adhoc

completed
2026-09-23T21:04:14.497851+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-5.6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
236.3 s
total steps
417
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 noteTwo turquoise baskets sit in the far half of the table, with a mixed cluster of small plush animals near the center. I’m moving the left gripper above the leftmost animal while keeping the right arm parked, so the wrist view can confirm its position and type.
move_to
left_x0.3100left_y-0.1700left_z0.1500left_gripper1.0000right_x0.2970right_y0.0010right_z0.1850right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.7986, 0.617, -0.3798, -0.0219, -0.0296, 0.9996, -0.0154, 0.7986, 0.6109, -0.3737, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2967 left_y=0.0019 left_z=0.1848 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2968 right_y=0.0011 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4855, -1.6479, 9.3607, 1.7607, -0.0171, 0.1587, -0.0708, -0.7043, -1.6342, 9.7846, 1.7216, -0.0952, 0.0171, -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":0.31,"left_y":-0.17,"left_z":0.15,"left_gripper":1.0,"right_x":0.297,"right_y":0.001,"right_z":0.185,"right_gripper":1.0},"note":"Two turquoise baskets sit in the far half of the table, with a mixed cluster of small plush animals near the center. I’m moving the left gripper above the leftmost animal while keeping the right arm parked, so the wrist view can confirm its position and type."})
tool
executing move_to over 16 steps (1.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe left wrist view reveals a small round tan plush with a white muzzle centered between the jaws; larger long-eared plush animals are also visible nearby, establishing the two visual classes. I’m descending vertically onto the small round plush for a grasp.
move_to
left_x0.3040left_y-0.1660left_z0.0250left_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]: [-0.8272, 1.2663, 0.7097, -0.2379, -0.6563, -0.54, 0.9995, -0.0151, 0.7998, 0.6086, -0.3843, -0.0124, -0.0166, 0.9998] state[eef_state]: left_x=0.3039 left_y=-0.1659 left_z=0.1357 left_yaw=-0.0185 left_pitch=-0.0399 left_roll=0.0259 left_gripper=0.9995 right_x=0.2951 right_y=0.0013 right_z=0.1796 right_yaw=0.0009 right_pitch=-0.0141 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-0.1983, -4.6427, 9.0188, 1.5507, -0.5495, -0.0122, -0.0708, -0.4581, -0.8684, 7.8291, 1.8144, -0.0513, -0.0611, -0.0366] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.304,"left_y":-0.166,"left_z":0.025,"left_gripper":1.0},"note":"The left wrist view reveals a small round tan plush with a white muzzle centered between the jaws; larger long-eared plush animals are also visible nearby, establishing the two visual classes. I’m descending vertically onto the small round plush for a grasp."})
tool
executing move_to over 8 steps (0.8s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteAt table height, the small round tan-and-white plush fills the gap symmetrically between the fingertips. I’m closing the gripper to secure it without changing 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]: [-0.828, 1.6039, 0.4427, 0.3393, -0.654, -0.5472, 0.9995, -0.0151, 0.8032, 0.6086, -0.3851, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.3013 left_y=-0.164 left_z=0.0211 left_yaw=-0.0161 left_pitch=-0.0599 left_roll=0.0388 left_gripper=0.9995 right_x=0.2953 right_y=0.0013 right_z=0.1785 right_yaw=0.0006 right_pitch=-0.0183 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [0.1162, -5.6957, 4.5333, 1.5409, -0.3053, 0.0317, -0.0708, -0.253, -1.5521, 7.0632, 1.7167, -0.0073, -0.0366, -0.0122] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At table height, the small round tan-and-white plush fills the gap symmetrically between the fingertips. I’m closing the gripper to secure it without changing position."})
tool
executing move_to over 10 steps (1.0s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe gripper settled at 0.21, about 2 cm of retained thickness, indicating a secure grasp on the round plush. I’m lifting it straight up to verify that it moves with the gripper and clears the surrounding toys.
move_to
left_z0.1100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.828, 1.6039, 0.4427, 0.3454, -0.6518, -0.5507, 0.2065, -0.0151, 0.8032, 0.6086, -0.3851, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.3018 left_y=-0.165 left_z=0.0218 left_yaw=-0.0161 left_pitch=-0.0568 left_roll=0.0304 left_gripper=0.2065 right_x=0.2953 right_y=0.0013 right_z=0.1785 right_yaw=0.0006 right_pitch=-0.0183 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.1026, -5.6547, 4.6427, 1.3651, -0.3004, -0.0073, 0.9499, -0.3624, -1.3197, 7.241, 1.7558, -0.0171, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.11},"note":"The gripper settled at 0.21, about 2 cm of retained thickness, indicating a secure grasp on the round plush. I’m lifting it straight up to verify that it moves with the gripper and clears the surrounding toys."})
tool
executing move_to over 6 steps (0.6s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe round plush lifted cleanly and remains held beneath the left gripper. I’m carrying this class to the left basket at a high clearance so it passes safely over the basket rim.
move_to
left_x0.4500left_y-0.1700left_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.828, 1.3254, 0.6151, -0.128, -0.6476, -0.5549, 0.2064, -0.0151, 0.8032, 0.6083, -0.3851, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.2988 left_y=-0.1626 left_z=0.0971 left_yaw=-0.0158 left_pitch=-0.0744 left_roll=0.0412 left_gripper=0.2064 right_x=0.2952 right_y=0.0013 right_z=0.1783 right_yaw=0.0006 right_pitch=-0.0187 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.2667, -5.4769, 8.3897, 1.3455, -0.2955, -0.022, 0.9695, -0.335, -1.3333, 7.241, 1.746, -0.0171, -0.0562, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.17,"left_z":0.2},"note":"The round plush lifted cleanly and remains held beneath the left gripper. I’m carrying this class to the left basket at a high clearance so it passes safely over the basket rim."})
tool
executing move_to over 12 steps (1.2s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe held round plush is centered over the empty left basket. I’m lowering it inside while keeping the grasp closed, stopping with the gripper above the rim.
move_to
left_z0.1100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5201, 1.6802, 1.3075, -0.4038, -0.44, -0.3466, 0.2069, -0.0147, 0.8082, 0.6075, -0.3851, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4409 left_y=-0.1617 left_z=0.1801 left_yaw=0.021 left_pitch=-0.1268 left_roll=0.0502 left_gripper=0.2069 right_x=0.2954 right_y=0.0014 right_z=0.1766 right_yaw=0.001 right_pitch=-0.0244 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-0.3761, -8.6085, 9.6479, 1.8095, -0.1001, 0.4176, 0.823, -0.3897, -1.6889, 7.1453, 1.6923, -0.0317, -0.0513, -0.0122] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.11},"note":"The held round plush is centered over the empty left basket. I’m lowering it inside while keeping the grasp closed, stopping with the gripper above the rim."})
tool
executing move_to over 5 steps (0.5s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe plush is now down inside the left basket with ample clearance from the rim. I’m opening the jaws to release the first round animal.
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]: [-0.5201, 1.7374, 1.1122, -0.1547, -0.4412, -0.355, 0.2076, -0.0147, 0.8097, 0.6075, -0.3851, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4393 left_y=-0.1606 left_z=0.1161 left_yaw=0.0266 left_pitch=-0.1291 left_roll=0.0461 left_gripper=0.2076 right_x=0.2955 right_y=0.0014 right_z=0.1762 right_yaw=0.001 right_pitch=-0.0259 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-0.0479, -7.5282, 5.6547, 1.5653, -0.2173, 0.0562, 0.9011, -0.1026, -1.4154, 7.0496, 1.7411, -0.0366, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The plush is now down inside the left basket with ample clearance from the rim. I’m opening the jaws to release the first round animal."})
tool
executing move_to over 8 steps (0.8s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteThe first round plush is visibly resting in the left basket. I’m retracting the left arm and moving the right gripper above an obvious larger long-eared tan plush on the right side of the remaining cluster, reserving the right basket for that class.
move_to
left_x0.2970left_y0.0020left_z0.1850left_gripper1.0000right_x0.3400right_y0.2300right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5201, 1.747, 1.1114, -0.1543, -0.4408, -0.3637, 0.9953, -0.0147, 0.8101, 0.6075, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4392 left_y=-0.1606 left_z=0.1117 left_yaw=0.0317 left_pitch=-0.1374 left_roll=0.0443 left_gripper=0.9953 right_x=0.2956 right_y=0.0014 right_z=0.1761 right_yaw=0.0008 right_pitch=-0.0263 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [-0.0889, -9.4017, 6.5299, 1.4774, -0.2369, 0.0757, 0.0904, -0.2667, -1.3333, 7.0359, 1.7265, -0.0464, -0.0562, -0.0122] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.297,"left_y":0.002,"left_z":0.185,"left_gripper":1.0,"right_x":0.34,"right_y":0.23,"right_z":0.15,"right_gripper":1.0},"note":"The first round plush is visibly resting in the left basket. I’m retracting the left arm and moving the right gripper above an obvious larger long-eared tan plush on the right side of the remaining cluster, reserving the right basket for that class."})
tool
executing move_to over 20 steps (2.0s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe right wrist view clearly shows the larger cream long-eared animal, but it lies left of the jaw column rather than between the fingertips. I’m shifting the right gripper about 6 cm toward the table center to align over its body before descending.
move_to
right_y0.2900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0685, 0.9154, 0.7662, -0.5575, -0.1181, -0.0593, 0.9988, 0.8562, 1.5394, 0.9531, -0.2497, 0.6548, 0.5472, 0.9998] state[eef_state]: left_x=0.2981 left_y=0.004 left_z=0.185 left_yaw=0.0487 left_pitch=-0.1405 left_roll=0.0428 left_gripper=0.9988 right_x=0.3341 right_y=0.2264 right_z=0.1345 right_yaw=0.0243 right_pitch=-0.0682 right_roll=-0.03 right_gripper=0.9998 state[joint_eff]: [-0.1846, -2.5915, 6.5709, 1.5995, 0.0659, 0.1001, -0.149, 0.1026, -7.0085, 8.9641, 1.4237, 0.5153, 0.1245, -0.0366] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.29},"note":"The right wrist view clearly shows the larger cream long-eared animal, but it lies left of the jaw column rather than between the fingertips. I’m shifting the right gripper about 6 cm toward the table center to align over its body before descending."})
tool
executing move_to over 6 steps (0.6s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe close view identifies this tan smiling animal as a bear, while the left wrist view clearly shows the second class has trunks and large ears—elephants. Since the left basket already contains a bear, I’m moving the right arm away from this bear and over the front gray elephant, which will go in the right basket.
move_to
right_x0.2700right_y0.3700right_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0685, 0.9161, 0.7662, -0.5606, -0.1184, -0.0601, 0.9983, 0.9649, 1.7283, 1.1408, -0.3408, 0.6979, 0.6334, 0.9998] state[eef_state]: left_x=0.2976 left_y=0.0041 left_z=0.1842 left_yaw=0.0495 left_pitch=-0.1443 left_roll=0.0429 left_gripper=0.9983 right_x=0.3305 right_y=0.284 right_z=0.1226 right_yaw=0.0518 right_pitch=-0.1001 right_roll=-0.0534 right_gripper=0.9998 state[joint_eff]: [-0.0342, -2.0308, 6.8718, 1.6093, -0.0513, -0.022, -0.0611, 0.3487, -8.253, 8.8, 1.116, 0.5543, 0.1538, -0.0171] camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.27,"right_y":0.37,"right_z":0.15},"note":"The close view identifies this tan smiling animal as a bear, while the left wrist view clearly shows the second class has trunks and large ears—elephants. Since the left basket already contains a bear, I’m moving the right arm away from this bear and over the front gray elephant, which will go in the right basket."})
tool
executing move_to over 8 steps (0.8s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteThe right gripper is now centered over another tan bear, and this position is near the right arm’s inner reach limit rather than the elephant I intended. I’ll use the opportunity to grasp this bear and place it at the reachable inner side of the left basket.
move_to
right_z0.0400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0685, 0.9161, 0.7662, -0.561, -0.1188, -0.0605, 0.9982, 1.2026, 1.9114, 1.4899, -0.68, 0.7898, 0.8799, 0.9998] state[eef_state]: left_x=0.2976 left_y=0.0042 left_z=0.1841 left_yaw=0.05 left_pitch=-0.1446 left_roll=0.0429 left_gripper=0.9982 right_x=0.2736 right_y=0.3705 right_z=0.1421 right_yaw=0.0878 right_pitch=-0.1184 right_roll=-0.0486 right_gripper=0.9998 state[joint_eff]: [-0.1436, -1.853, 6.8718, 1.5849, -0.0708, -0.0366, -0.0269, 0.4991, -9.5521, 8.5812, 0.6374, 0.6471, 0.1685, -0.0122] camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.04},"note":"The right gripper is now centered over another tan bear, and this position is near the right arm’s inner reach limit rather than the elephant I intended. I’ll use the opportunity to grasp this bear and place it at the reachable inner side of the left basket."})
tool
executing move_to over 7 steps (0.7s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteAt the lower pose, the bear’s torso lies between the two fingertips even though its head projects to the right. I’m closing on the body, which is the most secure grasp point.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0685, 0.9161, 0.7662, -0.561, -0.1188, -0.0601, 0.9982, 1.2068, 2.0293, 1.2713, -0.3553, 0.7746, 0.8791, 0.9998] state[eef_state]: left_x=0.2976 left_y=0.0042 left_z=0.1841 left_yaw=0.0498 left_pitch=-0.1446 left_roll=0.0432 left_gripper=0.9982 right_x=0.2697 right_y=0.371 right_z=0.0479 right_yaw=0.0987 right_pitch=-0.1359 right_roll=-0.0538 right_gripper=0.9998 state[joint_eff]: [-0.0342, -1.9624, 6.8991, 1.58, -0.1197, -0.0171, -0.0122, -0.6769, -9.4974, 5.4085, 0.9304, 0.4567, -0.0024, -0.0171] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At the lower pose, the bear’s torso lies between the two fingertips even though its head projects to the right. I’m closing on the body, which is the most secure grasp point."})
tool
executing move_to over 10 steps (1.0s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe jaws closed to an empty reading and the bear did not move; the wrist view shows its body was a few centimetres beyond the fingertip grasp point. I’m reopening and advancing the gripper about 2.5 cm outward for one corrected attempt.
move_to
right_x0.2950right_z0.0500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0685, 0.9161, 0.7662, -0.561, -0.1188, -0.0601, 0.9982, 1.2068, 2.0483, 1.261, -0.3397, 0.7631, 0.8757, 0.0196] state[eef_state]: left_x=0.2976 left_y=0.0042 left_z=0.1841 left_yaw=0.0498 left_pitch=-0.1446 left_roll=0.0432 left_gripper=0.9982 right_x=0.268 right_y=0.3705 right_z=0.0368 right_yaw=0.1044 right_pitch=-0.1513 right_roll=-0.0642 right_gripper=0.0196 state[joint_eff]: [-0.0889, -1.9624, 6.8991, 1.58, -0.0757, -0.0269, -0.0122, -0.2667, -12.0, 6.5026, 0.862, 0.4664, 0.022, 0.8132] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_z":0.05,"right_gripper":1.0},"note":"The jaws closed to an empty reading and the bear did not move; the wrist view shows its body was a few centimetres beyond the fingertip grasp point. I’m reopening and advancing the gripper about 2.5 cm outward for one corrected attempt."})
tool
executing move_to over 10 steps (1.0s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteAfter advancing, the bear’s torso is now centered deeply between the fingertips rather than beyond them. I’m closing for the corrected grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0685, 0.9161, 0.7662, -0.561, -0.1188, -0.0605, 0.9982, 1.1538, 2.0487, 1.2892, -0.3393, 0.7208, 0.8013, 0.995] state[eef_state]: left_x=0.2976 left_y=0.0042 left_z=0.1841 left_yaw=0.05 left_pitch=-0.1446 left_roll=0.0429 left_gripper=0.9982 right_x=0.2866 right_y=0.368 right_z=0.0407 right_yaw=0.1172 right_pitch=-0.174 right_roll=-0.0771 right_gripper=0.995 state[joint_eff]: [-0.0342, -1.812, 6.8991, 1.6239, -0.1197, -0.0562, -0.0122, -0.8821, -10.441, 8.0615, 1.0379, 0.3785, -0.0366, -0.1832] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"After advancing, the bear’s torso is now centered deeply between the fingertips rather than beyond them. I’m closing for the corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe corrected right-arm close was still empty, so I’m abandoning that angle instead of repeating it. The left wrist view already has a gray elephant centered near its fingertips; I’m retracting the right arm and lowering the left gripper over that accessible elephant.
move_to
right_x0.2970right_y0.0010right_z0.1850right_gripper1.0000left_x0.3250left_y0.0000left_z0.1100left_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]: [-0.0685, 0.9173, 0.7662, -0.5621, -0.1188, -0.0605, 0.9982, 1.1522, 2.0487, 1.29, -0.3355, 0.7052, 0.7963, 0.0128] state[eef_state]: left_x=0.2975 left_y=0.0042 left_z=0.1836 left_yaw=0.0501 left_pitch=-0.1469 left_roll=0.0431 left_gripper=0.9982 right_x=0.286 right_y=0.37 right_z=0.0397 right_yaw=0.1275 right_pitch=-0.1838 right_roll=-0.0695 right_gripper=0.0128 state[joint_eff]: [-0.1983, -1.9761, 6.8718, 1.6288, -0.1099, -0.0659, -0.0122, -0.0479, -10.6188, 5.7778, 1.072, 0.4762, 0.0611, 1.1209] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.297,"right_y":0.001,"right_z":0.185,"right_gripper":1.0,"left_x":0.325,"left_y":0.0,"left_z":0.11,"left_gripper":1.0},"note":"The corrected right-arm close was still empty, so I’m abandoning that angle instead of repeating it. The left wrist view already has a gray elephant centered near its fingertips; I’m retracting the right arm and lowering the left gripper over that accessible elephant."})
tool
executing move_to over 31 steps (3.1s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
right_cam
camera right_cam step 167
assistant
agent noteWith the other arm clear, the gray elephant is centered between the left fingertips; its trunk and large ears are unmistakable in the wrist view. I’m descending to grasp around its torso.
move_to
left_z0.0400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0799, 1.0878, 0.5568, -0.2012, -0.1265, -0.0669, 0.9988, -0.0486, 0.9516, 0.7677, -0.5911, -0.0483, -0.1509, 0.9981] state[eef_state]: left_x=0.3226 left_y=0.0001 left_z=0.1096 left_yaw=0.049 left_pitch=-0.165 left_roll=0.0456 left_gripper=0.9988 right_x=0.2951 right_y=-0.0022 right_z=0.1688 right_yaw=0.0718 right_pitch=-0.2144 right_roll=-0.0692 right_gripper=0.9981 state[joint_eff]: [-0.1709, -2.988, 5.8462, 1.8095, -0.1099, 0.0122, -0.149, -0.1709, -2.7556, 9.7709, 1.4579, -0.2125, 0.022, -0.0952] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.04},"note":"With the other arm clear, the gray elephant is centered between the left fingertips; its trunk and large ears are unmistakable in the wrist view. I’m descending to grasp around its torso."})
tool
executing move_to over 5 steps (0.5s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteAt the lower pose, the elephant’s gray torso fills the space between the fingertips and reaches the grasp point. I’m closing the left gripper around it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0799, 1.256, 0.382, 0.1406, -0.139, -0.0593, 0.9983, -0.0525, 0.9535, 0.767, -0.5934, -0.0605, -0.168, 0.9984] state[eef_state]: left_x=0.3248 left_y=0.0021 left_z=0.0498 left_yaw=0.0557 left_pitch=-0.1653 left_roll=0.06 left_gripper=0.9983 right_x=0.2947 right_y=-0.0012 right_z=0.1677 right_yaw=0.0881 right_pitch=-0.2188 right_roll=-0.0724 right_gripper=0.9984 state[joint_eff]: [-0.212, -2.8513, 4.2872, 0.9988, 0.1197, -0.1245, -0.0611, 0.1162, -2.3316, 6.9812, 1.5409, 0.0366, 0.105, 0.0171] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At the lower pose, the elephant’s gray torso fills the space between the fingertips and reaches the grasp point. I’m closing the left gripper around it."})
tool
executing move_to over 10 steps (1.0s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteThe left jaws also closed empty; the elephant stayed in place, confirming that the wrist camera made it appear closer than the actual fingertip point. I’m reopening and advancing 3 cm outward for a single corrected grasp.
move_to
left_x0.3600left_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]: [-0.0792, 1.2564, 0.3702, 0.1967, -0.1532, -0.0589, 0.014, -0.0528, 0.9535, 0.7654, -0.593, -0.0612, -0.165, 0.9984] state[eef_state]: left_x=0.33 left_y=0.0045 left_z=0.0557 left_yaw=0.0673 left_pitch=-0.1206 left_roll=0.0633 left_gripper=0.014 right_x=0.2945 right_y=-0.0012 right_z=0.1671 right_yaw=0.0867 right_pitch=-0.2198 right_roll=-0.0695 right_gripper=0.9984 state[joint_eff]: [-0.1299, -3.8222, 7.1043, 1.0769, 0.0952, -0.0317, 1.116, -0.1436, -2.1949, 6.9675, 1.5018, -0.0904, -0.1001, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_z":0.055,"left_gripper":1.0},"note":"The left jaws also closed empty; the elephant stayed in place, confirming that the wrist camera made it appear closer than the actual fingertip point. I’m reopening and advancing 3 cm outward for a single corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 192
top_cam
camera top_cam step 192
left_cam
camera left_cam step 192
right_cam
camera right_cam step 192
assistant
agent noteAfter the radial correction, the elephant is now deeply nested between both jaws rather than just ahead of them. I’m closing for the corrected grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0769, 1.3907, 0.4454, 0.2558, -0.1547, -0.0566, 0.9953, -0.0528, 0.9554, 0.7639, -0.5934, -0.0612, -0.165, 0.9984] state[eef_state]: left_x=0.355 left_y=0.0036 left_z=0.0528 left_yaw=0.0697 left_pitch=-0.1205 left_roll=0.0661 left_gripper=0.9953 right_x=0.2943 right_y=-0.0011 right_z=0.1658 right_yaw=0.0868 right_pitch=-0.2236 right_roll=-0.0689 right_gripper=0.9984 state[joint_eff]: [0.5538, -3.7949, 7.6786, 1.6044, -0.0122, 0.0366, -0.0904, -0.1299, -2.1128, 7.0222, 1.5018, -0.0708, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"After the radial correction, the elephant is now deeply nested between both jaws rather than just ahead of them. I’m closing for the corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 202
top_cam
camera top_cam step 202
left_cam
camera left_cam step 202
right_cam
camera right_cam step 202
assistant
agent noteThe gripper reading is borderline-low at 0.03, possibly only an ear or fur, so I’m lifting straight up to verify whether the elephant actually follows before transporting it.
move_to
left_z0.1300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0772, 1.3949, 0.4496, 0.2649, -0.1604, -0.0582, 0.0296, -0.0528, 0.9554, 0.7639, -0.5934, -0.0612, -0.165, 0.9984] state[eef_state]: left_x=0.3574 left_y=0.0042 left_z=0.0548 left_yaw=0.0748 left_pitch=-0.1109 left_roll=0.0671 left_gripper=0.0296 right_x=0.2943 right_y=-0.0011 right_z=0.1658 right_yaw=0.0868 right_pitch=-0.2236 right_roll=-0.0689 right_gripper=0.9984 state[joint_eff]: [-0.1709, -5.1897, 5.3949, 1.5653, -0.022, -0.0415, 0.525, -0.2256, -2.1812, 7.0906, 1.5018, -0.1001, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.13},"note":"The gripper reading is borderline-low at 0.03, possibly only an ear or fur, so I’m lifting straight up to verify whether the elephant actually follows before transporting it."})
tool
executing move_to over 5 steps (0.5s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
right_cam
camera right_cam step 207
assistant
agent noteThe overhead view confirms the gray elephant lifted with the gripper despite the compressed reading. I’m carrying it high across the table to the reachable inner side of the right basket, clearing the remaining bears below.
move_to
left_x0.4500left_y-0.3800left_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, 1.2285, 0.6186, -0.0589, -0.1604, -0.0635, 0.0381, -0.0525, 0.9577, 0.7635, -0.5934, -0.0612, -0.1646, 0.9984] state[eef_state]: left_x=0.3599 left_y=0.004 left_z=0.1181 left_yaw=0.0775 left_pitch=-0.0993 left_roll=0.0611 left_gripper=0.0381 right_x=0.2943 right_y=-0.001 right_z=0.1651 right_yaw=0.0871 right_pitch=-0.2262 right_roll=-0.0683 right_gripper=0.9984 state[joint_eff]: [-0.1162, -5.4222, 9.0325, 1.6728, -0.1294, -0.0171, 1.0281, -0.1026, -2.0581, 6.8855, 1.5067, -0.0708, -0.022, -0.0122] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.38,"left_z":0.23},"note":"The overhead view confirms the gray elephant lifted with the gripper despite the compressed reading. I’m carrying it high across the table to the reachable inner side of the right basket, clearing the remaining bears below."})
tool
executing move_to over 35 steps (3.5s)
step 242
top_cam
camera top_cam step 242
left_cam
camera left_cam step 242
right_cam
camera right_cam step 242
assistant
agent noteThe elephant is over the inner edge of the right basket, but the wrist view shows it still slightly left of the opening. I’m moving to the left arm’s full crossover limit and lowering so the elephant’s body enters the near side of the right basket before release.
move_to
left_x0.4600left_y-0.4000left_z0.1200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9047, 2.6247, 2.8582, -1.2808, -0.7269, -0.7689, 0.0416, -0.0525, 0.9611, 0.7597, -0.5938, -0.0612, -0.165, 0.9984] state[eef_state]: left_x=0.4504 left_y=-0.3773 left_z=0.1826 left_yaw=0.0919 left_pitch=-0.1454 left_roll=0.0779 left_gripper=0.0416 right_x=0.2938 right_y=-0.001 right_z=0.1624 right_yaw=0.0876 right_pitch=-0.2338 right_roll=-0.0674 right_gripper=0.9984 state[joint_eff]: [-0.5675, -16.0889, 7.8291, 0.7741, -0.5934, 0.232, 1.0281, -0.0752, -2.2906, 7.4051, 1.4872, -0.0952, -0.0171, -0.0122] camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.4,"left_z":0.12},"note":"The elephant is over the inner edge of the right basket, but the wrist view shows it still slightly left of the opening. I’m moving to the left arm’s full crossover limit and lowering so the elephant’s body enters the near side of the right basket before release."})
tool
executing move_to over 5 steps (0.5s)
step 247
top_cam
camera top_cam step 247
left_cam
camera left_cam step 247
right_cam
camera right_cam step 247
assistant
agent noteThe readback stopped several centimetres high at the stretched crossover pose, so repeating it would not help. I’m shortening the radial reach to the near half of the basket, which should let the arm lower while keeping the elephant over the opening.
move_to
left_x0.4200left_y-0.4000left_z0.1200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9085, 2.6781, 2.8834, -1.3151, -0.7181, -0.794, 0.0451, -0.0525, 0.9611, 0.7597, -0.5934, -0.0608, -0.165, 0.9984] state[eef_state]: left_x=0.4475 left_y=-0.379 left_z=0.1569 left_yaw=0.1055 left_pitch=-0.1841 left_roll=0.1082 left_gripper=0.0451 right_x=0.2939 right_y=-0.0011 right_z=0.1625 right_yaw=0.0872 right_pitch=-0.2334 right_roll=-0.0678 right_gripper=0.9984 state[joint_eff]: [0.0068, -14.6256, 7.1863, 1.3944, -0.4957, 0.1538, 1.033, -0.0342, -2.0444, 6.9675, 1.4823, -0.0415, -0.0317, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.4,"left_z":0.12},"note":"The readback stopped several centimetres high at the stretched crossover pose, so repeating it would not help. I’m shortening the radial reach to the near half of the basket, which should let the arm lower while keeping the elephant over the opening."})
tool
executing move_to over 3 steps (0.3s)
step 250
top_cam
camera top_cam step 250
left_cam
camera left_cam step 250
right_cam
camera right_cam step 250
assistant
agent noteThe arm is mechanically stalled at this stretched pose, but the elephant is hanging down into the right basket opening and the gripper is already well above the rim. I’m releasing it now rather than forcing the arm lower.
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]: [-0.9085, 2.6781, 2.8834, -1.3144, -0.7181, -0.794, 0.0451, -0.0525, 0.9611, 0.7589, -0.593, -0.0612, -0.165, 0.9984] state[eef_state]: left_x=0.4476 left_y=-0.3791 left_z=0.157 left_yaw=0.1054 left_pitch=-0.1837 left_roll=0.1075 left_gripper=0.0451 right_x=0.2938 right_y=-0.001 right_z=0.1622 right_yaw=0.0876 right_pitch=-0.2338 right_roll=-0.0674 right_gripper=0.9984 state[joint_eff]: [-0.3214, -14.6667, 7.2, 1.3846, -0.5055, 0.1587, 1.033, -0.212, -2.2632, 6.9675, 1.4774, -0.0562, -0.0366, -0.0122] camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The arm is mechanically stalled at this stretched pose, but the elephant is hanging down into the right basket opening and the gripper is already well above the rim. I’m releasing it now rather than forcing the arm lower."})
tool
executing move_to over 10 steps (1.0s)
step 260
top_cam
camera top_cam step 260
assistant
agent noteThe elephant landed in the gap between the baskets rather than inside the right one. I’m first backing the left arm out of its stretched pose—raising and reducing reach—so the right arm can approach the elephant from the accessible side.
move_to
left_x0.3500left_y-0.2500left_z0.3000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9085, 2.6781, 2.883, -1.3193, -0.7177, -0.8093, 0.9956, -0.0525, 0.9611, 0.7589, -0.593, -0.0608, -0.165, 0.9984] state[eef_state]: left_x=0.447 left_y=-0.3784 left_z=0.1564 left_yaw=0.1143 left_pitch=-0.1858 left_roll=0.1006 left_gripper=0.9956 right_x=0.2938 right_y=-0.0011 right_z=0.1622 right_yaw=0.0872 right_pitch=-0.2338 right_roll=-0.0677 right_gripper=0.9984 state[joint_eff]: [-0.0752, -14.7897, 5.7368, 1.072, -0.4127, 0.149, -0.2125, -0.1026, -2.2222, 6.8991, 1.5263, -0.022, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.25,"left_z":0.3},"note":"The elephant landed in the gap between the baskets rather than inside the right one. I’m first backing the left arm out of its stretched pose—raising and reducing reach—so the right arm can approach the elephant from the accessible side."})
tool
executing move_to over 12 steps (1.2s)
step 272
assistant
agent noteWith the left arm clear, the elephant is visible lying between the basket rims, while three bears remain grouped at the front. I’m parking the left arm and bringing the right gripper above the elephant, which is comfortably reachable from this side.
move_to
left_x0.2970left_y0.0020left_z0.1850left_gripper1.0000right_x0.4200right_y0.3300right_z0.1600right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9066, 1.9224, 2.1277, -1.3079, -0.7033, -0.812, 0.9967, -0.0525, 0.9649, 0.7582, -0.5915, -0.0612, -0.1646, 0.9984] state[eef_state]: left_x=0.3584 left_y=-0.2667 left_z=0.2859 left_yaw=0.1079 left_pitch=-0.1905 left_roll=0.0814 left_gripper=0.9967 right_x=0.2942 right_y=-0.001 right_z=0.1611 right_yaw=0.0874 right_pitch=-0.2368 right_roll=-0.0667 right_gripper=0.9984 state[joint_eff]: [0.1983, -11.3709, 5.7094, 0.906, -0.4322, 0.0562, 0.1001, -0.0615, -2.5368, 7.1179, 1.4823, -0.0855, -0.0171, -0.0122] camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.297,"left_y":0.002,"left_z":0.185,"left_gripper":1.0,"right_x":0.42,"right_y":0.33,"right_z":0.16,"right_gripper":1.0},"note":"With the left arm clear, the elephant is visible lying between the basket rims, while three bears remain grouped at the front. I’m parking the left arm and bringing the right gripper above the elephant, which is comfortably reachable from this side."})
tool
executing move_to over 28 steps (2.8s)
step 300
assistant
agent noteThe right wrist view now clearly centers the gray elephant’s torso between the jaws, with the right basket immediately beside it. I’m descending while advancing slightly so the fingertips close around the body rather than just its fur.
move_to
right_x0.4300right_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]: [-0.1608, 0.9806, 0.8394, -0.6575, -0.2741, -0.1764, 0.9987, 0.8158, 2.0609, 1.7889, -0.7055, 0.49, 0.4915, 0.999] state[eef_state]: left_x=0.2962 left_y=0.004 left_z=0.1844 left_yaw=0.1552 left_pitch=-0.2028 left_roll=0.0801 left_gripper=0.9987 right_x=0.4161 right_y=0.3262 right_z=0.1497 right_yaw=0.1152 right_pitch=-0.2616 right_roll=-0.0766 right_gripper=0.999 state[joint_eff]: [0.0068, -2.6325, 6.8855, 1.6874, -0.022, 0.1343, -0.149, 0.3897, -11.535, 9.0872, 0.9451, 0.4615, 0.1685, -0.1148] camera 'top_cam' (step 300): [image omitted: streamed camera frame] camera 'left_cam' (step 300): [image omitted: streamed camera frame] camera 'right_cam' (step 300): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_z":0.05},"note":"The right wrist view now clearly centers the gray elephant’s torso between the jaws, with the right basket immediately beside it. I’m descending while advancing slightly so the fingertips close around the body rather than just its fur."})
tool
executing move_to over 7 steps (0.7s)
step 307
assistant
agent noteAt the low pose, both fingertips flank the elephant’s broad gray torso. I’m closing the right gripper to secure it for the short transfer into the adjacent right basket.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6609, -0.2619, -0.1757, 0.9983, 0.8009, 2.1494, 1.5784, -0.411, 0.4808, 0.4694, 0.9987] state[eef_state]: left_x=0.2932 left_y=0.0023 left_z=0.1761 left_yaw=0.1456 left_pitch=-0.2259 left_roll=0.0788 left_gripper=0.9983 right_x=0.4242 right_y=0.3253 right_z=0.0627 right_yaw=0.1184 right_pitch=-0.271 right_roll=-0.0891 right_gripper=0.9987 state[joint_eff]: [-0.1026, -2.441, 8.1026, 1.4969, -0.2369, -0.0415, -0.0611, -0.9915, -9.6479, 5.7504, 1.3162, 0.1148, -0.0073, -0.0464] camera 'top_cam' (step 307): [image omitted: streamed camera frame] camera 'left_cam' (step 307): [image omitted: streamed camera frame] camera 'right_cam' (step 307): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At the low pose, both fingertips flank the elephant’s broad gray torso. I’m closing the right gripper to secure it for the short transfer into the adjacent right basket."})
tool
executing move_to over 10 steps (1.0s)
step 317
assistant
agent noteThe reading is again very low because the plush compresses heavily, but the closed jaws appear embedded around its body. I’m lifting vertically to verify motion before committing to placement.
move_to
right_z0.1300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6609, -0.2615, -0.1757, 0.9982, 0.8009, 2.1544, 1.5707, -0.3912, 0.4915, 0.4614, 0.0128] state[eef_state]: left_x=0.2932 left_y=0.0022 left_z=0.1761 left_yaw=0.1453 left_pitch=-0.2259 left_roll=0.0785 left_gripper=0.9982 right_x=0.426 right_y=0.3248 right_z=0.0606 right_yaw=0.1162 right_pitch=-0.2602 right_roll=-0.0971 right_gripper=0.0128 state[joint_eff]: [-0.1573, -2.1402, 7.0769, 1.4383, -0.1636, -0.0415, -0.022, -0.2803, -12.5744, 6.9538, 1.0916, 0.1099, 0.0757, 1.1209] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 317): [image omitted: streamed camera frame] camera 'left_cam' (step 317): [image omitted: streamed camera frame] camera 'right_cam' (step 317): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.13},"note":"The reading is again very low because the plush compresses heavily, but the closed jaws appear embedded around its body. I’m lifting vertically to verify motion before committing to placement."})
tool
executing move_to over 5 steps (0.5s)
step 322
assistant
agent noteThe elephant did not fully lift, but it shifted up against the right basket rim while caught between the closed jaws. I’m moving laterally into the basket while raising, using the secure contact to guide the soft elephant over the near rim.
move_to
right_y0.2200right_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6609, -0.2615, -0.1761, 0.9982, 0.8009, 2.1483, 1.7065, -0.5926, 0.4854, 0.4568, 0.014] state[eef_state]: left_x=0.2932 left_y=0.0022 left_z=0.1761 left_yaw=0.1455 left_pitch=-0.2259 left_roll=0.0782 left_gripper=0.9982 right_x=0.4234 right_y=0.3234 right_z=0.0883 right_yaw=0.1122 right_pitch=-0.3098 right_roll=-0.1354 right_gripper=0.014 state[joint_eff]: [-0.1026, -1.935, 6.8034, 1.4579, -0.149, -0.0562, -0.0122, -0.3761, -16.1983, 9.5521, 1.2479, 0.3053, 0.0171, 0.5201] camera 'top_cam' (step 322): [image omitted: streamed camera frame] camera 'left_cam' (step 322): [image omitted: streamed camera frame] camera 'right_cam' (step 322): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.22,"right_z":0.15},"note":"The elephant did not fully lift, but it shifted up against the right basket rim while caught between the closed jaws. I’m moving laterally into the basket while raising, using the secure contact to guide the soft elephant over the near rim."})
tool
executing move_to over 9 steps (0.9s)
step 331
assistant
agent noteThe sweep moved the elephant over the right basket’s inner rim; the wrist view now shows the turquoise interior directly beside its body. I’m continuing the lateral motion a few more centimetres to bring the elephant fully over the basket floor.
move_to
right_y0.1500right_z0.1400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6609, -0.2615, -0.1761, 0.9982, 0.6224, 1.8797, 1.4921, -0.5991, 0.3794, 0.305, 0.0161] state[eef_state]: left_x=0.2932 left_y=0.0022 left_z=0.1761 left_yaw=0.1455 left_pitch=-0.2259 left_roll=0.0782 left_gripper=0.9982 right_x=0.4252 right_y=0.2289 right_z=0.1312 right_yaw=0.1081 right_pitch=-0.3323 right_roll=-0.1308 right_gripper=0.0161 state[joint_eff]: [-0.0752, -2.3453, 6.7761, 1.536, -0.1685, -0.0659, -0.0122, -0.3487, -12.8889, 6.7487, 1.2234, 0.2271, -0.0415, 0.7741] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 331): [image omitted: streamed camera frame] camera 'left_cam' (step 331): [image omitted: streamed camera frame] camera 'right_cam' (step 331): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.15,"right_z":0.14},"note":"The sweep moved the elephant over the right basket’s inner rim; the wrist view now shows the turquoise interior directly beside its body. I’m continuing the lateral motion a few more centimetres to bring the elephant fully over the basket floor."})
tool
executing move_to over 7 steps (0.7s)
step 338
assistant
agent noteThe elephant is still perched on the inner rim, with most of its body just left of the basket interior. I’m shifting the closed gripper farther toward the right side so the soft body clears the rim and settles inside.
move_to
right_y0.0800right_z0.1200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6613, -0.2615, -0.1757, 0.9982, 0.45, 1.7512, 1.319, -0.5514, 0.2745, 0.1711, 0.018] state[eef_state]: left_x=0.2931 left_y=0.0022 left_z=0.176 left_yaw=0.1453 left_pitch=-0.2263 left_roll=0.0786 left_gripper=0.9982 right_x=0.4227 right_y=0.155 right_z=0.1238 right_yaw=0.0989 right_pitch=-0.3757 right_roll=-0.1321 right_gripper=0.018 state[joint_eff]: [-0.0479, -2.1812, 6.7761, 1.5409, -0.188, -0.0366, -0.0122, -0.2667, -11.1248, 6.7077, 1.4872, 0.0952, -0.0659, 0.7448] camera 'top_cam' (step 338): [image omitted: streamed camera frame] camera 'left_cam' (step 338): [image omitted: streamed camera frame] camera 'right_cam' (step 338): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.08,"right_z":0.12},"note":"The elephant is still perched on the inner rim, with most of its body just left of the basket interior. I’m shifting the closed gripper farther toward the right side so the soft body clears the rim and settles inside."})
tool
executing move_to over 7 steps (0.7s)
step 345
assistant
agent noteThe elephant continues to slide along the rim but remains just outside; the basket floor is open immediately to its right. I’m making one final inward sweep toward the basket center while maintaining the pinch on the plush.
move_to
right_y0.0000right_z0.1200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6613, -0.2615, -0.1757, 0.9982, 0.2695, 1.6875, 1.19, -0.4831, 0.1398, 0.0292, 0.0179] state[eef_state]: left_x=0.2931 left_y=0.0022 left_z=0.176 left_yaw=0.1453 left_pitch=-0.2263 left_roll=0.0786 left_gripper=0.9982 right_x=0.4211 right_y=0.0945 right_z=0.1066 right_yaw=0.12 right_pitch=-0.4096 right_roll=-0.1028 right_gripper=0.0179 state[joint_eff]: [-0.0752, -2.1538, 6.7897, 1.4774, -0.1197, -0.0562, -0.0122, -1.7026, -10.7829, 6.2154, 1.3162, 0.5739, -0.0464, 0.3541] 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":{"right_y":0.0,"right_z":0.12},"note":"The elephant continues to slide along the rim but remains just outside; the basket floor is open immediately to its right. I’m making one final inward sweep toward the basket center while maintaining the pinch on the plush."})
tool
executing move_to over 8 steps (0.8s)
step 353
assistant
agent noteThe overhead view now shows the elephant actually suspended by a compressed ear, with its body overlapping the left side of the right basket. I’m lifting slightly and moving to the arm’s outer side so the hanging body—not just the gripper—centers over the basket before release.
move_to
right_y-0.0500right_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]: [-0.1612, 0.9817, 0.8227, -0.6613, -0.2615, -0.1757, 0.9982, 0.0597, 1.6093, 1.182, -0.4431, -0.1467, -0.1646, 0.0198] state[eef_state]: left_x=0.2931 left_y=0.0022 left_z=0.176 left_yaw=0.1453 left_pitch=-0.2263 left_roll=0.0786 left_gripper=0.9982 right_x=0.4333 right_y=0.0554 right_z=0.1418 right_yaw=0.2776 right_pitch=-0.2964 right_roll=0.0111 right_gripper=0.0198 state[joint_eff]: [-0.253, -2.3179, 6.7761, 1.4383, -0.1783, -0.022, -0.0122, -5.3949, -6.0923, 6.5299, 0.6422, 1.4872, -0.1294, 0.4908] camera 'top_cam' (step 353): [image omitted: streamed camera frame] camera 'left_cam' (step 353): [image omitted: streamed camera frame] camera 'right_cam' (step 353): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":-0.05,"right_z":0.18},"note":"The overhead view now shows the elephant actually suspended by a compressed ear, with its body overlapping the left side of the right basket. I’m lifting slightly and moving to the arm’s outer side so the hanging body—not just the gripper—centers over the basket before release."})
tool
executing move_to over 9 steps (0.9s)
step 362
assistant
agent noteThe suspended elephant is now centered over the right basket opening, with turquoise walls visible around it in the wrist view. I’m opening the gripper to drop it into the correct basket.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6613, -0.2615, -0.1761, 0.9982, -0.2165, 1.615, 1.3563, -0.6174, -0.4068, -0.3836, 0.022] state[eef_state]: left_x=0.2931 left_y=0.0022 left_z=0.176 left_yaw=0.1455 left_pitch=-0.2263 left_roll=0.0783 left_gripper=0.9982 right_x=0.4383 right_y=-0.0212 right_z=0.1928 right_yaw=0.3399 right_pitch=-0.2227 right_roll=0.05 right_gripper=0.022 state[joint_eff]: [-0.1436, -2.3316, 6.7761, 1.4481, -0.1783, -0.0757, -0.0122, -3.1521, -5.5726, 8.3624, 1.2381, 0.7106, -0.1636, 0.2222] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 362): [image omitted: streamed camera frame] camera 'left_cam' (step 362): [image omitted: streamed camera frame] camera 'right_cam' (step 362): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The suspended elephant is now centered over the right basket opening, with turquoise walls visible around it in the wrist view. I’m opening the gripper to drop it into the correct basket."})
tool
executing move_to over 10 steps (1.0s)
step 372
assistant
agent noteThe elephant fell just outside the basket on its left side. I’m moving directly down over its broad torso from the clear side for a centered body grasp rather than the thin-ear pinch that caused the awkward swing.
move_to
right_x0.3500right_y0.1500right_z0.0500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6613, -0.2615, -0.1757, 0.9982, -0.2077, 1.6104, 1.3617, -0.5941, -0.4553, -0.4, 0.9949] state[eef_state]: left_x=0.2931 left_y=0.0022 left_z=0.176 left_yaw=0.1453 left_pitch=-0.2263 left_roll=0.0786 left_gripper=0.9982 right_x=0.4423 right_y=-0.0102 right_z=0.203 right_yaw=0.3917 right_pitch=-0.1744 right_roll=0.0507 right_gripper=0.9949 state[joint_eff]: [-0.1573, -2.359, 6.7761, 1.4969, -0.1392, -0.0269, -0.0122, -0.3624, -7.1043, 6.694, 1.199, -0.2564, 0.1148, -0.1734] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 372): [image omitted: streamed camera frame] camera 'left_cam' (step 372): [image omitted: streamed camera frame] camera 'right_cam' (step 372): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.15,"right_z":0.05,"right_gripper":1.0},"note":"The elephant fell just outside the basket on its left side. I’m moving directly down over its broad torso from the clear side for a centered body grasp rather than the thin-ear pinch that caused the awkward swing."})
tool
executing move_to over 14 steps (1.4s)
step 386
assistant
agent noteThe elephant’s torso now spans the full gap between the fingertips, and the low readback indicates the gripper has contacted the plush. I’m closing around the body at this centered position.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1612, 0.9821, 0.8227, -0.6621, -0.2611, -0.1757, 0.9982, 0.3523, 1.462, 0.6228, 0.1883, -0.0444, -0.0471, 0.9986] state[eef_state]: left_x=0.293 left_y=0.0022 left_z=0.1758 left_yaw=0.1451 left_pitch=-0.2275 left_roll=0.0787 left_gripper=0.9982 right_x=0.3676 right_y=0.1473 right_z=0.083 right_yaw=0.4119 right_pitch=-0.0889 right_roll=-0.0036 right_gripper=0.9986 state[joint_eff]: [-0.0752, -2.1675, 6.9265, 1.4823, -0.1099, -0.0171, -0.0122, 0.4308, -2.2222, 3.2479, 0.8425, -0.3736, 0.4176, -0.1587] camera 'top_cam' (step 386): [image omitted: streamed camera frame] camera 'left_cam' (step 386): [image omitted: streamed camera frame] camera 'right_cam' (step 386): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The elephant’s torso now spans the full gap between the fingertips, and the low readback indicates the gripper has contacted the plush. I’m closing around the body at this centered position."})
tool
executing move_to over 10 steps (1.0s)
step 396
assistant
agent noteThe gripper settled at 0.21, confirming a solid torso grasp. I’m lifting and carrying the elephant directly over the center of the right basket.
move_to
right_x0.4500right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1612, 0.9821, 0.8227, -0.6613, -0.2611, -0.1761, 0.9982, 0.3473, 1.4612, 0.622, 0.2184, 0.0002, -0.0902, 0.207] state[eef_state]: left_x=0.2931 left_y=0.0022 left_z=0.1759 left_yaw=0.1452 left_pitch=-0.2267 left_roll=0.0782 left_gripper=0.9982 right_x=0.3752 right_y=0.1396 right_z=0.0888 right_yaw=0.3919 right_pitch=-0.0611 right_roll=-0.0665 right_gripper=0.207 state[joint_eff]: [-0.0889, -2.1675, 6.8444, 1.4432, -0.1197, -0.0513, -0.0122, 0.0205, -5.7641, 6.2564, 1.4042, -0.4322, 0.3932, 0.823] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 396): [image omitted: streamed camera frame] camera 'left_cam' (step 396): [image omitted: streamed camera frame] camera 'right_cam' (step 396): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_y":0.0,"right_z":0.2},"note":"The gripper settled at 0.21, confirming a solid torso grasp. I’m lifting and carrying the elephant directly over the center of the right basket."})
tool
executing move_to over 12 steps (1.2s)
step 408
assistant
agent noteThe solidly grasped elephant is now over the right basket interior; another gray elephant remains visible on the table with the three bears. I’m releasing this elephant into the correct basket.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1612, 0.9874, 0.8196, -0.6651, -0.2615, -0.1761, 0.9982, -0.1513, 1.5379, 1.1385, -0.2798, -0.3725, -0.3836, 0.2061] state[eef_state]: left_x=0.2923 left_y=0.0024 left_z=0.1726 left_yaw=0.1464 left_pitch=-0.2383 left_roll=0.0822 left_gripper=0.9982 right_x=0.4482 right_y=0.0003 right_z=0.1886 right_yaw=0.3629 right_pitch=-0.0655 right_roll=-0.0723 right_gripper=0.2061 state[joint_eff]: [-0.1709, -2.7419, 7.0632, 1.4969, -0.1783, -0.0611, -0.0122, -0.253, -7.0632, 9.306, 1.4921, -0.3199, -0.0269, -0.1001] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 408): [image omitted: streamed camera frame] camera 'left_cam' (step 408): [image omitted: streamed camera frame] camera 'right_cam' (step 408): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The solidly grasped elephant is now over the right basket interior; another gray elephant remains visible on the table with the three bears. I’m releasing this elephant into the correct basket."})
tool
executing move_to over 8 steps (0.8s)
step 416
assistant
agent noteI identified the classes as bears and elephants and established bears in the left basket and elephants in the right, but I could not finish moving all remaining objects within the trial budget. At least three bears and one elephant remain on the table.
give_up
hindsightThe two classes are teddy bears and elephants. The wrist cameras make these soft toys appear about 3 cm closer than the fingertip grasp point; advance radially before closing, and grasp the broad torso rather than an ear. Assign the left arm to the left basket and right arm to the right basket from the outset, because cross-table placements stall near the basket rims.
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]: [-0.1612, 0.9886, 0.8196, -0.6651, -0.2615, -0.1761, 0.9981, -0.1562, 1.5448, 1.137, -0.3012, -0.3752, -0.3927, 0.9947] state[eef_state]: left_x=0.2924 left_y=0.0024 left_z=0.1723 left_yaw=0.1465 left_pitch=-0.2394 left_roll=0.0826 left_gripper=0.9981 right_x=0.4452 right_y=-0.001 right_z=0.1813 right_yaw=0.3661 right_pitch=-0.0909 right_roll=-0.0634 right_gripper=0.9947 state[joint_eff]: [-0.1299, -2.441, 6.9812, 1.4481, -0.1636, -0.0464, -0.0122, 0.3077, -7.8838, 6.9949, 1.79, -0.1734, 0.0562, -0.1099] camera 'top_cam' (step 416): [image omitted: streamed camera frame] camera 'left_cam' (step 416): [image omitted: streamed camera frame] camera 'right_cam' (step 416): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I identified the classes as bears and elephants and established bears in the left basket and elephants in the right, but I could not finish moving all remaining objects within the trial budget. At least three bears and one elephant remain on the table.","hindsight":"The two classes are teddy bears and elephants. The wrist cameras make these soft toys appear about 3 cm closer than the fingertip grasp point; advance radially before closing, and grasp the broad torso rather than an ear. Assign the left arm to the left basket and right arm to the right basket from the outset, because cross-table placements stall near the basket rims."})
tool
give_up: I identified the classes as bears and elephants and established bears in the left basket and elephants in the right, but I could not finish moving all remaining objects within the trial budget. At least three bears and one elephant remain on the table.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 11.58 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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  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
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  "role": "user"
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  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7986, 0.617, -0.3798, -0.0219, -0.0296, 0.9996, -0.0154, 0.7986, 0.6109, -0.3737, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0019 left_z=0.1848 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2968 right_y=0.0011 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.6479, 9.3607, 1.7607, -0.0171, 0.1587, -0.0708, -0.7043, -1.6342, 9.7846, 1.7216, -0.0952, 0.0171, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab6d2947efa5172597927fb5ee180d33cc5daaa5284fff1ef9d6e6544d71f13e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a5e53a8dfab94ab1473695dc93df70a72c01086e9d0d64d43ab42ddaca25c1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d3b9ab98426f127d9df834aa2f79b933d179ce9c3a27602505b1e9a11858202",
      "type": "input_image"
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      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "text": "",
      "type": "input_text"
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call 1 attempt 0 · /responses · status 200 · 7.005 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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  "id": "rs_0c70287430397315016ab43edd659c87d0ad6bc7e9a5341bf6",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtD7oQGr1hHSws1tOfgwTARNAAgNkPMS3H1x_Sc3UuitDIVXsYLelEAoX51CDOlgcwY24lr6ERg7l_UuN-qA_0207x2RXTFd_RSfZHTZWo3rrjqCNEvCrDxSfkibdEfyIfMlXhTeZy3RFg-TGc8HPBMsdTPeoymkNIlp-zfCNlp34TFHklhO_2Eg5HsYw_wUnFT_jBuVKUXZV098wWgHQRRTgpX3Hz60xzvyiS3W4BmgvzF_ETHDcSSqNmVUa2h30mzqOemnz5lKYIrK9k8nhE8Tr5Xaaijugwnp3imdpVaDu7WAkTY275W9v5OJKaQGc_ApS_5nNGteX0s7Or8epEUuAggDyDWlB4jSlRRUVx6xABDrbATJSe0C-NOldqhnkV8ChNoW2FxNIhrTWTkKOsJ9xUUn_bhWAivkhvWiXdBK_aoBCpMtzAyOrXDhDO-CFaoZjJhQ0ztsjleHdtDAGowJxs6WajrI26sQ6zQ5PgoiIsjQvdwkIb0MPcrfhqMKLu3lpD5m43epRNVqfDxb8ta3yUPcMrvlwm6KXNn0PShS1Fcd4kCGpM1AMLl6001UbbxDEQd8bAms-SQQIKdpxSvxrBNRYfk8Erf86pYvCegF5R_Wo0yYOEVnuG3p72YcRMs6VJ5ztjPhn_xn_PdB_tkT5uLlvqMdCXBo-Ct_myHEzP73vutlg-QSrB884WLk46mNbpGe_g69fq0oOzwUK8Z7ppl8vXcrUNLKX0YCOGpfUSetLI9HzDTrKO34_81DB1BYe0fKTRDtzpo8Jc00sQSubhoewzUEzVfDaE9IxxyXi6_I_rSD-vyCISDpq3weIAuYiIrHGbgmiMua6GNZRdKTM2lboI_BJA44Qwo5D8rn0j_QhnKrGC0w7nD99KszBFdh5k58d6Q1iaaS2lNPuEAMV0Q549gHJaxQUwG2fPq8Z1Fuz4THulGyMnecHItPQqYv_2otTjlt5pClWHvfO3t1DYaxHiX1i6tt7GOiOEZ_QGoTKpIyhBUHv9Tw1pZqt7yTZ8JbtyWxNMqVz3scd_V632FQHYcWAFjK8y8p_yn5cyqZ9Cu_mljxIlrTSB7KT3Je1K7pbRHa-_mR_LcySboyoYXIRSuueCYPOTSK7io-tzdZUJK9lq4B6UFS3ly_2vtbLCey7lKBI98uDYciFTthG3TeYMhXRQ0FveZ4WlSw-tBYUIn94WV_MBErvw8Z0Ng5zzd7cKF1B5KVCr_KePovc7Om2zHjgVd-uu7_Z2VtIYRfPPjRBghIkmwtjAjxNRl_Nl7mPiKaobimjYhWUd8HiKrhfmR0PY8ceiVFJQxHf79vHzjWAw2fNjlzZBPLPqmTD6no4Vi_6ME8tWSO5TeNTRMOUnKmBSsf1z6VJa45GPbl5QoVz6sfrlsKyydqT7_In739KT12Eudw5bilfrPzqOzUcpm9YawRrr0V8cFVZ0AvqRnvoOm7cGcWelVW6Sxzq5v9utUaZat2BeF2MNQfnEmzEft4ycFHlRUnticCUklv6YACFpwh1VfhH-3tPn_CCkx7Sd5sIbmI4kBwCOX5agS9t0TozrJoyrRoNw2ux--brDkXJWjUtl9xGRC0J4igPzFCrCeZrdCUQurV8BcoKGBnqzTl2IEOaYNUWV0to-NBEiRRYkilhdKTvBpWUcDqt7BbEk678lHifgQOIvnRVwOchzjvtx09Rw-wtyo0XW2scR8nx4CQWlB95dAkf0mPVCISUtMVlRscPzILFZNa1EgpujeUJ_QsiseGGdFB2AM1xnkbKVdt-oeCDcsJnL1pfyNlVyHpzM1RA1q2uXvZxTJ2vx3QHQnO2eIKHvgpq0R-LDr2Xj_VN5l3uzPL-PtCcfoCyRIfcSoNBJyOBzgt02ZZCV_GTjwLE7MMbrDPh3ZZfG2ufiO8EOPq_0OxjcINIqKWdNAzkmA2DmiHv8nx7-kMPxL-c49_JQbwqe-coImkAAfLLxQIuC_oGyPuMSg1namHENdMBGr8ut1qxc2ca38rvjXAAcJ_dim1c4WLD0qJbrsu0ShKK9iueopcs5c62mlnSoYZEqhWMSN2fA3dVYfPQL47AOka1tvsxl20_YEkeARUQnuxOoa_I3RlMmzg2jw840zW_Y8a8vymKWnGDITVks7uOpu7yhFmUiPiYo0aMQcfZPG_EaQWUnoVb29_8hX1a4JsZw6wIViyoa8BXt0Ua6r-Ur3dbMCKVqpJqp50agQ2yjUAvWZqoU9XUC_et2UXr9dT64kjHRHQ_N6Zg_E234ojU2qAHSuHFH01qiyaeLpUGUANQuLx_wsMDtLGsO-hSoEWL0h_g5bcf-v_1q9tXfpHQyBHOwjcoeI2j-h-W3dMmc_KNmv3Fl1fQGkUv5LJOrlmXQZhNOG1XbKlBJ_UsJGwvBBVWqwKhe1vxcaLucCTqnuCTpFJfliXZflv7Mh_EQZ_D8mm93S8rNwfhA5KRa7tqeS8mgKlDW3lQWfRe1rFfIDuEnpPBAipLjZKnmUZ9Ub9Rbf9sQ3PyZgOS6m1okfzMQ-19Cd8lZX_Ce20IU4vJKmhoZUrTWdIQs4CEW_2sc3Jlzc-bBBa_3V41lCvaER6QKocKb64IL0boKmBSscjZH0TShetdEWiwSmMq6o8Af9KHDzPQzBTGzmJauYV1j08OBEpFCx0t7b2R3TLaGpNmKvXWSOUngtC6fdTnkXB31ry3sWsTlaTD8W-UFjq6wUhLcWet3aBKdpOS7G5tbtCAXfrUgXErJzOwXRjd7Qgt4LvdhP8Dz3xSkv-DfT8MwULhgut94eSvqIvHjl_KpPKBB5PC_TBHzcPxnXSsCk8ifzvUZo7dOBkzNZYCrJ5HLRhMtSoAY18V0dopM9D-OL7W95fX9KID3u2NHclYERMz_cn-HOMkdtEcHlypt6ulhmIQtAdf-1QoFgogrMuNbdUd4EXIQGl1gbG26urydQqiEKU4gBNS7wEeYL_xQP-ZxbB8KvpJ2UBcWqP5zGkmfLbsJrZ2rgbfi2Ix3xutnGkf6hhzVk3gYVgxZa6Iz6BBxIUNiJQsrLvuMUE9EFaGqXV7mqmmEGqq22ewl56ORgnEzxftQIhkdvHkOj1EHVSpaoV4IjNTmtVi96KVVCINRBly40p9X_C3XZNZnKod7AavDlyAn-_iQ_7xtDdKhnBtqBhouzjQbAQ80kj-K20ks87rXw_RJrR0Bgz2774r--JfG1iWNGZFYWFz6FRQ6lofr7647sjZoO9gqGQuJEkG0qiYhk74Uz16T_-XJYs5D9H0eGJqnQOp_lgvCT5INg==",
  "id": "rs_0c70287430397315016ab43ee2cd8c87d094c27d2defb52b6e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.17,\"left_z\":0.15,\"left_gripper\":1.0,\"right_x\":0.297,\"right_y\":0.001,\"right_z\":0.185,\"right_gripper\":1.0},\"note\":\"Two turquoise baskets sit in the far half of the table, with a mixed cluster of small plush animals near the center. I’m moving the left gripper above the leftmost animal while keeping the right arm parked, so the wrist view can confirm its position and type.\"}",
  "call_id": "call_KdqbFfshN8MkMWHw20025HI9",
  "id": "fc_0c70287430397315016ab43ee6f3d487d08a2333ecff94d78b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KdqbFfshN8MkMWHw20025HI9",
  "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]: [-0.8272, 1.2663, 0.7097, -0.2379, -0.6563, -0.54, 0.9995, -0.0151, 0.7998, 0.6086, -0.3843, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3039 left_y=-0.1659 left_z=0.1357 left_yaw=-0.0185 left_pitch=-0.0399 left_roll=0.0259 left_gripper=0.9995 right_x=0.2951 right_y=0.0013 right_z=0.1796 right_yaw=0.0009 right_pitch=-0.0141 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -4.6427, 9.0188, 1.5507, -0.5495, -0.0122, -0.0708, -0.4581, -0.8684, 7.8291, 1.8144, -0.0513, -0.0611, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e13e1488c5174402fd017cb9756439a39ad8d86a4f2e42c74dafc66fd36a639",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84b6a10adb86f53a78c97683379596707a04221b1bea1e9d2529234c061eba3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42f83c5c21c067c7d9c6f844115acd3c9b586e40c7c48dcf096f2e55ca3934c0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 2.769 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7986, 0.617, -0.3798, -0.0219, -0.0296, 0.9996, -0.0154, 0.7986, 0.6109, -0.3737, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0019 left_z=0.1848 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2968 right_y=0.0011 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.6479, 9.3607, 1.7607, -0.0171, 0.1587, -0.0708, -0.7043, -1.6342, 9.7846, 1.7216, -0.0952, 0.0171, -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]: [-0.8272, 1.2663, 0.7097, -0.2379, -0.6563, -0.54, 0.9995, -0.0151, 0.7998, 0.6086, -0.3843, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3039 left_y=-0.1659 left_z=0.1357 left_yaw=-0.0185 left_pitch=-0.0399 left_roll=0.0259 left_gripper=0.9995 right_x=0.2951 right_y=0.0013 right_z=0.1796 right_yaw=0.0009 right_pitch=-0.0141 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -4.6427, 9.0188, 1.5507, -0.5495, -0.0122, -0.0708, -0.4581, -0.8684, 7.8291, 1.8144, -0.0513, -0.0611, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e13e1488c5174402fd017cb9756439a39ad8d86a4f2e42c74dafc66fd36a639",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84b6a10adb86f53a78c97683379596707a04221b1bea1e9d2529234c061eba3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42f83c5c21c067c7d9c6f844115acd3c9b586e40c7c48dcf096f2e55ca3934c0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD7yZp6wnKpgCSh6X3mHynliZjGe7CcN4RqPyOPgT0szm-eSeMuHTxExjT-C7DVJBO-ItghuQVdEBGr2678-YjCnlohiqfgTOdwt-HXoFREIhYLTkEAhbHG5bVMZs4m_NgLl4d9ajsiimvMxqvpx9HVMOKhoTfEm2-92gCtEhLZXS6p68ykOXLQL0Nm4pCj0gefAsEIu6joFrrLpe-LZnTJOTYj2IFlkA9TYoA4jAUG_RxNczeS3V8GsBJmXTYIPInQSMJ1xDwfkzmjEo_Fy898yksy4t5jsYpF-VT0vzebO0yH5Dolz3ta4-22XflLL4OPFtjX4jyc5E90NaKDyoD1BKpZOoQmolU6xJqnsnaf9sbT2SyWP0jJILFnhFl6-NX6cPbkrrfUkB4LevY9QP1bFaGvIZceyZF0Mwvamcy0DpXivhJDVxX7oAxCwIg2RPFlYkodlGk2kQtC9dpgBqNDDnG9VLaP09Gea4F2ZDBsIAbuXYIUnB8wWZCFX2ScZNVkpenIxayzkdpI5gtP_P7vJUpLx9bAeuPim7rnrzONalg5a3hxnKLB4bTdvcSl_4lY-NtUpMV13KT-kUm8ygbxcPZ19mluAhK7K5DysTC4pLIa_e8wfyYLQkelMit4xRGkwEo_unPsUmFvWw6Bw3Kt4rhfpYXE5TAw2yCoTZT1-HOvp5PjiBA-jTCa5AXunWRUNmuH3sz7Oayr4iNBjKrWeMCxviC812JG_P9ypVGh0SsXEsvwRxTgDqyyL30Sm-DuCL_8ZZWah9mCaaJv2E8iW2_N-VC0fSzM7w7XPLH-fqOVLXzwadeFbmYaPMQftET7eM6SbJ2C39cC66oAjcstdTa3n8fWapQjAJoTL_4cdwQDOAxVjnQfh0iNka3hZsW1GH4E7gw9QwXnFTtvVBbRDTzFm9t5ZRcmiRg3Z0BEC1iQh6pJmZAK2bTdCLYXT1_VWnDzYYZHV3fi8jbEYbjEpmhRXE9O_Q3R3gLlNQDZJcSh_h4UJr0FLcCgBYnJ2s0cxsnUtn_wSUNvpDyJj64OHVRsrQDrKZ7yh_nHWTUohQOgDBekwf0801lH7nS4wFYji6Tm6wYaYZZvEhB2dPytuFjQP_36yUh169dt6cM-58gYEVK3l_5Av9Nh-iK1qpU9NEbSkB6vZr9vyq0ziitHmyOYTCxLtZSqZKBn3X6QVZPz3svcZ2Bs0DjL8vZHXp8fOsRfjRzm50vBMSXVUPVaae0O0uh6yIUjS2IflJyjBekAaT6qv7qUUbF61bidsu6O4l5c4vOO-O0QGKWQrIWmpRyoJgOOV0aBOxQLqXC7VDPM1cSuihPk-473Ca3831gHuTWMXIeI5vlghj0oVuxc6vtZ6OAjo76bVjfrVyeMwuBUPwq84d52NkpEU3KdtiH4X1TaHfITihodELAsdWfm1iLdsGRvPLYk8qNqBOuRXU3jcWf0bQN6BPzaCnXXrXB3zqKdO_e4ntJES1kL7UgI3K5HHb3F5nyw_mxbG5uaupT-n6UfRYbptpnlPdDVNt7ELJf6hCasvzdz3054wEn0LQp2WGvqaS_s4SIqQ7WJtGEZSMPwuQjUbxxMp7JtN7Yk9FJGOEXJ1m6Krd9HTmf0yYQ9-cCfa6DuMjF9KtjRJ_nYw48Suascovfq5zwPQHYAR6FS2hfyyweBSNDOAO-zms59clTXMuKpPwDFpAjWgJkjpSQo_x01CbFMP07FLPsM7asLj2H3BTh7a_iz4H0c4nxfQ__Iofr2jgT4EwHU85r-Qe7FLbimYn1_xUCKhRQ6ClystQPPu4v3NsdwsimFVn02zxaCJrizr2lLw7iviL_6q5mXOq1XbL_0-Q131ZmdBZSRwnaK3wVH5a-3d2l_J2vgijxoQZ9kuQ9PBzfWcRliEs_sSuVEuD1fltp4U7DcUbYSAVtjSxmu9_hykNDpN6mdD9A4qKYljeEumfZ-SLOGyz3LOE4QK3EdpZQMU-Vns7Q3GJQxk7P_WdMBxJNKkmDH7NGLNyZhH9S-WDfTEDX8ieIswFx4QJF-9zUI_VVyZi5ZMUbDCPr2icy3AWsckt-R92pAFNh0MAFdJc0isJiPJ0ydh1SR1g5jn9GtfU_Ant7wvLIfkFKFybFc8n8GLGZy07bUlfhpcP5S4uErh9sksrCvFcFThXd7pg2GJFqXLoMNbq_G6eGboJ_CszsH3UPXyxg5oz0WLBsCtKauGpIhnmWaxntnWvJA3ET5LpeOJg75UZ3af5lVz8TezC9Pu0tS_EHmCV2SU3M71axl5rK24TbNclOyOdFnsiPP0uOlnZ-58KQ2LVTEKkMATRAwYt5Bs6qA-chn4fLNjfDy_tnk0hyU7Fy38KFhDyOJORCMublmm5jG2vX3-b_NdIcIwLh-WegSND5exgmX46dFJC18DpyDSN_N3ZK7-FostUo0gMA3N0zZRsYwV1bGPBQin5XNgmITTdqB3H15NxmjFFFaq7qon6m8i3kNANUVKR2Oz4JHuckBjyebrXrUEpD8LQrpkHhxiEbjkDjAMfAe-JaFLguikmpzkO-ZEgeuHKp1zPNqUOaiVq9vQT6tg1YtUdEh-8ieAnVtkjjbFiCjIugFrtuSwiXbD1TFU7iDttOALE4qUSlA6hpBp7cRX3yvI-ErTFA9VUONTEH0mLZHCWp03ORYIpcWIkmzYzOSJNEJvjNBic14FGGvOQbAEoRocFzh9ewRuCVMM74cuKuZfYl_zqzG-HaLoJBoDEETxQSCuxhy0eHPqdSLvGORvXIt7BfVjIreWkbdCLDMmLyI9AHaVYkRwiSPXjAP-rbDFXrU0579WSHXlljc14PG937iZ8RIvl-H7wJtIwAWyZekYyIe38gjIUUTiZeI-6P2gpAgAqDgaFDoty5Q7vjqgNQ31Kv336l3Mo7GM98JOTNxRRHHMUQVQZB3gkNwWlJfOpKgMnr0PsTE8MT3-lQqyzN3PlSTgz1H34Ym10NEOmdyVF56vjRPrMg3rDIxFYcWzzKKzL5sw0Z3mKMa3dcDQRz9jQOWhe44ANT4xa1RVfILeBVQDw4gqMqrJdnblMMBArkaC4ji3afV0DU6LhZ-2tnqvSpA6YI5nG8ywHXfYxsyCtbBIFhETxI2YMFe7WVJlCO4Yj_xnpj0tVbjRhVmvixmutC4uW03xbTOSvrgyZuMJ1cjyxpFRVQLuM67mJ1MI4rq8IfWQZDZm5Y6IMGQRLV3c7MQcSBMm6SfbY4gOQ5yS2s2PkffALxIJdxMvdsT80gKko6nhU6_EfgHuytjRImXKVhgVvMKuOdTExM51YvzvggbLgGZsUkfVIDlj54t45M8lkZxQbOvF804AJYakX1miJPTNkQfAiKD2UGXgvgJjtVg3RGtioDMzT3QEPZ_Uk77hwwKm1D-YG49ukyqq5Hcrxn86HcuSyJkVFJh_q_FHFy1UQxAJmNYY-VL-O5LX-Rnp7CwiqgP9fkAcwEA4mabI3gfh20wy-uhHW6kNPi8bURvDAxhJR0na3gQH5uk33VNdlIZoKMzJk9J39S0N96-THUViDUTUdQGs_sJAMdRWwPINSOJbqW_uC5Gha3YWqj3cfVGWOnuQKPb8ED-gex-7diNro4n19fI3vOUg40stnqrHg4keo6-zl15ugENJpFza7GufX6Xc31mXpzFyN1BmY_S24rN4MxBFQlFpvvKEI6rtJFXj0QFS0cBeUBccFRsM85dCm75UcqYtfF4zHYSHxI5pRKL7bkWW1qLaNl7jNc0YIqITM1ynqlAqBFePPiSN_9nXkAn_CVdItoMyFfH-TNTjIMN3J6mFL7NuUhxSdcqZeWAA3rl7y1CNYTigDgnrj_ZDsp3cSj7HYJX6YYdxXtHRMrJWVcM3gM0r2UIbFxMK2pRTzJ1DjnbII1UP7Rg_N3XqO6Q1LsH14o4M-t4qVdkKiA3G8SYt2sxo3jZpX55hgLJOKaK5TuRG9dZPqvk6BQUEFH0NK3OyGURZamVfLcqD0c5z9n5daciA2e6TU7dlRO3VXMg4hiebSQj1pgWdoSlTYW0nanGi5PhXd2f79xF3-Sc8mqWquPJcXnBwcMxydU8V7mwrxaDj_K-9UwZZu0SQXll9wQ8Rw_1x9G-Mozb4LTQyXx8RsvPaQe6vgU4=",
  "id": "rs_0c70287430397315016ab43eecb68487d0829898493bdea80f",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtD7yB0cRDZLlDKWArCG7ucdFta-w_X4jksJvvrQltAnA3iCHWlZMuqT6AUjDbzlnPnZABo9bsGsA4GmsE3MLCZOtWtEIEywj604Ax6pyOyhqLYN2XbwSZY1FSFdUuDgGn66aNN3_oUq5hy-aLkwpK-raMABHMmvRU9kSSb1HmYU35m0iEjaHu7k-9E5cn2clbz7FeXC0cBYrpcTnNwuSxldrOlx19BkUy8lB-mc3n9qWu3vF_TrY0Ve5QLtJQbvwglu9yRJQXYZgupeE26599QPi_E5bO3JBPsCyVVJZp3UahEZnWchjVZOt_zhnOAm55hyVp3Gafc2J7V6qWcJVaPQ_ExFMXbwn5PGqZC1QUueP3w2xBRdZybHQKNbEcSBKyXn6h6GV0BFL51YA8inOSwxr0U56xxRpZJK-rELH2vnR0m-nTyYsgoTDqCQgIdgUXVniNaMznsqBzn7fXnWw6gJa2qWjE6ZKNCsCqzfhWckd0RPe63eaqHaDgyqgjavMQ4dV31vewgjGEMcpqF9A1DeddnvIdc5JFJS-SiGagYxthdZBRmdSTNOm7nHKEctb6N5J2fL-OV9AFvX6Y0DyUPn46FawfDZwsbc-B6lPNjAXPiKIGuP78DRsXve8qM-LPygqe1KadWAIwOM5Xb1ihu8eQlSnGMdtMn8mPDeZr57C6MD5mRnnBbKq2XoYhBb-U5BPv7RJ757wBPniv50hY3Bmqr8bXvTeDD8lpoKcFbMMChe-4tgyBX0Av4GrKKrNgQmcOuEzuFno4GO4ACXjVz_dsVFlQ2UHH4iWZjHuNA-O49MtIdkEOH63uq3FMiHXfTPakl8kM_cEaBaJ3scudZ0aY1jD1LIxUV1a2_uah8wJWD75hf_O_pW7CED3CGRDZ4pQkkldSajHDKaTIRVxMkJMCvV8Ixc5V6GyrH0eP7QX7pjSdVdZrUGPqBxckANAvzpFMKJ_4fezy374SQXwqGjUoJFxwXA7n8zvMcwqEtaz5aVnT_QIBme54V0C1CfOqH4yF7s2wSemJcDJwPzHqNoCsJc570dBAOZqWTd1knbC4v0SJYoipTXppXVFbSnxXE8Sa6ldypekx8dqQucZLqGi1DlDAn2qHTHFpDI8C3i4XvKmL60bHSXBe89D_NsBOpqeziA_L7jtZuYJibT-r3o89e2lWUKuKIFqxdJFi1U04L8JtrgHlkZDGkaKc-lNeM9q",
  "id": "rs_0c70287430397315016ab43ef1d59887d0ba13e664389ed79b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.304,\"left_y\":-0.166,\"left_z\":0.025,\"left_gripper\":1.0},\"note\":\"The left wrist view reveals a small round tan plush with a white muzzle centered between the jaws; larger long-eared plush animals are also visible nearby, establishing the two visual classes. I’m descending vertically onto the small round plush for a grasp.\"}",
  "call_id": "call_IputRPyrv5IhqVOis1puvE9b",
  "id": "fc_0c70287430397315016ab43ef1f3d087d0b9216b41de6f02bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IputRPyrv5IhqVOis1puvE9b",
  "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]: [-0.828, 1.6039, 0.4427, 0.3393, -0.654, -0.5472, 0.9995, -0.0151, 0.8032, 0.6086, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3013 left_y=-0.164 left_z=0.0211 left_yaw=-0.0161 left_pitch=-0.0599 left_roll=0.0388 left_gripper=0.9995 right_x=0.2953 right_y=0.0013 right_z=0.1785 right_yaw=0.0006 right_pitch=-0.0183 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -5.6957, 4.5333, 1.5409, -0.3053, 0.0317, -0.0708, -0.253, -1.5521, 7.0632, 1.7167, -0.0073, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:884380ab2cb4ba3c0e0bcac54ef2fe0c8b097e691d9a76ee31d445f6b8f80950",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:816e8716c342c568e80824b0477b1c2d114f733ccbd76aa5be1b533b3b2eec1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a3022775a2070f1d0fd36735df74fbc971c96a11aab0914e23e22c4e15fc48f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 3.204 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 12 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]: [-0.8272, 1.2663, 0.7097, -0.2379, -0.6563, -0.54, 0.9995, -0.0151, 0.7998, 0.6086, -0.3843, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3039 left_y=-0.1659 left_z=0.1357 left_yaw=-0.0185 left_pitch=-0.0399 left_roll=0.0259 left_gripper=0.9995 right_x=0.2951 right_y=0.0013 right_z=0.1796 right_yaw=0.0009 right_pitch=-0.0141 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -4.6427, 9.0188, 1.5507, -0.5495, -0.0122, -0.0708, -0.4581, -0.8684, 7.8291, 1.8144, -0.0513, -0.0611, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.828, 1.6039, 0.4427, 0.3393, -0.654, -0.5472, 0.9995, -0.0151, 0.8032, 0.6086, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3013 left_y=-0.164 left_z=0.0211 left_yaw=-0.0161 left_pitch=-0.0599 left_roll=0.0388 left_gripper=0.9995 right_x=0.2953 right_y=0.0013 right_z=0.1785 right_yaw=0.0006 right_pitch=-0.0183 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -5.6957, 4.5333, 1.5409, -0.3053, 0.0317, -0.0708, -0.253, -1.5521, 7.0632, 1.7167, -0.0073, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:884380ab2cb4ba3c0e0bcac54ef2fe0c8b097e691d9a76ee31d445f6b8f80950",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:816e8716c342c568e80824b0477b1c2d114f733ccbd76aa5be1b533b3b2eec1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a3022775a2070f1d0fd36735df74fbc971c96a11aab0914e23e22c4e15fc48f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD73LsxjAILuf65o4PUY2UXaAbozvsEuIJ7Zptp7ERt4de3oN0y5IbXB0tSFNU7HHynboewiooS7h0nvhJwZngNf2k2MWij_R8oeckNH3vRaGDD4eE7_66ktkQoLytuXtX75qT5qhefZZ3B8nLvIuLkmtwjKWKbk8z4tziaLlJaqzQj1Agl0jg7jvhWVlF21smrxGYNQnd0MTjbwoYhmW4-z4c6KYVh2EuEmMhzZUppsoEEVJIYiBRcR0vU6kjT5Y8rvoo59ttXBSk3Xj9fWBiziHBQy_ONibuMOV5-MOqs6euHrA1BMtDOMqTX4GRHsyI9NLtHmt6pBsQEN38TyNiHoTa3hm9xsxzYMp5fsLMqpW_atQDYWnKdtFlDSfz6JakGk2D5qENDlVTs2qw3lltPhkTr2lg25kKswrGEOBEiaRL4IO2BwSCiwxxArvgeBdO31D451slohvmS-ArYe70uNKBAKXVhTlcS2h_TMFAXs2rZo4ZrvRptW894JFyMYZTppyzD3382_SOLyrrW7XCa82ch-yavC_fKCDjf-NUIVljHLTbAPOFXpqbx_xuF1ZQvQo3dUCk6bCWWinTE11aZghWl3BWvk9-u_nB2MeISWaEno8zU15Lc9-_eBa2SxNo3aA5M36M0jm0dKFz7TAYSGbnRllI5Ymgzr8eLYKrNvQW7rV8n8_uBGac5XHPUBrbVigVW13NmVk8fpCAvQQH2caotU11Vvg9SDf26YA5ZSOhz_Acp43S-FNsPnc2vqgyjUbzzbJDu24j6NAovZFn4MXeJOdJSMfHQx6hA43JiVr4oIBKV6ZwAqk7MSl8v1qlpJe7wmoVX7rrpoQyxG3gCMPQt-TVG1Jl27mySUjML_YgBDQjthvtZYn6GQufNbHfPcbQkW3XyryARJd70ugRxvAuLrF3yt9P-n-M7zEc9VUDd7E4VS0G90KwB63gXq24I9YfR0Tbqsq4J2n8gI8gOkGtM3T-HvGqX3khdR1FTeJ_0Kk7fFb96gmqb6qO7CGSdK-kELLIzqQxgHnCJ4xasjhFWskbJPVun0lb2yhJF1zfZGpBBxWM1xyKMzuxQJKgarg8BO2cb3x5NuFhHosDHGXwfQ6gNRoELwQCUQ7s88qtK08qIFe9rsnqJXnQSi0z2q7T0No9N3-mHr8guf2GZ7kt-xFwD00nWxfKJP6wI_WBsqdfjAY_KOBBoG6voK9hvhFwc-iS1JebQ0hXNUd5Tj2r0-FS_A8160vO3--uyl2EA=",
  "id": "rs_0c70287430397315016ab43ef62b0087d091b2111419b5b5fb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At table height, the small round tan-and-white plush fills the gap symmetrically between the fingertips. I’m closing the gripper to secure it without changing position.\"}",
  "call_id": "call_GvZFRHM7TQnhPb7bWdnjjyVz",
  "id": "fc_0c70287430397315016ab43ef676a487d0a0daaa0ba72c68ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GvZFRHM7TQnhPb7bWdnjjyVz",
  "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]: [-0.828, 1.6039, 0.4427, 0.3454, -0.6518, -0.5507, 0.2065, -0.0151, 0.8032, 0.6086, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3018 left_y=-0.165 left_z=0.0218 left_yaw=-0.0161 left_pitch=-0.0568 left_roll=0.0304 left_gripper=0.2065 right_x=0.2953 right_y=0.0013 right_z=0.1785 right_yaw=0.0006 right_pitch=-0.0183 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -5.6547, 4.6427, 1.3651, -0.3004, -0.0073, 0.9499, -0.3624, -1.3197, 7.241, 1.7558, -0.0171, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd1409ae937ff0ce38fb8206e53e55d72cf59e7fac06a070a9ef54e3c37fba86",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbd61f001db42104659a838da0438be4b362784e377cf674ef543f2f6fbb15a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d84a516ecbb9839dba002bd6047d92d4c1e0e860e09d6a7d58673ed017747bb7",
      "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 · 2.385 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 12 changed as sent

