adhoc

completed
2026-09-23T21:36:04.226730+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
239.2 s
total steps
418
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see two empty turquoise baskets at the back and a cluster of several small upright plush animals in front of them. I’m moving the left gripper above the isolated leftmost animal so I can identify and align with it before grasping.
move_to
left_x0.3000left_y-0.1400left_z0.1600left_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, 0.8005, 0.6155, -0.3801, -0.0219, -0.0303, 0.9996, -0.0154, 0.7986, 0.6106, -0.374, -0.012, -0.0158, 0.9998] state[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1834 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0011 right_z=0.1829 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.5812, -1.7299, 9.4838, 1.8193, -0.0122, 0.1148, -0.0611, -0.7179, -1.4564, 9.7983, 1.6972, -0.0806, -0.0073, -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":0.3,"left_y":-0.14,"left_z":0.16,"left_gripper":1.0},"note":"I see two empty turquoise baskets at the back and a cluster of several small upright plush animals in front of them. I’m moving the left gripper above the isolated leftmost animal so I can identify and align with it before grasping."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe wrist view clearly shows two object types: a small brown-and-white dog centered under this gripper and a larger tan teddy bear to its right; a gray teddy is also visible at left. I’ll use the left basket for dogs and the right basket for bears, and I’m lowering around the centered dog with a slight outward correction.
move_to
left_x0.3150left_y-0.1300left_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]: [-0.7708, 1.1313, 0.6586, -0.2977, -0.6147, -0.4988, 0.9995, -0.0147, 0.7986, 0.6086, -0.3782, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2937 left_y=-0.1383 left_z=0.1436 left_yaw=-0.0156 left_pitch=-0.0405 left_roll=0.0227 left_gripper=0.9995 right_x=0.2959 right_y=0.0014 right_z=0.1812 right_yaw=0.001 right_pitch=-0.0061 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [0.1299, -3.8222, 9.2376, 1.5897, -0.486, -0.0317, -0.0659, -0.294, -1.1282, 7.2274, 1.746, -0.0708, -0.0366, -0.0122] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.315,"left_y":-0.13,"left_z":0.055,"left_gripper":1.0},"note":"The wrist view clearly shows two object types: a small brown-and-white dog centered under this gripper and a larger tan teddy bear to its right; a gray teddy is also visible at left. I’ll use the left basket for dogs and the right basket for bears, and I’m lowering around the centered dog with a slight outward correction."})
tool
executing move_to over 6 steps (0.6s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe dog’s body is now centered between the open jaws at mid-height, with the teddy bear remaining outside the right jaw. I’m closing the gripper to secure this dog.
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]: [-0.6743, 1.4017, 0.4267, 0.2253, -0.5491, -0.4343, 0.9995, -0.0147, 0.8013, 0.6086, -0.3843, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3132 left_y=-0.1277 left_z=0.0528 left_yaw=-0.0035 left_pitch=-0.0558 left_roll=0.0277 left_gripper=0.9995 right_x=0.2952 right_y=0.0014 right_z=0.1792 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.294, -4.588, 5.0803, 1.6435, -0.2125, 0.105, -0.0659, -0.253, -1.4154, 7.2274, 1.7753, -0.0415, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The dog’s body is now centered between the open jaws at mid-height, with the teddy bear remaining outside the right jaw. I’m closing the gripper to secure this dog."})
tool
executing move_to over 10 steps (1.0s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe gripper settled at 0.012, which confirms the first close was empty; the dog remained standing just ahead of the fingertips. I’m reopening and advancing 2 cm outward at the same low height for one corrected attempt.
move_to
left_x0.3350left_y-0.1280left_z0.0500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6743, 1.4017, 0.4263, 0.2302, -0.5499, -0.4389, 0.0115, -0.0147, 0.8013, 0.6086, -0.3847, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3137 left_y=-0.1279 left_z=0.0535 left_yaw=-0.0006 left_pitch=-0.0518 left_roll=0.0216 left_gripper=0.0115 right_x=0.2952 right_y=0.0014 right_z=0.1791 right_yaw=0.001 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.2256, -4.6701, 5.5179, 1.4872, -0.232, 0.0122, 1.0183, -0.1983, -1.2923, 7.0906, 1.746, -0.0415, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.335,"left_y":-0.128,"left_z":0.05,"left_gripper":1.0},"note":"The gripper settled at 0.012, which confirms the first close was empty; the dog remained standing just ahead of the fingertips. I’m reopening and advancing 2 cm outward at the same low height for one corrected attempt."})
tool
executing move_to over 10 steps (1.0s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteAfter reopening and advancing, the dog’s torso now fills the gap between both jaws instead of sitting beyond 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]: [-0.6205, 1.4853, 0.4473, 0.2779, -0.5156, -0.4114, 0.9952, -0.0143, 0.8032, 0.6086, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.326 left_y=-0.1215 left_z=0.0404 left_yaw=0.0128 left_pitch=-0.0784 left_roll=0.0342 left_gripper=0.9952 right_x=0.2953 right_y=0.0015 right_z=0.1785 right_yaw=0.0014 right_pitch=-0.0175 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [0.2803, -4.506, 7.6786, 1.663, -0.1099, 0.1538, 0.0415, -0.0615, -1.4701, 7.1863, 1.7509, -0.0562, -0.0122, -0.0171] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"After reopening and advancing, the dog’s torso now fills the gap between both jaws instead of sitting beyond them. I’m closing for the corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe gripper settled at 0.193, indicating a secure roughly 1.8 cm grasp on the dog. I’m lifting it well clear of the remaining animals before moving toward the dog basket.
move_to
left_z0.1700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6186, 1.4868, 0.4492, 0.2794, -0.5159, -0.4194, 0.1928, -0.0147, 0.8051, 0.6083, -0.3847, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3268 left_y=-0.1212 left_z=0.0409 left_yaw=0.0192 left_pitch=-0.0766 left_roll=0.0268 left_gripper=0.1928 right_x=0.2954 right_y=0.0014 right_z=0.1779 right_yaw=0.001 right_pitch=-0.0195 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.3214, -5.2034, 5.0803, 1.4921, -0.232, 0.0366, 0.6129, -0.0752, -1.2239, 7.0359, 1.79, -0.0464, -0.0757, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.17},"note":"The gripper settled at 0.193, indicating a secure roughly 1.8 cm grasp on the dog. I’m lifting it well clear of the remaining animals before moving toward the dog basket."})
tool
executing move_to over 9 steps (0.9s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe overhead view confirms the dog lifted with the gripper and separated from the cluster. I’m carrying it high toward the center of the left turquoise basket, which I’m assigning to dogs.
move_to
left_x0.4700left_y-0.1200left_z0.2500
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]: [-0.6182, 1.2221, 0.7937, -0.3599, -0.5156, -0.4274, 0.1923, -0.0143, 0.8082, 0.6083, -0.3855, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3259 left_y=-0.1205 left_z=0.1544 left_yaw=0.0252 left_pitch=-0.1007 left_roll=0.0383 left_gripper=0.1923 right_x=0.2955 right_y=0.0015 right_z=0.1769 right_yaw=0.0014 right_pitch=-0.0233 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.3897, -5.8325, 8.9231, 1.2821, -0.2222, 0.0415, -0.0659, -0.0889, -1.5111, 7.0359, 1.7411, -0.0317, -0.0806, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.12,"left_z":0.25},"note":"The overhead view confirms the dog lifted with the gripper and separated from the cluster. I’m carrying it high toward the center of the left turquoise basket, which I’m assigning to dogs."})
tool
executing move_to over 12 steps (1.2s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe dog is centered over the left basket with clear clearance from its rim. I’m lowering it into the basket until the body is near the basket floor.
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]: [-0.3771, 1.6928, 1.5356, -0.6285, -0.35, -0.2836, 0.1922, -0.0147, 0.812, 0.6075, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.461 left_y=-0.1136 left_z=0.2282 left_yaw=0.0581 left_pitch=-0.1628 left_roll=0.0468 left_gripper=0.1922 right_x=0.2957 right_y=0.0014 right_z=0.1756 right_yaw=0.001 right_pitch=-0.0275 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-0.3761, -8.6359, 9.7436, 1.8437, -0.0806, 0.3199, -0.0171, -0.3487, -1.6615, 7.0632, 1.7558, -0.0073, -0.0806, -0.0122] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.13},"note":"The dog is centered over the left basket with clear clearance from its rim. I’m lowering it into the basket until the body is near the basket floor."})
tool
executing move_to over 7 steps (0.7s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe dog is now well inside the basket below the rim and appears supported near the floor. I’m opening the jaws to release it into the dog basket.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3763, 1.7241, 1.198, -0.2687, -0.3508, -0.2897, 0.1922, -0.0147, 0.8146, 0.6075, -0.3851, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.4586 left_y=-0.1121 left_z=0.1335 left_yaw=0.0634 left_pitch=-0.1707 left_roll=0.0466 left_gripper=0.1922 right_x=0.2959 right_y=0.0013 right_z=0.1748 right_yaw=0.0007 right_pitch=-0.0301 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.1026, -8.0342, 6.1744, 1.6288, -0.1343, 0.0171, -0.0171, -0.212, -1.5521, 7.2274, 1.707, -0.0317, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The dog is now well inside the basket below the rim and appears supported near the floor. I’m opening the jaws to release it into the dog basket."})
tool
executing move_to over 9 steps (0.9s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe released beagle is visibly resting in the left basket. I’m retracting and parking the left arm to clear the overhead view and avoid interference before using the right arm on the central cluster.
