adhoc

completed
2026-09-23T22:27:27.238551+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (75 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
243.4 s
total steps
406
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 turquoise baskets at the back and a mixed cluster of pale fluffy objects and tan spotted animal-shaped objects near the centre-front. I am moving the left gripper above the clearly separated leftmost tan spotted object so I can refine alignment with its wrist camera.
move_to
left_x0.3600left_y-0.2200left_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]: [-0.0193, 0.8024, 0.6174, -0.3805, -0.0219, -0.033, 0.9996, -0.0154, 0.7967, 0.6109, -0.3851, -0.0193, -0.0246, 0.9998] state[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1837 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2951 right_y=0.0024 right_z=0.1813 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4718, -1.9624, 9.347, 1.7802, -0.0366, 0.1832, -0.0562, -1.0051, -1.2239, 9.7846, 1.8339, -0.0757, 0.1197, -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":0.36,"left_y":-0.22,"left_z":0.15,"left_gripper":1.0},"note":"The overhead view shows two turquoise baskets at the back and a mixed cluster of pale fluffy objects and tan spotted animal-shaped objects near the centre-front. I am moving the left gripper above the clearly separated leftmost tan spotted object so I can refine alignment with its wrist camera."})
tool
executing move_to over 20 steps (2.0s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe left wrist camera now shows a tan plush animal directly at the jaw column, very close beneath the gripper, with its face slightly to image-right. I am making a small centreward correction and descending to grasp around the body rather than pushing it.
move_to
left_x0.3550left_y-0.2350left_z0.0450
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]: [-0.8169, 1.5543, 0.9493, -0.1864, -0.6582, -0.5453, 0.9996, -0.0147, 0.7986, 0.6086, -0.3855, -0.0189, -0.0261, 0.9998] state[eef_state]: left_x=0.3544 left_y=-0.2144 left_z=0.1369 left_yaw=-0.0056 left_pitch=-0.0326 left_roll=0.023 left_gripper=0.9996 right_x=0.2949 right_y=0.0026 right_z=0.1797 right_yaw=0.0013 right_pitch=-0.0046 right_roll=-0.0014 right_gripper=0.9998 state[joint_eff]: [-0.3214, -7.0769, 8.9641, 1.5214, -0.4127, -0.0024, -0.0562, -0.3077, -0.8274, 7.2274, 1.7314, -0.0611, -0.0366, -0.0122] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.355,"left_y":-0.235,"left_z":0.045},"note":"The left wrist camera now shows a tan plush animal directly at the jaw column, very close beneath the gripper, with its face slightly to image-right. I am making a small centreward correction and descending to grasp around the body rather than pushing it."})
tool
executing move_to over 6 steps (0.6s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe tan plush animal now fills the lower wrist view between the open fingertips, indicating the jaws straddle its body at a low height. I am closing the gripper to secure it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.857, 1.8065, 0.8341, 0.2031, -0.7181, -0.5659, 0.9996, -0.0147, 0.7986, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998] state[eef_state]: left_x=0.3624 left_y=-0.2354 left_z=0.0589 left_yaw=0.008 left_pitch=0.0139 left_roll=0.0175 left_gripper=0.9996 right_x=0.295 right_y=0.0026 right_z=0.1798 right_yaw=0.0013 right_pitch=-0.0042 right_roll=-0.0014 right_gripper=0.9998 state[joint_eff]: [-0.4171, -7.4598, 4.506, 1.2332, 0.0122, -0.1929, -0.0171, -0.0889, -1.0462, 7.0769, 1.7118, -0.0317, -0.0708, -0.0122] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The tan plush animal now fills the lower wrist view between the open fingertips, indicating the jaws straddle its body at a low height. I am closing the gripper to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe gripper settled at 0.29 rather than closing empty, so it has a substantial plush body between the jaws. I am lifting it clear to confirm the animal rises with the gripper before transporting it.
move_to
left_z0.1600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8551, 1.8065, 0.8341, 0.2138, -0.7444, -0.5583, 0.2925, -0.0147, 0.7986, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998] state[eef_state]: left_x=0.365 left_y=-0.2319 left_z=0.0626 left_yaw=0.0248 left_pitch=0.0345 left_roll=0.0275 left_gripper=0.2925 right_x=0.295 right_y=0.0026 right_z=0.1798 right_yaw=0.0013 right_pitch=-0.0042 right_roll=-0.0014 right_gripper=0.9998 state[joint_eff]: [-0.5265, -7.9932, 5.5726, 1.3309, -0.0806, -0.1245, 0.7009, -0.0889, -1.2239, 7.1453, 1.7314, -0.0366, -0.0513, -0.0122] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.16},"note":"The gripper settled at 0.29 rather than closing empty, so it has a substantial plush body between the jaws. I am lifting it clear to confirm the animal rises with the gripper before transporting it."})
tool
executing move_to over 7 steps (0.7s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe tan plush rose with the gripper and remains held at a 0.29 jaw opening. I will use the left basket for the tan animal category and am carrying this first item above its open centre with extra commanded height to clear the rim.
move_to
left_x0.4800left_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]: [-0.8532, 1.6493, 1.0145, -0.2207, -0.7067, -0.5774, 0.2946, -0.0147, 0.7986, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998] state[eef_state]: left_x=0.3572 left_y=-0.2294 left_z=0.124 left_yaw=0.0111 left_pitch=-0.0481 left_roll=0.0681 left_gripper=0.2946 right_x=0.295 right_y=0.0026 right_z=0.1798 right_yaw=0.0013 right_pitch=-0.0042 right_roll=-0.0014 right_gripper=0.9998 state[joint_eff]: [-0.3077, -11.1795, 9.4154, 1.5458, -0.7204, 0.149, 0.2076, -0.2256, -1.265, 7.0906, 1.7265, -0.0415, -0.0366, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.18,"left_z":0.22},"note":"The tan plush rose with the gripper and remains held at a 0.29 jaw opening. I will use the left basket for the tan animal category and am carrying this first item above its open centre with extra commanded height to clear the rim."})
tool
executing move_to over 10 steps (1.0s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe overhead view confirms the held tan animal is centred over the left turquoise basket and clears the rim. I am lowering it into the basket until it rests near the basket floor before release.
move_to
left_z0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5289, 1.7985, 1.4826, -0.4519, -0.4686, -0.3531, 0.2975, -0.0143, 0.7986, 0.6083, -0.3859, -0.0189, -0.0261, 0.9998] state[eef_state]: left_x=0.4694 left_y=-0.1778 left_z=0.1921 left_yaw=0.036 left_pitch=-0.1045 left_roll=0.0602 left_gripper=0.2975 right_x=0.2948 right_y=0.0027 right_z=0.1794 right_yaw=0.0016 right_pitch=-0.0053 right_roll=-0.0014 right_gripper=0.9998 state[joint_eff]: [-0.212, -10.0718, 9.8803, 1.5556, -0.2564, 0.359, 0.2857, -0.0752, -1.1966, 7.0769, 1.7021, -0.0366, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.1},"note":"The overhead view confirms the held tan animal is centred over the left turquoise basket and clears the rim. I am lowering it into the basket until it rests near the basket floor before release."})
tool
executing move_to over 6 steps (0.6s)
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 gripper has lowered to about 7.7 cm and the animal is within the front half of the left basket, with the basket floor supporting it. I am opening the jaws to release the first tan item.
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]: [-0.5274, 1.8919, 1.2167, -0.218, -0.4408, -0.3595, 0.2983, -0.0143, 0.7986, 0.6079, -0.3851, -0.0189, -0.0265, 0.9998] state[eef_state]: left_x=0.4512 left_y=-0.1714 left_z=0.0773 left_yaw=0.0303 left_pitch=-0.2214 left_roll=0.1053 left_gripper=0.2983 right_x=0.2949 right_y=0.0027 right_z=0.1794 right_yaw=0.0019 right_pitch=-0.005 right_roll=-0.0017 right_gripper=0.9998 state[joint_eff]: [0.0752, -10.2085, 7.2137, 1.8535, -0.5055, 0.0317, 0.0757, -0.1983, -1.2786, 7.1316, 1.7607, -0.0415, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). 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":1.0},"note":"The gripper has lowered to about 7.7 cm and the animal is within the front half of the left basket, with the basket floor supporting it. I am opening the jaws to release the first tan item."})
tool
executing move_to over 8 steps (0.8s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe jaws are open, but the arm and basket rim occlude whether the plush settled fully inside; its face appears near the basket's front-right edge. I am retracting the left arm to its home pose so the overhead camera can verify the placement and expose the remaining objects.
move_to
left_x0.3000left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5278, 1.8965, 1.2079, -0.2089, -0.4438, -0.3664, 0.9954, -0.0147, 0.7986, 0.6075, -0.3855, -0.0189, -0.0261, 0.9998] state[eef_state]: left_x=0.4504 left_y=-0.1706 left_z=0.0734 left_yaw=0.0366 left_pitch=-0.2233 left_roll=0.1047 left_gripper=0.9954 right_x=0.2948 right_y=0.0026 right_z=0.1792 right_yaw=0.0013 right_pitch=-0.0057 right_roll=-0.0014 right_gripper=0.9998 state[joint_eff]: [-0.1162, -10.0444, 6.9265, 1.2479, -0.2076, 0.0122, -0.1783, -0.0479, -1.2513, 7.0769, 1.707, -0.0317, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0.0,"left_z":0.18},"note":"The jaws are open, but the arm and basket rim occlude whether the plush settled fully inside; its face appears near the basket's front-right edge. I am retracting the left arm to its home pose so the overhead camera can verify the placement and expose the remaining objects."})
tool
executing move_to over 16 steps (1.6s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteWith the arm retracted, the left basket is visibly empty and the released tan plush is lying just outside its front-right corner, so the first drop was too shallow. I am moving directly to a low, open-jaw pose around that same plush for a retry.
move_to
left_x0.4400left_y-0.3100left_z0.0550left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1249, 1.0203, 0.836, -0.5907, -0.2035, -0.0856, 0.9967, -0.0143, 0.8028, 0.6067, -0.392, -0.0193, -0.0261, 0.9998] state[eef_state]: left_x=0.31 left_y=0.0007 left_z=0.1812 left_yaw=0.0793 left_pitch=-0.1935 left_roll=0.0942 left_gripper=0.9967 right_x=0.2941 right_y=0.0028 right_z=0.1763 right_yaw=0.002 right_pitch=-0.0172 right_roll=-0.001 right_gripper=0.9998 state[joint_eff]: [-0.1162, -2.7556, 7.1863, 1.5604, 0.0806, 0.0904, 0.1294, -0.0752, -1.0462, 7.0632, 1.79, -0.0073, -0.0562, -0.0171] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.31,"left_z":0.055,"left_gripper":1.0},"note":"With the arm retracted, the left basket is visibly empty and the released tan plush is lying just outside its front-right corner, so the first drop was too shallow. I am moving directly to a low, open-jaw pose around that same plush for a retry."})
tool
executing move_to over 28 steps (2.8s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteThe wrist view shows the tan bear/dog face centred cleanly between both fingertips at table level. I am closing to re-grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8135, 2.1902, 1.6138, -0.4423, -0.6746, -0.6712, 0.9988, -0.0147, 0.8051, 0.6067, -0.3927, -0.0189, -0.0261, 0.9998] state[eef_state]: left_x=0.4403 left_y=-0.3 left_z=0.0667 left_yaw=0.0941 left_pitch=-0.1667 left_roll=0.105 left_gripper=0.9988 right_x=0.2941 right_y=0.0026 right_z=0.1755 right_yaw=0.0013 right_pitch=-0.0202 right_roll=-0.0012 right_gripper=0.9998 state[joint_eff]: [-0.4308, -10.4684, 7.0769, 1.0867, -0.0562, -0.1001, -0.1392, -0.3077, -1.4974, 7.0359, 1.7411, -0.0562, -0.0366, -0.0122] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The wrist view shows the tan bear/dog face centred cleanly between both fingertips at table level. I am closing to re-grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe jaws settled at 0.13, confirming a firm grasp on the plush. I am carrying it high to the geometric centre of the left basket and will release from above rather than letting the low-reach posture pull it toward the front rim.
move_to
left_x0.4900left_y-0.1800left_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]: [-0.8131, 2.2051, 1.6268, -0.4397, -0.7113, -0.6701, 0.1317, -0.0147, 0.8051, 0.6067, -0.3927, -0.0189, -0.0261, 0.9998] state[eef_state]: left_x=0.4447 left_y=-0.2971 left_z=0.0676 left_yaw=0.116 left_pitch=-0.1415 left_roll=0.1244 left_gripper=0.1317 right_x=0.2941 right_y=0.0026 right_z=0.1755 right_yaw=0.0013 right_pitch=-0.0202 right_roll=-0.0012 right_gripper=0.9998 state[joint_eff]: [-0.1573, -13.5179, 5.2308, 1.1355, -0.0171, -0.0317, 0.9988, -0.1983, -1.3333, 7.1316, 1.7607, -0.022, -0.022, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.18,"left_z":0.21},"note":"The jaws settled at 0.13, confirming a firm grasp on the plush. I am carrying it high to the geometric centre of the left basket and will release from above rather than letting the low-reach posture pull it toward the front rim."})
tool
executing move_to over 11 steps (1.1s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe overhead view shows that this long plush hangs down and to the image-right of the grasp point, leaving its body near the same front-right rim despite the centred gripper. I am offsetting the gripper farther back and left so the hanging body—not just the wrist—is over the basket interior.
move_to
left_x0.5500left_y-0.1200left_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]: [-0.5461, 2.0109, 1.7275, -0.667, -0.5446, -0.4473, 0.1347, -0.0147, 0.8051, 0.6067, -0.3927, -0.0189, -0.0265, 0.9998] state[eef_state]: left_x=0.4878 left_y=-0.1852 left_z=0.1601 left_yaw=0.1444 left_pitch=-0.2131 left_roll=0.1444 left_gripper=0.1347 right_x=0.2941 right_y=0.0026 right_z=0.1755 right_yaw=0.0015 right_pitch=-0.0202 right_roll=-0.0015 right_gripper=0.9998 state[joint_eff]: [0.1299, -15.7197, 9.9214, 1.3065, -0.4518, 0.2613, 0.6911, -0.3487, -1.3197, 7.0085, 1.6972, -0.0269, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.55,"left_y":-0.12,"left_z":0.22},"note":"The overhead view shows that this long plush hangs down and to the image-right of the grasp point, leaving its body near the same front-right rim despite the centred gripper. I am offsetting the gripper farther back and left so the hanging body—not just the wrist—is over the basket interior."})
tool
executing move_to over 6 steps (0.6s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteAfter the offset, the tan plush body is visibly suspended over the interior of the left basket rather than its front edge. I am opening the gripper now so it drops securely inside.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3565, 2.1387, 2.1017, -0.8509, -0.4374, -0.3279, 0.1354, -0.0147, 0.8078, 0.6067, -0.3935, -0.0189, -0.0265, 0.9998] state[eef_state]: left_x=0.5468 left_y=-0.12 left_z=0.2071 left_yaw=0.1807 left_pitch=-0.2204 left_roll=0.1231 left_gripper=0.1354 right_x=0.2942 right_y=0.0026 right_z=0.1747 right_yaw=0.0015 right_pitch=-0.0236 right_roll=-0.0014 right_gripper=0.9998 state[joint_eff]: [-0.335, -11.7675, 8.5402, 1.1111, -0.1587, 0.2515, 0.3541, -0.0889, -1.5385, 7.0085, 1.6777, -0.0366, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"After the offset, the tan plush body is visibly suspended over the interior of the left basket rather than its front edge. I am opening the gripper now so it drops securely inside."})
tool
executing move_to over 9 steps (0.9s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteThe first tan plush is now resting inside the left basket. Two tan plush animals remain in the front cluster; I am moving the open left gripper directly around the clearly visible left-front one for the next pickup.
move_to
left_x0.3500left_y-0.2000left_z0.0550
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3546, 2.1525, 2.0987, -0.8673, -0.4255, -0.3332, 0.9954, -0.0147, 0.8082, 0.6067, -0.3927, -0.0189, -0.0261, 0.9998] state[eef_state]: left_x=0.5449 left_y=-0.1201 left_z=0.1955 left_yaw=0.1803 left_pitch=-0.2533 left_roll=0.1284 left_gripper=0.9954 right_x=0.2943 right_y=0.0026 right_z=0.1747 right_yaw=0.0013 right_pitch=-0.0233 right_roll=-0.0011 right_gripper=0.9998 state[joint_eff]: [-0.1846, -13.4496, 6.7897, 1.5214, -0.3199, -0.0024, -0.0708, -0.3761, -1.1692, 7.0222, 1.7167, -0.0562, -0.022, -0.0171] camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.2,"left_z":0.055},"note":"The first tan plush is now resting inside the left basket. Two tan plush animals remain in the front cluster; I am moving the open left gripper directly around the clearly visible left-front one for the next pickup."})
tool
executing move_to over 15 steps (1.5s)
step 162
top_cam
camera top_cam step 162
left_cam
camera left_cam step 162
right_cam
camera right_cam step 162
assistant
agent noteThe basket slid and rotated but remains upright; the previous direct low transit swept it, so future transports will retract high before crossing. At this pickup pose the next tan plush is just forward-left of the jaw column, so I am making a small outward and leftward correction before closing.
move_to
left_x0.3800left_y-0.1700left_z0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7845, 1.8309, 1.0794, -0.4244, -0.6243, -0.7265, 0.9967, -0.0147, 0.8139, 0.6067, -0.3927, -0.0189, -0.0265, 0.9998] state[eef_state]: left_x=0.3514 left_y=-0.1998 left_z=0.0468 left_yaw=0.1534 left_pitch=-0.2931 left_roll=0.1659 left_gripper=0.9967 right_x=0.2947 right_y=0.0026 right_z=0.1731 right_yaw=0.0015 right_pitch=-0.029 right_roll=-0.0013 right_gripper=0.9998 state[joint_eff]: [-0.1299, -10.7009, 5.9145, 1.1111, -0.5153, -0.0904, 0.1245, -0.3761, -1.6479, 7.0769, 1.7363, -0.0171, -0.0611, -0.0122] camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.17,"left_z":0.05},"note":"The basket slid and rotated but remains upright; the previous direct low transit swept it, so future transports will retract high before crossing. At this pickup pose the next tan plush is just forward-left of the jaw column, so I am making a small outward and leftward correction before closing."})
tool
executing move_to over 3 steps (0.3s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteThe corrected wrist view places the plush body between the two fingertips at table level. I am closing the left gripper to pick it up.
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]: [-0.6781, 1.8305, 1.0645, -0.3767, -0.5877, -0.6651, 0.9968, -0.0143, 0.8165, 0.6067, -0.3935, -0.0189, -0.0265, 0.9998] state[eef_state]: left_x=0.3721 left_y=-0.1694 left_z=0.0432 left_yaw=0.1968 left_pitch=-0.3048 left_roll=0.1588 left_gripper=0.9968 right_x=0.2947 right_y=0.0027 right_z=0.1723 right_yaw=0.0019 right_pitch=-0.0324 right_roll=-0.0013 right_gripper=0.9998 state[joint_eff]: [-1.3197, -9.6889, 6.1744, 1.0818, -0.2466, 0.1783, 0.0024, -0.0205, -1.0051, 7.0085, 1.6972, -0.0464, -0.0464, -0.0122] camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The corrected wrist view places the plush body between the two fingertips at table level. I am closing the left gripper to pick it up."})
tool
executing move_to over 10 steps (1.0s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
right_cam
camera right_cam step 175
assistant
agent noteThe gripper closed to 0.01, so that attempt was empty; the wrist image shows the plush still fully visible just short of the fingertips. I am reopening and advancing about 3 cm outward with a slight left correction, following the calibrated wrist-camera offset.
move_to
left_x0.4050left_y-0.1500left_z0.0400left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6773, 1.8309, 1.0645, -0.3763, -0.5762, -0.6662, 0.0098, -0.0147, 0.8165, 0.6067, -0.3931, -0.0189, -0.0265, 0.9998] state[eef_state]: left_x=0.3716 left_y=-0.1707 left_z=0.0421 left_yaw=0.1913 left_pitch=-0.3126 left_roll=0.151 left_gripper=0.0098 right_x=0.2948 right_y=0.0026 right_z=0.1723 right_yaw=0.0015 right_pitch=-0.032 right_roll=-0.0013 right_gripper=0.9998 state[joint_eff]: [-0.0615, -8.8274, 5.7915, 1.0183, -0.3639, -0.022, 0.7839, -0.0479, -1.4017, 7.0222, 1.6777, -0.0464, -0.0513, -0.0122] camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.15,"left_z":0.04,"left_gripper":1.0},"note":"The gripper closed to 0.01, so that attempt was empty; the wrist image shows the plush still fully visible just short of the fingertips. I am reopening and advancing about 3 cm outward with a slight left correction, following the calibrated wrist-camera offset."})
tool
executing move_to over 10 steps (1.0s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteAfter advancing, the plush fills the grasp zone and its body lies across the jaw line rather than stopping short. I am closing again for the corrected grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5777, 1.8599, 1.0817, -0.3344, -0.5293, -0.5812, 0.9952, -0.0147, 0.8185, 0.6067, -0.3931, -0.0185, -0.0265, 0.9998] state[eef_state]: left_x=0.3944 left_y=-0.1463 left_z=0.0363 left_yaw=0.2063 left_pitch=-0.3308 left_roll=0.1542 left_gripper=0.9952 right_x=0.2949 right_y=0.0025 right_z=0.1718 right_yaw=0.0012 right_pitch=-0.0339 right_roll=-0.0015 right_gripper=0.9998 state[joint_eff]: [0.4171, -7.6376, 8.4444, 1.1355, -0.2906, 0.1832, -0.0757, -0.3214, -1.5248, 7.0359, 1.6777, -0.022, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"After advancing, the plush fills the grasp zone and its body lies across the jaw line rather than stopping short. I am closing again for the corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteThe second close also settled below 0.04, confirming the fingertips are still not around the object even though it dominates the camera. I am reopening and advancing one final 3 cm radially while keeping the same lateral alignment, as the wrist camera is looking past the actual grasp point.
move_to
left_x0.4250left_y-0.1450left_z0.0450left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5743, 1.8599, 1.0843, -0.3279, -0.5232, -0.5831, 0.0209, -0.0147, 0.8185, 0.6067, -0.3931, -0.0189, -0.0265, 0.9998] state[eef_state]: left_x=0.3964 left_y=-0.1471 left_z=0.0373 left_yaw=0.2046 left_pitch=-0.328 left_roll=0.142 left_gripper=0.0209 right_x=0.2949 right_y=0.0026 right_z=0.1718 right_yaw=0.0015 right_pitch=-0.0339 right_roll=-0.0013 right_gripper=0.9998 state[joint_eff]: [-0.2803, -8.9641, 5.5726, 1.0037, -0.3053, -0.022, 0.8962, -0.3761, -1.3744, 7.0496, 1.7021, -0.0415, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.425,"left_y":-0.145,"left_z":0.045,"left_gripper":1.0},"note":"The second close also settled below 0.04, confirming the fingertips are still not around the object even though it dominates the camera. I am reopening and advancing one final 3 cm radially while keeping the same lateral alignment, as the wrist camera is looking past the actual grasp point."})
tool
executing move_to over 10 steps (1.0s)
step 205
top_cam
camera top_cam step 205
left_cam
camera left_cam step 205
right_cam
camera right_cam step 205
assistant
agent noteThe latest wrist frame reveals the real error: the plush body is now beside the grasp point on image-left while the right fingertip is clear. I am shifting the gripper about 3.5 cm left to centre the body laterally before closing.
move_to
left_y-0.1100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5354, 1.9121, 1.169, -0.3527, -0.4965, -0.5529, 0.9951, -0.0143, 0.8185, 0.6067, -0.3931, -0.0189, -0.0265, 0.9998] state[eef_state]: left_x=0.4167 left_y=-0.1452 left_z=0.0389 left_yaw=0.2067 left_pitch=-0.3413 left_roll=0.1381 left_gripper=0.9951 right_x=0.2949 right_y=0.0027 right_z=0.1718 right_yaw=0.0019 right_pitch=-0.0339 right_roll=-0.0013 right_gripper=0.9998 state[joint_eff]: [0.6222, -8.4855, 8.6769, 1.0232, -0.3053, 0.0855, -0.1392, -0.0479, -1.4017, 7.0496, 1.7021, -0.0269, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.11},"note":"The latest wrist frame reveals the real error: the plush body is now beside the grasp point on image-left while the right fingertip is clear. I am shifting the gripper about 3.5 cm left to centre the body laterally before closing."})
tool
executing move_to over 4 steps (0.4s)
step 209
top_cam
camera top_cam step 209
left_cam
camera left_cam step 209
right_cam
camera right_cam step 209
assistant
agent noteThe body remains left of the open jaw column, so the previous correction was too small and the low pose also sagged to 2.5 cm. I am shifting another 5 cm left while raising slightly to avoid dragging the plush.
move_to
left_y-0.0600left_z0.0450
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]: [-0.4583, 1.8961, 1.0969, -0.2993, -0.4641, -0.4942, 0.9967, -0.0147, 0.8185, 0.6067, -0.3927, -0.0189, -0.0265, 0.9998] state[eef_state]: left_x=0.415 left_y=-0.1126 left_z=0.0254 left_yaw=0.2284 left_pitch=-0.3671 left_roll=0.1548 left_gripper=0.9967 right_x=0.2949 right_y=0.0026 right_z=0.1719 right_yaw=0.0015 right_pitch=-0.0336 right_roll=-0.0013 right_gripper=0.9998 state[joint_eff]: [0.1983, -12.4923, 5.094, 1.1111, -0.2369, 0.105, 0.1538, -0.1709, -1.4017, 7.159, 1.7167, -0.0317, -0.0513, -0.0171] camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.06,"left_z":0.045},"note":"The body remains left of the open jaw column, so the previous correction was too small and the low pose also sagged to 2.5 cm. I am shifting another 5 cm left while raising slightly to avoid dragging the plush."})
tool
executing move_to over 5 steps (0.5s)
step 214
top_cam
camera top_cam step 214
left_cam
camera left_cam step 214
right_cam
camera right_cam step 214
assistant
agent noteThe readback shows the lateral command stalled at low height, likely because the gripper is contacting the plush or table. I am lifting open to regain free-space motion before re-approaching from a clean overhead position.
move_to
left_z0.1500left_y-0.0600
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]: [-0.4358, 1.8885, 1.0885, -0.2901, -0.4545, -0.4782, 0.9967, -0.0143, 0.8185, 0.6067, -0.3927, -0.0189, -0.0265, 0.9997] state[eef_state]: left_x=0.4168 left_y=-0.1046 left_z=0.0261 left_yaw=0.2328 left_pitch=-0.3673 left_roll=0.1524 left_gripper=0.9967 right_x=0.2949 right_y=0.0027 right_z=0.1719 right_yaw=0.0019 right_pitch=-0.0336 right_roll=-0.0013 right_gripper=0.9997 state[joint_eff]: [0.3761, -10.6462, 4.9846, 1.0867, -0.2662, 0.1001, -0.0024, -0.0615, -1.3744, 7.0496, 1.7118, -0.022, -0.0757, -0.0122] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.15,"left_y":-0.06},"note":"The readback shows the lateral command stalled at low height, likely because the gripper is contacting the plush or table. I am lifting open to regain free-space motion before re-approaching from a clean overhead position."})
tool
executing move_to over 8 steps (0.8s)
step 222
top_cam
camera top_cam step 222
left_cam
camera left_cam step 222
right_cam
camera right_cam step 222
assistant
agent noteThe attempted lift stalled at 5 cm and shoulder effort rose sharply, confirming the arm is wedged against the large plush rather than moving freely. I am backing inward toward the base while raising, which should unload the contact and recover the arm safely.
move_to
left_x0.3200left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3874, 1.8412, 1.1538, -0.4118, -0.4004, -0.4355, 0.9968, -0.0143, 0.8196, 0.6067, -0.3927, -0.0189, -0.0265, 0.9998] state[eef_state]: left_x=0.4196 left_y=-0.093 left_z=0.0501 left_yaw=0.2185 left_pitch=-0.4069 left_roll=0.1433 left_gripper=0.9968 right_x=0.295 right_y=0.0027 right_z=0.1716 right_yaw=0.0019 right_pitch=-0.0347 right_roll=-0.0012 right_gripper=0.9998 state[joint_eff]: [2.5231, -18.7692, 12.6017, 1.7949, -0.9353, 0.2515, -0.0122, -0.0615, -1.2103, 7.0496, 1.7411, -0.0317, -0.0269, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":0.0,"left_z":0.18},"note":"The attempted lift stalled at 5 cm and shoulder effort rose sharply, confirming the arm is wedged against the large plush rather than moving freely. I am backing inward toward the base while raising, which should unload the contact and recover the arm safely."})
tool
executing move_to over 9 steps (0.9s)
step 231
top_cam
camera top_cam step 231
left_cam
camera left_cam step 231
right_cam
camera right_cam step 231
assistant
agent noteThe arm is free again, and the wrist view now cleanly shows a large tan teddy centered a few centimetres short of the fingertips, with gray plush toys behind it. I am advancing slightly and descending around this tan teddy for an unobstructed grasp.
move_to
left_x0.3650left_y-0.0200left_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]: [-0.186, 1.3064, 1.0714, -0.7982, -0.3134, -0.2771, 0.9968, -0.0143, 0.8249, 0.6067, -0.3923, -0.0189, -0.0261, 0.9998] state[eef_state]: left_x=0.3303 left_y=-0.0031 left_z=0.1637 left_yaw=0.2443 left_pitch=-0.3999 left_roll=0.1337 left_gripper=0.9968 right_x=0.2954 right_y=0.0027 right_z=0.1702 right_yaw=0.0017 right_pitch=-0.0397 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [0.1026, -6.2838, 9.5111, 1.2186, -0.2125, 0.0855, -0.0122, -0.0342, -1.4291, 7.0222, 1.7314, -0.0415, -0.0317, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.02,"left_z":0.06},"note":"The arm is free again, and the wrist view now cleanly shows a large tan teddy centered a few centimetres short of the fingertips, with gray plush toys behind it. I am advancing slightly and descending around this tan teddy for an unobstructed grasp."})
tool
executing move_to over 7 steps (0.7s)
step 238
top_cam
camera top_cam step 238
left_cam
camera left_cam step 238
right_cam
camera right_cam step 238
assistant
agent noteThe tan teddy's torso now fills the jaw gap at low height, with both fingertips on opposite sides. I am closing for the 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]: [-0.2188, 1.5326, 0.8745, -0.4351, -0.3256, -0.3073, 0.9969, -0.0147, 0.8276, 0.6067, -0.3927, -0.0189, -0.0261, 0.9998] state[eef_state]: left_x=0.3543 left_y=-0.0172 left_z=0.0627 left_yaw=0.251 left_pitch=-0.4467 left_roll=0.1545 left_gripper=0.9969 right_x=0.2955 right_y=0.0026 right_z=0.1694 right_yaw=0.0013 right_pitch=-0.0427 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-0.5128, -6.3248, 5.2855, 1.1697, -0.1832, -0.0708, -0.0122, -0.1299, -1.6479, 7.0359, 1.7021, -0.0562, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The tan teddy's torso now fills the jaw gap at low height, with both fingertips on opposite sides. I am closing for the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 248
assistant
agent noteThe gripper settled at 0.11, confirming the large tan teddy is secured. I am lifting and carrying it in one rising motion to an offset above the shifted left basket, placing the hanging torso over the basket centre.
move_to
left_x0.5600left_y0.0200left_z0.2300
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]: [-0.2192, 1.5539, 0.8581, -0.4286, -0.3355, -0.3103, 0.1084, -0.0147, 0.828, 0.6067, -0.3927, -0.0189, -0.0261, 0.9998] state[eef_state]: left_x=0.3495 left_y=-0.0146 left_z=0.0514 left_yaw=0.2678 left_pitch=-0.4701 left_roll=0.1776 left_gripper=0.1084 right_x=0.2955 right_y=0.0026 right_z=0.1693 right_yaw=0.0013 right_pitch=-0.0431 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [0.0205, -8.2256, 7.3231, 1.0525, -0.105, 0.022, 0.6422, -0.1436, -1.4701, 7.0085, 1.7411, -0.0415, -0.022, -0.0122] camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.56,"left_y":0.02,"left_z":0.23},"note":"The gripper settled at 0.11, confirming the large tan teddy is secured. I am lifting and carrying it in one rising motion to an offset above the shifted left basket, placing the hanging torso over the basket centre."})
tool
executing move_to over 17 steps (1.7s)
step 265
assistant
agent noteThe held teddy is above the shifted basket but its torso is still near the basket's right edge. I am using the remaining outer-side reach and a little more forward extension to move the hanging body deeper over the interior before release.
move_to
left_x0.5800left_y0.0500left_z0.2300
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]: [-0.0772, 2.4828, 2.7724, -1.4761, -0.2161, -0.1787, 0.1107, -0.0147, 0.8314, 0.6067, -0.4026, -0.0189, -0.0265, 0.9998] state[eef_state]: left_x=0.5389 left_y=-0.0001 left_z=0.1763 left_yaw=0.2366 left_pitch=-0.5828 left_roll=0.16 left_gripper=0.1107 right_x=0.2942 right_y=0.0026 right_z=0.1663 right_yaw=0.0015 right_pitch=-0.0564 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [1.7573, -12.2462, 6.3932, 1.37, -0.7155, 0.1392, 0.2271, -0.0479, -1.4427, 6.9949, 1.8828, -0.0269, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.58,"left_y":0.05,"left_z":0.23},"note":"The held teddy is above the shifted basket but its torso is still near the basket's right edge. I am using the remaining outer-side reach and a little more forward extension to move the hanging body deeper over the interior before release."})
tool
executing move_to over 5 steps (0.5s)
step 270
assistant
agent noteThe hanging teddy now overlaps the left basket interior, and the arm has reached its practical forward limit. I am opening to drop it into 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]: [-0.0181, 2.5378, 2.8731, -1.6085, -0.1223, -0.115, 0.1136, -0.0143, 0.8314, 0.6067, -0.408, -0.0185, -0.0265, 0.9998] state[eef_state]: left_x=0.5212 left_y=0.0157 left_z=0.1647 left_yaw=0.1746 left_pitch=-0.6938 left_roll=0.1091 left_gripper=0.1136 right_x=0.2935 right_y=0.0027 right_z=0.1653 right_yaw=0.0016 right_pitch=-0.0618 right_roll=-0.001 right_gripper=0.9998 state[joint_eff]: [1.9077, -15.5145, 7.0359, 1.4286, -0.7937, 0.0904, 0.2955, -0.1026, -1.4838, 7.2137, 1.7753, -0.0415, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The hanging teddy now overlaps the left basket interior, and the arm has reached its practical forward limit. I am opening to drop it into the basket."})
tool
executing move_to over 9 steps (0.9s)
step 279
assistant
agent noteThe large light-tan plush has been released at the left basket, while two small dark-brown plush animals remain clearly visible in the front row. I am retracting high to avoid sweeping the shifted basket, then I will sort the dark-brown type into the still-centred right basket.
move_to
left_x0.3000left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0082, 2.5378, 2.8799, -1.5768, -0.1654, -0.1074, 0.9953, -0.0147, 0.8314, 0.6067, -0.408, -0.0189, -0.0265, 0.9998] state[eef_state]: left_x=0.5282 left_y=0.037 left_z=0.1701 left_yaw=0.2347 left_pitch=-0.6481 left_roll=0.1532 left_gripper=0.9953 right_x=0.2935 right_y=0.0026 right_z=0.1653 right_yaw=0.0015 right_pitch=-0.0618 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-0.1299, -15.5282, 7.2684, 1.1941, -0.2711, 0.0806, 0.022, -0.1299, -1.4838, 7.0906, 1.707, -0.0415, -0.0513, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0.0,"left_z":0.18},"note":"The large light-tan plush has been released at the left basket, while two small dark-brown plush animals remain clearly visible in the front row. I am retracting high to avoid sweeping the shifted basket, then I will sort the dark-brown type into the still-centred right basket."})
tool
executing move_to over 18 steps (1.8s)
step 297
assistant
agent noteThe cleared view shows the actual two classes: one large beige dog and two monkeys (one gray, one brown). The brown monkey is isolated at the front and directly accessible, so I am descending the left gripper around its torso before moving it to the right basket with the gray monkey.
move_to
left_x0.3100left_y-0.1500left_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]: [-0.1425, 1.3861, 1.2766, -1.1011, -0.2127, -0.2367, 0.9967, -0.0143, 0.8364, 0.6067, -0.4095, -0.0185, -0.0269, 0.9998] state[eef_state]: left_x=0.3098 left_y=-0.0031 left_z=0.1774 left_yaw=0.2103 left_pitch=-0.6016 left_roll=0.1375 left_gripper=0.9967 right_x=0.2935 right_y=0.0027 right_z=0.1636 right_yaw=0.0018 right_pitch=-0.0683 right_roll=-0.0012 right_gripper=0.9998 state[joint_eff]: [-0.3214, -5.8735, 6.3521, 0.9744, -0.3053, -0.0415, 0.1294, 0.1162, -1.7299, 6.9949, 1.7656, -0.0366, -0.0708, -0.0122] camera 'top_cam' (step 297): [image omitted: streamed camera frame] camera 'left_cam' (step 297): [image omitted: streamed camera frame] camera 'right_cam' (step 297): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.15,"left_z":0.04},"note":"The cleared view shows the actual two classes: one large beige dog and two monkeys (one gray, one brown). The brown monkey is isolated at the front and directly accessible, so I am descending the left gripper around its torso before moving it to the right basket with the gray monkey."})
tool
executing move_to over 14 steps (1.4s)
step 311
assistant
agent noteAt the low pose the brown monkey's foot appears at the lower-left edge of the wrist view, so the jaws are just forward-right of its torso. I am shifting slightly inward and left to centre the monkey between the fingertips.
move_to
left_x0.2900left_y-0.1100left_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]: [-0.6327, 1.6958, 1.0504, -0.7193, -0.3416, -0.6975, 0.9968, -0.0147, 0.8364, 0.6067, -0.4103, -0.0189, -0.0265, 0.9998] state[eef_state]: left_x=0.3057 left_y=-0.1463 left_z=0.0431 left_yaw=0.1895 left_pitch=-0.6236 left_roll=0.1521 left_gripper=0.9968 right_x=0.2934 right_y=0.0026 right_z=0.1634 right_yaw=0.0015 right_pitch=-0.069 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.1983, -7.0769, 5.6274, 0.6422, -0.4029, -0.1343, 0.0024, -0.0205, -1.4154, 6.9949, 1.6728, -0.0415, -0.0464, -0.0171] camera 'top_cam' (step 311): [image omitted: streamed camera frame] camera 'left_cam' (step 311): [image omitted: streamed camera frame] camera 'right_cam' (step 311): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":-0.11,"left_z":0.04},"note":"At the low pose the brown monkey's foot appears at the lower-left edge of the wrist view, so the jaws are just forward-right of its torso. I am shifting slightly inward and left to centre the monkey between the fingertips."})
tool
executing move_to over 4 steps (0.4s)
step 315
assistant
agent noteThe monkey's padded foot is now centred between the jaw tips and its leg runs up through the grasp zone. I am closing on the leg/torso area to secure it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5705, 1.5978, 0.9005, -0.659, -0.3405, -0.6579, 0.9968, -0.0147, 0.8379, 0.6067, -0.4099, -0.0189, -0.0265, 0.9998] state[eef_state]: left_x=0.2894 left_y=-0.1113 left_z=0.0336 left_yaw=0.2208 left_pitch=-0.6222 left_roll=0.1621 left_gripper=0.9968 right_x=0.2935 right_y=0.0026 right_z=0.1631 right_yaw=0.0015 right_pitch=-0.0702 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.1846, -8.2667, 5.2444, 0.8181, -0.2955, 0.0904, -0.0122, -0.3487, -1.5248, 6.9949, 1.707, -0.0171, -0.0611, -0.0122] camera 'top_cam' (step 315): [image omitted: streamed camera frame] camera 'left_cam' (step 315): [image omitted: streamed camera frame] camera 'right_cam' (step 315): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The monkey's padded foot is now centred between the jaw tips and its leg runs up through the grasp zone. I am closing on the leg/torso area to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 325
assistant
agent noteThe 0.01 reading shows an empty close; the apparent 'foot' is actually the brown monkey's face, still left and nearer the base than the grasp point. I am reopening and moving another 2 cm inward and 4 cm left to put the torso in the jaws.
move_to
left_x0.2700left_y-0.0700left_z0.0400left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5793, 1.5837, 0.8917, -0.6384, -0.3443, -0.6659, 0.0099, -0.0147, 0.8379, 0.6067, -0.4103, -0.0189, -0.0265, 0.9998] state[eef_state]: left_x=0.2911 left_y=-0.1149 left_z=0.0364 left_yaw=0.2069 left_pitch=-0.6006 left_roll=0.139 left_gripper=0.0099 right_x=0.2935 right_y=0.0026 right_z=0.163 right_yaw=0.0015 right_pitch=-0.0706 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.0889, -6.1333, 4.9436, 0.6667, -0.3492, -0.0073, 0.8083, -0.294, -1.5248, 7.1863, 1.6484, -0.0317, -0.0366, -0.0122] camera 'top_cam' (step 325): [image omitted: streamed camera frame] camera 'left_cam' (step 325): [image omitted: streamed camera frame] camera 'right_cam' (step 325): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.27,"left_y":-0.07,"left_z":0.04,"left_gripper":1.0},"note":"The 0.01 reading shows an empty close; the apparent 'foot' is actually the brown monkey's face, still left and nearer the base than the grasp point. I am reopening and moving another 2 cm inward and 4 cm left to put the torso in the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 335
assistant
agent noteThe brown monkey's face is now centred squarely between the open fingertips, with the head occupying the grasp gap. I am closing on the head/body.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4694, 1.4364, 0.7544, -0.6201, -0.3195, -0.5709, 0.9954, -0.0143, 0.8379, 0.6067, -0.4103, -0.0189, -0.0265, 0.9998] state[eef_state]: left_x=0.2726 left_y=-0.072 left_z=0.0366 left_yaw=0.2242 left_pitch=-0.6035 left_roll=0.1401 left_gripper=0.9954 right_x=0.2935 right_y=0.0027 right_z=0.163 right_yaw=0.0019 right_pitch=-0.0706 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [0.3487, -6.7487, 5.4359, 0.7253, -0.2076, 0.1538, -0.1832, -0.0479, -1.4017, 6.9949, 1.6728, -0.022, -0.0464, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 335): [image omitted: streamed camera frame] camera 'left_cam' (step 335): [image omitted: streamed camera frame] camera 'right_cam' (step 335): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The brown monkey's face is now centred squarely between the open fingertips, with the head occupying the grasp gap. I am closing on the head/body."})
tool
executing move_to over 10 steps (1.0s)
step 345
assistant
agent noteThe lateral centring is correct but the 0.01 close is still empty, meaning the head remains short of the true fingertip point despite appearing at the bottom of the tilted camera. I am reopening and advancing 5 cm radially while preserving the now-correct lateral alignment.
move_to
left_x0.3200left_y-0.0700left_z0.0400left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4706, 1.4326, 0.7498, -0.6113, -0.3145, -0.5755, 0.0101, -0.0147, 0.8406, 0.6067, -0.4095, -0.0189, -0.0269, 0.9998] state[eef_state]: left_x=0.2728 left_y=-0.0734 left_z=0.0366 left_yaw=0.2187 left_pitch=-0.6001 left_roll=0.1272 left_gripper=0.0101 right_x=0.2937 right_y=0.0026 right_z=0.1625 right_yaw=0.0017 right_pitch=-0.0725 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [-0.2393, -5.0256, 6.0103, 0.7253, -0.2711, 0.0122, 0.7497, -0.1983, -1.6342, 7.2821, 1.7118, -0.0366, -0.0806, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 345): [image omitted: streamed camera frame] camera 'left_cam' (step 345): [image omitted: streamed camera frame] camera 'right_cam' (step 345): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.07,"left_z":0.04,"left_gripper":1.0},"note":"The lateral centring is correct but the 0.01 close is still empty, meaning the head remains short of the true fingertip point despite appearing at the bottom of the tilted camera. I am reopening and advancing 5 cm radially while preserving the now-correct lateral alignment."})
tool
executing move_to over 10 steps (1.0s)
step 355
assistant
agent noteAfter advancing, the monkey's limbs now pass between both open fingertips and its head sits directly below the grasp centre. I am closing at this corrected radial position.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3847, 1.5757, 0.8715, -0.5869, -0.2905, -0.5045, 0.9951, -0.0147, 0.8425, 0.6067, -0.4103, -0.0189, -0.0265, 0.9998] state[eef_state]: left_x=0.3103 left_y=-0.0672 left_z=0.0332 left_yaw=0.238 left_pitch=-0.6171 left_roll=0.1363 left_gripper=0.9951 right_x=0.2937 right_y=0.0026 right_z=0.1618 right_yaw=0.0015 right_pitch=-0.0751 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [0.2667, -5.8598, 8.1983, 0.7302, -0.1636, 0.149, 0.0708, -0.1846, -1.4838, 7.2274, 1.6435, -0.0317, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 355): [image omitted: streamed camera frame] camera 'left_cam' (step 355): [image omitted: streamed camera frame] camera 'right_cam' (step 355): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"After advancing, the monkey's limbs now pass between both open fingertips and its head sits directly below the grasp centre. I am closing at this corrected radial position."})
tool
executing move_to over 10 steps (1.0s)
step 365
assistant
agent noteThe close is still empty, and the wrist view now reveals why: the small plush is a keychain toy, with its metal chain at the jaw point while the fluffy body remains farther forward at the top of the image. I am reopening and advancing another 6 cm to put the actual plush body, not the chain, between the jaws.
move_to
left_x0.3700left_y-0.0700left_z0.0450left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3904, 1.581, 0.8684, -0.5781, -0.292, -0.5087, 0.0101, -0.0147, 0.8429, 0.6067, -0.4099, -0.0189, -0.0265, 0.9998] state[eef_state]: left_x=0.3105 left_y=-0.0689 left_z=0.0314 left_yaw=0.2361 left_pitch=-0.6156 left_roll=0.1355 left_gripper=0.0101 right_x=0.2938 right_y=0.0026 right_z=0.1617 right_yaw=0.0015 right_pitch=-0.0751 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.253, -7.6376, 4.7111, 0.8718, -0.3394, -0.0171, 0.7741, -0.1162, -1.5521, 6.9949, 1.6435, -0.0464, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 365): [image omitted: streamed camera frame] camera 'left_cam' (step 365): [image omitted: streamed camera frame] camera 'right_cam' (step 365): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.07,"left_z":0.045,"left_gripper":1.0},"note":"The close is still empty, and the wrist view now reveals why: the small plush is a keychain toy, with its metal chain at the jaw point while the fluffy body remains farther forward at the top of the image. I am reopening and advancing another 6 cm to put the actual plush body, not the chain, between the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 375
assistant
agent noteThe advance brought the plush torso and limbs fully around the jaw line; the chain is now behind the fingertips. I am closing on the soft body.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3302, 1.742, 1.0767, -0.6125, -0.2844, -0.4625, 0.9954, -0.0147, 0.8474, 0.6029, -0.4099, -0.0189, -0.0265, 0.9998] state[eef_state]: left_x=0.3615 left_y=-0.0677 left_z=0.0388 left_yaw=0.2548 left_pitch=-0.6128 left_roll=0.1408 left_gripper=0.9954 right_x=0.2934 right_y=0.0026 right_z=0.1588 right_yaw=0.0015 right_pitch=-0.0835 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [0.4171, -7.3641, 7.6786, 0.7985, -0.1929, 0.1392, -0.1929, -0.1436, -1.7026, 7.4735, 1.6435, -0.0415, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 375): [image omitted: streamed camera frame] camera 'left_cam' (step 375): [image omitted: streamed camera frame] camera 'right_cam' (step 375): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The advance brought the plush torso and limbs fully around the jaw line; the chain is now behind the fingertips. I am closing on the soft body."})
tool
executing move_to over 10 steps (1.0s)
step 385
assistant
agent noteThe jaws again closed empty beneath the toy; the camera shows the torso arching over the gripper while the low fingertips pass under it. I am reopening and raising the grasp point to 8 cm so the jaws meet the suspended torso rather than the table gap between its limbs.
move_to
left_z0.0800left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3313, 1.747, 1.0676, -0.6079, -0.2852, -0.4675, 0.0101, -0.0147, 0.8474, 0.6022, -0.4099, -0.0185, -0.0265, 0.9998] state[eef_state]: left_x=0.3592 left_y=-0.0672 left_z=0.0348 left_yaw=0.2613 left_pitch=-0.6199 left_roll=0.1457 left_gripper=0.0101 right_x=0.2933 right_y=0.0025 right_z=0.1584 right_yaw=0.0012 right_pitch=-0.0843 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.5402, -8.7863, 5.4085, 0.8864, -0.2271, 0.0317, 0.7741, 0.0205, -1.4701, 7.0906, 1.6337, -0.0513, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 385): [image omitted: streamed camera frame] camera 'left_cam' (step 385): [image omitted: streamed camera frame] camera 'right_cam' (step 385): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.08,"left_gripper":1.0},"note":"The jaws again closed empty beneath the toy; the camera shows the torso arching over the gripper while the low fingertips pass under it. I am reopening and raising the grasp point to 8 cm so the jaws meet the suspended torso rather than the table gap between its limbs."})
tool
executing move_to over 10 steps (1.0s)
step 395
assistant
agent noteAt the raised pose the plush torso is now level with the fingertips and centred between them, with the chain hanging below. I am closing around the torso.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3332, 1.7084, 1.1416, -0.7414, -0.2882, -0.477, 0.9954, -0.0147, 0.8474, 0.6022, -0.4099, -0.0189, -0.0265, 0.9998] state[eef_state]: left_x=0.3551 left_y=-0.066 left_z=0.0615 left_yaw=0.2768 left_pitch=-0.6347 left_roll=0.159 left_gripper=0.9954 right_x=0.2933 right_y=0.0026 right_z=0.1584 right_yaw=0.0015 right_pitch=-0.0843 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.3897, -10.4, 8.0752, 0.6764, -0.3101, 0.0757, -0.1441, -0.1709, -1.5385, 7.0222, 1.6532, -0.0366, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 395): [image omitted: streamed camera frame] camera 'left_cam' (step 395): [image omitted: streamed camera frame] camera 'right_cam' (step 395): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At the raised pose the plush torso is now level with the fingertips and centred between them, with the chain hanging below. I am closing around the torso."})
tool
executing move_to over 10 steps (1.0s)
step 405
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]: [-0.3435, 1.7008, 1.113, -0.7105, -0.2924, -0.4866, 0.0104, -0.0147, 0.8474, 0.6018, -0.4099, -0.0185, -0.0265, 0.9998] state[eef_state]: left_x=0.3532 left_y=-0.0685 left_z=0.0576 left_yaw=0.2721 left_pitch=-0.6234 left_roll=0.1517 left_gripper=0.0104 right_x=0.2932 right_y=0.0025 right_z=0.1583 right_yaw=0.0012 right_pitch=-0.0847 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.1436, -8.6085, 5.3812, 0.8864, -0.3736, 0.0366, 0.735, -0.212, -1.5111, 7.1179, 1.7363, -0.0415, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 405): [image omitted: streamed camera frame] camera 'left_cam' (step 405): [image omitted: streamed camera frame] camera 'right_cam' (step 405): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
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]
call 0 attempt 0 · /responses · status 200 · 12.82 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.",
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  "role": "system"
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{
  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8024, 0.6174, -0.3805, -0.0219, -0.033, 0.9996, -0.0154, 0.7967, 0.6109, -0.3851, -0.0193, -0.0246, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1837 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2951 right_y=0.0024 right_z=0.1813 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -1.9624, 9.347, 1.7802, -0.0366, 0.1832, -0.0562, -1.0051, -1.2239, 9.7846, 1.8339, -0.0757, 0.1197, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdeefe6af9e5d67bb9a4ad1818ab902293abb427ff73e93c91a537b4bf5721a8",
      "type": "input_image"
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    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
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    {
      "image_url": "data:image/png;base64,$blob:48ea6e7fe55646b2da924c0b9493ee79c241d8c050af832def725a6697c3a4be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:166618707dbc457d041c77981429ab74aae088bb002fddf4e1c72b40ac6cb85e",
      "type": "input_image"
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    {
      "prompt_cache_breakpoint": {
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      "text": "",
      "type": "input_text"