message 16 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7986, 0.617, -0.3798, -0.0219, -0.0296, 0.9996, -0.0154, 0.7986, 0.6109, -0.3737, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0019 left_z=0.1848 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2968 right_y=0.0011 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.6479, 9.3607, 1.7607, -0.0171, 0.1587, -0.0708, -0.7043, -1.6342, 9.7846, 1.7216, -0.0952, 0.0171, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.828, 1.6039, 0.4427, 0.3393, -0.654, -0.5472, 0.9995, -0.0151, 0.8032, 0.6086, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3013 left_y=-0.164 left_z=0.0211 left_yaw=-0.0161 left_pitch=-0.0599 left_roll=0.0388 left_gripper=0.9995 right_x=0.2953 right_y=0.0013 right_z=0.1785 right_yaw=0.0006 right_pitch=-0.0183 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -5.6957, 4.5333, 1.5409, -0.3053, 0.0317, -0.0708, -0.253, -1.5521, 7.0632, 1.7167, -0.0073, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.828, 1.6039, 0.4427, 0.3454, -0.6518, -0.5507, 0.2065, -0.0151, 0.8032, 0.6086, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3018 left_y=-0.165 left_z=0.0218 left_yaw=-0.0161 left_pitch=-0.0568 left_roll=0.0304 left_gripper=0.2065 right_x=0.2953 right_y=0.0013 right_z=0.1785 right_yaw=0.0006 right_pitch=-0.0183 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -5.6547, 4.6427, 1.3651, -0.3004, -0.0073, 0.9499, -0.3624, -1.3197, 7.241, 1.7558, -0.0171, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd1409ae937ff0ce38fb8206e53e55d72cf59e7fac06a070a9ef54e3c37fba86",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbd61f001db42104659a838da0438be4b362784e377cf674ef543f2f6fbb15a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d84a516ecbb9839dba002bd6047d92d4c1e0e860e09d6a7d58673ed017747bb7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD77Z9q9Rbo_9valQJAHCdOG5CcLCzegJFYnTI-Wukh7WbvLTc9Yg6UaP-ltCNwz7Az34GhniFzM22urR8iBoIozIyEsJSPxdLcRzioCydKkykSKoQenKWxrVpoXywx2UwWO8nopUzQf2cpcg7RmNmW_nYM48j7Upkb9xEiUtij01lyyS2ImBhBbzvCQsHU3WTlZ6jb-W9w5SoJZW0h0Ipo1UpE3vDzzvLrU9adRrRzkQGqd89AuCB_KVajIO5pyOJHmNAoH5nJlcZMFMrt7wW2izuRQPgg2O9CYi1BPNpFSMHRnHV9nRyp8TStDVVD3R3fvVdcvk-vTo7_NcTOurQlsR1tbPNfMRqn2EDS-gtqyf10mwLKFCCx0-4n5PAa1Ds1DrxKC4dFP80d98bHligmCrWmABuolVoiugDYVLvL31Nz7J6cm_o587FZg1Qd24OFZq__hdq1fTQxrFD2X_tt2bT-uSuS_jC2ynkLalLj_ea07Ae2oYL_KXLiEfRHwoEKYwFqxqo6zv3J71UR8gLGoLVpId11-3G-cfHxGs6vWxSVgnajB9O1eK1O_escPDwJyp2J_LD5Ppwe3l8SjkW7_VwBSafNCMdKxZ0djWX9x_mVuZ3dlQK2NmfYixyCFmdDw9Xhmdrprw3ReD6Tc5FHTuaMNU6DbAwnme29PV54xzTwVdiMJ6eSrZ27SBvzt9xcEO_33S99tSEkugqcte5GOnzb0yaDfjZhBEne3oxsySF2rTqWm7pIacxwIxqJSE-R1OfHGorJ2GiBYUeFQwSan0FfIcUrAbRu8uTPEHOWzZKXgwr-U8UrmM3TWXjkuD9LRdU3Rp3axN6n7yxOJxRvxM10K6ZcCLS7RFCrDEzuAD-Ucpl87vXFhBQ5glU8ndj56j0O-qEObkT5VeFpdmlp7lWRx-ZSeYfTYvCFd-sjOtBwanjfFry0B4uj_YEf8QrBJJ9mgTfhKyZFKQblivo5YqWEKx28zx3xRPa4sEAql9xCbQUx89pVqi1OjlfPU4I5cMeJFnbZgMNhkt2dAC9YkJ4D0zd-5rcbRIZBUpaOZAO17GJ3qf3LdcDmvUfxvqwZ9tolcdlDtiq0I-_BM5R0uAzitvL67ZHHVgZL2kj6ka6POF6YCtA08mSzWuBGAX8GghSJC8HzHNlai2o-BYpWjA1aOHPVNqY7XZtHBGL9SlnWoWXpPZk4jkgFAsOrTfaB4IyTnBqsEwI8_NFSX715De1v-LfAiw_E9bQB9lbMVVECUk_8E06ZpO7E6Q86LKgURP36YB6RZtHJCaSm5vj1LO4EaTp3ozjlWZ3odspy2U_PUXpNFbJ9usT6tvdAoHTujCr_qshmNtwnkmUtt1NDeEQmgDsr5Y-0RWsszaDY9RmW_wjri0-zRY_RxoolqKduTvhZaCKa9Qp5OQWqDX4IAaCEdc0ymwnPYqDuTU96GHblzYVBdrYz9P2FwQLo5mvZvCmekYNmESg2YCP7YqWxsBve_FEK2lStFg3W7otVjnLcV1cFfadCkrhlkDjLUwfmdmLlsZf4JgrmRuXnglaUI4yFCsJxdHNBjTifAu7VeB1a1UwRk-uodo3Wy1u7owS5Bqe2CeoyMqrR9Koyfdn0Yx6-lnp4tkVZmn_U38lxFOKEvjCMgxxvz94buqVzn10AkvmbD9ikCnAm0yMNJw6W4SmaJwtk2uWXkW6YwaRdCPzp-SPJXfqM4dficeqD21FAg",
  "id": "rs_0c70287430397315016ab43ef9915c87d0b6ad3b5f4dba5395",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.11},\"note\":\"The gripper settled at 0.21, about 2 cm of retained thickness, indicating a secure grasp on the round plush. I’m lifting it straight up to verify that it moves with the gripper and clears the surrounding toys.\"}",
  "call_id": "call_IDMGueb1L9ntOJ4KKDMV9THU",
  "id": "fc_0c70287430397315016ab43efb116887d08d0945302951d9f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IDMGueb1L9ntOJ4KKDMV9THU",
  "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]: [-0.828, 1.3254, 0.6151, -0.128, -0.6476, -0.5549, 0.2064, -0.0151, 0.8032, 0.6083, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2988 left_y=-0.1626 left_z=0.0971 left_yaw=-0.0158 left_pitch=-0.0744 left_roll=0.0412 left_gripper=0.2064 right_x=0.2952 right_y=0.0013 right_z=0.1783 right_yaw=0.0006 right_pitch=-0.0187 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -5.4769, 8.3897, 1.3455, -0.2955, -0.022, 0.9695, -0.335, -1.3333, 7.241, 1.746, -0.0171, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72967a415ced8cd611d06398f5343b97e2e39b2c1fb18fd348834c67359f89c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:713d3070dce715d3d2927f8735318629d8ce2f7526b0d3adceed1232c1d48ba8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1a777f3d0b4fb049e886cecb425aaa494385a8e91dfc70c70432bffce357bf5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 2.402 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 16 changed as sent

message 20 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]: [-0.8272, 1.2663, 0.7097, -0.2379, -0.6563, -0.54, 0.9995, -0.0151, 0.7998, 0.6086, -0.3843, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3039 left_y=-0.1659 left_z=0.1357 left_yaw=-0.0185 left_pitch=-0.0399 left_roll=0.0259 left_gripper=0.9995 right_x=0.2951 right_y=0.0013 right_z=0.1796 right_yaw=0.0009 right_pitch=-0.0141 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -4.6427, 9.0188, 1.5507, -0.5495, -0.0122, -0.0708, -0.4581, -0.8684, 7.8291, 1.8144, -0.0513, -0.0611, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.828, 1.6039, 0.4427, 0.3454, -0.6518, -0.5507, 0.2065, -0.0151, 0.8032, 0.6086, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3018 left_y=-0.165 left_z=0.0218 left_yaw=-0.0161 left_pitch=-0.0568 left_roll=0.0304 left_gripper=0.2065 right_x=0.2953 right_y=0.0013 right_z=0.1785 right_yaw=0.0006 right_pitch=-0.0183 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -5.6547, 4.6427, 1.3651, -0.3004, -0.0073, 0.9499, -0.3624, -1.3197, 7.241, 1.7558, -0.0171, -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 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.828, 1.3254, 0.6151, -0.128, -0.6476, -0.5549, 0.2064, -0.0151, 0.8032, 0.6083, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2988 left_y=-0.1626 left_z=0.0971 left_yaw=-0.0158 left_pitch=-0.0744 left_roll=0.0412 left_gripper=0.2064 right_x=0.2952 right_y=0.0013 right_z=0.1783 right_yaw=0.0006 right_pitch=-0.0187 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -5.4769, 8.3897, 1.3455, -0.2955, -0.022, 0.9695, -0.335, -1.3333, 7.241, 1.746, -0.0171, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72967a415ced8cd611d06398f5343b97e2e39b2c1fb18fd348834c67359f89c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:713d3070dce715d3d2927f8735318629d8ce2f7526b0d3adceed1232c1d48ba8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1a777f3d0b4fb049e886cecb425aaa494385a8e91dfc70c70432bffce357bf5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD7_YjiAmjLonru05D7JgfoXaI7JUapWglTlXAALcmsjOZ7xT7Fg_GFiW3U6wKVYnG3JLAbyq1E7RubzfClXiBOjoh3BTtaAVtLHQrDjQ3TTTXQbohwow1CT4-GEA2XTaMBMdC_qqlHIYzqp4mdOm90Uz4gd4n8zsqwf4t7WoMxW8Rc4N3WINnqGZ9hEJQMiD3EAKHIVkJKG8uRWgP-9pJbzW31pNPzK6DMFNHyGt3RNshio8zDcYHbiozw4yJSl2wqZ5z71ly7ierurJq-odbvdXAzI-HXflUcQpPdj2IvbGsRu4bOTKKGs3qHdDJD-ZZ9zY9ONhfja80J7AB_VqVOsV6yjz-8RZex--ZBanZrVxupEjcCLo5aFmeroZwntnLgrde5fG2Ermmx0kJGJV6JUq3_EBOLo6E-BL9jpPVBmdO13SaEcQjyOgKEOQd8GAMzcSFPVOoufCVkGRfPH8qjh7f0vWyxiz6RhB4BrYbU9OXqnq9wzxmFzrDEWBg1ElbBM3W2tkhpNTetNxJToOM628KWY4R7OjoxfWA0KrCecP39l2bzaqHhdxIh5YfAaeg4d5CF1DGVmL0pDFpU9VPOW6UzexzCWemQsKVFag3-P6KHgvz8wTtD-WWTvuxnsyIrIkXOpAz1IgdSKVILAC6QURf7HcGxBSYOgUama_XazwN2wl-rJFyNiMwFd6qCDQMlinX93xxrrDOrXfGSgxwsPo2N_LbhFQ6ym9zgTbwbr6AZfPCCG0LN39bp3UMaTCLhJmNt_zrFtXPJTaGVFpgpR9wwDlpfvPG1dw4ZKeAmwJMYQQLVYQrhYJqyEO-nxooz1jjgYK4HnfBx-MxZK9qk3OxZ4lm8MReg3yKRLZNSe4St4ANRQwELExzSz6YNAcrGIR63BeN2j2WnYNpc0L_zibS6AsIELrl4QTPhAvmRKprGfhdYdzJhA6RGIuuG-BwJcLCLEtkmR8OObvDGn8cy4k5nAJQjgHNBsfmIgTP108keSwaCOD4iJq9qmtOgfgV5laIg4yYKSt3Dr7ueSP_3mpcuM-FEHOwSik1DXy7tID1AmRRqJhllyP29f9kMsVndqiUxOxSdnwRJt0ZiIk-EGiuIb1A12vxkhe1Cog163kABALPJdD_ebGvjGx2X7Hpz33DJeQfcPZPP_Bv_o3xf3j2G1sXKSPYder3sguIVCLiADCL-5e2Q-kVzjRVVg0fMLS-PB9Q-0TBJyvv8hIXK91cHJvuan69Xj9psBHLcvuDpn6RTqJpNpzLJPpyEgwVZTeRACpm7lNnwuFGbN34ukpyzVabKmKh2FLZL6IpGFcUWc8z9TsGqN_lZs74Rij-ZHUIst9qAn_H-yzyvI1tPQcQ==",
  "id": "rs_0c70287430397315016ab43efe50e887d09b3a2ba622729864",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.17,\"left_z\":0.2},\"note\":\"The round plush lifted cleanly and remains held beneath the left gripper. I’m carrying this class to the left basket at a high clearance so it passes safely over the basket rim.\"}",
  "call_id": "call_ZZt04i88QjPlqN5bF50jznnS",
  "id": "fc_0c70287430397315016ab43efeacc487d084f27f179e8c2838",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZZt04i88QjPlqN5bF50jznnS",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5201, 1.6802, 1.3075, -0.4038, -0.44, -0.3466, 0.2069, -0.0147, 0.8082, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4409 left_y=-0.1617 left_z=0.1801 left_yaw=0.021 left_pitch=-0.1268 left_roll=0.0502 left_gripper=0.2069 right_x=0.2954 right_y=0.0014 right_z=0.1766 right_yaw=0.001 right_pitch=-0.0244 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -8.6085, 9.6479, 1.8095, -0.1001, 0.4176, 0.823, -0.3897, -1.6889, 7.1453, 1.6923, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d49262908f3bdf434b3833a7d9e38a4b9c577cae88a5cdbd656d4397415660f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0deec3ed7e24a47d4309541f8eaf44b3bb226d721dcec18ffb5ed9679b1bb60d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5879fcd005c7a6517171eb523b803d3265b73847fb3b1d7b08809b0b84375338",
      "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 · 1.647 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 12 changed as sent

