcB6WJyUjpZeY7tnYLVns7cYkdpwWTqU4Syf0EVMOSE7iVJuyb10pD_grw4D258dftuInT_r0FjMD6-HW_cHF_byPjhFyAka3JCoXyEpt5MFIRlLTqInjMSZGc_zbvAva3OVEjA30EubgEiAhSrzW03g2idB-HAf5ou9qtxmmCM4f_0fG7f3XBkMup_IUXoIjjU2_oQlkwr0JlHTTAUUUQdY9fPj2bbQmVK8c7DhtQxBwe7T6NUHaRV_JSlzR0GW3VmBtDaxUEKb-j-ughYO4t52Suj1mu3b_vcQlWkE2IWSJUEkhmB1LIFyFOpCpG5anf5ecGavOv-6sYJL_0CFEfLFin9zaP9qUTRbq5WvBZoCj5lLrzYmg-pV4l1WgwJY8YD5DpKY2iH6EANp_h9GCUUoMB2lb_kjYhBpm1GpXVRuBkQcKj7zgOSBUYHcFyniTcF77PIeqEBgmIxZ9iR6AqTeIaEDcQ-yH3C1jSzpTgDxnmebolj-n-Z7pM1Xtw6rdNoNUJIdhzFR6ociNNkiEI_VPTWpPtwQtzvSZgiyqTsZffzlPKG5-y0XKMWwIDznZueUhbs70zKSDTmvuP4K5N0cCV9bHjpuLIgyCicrtOXCQMnhImcOUL_M0hkHULKG2QPD1gseUQIblFVXXqVCQzXtdhlP091mML1jxs1PbS1uytIxqhC5e167-eaW9pzYiQhQcBDWpSLUWnV-4TpZPIOKXWH8a6cVl4Ga57Y5KRDPPpQ_BbwqJxlXehi3juFPuZto-3a67msQ5aG2IDwZEjX_NVsd-BKwHaBXcKu9IMMchm4lt2bi9EIk-hvDchZKxmcs8Mbq6pWW_lCJ3pABG25km43sMvblysnpcErgCeaZt4saB0ikHSoJbpTnj5RKuiSBh4-RcLT5RIopsWnMW_HWJlDPKdBgcdeRFLXXwJ6lU36Qlyek28TyncfDeXdu_7GRkId3bOOrkR2BHPaNdmOeO_eSXBvt0c_xzEa4XJaOzPCxiuEd-ZSONbPFbiZ80dATzwyE5yb-eO9IEEAknjdq4zPrbB-1Ixi5niPcD1zMNIfYmqlZN8M8joAJRqNfivU8RFNQFKbZoL8Q0uvT971SiFoOgDmSEUL11OOcKAo-2jvcXpNp-NzALH4-iCrXfILSe8uoa1h4wqC8pghLDyNyv6uCnuhp-Myd19pHJLF5oOhHy2-IM7OUdA7ug2VOA7uDIINyF-m2JYX3UvrLxAiYpstqYz-TqLx4FR47b2b-463IFyuoMaFInlwhfPdUCfb3IdvwhyUfzEXJzsBJSekUIMQZzWR7P2eJx39paFEasutKSr8rjGaxxkxGIf46I2zYYtPmMILyf0cSnvoVqMckfHLa2RvSsvK24jlSW2PuygkvVCrfKfo3APXcwhCNqgbMXUGvvw7meVtchd9cXJgTmCOcNsxpbwKJ5U59eVzSN2Ds0ODGDgnUUbHCLwx_EfoFmN7z6BXLY4Yae_EitTK2sY6hbBIuaFPUIwBqF13oDhYl9uU3ID8AYnIwv99GylTjtUAxF6NUCnQ9E9E_z8KO_I-YggHlfurO43lfMyRQ0JyuBZOd5oT9_JN4VAkeQor3-Z1xJw-PtZ88ekn_nW79c9SmdIX3xBLbXKppdjhGA_GH-j-Zc6gE=",
  "id": "rs_06652852edb03493016ab44f3ebdfc87d0a3fc47b0f897e9e3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.05,\"left_z\":0.05,\"left_gripper\":1.0},\"note\":\"The gray elephant was squeezed out to the image-left and the gripper closed empty; its rounded body was slightly off-center. I’m reopening and shifting the jaw column about 6 cm left onto the torso center, then I’ll use a partial close to avoid ejecting it again.\"}",
  "call_id": "call_nq5wU5U7iyb6WqEzNznUzI27",
  "id": "fc_06652852edb03493016ab44f407b1087d0a987269e678b559a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nq5wU5U7iyb6WqEzNznUzI27",
  "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]: [-0.3958, 1.8359, 0.6281, 0.5945, -0.6777, -0.4526, 0.9954, -0.02, 1.7226, 1.8698, -1.1099, 0.0738, -0.0158, 0.9964]\nstate[eef_state]: left_x=0.4152 left_y=-0.0496 left_z=0.0397 left_yaw=0.3841 left_pitch=0.1009 left_roll=-0.0153 left_gripper=0.9954 right_x=0.4339 right_y=-0.0181 right_z=0.2663 right_yaw=-0.0855 right_pitch=-0.3949 right_roll=-0.0658 right_gripper=0.9964\nstate[joint_eff]: [0.1299, -9.6889, 4.3419, 1.7021, -0.2222, 0.0904, -0.1148, -0.1162, -8.1846, 6.2564, 1.2772, 0.022, -0.0415, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 