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call 1 attempt 0 · /responses · status 200 · 5.579 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_039282a7cbc4a18e016ab4525e1a7887d0ac44e9a4819d1974",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFJp27C3x7awGJDEzfC_Kohqk0yHexV8kPwKnjhrXLHIupPaZhLbJglPYmSG7Al4eXdWH_VKmYJeTLD-HafxlRtc16mHRLFH_ooGbr27-l27Di62i1dJTpmb73DhTRz9Zn5Bu2kPbMQKUmES5A9RwKUEOxTyk1-UtPyM02jmiOW48LAyD2ZU_9UQaQ_cXCHWxyz87v1236SQO0Kf4Kooefa2_IUDSRVdFkE6W5yQ3NcjcaiNxzKg_YlfrLbdLtrG704h3mbMTtolDsEPaIIuyOY6M4vW-pVRBHn4hQUK1Y22-jGPXcAoLLz9BoFvfB6XGLJbbMPMDOdYvjLK6Be1NfjdTeBGuw8HCKgyuZ2cXv9VKg4xHvwJJfGjKC7XcFdFBhfPT_gdr4NhZ5ZjOMLePHnCT9jj1v69W53kOwHubhljy7fWChSM8D715-aZm5sfduPzgaVXpiow-gTTE7mdk3gQxccCg_STkvdMvQZ8TzUtMF4M7IY1KE5n2-GMsZ3NTUz6WAS6bjABI1x6patWui7izhbzlEzyRXBUsq3nB8Jm7Ui8NyQUgNwXCORDAPuHks4yipQYd4m5g3iintpmjMXUnBHAAEVJmMSrdu9AzGUWb7X-XMQ_-lArJ2X89btP1orvrL0kWywUjV8KIsE_S0PtfCtovEqwEPXH1Opm5YRuiO1cD68RBpYlGddzFlLFCwMDVPiJztAxsoyKjk2QJpbbd2eVd01-fA4UCFY2HM-MpFUA9FbdJdUJCD9ggL3X04l82gRfnTp-VA71J5YNT-1MQ8pnVFzzRK_ewgc47_0nbcuw11PW-0c8bZF1jG1Z_P65WRXZDwZD1nm5JKSCS_ejBpwzPUy6CSJ0Lix6hwF1quU-N9GSQPE-AqNreVNOLTmY8kmNlOqzgi4q970xNxzh4emmpaVuq56GoEPRi06fwInsoXc2uhqEG2ncR-nKQvF2so6cHwPckJJJLeombcObGQAJ3UW6h8elC4BwxMxAGl9g1HbqdQCGZBwa4d_bDe-W1PXpVRofoqPQCOHr7sLHbvS7peoY8AhApePDG9R4acoBHSB4AlDUJQZNXwbbfQGwfUHq2R4YYwn-oYgNXqQ5jCc3QIoGzVtPkD6V7v6wBfAhxaumMAl8GI7_t8xd6QBYj5oY7JbLMfZF-fZhWG8-ksqaj4OTFkaf_PGgC82dBzQcY_pjgdF2LI7RuXXzA4pGAq7bv1wthgKwSXu6a0O8T0ZQDMWJDWlP6h2E10RQmE0nv1sn5uvEFLUsbbr8tZuoxu30RBiN04qFOKLxQnehytVKgfOW54K7xFckUxWLNaQ7ePjX1JTtcq3yntMNQ5fJgthEyMUtlhvMKtsHCXKBXOAQ-WGKXo-Pyj3sQmoh03pmX45yvEJ-bSXW__NfBtLczNZlVVw4U3zbG_zNLVl1On5mfFsCbcX2-jVBmW-EfsLsmbahh_SKWblK9TDuEMM7RrsE_M0hhhRx4JvQFrW_HSriyuO-VL6Xg7y54cWeEinkVetooU52kstt6rbksekXiJXGTS8NsLjty_AagVXXK0b9bjYm5SZO-qB_1kjNVxzKrk1xopzxe6uvE5VoyO4xBV_HqBGJ_LXZtwHNDdFK2ckbMEK2_5awhEJ1NQ7JG603RhgRRQeWG4vGG2CixiCO1Mu8nOaQO3aY_Pwy-T9DmEuuYSt10RU0osmcr44fSXxlMj1nFrur0sTAJAt-ntl7KfLrEn3dLKvR7exTWerC23K6q36OQplSgKn2LQfyVImTfHOkkS2VBzQnZpWRSQHCPVPvNO5FHV0J0F_YaA-EBCcwcVLpGPyzv4Ez2aYcCtAiMxaYZ1K4RZgrbhqG3fT5fVecybOr9i5NbrEniHmn7a8OgMK_mtTPaRPPlLryFElc2ueMub63TQBB1v-w3r3jBR0mGN5pfeCV2QYYbVGfUGzQ_eNVP7M5T_7-EF43qlBqHytq6yPlzUtKbg4cAVhuangpTjaPk4pQ-CyyzvdopVdJYo9SEsegH0IzsaQJy56vPCD0nk7Jly0-oLKvWWfCFy9NsMIz2o84RcHPpOVkwC0fvg0Y8tvOJrwf1iJwrrTjkN7ohHs5esIJI9Zf8vgl5jF6d0ZjlpcGvQM747bRLUkbiEStKKyIqdbVjt2vF91q2-VOPMHzJEsH9oNxAPCs4oGvqObpOBFSc_rDqhTUFBCmPBkl8I5EzpiM-9EpvHVemheuoSJhGxIJBD3wTZeATDu7uC-RBkJ--e1yraz8NUteBXSD5707s2xIQ0zIE_WtqT7GLTifmzMSouaZHlT95urzRLJlqahRQ8XN9itPoj1zyoHvlWQgeX0-Xka91zLYilYRriiUa1Fs3na0lk1fWB3KqT_EprCbMp2REg4NxFqcD799dMx_2bXxWfy6WxdRcH2SKVdzhi_Mz-xyZNna1S-C4DzTqBnak3RZaiVK6lBcdb92Jx9Q33B87XM93wp_nd7HMs0RuVeCF6dUhkxBb5xsAMLaZFpZub95T-6HV9LZ8JXfHEqYGW6uL_2NR5vHgMqTGYGrDZNnjCcvAlfpSNlPJm4G8HFzFjnZjyffLXWEJ58DrGPfmJkOqZP5PSNM-o12brPidRiEjcKZzZqTde2_nIP-ZEbaN0wFrgyiHch8u3uv4fhZi2CFvOJUTIV2E6wA2aunzaJstf84dM1kmfAL7ZsBf9eXV-vHsF8q3dv9dw1IXoEZ9r26x3_cWVBoD8hBsMuXS8GhUSFwc2IFOTKZEfkhOsVn7FLsp7dIJ7hOWdWY2RB_KRSMQoyBuw3-KjtDm-HbTnzgrPi_mta9eI7qroXrCatVXQ97ZoATquAcICtR9DVyZu4OOZ74zNZXqHWMNStM2nbcIuJARRdK9B2HE5s-L9imWSkflVqgaB8aK7_hwBRzlnOsbqPQfHLyy6fUXZLXB8bFtkK5FZ1YCo05UAQJ8b-ueztMqNJZ4kfcfw0jZy-Hqum1Z9de7HWQkuiPnwsXS8HKEyaH6G1wjKt7CU1yT24DdAgQ7k9hXQaCsFL1UCngZqi7S8QvEueRf_qVLwtLajCzbUk2d_y8uc6ilu8cGnOxo_8bNI1q7oyJO0qvbzqf2TLUxo993_4kFBxvxj1XrGSNIvOkRl-JU5oLqIW9y8pUKjbDqluOlLUuyMRkbE_mtkAmbrHyjma880I9XG25BZ6_sh2yE7obQ_q1YURA3WYbia5utr-DufFGzZgIHV1dY9AXiNSRCikE1eOV09Y_I4yzH5S-O71N_54QXpRt0_nomggqTA9s4pl0PjtpVlLSCyau0--sJJXWdnnf6LGryp_r2s2qhJlWiObWrh2u5eVeqip2isyadNDKezTbgjzWblYUbF4BuvKmIPzUtf8QcaU8z8EwTPKPjYeECk73kQRBp9fEqUvTOg==",
  "id": "rs_039282a7cbc4a18e016ab45264a16c87d0a89649b88c72c72d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.22,\"left_z\":0.15,\"left_gripper\":1.0},\"note\":\"The overhead view shows two turquoise baskets at the back and a mixed cluster of pale fluffy objects and tan spotted animal-shaped objects near the centre-front. I am moving the left gripper above the clearly separated leftmost tan spotted object so I can refine alignment with its wrist camera.\"}",
  "call_id": "call_4nqsTQtVeXpH4ano376gg5gJ",
  "id": "fc_039282a7cbc4a18e016ab45268b2b487d0aeab20908efd3ba4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4nqsTQtVeXpH4ano376gg5gJ",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "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]: [-0.8169, 1.5543, 0.9493, -0.1864, -0.6582, -0.5453, 0.9996, -0.0147, 0.7986, 0.6086, -0.3855, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3544 left_y=-0.2144 left_z=0.1369 left_yaw=-0.0056 left_pitch=-0.0326 left_roll=0.023 left_gripper=0.9996 right_x=0.2949 right_y=0.0026 right_z=0.1797 right_yaw=0.0013 right_pitch=-0.0046 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -7.0769, 8.9641, 1.5214, -0.4127, -0.0024, -0.0562, -0.3077, -0.8274, 7.2274, 1.7314, -0.0611, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66afd7c8485ef4efc398f7635059963247b15e22a81f60f6afa6f6ad78ab13ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fae87bbb8609b4985330f66018b6b444ad386ab9be2b6697bb476b67ad734fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d84fe4fcbef1cd06412cfa8bbfccc573b7507f2bdee6eb5394fa09c99732ffd6",
      "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 · 2.654 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8024, 0.6174, -0.3805, -0.0219, -0.033, 0.9996, -0.0154, 0.7967, 0.6109, -0.3851, -0.0193, -0.0246, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1837 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2951 right_y=0.0024 right_z=0.1813 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -1.9624, 9.347, 1.7802, -0.0366, 0.1832, -0.0562, -1.0051, -1.2239, 9.7846, 1.8339, -0.0757, 0.1197, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8169, 1.5543, 0.9493, -0.1864, -0.6582, -0.5453, 0.9996, -0.0147, 0.7986, 0.6086, -0.3855, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3544 left_y=-0.2144 left_z=0.1369 left_yaw=-0.0056 left_pitch=-0.0326 left_roll=0.023 left_gripper=0.9996 right_x=0.2949 right_y=0.0026 right_z=0.1797 right_yaw=0.0013 right_pitch=-0.0046 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -7.0769, 8.9641, 1.5214, -0.4127, -0.0024, -0.0562, -0.3077, -0.8274, 7.2274, 1.7314, -0.0611, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66afd7c8485ef4efc398f7635059963247b15e22a81f60f6afa6f6ad78ab13ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fae87bbb8609b4985330f66018b6b444ad386ab9be2b6697bb476b67ad734fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d84fe4fcbef1cd06412cfa8bbfccc573b7507f2bdee6eb5394fa09c99732ffd6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFJ3lK6NaiIR3Mj6difjP9gXLYYc9hJi2h5M1m7qsCg_CHzSTyETQ28b7NozAv1wiEwEDKR7KXR8NJ3Ryny8nFuO0ALEiBw4KgEOTJkqiBEEXKjA52EBv-KtWQ_aLzjB0Th0SZEmTDRLAiIB2umF0p23paTC8I0Y-TYayXTyIsw8ohys7hwwkK4nuX0kNLnzYWo5r0eh1p_mgfzctn9qBCxItyj0n5K9FQt0k_E1b1969JMz8HZAWaCzV1lD1OhoWf4k1TVxrTGsnDFloNj0LmjtmF0dFL9jIYS_pcWZ3AoV42UzmR6JJ_yANdaFLfqgn-TvAuxy0Tt_kWbC_qi4mAjx4gutLP0UFHMXuUZ15tW-uaPi8-EJcLz5fTzohtpDlW-UF-C4ILtnQkfnIvYl0wzFVL7NgHkIq0Nz6thiPo91AqMTseWRoeh9vnfcQT28G1M3YjYJj6-u-7hOB6tIDqO4FkNgMqJ-qM6vBY56GXLUmY_5FWADWv4ogkMRfFHeeNBbiW8sBcgonZlCB-cJT7rmitLdgl_EtzSuWu2TtyW_CBEiz1bXnRtSHBtwlO-zI2sM2mB_utmqjt3Y6bZy5-LZvURsO9ND1enM-1ZGzRq35TPSA34B0RSsDgzPhbT_kbQdhdmGDES_3hwsVYgbSSIJGHEee80x06QVnUejTgkCiB2AuUXPwRtq2sqAOYC8OxQ6RrGKBPWRa54sAPl4_NxAoboXPjL2PluMgW2Gk0Vf8_oGRD6oB9qNdmxOC7ibiIA8qqysL-4o7oGYJMOW5bnk7-060h2cw5iIwnGlnStdL3FKnITk9PVNWx2BtupX6um4Ge0n88ctQhpHhtfz9uta6Jqc7pL32kIYJvGb3F0JK5CaJz0XunX-X0dy3XG3YQa7ddTRWaKR_z62J9pi8IT_Fm7vPE2MqR5fHr-WDl4E68c06tyZFqXEedTzGzckGgKygi_IwjbvxmsVBdHFY4CoYOc6jhL7J7aOFTb80NHDrzz80AMCpHz2VfroB0jY6M3dfYtmkXif3WuiOcWWiEtobLSao4iF-JWnagjclHjbMFb8XnFgXbjKKD9ntxEMHCtbfD-0KhuoLc4nwfhoTMrUWHwZAoPhy8scRTgxufAWkyHuLoOfUgDMHjn5H1U4QT5aotx4ZcbMXiX7-5ns6bAXqDHnm7FtxlYLuyOI8Wq4avjBO1nSiTrQxkgCQIOUmn3weSOxmrL50UFtBZBp56lJQEpmfRpQl1wWDWViBtbt1H_yue7EZIFKZpcaz945-3hwYcQ0617hiFcggbz9sZnDhLqVJhZzdhbbhLlZXijF0oz0ND1QlceJy0gz1NkTpXRJY4nkkyBZnhNvUPgSIWJU5W3GMw3PUN4DsxT3bm3vZ8HRRzQZxnvUX5JuKOtDV9Agtilh3oQBE2fQrn96KjZHFDDwxGrQWLgImIn8-N20ULXsTR9BEASpB0fJVNDFE-mQ2OKqV5BFBbq-wYG_emyW2OmSRskNXb7F0BjLv8VzYFZatpHIC6Wnpge9wdl_hdPIvg3Z7xOetYH3ZL0rJbJZ0YDWyS6N3f2jWgg4xjwszJ4A_ZXtPxvNZSD-pFwSpEt9BOk0UgEAb0JQhMuZ7aJ1hVydZRdntftGu4wU9T-reRsGsK6nLzN7qHjT5HGrqtmF2b6dBnFgof2Hafg1g9gY_U_zeBwHC2cA6ZUuC_zgeGqxtFcZV2cqcDUMQWEDPcAW10WTYUQJ58jFNvxIeTKErIhbyz-9sxuqNY3q9vR9-oKr9SeJW6OWsrdHWzwsf1K6QjRzMbgG87fZvCG_HTwMIfmWXGyq9muaMW10ewF2v_9pvESqlrpmP7lNOCXSxa2uNVmfnkA6WZtYpgZrPk-IFO0pkxj01QM50lCrdTFhqbGR-OqhKvPtWMQCvzDJnalFa09Nd6f7p8zkOnh9tCtgM1vb-yPeVXPgNUeqnWtfO2ExYz8lHgoADzyaZyvTaDjnI0oy224qpQcYn6HijNr_58qGxjwuGnUcZm6PO_12rSfnUJpQPd0veaqblLjM7UoJZ6lxplRd6rcJUK-xt8eXu8aa2TpIxRMaSBd40q6qd9pKwaK5BKzUwvbbnUWDQUeegLynxWIkQSlkSRLjCkOV_0ko_ymNgdmT5Glbxr-ETqkNI1ran2fgnzL-yCQ5uiNLYxYqC_46ezHHMk4doSonJvcHzVUj7a48ZR_9CfmxikFCkEsaJqH9_nY8rYx-13nYfRMtiU93DjQURuT2bcfns4xPBDimCprCCzY_CI9ZmgvzVmMwLGgxnCKWyCUxb31DxPQPE7xeQURvcuatxheDvka43nADZ3SqBi0stjy8glFl4k4mtR_G4Z-YwiZhOjtiRD3e8JVvYH8mvU14WgZNTpwPsJYKQYyquoNWbUgn3RkGcdCLh9xMp7Fxav7cJfjoSlZr8M-ktLMh92ycZN0Be3FlrbPBbFMn3C0AaM4cdhcdTFcQxcN91RB09HWFNAS7xgpIbu9yknjCv2sBe0j6bjj5N4F__FatuxYwE7NYsSAljqcSLIk8-A4YcA9e9Wp9Xq-lIFOn5CYwQByg26gmGXEbj3Jxw2h8KgBs8zPPP1lo8JFhNPNKOGobVCmVyK7iQKE6FnFwoRPbFQTKLkh7652BJmePPLsEPCOTigK2Q7lY7o0zUzIC7QMsAs8Vfxl7__nZhs-9avPcrlaSEDOMu-nxFxz2fAgk1WbpWwnsa8vOkzEoWra36Iwfu3fmtG7n95HyCEqe3QJuI2j6YUOeqOiHtCWSvbv1Z4SlGVQ8sKhWTx53W_B8IDDt9hUujn_H",
  "id": "rs_039282a7cbc4a18e016ab45272d64087d085c3c0f3bce4d0b9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.235,\"left_z\":0.045},\"note\":\"The left wrist camera now shows a tan plush animal directly at the jaw column, very close beneath the gripper, with its face slightly to image-right. I am making a small centreward correction and descending to grasp around the body rather than pushing it.\"}",
  "call_id": "call_sEa9B35TJDfFzxdTa89ABWo0",
  "id": "fc_039282a7cbc4a18e016ab45276468887d0bfabda50bbca5bf5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sEa9B35TJDfFzxdTa89ABWo0",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.857, 1.8065, 0.8341, 0.2031, -0.7181, -0.5659, 0.9996, -0.0147, 0.7986, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3624 left_y=-0.2354 left_z=0.0589 left_yaw=0.008 left_pitch=0.0139 left_roll=0.0175 left_gripper=0.9996 right_x=0.295 right_y=0.0026 right_z=0.1798 right_yaw=0.0013 right_pitch=-0.0042 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -7.4598, 4.506, 1.2332, 0.0122, -0.1929, -0.0171, -0.0889, -1.0462, 7.0769, 1.7118, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a4512877710270bf68f7af754c190da4692c5cb30e76263dda6e80470e2c584",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6974aeacf15d15a6926002eb0b2b5c36693ea4b187253133597dcfa582a3ec0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccc664eb8b52261c182f31232a37c29ba75c4ed84fc0f152e0bbc8d49f900e80",
      "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 · 2.09 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8169, 1.5543, 0.9493, -0.1864, -0.6582, -0.5453, 0.9996, -0.0147, 0.7986, 0.6086, -0.3855, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3544 left_y=-0.2144 left_z=0.1369 left_yaw=-0.0056 left_pitch=-0.0326 left_roll=0.023 left_gripper=0.9996 right_x=0.2949 right_y=0.0026 right_z=0.1797 right_yaw=0.0013 right_pitch=-0.0046 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -7.0769, 8.9641, 1.5214, -0.4127, -0.0024, -0.0562, -0.3077, -0.8274, 7.2274, 1.7314, -0.0611, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.857, 1.8065, 0.8341, 0.2031, -0.7181, -0.5659, 0.9996, -0.0147, 0.7986, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3624 left_y=-0.2354 left_z=0.0589 left_yaw=0.008 left_pitch=0.0139 left_roll=0.0175 left_gripper=0.9996 right_x=0.295 right_y=0.0026 right_z=0.1798 right_yaw=0.0013 right_pitch=-0.0042 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -7.4598, 4.506, 1.2332, 0.0122, -0.1929, -0.0171, -0.0889, -1.0462, 7.0769, 1.7118, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a4512877710270bf68f7af754c190da4692c5cb30e76263dda6e80470e2c584",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6974aeacf15d15a6926002eb0b2b5c36693ea4b187253133597dcfa582a3ec0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccc664eb8b52261c182f31232a37c29ba75c4ed84fc0f152e0bbc8d49f900e80",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFJ90dQBl6CC_YEgmSWsJb0djGPk8jrlM2bUHOvmi_LY-Kicb0IYHT600TC1XyyLJ3h4xdINNWZRvmDk0qFhC3tsSrjOyXnm4l7o0Q5yy6vsCPV-OQYSAlpi-7l_BJXayAOhf2EzAQ5aolfWE4Y9oFk6jy9RefbO_31C6esD4z-cqyA1IEqt1EYhy9ewiVi7t2zFpKyF8V1zPqnZaDdQP9jVN36bUsFLjJObir7_V7FRsFpzUYYjqLyN6KdH5ggi7_Lwb7rtvOPIupzgLtAvfQnOqTE37XsSVRisxotziqPDaOW7Tev1bo9EURuXmzKNsgQZVOXJZWazHyhFvfZ7WVAhMIq8kNwBdXOoPk4fcW90GLqt0EUd1CsBJJCsLcKRaIELsQ1d3edWY2WoselkCWvrTZGBayKA8_PW1rqPGJGGqRF-1DBqIHAMYbbAknmUjDrjgSYswptq72Xe3Le8ErRsC6Rd46jh-U0w2jRl2M4eoYPY6iERq8He56whlOD9fL7HdlSHF6Z0bsFLTP6H_Bm3IlhmsX6AW0tyTRUl5XkQNBb06w_SvJh0rpqK371xLAG06oED7glFpOqLmdL3JVfd_33UioFOFvAr-isMc9qupzdtZIkP0FgGVlO534sUhUbQ609ThbkyCQvSM6PGZPueOYlmAbR61uwBbVxPE6bhzekZ_06lUeqi7X-AXh-rBrSh1dYmD10fzPqbyjPtWn4IfRtQa-bVqXeISWF947t_BC1CnMZLMKwKz4LDhjiLxhg9WRdgZplZdJq4-22iizy1Xy4LPd3IkgV7KhEIeIJqYTmjnJ8UCCLwf6no15fJ3QIrrvIAaxvuWCSqrdie2c1QVnNVuck8F8afCbMveaDd0AJM11LAh4lZQjogXrEPWxCg6tZi_Tr6Wqrz1ks-qbb5CIwIT_spNGtjLdTczV58iHNcqoacLVe3jzbuO3w8h-VMRZ8VH4iHSNjDuUe57CQ8Ces_aelc2veFdfcUt503Ye3V857y3-PXqBSU5BUpBZFB1rG5HtaYr-5IeozUp712IP3aoPHSG_NdF2Cb4RUABwCDI-spGYdFf17tK-ACZk4dn6Gu0hMS89l-5wkZSxZjQfd8uvyllqZJ0bMBaOoBRYxNbh1z4WVIQOuOmZcMjGyX3QNMmAAeNJVALfE_aClcyxYLjeVc0WrViRpZmHeydgmvziVTNdshXsgpiBlB2TlGuM5-nCaR-889W492df9N0pPo0hFIA3SrsIm67Xl3i2QdlBIr3LAjDgGXNXLMI9wOm97nZdqFXHl8a4r49zT1UGVFgZUIgJvtTWtAkuqlejsZaeqqhCzFWQiJv72qTWN37YyL4qkKjqfgC4m0PHBmzPeL0cotYozPd0Tf3N2b04j32GaZqdg0s1Hq6GIQUDM5ENrB7Ko7DUMWvvDxXWCWzeS6WQBd4-v6R0I32qwQC4vVmhI09T2q2jyVsCObCaq9ppoqFOvCA58d9PdpG0uZczVbF1swgRMDruLTTWjCFivu9Nv5OinaQusEhmwaa0BF",
  "id": "rs_039282a7cbc4a18e016ab4527b765c87d083db4824fabd6579",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The tan plush animal now fills the lower wrist view between the open fingertips, indicating the jaws straddle its body at a low height. I am closing the gripper to secure it.\"}",
  "call_id": "call_XSrCK30utTtFcccBqiGptW1A",
  "id": "fc_039282a7cbc4a18e016ab4527c3c4087d087e579ff8e39ee01",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XSrCK30utTtFcccBqiGptW1A",
  "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]: [-0.8551, 1.8065, 0.8341, 0.2138, -0.7444, -0.5583, 0.2925, -0.0147, 0.7986, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.365 left_y=-0.2319 left_z=0.0626 left_yaw=0.0248 left_pitch=0.0345 left_roll=0.0275 left_gripper=0.2925 right_x=0.295 right_y=0.0026 right_z=0.1798 right_yaw=0.0013 right_pitch=-0.0042 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -7.9932, 5.5726, 1.3309, -0.0806, -0.1245, 0.7009, -0.0889, -1.2239, 7.1453, 1.7314, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ec9e57b03388856d56f5beb8a7d2e39599aa7dc27a7a1f776fbbea4892cab60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f3084de1e833fe9062d56cf766c7e756ae3a60075de9418fc6c4540e209d1c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92d33240d68a42ec1a0ca02e3cf685cc969933e0bc41590bdceb4ae91afaee6a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 5.434 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8024, 0.6174, -0.3805, -0.0219, -0.033, 0.9996, -0.0154, 0.7967, 0.6109, -0.3851, -0.0193, -0.0246, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1837 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2951 right_y=0.0024 right_z=0.1813 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -1.9624, 9.347, 1.7802, -0.0366, 0.1832, -0.0562, -1.0051, -1.2239, 9.7846, 1.8339, -0.0757, 0.1197, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.857, 1.8065, 0.8341, 0.2031, -0.7181, -0.5659, 0.9996, -0.0147, 0.7986, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3624 left_y=-0.2354 left_z=0.0589 left_yaw=0.008 left_pitch=0.0139 left_roll=0.0175 left_gripper=0.9996 right_x=0.295 right_y=0.0026 right_z=0.1798 right_yaw=0.0013 right_pitch=-0.0042 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -7.4598, 4.506, 1.2332, 0.0122, -0.1929, -0.0171, -0.0889, -1.0462, 7.0769, 1.7118, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8551, 1.8065, 0.8341, 0.2138, -0.7444, -0.5583, 0.2925, -0.0147, 0.7986, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.365 left_y=-0.2319 left_z=0.0626 left_yaw=0.0248 left_pitch=0.0345 left_roll=0.0275 left_gripper=0.2925 right_x=0.295 right_y=0.0026 right_z=0.1798 right_yaw=0.0013 right_pitch=-0.0042 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -7.9932, 5.5726, 1.3309, -0.0806, -0.1245, 0.7009, -0.0889, -1.2239, 7.1453, 1.7314, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ec9e57b03388856d56f5beb8a7d2e39599aa7dc27a7a1f776fbbea4892cab60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f3084de1e833fe9062d56cf766c7e756ae3a60075de9418fc6c4540e209d1c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92d33240d68a42ec1a0ca02e3cf685cc969933e0bc41590bdceb4ae91afaee6a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFKAmvFwbMLOkYxB5UY7FU-GPHlhhMDdILM2ZGjN44wZNSEhhWUoMp_V_u_8PbSS8Vv48xZxPNrL9FKQ7Te3Ns7p5Zp7cw9i5EK1O7KV9qTpCDQ9Mfih9u2NV9vDWyTfMZStmk-18THJyhYTUe4BJE10zJqgo-NXzIMSO1YcPK-8ikAtu3o6JkfdEV_NIdRch6t7yvbsGhYKAeS34HmFeISbhTbYdRDp7d499gHKVPbu6Dbdep0f_NTmNkvjFCd0l1S-JZdNyI7gp_l4NwZN2L19BdNzWB2us_sYkLXmElNc7ClO7qPbOmX1Mb7kEfsjYWxHZ2uCKGOD3wKsdH1syepoYyau82Z0gBggXCd5ooufvnLk8KOlPSAvUOmvP2Mda1sPS-BkyCRdxryrXiGcShItCAHTiB9qYxJUU2iSt7pVCPyHdGi_x1jdEezn7KTJqz0--h21KZ3ow1a3JI5s6ZXatwi_Bmny-ySL2k5i31mWJ_y0t1Liy-AwOzB34SY_Nw-wqqxmyRDXXE3KPkSwXQzUM8SNEDwqWrouNcfb92RSfk0s_9ctwTwAQ_xlRZwAJ-j9vEhW5-n90cZUdxiasa1zafhgqHrhwl7QHpVyHqvQPtG-bMCNhz-7hd2l9wZqwCY3RdAQe24jk9AinnEA-vylVJTVx5xc7AkAUkuiFsJF_h6f920R5-gKzdM9uPp3U7uDNn9REEKDYgisRrq2Vxy9EiKAzp909FUrfPiarjuId56wTdH4U81UtF7kpfgX1dVY6HRQbZ6pOixY8pq5kZW4Q8TBESa8UVEe-6ofW-9VDPj3RRrimHhKRoZhUTSg5CmJkIi7n3G7QNCVyGkmToXEbcANad31-3oJ22y4v4txbhicr094AZLX_j5PrpLLRA36Vg8C5I3qDBfIEWp-uEM3yQzZ3gH0dbL4wbqu_Bgc4jDRz3jLoAEpI2zLzkAC3LIDNlHj5lyCMamOL9vT83NDEqAba2bFKpSd0IcJEmPJBEvBzxDdZyR3g50lrUwkY7jDNKv5UfaH9Cn7mx18jVQhN49TvnIDknb_DeoZp6G8lvuYnM8YBDbH9TPqKgZjs0Tk1xO7FNMz2g64MDvtaUpfmZTNzqAmWvZCys1RGKqxFf0K7xxjjCUARhlFlk3EoYb1KvInVakCF4zIq829YTEQwjCs4IjQtyHNabjvkY8HlQ4OkQip-hjI4vNNMUfxTa7Gc1B6zcJ8zLkhFwC8_Js29jzdUPekzlczYocTpe4q9Vg=",
  "id": "rs_039282a7cbc4a18e016ab4527f26c887d08a18a4f18b861805",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.16},\"note\":\"The gripper settled at 0.29 rather than closing empty, so it has a substantial plush body between the jaws. I am lifting it clear to confirm the animal rises with the gripper before transporting it.\"}",
  "call_id": "call_hGdIjiosvFg7Gn9DZr8uayRT",
  "id": "fc_039282a7cbc4a18e016ab4527f64cc87d08c0c54e2897ba6c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hGdIjiosvFg7Gn9DZr8uayRT",
  "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]: [-0.8532, 1.6493, 1.0145, -0.2207, -0.7067, -0.5774, 0.2946, -0.0147, 0.7986, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3572 left_y=-0.2294 left_z=0.124 left_yaw=0.0111 left_pitch=-0.0481 left_roll=0.0681 left_gripper=0.2946 right_x=0.295 right_y=0.0026 right_z=0.1798 right_yaw=0.0013 right_pitch=-0.0042 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -11.1795, 9.4154, 1.5458, -0.7204, 0.149, 0.2076, -0.2256, -1.265, 7.0906, 1.7265, -0.0415, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ab438c8f23ba33240f27717147355de2e9f0dd6760fd335046f349b2b3bd5c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fccf6ed28bbddac31d80569b033f97bf8c8e62fb835f2974f4f8212dde081f18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:674fa2bbfbc213346bba5f516ecf6d07f6f2f7672777be722adbf8b4b2d3be05",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 4.255 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8169, 1.5543, 0.9493, -0.1864, -0.6582, -0.5453, 0.9996, -0.0147, 0.7986, 0.6086, -0.3855, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3544 left_y=-0.2144 left_z=0.1369 left_yaw=-0.0056 left_pitch=-0.0326 left_roll=0.023 left_gripper=0.9996 right_x=0.2949 right_y=0.0026 right_z=0.1797 right_yaw=0.0013 right_pitch=-0.0046 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -7.0769, 8.9641, 1.5214, -0.4127, -0.0024, -0.0562, -0.3077, -0.8274, 7.2274, 1.7314, -0.0611, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8551, 1.8065, 0.8341, 0.2138, -0.7444, -0.5583, 0.2925, -0.0147, 0.7986, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.365 left_y=-0.2319 left_z=0.0626 left_yaw=0.0248 left_pitch=0.0345 left_roll=0.0275 left_gripper=0.2925 right_x=0.295 right_y=0.0026 right_z=0.1798 right_yaw=0.0013 right_pitch=-0.0042 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -7.9932, 5.5726, 1.3309, -0.0806, -0.1245, 0.7009, -0.0889, -1.2239, 7.1453, 1.7314, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8532, 1.6493, 1.0145, -0.2207, -0.7067, -0.5774, 0.2946, -0.0147, 0.7986, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3572 left_y=-0.2294 left_z=0.124 left_yaw=0.0111 left_pitch=-0.0481 left_roll=0.0681 left_gripper=0.2946 right_x=0.295 right_y=0.0026 right_z=0.1798 right_yaw=0.0013 right_pitch=-0.0042 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -11.1795, 9.4154, 1.5458, -0.7204, 0.149, 0.2076, -0.2256, -1.265, 7.0906, 1.7265, -0.0415, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ab438c8f23ba33240f27717147355de2e9f0dd6760fd335046f349b2b3bd5c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fccf6ed28bbddac31d80569b033f97bf8c8e62fb835f2974f4f8212dde081f18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:674fa2bbfbc213346bba5f516ecf6d07f6f2f7672777be722adbf8b4b2d3be05",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFKLauJ9GMxnXgqojy6nuwlkRxUMh1DUnpmTbOKPBD7vp1NZBhO8wxHT7fdEEE_VqRXRoLLX3W-UcJzcAcEOMrZ89pNvyWEGBmDQbCAmhPnq-0aiJ9HtkNLxVQCIUaLtAUtmxpaJxr0xnE3ByAxAsXvujnrm1Vb4_DgJsIvtY1L6D_TCVtM5ADjUGxKHYxkjhcz2bmZs47C79E7RsyAC1RKeOrS7fg90rD1QLUzAHip9GH-2B24CJ5Ot5Wtr5qtoUF_YjOaE-60RBejPERwzH356idK-IPo1AlZdBCS-NsqL8_wg7ESpa_x6kIddJbsS33ioWS7ESn49bZqla_lytj8Tw98A2eWEdMAVk6eSPVJ9vS4IZGw2gkv23oUx1iREi8lMLy5nvy_XyZ0wfc6f8alu9R5SHdLVLNiba_OfvaRTJBGoOvtwmdjLqV3mK1Ouo9XHfHgC_zB1ee_yq6yq7saFDf80trPSH8mGB7HY7fICvl0ZEgjQmJW0nkWuSsraKzqaOrRotP51r1PlHIdIJP6j8pZ4AeFJjYXogpt-PtM8Foyz4Qhf3eqGU2AbG1iOBQvQbwYTEouw_0aBm3KiGV8ofK2oAI8PTZfB6GqzmZ2EMdyVvZSsHCLr4VS8HvDQbWDhxTfoOdIUqo25BSQHxEO0aRrgKjEhkoovQn0qmYzfgru9WttIvuDGRAwzqVP207BPX0mWAgGa0ntfNaYRoMng30Ka0-aWDq6UBsv0zWVmgbTa0TNW2p6z595ByOJLEOuR8d3lrFtfBJaTQlBAJj6VegzwC1v2XVEV-p_kQLR1QIJTRIKl3etUacrUD-a3cry35I-swjsJkZxlcofvYqBFvCKXTlNAkTApcK3fWwM1NM6u2E-Q1kMzKl7UB5cQrbyD_CgeZwUfWmnI89Ti-Elmyf-Lw2x6HGb-sCiiu0e04s8FdqxD0i8ycKoB67-dyrRLMDgSMRYSw0ajPkLM5bkL6iY6kWiNYtC4FqW9BWjMxMc5axL31xoxpbGeBG4qkn4cf68-YR0gwXreyybz-KGq4M-WPP8jw6nVNlFht4YpkAwIVFzDN5VEhUvLMjNUBgtqAHQhpnbw7UIKVrJjAjdKGkiGTJTJWP5qbq3rXnuh3mz8CjbF_ProuS07Dz3AcLfe6NSorZ46UGHd99VZgR1DEXDyTWVqNPRGJPImA9MO3LzM3G_Xty8rgtDpXjyp8nBd8rSX58npbYVq3tKST-fp2C6aZ9wz9wTPNZX29V9PChrrKmm_4cA_SRMPK-bv6d5EOzlYxMsB4HY8a2bxYNSDt-O8Fl-1rEkQJlJdIy4Dy-iqnhDgS9j7RBHRRpZ0S8g5bhu5NjHOdI2kRhue8XJpWo7ikQlq02kumILaAIQLCCSY0Hdd8c7Y1gcyEesWZ7M52iSQ4eBZbFk74QfpOnDJM0hCYRYXzJRw-RUUYX8pYA2_yQAEYjmNa-JEAzUU3LQwD4g4nZZNCyLSsmdaoK1EsqBhMc5f5YAzOl5s2Q6-uL2Yqxb4Fezq_QdaBVZB8Lnlr1WLqTchvnLwCpgnb_lbIK8xOcDryEk0WKwokdF1GzlBFlFbtmPMyhkQTUQ9y-ZDKih4juTHtgOJI7BSc_5yRrn_vTxz8vHjKSL7Q6EvJWDIKxr1PuFx9Jc6ryUtbFMfcH9vsO8_br0oLEKBdodyc9i3ONCCh8qTjPKjiQHaLf2kAdfz-SXQGeStE9_lsyrhwffX0X8oLtWLptvzmSPOPFgRHr_CaYVve25PwpOj5UwMK09S-q-cuh-L820wKnjNpk5Jjxi7K04sjQdk9CkLBc2KVeBjUu4sWqr_MTyU7hPFJMlnhexZGX0Lcg3Hz-PoHmZDJPfi1s4dd-00sJSwt2QgoQ6gSr0dbhlpi4zCC9jYvxzAVU_RWqOlOPp8wZ4oZeKj2ZjqR2UAJTkvvTQZ2u_3OTEdZ0Emx_Ny2niswsw-n2GAr109L9M7FWqB0r2rw3ryy7CcunBIw-uEdNMh_wwP_R45wsKAFxUhumRI2Z1TgfVAg3xzU5Ysl_iwS3dIKpz3oZsCr586pf8tDFjUOMe8TqzJ0dJvkyxkSCp4zCwgyok3FFdBx1CMlCMgeXu48jQ4qBWBveYRGVIG8Ieioa6V7Lfaf5qqmwSDtC6c5Fx2q938iWT2UIIY_ote-hrG4N90PWyEu_oaynLywy8pXrA_HBBAglq1uvK7cXBfSnMZZ6EykV2zhQp_6rEXc3ueF9578EHY2zd3u4wfKy6UIW6C1L8fN6VkRl1Z3o-_so1Ac35OIFmC7xGMh9p1AdJhJHEiooI5GJXpYUJt2Tcdfj7rPDBDTElX9Xwgd-c5Pyv6oinVFroMxkAxELZm-_LtpA4LldSfURT1B8zakLLIIOLAOtTDtAFNEug7XOfadDUFHS1JOKzo1Me_9cu4IS5HEHxWf0Bfr3i87FhXe0GGBUfU2_GXYz5qn8Nbr3FchW2H8cN5csDEnGJorpCyru1R_ura8iMeYXa0x3PhUfnVO1skC6nd--5ho1i9i3t4IgQXSTu8ZS_OZUzrYU6ck7OsJUEXcbb2hTuEF90g_F1Xug==",
  "id": "rs_039282a7cbc4a18e016ab45287880087d0809ac5723aa7720b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.18,\"left_z\":0.22},\"note\":\"The tan plush rose with the gripper and remains held at a 0.29 jaw opening. I will use the left basket for the tan animal category and am carrying this first item above its open centre with extra commanded height to clear the rim.\"}",
  "call_id": "call_s0ebrwUMaO5L7c2x6DzywNMS",
  "id": "fc_039282a7cbc4a18e016ab4528ad3f087d08abf14d42717d1db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_s0ebrwUMaO5L7c2x6DzywNMS",
  "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]: [-0.5289, 1.7985, 1.4826, -0.4519, -0.4686, -0.3531, 0.2975, -0.0143, 0.7986, 0.6083, -0.3859, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4694 left_y=-0.1778 left_z=0.1921 left_yaw=0.036 left_pitch=-0.1045 left_roll=0.0602 left_gripper=0.2975 right_x=0.2948 right_y=0.0027 right_z=0.1794 right_yaw=0.0016 right_pitch=-0.0053 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -10.0718, 9.8803, 1.5556, -0.2564, 0.359, 0.2857, -0.0752, -1.1966, 7.0769, 1.7021, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:865b38274786b11a8a18049cda6428df4375ff0cd1132bfda5d1d5378dff5a0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7260b7221ee3c0ea22b3a4a1d51a6c3b2983943647630418b751539c4b141d93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce4f0fd2090c3ec89bbb8d2f759f95a8de44bd35e062d3765335cb5d2e62f45b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 2.185 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.857, 1.8065, 0.8341, 0.2031, -0.7181, -0.5659, 0.9996, -0.0147, 0.7986, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3624 left_y=-0.2354 left_z=0.0589 left_yaw=0.008 left_pitch=0.0139 left_roll=0.0175 left_gripper=0.9996 right_x=0.295 right_y=0.0026 right_z=0.1798 right_yaw=0.0013 right_pitch=-0.0042 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -7.4598, 4.506, 1.2332, 0.0122, -0.1929, -0.0171, -0.0889, -1.0462, 7.0769, 1.7118, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8532, 1.6493, 1.0145, -0.2207, -0.7067, -0.5774, 0.2946, -0.0147, 0.7986, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3572 left_y=-0.2294 left_z=0.124 left_yaw=0.0111 left_pitch=-0.0481 left_roll=0.0681 left_gripper=0.2946 right_x=0.295 right_y=0.0026 right_z=0.1798 right_yaw=0.0013 right_pitch=-0.0042 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -11.1795, 9.4154, 1.5458, -0.7204, 0.149, 0.2076, -0.2256, -1.265, 7.0906, 1.7265, -0.0415, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5289, 1.7985, 1.4826, -0.4519, -0.4686, -0.3531, 0.2975, -0.0143, 0.7986, 0.6083, -0.3859, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4694 left_y=-0.1778 left_z=0.1921 left_yaw=0.036 left_pitch=-0.1045 left_roll=0.0602 left_gripper=0.2975 right_x=0.2948 right_y=0.0027 right_z=0.1794 right_yaw=0.0016 right_pitch=-0.0053 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -10.0718, 9.8803, 1.5556, -0.2564, 0.359, 0.2857, -0.0752, -1.1966, 7.0769, 1.7021, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:865b38274786b11a8a18049cda6428df4375ff0cd1132bfda5d1d5378dff5a0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7260b7221ee3c0ea22b3a4a1d51a6c3b2983943647630418b751539c4b141d93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce4f0fd2090c3ec89bbb8d2f759f95a8de44bd35e062d3765335cb5d2e62f45b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFKWYxC9QzZlF6EyW09g_1-nXBYE6nF89xYUw6FgWWPkjXMYU1vL_sYb-42HI5aH_q-SZeKLEvpT2CtExY9sn66tquLqMgGl3fPY3U1qmQMSIZgGKpA8CpIn5AzzvNp6c8fwoHj8k1dqa58va6LEiKledsfegSxYfLq70H56c5Pgh-_RQSA4Jqa9e8nVUOnX4MbeTSaeP0FBSOuLXZlBiqDJlWuvWWTtgJiQGs0T3BkYtNJhg8GaE5WnRAHwemh3p9wXa5KKzHeAJSx1roCD44cSZP3atgi7Fxs38nzmBvj-pgyay1HoR5TR3-Ebt0cCEKM7nL9Rd097XMpV_h1xDk0wjZDPoMYJ9EII0OLA293LdHgiANtP0VDAz9tIkK-0DzJZ7Tt2YnI6aSDOSU3FtcROcs8jbpvLNPBwXXnCy9H3EfzhC7VLWpChi7uFkOTn48wwsbw4OWwK1A0F83InPMVoyBBx-rTOM3vfOekDXL5Zw6kdp4JPCjNJsGx-WRnmG19tSAgMI1_O--dkirAQIB5v5xbMCl7vFdcGd4j61ujI6V2zUVhVWij4mBiCgju_2b-ewEr6wv5JP0sj2MkxHUD1gEdYAwV3sV4Srnm8rAqBI6YQSdTZU7zwE2H8HMcWL5Ws_V2XFwxZooEGmsy9rzUe4O29bYHchBwRUK48-RQrKC_22ltLVT5cZrC0pZFN71gTw1Fd09y22jVOeHMG7DENbtRPl-_Q0Kd1qclrt-TznfzarMpUASyL5cpGAfwttiCXoiJ2IkFlScHhDab46rZZ-rGydtAWULjADDHBZgUbr4nYzBUS8T7XSBKDTT0czPHN4g2deanEvu-98KnXhNZk24TGVlKr_xSzgQ47G8AjZHPsbHr2LKVZhugZ-Gq6B67aebTIm4FQxYS0wTBMIwj2jOQMcuU_-sgFecsoCv4HNl_MNbeLv-jpMXBn_g7gH_GlXYSRDK8QuPR7pRoOx2drg_bNmkjFYwRryoWkeL1sbRai5k3xAI_RriTDxry3OhRejANzjVvqYKzfIMp8T17O3Q8co-kBy-Vu0qzuj4s3Zd0vUTTpxJ3GR3vDHhBP8Ow8UJmgSKZTDmIP66bqyA0j6pS0pT9YZ_a7Lpp3Iybm5yWnUref6qdl_LWNHp-DRTehwbMqii1kNmV9a3UrUjRsldSXWnuIGhIK3SNdGsU2A_mFM_vJ3KmEHgDKlPnzMMXiJVsQBOV70hfJebb-5yJzTPZ2zNv5mD_WTw2yUV4FhhwdA6k1zIUsY0ggtqCUn1ym_yW457IopsOw2yN2bTBItlGDWslLHGcrTjptQgqcKZ4lyh-QOxNG6pLtnpCANElgXJ3k9RaNvwCwoTFzlJEORhOJa7nqv28hlcba4PI0np8-LLrl6Vu9YX8oqClvCM9Cb2CNXMjh67t9D4GDXdUPs_f1GaQlABVGaxelFpGxovN3Xb42B2nDr9DGdFzANgifi7BNkIig3GAEJ5t3Z4OvzpmufBXcTpbCKhIfZxStYTbdPPYzvGID86RAEilwKA4zaCJwd995SKfNEHC6oyH1gbuAMedl-VOLqHHBIS0EmVqMqTaVhLjYwvNXE7NTj988Wy5zMAk2XAUPsdy4HkloLAN67jkhf0v4-rF97f9cYAKgL7-ajkfbV0lstlZaev2sPC2DKu2V-4n0yld3yM1VaQ==",
  "id": "rs_039282a7cbc4a18e016ab45293d4b487d0a6b3e89528384874",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.1},\"note\":\"The overhead view confirms the held tan animal is centred over the left turquoise basket and clears the rim. I am lowering it into the basket until it rests near the basket floor before release.\"}",
  "call_id": "call_VdgLCW7avjK07a72XbzyIq36",
  "id": "fc_039282a7cbc4a18e016ab452959a2887d087bda9e28f48afe3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VdgLCW7avjK07a72XbzyIq36",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5274, 1.8919, 1.2167, -0.218, -0.4408, -0.3595, 0.2983, -0.0143, 0.7986, 0.6079, -0.3851, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4512 left_y=-0.1714 left_z=0.0773 left_yaw=0.0303 left_pitch=-0.2214 left_roll=0.1053 left_gripper=0.2983 right_x=0.2949 right_y=0.0027 right_z=0.1794 right_yaw=0.0019 right_pitch=-0.005 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -10.2085, 7.2137, 1.8535, -0.5055, 0.0317, 0.0757, -0.1983, -1.2786, 7.1316, 1.7607, -0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccf0ff5c95ca145d23b17640c19299011e846b7bcce158a036d6844542e51b1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1edc34f71fd4a2bf9740a74a1c4c83ad1456a7177fcffc97af3276c3a2c39c23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b09185c2a59ba3db3aa462eb9dc829b692f2559fa2c5d1acb8a3089e8afc6d16",
      "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 · 4.093 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8551, 1.8065, 0.8341, 0.2138, -0.7444, -0.5583, 0.2925, -0.0147, 0.7986, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.365 left_y=-0.2319 left_z=0.0626 left_yaw=0.0248 left_pitch=0.0345 left_roll=0.0275 left_gripper=0.2925 right_x=0.295 right_y=0.0026 right_z=0.1798 right_yaw=0.0013 right_pitch=-0.0042 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -7.9932, 5.5726, 1.3309, -0.0806, -0.1245, 0.7009, -0.0889, -1.2239, 7.1453, 1.7314, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5289, 1.7985, 1.4826, -0.4519, -0.4686, -0.3531, 0.2975, -0.0143, 0.7986, 0.6083, -0.3859, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4694 left_y=-0.1778 left_z=0.1921 left_yaw=0.036 left_pitch=-0.1045 left_roll=0.0602 left_gripper=0.2975 right_x=0.2948 right_y=0.0027 right_z=0.1794 right_yaw=0.0016 right_pitch=-0.0053 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -10.0718, 9.8803, 1.5556, -0.2564, 0.359, 0.2857, -0.0752, -1.1966, 7.0769, 1.7021, -0.0366, -0.0415, -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 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5274, 1.8919, 1.2167, -0.218, -0.4408, -0.3595, 0.2983, -0.0143, 0.7986, 0.6079, -0.3851, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4512 left_y=-0.1714 left_z=0.0773 left_yaw=0.0303 left_pitch=-0.2214 left_roll=0.1053 left_gripper=0.2983 right_x=0.2949 right_y=0.0027 right_z=0.1794 right_yaw=0.0019 right_pitch=-0.005 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -10.2085, 7.2137, 1.8535, -0.5055, 0.0317, 0.0757, -0.1983, -1.2786, 7.1316, 1.7607, -0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccf0ff5c95ca145d23b17640c19299011e846b7bcce158a036d6844542e51b1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1edc34f71fd4a2bf9740a74a1c4c83ad1456a7177fcffc97af3276c3a2c39c23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b09185c2a59ba3db3aa462eb9dc829b692f2559fa2c5d1acb8a3089e8afc6d16",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFKZc19NgRxSx1UcxYXXo67ODxW9nOumAJrW30EZUG4FaOfrceQAPNGFbvOvtzse0DQCEJ9LOlyrYrZaCUsRbrwLPUvssVWv7-YqF-zJ0dCiwUJwarAo3wIk4pYy121z3krhR-z9w8TEwdYy1-lrYaU-F_N8UBJQWuP9kkQWFDcdFmMULiAP5TECooJpEoVb5qdhv71DQx5mMyniwfht8Y9zgM2-ZRp6UOdjhY-oDGBe2iCAXGK89saQS5a3sbBE_19uXZJ0UuAqwvZ9-UBSOF8oOlcXoFn7EGQH8-LGORKzYD077hPUhxR7BWijXw-hJngXUn2MQAbFdfkQbcDhV-VF7kxfag2WrKhVbp5XtAzXlpiosiubWZZWouphmZKzDO-D7LS-Gy8TeRyhi_0gDD5Niqtw4HzK3XwKDfV_5VLQNh0V_HD6fcPeH0Gne0qL0AV3Y55dBQUma9U4oFr9-ogWe8RncBy7VS-3UKIQhnCrIvn0MLQ61SKf4JzJ-Qkn64jRso7LNGj63BgQlbYhTB8Dt0YPQHNDONsc1GDifVVTP0SaC_MQVhpF56uQDrfHkzV5Fu_DMxQgNPTTSCF9PKsHXUFWMxNkFonqE_D52xN0tIKREAInYIIwq1s7Uu-HcaFSHQ-oVzYtPdPNvK-bct2H3hUUc_0TFC1ukfxYdsJS8MptvxkNgEj7ZqIA1MzlcCRZ-zYo2ZXhc3AhAFcj2z_XLI_KxIWfb7sYUOsG2VJP5YfHZVI7ZRSRd8epn8al7jTeqzHCBprglVbncK98o6ygjtYqfDmKTw_Rl_Hy4XO6KGTQC_odbX_Ujs8a8kq3SwgmgeJdzYY6oizAoM10bIK_NGrUvuRy_Yzlto05LLcVZMIP0u9t4ZhuL1G6l93yz9BqbxgroAfOphVZHoMz0nt0t-rd5olKIsjQOAFIeM95vptLfWkHlmbs1a4YYRCls0Z46k86afO7hAe-HmEABDrJ0eAH_P8EnBCHdqlITXP_S49B_84LNhSblGRx2qIXYvPtYKJW7tYF7c0Fcwu5DqtpuByW0Op6AJ6HqbUXot5fF1MeG3YJ6f9FzOg7_O7hwgsHwxHj3GMXafXhT-WJKJa0E1XvKVl46tXObOBSvl7Fc0gS1Zb7mf4OZTt__6akPFbTeR0Iou4NwRRIKei2WiPmnwMXENylyqnMWMrOEftlaK3DhSyHm1mDQt1OqHhdvHZIFYHscHdf-mBOntEArpIBOxmGettr3YerHpaYDXn38DZgBHq_UEniyfmtgAtvTtuG9tobu2BbLaE5789gNDmcVpUbaiAMsfc7qto4nWMPPmpc_drS5h175iUwKnMoAz_-gHDiDPh-bVGb7QaCGhGOt3FVo5pKUx-V_tAwU8S8Bslyjo7uUJHuywS-IhDORF1zzw6rBQMibC_D3LIEIaXqbw==",
  "id": "rs_039282a7cbc4a18e016ab45298242c87d0af1f7fc89ce7d16d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The gripper has lowered to about 7.7 cm and the animal is within the front half of the left basket, with the basket floor supporting it. I am opening the jaws to release the first tan item.\"}",
  "call_id": "call_ii8TSsVVpUgXcLGVrpZa5ErD",
  "id": "fc_039282a7cbc4a18e016ab45298aff887d0b4440c5512214281",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ii8TSsVVpUgXcLGVrpZa5ErD",
  "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]: [-0.5278, 1.8965, 1.2079, -0.2089, -0.4438, -0.3664, 0.9954, -0.0147, 0.7986, 0.6075, -0.3855, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4504 left_y=-0.1706 left_z=0.0734 left_yaw=0.0366 left_pitch=-0.2233 left_roll=0.1047 left_gripper=0.9954 right_x=0.2948 right_y=0.0026 right_z=0.1792 right_yaw=0.0013 right_pitch=-0.0057 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -10.0444, 6.9265, 1.2479, -0.2076, 0.0122, -0.1783, -0.0479, -1.2513, 7.0769, 1.707, -0.0317, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39116eff5a3d1a6c9e2af966d9339b7a543256b414397f157104824ec05701b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc3c4195869ba1b83476b6376a8102d3c3ae399a7ffec99698b8fd430fe97e87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed656c0ce78b54a1e806dc99c5a38dc527383a91e1d1461e35d8c18b8c12b254",
      "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 · 7.667 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8532, 1.6493, 1.0145, -0.2207, -0.7067, -0.5774, 0.2946, -0.0147, 0.7986, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3572 left_y=-0.2294 left_z=0.124 left_yaw=0.0111 left_pitch=-0.0481 left_roll=0.0681 left_gripper=0.2946 right_x=0.295 right_y=0.0026 right_z=0.1798 right_yaw=0.0013 right_pitch=-0.0042 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -11.1795, 9.4154, 1.5458, -0.7204, 0.149, 0.2076, -0.2256, -1.265, 7.0906, 1.7265, -0.0415, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5274, 1.8919, 1.2167, -0.218, -0.4408, -0.3595, 0.2983, -0.0143, 0.7986, 0.6079, -0.3851, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4512 left_y=-0.1714 left_z=0.0773 left_yaw=0.0303 left_pitch=-0.2214 left_roll=0.1053 left_gripper=0.2983 right_x=0.2949 right_y=0.0027 right_z=0.1794 right_yaw=0.0019 right_pitch=-0.005 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -10.2085, 7.2137, 1.8535, -0.5055, 0.0317, 0.0757, -0.1983, -1.2786, 7.1316, 1.7607, -0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5278, 1.8965, 1.2079, -0.2089, -0.4438, -0.3664, 0.9954, -0.0147, 0.7986, 0.6075, -0.3855, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4504 left_y=-0.1706 left_z=0.0734 left_yaw=0.0366 left_pitch=-0.2233 left_roll=0.1047 left_gripper=0.9954 right_x=0.2948 right_y=0.0026 right_z=0.1792 right_yaw=0.0013 right_pitch=-0.0057 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -10.0444, 6.9265, 1.2479, -0.2076, 0.0122, -0.1783, -0.0479, -1.2513, 7.0769, 1.707, -0.0317, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39116eff5a3d1a6c9e2af966d9339b7a543256b414397f157104824ec05701b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc3c4195869ba1b83476b6376a8102d3c3ae399a7ffec99698b8fd430fe97e87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed656c0ce78b54a1e806dc99c5a38dc527383a91e1d1461e35d8c18b8c12b254",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFKeoT6LqUKctO4T4ghBL4uKrGInc6aWG3LoEqR73-rGcCqzfLGmPagSs_0ErseiCpMwnUnMKj7YVcpiw-EPuaRc-Y5tYuoA1cz5n4RZZ0B5LzdftUue4fcTeXncNLDfkmaAPsbSROESu_M-NgAuCM_-JABkYznufnrK3iQLt0cNz7Qo_RyAI6ucIwyP6uwwo4dAjnkKnzNRbu1E8V9i4iJ-cGx6xpEvR6j7Qm7mIKCbxSiKaaVAXRY2FWLLONz4uWGvEQgyMnU7B_vvZ87mn8HdH5oCMFsLQnEixgSAESF98IiEChBq9JFWAiwG2Yjw4IC28wryrJbJMvAEX2dFCvynj8ZHVdWMVkc0A8nolWP4StNJCL-7o4Tlb0gkJd0Pblxt5W_IFSwNvy6lBgj5jUxp8wEs71z-UTy2gvOQeNPPVAWyMaLvqwgz6ncQcczxmflAv17XXJ55QmybVq76RxEISVWE2os141MEiIJafi60Dk4fO6r8LIKXFSArevWRGW0rZKCup6JvXuC06xeQc7VWnzDzPfeBUgiiAbRc8p6UElrxAuJWS88okspX4IVhMtjeFj5aVWDpu24otWD632S-maJLT_KaHLyeI16McRCc9aPRkasrGU0UHIhdz7_z7-p70gx62rtFdr4Lxeom1Qet8p05eiCOgUDwwZ9IphgNF95ws7L9vdaCSwOt5PsbSwJxpiA2kH-xppACJzK7_UEr_zby79iG0r_quo-tByrtg2AIYAl4PwLJQA9v6sz2s9h1484tpYv2wD-3lLlFBQplZEhtHYBbfl4zZ7L_hRfQpGXcZH4Vcj1TcLmXA1eji9IOhs23Rq0KcLaZMrceWGsrZzjWDXTKqwPMdEXtbQI3mOR0zVXnoGR_16K69zmDAnnnA29BNwFprMre19UORpcceZiJxslYmA_5d3EjprNVoy9XUEAzb5FU4nc4Wk5mw0_Y5krNlOBSJC-gE8js9vvf85xFZmiXqXxPWMY5msRXLZ8Qz97f1GAfbbGkQRoK--o9WjJP5-_QhYwa3ouzw1OIJWB8Fioffxg-tutiZDTA4r9QL-MjA6GbDbbL5OpTXr179_-HTghGQM9f3_SxCfZ0zR_Rjc0l1oI26WC_RoSMqv9bJXeDTDHHiDLibW5lJ0Vxl1911D8o2yV9uRzgN9MFvjRtZYiCyCuFwrTaZF3YsKLaRDhyUY93vfyBOs7n2lRGPk79d54e9Bkw6UpH1Zl6MDYIuBNqQcvfzJWYGNaZr17tYRm35MfyUPQPjq7VA_zLcXydXAhu_L1kRhuCgpifP13pYWHyO4nyG5A9ElgTWW5sRhWLQgDShfjYLEjPui0xGe_z25znB78WrD0dKaXPTitoR_VACfzucaA36H3lrmi5C56OtKOEfC6AScO47c5L16MIGlJ7T5puylSuDgb_46ANwbhGcTkYDABAQA6_Y2gylTtxsTmmYIFyrSNkyC4uu91ShNKWSiUK1pDebMchD_ssRbW_b2bC4kZ_P5IAzMFvKQyo2rIt0c6ABbzbEOfavEgVbDtxoJPpoWZXiFE4qEoLuqZgQ2yC4vCj0GlXf9N--bDyPHHS1NGa6KgG0aNiijme7HpDSgna6ve7Ughch368e22BOVtCI52VApyoSqxCoTVmFOcaC8J7IXSEa9kw1E6eGAGkZvixrWWRmrYkEgDD_YXF7M68b-n3GPtfB2Seltc4geUYOPS0MeuUm1tnRV2LPzbA1uosRPwUkKOjP8-c-xT6DrJTRw-FzOjEksiuaSUsfFMosZM-jvuGPqrw22kkunOXpxsK6GF2CvRMHSXokCNnUYEaCmJZ_aYW9Ql2R9LPrY-7dpCF-xxR6CzEYgOk51ZDFxzsEOnygXxSGfdck9UCBgMhmgUIgkgKJ6GGbVS8y1oSElVQ9HUdmoTm79-14wDkp4E2bpfq555U3g==",
  "id": "rs_039282a7cbc4a18e016ab4529b0f5087d08652468da7b14e44",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.18},\"note\":\"The jaws are open, but the arm and basket rim occlude whether the plush settled fully inside; its face appears near the basket's front-right edge. I am retracting the left arm to its home pose so the overhead camera can verify the placement and expose the remaining objects.\"}",
  "call_id": "call_wTGQEBL6gAUTXA4ucifofjtw",
  "id": "fc_039282a7cbc4a18e016ab4529c7fc887d0a11afff904a51133",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wTGQEBL6gAUTXA4ucifofjtw",
  "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]: [-0.1249, 1.0203, 0.836, -0.5907, -0.2035, -0.0856, 0.9967, -0.0143, 0.8028, 0.6067, -0.392, -0.0193, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.31 left_y=0.0007 left_z=0.1812 left_yaw=0.0793 left_pitch=-0.1935 left_roll=0.0942 left_gripper=0.9967 right_x=0.2941 right_y=0.0028 right_z=0.1763 right_yaw=0.002 right_pitch=-0.0172 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -2.7556, 7.1863, 1.5604, 0.0806, 0.0904, 0.1294, -0.0752, -1.0462, 7.0632, 1.79, -0.0073, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:273c338945bcd9d7e21691b5fdadc6f342a7587bba680482b849cb10a3820f12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3493a20c8fdf3ffd3cc1812c6bd03c11de0c0277781105513f16fb90dbed0575",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d3950434c32f89218491a1c07ae6484c1c81c72abc7b656c95dee2d918cbe15",
      "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 9 attempt 0 · /responses · status 200 · 3.038 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5289, 1.7985, 1.4826, -0.4519, -0.4686, -0.3531, 0.2975, -0.0143, 0.7986, 0.6083, -0.3859, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4694 left_y=-0.1778 left_z=0.1921 left_yaw=0.036 left_pitch=-0.1045 left_roll=0.0602 left_gripper=0.2975 right_x=0.2948 right_y=0.0027 right_z=0.1794 right_yaw=0.0016 right_pitch=-0.0053 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -10.0718, 9.8803, 1.5556, -0.2564, 0.359, 0.2857, -0.0752, -1.1966, 7.0769, 1.7021, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5278, 1.8965, 1.2079, -0.2089, -0.4438, -0.3664, 0.9954, -0.0147, 0.7986, 0.6075, -0.3855, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4504 left_y=-0.1706 left_z=0.0734 left_yaw=0.0366 left_pitch=-0.2233 left_roll=0.1047 left_gripper=0.9954 right_x=0.2948 right_y=0.0026 right_z=0.1792 right_yaw=0.0013 right_pitch=-0.0057 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -10.0444, 6.9265, 1.2479, -0.2076, 0.0122, -0.1783, -0.0479, -1.2513, 7.0769, 1.707, -0.0317, -0.0366, -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 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1249, 1.0203, 0.836, -0.5907, -0.2035, -0.0856, 0.9967, -0.0143, 0.8028, 0.6067, -0.392, -0.0193, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.31 left_y=0.0007 left_z=0.1812 left_yaw=0.0793 left_pitch=-0.1935 left_roll=0.0942 left_gripper=0.9967 right_x=0.2941 right_y=0.0028 right_z=0.1763 right_yaw=0.002 right_pitch=-0.0172 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -2.7556, 7.1863, 1.5604, 0.0806, 0.0904, 0.1294, -0.0752, -1.0462, 7.0632, 1.79, -0.0073, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:273c338945bcd9d7e21691b5fdadc6f342a7587bba680482b849cb10a3820f12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3493a20c8fdf3ffd3cc1812c6bd03c11de0c0277781105513f16fb90dbed0575",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d3950434c32f89218491a1c07ae6484c1c81c72abc7b656c95dee2d918cbe15",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFKnphkhmanx06_JhS_1ogI7xYJxCow0S_4xG7EgbL_slpzsixQFtbS5EH86IlxrkZeOEIVmE81yvVF4GZv5HddB8a8ONuH2E7awpOULYNOeRKRjp32kJhnyau16hCGZZZ6HqpMeDXSum6be6LArbOH4j0_kGgZN6xEeDm9Y8hOlYYxtjrQW1bQCHm0ywijkxGZvh2x60y1nhhH7OAZjfhlRvl6ZOWcLfIELpo9eyxIWi0lX_QPfav2iaw73stfnEm_c1_mPMhZsLWtAA8Wgmvn74uNXkcRfrCrOypJvXiH_oaof2fPg53soMPO05FRaC8wkIXT2dHDCwb4Ji_vC3Bdc7qcAJssPyVQMapto8M01KoOgsFgIzYvk3R3q1r6qCooTd3JTQC3gHQHkmcdJDccyYrCfufstMy_lMg3LKUEEf8-6zAWpOL3WeHB6jUagwBs3KvQkLDBNSGxnU3cwayWCzdQzAhe5dAlTgIjQIYdmVmzUV0wPeltGR4DcI25EEEwe2IMsquxZscScq7YNg7RISn1bYHfq0uIWByqaFxEHfnhXnvevCNIpboBJgucPdol7TH73X-W4d4WQS95hr_2o7u48cX-ON4Mu6IGbgLK5DPKVS39XkVzIV7VDf9yctQn7mGy7UlCv_P9yChya0tde5Znbtx8_lHWaunjNFPF0u8wFnnnCV37ohb6ZpU04zNnJsR0VQ1NUfC6UEyWjPrQRyjdY3eja0HCiGrEHvIUMBC2kkDSWXrkKAkSVBF9JGQUcvApRI71wAmug51Kb2Gkr8lAlDbdDD14q1E4vORLVZYWeruNLq9qcuGcocOlQXlt7m2YC809Fg6l6G-9CoUouUDdQxkN_8Q2plJ4blKY5e6rL1ke8Luo5wKU1F25x-zMZiEp734Bz5713egkuRJrz4SlbEMmDB8-mTQnfuazOwl8_Dg2Qdapu7Bf914g6RmTXrZGLe_BwGDHbWIzEbRzv31u1hhYa52H-X7PA3xf9Azm-RA8MJeRtvzdn0DTR3l7cm4G14EOzutzwXGVWhOSiYc0T-fvzl94Rk5c36dLASfGh85zCPpRh-9-Rd-J793B5TMrU1dNe0VZQoZHebDVZ6_1lNAGCeMhdY7E_COkqiI7z9SERQ1IXR9-7RdBWf0zKWV8OiR_HuWSYWXNIGrFe7HhXXJAfmXnDwvi5cCs9-7-3cL7VVYI4xjHg8PTBVvWtBocqVJiIlHL_B074ZIMW-ZWbtLhRzChPkGAtAbyZhz6yPYB6Y9nTH5K3p_7_s335n5ILQKooqEfzgntV42UvcoB9FqhUAC_Z4xa_2ehUWD07ljfNOY0FgKi2z44rg10ICnm7plnZbczOQsy4cleGTdviOHVuaeH2uuL5RGeCvGTbq5_oSlnjpJBuCv_CkQANQaOGq9KuVHjCbNLUReECff1GaItTd99nVPOCT61BgyQtEm1NwKlQfZGawyMG2aV3V4jfSvYgnviKnelQmu7qOESG7VFaJ4Yya2mJ5jami5Cg9gCNKCWeyijKU7gJgDfTOP2TuvHBVsJ5IG-RTMMrko0uF2VDhYYDfbsLv_6CqmjMpaRGS_lTduYM2mBTk1TIDUEjuQqn_wwROIuJeJwzSZ0c12wUGRarhAXlcEPQrgDL_rsRL-BjrZ0kSAZC0geYD-V9UHKs1Yq4NjPBfVV0w6Iiou5ddtuJRJEiziqj2mmmZUkTLVJ9eQMOi0C9vmY9RVYREvZComTwz4AtVeQHmNqlgkzHgIxHY1DxuXG8O2fphEQ9KB6hC_LEYZxIFZHSFlIPXwGS63E-0JtJE7dCAuqEyKZ2L69FxNN-pfIOXKtD73l7srC00U6OYKosMNpMdQzHMJW8BkOGiMgTZSUSaoaAwgAv9srcOmhNqEMjTnLY6tuYp0ldrD6A1LnR8naL5T3WCojTfH68uwSCFNCrC17o8_FI4zZq2uI7anRKllagNzFrrX5ISkZsFqQZ11h9knlemIMjwj7bKY0Bo6QOe2qjiw-GgF-ggT67UKblI8-5sHfoROnfL3FXS_bCZTBSq7nkc8I6b3gMVmkwaXUl7aLO3KzbON3pDrgG9jSWehiPe9TgdF4h5BFQzEGFiSuh6TIgQnIzmDkeCIUx20Wpsz41N8nMhbVXq3jhXaSaJhWHcjXmW7BkoGyCrqt0G9xhFU39z8OBMK4KW0zJfHDk81odoHNzSznNqVMXBQzmmvAAZbxsJLipip-Sxquh7m-Vu11hEhYYc1wJIGkpyYJJP6rSj1HVcB-MPo1gJSUycPAh7Pbv5S49WNMRpdVd-_C1qLgHqy2vTfGl_L1bhOXI-F2SzMNwsUDF_P6RYmJTTuWzZhyVbCPuUyfL2KABEZQAFXwcU4CWzPoyVEv2lE5WbJQS8C_AB6iX1UguSZ-e3nR7vch7aeSynDmm8CF2VXonHMvE4XuFag3nL4VPjBsnyHrV6qLyG2NZ0LGtpufe7YvJCbtSE3IIUfI6CMopE0cIPkI0A0h7XgnP8-zmqOEYAgJG8nGrrBC2vjTvBLfcvmEVEJjd2orji1VR3fbMVIRPEBZwabE4rLL_r0qYvgqgk_2rttBQzHrY1T4pF_UeknzAWi-zdVcQ9M_3BDh5FP3i1jXAf9qfgAM-5oSFGq4Ua-6fD1Sx8ZIhyGAM4KSZQ7_zd4GId_v0okfzHvbyjKPoWJWN8OFpuDlTYdX-oEHkP4iFBKUCXlM9LPsuBH4OHwcZrFhrpdPP-HzUERhS7jYN46VkzAbJcd70IT8M6H9oeNDU6iMO-HgZzSQdiuxMp0LMbrnEij5Q8Rq2zWtAMLS6Q6xixedv6HbSNHT7wWMShBO0fJt58PYx34HGiFZUd5XhT5LpsFKkvN-VWH9BzxWjsIfD9lVcGggp_gQVD1Xu_2WJ3Rg6z89GPk4TYOrDZYhUg4g1e_l-Rbxd0ISn27sUw83GSkfb7bgmGw0KNig74nt9e33xVdWytMD0vaXgVoYLJKne4gKNES611V6LXsu9xdkThTquhJEcW-K9w1pW-Fw7FvdM5uEy-3WE1nFw9AZK9PjunsxYYF56Bdmh1JVWTZjUe4if9kB8-MiX10XUrCW5PuxYFHHofs_RDFt6blr9EO8D3bHs9ndUswXpwV9_KQtdG64tlH_7dez5pkU1npJ7axOojlOvv1zSxX2e9ODYxGoJTB820tVQyB41RYIbkpqEIhRjn1rWr3Qx4iL1W0FLFZx93BMTVJonFxYqhTsZQGHJBQi_qT9AXSoddgHAQvvS8fjIHDE2klNS8TNtyGUmtm1tq_rdQi8iBOh5DsLoN6qrVuMmmlkD_m5M8N5CKkcfGkrmkw6DgmCnZvPY5asiB4b63ZTOzUxQYtvckEDmvSaQY4RXj27Nmi68NO_TuCEoGS5i3ip7BqmuZBL1Q4jYjrREv0URDibJ4oSLIEfwOZcWns5PMqyVzUCBPUJZgm5NgMIBMyAxo7Okxf3TB1ZUpsKz2LOVYkIKdMcKroQu_1ZmPvX9eFLEOK3rte7JZ3bOAuJkASQOoSEvg9Z1EfF3p4mqaII-Qb_9ekmW2iQVrnj8IqbduitSmul4CcX2Mqu5bzgAzJujqDN8t4-H644ECtVIv1VthdGUh-wo6SmLPpdIMJlA4Si6obeRXCM-H0oPG9tA4ccq7OqDN1oJA9OpmYOQtseSn1hvakjGK0A9o-tcc7DPw0nwgP4MUsQpL_SFqFNK3lvJoWAAu-gdVGeywfbzflqF9QtWqjmIglsZfYy5oNqK50EOAroVlIrgQi3QBRZjdH17Wv7ppQhdp-e9HLdt-0VRqDvFcJaHPXxSMVydd5pVeuYi_gMfflRe5K8J1aCoPo7nhNN5gsbjzEw5tLkBdlvH2dR-6J1L5-M=",
  "id": "rs_039282a7cbc4a18e016ab452a0bffc87d0b1ed1f8b66c9cdb1",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFKnOxoXJo-q9kINGdbwqdLgepq9cEvGsA3-QwYweOINRR6uheZCFWuehm_BxEXpN_LgGgYPr3_BtiT_htERl3xjqmUVvwYOzFZ00Mxh-3_WbceBOkf2QotThqB6u9d1UhinIo_9KNyuRgJwWylTQs1Jl-ACbWK5WmwvrI-DlHeR-_VPML2gUhREp9ryKYutzx5ga_D6p_xIDfUIdN9aXHFBKCra_8JbcXLEmUg4hFO0fhxV-B7wNqdLyC2p4l6SGQL3IvOkM1vn3J9MIdOJ6muaRwIRiXZPCNUQ2PJHcmtGYxz0TxYxSMvI0u99tynnO4mcz64ZfI_9_itKaawvDjyIW15ijHeu-LgZsGD-ErczeznrYuBC5mZwpzYcYufzxYMZ8RH4uwEfLG6CQOrIb_hyGDLgNXZpqG8waCIXvzUx99fU22HJ3iFl5-F6w22JeFS7b7bxDvLJgzVqTpt0R8zVqzyaTW4oUrvjY27nPUn6n0TPlb33IKvBVElf5Hcn71CpzVbqnISgMz9VZbSHLbChjSsWOLpDfAiW_9y77xs9fkaQchHxQxqTlhjluRRXS1u-BZLALEO7jw6gYJR-_f2zdocLrgJlBIGWi-RLQvdDyyL5zSdntUdacWVFe3bo9fcdb539EzRWWpHLDg9nG9vJT4dUPFkbTyZ-z5w5uXxO9CdZrWY0XZ4dVqtRur48Nj4cesS68NvCGOJAT-zKPN98krhLeUFuvEmF-A_Vn3fIoZxG8YclEskQ8ybU3-bAjOlur5uR11lV6jVGMoHLakNfaB6HnRcoprU1s8DND9UKZhU25LJyDOhY8kWtfF5ghkusEhSHjJyXRv4Bo5_z3vMvODOCoAGK2o990wdr2Ho89Y0GIde9u1xzHkQFgBJVm2WiX6nzP3EBpVSQN6BKAxXnWhnCgt0HovNKybPQh9GbslRXqmH4UqaOxUB93rwOlDVrN36x-LSE82QulX3RI1xFpmhDQ9cM12ZTOq1rOYdNNi4lI0Q7o8Hy3MsOyjFlzssEcx7LR0zxY4BiT1uivxBgViyyU8wWc9CNtCc6FzErqxjg0kyv6Av3L0lY1BETH018TAYjrXdI8wcR07psdB_5lIOOqEAE2yZhVKEb3v5ebvkfMnrJUPeYK7KJfOoo9Fd3vuGASYjrJemcwax7_4UICHTua1urlplQ9uMQmRwoW9KQ0pSOlup_GqATo-npUvYqEvrHCfeZyrgkbksn4gio6wj_7n4ZnB5CWcjrKFe3z2S3ouMDT4XpZWpqoEWP-1nv",
  "id": "rs_039282a7cbc4a18e016ab452a61bac87d0b4076f47f048f240",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.31,\"left_z\":0.055,\"left_gripper\":1.0},\"note\":\"With the arm retracted, the left basket is visibly empty and the released tan plush is lying just outside its front-right corner, so the first drop was too shallow. I am moving directly to a low, open-jaw pose around that same plush for a retry.\"}",
  "call_id": "call_yWEgAQODfNCsB5YTDSoJR4bK",
  "id": "fc_039282a7cbc4a18e016ab452a65edc87d0b01ebb87d9021b31",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yWEgAQODfNCsB5YTDSoJR4bK",
  "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]: [-0.8135, 2.1902, 1.6138, -0.4423, -0.6746, -0.6712, 0.9988, -0.0147, 0.8051, 0.6067, -0.3927, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4403 left_y=-0.3 left_z=0.0667 left_yaw=0.0941 left_pitch=-0.1667 left_roll=0.105 left_gripper=0.9988 right_x=0.2941 right_y=0.0026 right_z=0.1755 right_yaw=0.0013 right_pitch=-0.0202 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -10.4684, 7.0769, 1.0867, -0.0562, -0.1001, -0.1392, -0.3077, -1.4974, 7.0359, 1.7411, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b5abfb885ee4344d41dadda1de0340444b39817ea7acc298ddbe83ea15389a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d76fd174df89c3a749101e7200157c1b77769f596859342286427d48d7481262",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97cf4fc04ee791a4f55ce1d1e82a89d9c74a984e9711102e59b2961ff17e4014",
      "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 · 3.242 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 40 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5274, 1.8919, 1.2167, -0.218, -0.4408, -0.3595, 0.2983, -0.0143, 0.7986, 0.6079, -0.3851, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4512 left_y=-0.1714 left_z=0.0773 left_yaw=0.0303 left_pitch=-0.2214 left_roll=0.1053 left_gripper=0.2983 right_x=0.2949 right_y=0.0027 right_z=0.1794 right_yaw=0.0019 right_pitch=-0.005 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -10.2085, 7.2137, 1.8535, -0.5055, 0.0317, 0.0757, -0.1983, -1.2786, 7.1316, 1.7607, -0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1249, 1.0203, 0.836, -0.5907, -0.2035, -0.0856, 0.9967, -0.0143, 0.8028, 0.6067, -0.392, -0.0193, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.31 left_y=0.0007 left_z=0.1812 left_yaw=0.0793 left_pitch=-0.1935 left_roll=0.0942 left_gripper=0.9967 right_x=0.2941 right_y=0.0028 right_z=0.1763 right_yaw=0.002 right_pitch=-0.0172 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -2.7556, 7.1863, 1.5604, 0.0806, 0.0904, 0.1294, -0.0752, -1.0462, 7.0632, 1.79, -0.0073, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8135, 2.1902, 1.6138, -0.4423, -0.6746, -0.6712, 0.9988, -0.0147, 0.8051, 0.6067, -0.3927, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4403 left_y=-0.3 left_z=0.0667 left_yaw=0.0941 left_pitch=-0.1667 left_roll=0.105 left_gripper=0.9988 right_x=0.2941 right_y=0.0026 right_z=0.1755 right_yaw=0.0013 right_pitch=-0.0202 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -10.4684, 7.0769, 1.0867, -0.0562, -0.1001, -0.1392, -0.3077, -1.4974, 7.0359, 1.7411, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b5abfb885ee4344d41dadda1de0340444b39817ea7acc298ddbe83ea15389a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d76fd174df89c3a749101e7200157c1b77769f596859342286427d48d7481262",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97cf4fc04ee791a4f55ce1d1e82a89d9c74a984e9711102e59b2961ff17e4014",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFKtagzua4x5Y_IRm8jWoxdNnrlkZpqg9qgWRuToo0lIuxOock4BghDM2DezUUbPzHgVnV1ZvrYPR3y5IIKJ_xqnrIS4n-B4TtLGaNynjFvyjuf2u40DjVzUPATVia0euZHuaJ5dfvyggAtNKSCqI6hFiBvZpx__2_foD6e3uCtCuSlKaVKGJUm1nsisuxJgpdY-gKQf_2S0YUlbvNHNjEBjezqC8K11m6nUm41p1LVhb3jQICSC8Bhw4Jm5YTWMBCaxsr-fsJToIKICvDdG4Fcfydp7Cdo13vSY452sYW282E_XarB4IDuziFGzBhwOU1nOR7VmP4yfSeNa65d9859rymFcXq_NV_LjXIB4k51gko6f89RgPMPTyDcGGOT1CSuNBXvcBVJCBO7RRB-M14tkxpUwZ2_TsyPDRPjQe44DKAQNizmZGbLcXYh-wj-mpdt5MfAsJxoNtw96y7ajNvaeffGNUvlFBBCVvESLCF7ST3WpWtbhb77oUIz5NZ8T2ibIaGMV6LyNVjcoEzLZ4qsF1-uLjT9JtirMQWFicOiFsjjJK-OZ1byjPcw9W98h9V41ELxwkNWqyPtHXyl8lzvkDSGZHvh_1fJl5NR-8ft82MN4CNgnBT6akiHJE01DzQkkGIeryeMYhZdSHvJIMdVBYEdWwb-XZA2tA5OglwElHZ8hNrEE8DbOP4byPBxX6-Ipkfcxut_N-0j3j_8jXJBojwYNjQHsalhPoHn018LpFrn6cbEPyWLhRQYvHcND-p7SJXQWkoZBEVLe-pEvBj2bHbPU9C9AHaLZQ3agqR6wTS0DdwHKUbYvx6StttwXLadfGaktyuPlnm0Tb4HbPTihAK6ZqGx70F-vfq8Y4HJSYsdwHT7DJx6yxSK8eGSXxv5Yx6Ofi7xdopihkj3xo7Ub0HJEqlHS7r0nZOjgYrejiLqyMjXz_qtyglTEFZMVha8G-dM1gMas1_tbMIL9sW4SA3RwkcC5LlSrcwz3zD1hjM1Ph7YG60sEdMHKO4XXH9HqE2fWBtJDTmJ6BsuiQt3fHZN_YXTAZ4I5zrrdCfkltYR13S857hC9rOuCjZOdIq6O0iuCpmKEDeUidZ5yNbcByWxTkmgfeWTX4EFxfR0FjnGQaDvvW_LyxhhxaAALP2M0Eyfzy4VHGXn0VoLORMTEFynvi0gvp1HZlTKnHdaiECnX2oqZQxO_JV-ZvpA8jmNJbL_YUFOD_gLdFnc_8vwa4w==",
  "id": "rs_039282a7cbc4a18e016ab452ac904887d0b84b2d796e20a00f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The wrist view shows the tan bear/dog face centred cleanly between both fingertips at table level. I am closing to re-grasp it.\"}",
  "call_id": "call_pBELOWxqrMfj9JnVeSNAouR0",
  "id": "fc_039282a7cbc4a18e016ab452ac973487d0959b81d6f83ebdff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pBELOWxqrMfj9JnVeSNAouR0",
  "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]: [-0.8131, 2.2051, 1.6268, -0.4397, -0.7113, -0.6701, 0.1317, -0.0147, 0.8051, 0.6067, -0.3927, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4447 left_y=-0.2971 left_z=0.0676 left_yaw=0.116 left_pitch=-0.1415 left_roll=0.1244 left_gripper=0.1317 right_x=0.2941 right_y=0.0026 right_z=0.1755 right_yaw=0.0013 right_pitch=-0.0202 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -13.5179, 5.2308, 1.1355, -0.0171, -0.0317, 0.9988, -0.1983, -1.3333, 7.1316, 1.7607, -0.022, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:575f1b9b2fb79c6d2607e9ae6c0e931f5bb1b7840aab60906289e050182df1cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae1677dd2807e3e0da2edb943ed237fe569dc2515e280c8daaa1d827235d6245",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee42b336698401dfc7292be933684ed239cb3eb7dab19452708182092d86d617",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 7.14 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 40 changed as sent