move_to
left_x0.3000left_y0.0000left_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]: [-0.3763, 1.7287, 1.1954, -0.268, -0.3508, -0.2958, 0.9954, -0.0147, 0.8146, 0.6075, -0.3851, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.4582 left_y=-0.1119 left_z=0.1305 left_yaw=0.0672 left_pitch=-0.1764 left_roll=0.0448 left_gripper=0.9954 right_x=0.2959 right_y=0.0013 right_z=0.1748 right_yaw=0.0007 right_pitch=-0.0301 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.0752, -9.1966, 6.8444, 1.4969, -0.2173, 0.0317, -0.1392, -0.253, -1.1282, 7.0359, 1.6923, -0.0415, -0.0659, -0.0122] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0.0,"left_z":0.2},"note":"The released beagle is visibly resting in the left basket. I’m retracting and parking the left arm to clear the overhead view and avoid interference before using the right arm on the central cluster."})
tool
executing move_to over 13 steps (1.3s)
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 noteWith the left arm clear, I can see four animals remain: one obvious beagle at left and a mix of round-eared teddy bears and beagles in the center. I’m moving the right gripper above the right side of the cluster to identify and align with the next animal.
move_to
right_x0.3100right_y0.3000right_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]: [-0.1062, 0.981, 0.8875, -0.6323, -0.1776, -0.1234, 0.9967, -0.0147, 0.8188, 0.6075, -0.3855, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3072 left_y=0.0022 left_z=0.2065 left_yaw=0.0958 left_pitch=-0.1476 left_roll=0.0361 left_gripper=0.9967 right_x=0.2961 right_y=0.0014 right_z=0.1736 right_yaw=0.001 right_pitch=-0.0347 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.253, -2.1402, 6.1333, 1.5653, 0.1197, 0.1001, 0.1148, -0.3761, -1.6615, 7.0359, 1.7363, -0.0611, -0.0415, -0.0171] 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_x":0.31,"right_y":0.3,"right_z":0.16,"right_gripper":1.0},"note":"With the left arm clear, I can see four animals remain: one obvious beagle at left and a mix of round-eared teddy bears and beagles in the center. I’m moving the right gripper above the right side of the cluster to identify and align with the next animal."})
tool
executing move_to over 25 steps (2.5s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe right wrist view identifies the selected animal as a tan teddy bear with round ears and a stitched smile. It is slightly left of the jaw column, so I’m shifting left in the right arm’s frame, advancing a little, and lowering to grasp around its torso.
move_to
right_x0.3250right_y0.3400right_z0.0650right_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]: [-0.1043, 0.9874, 0.886, -0.6434, -0.1761, -0.1276, 0.9968, 1.0473, 1.6924, 1.1904, -0.4591, 0.7692, 0.7418, 0.9998] state[eef_state]: left_x=0.3058 left_y=0.0027 left_z=0.202 left_yaw=0.0993 left_pitch=-0.1664 left_roll=0.0357 left_gripper=0.9968 right_x=0.3075 right_y=0.2942 right_z=0.1474 right_yaw=0.0297 right_pitch=-0.068 right_roll=-0.0269 right_gripper=0.9998 state[joint_eff]: [-0.253, -2.6325, 6.9128, 1.6874, -0.1392, -0.0122, -0.0073, 0.6496, -8.2667, 8.6769, 1.0134, 0.6081, 0.1538, -0.0366] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.325,"right_y":0.34,"right_z":0.065,"right_gripper":1.0},"note":"The right wrist view identifies the selected animal as a tan teddy bear with round ears and a stitched smile. It is slightly left of the jaw column, so I’m shifting left in the right arm’s frame, advancing a little, and lowering to grasp around its torso."})
tool
executing move_to over 6 steps (0.6s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe teddy’s torso now fills the gap immediately in front of the fingertips, indicating the jaws are around its midsection. I’m closing to secure the bear.
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]: [-0.1043, 0.9894, 0.886, -0.6437, -0.1761, -0.1303, 0.9968, 1.0603, 1.9511, 1.206, -0.2474, 0.7769, 0.7605, 0.9998] state[eef_state]: left_x=0.3059 left_y=0.0027 left_z=0.2014 left_yaw=0.1009 left_pitch=-0.1686 left_roll=0.0342 left_gripper=0.9968 right_x=0.3228 right_y=0.3303 right_z=0.0711 right_yaw=0.0262 right_pitch=-0.0785 right_roll=-0.0419 right_gripper=0.9998 state[joint_eff]: [-0.1846, -2.441, 7.0085, 1.58, -0.1197, 0.0073, -0.0122, 0.6085, -8.1162, 7.1179, 0.9499, 0.398, 0.0073, -0.0366] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The teddy’s torso now fills the gap immediately in front of the fingertips, indicating the jaws are around its midsection. I’m closing to secure the bear."})
tool
executing move_to over 10 steps (1.0s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteThe right gripper settled at 0.114, confirming it has captured the teddy’s plush body rather than closing empty. I’m lifting straight up to verify the bear clears the table and neighboring toys.
move_to
right_z0.1900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.104, 0.9894, 0.886, -0.6437, -0.1761, -0.1307, 0.9968, 1.0603, 1.9675, 1.2106, -0.2192, 0.7738, 0.7597, 0.1137] state[eef_state]: left_x=0.3059 left_y=0.0028 left_z=0.2014 left_yaw=0.1015 left_pitch=-0.1686 left_roll=0.0339 left_gripper=0.9968 right_x=0.3251 right_y=0.3353 right_z=0.0683 right_yaw=0.0294 right_pitch=-0.0723 right_roll=-0.0271 right_gripper=0.1137 state[joint_eff]: [-0.0889, -2.4274, 7.0496, 1.5897, -0.1099, -0.0513, -0.0122, -0.1299, -11.5077, 5.5453, 0.9158, 0.3297, -0.0171, 0.8571] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.19},"note":"The right gripper settled at 0.114, confirming it has captured the teddy’s plush body rather than closing empty. I’m lifting straight up to verify the bear clears the table and neighboring toys."})
tool
executing move_to over 8 steps (0.8s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe teddy rose with the gripper and the remaining cluster is now visible below, confirming the grasp. I’m carrying this bear high to the center of the right turquoise basket, which is assigned to bears.
move_to
right_x0.4700right_y0.1400right_z0.2500
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]: [-0.104, 0.9894, 0.886, -0.6437, -0.1761, -0.131, 0.9968, 1.0603, 1.8778, 1.4902, -0.6167, 0.7486, 0.7563, 0.1169] state[eef_state]: left_x=0.3059 left_y=0.0028 left_z=0.2014 left_yaw=0.1017 left_pitch=-0.1686 left_roll=0.0336 left_gripper=0.9968 right_x=0.3248 right_y=0.3412 right_z=0.1584 right_yaw=0.0439 right_pitch=-0.105 right_roll=-0.0431 right_gripper=0.1169 state[joint_eff]: [-0.0342, -2.4, 6.9812, 1.5849, -0.0855, -0.0513, -0.0122, -0.1983, -12.8889, 9.1282, 1.0525, 0.6081, 0.0024, 0.3101] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.14,"right_z":0.25},"note":"The teddy rose with the gripper and the remaining cluster is now visible below, confirming the grasp. I’m carrying this bear high to the center of the right turquoise basket, which is assigned to bears."})
tool
executing move_to over 17 steps (1.7s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteThe teddy is centered over the right basket with its body inside the rim footprint. I’m lowering it into the basket before release.
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]: [-0.1043, 0.9894, 0.886, -0.6437, -0.1761, -0.131, 0.9968, 0.4019, 1.7149, 1.5311, -0.5919, 0.3149, 0.2005, 0.1198] state[eef_state]: left_x=0.3059 left_y=0.0027 left_z=0.2014 left_yaw=0.1013 left_pitch=-0.1686 left_roll=0.0336 left_gripper=0.9968 right_x=0.4615 right_y=0.1406 right_z=0.2209 right_yaw=0.0216 right_pitch=-0.1681 right_roll=-0.065 right_gripper=0.1198 state[joint_eff]: [-0.0889, -2.4274, 6.9675, 1.5409, -0.1099, -0.0513, -0.0073, -0.2803, -9.7573, 10.359, 1.5897, 0.0024, -0.0073, 0.2906] camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.13},"note":"The teddy is centered over the right basket with its body inside the rim footprint. I’m lowering it into the basket before release."})
tool
executing move_to over 6 steps (0.6s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteThe teddy is down inside the right basket and supported below the rim. I’m opening the right gripper to release it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1043, 0.9905, 0.886, -0.6441, -0.1761, -0.131, 0.9968, 0.3981, 1.7332, 1.2491, -0.3046, 0.3054, 0.1833, 0.1224] state[eef_state]: left_x=0.306 left_y=0.0027 left_z=0.201 left_yaw=0.1013 left_pitch=-0.1701 left_roll=0.0339 left_gripper=0.9968 right_x=0.4577 right_y=0.1387 right_z=0.1425 right_yaw=0.0341 right_pitch=-0.1833 right_roll=-0.0763 right_gripper=0.1224 state[joint_eff]: [-0.212, -2.2906, 6.8034, 1.5995, -0.1197, -0.0708, -0.0122, 0.253, -6.8855, 5.3812, 1.5653, 0.2027, 0.1441, 0.2662] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The teddy is down inside the right basket and supported below the rim. I’m opening the right gripper to release it."})
tool
executing move_to over 9 steps (0.9s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteThe tan teddy is visibly resting in the right basket after release. I’m retracting and parking the right arm so the three remaining animals can be seen and approached safely.