489):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70dd0ff8e331ef1876feff0a2574169fe455a0c2f13325cb5827ab3b14b645a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 489):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b39c62bd46dc49a6792e5769f3f5aca901818e5e3fa31a98ccec8ec838f3cff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 489):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63739c0053916a5a89843c4eb656f841b875f4b54cc6aa77ce958bcdc2a2a763",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 37 attempt 0 · /responses · status 200 · 3.073 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 148 changed as sent

message 152 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.392, 0.8631, 0.5289, -0.1642, -0.6727, -0.4423, 0.9968, -0.0193, 1.7176, 1.8763, -1.1141, 0.0769, -0.012, 0.9948]\nstate[eef_state]: left_x=0.3046 left_y=-0.0029 left_z=0.1896 left_yaw=0.3898 left_pitch=0.1809 left_roll=-0.0893 left_gripper=0.9968 right_x=0.4329 right_y=-0.0183 right_z=0.2702 right_yaw=-0.0896 right_pitch=-0.3873 right_roll=-0.0656 right_gripper=0.9948\nstate[joint_eff]: [-0.0479, -1.5385, 6.9949, 1.6532, -0.2125, -0.022, -0.0122, -0.1299, -8.4581, 6.6393, 1.3504, 0.1001, 0.1294, -0.0122]",
      "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]: [-0.5766, 1.9167, 0.7555, 0.487, -0.8124, -0.5766, 0.0117, -0.02, 1.7226, 1.8702, -1.1099, 0.0738, -0.0158, 0.9964]\nstate[eef_state]: left_x=0.4172 left_y=-0.114 left_z=0.0401 left_yaw=0.3669 left_pitch=0.1219 left_roll=-0.028 left_gripper=0.0117 right_x=0.4339 right_y=-0.0181 right_z=0.2664 right_yaw=-0.0855 right_pitch=-0.3945 right_roll=-0.0658 right_gripper=0.9964\nstate[joint_eff]: [0.212, -10.6598, 4.506, 1.453, -0.3297, 0.0366, 0.9451, -0.253, -8.0889, 6.188, 1.3065, -0.0269, -0.0366, -0.0024]\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 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]: [-0.3958, 1.8359, 0.6281, 0.5945, -0.6777, -0.4526, 0.9954, -0.02, 1.7226, 1.8698, -1.1099, 0.0738, -0.0158, 0.9964]\nstate[eef_state]: left_x=0.4152 left_y=-0.0496 left_z=0.0397 left_yaw=0.3841 left_pitch=0.1009 left_roll=-0.0153 left_gripper=0.9954 right_x=0.4339 right_y=-0.0181 right_z=0.2663 right_yaw=-0.0855 right_pitch=-0.3949 right_roll=-0.0658 right_gripper=0.9964\nstate[joint_eff]: [0.1299, -9.6889, 4.3419, 1.7021, -0.2222, 0.0904, -0.1148, -0.1162, -8.1846, 6.2564, 1.2772, 0.022, -0.0415, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 489):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70dd0ff8e331ef1876feff0a2574169fe455a0c2f13325cb5827ab3b14b645a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 489):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b39c62bd46dc49a6792e5769f3f5aca901818e5e3fa31a98ccec8ec838f3cff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 