message 44 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5278, 1.8965, 1.2079, -0.2089, -0.4438, -0.3664, 0.9954, -0.0147, 0.7986, 0.6075, -0.3855, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4504 left_y=-0.1706 left_z=0.0734 left_yaw=0.0366 left_pitch=-0.2233 left_roll=0.1047 left_gripper=0.9954 right_x=0.2948 right_y=0.0026 right_z=0.1792 right_yaw=0.0013 right_pitch=-0.0057 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -10.0444, 6.9265, 1.2479, -0.2076, 0.0122, -0.1783, -0.0479, -1.2513, 7.0769, 1.707, -0.0317, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8135, 2.1902, 1.6138, -0.4423, -0.6746, -0.6712, 0.9988, -0.0147, 0.8051, 0.6067, -0.3927, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4403 left_y=-0.3 left_z=0.0667 left_yaw=0.0941 left_pitch=-0.1667 left_roll=0.105 left_gripper=0.9988 right_x=0.2941 right_y=0.0026 right_z=0.1755 right_yaw=0.0013 right_pitch=-0.0202 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -10.4684, 7.0769, 1.0867, -0.0562, -0.1001, -0.1392, -0.3077, -1.4974, 7.0359, 1.7411, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8131, 2.2051, 1.6268, -0.4397, -0.7113, -0.6701, 0.1317, -0.0147, 0.8051, 0.6067, -0.3927, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4447 left_y=-0.2971 left_z=0.0676 left_yaw=0.116 left_pitch=-0.1415 left_roll=0.1244 left_gripper=0.1317 right_x=0.2941 right_y=0.0026 right_z=0.1755 right_yaw=0.0013 right_pitch=-0.0202 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -13.5179, 5.2308, 1.1355, -0.0171, -0.0317, 0.9988, -0.1983, -1.3333, 7.1316, 1.7607, -0.022, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:575f1b9b2fb79c6d2607e9ae6c0e931f5bb1b7840aab60906289e050182df1cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae1677dd2807e3e0da2edb943ed237fe569dc2515e280c8daaa1d827235d6245",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee42b336698401dfc7292be933684ed239cb3eb7dab19452708182092d86d617",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFKxGq9hT9s8oeZe1loeW4jBoGY_pDYa7z0MvczxKeHEspadiCEVeYlrG640TuViIx1sToo_5XznBRuR7PjKiQ9ydvQ_ovmJyOfTSHMb_HLA_fwRhySlwap3kwmQZ41ZJ9WMhLAazWfTJNyIEldFB75fS15pEg0vpK7HSCiuE0KplZbfC9DyorwDyYF86YpF5LsAkLb-u9IRO9B_PLuanQZAlkNPfHDrT3uqvb27F_AbVYdNtITrn7JIg0ikdepjwhRTRBzA2btUFlBcIk5P3muFBDVNxAsH7tkNcuIQAG2-oDaP8UOq51WqMIb5uFToUwhNn8uVkIjsCO19bWQs1qzGCBTqKFEObfHB5H79gVulEbUjVTwgXukK0Ob_mtpcc6-m1eJJgGSTvcgurK33QVeyRkn2nlut-Kj2Sg52SsQQdIlWILwPT1Hfwfk7AXXe-LXZ4yq1wlRGaEXYJAdEAYlCGXnu2fuACInL8hcplyrTLrg34-RqgCf7RpmzZgvKBsnYKaWF3vbWzETMCU5EOjTuPidhPGE0-4VQwPAuzdKB0p1H9EKmxVe4kQYZBXiD7clPSAMi69AZepVbgISOf-tKH7CH1Kixw2tacWWlCTfjEwlx3ywHoCMQVrkPmGOyfbB1Atas8rLKzC0Dm0HXCiXbSDRe4i-giF0ZW6xUJqtnCILgaHvMkyzyEaPsYtoqz6HI851r5YWGfOrmKPOFNWBxAUX25GotmX3W1r8fIMDC1ZaFKRB1jIyr1M1xAOAFNYSW-iKQH9hKVzf9qnz_RAwr1TsEwLhYgGaBJXG7DlS1OloBQRFV9CNGr0vUMkm0rLCan40IVRHeKFDepqGRnYJcQYRO1kUo1x_wRL5Vr3c9iltElyrFk3ygNfJvKnOqKQYp0vik2dOU_NC9pRjsXkN_1LTb9eUnEssQzN-uiVVUaMurixU3bAZYAej6MJtjIo8_20o8QgyLXXmc82kdaE7zYZ76CvZE9fMpLEIoRY57n4ARLti1sUKXga-yYS1dWjc8eRUrdOBW4cusz1jQtlzDUk1cbjz9sTfd6aqaZHHJ2TZkQYjRaOkxpw86GmYiblz0pQghH2tuJOoabA7vRYCbHesfdNufEK3z6z2E0GZ3CJK68QYCevyDHYd8DMGekZxnC0qbVtab861WI4Rka9QPaI1O6mWV-iPdXPThid_ILr2t9h2LhVV3_54hWiI1Kir6KPbBCfYsxvpGtbWH7Ukt1bfQPPcAQecYtr3F3NOg5RxLrfeLkGTWV19MDsEw9tmDK5n1q42lPFvyuGm-2e9-64HfVP5u9yXst2gQCdAkJRiBPwdgljkE1HiUwgSogGvEPb8DvFKe2HwZTVk6OHE4ua08dJRGFVwl6oQ_nJBRZ1FXqfpPKJgFHaPKNcA0RgwvmwapZyOE0hGEyx8WQMdeE4Gtz0SkjLz4drb11h_3gDGSV6UvCwxVxV20LY8utopf5bXK6PIs1evPt_nb2mWB0B6aZ63Yo1T57U9Ge6-dnWZKWTIJakZLyLrMjVLjxqKprZsDxWw2R_TPPcftxks5CuDCqHJ-2xlQ4GrCdl2Rdb2VRY-KIqETsImXV-p4Fo62HTuWQ5DxGihWWYOhkyjia9OBg9PrxBKGG4oJBsAMrQtzLWIPTrqlc6o5VeU3IVzbT4uBTMaigPHRIE_PAhvV4w==",
  "id": "rs_039282a7cbc4a18e016ab452af353087d09b234a594d6dae48",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.18,\"left_z\":0.21},\"note\":\"The jaws settled at 0.13, confirming a firm grasp on the plush. I am carrying it high to the geometric centre of the left basket and will release from above rather than letting the low-reach posture pull it toward the front rim.\"}",
  "call_id": "call_YyEF3MreLj443q8wVrJZ880F",
  "id": "fc_039282a7cbc4a18e016ab452b0264087d0852654939af5f78d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YyEF3MreLj443q8wVrJZ880F",
  "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]: [-0.5461, 2.0109, 1.7275, -0.667, -0.5446, -0.4473, 0.1347, -0.0147, 0.8051, 0.6067, -0.3927, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4878 left_y=-0.1852 left_z=0.1601 left_yaw=0.1444 left_pitch=-0.2131 left_roll=0.1444 left_gripper=0.1347 right_x=0.2941 right_y=0.0026 right_z=0.1755 right_yaw=0.0015 right_pitch=-0.0202 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -15.7197, 9.9214, 1.3065, -0.4518, 0.2613, 0.6911, -0.3487, -1.3197, 7.0085, 1.6972, -0.0269, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:692ebd501759e08aab059f817a752d20b5cc3cc74f24a33442cb7fc586690756",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10f6052de7fd9bcbb671cb5147885cf01a360113479c6f221a3eb5c86ffa8390",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb027d7dfcc66fb8a79080b78b6a9c4e09a5cb46c98e2f20d9a435fe6d72e99b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 1.786 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 44 changed as sent