message 20 changed as sent

message 24 changed as sent

message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.828, 1.6039, 0.4427, 0.3393, -0.654, -0.5472, 0.9995, -0.0151, 0.8032, 0.6086, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3013 left_y=-0.164 left_z=0.0211 left_yaw=-0.0161 left_pitch=-0.0599 left_roll=0.0388 left_gripper=0.9995 right_x=0.2953 right_y=0.0013 right_z=0.1785 right_yaw=0.0006 right_pitch=-0.0183 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -5.6957, 4.5333, 1.5409, -0.3053, 0.0317, -0.0708, -0.253, -1.5521, 7.0632, 1.7167, -0.0073, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.828, 1.3254, 0.6151, -0.128, -0.6476, -0.5549, 0.2064, -0.0151, 0.8032, 0.6083, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2988 left_y=-0.1626 left_z=0.0971 left_yaw=-0.0158 left_pitch=-0.0744 left_roll=0.0412 left_gripper=0.2064 right_x=0.2952 right_y=0.0013 right_z=0.1783 right_yaw=0.0006 right_pitch=-0.0187 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -5.4769, 8.3897, 1.3455, -0.2955, -0.022, 0.9695, -0.335, -1.3333, 7.241, 1.746, -0.0171, -0.0562, -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 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5201, 1.6802, 1.3075, -0.4038, -0.44, -0.3466, 0.2069, -0.0147, 0.8082, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4409 left_y=-0.1617 left_z=0.1801 left_yaw=0.021 left_pitch=-0.1268 left_roll=0.0502 left_gripper=0.2069 right_x=0.2954 right_y=0.0014 right_z=0.1766 right_yaw=0.001 right_pitch=-0.0244 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -8.6085, 9.6479, 1.8095, -0.1001, 0.4176, 0.823, -0.3897, -1.6889, 7.1453, 1.6923, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d49262908f3bdf434b3833a7d9e38a4b9c577cae88a5cdbd656d4397415660f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0deec3ed7e24a47d4309541f8eaf44b3bb226d721dcec18ffb5ed9679b1bb60d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5879fcd005c7a6517171eb523b803d3265b73847fb3b1d7b08809b0b84375338",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD8JkSf_WoOOmnPrzImNZ8EVc8M8wLgKPbq5O_3LD0yd_aBVmc2VfsAMnCACQvoeHP_O0ED0IZin4xDZQimWMpcXSeEJeVjxDD0gQAZzn1840nEn82YLaTw9uwTyT0x6lofMqyS3_vXvxMH4Ds_WsBG4_0IIR6jEkJWF1ZhL4T4ZoENVZLIG-GbUUeuJePwXYmOQTbXsuore0IOC_55VqX1xVjwmtSlBqeOiPQE0XtsRP-2EucrObpWoOZDDALhwIu75HIJM9-goLcQOLthncGZ8PKapS-qDQOpjqwiF3rRCHaCMnA-NR3olqj_9yCBtpLwWUPCanbQKUvdgkhWhZWEeVYMG3_bew9M-0tB4dyZ6gYEoDAY-oE98Tf40UvxnccSfGmK3Vx47ixbB-v4Dv8qAXRoScrnNCy4GYU39JHWgBwIBU00dSZcDgWunbEmWP66x61QcuKhHAhZCNnxo9sLnzKdwDcdMql5KIKh8dV6fsS_6D-Whu3Q1JiMbbcusZ3Mc3acDPGphftnO5we3Q8yOQFu3FFk3XQ9VGPp-vQHfwu6q6AAViauAcG0nAi3M3a-wT12OA7qgSnGPtMpTCkZ1yYsj5hwXPIqpnyhO9bsf1wrf3HSrS4t2J33xLCe9vxhSQZ7hgJVW0VSY42YtdsBxL8eKPtmOKKzqAA5uieo4B4pcfVQ6UJoUnWc2wAuGP1BIXjf8TFDf75r2dfJzdO_NYCndVqJjLeI54A0Gt0FWHcFxWj_PN286XmDxbXK0783kdE3Q0HIbrfbMjCdwJ2hKF2Gb7WCf6GR2GgMOWrCDLmj3iREyb-cF4Z8wjj0FpH9zScT3EZmpCeKYA6j0jdgQ7Rt4wiA-Q360pWwYe7I91TeQtBp6XWzCkNJRrhKArQD_fyqInDk-YChE5Ms5IAClBT90_jep8-r8XW5xJ2xg0F5gLhwhow6YJN8LEezJ9EhTFQZDRQ4JwECR06sW69w4khOZN5PUL3zyBK5JVG0iwcAxZEngR_vzEdCDyJlg6rLpqjG0DrW3_uD4ImGEOlCvIE0hsspbC0Y_-ry94qbDOKgHTgfInsLweIYGNvGXV9cG51uEBLYj5wvBzsHPbroAIOFSkG5wAWg4dw0AfkEWt-apE9d9lB5n2QKwjAWTHbuaXwjYBND8YTcwgtp2LI-sGdlzVdrAzjgLCktiRHy50L9xEuSPilFefVjYDmp1UyDjmCyBTCdYTmHDh2icUUC1qYEz0OjPuE9Bl5NtA-Pf05-d_KgbTbYkjgxW-1r2PTzsh9Dc7kF4IOhLOTXv8k7jSJ_I-7yb8_rIWbU_45lMtO0Yjp4S52fmFEk5u-Ay2qx4kWSrDz5tRX_2i6atXc2zZ2CdonCLe5fgxkB8V8FISSnea5M8g8j5guV2IJVInRsGy5kZ47vtFw8AVq9qXWxezzn_tgmJxNCfMur6sk2lIhWbIW6BGqUeo18nHNk6yRH_7VdiGgWTfvYkAbb-kCWwIw==",
  "id": "rs_0c70287430397315016ab43f07d50087d0af295b3d2d70fdb2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.11},\"note\":\"The held round plush is centered over the empty left basket. I’m lowering it inside while keeping the grasp closed, stopping with the gripper above the rim.\"}",
  "call_id": "call_PwB2hy6Y3evqVU7ut296lQdt",
  "id": "fc_0c70287430397315016ab43f08956087d0a4ccaa7cbf51b454",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PwB2hy6Y3evqVU7ut296lQdt",
  "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]: [-0.5201, 1.7374, 1.1122, -0.1547, -0.4412, -0.355, 0.2076, -0.0147, 0.8097, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4393 left_y=-0.1606 left_z=0.1161 left_yaw=0.0266 left_pitch=-0.1291 left_roll=0.0461 left_gripper=0.2076 right_x=0.2955 right_y=0.0014 right_z=0.1762 right_yaw=0.001 right_pitch=-0.0259 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -7.5282, 5.6547, 1.5653, -0.2173, 0.0562, 0.9011, -0.1026, -1.4154, 7.0496, 1.7411, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8971c94b1ad115eddc8bde5d38d5f54296742b09bc13af5c997e5b1616d6f8be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a005929b757ddaf45336aa684bbad37a3acb9d15baca6028f1dd49ac836620e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1537d6f15258c49d2194b5b8579aec364f8da9b64fcd8d3dc17da8b1b3738ae",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 5.291 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 16 changed as sent

message 24 changed as sent

message 28 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.828, 1.6039, 0.4427, 0.3454, -0.6518, -0.5507, 0.2065, -0.0151, 0.8032, 0.6086, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3018 left_y=-0.165 left_z=0.0218 left_yaw=-0.0161 left_pitch=-0.0568 left_roll=0.0304 left_gripper=0.2065 right_x=0.2953 right_y=0.0013 right_z=0.1785 right_yaw=0.0006 right_pitch=-0.0183 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -5.6547, 4.6427, 1.3651, -0.3004, -0.0073, 0.9499, -0.3624, -1.3197, 7.241, 1.7558, -0.0171, -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 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5201, 1.6802, 1.3075, -0.4038, -0.44, -0.3466, 0.2069, -0.0147, 0.8082, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4409 left_y=-0.1617 left_z=0.1801 left_yaw=0.021 left_pitch=-0.1268 left_roll=0.0502 left_gripper=0.2069 right_x=0.2954 right_y=0.0014 right_z=0.1766 right_yaw=0.001 right_pitch=-0.0244 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -8.6085, 9.6479, 1.8095, -0.1001, 0.4176, 0.823, -0.3897, -1.6889, 7.1453, 1.6923, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5201, 1.7374, 1.1122, -0.1547, -0.4412, -0.355, 0.2076, -0.0147, 0.8097, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4393 left_y=-0.1606 left_z=0.1161 left_yaw=0.0266 left_pitch=-0.1291 left_roll=0.0461 left_gripper=0.2076 right_x=0.2955 right_y=0.0014 right_z=0.1762 right_yaw=0.001 right_pitch=-0.0259 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -7.5282, 5.6547, 1.5653, -0.2173, 0.0562, 0.9011, -0.1026, -1.4154, 7.0496, 1.7411, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8971c94b1ad115eddc8bde5d38d5f54296742b09bc13af5c997e5b1616d6f8be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a005929b757ddaf45336aa684bbad37a3acb9d15baca6028f1dd49ac836620e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1537d6f15258c49d2194b5b8579aec364f8da9b64fcd8d3dc17da8b1b3738ae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD8MoSCfQeKPJq-U2hVCHQI_9nSLDV8M-yPJFr1eysBEDjbvQEvLqTucZSuaqzjexx3RvtMhKTF7USRBTj6ocoxaIXUB2E9Stv3BKfKt5atjpBXssMeWmFk0qWPPfqSgPXKVZt8A7yQcEgMlkzh2tTXuVDrWdENAuyHQ5GgfT5r5rX_6w33hbIlMqunR4INSY6_0gVH_6i9hicFyR21fj1eDOsiZc0pzVdtnMP3dl6NDrKR7rQUjCO8nS9EpChWJ4Wq7gN-9a9hsg4pqk9-1DOb9tmiwrOFNcErHk7jbCM6YmCs4OzrlniM6A6WL0izJDZs3Z9W-d6kzS9QKIAkX0e0A-Rfm0k61i7woo0qDlOaGUYIxKQltn1VfXnfNHNPqKraPeCJI7MnAGeBoIVguNzKP0hcf8Z4a3AIrUyRElEKyURndnvJe5G0fe9mS6dr7x8IAc3Ww6nnh-NxJEiGKX3RB625AfD-sIbjK_3hZGOPT-NpI78qDdNYC-59TQrYkoYdQmYSspziKyzu8z6DCaqDPqyntn5-ExdLbW-1xERs-Jeo0ztUndvaQuMHJNwu332GaVIDN7XviH-7QOsldlyowK2xzDxSTZ3z3nrxIMzyVMHMwXjPg-UrDaB4ehH4MZQHvvP-XI8gtu4He0qWs42GKMpEijDhh_CaJ8_uzC9inCQouFqIsegoXywJTtZcdlYqXWS_CQK7CtdS1JrX7Yjih_LqFqhCuZL2chCKTvitANli0_gqnbIBGPUfm1Tk4XtYPb38PzIJLDHLLA_TTu8E2lVljmIpiTHYZw187hsUivgf4iew2Z1LsLaNX87q5oFCz03lamLZhv0Qa9tf5H5cjHbosk-1oIlKhDbvo-SAHujLbYv07C-x6V1cboqTORIE63A7opvwnfE62RoPxBBPodhQqi73804F9uGXt1tGERkqOZkfTShpz5bIxpUiXx1pUGTXy3BMvUC8yp6n3GqaKDi490xZ0kPgcN1GBz6rJgbVHJokBtQ1x2N7Bd0SX0OEN4aThG_cnNG_QZrbnAQWPuBotRfp-TmfjRub8BztVJV9p36cXDk5LyjoIk3e4qQSZqNPfH79fRb9C2kI5LH02uczyGd0tVT9y6HWB7S-NgwCSt_auYJxnwEf6qFLGguy2P3yBLlxkTg9J0H-dHwjjTAZ6E9P5-PSS_Do8eqLfS1g=",
  "id": "rs_0c70287430397315016ab43f0c15e087d0bfecf2bb19faad17",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The plush is now down inside the left basket with ample clearance from the rim. I’m opening the jaws to release the first round animal.\"}",
  "call_id": "call_648Ml8xggBTmi3l3H1oIGQkF",
  "id": "fc_0c70287430397315016ab43f0c279087d0a00801775acd23c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_648Ml8xggBTmi3l3H1oIGQkF",
  "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]: [-0.5201, 1.747, 1.1114, -0.1543, -0.4408, -0.3637, 0.9953, -0.0147, 0.8101, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4392 left_y=-0.1606 left_z=0.1117 left_yaw=0.0317 left_pitch=-0.1374 left_roll=0.0443 left_gripper=0.9953 right_x=0.2956 right_y=0.0014 right_z=0.1761 right_yaw=0.0008 right_pitch=-0.0263 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -9.4017, 6.5299, 1.4774, -0.2369, 0.0757, 0.0904, -0.2667, -1.3333, 7.0359, 1.7265, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:868f26e2d44db5450f860536970c45c1d6e3cd4bfd4fe4614b9c778c322ae39e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b3a633c6123579656ec8cdd71b0147194094865ca71d860b57805efc0635146",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2affd741174b509c1612fb36678cfaec188f816101920dfebd0671a670839897",
      "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 · 4.377 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 20 changed as sent

message 28 changed as sent

message 32 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.828, 1.3254, 0.6151, -0.128, -0.6476, -0.5549, 0.2064, -0.0151, 0.8032, 0.6083, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2988 left_y=-0.1626 left_z=0.0971 left_yaw=-0.0158 left_pitch=-0.0744 left_roll=0.0412 left_gripper=0.2064 right_x=0.2952 right_y=0.0013 right_z=0.1783 right_yaw=0.0006 right_pitch=-0.0187 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -5.4769, 8.3897, 1.3455, -0.2955, -0.022, 0.9695, -0.335, -1.3333, 7.241, 1.746, -0.0171, -0.0562, -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 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5201, 1.7374, 1.1122, -0.1547, -0.4412, -0.355, 0.2076, -0.0147, 0.8097, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4393 left_y=-0.1606 left_z=0.1161 left_yaw=0.0266 left_pitch=-0.1291 left_roll=0.0461 left_gripper=0.2076 right_x=0.2955 right_y=0.0014 right_z=0.1762 right_yaw=0.001 right_pitch=-0.0259 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -7.5282, 5.6547, 1.5653, -0.2173, 0.0562, 0.9011, -0.1026, -1.4154, 7.0496, 1.7411, -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 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5201, 1.747, 1.1114, -0.1543, -0.4408, -0.3637, 0.9953, -0.0147, 0.8101, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4392 left_y=-0.1606 left_z=0.1117 left_yaw=0.0317 left_pitch=-0.1374 left_roll=0.0443 left_gripper=0.9953 right_x=0.2956 right_y=0.0014 right_z=0.1761 right_yaw=0.0008 right_pitch=-0.0263 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -9.4017, 6.5299, 1.4774, -0.2369, 0.0757, 0.0904, -0.2667, -1.3333, 7.0359, 1.7265, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:868f26e2d44db5450f860536970c45c1d6e3cd4bfd4fe4614b9c778c322ae39e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b3a633c6123579656ec8cdd71b0147194094865ca71d860b57805efc0635146",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2affd741174b509c1612fb36678cfaec188f816101920dfebd0671a670839897",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD8SdA-CDwzDtIHYaFsxJ9QWVbjAjNAK9nF_w23Yt15u3V_5Tx7T9OZOqLUoLr4t6GdAd2RZZqqVjR3gYP-zZDjzi2Dmsk3Yh1H2vttVCO4CIZ45_bh-228ySxo5empQoUCzJORURQjJhKnfjyn1P35VnybdTS7DsTS7W7xvvlCR0cbDhQycm8g6-3PWg4YM2qjxNUoOgSbG00kizNIFCH7etaskjhaAEhTIKkHejURF7Y81QhSmEi1PvtoD9fZ4l0xeqk-FVFLelVHUpM82Z0HgixiD0NRTE1fz9n8ow7jgQc4oUa_iBYo12nQuzbFCadn6xrp_-cy_OoGRBPDQ3KSiR7p1QSPs1YBv3TtiMEwIvoB-SAAP57FqK4Vjduf34L8Lm7qrv5DZ5gOaCOeKrC1uvsfC58ccndBs44u95Il-n37L5_S1boKBFO0pyFpygngjVw2lcMPc-dW_Bh240N_ACmXXwgnNBD5ozWQ00dgOq97jW2fDo0UZB0uj8qBtNZtiEe91GuDKM2DTxNbsR0fT3QHQX1K78FJ9_3k1ZjUEBJh6KhujAezXmt1WUgR3D7FhJ4Asqikg97hxLsqgk76e5BKzO08QFs48BcRuQ2ED8HZopjI-9meEo1XmZyWSSM3OUtk6_psX4_ga-0y6DmAoGSmZkxPsy1OuxFdatz90O2rd0kzxxG94nCe_yosHhra62QMDjtreRMmVCZqtJiZX6n4xpb5zOtSgPht1ZLFfnEYzwWgqX2JjecMN9fcwFV6-5IHJUwD5Il2mKwq2d2MwlGSjbVOpZWJm6S4Aaay-Yp_6FUUk4RR0B6Xe6t14bIPw6_YwMYzW3B3g0anb6Y-_iKVqcppeTGJHKqWN3weLd3MSIJdIdCtGWSnEBasNz9Djykf6_4xTi1lvdUZ4vnajEL9wTEJEMr9DtnTx2Pfr49V2OEsZ3u9FDHqdRl8w6tVedyin2BBe33NZYpFxgvosfv7FUf9ZB-Unlpt8kmcizhIRtJPPOXcndDemITaiqlgC7PJVpbfxSON0CR6ZOyBN4_r6tedeqeI88CPJ6mDcSMbtOwzmJIFYAbwdRE0apBmdypLqso3rzgv73ncndA9VaSdC1H2EY9aKn8rKvBNdcz00CQtXS8wJRCtXO084cBFn7sLmg18QJFZGsrG2m2I3Tv3j8WnRxFjCg9mTltgFVLMgnSu6r7g0WbIGSeT8zyCZk4jE2_Xu6BWhgybqfOPneuohsWioYh2Wtz9-BuHsmpDLXGMXTbmGAJQAc5k3ZYYj1LU3vnCxQEojMUScsLZYiTrCtLuIdH5q6vySoGlCsfVEde-eSfL29opdp94RwF0MsxmUnHblEV8hg6embhmWrtVriiylVJYnoJKAHm60m46Eb-2tpIxucE3NmxzdV3RAPIjc4lf4nV3hcZuAb9q_lSsGJBPkyud3PFzsAdQRbiUspP7e5E_5a8du8mEyuxZOsvCbg7KocltU31HL0Qr4ar4KtJgQHVEf4VXQPD6N2WGbQ5ZP7UvUBG4gmb5i40g2jsGvNM3ceMKWLLn-ZdcE_2SsU0UwygVu7Cw2OY_cDbbOErn_9X14HhQ8yE1Bp31QgCfsz74SxcJahI-yqr5dgHHVEsN3I9zLdofhpV0d5OIc7ZKwBHvErTxKMreOs_JKRcRv4wl-ChFndndo-Mhj7dllzdmKomUszpBHRH7RYN6GFT_R4NHiRZWmsaTWndn_k47MimLHXbKrhIdZikP4VU5qV5_yaN4f2HjHCfDz1Fz3wWkFRHFpd358E7263PX6nXxt2Ft2mFp-6g7AZ530LxDuSN1TJRYyjmiYSDuAZQtt6VyZ43DD_xKM9Vm5E0BY0qBEPXbikFvmi5AU66LVAtnQ9Ceuz1pyLz0ySR74QkztwjyhjdHR66oXbP86lYyTK8A3E6nIkuixxjArzV5osFCm2fNi9nM9sYXHXQTyt3l1d_X91rZWdRIxop2PEDRxkU54RboJPQjPvOgE-kMA9p8RQjV5oa8rtB8pOX9ecx-Mq8ApgEdC6CUcL5hfxN8hYvst11UqctV19qtm-wazKjMn6dwww3kUE7gaY5_DzZqE6vEy-wYj20V-lHOu6dxTKhqwqJzldUNj_JDkfkTOUVy3_1KD1OVOx5b3XMQ3ncIqjxLOAnH4xK07HiWqzUZHz6T7Aw-wkxGLJ_NNC-q-F3oGiHo4G4OYK-l6qnixVJwozYLrrjupJlpnL4D5dzIcjsgPqaBrX4134h3jxs7uYg1W6SyEDVK7Do_e71kImPxsHS50sTBA4sUyOvg1eelFQle4u5mPezOlFifV3gPGg5MNHDhaD5PPkF3T7GLkXQ7P_dxGCbMG5KYlejtOMcrbuv40LynYdmyfgJ_dAvxyu6Vur6YtKi4cbSetpn4baI_Wwtb4kG8JgO-dtiyou4f7p6LEHAdG-as5g4-kp7Pq29GVW_Rcc2vfQmT8CO6eowcX_MjBhzUTNJX66NCuOQ2xjdAWya-HoCYGSNxM1j7f-1LBO19QC7eME7gNO-DaC_oj8Y4ZnOW1N9fmDwadXrTB39_Blio5bj5nHCi0abeEAC1FzxKuZILbJEnnNQ90wRyjv9hbLX5ZI96V0QWzy0_iRNMbSuHQ9J75ABKGgWO8XIu1nFdRDTxtaJIigvd1oj7fxV6-E06eVsmGxJCamU8pk5FNvBemk0pDTy-lxPU80Bj42U8ZwREuCKGFkH5wAL1QGlykOn14L7mvSYBx2Du41K_3s99IPuRpS9Do2duvEXu_OYvV7GZf3O0sc3diK23Ty9p0Ia6NtH4bjcJz0IK1xXyOAtxswrOXLlOilgD0vcWnk8mo-lPk_YxxYEz8k35D5G1mPIKG0yn5bKyMLkdmdpmiZKqRtKh4j3ePg7yzhVHWOTBmFLYE7AEXTbBO3lUZBdMepIPFATF0l-84THQaWxWIrwoYFEO1s8CpPKY34-t5m_AwJz500Q1_m0men6ptFTSchE8xK0AUfnxxjiic2YrePS3mQd4leijfEBchmWNO7itW-MITTuiIwCfsByg=",
  "id": "rs_0c70287430397315016ab43f0e840487d0a2116ae5f719b267",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.297,\"left_y\":0.002,\"left_z\":0.185,\"left_gripper\":1.0,\"right_x\":0.34,\"right_y\":0.23,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"The first round plush is visibly resting in the left basket. I’m retracting the left arm and moving the right gripper above an obvious larger long-eared tan plush on the right side of the remaining cluster, reserving the right basket for that class.\"}",
  "call_id": "call_E9T5Z2JnlG7uAMsmXCm64jqn",
  "id": "fc_0c70287430397315016ab43f11decc87d081eeb7ffe32dce00",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_E9T5Z2JnlG7uAMsmXCm64jqn",
  "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]: [-0.0685, 0.9154, 0.7662, -0.5575, -0.1181, -0.0593, 0.9988, 0.8562, 1.5394, 0.9531, -0.2497, 0.6548, 0.5472, 0.9998]\nstate[eef_state]: left_x=0.2981 left_y=0.004 left_z=0.185 left_yaw=0.0487 left_pitch=-0.1405 left_roll=0.0428 left_gripper=0.9988 right_x=0.3341 right_y=0.2264 right_z=0.1345 right_yaw=0.0243 right_pitch=-0.0682 right_roll=-0.03 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -2.5915, 6.5709, 1.5995, 0.0659, 0.1001, -0.149, 0.1026, -7.0085, 8.9641, 1.4237, 0.5153, 0.1245, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0f35dabf5315c0889f5e33724f48844bef47d122a8581dd0d5f5f142641d9f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e018e4349aa32e57a332bf5d3558ae7e4b2983473a1787f4c233e459b87607c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23656ea56d08b8d8b054ab9294c00a6ac463fcb0584b00f2761118f79cbf2b62",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 7.187 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 24 changed as sent