move_to
right_x0.3000right_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]: [-0.1043, 0.9913, 0.886, -0.6441, -0.1761, -0.1307, 0.9968, 0.3973, 1.7336, 1.2369, -0.2874, 0.3019, 0.1772, 0.9949] state[eef_state]: left_x=0.306 left_y=0.0027 left_z=0.2007 left_yaw=0.1012 left_pitch=-0.1708 left_roll=0.0344 left_gripper=0.9968 right_x=0.4578 right_y=0.139 right_z=0.1401 right_yaw=0.0398 right_pitch=-0.1801 right_roll=-0.0769 right_gripper=0.9949 state[joint_eff]: [-0.1983, -2.3453, 6.8034, 1.5604, -0.105, -0.0562, -0.0073, -0.0068, -8.8274, 7.6923, 1.3602, 0.0806, 0.0757, -0.0757] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.0,"right_z":0.2},"note":"The tan teddy is visibly resting in the right basket after release. I’m retracting and parking the right arm so the three remaining animals can be seen and approached safely."})
tool
executing move_to over 13 steps (1.3s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteThe cleared overhead view shows exactly three animals left: a gray round-eared teddy in front and two brown-and-white beagles behind it. I’m moving the left gripper above the gray teddy, which belongs in the right basket with the tan bear.
move_to
left_x0.2900left_y-0.2200left_z0.1600left_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]: [-0.1043, 0.9951, 0.886, -0.6434, -0.1761, -0.1307, 0.9968, 0.0105, 0.9852, 0.8753, -0.5953, 0.054, -0.0639, 0.9962] state[eef_state]: left_x=0.3065 left_y=0.0026 left_z=0.1998 left_yaw=0.1013 left_pitch=-0.1738 left_roll=0.035 left_gripper=0.9968 right_x=0.312 right_y=-0.0027 right_z=0.2052 right_yaw=-0.0045 right_pitch=-0.1441 right_roll=-0.078 right_gripper=0.9962 state[joint_eff]: [-0.1983, -2.3316, 6.9538, 1.6093, -0.0855, -0.0171, -0.0122, -0.1573, -2.3179, 6.5026, 1.5897, -0.0952, -0.0708, 0.1245] camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":-0.22,"left_z":0.16,"left_gripper":1.0},"note":"The cleared overhead view shows exactly three animals left: a gray round-eared teddy in front and two brown-and-white beagles behind it. I’m moving the left gripper above the gray teddy, which belongs in the right basket with the tan bear."})
tool
executing move_to over 20 steps (2.0s)
step 213
top_cam
camera top_cam step 213
left_cam
camera left_cam step 213
right_cam
camera right_cam step 213
assistant
agent noteThe approach did not line up with the gray teddy; the overhead view shows it was displaced left while the gripper ended over the dog cluster. I’m retracting high to clear the scene and re-measure rather than closing blindly.
move_to
left_x0.3000left_y0.0000left_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9802, 1.5112, 1.1107, -0.7368, -0.6994, -0.8871, 0.9987, 0.0074, 0.9913, 0.8749, -0.6155, 0.0441, -0.0818, 0.9964] state[eef_state]: left_x=0.2865 left_y=-0.2166 left_z=0.1491 left_yaw=0.0784 left_pitch=-0.2042 left_roll=0.055 left_gripper=0.9987 right_x=0.3093 right_y=-0.0019 right_z=0.1994 right_yaw=0.0106 right_pitch=-0.1716 right_roll=-0.0852 right_gripper=0.9964 state[joint_eff]: [-0.2256, -6.5846, 8.6906, 0.8962, -0.5788, -0.0708, -0.1441, 0.1709, -2.9744, 6.8581, 1.7851, 0.0855, 0.149, 0.0073] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0.0,"left_z":0.22},"note":"The approach did not line up with the gray teddy; the overhead view shows it was displaced left while the gripper ended over the dog cluster. I’m retracting high to clear the scene and re-measure rather than closing blindly."})
tool
executing move_to over 20 steps (2.0s)
step 233
top_cam
camera top_cam step 233
left_cam
camera left_cam step 233
right_cam
camera right_cam step 233
assistant
agent noteFrom the parked pose, the left wrist now has the gray teddy clearly in front of the jaws; its earlier apparent overhead position was distorted by the arm occlusion. I’m aligning slightly right on the wrist image, advancing 2–3 cm, and lowering around the teddy’s torso.
move_to
left_x0.3250left_y-0.0300left_z0.0700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1333, 1.0206, 0.9592, -0.7559, -0.223, -0.1707, 0.9983, 0.0071, 0.9916, 0.8749, -0.6167, 0.0429, -0.0826, 0.9964] state[eef_state]: left_x=0.2991 left_y=0.0029 left_z=0.2053 left_yaw=0.137 left_pitch=-0.2278 left_roll=0.054 left_gripper=0.9983 right_x=0.3091 right_y=-0.0018 right_z=0.1991 right_yaw=0.0116 right_pitch=-0.1732 right_roll=-0.085 right_gripper=0.9964 state[joint_eff]: [-0.4855, -3.5624, 10.0308, 1.4383, 0.0513, 0.1392, -0.0659, -0.0615, -2.4274, 6.9812, 1.5604, 0.0171, -0.022, -0.0073] camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.325,"left_y":-0.03,"left_z":0.07,"left_gripper":1.0},"note":"From the parked pose, the left wrist now has the gray teddy clearly in front of the jaws; its earlier apparent overhead position was distorted by the arm occlusion. I’m aligning slightly right on the wrist image, advancing 2–3 cm, and lowering around the teddy’s torso."})
tool
executing move_to over 9 steps (0.9s)
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 low wrist view shows the teddy immediately to the left of the jaw gap; my prior lateral correction was in the wrong direction. I’m shifting the gripper about 5 cm left in its base frame while holding height and radial position steady.
move_to
left_y0.0250
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.268, 1.2442, 0.5587, -0.2317, -0.2966, -0.2634, 0.9987, 0.0071, 0.9932, 0.8749, -0.6167, 0.0429, -0.083, 0.9964] state[eef_state]: left_x=0.3119 left_y=-0.0284 left_z=0.0638 left_yaw=0.1246 left_pitch=-0.3003 left_roll=0.0778 left_gripper=0.9987 right_x=0.3093 right_y=-0.0018 right_z=0.1987 right_yaw=0.0118 right_pitch=-0.1747 right_roll=-0.0852 right_gripper=0.9964 state[joint_eff]: [-0.253, -4.3556, 6.2701, 1.5165, -0.3932, -0.149, -0.149, -0.0479, -2.6188, 6.8308, 1.6142, -0.0317, -0.0464, -0.0171] 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_y":0.025},"note":"The low wrist view shows the teddy immediately to the left of the jaw gap; my prior lateral correction was in the wrong direction. I’m shifting the gripper about 5 cm left in its base frame while holding height and radial position steady."})
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 teddy shifted toward the jaw column and is now only about 2 cm left of center. I’m continuing the same lateral correction to the safe outer bound so the jaws straddle its torso.
move_to
left_y0.0500
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]: [-0.0254, 1.224, 0.5396, -0.1928, -0.1734, -0.1093, 0.9983, 0.0071, 0.9932, 0.8749, -0.6163, 0.0429, -0.083, 0.9964] state[eef_state]: left_x=0.3149 left_y=0.0261 left_z=0.0643 left_yaw=0.1722 left_pitch=-0.2972 left_roll=0.074 left_gripper=0.9983 right_x=0.3093 right_y=-0.0018 right_z=0.1987 right_yaw=0.0118 right_pitch=-0.1743 right_roll=-0.0852 right_gripper=0.9964 state[joint_eff]: [0.0205, -5.3128, 5.3538, 1.4481, 0.0708, 0.0611, -0.0659, -0.1299, -2.3453, 7.0085, 1.6142, 0.0024, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). 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_y":0.05},"note":"The teddy shifted toward the jaw column and is now only about 2 cm left of center. I’m continuing the same lateral correction to the safe outer bound so the jaws straddle its torso."})
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 gripper has reached its lateral workspace bound; the gray teddy is slightly left of center but still spans the open jaw gap, with room for the closing left jaw to center the plush body. I’m closing carefully to test the grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0765, 1.2232, 0.5308, -0.1852, -0.1207, -0.0448, 0.9982, 0.0071, 0.9932, 0.8749, -0.6167, 0.0429, -0.0834, 0.9964] state[eef_state]: left_x=0.311 left_y=0.0488 left_z=0.0613 left_yaw=0.1919 left_pitch=-0.3068 left_roll=0.0759 left_gripper=0.9982 right_x=0.3093 right_y=-0.0018 right_z=0.1987 right_yaw=0.012 right_pitch=-0.1747 right_roll=-0.0855 right_gripper=0.9964 state[joint_eff]: [0.0068, -3.1521, 6.9812, 1.5653, 0.1148, 0.0562, -0.0269, -0.0479, -2.4821, 6.8991, 1.5556, 0.0122, -0.0659, -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":0.0},"note":"The gripper has reached its lateral workspace bound; the gray teddy is slightly left of center but still spans the open jaw gap, with room for the closing left jaw to center the plush body. I’m closing carefully to test the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 260
top_cam
camera top_cam step 260
assistant
agent noteThe close was empty, and the wrist image shows the teddy remained a few centimeters beyond the fingertips rather than being laterally unreachable. I’m reopening and advancing outward at the same maximum-left alignment for a second, properly depth-aligned attempt.