message 48 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1249, 1.0203, 0.836, -0.5907, -0.2035, -0.0856, 0.9967, -0.0143, 0.8028, 0.6067, -0.392, -0.0193, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.31 left_y=0.0007 left_z=0.1812 left_yaw=0.0793 left_pitch=-0.1935 left_roll=0.0942 left_gripper=0.9967 right_x=0.2941 right_y=0.0028 right_z=0.1763 right_yaw=0.002 right_pitch=-0.0172 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -2.7556, 7.1863, 1.5604, 0.0806, 0.0904, 0.1294, -0.0752, -1.0462, 7.0632, 1.79, -0.0073, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8131, 2.2051, 1.6268, -0.4397, -0.7113, -0.6701, 0.1317, -0.0147, 0.8051, 0.6067, -0.3927, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4447 left_y=-0.2971 left_z=0.0676 left_yaw=0.116 left_pitch=-0.1415 left_roll=0.1244 left_gripper=0.1317 right_x=0.2941 right_y=0.0026 right_z=0.1755 right_yaw=0.0013 right_pitch=-0.0202 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -13.5179, 5.2308, 1.1355, -0.0171, -0.0317, 0.9988, -0.1983, -1.3333, 7.1316, 1.7607, -0.022, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5461, 2.0109, 1.7275, -0.667, -0.5446, -0.4473, 0.1347, -0.0147, 0.8051, 0.6067, -0.3927, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4878 left_y=-0.1852 left_z=0.1601 left_yaw=0.1444 left_pitch=-0.2131 left_roll=0.1444 left_gripper=0.1347 right_x=0.2941 right_y=0.0026 right_z=0.1755 right_yaw=0.0015 right_pitch=-0.0202 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -15.7197, 9.9214, 1.3065, -0.4518, 0.2613, 0.6911, -0.3487, -1.3197, 7.0085, 1.6972, -0.0269, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:692ebd501759e08aab059f817a752d20b5cc3cc74f24a33442cb7fc586690756",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10f6052de7fd9bcbb671cb5147885cf01a360113479c6f221a3eb5c86ffa8390",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb027d7dfcc66fb8a79080b78b6a9c4e09a5cb46c98e2f20d9a435fe6d72e99b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFK5T6wJZG6Wceev1y29c2qkG3qLPk2z08C8ZG_LQyycWwd2VwwfFLrdqquL4CuBuG2_CO8-tlq2GXAhzRjxlBVtu6_3qfb9xPfLCaILNBhbuEq7z_NsHT_z-BzDwoHvQk6RMKbsHDW7djiBegrrlYE6gYyHbsBPgC96Lg8EnS-t0KhsaM8Zn67H-pl55OdX2gIzMBAnAyvyXE2HOom_kqQSJiAaG7AwPBIju2pZsO_2VVNxnInTFNnJI6r_fE1nEBxUzTphciJ_gd4Ebh1VtYn4iL2XYkl8ymtasa5dXv473EWM4vfWubblhQoo7LbK8AD2xT01oHYn8oSdgA2niAFexLpr3ZGuXfNsRCJ4mztsbty_fFkS89AiahLLfWFdaoba_za1UeayqzOR43Ku86f3xv7h1wrwy_38ZqNpJ8I-YFT5hglZkeqMqYhXbB3DlrzKVqxpKtUpn5OgzZiPPqec7WUTyMM3uByI-Zb0D-gCnYFAQMdY5WsHPJjrtuiz7EdUTLayl0HAvLZV8Hn63k2yVj_4A4PXv7jLy4oMlEsq1WzweLIdHo6OAeh6sJE_lurhexcAoWOTYqvdUmhlz-Hc_WOaNo2trXUnm7swCUPEVhqJXBc-gh6oWHDanpQ9LOmS6pcPfA3XpEn3XcWVTf9D9BkEPM4CPHIW26lBuiAwfgsB0CbS4IMQjLqokFzSkXs5JPQYtmrX6uzjsvVAUrxpKxRf4QEzSkjK3pa4TfVR2IV3PByn1kiJ3LGoyd69Zv07yPzlY7wYM5T_WCJIwtGWVm5sbnXF12s9SFLsBdumpVmgG2GSJ6Epe0jfc7PWLzgkvSeabZfvTCQe1X1Rtn-JnLgoTyqNiQAQRunIBaPfQ-p7o_sXwWlUSbA3rJAS3RrZe0pOTw2a-9i8g3SSJ-BlFwYmMZ833inT9KxFsxmlU-5EP4qS4oyhGks3D_flIPINjWFEr1ThPSLXUHyhCV3AuuQ8AGQ3ADwE23G66PC0OxLDhWZZ7vRwpNloetCmtaQnPKwjsWhg1NoeG_JL5QlwCpH0cnl7LHgAomD2S4NOlTK9KtQ8RancFBlFbCRStUmRYFcUmFeN0hJ5WxXpUiJ9T-2FdMNcP_cp2nju4wNYQm8Eq37t0NKryZZtLo9Aq2DS7s37sJ_LiVaoK4H7BWHu0l3eh9Vf1VUOSJBAWYFyLqF51j0BKFa0k5BVRce6qirBdgTL8y_KgxCAez1Ss_LXW9aoOMgDyY15Kxzsf_j1zqMzkm4YsP4gZMUIG-zGijx3BXoBoJ6BYxpGMLzrp2YCIt3k9rRBYJypIfhfsQXNwB58csmhuOsuZvoGvL1BcQengzJNuB11u-uHl83gMe6sCyxYGJDUUcQIX6Sagd9z1fQOGOXUC06oKkG4K0zxDBEf2xREzqrwmnRhAMKLrB6EQHPvvIjmYaIct0nXrBVcmx7hJijGWU8FrEY9ZDzguu5KtS36FYy87Bi9Vy5n4aXT4IPigNjDkwgCneaLE7tLmwcT7aIdZA1GwNoCJtLWkjvAEw7HGD09HMtetLsQ9OuqnZ1BGc5cdIUChUN7cb7Pxw5yQiwH5g2ZWaWbLfKbYj4MXcMQiu0431UcbChQIfslt2GQgn3Gbswuh-TkQVl49WVNc2u508QlujaLsfNx7cmx3ckKWR_Su0GiAugANbaFqIK-ADq_GpW3Yk4nxwBIEZvLZh3mGFYsGnOpWAItnGX9q9n4FUgPOcKhIIu33Z5kVmu0XQkPSf_4OS-rwnG41qab8pep2xpoB0AudlN7nGDo7G3cMuRWoUELFWzjYX0g8CK795Yn25O3E5VR-sVRdnHHcaoTmob-oEl368EXd5vfVmEQmpck9PRaB6a3nHu3ZowTHQRDs_j1AwQ9x2BL3-W6RRyF1_UH9yt51C2UuevUjaOauljI6cV2YHncPxdccu3THwAaHqtwHfw33tq4YZxTZHOb4XrQbQQLYVoxVXpvJJSUwSNqxwapC12M9oWGS5owpSS66mT0nKO3cn9WSl4IJsKM-THeEKXCc7TuVn36wJg6kalDhY1Lrqpr64p4-Rb4QjWhQeXxWUPvaLcahGoCovdr8CuxV15aKwsIJwTHPKxNcZzl1eRKvu_L_oo-wjFO0T7Zd05ZsEFXyrAvxGrr12V_4GztHuZW_mVoRzFmz_2twQEPM3ykTbDVWwb9N7KhCzjVHBN_gT8rQuAK7CwuPeI44-AK5vgMSPtfCbbdo9_wY4aVV0bALjDSPPy_2fzp8rL0yURaq69UU_O-vj2KEo3Q93kkmeLbMVlvAvuB_dHcf_ZqWapy1U-eLAYgyL8k6zZNPz8UrB7RL9ZrEAR-tggp0phsuc-4pH8f5F59AOW-M9za2H-p_xJUzTu5B8KuXrQit6oHr8-UaTMxgiD_ywRVHBeUJ8DkJbqFIifIjx3NsHr3agj5BrG_FJ7dDWyteF51_bu49QejIraqWBbyaxXfsVC6H6vec-ASJ6Gi8O1nIM1LKC57mnidoa8Im_m-LNJvZAggUnev0fIUnFXrVFw-BXjG2l1SCzbzXoSESKaXYegX4jgjbit7NpwaiI5WNGsI4t4Hz5Gdw2RgY3w=",
  "id": "rs_039282a7cbc4a18e016ab452b517cc87d09638ce32e3a7ffb2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.55,\"left_y\":-0.12,\"left_z\":0.22},\"note\":\"The overhead view shows that this long plush hangs down and to the image-right of the grasp point, leaving its body near the same front-right rim despite the centred gripper. I am offsetting the gripper farther back and left so the hanging body—not just the wrist—is over the basket interior.\"}",
  "call_id": "call_SqE7sQbX260x6J4r2Jke1uI7",
  "id": "fc_039282a7cbc4a18e016ab452b861c487d09b74dc0ef0686267",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SqE7sQbX260x6J4r2Jke1uI7",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3565, 2.1387, 2.1017, -0.8509, -0.4374, -0.3279, 0.1354, -0.0147, 0.8078, 0.6067, -0.3935, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5468 left_y=-0.12 left_z=0.2071 left_yaw=0.1807 left_pitch=-0.2204 left_roll=0.1231 left_gripper=0.1354 right_x=0.2942 right_y=0.0026 right_z=0.1747 right_yaw=0.0015 right_pitch=-0.0236 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -11.7675, 8.5402, 1.1111, -0.1587, 0.2515, 0.3541, -0.0889, -1.5385, 7.0085, 1.6777, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69c10b2d400d9f8c197d58a1d9832dafc26c120130d56bcf4496f1d5be2cfe44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed53acc2b31fc688aed48d78ff90e404112577f01d8d87b707d6cbcf8493215c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b28aa3c828d5721f93a4242a02b73d717d25bd3c5541f46cfb3c4f7c9ec8069d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 6.544 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8135, 2.1902, 1.6138, -0.4423, -0.6746, -0.6712, 0.9988, -0.0147, 0.8051, 0.6067, -0.3927, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4403 left_y=-0.3 left_z=0.0667 left_yaw=0.0941 left_pitch=-0.1667 left_roll=0.105 left_gripper=0.9988 right_x=0.2941 right_y=0.0026 right_z=0.1755 right_yaw=0.0013 right_pitch=-0.0202 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -10.4684, 7.0769, 1.0867, -0.0562, -0.1001, -0.1392, -0.3077, -1.4974, 7.0359, 1.7411, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5461, 2.0109, 1.7275, -0.667, -0.5446, -0.4473, 0.1347, -0.0147, 0.8051, 0.6067, -0.3927, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4878 left_y=-0.1852 left_z=0.1601 left_yaw=0.1444 left_pitch=-0.2131 left_roll=0.1444 left_gripper=0.1347 right_x=0.2941 right_y=0.0026 right_z=0.1755 right_yaw=0.0015 right_pitch=-0.0202 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -15.7197, 9.9214, 1.3065, -0.4518, 0.2613, 0.6911, -0.3487, -1.3197, 7.0085, 1.6972, -0.0269, -0.0269, -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 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3565, 2.1387, 2.1017, -0.8509, -0.4374, -0.3279, 0.1354, -0.0147, 0.8078, 0.6067, -0.3935, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5468 left_y=-0.12 left_z=0.2071 left_yaw=0.1807 left_pitch=-0.2204 left_roll=0.1231 left_gripper=0.1354 right_x=0.2942 right_y=0.0026 right_z=0.1747 right_yaw=0.0015 right_pitch=-0.0236 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -11.7675, 8.5402, 1.1111, -0.1587, 0.2515, 0.3541, -0.0889, -1.5385, 7.0085, 1.6777, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69c10b2d400d9f8c197d58a1d9832dafc26c120130d56bcf4496f1d5be2cfe44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed53acc2b31fc688aed48d78ff90e404112577f01d8d87b707d6cbcf8493215c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b28aa3c828d5721f93a4242a02b73d717d25bd3c5541f46cfb3c4f7c9ec8069d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFK7VgumvXhGpIfpcvx66FuE1pHrqmyQUlThIXwV1RDVpXg1Qmm-y2hlVl1S2eSbI4WqEh49n9dV14eoO9g24GnBVt9DiwuwgnupI12PfhAiFRVgMFbeFimYqb_s2aYPsj5A__JLF6MX5kszqB8k1G6Yd-FJNC7vEJHW6-1ae3j4DGkYgEbaGbP8SUbhEtljhF9O6e_4_ECaEuIHBearMS_sgC1Gav1lfZVd4O8Ic4iqoP4O52hpSgeKPaTx7InpZQM28JTEH7ngoQkIfK8MTegKmnnbWxrQ-tXOz12ghaR7RRqC8BggAqQHaLi4OG-LuJnYJarnPlgy9bPPSQQw7CyevjmP2HYW80diZEfndn3LDMInrT34HV_MZ_KwyHfIJRwqhp0yqp_1a7fGvwHvHC4jgQcLy2T3vx1T4_BxQctiWtjuh1Xnd7hObL8ODc7EQTlxos6X0qa2vjh7k0HRy5fmizK4d0HJd-vIK390a3UjPDLJw1ZCh58ZgWNqWhKJX1T76G1haCDW8Ir7_8c0RoqSSSfztltmXWzUNNEL1vOWvXSKDcGmETMuirAQMT73KG-XrpxFtCD7HF79z_kRzsA_76rBNdU6s94gBrrg6dpWxVWMGR8vB3sNuA_RAhAmwrrDtYGwXwXsR-2Ud8D3MViOYuX42xYtiG6N2oUAyUm7cc8d6L1D-gC7Wv6Jj8DzZZGcIvhMpHuStQVJlIBJcWMyhdNSu6CH5UjVczCCLGszr8xzaq4glPFnPhqMdRG0oPEqgOlCz7_A-QUpgZAHPlL5AB2FykaRxa5b-YEDyF5cgPrT1iyN6D5G_j4nsAN607Jvs3-69myktcP4EAwfe3hIbZYuMCHsyV6ZW-T2XLYVP6kWG3x6kDJ4nyNLqOidicfrwb5abZldlV9G6vitJw8PLARRtpBan8qL__zSMzcg60RVXeJpSGMSWO4l74J1E5DMRUIkKKcAqIFhGVUvM8WQDqMaEiCj1326rvkENi0zqm0qB5aDBY3LzMaaWSlFsXtF3jyYQBHk53AEJpEhmX292jEj5FrrqEILbfz7cVt5MAYjp6YlmigHM6TWOmIUb-IU2uQ4PbIphqHx1eXGF5jpMuv6y5RyBsdYPS48w38qe7ktepfcNxPxzd0hUqvYsBddy3CY9Z-TU1vveJfIzsvAqC49GFSR0F0Tadsp73gAW8aiHtpvWbhe6JHRNK5RuJEoP9DujM-yStbnJq7ApXAC3vIG_Y9l0cqXCOjnowP74oja3McapqwUutC2PZqaLjox",
  "id": "rs_039282a7cbc4a18e016ab452bb008487d0b783e0bbf644983c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"After the offset, the tan plush body is visibly suspended over the interior of the left basket rather than its front edge. I am opening the gripper now so it drops securely inside.\"}",
  "call_id": "call_vlz85SGyZ0Y7ijAUUMOENeUn",
  "id": "fc_039282a7cbc4a18e016ab452bb397487d0871b07a2b030ec7e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vlz85SGyZ0Y7ijAUUMOENeUn",
  "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]: [-0.3546, 2.1525, 2.0987, -0.8673, -0.4255, -0.3332, 0.9954, -0.0147, 0.8082, 0.6067, -0.3927, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5449 left_y=-0.1201 left_z=0.1955 left_yaw=0.1803 left_pitch=-0.2533 left_roll=0.1284 left_gripper=0.9954 right_x=0.2943 right_y=0.0026 right_z=0.1747 right_yaw=0.0013 right_pitch=-0.0233 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -13.4496, 6.7897, 1.5214, -0.3199, -0.0024, -0.0708, -0.3761, -1.1692, 7.0222, 1.7167, -0.0562, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c2cdeb448d86c04d3fd3bf5ffa338b9861e15bfa88cc34266798ff9f2aa9491",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dfc70bf6f4157b1b6462807b8da08b80fe32479515fe86fa8eb3802ad9896eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc8cc858ef3b57f9d14cf490a0de6d8a5a0c9c1377533782ae08bc3de5aa7010",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 7.106 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8131, 2.2051, 1.6268, -0.4397, -0.7113, -0.6701, 0.1317, -0.0147, 0.8051, 0.6067, -0.3927, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4447 left_y=-0.2971 left_z=0.0676 left_yaw=0.116 left_pitch=-0.1415 left_roll=0.1244 left_gripper=0.1317 right_x=0.2941 right_y=0.0026 right_z=0.1755 right_yaw=0.0013 right_pitch=-0.0202 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -13.5179, 5.2308, 1.1355, -0.0171, -0.0317, 0.9988, -0.1983, -1.3333, 7.1316, 1.7607, -0.022, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3565, 2.1387, 2.1017, -0.8509, -0.4374, -0.3279, 0.1354, -0.0147, 0.8078, 0.6067, -0.3935, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5468 left_y=-0.12 left_z=0.2071 left_yaw=0.1807 left_pitch=-0.2204 left_roll=0.1231 left_gripper=0.1354 right_x=0.2942 right_y=0.0026 right_z=0.1747 right_yaw=0.0015 right_pitch=-0.0236 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -11.7675, 8.5402, 1.1111, -0.1587, 0.2515, 0.3541, -0.0889, -1.5385, 7.0085, 1.6777, -0.0366, -0.0611, -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 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3546, 2.1525, 2.0987, -0.8673, -0.4255, -0.3332, 0.9954, -0.0147, 0.8082, 0.6067, -0.3927, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5449 left_y=-0.1201 left_z=0.1955 left_yaw=0.1803 left_pitch=-0.2533 left_roll=0.1284 left_gripper=0.9954 right_x=0.2943 right_y=0.0026 right_z=0.1747 right_yaw=0.0013 right_pitch=-0.0233 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -13.4496, 6.7897, 1.5214, -0.3199, -0.0024, -0.0708, -0.3761, -1.1692, 7.0222, 1.7167, -0.0562, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c2cdeb448d86c04d3fd3bf5ffa338b9861e15bfa88cc34266798ff9f2aa9491",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dfc70bf6f4157b1b6462807b8da08b80fe32479515fe86fa8eb3802ad9896eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc8cc858ef3b57f9d14cf490a0de6d8a5a0c9c1377533782ae08bc3de5aa7010",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFLDiKlux-WUcyLWlxSOrG9rgLKKKNxov1UYGuFt0RQ0O99Nq0BohFdKZKptoXi9Y2THro9DfWMCRHYIkLYJjRt9uTVsxd3EmPqU-kVxuIwi2mk4akuiXZSKa0BDDMf2sG3POtoa1JM04dh486adIdl-A_U0Ikvgk7CdwY5QkGGrRN8oi8JkgcycLGkSwJmsZTpj8MaX4M9xN5u9CK6ZhR-jIb6nmcC81DNwWm1-hhoOCrZpDOHIbwdY1dI0EjXD96MayiFW_9LyvYqg5XxxtfC9nfcNud_TCbNp_OEI3lL4Jt4RLR02IZrpRxLoejTsoACUQsaCxG43QpWW0FOjigXURvUOqsGCVnTChHLor5Eyj6x0cyT3ax5lp-VkhWXQ8eVWclSKepgCi73eUjfGCQZ7qz95zCFrEJeE0rn2fZhcoeA88lbJcnhzby7EtVUtJd7bbBM88BRMHfNLaMHisfaFscZSXQtumPyEYE0ZQKjnPCl9Wn5rwJLP2GAEi5fcjM2uLBy1_5lKGdCm6QYu7wN6U6GtK3fFwr7EvLoX-xZVZkC_F2iaRj0RolR9Pyuvgy-y-QfzUUgEx1f_6YHmDqsDSaGv-EFd30HpUI5WeEG3PaO8SRT2zIk8wOXjN4iIbuV_q-wZNpAiUKs-545MAy9n2z5DzAIR6-g1gQ0VomWM9cn9upjlsOObptd3Qt13J0LIj_KjoqU1-dGmzxmMFHDj5P6TNaVlDRTvurqPKOocakmI_QSdwDwSMA18Zmsu_XL5RiSdK8gqn7S8pg18vrh840AtNYjiubcPUIGlRaAuuTjjPPuMVtBxPZBnB8qQbRCgAdJqlXgUvkTzRHsIEdMwx50EI_yV_oyTsPLoXhAgl6CHew6Ma_5TS3I1_7a7EMYxeUyHRuJQaefnMep5jIW-2bZfWwLbifq0hkQFuYi_h2t3d3vBkiYA_CiH6-XhDXN7FJnQeVrYd0iBjo1Ww_meMkWBTq31CEvqJ1RnDwVVXDTY5HLJ9FMU98aVWvnRKC5Q_imQPHpE-3qYBnjdmVObny8a5SrDC25LjnVlrUs5DZNAXDluFPr3A8ELSDtK2HaJhaaeoyJOVHfBQvm4FW3A-pCMxdrH3tJGyAhbdpzfU_hb5b8FDry7BYV6L03ANQmpPWrc3A5j_rIyT9kVCDh-jQoMnw7HYcjm4xadVt9cXkDRZHjf_gLby4PfmCmivQhAK7jurXLgn_UtDrpuuS-0IprMWb2pNFrk0XXbkb1aVakun2hbTRDtdib7AelRwPZqZxtU_XYpfSUXuMj0tdcLjl69uoGHSCUO2jUV-7emm5Zh1HFYDizoUJp1aG92kFznIVcDmE7bTufoshzo7HqjKni3zjQG5R7_5UFwRo5CcguGsKkSRWFAwqsyBxjaf3YU_1ccdXFPOxvXOc_LzjZQJjPDoLk3hH18ssanzU0mn2G6m5sw8JX607nMLwH3KYD765W3zTbk_zdiAtRt5IOUhWxU5isSxTGQc9JsjENrbZB7Lry2OR4I_8sytI2o3SBlF3o15dYLg6iMzVDorCgLIuHettMiW99cO--hgVnbFu6AUBLTaqcb9ua55je0Yca1rXcxLUfUYPpCOzSoesUyl_SGwBFR27kyEw1jp7aYdxTsd6XBmUNopDEUj6-4CBIVEzbZtaWJhDuhNbARMIYULSw2cr74crVDWspeSYeo3dhOFsitWyD29zynXSOYF4csx5cT1qQOKL1oUK6xAUKXT_xTpK1ZqOYpUYynDLIUa8-WAJ4fGJMPOpkpsAdKdzmzOg0dmfREtBdXwXWUG5DjeagyE2up7A0wFCH2Ce6xWVYg2ebCgSSwX2qCZxmN6MzyIMBvK9-vVIXd5AO179iLufhYos5nnMUg3o8plPkgGwyyn--qGcdAmORL-K801eUTAEYJ7_SxG9MG7j19qwp7LkbhyufJhCGqKMcKWFbWlG4vHmHXrPhgY0Wnhnoy_W_c2XnNy85jDtge5qwdSloeQHhNTjJLGpHqVScxRA4qL296UJbmJj7ZGHrPau9a-gpjvMqJd3THOKii7cho8VqeWZgV4Fe1O40mMxN77gps6mK5rei5GMC7bvoSIjozN05RHpdNNwSHds4VKNz3ZlUhMnMrUd9vBschPfNvKcO16jbgwbVo5Zz2jRu_Z_5AHOdcsTVpw1ofaqjVxk9xXprrwzSuLjyWPW3dbYpER85LjJdKc9avFkTr1Wtt8s43hXanOo6DmixLIUqrEv6v5dNji4mzhtHfP19cZ4vJ-T2Xj0hO4KhTLLVfV0UGtI0REMBHJWKLhJ4ffkrjtzk1PBVFs9uw_vcGZ0Xv0IoVqv2Qmfk4oCEBXIw0ZoM3nOjR8xM2vkjEzQtyPcPex6DGr0fjY_WbUuQeKLz57hb6WG7wF63e4-uMksG0s3JMx8q0cKpxKy-z8BOyJvWEBZMWBt4F1Qu1lsYCm-lkhlnMsyzF0V0goInqbepxoKPPlFi8PtWBX4lNB8vZi2GETmdcTDdfTu2q28w86y6ycjlXWuDSNNKCXyYYaWByauSfelLdg12xdXcha7aXmE0FpNaWSzXVDWd6rs007ApqP7m6tqO-6-ztB_oCBCf2MclRFp0Yo3BaXzm_WchgfUErjeHsIn1TxnxZDb_Bl4kZhwB_n1CdMhvo3aSzmmTkaWoItqHqsGR867pujde9GTwruLMo9ZivntlhlkiDTPqOimTBm-jwgW53v08aRtxijptHmOZBtvfCMucA6SpIflNp4e4HkCG-8cFqeHPrwGQ8bX9sFAQyeXUJTDO6_1EsJcx0VpJYdhSR9y5U6RXz5wdFoBZhGDtO2Hdg_rVL7uBQUHHQei-RUtQQw5V_rKi-hqLQR7wTaNCEk1Kr88UYR1B735EGoFLGHAeFxB1t07gigs4XDUSO5tSeB3CtkIwt-FZpVafmlkdXCw4wld-IhmtTOpBFeGjql3QOm_EUIVMmzv_TcDnyyRZy5dj36Se0ovl0GyPICLGq4EXDkHEOdxo_tj6eAQ6ug2RvTJZMl0e77nzaEecFQ5Mm9YzFk3s5LT1pUJqN9-fGJJbkPju2Mnxlc7zi1qJ6Wuv2k9DAvYQ-okl-32QsRyqHRcsdN_SzW-i2ZbKLOP_bepmrUqIswujHUfTP0_6dgB38t65Ph4F7F0bFS1T9HK6bTQW8K_r6Z8GWEaVpiBkkFsgwSJ6JEz5AVL1YyByjpA6YLC4qP_3bDa7D7fjzB-o-uSoyNa4mXA5cWa437Ld9RLdnS4oanUyJEfNQjtcUVwRAxUdbPbG-Sw9xWW8ClxjE8VBo42uRXuGyiwOgqGqNwZ9VDvsICSuNaoDz7jo2NL0oRdjSXse9AZv9cYKKc2M993FTnxN3-r8Avv83qaJiCGo6WK8VIgMT3nZAAxgAqXqJ4sKcjq1ky2f4NJV4L7Y=",
  "id": "rs_039282a7cbc4a18e016ab452bda91c87d0b16ddf9a2a45412b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.2,\"left_z\":0.055},\"note\":\"The first tan plush is now resting inside the left basket. Two tan plush animals remain in the front cluster; I am moving the open left gripper directly around the clearly visible left-front one for the next pickup.\"}",
  "call_id": "call_FIKqNZaZUIgZJ79ToRLsLjdU",
  "id": "fc_039282a7cbc4a18e016ab452c21c0c87d08c98f7b5e45323cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FIKqNZaZUIgZJ79ToRLsLjdU",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "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]: [-0.7845, 1.8309, 1.0794, -0.4244, -0.6243, -0.7265, 0.9967, -0.0147, 0.8139, 0.6067, -0.3927, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3514 left_y=-0.1998 left_z=0.0468 left_yaw=0.1534 left_pitch=-0.2931 left_roll=0.1659 left_gripper=0.9967 right_x=0.2947 right_y=0.0026 right_z=0.1731 right_yaw=0.0015 right_pitch=-0.029 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -10.7009, 5.9145, 1.1111, -0.5153, -0.0904, 0.1245, -0.3761, -1.6479, 7.0769, 1.7363, -0.0171, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:554aaebfee477d89dd7b4959778de3406c2735ba423d8a636cf4b3b5df81dff6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b12a66873b554d4a029da52bb04271dc871e4fe609a5191783d9856b57bcb0f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cee71446fcc2a3e66f08d9448bdbc6b50b79e5870c4a57dc019b4947f677c370",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 2.06 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5461, 2.0109, 1.7275, -0.667, -0.5446, -0.4473, 0.1347, -0.0147, 0.8051, 0.6067, -0.3927, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4878 left_y=-0.1852 left_z=0.1601 left_yaw=0.1444 left_pitch=-0.2131 left_roll=0.1444 left_gripper=0.1347 right_x=0.2941 right_y=0.0026 right_z=0.1755 right_yaw=0.0015 right_pitch=-0.0202 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -15.7197, 9.9214, 1.3065, -0.4518, 0.2613, 0.6911, -0.3487, -1.3197, 7.0085, 1.6972, -0.0269, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3546, 2.1525, 2.0987, -0.8673, -0.4255, -0.3332, 0.9954, -0.0147, 0.8082, 0.6067, -0.3927, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5449 left_y=-0.1201 left_z=0.1955 left_yaw=0.1803 left_pitch=-0.2533 left_roll=0.1284 left_gripper=0.9954 right_x=0.2943 right_y=0.0026 right_z=0.1747 right_yaw=0.0013 right_pitch=-0.0233 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -13.4496, 6.7897, 1.5214, -0.3199, -0.0024, -0.0708, -0.3761, -1.1692, 7.0222, 1.7167, -0.0562, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7845, 1.8309, 1.0794, -0.4244, -0.6243, -0.7265, 0.9967, -0.0147, 0.8139, 0.6067, -0.3927, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3514 left_y=-0.1998 left_z=0.0468 left_yaw=0.1534 left_pitch=-0.2931 left_roll=0.1659 left_gripper=0.9967 right_x=0.2947 right_y=0.0026 right_z=0.1731 right_yaw=0.0015 right_pitch=-0.029 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -10.7009, 5.9145, 1.1111, -0.5153, -0.0904, 0.1245, -0.3761, -1.6479, 7.0769, 1.7363, -0.0171, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:554aaebfee477d89dd7b4959778de3406c2735ba423d8a636cf4b3b5df81dff6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b12a66873b554d4a029da52bb04271dc871e4fe609a5191783d9856b57bcb0f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cee71446fcc2a3e66f08d9448bdbc6b50b79e5870c4a57dc019b4947f677c370",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFLL7NwLsMAMCcIvttvyOQr2C8Lcf9_lvX_fHvS_7pPmrijpRLSnuPbs8B19pQrKc_dGFsv4Iw17J9BQOtjhuEHFwUh3AZanUcCkIS4jkRtfnPen6wNq1-hR7drBcEavlZFUZePyI-WNNZywvFGua-HovFeFS9ELWYg933_xU9yajb2hTY1KDH3I9zf1t2PP78DdICLps0BidP-1zB41QK-OgakWmPoyMhzaXLtKP9mzXJJTjyFiJW5VufryGnD7y-Lj8m34HvZ2bndygkAE_539L5o9KMFl1y-fwJ-h0G69EDu3jbFcCjXg6IYZJ0FiSa7J8pAi7qzNnNSWNBVmMUSIEPGDg84CwWZIDbyujwxChB0j_EAicFCJjGP5LE27kgUQMSQW2Lr01EoP-KpkQd_YjscLlxAJuo-D-TWKzH5W4J6ecvWKne2XnaFWpAZ3HbUJXn8u3aShs2AAsEL8jBTbOlxL-bAVeVv0LvS7iEnyW_DAoHRlJi9DbV6xxpwvrUxFJgqSb4RzOdL67cJzQkRuyefLjfuqlBx8XbnStosAx4xgEKnGjXDbOaCKeUeYnu464sAaXVlDNKP4ocLZ2NBSUAjT6YELFNZoy7vNGW7vw2tGm9g1TCnESf07PARSJiJ8i8lCCVNvCN_A52olYATf6FsKAKRpCClui9xOcMeZZzWAZiD1fSn6rBivVB0tMJanIV8MBSpG8tEdKsxaC70nOjAui2v1BUkbcFYrxRHUrCzA1UXllN5HMbSiZw5ysvxc3k46Qr-K1rwQ3aC8_uZLZEo_ejP2MJ0P_3M6RpXUwU4fH7w56okndjgYJe-afzbs1mTaNwM75dMU8N-_bqoqG-veH6YEI3VhsyEciLGuK006jFxHT2t446bvNamKUCtlTCjcPcPOe-PkacW8MJKzN_bMd9ftf0FBXgswAkX5eMTjAJ-H8N22nBeetgng1Qf6godlQfriYfLKutHe4Xw2Zr_p8XXsJGEUd61lW8mMUfI2qf8pfuK47tNMc6JMEq3noHU5t1ibx6_s7lV911fxBcIIWz2Z9Fg0GT2wQXkFuhNX2Xas1nJ1kjT0H3V4f4A03WrLvsg3J51Z0_Wy5_Jp1tjoK4e1_JYIdGNqia1sWen8dtVnR4aaC7w3Ee6wibxUwVC3Ryl9SyYxRGY3-XoKC5HfxpL9vrxPIWnk9kC1yV77J_ADhA9XPzvN-xgndbr1ChZAsZhY4wVhB52fVlbUWy7OJQeU6fde7_uJ-P4-SkxCSjFRIpwwjdCVpqo4mY3Z4b86rEZ-9aHRkTQTSpBxybG0L5bTpQCnpiks9AeDikNaF-7JwY-GHpDTXiZdZVMuiVklDsC4syReBm9HruH91VhnylMgiMMBbqdSav8iVDtmDNXj6rVMLfxsvHd6U2r6XFlQ7vauT5nVuK95Yixjh-lztAPQA3oA9o_GfIIc0TZ7l4OGqkG8kFBmpWRl-8goAnXD4ZZNtHxSspYQcSYW9nI2v5m7PrvhVFVktegZFJ6RfPHEdw7wyhIWN-qN6flvfFpb7keLyqNbZXXgwE_ouDjz1VkZF3RVj9Npy6DRCzBbaLntnL5RyLUX3iv_wd5xvnIvX6WsxrPcX_OkuTKaINA8EJBuPa6srh8iAJ7ValcyFnYiJpngRjt6o9IHdhs9uDVc4qK_vp9YeysFyV20xny3An7rcsyf71UoHACyo19NFrXpBaENrwKxpzhusWaF5NtJO-JgMI7vnAwajHouzdFf4cvMHrR01iEqv2Counm3YRFqDMOMoFBQv4qbubEKEJA84yxaiLaHFuIvk34X040VQDrb4wMqimTgPbb-i2P_nNte2h_2x82f7heD1PzUiLtpFJGU3tsew_NX_LE-cidivRJoKZGWMPESqBqE306GnOjtNHRG68O4CIHW66zPA_6SuJqMl1RmV3j8bZiA36GpQJI4jhon9QESnADBsByUE97PFlR6f6O3k1ltB57yTot-uw14nSJReVm5GzqMbBIQ8hr6Y7-_lzS7sk6zkaJ6SgJyOh5EaEqTmU76bMeuxV0UYK89ltEjqONA_0CYCJgUkV0UZWsfCi0j8IogcgME8TY6BNilL4lyAefvarb9UnYDkmmz1aY9YaSxv-CKej3RIID97rlM29BNUvj7lVkp13nANKQeg5c4fpLdSS-rBY9MoLXt224cw2B-RyMA3CSmzOf0nzschtpEeiejeoApBHywOlXcKKmohBdgmI-Oh6qKnRdGUAikYNNnJaVkxwxDc9Kxu1tEd-aqpPkEhIriryroUBdHgFk_RxsWjvN5hZz2MSLdXxBvgcfnss9JuOQCbqMDU2hfcPMslifzV1OqyOUWhIaf2UBP5NIRUBe8vHP--A4PYzawPzQXrhG3J9yeTFw2RNYepr0bfhdvlVBto54AVHJpZRhF8IITUyrUQUIBZ--inXzfiuitVuU1sjS8FGEa_8AKZcfsO51S4cyUjIYxHFKmMG67tpiUxhkAUzHGkBBNLyANUdYkl-oRqfWie1XIQEEQ5-8oN7Cqugt-Ivx9b2iyQeGnZnGJ8jLdoayfA6cD1RVCjQD7JRa8C3NhY7eAil7uPA0IQaieZBGn4_w-ATH8AaCcQWeT-JbHWuhHsIDz3xbDy_5p6gfUfa7z4W3rpM4_voY3tKKdNypFEXoCWjT_osyfrBqC1jK5UQ9yTOZP8kzvPik1u5MfVpFI4ruVFeR5qet1rIRdsYFQCe_QYgBCYWkqNoHd1_tk9u9lHxdcL0UrPyIiansKR28IaTspNe2cT_sIVYO4MFuHJ_sQKbHrphIhFrmrLPbvS9YzyYoSlPk73C7mD3tNTQ3U8P6AGMdgJliCUP4FJ80-6U28iqEOC16iFjvw_8LjfKAVNqM2Y-SAwB9iTM5rgxrRh18EqFlYsM7HIEBONsPKQx-3ZrMC-TDs0HRErpRJ7ion7YDSIY3DcZRIqaYhI28WD5n1H61MK5EMqcjqr-HTIRPwg2CEA3dVTeKTpdj0jOFMzzhp2o_1KUIOZI0AK0U2n2KYjmPRYRxSzkBb1H-L94Cjzj4P0M9wE4vzehV_JEvhtfltLeQHWqtR5IvAtrHQvoayn5YQdjpwu1tg8-0YkzBgw1qob_5R4yp73oShhrqtrkkomI9V8AzszIvsF7i2noo5HSzUXV0pG-dQsfOpbTzh5VfMROly5a-OLNnPRXjCHNtRM9HR99MU0ljfb3MdiFXP4bUpJvMoCwi3ZmN8NDXgy2qf4TRp1BeFq9HwyB3rY983dLEoVYY3IAVTNzSPgNxSzOC9CNGr8fvZS_ON59I9-2pGvUDpuVBNj97Jwc7MzcfueyV_l8VjwMNcApdvP1xu6mAQ45IAtnDBkm-QCjZYL3JyRIb1pnsRq8NM6JJkxPg0T9FGMBJismA1FzBSLkWa9N-9YcGdnX4shHSjzAJw0dDflBH2Tdq9xvDE1aZpB8ooOQE0zAiqbkS_IVjdoadOhsArO1jaV2N3lPFhFA1uK21nzxu93a-a-G8QMI7047nARexhELy28oLAnoIJFdAROATyfcQHAlLJbysWYBBQrrXwnrY7ExF04I8qA8WZNlcqW3Sn8LZNGhJ20GuMRDQVMbv3WwQ-vfmhxC5JxZtZia0lYVcATKJX9GOGJsDImALi9vxpFHOVazvvzKAIKXj2upO-8_h40UpqI2KagbDYoOJowjWHxe2SUTTg7bbI-bWYHsbShw5cpJGkcRMqO05nc8_lW0dU3j3E0vFXbbkw7ubSwK0f5B1769-9Bwqlvvx-Bj9PfWCCz4iydj0Q0Y5ZT7ve8ZHHGhM577M=",
  "id": "rs_039282a7cbc4a18e016ab452c5a35087d08ef93dd84231f9c2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.17,\"left_z\":0.05},\"note\":\"The basket slid and rotated but remains upright; the previous direct low transit swept it, so future transports will retract high before crossing. At this pickup pose the next tan plush is just forward-left of the jaw column, so I am making a small outward and leftward correction before closing.\"}",
  "call_id": "call_ymalA2QHkHPmeSyDgXpcHlMC",
  "id": "fc_039282a7cbc4a18e016ab452caaaa887d090668a575eecb989",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ymalA2QHkHPmeSyDgXpcHlMC",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6781, 1.8305, 1.0645, -0.3767, -0.5877, -0.6651, 0.9968, -0.0143, 0.8165, 0.6067, -0.3935, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3721 left_y=-0.1694 left_z=0.0432 left_yaw=0.1968 left_pitch=-0.3048 left_roll=0.1588 left_gripper=0.9968 right_x=0.2947 right_y=0.0027 right_z=0.1723 right_yaw=0.0019 right_pitch=-0.0324 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-1.3197, -9.6889, 6.1744, 1.0818, -0.2466, 0.1783, 0.0024, -0.0205, -1.0051, 7.0085, 1.6972, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3ab8c251996de26cbb65e959201cc830d73741a4a8def2469de18c155324eb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cf3ad90fd3bf18f5db65a6f336d4f69d2e31ad50d309daccba1a8e29caac5ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cedd5630a75fd65be96cce672cbf23c7be98bbcb6ad84d211acca9d94bf20e1b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 4.101 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3565, 2.1387, 2.1017, -0.8509, -0.4374, -0.3279, 0.1354, -0.0147, 0.8078, 0.6067, -0.3935, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5468 left_y=-0.12 left_z=0.2071 left_yaw=0.1807 left_pitch=-0.2204 left_roll=0.1231 left_gripper=0.1354 right_x=0.2942 right_y=0.0026 right_z=0.1747 right_yaw=0.0015 right_pitch=-0.0236 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -11.7675, 8.5402, 1.1111, -0.1587, 0.2515, 0.3541, -0.0889, -1.5385, 7.0085, 1.6777, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7845, 1.8309, 1.0794, -0.4244, -0.6243, -0.7265, 0.9967, -0.0147, 0.8139, 0.6067, -0.3927, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3514 left_y=-0.1998 left_z=0.0468 left_yaw=0.1534 left_pitch=-0.2931 left_roll=0.1659 left_gripper=0.9967 right_x=0.2947 right_y=0.0026 right_z=0.1731 right_yaw=0.0015 right_pitch=-0.029 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -10.7009, 5.9145, 1.1111, -0.5153, -0.0904, 0.1245, -0.3761, -1.6479, 7.0769, 1.7363, -0.0171, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6781, 1.8305, 1.0645, -0.3767, -0.5877, -0.6651, 0.9968, -0.0143, 0.8165, 0.6067, -0.3935, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3721 left_y=-0.1694 left_z=0.0432 left_yaw=0.1968 left_pitch=-0.3048 left_roll=0.1588 left_gripper=0.9968 right_x=0.2947 right_y=0.0027 right_z=0.1723 right_yaw=0.0019 right_pitch=-0.0324 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-1.3197, -9.6889, 6.1744, 1.0818, -0.2466, 0.1783, 0.0024, -0.0205, -1.0051, 7.0085, 1.6972, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3ab8c251996de26cbb65e959201cc830d73741a4a8def2469de18c155324eb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cf3ad90fd3bf18f5db65a6f336d4f69d2e31ad50d309daccba1a8e29caac5ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cedd5630a75fd65be96cce672cbf23c7be98bbcb6ad84d211acca9d94bf20e1b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFLN-sPkmLcKV3BUANv3G220TB7YoOdnOCpmn8jB0Rz2dHtvLPuufQTZbYlPHnKxJ4g3PmwjxDJMDT2HKJhLoHCrzv0WwBQOQeHx0EgPdE3iqd_UnatmQBEDSPZIQ6zllqzB-VVXQZevKMyQAme-Px7IQ_Foc_qNZ01tk8sJQ21U39l0tDifP9Fmy4gCuGvAsvql-wNe1yY9CzL6dkgeDKocuK9mUJAvfy9tSLLpKOOWquTi563dGbU1toubSgmTJjACj5M4JzNfwWaan_1D2THzxZ8i6-OmqPgFLyNfCuQculUe19eaVb04J2fXJVq1zkIp7bz9ijzxbHS8TsYsm4Cr8DvBN5obbEh4P7z38lM00YwE8rT5cc1nhM767AGGKS0dXJqCTlElbkNp4XFJrv4l60cZvHWWxaayZEOpfYK7hwsEYRUTsEyc-2_37SVuDb2UQJcZxW94LskHoyGjgKOu4r5krUFfAAKaTIq1jh7lp2L3edRxTkjawpfwPPmV1Ql87bZLQf3pvcJ65q0xpCeyffHQOnzW3rCZ5fosS2frYK1ddGblu1Cl48bU6kbkpwJMQ67fwia6H9BSNJsGTcK7N7JWax_xBoLNEfYzyFWFhok6ElcNGG_6PjZGkY21va7eZgaP_nU-4BNe0Ox8lMcOJTGmoN2msav8qqdR_TzNJP5_lsdVrF-K8WywEGKOHNiUmCUdSPu5NCtrqoH071-4pSkxR2YhGIcCxfilDbN9ZKIxlKSih89OXRRm23ZgdRpC1c-l031fl8wwaAOSfZ5SXYJJ2AzuFDKlPkIiPzaSc5RJz5Q_2Jzm9fe7X9PmJ773Sv2tFr1pdYeBRI_e1ivsKKWkPF-GxqwqIMg2mSudMnPnKLghWbE7NErXWOCmsGt4-TRnAgOk5aqUledbzKTCxsE-5bUug8ebBvxAF6DFEajHw3tyVx-oqQUPY2AEmOjRPdVZDzzBXYTd_cKK8jLlyq2qARD7xvhI5fAFdev2yy0cXalg__U4hOIa64q5QBISimpLkyv4wAbtp2LRkX1mAnYPlYyEMyJw554sl-84NdQTsLyd-RfINGFvQov8AsbMXpqg8UJT_QxU6cjmHLEfXHe8XlvnbkgImBvOgb_YsYp8EpdzgfaLux46Wv8TH4JHfxn7tHqvxDfn744Us1IeEFYOZodr3Iz9AdeMVls1i5FLHxmYuHl-wo-P_ZzNBJLQFs3FAZwjAMjBSCZiB5YltVKwHu8Qj_325kYnx3-l2Ztdq_rv8E8hh-zgYpI6fByw7pb08ezc07ZTj4c0brt0WQ==",
  "id": "rs_039282a7cbc4a18e016ab452cd069087d0acfb0ef4a3f38f09",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The corrected wrist view places the plush body between the two fingertips at table level. I am closing the left gripper to pick it up.\"}",
  "call_id": "call_ABB1vv8kI9mloUxI8ZdrAlF1",
  "id": "fc_039282a7cbc4a18e016ab452cd499087d09801fbacd753e656",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ABB1vv8kI9mloUxI8ZdrAlF1",
  "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]: [-0.6773, 1.8309, 1.0645, -0.3763, -0.5762, -0.6662, 0.0098, -0.0147, 0.8165, 0.6067, -0.3931, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3716 left_y=-0.1707 left_z=0.0421 left_yaw=0.1913 left_pitch=-0.3126 left_roll=0.151 left_gripper=0.0098 right_x=0.2948 right_y=0.0026 right_z=0.1723 right_yaw=0.0015 right_pitch=-0.032 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -8.8274, 5.7915, 1.0183, -0.3639, -0.022, 0.7839, -0.0479, -1.4017, 7.0222, 1.6777, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:220655077a93d8eb2380e07bb468bb67ae5d7734e8441691fd29b756d1343e70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88111ea2ec506a73680762a4d43d7db18bba8b83544ef04b6c0e36096b574489",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99d615cd621ccb76a752128523902d291c78aab119be28778c7bd727f1275369",
      "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 · 1.972 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3546, 2.1525, 2.0987, -0.8673, -0.4255, -0.3332, 0.9954, -0.0147, 0.8082, 0.6067, -0.3927, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5449 left_y=-0.1201 left_z=0.1955 left_yaw=0.1803 left_pitch=-0.2533 left_roll=0.1284 left_gripper=0.9954 right_x=0.2943 right_y=0.0026 right_z=0.1747 right_yaw=0.0013 right_pitch=-0.0233 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -13.4496, 6.7897, 1.5214, -0.3199, -0.0024, -0.0708, -0.3761, -1.1692, 7.0222, 1.7167, -0.0562, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6781, 1.8305, 1.0645, -0.3767, -0.5877, -0.6651, 0.9968, -0.0143, 0.8165, 0.6067, -0.3935, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3721 left_y=-0.1694 left_z=0.0432 left_yaw=0.1968 left_pitch=-0.3048 left_roll=0.1588 left_gripper=0.9968 right_x=0.2947 right_y=0.0027 right_z=0.1723 right_yaw=0.0019 right_pitch=-0.0324 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-1.3197, -9.6889, 6.1744, 1.0818, -0.2466, 0.1783, 0.0024, -0.0205, -1.0051, 7.0085, 1.6972, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6773, 1.8309, 1.0645, -0.3763, -0.5762, -0.6662, 0.0098, -0.0147, 0.8165, 0.6067, -0.3931, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3716 left_y=-0.1707 left_z=0.0421 left_yaw=0.1913 left_pitch=-0.3126 left_roll=0.151 left_gripper=0.0098 right_x=0.2948 right_y=0.0026 right_z=0.1723 right_yaw=0.0015 right_pitch=-0.032 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -8.8274, 5.7915, 1.0183, -0.3639, -0.022, 0.7839, -0.0479, -1.4017, 7.0222, 1.6777, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:220655077a93d8eb2380e07bb468bb67ae5d7734e8441691fd29b756d1343e70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88111ea2ec506a73680762a4d43d7db18bba8b83544ef04b6c0e36096b574489",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99d615cd621ccb76a752128523902d291c78aab119be28778c7bd727f1275369",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFLS-yEWuSwinx-FP8Hmshy6hkH2k0ksEEKV9I0g13DPXXiYUF3vlTd1OLy1gNgq_pK-hnOuhhR8okEKnuqAWPgHiMt03xs2AI_SVJ8ixZUY2YXSoN03QMso1mhE-LqSU5gbhebq0vhpw77y59T45OPOeLvfM6mL-hG9j4cfLbY5OOVFxT0SjL3pFMgcMpFFMVuaV2654SgsbmvRMduVeNEqQPjBSy14-Hj6F1GhIqnEee83zKsNQEFpJfZyZ9sbFL-30vB505e7tnFcKmqBHc0M2Pd4WYfuJ2uUCpvgtBWDnSxqWemTqJ7i5aQQePqMgOm2VZaLZY6FhtDbrHPAK1VQwx1dEetLtD9gaMEX1tsCR665vAjk7QrxJfWKLdL9ytvcSJ5XimyFU0K93S4g3pW33vXof_XoHO4XHaQ9Uwe-VHtOGkJiwaUKEWMw1Ggyg5xpeXqrOehRUiDuWA8wLmgrNMHMpmLGXxNZucSW9eQnxVGiQbIAqk4KRASb0Z4nfY9ViPv1MbAafs1vxzWKgXsRxj-xN20nf50hZszSWg2fsdIWY4kIYVGlLtd0Fhc5vyor5J4t8sfi1i5dyovRZ-ad4xDHY9wDcRQiFdF8TEBaQh6eq29LyOsu-EwO-_bqziSVN3G9ycbH95-PIk0jrPcW4-3Kbp3QuCNSyVA1nRWYErBIzFNfeX6VkPqk9vJB7YPu8dT9R2TWoWLMiYZWYVCrXgKYaHazpOawLJZi-NtRHyMMSY_g7e4RzhLyi4sihxFgx8_6pfRr3awflVV7zgHjWBD_ANuqgFXP8O0IW0eJxkoqh-wHH6iMrcErSrS-fBfPn5fi9kfCrT-vtr7M0hQGB2KeQhUSdERUYkGb_UaqQFuEGy65qi3BMxzNe62K69_OPPddCi9hSzEYBBaB9m_BVO779v4RJaCaj51u4XietKRucgzfpPWuOoQ9ODbNIda1-Dyj7cpGPCecidIwPkPjhjdO9XmeJvNpHP4-dCMPi2efzStPZCVwJ4sv3HMQ5PNJmjoAsmMQp3gr8DFqA8dl9Rb3OYTgHR6kurzhXUhKYe9PM-RrgBP_vlF2Shvn1pU_Rz05avcJjOUuagoa0Y6qs8bDwIm8FPPiYu7ilABnL6XBXrHIBOJCEy_curLu1klpSVv_xbTc7c7YpiSldR5hP9Zejs1Oau_eoCDHH0A1zKipl3b5Xp0CupSze6PNIrfQIERhArEqGgn-r8im8jdKg_1zG1fUW3Rwz-XLPlE495oT6uDT_b43HOMemztNZLSoTpa-gJppWLwcPWLm5bX8r0wvYq9h_0qD_vCHGWLzD3CCmBabNNPw51A9TJMIFOd_C8sGDNORdqGsMWY_FinGaLnvwi1f_Av3Jre9VdpvauxCxo2ti0o8py79if8ZJSz9kQXgQQNceCXqRvG5_hZXfkUubdP4yEWlnC0u4NHF12QZHaMUXEJvLEPO58YnaIPERW3bVcrDI0vNfenaNlXP75IJ4vdpS8VmmsQJBjsSDGhIP5SK-iomylGdbiRfOHqpvb-gSj1nvTfaWrBtVgDbvAjYTw_yjLLQDBQpSEI9Wz3pwDi7T6XyxaOEnd-RFIzKr2X92f6vytvVWe2Mwp3sJbCQMroT4ctoY_1-OUt2aJ_1aEBWVFr89mVN3GpTIhagli8hpyc12u8opPadlPEo3JGlPPXzKBVjeZLCx5tJNyg17FQY5tl64y9aIyLT-h3cecp6ju7Jk-SGcnr47v5pxOUA3-k8Je-9bmtkR-pd0za7a1I3jcG2wXMi6IRtze9jEVrlJ020gOKTFUqNxaQVKDJzf560wB7Km7iFzDa-9ZnuFC9Vv4qm15odOOOkuu5zD0dcGse-9R7mGH-HCCdhuN_q-FQQhHon848FFjBgDJpdu7reXmQqiV9ngQrD3BmS1uKVQ_cbL6XQiwgbB9yL8crPiTIWGTxJ2470Ca5QoHYmG7GnxbF4dLBSzPGizoKsATDA6q2fnMCMFYT4asZgK2pQ6T6CmLR-YQXp7lgZ-F8uVa-_etP0r8ogA8KE62HGlWWNGZS_tEFIbLxws73KZrKyBwNdf5Pts3o1wVUi0Yfjo3h-3NV9-GKl6o3_kahcSPCD6lTGKUhgkJFvHa3D9jfJjKVlgeddh6wNB29u5trrGeYM9yVjlWlNWPeDYOpIqsyweopABqlrkBoz6oedfItatxze2q7UPBEz8ClA-rp7mNuwxHdOGFzBs5nS7uPD",
  "id": "rs_039282a7cbc4a18e016ab452cfd44c87d08835623cea93a1ee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.15,\"left_z\":0.04,\"left_gripper\":1.0},\"note\":\"The gripper closed to 0.01, so that attempt was empty; the wrist image shows the plush still fully visible just short of the fingertips. I am reopening and advancing about 3 cm outward with a slight left correction, following the calibrated wrist-camera offset.\"}",
  "call_id": "call_EXEeUokLaOH1ZFpFRiWTiXRr",
  "id": "fc_039282a7cbc4a18e016ab452d2166487d0bbf064adb7668863",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EXEeUokLaOH1ZFpFRiWTiXRr",
  "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]: [-0.5777, 1.8599, 1.0817, -0.3344, -0.5293, -0.5812, 0.9952, -0.0147, 0.8185, 0.6067, -0.3931, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3944 left_y=-0.1463 left_z=0.0363 left_yaw=0.2063 left_pitch=-0.3308 left_roll=0.1542 left_gripper=0.9952 right_x=0.2949 right_y=0.0025 right_z=0.1718 right_yaw=0.0012 right_pitch=-0.0339 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -7.6376, 8.4444, 1.1355, -0.2906, 0.1832, -0.0757, -0.3214, -1.5248, 7.0359, 1.6777, -0.022, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e885ca4a61b3004bac2e9c0f2c1a0f77b55ed37e30cf2c27804199e4693a94a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9f2d7ebbee3d9e4cc2f1e702c855acee79f56d7ababfdd396c8b84f4d2d959b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00de7483b6447a6472afb155f0bb0a10e1d66123c8b11bbff29c63c32eb83891",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 4.54 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7845, 1.8309, 1.0794, -0.4244, -0.6243, -0.7265, 0.9967, -0.0147, 0.8139, 0.6067, -0.3927, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3514 left_y=-0.1998 left_z=0.0468 left_yaw=0.1534 left_pitch=-0.2931 left_roll=0.1659 left_gripper=0.9967 right_x=0.2947 right_y=0.0026 right_z=0.1731 right_yaw=0.0015 right_pitch=-0.029 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -10.7009, 5.9145, 1.1111, -0.5153, -0.0904, 0.1245, -0.3761, -1.6479, 7.0769, 1.7363, -0.0171, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6773, 1.8309, 1.0645, -0.3763, -0.5762, -0.6662, 0.0098, -0.0147, 0.8165, 0.6067, -0.3931, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3716 left_y=-0.1707 left_z=0.0421 left_yaw=0.1913 left_pitch=-0.3126 left_roll=0.151 left_gripper=0.0098 right_x=0.2948 right_y=0.0026 right_z=0.1723 right_yaw=0.0015 right_pitch=-0.032 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -8.8274, 5.7915, 1.0183, -0.3639, -0.022, 0.7839, -0.0479, -1.4017, 7.0222, 1.6777, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5777, 1.8599, 1.0817, -0.3344, -0.5293, -0.5812, 0.9952, -0.0147, 0.8185, 0.6067, -0.3931, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3944 left_y=-0.1463 left_z=0.0363 left_yaw=0.2063 left_pitch=-0.3308 left_roll=0.1542 left_gripper=0.9952 right_x=0.2949 right_y=0.0025 right_z=0.1718 right_yaw=0.0012 right_pitch=-0.0339 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -7.6376, 8.4444, 1.1355, -0.2906, 0.1832, -0.0757, -0.3214, -1.5248, 7.0359, 1.6777, -0.022, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e885ca4a61b3004bac2e9c0f2c1a0f77b55ed37e30cf2c27804199e4693a94a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9f2d7ebbee3d9e4cc2f1e702c855acee79f56d7ababfdd396c8b84f4d2d959b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00de7483b6447a6472afb155f0bb0a10e1d66123c8b11bbff29c63c32eb83891",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFLViw0YqoJXGECBtviwIHa9ubvsJJokYE10lW-nvmTvCJuYayYn_bG7C0eBcXA_rpgdYcEelYKfzHzh0i7EeYESKCwotMgUK9ysLAmPzVj0q--lymq8c4nhekn3svmmWLtcGog_KnSRRdntUdazzLvuIHl1E5cVODpYBzZuM6_C-C5uVRJXuQCaPVJoI7vTb74vFFjUFQWTIhQKK3Pl2lI8X1HTIbZmQAbt1ALrZQkgZH85Kb8EXrl9rdMSTzRMX33wD4gyCj2rtHzBWSps-ufw2mYlZJWa940VuuAu08qPurURYnxO9R1bFn3iwcRTk42nj3lGOTMkmlue4h77Tq5d79tIcnMmxXpKa7PV9BX8D6iIu3E4V8hhckj0fa1bIvDHb-41XoFhyiUj1SdAtfJFq_1MDmNHAb2fgqpNnUe3Q6-MpV-6OLHBRL0ZQ2PeEjjvKRZlQk8XroJ36NvSuoruIreobzxe_EzpZW-CgBl22vTi5QT-1pfN6j-mLB2_hU7ws2QUf808B_HXjRgljEroRQZVYfNVQ5-3fkaSJgfFSFjmDup-5lGgIfgP60sSC8zfTe71hdQCgOu-qp33GFmFWuquTJ4n9pct_XAkT3p8Lf0TBs8GvfBaaj4GWCNV3_4shOUba65eA1nCcJ_LSrL9xQxciD_q1TWMMfILOd1FHHeLyrANKftz_6uXecUbu-A_t3XZaOInjA4jQf0plrSHYtqICXBajUWG2-zlU5vwb7Nxo_mpNxjRayeLN6vIQz2fzC2HYD8TgJO1fU4r66x2oxyAYHDq0_TVYyC6oqrksOk8MicPpLw2aGMkpRXHtbQplwqZyeaQg7kqOLG8E5yIZAJEGj2r7E0Oya9qEecxDMb-5kV6r45CN3n42S1Vim_4zRR30aBrCl4fdeH4p1k38XhRYSmje9rQ8ugnPwoF7pZCH3M2W4DyUcAF6Q2ptj-AfaJuwJXb1KEfGv2RSmCB_1gTTBVAwCDSp78zy4u8rx7csxWxNp0zgrSkGV2SQBhsXm7YsucI0LWMe3bnjyEJB_HLHAJR33Kp_8tjmghnACy4tHlDIWvShi1cf05pi4ck7jiTotzDcm86_36Zb436V9Yx4BHzyLZ4JJb9c3zWNJSXlXno346vIwc13bhVaBMdM5TQnv-alOxF3-JTE3n5kmuqrMolMJwYRlncr2FkPpfsKsmDGnerPfY3e0rRkHD5XqrHcu4xECtqMTYGpkIM68K-yTqNP1S6pxg28DE-Gbo=",
  "id": "rs_039282a7cbc4a18e016ab452d50bfc87d0a1aa9cb1b52e201c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"After advancing, the plush fills the grasp zone and its body lies across the jaw line rather than stopping short. I am closing again for the corrected grasp.\"}",
  "call_id": "call_mpEOVnpKCa2GmIw2Hl3chCqR",
  "id": "fc_039282a7cbc4a18e016ab452d52d2087d082b506bfba5ac086",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mpEOVnpKCa2GmIw2Hl3chCqR",
  "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]: [-0.5743, 1.8599, 1.0843, -0.3279, -0.5232, -0.5831, 0.0209, -0.0147, 0.8185, 0.6067, -0.3931, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3964 left_y=-0.1471 left_z=0.0373 left_yaw=0.2046 left_pitch=-0.328 left_roll=0.142 left_gripper=0.0209 right_x=0.2949 right_y=0.0026 right_z=0.1718 right_yaw=0.0015 right_pitch=-0.0339 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -8.9641, 5.5726, 1.0037, -0.3053, -0.022, 0.8962, -0.3761, -1.3744, 7.0496, 1.7021, -0.0415, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:505b3b7fa02f230f1c51fc8eb15db9a013e2d526e8b04e2b4431d89d8c1af95b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74695b2747fe90e8297e189590d6058f4a6ba465820c4d58cd3110654e94bdea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26a17209bae3f27c116837925e273193738b7f78caf3e6ac6188c5030cd3e83e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 2.999 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6781, 1.8305, 1.0645, -0.3767, -0.5877, -0.6651, 0.9968, -0.0143, 0.8165, 0.6067, -0.3935, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3721 left_y=-0.1694 left_z=0.0432 left_yaw=0.1968 left_pitch=-0.3048 left_roll=0.1588 left_gripper=0.9968 right_x=0.2947 right_y=0.0027 right_z=0.1723 right_yaw=0.0019 right_pitch=-0.0324 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-1.3197, -9.6889, 6.1744, 1.0818, -0.2466, 0.1783, 0.0024, -0.0205, -1.0051, 7.0085, 1.6972, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5777, 1.8599, 1.0817, -0.3344, -0.5293, -0.5812, 0.9952, -0.0147, 0.8185, 0.6067, -0.3931, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3944 left_y=-0.1463 left_z=0.0363 left_yaw=0.2063 left_pitch=-0.3308 left_roll=0.1542 left_gripper=0.9952 right_x=0.2949 right_y=0.0025 right_z=0.1718 right_yaw=0.0012 right_pitch=-0.0339 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -7.6376, 8.4444, 1.1355, -0.2906, 0.1832, -0.0757, -0.3214, -1.5248, 7.0359, 1.6777, -0.022, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5743, 1.8599, 1.0843, -0.3279, -0.5232, -0.5831, 0.0209, -0.0147, 0.8185, 0.6067, -0.3931, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3964 left_y=-0.1471 left_z=0.0373 left_yaw=0.2046 left_pitch=-0.328 left_roll=0.142 left_gripper=0.0209 right_x=0.2949 right_y=0.0026 right_z=0.1718 right_yaw=0.0015 right_pitch=-0.0339 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -8.9641, 5.5726, 1.0037, -0.3053, -0.022, 0.8962, -0.3761, -1.3744, 7.0496, 1.7021, -0.0415, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:505b3b7fa02f230f1c51fc8eb15db9a013e2d526e8b04e2b4431d89d8c1af95b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74695b2747fe90e8297e189590d6058f4a6ba465820c4d58cd3110654e94bdea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26a17209bae3f27c116837925e273193738b7f78caf3e6ac6188c5030cd3e83e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFLbjE1zQ0UOrzIpas02zqV7TUF8jx3uzxv495_to7H0xH6r-s4Dl4YWgz3afsCdkEngWf_qtnTmnDYbtE5pP-HGxRKlaHu2tjg32NVZ_PpRCHSDh0h0dOlcUiO0V5ptVS-3Jyhp2m-3131XB7H0OqLbOEvdc_hH2ea37_n43xLi_aP_109lBdtrju8eTYMrtKokC-EahkiooFye97nG8zDQfpmRhJTH6ZDmIbcOPBotfKJHXT8Xfg8msfIk1zLFutoIWBdv3OkIWBEGxl-bjTja8mvEj_Wel429hDOfpY0T-_dpwEdeEl34-YgvC0Rbjc9Lo9gtEgXt1G2hX1YGz5z3xV76OTyjytfgKInaxZxHymA9vYeGKlnu7TBh5whUWNkLmZzrD184wIYFlJbSRNPgv1qVTlrDgLsGCexNQmNLZ5ub1nUxz1RHUrzcgCjDYtd3q5hyAhwscXiqid-NN0cFLtpTq10EOb5R5NRvkKZMvLrcpQupLxUT50uIUvsP7NJqgKKbwNKjWYpIpQPW2oYddtSuA-WFeYsGmyyE7phxRChCI32MVIr5RrhxWjJaXe-9cipvSsyfUlav3-ak5h0JJjZ2ABkf2pvbO3Ahfvw6xHBFKpDuxPpG4qj7_jE_iBeFKo-C6vf_tby5J5MSQn7ltSSWItzU30w_H0n_TD1cIZgeI7lWfu1XDL5o2ZVRpVorekZDCRbsPeoRwkNXlvOqow8-tJkibfWpl3_2OZGps9pwvg13Mh4MHlJ4qPAuVlCGgR4lXd4ZVxXn_ErFAVD87REub6BK3vP4MLy5B9R70Y5FX-KaQvr4uE7iLPBHZLLr08KSZG4SVn5g3pHNS7qZ_1VHSS-z5EkndL-103gTnTwkitG3SUb_M9fuIl_pdQoxb-cNG9_huMsk72STA3eCpzM7cECLhvwhSdszHMtITyRz6gBJfteLIfKVUtN3pPPE331Thuy3CZS0xFWV0ypXfhvfiKZXjj_6RSOQ9VLqnkQmkCtDBfBjUqFxc9B1jRjTD9vQP__lEpvc-1876Shk62PzUsEB2ns5WxwXbkvrQBscMlYTbYIzIZoRgBu9iNfMiAcUNIgCdgymP6dcdfjJHOQS2gLIkUiXckzcGlY0QTf1yC0j43bzsrcuYbY_JzGS98abHMNqaBhwqdMtA5D1uu0tNxPG33c0OwHhj8IqO6YfxcCZoBlodRYieNoZ6OHMK3_FOp2zcNZSx6TWMJdkC43GsgHGXyUa13maGY_X6KCJ3RozXdZ_jhCVnTjfwQGUgwou4SUwR6R4vWmV5uM3JDRBqodmCUwmC66XicdocIVLko1ltJXXqj6K7SY7s3KWyPTx4RtYCvNqgDHvbfQnPfIg5OXxl5OM4i-vLAnlqY4slXM-iFTzJju_LTP6t7irvn-6XBDid4kEwF_t16zf1p5ZiSHoNyMQnk-HGPHlveZGhSIYojIknWWwNKryensl6X-p_0J303MIzNXBe8yBiwa_ZLENsnjKaSExAnhX78j6uw4MfNP2F3LiPmkjk6YNISWKH5AHbOmMwDe44hRunaqZZonf7AkQD3Ddb95WE4nEFRG9sq2UTSSNZ36ipMp-HV841LkpZX1_8yPDuOvHA9r3nktCIgZPXyJsMWV5KxJHuxXu_Qd2huqCyEgUyBno46b1saw7Bpn8aHhJT_DJYTdaZx39vxkwfUE2y2PYeVzXlJiDtRZxAmdXtiv-ynQjrxx5YNiLOtB85YWvZOl94qqHL_bSRTH_FFuIW_w_2g7120fXbDk7DgsbEDSjmjRXifdsuA-TXMJyljfVf0BfEiV5_JdQkT5qV6UbG65zIOmJd8Wuvz2jCX77KUrdf2-xZ2OVpGVHYzEmBbp5a3gG_HtkvhnOOqd43u-WOJwQp5snUPZtq5kGceQCwix5YQgdolTK9OXK0shQqhsjLnz-MlPJ4SM2hKtzYHthhlXHtgG5MYWAx0qfIvDk1DTHGfaSepuFAsdJYHU-pZhkxf_O5W3mAIZlBdXnmS1QgFsMtsdl9DJqREo4hHbJDHNLlIUrzzUjtuGRhtnhwp71shE8TuAaaWkJfz0rUSeRLHYmBpkkjCMJ4p5L07oxCg7dyar7vuz539Q4ovQuEBodn9Li41g2k_bGhltrqVsI10e9MLmzdiulEj_Dxlg_28BWM2J2N4uAF5UQLH2-tBAeitRQos0UtlFDdtsiTTVqAm65F9FAK2a3KdEVat3Veh_PWSa8howrFK9X_oFfc8rPgSCdAW8b3b_QkIuTfMRQvQ1gSTEYLABXKpxPACXXKsxdK_ygsTD8TaUrZ-gkFHIt-gRl6Dh9EjZa9YSkb3cmZfYJMmLPJuz2Ck4ncWXrEcfAIXbYNVrT1vPxDE_UQ23eNnoRroSLaN4nIDz1nTfpxpCwR06RZkE9_acGQrV1RoIXPT0ZndQ8RhEhvyP163XzLYymtNU1Zw5BfCVW1OvESTEAX4JCH2aBbmaDKg3ZVO0PEEYuOhCOyQ3HBY49nzixFCm-HHeyuvvb1W2OQQ32eHpleNg=",
  "id": "rs_039282a7cbc4a18e016ab452d8015c87d09cc8fd40a23fd2fb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.145,\"left_z\":0.045,\"left_gripper\":1.0},\"note\":\"The second close also settled below 0.04, confirming the fingertips are still not around the object even though it dominates the camera. I am reopening and advancing one final 3 cm radially while keeping the same lateral alignment, as the wrist camera is looking past the actual grasp point.\"}",
  "call_id": "call_wjVAlM5u22xSevDAb5XiE0w2",
  "id": "fc_039282a7cbc4a18e016ab452da316087d0b516a0f05f0e5d0f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wjVAlM5u22xSevDAb5XiE0w2",
  "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]: [-0.5354, 1.9121, 1.169, -0.3527, -0.4965, -0.5529, 0.9951, -0.0143, 0.8185, 0.6067, -0.3931, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4167 left_y=-0.1452 left_z=0.0389 left_yaw=0.2067 left_pitch=-0.3413 left_roll=0.1381 left_gripper=0.9951 right_x=0.2949 right_y=0.0027 right_z=0.1718 right_yaw=0.0019 right_pitch=-0.0339 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.6222, -8.4855, 8.6769, 1.0232, -0.3053, 0.0855, -0.1392, -0.0479, -1.4017, 7.0496, 1.7021, -0.0269, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2b4f8f85ad9e8b095b191944492a8ae9462c7599c6c11f4773c34893ea13c87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b403f5e26bf090d3e8278bfdd16940c040c24539f38123bb1567a7c5d5f88929",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cb4b4f46cf0f46be13fba06542160f747a3830568a364ac713794c3ccce0506",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 2.788 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6773, 1.8309, 1.0645, -0.3763, -0.5762, -0.6662, 0.0098, -0.0147, 0.8165, 0.6067, -0.3931, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3716 left_y=-0.1707 left_z=0.0421 left_yaw=0.1913 left_pitch=-0.3126 left_roll=0.151 left_gripper=0.0098 right_x=0.2948 right_y=0.0026 right_z=0.1723 right_yaw=0.0015 right_pitch=-0.032 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -8.8274, 5.7915, 1.0183, -0.3639, -0.022, 0.7839, -0.0479, -1.4017, 7.0222, 1.6777, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5743, 1.8599, 1.0843, -0.3279, -0.5232, -0.5831, 0.0209, -0.0147, 0.8185, 0.6067, -0.3931, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3964 left_y=-0.1471 left_z=0.0373 left_yaw=0.2046 left_pitch=-0.328 left_roll=0.142 left_gripper=0.0209 right_x=0.2949 right_y=0.0026 right_z=0.1718 right_yaw=0.0015 right_pitch=-0.0339 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -8.9641, 5.5726, 1.0037, -0.3053, -0.022, 0.8962, -0.3761, -1.3744, 7.0496, 1.7021, -0.0415, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5354, 1.9121, 1.169, -0.3527, -0.4965, -0.5529, 0.9951, -0.0143, 0.8185, 0.6067, -0.3931, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4167 left_y=-0.1452 left_z=0.0389 left_yaw=0.2067 left_pitch=-0.3413 left_roll=0.1381 left_gripper=0.9951 right_x=0.2949 right_y=0.0027 right_z=0.1718 right_yaw=0.0019 right_pitch=-0.0339 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.6222, -8.4855, 8.6769, 1.0232, -0.3053, 0.0855, -0.1392, -0.0479, -1.4017, 7.0496, 1.7021, -0.0269, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2b4f8f85ad9e8b095b191944492a8ae9462c7599c6c11f4773c34893ea13c87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b403f5e26bf090d3e8278bfdd16940c040c24539f38123bb1567a7c5d5f88929",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cb4b4f46cf0f46be13fba06542160f747a3830568a364ac713794c3ccce0506",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFLfQu84kjuQFfNniylyJQeqZS0eagxjKDNEZs4dS2D7HXilq-MOaLv5SG7ShY16k4hcevuxoTi9TvprAsweVYb2INmh48jTRhCN-8ba8RcBXq0Cal5168TL305b0oz4HtiI2OwiphVbw4c5ml2thSGyNF9QbAGD3oR7xs5BvF10-bCxRNjqVPDeDb7c_PGugV08hYj3kOdNmbzne5cusbq5Oqp3gTcVyBrLyGfkbHXr788ejC279c1fRghQh-6C7x3psfEupYwJiT4mplbr2arZ83MfVrh2Jstn3CCi2-5VyHxxT_MOgZ-c2QNRZZRRdKYf37jqYRGvmkRAea5kCZoSxF-ubeFh6aS2V0MhfZWghzOutq0wbCAol9SwQ4oCGgO-da2zp1Ixi-nGgp2FuLrh3tsJn6RwtaPOttpqOk3bNguXMBVzAs7H9EoeRjSRNexuDzEwmNtfuztRLtcKjzbOJqZFT2gKfYZ0DA4Gtw4iwuTS4KGrocqzJDhQPBjCEGJiCs3KGxXfvHrzm-n5nIDLN0P-jvuxVhT-Adh08_xCKHV5HO3VluBPC_BpYNZ8IQ6EMPQPqmUrG704QxBGvB6qAFofwDtdxczW26YRCp0nqTsnE8dCQCEv8-JOayA0h-Jz_Ni2NpAhTFNNmnG9qHSdWvOn_VkQsFbCaxsqj_TirkqUrp0xCi2jFWGY9okoZrpB0UhOq7MOfjUUmKi5rKjX-2cIb51SgUzHXuYfsnZIpBTZMLFJY1ObvtBa9ZmdtYmFRywJGBg50aFtvzN5ME8yxvkhmrb3xwYWV5woFItHqjM2G-L8Pv8WCTcED-IIKbX0__xiYOM2t6KBjfPIwWSw_uCo29KnSPuTXz768WyAY9afNG2aAh2CdrgZ7_tXSDr-bng40lmydd3MLsVGlKUu7g3IP5eybzvYDxfDU-DEFGzQFwdtOE0ALYQ0gIdH_WJ_cxU2vxrUSJwVg4Vp728LbNPg89SGpTzrcNrDNo9lYJD451U4asWhYAWmDoiWFpQkoxZXtzn5ZDape38AILf0z9im3aAAh3xyNuSlr2amDqttj833As1YSW8Ij9FGw4bbaSRtdk_d61tmoiLfkIx20cpWlkTZMu4f3fxxY8Fc89wRwcWZxfWfZzvngdvbWegZL_wPHk3ZwzruZ-cEPDnkH3_4fM64sdXYiLpOkebjqyWVl9f_CYBoBBzpHzFaY9Dk5ZXTAdlTe_v-JQPGFkDYY4wODpeABvaKOAPwmXjKUKss23m3zlu81q6jelqs4Fh6rBr4T-dGf5Uvtp-cSn6IHbBWkFYOVBcklXU3mv6oGUfbCA7kT9H5llPLJDXPETAz4JoOgr5pG0i3N8whv7KUDD2YYLADWkrg6E13C5bZ8imO2ye0B2zF8CCXYcC2Fxn8bBugZLKq1-b08xM3eNvpPyXcbHfiHxFXJ7A2qsvF9Ln2eH8AhbFb4ODO-LEMVM9aHBLImcENuQMrdlyAQmtwxuXSOokTU_NxXHyG7WYUkQ5i2udOJvxwpTc4UOinTdbpZmG1CkZ5Eg2A4VvEmCkGWmKWTvzZOE8y0eAuycw_kveg34OloYkEDHSXtybFoYhm",
  "id": "rs_039282a7cbc4a18e016ab452dd541487d0b77309ed67c0cb3e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.11},\"note\":\"The latest wrist frame reveals the real error: the plush body is now beside the grasp point on image-left while the right fingertip is clear. I am shifting the gripper about 3.5 cm left to centre the body laterally before closing.\"}",
  "call_id": "call_MrqFDy6HwprVtEAw7XwHb725",
  "id": "fc_039282a7cbc4a18e016ab452de2f2c87d0a10a3278d8f198f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MrqFDy6HwprVtEAw7XwHb725",
  "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]: [-0.4583, 1.8961, 1.0969, -0.2993, -0.4641, -0.4942, 0.9967, -0.0147, 0.8185, 0.6067, -0.3927, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.415 left_y=-0.1126 left_z=0.0254 left_yaw=0.2284 left_pitch=-0.3671 left_roll=0.1548 left_gripper=0.9967 right_x=0.2949 right_y=0.0026 right_z=0.1719 right_yaw=0.0015 right_pitch=-0.0336 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -12.4923, 5.094, 1.1111, -0.2369, 0.105, 0.1538, -0.1709, -1.4017, 7.159, 1.7167, -0.0317, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e561616768ec24926327b784a5a5f6ef9c2b5fc2ef373c6a516f57ff59c05d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25c2dd239690d94cd066ff5078c565c4bc262daac456cb4f5c6b426935e5cf43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50e4ce2a36439f5aa2c0518160f78aa2ac9686a60a1e3d36acbe8c8ea5497946",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 3.008 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5777, 1.8599, 1.0817, -0.3344, -0.5293, -0.5812, 0.9952, -0.0147, 0.8185, 0.6067, -0.3931, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3944 left_y=-0.1463 left_z=0.0363 left_yaw=0.2063 left_pitch=-0.3308 left_roll=0.1542 left_gripper=0.9952 right_x=0.2949 right_y=0.0025 right_z=0.1718 right_yaw=0.0012 right_pitch=-0.0339 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -7.6376, 8.4444, 1.1355, -0.2906, 0.1832, -0.0757, -0.3214, -1.5248, 7.0359, 1.6777, -0.022, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5354, 1.9121, 1.169, -0.3527, -0.4965, -0.5529, 0.9951, -0.0143, 0.8185, 0.6067, -0.3931, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4167 left_y=-0.1452 left_z=0.0389 left_yaw=0.2067 left_pitch=-0.3413 left_roll=0.1381 left_gripper=0.9951 right_x=0.2949 right_y=0.0027 right_z=0.1718 right_yaw=0.0019 right_pitch=-0.0339 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.6222, -8.4855, 8.6769, 1.0232, -0.3053, 0.0855, -0.1392, -0.0479, -1.4017, 7.0496, 1.7021, -0.0269, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4583, 1.8961, 1.0969, -0.2993, -0.4641, -0.4942, 0.9967, -0.0147, 0.8185, 0.6067, -0.3927, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.415 left_y=-0.1126 left_z=0.0254 left_yaw=0.2284 left_pitch=-0.3671 left_roll=0.1548 left_gripper=0.9967 right_x=0.2949 right_y=0.0026 right_z=0.1719 right_yaw=0.0015 right_pitch=-0.0336 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -12.4923, 5.094, 1.1111, -0.2369, 0.105, 0.1538, -0.1709, -1.4017, 7.159, 1.7167, -0.0317, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e561616768ec24926327b784a5a5f6ef9c2b5fc2ef373c6a516f57ff59c05d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25c2dd239690d94cd066ff5078c565c4bc262daac456cb4f5c6b426935e5cf43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50e4ce2a36439f5aa2c0518160f78aa2ac9686a60a1e3d36acbe8c8ea5497946",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFLixqsa8RrbMR7DZ6EFcykMRWI1RE4wPHx7Vfkv9Mvr8-_7E4zYON4fSSk_V4goxYFsO5yw5DXkzjGZs6d7s6uRG_CYoJj6a379NARpBsj1BBjx7MxaqDBhXFOi5wQTxtQTzVyqh6H7xavVf3rnEUQxhf0HXKWSoIJDu3KvyqSHBPkkVecJAmwIWnnV1i98GzmLQZFY1Nh3Mae9OD5A3CXFmZuE77ax2W9AYzZXJ33UftHn4EnMZ-i3zg8Z_ceyS2KC5zHXXSGpSZnxGm9O4o2JZl4KZZOBQSYG8XeGybvdYpyjyNbStkQSUVtEjyguIPjP22mqIWncVL4r5p12B5_4StC8q_xKmHYJodyLBzCebmhWk_F-EriZ7wGVG6oUxmRfco6bRahTuKzspd75plgryyhTaHx7VwrBycJ_ZPivvGX3P75bArygutB8ParmgReFup8TLMGpATS8BSb8CgI5U6qtCBSi85Ce8zkToQ4KEg4IgOpZ7-d-KVpd5rJPA32julKbmEbzLe7gYFHFIDotu8KDdeFBhxDJStjsCd7QGkxwJFznCLdRZdwGZkakk32j9tHdF98xrUHt3NO-uAz4vCpXhEQwpe2TbxOz7sgsToeD1xjq3vYiXKzRWbhkvGzZF_aCa8oGvxuHmmmQ0u1BuYCrXPYR5ZlEBCJH6gJhT0B_TAzK-Aw_PrIWG-Y0GdrEg1dpbrJUZ0LCYwFdtCniOf_mLs6g43gKQhhHHBLN-w2g-WYRaURfkgNXKM48hk9Xje6IiV_Iiwo1VE8ClVgn3enwNObiVz5um7jtkcjElftlpotPGVok6JZ9H7BsXczgbw2TLbTQO3wGIRZj5yJeyv-fGDbDMV-uHI8zOqkd1UC2uHzhjHEb1MjUntycZJOohfVsTR8ol47V2HFy8MAwbvdJ7NUBwuO2MZJxNqEZ9vgtmf3_dOgmKdkRxHgu5aeKJpgQ_CFX4CiJ-rPm-tlphrs6zUr6qVupBhKaF1fRRsRvwkosL-_CVM80qNNWfhY4NuD1jz90_pjZVhffvbQ1Q2v3sIILTsjYp5RWKnuOY2RWf0OoOlQPSo2pKgJuPKqCwxcZV02ltWaO9bi-NEIQDIosyZdXGFvCuW2-10xgquff9csV7DX8HZXoQHIBLty9WlySUYZ7-63_fPawa-LL67rrnvAN9EaJcfg2Pg0iLTFkDjJaWxyPt7zsWtxtxrZ_-Hd1YLpxnubJv0nCtxXd-JUTR5R5dO8qMHnDfo_ZocuuJuDFB24cNk5dGIwQchiotRGRUM3tqMqsHhcSZPU0CqOrrGnEg6qFHLEJYKftMOv7HEPdbE-Sa8qh-mmrYH0CfcsT9Ww90Ea8df565qdSO7eeJ8-jSti3B8gOB0Uut1F7A8xQ9G8DHEuV1-OmZjjg",
  "id": "rs_039282a7cbc4a18e016ab452e0987887d0b3e86a3cd44ab687",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.06,\"left_z\":0.045},\"note\":\"The body remains left of the open jaw column, so the previous correction was too small and the low pose also sagged to 2.5 cm. I am shifting another 5 cm left while raising slightly to avoid dragging the plush.\"}",
  "call_id": "call_7x9nu1UlzH3rYGgSW2GQloS8",
  "id": "fc_039282a7cbc4a18e016ab452e112b487d0ba4946b32ffd24aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7x9nu1UlzH3rYGgSW2GQloS8",
  "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]: [-0.4358, 1.8885, 1.0885, -0.2901, -0.4545, -0.4782, 0.9967, -0.0143, 0.8185, 0.6067, -0.3927, -0.0189, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.4168 left_y=-0.1046 left_z=0.0261 left_yaw=0.2328 left_pitch=-0.3673 left_roll=0.1524 left_gripper=0.9967 right_x=0.2949 right_y=0.0027 right_z=0.1719 right_yaw=0.0019 right_pitch=-0.0336 right_roll=-0.0013 right_gripper=0.9997\nstate[joint_eff]: [0.3761, -10.6462, 4.9846, 1.0867, -0.2662, 0.1001, -0.0024, -0.0615, -1.3744, 7.0496, 1.7118, -0.022, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3e16833b70950a99030a8da00975c6fdea471df4bd50c6b1707e6a1446e6177",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a62d97e6c1d5cbb8148cd593ed5742a9207a2d0667cc60fba1aebcaffdbb8bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c8435ac86bcac9578d3f86d9c6c85bcd177a2e0f8654019994694ed8900c0be",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 2.926 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5743, 1.8599, 1.0843, -0.3279, -0.5232, -0.5831, 0.0209, -0.0147, 0.8185, 0.6067, -0.3931, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3964 left_y=-0.1471 left_z=0.0373 left_yaw=0.2046 left_pitch=-0.328 left_roll=0.142 left_gripper=0.0209 right_x=0.2949 right_y=0.0026 right_z=0.1718 right_yaw=0.0015 right_pitch=-0.0339 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -8.9641, 5.5726, 1.0037, -0.3053, -0.022, 0.8962, -0.3761, -1.3744, 7.0496, 1.7021, -0.0415, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4583, 1.8961, 1.0969, -0.2993, -0.4641, -0.4942, 0.9967, -0.0147, 0.8185, 0.6067, -0.3927, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.415 left_y=-0.1126 left_z=0.0254 left_yaw=0.2284 left_pitch=-0.3671 left_roll=0.1548 left_gripper=0.9967 right_x=0.2949 right_y=0.0026 right_z=0.1719 right_yaw=0.0015 right_pitch=-0.0336 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -12.4923, 5.094, 1.1111, -0.2369, 0.105, 0.1538, -0.1709, -1.4017, 7.159, 1.7167, -0.0317, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4358, 1.8885, 1.0885, -0.2901, -0.4545, -0.4782, 0.9967, -0.0143, 0.8185, 0.6067, -0.3927, -0.0189, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.4168 left_y=-0.1046 left_z=0.0261 left_yaw=0.2328 left_pitch=-0.3673 left_roll=0.1524 left_gripper=0.9967 right_x=0.2949 right_y=0.0027 right_z=0.1719 right_yaw=0.0019 right_pitch=-0.0336 right_roll=-0.0013 right_gripper=0.9997\nstate[joint_eff]: [0.3761, -10.6462, 4.9846, 1.0867, -0.2662, 0.1001, -0.0024, -0.0615, -1.3744, 7.0496, 1.7118, -0.022, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3e16833b70950a99030a8da00975c6fdea471df4bd50c6b1707e6a1446e6177",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a62d97e6c1d5cbb8148cd593ed5742a9207a2d0667cc60fba1aebcaffdbb8bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c8435ac86bcac9578d3f86d9c6c85bcd177a2e0f8654019994694ed8900c0be",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFLlOWlmtDSJP3tHMQgkdHZxhHcCO35z-dR4qG2kSEsosLP7OBJEz5lXm2Nph70cijDMDgfx1B3iyaN-_2sBcRJKR-zl-MogamMyBFpXzta4VMoZHOR5M7xX507ZgFTgdGbsIKcI62rCGWgveZqZgKUJzNKnaXf7Z-WaHVjQGIcGwxUsjxd2Jmwd8liKOaVnJujb_2WmhAZ0FKCih1yehCTN5YDqk4GjiYGQ_6xn_iDfUuNo0VM-w9vNRdsxorZ2GI7F9j8lbln0uyxWs89gKYTTFrbAhsww6Hi-G99QQ1N1iliYWPXsSYAX5vZAYwSqQSW224S-1PxlJQ1Q6SIbEu6YRtTG3ce8qACkypXyfw-vYfnC_SzZH9UZmCCcAtGOCZchkAcvFkrbUI2N-rmy__rDrzPtIYnuKTl16C4geNMXivI0suMCmEU3KILpqG6ZdZ6VV1uBIPNIeeD0vyJKYSRdVuoLg3YaCqcJreDx2-5iB5ZSFzWZbHiw45b4RI7UYJ7CVnGWgdpoMOp6w7Prtyt7um7XL6E-42RrsFW-nIJ6-XySJvMrGId9ySoumKvh08Kp1C6-s0Ju-DveOJum_0vSZgEmpEzIELSQMS3Ubz0ZptA_O2tXlHr3kNX4tsroqUaj9kazP9byzOWbIzRuf7wEMeyVjS_LaaAcDWPZk0vHFmHFsW9p-CUKMu8N0ikC0bMUZoOQFE2c4rROt4eCmZg62cmrEnLCT_Fn4MFeCGESDZ-gwMz00DLH_bMX7OT9RWHbtB2jO59GaUHyq0QtsPKa1rb81w6z2W-NnybqhBfATvhkillV57aLQgXI_JQKIunFuXMiaEHeWLKO5gSWuWGi0s76XUOlJzypQnbYdvX1S7g8HxfUMoB3Zc3LpAnivI97Mb8db75062wNuqiQFb_NxpBYlIFR6xW4rHC0sx4Su0lsrxAjOwFGyuWgSYYO3GFXi3oZkht40k0GkubjllOm-4Mtv12RsO5-JS0g1j8ouPtUf-M_pKW1gH_49_bdSj8tPhGaau-ylFyW8e3YXiIfPQi_i2nqdAtcHqUJhPLtmI0nuF_7L3WcLU6A2OFP9LODU4j-JT1X2OGJZw-cKvTVWBRs3GF08Eeb4_hOYb6wmk2tyq8mVjnxC33rM3D5ZQ_OWY37P4K4Euq-dK_9szaBsGgFNPxIGZdYtXl_VXje52r7A53ZBSpvRyHk4B3XYnq-Tluf0aX--JR5O6o4VD-yFOxgvVFyAg_pDvZvbg6qMGLCR8LQ2AxZg2OcMDo0GIIZ60Rv6LmVZ4-_CgekhnKPkNL2PlyRPxzJGrjVh9W19venS0s1_gWYMboYBrc9Ps_Tb1n2jJ-hHMQZr-mW6TMrRDCZ-vqtUI61ewtn5b4U84_Khel_QisLqubBq0xPWGwjxUN_vyzBOVkoez7Bn_sO5yUlvrzerP-FbUWK8AEOclW6iKwNkmWgfQt5os8sJ2fO",
  "id": "rs_039282a7cbc4a18e016ab452e3d7c087d0be55a6faf5023ebb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.15,\"left_y\":-0.06},\"note\":\"The readback shows the lateral command stalled at low height, likely because the gripper is contacting the plush or table. I am lifting open to regain free-space motion before re-approaching from a clean overhead position.\"}",
  "call_id": "call_Vc6UCiKw6MvIxsypwPSDOuUg",
  "id": "fc_039282a7cbc4a18e016ab452e4ac6487d0a2935849fedde8d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Vc6UCiKw6MvIxsypwPSDOuUg",
  "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]: [-0.3874, 1.8412, 1.1538, -0.4118, -0.4004, -0.4355, 0.9968, -0.0143, 0.8196, 0.6067, -0.3927, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4196 left_y=-0.093 left_z=0.0501 left_yaw=0.2185 left_pitch=-0.4069 left_roll=0.1433 left_gripper=0.9968 right_x=0.295 right_y=0.0027 right_z=0.1716 right_yaw=0.0019 right_pitch=-0.0347 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [2.5231, -18.7692, 12.6017, 1.7949, -0.9353, 0.2515, -0.0122, -0.0615, -1.2103, 7.0496, 1.7411, -0.0317, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80f0e18f9142c96361708a7ebb7a986cb1450e86e70890d8f762566204f1cb63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af065d66489fbc29b08d9a73dc28973ad066a28ebb8ed9a02eb9f49ce1a6f652",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3780cd1031caf08da86a4e16cf44b8a15f7966321486717204027e449b7c94c4",
      "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 · 13.45 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5354, 1.9121, 1.169, -0.3527, -0.4965, -0.5529, 0.9951, -0.0143, 0.8185, 0.6067, -0.3931, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4167 left_y=-0.1452 left_z=0.0389 left_yaw=0.2067 left_pitch=-0.3413 left_roll=0.1381 left_gripper=0.9951 right_x=0.2949 right_y=0.0027 right_z=0.1718 right_yaw=0.0019 right_pitch=-0.0339 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.6222, -8.4855, 8.6769, 1.0232, -0.3053, 0.0855, -0.1392, -0.0479, -1.4017, 7.0496, 1.7021, -0.0269, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4358, 1.8885, 1.0885, -0.2901, -0.4545, -0.4782, 0.9967, -0.0143, 0.8185, 0.6067, -0.3927, -0.0189, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.4168 left_y=-0.1046 left_z=0.0261 left_yaw=0.2328 left_pitch=-0.3673 left_roll=0.1524 left_gripper=0.9967 right_x=0.2949 right_y=0.0027 right_z=0.1719 right_yaw=0.0019 right_pitch=-0.0336 right_roll=-0.0013 right_gripper=0.9997\nstate[joint_eff]: [0.3761, -10.6462, 4.9846, 1.0867, -0.2662, 0.1001, -0.0024, -0.0615, -1.3744, 7.0496, 1.7118, -0.022, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3874, 1.8412, 1.1538, -0.4118, -0.4004, -0.4355, 0.9968, -0.0143, 0.8196, 0.6067, -0.3927, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4196 left_y=-0.093 left_z=0.0501 left_yaw=0.2185 left_pitch=-0.4069 left_roll=0.1433 left_gripper=0.9968 right_x=0.295 right_y=0.0027 right_z=0.1716 right_yaw=0.0019 right_pitch=-0.0347 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [2.5231, -18.7692, 12.6017, 1.7949, -0.9353, 0.2515, -0.0122, -0.0615, -1.2103, 7.0496, 1.7411, -0.0317, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80f0e18f9142c96361708a7ebb7a986cb1450e86e70890d8f762566204f1cb63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af065d66489fbc29b08d9a73dc28973ad066a28ebb8ed9a02eb9f49ce1a6f652",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3780cd1031caf08da86a4e16cf44b8a15f7966321486717204027e449b7c94c4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFLpOCvX1h1jGMf829WbbJvnqaUMQOLO0vrWH4ANVtpmqjFuYBq8wLlx3_cJfOrCc7od7ieaHPbbPI0I5tRHTzFBj0euViMUc25ed7c-nVUMPMn0i4SNC4Epu_YGoQI9j1mccCxgf8XfDEJ0T6owV_46TyCbYXyB44a6Pd2ldvy-ny0bklDlhvjsNhmWhUmwyjsVZ3begnV7bEuUtJHlrcliGLP0uZoLsWcbbwYlvm505mc6oyJrPECZQlMCtXdg6vcH5xx-WZGEd7dXzZrkaa2BVApMGZ-LiB4zbnH_7Z_3N3BAXKoTbX1B0AFVqlCidKj7bTknFo-EoE3OTux__6Y6v3ZPfpDPh2FmKE7dWhiuQQ9ao_B9sSdf8TpmWv6YPrO09Zcged0aneNKYwTbDg_TafBiA-4d_CWo6OYPpfGA7eJNGa2sUCOhhw2BUS6A3A2WevHByP3gKI38R76uRr-KGe11kZDH2UYqelloaAZRcKDLuIDHCTSDCL2WlfJp1y34SWhqebwVQyoSCdAHErlpKbOAwFJlZfeiXA5UfE7S8RLTN8KSY0zaPrzWxEjCLnCAewpW4y9iykBYfsU3vVA0pIo6-AGajKV6efrqTvDCCkKzfMOOluJYmzqHz6o1mMUASS8YnbvuVvJ0gkKX64dMli44g7RdylmsvbiKopEIwY7etIknAGWGauCJfkW1GtsPZZ4v-osArioVuvrgPcF7i-6_elcjhgKdaIaHSP-hFXjGP2AEERrKhOjomE5y2x9nNlmm9VX9UhBG7r5ijeXy5I-Ba9Lb-rHJV3pskoJ7UiJgXF7UhBgxzaRZ7m0d36ycvZ6ZVMjBG4SDRghIts1gEk9DU-gIpfVp-CJqi5350d4GaKQWbi7itbbLwsRbpwZzAn1SvRem_4b7BoSHHJtSmNC-it5z39sktU0Ievg6J_qsJzVHn-OyVk7kDZ74gVQgpdfyG8lekHt9XQvFFyEDAQ4lm2_FmQTjUegQrq3TAsd0mLDGLIn0Xh5pvBKLFFsnEpzDMgOYtO4JjTQPk_ClureZZFR1x6q_RvaJL7JX6cZ3VcVjFLOlGw9uNBBRWnU6wyU_9OHPqzc9vY4YLe6XW22zrRIBMnNfXWSHwy8aZ0CHi8qdIMJr95FoU58ELf7CmRRX_rO1-ru20kIlHQI0dDKCWCFLrtW8bHC3xofaxH5qgBmaPsG8iSfd7opiyamw9MlJp_aWtzp7qdG0UPUxlX4ZlFYGlGu6gHxvB7dabyFOeq2BKePK43z2sLk4C3_Oz8sy58Fo-N3sbm_anF_dWElUneZnazXNzgp3hqm8N1pAeS5_EldHV3wTi4iv4IPgTlNWfxXvoOCj2m2_OCWsr-566R6nOu1u-Cf74dIWcFl91k8Zl4YwseRf0oZQL-SAznSZogbehZXX5IuQN7VoPyn8LMujYWOzdDC5DzGqne0=",
  "id": "rs_039282a7cbc4a18e016ab452e7c98c87d0a556cbeac5309528",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":0.0,\"left_z\":0.18},\"note\":\"The attempted lift stalled at 5 cm and shoulder effort rose sharply, confirming the arm is wedged against the large plush rather than moving freely. I am backing inward toward the base while raising, which should unload the contact and recover the arm safely.\"}",
  "call_id": "call_1FaMSP0OD3H4A2cUvZm8gQfL",
  "id": "fc_039282a7cbc4a18e016ab452e87be887d09fa43ff51cbb87b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1FaMSP0OD3H4A2cUvZm8gQfL",
  "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]: [-0.186, 1.3064, 1.0714, -0.7982, -0.3134, -0.2771, 0.9968, -0.0143, 0.8249, 0.6067, -0.3923, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3303 left_y=-0.0031 left_z=0.1637 left_yaw=0.2443 left_pitch=-0.3999 left_roll=0.1337 left_gripper=0.9968 right_x=0.2954 right_y=0.0027 right_z=0.1702 right_yaw=0.0017 right_pitch=-0.0397 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -6.2838, 9.5111, 1.2186, -0.2125, 0.0855, -0.0122, -0.0342, -1.4291, 7.0222, 1.7314, -0.0415, -0.0317, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a61392ee46d62e76583bb58b9ce08fa92d5a39d1722965e4ed3ea03b338ea625",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:562c3122f0aca36444bb2e33488e53f52a3806786d296497427f6fca9016fa92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49c9a08ebc9fd68d1caa519da7f43f022109c678521cd66ee6ef606addcbdef9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 2.191 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4583, 1.8961, 1.0969, -0.2993, -0.4641, -0.4942, 0.9967, -0.0147, 0.8185, 0.6067, -0.3927, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.415 left_y=-0.1126 left_z=0.0254 left_yaw=0.2284 left_pitch=-0.3671 left_roll=0.1548 left_gripper=0.9967 right_x=0.2949 right_y=0.0026 right_z=0.1719 right_yaw=0.0015 right_pitch=-0.0336 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -12.4923, 5.094, 1.1111, -0.2369, 0.105, 0.1538, -0.1709, -1.4017, 7.159, 1.7167, -0.0317, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3874, 1.8412, 1.1538, -0.4118, -0.4004, -0.4355, 0.9968, -0.0143, 0.8196, 0.6067, -0.3927, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4196 left_y=-0.093 left_z=0.0501 left_yaw=0.2185 left_pitch=-0.4069 left_roll=0.1433 left_gripper=0.9968 right_x=0.295 right_y=0.0027 right_z=0.1716 right_yaw=0.0019 right_pitch=-0.0347 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [2.5231, -18.7692, 12.6017, 1.7949, -0.9353, 0.2515, -0.0122, -0.0615, -1.2103, 7.0496, 1.7411, -0.0317, -0.0269, -0.0073]\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 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.186, 1.3064, 1.0714, -0.7982, -0.3134, -0.2771, 0.9968, -0.0143, 0.8249, 0.6067, -0.3923, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3303 left_y=-0.0031 left_z=0.1637 left_yaw=0.2443 left_pitch=-0.3999 left_roll=0.1337 left_gripper=0.9968 right_x=0.2954 right_y=0.0027 right_z=0.1702 right_yaw=0.0017 right_pitch=-0.0397 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -6.2838, 9.5111, 1.2186, -0.2125, 0.0855, -0.0122, -0.0342, -1.4291, 7.0222, 1.7314, -0.0415, -0.0317, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a61392ee46d62e76583bb58b9ce08fa92d5a39d1722965e4ed3ea03b338ea625",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:562c3122f0aca36444bb2e33488e53f52a3806786d296497427f6fca9016fa92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49c9a08ebc9fd68d1caa519da7f43f022109c678521cd66ee6ef606addcbdef9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_039282a7cbc4a18e016ab452eb7f9487d09b3c27541e22fb6b",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFL3AYcAnXrBnEVdlyVn9nvkwHlnCQMzdy21qficw0OwvBTZRKx2ykkYqi4PzYi0nBzCiVApDg8-Lx_z4C0nMW89H9u3N1SLKb7swj7gem1MMKLnc-m7-Lk0rlRl7v4vrG9Q1bvHsp3sep7oY0l0HE4OysiRAz16ZcPvUV8MA5jvt-vD9oxGIRUdeNDziBY1DngRZE4PvS0mZbFjorV0Ryb-Yzf7zwFS_FA1asKTj58Fi5lLEyYlex3oNqPayLsgDGxds9CSzz5Nyfc3B8b70Si8t8mTRTDVwut3-VIHK2PXyNngHw-ufnuE_PZqta7ryWNJNF275WzvJYHFUsVjCIxhuKnn0M7tPLlCgjLBJuhKnZwjLXsKQz2asa0iMwXS_-VG_XZrb3wmVcM6xWYc-xs6OCfKAfiV8tlkqlWCwMBwEiNzkYGfJlaib5TsYU3mAHYcQ_u3yPR2U0FwUVfy90gWk3uqKMdr0lh9DIEqPnWR-9TemC1Uh4Mu3VSjV1bV7ansB976DjJLbN8kPz-US4iA9_t9JyfninQIHhvd3il5iVrOY74jQ9zjYWIa8nUI2XHIGfyjODnJUpuCXMt23z6nHxPPMo3-3cg0l2MMDlu9WSlOTC4qrUkNGidWlE0IeWk_rbCYiSTpgFXV9TP3HkLmqI5sori95gRc8cNmyEybFAxWo7ObY0-Ot4Lerylyq11YjaySOTePlROJuo36WdWmwJuJ7GoOXNAPJF4CvfgDusHVkBSJJ36QtoSffzrEPSjPb8p25jgEf5C9aga8WxWsxm7J28xg3d5Wv31rISP8Yp5KaRQ6i2pwGEdjODu4WczV7gJ6yOxBKUiXbWShkBygJmfe_wkiq3gXXRezr2-A3bEsDUmDXnVVYe_mr4wLwiK-ug7_eMHPCkCRuR7jnp2TRJa3Ty4JMCOKEck5qLcNIVIV6yYh45WPmbGyE6uSp2SWVz417EX3yYDdLplfIUhFL0ZqN1eoVKPYMgdyEDrC3rYV36YDuA6jSP5kcBgeApFfWoBO4X20DD3mP3j1mliLYB3DdGLEzcWogSmh572PextmQgBSLBDmEGd6JoBnW4qViUbH7XlZzATYrsV3c38jt7tHr_rzq2wkWslAKeB3zIS0mHzHr4610z7sRwlrRqPAUf8OTdNix08dPYGi4WVBPEUhwizavU1586LJvtUroAhAAUjg1Y8qYvg8KLxPvPjO_A-8LMWQC6MlOVegCqc5qZqQoshDlBnocXxQRL1UuZ3koZ1pmiuuA1MNvdm34vzhuiWJxb6-DbsEMhG26R7D2D7l18IacSG5GNxv3iGOtZx3kH0EIWX_cVlN9vUMI_pBaf7cNIsC3XThd6IAqJHgLeXjRp4fWgXv8XAV2V9wagDLZBAikHmxORAqUrYWS5QYz27h3jA6nQnB9iqDifKOE_frDiAqQXK8UtB85R7ouoxaimTOmsNnXLY-HI5mGEQNC1IkooVFS11_Men70_iUtzYqM7fcxczqvCEuHW3MW6prMveMXRUe3zU_wJLZIs7tUM7qCY6NXEKxvosXQCCNTLEO4x36xJvxkKi1QLtuucO6upyCI0AYv2RjJaIsEcG5txoHYScd4lTbelJhiFXNKkZMdH7lb6KndHOhvUR1aC9X8KyMf-3Vy6a1YNc6EeNOeMGEUffPJQKiJMflBW5qwzFRJaCQnF2qUXqQ6DjVQe2DfDTB8cl2x_j60byvZ2h4ID7kTcXQ2ErU_sHBAXthuMs7l-CQNv6ofMW9xayR6cOpdjrJDVd3P9JBl7Ktfza_KvFvkLOPEA-y2ZjbEE-x7-kX0fHWAX4uIsfvqiopLlOBJmi3P92dVkASmYXiUmPwPg3Nv6Go0WA6yKlIB8yWgIYX_XFnAzfRRM0a9Vx0rYLhpwOMBt0KIxZtdU5cG8FMocYHKA2RCeyPVdZV0z0L463GVuM6aK_u7CYGdE9kNDAQu-DYX1IF7JxSrwfMv7-4AGY22N0V1kjrjxv8ZjI01GVAvVL7gPKlqSyxHTejwf4n6cvQ8Bsw4U9-8e9Ajs2kL40nMlkVQczDtPqRPnK9zDzOAawDN-kL0uWJ95MxSH-0yXnXD9U_XTcR9XKN-5j-AJ5v5CS_DV41228KVujXjG-7VS4Mvzmu7gnaiJG38Mqfpc4vx3OjwNt60D6KelzjCef6vzRY286_qVkvYVgwVsIDCJUreqVS-INCBVQKDlT6UtT552txu78O5EK5g6Xw4iYTVSTDsgaK0g9utn9QhXzNMyrRgccpiZF_ZaMmqv64MSbyZP5NPFX6CrXN2c_tCImGNg_moozb3z1DCkKvRwKLe1SkzpH755IZhNQD3JuD68xOmeJ0AvU9tkbeEYiMrcRFz5_jyl4zK5BoXwUOQoPEAhTY7npS_gx-HIluSFBYsML832V9fYxu01FiCGryeh9PuO3wUxGTISvSOReFz_L7_SKdWuWbQUTto90QChkQCcvcC_1p5VbDM4U8gZkgj3EArkuf4fzLScq-bdi5KFprzSPu4_sM3cERzmGJuUOSWqCbe6TrAlbECUau8bYFoN_lPTGimAuBA9rLnHGMLhZFbgPQPpq9IttKwwAOUO6nC_1SDLN19332zRRxMgMt9ubZIxBdneHDD_fi1gJZjQzEyHZYNIS4HJphFfdyqU9ZHDsW4rJLwkvNiMBREfHLjyrBlbpj9iGIZZqz67j0AaUDdq2h7YRjAsiWChbNQi0ga3RmDaR_zWYAZmdsUZpq5mo0IWm7giKKNjdf5fhai6ipGapXgX_7bGOjN-qDf7Fmffpa2ZYOu7MSOeAJc8gx1QQw_Rw7Mnl6KEM14kOyIpZ1nAm7ZMyUU2TQRCsevkKgVDAyDHObDyv9_prtaKtA5ffpXaAARPz2Z0e_UD2pt43yRtEBWE9eAgnJaCdi-hB_LvMfWjAI3PdaxQsFaQIA9ewxOQE3EukJ00yvsOh7nFWThzZjoCIyxZ7DLWnexGFGEdO7gxneumLmhsppesZr79MrdZYj4d-EVXE6rqDZb9GTOqHGG6m79WBymM-CDGxnfv_tfBAkEVmvHWuhhubxxXqe2nUXRTpYxulGKwnuEGQ49nPByVBwfPkiMCcWHiLKt_-gGjEOpDuG1TvGiEBq8VHX7a8DrJJISDiLz2TGWiY8PTrQ2FaSgdqGlsCorOhuQQgYX4YzpRc0zAwAYa0tn8GP7ZNfhkm6CbDilXK6lB-bR_PsUvvbJtW-oyuADV_HC5x6l7DgS9y4h92reCQ1yqVn7AhLa0z-n_-h78uHX9r9Z2Lwjm9D9KRnQjC8c_UAS2cVFCtZGbbuh42lYpVrtlsUiVF9yA63CWxsUs67XFP950i39k_a9Geq0w75Sk_5p6PKRGoc5WQSFS2E8GTjbwh8rRM0egPWoTi_BEgN3ZVwCakArlug7V7mDDo8XIY2C52Do4JGkXD1xEXrpG3X_LfkUQ0MrGuehuEjsV6oXK_SBzEQgFA2VuuLHO161U0LKvD1VjquXbm2-qVQfQ8YR0oQE_QDBxrYJcANwlYzvEsNq6fGhGJkQ-o7GfES07VYe6PuJm9F6UjDkJ_p_eV0G2Q7MyzGcPM8BYrmda6SgpTeeFfUpO6zY-DQ1WV2c8hmkWXhsEoJTyfNEl48u8XUA7X74WRA_pbPBRArWnlOwNhi8CoxOjsMYh2p01-dckL-xeZOSgeJe-9CbVdqgnAfFM-fHXeoF4bYBE3jC1fWUXQwDc_40cXvysID3qVGTnpRizzpJPHRZbYJGSC0-xzjm5NZvBgp9QRHpprVNQNiqfrXVc2BaHeHR3-OFIlvdp0D5fwQFrKIfwHLDC4_bdynY4hHb2NhvdvyuT-O7AsqpHS-LdwHMo1qk6sABk5UqznarqrDavheeC_NqEQp240g8kyFQWB0UmGaYs_GZLNtKccWCzCEfEcL2Ak7ggWbOTMtqSn6rM_6TRGsjwRylK-gYUOBPvC7OvXu2D5PHFtxsgBWOxd0Y8ulTq8L0cTKJ2Kby764aaYzcdAm-YOFjU62NwG4t7wfxLoSCDRAC0UyKQcXutY27Vi2aSCgkOOFN-E=",
  "id": "rs_039282a7cbc4a18e016ab452f0d3a087d0bf5c79dfb9b7dafd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.02,\"left_z\":0.06},\"note\":\"The arm is free again, and the wrist view now cleanly shows a large tan teddy centered a few centimetres short of the fingertips, with gray plush toys behind it. I am advancing slightly and descending around this tan teddy for an unobstructed grasp.\"}",
  "call_id": "call_gKJG8xc5UfiDb2XsDXf8APDr",
  "id": "fc_039282a7cbc4a18e016ab452f63d5087d081a6116bbd3c9b7d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gKJG8xc5UfiDb2XsDXf8APDr",
  "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]: [-0.2188, 1.5326, 0.8745, -0.4351, -0.3256, -0.3073, 0.9969, -0.0147, 0.8276, 0.6067, -0.3927, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3543 left_y=-0.0172 left_z=0.0627 left_yaw=0.251 left_pitch=-0.4467 left_roll=0.1545 left_gripper=0.9969 right_x=0.2955 right_y=0.0026 right_z=0.1694 right_yaw=0.0013 right_pitch=-0.0427 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -6.3248, 5.2855, 1.1697, -0.1832, -0.0708, -0.0122, -0.1299, -1.6479, 7.0359, 1.7021, -0.0562, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db50a056516f2e62e8178d9ae2f25b1b7a427e5999ce2c692a54e0c4dd6009cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9c11b22d3de396311b463ff61d085d7981b144065a245739e008a213a5899f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3bc452d8c7e1ae9bb2e8ffeebb1feedc0a047b0d6b10954a9183d6610e73512",
      "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 25 attempt 0 · /responses · status 200 · 4.043 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 101 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4358, 1.8885, 1.0885, -0.2901, -0.4545, -0.4782, 0.9967, -0.0143, 0.8185, 0.6067, -0.3927, -0.0189, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.4168 left_y=-0.1046 left_z=0.0261 left_yaw=0.2328 left_pitch=-0.3673 left_roll=0.1524 left_gripper=0.9967 right_x=0.2949 right_y=0.0027 right_z=0.1719 right_yaw=0.0019 right_pitch=-0.0336 right_roll=-0.0013 right_gripper=0.9997\nstate[joint_eff]: [0.3761, -10.6462, 4.9846, 1.0867, -0.2662, 0.1001, -0.0024, -0.0615, -1.3744, 7.0496, 1.7118, -0.022, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.186, 1.3064, 1.0714, -0.7982, -0.3134, -0.2771, 0.9968, -0.0143, 0.8249, 0.6067, -0.3923, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3303 left_y=-0.0031 left_z=0.1637 left_yaw=0.2443 left_pitch=-0.3999 left_roll=0.1337 left_gripper=0.9968 right_x=0.2954 right_y=0.0027 right_z=0.1702 right_yaw=0.0017 right_pitch=-0.0397 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -6.2838, 9.5111, 1.2186, -0.2125, 0.0855, -0.0122, -0.0342, -1.4291, 7.0222, 1.7314, -0.0415, -0.0317, -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 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2188, 1.5326, 0.8745, -0.4351, -0.3256, -0.3073, 0.9969, -0.0147, 0.8276, 0.6067, -0.3927, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3543 left_y=-0.0172 left_z=0.0627 left_yaw=0.251 left_pitch=-0.4467 left_roll=0.1545 left_gripper=0.9969 right_x=0.2955 right_y=0.0026 right_z=0.1694 right_yaw=0.0013 right_pitch=-0.0427 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -6.3248, 5.2855, 1.1697, -0.1832, -0.0708, -0.0122, -0.1299, -1.6479, 7.0359, 1.7021, -0.0562, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db50a056516f2e62e8178d9ae2f25b1b7a427e5999ce2c692a54e0c4dd6009cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9c11b22d3de396311b463ff61d085d7981b144065a245739e008a213a5899f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3bc452d8c7e1ae9bb2e8ffeebb1feedc0a047b0d6b10954a9183d6610e73512",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFL6KLXN8cK8oOjo82050qP3q173RKzegZct_3s_PwWnUOTcy0uuWyOZqTFs5qJqD5yDwIuuVleVzOU_p92XMvK6AoZr0vQKByty_me9kx1JFTNMis9bSwV28o-nNII6xzy5HbyFKkVAUdWHhpGPtYHn4yGqi1y8Jvj985QvKzgScRq3hOyUDhiExuk_B0Pr_1R5kM3AQGWobF3lQt9ib7DZXXhLOuYJmCDbLLkQdyYCwnfvSyKQQe7aS8Gcjl-1Iwg2TL-pc1t_KzocMswFRAO-x2XbgTm4h7vCEIghpKhT--D-dRiKPJuAX4_peaBoNqWSacnlLT5ZgXJ3atw55HrMIoAtn_sNNy6JfiKlw2IDy6G0aVJKnB2ve1cJ6ZU9ISqjq5A_jbmH1xAkP_SPFgpT2JzggfAdtRrj_mwbyeblzmwdkxeHkKQt4miLqtpcpQD0RiHtdD7TeYYlEvenHo5kgVH0QRvi0FSSmVOFaI83iD2Ez-BR-Xf3SI5nuN5Q08TiRDasfuZV3yQGjblRu8WfECcD0-KU4k26rDMLw_DQsEx7ij57PbycMywghqghCoGMlmyyWdni7UzRitQlaTTMEQgFm-nsUzqabd5OLy6PjLNHJCM1f6VYiIG2iU0pLJEixgoGM_Lv2pCNHh-AW2pJtJXE8bVKbMX3wWbAy89aguQGcRdHRGaTecfBgb0TgQlOMLNvnTrjgUIFfyuaW-81fkdkqUWrZ2hfnTKnhalW1ok5sBJqcdAJvhiAMgvR4NRU03ifyF1aNKGhkQw22SB-8af1e8eOyw4PD2AxuiZb50lPzzU1dVLGqg0GgOR-872EQFFj_Y-Gh7PPbrBd5Y2_d6N3CCpyuhq_k9xBXDk9fLHiOJXfWF4NBLWYRJy38VVUEZVlYQpDHP8bHnDdFL9q4Hxf7vnbHagvjZhxRBpugWImFYaqIpI1VFXu1bm0txD4E3zg9D8NOF9awLSt2p8DscAlPKt7Mcpt7aqLTz0iAH2dUxr12hkEGo7uRriv8PtTCBe3IuOXnlk5kiMIpVlWz-fchK2YQzd2PiWFnOoAplBCSRzghWO2noBhjUdfwBfhGGF506wwRLW3tS8XBCnEUCxVqnXPnKmyGhOXV4dtlMux_qTddE-pcE7BfsRrQiNHM7LUr49LSgfbdhtut3FJxcNxMjtLzFZLv14eInxJ8sg6tEQUlUJ-3CP5ND6FXkj_QfHoc0eKlmFrcgMPRfOBdQ==",
  "id": "rs_039282a7cbc4a18e016ab452f97d4487d0be15eb604bcff481",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The tan teddy's torso now fills the jaw gap at low height, with both fingertips on opposite sides. I am closing for the grasp.\"}",
  "call_id": "call_5HqjatW6vwVNcR8foy87uo8G",
  "id": "fc_039282a7cbc4a18e016ab452f99d9887d0bdaa685689dca688",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5HqjatW6vwVNcR8foy87uo8G",
  "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]: [-0.2192, 1.5539, 0.8581, -0.4286, -0.3355, -0.3103, 0.1084, -0.0147, 0.828, 0.6067, -0.3927, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3495 left_y=-0.0146 left_z=0.0514 left_yaw=0.2678 left_pitch=-0.4701 left_roll=0.1776 left_gripper=0.1084 right_x=0.2955 right_y=0.0026 right_z=0.1693 right_yaw=0.0013 right_pitch=-0.0431 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -8.2256, 7.3231, 1.0525, -0.105, 0.022, 0.6422, -0.1436, -1.4701, 7.0085, 1.7411, -0.0415, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d838fc536e8825857af5f488dc3c3ea1d1aa11073f94ea8a0d57a2a892ae8cf6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9881c91b51e1d3de19869a69c588440645033c07963827b88a1d62468017794",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1992b638e1e638cc6cc226af162428c8a4cbfacf3edf7d5f34518a2388a649a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 3.097 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 101 changed as sent

message 105 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3874, 1.8412, 1.1538, -0.4118, -0.4004, -0.4355, 0.9968, -0.0143, 0.8196, 0.6067, -0.3927, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4196 left_y=-0.093 left_z=0.0501 left_yaw=0.2185 left_pitch=-0.4069 left_roll=0.1433 left_gripper=0.9968 right_x=0.295 right_y=0.0027 right_z=0.1716 right_yaw=0.0019 right_pitch=-0.0347 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [2.5231, -18.7692, 12.6017, 1.7949, -0.9353, 0.2515, -0.0122, -0.0615, -1.2103, 7.0496, 1.7411, -0.0317, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2188, 1.5326, 0.8745, -0.4351, -0.3256, -0.3073, 0.9969, -0.0147, 0.8276, 0.6067, -0.3927, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3543 left_y=-0.0172 left_z=0.0627 left_yaw=0.251 left_pitch=-0.4467 left_roll=0.1545 left_gripper=0.9969 right_x=0.2955 right_y=0.0026 right_z=0.1694 right_yaw=0.0013 right_pitch=-0.0427 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -6.3248, 5.2855, 1.1697, -0.1832, -0.0708, -0.0122, -0.1299, -1.6479, 7.0359, 1.7021, -0.0562, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2192, 1.5539, 0.8581, -0.4286, -0.3355, -0.3103, 0.1084, -0.0147, 0.828, 0.6067, -0.3927, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3495 left_y=-0.0146 left_z=0.0514 left_yaw=0.2678 left_pitch=-0.4701 left_roll=0.1776 left_gripper=0.1084 right_x=0.2955 right_y=0.0026 right_z=0.1693 right_yaw=0.0013 right_pitch=-0.0431 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -8.2256, 7.3231, 1.0525, -0.105, 0.022, 0.6422, -0.1436, -1.4701, 7.0085, 1.7411, -0.0415, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d838fc536e8825857af5f488dc3c3ea1d1aa11073f94ea8a0d57a2a892ae8cf6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9881c91b51e1d3de19869a69c588440645033c07963827b88a1d62468017794",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1992b638e1e638cc6cc226af162428c8a4cbfacf3edf7d5f34518a2388a649a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFL_RVol6jzZezntJyea6KCsfWjGQQAbGLmDXxyZ0XjA6wbTENRRrBOuKC9MxqsGaeAsRdlKCrdup1ql9OMgn7E31kvEDOl6PgeraElsQwNWvBqx-s63ZO_l3UCSkjzn6TQA8_jPSm3qrWf6dsrRd_l10kA2dRTENtqatyEsJ-MyanHJM3SdqjtppXpRCNM0jEUFNyEqeSeGl2Pkt65Zac8vMDA2EAkV_g_Bt7f1nQGM3ioaWjXYJPAYa-GJ4_R1SrjlGcVdDuLJDFduY16IhFsbqav5-DrCzsPFRCyIGAliHflLhEKFwkTgaN_H964R1w2wz3K6jgsvajrEr8iLQJjs3pVdFl-74CLeWgcPnBzu1hzlqpWXOQETDfklkPaF-4f0I4t_xj97QhdH6Cqy4ffzMYs1-xaslZJDvspWB76Ri8_aMlY2B_HJqqcEn1LwJYryiyg6nfvdlRgkj6wnrdG3ArB93NdwvLNXf21BNBOcDczcAhIdgfD_RPweGquOqIEILH0q2aaU-LXUqcR3cuGqI5CqoIInb3eN9rZg2iBK93DaJp_YEZBp7o1Vh6lMEy3jL0DuRCcfhrbH22j0l2IFfODU1w7KRgkbmjWz667SHvNjolr3Y84LgDXMVv9-kMeTAn-ODBg-Ji95Z2TOdENu9q-8aNggUhvcdxUPWdlKnZDVeDkXYrHVkNJidYb0X4AQATTL3kLpPuhp-L69U1_N9gpH90KiC5TROCds0iQGLC0aCMPE4_8u2e4cGkv4soxtBTgmZld0HPAcGKqFpIZnBtQItW856eg8NMgmNw02ysc0o7HA9Dlb06CYrahr1NcnweU_Nt6tCmwopGSLhD3Bpl-ZL9eDBea7f57cVSP0PvbbrJ55U1_vZkxWiD1GJcABYF2ZE6nnpcUrCHobX5OQ_kuYpXUuN5JZFXoz6ddav0ISaiEdINg6bRFeEPcalDugl8UWWG91L4b2q2yG6uu2xwAzX_ewIkSAglWl9uS3zRtritFWKB11IDhNQRQX96yCWbJG2OZicNS4RsqWeI7iXO3ITJe_yu_VwqJX32NPvS7WEZ1pEsAYe92w8o4HWGkv3a7UIs5KTuOAKXlfy8hQsKLO7ilnAvj930LvvHfRxSTGk9-Uxh5TNZK1mF4RVFmD-NOze-WKsYyizTLbbEHr-wUHo1RHQMT4GP_7Ym9bD6kErNjjt1iGQnTHKnTxKkiE2EbPvbhLLzvvvdXXBub-tdwMr3S05b9_-ZgNtbavO9rgBpXUh_M75YBVkMkHiDbVhfzKUiVSO9csdwuZNwPLEdD-4cQg81QunB7RAEqilI-lcj5e6ecHFnHKuLkEcj0eQx4ERU6OKOrDqEx7ZFB-WrBCplD8CBezORCy-48QGOUq1RKqJgVVf8ZHA8qgY5FL4gaq9N3h4YKjaNnQf1-_hRYo3si12MGIxmXGyAvBjC-ceQMYOoh-dc7Wfx_yHG2F1XBZFPcfM3XgV5PGIVdpszF1gcooJw3gIvd7jB8j-M76f5UY6B6CadCSUqv0dJlSvKjt3AZSJ2lZU6YUj4MlPT9DMZtzhDYZRWUsIkJY96AzI3fjVkPo5pOo_vFnQXnj0V8M2-Yd12CP0KF3u0jJpR9Po0GwdtPCM3IkAbzyc3DRbInDkbYRQHxOHRMXfDW3CGAHPvGRFUv2_35RO2sKYE0pxDsIQU7w17ey8O3dq-7irhx_SyJMQ1b9nA_zfnCl_2biwWZ90ctwEueQgCZC0DNindGgHP9pj1cn6UWhgo3dIixj60wjD7zXKl_krre2ITDs2YvNgLCXg23qu3Oz5IbxC0aGwxgoT7reOpnSJhyleIs2PMavgYtAtistBE7zj2GN3SSuFp1jMK83oVI_7yMu-PATiLX2m4xj6bDRRUT1GpK9UrpVJOoDhln_wSM7OQcpnm6LDRx1KaR0B5Y4n81FOmzr5KoIVlMzpPze-ypmDgmEF_YZjkKt0FMeMJ8PcJqisNF45Pbeh09eTk_CrJOT5poLl5lCNQ-Yw_LE33hksabwcrCmD5R3lCW_s_CtHk0kNSX-IF7WDu-QToaq2vDV-NLccpnMKZmfL_RVSgWv08J-beawiEHuW6uZqoyE54KJzYhfgjMFJD0h5i41tA==",
  "id": "rs_039282a7cbc4a18e016ab452fc9a2c87d0bfaf5e1ab334315a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.56,\"left_y\":0.02,\"left_z\":0.23},\"note\":\"The gripper settled at 0.11, confirming the large tan teddy is secured. I am lifting and carrying it in one rising motion to an offset above the shifted left basket, placing the hanging torso over the basket centre.\"}",
  "call_id": "call_ldMRBfaZiO3XGyiFb0pd22bb",
  "id": "fc_039282a7cbc4a18e016ab452fe7ec087d08364afe761184c2a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ldMRBfaZiO3XGyiFb0pd22bb",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0772, 2.4828, 2.7724, -1.4761, -0.2161, -0.1787, 0.1107, -0.0147, 0.8314, 0.6067, -0.4026, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5389 left_y=-0.0001 left_z=0.1763 left_yaw=0.2366 left_pitch=-0.5828 left_roll=0.16 left_gripper=0.1107 right_x=0.2942 right_y=0.0026 right_z=0.1663 right_yaw=0.0015 right_pitch=-0.0564 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [1.7573, -12.2462, 6.3932, 1.37, -0.7155, 0.1392, 0.2271, -0.0479, -1.4427, 6.9949, 1.8828, -0.0269, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf0f3d1dd47959d35a714593a2f35d6717f369aee3733ce56b0ce1a06eb76835",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dd8474bf648bdad989f0eaa8b5feca47455e8ec1823f15bfc19f20fcc2805d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da6a397185ba231265ab0249c2f4720a90a3411cf842d12d4a1c7bf1ae784aff",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 2.29 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 105 changed as sent