message 32 changed as sent

message 36 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5201, 1.6802, 1.3075, -0.4038, -0.44, -0.3466, 0.2069, -0.0147, 0.8082, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4409 left_y=-0.1617 left_z=0.1801 left_yaw=0.021 left_pitch=-0.1268 left_roll=0.0502 left_gripper=0.2069 right_x=0.2954 right_y=0.0014 right_z=0.1766 right_yaw=0.001 right_pitch=-0.0244 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -8.6085, 9.6479, 1.8095, -0.1001, 0.4176, 0.823, -0.3897, -1.6889, 7.1453, 1.6923, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5201, 1.747, 1.1114, -0.1543, -0.4408, -0.3637, 0.9953, -0.0147, 0.8101, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4392 left_y=-0.1606 left_z=0.1117 left_yaw=0.0317 left_pitch=-0.1374 left_roll=0.0443 left_gripper=0.9953 right_x=0.2956 right_y=0.0014 right_z=0.1761 right_yaw=0.0008 right_pitch=-0.0263 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -9.4017, 6.5299, 1.4774, -0.2369, 0.0757, 0.0904, -0.2667, -1.3333, 7.0359, 1.7265, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0685, 0.9154, 0.7662, -0.5575, -0.1181, -0.0593, 0.9988, 0.8562, 1.5394, 0.9531, -0.2497, 0.6548, 0.5472, 0.9998]\nstate[eef_state]: left_x=0.2981 left_y=0.004 left_z=0.185 left_yaw=0.0487 left_pitch=-0.1405 left_roll=0.0428 left_gripper=0.9988 right_x=0.3341 right_y=0.2264 right_z=0.1345 right_yaw=0.0243 right_pitch=-0.0682 right_roll=-0.03 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -2.5915, 6.5709, 1.5995, 0.0659, 0.1001, -0.149, 0.1026, -7.0085, 8.9641, 1.4237, 0.5153, 0.1245, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0f35dabf5315c0889f5e33724f48844bef47d122a8581dd0d5f5f142641d9f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e018e4349aa32e57a332bf5d3558ae7e4b2983473a1787f4c233e459b87607c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23656ea56d08b8d8b054ab9294c00a6ac463fcb0584b00f2761118f79cbf2b62",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD8kMpyQ20Z4LVp4pvAZUbpWmIT0lqB_wlxrAeFixTXieRy-omzwUe8W7gfm2p_CrZUQqzqlgLNFBkdiHRYy7iZLtd33MSlogChXnhet7X06n5lNwm_i_pq-tmmie-tIc9z99xTvj7HqY-9KKpmfHWksmA1IsZyQ-UvOLg6zglinCYqT83hTgGIYVjTAFA6c2Eb7GJ6uJw6WPTdMT8fSwWUbT1YPPc5ThbAH7XtcCyEKj6hTLbH4SPi-V_yLCH-QN9PCNxnTj8Gh-TkYH45BT0f6w41jZ5ojSEyPEgdhlC4I37vtAfbJnBupJWujABlr2QHPjxcHALsaKj8wiWAXJBwQpgsNe_eeSlU8PRzjj-unpsoVmq9oCoiXa6w8kxKNWKPj0Oehf_cEgjilIkTSrKfxYbxo0Su-HnkKeiiEkZOiKFUCODL5ciD8ORo8g0814_X5-xC1KkMv-0rHYpz7_ObkUEpiOLL7fhNQUaY4OAn-bT1j9L3gIxnInxNPIylBAfEw2EB06ZYkvLCC4JPNYsihWs6Wu4ZlY-2POFF0m-sBrk6Z0_F1PleJeH50v2dHhiA0fCbPWxhbRaSs72jFnlxhexNMXs8enYmReRag_V6U1Vu5XigykjDw5aEJJhmWWwlel3VkTBAPXEHZ5G4vqQWHeqTM2Lp8QlxeRUuVo2mLCqpop6ddr-D8xFaqMEvSBoY2corfaP9B_Afkc-FnI5In2gI9UgMox2zFssU5I3LYnsi7h7wkRYxnv7H6qZevoq5L1cjl8eRlwFU-Tw9P7mKkCxmpaGt3C_8z0fJiCjlCgUAVefSuSkUiUtS3Zk8uIz2u4vR2dlSq4ccib9uDNBzt0YBdctCD5l1cteuFJYjZLBwy4iL4YIfyt0bjqzxANFcDD6HXSzkQ55gT_aeSqkaPx5QKPjVnUlNBUeSNiq-o4bYiEMcXdIT1xg58EY9GiCIeTJ617WrhrRpjSCLGX3D9BaKudEk_mYAZl49-eAyYZ7wrLrBA0m4cujTA3byfqjVkyKbXeez3NBCVYJxWazQbEyZMRWKY4wVV42p8aM2hEgdLCHlEES574qyBz3WfbrLFzPpQfGecxmlXFm9SUECwtxXWg_3b_mnnJ8JxaETwwlrQdi475_nyF1itgkClJOZkq3EqHxDjsPgBDu1YozWb3IsCM2zsr4WqHDU7y1jkxkTwW6b_52RB-hD5Ejqzrd6yarIZRXNwAnnEBKz19McueUmv-1mcRAweAOwBnQMprupBfhWSHsFpwyHcX27gAJ0qMvT3hgB2dq3mYKIIJNaOE-c6Kdn7vdoKE1_t2BoSnCaJh8oZaoIhSCNV-dt8bm8bu7qD5z7i6eV-nOcypsxptQDMtYG47_tKPSu1yuIn6e9SyWfk_mx1_jJpkJIh8i4Ikd8Up9KzU3eLWX_UP7dD5uqCFcEG7o13Ju_eSF3k3Hb4VgCFzam_WC1BO1jt6f5cZSjjvsWfk9A4li8ckXzH0v3ocn2-zq5wopLTEPOhUEHTmVhPIovloqo586jH6ibNn0WOowmIs3CsSUXxe-zxKTmQ5qQY1Jho4OlTqufrjckhLlGpxc7UwdFfiiY1b1Fet-T6o-2FS4sY6X0EiZhufKhUAJHBDDZIH3DkTNpJU_gGo6Jqc5pF4UAMA6j1EbHAmQ3KZNZxmwyqDfPDMyUdF-gNTSvwgkjffzxQBCdBmYHQt5bF0taP9IHpmofWInkZZK_g5klQDWfb3uL3T4s0uNVXKqbtxllbzJS_g1p16X1O3A5mYMapXlwPoRA2aY8p_UjfSQg8laK-KBJDeodN7A9yP-AIEu-_ht4cA4aa6p_Kp6wyu_gAA9AIRXrPiN8y8QSW8jDfSrHhvrO0MgvoLFktRmpsi8rjGsdQ4ewag8_QYUP2FwOEu5Dn6fmU03M4LSuVMWn937XVYYzJ-MKl4RijXf2DvUuCQ2q6KbhG6BwNq4-qVZLS0TVdqxiBd88sIVQDRHn83uWcZhFq9vGpTEm4tRc_-uwajVDwoiUuAgFqB9Bj9h1R0dPr9Pa7ljEsALH1W2bEG_VhPADg9rYO_kqGFrf-lmteKMwytXJYjRRVWpgtwR0FjwKTy2TEMv7-uA5g_NyVFMlYsovt3hH3Kd3QbhLe4brzfYAJbaEl8nhbfB8O2hKhD70GT7lwuIIJ",
  "id": "rs_0c70287430397315016ab43f20df7487d0ab1a30a298a5d5f0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.29},\"note\":\"The right wrist view clearly shows the larger cream long-eared animal, but it lies left of the jaw column rather than between the fingertips. I’m shifting the right gripper about 6 cm toward the table center to align over its body before descending.\"}",
  "call_id": "call_YleUeZtudKBcJRYZWubK3ziR",
  "id": "fc_0c70287430397315016ab43f232e2c87d0afb471303385bab5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YleUeZtudKBcJRYZWubK3ziR",
  "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]: [-0.0685, 0.9161, 0.7662, -0.5606, -0.1184, -0.0601, 0.9983, 0.9649, 1.7283, 1.1408, -0.3408, 0.6979, 0.6334, 0.9998]\nstate[eef_state]: left_x=0.2976 left_y=0.0041 left_z=0.1842 left_yaw=0.0495 left_pitch=-0.1443 left_roll=0.0429 left_gripper=0.9983 right_x=0.3305 right_y=0.284 right_z=0.1226 right_yaw=0.0518 right_pitch=-0.1001 right_roll=-0.0534 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -2.0308, 6.8718, 1.6093, -0.0513, -0.022, -0.0611, 0.3487, -8.253, 8.8, 1.116, 0.5543, 0.1538, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86ebc96054d6b77950d162b68712f116d3284180f56bd2197c1deb46f2691e62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f8a669d804cbe88d81990ffa7bb9bb752ff265f77737ac7a9d4cdc016f72b7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61c07dbbd70e60f386c0a21f12db12887121e1c495566cfb0082b8f13ff7e54c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 6.928 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5201, 1.7374, 1.1122, -0.1547, -0.4412, -0.355, 0.2076, -0.0147, 0.8097, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4393 left_y=-0.1606 left_z=0.1161 left_yaw=0.0266 left_pitch=-0.1291 left_roll=0.0461 left_gripper=0.2076 right_x=0.2955 right_y=0.0014 right_z=0.1762 right_yaw=0.001 right_pitch=-0.0259 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -7.5282, 5.6547, 1.5653, -0.2173, 0.0562, 0.9011, -0.1026, -1.4154, 7.0496, 1.7411, -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 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0685, 0.9154, 0.7662, -0.5575, -0.1181, -0.0593, 0.9988, 0.8562, 1.5394, 0.9531, -0.2497, 0.6548, 0.5472, 0.9998]\nstate[eef_state]: left_x=0.2981 left_y=0.004 left_z=0.185 left_yaw=0.0487 left_pitch=-0.1405 left_roll=0.0428 left_gripper=0.9988 right_x=0.3341 right_y=0.2264 right_z=0.1345 right_yaw=0.0243 right_pitch=-0.0682 right_roll=-0.03 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -2.5915, 6.5709, 1.5995, 0.0659, 0.1001, -0.149, 0.1026, -7.0085, 8.9641, 1.4237, 0.5153, 0.1245, -0.0366]",
      "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]: [-0.0685, 0.9161, 0.7662, -0.5606, -0.1184, -0.0601, 0.9983, 0.9649, 1.7283, 1.1408, -0.3408, 0.6979, 0.6334, 0.9998]\nstate[eef_state]: left_x=0.2976 left_y=0.0041 left_z=0.1842 left_yaw=0.0495 left_pitch=-0.1443 left_roll=0.0429 left_gripper=0.9983 right_x=0.3305 right_y=0.284 right_z=0.1226 right_yaw=0.0518 right_pitch=-0.1001 right_roll=-0.0534 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -2.0308, 6.8718, 1.6093, -0.0513, -0.022, -0.0611, 0.3487, -8.253, 8.8, 1.116, 0.5543, 0.1538, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86ebc96054d6b77950d162b68712f116d3284180f56bd2197c1deb46f2691e62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f8a669d804cbe88d81990ffa7bb9bb752ff265f77737ac7a9d4cdc016f72b7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61c07dbbd70e60f386c0a21f12db12887121e1c495566cfb0082b8f13ff7e54c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD8szx2UXZxqdaiHuSCiQYXQaHq1Xf_xSeKChJhGoAN1ZDHqxhI02M_NgPWJ8xWyNW1m0mKRjYh9Qs20SNC_dfk9u-WB4un_GaoOW9OR3VyBlFoLSMAby-1nQ4yn-lX3vqcDfAVOXUfmNj-1u5wyUIpmq3MDTv98VEWl2YnRO9LIAC-niHHTRttH71wQovFZBzcYWosQkSq6XSDosnD3vkAlFmTida4hG0sBPWz1J5GqtjGBZ_mgUif6t-iTLY1KIs3n7cr-I6yBQdXJFh4PkoDpGpRsq7wFDYfhIy5gXCkg8snoUiOxeFNOYq2SfHLLqOwBGU-mCJDx3zK3jhJX9oLrJDXTS8y4h8NFk4CPwJIIHqaufzfe61fzI9Fre55MtCVThJ1P-KHi1TB9rPeh2BmoHqvM3WVpIpUCgrSr9jL_Oa-SIckX5JSYswi0W5H7jr8uL0PNzLlSZVZwQHQBQFOtROeE_JBIw2HFsk00ghUO3pu7vZCljyQqYTe_MMQPfqixyRBk_KuxIZayTxMGDLdhnA-pyomqBfiYgYTNg3xUOv6CjG73cbe87TWd1R9TQShFKFTbYSY8H_qymq-Fb064559LyeuzkKIXTD4XiB6v9qMBzlnhS9u7RDnjQ4oUTltIay98ig4p8kwsA18f8p7GfctvUm0c-n7XgJRUd4gniMhrqkfbQ6cy-XQQmfJdQGU9HIfpntxwXiYUEl_5Rhl51qhTDKtAaXlscdQloqSXBN4xQtCWFDB55UYnEU3Uwx4o3RAJ5V8iv_HsEw2EOTQ6RrS08LC4ktQ10EFUa_kMyKVNqU2RV3Uk02apTzK2qaznlpG7hncbgG_J8u7bAyaGXJZji92oVwV0Ew9r5Sg2FLtSVVZGKm6XvT5MoLsoiVrwwieDJIH0LfjD0tbzFgoFuXotN3NoX0wo6Tqr3rHdptPWvg4BMbGVqkcxdwtVHe_2PnsAhhiCrftzpslrwSwpocgr8pYNKhwwlyf-HkiS0-qVP62UJ7q1XRwyScjVXdW63Am4kqhTDI95X81FxD0ql7PQdyrPO3OygGD2qp-DFQu9PTtTY-0W49N4gFAJZaYY2lnnzM_Rd8d2BhmGx8hG8JYFw1hyokceP0VmfPNp9gPl5XCmBfDKX-gNyEfM5335VvwHbPi4dKN5N43mZlI1R_6m4d3aM55Di-bvRclwwRy0dCGNCuR_Liai2gYIX8jef_UDnTSh5xQ5BKOcTxzmIzfUJUnky6juumyxd81_qITOhRmFdb6iaFmR3mfIKNJY1OvXIupZJq7Cvd-xEJApfRnz_Hs-qiQpP3VF0s0qSBt_GMq3qvVQ_5cMpFfgq47MNzkk5Fz-p2McvlzO6QF2ljfNV5G4IEt0IRcwN6a7dyKXWAoJuMX0xed5gZ0SPoVDWZIs00l9c2_rkUx-4GljdasaLpKeUUTQBkN87eOqfxXp7X-K77clc2Ue6qBGohKtQTNuVs_Vya9uZHh8mQadL0YFS-vCHUG96yIbyUr7fHrp1mGAL9RbImra2YKYV1Rjad3FOSqJfJFiS2g-U4-L-ac-u0NkQ2N6GCJHtHarDzlP2PKkLmkL8Tj9DDsBlXhMxynshrec7gaKIVbm-6ykglMCEwXzjgmXcxmi4TzJjhcgu-loEsg8Uq8imjazXNUtbpq3CIzEpsTH8Pdw5xgtuE10k8Ew06MzGWB4XxTP6UPV681RjSCmNzVeyvZ1km16navxep-ZeoFgMvyjQ-tIzFOE24S4z21x_JUYQPI0YIdQgAk0ZU9b-ytbO-ThOup1kKnH7NBUwjuAN0__DZhDa1Gs_PNcxlIC9GKhxJqiyTwUZ-qXbaqGLwffLYrf1Le5zwRyHm4TAC_VP9taBbDLUYXoIYu3Q5ht6znuoIk8XJCJacU_XlOeq4Z_ti983uFJyvO86CvB5N6I-lGNBR47toBdhftwkzGkcweO1t6IkaFrDUNba-x7tu8SeHfpXDUS2HXn9jnwputEjqS_naIYShZPyJ0fvZ7qiXp22NwDCunjnF0xhsxmEQCtomUFqBPnyFiHPR2WP8v3PwF04-fm9FhzUeF28xJznqgIijgbv4cr_uu8CrXKXe70pFI7OciIElGgH183h7DNuYwpYIQMv94CjX0Y8jtRQPe9Vhc58kB9pVTSLP1AZEK5NKsyHJ5EM0CK0wLhfliGMxJRw2me9D_dJgk5zAWULSCfUmZ-mLHWPpNJe0l2D42RY0uj8J5KiPE6cuPC10w8of8GP4Pr951kDiDtX46NewUFjX8xBIiz5nUWh3xRM2SARiKd85U6NJb80L0kG0a1EBLLJANdxmD7zWy8f7fS6XyCzIL7tI8YCpr_ALz2RE__xqVs7c5xmAKzPDAC-FyHOdAj5InCXGfGrFrLhLpZMBQ-RqBqzsUd8OGcPCi4Mj6P_LXlHjZz6IwudBBxh8wZ75nEAC7tssxoa0LZY-p71DGpJz5h8YEwCEMCoIukESEK_mdz6t1wr8rsFW2HstxCdBgvsmm5jaFcI9amrSym9FdceHkiqqd-lwEa9tIJiUTVtKBH31FH-K32r71hZHsFLC47ktqjjLBqVO4Z1gqbqcyrKJ58c2GoYlCGeBan80aNDNHKxjrWz-nN4ASvD9DZ1igfLD6i8A-_OQlgi1K_zWj3FSoY6fZKIZ5MwXTKmtSfSl_8TTD2cj74iir4oBLJNTaAZcjLoSCekBUrhlhDSAIfeccUPDNC4pmiABvfyCixmkWfQ4APFWiWmYPyGwxuEktzbF91dgZ4mY34uSezB0wJYPF5WaqCqulhsDc4CcJBV_uJAX8EGodqUV8V0-fgEeiuara8CWs35IhkHmtGkaYulz16CFA-eRMvJr1vmhOjrQW5uG4qnTAqagIISQnFcltBfOMWtrWddJPtHnC7Bp_VwcDRD-W61Gx4cgWOsp8y34L1FxuLcads-S9XZibGXIX9yn2gJE67dzEnYKpOmZeuzd9DHxveyeZvPQvZ7U-ndnzePuZfaHi4DgnFeDanrHabCHfxxB2XddCSlLBCshigB6AC6fT9XPvjtneH90x91vqcxUF_YzO6dvsy3adbjs5lx_F_Qp1EmmOwFUEBhCUWyStshNYv1-YLq_90uyn5T9Wt1sta6Wgj4-9SoNX6xfxrQbRwZCOCoUhxmvHtziigd7COqdBkwy6yl57kcefWf2yO4H2y-lg64XIl7j975CJ7hx6H5KNDD-8_-lp2hIHf1ERPsqzQRSUSYosH4fqrVP3E2gf6srjqse39Ciwb6CQO6yFm24jxMFH2hvsD5UApNeUC3WiVmJU_BXVkUZDmlRSAFOQqmoNvdjide5WaeSRsUBG98jy6xIjBs4zux8ieQYxxHmexxLIukYcm8UCcskKYjYN-QgcBtfdjv05wqZoHuXCzCG39gEHcEuKyLKx9XTvXywZT-g2IBi7XkDleqOwz97eSWRot04PrhMkOh_D4STmByLOHz9OtCnISNuV2zAREORRIfyaO_QOtdGJRNjWn8cHCJAKLFzABpYMGkWiHIRo9N3LFMcae2s2LAEJCBfxTr_peOpLHSh2vheh6Kr3eQ1pMKBFKBmtgqMexPCQCQX-n4gw9sdwKaaCEVjwuAjrkmrCc1bKRxN6kLGkWNQugwTfojQfQg4G3wwLPMPDK5E9OTQtfbi2XH2YXUTANLh8mU_8RSxPcZVg7Gs5Dix13ftcaHZSy8eLKZcI5j2ua1Z3LhPIAy6VlPMF-3ywFidm7Y3H_bKo8Y9swyjOwUoQ1YuFXOQsuMo3I9yrBFyf5hPzqbxyo_0MiFde5BNXPzVILlrvwkyqNe1oR9XS4jPi9zLbVINKUr5aKSz4PC9pX-DesWKZP7MoEsp-yawzts0z-Ddhtmpv9VX7lQCjIX8cw0ZLXC-soKBsxl3C-rbaoFNwWnw==",
  "id": "rs_0c70287430397315016ab43f2750a887d0bfdbbc67342796fc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.37,\"right_z\":0.15},\"note\":\"The close view identifies this tan smiling animal as a bear, while the left wrist view clearly shows the second class has trunks and large ears—elephants. Since the left basket already contains a bear, I’m moving the right arm away from this bear and over the front gray elephant, which will go in the right basket.\"}",
  "call_id": "call_fOELCmkT2bqMDta77M3CR8n4",
  "id": "fc_0c70287430397315016ab43f2b79b087d0b796ce27b6265935",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fOELCmkT2bqMDta77M3CR8n4",
  "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]: [-0.0685, 0.9161, 0.7662, -0.561, -0.1188, -0.0605, 0.9982, 1.2026, 1.9114, 1.4899, -0.68, 0.7898, 0.8799, 0.9998]\nstate[eef_state]: left_x=0.2976 left_y=0.0042 left_z=0.1841 left_yaw=0.05 left_pitch=-0.1446 left_roll=0.0429 left_gripper=0.9982 right_x=0.2736 right_y=0.3705 right_z=0.1421 right_yaw=0.0878 right_pitch=-0.1184 right_roll=-0.0486 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.853, 6.8718, 1.5849, -0.0708, -0.0366, -0.0269, 0.4991, -9.5521, 8.5812, 0.6374, 0.6471, 0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ad5e5c804f02ba7befb7200f1a579fdd5ab21487c88caf7ed004b5509d113b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:041656a5db0f5051151501d3852143f1c29e96fb92bc91e92cd5c3a699deb6fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:418b1c2312109180b2ec9d69c9e9b327f028551fe3b691b23a809fcdff64f123",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 2.773 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5201, 1.747, 1.1114, -0.1543, -0.4408, -0.3637, 0.9953, -0.0147, 0.8101, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4392 left_y=-0.1606 left_z=0.1117 left_yaw=0.0317 left_pitch=-0.1374 left_roll=0.0443 left_gripper=0.9953 right_x=0.2956 right_y=0.0014 right_z=0.1761 right_yaw=0.0008 right_pitch=-0.0263 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -9.4017, 6.5299, 1.4774, -0.2369, 0.0757, 0.0904, -0.2667, -1.3333, 7.0359, 1.7265, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0685, 0.9161, 0.7662, -0.5606, -0.1184, -0.0601, 0.9983, 0.9649, 1.7283, 1.1408, -0.3408, 0.6979, 0.6334, 0.9998]\nstate[eef_state]: left_x=0.2976 left_y=0.0041 left_z=0.1842 left_yaw=0.0495 left_pitch=-0.1443 left_roll=0.0429 left_gripper=0.9983 right_x=0.3305 right_y=0.284 right_z=0.1226 right_yaw=0.0518 right_pitch=-0.1001 right_roll=-0.0534 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -2.0308, 6.8718, 1.6093, -0.0513, -0.022, -0.0611, 0.3487, -8.253, 8.8, 1.116, 0.5543, 0.1538, -0.0171]",
      "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]: [-0.0685, 0.9161, 0.7662, -0.561, -0.1188, -0.0605, 0.9982, 1.2026, 1.9114, 1.4899, -0.68, 0.7898, 0.8799, 0.9998]\nstate[eef_state]: left_x=0.2976 left_y=0.0042 left_z=0.1841 left_yaw=0.05 left_pitch=-0.1446 left_roll=0.0429 left_gripper=0.9982 right_x=0.2736 right_y=0.3705 right_z=0.1421 right_yaw=0.0878 right_pitch=-0.1184 right_roll=-0.0486 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.853, 6.8718, 1.5849, -0.0708, -0.0366, -0.0269, 0.4991, -9.5521, 8.5812, 0.6374, 0.6471, 0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ad5e5c804f02ba7befb7200f1a579fdd5ab21487c88caf7ed004b5509d113b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:041656a5db0f5051151501d3852143f1c29e96fb92bc91e92cd5c3a699deb6fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:418b1c2312109180b2ec9d69c9e9b327f028551fe3b691b23a809fcdff64f123",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD80mrb4BTTjJITzjCwFo0NwERiUHIt6KxG5G_aMwNi22K_jIJp86VkdU7z8gNQZxyMp4NrCtT7SWcA1bpQNh3E72FZcUfn2JY-94pffU2W_A5eQnk6y3Ghd4ZDrndXNGuhwYT_EGwOAPJre5JuhbNKJ6PN0B24pQ2B3rSY_MbXnwXsJ7ZkCs5eJqzFLMJz1PVz2mK7uvmBY_ArEWcMmE80hY_PpSiF5a9ID3cBMqDdvnY3F90mLRalOQWKCb_XZs6_h9YcH8a0RjNeKLgYQWm3k-kxTP998XfYKQrgoHiiljCVYZOcKcGdp8TBv1sQoKeJy-PGSbXbO9TNdaB2_CzlES-wy6AGFzD2_d1CBJy5ob70_OnOCVdnIUVm3FCLeM1eqbRaNSRB_ju9xcLG7d90kOlTYQSxwfGSms8g_3hY_tP9hq3hMZPJCAYlWRub74xtbJY1Be8YAdx6momlj1HfqoyZCLzi7RIAjvp0EO5g7NHB-H8DMbaBG7oyS5xJbIvzkVbmxUpjRxKC63EESuSmxPyE60WeiIPoQ5xE9XQ0mYrZR6XVaPgi07KBbwxaLcxR-V5Mufq509LEgZGVsNvBRXYz5LpUc6ApythEb-O0RibQOTrHrus73BoIsEDM59Gr7iNh_nIJxdud4bfd2ZaWUSlR5mF4XiypGR50mt2jeYudwRAuGaPTjN4ERYJrsJG4cqLLQebsKx9_418jyQgJXrKjbb3vsgqkkmkSG0BiDh_wRj75ebgslt1WJ4Xj0CsEMbJ-KKw1h6A41mRosUen01fpz_7IO02poRpQT6M8B9zNHpvXxvDXWXKeVkii0PaoGAYSfI1RJ4Ei_gwBUeZgAN3n12laRTx21GBY_SS0-cMIkYhj4-cLSwRzpZgLV91pmrjpbo79fIy2ppiZ98oiFmvMyGE6tz25MPFWNxZdz3KR4RsKQX8-n0XVKL03A_I2uLHcaR1rJVG3taBvyLPBhz1_nIrxQTqs5CxzU9Mn5gZqqWR3iIHSTg471jDNvzyLAOjUb5qaERHsEvKIWUBr82ihr8SqTb10p92O4RT03RgTunefeWBsCE35YPQwvP1k1XpZ4oTWd8M8z25X-8tbW-Vli8fPwjoxjF9uxq8W-MCdid0uh3WhkgtVroFHUTHBEHb4BXpQg2xacwIvcae8xFL4MA7njP5eMA1I6kJQbwnIYzfd7ZCjk7sabehggH1N6XEitdfO1fuahPpth5Emz20ApYtXAp6obmYOWIuRNN7DbRDT3X-DCfqEcWiLK-hsDRF_h385WbhcPSvtCH_MMEmouRJRGF6g217NlKvpz3EqVD4FS-9L0O_iO_5OuUCmjbUggwpfYF3sGLDZuK2ZDcZ_3EWxXUc7SzoHFrDgu1uHzHTvu-K3_hqoM3rEqSjk9BI0TlsE6_pdU3ZrB232XMl4w-BcWfvs67Sh4DLqWmTVpI6DVUfLSxFS7QeDZY2txb7G64NpslM9tLWdTXd91qFcQngtPHsYn8X7E2RuN-3rotMa3eEuRHNuGcoCpc7YNDzw9a4ByvBTsUqdD-FMzcJFRCama43EOBQCHJk-z8obv8FrIJavQr75KI2N4VUj-OfeTKTknmxDl4OZRgHpo68jApbSqUCYQRarRo5v4Ve4sEnD6KFDZ-nQaloPZsHROH4swYrd3mSIybGL99CqR6WxR7xAAdJ2LhZVy68GaugfHzxOie5LYGiKsB0eYWx1hLdQKWxOrSu0viuBmiuuyKSZb7cDJ4yFD0DcwTp2rbqP1ecovrwluWVgtYqUYFWhEATjNJNmWRMpSsTldYnl8TT_M6F0O6mFcfXC_oLmILvrnpmiUxn-FRwE4X_6MeiVF96QIDY7WJtrw794Z2WndTiPeCifaNjL6H9p0FyRkoat8IS1OrIQNKtAwFu9CIGmzLB3wLwX2Uxg35xSgtJY5JHxNnPtZK-gEt9Tq7B6wQUrfdA5o4irQ0-QzRQZR0yZ5tH0uRQHW3fMFEPxNwJepKsdseal8i3okDZgk_LHo_9M4IXV_wFP9JfSpABTRGAgaG9ZPdhRb0D33b3Ef6cyefgnR8vXg-3J41hX_snHQcHQTZYC6aN_BtjiP83v1Oz2L6q9iwtQPI1XRb6h51Q9KBHjJ4keyNuOQVLZOfO7PrUFxUN2ktXZ51-BDPDPxhbHHUJThtAxGgD84PyrW5upYZK7DCtxsBlqzzdjWjGsydu6p3sLexjMnGT6azCpNKJg_ymav_6G3SBTEtUAO1FNhtQnh2m_kirHx-DvNXNJSNXlX6w4_b8h-IZxa4hL7tKyC-xLLURxnb5H3Jra_YBenPeDFTQQjBmhoO-wU_Suhh4pGK-2Arx9lUc9ur_65NPh4AxTtvFU16C5NOJtv6u5KOTUapinK73hdPF7_zICZsdGttp9GHPIHHC-ZdfYXBdJfNszeoWgbGDJk5SbfQOPFd0Nf8Xriw-PG6NmB72p6fURJ5XbnQTkX7S_w3_YcJA_zahaublipTz8Iv5RL5Aw6WW1gXsyZ95vs6VGjXE7zma6Di5v0HpZSFQk6gG3jFWpr6y21TtLAAxtrdM-gNGkNQ5NBxT7LiK371EK46bmgZLLkD1tOz9j38k_lWB7TxnQArcIx5tSsmfqkuZ5XYnHeQxXqpS9HkKQXRl_XBcEKbImE1EB1bYc_etmS9nSo6CS2Z4JaN4G8TSf0D7lzq7PnzwWzbfEyU_WhmUJQ5z3hgIEEqtKVvvfTiNXOJh91c_INQH3Aa4uV1i88VNeVDXD87kppxvs5JsjaR9aIgX8a8iI0vpazKohjWMVg9lWpUitgEm4M7-KhkQHVC2UsZ-3cv0yezJo9Dp7QuT6VmBfrQGAerMPZLsCO8tsWRTfAIUaZwn_glmqzFjIzn7bo5O0aU65tTiUyQbkx8S-GJo-Mu2bcfvErQQ7K6ptm46j2YNgVNduoAhO_azUNpJe2_xMQHRplBpJMT0I_sltQQAkmabHesfJ7u29LQou-FhGmxVIFu6siDaEq7x2NKzbhgewob0ahUBRgg4bbiwSMQ1BaAIICpeN9m4zF1XtcvA04u_y5Thi1Te-FRB3sXE2qk2TfHVk3q3mk4MGWHzm6jYFuUPKf-FZmlF0TI1QLSuBD8WocR2kjCKRuklHRl6ylFSpMthu4MS0-3J-b92lc8oIs4sot6YqyVkf_JRty1DciLmSL0Nl2nfRaXbYCtjBLabS2Un83-Wdw9qeYOGipdyY31Suk0URsmGFcz6zt0SftlYlolX16xRMWsu3VUhJkCt9QGbiemzJf9aIt091zqxlYu_4j_Wtq9gO3851btfobwnz_TN5oVUJxmg9xoCU_sNI_hpayT1VBGkz7jrvd4u4QaqCA0OA4RM7rw-0cvrWo-8pBrU4eX5tynaL19GgvW0cDLAalvV6H3CXspvxscem9UeLzjib-HGn2RtVe7_lKZZB58JP46xVf7FxK0-0gt_afFGLGlufUO-FlC_hTB3gK_IrhoNjc8x9zdpFAukXO2nZod1j9f_JDgz9BIZp82de2kk4HmyoPPeEOwznAA39C6CGrGPaX9aYX7LaMtydMqgwmgVNID1hyrog3WB-hiNbzyagdSyQnN6sIsRoljP0qRHkIc1UMyvOId6ADtAQitxkvjgTyvPn247cAT0rRY0OSjFy7ehxbPTv5dp853DKAldMiMp9h1UhTLpN9EeEIScdtgHy8e34DNWuumZX6R_nBNWbb-Rqeq7aNf7m6gtYz-ES-ci4GiNruJVt_J2K0aKYooHDhn4ZfB6LBynSnP4MQiApTmG4MFV-7F2zmZrHZwOXsbVhW3bfVoSU2hio1k2GL9iz61QbK0UaBxspwhq7ndrHNwjdVRN1q-y2Yho087CQ=",
  "id": "rs_0c70287430397315016ab43f2e9fe887d089a15508a711d90c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.04},\"note\":\"The right gripper is now centered over another tan bear, and this position is near the right arm’s inner reach limit rather than the elephant I intended. I’ll use the opportunity to grasp this bear and place it at the reachable inner side of the left basket.\"}",
  "call_id": "call_HWY6vA6saVa4BP9tpUo3wpqy",
  "id": "fc_0c70287430397315016ab43f3386bc87d083b812fa9dd766ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HWY6vA6saVa4BP9tpUo3wpqy",
  "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]: [-0.0685, 0.9161, 0.7662, -0.561, -0.1188, -0.0601, 0.9982, 1.2068, 2.0293, 1.2713, -0.3553, 0.7746, 0.8791, 0.9998]\nstate[eef_state]: left_x=0.2976 left_y=0.0042 left_z=0.1841 left_yaw=0.0498 left_pitch=-0.1446 left_roll=0.0432 left_gripper=0.9982 right_x=0.2697 right_y=0.371 right_z=0.0479 right_yaw=0.0987 right_pitch=-0.1359 right_roll=-0.0538 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -1.9624, 6.8991, 1.58, -0.1197, -0.0171, -0.0122, -0.6769, -9.4974, 5.4085, 0.9304, 0.4567, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:439545830927145caa8863b84b3b8e86178ba7e9dfacd13ee4f61931b7ee4cfe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bc8e15fb5f3ec72d130f30c97e7a4c8e3681d2b98f08728465667771962b951",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5898d47b26dbc03297f3a907916838842f65fd42203e698a3df0570413ff6974",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 4.329 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0685, 0.9154, 0.7662, -0.5575, -0.1181, -0.0593, 0.9988, 0.8562, 1.5394, 0.9531, -0.2497, 0.6548, 0.5472, 0.9998]\nstate[eef_state]: left_x=0.2981 left_y=0.004 left_z=0.185 left_yaw=0.0487 left_pitch=-0.1405 left_roll=0.0428 left_gripper=0.9988 right_x=0.3341 right_y=0.2264 right_z=0.1345 right_yaw=0.0243 right_pitch=-0.0682 right_roll=-0.03 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -2.5915, 6.5709, 1.5995, 0.0659, 0.1001, -0.149, 0.1026, -7.0085, 8.9641, 1.4237, 0.5153, 0.1245, -0.0366]",
      "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]: [-0.0685, 0.9161, 0.7662, -0.561, -0.1188, -0.0605, 0.9982, 1.2026, 1.9114, 1.4899, -0.68, 0.7898, 0.8799, 0.9998]\nstate[eef_state]: left_x=0.2976 left_y=0.0042 left_z=0.1841 left_yaw=0.05 left_pitch=-0.1446 left_roll=0.0429 left_gripper=0.9982 right_x=0.2736 right_y=0.3705 right_z=0.1421 right_yaw=0.0878 right_pitch=-0.1184 right_roll=-0.0486 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.853, 6.8718, 1.5849, -0.0708, -0.0366, -0.0269, 0.4991, -9.5521, 8.5812, 0.6374, 0.6471, 0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0685, 0.9161, 0.7662, -0.561, -0.1188, -0.0601, 0.9982, 1.2068, 2.0293, 1.2713, -0.3553, 0.7746, 0.8791, 0.9998]\nstate[eef_state]: left_x=0.2976 left_y=0.0042 left_z=0.1841 left_yaw=0.0498 left_pitch=-0.1446 left_roll=0.0432 left_gripper=0.9982 right_x=0.2697 right_y=0.371 right_z=0.0479 right_yaw=0.0987 right_pitch=-0.1359 right_roll=-0.0538 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -1.9624, 6.8991, 1.58, -0.1197, -0.0171, -0.0122, -0.6769, -9.4974, 5.4085, 0.9304, 0.4567, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:439545830927145caa8863b84b3b8e86178ba7e9dfacd13ee4f61931b7ee4cfe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bc8e15fb5f3ec72d130f30c97e7a4c8e3681d2b98f08728465667771962b951",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5898d47b26dbc03297f3a907916838842f65fd42203e698a3df0570413ff6974",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD83WjzvOSQu_jau0kHunJuuLgHSkTvSpTZpgUndws71X8rPSWVZGiYPakPqZxz9-sJXLc8BRiN5va3rj3RTXQkL9mORe2mgU_ofXl4E_EuI3bXalZ6CdPRziRs4BXwUS2HPgFoStwTvVRuZhJtU42_oi0PTWk99uUdZQJQH4L8djYth3zGjTMErzx5gr_Xcf9ICMipTXDIe3MZXu1HWH5QJubtFow_HKgTzP1ySbOTcsnqO6j0S41WGYqPKkmQbiT9LE_kKj9BJGklYiDPj8F-c7Dq4k76XqG6Hadk7Q2rJT51t70P38r_DrkmgvI7f7DQsi30bGWzDGOMnvPWLpMsxATQRXZwf4WtfxXxlEzYwOGoGxpPn8iHLFsinmm_2Ix1ScGil6MD5mAGMrKNoWHy7lkWOfvo2EDn50SL95AjaU2m-E6FH9yvqOgJql8o1rlKSoyaLV3DjrB7_w9KCMd7vpW599Lx0Gj7S9tLgOURTpl5Zd3L4gLhCmt-asqtADryJm49zbumZuT41KufOLWuOWmldIveuNz2jssQH-YLRIqw3W12nautean0d608id4qmAn6oW9ZPMtDPgnFvM0V7PBroZxQAjZvs8BOdU5ySCx31XANSr1D6KQb-_H0kVWYBq9EB5ymYwsqJ2HPPbcAIpxOUcWpqSGhsPbT2msYD3KWWAuJbmt3Sw_2wEFz9KBz88W_e-bYYBOEdsfKGv01mVX0P11QYlzBk-Bbaok4yjeZPP9ctiHTz6lNyetLj4SAx_qDpmrR5QNjvrf3VloqIw1m7HWz83JQJRw5w0LI_H2VoHICcf75s4BcK1uEup8dEFKDiIY6ViC02sRgJWQCIYKmm_GrXJyQ4oREFj8t8M4TpynK1YIP9Q0kcoJjwEmmcZ0ZkQtu-JTJjiVpKS9_odgEIrLIzRppb1cLLS4C8283J5Fd4i_mCTz4wmB131eLUg_YrY9Tj3ERHAxhEH4ekCijYTHC-0dLGk6PPhfekQXnFLrf7NJ0gPtH4fA2AkACOTIwhwpL_yMXRbUy3tD4XPmzZwtQzEbfQmM7_s8O8XVg4F8pqMuO5Ob-GMW19IUM5FSBO7QLhyNMIly-aocz_2DJeXuHcsaSSASyFxIJkqTxusRpUG-nfdXyiarVHS3Rzaz-V_DmNOD9ejcdGj2e3ZZp2hdiaFLZrIAnIuNGZQFOpp2yW7lJrzIv6iRJE5bs8NfE2mgz3AN-EmJ4BVgyB32xlqJdfnaw-tMVaXNL_m3Kth8HGexHKzvNYMzuoOLu8idZskObsy9g1WoK3GwkKYTTPYmgXac-MkxKciuV5AKJtKWwjLHV5gxf-idvF1dnyy2BXGKXKqjv9EDfoRqbIPi_e2Vcjm0b6Adw1rf0Hb9k=",
  "id": "rs_0c70287430397315016ab43f368c5487d0a69738d0b1903c62",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At the lower pose, the bear’s torso lies between the two fingertips even though its head projects to the right. I’m closing on the body, which is the most secure grasp point.\"}",
  "call_id": "call_ekkwyMsiJTeYtqm46DV4lQ9M",
  "id": "fc_0c70287430397315016ab43f3722dc87d0b78a335a17860600",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ekkwyMsiJTeYtqm46DV4lQ9M",
  "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]: [-0.0685, 0.9161, 0.7662, -0.561, -0.1188, -0.0601, 0.9982, 1.2068, 2.0483, 1.261, -0.3397, 0.7631, 0.8757, 0.0196]\nstate[eef_state]: left_x=0.2976 left_y=0.0042 left_z=0.1841 left_yaw=0.0498 left_pitch=-0.1446 left_roll=0.0432 left_gripper=0.9982 right_x=0.268 right_y=0.3705 right_z=0.0368 right_yaw=0.1044 right_pitch=-0.1513 right_roll=-0.0642 right_gripper=0.0196\nstate[joint_eff]: [-0.0889, -1.9624, 6.8991, 1.58, -0.0757, -0.0269, -0.0122, -0.2667, -12.0, 6.5026, 0.862, 0.4664, 0.022, 0.8132]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54324832693311064aa840c4e04e8a01c983da04802c71cd06b739470fef7a35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:097debb7c35948dfa901d1fbf0b6743e16862fb8beb6b09846c94ffa84e351e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e83249877969067b6dac4bcb3e2af77dfc7245468beb454351a20cdfbd2aa3f5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 2.659 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]: [-0.0685, 0.9161, 0.7662, -0.5606, -0.1184, -0.0601, 0.9983, 0.9649, 1.7283, 1.1408, -0.3408, 0.6979, 0.6334, 0.9998]\nstate[eef_state]: left_x=0.2976 left_y=0.0041 left_z=0.1842 left_yaw=0.0495 left_pitch=-0.1443 left_roll=0.0429 left_gripper=0.9983 right_x=0.3305 right_y=0.284 right_z=0.1226 right_yaw=0.0518 right_pitch=-0.1001 right_roll=-0.0534 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -2.0308, 6.8718, 1.6093, -0.0513, -0.022, -0.0611, 0.3487, -8.253, 8.8, 1.116, 0.5543, 0.1538, -0.0171]",
      "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]: [-0.0685, 0.9161, 0.7662, -0.561, -0.1188, -0.0601, 0.9982, 1.2068, 2.0293, 1.2713, -0.3553, 0.7746, 0.8791, 0.9998]\nstate[eef_state]: left_x=0.2976 left_y=0.0042 left_z=0.1841 left_yaw=0.0498 left_pitch=-0.1446 left_roll=0.0432 left_gripper=0.9982 right_x=0.2697 right_y=0.371 right_z=0.0479 right_yaw=0.0987 right_pitch=-0.1359 right_roll=-0.0538 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -1.9624, 6.8991, 1.58, -0.1197, -0.0171, -0.0122, -0.6769, -9.4974, 5.4085, 0.9304, 0.4567, -0.0024, -0.0171]",
      "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]: [-0.0685, 0.9161, 0.7662, -0.561, -0.1188, -0.0601, 0.9982, 1.2068, 2.0483, 1.261, -0.3397, 0.7631, 0.8757, 0.0196]\nstate[eef_state]: left_x=0.2976 left_y=0.0042 left_z=0.1841 left_yaw=0.0498 left_pitch=-0.1446 left_roll=0.0432 left_gripper=0.9982 right_x=0.268 right_y=0.3705 right_z=0.0368 right_yaw=0.1044 right_pitch=-0.1513 right_roll=-0.0642 right_gripper=0.0196\nstate[joint_eff]: [-0.0889, -1.9624, 6.8991, 1.58, -0.0757, -0.0269, -0.0122, -0.2667, -12.0, 6.5026, 0.862, 0.4664, 0.022, 0.8132]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54324832693311064aa840c4e04e8a01c983da04802c71cd06b739470fef7a35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:097debb7c35948dfa901d1fbf0b6743e16862fb8beb6b09846c94ffa84e351e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e83249877969067b6dac4bcb3e2af77dfc7245468beb454351a20cdfbd2aa3f5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD89xhUosMYp4kHMxFcJPsuBsApagcrcFRYhRkO9KPu8LaFVJaEKAlCkY0K0rryD_ed6DRo1_TOvpxiffjUntnhMZ58J9n94wakqwwwEo6nrRGvqPyLlSX__j4zqYIOn76omRoQcBkp09zu81rBUlluUe25FeR-4xqKI4XcjOaitNmfDWbQVTx3rWJLT8ch-QUhvv0QIBrmrlYGht3dFB3vjDjDG54pnoLwJtKmJc95_vl1BPJ3BzHjn2g10C5780NAzab8LS-BpVWBqqeOmSM5NAZZTMggmTDlgrUQVZ4-Pi_sOQJgbZ9swFbxMaXQuaAmAvWrVrMpiJc1V4HkFI8bCC9vhPYgO3QG8kQSIr5Nvrr3Ez7cGjyIa6ssB1ZLYjdimPCa12m-sDSvzYozwnv8xPldxwDnjY-MXT7KmaON1VSFJCO9x6dYWchE00EToXHT8BcoSjD0xxU9VZN-0ISf2d-fCDOGsTXTRijVrzQ53yV_S6BYcxp_i01MZ-PS_IeLnsJoy3u98i7NUGcqOdgry3cMYorGak80g6sQC3omReygnl6mOxc4cZkg1Hm_8mYCrMkdSjw2rzECM87-kEanXzRm_gzgEL8BeajWOK3yKT8x3WfOawlx9Nf3t4PPQetluRglxOrMc68aybfZdw3ym-coBBTOB4yy_607_UP5BsdczgVlvRSOmBHmUJpf6DJ-10U5wigTruXA7aUE8fq6h2s5RUPkqQ3ngbyCEPQUPBehuL-jKpr9pWBkAZDoF7Sook2scqK_a1wbv0pnapCUsPu3gzKvWStt1vGtla4YRLlxjzyrs1ZCpbP1Ri0_yZU1k9IOUxCmDWYcuI0Y9FjVUTEmgq79G1kpJt2bglfBA65YYcqRdQOtfHbqLk3hsAsjbDaVm71fdE4TmvLNy8OnrGkai1vvJam4Zyrq2X_ELp_GnDryXrhfMAKB8ubkmfPwKxcDA9bECkXlf3c3Ay2KTeMukaqPWfxU94NWQy9EPwo95XXsOpkyGN8Cux94LR6zDwwTPQbqFObwTRHFckhYal1M5p5pu3VwVM3MqrelaASPkKzHwoGdRGZppwKLptQXni9K1Ze3x3yk_mfWv1OLbiyWAJN8dy3iFBgfiNQhxLfmlHRIA2ZBnTvwQoD5HFUT_RR3y-cWOp7YcyvIcDfzpjNCco4IwTJID0z1hwMUtZnMPnKsx19pPKXl1PNSOufWd7XZlfhNSg5M_uqledSvjhTa2OeFGVpuX2hzemPjeq7fSrnXs-8STyfwKN_kHj4k7vD5hvaJcCjO1Nt1Q8Ku7w7Sy6gABD-Zvhjm4AnjWem98Q52JfeR6trPah8Mjaq_mXrlCBTr7CNAciyGxZ0NqCrJ_b2XkNkmKUcB22lzy-so-Sb-ga0uS1986FdU5i9JHMvu0h9yAwlj9ccBIdGS0K-j8yg5WM2yamNFZ5xgwCc3wkIrcQcKlUxw2ZLVu6RSD3lnLZ7JLpPygpo3H5qwhw1lZZg2NAm8pvQQKHYoQ_iJeCWYasRZNL2EVPQIBgSadHfS7ZijQX8xmmiRQ46BL3qa_NO85cPgx1ySf4gYuparGc30qK9JDK9d_gX55QF5w5TAiV-m5JEnsptdQ7FsoaRHu4OvAes_Oz4TUZ_oojfq68DLXTq5BmPm42yPoQiX-8LaanSRcemohW4sVKieSOQhTNd-zmbB-K9ECaWZOQGBvill4lUYfptZ6MqTmiNwHStTFq3UrnVfR5pKB1eaQx8f-UGqBMR5UKYUzaQex3K1PNZ7bMUJQoaKbdLmTCky7O3P2EsmqeRqnWpxZn8UfW357nKvcajjK30mBTfUeEp4MaEli5O3Kx8yjp0wN_n_hLbXcoKabiAlxgbKSx3ZgmtxNqBstuYeTTpAV-0RkZXl8mmLLQO49LOzgvQ61NdmQNwc_dPBCwiyo7dPbWGGTbQ3Q74bJELV770YwYy22zgm1F_j4c2GbfF3FNOPzHqmsATkYKQGpiyeKNgnLoi0-nUzPJYfnkJkqMcmZ17kBhAabEx5fN-IcRuQbhyxUtTGot8DpCZIKWXW1Ro_tJWBbefvQKHz90kzBCf5Id5sY-QaA5uIKq0sjGwUQb1me1uC1XMX_cMHfcVV9MYxTgLT9NjrsokyB9Nhku4gb8Tu8ya-fDPsLxlXL4vF6Z80NDF0m0hSOmaGedsILicE1lpyyJUXctAkf4snVcAsoaJhK6u7VoclNxINYLh0__5bj34wrDpgLToo5AN1DiEZxNddwUEmtmNqzk1lR7-Mmsv2KXT300leTwQFAepgE9_3vUBc1Iu15bvSji231UyCEfcK0OQ==",
  "id": "rs_0c70287430397315016ab43f39dac487d0a34c23326c1811dc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_z\":0.05,\"right_gripper\":1.0},\"note\":\"The jaws closed to an empty reading and the bear did not move; the wrist view shows its body was a few centimetres beyond the fingertip grasp point. I’m reopening and advancing the gripper about 2.5 cm outward for one corrected attempt.\"}",
  "call_id": "call_g8KRqXUkl3knIEE9ko0mxpFG",
  "id": "fc_0c70287430397315016ab43f3c21a887d09f5337f9e8a7e4a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_g8KRqXUkl3knIEE9ko0mxpFG",
  "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]: [-0.0685, 0.9161, 0.7662, -0.561, -0.1188, -0.0605, 0.9982, 1.1538, 2.0487, 1.2892, -0.3393, 0.7208, 0.8013, 0.995]\nstate[eef_state]: left_x=0.2976 left_y=0.0042 left_z=0.1841 left_yaw=0.05 left_pitch=-0.1446 left_roll=0.0429 left_gripper=0.9982 right_x=0.2866 right_y=0.368 right_z=0.0407 right_yaw=0.1172 right_pitch=-0.174 right_roll=-0.0771 right_gripper=0.995\nstate[joint_eff]: [-0.0342, -1.812, 6.8991, 1.6239, -0.1197, -0.0562, -0.0122, -0.8821, -10.441, 8.0615, 1.0379, 0.3785, -0.0366, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d1cd94e61306a024bcf2be6c62a7583c5cdeda0bb019feb15cfb83df5f21f6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:810034dad751b7f0b4aab460fe18ad29ece7bd68b17143d5679a6637c46ab594",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ee5ca75c7ee490859981adec744d20e3990417583ca8e4793911aed6922e47e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 6.339 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]: [-0.0685, 0.9161, 0.7662, -0.561, -0.1188, -0.0605, 0.9982, 1.2026, 1.9114, 1.4899, -0.68, 0.7898, 0.8799, 0.9998]\nstate[eef_state]: left_x=0.2976 left_y=0.0042 left_z=0.1841 left_yaw=0.05 left_pitch=-0.1446 left_roll=0.0429 left_gripper=0.9982 right_x=0.2736 right_y=0.3705 right_z=0.1421 right_yaw=0.0878 right_pitch=-0.1184 right_roll=-0.0486 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.853, 6.8718, 1.5849, -0.0708, -0.0366, -0.0269, 0.4991, -9.5521, 8.5812, 0.6374, 0.6471, 0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0685, 0.9161, 0.7662, -0.561, -0.1188, -0.0601, 0.9982, 1.2068, 2.0483, 1.261, -0.3397, 0.7631, 0.8757, 0.0196]\nstate[eef_state]: left_x=0.2976 left_y=0.0042 left_z=0.1841 left_yaw=0.0498 left_pitch=-0.1446 left_roll=0.0432 left_gripper=0.9982 right_x=0.268 right_y=0.3705 right_z=0.0368 right_yaw=0.1044 right_pitch=-0.1513 right_roll=-0.0642 right_gripper=0.0196\nstate[joint_eff]: [-0.0889, -1.9624, 6.8991, 1.58, -0.0757, -0.0269, -0.0122, -0.2667, -12.0, 6.5026, 0.862, 0.4664, 0.022, 0.8132]",
      "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]: [-0.0685, 0.9161, 0.7662, -0.561, -0.1188, -0.0605, 0.9982, 1.1538, 2.0487, 1.2892, -0.3393, 0.7208, 0.8013, 0.995]\nstate[eef_state]: left_x=0.2976 left_y=0.0042 left_z=0.1841 left_yaw=0.05 left_pitch=-0.1446 left_roll=0.0429 left_gripper=0.9982 right_x=0.2866 right_y=0.368 right_z=0.0407 right_yaw=0.1172 right_pitch=-0.174 right_roll=-0.0771 right_gripper=0.995\nstate[joint_eff]: [-0.0342, -1.812, 6.8991, 1.6239, -0.1197, -0.0562, -0.0122, -0.8821, -10.441, 8.0615, 1.0379, 0.3785, -0.0366, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d1cd94e61306a024bcf2be6c62a7583c5cdeda0bb019feb15cfb83df5f21f6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:810034dad751b7f0b4aab460fe18ad29ece7bd68b17143d5679a6637c46ab594",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ee5ca75c7ee490859981adec744d20e3990417583ca8e4793911aed6922e47e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD9A8IQccgTeuYt1_VVIeGMfbdCk3l0iTkK0XXCHAF8bmno3P7aX51WL8pIt4SJGCGR2_48Oa4znDFVbWV0tROI8LKiyDY0EdDShq0r3dOawoiVihM_RzmlAOu-PZPNEkbZmZbm01otzUf1yykqCl2de4zTTPmZbfhpyvH9BqA5AVdHFWjz9H3NrU5R3sKpc9VksQdomrQ4YuA-bs5mIpIjXVM5Ylo3HovrDo9XO-21M-bJ1bZ2O2EjS2L4YYOqOPpEbxgdT3_xDs-Mh_Mz1MFv5hlAWTfwuoCUpo2dnEAfCwKi3r8BNL-sLlZsp5JNePzOzujFbSSZhrLrDU-kUzpiC8oTfIj2B-Ton57N6uNcM339PZtMKGW4hYYlxXwCIxYdnMdov6-ZR-hTFEUX6trIa4qKyifrZqhOMtHGYMck5Q6zzw5wSZ8R2RfLbSyKSoteMoJCUZFsgiHshWr-nADg3KBOWrLgwtgZvcNWEiDu-K0xHSnEBbZnFOhvgzPx7XzO8ia5E4nZ22F-Bq_Jn4TYV23gwC9fg7GFrxUkQcCsMDRW2EmpkUvdcGYynnHoIPwLdmO3QvxiEirhH50S6CTACC1g0bWOToQrmnLLaOAQi39Gbg0krf-2zzyDIOMP61h2-6IkS5A8VzLDz5CV2kHLfi8_L5C_Nt_Yx00GSk5cxxDFwGjwA4MO-Xu_WKS4fu4BqtwqaDSRt7woq3SCxhzuTJxju2bj1lRejM7JEradI6EbqbBdy18V0F_CAX_lG27Nm2kGjjLJAYx232-QdPT7ur5AVUK7zA5FNIHZs5gHpnQTKtUtQLW5HM2nIoxpYIfUJnVP1CxGsAX3fn9D6f7WRlWlZbSx5RvHaVCV1_4qfr4rj7GqsBPGi936dpPtGRXNEkisYJIiGUETz566CMVvadmQaueNG7JFgh0K7Sk40mmkYmF4U9AYpHriCxELDCFr3iNtfCmFpvtKWxf9pjppJHjcWdPfuWGhl8zXcegofkueCLYhI_L7hScNRKVF32eN39MdkNP4u-UOf4RFHW3jFJgdu8Xv0Hjjpuf1BUZqc4S4dJx8HPmTEJLNRbjNtFxPYETy61wNx62-5Bdrm1QIeFG1OxqkHDGDuxFaJQyuKrtxM-xdIND6rKw4uPrQoz5gwyqKJS-7aq7FWDq9zaR13q3Ia_Olts6WH4w7_rzXSMotrcMSQOP6gCCWZPQy744HQI1O20czuvxnAFcWPY0CaLP0mZL-P3Lkhyxiehbrskxgb5B8UP7MEjUCOCCaO_VNJ-EtK91nDSxm7KeAYzDX_zw==",
  "id": "rs_0c70287430397315016ab43f3ff50c87d0a193cf82f4a589bc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"After advancing, the bear’s torso is now centered deeply between the fingertips rather than beyond them. I’m closing for the corrected grasp.\"}",
  "call_id": "call_ftE5sqNK2S0tMMpPVkGIhbLD",
  "id": "fc_0c70287430397315016ab43f40233487d0bcb95474b356745d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ftE5sqNK2S0tMMpPVkGIhbLD",
  "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]: [-0.0685, 0.9173, 0.7662, -0.5621, -0.1188, -0.0605, 0.9982, 1.1522, 2.0487, 1.29, -0.3355, 0.7052, 0.7963, 0.0128]\nstate[eef_state]: left_x=0.2975 left_y=0.0042 left_z=0.1836 left_yaw=0.0501 left_pitch=-0.1469 left_roll=0.0431 left_gripper=0.9982 right_x=0.286 right_y=0.37 right_z=0.0397 right_yaw=0.1275 right_pitch=-0.1838 right_roll=-0.0695 right_gripper=0.0128\nstate[joint_eff]: [-0.1983, -1.9761, 6.8718, 1.6288, -0.1099, -0.0659, -0.0122, -0.0479, -10.6188, 5.7778, 1.072, 0.4762, 0.0611, 1.1209]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3638cb4f9f88f8767da63ebf2de70f299cce239aaca495663d6f887a42dd2b4c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ba7ae1b08d7c42d14437b9ae62fd48286891c9460749b82bdbbd03f45cc3cf9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4435c8c733d8a1969fc827784fc7a2240d4955f95a847187a1ce9e92f6949469",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 3.484 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]: [-0.0685, 0.9161, 0.7662, -0.561, -0.1188, -0.0601, 0.9982, 1.2068, 2.0293, 1.2713, -0.3553, 0.7746, 0.8791, 0.9998]\nstate[eef_state]: left_x=0.2976 left_y=0.0042 left_z=0.1841 left_yaw=0.0498 left_pitch=-0.1446 left_roll=0.0432 left_gripper=0.9982 right_x=0.2697 right_y=0.371 right_z=0.0479 right_yaw=0.0987 right_pitch=-0.1359 right_roll=-0.0538 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -1.9624, 6.8991, 1.58, -0.1197, -0.0171, -0.0122, -0.6769, -9.4974, 5.4085, 0.9304, 0.4567, -0.0024, -0.0171]",