move_to
left_x0.3400left_y0.0500left_z0.0600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0933, 1.2232, 0.5308, -0.1867, -0.1036, -0.0219, 0.0115, 0.0071, 0.9936, 0.8749, -0.6167, 0.0429, -0.083, 0.9964] state[eef_state]: left_x=0.3104 left_y=0.051 left_z=0.0608 left_yaw=0.1808 left_pitch=-0.3108 left_roll=0.0777 left_gripper=0.0115 right_x=0.3093 right_y=-0.0018 right_z=0.1986 right_yaw=0.0118 right_pitch=-0.1751 right_roll=-0.0852 right_gripper=0.9964 state[joint_eff]: [-0.1299, -3.4393, 6.9675, 1.5165, -0.0317, 0.0366, 1.0232, -0.0615, -2.0444, 6.8991, 1.6044, -0.0073, -0.022, -0.0122] 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":0.34,"left_y":0.05,"left_z":0.06,"left_gripper":1.0},"note":"The close was empty, and the wrist image shows the teddy remained a few centimeters beyond the fingertips rather than being laterally unreachable. I’m reopening and advancing outward at the same maximum-left alignment for a second, properly depth-aligned attempt."})
tool
executing move_to over 10 steps (1.0s)
step 270
assistant
agent noteAfter advancing, the teddy’s torso is now at fingertip depth and lies within the span of the open jaws, unlike the previous attempt. 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]: [0.0772, 1.3544, 0.5892, -0.1604, -0.1078, -0.0395, 0.9953, 0.0071, 0.9943, 0.8749, -0.6167, 0.0429, -0.083, 0.9964] state[eef_state]: left_x=0.3266 left_y=0.0479 left_z=0.0472 left_yaw=0.1799 left_pitch=-0.356 left_roll=0.0743 left_gripper=0.9953 right_x=0.3093 right_y=-0.0018 right_z=0.1983 right_yaw=0.0118 right_pitch=-0.1759 right_roll=-0.0852 right_gripper=0.9964 state[joint_eff]: [-0.1162, -4.1504, 8.759, 1.5751, -0.1734, 0.0952, -0.0659, -0.1162, -2.3863, 7.0222, 1.5849, -0.0171, -0.0269, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"After advancing, the teddy’s torso is now at fingertip depth and lies within the span of the open jaws, unlike the previous attempt. I’m closing for the corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 280
assistant
agent noteThe second teddy close was still empty at the outer limit, so I’m withdrawing rather than repeating it. I also need an unobstructed overhead check because the remaining beagles now visually overlap the right basket’s front edge.
move_to
left_x0.3000left_y0.0000left_z0.2200left_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]: [0.0772, 1.356, 0.5911, -0.1635, -0.1074, -0.0441, 0.0112, 0.0071, 0.9951, 0.8749, -0.6167, 0.0429, -0.083, 0.9964] state[eef_state]: left_x=0.3266 left_y=0.0479 left_z=0.047 left_yaw=0.1823 left_pitch=-0.3584 left_roll=0.0713 left_gripper=0.0112 right_x=0.3094 right_y=-0.0018 right_z=0.1981 right_yaw=0.0118 right_pitch=-0.1766 right_roll=-0.0852 right_gripper=0.9964 state[joint_eff]: [-0.0615, -4.9026, 6.106, 1.3553, -0.0806, 0.0171, 1.0379, -0.1162, -2.3726, 6.8581, 1.58, -0.0317, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0.0,"left_z":0.22,"left_gripper":1.0},"note":"The second teddy close was still empty at the outer limit, so I’m withdrawing rather than repeating it. I also need an unobstructed overhead check because the remaining beagles now visually overlap the right basket’s front edge."})
tool
executing move_to over 12 steps (1.2s)
step 292
assistant
agent noteWith the arm clear, the gray teddy is the only toy still plainly on the tabletop. The right basket appears to contain the tan teddy plus a small beagle at its front-left, so I’m moving the right gripper above that small animal to transfer it to the dog basket.
move_to
right_x0.4300right_y0.2000right_z0.1800right_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]: [-0.1463, 1.1648, 1.1297, -0.9077, -0.2195, -0.2241, 0.996, 0.0071, 0.9989, 0.8749, -0.6163, 0.041, -0.0834, 0.9964] state[eef_state]: left_x=0.3081 left_y=-0.0029 left_z=0.2098 left_yaw=0.1615 left_pitch=-0.3471 left_roll=0.052 left_gripper=0.996 right_x=0.3098 right_y=-0.0015 right_z=0.1971 right_yaw=0.0137 right_pitch=-0.1801 right_roll=-0.0842 right_gripper=0.9964 state[joint_eff]: [-0.1573, -3.8632, 8.335, 1.1453, -0.3004, 0.0611, -0.0806, -0.3761, -2.8513, 6.8718, 1.6484, 0.0073, -0.0122, -0.0122] camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.2,"right_z":0.18,"right_gripper":1.0},"note":"With the arm clear, the gray teddy is the only toy still plainly on the tabletop. The right basket appears to contain the tan teddy plus a small beagle at its front-left, so I’m moving the right gripper above that small animal to transfer it to the dog basket."})
tool
executing move_to over 17 steps (1.7s)
step 309
assistant
agent noteThe right wrist confirms the right basket contains only the tan teddy; the apparent extra shapes were its limbs, so the classification already there is correct. The gray teddy is lying low and my prior grasps stayed too high, so I’m parking the right arm and lowering the left gripper nearly to table level over the reachable side of the gray teddy.
move_to
right_x0.3000right_y0.0000right_z0.2000left_x0.3300left_y0.0500left_z0.0120left_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]: [-0.149, 1.1694, 1.1313, -0.9226, -0.2245, -0.2363, 0.9968, 0.5846, 1.7325, 1.3777, -0.5255, 0.4271, 0.3126, 0.9986] state[eef_state]: left_x=0.3058 left_y=-0.0025 left_z=0.2072 left_yaw=0.1722 left_pitch=-0.3625 left_roll=0.0541 left_gripper=0.9968 right_x=0.4221 right_y=0.1959 right_z=0.1659 right_yaw=0.0439 right_pitch=-0.2198 right_roll=-0.1045 right_gripper=0.9986 state[joint_eff]: [-0.0752, -3.6855, 6.4068, 1.4579, -0.0366, 0.1148, 0.0708, 0.3624, -8.9641, 9.2376, 1.3797, 0.4567, 0.1441, -0.1538] camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.0,"right_z":0.2,"left_x":0.33,"left_y":0.05,"left_z":0.012,"left_gripper":1.0},"note":"The right wrist confirms the right basket contains only the tan teddy; the apparent extra shapes were its limbs, so the classification already there is correct. The gray teddy is lying low and my prior grasps stayed too high, so I’m parking the right arm and lowering the left gripper nearly to table level over the reachable side of the gray teddy."})
tool
executing move_to over 17 steps (1.7s)
step 326
assistant
agent noteAt table level, the gray teddy’s right-side fur now extends into the open jaw span; this is the depth that the earlier attempts missed. I’m closing to catch that reachable portion of the plush body.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0853, 1.4559, 0.5434, -0.041, -0.0929, -0.0513, 0.9983, 0.0269, 1.0115, 0.9138, -0.6662, 0.0765, -0.0753, 0.9985] state[eef_state]: left_x=0.3266 left_y=0.048 left_z=0.0167 left_yaw=0.1824 left_pitch=-0.3844 left_roll=0.0569 left_gripper=0.9983 right_x=0.3076 right_y=-0.0016 right_z=0.2014 right_yaw=-0.0015 right_pitch=-0.203 right_roll=-0.1032 right_gripper=0.9985 state[joint_eff]: [0.7726, -4.7932, 4.6564, 1.1648, -0.022, 0.0806, -0.1832, -0.2256, -3.0701, 6.8034, 1.5604, -0.0952, -0.0659, -0.0317] camera 'top_cam' (step 326): [image omitted: streamed camera frame] camera 'left_cam' (step 326): [image omitted: streamed camera frame] camera 'right_cam' (step 326): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At table level, the gray teddy’s right-side fur now extends into the open jaw span; this is the depth that the earlier attempts missed. I’m closing to catch that reachable portion of the plush body."})
tool
executing move_to over 10 steps (1.0s)
step 336
assistant
agent noteThe unobstructed overhead image resolves the mistake: the gray teddy is still centered between the baskets; the gray mass in the wrist view was the left arm’s own sleeve. I’m moving directly to the teddy’s overhead position near the centerline and lowering around its torso.
move_to
left_x0.3600left_y-0.2600left_z0.0500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0875, 1.4719, 0.5293, -0.0372, -0.0891, -0.0525, 0.0116, 0.0204, 1.0153, 0.9092, -0.6804, 0.0669, -0.0933, 0.9985] state[eef_state]: left_x=0.3206 left_y=0.0475 left_z=0.0076 left_yaw=0.1829 left_pitch=-0.4108 left_roll=0.0556 left_gripper=0.0116 right_x=0.3049 right_y=-0.002 right_z=0.1958 right_yaw=0.0099 right_pitch=-0.2267 right_roll=-0.1099 right_gripper=0.9985 state[joint_eff]: [-0.3214, -6.1197, 6.7214, 1.243, -0.0806, -0.0073, 0.9744, 0.3214, -2.8786, 7.1863, 1.7021, 0.0855, 0.1197, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 336): [image omitted: streamed camera frame] camera 'left_cam' (step 336): [image omitted: streamed camera frame] camera 'right_cam' (step 336): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.26,"left_z":0.05,"left_gripper":1.0},"note":"The unobstructed overhead image resolves the mistake: the gray teddy is still centered between the baskets; the gray mass in the wrist view was the left arm’s own sleeve. I’m moving directly to the teddy’s overhead position near the centerline and lowering around its torso."})
tool
executing move_to over 28 steps (2.8s)
step 364
assistant
agent noteThe overhead view confirms the gray teddy was pushed just beyond the left grasp-center bound during the earlier misaligned sweep. I’m moving high to the outermost safe pose so I can descend beside it and use the gripper body to sweep it back inward into the reachable workspace.