message 109 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.186, 1.3064, 1.0714, -0.7982, -0.3134, -0.2771, 0.9968, -0.0143, 0.8249, 0.6067, -0.3923, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3303 left_y=-0.0031 left_z=0.1637 left_yaw=0.2443 left_pitch=-0.3999 left_roll=0.1337 left_gripper=0.9968 right_x=0.2954 right_y=0.0027 right_z=0.1702 right_yaw=0.0017 right_pitch=-0.0397 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -6.2838, 9.5111, 1.2186, -0.2125, 0.0855, -0.0122, -0.0342, -1.4291, 7.0222, 1.7314, -0.0415, -0.0317, -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 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2192, 1.5539, 0.8581, -0.4286, -0.3355, -0.3103, 0.1084, -0.0147, 0.828, 0.6067, -0.3927, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3495 left_y=-0.0146 left_z=0.0514 left_yaw=0.2678 left_pitch=-0.4701 left_roll=0.1776 left_gripper=0.1084 right_x=0.2955 right_y=0.0026 right_z=0.1693 right_yaw=0.0013 right_pitch=-0.0431 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -8.2256, 7.3231, 1.0525, -0.105, 0.022, 0.6422, -0.1436, -1.4701, 7.0085, 1.7411, -0.0415, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0772, 2.4828, 2.7724, -1.4761, -0.2161, -0.1787, 0.1107, -0.0147, 0.8314, 0.6067, -0.4026, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5389 left_y=-0.0001 left_z=0.1763 left_yaw=0.2366 left_pitch=-0.5828 left_roll=0.16 left_gripper=0.1107 right_x=0.2942 right_y=0.0026 right_z=0.1663 right_yaw=0.0015 right_pitch=-0.0564 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [1.7573, -12.2462, 6.3932, 1.37, -0.7155, 0.1392, 0.2271, -0.0479, -1.4427, 6.9949, 1.8828, -0.0269, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf0f3d1dd47959d35a714593a2f35d6717f369aee3733ce56b0ce1a06eb76835",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dd8474bf648bdad989f0eaa8b5feca47455e8ec1823f15bfc19f20fcc2805d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da6a397185ba231265ab0249c2f4720a90a3411cf842d12d4a1c7bf1ae784aff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFME6GtaCZdbLv1dgdeZCkj1cfHYoQ7o7jYDYt5YFY8OH67v4b8nHQp6DQl92rU2PcHGRhsHSFxKLWwFSUDbVexfZMs_YXBM7625JEhvUx8O_IzjoTY_XO16XWIVVjoiSFW_jFsJyARDKvXrIarOk588qNJ0iiUprkelv4KXqeIrRjkEbWVkEIInW5K4iMLnvxOqEka5RpZVpyvC1x8msP_r0kOJ13pHVhaRPrDLugRKXtfHPGWn8eHa1OE6MW1PaBCoF7zxGGhxooKCTLJXV9NweYtuopm43u6wfKb_1P9HQy0mF8RZi_mtgyxy1bllDAkfhd5RSuFKf9Ksb13K9ytgDCsPDGPsL0jwlPuzF1E8WpsIuu6k_HLgvScjOC1_eSCTTbJ7nImOTlCLosE_IouzR3mwIx6S3gY4PpDuG_WQbiZrzToA_cQBNR_aclZX2y08B7oK5pjyIjq--QtdTUE86Ug6rfrALKspcev3nufwKf3x48nuw3vFyM7pCqtBBBf9kKu3ZhRVzC-GMqY_WIm4wvh-f2hgid00GWbOTZLNqKpJiQpu91ETqvgDA4vUpIl4NFhydVYAJru2-MKhQHjoUmk7_c__XgrA7VdwRL2TxPnuhH6AcIK5cwIgZDo2RuQavryl0ZWiEh-4ZLC1XjtVTgOWV5K9OBei4nJeoJZk1U1RYFWGUiK3bdDdz8CNzn9i9RafWvvizaNNyAb3iF5TaB3YDghFTSaFtxIK4royiaEuzbOMIlqR7ZjgJE06YOwSGnuYYorMGSdzD9Vqsk_Fu4ElieUl_nRxohM7TSmkMZqAdW922KaMm1HajZXADp-ucp02uzZkT9uLiHscYY-R05KsduqMzNKEt7hzctSnpy-0lF9Uy0SdJvT_2JwXpuKtCuQSsQbSt1E36L5_VwtuhWlHMrlEyeIxt7d0t1v_FguG_uakH9FT9q9i0Bjx-C2ZD4MIE0aeqKzB8vTFjZO-P0DGINB8foBEZMMfYNHGqkJfSPpTDQFQJueeJ_yegum1j5k11SrRCA14rqlzvLgUbFzGLIG7hFQ4xmX7gRXIw-0OsOvUM4rrnRxog_mPJpFy8a_SA6XMiNNLerG4zf0fd3GaW77OfGlDprHWOVEon1W9SIYRCHObrFmaH9cwXXs6Ps1qQydXA3JJlUEURFG6-5vlmSmeDT8GVhZgum2_faEfajJyCID4fHQyFXWaZonx7xVoG47SsGwiB-WVYVipFNn97HMRbP4XruotMnSmyNpPj5vJlxrYOmEqeLUtjRp8nbOY_fIh9JgBZueW0HHFN-Vv-DPxTdlhqVbbAxtEZwLC7xwO5zAwly5UHu2-CCalR5udOa0__BnbIx4Cz63PJpoo8EnP1fUlXt3S6Wz3_0n9qkAcJ5a7XpxqANrQT4_WiLyF01sr5vkbRTPHzIdB7Wki9XG1pN2GQke1IiQgLVNju3vP6ByISEgdNH9d9BGeYaIOVRozuX94pqa4TxeRhDJVd9ZT1WskNIRoy5i8gi63iarziCEhpilBjRsF2s36YnNstOYfzRn6VwMsSfMfvw==",
  "id": "rs_039282a7cbc4a18e016ab45302665087d0b32792d2e4a75038",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.58,\"left_y\":0.05,\"left_z\":0.23},\"note\":\"The held teddy is above the shifted basket but its torso is still near the basket's right edge. I am using the remaining outer-side reach and a little more forward extension to move the hanging body deeper over the interior before release.\"}",
  "call_id": "call_sa7qXRUZOc9ItFw67suQaoSf",
  "id": "fc_039282a7cbc4a18e016ab453034a1887d08aedb0d78d41a13f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sa7qXRUZOc9ItFw67suQaoSf",
  "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]: [-0.0181, 2.5378, 2.8731, -1.6085, -0.1223, -0.115, 0.1136, -0.0143, 0.8314, 0.6067, -0.408, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5212 left_y=0.0157 left_z=0.1647 left_yaw=0.1746 left_pitch=-0.6938 left_roll=0.1091 left_gripper=0.1136 right_x=0.2935 right_y=0.0027 right_z=0.1653 right_yaw=0.0016 right_pitch=-0.0618 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [1.9077, -15.5145, 7.0359, 1.4286, -0.7937, 0.0904, 0.2955, -0.1026, -1.4838, 7.2137, 1.7753, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ce81a39a85dd8d75d932bd812d9297920758a05a2530febff5b7c8901c093cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0e922ec882a23655c0858543177ec215a987b113a84903cae75f7b358bf6538",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72bde13515bb97e12d392e095a65d83af722d4b0552d33a46a39c97fa44a6594",
      "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 · 8.365 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2188, 1.5326, 0.8745, -0.4351, -0.3256, -0.3073, 0.9969, -0.0147, 0.8276, 0.6067, -0.3927, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3543 left_y=-0.0172 left_z=0.0627 left_yaw=0.251 left_pitch=-0.4467 left_roll=0.1545 left_gripper=0.9969 right_x=0.2955 right_y=0.0026 right_z=0.1694 right_yaw=0.0013 right_pitch=-0.0427 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -6.3248, 5.2855, 1.1697, -0.1832, -0.0708, -0.0122, -0.1299, -1.6479, 7.0359, 1.7021, -0.0562, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0772, 2.4828, 2.7724, -1.4761, -0.2161, -0.1787, 0.1107, -0.0147, 0.8314, 0.6067, -0.4026, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5389 left_y=-0.0001 left_z=0.1763 left_yaw=0.2366 left_pitch=-0.5828 left_roll=0.16 left_gripper=0.1107 right_x=0.2942 right_y=0.0026 right_z=0.1663 right_yaw=0.0015 right_pitch=-0.0564 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [1.7573, -12.2462, 6.3932, 1.37, -0.7155, 0.1392, 0.2271, -0.0479, -1.4427, 6.9949, 1.8828, -0.0269, -0.0562, -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 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 2.5378, 2.8731, -1.6085, -0.1223, -0.115, 0.1136, -0.0143, 0.8314, 0.6067, -0.408, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5212 left_y=0.0157 left_z=0.1647 left_yaw=0.1746 left_pitch=-0.6938 left_roll=0.1091 left_gripper=0.1136 right_x=0.2935 right_y=0.0027 right_z=0.1653 right_yaw=0.0016 right_pitch=-0.0618 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [1.9077, -15.5145, 7.0359, 1.4286, -0.7937, 0.0904, 0.2955, -0.1026, -1.4838, 7.2137, 1.7753, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ce81a39a85dd8d75d932bd812d9297920758a05a2530febff5b7c8901c093cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0e922ec882a23655c0858543177ec215a987b113a84903cae75f7b358bf6538",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72bde13515bb97e12d392e095a65d83af722d4b0552d33a46a39c97fa44a6594",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFMHqRj5GQPw7vNbfvr88wDcshzijDZAiTfGb0RzDcrEBhNaMUB5q-b3-paB9PtmPvTos-OkOSwH5OeYD2-nvb--faFD4LTVdxaYou9q_AMEN99CXPqVxgNnnpKPGWqDRb50pX1px6PiuikqrKGoiltO-SUq3pnJz-1CFrEWMZg8RHfLvEF_1N30Yc2iq_DWYzIH7iiBSX1MLaIY79GQ2Ye4QBkUeIzK9HK9olR8t3tZ30eUb123f8smG2S5F1mdxNHRAmWzC5JjskdX3sBEZbpG05wvi64mnikEhilRHrC1zYW4p_Ka8C2e9SC4MvDdCAO42aG1KxmoYvJdYA7wo49WpN_YzB1TebIyYNDczPXCjG36SPMAc3UNozMfnhkl6EVn91KuGjnHZE-D_3QPL5l-Pdjdn_Z2dsQG1jGA0n5WORdn0hc7a7xCoW9JV9KKoC5yEcmMo_Hvc6AZnb7tYKdQJX7AByI_rLee-OixAIE6aCaKGiFyBqDPYf-255jKEUBTJrl8iwOiO4Jx3eVcj2WdahBArwTnVlfliJM_PC9dep120FgedQGmFZIzHXiCPO52hQuHymNsA6_GVFHn_a0lr-PAY6MyV1a2gg8Fy0iC4t9RBQAHmIvWyoazw_eunthii6no3ne4s6RotOKOWeyD8JfYYW7uhLdjNgU7umr2KK7WNZBK_CKbERd4w_HH7IDNHelR-t-THX7q8tI4BdxFv2Wbo35W4EsThR247hzHAmEwT8B3f90Zw4Ahxe1ANGNOknGQW3d18LnrXYgMON_6PusG3kgf4QAHhikJ4e78spfKPu4GT-5RM4UInrrtDDylf7jKReRrxeOADXQUiwSPxXZubCGm-ouVV3n1ECTt7ep7yzYFrKAui7yY5fDxuhCbAPOL7XxdE9V5PzVMCvNjqwASpozh5TBN2VIBwt8V_UbXKjZ2VMyU9mj8sHyewAf0_Y6-RZbzV_etrGjYSNjKsIGbQSAL_k4Fs648aaAd08VoH8w_yHlohV9gXhWZ3KD2wQoaK1yp6zBO0ysKbcbLBu2-27GspLohcT2dZO5CpYl0se8h7IeGYKb2VrAdmBZHdNEjJZSTPzNuvCEogINCsY10sowe_wrTO2uI9QDoW5AX5MMps5mW-09xR5McVpjCRW2NVHG-L0g0-JgmCOL9mOByUwJ_elfVCFhspwnuvlUnfwo3K9PREjld7Oxd9BlC8XRsdNteR4yhi6dmgo87ap1P1zPbsbM4qPOGl4bcgI3alwEJvc3ZtaNl8savcOIu2uK_4bct5q5_tELh4W9tEg==",
  "id": "rs_039282a7cbc4a18e016ab45305d53487d08040506cffcfeba3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The hanging teddy now overlaps the left basket interior, and the arm has reached its practical forward limit. I am opening to drop it into the basket.\"}",
  "call_id": "call_tKF4xsF8BlFGdLpc8SOCarUO",
  "id": "fc_039282a7cbc4a18e016ab453061f9887d0b06045fb72075403",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tKF4xsF8BlFGdLpc8SOCarUO",
  "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]: [0.0082, 2.5378, 2.8799, -1.5768, -0.1654, -0.1074, 0.9953, -0.0147, 0.8314, 0.6067, -0.408, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5282 left_y=0.037 left_z=0.1701 left_yaw=0.2347 left_pitch=-0.6481 left_roll=0.1532 left_gripper=0.9953 right_x=0.2935 right_y=0.0026 right_z=0.1653 right_yaw=0.0015 right_pitch=-0.0618 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -15.5282, 7.2684, 1.1941, -0.2711, 0.0806, 0.022, -0.1299, -1.4838, 7.0906, 1.707, -0.0415, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb2cf254161285d234052757ef339a4e92afed266393d45ad1eb53d523dd550d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81816663036150b1fa9593af0d7dff631dae1660cc78a744f99c5d017545bd6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3f1db0bb84334555677b3969085fcff2e5c25fd6a6764d84dec8f445c75381a",
      "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 · 8.556 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2192, 1.5539, 0.8581, -0.4286, -0.3355, -0.3103, 0.1084, -0.0147, 0.828, 0.6067, -0.3927, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3495 left_y=-0.0146 left_z=0.0514 left_yaw=0.2678 left_pitch=-0.4701 left_roll=0.1776 left_gripper=0.1084 right_x=0.2955 right_y=0.0026 right_z=0.1693 right_yaw=0.0013 right_pitch=-0.0431 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -8.2256, 7.3231, 1.0525, -0.105, 0.022, 0.6422, -0.1436, -1.4701, 7.0085, 1.7411, -0.0415, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 2.5378, 2.8731, -1.6085, -0.1223, -0.115, 0.1136, -0.0143, 0.8314, 0.6067, -0.408, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5212 left_y=0.0157 left_z=0.1647 left_yaw=0.1746 left_pitch=-0.6938 left_roll=0.1091 left_gripper=0.1136 right_x=0.2935 right_y=0.0027 right_z=0.1653 right_yaw=0.0016 right_pitch=-0.0618 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [1.9077, -15.5145, 7.0359, 1.4286, -0.7937, 0.0904, 0.2955, -0.1026, -1.4838, 7.2137, 1.7753, -0.0415, -0.0611, -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 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0082, 2.5378, 2.8799, -1.5768, -0.1654, -0.1074, 0.9953, -0.0147, 0.8314, 0.6067, -0.408, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5282 left_y=0.037 left_z=0.1701 left_yaw=0.2347 left_pitch=-0.6481 left_roll=0.1532 left_gripper=0.9953 right_x=0.2935 right_y=0.0026 right_z=0.1653 right_yaw=0.0015 right_pitch=-0.0618 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -15.5282, 7.2684, 1.1941, -0.2711, 0.0806, 0.022, -0.1299, -1.4838, 7.0906, 1.707, -0.0415, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb2cf254161285d234052757ef339a4e92afed266393d45ad1eb53d523dd550d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81816663036150b1fa9593af0d7dff631dae1660cc78a744f99c5d017545bd6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3f1db0bb84334555677b3969085fcff2e5c25fd6a6764d84dec8f445c75381a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFMQXND4WsdVWzXIT7tdZnCzBGBiGEHZpFhdJI2sh6PUgaTDfVLSID_bWkHs1XyBa5XTlipVyvZ9cKI_2pfdBo42XlBb9wTm8P4vYPh_Q351Y2SaUki2J1URdJbBK0F-morI3j7MkP45zUcqvamUV1YugSgC-XGvDjwUYbtX-ypZp-xKLrcsHrO9INUxXlwo7ZPf_B9iZ8jcod-2jSXkQ9kBY-Izp0IdfICxHbaT7P_B7tjEPffIYZFZCRzrY3iqcS633Zh21NAH_1pgBpx7HysDThrr2pdkaMQ6yv4zzATMqLtj3ZtC6OO6UtzitP6ybFuPBMWglpZvPe6YTcz1JR-Vd4sLCnVFvbxaGY61s40_VQLIVWjBdBvjls8TnHRPPl3YjhQAWVBmptf2_n42BqT5EfGcobQjr4DrkSqnKY2ScRkcVfTjoaomty1SuGms6q24gI7kCNnFMY6XZVj01Fok4aSVnCuyFjMHjJZMN4nmgKcFranrq58SoWtdq8ziqsfU9JR3CJu0-ZrKv8Z3l8D9WT1w4v-nCSqBFUdjmFxfRvvhc492iXdAYnzjECt1pSHugeWJ0_g8KRqgFuL6LS60z61FUHmwveuMxa-bHtKCW-OgyvZehxBLeiY4eGfPZFzwzMdLmRuD_6Z0zGTUk6wRnbQQP0R23Y-cIwsKavghwBNsey4ffybh9qGWfYnT59d84Xxs5c27yXfQ7tO4Y3kZ2yqz1l5TxS4IxEAm3TuJDsvI_dX2Cme8-kmRnFk9NmtUl7OHnKzG8tJAuYZK99MZpmlnBE0Npk3twlinXXr6jjv948_ZeN6zfxO_0e5NZvuDTzSlfssgry2y0brDAwiyJ9msHrL0SXxoxq6a5INE174W6AQZpLA4AUBhPMGPGiQrmQczkW7V9bp5BZJvHJ3wBzYeD71dHZjm09xxVSUcLJRdjDODE4vw5i2ZvRGsswioFPJKt4xER5CVJDlLqNrHN2yrkZVwN-DeFiv-zWQhBnPAo_Vx-6nIz6XQA6P3Oq3zkiA35PqARylijiBMhpNvVJfV6oIoQUw6U8a9M_35LPpg8CjgjBYYrW_hS_xcSxZWF30P9qL7QmuTqSZxkYeCg-JLM9QaPfFmtBzx9aiDg_mmLw4GcDkpRJCyBwDgHQBmLBNFu25CBuDLsf3w42XJntM1ncqAbZ9dJMgv9KlHQzlKm9yZrzNg6op9k47d7YMVb_00qbkUeqr7nsf1J9YPJRy-nk_HrPTm9eZkU-taE1Iexy0tX1uW1w4xv4NrzWyRxhYUc1Qc6LwVeH9phwkX3EqM1BFOnbsNVrancHVXXVbLTTgjRkLEniNbrVc_MxDViXT5tnbtSA061iczShgh67OFrk53j-diSS_k3DQ23qdH6MHiqpiAZ12zep-eAebtk7ZKl6cueqPU65TJPzDgt3lVIfBFuPPN-yob6km8IX7l09csAYiB4Yg6uv-Bw2HnEBNCq0YopHWvBwBMYxXOnqRuKZtgMsgq7k0OXGH762nwtBo1G4yDbWVMWrIqJiRwcrgAuIQw9jIZS7LS-6nVmLXeU37ZBimhociSzDxq0YM3-gfiGE5R6xrvVi-XHKuOWg3pbwe5fJ4k9QKHedqP8wdZaImzw0PfD7KrHRY1Julzs8HIY_sXkBbSt3Ifc_aVg0fwPSdpGZmdayRtmDM0e2XbMh7HMNCaXxnMectlFFeVp_qyJWYjimK-uC9iRLUh1eixQN6saPM28B4-tRBr1Zl1L0KK9Ehae6-NTj_yXZQGqL_2nxaQBwftZEuUKd5GgbV9GjubVz6RIe5yd4SsDMshDrLoHGJP3rf2CLF-UthgKHpRcWMKt18fywKHtJFH_pqt9V0NTeKU1DOIw9NdEuyWhyRXpvigqq_1BBPoYGvdjAXof3-2BmOHRcsV6fKrltQ1tnXUz_-_v2pNxspdK4Mk5NGMtOaK0UFdpN7KoRluswSfd6SR7_P7yrku6flwmxhRxVEOpG_FFubsCXEGPgr6z_RG6Iu4iaj4uVAbf9iVmRlnsKNLUVSnBAnaup8Zsssg-yTIygPuAs3uBO5DzGj68I5Swp0eoguvfNva-l5yt9cxsCZeC-PT07tOBMXHPVRIURiVbtc_PxGi4p9Jzwct8bqBwzOiPyByMMAta3L04_fuXjF8Z0kJvesrOKGHfKRkCAIDmqtdEB9S2-2P5-vn38lAvtIeTzNCezL1HRh-KfxKA5NZC5jjSQpunR-oGZV-koHt7n3H0cGRx7ypk9ZLNfJCt-Uk2JbyzGtEbnhrWfsfX4JTnbZX1G58TGDihbKl6DPuEwtpmXxiG5-uVcES5my6zKgGV3nUZnpw7O9WsWkeyZPAQdPP31Gnsmga4RaHMCpxkqEVHz6fHaLtuWeZfjMihmgu4g8GjwQKImIqKQv76VrGRnqtYlyvJUL4-N3BjLzXKKfbPp7aE-o_rXco2QBb05IQWjzo1bbc2BDxJC7_58kCmBnhtHg0bAdy0uC6cSBH7kSCngPcwzmZZTvfG4GZ4pAx_8xJS7YGjwyP2H5iVMhnwUL9OF_TWWpI9UTj6hUL4S-7wTrG3Dmra-LBT3tXWLrOFcBwzoZOhvh0c32PF6f_61BKGVU3DmPvwsgNXpWiBYBnGsVJ76tSwJLVNr63jaE3gFk2ggQH4nS5wnAJFGxX2gA_20p1jHsoNEIRnw1I_N6-E2v4MXm57IfRq8HwpPKigQ-DiUpCN4l9725H5s64Ez_8RkHwmiYJ4LXMDbFz9aOUUE4ZfnufJKXxd7wlyM__SXOpRtKXgPI3jY-525VGfHxOvpAoP5jHcw7jNQ5u_tHqWiJc3YHzIQW6c6WsNdkY0U9lX25FIGD8wRvzOEXXZ9Wg9u7tTk-SOyGLoXNBiQtv138eARhXJi5q-MjpkSPvr7jcf9m51HzrjnSD4ZspMQ8z0c0fb4cUc-C5KAJGD8bnsJo4cHfPJ8Pdm0PRoYHScv8bGhYxemhU3nQFikHIE-ksB3-9po1Iwo2u3JnxPPWGFz8B2NuK8Be8UD4NIhKZMYeJZ134lBeY6akkLKh1EQ8xETXPVLJ_SAw1m_DCgFPpqGBifvYCTOKa6Tog8DWVGShUyFj-JUqDGlTZW5qevOZUvCL7jHeqFLMnjvw5a_TcXTO24tsnKo_G7t1G1RJSWUJ0ckxz5jpldDb7xpZLoTUEJLJ9KoHxFw3_c-3ZBZpxyEb5_6O4-LHnvifoVgL4t5aWmRXbG1e3Nb-ajTEgnu7JmC-x163tAqayNnf2xSjrhKU_Q0-m7cYx91X7xnSJXX06IFWISQdfKd1BCQINhCq0-7gAlp_MkDLR_NbDmMyJudcvqxE26IKP5iFkC8qA8mHgfpq6W6Faqcfc57SsoO_zTVyAE_5qNrqDSXYy6yQxs3-ZLqeKh64nfTSpfTQxp91EFGJNLW9KenJT5ugUx5r9UPRzIQHWkhUSNVCCQig5EHk1jcoDv4qbk0sC-hmQLqIpF43vmvbmHg1ZYlrkBgfIRL5VHq0rgngnYrKK5InfZo42mW7XUA0MZqrKG9fVkoPbpZA0C10oRpnlUg9wD8j1h1eVv5bDhbIXIFt5n2m39klOD9-dmjhZfYctLnAqxXF528QXqJ8QE3d7fQaGyxhcK3xdHgNrDBJZ6AUlrr46UkRGNBhzklqycIBYX7-nkLvKYNa8NUVunCXBG4JoL_ivyiescjqnfTjiqU7tvm9EXpiaaqj0l3RlaWNIXH0SF8jQHalvhh0ntzoQFqV_h0-j8jfuykGv73phE3FYH_uKHr89DotJ4VfO6b5PlrNxvo5kWyPXNJvF43PvsUD4OOebcKFojGd7_YNwLoXogI1Ah29jMF-3dFnn60qwTsHTzTvIHOtL-LeAjMXZyUglbG6ocf8XGw8DFx0sqYrplnEtoYilx3P_YvPJVoqG_PuB6sKW0indEZ82kpwRXWQlzLRJCYFct-_utdNqhdAgxqkCLClQHNXisSfnxkDTilLi-ux-IOgFyuuHzuQ9EQqEZHY3wYC5fulM56lc3WODU1Oiiwyk7n7lDBC9JjPB6KiTRVCEiQ2gf4m32FUSTUMZGCTL-pxyTbOgslz_9XAF1lRT70O2ZAAoJwDqR4JBOhG1y_4ZQuLW_x2vGrmF4GOEpdAqKHvCvu0MMClbj3qYCnuqz3kusPR-GnoX65fUKdnFBWxWAbJoMuyLO-QqHs34cVBhO4CijO-RArqBATVH3zWWJjUGkq6rNH_jrEI6VLM8a7HdV_lVspdObxmMQOipXJ3sG97xAUQLvxeK5aTqibnMm9RA8S0xhw==",
  "id": "rs_039282a7cbc4a18e016ab453093d7887d0916ffda8d5322d6c",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFMQxmfseAOjVlifaOXa55-ar2Q0JVyDqzzYHpiSIb-c25K5IVbgAl1jHhb5scQKJEKFbkBjqHpg9PM1dFEL8mrcggwh9lrJ3xAoY2lBJE38IROVgyRVmPG3BnbQamw6BZkNBuWOkoG7IdnE7Tv4lx6bQp4Hc6M6toj6X_WEF8u0lj6o0udu3sQc_MbQWE7Io0_Wr_Ee6iiONS5i8-_HFfG2mGwYyrQhoaEVAzm73fj_Z54S8iJ-ooIXmuQcPuUCvRtx5CPDr4IT45uQmFvpxgi2sXaw_UUUa3myaTPCixYxEoa7O3PPD_06HSqDPwLNEfkAgSBWuR0HBWz-_Z4Vl_zpM3hvO-vEhxAHgOSFhV2PtNNn8H-48QTcPg56IqZmMUPynzfj-9P23ezR81AH9QxeAU6lCqTg2_3yBvyNHe56hTEhgP7Bc2qdJ6pSo4Uyr9RY1Po4T0Or3-DKTQBNHsJVqRk00YWKoSxaife_s6ShOBozmdW9tjbF5Icj65dOdmi9HFjgSjSRrCiv5GXYSTfCs8leQV1KaeXA0tWWWQKos_NSxQbHashIy5-a5Wf43hlu6CToURtgQIB2SaCWIaajCHCbXIwPqXNAt3ScwSAyHpKTpOGCIFw7G5DTwaUWl4LM5wjaJVBxSMTjnlDrdPlF4GVT1RLxeu0a6loXlJAfCeRq8-7tW8KYxImwjH81OgZsnSsD-XnxVDTm6kaenwuSxamp-lVy7Zy2jRLuD1ufuRCEzns2uzw8aMYUvgasesCSFVLRYWtoS--02BCY0wkZZAZcYhOFtYQ8FnbSSlSrvucI9GSgzeuIfvhi1OCfw9xHomjYq6FZpwtjhzb5Pj_gWFZTZMmMFndLr9ewfOFilAr8KKm4IEx-PecgMUxd7k-TOkWXet46bCRCcN9Vx_zwGuYv72l7vJiirzyCysKZ6wM_pLorWzn-iq5PBJ-Raq8kLHj_GIJplxc0-pt33O1MzM061l5I7tkemqYKAzmGvzZm_Uniy_Ww1HGcMwtBELgXwCgeDAE9Xte61PwLQIPcy4ljTzRkx-Ye7idDdDXWd7aOniAT9asInbY4M0ez60jwRxcYbuwHXXtxG59-bdCKWnNLt55zgCwK3Bc7r6ck9DTeruqQp3hhAKhVBaj5DnYAFLhwK_c_8gumT7ynw3FZcuQP7xt7o-X1Do3A6QH9GB7pzI-J9Uyplz2ZxsI5HKlBvQkCj_VSVYoJyhx_Nm8WeEpBt_j5__kKm6Ibysg6hVJpZP1ZE2XNKgnROgX2r8mnrkwSizdxwyyaDH0K5KaRRgjuhJ4q7lI_hGwvwsM_fn3BK81vXAy2EzhIRaUQ4dK6kTpMmi5vcwhmvar7KqtB-RxDJXHlc5LAhokaKcB1SUvYAbHHdM_qn4LiN8dci_mm6_i7bgDEirkeEaDkMgzfRRgwk1028mwQxlL4axj2SGM5Tdkq029cOTg9IwT46J7u8GEseOkLaDcDgNj9NTEaVxiRh3KPnaWZ_WpK84sLgQ_hmz-VvUr4RkXMTcSJHor1_I8J2_dBoPXjwCiTnz4FXy7NQWQi0Qt272yywQA2a_vnMVslEarldg7OWR6g7i8Pb2Z1El4PUMm6f4cYnjCYNQ==",
  "id": "rs_039282a7cbc4a18e016ab4530e82f887d0ba2320b15080317c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.18},\"note\":\"The large light-tan plush has been released at the left basket, while two small dark-brown plush animals remain clearly visible in the front row. I am retracting high to avoid sweeping the shifted basket, then I will sort the dark-brown type into the still-centred right basket.\"}",
  "call_id": "call_RB5kUXoIj9DcuVwZ1CTuiTty",
  "id": "fc_039282a7cbc4a18e016ab4530f3f1c87d0a590a32d1d0dcc06",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RB5kUXoIj9DcuVwZ1CTuiTty",
  "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]: [-0.1425, 1.3861, 1.2766, -1.1011, -0.2127, -0.2367, 0.9967, -0.0143, 0.8364, 0.6067, -0.4095, -0.0185, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3098 left_y=-0.0031 left_z=0.1774 left_yaw=0.2103 left_pitch=-0.6016 left_roll=0.1375 left_gripper=0.9967 right_x=0.2935 right_y=0.0027 right_z=0.1636 right_yaw=0.0018 right_pitch=-0.0683 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -5.8735, 6.3521, 0.9744, -0.3053, -0.0415, 0.1294, 0.1162, -1.7299, 6.9949, 1.7656, -0.0366, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc4f6a3859b259f61b809f47d674b6325f6f77c975949a1c63f6d7af3dbda793",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13897e3843a2f7a1d995725148944e76c42f9f5cd4c041f56bdf68d75ed1c351",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5da5a0e3215f706efee4cb521ae29e937f0afadbbace03ed11c8b486015acd06",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 3.66 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 117 changed as sent