      "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]: [-0.0685, 0.9161, 0.7662, -0.561, -0.1188, -0.0605, 0.9982, 1.1538, 2.0487, 1.2892, -0.3393, 0.7208, 0.8013, 0.995]\nstate[eef_state]: left_x=0.2976 left_y=0.0042 left_z=0.1841 left_yaw=0.05 left_pitch=-0.1446 left_roll=0.0429 left_gripper=0.9982 right_x=0.2866 right_y=0.368 right_z=0.0407 right_yaw=0.1172 right_pitch=-0.174 right_roll=-0.0771 right_gripper=0.995\nstate[joint_eff]: [-0.0342, -1.812, 6.8991, 1.6239, -0.1197, -0.0562, -0.0122, -0.8821, -10.441, 8.0615, 1.0379, 0.3785, -0.0366, -0.1832]\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 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]: [-0.0685, 0.9173, 0.7662, -0.5621, -0.1188, -0.0605, 0.9982, 1.1522, 2.0487, 1.29, -0.3355, 0.7052, 0.7963, 0.0128]\nstate[eef_state]: left_x=0.2975 left_y=0.0042 left_z=0.1836 left_yaw=0.0501 left_pitch=-0.1469 left_roll=0.0431 left_gripper=0.9982 right_x=0.286 right_y=0.37 right_z=0.0397 right_yaw=0.1275 right_pitch=-0.1838 right_roll=-0.0695 right_gripper=0.0128\nstate[joint_eff]: [-0.1983, -1.9761, 6.8718, 1.6288, -0.1099, -0.0659, -0.0122, -0.0479, -10.6188, 5.7778, 1.072, 0.4762, 0.0611, 1.1209]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3638cb4f9f88f8767da63ebf2de70f299cce239aaca495663d6f887a42dd2b4c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ba7ae1b08d7c42d14437b9ae62fd48286891c9460749b82bdbbd03f45cc3cf9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4435c8c733d8a1969fc827784fc7a2240d4955f95a847187a1ce9e92f6949469",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD9Hchc0s5jI9DHPoq3aX36hvcywTLo8VHjQyuCd8CcWxmDJVh-5xfjDwV45FMewx2o4VjYDGq0TL_XNDiLQgOZu7xdLn2M2pRPFrImqj8Q2ojWVJqgIb_zZCCWvsEwzXsrcRsjSoDJsgkolqFCtfzjK6vofn7tttb6nZR_qf25zyau-jBbNrEdXXpf3AAnv71-01mlbPRAgZiIQOfxScscn3Fg8zkWKvGYbS6EbTzet29WeMxKR9u8fzHxRNdN2xsSAXz-eLpYI_k8bYmuqR0wxNsh_-sh02S6kKqYgMvZi90UVtnOSEkm9LKNYHjnMZhF9WsH02cCAKW0j4u-5d1BKWUZ2J6oNh5S_IKlEdo8imwbkYls25RWn_lWtND_EQ0ic7pvNR3qGn3gl-CwF246TB58QPgfiytofLQHmlpqNPf4IZWYrCSPENCwSxQIvhkhek2hSxJYTDhEqSWcF2B8KU64L4jxfxGBb7WnqfQjgp7xQzWD-3oNoRhLWWmNOZg4TAxskxFaEC96VNKH0enfxkgkjPkc9Lcr1vK17Ns_dtH9DDHDYkxbs6kJ9dq6sLszXpyp5C5niTDVDaLzp6Pkdl3rcT6Zn-amVZg3i-p_C7FiRMRnY2E589dFFOu3EiNFZjLaqJKoPUj933EQA6aJsH_Gvqu8agfuJnQkw0eC2mkTBhQdchG0a38vrRTfTwGRv8apXIQWSNw3kz4EGEAneObd-fHSgYtJsShTMOhRitwBv67YTNz85_n2g6jcfrsE-IQaeyn5RvCUD4IioaUfNkWBgj3XJYDImvbnLsLmqqSk5BBsPtqmwcBAo4SxdWobNLGrT0S03W8jnHbzUv9BRZXcHzLR0QmqxAZ7JgMSukfrgC5wxcLVvFGm0NkKGM0eG9maSYkQNro2FrBU1jT36-eJ6PTRp-w55RFa4czuhD4sqJ7wU6HB3JdxvUFoazAMDNO1UWrCXZbhlYP_h5l0V0vemG5wvBoxST7VwPVm7V4FanQHck1CVX2Wxw0aDm8cD-6kexOQhv7ARJIYp3GcXXgFuono1o6RI9p74ch3pKEctsxCXhFTPa0zxkpekdG2BZJMRtsZvOWL1rD-icWVbuIlGXLY3K_9fKZyB9FyYIWsFDbLR005Vfcnygza_gEtetpmk5UQ9l6L_xENCIUaY-V8Z3sXu3iqalU3ClGCG-7chUdQFmXSOCcRZzcAFqsuzckuWTKsdHPDnAXBtSg1Lo6KTn4IZhHbG615ngBv6PjcKVfCAL96QBpylte_JxFrYbw1rd1BBgH8IM86-6hWfd2DRPB2jd3VxFFcwDQSYtX8YCWUvgxyvfYeCfWQNtq15yCAbNkf4ZlzTdrH2qFFklCC0MQ262mryrHSYl-DoadrymyUzeV-5tK-02DzapSaYBlue5F64g1aN8VXPsIiWVc-kuICR1zFxwIojqRfISqknANMjbiI-AMps3YcH-PqHnzH1WXzC0iiPjdwc2tVYTHsUHkoSjChCfCGGQD0aNNdyQCC0CqMQFI76qgMPku65BaTzmNwhHbCfv6eJoBCqr96FvTqDfUJjcNFGdsagHczzqs0CtCooScqp-y75Uilf9qf32cGNMv6A6QbjhUqNNDz1-PZoHaFDA9dTufVi-hob_KpRSu2fOo52PREVlBaRghnFdtllUXF4w6TS8TWn0NyXzmgAF86Y67oTv8j_NmcPE5P9LMby9W67e2Q4wRfAnnpAiUEa3fAR2WXpT8Wts-4mBOLn6xiY91ayzbUZLhsJ72ZcD-_CIEjrIz1AXa3yER1kWlRuW7Ib9Vv9ib7gIpBXx9fhtLq9rwd5ny8bRB-ivLwXyhX8nStgs_QOjIvFIW1aRgfR6gpN4NgMHru5_HuqEWu1IOffcHIYdm4BmutW0XvfFT3EbFm6Wf7XzRny7PfPNus8oWKQkDy_Yy6ctDSgwCtScbUv13zr3EWR0HPBgRjaGKsWZdR5wKLT_MAvLkNgufveIncizbfVhHL-NCKG697RAzsw7exq2CHyz83qI5op7VZ9elgSWJ73H-pZnKwCBlAQ2rk0iiSbHq0yc1p429NJ2RLh5_kKF_RlYe5G4DcsAuQGAgz0T8e5qlcQdL0_jZw6DnAYaIkiUJdVzHBvV_EgzTacdp8Vy61fvNZZA1P8NhAzRL1GTfvBooJjhJv6HsVgA0lX2OEu87AbBFfdCyigHovq0k1zVH3YuytNZ5j_QMzQ0Q_cd0z7ygo039Xu8zkjRwlX9Gu78AUGTUb3qvGAqoaQmfACGJA_YZDtFSpgF8g0k2DzuG9g6xc-rfLLDp0Ssrrt6-k6YLa_QwavCm_fVq9Cuw4T-joRc7XV-5-s9IHHAYmeI9MfFbvyRmlIMPA0i1eMC5taPsFltWKUxD0mmvSthbSKK_InaSgtq9hoyfzEfZ_4irG9gzTJAVhVd9F9Y5VT2aE9267M-_3_UubtZ_u616Hxht7gGTbOmmuc0wa3Xk3MvttKq69FgJmgMkyAoBFPJlMKzfUw8Rr7QhjqDNdmMPaYyA3shevejNCHSP8e1pJszO306cZTC7SwBYwwqgPmLGsZoMwD_6s17VAW4hBRd_M7b_HgZPCByXdQ8Vxge8pPWp_CkUbW_rIxw--uodHIeeZNMEEz2mXsHguegUxPVzoccFvl-Dp6gELGdLbGBO1Mb9TgtWxjgXCU_rDWJU-zHqA0pscxWQ7G3ghnTNpoNFAypJ0hNAl7W2i5llKPqhk-bxr4PiJmv-zegCIZCw9NZjlK0gAnBZ6GU77aAtE1BRFJU_uB3j4KsqC25rmf-jWhXV7Q7PKINyfTrDZMW6wn2_IZYhJyK9lm4pPvE0rcRmQ8ESOTsO6GE7W0rNJSjm05ZlAwOu0kJVybNFCRpYKuesLiV5LdFsY2fxZg0jsm1g4Ty-UhZQd0QaB-9OaQJd_T6ePJYum51v0qWWKOZpfYQyU-Df3AlvuY0kgy9IQSxjAr_wnxk0rORUnAt1545xPX528C5_JFGSPiiRkkospdiXMvkw5WrmsHc0483lkd-V5yrGO7NGijQXPwG0b-s0GiTPXsL9lYcLCfgfdYH0G81NQDSVw4509abR9NCRiG35wlZn7liFzzrXVaymVG9Ptko2ZyNaQ6F9AfNocox_37FwQlYKMhcZ4qMF3hIo2MBEmHUvu9hoe4qPhVJaAeb2mtxHshJ4WUIFs3Wsjm7zffwclc9tcN52tu5DOhW1Mr2TQWCOeDHXQvXfGgMjTIaA9XQnEHNDIaz8mte7XFWeuaMTjBcASRffKeGHmHuwUqTXAszxr75EzqOzFZgeDPFmd5x10tVdoG22EdEyGOdeQIsz_meiGqjX5WyIhhywfj5BGtdeS20oDTfWvcG-gV2vsoCHruvZh_j7fRVl3HnjYEfWGPP_Zg3maMbXiwcmHzxE7DQFk5fPnnTcMkVx8wbYmOBTQfAcoguFIYJYPopCDu8Z8kvcpSH7rKI1fEpI_OtFe1dfzyVTd3y3Kg3fQ_iJU2YNxBalMORaVMFsRvbNGARDDMr86H_xTwFCXJHHQ5ChyguKFndYw=",
  "id": "rs_0c70287430397315016ab43f42d71c87d0a7e1f232c9b6088d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.297,\"right_y\":0.001,\"right_z\":0.185,\"right_gripper\":1.0,\"left_x\":0.325,\"left_y\":0.0,\"left_z\":0.11,\"left_gripper\":1.0},\"note\":\"The corrected right-arm close was still empty, so I’m abandoning that angle instead of repeating it. The left wrist view already has a gray elephant centered near its fingertips; I’m retracting the right arm and lowering the left gripper over that accessible elephant.\"}",
  "call_id": "call_2roIOHhp0Q5AhTNWdCnJE9dw",
  "id": "fc_0c70287430397315016ab43f46ea6087d0b4850f6ce2513fd2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2roIOHhp0Q5AhTNWdCnJE9dw",
  "output": [
    {
      "text": "executing move_to over 31 steps (3.1s)",
      "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]: [-0.0799, 1.0878, 0.5568, -0.2012, -0.1265, -0.0669, 0.9988, -0.0486, 0.9516, 0.7677, -0.5911, -0.0483, -0.1509, 0.9981]\nstate[eef_state]: left_x=0.3226 left_y=0.0001 left_z=0.1096 left_yaw=0.049 left_pitch=-0.165 left_roll=0.0456 left_gripper=0.9988 right_x=0.2951 right_y=-0.0022 right_z=0.1688 right_yaw=0.0718 right_pitch=-0.2144 right_roll=-0.0692 right_gripper=0.9981\nstate[joint_eff]: [-0.1709, -2.988, 5.8462, 1.8095, -0.1099, 0.0122, -0.149, -0.1709, -2.7556, 9.7709, 1.4579, -0.2125, 0.022, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d258b1570721daacc7fc332ea867a638d454b3f18a4d27aa495fb2d0577b39b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65ea9979e6a4d6b9e9b3b2ab5877551c8d3cda7f5c1d3fd70e6d80b3c5e44980",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db7ea669ffc76aa06c3cdc0fd6334a50b4e779843d72bf17d1135eb3ef7e7715",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 2.849 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]: [-0.0685, 0.9161, 0.7662, -0.561, -0.1188, -0.0601, 0.9982, 1.2068, 2.0483, 1.261, -0.3397, 0.7631, 0.8757, 0.0196]\nstate[eef_state]: left_x=0.2976 left_y=0.0042 left_z=0.1841 left_yaw=0.0498 left_pitch=-0.1446 left_roll=0.0432 left_gripper=0.9982 right_x=0.268 right_y=0.3705 right_z=0.0368 right_yaw=0.1044 right_pitch=-0.1513 right_roll=-0.0642 right_gripper=0.0196\nstate[joint_eff]: [-0.0889, -1.9624, 6.8991, 1.58, -0.0757, -0.0269, -0.0122, -0.2667, -12.0, 6.5026, 0.862, 0.4664, 0.022, 0.8132]",
      "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]: [-0.0685, 0.9173, 0.7662, -0.5621, -0.1188, -0.0605, 0.9982, 1.1522, 2.0487, 1.29, -0.3355, 0.7052, 0.7963, 0.0128]\nstate[eef_state]: left_x=0.2975 left_y=0.0042 left_z=0.1836 left_yaw=0.0501 left_pitch=-0.1469 left_roll=0.0431 left_gripper=0.9982 right_x=0.286 right_y=0.37 right_z=0.0397 right_yaw=0.1275 right_pitch=-0.1838 right_roll=-0.0695 right_gripper=0.0128\nstate[joint_eff]: [-0.1983, -1.9761, 6.8718, 1.6288, -0.1099, -0.0659, -0.0122, -0.0479, -10.6188, 5.7778, 1.072, 0.4762, 0.0611, 1.1209]\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 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]: [-0.0799, 1.0878, 0.5568, -0.2012, -0.1265, -0.0669, 0.9988, -0.0486, 0.9516, 0.7677, -0.5911, -0.0483, -0.1509, 0.9981]\nstate[eef_state]: left_x=0.3226 left_y=0.0001 left_z=0.1096 left_yaw=0.049 left_pitch=-0.165 left_roll=0.0456 left_gripper=0.9988 right_x=0.2951 right_y=-0.0022 right_z=0.1688 right_yaw=0.0718 right_pitch=-0.2144 right_roll=-0.0692 right_gripper=0.9981\nstate[joint_eff]: [-0.1709, -2.988, 5.8462, 1.8095, -0.1099, 0.0122, -0.149, -0.1709, -2.7556, 9.7709, 1.4579, -0.2125, 0.022, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d258b1570721daacc7fc332ea867a638d454b3f18a4d27aa495fb2d0577b39b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65ea9979e6a4d6b9e9b3b2ab5877551c8d3cda7f5c1d3fd70e6d80b3c5e44980",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db7ea669ffc76aa06c3cdc0fd6334a50b4e779843d72bf17d1135eb3ef7e7715",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD9OXt4TPMPxYXYNBTEtcyK76Z2URInoe4Y2NwBnLArRKVd2VpTYm9Sf5H_xTyaNjjOOedsmArC0kT4L3k1LeIWMnkF-LcehhzNhGuy2pwIfrJpiEEh7ZuxdNqHtdhayCYdOZiPBpZoce5kZ5IGG6Ep8Y8nhClqH_IOd0ECRXRVq7C7AdRpnI0BDwoPkh_U3c3rog7R8cSpITo4OTi6MS07lV-XvLxtf2Nu_cT4mhXwkcaeoyc7BZBPfTiu6U_PON6QxMhGLGTS3zBZmS1cqQgHqeyvhzekLNSdxEa2BRqUfi5-u74X7pboOD8JpbwJIrYNlGfKtlcSU4xsWi0dPBjqAUMV7PVe4QxN0ARshb78NEjx-zkkQYYieU084dr-NktttuZMF_kq-eLhdDEwQw3AcO9C-b9fiFtpD6QsSUdjD2gcuA0tFQ7cxVnmXtYX9rvLMyB-Q0EJJuWmrR5BH9y6FNCYVPgRgl59lryJrhWD6rnZ64Zxxko_kJDl_ecoWNgxoirRoqaFUTvOD3EaZ1asx5wi3P80B8fJixdX7kZLDm7RyZuGoAJBJgWZiPT2s0yMg8DaY6JnoJyPlB0ze9QYDm_5cYbCy1lV-q3BmPzGoDqqvsuoRIDQK5GYVKobb3kR4ltPwFrPIw44FNfSFqhl_PUflvIh0vW1-XZcMIXrN_U2Ge0PYqI1zlbbEjTWv-mxKPCdC3pKHIiIIPsfBIy-G2MYPb8OhET4_wtwhRfJcltbR8OcEk1A2Rid4Dlu5tQX0rNRNEfu6SjD-cc1I-L6INHYTxbuUbW2y68Q4u29ZeUVu0LPDEF7d_adO5MYQwcsPc-OtBwt10jLjOs42OrUdwjpDK59U1ZwCZ8SvzDhYya5yc0oVq-emP6jce__6NEjjCjZaOtbv5FjdqxIL-firSnxaLCGVXlOY3cqvzp9kcesAXW81-ZN9KzeAI0TwpA4_tq7PeBOo7xQHBpURGQ9cOarpOO4J_nvw8I0QkGu01KSqLKFQSryrMdxS-JhPzxEUGMVW4KO4RTmHNP00LxRzsfg_nBZUtr72Z-FSfAu3YROiAQjbeOLzyG51aROyIB69QeaWU-ORNHgTzUg7-TdQE-sSbSxMHGRd7NrCDDDTh2gbPnN-4GnRE32Lo5rxZPZ1xSVuqtkdAbFMBvaQ-Hr-mcJ7zLUeAEy2uPvnRMJzxxWovkieTekHbXPdIoHnn6g-j9q4SOUf9sSz1NhOO0NE-9X8dWfjl5sqWNjdO3Y_Rwa_TQ7YIMg8-dyQ4zFAxI4haFNfbilAOnYV1bN_1B0uNU-R3hZYz7iThEDFqiB6PYfbIKbvEt6L6V_xQWV-jNchyaRAyMBnxh4Ou7AzzmkbOcmxyL1gb-OzQWDkV8wDjYtg1e_KUy2T1evF1-JDUfKZVUUyts5XBoIHbekJWzADv4DUo8kztth6-UdHwVuxgWPzqKY2ctZCoVK5O-Q4oXz9w1mGfI6cgM9x3Vg_nJSsZRhYPtKx_zWMYG8tXa4Q54ao7jV6LyOts5PbjeilE0m_qVPPaSzWQUSzMAnQQMGjhzH4_DWfTswBVLc8OsMqHxHfnwCaSB5gUGXku51A6MQoiVJ44IPwDCsugwZWLOko_JyFpEX2fVEXG1sAZho0FhGK5G0HR9WGiTJIECjDjWFNS3cKadamrb6JqoDCA3opVdFxDJJRfkfO343g4CwSQL5pOTP1LrOYfkBW31T7EzTySaHgvBySJcy-Ov4TP3omTXksKEruD2nCsjkHBOx6PmT9oyO9T1Z8Ht3ZnUl8iir7kQfIHyjyM8SUrXwTXRzklkajM0NFTNPNGwt5PCmbx4jvuO_uFKlbWQLGeGuEmhn-Y39fjbJ77lSbzREDZND9VkDX2pQ71UR_GNXdTYQz0iyoamkmSVjJm2UW2h2dzqAuQ2oFzJQWFsnhbtv69DgXJw==",
  "id": "rs_0c70287430397315016ab43f4c476887d0b188522b9ea8f56a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.04},\"note\":\"With the other arm clear, the gray elephant is centered between the left fingertips; its trunk and large ears are unmistakable in the wrist view. I’m descending to grasp around its torso.\"}",
  "call_id": "call_v1Yc0rV71rfrNBnyNYQpMkDb",
  "id": "fc_0c70287430397315016ab43f4dbfd087d080acfcf4558e1591",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_v1Yc0rV71rfrNBnyNYQpMkDb",
  "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]: [-0.0799, 1.256, 0.382, 0.1406, -0.139, -0.0593, 0.9983, -0.0525, 0.9535, 0.767, -0.5934, -0.0605, -0.168, 0.9984]\nstate[eef_state]: left_x=0.3248 left_y=0.0021 left_z=0.0498 left_yaw=0.0557 left_pitch=-0.1653 left_roll=0.06 left_gripper=0.9983 right_x=0.2947 right_y=-0.0012 right_z=0.1677 right_yaw=0.0881 right_pitch=-0.2188 right_roll=-0.0724 right_gripper=0.9984\nstate[joint_eff]: [-0.212, -2.8513, 4.2872, 0.9988, 0.1197, -0.1245, -0.0611, 0.1162, -2.3316, 6.9812, 1.5409, 0.0366, 0.105, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc8db0ce2aceabcb17ceaf029db1f536d253effe880f568da1506fa1ce16136b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0391a50a2522c9898de67a44d38e08e972e515893452c3bdf5428677024c4f67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13d956001fa25130076cbbb86fe90c8bed2735c64ed919c1103bbab10e62ac79",
      "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 17 attempt 0 · /responses · status 200 · 3.795 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]: [-0.0685, 0.9161, 0.7662, -0.561, -0.1188, -0.0605, 0.9982, 1.1538, 2.0487, 1.2892, -0.3393, 0.7208, 0.8013, 0.995]\nstate[eef_state]: left_x=0.2976 left_y=0.0042 left_z=0.1841 left_yaw=0.05 left_pitch=-0.1446 left_roll=0.0429 left_gripper=0.9982 right_x=0.2866 right_y=0.368 right_z=0.0407 right_yaw=0.1172 right_pitch=-0.174 right_roll=-0.0771 right_gripper=0.995\nstate[joint_eff]: [-0.0342, -1.812, 6.8991, 1.6239, -0.1197, -0.0562, -0.0122, -0.8821, -10.441, 8.0615, 1.0379, 0.3785, -0.0366, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0799, 1.0878, 0.5568, -0.2012, -0.1265, -0.0669, 0.9988, -0.0486, 0.9516, 0.7677, -0.5911, -0.0483, -0.1509, 0.9981]\nstate[eef_state]: left_x=0.3226 left_y=0.0001 left_z=0.1096 left_yaw=0.049 left_pitch=-0.165 left_roll=0.0456 left_gripper=0.9988 right_x=0.2951 right_y=-0.0022 right_z=0.1688 right_yaw=0.0718 right_pitch=-0.2144 right_roll=-0.0692 right_gripper=0.9981\nstate[joint_eff]: [-0.1709, -2.988, 5.8462, 1.8095, -0.1099, 0.0122, -0.149, -0.1709, -2.7556, 9.7709, 1.4579, -0.2125, 0.022, -0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0799, 1.256, 0.382, 0.1406, -0.139, -0.0593, 0.9983, -0.0525, 0.9535, 0.767, -0.5934, -0.0605, -0.168, 0.9984]\nstate[eef_state]: left_x=0.3248 left_y=0.0021 left_z=0.0498 left_yaw=0.0557 left_pitch=-0.1653 left_roll=0.06 left_gripper=0.9983 right_x=0.2947 right_y=-0.0012 right_z=0.1677 right_yaw=0.0881 right_pitch=-0.2188 right_roll=-0.0724 right_gripper=0.9984\nstate[joint_eff]: [-0.212, -2.8513, 4.2872, 0.9988, 0.1197, -0.1245, -0.0611, 0.1162, -2.3316, 6.9812, 1.5409, 0.0366, 0.105, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc8db0ce2aceabcb17ceaf029db1f536d253effe880f568da1506fa1ce16136b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0391a50a2522c9898de67a44d38e08e972e515893452c3bdf5428677024c4f67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13d956001fa25130076cbbb86fe90c8bed2735c64ed919c1103bbab10e62ac79",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD9RbNGUEe85bgjIs6Q4NbV7uYNy5ZLCD4kNEGnOdhPw2l9UvlQvwa3xLmwonpQGPVpwbO0gxPbWf9t3JmpmNcX2ZQCLYVXJmVyppLtv__PEJq1kUnI_iZNUeMEFZYKvifkYGTRAAGYs6SJcmkIKKZlTu4iU96FOKslGWGDLcyoa-JvvsJNFN2g28kx7wTI8CsIYIYhbYoM_ME2NKrp91NniZBNiv1uGUvRrmAmNwgY46Vx_TVRMTkP3gq21EWP0bkHX5wgxctE3ISz3Zmyn9W-8sxr7icvNsjxQnj8JjTMN7hiGQW0nKky0sfypesvjykJJD5g58ffBsWyiD76628_a6HaskeHO3A-CVL4UBnaGawiRSf8oVX5-Sc21W2Pi7uOO-1GR-AaFFAVj72f_DXm8mfUVwpQHB2jYIhW93VSg2mYB30sf583akMHzDNq96V_-so8-fuYY2EBjnE1z9ia2kn6Yd7k3dQKpiUk1mz0QX5a9O8DJcWdQW9jajYeQ_ow6gu1H4l9rRdzuMoYpvfkZcK5z5An-VK-5DYwNnkI1xT6zxwdztzvA5QOUGhsIXk299RsvGl8iEUJp4ouz1UlXnMki5uSkTigd2ti5TpaedBI3wypE9_JuXqXfrbwEpgrj21i220cdInbyR5SDzSDpTszYYkrqZi2Gu5ehbYC7tm2MVoPUZxdyJY4Ub-ZYuJPEXSBwZBX8s4WmBqOzRoCIsH6trFCr4JgX_spMgK7POw2whyj2eLeZ59rmdMUcKOsQNFxNhpqZpVtaD7kXdbxsP31uUtfwxL8lbojrvYH2gqMG0Ul-GSSkBKdWjyr-RYuCmPmpMPwGPpnlBRNUiRQgg_TEJoQevMfmFoPEsCfg3CIyNXs8FNcfK82tOWZO_Xlmm7dI3uQuKYAqR7YJCJWXMWoPGXSUM-z0HiS_uwmy1xdeOn_64pLfAR4C6WVECBO4nTyMUSoIO_bIbvssWWVYFQUVjSHJjgeau6MUFuvHdBD3HvX3vIpZjH1wcqA1wQ7n3wfXVThRkAzCCjgDbQFiJpIR7Eje1KSgbgvRwlSbex1MjEzfv0x_sYW2VWGcjc16PDhWcQUP8wg_uWaUWoT1kve3A97DUoKEarDYkOvihLsxzxRRrjotQWLAYYKbM8WfGRdQipwpxp_iqqMGAZ7Zwr_5mZOtYfXSnQ3dh3CLXfaHNFHV6xe_f2Ut3scYKS-OPD0DWZoYP_BUoeM8AUBt391nWCZvuvMgB5DIiQ8llF3tT-EiRVpgGGUHsqiB0DsyweaCi1JHMpujwg7zEcQFH14IfHInRrtycZaB-1XBehQBzWrBkxq9fVDhYS1CgYTBGBBZX8e2ZwLi0DrNBN-IhDeo4_PbUb-QPAnqRGbcZBwxQHIvAH7x-Dw5vAeMpBma2Ww6YqwollLyPkHlgPaUovzZd3786s8CuR4V9rgHMSIg8b6VBWTC3kZ1F7quSJVji1x_1vefPVIeND7_rW0lzuDUdlabGL3XYy5k6xQyKUkCZHx_uOLHusG6jsxhP5a22Sqrh6rMC-VpdJzss2T0wmqTDPVHtfpW0LHq1ZxkCsBDbVLyaU6L8tAlScQ1jCuOYLzIDmvPPVKVA29cFSlJ3g==",
  "id": "rs_0c70287430397315016ab43f500d0887d0ba169699a29bf9ea",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At the lower pose, the elephant’s gray torso fills the space between the fingertips and reaches the grasp point. I’m closing the left gripper around it.\"}",
  "call_id": "call_V4wF882lBY9n7RLP2CE6ktFu",
  "id": "fc_0c70287430397315016ab43f50f0a087d0a852a63e2ac870a1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_V4wF882lBY9n7RLP2CE6ktFu",
  "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]: [-0.0792, 1.2564, 0.3702, 0.1967, -0.1532, -0.0589, 0.014, -0.0528, 0.9535, 0.7654, -0.593, -0.0612, -0.165, 0.9984]\nstate[eef_state]: left_x=0.33 left_y=0.0045 left_z=0.0557 left_yaw=0.0673 left_pitch=-0.1206 left_roll=0.0633 left_gripper=0.014 right_x=0.2945 right_y=-0.0012 right_z=0.1671 right_yaw=0.0867 right_pitch=-0.2198 right_roll=-0.0695 right_gripper=0.9984\nstate[joint_eff]: [-0.1299, -3.8222, 7.1043, 1.0769, 0.0952, -0.0317, 1.116, -0.1436, -2.1949, 6.9675, 1.5018, -0.0904, -0.1001, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10cf2f4f230ae8a53539a19b0b6baef91c81ebf765bdc33c9f85f111346d65be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:298f069f85f1740456364018310d7651cf4e91bb6b25ebbe0083a2f5fbb341be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f09d16f118796ab77c07540fa4c5541ce7ccab67fd04327d72925453900f10e5",
      "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 18 attempt 0 · /responses · status 200 · 2.021 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]: [-0.0685, 0.9173, 0.7662, -0.5621, -0.1188, -0.0605, 0.9982, 1.1522, 2.0487, 1.29, -0.3355, 0.7052, 0.7963, 0.0128]\nstate[eef_state]: left_x=0.2975 left_y=0.0042 left_z=0.1836 left_yaw=0.0501 left_pitch=-0.1469 left_roll=0.0431 left_gripper=0.9982 right_x=0.286 right_y=0.37 right_z=0.0397 right_yaw=0.1275 right_pitch=-0.1838 right_roll=-0.0695 right_gripper=0.0128\nstate[joint_eff]: [-0.1983, -1.9761, 6.8718, 1.6288, -0.1099, -0.0659, -0.0122, -0.0479, -10.6188, 5.7778, 1.072, 0.4762, 0.0611, 1.1209]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0799, 1.256, 0.382, 0.1406, -0.139, -0.0593, 0.9983, -0.0525, 0.9535, 0.767, -0.5934, -0.0605, -0.168, 0.9984]\nstate[eef_state]: left_x=0.3248 left_y=0.0021 left_z=0.0498 left_yaw=0.0557 left_pitch=-0.1653 left_roll=0.06 left_gripper=0.9983 right_x=0.2947 right_y=-0.0012 right_z=0.1677 right_yaw=0.0881 right_pitch=-0.2188 right_roll=-0.0724 right_gripper=0.9984\nstate[joint_eff]: [-0.212, -2.8513, 4.2872, 0.9988, 0.1197, -0.1245, -0.0611, 0.1162, -2.3316, 6.9812, 1.5409, 0.0366, 0.105, 0.0171]",
      "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]: [-0.0792, 1.2564, 0.3702, 0.1967, -0.1532, -0.0589, 0.014, -0.0528, 0.9535, 0.7654, -0.593, -0.0612, -0.165, 0.9984]\nstate[eef_state]: left_x=0.33 left_y=0.0045 left_z=0.0557 left_yaw=0.0673 left_pitch=-0.1206 left_roll=0.0633 left_gripper=0.014 right_x=0.2945 right_y=-0.0012 right_z=0.1671 right_yaw=0.0867 right_pitch=-0.2198 right_roll=-0.0695 right_gripper=0.9984\nstate[joint_eff]: [-0.1299, -3.8222, 7.1043, 1.0769, 0.0952, -0.0317, 1.116, -0.1436, -2.1949, 6.9675, 1.5018, -0.0904, -0.1001, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10cf2f4f230ae8a53539a19b0b6baef91c81ebf765bdc33c9f85f111346d65be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:298f069f85f1740456364018310d7651cf4e91bb6b25ebbe0083a2f5fbb341be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f09d16f118796ab77c07540fa4c5541ce7ccab67fd04327d72925453900f10e5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD9WfiTsj7ROoepGbYb4AjLYdvsVaGSi3uKYHXYgPa1jBfezfjP-kc3rEH2szcmqKarTOhB9ZAO6YX1nMmXimLUryTojiy_8-7ZGnieRSHdcMassCQt-u2fFn_6FMlm6XTcWIjwW4yzxVRnd22rBSn3myJIOPzqbmh2ZhSvvdbWnIg2f2D_HGSp2rPfuAfbVNOk2BXszaxasyMpDSuWuVi7Rp45HlMflXm4TRKUD6cj3GoCvPWRC1TWsOzOqWQ6T20lWst6_QdLB06mpyGScZ5a6eiwTFVIa5PvnXXguZ1X3U9BcpZf2xACqjssbSC3jp6J-CliLRCiS5NrYT95bTpp7eBopgF9kKoXDr8Pv_ubfm209gF-YSS1ZShnhFs1NZmEVUBsNHFxm1cU3eV7-A76VB0hG7-5R8bCrv_bNZ1sim6do2hg3hCPZBas56IqNxy6UT5_L08kEOrfEqv_TXHbQvgXwreaJ4H_9g5cK_DlzdAo06HFDa3VEV4vA_u1vfvdQE8_eYOPYoSUAp5lOJeAZepByrlTfHL7lXs2SoZ-MpeLsfPUdKxsKJxk7n_FfSdIB6FD8v6TSpQnX9WSz94-jTHxHVhLstWA3QUivyJmK1PcRKsUxNZTfQOtEaEZpnO2AQfNvF7rZLqAukCzMvfxscRJ0o2uFXYEi_xZXrpbGgCPbjbuXdLJkJeFPnSLF2tk7eKtZokLFU01b4Y49qHf3DXZC2laYcKZTleYM9xCY5dZUUyDmVGBnUfbm75RBitFUSkCjb4JtFoQW70xb8h3eO4R0tzJqS3pmmHxSfXrtFmyskQPET_UtIB7qMz8pao35917cgSe6cp59jHeZrUCZEHI3krU4RmOx5KAMXjXI71Wxg46khmBzZp2J5BL78tlOWyw-j8AlH1S7eQUJoiKGXGf4RdD4x1IDN5DBK1Kth6_43zXyHeYUauPDYKgJmjZPR7z5QRhM3-nbd7s0v_5rZfHVGkdMalMQimUy4iukFgMuGZnhc8jav3VwBrSCwOR4lMM5UsjTazPOTEHS-XqSRZfhj1Yi8RIG20HZcledtT9HOnqibYSgFLDhF9XjHgaB18AWYAcyLhoeTop3cjN59ZOjFAYKZhBX9nJ4SVlzrdSGmhYt8HAxwBiyUgqJx3j6u3_A_JONQ6xA7aIZu-wTRR_2z1z-sevV1Ckh6MGVtaezzgbppFcQvq-VCszjaeoN174of8jUUKMjm4vR5BmyxRwn20QoANaxxd-K-XFjjPKVaKQy3f2Tk0HskNJO_mjCcVdpkk_O6Q4j8i5qjCrRhBJNyXNgVVrZ3A8SgArrei-vH8fRP4Oy-e1rhly_I1Pvopi_PulLVIyH4roc1BRUe4u7oy4FaYK7PQ7i4hJPB4FakTvIY8RokVMejnDHqx2H",
  "id": "rs_0c70287430397315016ab43f55554487d08125820a81673cdc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_z\":0.055,\"left_gripper\":1.0},\"note\":\"The left jaws also closed empty; the elephant stayed in place, confirming that the wrist camera made it appear closer than the actual fingertip point. I’m reopening and advancing 3 cm outward for a single corrected grasp.\"}",
  "call_id": "call_vFbYjbrdiHnCKBTSmqpmjRGi",
  "id": "fc_0c70287430397315016ab43f55bbf087d0bdf896c252b7537b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vFbYjbrdiHnCKBTSmqpmjRGi",
  "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]: [-0.0769, 1.3907, 0.4454, 0.2558, -0.1547, -0.0566, 0.9953, -0.0528, 0.9554, 0.7639, -0.5934, -0.0612, -0.165, 0.9984]\nstate[eef_state]: left_x=0.355 left_y=0.0036 left_z=0.0528 left_yaw=0.0697 left_pitch=-0.1205 left_roll=0.0661 left_gripper=0.9953 right_x=0.2943 right_y=-0.0011 right_z=0.1658 right_yaw=0.0868 right_pitch=-0.2236 right_roll=-0.0689 right_gripper=0.9984\nstate[joint_eff]: [0.5538, -3.7949, 7.6786, 1.6044, -0.0122, 0.0366, -0.0904, -0.1299, -2.1128, 7.0222, 1.5018, -0.0708, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4282c7487e6769d9dd3dbd59a290e739b5d1f088061e13efb1eb13cc344f29c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4f2875abc0c97a606cf269a11c22db98d0590e0add6b2b2e011026bd48a986a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e431c55ee7d29989c199673f3ab1b685d08fa6f99788d864a13a6ea385fc93b7",
      "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 · 2.977 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]: [-0.0799, 1.0878, 0.5568, -0.2012, -0.1265, -0.0669, 0.9988, -0.0486, 0.9516, 0.7677, -0.5911, -0.0483, -0.1509, 0.9981]\nstate[eef_state]: left_x=0.3226 left_y=0.0001 left_z=0.1096 left_yaw=0.049 left_pitch=-0.165 left_roll=0.0456 left_gripper=0.9988 right_x=0.2951 right_y=-0.0022 right_z=0.1688 right_yaw=0.0718 right_pitch=-0.2144 right_roll=-0.0692 right_gripper=0.9981\nstate[joint_eff]: [-0.1709, -2.988, 5.8462, 1.8095, -0.1099, 0.0122, -0.149, -0.1709, -2.7556, 9.7709, 1.4579, -0.2125, 0.022, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0792, 1.2564, 0.3702, 0.1967, -0.1532, -0.0589, 0.014, -0.0528, 0.9535, 0.7654, -0.593, -0.0612, -0.165, 0.9984]\nstate[eef_state]: left_x=0.33 left_y=0.0045 left_z=0.0557 left_yaw=0.0673 left_pitch=-0.1206 left_roll=0.0633 left_gripper=0.014 right_x=0.2945 right_y=-0.0012 right_z=0.1671 right_yaw=0.0867 right_pitch=-0.2198 right_roll=-0.0695 right_gripper=0.9984\nstate[joint_eff]: [-0.1299, -3.8222, 7.1043, 1.0769, 0.0952, -0.0317, 1.116, -0.1436, -2.1949, 6.9675, 1.5018, -0.0904, -0.1001, -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 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]: [-0.0769, 1.3907, 0.4454, 0.2558, -0.1547, -0.0566, 0.9953, -0.0528, 0.9554, 0.7639, -0.5934, -0.0612, -0.165, 0.9984]\nstate[eef_state]: left_x=0.355 left_y=0.0036 left_z=0.0528 left_yaw=0.0697 left_pitch=-0.1205 left_roll=0.0661 left_gripper=0.9953 right_x=0.2943 right_y=-0.0011 right_z=0.1658 right_yaw=0.0868 right_pitch=-0.2236 right_roll=-0.0689 right_gripper=0.9984\nstate[joint_eff]: [0.5538, -3.7949, 7.6786, 1.6044, -0.0122, 0.0366, -0.0904, -0.1299, -2.1128, 7.0222, 1.5018, -0.0708, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4282c7487e6769d9dd3dbd59a290e739b5d1f088061e13efb1eb13cc344f29c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4f2875abc0c97a606cf269a11c22db98d0590e0add6b2b2e011026bd48a986a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e431c55ee7d29989c199673f3ab1b685d08fa6f99788d864a13a6ea385fc93b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD9ZS2fRgTM8O9DjVYh99dVodfqLlxpcoE4x4lEIuNYDWWeCfIbiHZwnAKCB9_oUmceQsd2rQ3IjW5jR7fi_GETbNaFbRINbIdOj1hUz_chPqjg0F0kd1KN8qzLW1FsSxC4sH8yzig4IV78gYS8aegeN0WFesmtZ30MXAgx52CkKwuJVgsgCURg1XFKlDVzpvMqUzjj6-lzrKgU7c_Ji1SpVI6-gnE4URHTLFxW_b0N5OleI2on7wTQgq-n1DAQrlEO51qoDurXhTIH6BuFFhp0XZbCxad_ewCZdx5YLTQnpk8kJ-2sTKDyCkssjfnR-ZyTWT_WWMjZ3NsvteJPK1_sD9RiLhB2uPTH7xZo6r5h0sXk00ru6Ya-dpAB2EQMXZF2Glw-YFKzvyR-O9yMQe21v6fFiX4RoL1HUeiMrkX22nR0cdxsBfkEYEFs2aOy9_8x1oqkPbTeM7X7fVTtuEZ_b5nd6DuOzOFxa5a9dFOMv_SjkOKucCB7FawkUjNvsgjZyEMyPh49LVtr0FaM-6LPxxgoap5Dn5yrr_qg3P1wrKfYVlkpQyeYzsObTKMIxpyxEpBOlN6sE5Ji3S2vwrfhtJpv0i_Kcrahfh9Tri3Pnwx0uhgyWERs6Gx6U6_ZMRNBO0j7LGp0PhLA_ECk7LW2LOHvVXKOK3HZZ1ecYK4b7PYnh06yAZvMn2GX0NyeMeosYsl2ZgXLCSMdxnU0O8PqNjZMKeSWwPI0wJkOMmu9nKyBEVCjDDqKge8V41P7yWi3qRiPSGrapmO6wxQFzgeSgCc2SDGpzvPotxzK9_s84FBcbvnp-w1ub-J0ORErQA4EET1yA_94exCVI9Di00_sCWUw9IvKjcleeuL0P4BEFe2mPmXLPnFpnBzRLaW65eNnRJN9DnDVhqJTxoY-yiYW_gXPrqgywZfCcDz73TA255uRj1uJ3ogACtXqtlx7PSED7J4hvFdtC1RcfSUVUD8y2R9D7pBi-VrRiIomUE-5Y4_t2jQgxiulN5-0KkxVpUvWaMFD1MruGMxTundIH9VPm6CD6uq8R2OjUKAGMEoUPcGcM-eLkK7lWMZ-iVd7JiOG0Hq_n8QWnoPvPQcllt7CbWNRbg_Tbv0dlSbrdb1r9VNQWSdmgOdRJQxoHWddXZIM5bqNN7ULtNeacDrqREs56j_y7JLd_xA5uSrOTIPiVVCkGNI-KtUpRoSFK09CUvH45c4jwRqMrdSx-4wcVaEYr-T3e1ykP5mio5pHMy_F-Vt8=",
  "id": "rs_0c70287430397315016ab43f58abc487d08b09d051908c8dd4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"After the radial correction, the elephant is now deeply nested between both jaws rather than just ahead of them. I’m closing for the corrected grasp.\"}",
  "call_id": "call_uD7PLd0W2T2adnumAPI7XjIK",
  "id": "fc_0c70287430397315016ab43f58cd0087d0b60ba8784ceeb5fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uD7PLd0W2T2adnumAPI7XjIK",
  "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]: [-0.0772, 1.3949, 0.4496, 0.2649, -0.1604, -0.0582, 0.0296, -0.0528, 0.9554, 0.7639, -0.5934, -0.0612, -0.165, 0.9984]\nstate[eef_state]: left_x=0.3574 left_y=0.0042 left_z=0.0548 left_yaw=0.0748 left_pitch=-0.1109 left_roll=0.0671 left_gripper=0.0296 right_x=0.2943 right_y=-0.0011 right_z=0.1658 right_yaw=0.0868 right_pitch=-0.2236 right_roll=-0.0689 right_gripper=0.9984\nstate[joint_eff]: [-0.1709, -5.1897, 5.3949, 1.5653, -0.022, -0.0415, 0.525, -0.2256, -2.1812, 7.0906, 1.5018, -0.1001, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f7b612438f705dc521f8857f30d12faf714c11ac8e03510fec65a0747d971e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5094cfd8fa0471d54351517212c64e8fe29c7a440281cce498becd6a4514038",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d9190523c91f3ecd509d4622e2771659239f4c6712ba85b8a900da3460873b7",
      "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 · 4.294 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]: [-0.0799, 1.256, 0.382, 0.1406, -0.139, -0.0593, 0.9983, -0.0525, 0.9535, 0.767, -0.5934, -0.0605, -0.168, 0.9984]\nstate[eef_state]: left_x=0.3248 left_y=0.0021 left_z=0.0498 left_yaw=0.0557 left_pitch=-0.1653 left_roll=0.06 left_gripper=0.9983 right_x=0.2947 right_y=-0.0012 right_z=0.1677 right_yaw=0.0881 right_pitch=-0.2188 right_roll=-0.0724 right_gripper=0.9984\nstate[joint_eff]: [-0.212, -2.8513, 4.2872, 0.9988, 0.1197, -0.1245, -0.0611, 0.1162, -2.3316, 6.9812, 1.5409, 0.0366, 0.105, 0.0171]",
      "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]: [-0.0769, 1.3907, 0.4454, 0.2558, -0.1547, -0.0566, 0.9953, -0.0528, 0.9554, 0.7639, -0.5934, -0.0612, -0.165, 0.9984]\nstate[eef_state]: left_x=0.355 left_y=0.0036 left_z=0.0528 left_yaw=0.0697 left_pitch=-0.1205 left_roll=0.0661 left_gripper=0.9953 right_x=0.2943 right_y=-0.0011 right_z=0.1658 right_yaw=0.0868 right_pitch=-0.2236 right_roll=-0.0689 right_gripper=0.9984\nstate[joint_eff]: [0.5538, -3.7949, 7.6786, 1.6044, -0.0122, 0.0366, -0.0904, -0.1299, -2.1128, 7.0222, 1.5018, -0.0708, -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 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]: [-0.0772, 1.3949, 0.4496, 0.2649, -0.1604, -0.0582, 0.0296, -0.0528, 0.9554, 0.7639, -0.5934, -0.0612, -0.165, 0.9984]\nstate[eef_state]: left_x=0.3574 left_y=0.0042 left_z=0.0548 left_yaw=0.0748 left_pitch=-0.1109 left_roll=0.0671 left_gripper=0.0296 right_x=0.2943 right_y=-0.0011 right_z=0.1658 right_yaw=0.0868 right_pitch=-0.2236 right_roll=-0.0689 right_gripper=0.9984\nstate[joint_eff]: [-0.1709, -5.1897, 5.3949, 1.5653, -0.022, -0.0415, 0.525, -0.2256, -2.1812, 7.0906, 1.5018, -0.1001, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f7b612438f705dc521f8857f30d12faf714c11ac8e03510fec65a0747d971e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5094cfd8fa0471d54351517212c64e8fe29c7a440281cce498becd6a4514038",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d9190523c91f3ecd509d4622e2771659239f4c6712ba85b8a900da3460873b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD9dgoS6hkACaa5FOFUso95uTyUwl15Umeb15UEdFqMnGmoUXYf0Elv9Bt9yBMUTRAuKDLgHQeX0y5h8huZPEmif49kkFiCE0xV3ueP7O8GoMPeM_-G74onzfzVI6zZODGy9Ck8-vqpX-x0thHo0vO507r76X3h7KNu7CblKwY4HSTXZGGY1MzIMMtbNWPkXKXHHth0soHG-keqIm-aAmkz29zX37y46LxXuCdIUgVHayMazt8wsa1hezBIlwQkERPH7wW3xJcZVascJfpCpR47a9oPoromF0C7I6pdxG0BUrU71Vs44m2To1051_e2WdiQcffXDfI0yHe4o1bg9Ze7gG-KuAYRxccqFM6AN6OJcQehrSR3GSID9iLp65WtQApDUogIdK26BSBy38-Lhh_0x1_svA0nii4e5eMi7TK40sNH3d1QnU9cUOnhXrj8enU8vnPT9iVplsWD6iLXKMD3BsYZBKE4A1oYcDzQd2VUr3ugSpqrXM1LuSEPvbXV6Y2NRF45AgpymXIy61x3SU5cChT-FhsQ_YF7HAs-XqIgQgFUcZOMS65jk7hFX6-CUvSwcCUrKDyG84lG5rfdDZulxVJ5ZeIS473ANjMn9ZesYqKtQl8VecnF_HPPGXFJ4PXCC026DW_OAuIyBsXQUxXBon31zCLMi6kcLrrDT-gwofsH5SyX1avV3ZGtmvwIP3_Kvtd_PVB6ATlfiL0OeW5iEIt8empCNwpKbWYmUutPn22wKPK-O0l6Z1or8XFgKFtnkj7_o9ez6C-GEBTc7usWIaLbdXX7qZRV5QQLNbzx7nMqEx6Plm0j_Hxe_dFNIpgipzJUeKF6QT1DSoH8fWKI7J6GIvuOj93xWRYOBZREw-T7fhhQTDkwZ9xX79a7OY8N-upkfIso89vln9Hi_W6VniPW-rCIcVTjkFws0TKUb9Sq7zLrJFq0MOQ11Fd8ddly7Zll_EHBuHTlr-fat3iZF8nPs6sRkZ0qhDBjXAD4F-gWKGb1c8qdXs-YzV59iS6lDvaPIV9_QnfirrDXp1ZMPbeTacRI29SzniG4PB4F2nAqSLjgZ3b-Fnssh31X0s392jG24C17vajdn5WpTb4W1ARwRQgL7ny30IQFOwXxBEoyUggj7JNPz1IrT1DBJYRnBwwJotRguHd0egyIMPnT4OWXVcPov_OSmQDpHoN7W9aWGHQOHK6QG37dvdFYb-W9AmoRttjl2aqLWM3CznQ4Ce7ogeRyUNrfgE3uD5NjR-S2PoCXltoBPiF2dh0Uf7km6TejdBX4HYNDhfJJQCXpcdRDFLWZNZBgQh_j0SvXRY5hAmuedGdQlFwBTB8eNLog4F9T4Z_8hQjA-UBSrPZ_zzv34B_JnU24D6Qt3Y5wJIZT3Wl7cYlD1s0x_IQSypDIE7l8QS-ofTL9kAwrHKrFoIPlybTgeXyKErWc_2ky_nNrPFOByD8cXfQa2ki2AyROUlV-Y_V__fx0f8u3cOi7jBlwkb4dU9b37nq8GGpVH6Z3YPAMGfMPeY-0yD1pX8d12NRATPruzIRgrEqFztdBgcOcyiim6iGaFiTjnUbh99MiqSMNc2wtn0p_p50oaw8cLWTf929suLVuuE424WRaKqsAjRF-VUPJqY91Vp09yuo2PsZwsOqUXdayNmhLt7ypL",
  "id": "rs_0c70287430397315016ab43f5b9eb487d0b92173f7d1b0513c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.13},\"note\":\"The gripper reading is borderline-low at 0.03, possibly only an ear or fur, so I’m lifting straight up to verify whether the elephant actually follows before transporting it.\"}",
  "call_id": "call_heIkcVGRoZ0qeCATo7ftaTSe",
  "id": "fc_0c70287430397315016ab43f5c97e887d0b72c2510cf290d7f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_heIkcVGRoZ0qeCATo7ftaTSe",
  "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]: [-0.0772, 1.2285, 0.6186, -0.0589, -0.1604, -0.0635, 0.0381, -0.0525, 0.9577, 0.7635, -0.5934, -0.0612, -0.1646, 0.9984]\nstate[eef_state]: left_x=0.3599 left_y=0.004 left_z=0.1181 left_yaw=0.0775 left_pitch=-0.0993 left_roll=0.0611 left_gripper=0.0381 right_x=0.2943 right_y=-0.001 right_z=0.1651 right_yaw=0.0871 right_pitch=-0.2262 right_roll=-0.0683 right_gripper=0.9984\nstate[joint_eff]: [-0.1162, -5.4222, 9.0325, 1.6728, -0.1294, -0.0171, 1.0281, -0.1026, -2.0581, 6.8855, 1.5067, -0.0708, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75d26f2a623b66120abfa7af4c7de41e38a913d9a95a9ae19ff3a2115f792efb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c6c8a5cf054eb3292200fc44106e3a87c9be0e3a9d7e490339c4bc067609f8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1530d4d836b06ed3401d43e3a9ae0b4e58c9b934667337e72fbf6acd07b5d8b6",
      "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 · 5.396 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]: [-0.0792, 1.2564, 0.3702, 0.1967, -0.1532, -0.0589, 0.014, -0.0528, 0.9535, 0.7654, -0.593, -0.0612, -0.165, 0.9984]\nstate[eef_state]: left_x=0.33 left_y=0.0045 left_z=0.0557 left_yaw=0.0673 left_pitch=-0.1206 left_roll=0.0633 left_gripper=0.014 right_x=0.2945 right_y=-0.0012 right_z=0.1671 right_yaw=0.0867 right_pitch=-0.2198 right_roll=-0.0695 right_gripper=0.9984\nstate[joint_eff]: [-0.1299, -3.8222, 7.1043, 1.0769, 0.0952, -0.0317, 1.116, -0.1436, -2.1949, 6.9675, 1.5018, -0.0904, -0.1001, -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 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]: [-0.0772, 1.3949, 0.4496, 0.2649, -0.1604, -0.0582, 0.0296, -0.0528, 0.9554, 0.7639, -0.5934, -0.0612, -0.165, 0.9984]\nstate[eef_state]: left_x=0.3574 left_y=0.0042 left_z=0.0548 left_yaw=0.0748 left_pitch=-0.1109 left_roll=0.0671 left_gripper=0.0296 right_x=0.2943 right_y=-0.0011 right_z=0.1658 right_yaw=0.0868 right_pitch=-0.2236 right_roll=-0.0689 right_gripper=0.9984\nstate[joint_eff]: [-0.1709, -5.1897, 5.3949, 1.5653, -0.022, -0.0415, 0.525, -0.2256, -2.1812, 7.0906, 1.5018, -0.1001, -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 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]: [-0.0772, 1.2285, 0.6186, -0.0589, -0.1604, -0.0635, 0.0381, -0.0525, 0.9577, 0.7635, -0.5934, -0.0612, -0.1646, 0.9984]\nstate[eef_state]: left_x=0.3599 left_y=0.004 left_z=0.1181 left_yaw=0.0775 left_pitch=-0.0993 left_roll=0.0611 left_gripper=0.0381 right_x=0.2943 right_y=-0.001 right_z=0.1651 right_yaw=0.0871 right_pitch=-0.2262 right_roll=-0.0683 right_gripper=0.9984\nstate[joint_eff]: [-0.1162, -5.4222, 9.0325, 1.6728, -0.1294, -0.0171, 1.0281, -0.1026, -2.0581, 6.8855, 1.5067, -0.0708, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75d26f2a623b66120abfa7af4c7de41e38a913d9a95a9ae19ff3a2115f792efb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c6c8a5cf054eb3292200fc44106e3a87c9be0e3a9d7e490339c4bc067609f8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1530d4d836b06ed3401d43e3a9ae0b4e58c9b934667337e72fbf6acd07b5d8b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD9io6ZK4bswYJCPPC7NWYCRJMYMgQ_keK2fdrLBxxJYDvzoWQ3vAwMXHkFWkNooBhNtl14J4vrkphIpnYf2UZt-WHMicPUnpz1XeJ9K_KBEw4OsmmkH6vsB5c_4vbrmWXE9__qQQacF5Vx7dRm8UaigvDyQ4QjNdXqf5RcPTsgltBKaKIITVBqkaEZmFhQexzsARU9aba1ihEQmDpO_vk93vrHFMI9h2As87knZE7ICcn755PbXRAHGYNmbw0AKjNVRxj-KkvJHxmQVpkr9Vj7_mN5LR8-YcHSHitsR6Lk5Y81nIit2LRV8fUaUM_X1pLp0kKl914TQZH3QL7Vpmt9aveJ66wCy1M3_IBd8gtYVnlWeft5I0V3fu-YS3ShLksz1R9OPyIxIcv6ueC5yDq96V5F4bW_xDY-RmK6vMvSMTioo74Th6AjTrjiCqt-QVqNZei3yYEjyWAbnD1wz9FLdPrC8xCEwdFyub6kjR3tCb3sts6UJghd5rT6sEn1B5LzT2YtqxlJgvgpUSxcOZh5v8-Qls5wEcGW1kUaUUcxUiFClRTiSGzEmH_mMoUISmL42XCP5okipmXRkqWqyuaffC4GWe8MSUCp5pV106G4E43ZIjbL_wxhq5pEaUwSIVSZaalCNco_5h243GbTQGLyrxr4NKUAO8XjogSdA3sUgcgqbsqvxoNgiYCqqKXYkjqJl0UaOgkiMKkr423j41O28c2HAUzEBdNOMt20mmDbt9fzIYiN2SitytSimxIMZ_keSAskQn8wI_jT9ti7tgza1uw7EEdYJ9QXgeT24_h6ZCJTuKDohEYsx9d1gQDtohKE0vZ0SPIpFIK-YbIEN_22bk7T3NRwuhyF76dCYx41kpayBAYz3cAhRzch3Sbpdvh-C3ejukhhcsBB4TxYiBBWKIwZtEh07yHYz-sLeDisBuQfv1Uv1VH50zT-T8K7b1IlRVZh62LwwC8ehbtTRecg0a8FQdfjfIdg4089G4U-17E9jtg1PXN2AE71wQjWewnW5mN03EaCxqd3T4z2gL3ACFplEDb7-bFd4_CQk2zB-ja5cEZNCFG3CEdJWLVNjlNWz_RUpNk4AZ2ciUXHw9_RCRrn7_tfZbVaUYrwC3NoVDbIyXg7hdlgI6C3vb2AXv-dqVwe05hMSnlSaF_9cou3qFr1SOdjzRQF-hthTsrBQRZzmQkrUZ8plQRb1ZLvDFMhe-sQQS1piMGxfX8Q8yl3ObgwVKsgSwGzyivmLcejqNFq14xrkiT26MQhyr77e_35NuSm9wlvN11g7hjnShtjG4-a2a0NOXuQS4TGb3zgw3gQE53uSp6_pZdGVCwbIrZHPib2Sxm5sEz_wpTGcSNDEH32--6q0PKKL95ReLAZGl-z9L3NWL6_5zi_d1dTNSeWMvS5MVdaaCcNKUYsJ4Kdtarvuia83q8xq9Lh4hO4sYBtB8T-u3rS3W2ifFa6t-hshw1i7IIuNtQycPwIV6ZOThT0lhb3RNvk_jGt6EGMFAJsWJOv-p4NS-js4mqeDRwG1xLrZg27FgVnpCxbKl1jYIx0HRHKXTh_uslThVXEjGh1s140jAIWhQ2s2Wr2xHfQQa9TBNugCeiH0qbqhIZ7un8giaDj8_CEyKvNle1o05pxoOvRUhG8zouZ6qJaHvZ5ljU8v8fQQ-2QJuUH36h9lTmkroG1LFJ3PIqWm1TUDFp6_4QDXUzWJa1U-R6NH79SVDmOsRhP_BDsp7JttO2rhLRNvhFLOZspvs669UxlNpkRPPoYk8UMXXusWQAnzja79dhqaGu92Y37nUmilcklr2RRD7khUcJTZXSgWVmg-mUq2EghngtTGKoL-NtlE39ZiZzxVQ_VYSygPiSaWINuiKkqu9LCF8Y4J4Z-taxL06heWOjZj8LjoiVHh0xcJ1OQwF7kvT_94Zu89nF5OKgrhtE_V7xGlENN1e_sRgakLiCkq5LYHaZrZWtREIqfv-6RZABZcfP-o0PuKzO1cH2B3u8KFXfsDGSlOYDQU5Ouu7hV7G9j1sNdQtmJjY8QgMr9zG8qhDfq38VkuKBHZC23IMxDkrC5Z1Kqmp7kIxu53NHgEmW1U-PkewaRIHf9HPK4o4K6pz8wQCfwwlix2t1FxhrAbB2eDC-Nd0aZG2CKCmlL8lQEmCgHewoPQrJCJFy2o",
  "id": "rs_0c70287430397315016ab43f5f017487d0af654d6b22bc4612",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.38,\"left_z\":0.23},\"note\":\"The overhead view confirms the gray elephant lifted with the gripper despite the compressed reading. I’m carrying it high across the table to the reachable inner side of the right basket, clearing the remaining bears below.\"}",
  "call_id": "call_tr5wWgK3IU57wVWB80wJBje1",
  "id": "fc_0c70287430397315016ab43f61452c87d0aeb2bd9efec00ab8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tr5wWgK3IU57wVWB80wJBje1",
  "output": [
    {
      "text": "executing move_to over 35 steps (3.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9047, 2.6247, 2.8582, -1.2808, -0.7269, -0.7689, 0.0416, -0.0525, 0.9611, 0.7597, -0.5938, -0.0612, -0.165, 0.9984]\nstate[eef_state]: left_x=0.4504 left_y=-0.3773 left_z=0.1826 left_yaw=0.0919 left_pitch=-0.1454 left_roll=0.0779 left_gripper=0.0416 right_x=0.2938 right_y=-0.001 right_z=0.1624 right_yaw=0.0876 right_pitch=-0.2338 right_roll=-0.0674 right_gripper=0.9984\nstate[joint_eff]: [-0.5675, -16.0889, 7.8291, 0.7741, -0.5934, 0.232, 1.0281, -0.0752, -2.2906, 7.4051, 1.4872, -0.0952, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5611f656edb21f9a7bc75441532a746a334028b9776d533faca6bbeeacd6468",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a8161d348cd6bd1c2619c43c19245a0d053c9e783b95a76d70a17622aa1705a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c818acbf592e13e10276c4cc7eb63ed7246d3b70945cc0bb0dc75add33172fa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 3.139 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]: [-0.0769, 1.3907, 0.4454, 0.2558, -0.1547, -0.0566, 0.9953, -0.0528, 0.9554, 0.7639, -0.5934, -0.0612, -0.165, 0.9984]\nstate[eef_state]: left_x=0.355 left_y=0.0036 left_z=0.0528 left_yaw=0.0697 left_pitch=-0.1205 left_roll=0.0661 left_gripper=0.9953 right_x=0.2943 right_y=-0.0011 right_z=0.1658 right_yaw=0.0868 right_pitch=-0.2236 right_roll=-0.0689 right_gripper=0.9984\nstate[joint_eff]: [0.5538, -3.7949, 7.6786, 1.6044, -0.0122, 0.0366, -0.0904, -0.1299, -2.1128, 7.0222, 1.5018, -0.0708, -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 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]: [-0.0772, 1.2285, 0.6186, -0.0589, -0.1604, -0.0635, 0.0381, -0.0525, 0.9577, 0.7635, -0.5934, -0.0612, -0.1646, 0.9984]\nstate[eef_state]: left_x=0.3599 left_y=0.004 left_z=0.1181 left_yaw=0.0775 left_pitch=-0.0993 left_roll=0.0611 left_gripper=0.0381 right_x=0.2943 right_y=-0.001 right_z=0.1651 right_yaw=0.0871 right_pitch=-0.2262 right_roll=-0.0683 right_gripper=0.9984\nstate[joint_eff]: [-0.1162, -5.4222, 9.0325, 1.6728, -0.1294, -0.0171, 1.0281, -0.1026, -2.0581, 6.8855, 1.5067, -0.0708, -0.022, -0.0122]",