489):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63739c0053916a5a89843c4eb656f841b875f4b54cc6aa77ce958bcdc2a2a763",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE9EdfHuX3PTtDXtPblVsxCpQm4hGd0qscgTEHv6xGMVw7agEOulqv-bPTETJm6ovLv-AetXHp9zk_PCc7u0bTg0xKJgiRQ0QlYjye-r1zWoDngRbU_POzEuMTfBKf_ror8g_34isT3oy3csrwhcK75ckfD-UX7Od5jBWcLRncnLU80Y12mV09u_dn8SU_czJ0Pu9m4sykQLGseWM1xqFJBdpHvvpbvzatLSAehnE4ieQ85YgpJhf_77YCa3P03m41Q7moMRRp_dC4EoD1CM7HvkH_oeHC2eyxEjxD9qRjdIW8l4BDd5HLy8LFogssXSGfAd9WeYESigIDGmYG1xmwaR71mkSxuNiTMe9Ti4eSG54IZ7p9E7Hd3TNBIB7IJBikYo_Ep4F9bAymg89JuLZ099lPY7QMNyHomo4XACtUjRg6qiSo4v5E4HhLCCmmGgxrABuLt6VZMcwVTljXbBFtRiDzVIPY7YF8qgHDyRmjnmdz-P4QzhB3R9tDJDuYd2FSwo16FJ_DCL6nIMf1Hs2FMfFUWLhnKCzEQfcPXWIK4yLeveIioLf3mCv0p1NijBcDH6L37Zs7QebhqPhHSUAkOC-PGVTIPPQvbq4l5yUI-woRQFTj3_O4su5YU5KDlBW4KyqEi17_nva2Z1gd-a9N2R5tjcUfgtYM3uV6X7QPuLu19rFV2LB6-kbPrGVdD1Kdzh-5KkwKrdt_bfUUkzWj_sg6SInm8F-wS0OSXOfgZsQ-FU-dkE54BDZSgWNPXHoUva2jysIrxwezYVPNj8_Kq675w0agv_CM1SnmBEnK0q9JeynjbDIXyDXI5C1ufNO0H6o5t-78NA9taRSBoZiKabh6_6Am70coKXOYECW0aMoYYldW1jvnUYBQZZR7RpSl6z094BFXkY2cbwPfTiiIK1PGw7O6nU3CYgEuBqcLlG0IrSEQyOnSoKbG7mUGvrPkRI1FCu7mYFsrMTd-WpTbfi3HSWBa_LrK-xJqIEHMRSwbwb4_IUVqeUpozmj0WQSt8671fuqd0dUUnPzLBl8aXmqGIZxyNjTT8T1bE_0y_p-s0A_hPGLwHVcHXhaSudGBGTFbRYLkOWj-mhk1VKMeid0zheSmZXgKmThaGiIEfnxiXuiCNew6uoVWLK1i2S_YJwrHtBTAn8659BymE_KqtjX03JHkQ2FWxHy9bfPQHPl1g-KivOnjuOqfR0727tVGrT1FHLmowJnJ_i5IjtdueWfO1vjT_YMPslXkyajsu1AVtXzby0Q2FwMRwxd6ikN60dpUcGIDmDLYKd8Bgcjzy0Nw==",
  "id": "rs_06652852edb03493016ab44f43e29487d0b9141b0d7bfbd2b9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.3},\"note\":\"After the lateral correction, the gray torso is centered symmetrically between the two fingers. I’m closing only to 30% opening first, enough to hold the broad plush body without squeezing it sideways.\"}",
  "call_id": "call_D8R6Dc2xxzHCKWE3qAGj0U92",
  "id": "fc_06652852edb03493016ab44f44130887d0a1de223e1c6cc042",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_D8R6Dc2xxzHCKWE3qAGj0U92",
  "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]: [-0.3943, 1.8324, 0.6239, 0.5919, -0.6731, -0.4564, 0.3053, -0.02, 1.7226, 1.8698, -1.1095, 0.0734, -0.0158, 0.9964]\nstate[eef_state]: left_x=0.4141 left_y=-0.0491 left_z=0.0389 left_yaw=0.3838 left_pitch=0.0966 left_roll=-0.0182 left_gripper=0.3053 right_x=0.434 right_y=-0.0181 right_z=0.2663 right_yaw=-0.0852 right_pitch=-0.3945 right_roll=-0.0655 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -7.4325, 4.9162, 1.6337, -0.2125, 0.0269, 0.1734, -0.1709, -7.9658, 6.188, 1.3114, 0.0122, -0.0269, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 496):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f102b7d26bcac2feffe969031709ae69e78c88209d6ef9c1bb6249bb5b7bb133",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 496):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf4903e899fa3fcc54dd44d39191df2112b44ed872ae9adca158d1c25b9e49a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 496):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb0ad14b88069b077accad1219b7d9c2c90b96c9c38da696e57d82424eecaa3b",