message 122 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0772, 2.4828, 2.7724, -1.4761, -0.2161, -0.1787, 0.1107, -0.0147, 0.8314, 0.6067, -0.4026, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5389 left_y=-0.0001 left_z=0.1763 left_yaw=0.2366 left_pitch=-0.5828 left_roll=0.16 left_gripper=0.1107 right_x=0.2942 right_y=0.0026 right_z=0.1663 right_yaw=0.0015 right_pitch=-0.0564 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [1.7573, -12.2462, 6.3932, 1.37, -0.7155, 0.1392, 0.2271, -0.0479, -1.4427, 6.9949, 1.8828, -0.0269, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0082, 2.5378, 2.8799, -1.5768, -0.1654, -0.1074, 0.9953, -0.0147, 0.8314, 0.6067, -0.408, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5282 left_y=0.037 left_z=0.1701 left_yaw=0.2347 left_pitch=-0.6481 left_roll=0.1532 left_gripper=0.9953 right_x=0.2935 right_y=0.0026 right_z=0.1653 right_yaw=0.0015 right_pitch=-0.0618 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -15.5282, 7.2684, 1.1941, -0.2711, 0.0806, 0.022, -0.1299, -1.4838, 7.0906, 1.707, -0.0415, -0.0513, -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 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1425, 1.3861, 1.2766, -1.1011, -0.2127, -0.2367, 0.9967, -0.0143, 0.8364, 0.6067, -0.4095, -0.0185, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3098 left_y=-0.0031 left_z=0.1774 left_yaw=0.2103 left_pitch=-0.6016 left_roll=0.1375 left_gripper=0.9967 right_x=0.2935 right_y=0.0027 right_z=0.1636 right_yaw=0.0018 right_pitch=-0.0683 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -5.8735, 6.3521, 0.9744, -0.3053, -0.0415, 0.1294, 0.1162, -1.7299, 6.9949, 1.7656, -0.0366, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc4f6a3859b259f61b809f47d674b6325f6f77c975949a1c63f6d7af3dbda793",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13897e3843a2f7a1d995725148944e76c42f9f5cd4c041f56bdf68d75ed1c351",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5da5a0e3215f706efee4cb521ae29e937f0afadbbace03ed11c8b486015acd06",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFMa6Nz3bqCYQG5J2tJamvjwhILskt4KDrLvjdZ7t3aY00yko-puaXh2-cvelpROWXGXmkdZht2cFVA6TBX54P3rtBVm7A9j62354wHJBj44GfYijWpwTIZsvjja3oORMT71nYG7IRjovYS4npMhgEaJ0mtVW9Cp2YQ0k8myxGNsJOLIYXFTzdIz3qU_ptL2y5o92Ui9ouO9GvbQIYORTDt9tcXJVg9okhGqMJwemipbvmq37E2d1A-T5tXh5-ylTMQ8eMAp_WMGA9mOMpb3FXyIWu2YLXvn4xOpK1m55f1RtqmZCGf1Qs-SDjnN3c3IyEAS1kFCCNWVrFgo-GqbnGPGWUkK8NuNXQuBgaxWHbtHT7Sz9criIKC60FEBGlsaDqhKuTe5uoJhC3a-JZxu88406st7C6llKsbi6ma4x43XOVJBsQqhqZUp3kqywOE9gRQ5y7dANEDufiVcq_j9Utihk-xZ8JrGyW0K352Sp4RDuy-fdgPRSB_t99PRTDbJagIyvyHAIRCj_nRiZ9oqi6TQ6r-hmYf4sTFmwmTQzY2Td43Ayi0yQXDCMMUzPrZrh1_a9zfEfyba5kdmvIZwII2w_yN8pluQFIti4n5-9F3jDa-X-SmDkUXpB_NiUyuemCRbRWbRjtTO5hLMBmo2NpXz0qS96Vay_D-agtjkwZwnj8HTPC_cifJSFVqvpf8-nlih02P1LHejXjaq6TdKb_HJp5Y8K9x2Yx4M2BhWf8WuxBnL8sJEFHywOjbwEmy5K3dCz51NP5QDC9TAWMcqjdEPNKkzjiQB8Lqvkvv85lIyCUZ9G1CLc6k9eIk38e-3bosv8LqD6VNYe2A5IMB_k6cUWW5g1dZOlWwo6XdPMtuu__AdDdV0bLmjPcAtangmRzq31QTaB6aOrHIUcu1qHDfl0hSeTGWyPY5dJSaQMmtBqUd8C7ood-oZzVTlz9G5ssqPwkAv6QfB2yFDWwzvUT0df_fDL7E6CLnpmUlAL4CcnWMOVRZ_xt3JKp5TRwhNEm6FIf3yfwYd6LzwjmGVGMlKdhpaECc0Ob3P2xL7JtX697dcd5-v9QYzziejmkeaEvIMFH_Sgz9VKfZjtEYMm5kBDyxvjkY5eL5O2AkSs5n1PsgZ9HsDAaN_fk7VK7suEMpmxFNGrzXE7ocgyuCjmm7kLHO1fLAibqtk3HiCMZalADbwGEsAI_cMtF7PvnHeD_qwUD0Qo7MeNC-fPmpf4OU6C256DpBAW5hOSdRfcdDqD5na97OMkjvSCOpNTpCuEm7bduCqmDbKqQ7jdvQvQspAyfD7MaBXtRhinjW2FGiw1eDA1bgKY43VU17IBZjixkRjq55MkeNNzorBNDApd14SgrqGAwMyoJTrqHspMLPSNAgzPYUJMadujXdAyWnPMMTuaxkdh2I9CroRlTFY6gZywL3NHUsbdOfgZk1e4m2ebnb0iY0X1fvuefMWWlMFpgCWjPgXM3N5Kapf-hKSFlNHVAqGm3qAvfCSY8xP51BDWMf7dIiz5lcE5ElwPxU5PB_nvxOOsSTDR16Wah8Onv6aqBSbzxpwNbaGzaH3hy00AQFFMkNX7MfpF3VhewUG9CHALHIMXXEKc4Uyi1V5wd6OD2TIxVsSwipaOY9UzT2UP8bVlo6f27XvMlpEsleTLCGeVqMb6oSVdJcysEdDM5EoNpuqd9Yu1WQ4-G0Oezbe_UFUbf1kmqGkMIB9a-lHEbPrw9y_hNsVJofO6doVePA41BmF3luJYAVV-HH_O2pxwv6Kii8wzSETRrPul8NQNk2T6rey1S2gAdwmn0ojXCLsxNLnUx9wNpGxSa0UUm5_wGcBwGzg3TAlub5qj8J3p6SIOmkZP2j1TDsiH0GEGnoPVUnw53GVgkcuIV9guTi5eN3t0juldBxhcEu8LPPNR1r2srRlvAfiOMS8jolJk1vVKZcyyf8uBy5307Lbn8Gt52QlG1hWyDOkCsx61Jps3d-eny_ehRLaiOJX0FI49xm-vMxTU4yMuC5Q40APqAZN-fchv1EbgyRiv6hSpTQ88RdbLb8aytR5lLhaFD0LP9z9nldkjqGYPYrjX0YDRVN0zgPGw7r_soZ0sfeUFzXCQrRZvkT7XJh7fCgcrzhz9bmvHRVAkqaPeYAmbdaxGVQ9xWsRzkHj5V2AO1xfzGDamXga_9GGN_yT7DeJu8ZKB_31y6472SZ2PbzM7nk86YzggV0PXk7eHC5PSIe_nNv0QYYYhQc3I_sdtqZnaTH1-zZp4HPDhJCH9vGYyggiujwpftEL_HVcjxSxEMkUJH4-8VN5aF06A2N6g-tmp2JasaRDICpXnvSRfXslkVHaTp39aHdckPup4uxlqWsY9KCPeV5umkmJKlBQgk9t7oEUokl0pIV5T7A7m9eOAsMN5lq4V6AcqE-eNCkJftW7Q9FJRBq2TTKlIHsYRbnSs39fs71mRs6B87w1-Ixe4g45aKVS-im4ztF2R9WkeG3_UpFx9GIuwYJstehc-8poGCnN1Q3X6TY3i9qx3xgTaH_-ncdq_H5L2rjrW7rj_3uLQ3TtifOWhsexeL4e71JmhecRJKaWMoeT5xwLj2SawKFqSKogBo06_T3f-JCHaqz2DE-_E5_V8a3mS-n_leB0JuVt0YYAFx9lkDZ9EHtowRntRuE2aQqLrFSzLzzJcaj4dLRG8-q6t7r7-tKNKKs0vyg0GDtiDVZrVsLwTQWo1SmvFrMYSVU8NgzEnnNsr9d0eaE4-YZS9jfSG_aNUmv4bLipWr9lkOIrgukfsQ5evoTiyn8x9Wk8mvLWFnHnB9hUlzSTUF9-426APpOkZrAAXuz4wVhPOiYP_VyeQyy-Mkm-DEHHbNe-qkbju2CmQc-4ELZq9AcDW22rMflVrUdNkLryxkn3o_eI7TcbHRjTF23RX1cDUiMueQF_c97eHClUublsIzYAx-5a6Wd2OLnlntCY14Knz6MfhesOjmNeDrc1VshzoeprNfcqgY6bACEd-uqdrsQpTN3qx9E0OqLKo5bvvnJQFFjAJq4gDRMMeRkBophwwI43HRjcbXVMO_vLD95ZaJN_os3IFmeDshYo0qIbccGf7E4Trwg33OoCMiRXhDW1OdZlVUAFlpNSLgM9f876ekXBK-RlF7XybUxbZKCfoABweQ6FaPkj5QPfiL1e4lh45OE2XiECjc8WterIbtOiOirGLUPGdqvN8fCf5_lz35Eb1CqkV3BTB6IwlrjreGeaPMGX1K9nB2Szn7Ttrsdfr5-TTNs6qxdSjgcEHNBE2RMj4K_chKW2Ip3jDtYqPb-w1HZOWo7mwzMMiVkQ6KMFP0jNlQQ0ykaq8s8y6MdPE14gZiwFhipjRJQ8Z7XaFp7i3P8evVOFmOpDG3yQKkRVh0mUQiDPD2RH547lka3HzmCIpu_09DCRA2LRSrGszeqBFBnsav-2qFSAXl2TJyCN_77qcdihZWU4wL0M5KyEhiJB6UJzg66JLGuOdK8UO3rhKDjlegpBLImWpp9gFFlP-kyOo15WQrDzDzsv_XRoKKGC8Utc9q0-H32THMophdJL6jvdZ122qP5BTeT8Q8hPMSpiz_Vx8gcdbC-okwQrFjfpCs6Zo_8qgXsbMosILEXMaxL44kBN9-Zg1M_P6a1gmToBh3I5eZ0GEFAxKs0RXt2KHhi4w0_5Ko8eYfeWbD_-5vfp2sNaEq9wsIqre1-jDNUfYYDSLTClfaqjlbB04Aem1GbvsACH97CVA9ljGare_3a7ScR6uJyQNP7OVXXc4rPfrqlAiiVeqTZEOtJZew95Y9Ppeo7loVPDs8htmynRk6A5_dfSqall6oCUa0d1DijIRZOm7PTKAtSE7_NajdAOB_PeiLJhAdWUOErkPx4CSN9AKTXK4_AU_pSRhb9vTRXZExykuI1XgsZ0e1ObWTVo3nPK_N1apP6DzJ5hKn0zhmtuRUcYa6YO2Xau4kcrzjlFEeKIGFbVUTG7XHYfPrpvoVXCPzX1s5wjxI_SeTiPiX2x4iejr2-hTCDyZa5RwMT9KFHxhXg2z3SjZp1kSuklsQMVMyJxVb59zxb13ENSx3zwpY71V37wlu_c8OkM0AsgD54xonqmigENHIgjV5RbmHWNqPZ5UsqUlDXesjiz7wMcNhuoN8RSm2uf8WHPCCcejD8Y-CCohiAwtjNWW2M2N6hscn6lmgDhTi16IxpbSX7l-5fuhO_dI2AHqHjaK5AArInpvlaNdxgF9zKzhRqgQZKCNniBhmsMWX4YFdXkrAKwOCNVqVYaak8jvIKJ_9D5",
  "id": "rs_039282a7cbc4a18e016ab453130c5c87d0a34cc61739d06a52",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFMakTggzyQNRIzvRHX8GcG5Jv_68YlT7kfvcTFCcvEuaul7FTt4obIzIOuL-CbukOQ9nxFnUjxiRNkJ6HWtwcthQkpfVHVJmilR-zDfJcam05kOYtLzLpUr65fpgUr0WjE-OA7n8lRi3TpRZcAkztQhkqm5oRLWmv-7t8kAbgol7wJn4t8vVCfglI-FN0bTCUzw7Bi77m6jLsBNw_7aL15_zP2Si49t2hYjao-dsMhAVrcIxJue-PY_O5Ki9ceixbzOUsh07zx-CdYnLUswPKYsHESYnxE6U3s_gL2cRezVHNNgDRxcVqH6fNcVeEYM3xS7lBE6qpOBQv_g4TgDxVOyWlUh8hXyfb-Lpm3sBKMxoSLZcG2C7vNzyZ2epQhsHJ6Jj5zsEeOxE0CR_ln1R1ikILTejBu51FaKkP3dcJKzZ82r5HRUD-cjrORg8jW3e9NT4ckT2agBrMwrIx6T_MG2beVry4VL1ZPfghXLzCliOas9l2njMALqZZOEY-kdr3pNwoX3susdB3wVPjCFAsye0Oapx5CpOAMwvsPGjNmKTokOVpcGc97w5VKIKzgGBRhhpQjq7uhAPruW1Znj1MkDKAjKChFyO4BEw3vxK4RZ1CokSau_Fdo-Aah8VHwBl6Px2wapS17sEdBX4rN5dcB-Uj4haLC0AAOHWsgPc7ENS6ryRw2lZUyiTDoDD9qy1SdmpxG0iGiCGeiF48mYffuWW0gCEQPctNSB51qUsciczEXSF1GQwzGlBviXt-mv0wxi8n09TwKu-wtcjKy02OmS0CixDuWNntuwUKjcWHXxGtHvf0s7nNTetGtQyIICDJ4aR0fJXkiR5M7oOt1T6HyjKtJPIFxz2c0OcSpOKEvaO1Aew2_Qd12ZVwS9hbJ74lk7c_uCRgQ2_iTjoru8E4M3AsJ_9skL3FRiFrszljaAPVCSvg4R60JSEx2hnqXfW0gZ6NBbU33n1jPl_G2oWUhxWYpaxCmapVpQ_xdDnwLcuFqc5sRKQohsG_5B_WXFYpqizZ_DiQPZSOSeKd_VpWImLGLJsu7q-Hin05MtDdNtCcR7Q70qgm2IpzPPSRFXN_1jqSAlCbDhEW-9sfARUJRHHO-rdk7HeAT_WkHmy2qNQH4JsKb9SjD9_MMOPRaXPAXcJjLbAqV7mRArZhnAYKvy-GSgFqe6p5igSXtvyCXfz77OGHXrIgE4N7-egyePcazozjWg2AjspbNIWy_RO1E_3IZrQAmU6rHFOJuLpkiZCMzgahFmpn4U9f6JaliTicgQ1KtnB2YUwxVw-67ENW3xCaTTgKT5_Rw2qolO62t3QmuIIiQleBwCCm4nDC5w9NWGHonHY4rlQviovFsFu5NBEqRmS47CiY_y1Z89ltJ2rIgp8wz-oWJcjXfk0CJZh9kWAqi22XtgIkOiXLGXclrsIJto1-hK5k0U4RQX-2vava5Vl24uAyGKhCMdVrEMBVy0",
  "id": "rs_039282a7cbc4a18e016ab45318946087d085c3aa434e5906e6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.15,\"left_z\":0.04},\"note\":\"The cleared view shows the actual two classes: one large beige dog and two monkeys (one gray, one brown). The brown monkey is isolated at the front and directly accessible, so I am descending the left gripper around its torso before moving it to the right basket with the gray monkey.\"}",
  "call_id": "call_s9b1fyKKw9QZ1o9M7ElVC8oo",
  "id": "fc_039282a7cbc4a18e016ab45319609c87d0a679fbfdc75f9745",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_s9b1fyKKw9QZ1o9M7ElVC8oo",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6327, 1.6958, 1.0504, -0.7193, -0.3416, -0.6975, 0.9968, -0.0147, 0.8364, 0.6067, -0.4103, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3057 left_y=-0.1463 left_z=0.0431 left_yaw=0.1895 left_pitch=-0.6236 left_roll=0.1521 left_gripper=0.9968 right_x=0.2934 right_y=0.0026 right_z=0.1634 right_yaw=0.0015 right_pitch=-0.069 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -7.0769, 5.6274, 0.6422, -0.4029, -0.1343, 0.0024, -0.0205, -1.4154, 6.9949, 1.6728, -0.0415, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9350b8d13b2879caa0896848e43c9207b6e456dbf38d74c83a8014106e9d95f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a63a9d5ad61d7d03f667482e82aa0219acd67dc48d577a4a85528b2065851c61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb96e478a0e5df60d6e4ef23cd7c1a5d192cd1602f93fe2a652d6a90397f5bc6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 1.94 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 122 changed as sent

message 127 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 2.5378, 2.8731, -1.6085, -0.1223, -0.115, 0.1136, -0.0143, 0.8314, 0.6067, -0.408, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5212 left_y=0.0157 left_z=0.1647 left_yaw=0.1746 left_pitch=-0.6938 left_roll=0.1091 left_gripper=0.1136 right_x=0.2935 right_y=0.0027 right_z=0.1653 right_yaw=0.0016 right_pitch=-0.0618 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [1.9077, -15.5145, 7.0359, 1.4286, -0.7937, 0.0904, 0.2955, -0.1026, -1.4838, 7.2137, 1.7753, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1425, 1.3861, 1.2766, -1.1011, -0.2127, -0.2367, 0.9967, -0.0143, 0.8364, 0.6067, -0.4095, -0.0185, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3098 left_y=-0.0031 left_z=0.1774 left_yaw=0.2103 left_pitch=-0.6016 left_roll=0.1375 left_gripper=0.9967 right_x=0.2935 right_y=0.0027 right_z=0.1636 right_yaw=0.0018 right_pitch=-0.0683 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -5.8735, 6.3521, 0.9744, -0.3053, -0.0415, 0.1294, 0.1162, -1.7299, 6.9949, 1.7656, -0.0366, -0.0708, -0.0122]",
      "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]: [-0.6327, 1.6958, 1.0504, -0.7193, -0.3416, -0.6975, 0.9968, -0.0147, 0.8364, 0.6067, -0.4103, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3057 left_y=-0.1463 left_z=0.0431 left_yaw=0.1895 left_pitch=-0.6236 left_roll=0.1521 left_gripper=0.9968 right_x=0.2934 right_y=0.0026 right_z=0.1634 right_yaw=0.0015 right_pitch=-0.069 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -7.0769, 5.6274, 0.6422, -0.4029, -0.1343, 0.0024, -0.0205, -1.4154, 6.9949, 1.6728, -0.0415, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9350b8d13b2879caa0896848e43c9207b6e456dbf38d74c83a8014106e9d95f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a63a9d5ad61d7d03f667482e82aa0219acd67dc48d577a4a85528b2065851c61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb96e478a0e5df60d6e4ef23cd7c1a5d192cd1602f93fe2a652d6a90397f5bc6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFMfHsX5Ph25OAcWizF_hVB9Zy7_lSkRE5hcIZ-nGEpejv94iU8U2-G-1PCHpURNKe8R1QcCmx9Zu4VtHyO_cpBR6Ljr3jPz_t3VJxf6POmI2stg93y5ESQQJ60LMj6oJYomiE_fIPan25sE3gvXgzHeZNQKHP_WoXSGKy8KXcTBRgvsg1nOtOrUptZ3GFd12ylYnKkVXaWddthjYZ4imd2EkZ05XHX2UfrFGQJG9wXNSZdEkZwGr4MOjKlqhFfADjFqYdGQkCQsbiGI8hpxFpAH9PTVln7sFuK8h0Ak_jUzWe4OrIbCJUN_jKruR7gMm55I0c_GT_JJCox6w-H-jjBAXXALfg0QIkxd3Bu0fbjwgnYcCe-QzqmOb70igFTrOAoCDxGomCxtp78aOXVOK7c7cNsWaKgmwVaLApWcPMgfa_OwxjvpYpHLzhLmlfBu6u7VSZcsxNAQfUqKJqQcS4yTYnO1IpKULHNpZoZn9cq9LbxeRaUJpXlBhNI5qQNPf0ZAa8ExAkox6vqEiggn9hJMvdEENbR0Cp6o6ZZbpj6k1Sg1SUgSwW7ukVmt4aKuDG0KAUmVXv6PjTFyEPKhFQ12h-s4Wt6OxUY3coOoBc8FbVHbACiyyG55fqW0vu62owTWBcpOp6eGpH_B-acdkvDcWTiBDu_bJwQA-PEteFdpjNThQ4f_yZ5g3nY-lxuEzZSpLjOxrRPAUmn7MztGx7YAMOLxrDfY2lCewQRLjWOXmlyUuxoMvS4vHdWN9cVmwDITeSzzofVTngdBk2Sjo0xTekRqgoshiyTmWk9krwvGpo2t6b_qdGeHh9P5kx4SsCMxHRtHREKQMTtMf7MkXQgA_afgOnHK9AgNHrOkOYzRB2JUKIHJlTwQWU6JpGZbeDZHJK1jxBKmWXHViydxmESgreUnQpergsaq4GJ75PK-kknndLspEUjLSjTGp--jqChQz6yaSaCenOajc6_8Hhewr_I6TzDWCrMy7GzcDUf-PwrCeUEr-gKm-Fj0TmpQw9g-JSk13RhnKj_Rn5qfy0TJClcFibkW9k39Npri5Ax8FvQilzQUsUd5YB3nw2s2JDLnkDYDiw0xd7e5KHjbhUwr6UubRY5gaB2wBNdS8hR-Gbg_n8qU3cjWzH59tXUy6Dtvl1vrBg2aIkkGgXYCt0LTOHENq3cdTPFgiVtItoFAzTAT5ejFYCDS6F0ukgdZFg09xrcofkeEK1uy1IhBwGi3SuyPILv80uGQIni-x8kl3aIqlQk6qpYGkyIK67TqWHUqj3ENUkAPZixiUWo80RMhXthAQCENiK_aOKgXaCzTixvpL6wFkPMlIw0UQzcqMDsUWS-wWB5Y06PX5mwW2Ctua8yEVKY24UwPyniV8oa8Y6z-3McGQxY2V15jpiwnJB6xAKa9TkBdqnzIN6LXznwGSYqJuXHgML_o2BYBdnIEF4D3TtZkXLdlU4f4u6KmgZKBZfFPXSSq7vPoQHho9R3MpqMsAUX3lgJxtGY6Sux2OBdiAc3VTYNLcitfBPacDri-kl-v0-KZHm-UqemofSFtBbxdNQvo1cFBjMYxe-rF89Vz6piuCQgt2PbfVoSyRpfxlIAEm8HJbyzwztcjG0xafJxK45-QBHl2CF8US3OSaYSAOt-hr6TjL45ynC-0DPHougfuEEEaX1LDZ8CCpHOuQr04wfWn7dj544dRJ136F9Scw6VUtX_3pQS-2lHVcGOK1vXA3gURPrsYAQJgTGYX4Rldmzmtsxc6SxKdFql-2LxJjeuFBbdri_iEWQVP5eMEfxL_onGjSBjF8p5ifN2xd-yQB-3Yc3vDQg-1_ixmsi4=",
  "id": "rs_039282a7cbc4a18e016ab4531d379487d0b6fe509d00c7832a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.11,\"left_z\":0.04},\"note\":\"At the low pose the brown monkey's foot appears at the lower-left edge of the wrist view, so the jaws are just forward-right of its torso. I am shifting slightly inward and left to centre the monkey between the fingertips.\"}",
  "call_id": "call_8JNfzFxECQ34KgaN8vzkRmfx",
  "id": "fc_039282a7cbc4a18e016ab4531e8e0c87d09e441cecd569d67f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8JNfzFxECQ34KgaN8vzkRmfx",
  "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]: [-0.5705, 1.5978, 0.9005, -0.659, -0.3405, -0.6579, 0.9968, -0.0147, 0.8379, 0.6067, -0.4099, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2894 left_y=-0.1113 left_z=0.0336 left_yaw=0.2208 left_pitch=-0.6222 left_roll=0.1621 left_gripper=0.9968 right_x=0.2935 right_y=0.0026 right_z=0.1631 right_yaw=0.0015 right_pitch=-0.0702 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -8.2667, 5.2444, 0.8181, -0.2955, 0.0904, -0.0122, -0.3487, -1.5248, 6.9949, 1.707, -0.0171, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28b56e787fb3f875168248b5986735d4163b9e3fe3820e4bac4c367e4ee764df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab987bfd5065ea29bb26b563f470c4a510ffc32eb1c40dc9070af9e0483fe956",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dc9bf42803fb33d6ed78a6a81a8c080a3c89cbbc610e369d2bdd20f8a52a68a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 4.789 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 127 changed as sent

message 131 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0082, 2.5378, 2.8799, -1.5768, -0.1654, -0.1074, 0.9953, -0.0147, 0.8314, 0.6067, -0.408, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5282 left_y=0.037 left_z=0.1701 left_yaw=0.2347 left_pitch=-0.6481 left_roll=0.1532 left_gripper=0.9953 right_x=0.2935 right_y=0.0026 right_z=0.1653 right_yaw=0.0015 right_pitch=-0.0618 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -15.5282, 7.2684, 1.1941, -0.2711, 0.0806, 0.022, -0.1299, -1.4838, 7.0906, 1.707, -0.0415, -0.0513, -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 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]: [-0.6327, 1.6958, 1.0504, -0.7193, -0.3416, -0.6975, 0.9968, -0.0147, 0.8364, 0.6067, -0.4103, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3057 left_y=-0.1463 left_z=0.0431 left_yaw=0.1895 left_pitch=-0.6236 left_roll=0.1521 left_gripper=0.9968 right_x=0.2934 right_y=0.0026 right_z=0.1634 right_yaw=0.0015 right_pitch=-0.069 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -7.0769, 5.6274, 0.6422, -0.4029, -0.1343, 0.0024, -0.0205, -1.4154, 6.9949, 1.6728, -0.0415, -0.0464, -0.0171]",
      "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]: [-0.5705, 1.5978, 0.9005, -0.659, -0.3405, -0.6579, 0.9968, -0.0147, 0.8379, 0.6067, -0.4099, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2894 left_y=-0.1113 left_z=0.0336 left_yaw=0.2208 left_pitch=-0.6222 left_roll=0.1621 left_gripper=0.9968 right_x=0.2935 right_y=0.0026 right_z=0.1631 right_yaw=0.0015 right_pitch=-0.0702 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -8.2667, 5.2444, 0.8181, -0.2955, 0.0904, -0.0122, -0.3487, -1.5248, 6.9949, 1.707, -0.0171, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28b56e787fb3f875168248b5986735d4163b9e3fe3820e4bac4c367e4ee764df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab987bfd5065ea29bb26b563f470c4a510ffc32eb1c40dc9070af9e0483fe956",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dc9bf42803fb33d6ed78a6a81a8c080a3c89cbbc610e369d2bdd20f8a52a68a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFMh_AmGKlOIfUtu_wVIiYAxBrp_pSvQwv5koYLBwax1a_iARZ6znqXkB6Rta_i3IbAeH136t9YMsPRzpsiOt-155REkn3YHB8N9r_64OYr5fgyJ8MaSm68fkudDjJVGfot0syfl6Pggr-QxUWCH4QWruFMvWZlmnTA8k0tnJddrqZJWqqg22PBdhNTX4mjXbfZfSuS3iqLicIJ9IhotKWkxETALeAUHdqj8mFKCTFY_u-ZNpD_6oVGpEkBFOrzZNE_AJMdaGvLq89MJLGDLiPC6LPizJezuO7wHefVPLXk1--GaA0sUcLBLoRXI3SOwrtFVFoJKP5NMWKVNuajQPSCCFVHd5oVNNA0fU1Sq3krirYc6kcryFO_9wmbN6p6LJ1lye8-UYPLiLyAc82cun1CCq0uZdzizW6ZT8RzJeGBLk4_5PuMOd6bzCCjsHS7qZS9wP37-XJfDBkb1kWeowIPdul69ODJzj1AM1EHaHkd3WmHq8Su-_0TOU1UHE8m7oyN7RNGwe8ljpGy4qDEBBDUjLqEfB_DNuVZupquZv0LGH2ypdWBmrI4ZjYYQ9glFeqGob8mhbjTOvzq3f9KNsTNGJ8q256lG8Y6MJLVhO9EnKoGZxz1498akmBHY5wp5uT9yfUIE_bFgzhGgtvWGX23NvpV7_IEkxS8J6xfdPyfMKY34iIORcrMdPcF9CFiVPBlOnyRhA8JDT0fqnTJ_i3fcF5glkF7UEFkcfu0hSnZ5tmXXPuSBar1127HwRHcY3eGghGM1zpEgh-P4ILcnSGmnL56ePb5v8WhI3ZPMWrE1DCrRowACrprEdy9oW_0K7KibgPsVNhJgNb4ct86KLc_aFAyqSM3Exdkfkpt-SkXZk7XN4-ocJ48YikGHaDVM1yf8REFjv9BRLzuOzuL4CT49LNqR8FWuOxswqiZpguXgMM9oDuJdranCL83sED2alb0qWk8fZdJmh54lxTQDEVf0ZWbu82qTTXzRNe6FcXhxZZPf1J35uyO8XPtrAdvZ2cUz13qT0VyQTZO-qt4KVv3Eh29jtvp7KcFcRP4xoS6t1Ke1KSnyIZP96SNKovnbOcnPjJtQqtbHCwfcxqsyT_l_GpEdy-h9arXIigQzWeD4yVZ2y3NEIvgZJPOaXM2yM4TXyJA53r5i3b0noqBEAaYaYMwqklhd5TjXGs2Zx4HjMnlb3pVYVKFSeQ00zBiozFyRJAztF6HVpAxGfz9d3acd3a2buG5oLA547kAQ9UX0HVo3H6DN3iYv-hyezUkgf2w2W4ek5e0T7-AqLCqGLG_ZSxj_KMrfN2iI3CnnIoow-SI=",
  "id": "rs_039282a7cbc4a18e016ab45320d2f087d08ceff448f79bcf74",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The monkey's padded foot is now centred between the jaw tips and its leg runs up through the grasp zone. I am closing on the leg/torso area to secure it.\"}",
  "call_id": "call_f47kZTWyYUKSbHs9EYYJFF6d",
  "id": "fc_039282a7cbc4a18e016ab453210b6487d09f7cf8bfe1175eae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_f47kZTWyYUKSbHs9EYYJFF6d",
  "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]: [-0.5793, 1.5837, 0.8917, -0.6384, -0.3443, -0.6659, 0.0099, -0.0147, 0.8379, 0.6067, -0.4103, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2911 left_y=-0.1149 left_z=0.0364 left_yaw=0.2069 left_pitch=-0.6006 left_roll=0.139 left_gripper=0.0099 right_x=0.2935 right_y=0.0026 right_z=0.163 right_yaw=0.0015 right_pitch=-0.0706 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -6.1333, 4.9436, 0.6667, -0.3492, -0.0073, 0.8083, -0.294, -1.5248, 7.1863, 1.6484, -0.0317, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65bfd0f893629ad0f9569c37005f3d272262f3ae13ed6f0a2bd4e5401b884008",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fed00fa6d6c163ee8208765d94cf94e30ea54cedb78a19dccce7e3f31423d55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f961db55cd4d457ccee698b45d3e8103b48ac020a32ed617bb2905209abda81",
      "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 33 attempt 0 · /responses · status 200 · 2.47 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 122 changed as sent