      "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]: [-0.9047, 2.6247, 2.8582, -1.2808, -0.7269, -0.7689, 0.0416, -0.0525, 0.9611, 0.7597, -0.5938, -0.0612, -0.165, 0.9984]\nstate[eef_state]: left_x=0.4504 left_y=-0.3773 left_z=0.1826 left_yaw=0.0919 left_pitch=-0.1454 left_roll=0.0779 left_gripper=0.0416 right_x=0.2938 right_y=-0.001 right_z=0.1624 right_yaw=0.0876 right_pitch=-0.2338 right_roll=-0.0674 right_gripper=0.9984\nstate[joint_eff]: [-0.5675, -16.0889, 7.8291, 0.7741, -0.5934, 0.232, 1.0281, -0.0752, -2.2906, 7.4051, 1.4872, -0.0952, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5611f656edb21f9a7bc75441532a746a334028b9776d533faca6bbeeacd6468",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a8161d348cd6bd1c2619c43c19245a0d053c9e783b95a76d70a17622aa1705a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c818acbf592e13e10276c4cc7eb63ed7246d3b70945cc0bb0dc75add33172fa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD9qV8V82kmbaybiW5WQBKgV0zUija4_CjtuwjpTb797wtQkV2um8ZspHCEeK3g2m4WZjnzf5jP5sDVBaB3vmfFsj6j95FgDOOOijDek-lP5B9rpzT8_AnHb1CmxdZX-QScGvNvP1dQpW1eEKAUl1TJOw64o04Cq6_l9x1QKMxTTV2NffNaVzrnpP6j37_kL8_d85lqj3EE0KPMWIvcGmJJTn8-n_EEZbQ9b9C9hJSFomugjeuNb111ranjDAisK3OVPO5fP3Og9bOOhjYSjKDl_3i3MBhhdRdA9lPcUc3myMwGxlFWtLffGF3KzyzwH-E5OesgD2qfkLcWZjpVcwTyM3hbTkAA05Z2KHkxFCzFw0t7yHB6ol9QNgpDbQG7ZZ97yhGP4jNVFDi51UjsXq5krFQ7ZMj6fjOsobs6I1W4ylaV2wYI1el_d1-INJhvgZmB87b-_5_Rn8OKLPSAycDBKXNdd4Txn_2mrtTSAEuCjdKN_FuIjnLUAqBT9NRwL9Gwv4zaVw6nTWM69VVpA5-IreQGHNz4eiMqBKQ9qe527G5A26kD-SOa6HTkVMEJFU_whr56yi2xH0YiFkgz5BvoXYtIVOLmuTyeEB0nkiEWPBP5GJU5l0k-Ttwz9LRth0eMq7lS_UKCIqVCaizESJs9hh108wVUWviPegV4gGh5NmpzRTkZzJCfXhu3w-suzSYnxn3-Gw_iIqd3a2i7EiKL8PN5XJpB2DpZgq8WyyCnuuUWccPpKcGFjrzYvkaOcyzRQZWJe46v1ofTyu8Qs6wNlHExIkYjeQsoqPneqdBvnG57IsbqmfDqml15_be9A0R2__VaPHU0NvvS4Wo9v-AY5sZFBSaqdXbbCHVLqIx2B3IHkB-iEtuSgOgrzlz6i-7LaXquOQ7RVm9Kwaug5GYZXF8QbkZ28fJfuCXD4TMZis6I7jUCkfTQTr_DeszEn67nYgYOmz98IwbTd7sBCBqyH7AZBsTKTBCC0S9X438JPna1PTsYftVyZZYK_tp8H4adnoKmvzeQ_2Mjkz5pktyf58VAiUs-lcIUvjQx2zxURtB4bMyYnqkMS78ns5R0c9BFvkb4NdTzfD0H3JkQEn--_1ApzkYpjvScBxlPKD5HdQ3AX5nk5WkQTxIi8fuRUYQd2pJgYVwsNTH9kw32c4bv6F0Mm24eY2R34VxOZdF_X2pKwnFdsFOKXQSoMcCoPvuc1HCxh_uoUtHLvozmAeNq6xFtNmzrkhRysiOIYztq6NY8BmKxgcTxlz6v0YadbkuFkmWiHH1DBxcaAgtdf_8_Hw6BdJRthpTIWKjgk6mGLgyVozgE3Ljscicryw38WnPo49xOOFBJeUy7dVkAToaKGFuGukXc3i5iabiGyWbw1sSvsa3IM4XyAs7KalixVxmFoCSJKSFzZ7COTX3PyBBErKmn8PIws1TkTJjZTj2aL0uJ8KsjPp03wEnYfj4w4P0NAGiEGLGEC1O5_hLeFyW61M6lzm7GcuURT0MhPOTJSQ2SRSFxMaSFWBerCQSSFJ_ARcbE6U3k8lJ04sx_P-Kj9os0XgpZlzIdN6f5gzyvYCtJr13ocy--pCVBcn2T_2hxAWBgIFZyZDADp9lu64aBI50ezUDrBts0XO6bGtH7Dq3AUFdhtReZ9QDLzninjZBA_CRGfHp_L3lU2jPzloo60Czg9sP8cAkica5zMbt-NZjXFqyQj03AUFokI1nMRzSou9KxEcLvYReD0zPaRpdRlz-uM1bAjFaFCabhRIVwf1zuYn7I4fjjbPDohSU-0-Gji5Jse9QZFTr56EdUpdeiYcoVqxR-WcRKVnjAojsWG0jovzl6kzOVOaeZK2KL4aQWWPRtbnDhw9D-w5vcvVN1vS5Ckcxi_vkdj1nBnLKGce1dOka_2jyNPmWAxhwbyzxKLfeVrXWIIBvAsJ0bulvBmtMK3MwWOzwhpyt4kEXmzHV01w7RouoCzjnLOuLtkuu70H1jVrLtJQA7IJDgsu3pfRfUb4w5AGDhpdLkfkS5CwLsDcgr-xthX2-KYk-zqEiHA0tv3FctD5qy_tBjVMURvWK5SeX01xU-IAoPxVT2g7VZ0-sSrG_5zbZw2XLgUuiWF7YEooVNMfU2flquFp2DJk4LWm0IkwUcesaO6KakEAh7Qx9Khf2thf6QlhDKjPNegmB-YNBdINvvhwQLlYTjaguaJ46rJR49ci_AMaeGNKOZN1FXsLdcw0tGJCmhMnQdxuw6NDNrHnMM-GIwUQlZpyA9kLsJQ24mAwVw446OpmUssu7PuxgS1s5QMMLcAztP-zxPmmW8I8bXKcQbOrLcWtGCCv-z2a6FdspbzudBFMEE9zXAFbC9p4FylpBo-6BlqUmzel_ILSJWuS4cJAUbzQzyapQw7-Bnv--cCbRiAKvcb50fFQ3pDoJE3geTVZE-HHHOUsJPwkNWzeFy6LPIwl1gApP0OPTwWrlHsINJqDxAQLmy7CdciG7lzdSGylvu8JZMCVWd2Ag28-UGRFO6Tfxttbk0EUEQcKcNwW-kdMRjm9c-84dvtkZcZscxEp5FOA7gHKh-iV6VbbEXOoQc27yQqe3Hu7oq5Gffyi0eB3qaSHUk7VBBSB1ajYnYfuvmezKBUYTECEZS1_5pR3rtwsbwl4rfmNLLdg86cxXqzOLxEllGRIpoGebNsK3VzEy7pd7NbD-jaoDETkmgvf8S4xMvJdI0slS3fwkGBZEtwR4oKu_8zv2NQ9AfrEXy0ZYvMeGRv6qryQWFO6Jl62Wc2tRuKRNI432KNd7jIsMMSWDQNaUgxSw5NefQWXrK09UqHaZTdlfra5CrXtYdMa0T3FTHmT0Gd_LsC25VY_RZJL4l06PdxsdPVxfu7WYtUJcQzOAevRXFPr2YdfryFvsO_QA==",
  "id": "rs_0c70287430397315016ab43f6725d487d080fd2e325a97e0ad",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.4,\"left_z\":0.12},\"note\":\"The elephant is over the inner edge of the right basket, but the wrist view shows it still slightly left of the opening. I’m moving to the left arm’s full crossover limit and lowering so the elephant’s body enters the near side of the right basket before release.\"}",
  "call_id": "call_UjuvYklCwYmvj4IRRp2vqMvR",
  "id": "fc_0c70287430397315016ab43f6a08d887d095a4a238968e25e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UjuvYklCwYmvj4IRRp2vqMvR",
  "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]: [-0.9085, 2.6781, 2.8834, -1.3151, -0.7181, -0.794, 0.0451, -0.0525, 0.9611, 0.7597, -0.5934, -0.0608, -0.165, 0.9984]\nstate[eef_state]: left_x=0.4475 left_y=-0.379 left_z=0.1569 left_yaw=0.1055 left_pitch=-0.1841 left_roll=0.1082 left_gripper=0.0451 right_x=0.2939 right_y=-0.0011 right_z=0.1625 right_yaw=0.0872 right_pitch=-0.2334 right_roll=-0.0678 right_gripper=0.9984\nstate[joint_eff]: [0.0068, -14.6256, 7.1863, 1.3944, -0.4957, 0.1538, 1.033, -0.0342, -2.0444, 6.9675, 1.4823, -0.0415, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad29783a01209fdf8533df3fc453523501b19aa266f3c830dd918c3defce2438",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae332b0edee23f5b9b3a37d053171cfe8ae699dc1fd87366dc0f0e51ed66c259",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f60a1326549bb84c45724d45a9cd69b6f3e12ea5eb69d3e0ffb2a61d3b7576e9",
      "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 · 4.519 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]: [-0.0772, 1.3949, 0.4496, 0.2649, -0.1604, -0.0582, 0.0296, -0.0528, 0.9554, 0.7639, -0.5934, -0.0612, -0.165, 0.9984]\nstate[eef_state]: left_x=0.3574 left_y=0.0042 left_z=0.0548 left_yaw=0.0748 left_pitch=-0.1109 left_roll=0.0671 left_gripper=0.0296 right_x=0.2943 right_y=-0.0011 right_z=0.1658 right_yaw=0.0868 right_pitch=-0.2236 right_roll=-0.0689 right_gripper=0.9984\nstate[joint_eff]: [-0.1709, -5.1897, 5.3949, 1.5653, -0.022, -0.0415, 0.525, -0.2256, -2.1812, 7.0906, 1.5018, -0.1001, -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 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]: [-0.9047, 2.6247, 2.8582, -1.2808, -0.7269, -0.7689, 0.0416, -0.0525, 0.9611, 0.7597, -0.5938, -0.0612, -0.165, 0.9984]\nstate[eef_state]: left_x=0.4504 left_y=-0.3773 left_z=0.1826 left_yaw=0.0919 left_pitch=-0.1454 left_roll=0.0779 left_gripper=0.0416 right_x=0.2938 right_y=-0.001 right_z=0.1624 right_yaw=0.0876 right_pitch=-0.2338 right_roll=-0.0674 right_gripper=0.9984\nstate[joint_eff]: [-0.5675, -16.0889, 7.8291, 0.7741, -0.5934, 0.232, 1.0281, -0.0752, -2.2906, 7.4051, 1.4872, -0.0952, -0.0171, -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]: [-0.9085, 2.6781, 2.8834, -1.3151, -0.7181, -0.794, 0.0451, -0.0525, 0.9611, 0.7597, -0.5934, -0.0608, -0.165, 0.9984]\nstate[eef_state]: left_x=0.4475 left_y=-0.379 left_z=0.1569 left_yaw=0.1055 left_pitch=-0.1841 left_roll=0.1082 left_gripper=0.0451 right_x=0.2939 right_y=-0.0011 right_z=0.1625 right_yaw=0.0872 right_pitch=-0.2334 right_roll=-0.0678 right_gripper=0.9984\nstate[joint_eff]: [0.0068, -14.6256, 7.1863, 1.3944, -0.4957, 0.1538, 1.033, -0.0342, -2.0444, 6.9675, 1.4823, -0.0415, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad29783a01209fdf8533df3fc453523501b19aa266f3c830dd918c3defce2438",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae332b0edee23f5b9b3a37d053171cfe8ae699dc1fd87366dc0f0e51ed66c259",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f60a1326549bb84c45724d45a9cd69b6f3e12ea5eb69d3e0ffb2a61d3b7576e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD9u11EfaSAzkt2Cnxg4ImZWdos7xSZyoi0eKDKBMDJtER_sL931Os--qQgH4WaKx0MTsrh0yU37LK2h6lXFMPGwUAVYWhx_0XToUay4piaFKLKIXsVO5AY5FlZoyL211kp1ln4eyc7CUMQPrivnHG27Ee2-2maoTujIK8pavszNVV1ktbVSqWxKmZ7_fEJzkAlWO3Y8wzhJqQnBOpcvc0DJC82G-hdrwUVfc8DcdgNu3EDDFrChRB5VMPnl5IXo0iPvF1fHPRjDLXPhoUJidiPXJ3dglosb09HOh2NT8CGcEnIIZnzJULsHWFe34tloutyR1TAHJ9N2Jo8yOEPaA_6bnavzUb2mjydw8cR0hqG8m_bfV73gcozlyTf316cQRxI5zH-nt-i8dXfnaer6i94E1moTLa_tL6AwIv0L3-_U350pVINMip3aXvv0I-oT1z1oVXZR1aglPFIvgVkcmEpuSrSCvQmUsxpj2hzAZvvaOX5FedS9st7rcclxDvJAn22qJh0wTZ-SacA6qBu8IQYFFRKh8aWC_WMT6cGoYcF3AMteoJl894HUeY3BlikglbGvt0_g-NUgrz69iEbat6AQL16Sh-Rqwv-N68JprrLrAyv4bO3ky5x9QjPtYYOwG4JOn6bKOniT7VbCKwU9PdigjciNEuwOjv8Isc5Tu7DOIwyIe0RGlYRLCxzPldHqEJ5JWV1A83WrdqAxBYNcZKCipb3o_jWn1dIFMCHRlBRAZVG_SL7lZ6nNjmNh8xCQMZEVWA1F34QUFhdn_w6pQRFe8WPDJG1ivLVr8P9C3-fRFJk5qcVOwctHSC-eNj6IlDp18Gv0vAIdxrkKryWzTc2OCsMJhjQyaMycrtw6eeQvAdtNZHeO2SxD4l5TmC995x8CHuQzSL47TB2YEkaYaRia-WO7LZv5FjmQHVGptR3zXTQs-8lyHfJcs3gUpRzfPGt1gy_hIQD5IKUna-X12XKiuxJiODSLZdh5PgLwaO5DUN1A_OqfkINnx2uCW68fKlAX7ejryqkMaVtOTPIvUexMidZjq3ztaVJ9M94d6rhmtiJoQ2rkru7owfC29vY0HEWLjv0-DBrDLu5xIFrdB3Zye9gVNe7jFhFs44GBmsfNrCX4M7VaaxSKwcVKEbiy8aKiSlVbPUud-gq8BJkqpTJwSvOeYisxuvYzFGccZOieDfaIO0_3oEJShlhoyDd-uk0fmxrW39XgE5cC06908D4TtamzxTG450zX7Fb3rV7dOl948EliKxylkOFbhhOlZwkWjQzGKzI53QOLaDKJeb7EGp72cafzSpHHA-z8gHPtycWIqxYu_7WXRnEhOdM1f3nfQY2DUQmG-PRcy_mruLjawLQRByBsH1Gt2RPLcVKLgOYrfjQF_XqFhwS6eYgBtcfg1Mleq7xcktxBI97v1AblkVt7PeihYbz284_suG8VoB1Z8PBbkRbb2c60oYXhxvCrik7I7qqriIOvIQz6s_dTd03DwjC7-iC4zfK4UVMY80gWph5ZLDn1cdK5s8h_l7iPSTdbFGwnHgiyqCRe2QJpUdC3D57EuQEtyv4QbBnwhLzhXZTqqCZgt15CQmODzj_xWcLOsOy4DfWLdKxrZ1PLZjfJguQKVoZ0okk8HEg12azTaKq7VungmbkAlMIVMjvNtPUJUYvqybac7ydDcAe4kg==",
  "id": "rs_0c70287430397315016ab43f6c90a887d08e451aa652ff2cbd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.4,\"left_z\":0.12},\"note\":\"The readback stopped several centimetres high at the stretched crossover pose, so repeating it would not help. I’m shortening the radial reach to the near half of the basket, which should let the arm lower while keeping the elephant over the opening.\"}",
  "call_id": "call_T0oqsWLZxT7GdLrPLpjBZk6L",
  "id": "fc_0c70287430397315016ab43f6d85b487d089cdb8445394ef85",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_T0oqsWLZxT7GdLrPLpjBZk6L",
  "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]: [-0.9085, 2.6781, 2.8834, -1.3144, -0.7181, -0.794, 0.0451, -0.0525, 0.9611, 0.7589, -0.593, -0.0612, -0.165, 0.9984]\nstate[eef_state]: left_x=0.4476 left_y=-0.3791 left_z=0.157 left_yaw=0.1054 left_pitch=-0.1837 left_roll=0.1075 left_gripper=0.0451 right_x=0.2938 right_y=-0.001 right_z=0.1622 right_yaw=0.0876 right_pitch=-0.2338 right_roll=-0.0674 right_gripper=0.9984\nstate[joint_eff]: [-0.3214, -14.6667, 7.2, 1.3846, -0.5055, 0.1587, 1.033, -0.212, -2.2632, 6.9675, 1.4774, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d82dbbaf2f302fd2cbec302530b395d6d9284a734782df0330310e9d8909166d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5cf6234cdb8e8b59d364885c63fa67787561300884841b0f1ce11f14a2f91ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbd9afcde3ef96ebb38a479cb0287e2deb5adf51a7a330dad6853d7bff18a416",
      "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 · 2.87 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]: [-0.0772, 1.2285, 0.6186, -0.0589, -0.1604, -0.0635, 0.0381, -0.0525, 0.9577, 0.7635, -0.5934, -0.0612, -0.1646, 0.9984]\nstate[eef_state]: left_x=0.3599 left_y=0.004 left_z=0.1181 left_yaw=0.0775 left_pitch=-0.0993 left_roll=0.0611 left_gripper=0.0381 right_x=0.2943 right_y=-0.001 right_z=0.1651 right_yaw=0.0871 right_pitch=-0.2262 right_roll=-0.0683 right_gripper=0.9984\nstate[joint_eff]: [-0.1162, -5.4222, 9.0325, 1.6728, -0.1294, -0.0171, 1.0281, -0.1026, -2.0581, 6.8855, 1.5067, -0.0708, -0.022, -0.0122]",
      "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]: [-0.9085, 2.6781, 2.8834, -1.3151, -0.7181, -0.794, 0.0451, -0.0525, 0.9611, 0.7597, -0.5934, -0.0608, -0.165, 0.9984]\nstate[eef_state]: left_x=0.4475 left_y=-0.379 left_z=0.1569 left_yaw=0.1055 left_pitch=-0.1841 left_roll=0.1082 left_gripper=0.0451 right_x=0.2939 right_y=-0.0011 right_z=0.1625 right_yaw=0.0872 right_pitch=-0.2334 right_roll=-0.0678 right_gripper=0.9984\nstate[joint_eff]: [0.0068, -14.6256, 7.1863, 1.3944, -0.4957, 0.1538, 1.033, -0.0342, -2.0444, 6.9675, 1.4823, -0.0415, -0.0317, -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 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]: [-0.9085, 2.6781, 2.8834, -1.3144, -0.7181, -0.794, 0.0451, -0.0525, 0.9611, 0.7589, -0.593, -0.0612, -0.165, 0.9984]\nstate[eef_state]: left_x=0.4476 left_y=-0.3791 left_z=0.157 left_yaw=0.1054 left_pitch=-0.1837 left_roll=0.1075 left_gripper=0.0451 right_x=0.2938 right_y=-0.001 right_z=0.1622 right_yaw=0.0876 right_pitch=-0.2338 right_roll=-0.0674 right_gripper=0.9984\nstate[joint_eff]: [-0.3214, -14.6667, 7.2, 1.3846, -0.5055, 0.1587, 1.033, -0.212, -2.2632, 6.9675, 1.4774, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d82dbbaf2f302fd2cbec302530b395d6d9284a734782df0330310e9d8909166d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5cf6234cdb8e8b59d364885c63fa67787561300884841b0f1ce11f14a2f91ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbd9afcde3ef96ebb38a479cb0287e2deb5adf51a7a330dad6853d7bff18a416",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD9z4A9MbwfdaWCubVsG0eCKbdXTUnba4tEuEY9LCsRVqr1JvOxVmO_94Q2mt9YRuLsfG34Gk8HtafHJiFZA9AtaHzzHiPb3bl7poBeQ3YWpo6tLWk0biX9p1-EH59ayBRXIbpD-ppmPEhPF9fY6cHOwpuWcGCkeQ0stTujf7vOs06dxrPPqT6YUKZ51w6gLLmDFCx8H31op79-kN4gzV19oilKO7uoGcv_0pEruD2kW85EwiAuZ1FqPvbs0pvj3wdBq1f8_f7EBtk5s_cKa4ZxWlLaDvfcZohFUsREFPkGdgdIKHYJUUCztQxm2CiBLJFJXJ9Q5Ljmfor3016ALSduF5bv7X4PulqzWI89Ak-x0TnSLwlKXuCOZBbPzZZk6ZI3lryNnl8TbGdce86ylRydNVsYPFTXlfY_TNKpP7eL_8m5sWYrukr9kvkweLv0z8pvsqxH1NEGSkb23qVo1x0jlq6x0PRRDGApG8iiGXoNvSIJfoY7yufIepFIJAvwp_3mbMk1zpSPLNDRLGfsAczvhEfS7Rnw6AVbCUP1dZGpulLU7psHRck-VTTCjlvWd5S2wWmqB__n1FeC1-WaNV06dokBpkcXrwlpTUpQxXJ8qWXC1eczDGGHuFw1BUFuXcsGyFuYKbqEvNyyDzS6XAcLKlFCACiRZxMRP-Z5x9KSyDsJNL1XKO-3fsnQwctwMcTiRgSzYVDj-AeooI1yl0a5ruUpCC9XAfjAKhnAAYhUENB5ijtwim59Th-TG4IIBUDIlWx6VtJOG4pIBBjmbZaxFbf0unWT4Gs_wJiyC-YsprWx8lJmd_8Wa8nbcOLqJw5q8GXHuenCx2XNZh1VwiiEUJvilRdRMn2ohU_e_VATbi8VUeJ6c6avSx0jdXsnQq85JMDqxb_oJGQcHcNwSZdXt_wa6MBD1Mfiq6dZnPiteB3RE5a9g_K5LOTatadr1EmtzpLvmT0H56njYclLC3IC-BfHPIrUxdTF5DYqG5aznN4hJWyQ_puetawP_LvuP9XPEy8WKaOUAGwJXxJjTAHaBNGW44yst-elKOAK9n9H2yhRNDq0Rbb-8eutzcjcE0VS_T4JhWnTNflTcpwhcTbC7PuzW5ozz-vMLTE7Dpy-eyQ2-Sd2sXwwm6imCG22n-4j6K6DXC4w5UFh9jcSYp89Vt9RjKg9a_G_grk7DCNcUKzhO3tfL0VPE0Yj5vqREzjNikLQ0-z9Pn0xAiEyYHUfZDqJKbDODlPvPqiE2KhZNuwmlXeVtfTRW8iLzFGNSCyzaZtgdEM2N8w0rPOMDlTNV3LjSbwPE5birbmY9M5GcoeLj2AE7ws6CHQxb_kI10H3pgarV87AW1ZkXvbKWPq9XzIk7-9fJfd7vWQWFjGdpdRQXOUBXOo3IvUIwpd2osJjfs5UtA83Yzd4thtbTLJKKkuN6GMqTv6wLl3AGIsG5i0po7HR8RvTT30YnXKJcTEnvm_X2j4ktEL3MNskOhr4KzBd1-jk4Hl31pPWkF8dXtjiq5qYVF3Qz7CylHoDFeQQVrbQbQiT6nTlGvMCl0VgEYqjMdWXh696k7hMcR9FB2OvYQZgtU9viChB1usnVpqKG998hgWm2KqXUHAUwbGn6PTJUQV6gVQpi9xCOsqtTsp6N_kHlfmbPbFv79EVdYZr_ztMBNCQQvxtoX_zTa0Ay16BwyAEAPHHc4X9POFpRXD_xaFM1pB5ppC3ZKM0Z9Btrn5bWasbi_bgJDYMHZxwwmKXmMm8SGFzNQTM4uaEG2dxt8rBMT8xYHaZ0a9_NSDrF-jzflu8g2Waw9gno7WXJhveI7209Sa-XT0fNH_1ibLhM3VgtnM0r5gs2nY3rcAcVX1o_p7751cUkDYXtmifKoWd-9q_C_tncjR7U1SVvvLYm3mzp064ZkR03pg52u9qY4xgRadlPUz8crY2i-FNYlV9LleFLrZpGEXY1mLtUTcMxEYdEygo3e6E5X87nXcmyaTpONPeOP2C5DO53Zsn3qe3P2awwe2GVysDik4Osw7vAwxpHQZuB5x__rx3TYxLeuqDt1F27iCvrJnhwdWfAiK-SVHFwHE6PJEE5RKLjBkQ52Mv_b0A6YIxcQqQzAirNlYIw9v1TkgLbrQwyLJL0awJY_yjs6hDUXwPn3TqIDm5rWG93O4o1k5US2JuGojmWH4cAb3B87Xq7OMWHqjjMvAU21kYS8V9W-mCeHyUL0PLXagfpicSl_OtxyeWu_MpxBRpkpUvwitn85MBdcZiheeUvgMOtEAsyldmH0s6TpKkm5x-_hODwXheKagyKIMn9i2hCxnXVR3Gz8TKFLwnSDA==",
  "id": "rs_0c70287430397315016ab43f6ff95c87d08a2ce7498afac47b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The arm is mechanically stalled at this stretched pose, but the elephant is hanging down into the right basket opening and the gripper is already well above the rim. I’m releasing it now rather than forcing the arm lower.\"}",
  "call_id": "call_NnTD5M1Y7RBcDjiHkZqBfXpq",
  "id": "fc_0c70287430397315016ab43f72349087d0bc5223a227ef4421",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NnTD5M1Y7RBcDjiHkZqBfXpq",
  "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]: [-0.9085, 2.6781, 2.883, -1.3193, -0.7177, -0.8093, 0.9956, -0.0525, 0.9611, 0.7589, -0.593, -0.0608, -0.165, 0.9984]\nstate[eef_state]: left_x=0.447 left_y=-0.3784 left_z=0.1564 left_yaw=0.1143 left_pitch=-0.1858 left_roll=0.1006 left_gripper=0.9956 right_x=0.2938 right_y=-0.0011 right_z=0.1622 right_yaw=0.0872 right_pitch=-0.2338 right_roll=-0.0677 right_gripper=0.9984\nstate[joint_eff]: [-0.0752, -14.7897, 5.7368, 1.072, -0.4127, 0.149, -0.2125, -0.1026, -2.2222, 6.8991, 1.5263, -0.022, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:989f78135057ba389b436f9a2cf96ba15bc31c0154bc75f66ef234494812cb44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29ebcbffaa96f81eaf66112e8a40d3f24715dc7f01f9bacd083ea9c298c5de33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0ef1d66a465af3730ad747bb607762d2d31e95051bd0f46d87a3ac8e09cd0fa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 4.016 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9047, 2.6247, 2.8582, -1.2808, -0.7269, -0.7689, 0.0416, -0.0525, 0.9611, 0.7597, -0.5938, -0.0612, -0.165, 0.9984]\nstate[eef_state]: left_x=0.4504 left_y=-0.3773 left_z=0.1826 left_yaw=0.0919 left_pitch=-0.1454 left_roll=0.0779 left_gripper=0.0416 right_x=0.2938 right_y=-0.001 right_z=0.1624 right_yaw=0.0876 right_pitch=-0.2338 right_roll=-0.0674 right_gripper=0.9984\nstate[joint_eff]: [-0.5675, -16.0889, 7.8291, 0.7741, -0.5934, 0.232, 1.0281, -0.0752, -2.2906, 7.4051, 1.4872, -0.0952, -0.0171, -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]: [-0.9085, 2.6781, 2.8834, -1.3144, -0.7181, -0.794, 0.0451, -0.0525, 0.9611, 0.7589, -0.593, -0.0612, -0.165, 0.9984]\nstate[eef_state]: left_x=0.4476 left_y=-0.3791 left_z=0.157 left_yaw=0.1054 left_pitch=-0.1837 left_roll=0.1075 left_gripper=0.0451 right_x=0.2938 right_y=-0.001 right_z=0.1622 right_yaw=0.0876 right_pitch=-0.2338 right_roll=-0.0674 right_gripper=0.9984\nstate[joint_eff]: [-0.3214, -14.6667, 7.2, 1.3846, -0.5055, 0.1587, 1.033, -0.212, -2.2632, 6.9675, 1.4774, -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 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9085, 2.6781, 2.883, -1.3193, -0.7177, -0.8093, 0.9956, -0.0525, 0.9611, 0.7589, -0.593, -0.0608, -0.165, 0.9984]\nstate[eef_state]: left_x=0.447 left_y=-0.3784 left_z=0.1564 left_yaw=0.1143 left_pitch=-0.1858 left_roll=0.1006 left_gripper=0.9956 right_x=0.2938 right_y=-0.0011 right_z=0.1622 right_yaw=0.0872 right_pitch=-0.2338 right_roll=-0.0677 right_gripper=0.9984\nstate[joint_eff]: [-0.0752, -14.7897, 5.7368, 1.072, -0.4127, 0.149, -0.2125, -0.1026, -2.2222, 6.8991, 1.5263, -0.022, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:989f78135057ba389b436f9a2cf96ba15bc31c0154bc75f66ef234494812cb44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29ebcbffaa96f81eaf66112e8a40d3f24715dc7f01f9bacd083ea9c298c5de33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0ef1d66a465af3730ad747bb607762d2d31e95051bd0f46d87a3ac8e09cd0fa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0c70287430397315016ab43f75311c87d0924c886d8f5e192a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.25,\"left_z\":0.3},\"note\":\"The elephant landed in the gap between the baskets rather than inside the right one. I’m first backing the left arm out of its stretched pose—raising and reducing reach—so the right arm can approach the elephant from the accessible side.\"}",
  "call_id": "call_MPkyMJsznjtCrE5CAlUoNPMP",
  "id": "fc_0c70287430397315016ab43f764ec087d09e04a4434cf70b42",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MPkyMJsznjtCrE5CAlUoNPMP",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9066, 1.9224, 2.1277, -1.3079, -0.7033, -0.812, 0.9967, -0.0525, 0.9649, 0.7582, -0.5915, -0.0612, -0.1646, 0.9984]\nstate[eef_state]: left_x=0.3584 left_y=-0.2667 left_z=0.2859 left_yaw=0.1079 left_pitch=-0.1905 left_roll=0.0814 left_gripper=0.9967 right_x=0.2942 right_y=-0.001 right_z=0.1611 right_yaw=0.0874 right_pitch=-0.2368 right_roll=-0.0667 right_gripper=0.9984\nstate[joint_eff]: [0.1983, -11.3709, 5.7094, 0.906, -0.4322, 0.0562, 0.1001, -0.0615, -2.5368, 7.1179, 1.4823, -0.0855, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16cba684a474e71c8095b172cb2f0702505258c8932f630a05e29ccb9aae6997",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4423a3878a691359611ac9c23a5df9a4388b9c9e14f4b1ca5654950d2c4c2b68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3153c29f5577706e1a1cf06d71bae852afa2634cbbb52a1102bb7d4f4d8c3c48",
      "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 · 3.053 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9085, 2.6781, 2.8834, -1.3151, -0.7181, -0.794, 0.0451, -0.0525, 0.9611, 0.7597, -0.5934, -0.0608, -0.165, 0.9984]\nstate[eef_state]: left_x=0.4475 left_y=-0.379 left_z=0.1569 left_yaw=0.1055 left_pitch=-0.1841 left_roll=0.1082 left_gripper=0.0451 right_x=0.2939 right_y=-0.0011 right_z=0.1625 right_yaw=0.0872 right_pitch=-0.2334 right_roll=-0.0678 right_gripper=0.9984\nstate[joint_eff]: [0.0068, -14.6256, 7.1863, 1.3944, -0.4957, 0.1538, 1.033, -0.0342, -2.0444, 6.9675, 1.4823, -0.0415, -0.0317, -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 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9085, 2.6781, 2.883, -1.3193, -0.7177, -0.8093, 0.9956, -0.0525, 0.9611, 0.7589, -0.593, -0.0608, -0.165, 0.9984]\nstate[eef_state]: left_x=0.447 left_y=-0.3784 left_z=0.1564 left_yaw=0.1143 left_pitch=-0.1858 left_roll=0.1006 left_gripper=0.9956 right_x=0.2938 right_y=-0.0011 right_z=0.1622 right_yaw=0.0872 right_pitch=-0.2338 right_roll=-0.0677 right_gripper=0.9984\nstate[joint_eff]: [-0.0752, -14.7897, 5.7368, 1.072, -0.4127, 0.149, -0.2125, -0.1026, -2.2222, 6.8991, 1.5263, -0.022, -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 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9066, 1.9224, 2.1277, -1.3079, -0.7033, -0.812, 0.9967, -0.0525, 0.9649, 0.7582, -0.5915, -0.0612, -0.1646, 0.9984]\nstate[eef_state]: left_x=0.3584 left_y=-0.2667 left_z=0.2859 left_yaw=0.1079 left_pitch=-0.1905 left_roll=0.0814 left_gripper=0.9967 right_x=0.2942 right_y=-0.001 right_z=0.1611 right_yaw=0.0874 right_pitch=-0.2368 right_roll=-0.0667 right_gripper=0.9984\nstate[joint_eff]: [0.1983, -11.3709, 5.7094, 0.906, -0.4322, 0.0562, 0.1001, -0.0615, -2.5368, 7.1179, 1.4823, -0.0855, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16cba684a474e71c8095b172cb2f0702505258c8932f630a05e29ccb9aae6997",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4423a3878a691359611ac9c23a5df9a4388b9c9e14f4b1ca5654950d2c4c2b68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3153c29f5577706e1a1cf06d71bae852afa2634cbbb52a1102bb7d4f4d8c3c48",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD98F2oDXfi9XlWaLErw2CmmOxi2Z6fSdw9OS-feZ5nipW7F93rigGDUUmiaEdWKdhPsv3Sv5JIedb5amh6YFnQTJdlqBBgs6LJgCtmeYJdypDmXHxR9EzBDY_G3v-WYrxVV7VCPSFbGcDYTlnd0sVPzG4M0HlH_B1ZRpkST1fPT7jC9vLSjha4pL-2zwzczVpbadxGosAVfEiwa0DVC41kQha5ESnI6bS22PtE9V_JapZnpDYTqs6GaZrVzRpQlgYGV_6sbXd45ZJws2t4y-BhzucIkhAmtjKFPucqY66d5--qxHID_XvfDBRLZi5Lu513Bo8jgbxjBR2qPI7Wym1sTVzB3z6DghUj6TYsTz0969X3sY8l9PpdMuTI62adF7xYyqaNqcxPVzuxJPKWFLkdKXvKEkF2cun-Xzh9u_voAd4zxfFGvlVUY7DKPrli_xTwSbHydOj2f8IDyFt2iFCUVQXKJhja8DEsWl7r-bST5hSD7kLzlnDyNoe4VuA0nzfxb1LIpHwaTzgzi_Bo6wHEDiEa9sTWYM7pvjwBbxyo8LNotx9VC6MaMrOUV_6ap3R2vNf3V4nkwegp_L4TzkMl9WxVLQ4mi91xzd2eRrp-XOCBDyEMrS3lt1OIRAzDLb9y5HX7KUqgtxoYHVMXOsh1jDmBXLqoWOMeb_rcc4UAUPGMaNZxp0spjV4JAcVVj9g0SBjkjIhcFEVQbPsfn_Tt199GYKMq_pMR3Ij2TnvGAv8rpc61fgINLgCl6701zoYUJgWJqRLLB4KUrlhsCdGDb3nrIjetKpDcaHi-0ZhOgc8oNd4g-SPk-SQmFuQkvy1hmcpDFAQxEdg3x8xwGc7ofkNPfNcduCkuG8FNA4G_Q_Jj7nleoWkqIRXwX-_kZKB0H_dpOU7NU42aZHCErJdgLEoEjOuY7aAEm7IWVjh4EknAzg667uCK0T-2M8V9WAo5IEZ0Koe-h2BlHMZmcba9w80f8hm2zZ2m9JzRYhgTJ411Qn14bw0GbLKozuibE--DK2tGFAyqNPnt56FAE3XX4GsrpniwTFXyouKuSg-4CXxPPsVgou23CIwqv4_dnp4HTRQ6FvxsPmne6XOef2TOifZpMVqWyn1uRIAmvDhkcrsGywVGc6lktoCQSiw33U4UESo2kojMWPt-CQ8Lve67r8ySHI6e5xEquNPScMwuKHuldJ7mlR-EPiVASPr9b4JZ5SafdTvNzeWpaXAkPOrVKTszBR-yEDNqFcxYJCafeN-B6LAu4EF3OwG-ySVqXRSh-xPBV65epw7qgGO7UGwWUv25q6tpP1LlZVysMe2M4WhL_FkpjLcmATt_XqxQ-WJIUzbshglSzCHt4S_LNOWm5Vu18rRPSp2o7d_h5M267VnpJOjDc8gmQEwQznivnvcZMViF4HhxH5Ukp7cSMu7fekZ6Ow_rDblSBi1Q2NwZo68VlCbOtCIvEnkDruOb9yQzpMBXWOqKLyNHoLlIQSeaqd0rLzizNQIuOOl6HxxqgifZ4VZEM6Yz-WBhsY4Qpa6v1mBslw0_YwkoZfjN5P3lh9MLnmvxwVwATEznmLbmP1M8eozQR4iHJm3imV81gTBHCPCBBkShuUNsWv9DlRppzXbgbhmjKm0YvAqeR_rZ6KiMt1O5SgTGSdNF3NBZG4aYP9cP95dcVCYUPQxQ1Tzox35TfCfbZOFKnXDEmRE6D1pC7Cn6GNz1FwWiFcKZkq-f-bzSmkQHfZnbAwREZMBy1AqjKpUbRQmr34V7Hx_-DYpJb3nzPioZC-SlmAgj3kCCBROr-x1DmwjHLeTBwfgBO8dYjmyPURpGqI6Cjrszf4YWraNAZcvfigP7BV_UhfAn-4y74yJm-AVoJDMDyMHvaTDZSOtYmjCjFnnBjAaq82FgceGCjtAdcUih_zqA3yAoBfLfZATKcDyoh1e0J2cE-B_4ooYwNvlzSE2mH66cJZlsGsqUIhIzYAHIqSxikxcn53B-50RxFmGfWZaQCXvn79HnBeiX6H9hz5FzzOxv8h1PETe6ippa1m2M6UH5hJdirbAA8YBfuHHIAI8TMcdCjXGfTYQThWW9CFPgig-uCUv8=",
  "id": "rs_0c70287430397315016ab43f799dac87d097c793083982c39a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.297,\"left_y\":0.002,\"left_z\":0.185,\"left_gripper\":1.0,\"right_x\":0.42,\"right_y\":0.33,\"right_z\":0.16,\"right_gripper\":1.0},\"note\":\"With the left arm clear, the elephant is visible lying between the basket rims, while three bears remain grouped at the front. I’m parking the left arm and bringing the right gripper above the elephant, which is comfortably reachable from this side.\"}",
  "call_id": "call_JukBOYybxYkSiX8meEHVMvnG",
  "id": "fc_0c70287430397315016ab43f7b2b9487d093c22a26b1036a07",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JukBOYybxYkSiX8meEHVMvnG",
  "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]: [-0.1608, 0.9806, 0.8394, -0.6575, -0.2741, -0.1764, 0.9987, 0.8158, 2.0609, 1.7889, -0.7055, 0.49, 0.4915, 0.999]\nstate[eef_state]: left_x=0.2962 left_y=0.004 left_z=0.1844 left_yaw=0.1552 left_pitch=-0.2028 left_roll=0.0801 left_gripper=0.9987 right_x=0.4161 right_y=0.3262 right_z=0.1497 right_yaw=0.1152 right_pitch=-0.2616 right_roll=-0.0766 right_gripper=0.999\nstate[joint_eff]: [0.0068, -2.6325, 6.8855, 1.6874, -0.022, 0.1343, -0.149, 0.3897, -11.535, 9.0872, 0.9451, 0.4615, 0.1685, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0a438d1ded269b62aee5d878b31a4629d033181e09df0faa68d4a17f46284e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50efef31d92272cf17d994dd2f0b6ff9099b647828206c52c58e97f73bd3d7fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6798079b3ff0c49707e5d3a8986755c61c2243593b6a86bb38d2c861091fa71",
      "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 · 2.121 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9085, 2.6781, 2.8834, -1.3144, -0.7181, -0.794, 0.0451, -0.0525, 0.9611, 0.7589, -0.593, -0.0612, -0.165, 0.9984]\nstate[eef_state]: left_x=0.4476 left_y=-0.3791 left_z=0.157 left_yaw=0.1054 left_pitch=-0.1837 left_roll=0.1075 left_gripper=0.0451 right_x=0.2938 right_y=-0.001 right_z=0.1622 right_yaw=0.0876 right_pitch=-0.2338 right_roll=-0.0674 right_gripper=0.9984\nstate[joint_eff]: [-0.3214, -14.6667, 7.2, 1.3846, -0.5055, 0.1587, 1.033, -0.212, -2.2632, 6.9675, 1.4774, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9066, 1.9224, 2.1277, -1.3079, -0.7033, -0.812, 0.9967, -0.0525, 0.9649, 0.7582, -0.5915, -0.0612, -0.1646, 0.9984]\nstate[eef_state]: left_x=0.3584 left_y=-0.2667 left_z=0.2859 left_yaw=0.1079 left_pitch=-0.1905 left_roll=0.0814 left_gripper=0.9967 right_x=0.2942 right_y=-0.001 right_z=0.1611 right_yaw=0.0874 right_pitch=-0.2368 right_roll=-0.0667 right_gripper=0.9984\nstate[joint_eff]: [0.1983, -11.3709, 5.7094, 0.906, -0.4322, 0.0562, 0.1001, -0.0615, -2.5368, 7.1179, 1.4823, -0.0855, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1608, 0.9806, 0.8394, -0.6575, -0.2741, -0.1764, 0.9987, 0.8158, 2.0609, 1.7889, -0.7055, 0.49, 0.4915, 0.999]\nstate[eef_state]: left_x=0.2962 left_y=0.004 left_z=0.1844 left_yaw=0.1552 left_pitch=-0.2028 left_roll=0.0801 left_gripper=0.9987 right_x=0.4161 right_y=0.3262 right_z=0.1497 right_yaw=0.1152 right_pitch=-0.2616 right_roll=-0.0766 right_gripper=0.999\nstate[joint_eff]: [0.0068, -2.6325, 6.8855, 1.6874, -0.022, 0.1343, -0.149, 0.3897, -11.535, 9.0872, 0.9451, 0.4615, 0.1685, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0a438d1ded269b62aee5d878b31a4629d033181e09df0faa68d4a17f46284e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50efef31d92272cf17d994dd2f0b6ff9099b647828206c52c58e97f73bd3d7fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6798079b3ff0c49707e5d3a8986755c61c2243593b6a86bb38d2c861091fa71",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD-BbdGp9vNocE8fLlOYeSUNJjAPpfuBTyTkFMdY-zYSSD2FCZ00e1y1R5cAHzreQLznJGB1XJHf002ScPUer4b5M1pd9A9rHnZFn8RfPxTLSesd5ZaNz7i98DdudssftkaKktcZFm1bGrj6GE8-LduCU5sD15TQvBY_xMH-IPMO6VpW1IYZEzrcVnqL19nGo80_7Un5wmT_i7ejZcdReFMETxLXNjjL0IxkcbcUSNFUSjQnNdF9rF3l1vbjcYf8ozRyJ63HmyvjXM3SeAeWbGaUIyk7Mu_tAnFmNbAecu58nrGCMMVYxAkkFu8k_3wUaY_eugqjt2v110sz_V4rOKxjaHSW5d2KnCOTO7umqfbPzIS8-5x4WeNrrdPiNuzkjvmXprPRiwv_l57eYsPV79PTcHyM-BEOb_PuO0WjAfwyOvDUaZaWftP55q9AtuWfRDZEgGXiIn-db6L2XMBdAK9KCW1l_TUK4Aj5K1ll8xMPXW_ENmeX8gt1hZcGhanqjxv2Zfep86Dk77JQsXQqCQ67BmC_2PHqlvAdRN_NvV44L-prg0hkl-qWMbPP1nUIihpUJo4jTBOGUoEZTISffA1nqLQ85R3Zx2eUTTVwZoLJcpBpCcf97Cx_pdW0G182o0WWwJqRpr4Y_YhotkUC1eWhf8DRveYv4U3tlqD__5w19RspqZkraSaja2WrLdik8lIcg9MMy3pSO4G_vJIHoaRG_6CN24n4gfnjH8-r4-18vpi4t3sQHGlVUD7cYBqXxZGHG9UR1NFSSImvXuycfCcSBsVE0Bqm6MoesPaDHAYmKOK70LbMtb94fNcBf0ndG-u2UrHCbr5uklZHJ5cv3CaETPWpZMJWAzPAPf63y-LPOZEsuY8X9fl6tes9KmCkXL4fFxtR53Uy8hD5fM7Y8s3hplS_L7izPcDSmHg58z0KfsOhWb5sEopwT3A2OAz3Qennz_D7EwZ2kssUOiG1huETSXWbRK3a2SoyvI3h2VMvmoVu3MvghtK-XYzjCBBbxDvygF1aru1U6SGT4THeDEcXeHGVuJWul9_-KjT2ml_8MjPRAGxrNMkmfAyYh700NPg3BCF46xVPsiWvfz86-vGLeFtEkSS9jyqqY-PvF5uFezF3lJTfM8Vtmj5hcSatAa7uDKxKzcz_CKjCZyZew_FZgnErDHWyagvyyO6jSayQ7HARpmBabCd9N2a5btdhMTAgj5fzJg4NJ88vvlou73vfkQsvd1ebXZ38CjRxcqjWBcirC58l9rKRaprMvI-CkxTZxuXOy2L_1q5y2x_N_FzKoOWKEwGCKIA0rpKs2ICV-f6tFnLt3WOYuUPcN4A7U-ItW57pG2R-7eN09nseEvNeWnaMItC3B4m7e6iEDg1wzLjqsjzKRjft12TQHysM34cUNFa6hZEAqcknR1g4qCViQoQCeJjUj8Q-JLwEZSkxH-oV6r9oKKWw1mqO8_4bcrWgnVb7V6o9WG1N8AVfJ6RQHY-B7Q2Hgp345VjzyPD6ud-G3WlCDqcG97m8LA5P6_a5ajhIxa3R94ooMAKUf_79nzdo-DE3_5Anz4sRy6J15xyvGaBf2M1o4sRiYgRk4dJhUNUvhd5gkZQljW71Fe4WfN28gyjtLuWviye8vrOoH4j_PuginlkB4mJDWk64jY1W61mlJEF981S6X0CKkVJ3EmZCtSKoSNj-CRpjGvvUDpe_4UFjQvZyf1OnVp6DZ1zh5sVhrm1PLYyWh3vBlDLVr2_ukDGQDzvAWkRxbe0CfPRLjcAbCLTbqNjyNj98eFVocVsSf15HBOLRFWfwSDl6PbyugqMFPwRqay3hHhK4PhLuy_0v6P3yCZBJT0CTS4Ai",
  "id": "rs_0c70287430397315016ab43f7ff51087d098f128e491dc1e69",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_z\":0.05},\"note\":\"The right wrist view now clearly centers the gray elephant’s torso between the jaws, with the right basket immediately beside it. I’m descending while advancing slightly so the fingertips close around the body rather than just its fur.\"}",
  "call_id": "call_JRQNzEN1DzNUI1EBds6q4GV8",
  "id": "fc_0c70287430397315016ab43f81280487d0a02664b661eeee5a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JRQNzEN1DzNUI1EBds6q4GV8",
  "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]: [-0.1612, 0.9817, 0.8227, -0.6609, -0.2619, -0.1757, 0.9983, 0.8009, 2.1494, 1.5784, -0.411, 0.4808, 0.4694, 0.9987]\nstate[eef_state]: left_x=0.2932 left_y=0.0023 left_z=0.1761 left_yaw=0.1456 left_pitch=-0.2259 left_roll=0.0788 left_gripper=0.9983 right_x=0.4242 right_y=0.3253 right_z=0.0627 right_yaw=0.1184 right_pitch=-0.271 right_roll=-0.0891 right_gripper=0.9987\nstate[joint_eff]: [-0.1026, -2.441, 8.1026, 1.4969, -0.2369, -0.0415, -0.0611, -0.9915, -9.6479, 5.7504, 1.3162, 0.1148, -0.0073, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0170a60e45934f891ca7e98a8ea463492e9d23c38d3af5c827b8627fe967f801",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea76ef600e7839828f0eabeae681acd6b5b1f586e48f16b70099115e449077d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:237b75e30bcf6c68ba55de34488e5439e6bc30d0dc609ec86dba029439ed0478",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 2.154 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9085, 2.6781, 2.883, -1.3193, -0.7177, -0.8093, 0.9956, -0.0525, 0.9611, 0.7589, -0.593, -0.0608, -0.165, 0.9984]\nstate[eef_state]: left_x=0.447 left_y=-0.3784 left_z=0.1564 left_yaw=0.1143 left_pitch=-0.1858 left_roll=0.1006 left_gripper=0.9956 right_x=0.2938 right_y=-0.0011 right_z=0.1622 right_yaw=0.0872 right_pitch=-0.2338 right_roll=-0.0677 right_gripper=0.9984\nstate[joint_eff]: [-0.0752, -14.7897, 5.7368, 1.072, -0.4127, 0.149, -0.2125, -0.1026, -2.2222, 6.8991, 1.5263, -0.022, -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 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1608, 0.9806, 0.8394, -0.6575, -0.2741, -0.1764, 0.9987, 0.8158, 2.0609, 1.7889, -0.7055, 0.49, 0.4915, 0.999]\nstate[eef_state]: left_x=0.2962 left_y=0.004 left_z=0.1844 left_yaw=0.1552 left_pitch=-0.2028 left_roll=0.0801 left_gripper=0.9987 right_x=0.4161 right_y=0.3262 right_z=0.1497 right_yaw=0.1152 right_pitch=-0.2616 right_roll=-0.0766 right_gripper=0.999\nstate[joint_eff]: [0.0068, -2.6325, 6.8855, 1.6874, -0.022, 0.1343, -0.149, 0.3897, -11.535, 9.0872, 0.9451, 0.4615, 0.1685, -0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6609, -0.2619, -0.1757, 0.9983, 0.8009, 2.1494, 1.5784, -0.411, 0.4808, 0.4694, 0.9987]\nstate[eef_state]: left_x=0.2932 left_y=0.0023 left_z=0.1761 left_yaw=0.1456 left_pitch=-0.2259 left_roll=0.0788 left_gripper=0.9983 right_x=0.4242 right_y=0.3253 right_z=0.0627 right_yaw=0.1184 right_pitch=-0.271 right_roll=-0.0891 right_gripper=0.9987\nstate[joint_eff]: [-0.1026, -2.441, 8.1026, 1.4969, -0.2369, -0.0415, -0.0611, -0.9915, -9.6479, 5.7504, 1.3162, 0.1148, -0.0073, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0170a60e45934f891ca7e98a8ea463492e9d23c38d3af5c827b8627fe967f801",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea76ef600e7839828f0eabeae681acd6b5b1f586e48f16b70099115e449077d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:237b75e30bcf6c68ba55de34488e5439e6bc30d0dc609ec86dba029439ed0478",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD-E-OoxZo17yva1hJA04lLTgMCUJLoVxyh6d_S9Ksh5hNAjVL23a6LP5qQOVo-CF0wHoajYMTrcWwtxyGJxKxxCGzgmQUwXI-uoKt1bYXFGIijqLHelHFzLxsXasKbT9x3MasLMM-UjWGqH9BlxYtus1wUhBEDfGDAeMqV-1ICvgrMYqKOafTq9LGT4PWxc9wIMdxRXh1UmG1W5bIo07fTbcAlP0zSNeNF_N_ifovN2qlT7e1L1yY8Cfu5fJR_DjNwWcmvvaMJcJkyO0aT_rgoentfHBa-SPMS0vAQasIPoFHtLW5D_O7VFxSaRzFFKHtOdahHFwk8rDYnOI-a2eGxud90w-D24xQfNdYUMjPUjQeZzRW7FDUxyLRgrMgPl4ezg5_FmOGC2UFgVv4gvI7Fxozk6UThjWoAR6ZW0skprclhVfoD2x1_JFToH6bLl4Eu_XHcKNnXbgAV-tDf1sVTr4hfO-0UMv20Da0O9mobgk_4PTPszi3XvGk1ja0Ih3yA86x7nPfTc3aenhIhcUMpF0hAG23EPncUfXfwC0oSBb4gIgvjiHyLYfCYKDNHroG3r5a2UmHVD2zel7WR_XGnfkv7-yFDAcZEtlR7JNKjuYHEeNk9m8YzkHBZvRZmnTyacWGNCjBZ-7wXS45beEaNMLCtSiRA2I9y4pkvQWpFsVsgcqb28eViZmtXgFRY4rXXrAXqrvmId_HS__Y0e9gJe8OtNgUQyVRsY65XAFvYNMsjN8JKyiAD8_Mwas8Sj77xux7llXzlOgxCLolLh1G1IBIGqnFRv8gFOclbYE0XTLC-4HP_angh87Q2FSGUW2_zbWIyHufIKmeqC2yvjZwgzuMJZ3K02sCeoCJmjQFln4NnS3RNnoY3Hz9rPlo8HhEQrkmkP8zKYVuWUwu4Z6-r3wJ97ughVSw7tkMkcAgz0KuMdmioHCwccoqk1piIgyDVXGsI71OQR-dt04C4-dPtG46srGHKRlfXtDut9NrysYC5h6Q6SGaTQj1gt1_laZIQjGluYhizr9T4bsuhFiULPWoofhJx1Q2-E4C0rKSEYMH-CHDatE23xj8eKxzZh5hHXasgtc7oFix6Mvu3hvfoX91Qc75ql8yZzO-dFLDKFHGwg5NMf4xmLKgnVxw5COH6xFXHn9nJzBe7-XvfyGkQlwFxtkMBMvpeV5pioWi_QD2xYGCe14mJMAM_I9fZim8WWUFcQh5HzxR8_RXOzXNZ5YOa9eyOJ6RGEBmHA4rPkUyo=",
  "id": "rs_0c70287430397315016ab43f83affc87d0a37bf4e4296e8ff6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At the low pose, both fingertips flank the elephant’s broad gray torso. I’m closing the right gripper to secure it for the short transfer into the adjacent right basket.\"}",
  "call_id": "call_57gbhp9Qhf1tgosSNWaicrcL",
  "id": "fc_0c70287430397315016ab43f83d84487d090467415af3e3dbe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_57gbhp9Qhf1tgosSNWaicrcL",
  "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]: [-0.1612, 0.9817, 0.8227, -0.6609, -0.2615, -0.1757, 0.9982, 0.8009, 2.1544, 1.5707, -0.3912, 0.4915, 0.4614, 0.0128]\nstate[eef_state]: left_x=0.2932 left_y=0.0022 left_z=0.1761 left_yaw=0.1453 left_pitch=-0.2259 left_roll=0.0785 left_gripper=0.9982 right_x=0.426 right_y=0.3248 right_z=0.0606 right_yaw=0.1162 right_pitch=-0.2602 right_roll=-0.0971 right_gripper=0.0128\nstate[joint_eff]: [-0.1573, -2.1402, 7.0769, 1.4383, -0.1636, -0.0415, -0.022, -0.2803, -12.5744, 6.9538, 1.0916, 0.1099, 0.0757, 1.1209]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33e877df825a0ed569180485e377fbc63eb5fb8bcc454d3c5d028c8966d76373",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c117a4317e549004d40bd075391e4af6f41b377f08f77cbabff112dea2eaf2d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9a69435e4f6c4676508bd7672b1170263d1d565e7dcbf2aa8d09adb0b54ba21",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 4.466 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9066, 1.9224, 2.1277, -1.3079, -0.7033, -0.812, 0.9967, -0.0525, 0.9649, 0.7582, -0.5915, -0.0612, -0.1646, 0.9984]\nstate[eef_state]: left_x=0.3584 left_y=-0.2667 left_z=0.2859 left_yaw=0.1079 left_pitch=-0.1905 left_roll=0.0814 left_gripper=0.9967 right_x=0.2942 right_y=-0.001 right_z=0.1611 right_yaw=0.0874 right_pitch=-0.2368 right_roll=-0.0667 right_gripper=0.9984\nstate[joint_eff]: [0.1983, -11.3709, 5.7094, 0.906, -0.4322, 0.0562, 0.1001, -0.0615, -2.5368, 7.1179, 1.4823, -0.0855, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6609, -0.2619, -0.1757, 0.9983, 0.8009, 2.1494, 1.5784, -0.411, 0.4808, 0.4694, 0.9987]\nstate[eef_state]: left_x=0.2932 left_y=0.0023 left_z=0.1761 left_yaw=0.1456 left_pitch=-0.2259 left_roll=0.0788 left_gripper=0.9983 right_x=0.4242 right_y=0.3253 right_z=0.0627 right_yaw=0.1184 right_pitch=-0.271 right_roll=-0.0891 right_gripper=0.9987\nstate[joint_eff]: [-0.1026, -2.441, 8.1026, 1.4969, -0.2369, -0.0415, -0.0611, -0.9915, -9.6479, 5.7504, 1.3162, 0.1148, -0.0073, -0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6609, -0.2615, -0.1757, 0.9982, 0.8009, 2.1544, 1.5707, -0.3912, 0.4915, 0.4614, 0.0128]\nstate[eef_state]: left_x=0.2932 left_y=0.0022 left_z=0.1761 left_yaw=0.1453 left_pitch=-0.2259 left_roll=0.0785 left_gripper=0.9982 right_x=0.426 right_y=0.3248 right_z=0.0606 right_yaw=0.1162 right_pitch=-0.2602 right_roll=-0.0971 right_gripper=0.0128\nstate[joint_eff]: [-0.1573, -2.1402, 7.0769, 1.4383, -0.1636, -0.0415, -0.022, -0.2803, -12.5744, 6.9538, 1.0916, 0.1099, 0.0757, 1.1209]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33e877df825a0ed569180485e377fbc63eb5fb8bcc454d3c5d028c8966d76373",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c117a4317e549004d40bd075391e4af6f41b377f08f77cbabff112dea2eaf2d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9a69435e4f6c4676508bd7672b1170263d1d565e7dcbf2aa8d09adb0b54ba21",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD-HOKeUAlEzVKme4sqAOinezGs6O_JxmIUyFR4wYDdbRWkcW9TzBb8FaDqraqYfENPsTfUYJuaXmFo0IXuOsnZ2ZIYOSi7Pr77PyKY89H3WhLZyuHJDGzw3qMIz4QGB4ynyasJXzI5X5EctZ0marCgpcF7F2IZIXyyajtrAYhPAypvwOZ0903dt0oRaWO9EjNfKN628L3xbHXqwTHvZ8pLMo4Yq5sZ96g6_AJinvpWjF2iIUkG1D4HzM8PdDjBlEA1kKrjqbtVx6ic15TUzlJ8_f0rYrnAZH5bIB-evRlRDbvKSS5dpel58zdWXuE514hSCbAHRzdlmTZVvhOv5EcPHYDoqpdM2nI1M7cjx7Qt5lsp5QNgjAcrcpqgBzdYhFNN5iIjHDe0YJggwhrIhR_7aXp-Mgpla0oAnGEMBxweg0YBXdjCtoMG9E3gdKhZ8YZM1vuhnGVXpcOUXk6NicNfdtBb9PzlkPscWLygK2pzno7xVloyqlJLGU4-PFJjM85JI9wYEIA2Tf6YZwjJgl-NL4c3OoooeAqi512D3LhLXWg9hz-2tG2CkAULOfEqv1BbvkGeixE31seqtxj7CtAzW5z4nOXXCKfTvMYOi36BmU2qSk5CcjU0Yuj3sWnCaPg_uNzWcjnnBqmFYgnCDAiMecmFO0M18enYUhW8zIiz64DEGdBR85DFjKAQY2WQC9ndUXH7Yik_G_YWu7AzePEwEYwUIgdlPeznl3iKhTXBeD3vE23-ElngNcB0QjwbvWnMazlVfJvFfeUbRQKz6jmKczbuNI-bf_ZJdklUTSOApY8hVaLvaub6pRM5xmQdhp0j7v3inHs69Bb5iqKi1BL0NFfTy_R4VKrUK2bn0OqwHbQtM5W6Cu7VsYdGFs7eIkpFKcG1ALB_1g4UWTovq5VFViQD7GOlCUwobpltGdVt6RJPfHtgcSLFGA-v6bNZBFI_SCa5MQWoryttc2kWowqlHR1dxES3b9IRyXPTS56xLj1BlhegNZelWJo3nY-9oTtDcWrNVeJq0J5QX5yldaUtkVWHIjO373DyfrbdK_mw0YwkCRQhkLSKon0EM7GUhgtMC8TEjQ5PoBIOGIfqmh7a4DxlQ5_9mEqir4iCMqRuH8_y10ljWxxCpN2_UgraSCi8IXyOMiTKxE9D0MS0gpAqHsN7V4MyrA1IDWBJi2H4jc-iEfnddUEobH8kEek3pzQ28awkAP84BE_66z3ycUTiyOI3Eg7gC7irXi2ZJeaq1t40A7Nl7eZRUJHf9Q1ZvoiAI_VkYL0rmJKNvT4E6_L67_F0WohBP0rvph6QuXN0lMKDUxYSQbfLc9h-f7qMPnDtAUT1T0cZonKtmxE3JDGvQI_A6msEs4scpnCkz0eQHWsA90UatejhaN8RYtAd3AE2y",
  "id": "rs_0c70287430397315016ab43f86c9b487d09ba2ac47cf161461",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.13},\"note\":\"The reading is again very low because the plush compresses heavily, but the closed jaws appear embedded around its body. I’m lifting vertically to verify motion before committing to placement.\"}",