move_to
left_x0.3200left_y0.0500left_z0.1800left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8219, 1.9877, 1.3571, -0.6338, -0.498, -0.9089, 0.9984, 0.02, 1.0157, 0.9077, -0.6811, 0.0662, -0.094, 0.9985] state[eef_state]: left_x=0.3558 left_y=-0.2536 left_z=0.0428 left_yaw=0.1797 left_pitch=-0.4297 left_roll=0.0528 left_gripper=0.9984 right_x=0.3046 right_y=-0.002 right_z=0.1949 right_yaw=0.0106 right_pitch=-0.2294 right_roll=-0.1099 right_gripper=0.9985 state[joint_eff]: [-0.5675, -9.8803, 7.8154, 0.7937, -0.4762, 0.1587, 0.0415, -0.0889, -2.5915, 7.0906, 1.5067, -0.0171, -0.0073, -0.0122] camera 'top_cam' (step 364): [image omitted: streamed camera frame] camera 'left_cam' (step 364): [image omitted: streamed camera frame] camera 'right_cam' (step 364): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":0.05,"left_z":0.18,"left_gripper":1.0},"note":"The overhead view confirms the gray teddy was pushed just beyond the left grasp-center bound during the earlier misaligned sweep. I’m moving high to the outermost safe pose so I can descend beside it and use the gripper body to sweep it back inward into the reachable workspace."})
tool
executing move_to over 27 steps (2.7s)
step 391
assistant
agent noteThe outer wrist view now clearly shows the gray teddy beside a yellow ruler, just left of the jaw column. I’m descending and advancing beside its body so the outer finger can contact it during an inward sweep.
move_to
left_x0.3500left_y0.0500left_z0.0400left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0856, 1.2823, 1.0748, -0.8314, -0.1089, -0.1009, 0.9988, 0.0204, 1.0157, 0.9077, -0.6811, 0.0666, -0.094, 0.9985] state[eef_state]: left_x=0.3184 left_y=0.0502 left_z=0.1617 left_yaw=0.2313 left_pitch=-0.4658 left_roll=0.0531 left_gripper=0.9988 right_x=0.3046 right_y=-0.0019 right_z=0.1949 right_yaw=0.0107 right_pitch=-0.2294 right_roll=-0.1102 right_gripper=0.9985 state[joint_eff]: [-0.2667, -6.4068, 9.1145, 1.072, 0.0659, 0.1636, -0.1441, 0.0068, -2.5368, 6.9265, 1.5067, 0.0122, -0.0171, -0.0122] camera 'top_cam' (step 391): [image omitted: streamed camera frame] camera 'left_cam' (step 391): [image omitted: streamed camera frame] camera 'right_cam' (step 391): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":0.05,"left_z":0.04,"left_gripper":1.0},"note":"The outer wrist view now clearly shows the gray teddy beside a yellow ruler, just left of the jaw column. I’m descending and advancing beside its body so the outer finger can contact it during an inward sweep."})
tool
executing move_to over 8 steps (0.8s)
step 399
assistant
agent noteAt low height the gray teddy’s body is immediately against the outer side of the open gripper. I’m sweeping the gripper inward across the table to push the teddy away from the fence and back into a graspable position.
move_to
left_y-0.1500
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]: [0.0765, 1.5124, 0.7876, -0.374, -0.1059, -0.1055, 0.9988, 0.02, 1.0172, 0.9073, -0.6815, 0.0662, -0.094, 0.9985] state[eef_state]: left_x=0.3368 left_y=0.0481 left_z=0.0393 left_yaw=0.2268 left_pitch=-0.5253 left_roll=0.0575 left_gripper=0.9988 right_x=0.3046 right_y=-0.002 right_z=0.1943 right_yaw=0.0106 right_pitch=-0.2317 right_roll=-0.1099 right_gripper=0.9985 state[joint_eff]: [-0.3487, -6.0786, 5.8735, 1.2088, -0.2027, -0.0904, -0.1441, -0.0752, -2.7419, 6.7897, 1.5409, -0.022, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 399): [image omitted: streamed camera frame] camera 'left_cam' (step 399): [image omitted: streamed camera frame] camera 'right_cam' (step 399): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.15},"note":"At low height the gray teddy’s body is immediately against the outer side of the open gripper. I’m sweeping the gripper inward across the table to push the teddy away from the fence and back into a graspable position."})
tool
executing move_to over 18 steps (1.8s)
step 417
assistant
agent noteI correctly classified the beagle into the left basket and the tan teddy into the right basket, but the remaining gray teddy was displaced against the far-left fence. Its center is beyond the left arm’s +y grasp bound, the right arm cannot cross that far, and an attempted low inward sweep did not move it, so I cannot safely complete the final placement.
give_up
hindsightThe gray furry mass visible at the left edge of the left wrist camera was the teddy, not arm occlusion; its table position was already near the left arm’s +y limit. When an object is near that outer fence, approach directly at left_y=+0.05 and verify fingertip depth before any lateral sweep. A center-directed approach from left_y=-0.22 can let the forearm displace a tall plush outward beyond the graspable workspace.
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]: [-0.5949, 1.7256, 1.0172, -0.5495, -0.3523, -0.7204, 0.9983, 0.02, 1.0176, 0.9073, -0.6811, 0.0666, -0.094, 0.9985] state[eef_state]: left_x=0.3329 left_y=-0.1474 left_z=0.0347 left_yaw=0.1997 left_pitch=-0.5412 left_roll=0.0553 left_gripper=0.9983 right_x=0.3047 right_y=-0.0021 right_z=0.1942 right_yaw=0.0103 right_pitch=-0.2317 right_roll=-0.1102 right_gripper=0.9985 state[joint_eff]: [-0.1573, -7.4462, 7.4325, 0.6813, -0.3101, -0.0806, -0.0659, 0.0752, -2.2906, 6.9128, 1.5214, -0.0024, -0.0415, -0.0171] camera 'top_cam' (step 417): [image omitted: streamed camera frame] camera 'left_cam' (step 417): [image omitted: streamed camera frame] camera 'right_cam' (step 417): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I correctly classified the beagle into the left basket and the tan teddy into the right basket, but the remaining gray teddy was displaced against the far-left fence. Its center is beyond the left arm’s +y grasp bound, the right arm cannot cross that far, and an attempted low inward sweep did not move it, so I cannot safely complete the final placement.","hindsight":"The gray furry mass visible at the left edge of the left wrist camera was the teddy, not arm occlusion; its table position was already near the left arm’s +y limit. When an object is near that outer fence, approach directly at left_y=+0.05 and verify fingertip depth before any lateral sweep. A center-directed approach from left_y=-0.22 can let the forearm displace a tall plush outward beyond the graspable workspace."})
tool
give_up: I correctly classified the beagle into the left basket and the tan teddy into the right basket, but the remaining gray teddy was displaced against the far-left fence. Its center is beyond the left arm’s +y grasp bound, the right arm cannot cross that far, and an attempted low inward sweep did not move it, so I cannot safely complete the final placement.