      "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 · 3.252 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]: [-0.5732, 1.8904, 0.7528, 0.487, -0.8169, -0.5697, 0.9988, -0.02, 1.7222, 1.8706, -1.1107, 0.0738, -0.0158, 0.9963]\nstate[eef_state]: left_x=0.4182 left_y=-0.1124 left_z=0.0499 left_yaw=0.3725 left_pitch=0.1381 left_roll=-0.0393 left_gripper=0.9988 right_x=0.4338 right_y=-0.0181 right_z=0.2666 right_yaw=-0.0855 right_pitch=-0.3945 right_roll=-0.0658 right_gripper=0.9963\nstate[joint_eff]: [-0.2393, -9.5111, 6.0513, 1.619, -0.4322, -0.0024, -0.1294, -0.1846, -8.4991, 6.653, 1.2479, 0.0024, -0.022, 0.1392]",
      "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]: [-0.3958, 1.8359, 0.6281, 0.5945, -0.6777, -0.4526, 0.9954, -0.02, 1.7226, 1.8698, -1.1099, 0.0738, -0.0158, 0.9964]\nstate[eef_state]: left_x=0.4152 left_y=-0.0496 left_z=0.0397 left_yaw=0.3841 left_pitch=0.1009 left_roll=-0.0153 left_gripper=0.9954 right_x=0.4339 right_y=-0.0181 right_z=0.2663 right_yaw=-0.0855 right_pitch=-0.3949 right_roll=-0.0658 right_gripper=0.9964\nstate[joint_eff]: [0.1299, -9.6889, 4.3419, 1.7021, -0.2222, 0.0904, -0.1148, -0.1162, -8.1846, 6.2564, 1.2772, 0.022, -0.0415, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3943, 1.8324, 0.6239, 0.5919, -0.6731, -0.4564, 0.3053, -0.02, 1.7226, 1.8698, -1.1095, 0.0734, -0.0158, 0.9964]\nstate[eef_state]: left_x=0.4141 left_y=-0.0491 left_z=0.0389 left_yaw=0.3838 left_pitch=0.0966 left_roll=-0.0182 left_gripper=0.3053 right_x=0.434 right_y=-0.0181 right_z=0.2663 right_yaw=-0.0852 right_pitch=-0.3945 right_roll=-0.0655 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -7.4325, 4.9162, 1.6337, -0.2125, 0.0269, 0.1734, -0.1709, -7.9658, 6.188, 1.3114, 0.0122, -0.0269, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 496):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f102b7d26bcac2feffe969031709ae69e78c88209d6ef9c1bb6249bb5b7bb133",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 496):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf4903e899fa3fcc54dd44d39191df2112b44ed872ae9adca158d1c25b9e49a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 496):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb0ad14b88069b077accad1219b7d9c2c90b96c9c38da696e57d82424eecaa3b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE9IXgUxUOowM_QasGjKzHiHgRhZxAXhigIcgurTJjgOzl0Dqv5M7z6r0exfrCLJHdRBK7P3Er1KTvv4mJZt28p3yk-6wuzExYLhsFtAzVQYOwYHMD6n7HvO_R3LtnXwK9KIaD4wtHU1msb7ws2JZuFLIFI1KNz7Iq-7UMlLRiMEyMsKIUc02-zR_oXdg1DiRc5wC__fx8zEW7xhDJfZqZz0wRPmJPfz_Ex_BqMiuP2WJHNfl5k-5ZgMDVTSV2VjJEBS6ul0VysJaLVaaosXAUJS_5b2O7IzyAI2VQ2_aCwU_shXIpd4wqus5FYOelky5R6Up5NGBmG10fMydn89eDgoS02PCqjCqRWIU39fgIU7VcMp0NKyHjwYEubRDwBKqS9o8u7EwynOMtH4E7LXeMgj6mGGQCHJmViwCxWeZAslv6qZkCJvPxvsVg3r_fEDqXiqHiskgFrmcYnUMUuXAqKqVxPTcWHkkAhYtlDQsPz3vt0gzxQ0dUJd3TL-gmaaa6u2-0T6huIOOEoFFruCvZDV1h6JSyqYVMZYg3VUJmiBCLnBRE_ctlIVOTp-55UgNP41J6pK1BT84fKwOtSQKM8D49mfP1zElZNA5yi3HVzc0M7n_RKqnjFvyVGVCQy1hl0CN9AGLPHWAXRLiofiAv34Gk8cKSBE9PJYNhGg9fevOqSEwRz-II-SHlcvevy3TZy7JE-eXT_Xr0fKrde5w5cXv7qj6qkiZsaRlV3G_hB8kSy0lVi6LScrNXpcSFzgnd1UpqV98DIoJCnabvKsoa-7hvCxO977ri69ZbweaXTZRU3IVY6fyrbU7pN8zPktWsncbBSkRVAF2IeCUm8APHoA97HFg2OFNdZjV7UgpTiBpp-sTQ3eaB_oNoB3GlYtdhFUYfvwCwrzPNs8dUsMF5Si1vXLZ6Ma6Lwp9iyhp4hqYlBOkpaKZNohCNl4sXACck4b69caP68fOWxoo8__9sg_speSpgS4U-jr5HyRhcYwk6273sqzupvOR-Mr4qZ6lYO-X0u3N50ZMqcqVBbFtEj-GrxIdQPQWhjU6oZGlOg-Y0voYF_Y40vcH3NsFn3A2z74e4ZgI_DaX7y8H6R7HJhRC7HOh9ZTNsjcVEvH0LII7lzo4qgRspf9S-87vxIFmCj1k3UvZY_zsXFGenz-DNfplpMGTGx8xm7JXPTuFt8ZaVOWHjHG7j4fH64Ee495yQdk6Oh_QLh7Wvc3suxsLxzlfZsFDbMhHx8d72QkOU5c7PL4UC6yolss56HWBiXG091CaBMJeAnc-Qz7qAQbNFLf9eCyTwA21n2RwIMsCFGy2Ptq9t6fNittnVAn5Y7fXyOzdDXyrfW2IFxi_PhxMs911PbiRfH3WGasmeG6pwMOOUST74bFItWBdfZC3pGYYg8d_6TDuuHmaA29p0aXdHP8rggdGrOCpL1Ih9UhQ01ZVYYb-OzpD7E78jiTqnfq_xLm2vxTjw3pDLbdX4JMRALL-98s2YqnW3SZfiRgXXA0TIJZhcHy9ESrH7m7rYzckCgN36WPqfanCgfzAiO0oynJkc46fiLFSxhb2HW57A3ZG2n_FD4k6Q1TNqRNR_h8NmiolE9gHnr6so6PevXVJofggw==",
  "id": "rs_06652852edb03493016ab44f46d04887d0bdfb300d8d5d7966",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.15},\"note\":\"At 30% the gray torso remains centered but the fingers have not yet compressed it, so I’m tightening modestly to 15% rather than fully closing. This should secure the plush without the sideways ejection seen on the full close.\"}",
  "call_id": "call_5q4MXfuFTbOMfmylf8FpiwYY",
  "id": "fc_06652852edb03493016ab44f47b81887d097e3821ad787f9b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5q4MXfuFTbOMfmylf8FpiwYY",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.395, 1.8324, 0.6239, 0.5915, -0.6727, -0.4572, 0.1559, -0.02, 1.7226, 1.8694, -1.1095, 0.0734, -0.0158, 0.9964]\nstate[eef_state]: left_x=0.414 left_y=-0.0495 left_z=0.0389 left_yaw=0.3832 left_pitch=0.0962 left_roll=-0.0188 left_gripper=0.1559 right_x=0.4339 right_y=-0.0181 right_z=0.2662 right_yaw=-0.0852 right_pitch=-0.3949 right_roll=-0.0655 right_gripper=0.9964\nstate[joint_eff]: [-0.0342, -7.706, 4.7658, 1.5702, -0.2515, -0.0415, 0.1783, -0.0479, -8.1026, 6.2017, 1.3211, -0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 498):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a64ff5633f51017733d051b20da1414f20ea1a47ff3a78f5d0333f900e18d710",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 498):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8263bc1def19aeecb4460b47da36ea6fa0c0d06fceccb98940197107b6b14cc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 498):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c75e933e1822fcc76e23dd752ee722c15dceff678c177b5732c68434dfdbb7a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 39 attempt 0 · /responses · status 200 · 4.977 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 148 changed as sent