  "call_id": "call_IKIJSdDbgiyWexhI0mbogn10",
  "id": "fc_0c70287430397315016ab43f871b0887d096efda4565fd5cba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IKIJSdDbgiyWexhI0mbogn10",
  "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]: [-0.1612, 0.9817, 0.8227, -0.6609, -0.2615, -0.1761, 0.9982, 0.8009, 2.1483, 1.7065, -0.5926, 0.4854, 0.4568, 0.014]\nstate[eef_state]: left_x=0.2932 left_y=0.0022 left_z=0.1761 left_yaw=0.1455 left_pitch=-0.2259 left_roll=0.0782 left_gripper=0.9982 right_x=0.4234 right_y=0.3234 right_z=0.0883 right_yaw=0.1122 right_pitch=-0.3098 right_roll=-0.1354 right_gripper=0.014\nstate[joint_eff]: [-0.1026, -1.935, 6.8034, 1.4579, -0.149, -0.0562, -0.0122, -0.3761, -16.1983, 9.5521, 1.2479, 0.3053, 0.0171, 0.5201]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32750900d0e5c114693b3e60472605b591e4c6f8a9dda1d946566c0cff1520b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e59da31f655d314beef19f82f7e0896ea56f03b430e1778d4d0b795ded3c33c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad82c3df15bc0eaa90f0aff1c16bc60bc2f22defaa410bc15eebda449cd9d72f",
      "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 30 attempt 0 · /responses · status 200 · 3.559 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1608, 0.9806, 0.8394, -0.6575, -0.2741, -0.1764, 0.9987, 0.8158, 2.0609, 1.7889, -0.7055, 0.49, 0.4915, 0.999]\nstate[eef_state]: left_x=0.2962 left_y=0.004 left_z=0.1844 left_yaw=0.1552 left_pitch=-0.2028 left_roll=0.0801 left_gripper=0.9987 right_x=0.4161 right_y=0.3262 right_z=0.1497 right_yaw=0.1152 right_pitch=-0.2616 right_roll=-0.0766 right_gripper=0.999\nstate[joint_eff]: [0.0068, -2.6325, 6.8855, 1.6874, -0.022, 0.1343, -0.149, 0.3897, -11.535, 9.0872, 0.9451, 0.4615, 0.1685, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6609, -0.2615, -0.1757, 0.9982, 0.8009, 2.1544, 1.5707, -0.3912, 0.4915, 0.4614, 0.0128]\nstate[eef_state]: left_x=0.2932 left_y=0.0022 left_z=0.1761 left_yaw=0.1453 left_pitch=-0.2259 left_roll=0.0785 left_gripper=0.9982 right_x=0.426 right_y=0.3248 right_z=0.0606 right_yaw=0.1162 right_pitch=-0.2602 right_roll=-0.0971 right_gripper=0.0128\nstate[joint_eff]: [-0.1573, -2.1402, 7.0769, 1.4383, -0.1636, -0.0415, -0.022, -0.2803, -12.5744, 6.9538, 1.0916, 0.1099, 0.0757, 1.1209]\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 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6609, -0.2615, -0.1761, 0.9982, 0.8009, 2.1483, 1.7065, -0.5926, 0.4854, 0.4568, 0.014]\nstate[eef_state]: left_x=0.2932 left_y=0.0022 left_z=0.1761 left_yaw=0.1455 left_pitch=-0.2259 left_roll=0.0782 left_gripper=0.9982 right_x=0.4234 right_y=0.3234 right_z=0.0883 right_yaw=0.1122 right_pitch=-0.3098 right_roll=-0.1354 right_gripper=0.014\nstate[joint_eff]: [-0.1026, -1.935, 6.8034, 1.4579, -0.149, -0.0562, -0.0122, -0.3761, -16.1983, 9.5521, 1.2479, 0.3053, 0.0171, 0.5201]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32750900d0e5c114693b3e60472605b591e4c6f8a9dda1d946566c0cff1520b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e59da31f655d314beef19f82f7e0896ea56f03b430e1778d4d0b795ded3c33c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad82c3df15bc0eaa90f0aff1c16bc60bc2f22defaa410bc15eebda449cd9d72f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD-MJub_RJ5SpJtORv0Th0_sACNQtYyDRjAouTHvJYio-1_OU35x_jMCxFPHj0nil_4iKoEkt9rZPKv6Lca7ShsQeMtItWuJ8rAvD56KYwy9RW1CKIpEvjQ7x8ZmB1l-MI5EnMnHySGx6j2tQhdPoFvNXP-4lOJRMnywPGQw0jAiBbCXEZcTTiZpTFQR3dS6RznW_Sq9I3BQxFLftMGD4FCOQHhyAhE7nMKxmMI4K2ihpHPLwPvMsRD4JuGkfThdaeGt4ivgxrTZEYjOvp1YoO42xI9-_e8OJBwrG_Aumn8NBe_cDENP32nAsXl3-Hz_oG-pqJlH96hPFtwUjCfpX-tmboIdl2c-sPDK7z-0kffJUxvwJI_SoIN1F-E0_vKOo5n8hCgX1GOfdNhn11lY70Z586_MQB6w3iUhp5fIOieuNGWUjJX0CSN1weAukb0QJCDYAA7sVYToaQiHGMdX_jxrAjJerz95VO_B0cIel1CCFAalmNwOWlgG8xDYKhe0ttEDZEXI29ByaC5O8w1YdLX77VW9M4ro5xJB0KOM-F8GhTe4bO5HQvQ9J49YIib_tDMlpfZ-kc8ausGZpDx3MdANuxf98LG4xew3ELqwI1bCs0PcWCCGXEGJKx7zDahgtA0UoIyGYRFGBjinB7ScWf3YY6q-DUg7FK1V6a480fa8si5-xBMZWOUo6--rVBmkpMZIIWwt74fStppF3nUKQxmlcUN27Gi9kKXwz9We6wECYv7_gKc2JU6vopK6l5QaW3dWNuP3e0Nlgr-Rdk_pwUGdGPdZD9dGQO_pLaCAU3zLruo3CRmS_gGxXmaBrimKKbAy1XvI_ArAGUm2JSvtUlIKwwCroEvg-zZsbAQfz7GwO8uLDmLkfMPSgO1LHc5HjLY9WeSo4fFGkGtFOS5FcNbxn_DBiLKUhuSxEXGIuCOBlvw9nlDRF_aGCbUQoLk1WCNCO2GQFm7ehdHxrWzHnKjsZjF5E84eKzbuY6HM5MoXI07n3dAcc1yD2PXcvk2XcBJTv5yblEOhzIG20wMdFXFB_YzrbygQa-odClfeyiac6XukZt6LrfXN3P2IbtQM2iPlILhfzC7sMSyV8R2hpCx5ELJfKeSsnJWhAv3tfsUi46dwqeKuYTIHE4dPNVRiKYMC_adGb55qS6HQ5ziTae4rBZ8F2AdRvjXOlYGlNKYfgiQUms3V0NeF9swTN93Alpuzt3QePOqqzpZa6YXaJQU4P5ftf43VUohTpYb8vhVeBETvF7wcxC9aBplnCQq_kQjFtjHFbzpvAJ0F8zvL0e9EO0Zb9hJdMmVSh-zIYcrh3TiRUW9vwvcE1eHadnN4snFFfeLxPsCzMmdZ7C-SiaYgRRXXgEjey6sg5hR2OQQm21KD6zY_gSIGaSQBddEjXRuzILaYvBZDCwobQzj95h_o1buwVe9U_zI0pkb2HuvSvTHKBjZ6oHXnU_SSolZ0dBuaBn5bEKtGseD-agO3RT9VW0vatHr3R6iWR39wfkO7Q4NbBC44rPsLwwLlqkemuKMhVNMFBiZRavuPjHNx6NlQ1zkm5tKB-IEitktnz0CT-V8-gwDtd8sFhKNUcpcIbu9d37_ndvLrI0q3GqpjpVvS9uF9FBrmZAQR9kia3ultqjFHAE8F1dMqej8hhQQ4w_dCYPsgryoD48Tjmbhm-ezpREesj6Fmj1PZfxUmhIOJ5qe7QMThZ_uzfORyIas0oA20GFCc2l0VelwTHCT7C1yCx6o7G8IY90iLNworHP-iY1Fw8DVDayWPcKt_h05Py2u-3_1qu1NxEMY-YZIn4ciNlbUjM3CAu-DfgjAjQFhyx3LA5gkDRcrxRlOb4vVZ_DSAGmazUb-ops_QfpPFYvyL72SJhaYKZk23teS-sIUEmAZvZYPRFH4GPRTJ18AQBYHFZIxGhnzJybFwcJ2hN0llVBUCVy3gULTmZ-D_G4awurEATX8uXnIFHIW-W24DmCqiO1tv2bCSl9pP3S-jfg7Hx2aP1Taw80DBdaKsm3jyhdltUNAy3-eKaxkx8jkV0X3eSW8NS3puNi4Z8ycVWwx2jl-Zh88_yfhEmWnJ7p34d1ALJHW2hsovhkmYjdySUXIeut0bOCZNetkFceHKC2ypI6Nlgo2ZWmCPnL-L6qRZieiR3sMNo4-lStdpBkD1VuRjwUJoNJSIT4Pa6VFA7aWogaWvC-kpk7Bw7Jd7SQPirFwEiiVKhjddQ2Mk5qKsuePcIWnqBpp0ba8ueG6GTTUzbGnvqbGuN8H_GKQpRfyc-3jkXIqDlDevIH-90sqc7TLuMHDLYgKFAsOWxNIUkw8MNEIn1qRjR0EcFdDlYrucR5LiYbxPGgQtRaJHkkLF96bnjAp6nzNJHroTzGStERK2WXwQLM1n6XHzZziXmRNhMd7D2Q-bs5fll1kIUvPzVKe6dzbFL_PD1vL0e9LqD30nAmr2iX47ppgsXI94nF7YKlWg7Fr8oHC3NCI8kKCSCpGJcE6mUB6CD_RSq3_R89TVbHR9Fh3FTQeH-eS0AJh_j4w=",
  "id": "rs_0c70287430397315016ab43f8974c487d08fb086f0c9877230",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.22,\"right_z\":0.15},\"note\":\"The elephant did not fully lift, but it shifted up against the right basket rim while caught between the closed jaws. I’m moving laterally into the basket while raising, using the secure contact to guide the soft elephant over the near rim.\"}",
  "call_id": "call_fId3PBVITGb2UmTiVxuYEaZ6",
  "id": "fc_0c70287430397315016ab43f8b8cc087d08587f5217680bcd4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fId3PBVITGb2UmTiVxuYEaZ6",
  "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]: [-0.1612, 0.9817, 0.8227, -0.6609, -0.2615, -0.1761, 0.9982, 0.6224, 1.8797, 1.4921, -0.5991, 0.3794, 0.305, 0.0161]\nstate[eef_state]: left_x=0.2932 left_y=0.0022 left_z=0.1761 left_yaw=0.1455 left_pitch=-0.2259 left_roll=0.0782 left_gripper=0.9982 right_x=0.4252 right_y=0.2289 right_z=0.1312 right_yaw=0.1081 right_pitch=-0.3323 right_roll=-0.1308 right_gripper=0.0161\nstate[joint_eff]: [-0.0752, -2.3453, 6.7761, 1.536, -0.1685, -0.0659, -0.0122, -0.3487, -12.8889, 6.7487, 1.2234, 0.2271, -0.0415, 0.7741]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cf55b110e21d8920fa2cf65d7634296c34be620986db71642fd7b7a4879738e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3876f37ba9882586d283f3c38f19b485cd99a45e3a8c200126ce74d4f31bf7a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b130d74f5bdcd89afe6f25ed566f739e2718e5f23cbcdba8ea933597bba0d09d",
      "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 · 2.852 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6609, -0.2619, -0.1757, 0.9983, 0.8009, 2.1494, 1.5784, -0.411, 0.4808, 0.4694, 0.9987]\nstate[eef_state]: left_x=0.2932 left_y=0.0023 left_z=0.1761 left_yaw=0.1456 left_pitch=-0.2259 left_roll=0.0788 left_gripper=0.9983 right_x=0.4242 right_y=0.3253 right_z=0.0627 right_yaw=0.1184 right_pitch=-0.271 right_roll=-0.0891 right_gripper=0.9987\nstate[joint_eff]: [-0.1026, -2.441, 8.1026, 1.4969, -0.2369, -0.0415, -0.0611, -0.9915, -9.6479, 5.7504, 1.3162, 0.1148, -0.0073, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6609, -0.2615, -0.1761, 0.9982, 0.8009, 2.1483, 1.7065, -0.5926, 0.4854, 0.4568, 0.014]\nstate[eef_state]: left_x=0.2932 left_y=0.0022 left_z=0.1761 left_yaw=0.1455 left_pitch=-0.2259 left_roll=0.0782 left_gripper=0.9982 right_x=0.4234 right_y=0.3234 right_z=0.0883 right_yaw=0.1122 right_pitch=-0.3098 right_roll=-0.1354 right_gripper=0.014\nstate[joint_eff]: [-0.1026, -1.935, 6.8034, 1.4579, -0.149, -0.0562, -0.0122, -0.3761, -16.1983, 9.5521, 1.2479, 0.3053, 0.0171, 0.5201]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6609, -0.2615, -0.1761, 0.9982, 0.6224, 1.8797, 1.4921, -0.5991, 0.3794, 0.305, 0.0161]\nstate[eef_state]: left_x=0.2932 left_y=0.0022 left_z=0.1761 left_yaw=0.1455 left_pitch=-0.2259 left_roll=0.0782 left_gripper=0.9982 right_x=0.4252 right_y=0.2289 right_z=0.1312 right_yaw=0.1081 right_pitch=-0.3323 right_roll=-0.1308 right_gripper=0.0161\nstate[joint_eff]: [-0.0752, -2.3453, 6.7761, 1.536, -0.1685, -0.0659, -0.0122, -0.3487, -12.8889, 6.7487, 1.2234, 0.2271, -0.0415, 0.7741]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cf55b110e21d8920fa2cf65d7634296c34be620986db71642fd7b7a4879738e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3876f37ba9882586d283f3c38f19b485cd99a45e3a8c200126ce74d4f31bf7a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b130d74f5bdcd89afe6f25ed566f739e2718e5f23cbcdba8ea933597bba0d09d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD-Qad1y6eVsyWXcM-ySQCBeUN8Umbft9YMpeETBX1aX2YMmf5CNS84QDwGpV5Yiz6jvh1u9arWkrwPEtGWu6XJAuSSwXOvtXV4y57EvIwqAJhgrYTPl8RTgqVP_ROOEPWIUYs0usA408TN2xxrZHFAeB21MpifIGL_--YJfQ-M9ZlKeGv6GQ0-PCIhUMSKDkzVuVANDavO7uHqadqoSAG9EXYFTOorcA4a9ynY6oSfn0qmGGVi56iytawW_6S7xvzM34RdHW0Kk659MU3rfABpMmnvVhRrEIrw_11fNLDocXN0tQNh5Btcjts8HnsRHPEtzkYVKYGYUwR4eS-dUP9ysbbDUoyn2TvNMV5fiGf4zkQ6XdBd0hzW6jZAcNjv6OH5TafZM54azMq1ZDlRh8ULg9ScczrMDUaDo1STx_GGv7UNDM1vIomGEag3uC2DPyPEH7_FmR4fZSXO_s_a_jR-8rTN_a8TwNiU8MRJdTiybublXVqMn3YwLq0DxzwkuVmfMeiWcamWrQCSNbYXGQ2YCToirWBRnCUaHXYPIgWHFMTR4lzgNXBRkqi-HiPZtg_KHCEW9SV26e98Wrf3E75xz2DEcokY4zYfLxGxIz6CyKvYQNhsg4QGE32FhYZuS5pIuve0gsYgilk0VIjPcSJmf8qD-pTdp6b7cuDpMdapwVQnwEHDhrPLYjwCkNpYIq5Zm99xVsbXA7zhVqBICx1pdQpgi7fwqJu3EFL_4UA3ICJOpDUYK5jtlrPeDCKopsJP2lLB4dpTUn4DD4WOGIPqsaAg0Ka2lFhQvzUkgIUAcySCVDXDis2OmYCw0y9lNPki4PEgk2bQciFAoEwrWIs2f3-9bKKoNLrHaz_EHVRFSXsJ5VkCPcYny7GlZjufiTD_kq8F1vmSmpfxD7aHPpnWw5suT-i1Sgm4kxV5gkVwGGyWIbskss6-4Qck0pGMsoM0bLhQJBDJlkGCBoKnHqVJ6JjNnZKvViyDyytKGVXYRqy-iNXGCi3L_6z4NBFfc9aAXdsMS4iHta5f963NUuG1wlLaSgUx-M8xw27tDLSWx6fQiuSVdFjIPV5eGr-CvhWZTnnnJpcciuUVIuXWwPtsIvMUnvSz-9KRUudUlWXVxElQlJKS1fVj3Rt8RmrvEbsmsN2pbTVNbX8QzS7kXi3YTieYt8MI6R60JkTUJ3LTXRazkutjE_YuupzSBRQTVa2GWeeqJ28t_1CVZ17ae-lg9XGIZDkCnOp0H-8hSENOleAQ3qV4nL1kXbdJaJafZnyHWXyLzkKoQD462Gw7BRJ0DANxDO4HfQph8CBFHY8TH1Mom_-SjQ6mFkWwGrJFsnheuycJpDCcjfH0ROdDPYJUgeX91SOVlKApK-cQmPwgjdndoO76qgzOOqZp20DQHukSmYiSRF14mYchol8iON_7ORirHbP-pIPtFET9jhyn4P8srAOdLk2PuGGjFMGMuGl421Jh_lnK-xalEBy95c1iJEBhkQ5hi5icbjRfrOYQ874DHdxSqMfft9LMLH41OZhcNIrMvf-EK21vtHkDIHvh28KpcAFcX0W6qyD2lp9l2-gFuDMGomfjDGd5ZutAeVNn9b41I2dpix82WFq-_Y8nauCbnzhIwqaOsA_DRnSi1wS7cfP8EI7DKG1t-9Ou8q39pBbmjRItN6PC-iXUMK9G4sVjsmDWDpOT0xyDaLMr5DJPX97MhFpDhz4NeoELuF80A",
  "id": "rs_0c70287430397315016ab43f8f431887d0ba20d9652c7d58d8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.15,\"right_z\":0.14},\"note\":\"The sweep moved the elephant over the right basket’s inner rim; the wrist view now shows the turquoise interior directly beside its body. I’m continuing the lateral motion a few more centimetres to bring the elephant fully over the basket floor.\"}",
  "call_id": "call_X4Q0aJeQEjHqDYfUV4ySUQF0",
  "id": "fc_0c70287430397315016ab43f9026c487d09bc16cdf5b1b00a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X4Q0aJeQEjHqDYfUV4ySUQF0",
  "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]: [-0.1612, 0.9817, 0.8227, -0.6613, -0.2615, -0.1757, 0.9982, 0.45, 1.7512, 1.319, -0.5514, 0.2745, 0.1711, 0.018]\nstate[eef_state]: left_x=0.2931 left_y=0.0022 left_z=0.176 left_yaw=0.1453 left_pitch=-0.2263 left_roll=0.0786 left_gripper=0.9982 right_x=0.4227 right_y=0.155 right_z=0.1238 right_yaw=0.0989 right_pitch=-0.3757 right_roll=-0.1321 right_gripper=0.018\nstate[joint_eff]: [-0.0479, -2.1812, 6.7761, 1.5409, -0.188, -0.0366, -0.0122, -0.2667, -11.1248, 6.7077, 1.4872, 0.0952, -0.0659, 0.7448]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:176615979a3de2fa0ea1299d85ffcb229dfecab16ce42a0b92b15914b76679b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50096037d84a013343af25b84517f31bdfa91f9e90c1c9fe9d22cfbb20a78322",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b19a112eec9a4ebdc6cceb7b4998cd0e60802b90075a1b9a4bfeecd6022cb204",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 3.855 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6609, -0.2615, -0.1757, 0.9982, 0.8009, 2.1544, 1.5707, -0.3912, 0.4915, 0.4614, 0.0128]\nstate[eef_state]: left_x=0.2932 left_y=0.0022 left_z=0.1761 left_yaw=0.1453 left_pitch=-0.2259 left_roll=0.0785 left_gripper=0.9982 right_x=0.426 right_y=0.3248 right_z=0.0606 right_yaw=0.1162 right_pitch=-0.2602 right_roll=-0.0971 right_gripper=0.0128\nstate[joint_eff]: [-0.1573, -2.1402, 7.0769, 1.4383, -0.1636, -0.0415, -0.022, -0.2803, -12.5744, 6.9538, 1.0916, 0.1099, 0.0757, 1.1209]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6609, -0.2615, -0.1761, 0.9982, 0.6224, 1.8797, 1.4921, -0.5991, 0.3794, 0.305, 0.0161]\nstate[eef_state]: left_x=0.2932 left_y=0.0022 left_z=0.1761 left_yaw=0.1455 left_pitch=-0.2259 left_roll=0.0782 left_gripper=0.9982 right_x=0.4252 right_y=0.2289 right_z=0.1312 right_yaw=0.1081 right_pitch=-0.3323 right_roll=-0.1308 right_gripper=0.0161\nstate[joint_eff]: [-0.0752, -2.3453, 6.7761, 1.536, -0.1685, -0.0659, -0.0122, -0.3487, -12.8889, 6.7487, 1.2234, 0.2271, -0.0415, 0.7741]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6613, -0.2615, -0.1757, 0.9982, 0.45, 1.7512, 1.319, -0.5514, 0.2745, 0.1711, 0.018]\nstate[eef_state]: left_x=0.2931 left_y=0.0022 left_z=0.176 left_yaw=0.1453 left_pitch=-0.2263 left_roll=0.0786 left_gripper=0.9982 right_x=0.4227 right_y=0.155 right_z=0.1238 right_yaw=0.0989 right_pitch=-0.3757 right_roll=-0.1321 right_gripper=0.018\nstate[joint_eff]: [-0.0479, -2.1812, 6.7761, 1.5409, -0.188, -0.0366, -0.0122, -0.2667, -11.1248, 6.7077, 1.4872, 0.0952, -0.0659, 0.7448]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:176615979a3de2fa0ea1299d85ffcb229dfecab16ce42a0b92b15914b76679b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50096037d84a013343af25b84517f31bdfa91f9e90c1c9fe9d22cfbb20a78322",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b19a112eec9a4ebdc6cceb7b4998cd0e60802b90075a1b9a4bfeecd6022cb204",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD-UImvyyYMP-bsdbHlUd17TnBYvrnhl78aGEeK9XsVt47KmTOcpsY6SyY-kuJ2oFXDYqJzuj_jZVR5Pb-6o4oFe2AxFl2iDI6DSX7mn3oqYeYYW9Lme5MvFM7QtBi0c80UC6mHRRRiuWko-r3jEGR3PlItJJM5oWOI6ysJnSUtw4EKOSnpUUBGC3WUHwxNrX65oYobjy6Anc5_1ElKti6dxB1OQ-bCHUnQrWDGQ1zTwYFOJpqKi2QGhFxk3DB5lIa7KbjRwOsEcglePVfV2wbcUHwk704caJphz9MXGrUIUdJPURbEhYzGeYZcJMTybFoPxuJsXAiCbn_lwM_7tM5MswOF3LUAHT51CeZEpEtWjvEstcF9IuJ2STBSmE48ONDeBtJ5_EBICKjmwp2bzXhCs4Cx6fQl2O6e8VwSobv1wqy4eb55zqSEmK36NtamTSZdROg8xb81hAuN2YFEkT8IGdoOkPWRpmtdXcHKU6mqQ3pL3FPxbZMGz-cvuPwxiAs3z0WjEkujGtVsC6kLSRoQELxHfKnmO1uXbHMjYthbtGEc1kSLz8lk4-kHv8K0ktrMac6MPNLwe4CQNaHQQ9jMDZ0PCi65qr5YnTCX7XV8DZscL_VG2Pin3CNQUJQylSFd2VPTI2VDA-q-_VrmN1OcvNh3ZTOW8sm-s8xBuvsFt4ccU8X8icm7Qrx61PB40wJkYgCp_bzADrjAz90fciKW38XoJ0k0jjUX9OjkOXVhYoKWjnVIXwtZLlacdt-lbaRsOWokwBVqYl0buOVfujtC3o9cPk53ZtFY2M61a8S3QG80-gDi0mOIpl3vw2x0VQOeX5lt1_BvFo7HIlf1gkW5M3MYuiruw2TMFz-BzxjCufXzsTzS7N5f5zJuTPKdZmyXUM3o-1wBQ7UlqNwkNvQ54K1ieKCpT5xLY7yLmddKUANtmEcryEI_KzJl-YndpdOxnrCLjVyLagkQEQzVALHTTqVcaKbtYwIiFY-SdTl0vJPuKifBAhCQKNsSPPxZzM2Ns2quW4v34P1NLp1nreoyP2r-hRiJFPq294B4u5KsoKWi8YeATaqd6WuTlS4_ABst5RhJGzkCCFVlGr05K7gCsLiTdEzXRLNWyzgFHhptum3W7XjtfmK17KwlsV0MW9upEhJ7kHIPci1tb-wqio3hHn3bdCE_r0jpXA0NzF5o7UvOKnoDNlG86mnv1AtEKIzBMg8N0oThgEPklq7CW2tfe9r3kHW8jyeOIuyP0FwDvKxWW-Jg3SacQR4XsJ0tVOr7vOnpGRUuaVgZGCO2e8xmWyWQ8M8rLItgrxYvVfXb4VqjKC3k_AyU4ruCE46rugVHtbz8OCJ3NI6ePAaNiR-EaED52f5h2GPkMsGFGuM7uTlSvGpDOChDr9KhzgjK4KOO3KV5uIVHV9APMo1Pw-Wn7WDYr_OZbf3NtMBykTWAIzq0rKzpoDcYih-9babYzrEs48n0Y4zdXt4Zsjtf8XrT36IwKOy53F0pJ-jLjWCNgOCQ4fGGyTRjhw3g4UPDO_nJH8e4_QwtzpdX76COOamscAJTNPheQ05SG9fVFL2i4DdkXU9ikxoA3UUAKIgAuMj7wopEMrvVG2JvOeU-DWkpR18QP9RTw5MM0iGRKCsHhJgCEXYzvruyff7luemo4uagJJNzqGuVV0HK9UfxgYKeme6S9-5vPYLxGd11zBx_479kFXcMvCygzBNIL_RzSHJzk55rI9pkdgTrCvWF6k0jpJpkxHnwfIHsfaHlALrw0BLzynS_eanoS-kzpZdB8CHF-DbqGeWGJstsxlRjl1NLjWQ==",
  "id": "rs_0c70287430397315016ab43f92bab487d0a7a83ecfa1945086",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.08,\"right_z\":0.12},\"note\":\"The elephant is still perched on the inner rim, with most of its body just left of the basket interior. I’m shifting the closed gripper farther toward the right side so the soft body clears the rim and settles inside.\"}",
  "call_id": "call_CiIX56Fcy6hDnaIWSGC5gvon",
  "id": "fc_0c70287430397315016ab43f93d80487d0bd9b6f90b7188a96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CiIX56Fcy6hDnaIWSGC5gvon",
  "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]: [-0.1612, 0.9817, 0.8227, -0.6613, -0.2615, -0.1757, 0.9982, 0.2695, 1.6875, 1.19, -0.4831, 0.1398, 0.0292, 0.0179]\nstate[eef_state]: left_x=0.2931 left_y=0.0022 left_z=0.176 left_yaw=0.1453 left_pitch=-0.2263 left_roll=0.0786 left_gripper=0.9982 right_x=0.4211 right_y=0.0945 right_z=0.1066 right_yaw=0.12 right_pitch=-0.4096 right_roll=-0.1028 right_gripper=0.0179\nstate[joint_eff]: [-0.0752, -2.1538, 6.7897, 1.4774, -0.1197, -0.0562, -0.0122, -1.7026, -10.7829, 6.2154, 1.3162, 0.5739, -0.0464, 0.3541]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8927d031438b0037610af0d2abf3a7f190934eb0c9af731aad920cd28e660014",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5b1227be5e28bda36fdbcca38e1778943377517ced29c6347f772166ddedf66",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9185ec0ea30efafbb89831c5078b517405514380f22e0fdc9dc4d83c1481ed7b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /responses · status 200 · 4.383 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6609, -0.2615, -0.1761, 0.9982, 0.8009, 2.1483, 1.7065, -0.5926, 0.4854, 0.4568, 0.014]\nstate[eef_state]: left_x=0.2932 left_y=0.0022 left_z=0.1761 left_yaw=0.1455 left_pitch=-0.2259 left_roll=0.0782 left_gripper=0.9982 right_x=0.4234 right_y=0.3234 right_z=0.0883 right_yaw=0.1122 right_pitch=-0.3098 right_roll=-0.1354 right_gripper=0.014\nstate[joint_eff]: [-0.1026, -1.935, 6.8034, 1.4579, -0.149, -0.0562, -0.0122, -0.3761, -16.1983, 9.5521, 1.2479, 0.3053, 0.0171, 0.5201]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6613, -0.2615, -0.1757, 0.9982, 0.45, 1.7512, 1.319, -0.5514, 0.2745, 0.1711, 0.018]\nstate[eef_state]: left_x=0.2931 left_y=0.0022 left_z=0.176 left_yaw=0.1453 left_pitch=-0.2263 left_roll=0.0786 left_gripper=0.9982 right_x=0.4227 right_y=0.155 right_z=0.1238 right_yaw=0.0989 right_pitch=-0.3757 right_roll=-0.1321 right_gripper=0.018\nstate[joint_eff]: [-0.0479, -2.1812, 6.7761, 1.5409, -0.188, -0.0366, -0.0122, -0.2667, -11.1248, 6.7077, 1.4872, 0.0952, -0.0659, 0.7448]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6613, -0.2615, -0.1757, 0.9982, 0.2695, 1.6875, 1.19, -0.4831, 0.1398, 0.0292, 0.0179]\nstate[eef_state]: left_x=0.2931 left_y=0.0022 left_z=0.176 left_yaw=0.1453 left_pitch=-0.2263 left_roll=0.0786 left_gripper=0.9982 right_x=0.4211 right_y=0.0945 right_z=0.1066 right_yaw=0.12 right_pitch=-0.4096 right_roll=-0.1028 right_gripper=0.0179\nstate[joint_eff]: [-0.0752, -2.1538, 6.7897, 1.4774, -0.1197, -0.0562, -0.0122, -1.7026, -10.7829, 6.2154, 1.3162, 0.5739, -0.0464, 0.3541]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8927d031438b0037610af0d2abf3a7f190934eb0c9af731aad920cd28e660014",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5b1227be5e28bda36fdbcca38e1778943377517ced29c6347f772166ddedf66",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9185ec0ea30efafbb89831c5078b517405514380f22e0fdc9dc4d83c1481ed7b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD-Y-qfg8163wzHMdQBceAjxahls2MsTDQPohYeoFjl4MOBgcf3KbElRD0QYFOkC5Bxnz9RuOmWNc6tLbQN1oVk9EDSefuGT-XgAeOt0lI6eQRsxR0-gbIE2lSogOT6yrMT06K1mfPONU1xNlpvYhOzR8c2YS01Ti0pXFJywm_ppUUtHltYFdsAR_4Jza7bNPYxZC90LKMj7mBsZY37R-Va5qyZ7GiTzOxvBiVQhhfn_1V3vmdQx_TlFgQvbBSTq2m3MgNXbk6ZANu5ibuTsgMW2NoZJzzPTHN-Lmm39Uw7Lqc-lH_KOguPHA40OH7aV3a46K_r0V8P_2LWZqNXSwukol-jC7iZmKBAI71h1g7W8s_Z0UMJSlpQR6DmHULIk9SA1DG61Xw-_kUAIISK1QKUJfrpUWFvVuLHHWcvU3jJwDxRrDHPYhovbBuFnSkDhMmdznY4m-zE3i5Wp93aL2__NQMt81v75Ghi3iFH8LKVntVLEPfP69EF5XUdO2lIaru_7zhxmU7c8vpjxInKZRHBWGUhGXRyaqGtuQ5NUyb_Pn4KBtfpwTnpEZa1yjivfRAEofZ9ROY_AOLj-mIcEUoBkk1bSar5NJsXF-rzsuStaqtK9T5D8EvWzPlNg_pRh9SCL7GUVYRYODWzL28cffONhL4zIE99K_kFcnTnOeA14JsPyNpr5GdXbvrdAY4IO1pQ-HLAh3XtrEFLTcbA4gthbBxFcBPn1DwPzrPYYwRnCZ3UcCsm5guYxt35Pp1-Bbqn_bepU-tsB43cK2vABrH9xN_UlCpSoyheW0Et_GbCfRv-PRGqrPJdT65m1ihGkGM5CORlIyuTkrQ3kkOXxG-1eCXR6jsYjhonh3URxaCLr4BVMnoBi57j9gOKRAQlipqm1dxlvqd2csHlvgvrxkmLNX8rWaUvb_bRsjsEKGubszIlgOIUJkznwH1ijFaVOVijSPd1DURcWuKXYvceFOI_RLp6LpFZzZ07ky8ExwtRXJmW6QzGWZ7cEwuWjoIRMpVCF9kSEoA9PrZrwg1oUSkZdvQ3rZS3oqvDpZMotFVDaX0CwHQjKfNA0DJN9xPyJaC3OagT7POQJBHboF4Zx4qpqHhR6sqSJPawjfIjhqtOAA2iatJM-xfbZEL2g-SjepZwWiBUDPBEoozM0QQLS5iFZlM_KSHwv98B2NwkGVNZIWNd68LJCsfUtAjG2nEE8717dG6AUOsePF1T7hcRj6ektZkCCpbUgszCBp0j81gec1wInl4C0-2sutVFIoXBEVam4zAEYTlC92JUKFcf3pXHDS6dtT3zxlxXvUCNCzeBNoM85MBcqO2x6sT3FeFIlIOEtO-GlHf93cLbB7vAz1-KMJAL0FEALNddZVT5fJB_sm63aopyZRCKZoiOTvTqFgXPWI-eKq45FYczrwqOZf69IxTG41sT6Q-20OsreOC2hGdt56ofDoHYmSlzfxxLfoA0_jtAu1knvS2blVlHAt7dBboQsBwBLzabpFOV2BHUmJYhG4vNCVUUnz9LE4AKIHD7cv_7RQXebqpycf5kc6PLbsw==",
  "id": "rs_0c70287430397315016ab43f96c22087d09b428690db46f635",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.0,\"right_z\":0.12},\"note\":\"The elephant continues to slide along the rim but remains just outside; the basket floor is open immediately to its right. I’m making one final inward sweep toward the basket center while maintaining the pinch on the plush.\"}",
  "call_id": "call_4l8XMbifFaKCsxNMurxRDduQ",
  "id": "fc_0c70287430397315016ab43f983b6487d09b328969a82640b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4l8XMbifFaKCsxNMurxRDduQ",
  "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]: [-0.1612, 0.9817, 0.8227, -0.6613, -0.2615, -0.1757, 0.9982, 0.0597, 1.6093, 1.182, -0.4431, -0.1467, -0.1646, 0.0198]\nstate[eef_state]: left_x=0.2931 left_y=0.0022 left_z=0.176 left_yaw=0.1453 left_pitch=-0.2263 left_roll=0.0786 left_gripper=0.9982 right_x=0.4333 right_y=0.0554 right_z=0.1418 right_yaw=0.2776 right_pitch=-0.2964 right_roll=0.0111 right_gripper=0.0198\nstate[joint_eff]: [-0.253, -2.3179, 6.7761, 1.4383, -0.1783, -0.022, -0.0122, -5.3949, -6.0923, 6.5299, 0.6422, 1.4872, -0.1294, 0.4908]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af9f8d0005117f6976ab421505081a3d2c0f7cd8671975c133297649efe2ed13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a76d6ec08a092e7bd12764eac8681d2022858cab6980ef9d82e5d6a3462fe511",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cd2e9dc7682984cc16bad46ffb73845d4c791d9399c31f59b4ce80d995ba5a1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 2.316 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6609, -0.2615, -0.1761, 0.9982, 0.6224, 1.8797, 1.4921, -0.5991, 0.3794, 0.305, 0.0161]\nstate[eef_state]: left_x=0.2932 left_y=0.0022 left_z=0.1761 left_yaw=0.1455 left_pitch=-0.2259 left_roll=0.0782 left_gripper=0.9982 right_x=0.4252 right_y=0.2289 right_z=0.1312 right_yaw=0.1081 right_pitch=-0.3323 right_roll=-0.1308 right_gripper=0.0161\nstate[joint_eff]: [-0.0752, -2.3453, 6.7761, 1.536, -0.1685, -0.0659, -0.0122, -0.3487, -12.8889, 6.7487, 1.2234, 0.2271, -0.0415, 0.7741]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6613, -0.2615, -0.1757, 0.9982, 0.2695, 1.6875, 1.19, -0.4831, 0.1398, 0.0292, 0.0179]\nstate[eef_state]: left_x=0.2931 left_y=0.0022 left_z=0.176 left_yaw=0.1453 left_pitch=-0.2263 left_roll=0.0786 left_gripper=0.9982 right_x=0.4211 right_y=0.0945 right_z=0.1066 right_yaw=0.12 right_pitch=-0.4096 right_roll=-0.1028 right_gripper=0.0179\nstate[joint_eff]: [-0.0752, -2.1538, 6.7897, 1.4774, -0.1197, -0.0562, -0.0122, -1.7026, -10.7829, 6.2154, 1.3162, 0.5739, -0.0464, 0.3541]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6613, -0.2615, -0.1757, 0.9982, 0.0597, 1.6093, 1.182, -0.4431, -0.1467, -0.1646, 0.0198]\nstate[eef_state]: left_x=0.2931 left_y=0.0022 left_z=0.176 left_yaw=0.1453 left_pitch=-0.2263 left_roll=0.0786 left_gripper=0.9982 right_x=0.4333 right_y=0.0554 right_z=0.1418 right_yaw=0.2776 right_pitch=-0.2964 right_roll=0.0111 right_gripper=0.0198\nstate[joint_eff]: [-0.253, -2.3179, 6.7761, 1.4383, -0.1783, -0.022, -0.0122, -5.3949, -6.0923, 6.5299, 0.6422, 1.4872, -0.1294, 0.4908]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af9f8d0005117f6976ab421505081a3d2c0f7cd8671975c133297649efe2ed13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a76d6ec08a092e7bd12764eac8681d2022858cab6980ef9d82e5d6a3462fe511",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cd2e9dc7682984cc16bad46ffb73845d4c791d9399c31f59b4ce80d995ba5a1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD-eAvl5Qd0gPtiidx3_M0zsoib97fbfBY0WLurQvuOAOes_HHZzItvNsngJes0XYs4kBvFFOX4Xm-F13LMTglytJJNevYFjmLVpHRe8FsegwslDkWOlZEWIgk48P4Hb9QvH1bBreaab_zobXJn6_ZwkwwJmDnipPoGn4M6RVMPkx2ysKTbm8usjr1B4hjg4xpQD70axV8Idriq72ORznZwmKXej5ncMZ3fBr6gq7TypCbBIfe_sys1fy7Yl4iF_4J0AzZnzuv-NytaZNFV4xXAOX6FecG5BR1dlDO5Rf9CJJuUk5b5RLR4SbA6Z9M6jTgRwlraZ9O1wJimhFKJThwT_4CHt29poZMrx7GPB3wMIYqjpI6z5pTbnBZ53As863MqE4yTUWi65FQm6fAhQIAKFn1oHaqpGJ2qFgrPy-NCesTMQv1HYE4kuuP7Mx87mh3_bzuzFETGpb7PAUwGDATl62031de9EKxEakgXD4a7-pJRFGd2mjrUVuvmT5QA5llba9Pd6W6gQBEw6HpjqxMgYPpFLvH1Ro75SNEyn_AHEeWY8DTVoKCWWzWueU77zaR3_yc5xBDNKKF5ofVeE5YATZdY2baBphX3shxBPTcuRG97YtflIvKFqaRiibbvTWH8_JMicNGwioKp3RlyvGIBORwTz87OQdBkOTyyDZYq-rum-N9UW-jaicmnhlLZjLQe6Qnz4OJhvFLuiACcmlNYciGUVCvmTcuOuvFWA1t0OUt5EPpod5gMQjaq4c3UVfhT3zLp6JDrVDcZZVMag_sg_tpMI5d8t7TfdZjQJ9y1gYhqgQK8rmKkeT8lOQRNQIjpoypRHouvnDgQvrwx1Gzt_RYqfMNlWpOTMZlVZ29BMURJFBH7LRsMhndWY7abPHNc4B11Fmp17ThPrR_Xxu8nzZdpw7jn_9pqaIhDBsx6DVZOsG6zT7fD9dGS3r1Cn8G1YNKoL9lRrGGwQcFtVykK16xqCUZ1a4wwa8NO83W3VB0NcWD9DvoBlxtYqrwXDd0GdnS4dDR0OBO_XEciXGLsbvwLljj_Na9W1OBa-9ZZyYlr6Li3s2QyN2YfJLisIrtnkLXmUEV_ReAJwFCaWZJKphxlQkRQLQ_CpxVAE3dKOfRVKsbQOorzaOFTZW4G9Z-Xd0iUGibsTyIiQahvguU1CGtNfwdnwRgbDHR5lk46N5-0cZASQoy8nO8mkzgIF3-8czT81uviS205MdoMzrTiFgpR1pTyZHLLklkdA_X1LDLkhr-jcVB4YN7a49Zivtza4egKmnVFAGHicaRH-2nxfNFOD83QjRy8Mj5ADZn_P8IUVHz2pudI-VRpIv9sKtbPOCWlQZASLJ45QYNblEm-BwIyGl89V5MXw9-TdZjwpfAkPPmog33SJZ8aYJCNgrmHtU03PU_QWXWpVQ2Gl5cctzhcR3XATlEfgdGWcLUXyjQuPdMzh5Gfhs6bfiWhN2AxVWamHzis3r7omz3agnnjgdLhgpkBtWrBs79wvU6miwf9_rGSXDc-M897Y8mulQEYudYx1D2QbQCiwbKvaRKNk6BRroy13gdziqx7tAtQ838QKIrOmDn4n20n0EMxpEt6KG3HWzqd8u62YgrN_xZV0SwWPDIbvPprj-DjXGxzJOv7XSU0R8t2Gxl5FATp8-LGwyReUM7_BJ7itIregGI94vw6diLACB1cekOE8_nHBFa81RoY1gNdJPt2SCaTFcqWFDMY3dB7sErvAZ3_DqbeT7484xh9v8kbc1tJPuVpfwmD0Ol2senuN3e4rVTW0obWreMBOwe_KyAzBBZZNU6UTwjIlgueG6_yZ-ONkLFLn_GK-va4xhjRg958CemtIK8yHzkZHEMhRyXkMU_tGAQzdyoe9JA2aFUgXQdBRyMeryaA4khMUQhe9Q_QcTkuzxSr7DavfkoHre2ZGq9xMvlesG5UtsEEiJTCvomBsw1cZs-xF6nQ6awthf2Ta1S05T-EUKy6E6LoTOkngnixniEgjmKea-d5cH6gdnRbNHSS1VQIaFt3yLDBBf0imfq6twYTlmPMmh6dsrxnNpPSPyMFfYwE1qBOfKAiPzRU_G1YXc5emC0iBfUfw1ij1G4KWbTZyLsj0mlpgd6emLZVAST78QkHrPmMoXVfW6XZurzdXxxZgBMx0AVttcwg3jnRTJlCi",
  "id": "rs_0c70287430397315016ab43f9b04d087d0ab88c1b2d55f5e4f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":-0.05,\"right_z\":0.18},\"note\":\"The overhead view now shows the elephant actually suspended by a compressed ear, with its body overlapping the left side of the right basket. I’m lifting slightly and moving to the arm’s outer side so the hanging body—not just the gripper—centers over the basket before release.\"}",
  "call_id": "call_j7P5DrcaLcpX4Ydz0537m57T",
  "id": "fc_0c70287430397315016ab43f9ce87087d09acc96721dcc8d98",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_j7P5DrcaLcpX4Ydz0537m57T",
  "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]: [-0.1612, 0.9817, 0.8227, -0.6613, -0.2615, -0.1761, 0.9982, -0.2165, 1.615, 1.3563, -0.6174, -0.4068, -0.3836, 0.022]\nstate[eef_state]: left_x=0.2931 left_y=0.0022 left_z=0.176 left_yaw=0.1455 left_pitch=-0.2263 left_roll=0.0783 left_gripper=0.9982 right_x=0.4383 right_y=-0.0212 right_z=0.1928 right_yaw=0.3399 right_pitch=-0.2227 right_roll=0.05 right_gripper=0.022\nstate[joint_eff]: [-0.1436, -2.3316, 6.7761, 1.4481, -0.1783, -0.0757, -0.0122, -3.1521, -5.5726, 8.3624, 1.2381, 0.7106, -0.1636, 0.2222]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:940524d47bd3df6255a21cd98743358c8de225473e31c781fb5fb1f0401c969d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86e4fa8a7982e15c2066bc3f1742234668f161055e40ca2efa6a84598c8c9125",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab76f3e4103ec6aa6f4ffc44522ae84db6067bfbff52910074a57c95eb48798e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 8.097 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6613, -0.2615, -0.1757, 0.9982, 0.45, 1.7512, 1.319, -0.5514, 0.2745, 0.1711, 0.018]\nstate[eef_state]: left_x=0.2931 left_y=0.0022 left_z=0.176 left_yaw=0.1453 left_pitch=-0.2263 left_roll=0.0786 left_gripper=0.9982 right_x=0.4227 right_y=0.155 right_z=0.1238 right_yaw=0.0989 right_pitch=-0.3757 right_roll=-0.1321 right_gripper=0.018\nstate[joint_eff]: [-0.0479, -2.1812, 6.7761, 1.5409, -0.188, -0.0366, -0.0122, -0.2667, -11.1248, 6.7077, 1.4872, 0.0952, -0.0659, 0.7448]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6613, -0.2615, -0.1757, 0.9982, 0.0597, 1.6093, 1.182, -0.4431, -0.1467, -0.1646, 0.0198]\nstate[eef_state]: left_x=0.2931 left_y=0.0022 left_z=0.176 left_yaw=0.1453 left_pitch=-0.2263 left_roll=0.0786 left_gripper=0.9982 right_x=0.4333 right_y=0.0554 right_z=0.1418 right_yaw=0.2776 right_pitch=-0.2964 right_roll=0.0111 right_gripper=0.0198\nstate[joint_eff]: [-0.253, -2.3179, 6.7761, 1.4383, -0.1783, -0.022, -0.0122, -5.3949, -6.0923, 6.5299, 0.6422, 1.4872, -0.1294, 0.4908]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6613, -0.2615, -0.1761, 0.9982, -0.2165, 1.615, 1.3563, -0.6174, -0.4068, -0.3836, 0.022]\nstate[eef_state]: left_x=0.2931 left_y=0.0022 left_z=0.176 left_yaw=0.1455 left_pitch=-0.2263 left_roll=0.0783 left_gripper=0.9982 right_x=0.4383 right_y=-0.0212 right_z=0.1928 right_yaw=0.3399 right_pitch=-0.2227 right_roll=0.05 right_gripper=0.022\nstate[joint_eff]: [-0.1436, -2.3316, 6.7761, 1.4481, -0.1783, -0.0757, -0.0122, -3.1521, -5.5726, 8.3624, 1.2381, 0.7106, -0.1636, 0.2222]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:940524d47bd3df6255a21cd98743358c8de225473e31c781fb5fb1f0401c969d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86e4fa8a7982e15c2066bc3f1742234668f161055e40ca2efa6a84598c8c9125",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab76f3e4103ec6aa6f4ffc44522ae84db6067bfbff52910074a57c95eb48798e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
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  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD-hdmFfNC1RNaVWKGxiV6lILLiIp4_y0rMIvCgkw0OIkwsE0p8mr7YbSiBXG8iCeAha-aWs4eWbDBhsUD5U7KCjf5-QptL8J_l1n6wRtE97Bo4RYTTy-__CPnApu37_d6Tly8e47RlFyxEV1xpR7JQY6H1vUe-Pb3qg9XBB9eoT8boKYc63R8Q5hryyt2Ye_y4H5TJrtgibScroIh2WtjDfegQWDc4hOkqD49ORK_KXWWn558wo50nj9oPliKfUzRVXE31xrQJQpl9Y2aoxtAvBlf7b1c2hbz4hKjCvdxeM9nZUMHnNGgDZwwXg9hlg6I9hFFRlqABGD8Yt5tvI061FcEwqAwlmWDFz2Zhapmnq4by4Onj2J31HYnKJ_NP-Kyw9Jdrfi9GnVYXwHgbTZmI90T1IMGJcEP8D-6OIW__3Xp7QiHnPd3gxC8H1spFlcg9Kg2m0HZroJZvdLoVfBNq_7ZraecBIkqxnLT-6cgMeZ5Yj0RlM5KYywOBnzX6U2P2CjpVpxxVBk9UcwDEONGatcAlPlyOKYBw-XQJp1LrlwU9fk7mbceBspjM6pwccUIQyhsHty8mv7ZDYCeEyzlJpgtQhNuyX1ub72SmjiWYGqHbVBSdDY-qpqzdqbOZD5137Vb67-9MRuQPKDMrjQWocTfQlCWlYnJ8EogLcfBX3MGO8GTxqnHUxLX4d6R0ZZe1Tbfy2q4V2v2jyAUVjOytedigpuddtrUJ5gdWfRE4A2NCUPdyoVSIHcFvSTRDted2DFqpJedMDZAlECnwwnS9w0__V18WGro0xeYzdErc5qozlsj1Rte_fGJYWlHo5MNOkifMQmA5aVApoAasIu5IRF23zC2CsLpWnKjr-rdFVt8r5h4XfOHCCc-ANyzerc2WPIliBu-dAaxFKTPB834qf_LmVzL0cE_iW4B8oAYpMxeVbzurQAqiBA2RakQPpK-p5dfCP-3-UuqmTRFVhT0_4iQuzj1wbwNmaRSspiryGBaf5tTBa84OiuqbeCAHtUTXaKmc3076PqDJA5ehXcTg7JInJOsjsq87LpbvVuJBGt2uCzNPF0XwBWC0Mv9X8_rsySSo7VKEjKOMmXkrmMpB020Jmc9U0TsKbvqJwQ3WyUEp-oetpkPXatMxPdza40wei_ZCNCB3LtM126rT2hqIdRdDhaaOvq_qrisGoAWZCLkP4EjaKjr3nx0qarUqNn9SsANYFivFCMHC3RD1zfrrcC2vHGl3IsGps_XsfFKRPNqizD6Bibynyvp-b0bDUp_mofT1MnY5FW9qJLEpJBamjQyrF9nwhtwsg6KE6vY3vFmcTdfXNQHOkHtinDZ1Vp-qJ",
  "id": "rs_0c70287430397315016ab43fa02acc87d083210fe5aabe8424",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The suspended elephant is now centered over the right basket opening, with turquoise walls visible around it in the wrist view. I’m opening the gripper to drop it into the correct basket.\"}",
  "call_id": "call_JWuakLIzfC8iUwv8P0HxCTES",
  "id": "fc_0c70287430397315016ab43fa094f087d099afca71749e9ad7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JWuakLIzfC8iUwv8P0HxCTES",
  "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]: [-0.1612, 0.9817, 0.8227, -0.6613, -0.2615, -0.1757, 0.9982, -0.2077, 1.6104, 1.3617, -0.5941, -0.4553, -0.4, 0.9949]\nstate[eef_state]: left_x=0.2931 left_y=0.0022 left_z=0.176 left_yaw=0.1453 left_pitch=-0.2263 left_roll=0.0786 left_gripper=0.9982 right_x=0.4423 right_y=-0.0102 right_z=0.203 right_yaw=0.3917 right_pitch=-0.1744 right_roll=0.0507 right_gripper=0.9949\nstate[joint_eff]: [-0.1573, -2.359, 6.7761, 1.4969, -0.1392, -0.0269, -0.0122, -0.3624, -7.1043, 6.694, 1.199, -0.2564, 0.1148, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ed9b3af10b2099b770144d3e241d5a9b96c07d9a8f9a24556ed5cd021a4fa92",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6aa7fae3997c98bba59339277cf89b16bab314586502e645286cd6609d0a098",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:651c2ad627668809619001157592fe3b9efe3ce5a35bb68fd6fc2bcfdd9d032e",
      "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 · 3.259 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6613, -0.2615, -0.1757, 0.9982, 0.2695, 1.6875, 1.19, -0.4831, 0.1398, 0.0292, 0.0179]\nstate[eef_state]: left_x=0.2931 left_y=0.0022 left_z=0.176 left_yaw=0.1453 left_pitch=-0.2263 left_roll=0.0786 left_gripper=0.9982 right_x=0.4211 right_y=0.0945 right_z=0.1066 right_yaw=0.12 right_pitch=-0.4096 right_roll=-0.1028 right_gripper=0.0179\nstate[joint_eff]: [-0.0752, -2.1538, 6.7897, 1.4774, -0.1197, -0.0562, -0.0122, -1.7026, -10.7829, 6.2154, 1.3162, 0.5739, -0.0464, 0.3541]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6613, -0.2615, -0.1761, 0.9982, -0.2165, 1.615, 1.3563, -0.6174, -0.4068, -0.3836, 0.022]\nstate[eef_state]: left_x=0.2931 left_y=0.0022 left_z=0.176 left_yaw=0.1455 left_pitch=-0.2263 left_roll=0.0783 left_gripper=0.9982 right_x=0.4383 right_y=-0.0212 right_z=0.1928 right_yaw=0.3399 right_pitch=-0.2227 right_roll=0.05 right_gripper=0.022\nstate[joint_eff]: [-0.1436, -2.3316, 6.7761, 1.4481, -0.1783, -0.0757, -0.0122, -3.1521, -5.5726, 8.3624, 1.2381, 0.7106, -0.1636, 0.2222]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6613, -0.2615, -0.1757, 0.9982, -0.2077, 1.6104, 1.3617, -0.5941, -0.4553, -0.4, 0.9949]\nstate[eef_state]: left_x=0.2931 left_y=0.0022 left_z=0.176 left_yaw=0.1453 left_pitch=-0.2263 left_roll=0.0786 left_gripper=0.9982 right_x=0.4423 right_y=-0.0102 right_z=0.203 right_yaw=0.3917 right_pitch=-0.1744 right_roll=0.0507 right_gripper=0.9949\nstate[joint_eff]: [-0.1573, -2.359, 6.7761, 1.4969, -0.1392, -0.0269, -0.0122, -0.3624, -7.1043, 6.694, 1.199, -0.2564, 0.1148, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ed9b3af10b2099b770144d3e241d5a9b96c07d9a8f9a24556ed5cd021a4fa92",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6aa7fae3997c98bba59339277cf89b16bab314586502e645286cd6609d0a098",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:651c2ad627668809619001157592fe3b9efe3ce5a35bb68fd6fc2bcfdd9d032e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0c70287430397315016ab43fa3abd487d0bff4045adf3da878",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtD-q8eQGunf00ssk8KJMDQ5glVAxUiEEL4ej_51LAL2RfC_iX_VDhWUxDx08VYcJpfh002mEwEiF7f2J5XJedUiGcJGtA8U-gxuuMGck6B_PX1NNrJKGgLTIPLu5iXn04gUji-kc6BIjKdtEvl0Fbd3paW6ADao90LmYpfux5h9xKbKJL8CiXzVheIR5BM6AL0EmOMDHlUl3PnZ8OtEFZ4An9ouoaUh25sQbvkGX0TRJFcl4ELTARLox5uCcUeoH0xLSWCUL-2JLufmuD1R2lxE4Ll_wpHyyb5J3l_0CqQn3WHWnK7Yr1itg7PNDSyDSpdmzoHeV4YIj1K6XtS5Pl09Laz39ljMnNWmJ5-G7ReyRY0YfwCUAC9kxZjDpMLVxO_uqEbIr7bLI0ll0xjt7LSgQhBwJrpNvaQ9Mqa2DYqyVYmLZyW8TJcn4vKzWO2WzEaDSayxdZeoIDRh3tYygkbINexV2oteZb63Udt348fPVvhY02W71CBIVhCOaC7ScJT2gkTiML1jp3zOJV8QhuL2aiPTpSrDvJrWSMnp5FT-ImCAssxlL70qecl1YAQ0inpNGtCviAZNaszfahhj1ji4ZwZ5AzJGfzdRKcpvk32Higw5dy0xdQ17rcW5o0wX717E--a5rn0HYJYnUK1iXrQ2IUE-965w1YdBL0O16F4CZF1d97jnAePMmV2o-gNLqnH6KU--SgpHImPYQtz0Ercf5WxwHH9IcRMYG0rJF0aUthk9jxCTvuUJMbl6nPcREHeBKag17ZuhOQ3HhV5d-z67Nw9-3mdjH4ysiiOfm8uqfnGGt7vuzCT6iHVGvXwbDzUyZbAYATANuvJOOO_0M-u9Xh5YL2YaF9IAD0klIk2rfmUbM1PNKFUp5cOMU3uRPZ4YcUviAaeEfimvFWWPrOYlD_Appl-7zY8F6eZ0iJ7ikpNiVZK9r69sKgZSw17W2giLNXRRfeJXzQ2naaxO5BEsMElLd5xdGNASO-v9aH7GsQelJ6LZuLQOudVhsCJtsYe-wQGjFJU5E2CcXYvY99tPVOZwztXD2nP-rZWPBPMdkEs_-6TnqtUgB5b5xdBNj9iLJ4x4llzxcvHJX1hJognu5X8hQLh0K4Zucgzxfo4hijHw63n2jgDDKkov3H5laKFehUIPsmZlhkXIIw1dwrjXp10aP68fbSPyOIYO_lPnHIZMcq0rRp88uf0pDacxMpW7tzWKY5rSc73HxPRtnse1E_S9Ri0E8_gtoQ3UL28Sw5D9NJB18YN2q96SQd1Lg-8SJ8NMwFL2j13ftz2HJiq0VOBBT3nElrdmyYMHNxnBQuKCqc4nRW-LxS1vxAHniXAE4zD4MdVUM3-s0CUCsqsobYD6vUXW46nS3mkvKCKm8KTDxeycc89z4m7LVWuGHa3ww",
  "id": "rs_0c70287430397315016ab43fa8baf087d0bb21058b08f14efc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.15,\"right_z\":0.05,\"right_gripper\":1.0},\"note\":\"The elephant fell just outside the basket on its left side. I’m moving directly down over its broad torso from the clear side for a centered body grasp rather than the thin-ear pinch that caused the awkward swing.\"}",
  "call_id": "call_2z0Y9915yja4Fm6YPsPL4nPf",
  "id": "fc_0c70287430397315016ab43fa9482487d0b18e37fcf3ce939b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2z0Y9915yja4Fm6YPsPL4nPf",
  "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]: [-0.1612, 0.9821, 0.8227, -0.6621, -0.2611, -0.1757, 0.9982, 0.3523, 1.462, 0.6228, 0.1883, -0.0444, -0.0471, 0.9986]\nstate[eef_state]: left_x=0.293 left_y=0.0022 left_z=0.1758 left_yaw=0.1451 left_pitch=-0.2275 left_roll=0.0787 left_gripper=0.9982 right_x=0.3676 right_y=0.1473 right_z=0.083 right_yaw=0.4119 right_pitch=-0.0889 right_roll=-0.0036 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -2.1675, 6.9265, 1.4823, -0.1099, -0.0171, -0.0122, 0.4308, -2.2222, 3.2479, 0.8425, -0.3736, 0.4176, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33f120afa6645ebe1017d54242b42123b173156d8e8b58caaf6e2e690cecebe2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3637ae00f64a0ac8401b284b50acb35e95b0ab9db37d354fb6f5ecbfbe231e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e835b981a2eceb1de0ff987656933dd925983a84eb71874cb347299f097f402",
      "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 · 3.412 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 136 changed as sent