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 · 9.885 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8005, 0.6155, -0.3801, -0.0219, -0.0303, 0.9996, -0.0154, 0.7986, 0.6106, -0.374, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1834 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0011 right_z=0.1829 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -1.7299, 9.4838, 1.8193, -0.0122, 0.1148, -0.0611, -0.7179, -1.4564, 9.7983, 1.6972, -0.0806, -0.0073, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6edac0208de665761d0fb6229cd498025e52bba3beb9b28b377383d385910b61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c4e11255308895cca7b5efd1491f72e0fcc4ccafb4ae947959f0297991e51b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1096260f6d7f811662f6fddbd726002a284f7a20ea0bfe604d96fb28b89c194",
      "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 1 attempt 0 · /responses · status 200 · 5.482 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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  "id": "rs_04122c8e8bc3d057016ab446530be487d0835c943555400df1",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEZcKey-N3kL6m-f6VSjGXrOpZ55xNQak9LlMWAQn2ELTEt39wJiMoCoSK5ooqXnjevb9g6qntAV-vMGmQUXwmrW_ouqLPIVrie07slJ8MTSI6fO76S0sPvLrtNpWeouEmjb79_-NXSIsn4wyfjK3_X9jjHM1tz6vEl9qeo9MThocZlH7yBqgl-PzSd6GXZms_Ogi4q4kr8BSwU5DMbWNbVwZy3J-0O-ieAs-kx7rSB-c0nFjIuhYlpQK34IL6OeqJjzooNQ-gzhXDbtyuTAwp6gtNQpuKgvIfvNEk-bFsZQrHTR9woOWx5JWgDo7eB5jvAXpzZmi99HhYumhO_0dBAq-Me9vesiI5hCehjTmzyvUFZ7J56HkakaQ_trZbtT5fceLdCTwzsMzETK03CsXPIAHdpVA88uc3Ejj4Jm9sDl98K-e-lXNK00ZBUHIPRn1DgdHtIEfcs2QJMBcoO1MEzbC1nARSdVTA1A6OGgJ1-9Jr_UnEVOnPmVX1XdHEkKOSL_sqpiMYYCvHhmN-4luNiPjn-cGJf8uwLqwVSgUbc4elJc90PlEBCXFVtdE4hgS1hRIcV64JrsSNO02wOHvWaNHacLIhpP1QsMxzASQQOA8S8V_AIiT0-w2mN9HqcOWyzwrJdDp8CsH2ve-Gkp-ItSQA2vwloOAr5MEWhTmFbfiO_-uWRtdcUYXZ0PUpuEhKQPuHI0GB8O3JmHmfHRM5GKCKAMcqN1isa0YEWQEHUlwIwDM66shzfUBtlbERjBi2pteahB-ByU3eczQP4REs6p_B7HnUg7ghG8Hj28RBQUp_ycVFciFhAA_d72q1TfvWWpF9VIc6IsNUwSDrGVtAv58MRuPFiuOoi06zvJp6GZ89lKzPfmlCJgv53X5daii66JNJ0QrSzq3VK1wPs22i8NQGyJmpmVGHNsQwjqedwMucTj2UfE1VBmtUa0lSNk28n0IDszV67Of3N6zeDLmuJOKUyXwUElUrEMw2AG1t-RBh1Vjfai6_i5JC3pEdzjtQoGliULAgYQWDX9GZbb3tW38YSoAZQh1MgOMP5vdZNWY5NLS700V_IeZMSarkeDEipbrIaKCLcoUWXuHmgtnnlLJUB4X0rBrcdJ8YNTGtMlmx9EPwnstOyMwn9t_JEk8sxc5AFd3jARGU5_gcSNZ3k6HkB8DzT3rrTZCas0hR5hBYZykghV5h7_355sYUugYs-Ql3nflPcoU2WUr6QI7X2SjhQCACRiyga4OrFxeXZTwPizsXgOQMhv628AkpQEItHd8jnuYdfQDkTLtXQvnxun4dfgP-znvf_owPnIl3s2B6NVrkqlqpI7fy3aWOhExTFTkcIhd8A1crgAsNbTUbjSYAvGbOk1wsfNs62ZllvhwQRWLPlLZGL3vOV26z9oam9P9hkHPGrkwtTRAaI2hACbpUYMxK4QilZXIU6GBgw0CYuuJhiEDUounsXeTY2C2gMsenkoslevZjyqb5Sf0C-DsZa6ecwACrQzurHE--N1VOUMjpqWU2U8UdYUV7Sp1A_DT1BTEiWmfQRf9d2ELo4_dqA7DIZcXPGuWTGyOCsrwzKLxHcXDhBJ9cll2UxcnuW11utW7g5RYP_TNslceEdk98We9f3dFghBE5P7oWNoLbXXUxKkveR89ezFVBS9q7lwnapQ6AfRmVhl-H4fN_2OuYYtmlz_rRNg144R_fj3wQsHP2VAinYGKlXTm_xcfa1B74R6PdlvLY_O9cuTdeXsVHWbASiZN7jTr51YBqAt0glMBGBBwbdPu4EscVIr09JUyXjBSu_F_mnKu-hU50X7ouHNnZ5uHuSMqJU7BgoYhl5z_jhLKZO4X8Kpl11G0FhJKmOZNYwzRvSORWFn8Q2pDs_hfTS3DpCoidYNN7RH2Ik3q4FBx1KOZPPZzIMvajEmdSuxf14rf1ijI6kgKSCoO7IbRNicUelneo02o17a5QKl9OdBB1fREVRK7Uuu-gp3cIC5o0dmafFoRkCKcnbDo-JswDaqdlzDV_EHaAVQry0pMPqSUCnEyNNiEsPw15zcTJu345Q_ohnXRYszZBqO5Fri5mhAixEg1BDOlHUd-W2G3TOZrFTuB0DseP4idtEh-Cn5Hmu27I9pDq3yd8CysCxXy65bm4bOj3wH3V0pFrsIuSE1BsMpJ-L7NDrt7e5n8qIr5DKJ3k2i2jk4TJvYG3-Jox0xHjepLiuFX-BjDt496ysei-4xUj7z26CFw4FT0Nm4_j4wYVjM0DqSNlhdSRVYpK1ofP5R4Mp2xXqgin8WnNl1IwnrN2xtxngcXRYpMeVlenrjvtnKpHikUTgySySL6Xe3qVZ4qV6BY9lOnLO2Fx14X6TMqA-pMm9FF99x9j7ZpRkb9tRhVCgQdWMZQNOYhCpwbgW4AzxP5oqTVLGbu62FA3HBwV3rp2VuB-l9JiR1YSi_VLfSP1xWZP6rFoI8AhwiwVioNeM01hB3FAmY4Hi1OMPiU56CMNZ7-w_2nKbcebjkMw3rgG2wNZIg3x5ocC_D4OdOO1JM-fWU9u-My38yWxPHb7Wp1x43DkX7Z5XLrtTTPgovee4bjEoYcb_2ZlOyxWd5FCg7qqljXxg0hApxlC2TxrrAU3yk1UwABK9nA3hZl-zY0wK3Bu6wloiGHwz-540gc6NAMIBCuAHY1XKzLaCkTpjOx58Ax2L7",
  "id": "rs_04122c8e8bc3d057016ab44658374c87d0bb9ec76eed843853",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.14,\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"I see two empty turquoise baskets at the back and a cluster of several small upright plush animals in front of them. I’m moving the left gripper above the isolated leftmost animal so I can identify and align with it before grasping.\"}",
  "call_id": "call_yh8a63aJX8cgycbmpZwetqSC",
  "id": "fc_04122c8e8bc3d057016ab4465b058487d09e13cda6703f134b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yh8a63aJX8cgycbmpZwetqSC",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7708, 1.1313, 0.6586, -0.2977, -0.6147, -0.4988, 0.9995, -0.0147, 0.7986, 0.6086, -0.3782, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2937 left_y=-0.1383 left_z=0.1436 left_yaw=-0.0156 left_pitch=-0.0405 left_roll=0.0227 left_gripper=0.9995 right_x=0.2959 right_y=0.0014 right_z=0.1812 right_yaw=0.001 right_pitch=-0.0061 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -3.8222, 9.2376, 1.5897, -0.486, -0.0317, -0.0659, -0.294, -1.1282, 7.2274, 1.746, -0.0708, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0034a70219589a3b7b04a6f194784c215e509fad8a8a0d1bb29590c4398f0ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9566041d31538857ed65755d64da59bcbec4fb897c96bba8aed94e84f77c85ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eeb1dfc59d780adb7f73642b74c08975ab9455f20e9952f2b6ede891470c2bc4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 2.248 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, 0.8005, 0.6155, -0.3801, -0.0219, -0.0303, 0.9996, -0.0154, 0.7986, 0.6106, -0.374, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1834 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0011 right_z=0.1829 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -1.7299, 9.4838, 1.8193, -0.0122, 0.1148, -0.0611, -0.7179, -1.4564, 9.7983, 1.6972, -0.0806, -0.0073, -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]: [-0.7708, 1.1313, 0.6586, -0.2977, -0.6147, -0.4988, 0.9995, -0.0147, 0.7986, 0.6086, -0.3782, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2937 left_y=-0.1383 left_z=0.1436 left_yaw=-0.0156 left_pitch=-0.0405 left_roll=0.0227 left_gripper=0.9995 right_x=0.2959 right_y=0.0014 right_z=0.1812 right_yaw=0.001 right_pitch=-0.0061 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -3.8222, 9.2376, 1.5897, -0.486, -0.0317, -0.0659, -0.294, -1.1282, 7.2274, 