message 156 changed as sent

message 160 changed as sent

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]: [-0.5766, 1.9167, 0.7555, 0.487, -0.8124, -0.5766, 0.0117, -0.02, 1.7226, 1.8702, -1.1099, 0.0738, -0.0158, 0.9964]\nstate[eef_state]: left_x=0.4172 left_y=-0.114 left_z=0.0401 left_yaw=0.3669 left_pitch=0.1219 left_roll=-0.028 left_gripper=0.0117 right_x=0.4339 right_y=-0.0181 right_z=0.2664 right_yaw=-0.0855 right_pitch=-0.3945 right_roll=-0.0658 right_gripper=0.9964\nstate[joint_eff]: [0.212, -10.6598, 4.506, 1.453, -0.3297, 0.0366, 0.9451, -0.253, -8.0889, 6.188, 1.3065, -0.0269, -0.0366, -0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "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]: [-0.3943, 1.8324, 0.6239, 0.5919, -0.6731, -0.4564, 0.3053, -0.02, 1.7226, 1.8698, -1.1095, 0.0734, -0.0158, 0.9964]\nstate[eef_state]: left_x=0.4141 left_y=-0.0491 left_z=0.0389 left_yaw=0.3838 left_pitch=0.0966 left_roll=-0.0182 left_gripper=0.3053 right_x=0.434 right_y=-0.0181 right_z=0.2663 right_yaw=-0.0852 right_pitch=-0.3945 right_roll=-0.0655 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -7.4325, 4.9162, 1.6337, -0.2125, 0.0269, 0.1734, -0.1709, -7.9658, 6.188, 1.3114, 0.0122, -0.0269, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.395, 1.8324, 0.6239, 0.5915, -0.6727, -0.4572, 0.1559, -0.02, 1.7226, 1.8694, -1.1095, 0.0734, -0.0158, 0.9964]\nstate[eef_state]: left_x=0.414 left_y=-0.0495 left_z=0.0389 left_yaw=0.3832 left_pitch=0.0962 left_roll=-0.0188 left_gripper=0.1559 right_x=0.4339 right_y=-0.0181 right_z=0.2662 right_yaw=-0.0852 right_pitch=-0.3949 right_roll=-0.0655 right_gripper=0.9964\nstate[joint_eff]: [-0.0342, -7.706, 4.7658, 1.5702, -0.2515, -0.0415, 0.1783, -0.0479, -8.1026, 6.2017, 1.3211, -0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 498):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a64ff5633f51017733d051b20da1414f20ea1a47ff3a78f5d0333f900e18d710",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 498):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8263bc1def19aeecb4460b47da36ea6fa0c0d06fceccb98940197107b6b14cc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 498):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c75e933e1822fcc76e23dd752ee722c15dceff678c177b5732c68434dfdbb7a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE9LSylqy5M-GFtWMfhoqDCZC2s8chkbANcydIPls5ENfssAcpw3NvTcmkVL6_1DNyz54cyrp4KNYMwzyGY7opu9Wvi4CXw8alJjNl8kSxmB2NQJx49AFzFZDlGPaFlPhpEKMSuU4WRMXR8CZrLT9mo7bNFOuLX1PxLDaBZ6B1PprbWRrqGsHnoJ_5ariTe4OtYaAYT2jF-MRk6nMiwOhj4WZqky7ETxGwKu8JHYdu4CaSxWF50YNejK0JNa0B81s17DQInuWKn5-uDGeMgDABU2T20skLAvDgmN93BpvODsFDj7wzdbmUyvrtI4khQYYkKlRuSWuSqkHz_8Mn3g24ShoSN7QLjOEzTbpUzpco8kuRnRiFdJfi0fev9pAY1ICYviEmknorcyEXDgVKpcKHhMLr55G68msD5tse0U9RhSlWywi7nK5CwtkxhIBpVOoqBxKR65j8Hqv0e7H51ugCw2M2yLp3sDAm3N5jyJ0qQ0h4qZbReIF-WoE_7zgxzUtnbgliFQamONXbUs7rm3YmYBZ_jFBvIUbtJ4mWFiiz13C7TB3yNmkwRebqE16y9pjO34veuqcJlt4roVb3SFnmhZSvE2xop67RQIlmhglShJAkk3geMq1bwcXLmzd8d3j284ULBefZ4I91Jkp3Y_oAfaq90O0-bTdVn7R1hnQB0k21r6L5hyZgYWJMdbAxJatnZPbwMGZHy3ajo2UvTHjyasjLeVDyuEB8qWLfHZGIC_wxF4ERI0OdKwyn5LjEeJtQxH_GLb9JKtPc_rssKdUp7SAA9nRALRA5kcD_UgZM1w_SkNTHixTQSvAX71BD-bjsbnVguGN2dWh3nbItRVp779xemKPegz1E8SMy0RTA-6h5Z9W_MFkk99Vz3qte5h1VqODoC8Fs-PBZAXcLNN4IgN0ufHoSNy4ziOS-ZDf1uQWWw586ZWnlu1OMIlnWJW0AzN-ScqqJJp0m6TQynoEegSGQuB_jPPUEahBC_pvvWZZe23LdfhfD4qmecISPVVqy7aMt2BM2_7CADJa8IwhSoHpxpQ8-GWrhT25Nbh1M05bxyE_SxMrS8ymrQnUbCCkioAytdlUpyo2WkVcoGK6vD8bZsspODPSiNddPAfkPzL6A_N0ntr_a75hMGUvS_nangZFpTIA6O2vxFlhsmMqqRrBQ_E_86nOgWgYFy6p2tYqkVMRkcNRz5Iui8TSNZCR-TK6_WRv7D4oEeZEA570cb2wWI_lylbMjxpWEsPB40Mkgxd_Rlp12xteSiWnE8sZQU5uEO3kSS5EB5bGxCOBGRo8KIxuzeXraACGkUmSacL6mZ-GL7p2dYQDR7ngR2DWUUM2wskKh2hp3BmOUEQgkZwg8H24qEbZD56eD44aCHTm9zO-Z8a8z_82QvWJnHKGtRYStyYXmOZdjM95ZpYS0N2tVhfquCtm3MnS4Tb1E8XKmU8MZ3jk54aOH8r7T65Qgb2NRn1tXqUelqdHfIy7lNvozUYu3LeqkqhFG5rmonNdpa_yPEiTWCD5y0f2ImCpMWZZtgAyGV9elO8Q74JySgkyG6aqy8fWV-sOiGqe-CqF5fleL2sSXfYVGrUyTrKT9S5NoQMbqEleYqvFGrH2rwbQA==",
  "id": "rs_06652852edb03493016ab44f4a1a0487d0bab93b2db43f3195",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.5,\"left_y\":-0.36,\"left_z\":0.28},\"note\":\"The 15% close visibly traps the gray torso between the fingers without ejecting it. I’m lifting and carrying it high over the left basket, offsetting the gripper to the basket’s right so the plush body trails into the opening.\"}",
  "call_id": "call_itvGTiRhvIVyM4W0D2DbXVQr",
  "id": "fc_06652852edb03493016ab44f4ad73487d0b0ea13d2c70e484d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_itvGTiRhvIVyM4W0D2DbXVQr",
  "output": [
    {
      "text": "executing move_to over 28 steps (2.8s)",
      "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]: [-0.849, 2.6247, 2.875, -1.2575, -0.9741, -0.936, 0.1546, -0.02, 1.7233, 1.8675, -1.1091, 0.0734, -0.0158, 0.9964]\nstate[eef_state]: left_x=0.484 left_y=-0.3233 left_z=0.2182 left_yaw=0.3656 left_pitch=0.0707 left_roll=0.0021 left_gripper=0.1546 right_x=0.4339 right_y=-0.0181 right_z=0.2652 right_yaw=-0.0853 right_pitch=-0.3972 right_roll=-0.0656 right_gripper=0.9964\nstate[joint_eff]: [-0.9915, -17.3607, 6.8581, 0.8278, -0.6862, 0.0415, -0.1685, -0.1162, -8.335, 6.3248, 1.2625, 0.0024, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 526):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de53a1738a1fffe4131b67a44bf963c03b3b13232492b7f91f1ac6e10f5b4e52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 526):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db45622fa9184e0d886212835251c61a6399b87ed3ec499b1d725feece6b2ae4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 526):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e92da4003dbfe95ce0f93dadadfae5c7e980a8ddf0e2bce0afeb517b0eb0ee5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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