message 144 changed as sent

message 149 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6613, -0.2615, -0.1757, 0.9982, 0.0597, 1.6093, 1.182, -0.4431, -0.1467, -0.1646, 0.0198]\nstate[eef_state]: left_x=0.2931 left_y=0.0022 left_z=0.176 left_yaw=0.1453 left_pitch=-0.2263 left_roll=0.0786 left_gripper=0.9982 right_x=0.4333 right_y=0.0554 right_z=0.1418 right_yaw=0.2776 right_pitch=-0.2964 right_roll=0.0111 right_gripper=0.0198\nstate[joint_eff]: [-0.253, -2.3179, 6.7761, 1.4383, -0.1783, -0.022, -0.0122, -5.3949, -6.0923, 6.5299, 0.6422, 1.4872, -0.1294, 0.4908]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6613, -0.2615, -0.1757, 0.9982, -0.2077, 1.6104, 1.3617, -0.5941, -0.4553, -0.4, 0.9949]\nstate[eef_state]: left_x=0.2931 left_y=0.0022 left_z=0.176 left_yaw=0.1453 left_pitch=-0.2263 left_roll=0.0786 left_gripper=0.9982 right_x=0.4423 right_y=-0.0102 right_z=0.203 right_yaw=0.3917 right_pitch=-0.1744 right_roll=0.0507 right_gripper=0.9949\nstate[joint_eff]: [-0.1573, -2.359, 6.7761, 1.4969, -0.1392, -0.0269, -0.0122, -0.3624, -7.1043, 6.694, 1.199, -0.2564, 0.1148, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 0.9821, 0.8227, -0.6621, -0.2611, -0.1757, 0.9982, 0.3523, 1.462, 0.6228, 0.1883, -0.0444, -0.0471, 0.9986]\nstate[eef_state]: left_x=0.293 left_y=0.0022 left_z=0.1758 left_yaw=0.1451 left_pitch=-0.2275 left_roll=0.0787 left_gripper=0.9982 right_x=0.3676 right_y=0.1473 right_z=0.083 right_yaw=0.4119 right_pitch=-0.0889 right_roll=-0.0036 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -2.1675, 6.9265, 1.4823, -0.1099, -0.0171, -0.0122, 0.4308, -2.2222, 3.2479, 0.8425, -0.3736, 0.4176, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33f120afa6645ebe1017d54242b42123b173156d8e8b58caaf6e2e690cecebe2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3637ae00f64a0ac8401b284b50acb35e95b0ab9db37d354fb6f5ecbfbe231e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e835b981a2eceb1de0ff987656933dd925983a84eb71874cb347299f097f402",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD-uRnkJOcXTUJ2kRNk1PRzo7gifRu6uWHrzewQHGC74PTWAkiU2udUv-4fvxagzGdiW45FCduTUHayvpxBlcWVTRAgiq1oouG9wmo9mb4l8SCHa_EgkrkCLf5vQCQSNQ4krhZ6esRzabVuBbp_ggy1FHBxeKQ7htROIS0oeXygRt3wyKnmJK5SGf9dkIBrOX-vtqIbAgWmNg9r-jHD1P2i8YnXhc3jh--A6T_TgAij0wQSmnx9F-NQBZOwE676gUpT_Yjtzd_uGivuipOFX_V0hWPQMj6Pe6KaQCBZDxcwPVeWEUbbE-sgHFIQN6iKhfQY7tkCCynUJVe_BuP9Axt9ewxD6_HzJX83XPnD0Yf8ClnDcyc9LoSyPdSMx298bEf_affS7yCec3e29pL2OmTbq4ONtdTyaaw7CGmRf2KG_IdPt9KpQOxrsMyZ5vYsAJFiD9GmxQ-8uEFHQviaxTlnwUA7eHMAFJH1PLea1_PaDWiyAz8iDjdQpkiaIQtkV4-F3wbyZi9s_RcQuaMBLhMDizV-ecLl0pKmAQ0DRZYtuvfhLv2u4pXLAAyU91NcKC8u3TRTiAsTj8xvSAuhEfjrkZzBn-NYg6e-3EBbdX2uUCAbtxihXQoCQDClzqUzTvyt-DYQzekL0lDecOxBXLK3hr8sd8GDOTzqI1i2VuklMm3pQZcWCLXjN0dU6R78LC3qBuokhJzpIjSNFcd1ZotRHPVMxurhXiOfdJPz80rbrmGFI6kZ1ht9HXbojMb0eye3aYDNyRIiiq0wjgHNurqPCGn9AotlndKK3yXmFv26A1UFcrr_lc-Y6JsMCiAewJV8BglRDKXJ-I5xC-UfqBnebW5MKZXFeOYE4LvahOcvrNUoz-qV8E3QZ0KJDuXJIXe0QPhe50zkMsST-3g0w8bBtzWVhRwhsLeTWBr2d-677YUxANwYn_m5BcoObgWXorBsC3KC1s05VBGTPb6Pq44RO4kt76IYzghYREHDFY-MZsu4uCb5rLtLu2HKUdo1DJWnRxhJG3WFfsFcaDMLWONedxNCvXJ5YyHv3qluTz86TMSXOs72nCdZk1SlfA4C2NZqS4zJKTzdX-D8K9EgE7bVzliJZ87HXuq-lwH1Gb04oTwc5wcYjGKjfpSM1nwAYfUVTZpRiHq6rxTNjMagVizgVUFAASyEMwFkiyUP7Es-KURPvy64IJLbM_hUeiyRb9QXD6kDo9NMufksUpokgAMdoa3KLyTIg3wgLxittN2tFQezuCLVcZogx_fov3uhdXEgmScQOcFZmxKGtxNt8F2WAFSir4_CFv8ko3M6wwhau7dajPFAREHE2ns2b6Yapkgad",
  "id": "rs_0c70287430397315016ab43fadaaa887d08da55e1c0a992b14",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The elephant’s torso now spans the full gap between the fingertips, and the low readback indicates the gripper has contacted the plush. I’m closing around the body at this centered position.\"}",
  "call_id": "call_rXUXZM9IVTDg8uSoEvnp6GCh",
  "id": "fc_0c70287430397315016ab43fae02a087d0a16a2c8c9c5ce79e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rXUXZM9IVTDg8uSoEvnp6GCh",
  "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]: [-0.1612, 0.9821, 0.8227, -0.6613, -0.2611, -0.1761, 0.9982, 0.3473, 1.4612, 0.622, 0.2184, 0.0002, -0.0902, 0.207]\nstate[eef_state]: left_x=0.2931 left_y=0.0022 left_z=0.1759 left_yaw=0.1452 left_pitch=-0.2267 left_roll=0.0782 left_gripper=0.9982 right_x=0.3752 right_y=0.1396 right_z=0.0888 right_yaw=0.3919 right_pitch=-0.0611 right_roll=-0.0665 right_gripper=0.207\nstate[joint_eff]: [-0.0889, -2.1675, 6.8444, 1.4432, -0.1197, -0.0513, -0.0122, 0.0205, -5.7641, 6.2564, 1.4042, -0.4322, 0.3932, 0.823]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc579571d7076e868d7856a5d13002d4e99a038b9bb1e6fdcac30836e35816dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc6afca7cee89b02689fc3e715c840c94776773b33c90ee9bdfa226fba824910",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22c3ba1cbd498602b2a50964e11ce3801b73ab360b8fd2a4c0994f394133408d",
      "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 · 2.758 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 140 changed as sent

message 149 changed as sent

message 153 changed as sent

message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6613, -0.2615, -0.1761, 0.9982, -0.2165, 1.615, 1.3563, -0.6174, -0.4068, -0.3836, 0.022]\nstate[eef_state]: left_x=0.2931 left_y=0.0022 left_z=0.176 left_yaw=0.1455 left_pitch=-0.2263 left_roll=0.0783 left_gripper=0.9982 right_x=0.4383 right_y=-0.0212 right_z=0.1928 right_yaw=0.3399 right_pitch=-0.2227 right_roll=0.05 right_gripper=0.022\nstate[joint_eff]: [-0.1436, -2.3316, 6.7761, 1.4481, -0.1783, -0.0757, -0.0122, -3.1521, -5.5726, 8.3624, 1.2381, 0.7106, -0.1636, 0.2222]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 0.9821, 0.8227, -0.6621, -0.2611, -0.1757, 0.9982, 0.3523, 1.462, 0.6228, 0.1883, -0.0444, -0.0471, 0.9986]\nstate[eef_state]: left_x=0.293 left_y=0.0022 left_z=0.1758 left_yaw=0.1451 left_pitch=-0.2275 left_roll=0.0787 left_gripper=0.9982 right_x=0.3676 right_y=0.1473 right_z=0.083 right_yaw=0.4119 right_pitch=-0.0889 right_roll=-0.0036 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -2.1675, 6.9265, 1.4823, -0.1099, -0.0171, -0.0122, 0.4308, -2.2222, 3.2479, 0.8425, -0.3736, 0.4176, -0.1587]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 0.9821, 0.8227, -0.6613, -0.2611, -0.1761, 0.9982, 0.3473, 1.4612, 0.622, 0.2184, 0.0002, -0.0902, 0.207]\nstate[eef_state]: left_x=0.2931 left_y=0.0022 left_z=0.1759 left_yaw=0.1452 left_pitch=-0.2267 left_roll=0.0782 left_gripper=0.9982 right_x=0.3752 right_y=0.1396 right_z=0.0888 right_yaw=0.3919 right_pitch=-0.0611 right_roll=-0.0665 right_gripper=0.207\nstate[joint_eff]: [-0.0889, -2.1675, 6.8444, 1.4432, -0.1197, -0.0513, -0.0122, 0.0205, -5.7641, 6.2564, 1.4042, -0.4322, 0.3932, 0.823]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc579571d7076e868d7856a5d13002d4e99a038b9bb1e6fdcac30836e35816dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc6afca7cee89b02689fc3e715c840c94776773b33c90ee9bdfa226fba824910",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22c3ba1cbd498602b2a50964e11ce3801b73ab360b8fd2a4c0994f394133408d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD-zRxh8XBg53vHiMZ6l_v8AwGhE8KrvsUooT422gNw6IfZgrfuE5fo2ybQIeqXTOi_HPjgApIxNdKIEvBjPNyk-K1_TkzgmVtYVUc7E7e8IQDcWOn9D8RkVVM0S2Nt5h3qq5LMGtcbqy9HqnSAD3tIuvd8BGBDz-ZGGM08oHu8TerXvvT-5CSc0fVFh2l8_u2nklNwSQ5ujLPT8qHaDf9V4tH3gv13seD26wqqp64IeDj1YqR88JvSjpH3Sr0XDzjIsss-F_0gwSgpmmHHKd8lrS2J3Q3B2pwg6RxhYy10gwxjTKnPlZxAZ-Uef8WKcRDeizvIhYNdE5v7BseIve-4PIJ32JSy_Mlb1_wLVJXWEXmiiutodR4xAtNCy-hU6QvNNkdPSDO-mLFbspDBem5YxCuEBf43tYxAG5Hrlzt6aUif5nVVDoL8T5tdAJ28kGTuJVyQ6L7nOT1wvYovp2kZt1HDUIZENAWLB965LpQSYZGzuCBNjBdP9EjlZt-3gvrMI5rU-SUR_Wx-zO5UD4b7ZSYtgmIF7WN7qRo72MHvZQmt2kmajlJ5umZ-BKOfu2Pp1EDEhfuOYJCttcvC8cCxfZQdi8CbeXQM3Kb-QveD21X0RtVEBGNrJ6uqFX4_C1m09mMVuRIhDBmu2WyHotgIZeK_lLjMSvXubG--Hkw430x2-UKHl_fqmxwfFdXa-jVSmN3sRmyznMOZeTvqyuBDGVPBO23f4WsUsxwOzjsKtlD3i9CE6OFAWR1kkEFn6iR3U35dxwZ0Daz0F0_oETX3O0gsFeQnY_LWfDZXtRn8_TUpctE6YOmt2aFlil4BEai_ga4nQYmlYKfAAcfZflPMLXV27VirFQyvVPcIXriBJnSF5BLJpEJfzt5tMQCzTNzDTKSW-3SoGwldUhMlPKzhLcBsGr-b-TFY-eHQu3T89rlijFSryhv2rQ_AvyiFLW9gm60xBU-z3ixzPfJQkoJ0QCwu_nyJMG0iELEfS-8i9nbm7uvZjl_EXFovGz8l0aEsfbBOG9qqPfeErWG04gU0V78o1FLH3Kij7v108MiueoIefVnDPtsBNDjTiUK5-nL5a78iwDntnTJmnVPqzx5e5AhZa9WL-nro0vaft7zVPn57VR6qERkdnUU9C_McEGvtBEoUijpWDs0NOz8rkT0OYflGbGwakCABLwLIzUpzOc2Q9ExVZBwLko-VQoBAUXLH7ZRZEcATsa_F-_ovgSHLBmdb3m8BwcOgq3UvwQiwrsRxq864eBk_WHXmN06YejNZVnpMn425PPm15BSEkmP4PA-eKHsJR6JXtZvxZ3Y0gO8JKyoqxaXziU94zmV9F4ozd9C-mWEL2khfYiIwTAMPYw3oy24-NOKFLbYJ7lKj7swJrtudNkAIuQzpgOQBtBQyoMylih0FzPS80MAez6Wk-8FSHkFdArItsm_OUn6KNEnCwPDBsozvoluDHecWuEEcmv4iu_fJ954tbxApKumdBHsVP1Iefi61wmtwGv3kqA3zkVHkrfPBFQHiXTnrpQYIB5V8DImU-OAuO9TGpbJSQDN70QSGVMuWf3OsKe7SXPy0N-4fu-1Qdq9YnxzSQH2iTAyGnvlJLrGQxYbkzKj2o8dqDn8NqhAgPxr2qA7Uqle_mmn8Rb3xwN_8-6QGiMSl_EU8gigI24r7QIte9zYPctA==",
  "id": "rs_0c70287430397315016ab43fb1335c87d087e2ce4f8e7ec778",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.0,\"right_z\":0.2},\"note\":\"The gripper settled at 0.21, confirming a solid torso grasp. I’m lifting and carrying the elephant directly over the center of the right basket.\"}",
  "call_id": "call_WK2VB0tQkIs4KxyBMdSRM9JH",
  "id": "fc_0c70287430397315016ab43fb2475c87d088c22d61d4e5da84",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WK2VB0tQkIs4KxyBMdSRM9JH",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 0.9874, 0.8196, -0.6651, -0.2615, -0.1761, 0.9982, -0.1513, 1.5379, 1.1385, -0.2798, -0.3725, -0.3836, 0.2061]\nstate[eef_state]: left_x=0.2923 left_y=0.0024 left_z=0.1726 left_yaw=0.1464 left_pitch=-0.2383 left_roll=0.0822 left_gripper=0.9982 right_x=0.4482 right_y=0.0003 right_z=0.1886 right_yaw=0.3629 right_pitch=-0.0655 right_roll=-0.0723 right_gripper=0.2061\nstate[joint_eff]: [-0.1709, -2.7419, 7.0632, 1.4969, -0.1783, -0.0611, -0.0122, -0.253, -7.0632, 9.306, 1.4921, -0.3199, -0.0269, -0.1001]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 408):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a57ddb397a6a30fadff40b8e28debbd7aa62d01642d74e42ccfd811d6cbcda2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 408):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93cb511ab608e7a8c6c35bde1b4f259dd1969a05f282bc138c9910fb55d72ecf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 408):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f43c1efcd3cb534784e3cb35996953ffc447b34459cb9ccc58ab34c90c0272c0",
      "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 · 7.894 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 144 changed as sent

message 153 changed as sent

message 157 changed as sent

message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 0.9817, 0.8227, -0.6613, -0.2615, -0.1757, 0.9982, -0.2077, 1.6104, 1.3617, -0.5941, -0.4553, -0.4, 0.9949]\nstate[eef_state]: left_x=0.2931 left_y=0.0022 left_z=0.176 left_yaw=0.1453 left_pitch=-0.2263 left_roll=0.0786 left_gripper=0.9982 right_x=0.4423 right_y=-0.0102 right_z=0.203 right_yaw=0.3917 right_pitch=-0.1744 right_roll=0.0507 right_gripper=0.9949\nstate[joint_eff]: [-0.1573, -2.359, 6.7761, 1.4969, -0.1392, -0.0269, -0.0122, -0.3624, -7.1043, 6.694, 1.199, -0.2564, 0.1148, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 0.9821, 0.8227, -0.6613, -0.2611, -0.1761, 0.9982, 0.3473, 1.4612, 0.622, 0.2184, 0.0002, -0.0902, 0.207]\nstate[eef_state]: left_x=0.2931 left_y=0.0022 left_z=0.1759 left_yaw=0.1452 left_pitch=-0.2267 left_roll=0.0782 left_gripper=0.9982 right_x=0.3752 right_y=0.1396 right_z=0.0888 right_yaw=0.3919 right_pitch=-0.0611 right_roll=-0.0665 right_gripper=0.207\nstate[joint_eff]: [-0.0889, -2.1675, 6.8444, 1.4432, -0.1197, -0.0513, -0.0122, 0.0205, -5.7641, 6.2564, 1.4042, -0.4322, 0.3932, 0.823]\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 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 0.9874, 0.8196, -0.6651, -0.2615, -0.1761, 0.9982, -0.1513, 1.5379, 1.1385, -0.2798, -0.3725, -0.3836, 0.2061]\nstate[eef_state]: left_x=0.2923 left_y=0.0024 left_z=0.1726 left_yaw=0.1464 left_pitch=-0.2383 left_roll=0.0822 left_gripper=0.9982 right_x=0.4482 right_y=0.0003 right_z=0.1886 right_yaw=0.3629 right_pitch=-0.0655 right_roll=-0.0723 right_gripper=0.2061\nstate[joint_eff]: [-0.1709, -2.7419, 7.0632, 1.4969, -0.1783, -0.0611, -0.0122, -0.253, -7.0632, 9.306, 1.4921, -0.3199, -0.0269, -0.1001]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 408):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a57ddb397a6a30fadff40b8e28debbd7aa62d01642d74e42ccfd811d6cbcda2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 408):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93cb511ab608e7a8c6c35bde1b4f259dd1969a05f282bc138c9910fb55d72ecf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 408):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f43c1efcd3cb534784e3cb35996953ffc447b34459cb9ccc58ab34c90c0272c0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD-3NxydmfgirD1H7pzX1dB2wBdQYi4M5nlQaxOdpqd5FFdi8ix8SJ8C9i7qPhNUKPkQlQXOTc11mXFg6FGXq7xDNLLZMh11QHNVzQS9AsYEz9-XAD8VBf5re3C0PSrNvTJ4RzPEml78Ma6nI-8iN1FEVQknvSbldvL9_pZMuT5tZ_KGBZev8lf9rwxwVz9QbIJlZNGRpCxklRq_3yGU-Xdhr8P0Bbt0Px7x7CBJhj8qUm-BoRohXkQ5krBo7A5FyCBoMxqbscqwPTv46vmIahzBGAZeEjWw1p-M4WjxunWFStyLnPtmuxEbIiaidijrOxtsyVC0Sjn7mzOTtvZanMZpdXZfR8Rw209AuueqhzixVdRIKw2Ssl1JY8XRWdav6TWQNcB8tEK_GL7CI2ph0ny6pUANO_R7k40YKIyxPx5i17Tld7qtcMS3lRVumoyStQXp-1-9Xt_X5Yk84vbl14_X6KwFhQ_CzvlowQi69xJnlbRI5oCFQZ15wqUyk4jKMM5TCu46kS0yehFBiIUsHX73PFyLSPuash5GTHXy_-QHZLfmg_zSP7dEZzuElBlWMpAOhkosoefgpSODFebJH7cVqjLWAuUVIHA_DRDGGtqdKdkBz0_RmKjuUMPOrscBIuX5Ivb7uJjn19eZGDS1SxLUQLBZklLcjAuEp7Ubx2vQ1IuXGyALlqE_VvkN4FzBO1AS0rh81iHFKxxnF_G7JOyMcmIIlbcjKdWYl1D9moWuIGrLRolqCrLGfOoQA_Qs3IRw9rEZk6BDCuSWMpx5OFFQmFpVpvSL69MOOaJrp3riI4xX-cm0OXDfW_R9sfslFweaxQYiMq1vQCJiHaE4VCPZ0Ar7EZ7B4nB32vvC_vm15V2EI2YIkXAcSjwjqTU7anYP3kGKjR1fHPmowwBlgVzlrQs5LCwqrtvTWv0Nw7_gWThSLceRd7QPwh_jLjMYV56K68p6008o3mrf7F_BXJlMDGuwxYwAiIJUfqFHexRN1Pwej_Q0108mLjWPydJz22IzOoGJW0XfIg7KkEVsZriShQvJ2kYX70UMvM-JmpMe0HyoSQM-YXGak-NRI4kncZa2zFexNo8HBGaOgdsPi_xJjjRkjEzAT0yQGOXQ49nV7cuDa63VbZUF99CAy860lZCiR4rZFTqECgyP2XQ5O7oVFZHzKCFD3ZzRaMBvDDeuQ2kBwF9a5oa2WRy5yATssUV2AIUmLozDDz3gL4QPLoD2M5ho57hLlPXXxyZItRUJ4Kud7PEZy7TEls4k0EohV3xLoJKwZ0bLltHotwke6E6JkOFboczjIVSD1vnkZiQmDTyHPE7NrOoslSn6KOXnpObKlNjX-l0RZxDNao_GfcEt6Lj4-xGTiVoa4CqvobAYpdTtsCZCVQEQAHIc3k6YTJ7BGYHq25kk-OBNdrwRA-kI4v-vZmsq_DtQvjlVBXTG_zEPNtqH9CdigVR1v0JfmJ69vCY58QCtMoWvvbM22U95FXo5kZKgMxffJHcN5hE9ZlFkEMMNGrw8CB8n1pvDpMHZ40FoeuZVM1wP5hJ7wOCoX-8Zrl6h9-ko3-10VAiX4NiZh1uumiS75_qTUZVBAOaB8DujERBIpVGr4III7RPuC6kdzpIoowpBssUKix-pCYRK-z1rJ_OTCNTlfMNTVD_4itWt-qqnUu17e40CC_JN7Q==",
  "id": "rs_0c70287430397315016ab43fb5903c87d09ad9722d9b4947b2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The solidly grasped elephant is now over the right basket interior; another gray elephant remains visible on the table with the three bears. I’m releasing this elephant into the correct basket.\"}",
  "call_id": "call_lRs83YGmPl6CpljK9wz7EYVf",
  "id": "fc_0c70287430397315016ab43fb6769087d098d2eaec1b8ee153",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lRs83YGmPl6CpljK9wz7EYVf",
  "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]: [-0.1612, 0.9886, 0.8196, -0.6651, -0.2615, -0.1761, 0.9981, -0.1562, 1.5448, 1.137, -0.3012, -0.3752, -0.3927, 0.9947]\nstate[eef_state]: left_x=0.2924 left_y=0.0024 left_z=0.1723 left_yaw=0.1465 left_pitch=-0.2394 left_roll=0.0826 left_gripper=0.9981 right_x=0.4452 right_y=-0.001 right_z=0.1813 right_yaw=0.3661 right_pitch=-0.0909 right_roll=-0.0634 right_gripper=0.9947\nstate[joint_eff]: [-0.1299, -2.441, 6.9812, 1.4481, -0.1636, -0.0464, -0.0122, 0.3077, -7.8838, 6.9949, 1.79, -0.1734, 0.0562, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a4e437b7945a27d20aaeccceb1b607a77005d1e7fd5bc97cecba44860fbb01c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa10bfbfaf924731b4330c5afdeef96b62620c56a337fe5ba0fc2225c16f48ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db495d9372fe417d231bc487c1be7e1b54249468332e68af1db6ff74b945950a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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