1.746, -0.0708, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0034a70219589a3b7b04a6f194784c215e509fad8a8a0d1bb29590c4398f0ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9566041d31538857ed65755d64da59bcbec4fb897c96bba8aed94e84f77c85ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eeb1dfc59d780adb7f73642b74c08975ab9455f20e9952f2b6ede891470c2bc4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEZkTPs9ahrNlu5czmoIDBwfdnmcKSy2UB-AVQ1kHe-aOjusvxORSUQpFlUCbHVnQikeL8k90Htu9rahFe81lOSIjwMTh7ZHui2h4aK7C_Q-H2orfuGcnrBPzsuV11Y6-Nh-IHUQt6kkAPzvO_0VTilABM0jPqOrPNBaCoZzpKvXw8i4KnLgug2Nn-5ykiJt65Lh00IFukIaRI-urbDuMer4kjecg0VhsaGaOHxI5CRxKs8FPW_98mGF00BRZoRPi_kIGCGuovrc-ZfmUXCTJdGR8SiEoXt19B2m8pA7G-vEgonMTBDGI9UPFrjaa5XFwXIRgwWsK9t1CPT3MHYtqnmf9D0exD9REbLu9AfbnOC1lJMlFVDNAQ_QZZ1NCGpXH8RY2uPU7Nfvi6ENFz1pdcjxOzYYL9L0sk5LsbXzHvZ1MXAg9SIZnfA5rzTkhFZHuCntwd4MBN0ZsgMp3TNFyCMzTYhbFWU3v9RiPO-Lk46ow2UzL7jHeHnyGskDsFAo2uSmuVO5rXiFfgisnXDsAnGaq16w-Gvr_TtGZE1IZEwf-pVCT0D3XHK1_wRKFN1CaMWKY3fLb0IfhRun4bN5L6Xsj8haeKWFJdPGIOczcGIJ5RunWVLyVU5s0cf_nM7e_bWKq5w6RgGNLdCVHtSWpmWaAD-OiguCR_4Dtw5_EHLESAPrSLja1wKrAyFxmMZ1CD9fuNsTNxa_9lGuSeY6MF_phUJYeA-MUEv0jDr5RCFoOUQ-R8dzeY7oyP_P3QcK6NVPuiDE1tUZAga7SQBZuWfQ91gGGPPnrAoCeH7ggeRSn3meQB_TO4P90vG5ym-o0bghcqxGOgzXDgoIbTuyxDoWJnMEnvPalVs-a0-TxVEtZNHRAOeNJd3gYwwJzPBn6BkykqeaiBQu7aeGTAW5OvRuWCVO2uhVpRvZvYj6xYc8lldrZyDdlLiuz5bOeeKFVRQwbRlHBBnCgipE9efPoSBMwE6dLpvq4NBNeVjSCfKwGbCZlJmx3cko0HPfQntdCS8yiRlPQAwXPTJzyEs7aTLVhymKcvWD6__WpuFkxt29uC1KeVhd_mF0iyrkoI7WrtlnKAkf0Ic_U4S0ytSS6Mqmglr4a87bAtfosp5-gNDLw1iaRaAV6iJ3eBFt-PDd8TUnR5bcoC_B0a9QebFDq4K1s37k3DJUw14u0_hzar60bUAXArUVnQbxHszPfeKX0bXtFDzbslr9wz6zfBHETEa7a9fSPxBQ8hOziCEXRuglxpJiXELzfTepOkNur1Vt4gK-q_nlNxlnt6hVHouEaded8_ISoCwKk6-8WNiF2uuDrA9IRPUgB4yU4BjyLY9lM_O1fjdtjRltTNcyiiI14D3H8wJ0zQQKsvVTrXRw2KpqBa8eLC0jtA_3c0DR5yryW_MfpZnB1aIIidrvTeO0QT2hAC33MZgCCjnQ-nbUNX4tZtfOD96ZODXsHZYQ3unnGyoGtjWt5-xbNUt6jDtmMKhaFM_3UURuIXb_lnbkfgQKY89FX_8quBtdl3uF2WXzx4ktNfKkg_I5Y1TRD4Jmmluvf58epzOKvWGHxHQI2W_kwLFZYm4lSTSFAAy_v7-6ar9ajW7KYTwGc0mgUMJ3tQJTBIsrfwW45iI7_imBNn3N9yFiYLbjAXseEGATKrQ_F5QK5DMskoXvnaAw4INyyuMkhLaIrCrREd_UfxFZVJnwYc6l_hoA2NGmfWFCWETGJ2eu96HS7eWW90u4m4FGsfyFIIuGdL2XZckCrsMOlAeBEu0VIET3UlrfgFdaT492LdG1LsAA7qbc4gwLVM9K4j8e_Ni46EI8UOKIZBXiLFlLz3ieToTqRqUV9jjEaQZleoxSS59qMKWOWxDaoMuZzARfUPWWwlcYl64u_Lvu2k6zDXfXBT-dPIrwwOpUz3Jk97PwhDobfDKeDs2WuDqoeaDSjE_YgyvUqx6sQaFUqGKPf2MhDBPYy1kjjzqeUI_wLJIn2qAQpBEdKMXFD_zEEoPafqVZC1HmkkRp41TbGUXuSkg74zINI6AX4kLynNkc_6Krf-CN3vqWtKuYE7MBeKNKwocYcXHhXapD7yPjnFKqoKzudI0p_Je-1CN-m9_5MPMna87BqJv3yF5LZM8bf4Doohpf5nQ05XkFueKtKPzyki5025M3VjoNu4Bq5BUGHNVXBsqglRmQ5_UvlNkOu6zTTW5ZS9LPPWNm1IYKBpFzyuGpGf2atBIPa184kT1LT0-HCA1XoS1jQfGkX3f57hL9WeNu-Batd-9WWkNL99hn0O4TyRItZaptUlE7YdOBtUvhqiB9qS6U7yUiixU-T9g9NT_3lHumC2erK6Y4jpRELuhCEBsIJLFycc8H7Ss2BLLogEBURqGStlCKh9gZ93h2APEwWXvUb_85hNSifUKYbifSjVtoihwisq35o9xBv37w3hIfTeQq__o-nVkWoHy3woTfCctUKyVP9kmSEddZXgu5XRdHdxdZuxgj4O8uOFooZ4CT9Dba8-GcnDr1vwOgGMzYONf_41K5Q95gUcjHUzBcVf6gy_HsDgtttL7dEcdfnh9JpkpWtStgpysMPSzMbr6XJEXVD8MMzn05wXraHm7RHgRw7DD0NvkG_EsLDjJ0UQDwMwdj9RSjEz7UEQ8uxsONKxr-c09BQucS9Vduxuj8mudycPzYUybCsD2irjcWaslPW4rgVS4aaGoQ8CzfIj3dF15rTgeXl_tycCqizuJ2XZgtHO5z03zZzUdpJ3xAh51t4vyrUOxD-gW6Li1TIRQbG-6pfm4QwiIsb0bYpKPxJ0ecC2HXQJBtKdKrgj0_",
  "id": "rs_04122c8e8bc3d057016ab446604ca487d0812d0bd60c732b8e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_y\":-0.13,\"left_z\":0.055,\"left_gripper\":1.0},\"note\":\"The wrist view clearly shows two object types: a small brown-and-white dog centered under this gripper and a larger tan teddy bear to its right; a gray teddy is also visible at left. I’ll use the left basket for dogs and the right basket for bears, and I’m lowering around the centered dog with a slight outward correction.\"}",
  "call_id": "call_0sHP1JEkEvdxGRMSW9PsM0hZ",
  "id": "fc_04122c8e8bc3d057016ab44663c57c87d0930facf2a512cf4e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0sHP1JEkEvdxGRMSW9PsM0hZ",
  "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]: [-0.6743, 1.4017, 0.4267, 0.2253, -0.5491, -0.4343, 0.9995, -0.0147, 0.8013, 0.6086, -0.3843, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3132 left_y=-0.1277 left_z=0.0528 left_yaw=-0.0035 left_pitch=-0.0558 left_roll=0.0277 left_gripper=0.9995 right_x=0.2952 right_y=0.0014 right_z=0.1792 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -4.588, 5.0803, 1.6435, -0.2125, 0.105, -0.0659, -0.253, -1.4154, 7.2274, 1.7753, -0.0415, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22beb4def491e4025e0e607d0227fb5d20e2507b368bf67f6782e5150208d174",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5b2f37462495b4e545bcd34da860789c4a36408fa05ea9166b4c17dc6c95dfc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acff34089aad1c0739400267a1083d7d4105ec14b2f9a68d3ea3908f2b9fb08e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 3.436 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7708, 1.1313, 0.6586, -0.2977, -0.6147, -0.4988, 0.9995, -0.0147, 0.7986, 0.6086, -0.3782, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2937 left_y=-0.1383 left_z=0.1436 left_yaw=-0.0156 left_pitch=-0.0405 left_roll=0.0227 left_gripper=0.9995 right_x=0.2959 right_y=0.0014 right_z=0.1812 right_yaw=0.001 right_pitch=-0.0061 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -3.8222, 9.2376, 1.5897, -0.486, -0.0317, -0.0659, -0.294, -1.1282, 7.2274, 1.746, -0.0708, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6743, 1.4017, 0.4267, 0.2253, -0.5491, -0.4343, 0.9995, -0.0147, 0.8013, 0.6086, -0.3843, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3132 left_y=-0.1277 left_z=0.0528 left_yaw=-0.0035 left_pitch=-0.0558 left_roll=0.0277 left_gripper=0.9995 right_x=0.2952 right_y=0.0014 right_z=0.1792 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -4.588, 5.0803, 1.6435, -0.2125, 0.105, -0.0659, -0.253, -1.4154, 7.2274, 1.7753, -0.0415, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22beb4def491e4025e0e607d0227fb5d20e2507b368bf67f6782e5150208d174",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5b2f37462495b4e545bcd34da860789c4a36408fa05ea9166b4c17dc6c95dfc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acff34089aad1c0739400267a1083d7d4105ec14b2f9a68d3ea3908f2b9fb08e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEZoMPgBvqTsfTRTqhfmfu6rdG1ILvwcW_kzYDXPTf1fCQ46g76X5ei_08zmjLE6KncjfZUhAPqgmXtsk20M56M73DgJVuOKiJ-XfUbKPsWSkU3jVe2VT51x3blsrWSBpXpBOFLWAgY0hhNsliVgadCWTR-iRyz2mozJgliFs-EVCQ2xW0ocyc9atazOB0oFVGvoj3sTjXIkyXIUUqBW23R6cXl8en_K8cFyAjucmaLVefzrUvaQPQw5s2JjczwQF8Rf1dUl4Ef3ydu7U4SwBTOr-D_e8MpDQjXzlPRfxCh8QPui218xJH9-5-sLmvdCSXLe7akcKPVsL_L2HTsJgaHRWnHfNF0yX_6Da4LJhcLimvnS4GhMJ7ibJATL6suzOvLES_1XnwoSFTzt-Y2dJ0uDwtekEzQUcRjvdXSRnWnrGfB6S2eBkWi_as7W6rD5CD2RsL6vMFC5mST8-rrpR2bWa8H0DezSDxqFPI_rLqUe95PH_NI0ucIhgW-Udb6FXUpHXYpjIoQimEs6IBjBoulkGPb2fLXYoCOyfmgZoPkNq9nniuS1kIMgUE22WvaRwpUqSKP3FlE5Weh9VP3OD0tC_ib2kk9gYBr21fmEOnJA2TYhgVcCInRtyJbzp-arFFjHivSIba37eh5XXdwwk0zN1XK4EArAMe4nqwtVYyRhfHyaANwyKquNWT0wzEKzAqAJ6UPLN8BcW-w8TcVbrL6tMT9wY_r7Wyida-euh4ixmu0J1w9ZoYvKjD31ggRBiM_tGPb4enz6I9rFxOP9z6Cwq1JUE9WU8YNgcdBwKL-6W2eA9uU1C0kgN75m0_z_MMd6BqAO1G7HA2AoYoXVYCod-DN9E10e_yd16VNrK9ewgu6Mb-Iax2TLzb4GBaEyMuI36dDa2f6rtGkaRZ3ezfj6DzM2kHJ8Sn2MYRmBNLmdscOIKkjlqv2xTEQxY78bxhuVERcf2uV70_HQvQoDYFVSXVSuVhsQfQzerLHw8jOQcPZf4kJ6D6KtsbTxSmwcehQjdXVKK1Koh3Q6W5DuT8GcwnmLL43xKqZhTd2zZr3c9ACVjqc-KeKH1psEylJXNAvcIvrc0HuLpL2p7-nMzYrKFX29krzZrHIWIeHh70GLcbQxwZ5oPuTZj1Y-S1BNYKVPD0wQFgAfUdLeDmHdhCP9NtRFnVcBjfvZ67jkujLre1sXSPSk34jc0K3IAH1cvfAgPDqUWBT5iEOfTIQJOu8l3Q==",