message 131 changed as sent

message 135 changed as sent

message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1425, 1.3861, 1.2766, -1.1011, -0.2127, -0.2367, 0.9967, -0.0143, 0.8364, 0.6067, -0.4095, -0.0185, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3098 left_y=-0.0031 left_z=0.1774 left_yaw=0.2103 left_pitch=-0.6016 left_roll=0.1375 left_gripper=0.9967 right_x=0.2935 right_y=0.0027 right_z=0.1636 right_yaw=0.0018 right_pitch=-0.0683 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -5.8735, 6.3521, 0.9744, -0.3053, -0.0415, 0.1294, 0.1162, -1.7299, 6.9949, 1.7656, -0.0366, -0.0708, -0.0122]",
      "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]: [-0.5705, 1.5978, 0.9005, -0.659, -0.3405, -0.6579, 0.9968, -0.0147, 0.8379, 0.6067, -0.4099, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2894 left_y=-0.1113 left_z=0.0336 left_yaw=0.2208 left_pitch=-0.6222 left_roll=0.1621 left_gripper=0.9968 right_x=0.2935 right_y=0.0026 right_z=0.1631 right_yaw=0.0015 right_pitch=-0.0702 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -8.2667, 5.2444, 0.8181, -0.2955, 0.0904, -0.0122, -0.3487, -1.5248, 6.9949, 1.707, -0.0171, -0.0611, -0.0122]",
      "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]: [-0.5793, 1.5837, 0.8917, -0.6384, -0.3443, -0.6659, 0.0099, -0.0147, 0.8379, 0.6067, -0.4103, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2911 left_y=-0.1149 left_z=0.0364 left_yaw=0.2069 left_pitch=-0.6006 left_roll=0.139 left_gripper=0.0099 right_x=0.2935 right_y=0.0026 right_z=0.163 right_yaw=0.0015 right_pitch=-0.0706 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -6.1333, 4.9436, 0.6667, -0.3492, -0.0073, 0.8083, -0.294, -1.5248, 7.1863, 1.6484, -0.0317, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65bfd0f893629ad0f9569c37005f3d272262f3ae13ed6f0a2bd4e5401b884008",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fed00fa6d6c163ee8208765d94cf94e30ea54cedb78a19dccce7e3f31423d55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f961db55cd4d457ccee698b45d3e8103b48ac020a32ed617bb2905209abda81",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFMnEvYP9naNHjBSvvI5QkKJBIpu3_gkObtr55-MlHJoz4FYe5TP9pagyEy3HDD-WvHoCdsBJWkI15XmPR48fDREcmVPutrsqXMKHf3UsvMb8wGeD8nBgnz5MJNyUwDAtw1ifg7BKm-qBB-qxIFkeJC2H6l2TJRgNdhNC5J7YaUjTUevwVhEzJPY9czLjlbTDaSg1HRuCQ36CnJmhCutNXWfL-M33qdGXnSO7_XZ3yi6jDN_bTIUKM3pHnFWUzq_Ow1t3cC4Ddwc2kqWZ0dDpeuvTaxp5RfHQC_uCqtenpaDC7QVPCQ7Dj_ffkTIHgMH8HLaidJ-ALNY3QziRQwP9YypJ3jiAPYDev-Gckgj7MFkqHX_ZfMI3m1qZOMDMehmoVS2xyJ3aLtmTZELAaSpIJMkBpLUfkz5mevCE42l7g4Nnp0N-cGuBv59CONuothLOtlXFDLGh09_pS2M0QHz_uVnFOmqq-EHiUmLPPzItXS2yF5hwNjooZ8cZgPsNSvnqcMw8XqgSH39FVELOCK7-KaS5UhjIkRP6fZUrlEFfliZqouxRzoZzctO0T0dCk4EjFxZl7mQ2v_g35Fo7QBIM7lrgYWnsEITR_7wdQma35HOQCujd8DDkL_gJbDn_1R-vMKOjwDD0ocM0SDtzEb79zt6tdNvMozeThA0HnqCBe_qZ8Ccaz4s2KWWgg3mB4_jgSuDjNfanTalxA1SUHEFaPPuIOLL1yY4u5vXOx6aAA9poBFyhFdFacgU8_Nd7gmwoD-U8UXMla_PoaARO5B2ocSsoQDf--iOLD7d4VP-G8Zr8yyuES4ETLXDRMlmTy3r7-NY8nC0vNfwC5YunIYcNOQEwyhDUDyaTX3oNcMCxSE73O8NG4QOuHH9T45VqEnBQfOxr_g5p4nNwGpe5XrNZwBw6nsvuW6tNNAoUBLHtby5SfL1xJ0kO0_56fMCimKVelLy_ObbKIOqV5NmEehTVKUFEktiMmEt3n9gTNXNs8SsU4LVRnZh_-oJFYW5aijSJrHJf1JDTrEE_3gJvuBUaQHP5Tn6TRuuluLCYpny1ywiKhRnIdYUi7F5dMqy8v9pQNDfRnSDKoCy_TeH2GODo1kqtdstJSy7zfmXlCDt3Rz9AlWjgdOH0CnZpH26ngDyRtHliG1UYo0tt2kQy4kgYmOO-cqUhC1YNuTQ366Q6wjORS99sSeDq4KbIR3Cw9RbVvYYVLRyqrnI2qNP4klRBGnYedOOtbfkjI1TM_k9TeyJnqSTFW9ru4MSmEAxZBaUhnUq7zQ3nA9Vn9u3cngzMlSYY-U08nFin9MzHRJEBWCjx-hsJuOrrUeYGkuXlyI0TrYnppy-bd_9pRY75-mapH_ifoA66U6Eon9EsEgb7XEsc0suFBfRsQJKWugUlhotPm12iHXZlG-5Mgr-nfdYsRTaaPtYGP_mS4Csw1yahGqc7ThxQlpQB8JQ-tBGvIp_Gw29t948BRQqWxxczgaXvHN9z1oYTQZTbZ1p-9wKxr-9q8DJKGmDb_FhQ5UY-_Ckkyw2dH6fOdtBbGyvTrzmCcNXvMW9aD2s6KgGpIf0g-tGRWEHzVnM5qfjtIRUBpV8HFn3jJpM5n-7PIML6LyDY_s36JGYjnRHbJIdU1CCgefkmIc-m_51LkYvm5oaedCD13wrFrDNs2w8eldLt4ExW1dN07-h6KukKwNg1QbIFHT8zFfDH6mMoVzxMxYeDrIToNcHM10plqNgMxKsThAkS8QzwGJdq-qA5TlgG6CzZHxaNL1se-iJFivAnhFr5YWhvbCrsb0UGgzpwlfIJhwXCOWcHfvZ5C5QwbuGGD5LjkmLZas=",
  "id": "rs_039282a7cbc4a18e016ab45324dc1c87d09dea8debdf6b7e00",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.07,\"left_z\":0.04,\"left_gripper\":1.0},\"note\":\"The 0.01 reading shows an empty close; the apparent 'foot' is actually the brown monkey's face, still left and nearer the base than the grasp point. I am reopening and moving another 2 cm inward and 4 cm left to put the torso in the jaws.\"}",
  "call_id": "call_gL4NhlMcfmJ3HC7CGpOTlNVe",
  "id": "fc_039282a7cbc4a18e016ab453264fbc87d0b6ed6afe9163c158",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gL4NhlMcfmJ3HC7CGpOTlNVe",
  "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]: [-0.4694, 1.4364, 0.7544, -0.6201, -0.3195, -0.5709, 0.9954, -0.0143, 0.8379, 0.6067, -0.4103, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2726 left_y=-0.072 left_z=0.0366 left_yaw=0.2242 left_pitch=-0.6035 left_roll=0.1401 left_gripper=0.9954 right_x=0.2935 right_y=0.0027 right_z=0.163 right_yaw=0.0019 right_pitch=-0.0706 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -6.7487, 5.4359, 0.7253, -0.2076, 0.1538, -0.1832, -0.0479, -1.4017, 6.9949, 1.6728, -0.022, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:197ce3abad2a3ae0a7035ad737d78f53cb3c685820fe427675514f07ee6667fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcdfcd9c8917c891dead3844fb9c724b931314585fd233868c6131799accdcf2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be3f537da6107a346157ff48f902c161afc79604465a0dca6770f75b1d546f9d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 6.149 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]: [-0.6327, 1.6958, 1.0504, -0.7193, -0.3416, -0.6975, 0.9968, -0.0147, 0.8364, 0.6067, -0.4103, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3057 left_y=-0.1463 left_z=0.0431 left_yaw=0.1895 left_pitch=-0.6236 left_roll=0.1521 left_gripper=0.9968 right_x=0.2934 right_y=0.0026 right_z=0.1634 right_yaw=0.0015 right_pitch=-0.069 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -7.0769, 5.6274, 0.6422, -0.4029, -0.1343, 0.0024, -0.0205, -1.4154, 6.9949, 1.6728, -0.0415, -0.0464, -0.0171]",
      "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]: [-0.5793, 1.5837, 0.8917, -0.6384, -0.3443, -0.6659, 0.0099, -0.0147, 0.8379, 0.6067, -0.4103, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2911 left_y=-0.1149 left_z=0.0364 left_yaw=0.2069 left_pitch=-0.6006 left_roll=0.139 left_gripper=0.0099 right_x=0.2935 right_y=0.0026 right_z=0.163 right_yaw=0.0015 right_pitch=-0.0706 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -6.1333, 4.9436, 0.6667, -0.3492, -0.0073, 0.8083, -0.294, -1.5248, 7.1863, 1.6484, -0.0317, -0.0366, -0.0122]",
      "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]: [-0.4694, 1.4364, 0.7544, -0.6201, -0.3195, -0.5709, 0.9954, -0.0143, 0.8379, 0.6067, -0.4103, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2726 left_y=-0.072 left_z=0.0366 left_yaw=0.2242 left_pitch=-0.6035 left_roll=0.1401 left_gripper=0.9954 right_x=0.2935 right_y=0.0027 right_z=0.163 right_yaw=0.0019 right_pitch=-0.0706 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -6.7487, 5.4359, 0.7253, -0.2076, 0.1538, -0.1832, -0.0479, -1.4017, 6.9949, 1.6728, -0.022, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:197ce3abad2a3ae0a7035ad737d78f53cb3c685820fe427675514f07ee6667fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcdfcd9c8917c891dead3844fb9c724b931314585fd233868c6131799accdcf2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be3f537da6107a346157ff48f902c161afc79604465a0dca6770f75b1d546f9d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFMq36hKuiIiiXPbtkwjnPGjpvZRWWJyKmWb_U9DUcNeE83CoPv7zLmYTu7EGx26pKfEaaqdRH6zN-vavB3fG1Ck3bQmia6ne9jis4lHWGdn98NSiyLwHnxMX1fOZQZXoxhkuVkvteVNEvR6QsQeER06uV4OJYmVALkERtZHt6yndz2TzlMMYAqOgF1bf5xkgpbeH_WNuZzbAcyyUUAyMUSkEaHaKcPMtAKdK3vXDJTcEXw79-HBAQgB3LHMkBAKsuv-WPABe7qXOTrlqo-8VPvM0RGd6YFnxnze-ETFZ3PxLpQZ8yqB7E_zrS99XPgyDZmTBs5lYgIeBcAwxt5ocezCKaQszzadfc6WB9cMSEVlbGaNnwKL8EEjiP-wEwZd94X6FNa5W41CLjcyI88gQef_BeiXbvnvYGfJa-F-mIHBONWwVNoAr1Aj3x8oi2g6N97NIO-BErSMMMvT6dDY-PjEWpr6YSbKMsFdRTLE-QNPif3sccFngX5NN5z1ykwSm5ZPa3nIfI-FA-vLeBOBULyqJjO_R221D3Pkui_efya0aR1THPYMJnLy86TtOTV0e75bCYUprlzMe3rsos9x1AvMnKL02Y6z_mSM1_8q1Mn62hdkX_12D66VK1SntUCOPxvAAugaisz7GEEz4eytlpn_JGyh-9-IpCcLmun6YmNISC2rDA81Pj-N8fZFI5fyKNsetqT1TSy7zmySnzoR0B5qgZ4fiAus7U0lgZzWpm1-7nmdYBZqHMRst6rpIyz8j62ARJLuE42C4hKrCJcMHXJJLzWDvREAg8eR7841pVLW2L5wQhArOAxTtT8qbh1C0LyJcTnD40dujrAYrKAyBkI2ZZ6ToXwQhI857JHzJIM5eXQaYjHbFvaK15jpNf9wNX3arODvMK9GiT2awVXdReygX3TSapTP73ttz15IShbc-wyBBrWTackBD9BvsIouPb5mkplFfowgDb7cMuIIaaGQf9_1GEsiRXqsOG2iNeIgyWmEUKdzvIXkisQM2XLq-fxExPbqII8v_hmhgVGAlSN44R_-DH9gIhD6bH3Ce5alC-KLMyTmt-sRaoriXGxnyG2vTGeihmKjtehiivm5bQu44_R0WmuAVkJbV2CMjKnlxxynN0DADgBZGiXE3Cy2F8Rtl2_pnJqjYNlvKmFNatm6qswCzP29dhV3s_9NUJ_t8P1Xw4-CDZm7ceG-81jxsDxOkZ70Pong5rbDeAZqxQk1zaEkx7grCFZ_dEBoF1U9ily8JI5bd5mYXdKsOfeWxmFwKCiO2SVZcU-1wovR1k4sDCjmGgrkW_GzZ2-alYYbQjI=",
  "id": "rs_039282a7cbc4a18e016ab45329e6c087d086cb25c66089c05f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The brown monkey's face is now centred squarely between the open fingertips, with the head occupying the grasp gap. I am closing on the head/body.\"}",
  "call_id": "call_yHDK90FgEOOY5gaPUXCFnwY0",
  "id": "fc_039282a7cbc4a18e016ab4532a297487d09e0172c23d9a9f4c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yHDK90FgEOOY5gaPUXCFnwY0",
  "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]: [-0.4706, 1.4326, 0.7498, -0.6113, -0.3145, -0.5755, 0.0101, -0.0147, 0.8406, 0.6067, -0.4095, -0.0189, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.2728 left_y=-0.0734 left_z=0.0366 left_yaw=0.2187 left_pitch=-0.6001 left_roll=0.1272 left_gripper=0.0101 right_x=0.2937 right_y=0.0026 right_z=0.1625 right_yaw=0.0017 right_pitch=-0.0725 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -5.0256, 6.0103, 0.7253, -0.2711, 0.0122, 0.7497, -0.1983, -1.6342, 7.2821, 1.7118, -0.0366, -0.0806, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7d5dac6ee25365609b635eb2d3769470c6e211e1b06a7ecc209fe8958fd9110",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:442bc6b14b895e5dce6b15dd3724f16e3a5ba98378818f2b8cd5c60fac5c77f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7faea4973427942bd3368f7a39247ecba7bb16732625ea47dc5f4e8760eef8e6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /responses · status 200 · 2.245 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5705, 1.5978, 0.9005, -0.659, -0.3405, -0.6579, 0.9968, -0.0147, 0.8379, 0.6067, -0.4099, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2894 left_y=-0.1113 left_z=0.0336 left_yaw=0.2208 left_pitch=-0.6222 left_roll=0.1621 left_gripper=0.9968 right_x=0.2935 right_y=0.0026 right_z=0.1631 right_yaw=0.0015 right_pitch=-0.0702 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -8.2667, 5.2444, 0.8181, -0.2955, 0.0904, -0.0122, -0.3487, -1.5248, 6.9949, 1.707, -0.0171, -0.0611, -0.0122]",
      "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]: [-0.4694, 1.4364, 0.7544, -0.6201, -0.3195, -0.5709, 0.9954, -0.0143, 0.8379, 0.6067, -0.4103, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2726 left_y=-0.072 left_z=0.0366 left_yaw=0.2242 left_pitch=-0.6035 left_roll=0.1401 left_gripper=0.9954 right_x=0.2935 right_y=0.0027 right_z=0.163 right_yaw=0.0019 right_pitch=-0.0706 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -6.7487, 5.4359, 0.7253, -0.2076, 0.1538, -0.1832, -0.0479, -1.4017, 6.9949, 1.6728, -0.022, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4706, 1.4326, 0.7498, -0.6113, -0.3145, -0.5755, 0.0101, -0.0147, 0.8406, 0.6067, -0.4095, -0.0189, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.2728 left_y=-0.0734 left_z=0.0366 left_yaw=0.2187 left_pitch=-0.6001 left_roll=0.1272 left_gripper=0.0101 right_x=0.2937 right_y=0.0026 right_z=0.1625 right_yaw=0.0017 right_pitch=-0.0725 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -5.0256, 6.0103, 0.7253, -0.2711, 0.0122, 0.7497, -0.1983, -1.6342, 7.2821, 1.7118, -0.0366, -0.0806, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7d5dac6ee25365609b635eb2d3769470c6e211e1b06a7ecc209fe8958fd9110",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:442bc6b14b895e5dce6b15dd3724f16e3a5ba98378818f2b8cd5c60fac5c77f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7faea4973427942bd3368f7a39247ecba7bb16732625ea47dc5f4e8760eef8e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFMxNmWnaiG2W4CoYl4wLYoMp-hoFO9SO8BVY_qj8ZYtseDljGKjVSVedBGrbjyFjAugkTIprrbXiZMc7R4qOl3i4R5zsDInOOE_NYcCA4lhG0VZcFOKYHDzCSCBuswn0bzBK3jKYP1Iqlb94m_g8L5a3EMjfgBrl6Sp1Th6bme8pkpXHXofp2yFLDwqeI5HmedQP9iOJq1qovehXR-DrjPP34lheq3Md7SBlmN8_VaSKky9nRUlHJoAFpaACB6fPsdlb8F-TGru-E_Hf4pWgS5KNy9qHkJdgOvvG_u8pfMQwnCrF8cKO9g5EN_kSYU7fkk93IPfy7iMpp9eWiy4uxD5YvD5kjMNq-GWkuDpltcdieJubOOBHQsQl771XCwESv3Z1RKb5XIRiyRI4POgEz86eVEmMW0qt3LQwM6T1RDyEGhRSRL7jCuBLuQrwoNIuj_DBII3Xs8bL0Puo8ZOMZFQ-_YtzAiXrvX3X-h_75wRbnUGWWaynGyc_lpWCc8gD4L1PnYyx1KEvxnjUWp8wYQ6SThaNizeRuGNpSPI_c-tqhfRh2h7CeOc9HRFBLJthT8APwmvldlXmjtgoTcCSZRj3kWY3DWwxfZGIum0YJmojaGu9XhZOvsM9JvyjvKmvLB0VMhte7QCOaQirrDPxYEotqgNN_o8E7kzzRBud7_68x2YlLU03DL2GWff_A-v1TveuoAgzRC6YO6QGvkAaIJjOuglWHJK8NHZtY5eRo3B_wgxFtNEjkgz3xxe3J2biqDzv5UCefE2UrcgVvfEGglC_qpCJ9fhAL2i4_Svlr6lWRxjpOgVPuPzoh7_at7dcGnlNMb-LaZR-1eJ84onfGwbc6ZeX2k9cyjEUXjscxSbDvEEmLBeMlVlyi6inqZgdpF0Y8A79LGN3QuYPurnxkPgs8UHcStTSqMnOF3XVlxwSGKv9zHmpo622GncLsVa_8aXDJycYOnyZzuH1z_KqkvRIwXUOdJ4S2sU9BGJOaYcaeuv8hH3KU5eQLFikVA1s6DIiXy7yVCMJ3byKWI8zy-y3_1SkKy5yw4XwdjSpz93cQbGHsKg_i2Ui5PfCt4FpGxxTOclwfjEOBCQr_fWEtir-ytjY57jj2ZNv8HeNUiZ-BumGVqKCHuzYgLsbW_vzbFo9u2oJzj04D8rW18tnl41FPtWMHUciVF6l28M-xoPyRFlkdvk2aeTx9Mau7a5nkD4x2tTQWhVAbIp7A1q1QlUyI6U657Rv4AHQUQDY9T7YCV7ykRAf0dFHbodD-IegXOl5Q17qqNrO7wXtWqwoLYWl6pXwI8XjzQNPDeKDM-gCwYJX-p_EG0Id6lx6PAJw4DANe5ZFi-VytpfV27pqbGi-JRyvX_DIRSWgxIcb4Ys0kGfw4XPr1s5rO96I3F0dH30EkLNwzlJLng7J2zj3EWjLBvfP9-h_0DURdFpD00l0f_fbbnc3HDzGMoOSGm2FCOb86UwrKiR-_rUw9ZOsJ0qYBkt0yFsOX9RKt9QSt3byrIoSGGiCrDUh4TAGaF82pHbO4eYsV42TRe_Ym5A2tojV9ik6FqbYuarKFhcQSqo567U1s1sIxqDVri0QVCALLARdMEK8bFtFtdRJkw9eiMxLx8to0U6WXXExks-z2ws64KsIL5ssVZvb-GOZcHNzWpmXuKuStW5BOzbkfLIvNNR6KlS0zQM9cQ8z3eX8zP_ur1EJ-TXrhJByOq6jmAN5sEq3naipp7Z5VaMXlX0bo7MA4-NYynEQQPmip0S193rC-oiZODb_ega_fkGH3w3hLRioigHYnH2HtgVVSEJvKGef8TbLMtj4G_Da0u18WT8p19lkJ8zuMYb3oGlk0vPdLTwqAU1y5fD76_u16WtKtIfKcsP1LM4aIXXWm7AKsjGyAQBVC4PQD2DFr253AonXsEsAkW5FZA5JJuPgRMJ94e45O_yb6R-QgsOwR6Vcxv7w95Y0Hy7wml1aEvP5BV_azaUoBZVyiA3IrMtbs097BOHYxfoOkHVA_URZgHRYnw5Rs1kq-8PoUrdmqG6en-kbfJkHgG_9M6PftKWTSUmXb6kiWOSwA-hxqv9eDabRKUT6gajw4fD-5fkplCW3XoMG6Z-__siz_W5xVxQDY6VnwDeCNGRmY-gIvGs5n9p9XY6RpQTzC5AWvCXmIJHIiROPi8QojqFZR_BsRe_wFp1kBZ5QvSmZBNPaF4fzfwdnRrQwBQ_9DoSy7_dtCB5rhemU9rwyYrMn4cfkUGm6rYVfUnGYI-ylLj_fjuccO4ktmSrQlX0wVPKxfmm_BGN99qmGNhu_xKm1siV9L1vAgDg2_nU3D7U7u0ASsV8iohgWMvbG_DV3vCk-poNEdQFLhEEUZbVPlNGXE30e29w39RcXO2j6-8FelpH4UDjw5usphFu_mjb19pAk9mqvghtbWKT9HuZg0ctlsm8gQVc4DX_O_Sy8DUZNu-mZ5V6vlc1GSmnj7Ur_fTwTs0iPHhc8gMTDrqH",
  "id": "rs_039282a7cbc4a18e016ab4532eb2b487d0a66ebedadf7819ae",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.07,\"left_z\":0.04,\"left_gripper\":1.0},\"note\":\"The lateral centring is correct but the 0.01 close is still empty, meaning the head remains short of the true fingertip point despite appearing at the bottom of the tilted camera. I am reopening and advancing 5 cm radially while preserving the now-correct lateral alignment.\"}",
  "call_id": "call_P9H3r1gd2u9dPIEOlvTcruLn",
  "id": "fc_039282a7cbc4a18e016ab45330e8fc87d0a55e37d97956b47c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P9H3r1gd2u9dPIEOlvTcruLn",
  "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]: [-0.3847, 1.5757, 0.8715, -0.5869, -0.2905, -0.5045, 0.9951, -0.0147, 0.8425, 0.6067, -0.4103, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3103 left_y=-0.0672 left_z=0.0332 left_yaw=0.238 left_pitch=-0.6171 left_roll=0.1363 left_gripper=0.9951 right_x=0.2937 right_y=0.0026 right_z=0.1618 right_yaw=0.0015 right_pitch=-0.0751 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -5.8598, 8.1983, 0.7302, -0.1636, 0.149, 0.0708, -0.1846, -1.4838, 7.2274, 1.6435, -0.0317, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e99a7c49342205cb1cb12175f3352a910551ff2d67d4a68b0437724bded31156",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dec1e80052fd0e2fd21da44792ca0c7309cb7aa4d6853a7bab83117376ed05a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee8abc456915ddf3a5d34da143fd5eed0feacb8c5b3a472b158f7444d1e886ce",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 5.352 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5793, 1.5837, 0.8917, -0.6384, -0.3443, -0.6659, 0.0099, -0.0147, 0.8379, 0.6067, -0.4103, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2911 left_y=-0.1149 left_z=0.0364 left_yaw=0.2069 left_pitch=-0.6006 left_roll=0.139 left_gripper=0.0099 right_x=0.2935 right_y=0.0026 right_z=0.163 right_yaw=0.0015 right_pitch=-0.0706 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -6.1333, 4.9436, 0.6667, -0.3492, -0.0073, 0.8083, -0.294, -1.5248, 7.1863, 1.6484, -0.0317, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4706, 1.4326, 0.7498, -0.6113, -0.3145, -0.5755, 0.0101, -0.0147, 0.8406, 0.6067, -0.4095, -0.0189, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.2728 left_y=-0.0734 left_z=0.0366 left_yaw=0.2187 left_pitch=-0.6001 left_roll=0.1272 left_gripper=0.0101 right_x=0.2937 right_y=0.0026 right_z=0.1625 right_yaw=0.0017 right_pitch=-0.0725 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -5.0256, 6.0103, 0.7253, -0.2711, 0.0122, 0.7497, -0.1983, -1.6342, 7.2821, 1.7118, -0.0366, -0.0806, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3847, 1.5757, 0.8715, -0.5869, -0.2905, -0.5045, 0.9951, -0.0147, 0.8425, 0.6067, -0.4103, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3103 left_y=-0.0672 left_z=0.0332 left_yaw=0.238 left_pitch=-0.6171 left_roll=0.1363 left_gripper=0.9951 right_x=0.2937 right_y=0.0026 right_z=0.1618 right_yaw=0.0015 right_pitch=-0.0751 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -5.8598, 8.1983, 0.7302, -0.1636, 0.149, 0.0708, -0.1846, -1.4838, 7.2274, 1.6435, -0.0317, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e99a7c49342205cb1cb12175f3352a910551ff2d67d4a68b0437724bded31156",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dec1e80052fd0e2fd21da44792ca0c7309cb7aa4d6853a7bab83117376ed05a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee8abc456915ddf3a5d34da143fd5eed0feacb8c5b3a472b158f7444d1e886ce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFM1Dc0H2AtZtXjTlxhQnuzXXinnz7algHpx4Om6TC09gTIS15-L3IukCjP2Z8zavLdluIKOSQeIkEEzAPiQ3GE8Zc-qZH3Pv1X6AJ1QuQKXgqV-b3RuPHkL0D4Y4GfZcuXOC-HrPQ4SqOs9wGmlUH8XBbhG--eJeS_mhjdzo1ZEgtVBQleU1G8l2nQOY_fV_FRfcj-9CM1pmJiyO6kqjNfB0Xsi42wX7QpuWRQQ1dWxwDewxzUatVu39KTPCRl7x6G2eFSwg_fzRKVutjYxYT5_Z75aKXVXUhT4qELF1E5ASFqjfUKROfgx7BrRw27KReS_safwo5eU95HszA18ZutMEcFirmI8nnDeWBux8pl2lYY_XAa1cC4iLNDDsP96ZtQfhxi8IiLrXUGlvtGzGLgbe3w7sqLk-3oWZBlx00P59S--qE9GfTbKOJdD1CHoPd5OU8-bTK-WGCEbkGXXKn2C-nCR5-oOEVBvhImeIFEQDBiEpV2D6rX2KO_LSGe1e4w-RdWZvmX0v1yo7-xLCx6LD9NvXN3ZMLHg3K-YF7g1l7F_u_hlsxswfVrAIlLWoQQfaO2outT-iRYOwv3oALV0Hm-fvfwdWP7Nim_itzpSyw86i-WREE5FI-Vm2aotTXi3jHI75fOxFz8g-v9jwbfmMsR4LlFMUC6EPorTvQEyiN_0yVTxLXXWZjTGA-EZKQD3LlRzJgfsYyimm72t04lRnJxqXdo1P9K8YM5t-vL7LhBDcuJkj_-DagAJS5mgFs61w1Lm6485m_yMEm9M7a85jJBeRXZLFx6ILHaTOn4LFeiVg3pGQ58OyibKHIjBk8C1Ufq_WiBnY8M17ApnAE7gXPv393_V8Z6gmHPf9duMYk0aNv0ilfWIDPyTdOsO_XbEasecukFSskr0AIh6YS7dBUlNBL6OQzsRYooPW7NrA1GGOI-3HogIfMQvv2fhPjUQ41Mpz1It98nAzP2gHWxhqfK0xXPm4FokFzDffPtAIIdRYQM0FYn0ysOqsZl5xXv_24WCOVuVjKyRN0LFg7MDrnM1f8bXLZ9WJdyPH9OAdVqcs12n4FTyZDwqIqRIzHDHvGEulMgnAJFD5c5i0TzhzeDMz3nxpSVBxUMQr4iPgJ_uOn9f9IF_dRDx1ol_N85wwdacmaF_jQuHLMnJw0oNW46vXAtT8YL0S1Q7JUQuTc2uzpKlOpb6MXlrUqVJTduPeGh1UUzJxJ7-Sk_hwMbs6PXMcpjOu5lpvzRcFOEZKxhImQdps54Z-xr3ITCPTvkLoGDaOH692U7aACcBopyvlvDxTTMnF2_7GKYUuPEcxtv0EUIOJew6Si9Y3FXIRzeoUhD7rqQWCbxQukODgkZTUQ==",
  "id": "rs_039282a7cbc4a18e016ab45333e70087d0ba8eedd63cae6de9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"After advancing, the monkey's limbs now pass between both open fingertips and its head sits directly below the grasp centre. I am closing at this corrected radial position.\"}",
  "call_id": "call_Viee8FhoeGVAzaiPkRgBfUju",
  "id": "fc_039282a7cbc4a18e016ab453344ec087d091d85311fbe901a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Viee8FhoeGVAzaiPkRgBfUju",
  "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, 1.581, 0.8684, -0.5781, -0.292, -0.5087, 0.0101, -0.0147, 0.8429, 0.6067, -0.4099, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3105 left_y=-0.0689 left_z=0.0314 left_yaw=0.2361 left_pitch=-0.6156 left_roll=0.1355 left_gripper=0.0101 right_x=0.2938 right_y=0.0026 right_z=0.1617 right_yaw=0.0015 right_pitch=-0.0751 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.6376, 4.7111, 0.8718, -0.3394, -0.0171, 0.7741, -0.1162, -1.5521, 6.9949, 1.6435, -0.0464, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d5bd164329417a64c58f332a7141c5a25c024736dbf2af7618cefead8bb26ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d6a4d9323552817bfe228b08a57dee3ebcb95a42cfe95a1dfe1b340dfeb6a3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6797c533a7331aedbc1cc49712a084d218f65e3a9ab7fc0ff859a2ec65888726",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 37 attempt 0 · /responses · status 200 · 2.316 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4694, 1.4364, 0.7544, -0.6201, -0.3195, -0.5709, 0.9954, -0.0143, 0.8379, 0.6067, -0.4103, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2726 left_y=-0.072 left_z=0.0366 left_yaw=0.2242 left_pitch=-0.6035 left_roll=0.1401 left_gripper=0.9954 right_x=0.2935 right_y=0.0027 right_z=0.163 right_yaw=0.0019 right_pitch=-0.0706 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -6.7487, 5.4359, 0.7253, -0.2076, 0.1538, -0.1832, -0.0479, -1.4017, 6.9949, 1.6728, -0.022, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3847, 1.5757, 0.8715, -0.5869, -0.2905, -0.5045, 0.9951, -0.0147, 0.8425, 0.6067, -0.4103, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3103 left_y=-0.0672 left_z=0.0332 left_yaw=0.238 left_pitch=-0.6171 left_roll=0.1363 left_gripper=0.9951 right_x=0.2937 right_y=0.0026 right_z=0.1618 right_yaw=0.0015 right_pitch=-0.0751 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -5.8598, 8.1983, 0.7302, -0.1636, 0.149, 0.0708, -0.1846, -1.4838, 7.2274, 1.6435, -0.0317, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3904, 1.581, 0.8684, -0.5781, -0.292, -0.5087, 0.0101, -0.0147, 0.8429, 0.6067, -0.4099, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3105 left_y=-0.0689 left_z=0.0314 left_yaw=0.2361 left_pitch=-0.6156 left_roll=0.1355 left_gripper=0.0101 right_x=0.2938 right_y=0.0026 right_z=0.1617 right_yaw=0.0015 right_pitch=-0.0751 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.6376, 4.7111, 0.8718, -0.3394, -0.0171, 0.7741, -0.1162, -1.5521, 6.9949, 1.6435, -0.0464, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d5bd164329417a64c58f332a7141c5a25c024736dbf2af7618cefead8bb26ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d6a4d9323552817bfe228b08a57dee3ebcb95a42cfe95a1dfe1b340dfeb6a3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6797c533a7331aedbc1cc49712a084d218f65e3a9ab7fc0ff859a2ec65888726",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFM7rxxDYbCuCxohpg0VxW812cXroHbDUbCKQZmWcdnkZBhz4iBTYIdmfdIkwQlJsXDS5grfPvTsE3_A_DnFlXTq4uY5A1jenxqpGguWfbEv4ivXy6cb9zFsq6F_MlW59Wh1UAi_DwXlJQe2Z1rguZtcOeYxCR3S2-lRSdk_TuKBvkyRC9R5WqfMaf1KSyogfUzHB76uQyCk66j8BodJSghgM8B82X3Pib6t6g11SImDZAYdV-zZQk7jx8kKoJVPGLOY12KrfRQKj1f2IHcvxpNZnH8d4L8mU5jD63gp4CKPsbXR9gMZppTjKfBQrCppmOjzCuykeb295z2GlPpwC663X_T0xfTPWX-weL7o9daqRtB19u5a-G406irtp5qCWkZjyRNtdgdhuhOFLJrFygzZibmIZWTObnSMaVVpzLnKBPQ66iaJ2PXo0NfSUUGD2XuDqcfg8CHBiceKsLi9QTRbIllVMvM9Ex_AbeXgsBdtozoQCQ_AZRO53JkNM3H2juIoUQYHrfcrnCkmMMg4ANRkxhSMuMmzLF1DTvnIXeRsoqq09RIkY0KwPMX1NhCZLR374C6-vjoCfTjiJ5rj6R1zNZAJpeBnmJZCbSXgcz2OPBUphfvYM9xRp7_jafTolYIabCqsdfko7flUKTJ8tDxExCc8cDvlkphKCpud5qeDlpqOivRpdTtQmI34faAdm3RHF_mxPpdjVAyunJZvOnuduauyE5NCwdDPigAr-wu1_tOEJNRXrLn5gDlfQBk1lkMFbN2dC39FB4EYu4nUBMwwC81fxmc4vrPJVoph0MMJ4X1K-7UiX_04Y3iilqH7pQ2Cej-uDeUeA3PUD3wnRHONia0HbiSC6g3nNn5VXrlNOcgInIWXg1azOYJzihGEVFleH5nGv8h8O8Fx-s1NXk0C6xQjx0mqEunqneQhbcEpV-Q6yJO1Oxn4Ne4KRLj0EcAXcr5B0TL4Bp9OxYE6eWhiGflJB0z3TTZQ2P0DML3tayrJzd8Kl8xf-1lZvlHZUBQfC-7RazlHmLJIzToUf2ovI2kO2-n5mXpofbtG8UcS6kCRyVWMnzCs9ZlAihNYbi8P1yDUKmUNgShxGPToiRMmS3ASH5TLT6NKL0wa5ItWhITrfOcMvm4ZQ50gKGacsN3WgytVQpfe0mL-Nvj8upjWOXw-AHGogEXjMCAHngZteMLkuBdNpogpITBV40b8jCWL6kid0Wqm-rA2jZ40MlhDRFxHimHWiebvUjIBafydTUwq3EBpo9lNlwra2YWheVGvYOuSF_-L7Fqk3Pik0NVV8ppxH_x__Cdk_ex4IaCbsBk_s8T02E_Cz98NLNlujZYF2NRMeF-NzFEVCCbmRANtQHqddaQjjs07zOToHJoK2gTnrO7gyfVryzwzc0l4qtSWWPsb_GJuQ_nG5YkHMU6o7kmChgyRMpDVfzfZx11Rw0FSnKlD4cJ1IfNwxPVbckjO1xbnGOiIttz7E8dmuE3B2ZA4aGhzCpTqo3PaIcEeohfVnw5u_-bYUUVu9i4danVjBygJIF61v18yvAG3gr8FcGd5ikvjmM-29jwJvgwWfiYPA0LO3j8vRdqTq5x9r8jW1BMEq38bSI_YxdLO-T6O-iITZoOfyDVhG5GFyFE4KYvN52Xj8YAMKeuLsJ8dR2AG3S_tIKiJ8yijCRUbU1vJioq7HlZBkpSZeNwmc305Rb8iy43k-qWFR9NvMW6H_rOgMeRbUQmuxKufG1FMXBHM6_RBOIuiMN901FZ_5_hs9Y_hdrmEY-qEdhle7REmmOJG-IJ-Bdz-elaK60XtzBiWgyXJjzkcUIFCwQ7b3-4LxPyWVAz3jzEu_nq3sePEBGEjb3hVBz8_B4z3enl9N0Tp4cay4coI7axuXXQQTGU5wNJcqJyEWl6j2viZne35JXuueQxkP8pUXa3LCzHN89zrEg9X8MXFZauAl7pghf5TZNA3kgdtYQaIhIJr-3cNXh7qqdD0NBB-N9iiJU85PWLziMqoCDUBQ7d9KKv1xBq-ixM3fTHdHplAiLrCvtcTzOpr59e1f439AkfkW_jgeZtB2xpxLH4Ggl3iPzEUuYylqScOmkgA8MaM4jBjq8z1m6DHdC-ICBn5_lR5PobFmeJuDO8VvQj8wgIBHcxAVWmZmQfiVjMcClR9myUBy6W3_uathdBtA0B7tSGhcddE8JFyxI7yS3xcLmYoBI53q5F4aJMplgkHh0iJJlGN_ZYnu1XAaq2oWB0aXtBsn53Vith6RTnKGPv_nzKzWHks61TmrcQNm1g17x5ih80CDXZbX1zXG-zAxVKH5wCBLgebrRR11q38tgxh3dlaOQlTIdCSFZqxJoUY144ewl9r7jaD27KEbGbQV7JO1BJTfF2Pncg3wYWb75UmTzRTYf2h9DHp81Hbhc55mcVzV3yycdwXasDxkM95fIb74kiKYsAFfWYmDXmbPJjJmtSOq_lnKJvP0mGeaxrnX2fflz_yzYN9fUa5322S0_eGytU2IueF2IEGbkPP991uUsONxE0JvM_4BNO4aRgqWXvvKtXthb0BcV09Xvr-CyNLMwAPZllbCwYpxhD9P95xGVOR-WuhbCX5ydIR50vGfYnMFxF0CR33mYQg99p0YcaVCCwbYnzdVC9p-tGUezfx89kqwJ89jxYDha0=",
  "id": "rs_039282a7cbc4a18e016ab45337876487d09b55c526b11d6158",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.07,\"left_z\":0.045,\"left_gripper\":1.0},\"note\":\"The close is still empty, and the wrist view now reveals why: the small plush is a keychain toy, with its metal chain at the jaw point while the fluffy body remains farther forward at the top of the image. I am reopening and advancing another 6 cm to put the actual plush body, not the chain, between the jaws.\"}",
  "call_id": "call_2iIAQVJ3UDNXYvlj9cFRrozY",
  "id": "fc_039282a7cbc4a18e016ab4533a581887d0ba298ed3700d2e5a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2iIAQVJ3UDNXYvlj9cFRrozY",
  "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]: [-0.3302, 1.742, 1.0767, -0.6125, -0.2844, -0.4625, 0.9954, -0.0147, 0.8474, 0.6029, -0.4099, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3615 left_y=-0.0677 left_z=0.0388 left_yaw=0.2548 left_pitch=-0.6128 left_roll=0.1408 left_gripper=0.9954 right_x=0.2934 right_y=0.0026 right_z=0.1588 right_yaw=0.0015 right_pitch=-0.0835 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -7.3641, 7.6786, 0.7985, -0.1929, 0.1392, -0.1929, -0.1436, -1.7026, 7.4735, 1.6435, -0.0415, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52a8e65f60dbf16221f1d8158021e2724d26c73285af2cf112cc80ce9c1d6ede",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1600c03744cba941614e299a30c36ffc7f9a3c486acd969097d9056122839346",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5331167c47dd4106b8e6b32c15c2c306f3582593225b9cfccabab2ea84ba6eb8",
      "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 · 3.853 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 143 changed as sent

message 151 changed as sent

message 155 changed as sent

message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4706, 1.4326, 0.7498, -0.6113, -0.3145, -0.5755, 0.0101, -0.0147, 0.8406, 0.6067, -0.4095, -0.0189, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.2728 left_y=-0.0734 left_z=0.0366 left_yaw=0.2187 left_pitch=-0.6001 left_roll=0.1272 left_gripper=0.0101 right_x=0.2937 right_y=0.0026 right_z=0.1625 right_yaw=0.0017 right_pitch=-0.0725 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -5.0256, 6.0103, 0.7253, -0.2711, 0.0122, 0.7497, -0.1983, -1.6342, 7.2821, 1.7118, -0.0366, -0.0806, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3904, 1.581, 0.8684, -0.5781, -0.292, -0.5087, 0.0101, -0.0147, 0.8429, 0.6067, -0.4099, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3105 left_y=-0.0689 left_z=0.0314 left_yaw=0.2361 left_pitch=-0.6156 left_roll=0.1355 left_gripper=0.0101 right_x=0.2938 right_y=0.0026 right_z=0.1617 right_yaw=0.0015 right_pitch=-0.0751 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.6376, 4.7111, 0.8718, -0.3394, -0.0171, 0.7741, -0.1162, -1.5521, 6.9949, 1.6435, -0.0464, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 155 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3302, 1.742, 1.0767, -0.6125, -0.2844, -0.4625, 0.9954, -0.0147, 0.8474, 0.6029, -0.4099, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3615 left_y=-0.0677 left_z=0.0388 left_yaw=0.2548 left_pitch=-0.6128 left_roll=0.1408 left_gripper=0.9954 right_x=0.2934 right_y=0.0026 right_z=0.1588 right_yaw=0.0015 right_pitch=-0.0835 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -7.3641, 7.6786, 0.7985, -0.1929, 0.1392, -0.1929, -0.1436, -1.7026, 7.4735, 1.6435, -0.0415, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52a8e65f60dbf16221f1d8158021e2724d26c73285af2cf112cc80ce9c1d6ede",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1600c03744cba941614e299a30c36ffc7f9a3c486acd969097d9056122839346",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5331167c47dd4106b8e6b32c15c2c306f3582593225b9cfccabab2ea84ba6eb8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFM-VMUAZOxgUoLiXOCoLX7Xjdmlb61QQ_PpdCZAKNgNgdEuORtKjNAdJypbikbW-l3I6AOilGvrJdVKXbZYFGadSx_pWYO7EiFKjEPIqZ91cbS91PXrQXw8gWoBwXjXFqWy6J-CZ6PVDHHtkucVG0m7yWAxhwAL68FQyl4kROnKa4Fwp1DbQzMDx7pZd_8xfu3upuzFoPR0dH8NELZY_ZdtR6b84jhiYmYAeWs7JnhXDyRlHZz1u04waTCKxVh96XBzJU1_q-kHvbhZ8UqzEYr1moMrw1dunl6TUBRVs3NB7T0tPJxjOuBam_CefQPsMhGFu7UCvuxlMr3ag2KPx2ryst6aWjRpkrlAdrDRc_k9EssWHPfQuk6gR0BcuOWFZWqNYW65TjxTKoxP4KJBuZrygO1Te9Gie5DXCOX2jBBvSiXa5xc_vm1NP1uGIieof5a5B4ZxToPDPyhqBklz27OIPB6J9l_gk1SsS_iHsZqMjp7i0XpCmvmxlCH1rwxLhKg4hCIVco9talw9C0wPGQgALAZ5Ag4GsZPDPmCZR1UTMN92cs-yHa52cwFMg_rQkPb2f4EZSGfNskUB6T-LpVaR0-Xtu6wKKe1kcZDYn0kjqs7K0_30OEvZvKueA_mx6rjf1qhckL4cZjwf81zHFok_paJSWKB-HtOsIcNmuUySDYh5snJfE3sZH30yPvYdbk89ha_bsjqXLZZK2NW3aKdNu7MeTBVZLqgQUkdn25987Lz_-08_RX6OdUEoiUkTp8n0G0SYvlXQUVlo0bQIv5Tvu_DlVAo-EaiSWb5vLSGyrABlaDlXpYpucFNZajvgCq3sE6UF4AgEaOXV4hZ_SIHfDar5ydwHhrFxazBee6BhtU2wLb4qflRY5pTLl08tLfok0pBINzk7uNIGrcCPZ9X-VBZNJEVWMHfxCrBJw3Zyl8XrBmZmZD1tYj6DpepIt3Q3qunLO_HBxdoZFcnPeePTA-NBpgJxU6gDTtHDqJ2dxBdMYXExAtPAGGEkqZA2lAurYCd9eYcKwayNOJ8FDa6Nb9Kuic1JB-HAk-fSuxFCpxdGk1Z2Ia-RxfPCtHXKh0o9BVE2XS1Av0S7FmEgXWI-W1-6uMLF2_5r_XkggHK8yJLncgsSiHMtbLpx8h1nrALhKPa2Ul3akidu79DnnVJagpXNeeUz1XoIZZFddiujuwUHmEJDbNnndPrhzl-apDO9_-xMDZzjzrCySE-EgtYNvQ==",
  "id": "rs_039282a7cbc4a18e016ab4533d7b9887d08a8f964dbfcf0832",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The advance brought the plush torso and limbs fully around the jaw line; the chain is now behind the fingertips. I am closing on the soft body.\"}",
  "call_id": "call_9XF8nT876Gkgx4SQo4jpKaUL",
  "id": "fc_039282a7cbc4a18e016ab4533d931887d0978117ae70ed1ac2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9XF8nT876Gkgx4SQo4jpKaUL",
  "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]: [-0.3313, 1.747, 1.0676, -0.6079, -0.2852, -0.4675, 0.0101, -0.0147, 0.8474, 0.6022, -0.4099, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3592 left_y=-0.0672 left_z=0.0348 left_yaw=0.2613 left_pitch=-0.6199 left_roll=0.1457 left_gripper=0.0101 right_x=0.2933 right_y=0.0025 right_z=0.1584 right_yaw=0.0012 right_pitch=-0.0843 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -8.7863, 5.4085, 0.8864, -0.2271, 0.0317, 0.7741, 0.0205, -1.4701, 7.0906, 1.6337, -0.0513, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1bf03a0af43596245068139cbc6c37b49936ff63a7d1127f06238abe4b64b5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f70bdcdef715c1a4848d76965dcbc7d0846b939594f13813c160dc8b799ee3eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e71183ce64403d95d8b346a551489e442cb6752aff3ae0b59e652113fad565dd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 2.245 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 147 changed as sent

message 155 changed as sent

message 159 changed as sent

message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3847, 1.5757, 0.8715, -0.5869, -0.2905, -0.5045, 0.9951, -0.0147, 0.8425, 0.6067, -0.4103, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3103 left_y=-0.0672 left_z=0.0332 left_yaw=0.238 left_pitch=-0.6171 left_roll=0.1363 left_gripper=0.9951 right_x=0.2937 right_y=0.0026 right_z=0.1618 right_yaw=0.0015 right_pitch=-0.0751 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -5.8598, 8.1983, 0.7302, -0.1636, 0.149, 0.0708, -0.1846, -1.4838, 7.2274, 1.6435, -0.0317, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 155 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3302, 1.742, 1.0767, -0.6125, -0.2844, -0.4625, 0.9954, -0.0147, 0.8474, 0.6029, -0.4099, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3615 left_y=-0.0677 left_z=0.0388 left_yaw=0.2548 left_pitch=-0.6128 left_roll=0.1408 left_gripper=0.9954 right_x=0.2934 right_y=0.0026 right_z=0.1588 right_yaw=0.0015 right_pitch=-0.0835 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -7.3641, 7.6786, 0.7985, -0.1929, 0.1392, -0.1929, -0.1436, -1.7026, 7.4735, 1.6435, -0.0415, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 159 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3313, 1.747, 1.0676, -0.6079, -0.2852, -0.4675, 0.0101, -0.0147, 0.8474, 0.6022, -0.4099, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3592 left_y=-0.0672 left_z=0.0348 left_yaw=0.2613 left_pitch=-0.6199 left_roll=0.1457 left_gripper=0.0101 right_x=0.2933 right_y=0.0025 right_z=0.1584 right_yaw=0.0012 right_pitch=-0.0843 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -8.7863, 5.4085, 0.8864, -0.2271, 0.0317, 0.7741, 0.0205, -1.4701, 7.0906, 1.6337, -0.0513, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1bf03a0af43596245068139cbc6c37b49936ff63a7d1127f06238abe4b64b5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f70bdcdef715c1a4848d76965dcbc7d0846b939594f13813c160dc8b799ee3eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e71183ce64403d95d8b346a551489e442cb6752aff3ae0b59e652113fad565dd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFNDBmnm1ruihI8s1NaE_2scMw-qw59AYibZAUDDQAsSEyDEnXQnVVx-DAwQZ7AKH3-Ls3A8_A9bWY1qIDsVA-ofBLoOJ8p1l0l_Ipq-Nqi4OXN6XC-1RlSgMhaKBFPRJ4u_UP82NpNTpN1k9vkBjXKuDOLuRPAi4g2ZG0nu6jIKqz6hkCFWzFDt3rLLrrfYNygmllOCJ2SmurE8uV3wtUZCivua4VIykpmuZhMfoq7rVTtKyHuYPr-CoYqbxxvDm-rpMrPuPabiRePIy0XP8or3zArhulw1rFCfNapc1vVHfhY7IbVY_BtCt6oc246JJn7dRZ--opbkVukVNfsajgsQoxMaPcmrs6_TjmCsS6D-q351C67lODRN5GfOX09kjeTnERndV3otofQkTlTtr4S825iHOMI3NptU3JWyBxBZk-in80e0BBAttvObz_PasmCiJUvhU2Qy07JhIL009PVgoYKMGqdJIP00plS6_fsS4YA0wjUuET6RVHr0V3akr237iEdOn0RJ7lrlghc7GVHwM_RIqFnPGW5sPbHK2RXLNAqVxqud0rnR4aQxglDOiQ3Bq396SwDD53rR52QgC1Xeu9x0V-42JgQhCYgvhA5XSvXedt7ax-pQC7ulkUtAzxdDduwsd43q6kKYhCCRHEIZCUNb8D3AiT9g4JnP3B6aLKM0RRnWVIKggwmkx6uWE-IzwrFCLQKd5GIv6gNSApFBzdoUrE3s7CXSN5MxW2FE3eTh7HOmkZ5ou867LXGiXq429sNLa06QS3cHWJjMUKZIcLOjOk6aB7VogQ_KaXnUC146Fu0bgBVVTNvIgjHym8EQVhCJgLb-xj7NPpDxYJRFNkJnjRUupTW_xOyzMqNeFG59K3ve9UnyojHPCpscWR_B2GyyERSCkdQ2PLZ1_AryISgItHBNouNT6AUiY2SP6agSfAYzAnO2b9waJ9FuGm3kYZ9ykXhKxLTWqkLtT3yn5twQGyydUGR1PbE_Iv0lmUgtEsaZeWnZH1eIaih4gUp34FwrW6dpUMCiS7AopUjKzcWVHN4HAwZ-KrrBJ3u81hTrFwFuUpmGhKN1zcbNohyRrfE7UGlyBItHGEc3XT3C0tF1o9BV-oQfxjNKOHFHnDcMe3sXTwiezhRTiK6e-G65pxmwDBaZzKDPLX8HlCnWWrbDH9lgbj5QDthBxGJhRgehWGyZMIKmdP_g0gwpOtEcEaYaOPW4aiwClRKio6NdwKCaES_AdLHU3vCD0PCBBYZkWVhq0CrW_QkguYMwM6MkxzyOxM6V4n44zPATQLasyVLoljSAoitIPjHoG9HR52tAQAaf2dR8aILVNVxEQONGV-WgzyRUpUJ-Vmu0KYBRWa-6tCzFqBWbaYSZwDD63fsgcJTrbmjHpryos12-0yR7m_AxuHTRZ23VLQuI_iGU5DopqStaO6IXRLRIpANboXYX7aA2uEOmZJRU8u3KHXKHA9CVvDU-EN08En2leRFY64zKBdxQuiU-8rvq3_inClHSh9lKs3dni40bV4fm_Y4yB96dtrMqY-mbRaN_2bWY5xHrwg5OBtx61h7-iumkZ1Ptt-nxN5T525itTg0SeNWO1XGhxsK357tWbrlfvxuAe1-ufpMeLbyrltiRpPkfALTuHNg-6iuE8Vx89pp5b4w6G6RvUvTUikc5zj5tb4Y8eA==",
  "id": "rs_039282a7cbc4a18e016ab45340c9c087d09787ec940ae33e79",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.08,\"left_gripper\":1.0},\"note\":\"The jaws again closed empty beneath the toy; the camera shows the torso arching over the gripper while the low fingertips pass under it. I am reopening and raising the grasp point to 8 cm so the jaws meet the suspended torso rather than the table gap between its limbs.\"}",
  "call_id": "call_K9Kziduj40gnoNw6uKoSZbRO",
  "id": "fc_039282a7cbc4a18e016ab45341bb9487d0a8268c1986e1784b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_K9Kziduj40gnoNw6uKoSZbRO",
  "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]: [-0.3332, 1.7084, 1.1416, -0.7414, -0.2882, -0.477, 0.9954, -0.0147, 0.8474, 0.6022, -0.4099, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3551 left_y=-0.066 left_z=0.0615 left_yaw=0.2768 left_pitch=-0.6347 left_roll=0.159 left_gripper=0.9954 right_x=0.2933 right_y=0.0026 right_z=0.1584 right_yaw=0.0015 right_pitch=-0.0843 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -10.4, 8.0752, 0.6764, -0.3101, 0.0757, -0.1441, -0.1709, -1.5385, 7.0222, 1.6532, -0.0366, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 395):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aef446d41ff40e318df25807f85009d8b4d887ee43d0d32c843eea1f7350f5e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 395):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c191c4199d850f70e605c11dcfcc15f84b467ce31f1dcd91c650033954b9f73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 395):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93435c7383c671189e36d7fde90aa08f0b1b26f2c0c9a376d24d22794e618948",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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