  "id": "rs_04122c8e8bc3d057016ab44667d6cc87d0a536e516569a1a32",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The dog’s body is now centered between the open jaws at mid-height, with the teddy bear remaining outside the right jaw. I’m closing the gripper to secure this dog.\"}",
  "call_id": "call_uX31yp0XXDY2DytMoHwhksyn",
  "id": "fc_04122c8e8bc3d057016ab44667fe1087d0ae2fd7a6cb8c0bf4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uX31yp0XXDY2DytMoHwhksyn",
  "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]: [-0.6743, 1.4017, 0.4263, 0.2302, -0.5499, -0.4389, 0.0115, -0.0147, 0.8013, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3137 left_y=-0.1279 left_z=0.0535 left_yaw=-0.0006 left_pitch=-0.0518 left_roll=0.0216 left_gripper=0.0115 right_x=0.2952 right_y=0.0014 right_z=0.1791 right_yaw=0.001 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -4.6701, 5.5179, 1.4872, -0.232, 0.0122, 1.0183, -0.1983, -1.2923, 7.0906, 1.746, -0.0415, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db8a9e9d2cd526c5b3267f1b0d2bd7265585a61bc6b21d98828c7dee44910784",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38b0804225683ce054b4d3c535592725d554b46fed5ad60d71a31b0b6dfe61ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36957535a77b8d0bb5946de03fdf65862a38109c5e70c6992553a232af296956",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 2.106 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8005, 0.6155, -0.3801, -0.0219, -0.0303, 0.9996, -0.0154, 0.7986, 0.6106, -0.374, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1834 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0011 right_z=0.1829 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -1.7299, 9.4838, 1.8193, -0.0122, 0.1148, -0.0611, -0.7179, -1.4564, 9.7983, 1.6972, -0.0806, -0.0073, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6743, 1.4017, 0.4267, 0.2253, -0.5491, -0.4343, 0.9995, -0.0147, 0.8013, 0.6086, -0.3843, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3132 left_y=-0.1277 left_z=0.0528 left_yaw=-0.0035 left_pitch=-0.0558 left_roll=0.0277 left_gripper=0.9995 right_x=0.2952 right_y=0.0014 right_z=0.1792 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -4.588, 5.0803, 1.6435, -0.2125, 0.105, -0.0659, -0.253, -1.4154, 7.2274, 1.7753, -0.0415, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6743, 1.4017, 0.4263, 0.2302, -0.5499, -0.4389, 0.0115, -0.0147, 0.8013, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3137 left_y=-0.1279 left_z=0.0535 left_yaw=-0.0006 left_pitch=-0.0518 left_roll=0.0216 left_gripper=0.0115 right_x=0.2952 right_y=0.0014 right_z=0.1791 right_yaw=0.001 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -4.6701, 5.5179, 1.4872, -0.232, 0.0122, 1.0183, -0.1983, -1.2923, 7.0906, 1.746, -0.0415, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db8a9e9d2cd526c5b3267f1b0d2bd7265585a61bc6b21d98828c7dee44910784",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38b0804225683ce054b4d3c535592725d554b46fed5ad60d71a31b0b6dfe61ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36957535a77b8d0bb5946de03fdf65862a38109c5e70c6992553a232af296956",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEZtctwc4pd7svsUAcOvTpGl1To1stTXBTJpkCssMxoYN07UtXVnHhuqdrE5MBAWm-txg_cZumLTYTupTU03_xLfpQgtkX33ECy1X2skPig6dvb278uNIqpHPaJpwddx1u3GYu0Z6YzD6DfS5CkW_oOmhQ8gsL6mImAepl1KKvHZXLNyMBSXzRTiNwxZhMYRO8nHLxJ6E5SwiL4lfAVVGOy54cv3pgVaIaCAFNxz4yVDK3AsawT9Vei5mqyFhOXQSyHupONrji1jDDiXZTZoYqA1CfWngeSm7Gh1euE6s0Bxw-hDLpslJrjjGgmJH4CY_5CN8P7L8vGGkZ4IjAAxKA0xmv25lABTvlkWZ87W4Abees9n8r4SxTNXcakgeDWSLk0vh-bCUilFBG7zMAJKtaljCkbPjgZ34xY4YZDp9z2w-A_2DGi2uCpW7RV3Jgy9WAU5otuqBsOHl3abdexZB6PvaB-N_TEFmATcxl81m3te8TZZQsVGdu6JOpvVrEiCsfXQ9MUYwG4GjBy3jCDO8dnjCEHrUFeqb4ByFAOb_lDtM1bebsixzfskBE1k7d2rb3boD34RozyhMnSJc6Zru4aEL5ea2FxL89WFs4POQB4NQ23d_Npl9hsokwt3_rpCGk9-u3U_SJL-qOUE5ahwsoXOktBK-HmANKtwluLQuT5Z3HAxtuP2rwlK7r5X71v0iyKGI-xwoZkpxs_cW5LATqd5R3uZsInqdG0qO8z2fiQ2YaPW-X41T3NkHAn2ixveQ27JCCiEhqWvVtaUUKtaGc3Zf0DJhmUsGg_So2ljVrWfYxw_2DJyDmvHow1KCWniH-dBi0KIVPufioPiNzeYlc--npMgbAbdUMKfIGvi-q6dSW72LSIG2BA_T0sP0YJbWJLLJiJ_OawoAYVdVS-zY4qUdCsGtqh8rICompAb27hy__rWBy9pvBeCbr2uXnvgvVMELN6NmJYP_-cNo8PBzbMhL9cMuY2xSUaclZtNR5QsG3qPGL5g1hqqZMFmx5wQPvRuRtd61X8eiZLo-DI6u9UslTtJ-5yLjPpKq1p9_e3zi9H2TG0wYKLSIbqLJccVhA1TukNShTWP16vdj4QbyTmFQD7LCkG0d2j0R9Gt3Skz5xCk_LL6ULkmLRmcv9_6aejRCWZXaACYcNzdGMIGuVB8e0rVqXWp1W5sIWoULgBvtaZmUMO7z7Al5BPF1dmJ6ElTcCnVWXOh9ijPxqUcD0yA9wFAmLP1AuucinMXyF9FBDP3aF5sexIoYw5JB9Qr8kbaIh-NW8WJR9kjMI6DcNwYq1eYvMcQ1y5mOmMe35D6bE-P95SuxUMd8rZOgZn_baEgoOQNMQRQ_Fj5z5yMydapL7NAivKvCi2GgYB3Q1a3USeCYdmttujCGD7Vh3fszqJ_Y2EQaz810CpTHoN9SLz9_wRqIzJUdseZh8FtlDdbpowJBbM0NhtoN_3KtZRzuh5KA3YZUyzK8O3xgDxp4lvIrIi5IXd28TrB9qMshDw1asli90qifTqgAI9ARSKAEM0a_6RbCj3zcUc60Lz9ItVxLn_7SkKFvOUwNC0ehynjwdCpRlt-3dxLJ-03PCV_ddLa2oB-aMVbpk2a3ifmBbawq8YGKPgAOEyrHAXHF3RwBZglgmCZ-ddQtWLEks03xAV-RFq7MHu8DSc0NiZSB8rDXKlK3RBx6-GXRJnB0sUtWTnB_KKKr7Q1pifAlueePw4rr5I0WTe0huZOFT3Jt94IstkGQUEE_tA0p8XnQZW4ZTetB6-ovgZVUJvmPs_zI43aaS3Ik1WH0YI-ZVRij-xiJcenGVQ6Aol-W_jeaIN_ojM=",
  "id": "rs_04122c8e8bc3d057016ab4466aba0887d08bf726d7486aa8ae",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.128,\"left_z\":0.05,\"left_gripper\":1.0},\"note\":\"The gripper settled at 0.012, which confirms the first close was empty; the dog remained standing just ahead of the fingertips. I’m reopening and advancing 2 cm outward at the same low height for one corrected attempt.\"}",
  "call_id": "call_sdpl04zjWGG62tSSWProp75m",
  "id": "fc_04122c8e8bc3d057016ab4466bd53887d0924104e8af2c9bbb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sdpl04zjWGG62tSSWProp75m",
  "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]: [-0.6205, 1.4853, 0.4473, 0.2779, -0.5156, -0.4114, 0.9952, -0.0143, 0.8032, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.326 left_y=-0.1215 left_z=0.0404 left_yaw=0.0128 left_pitch=-0.0784 left_roll=0.0342 left_gripper=0.9952 right_x=0.2953 right_y=0.0015 right_z=0.1785 right_yaw=0.0014 right_pitch=-0.0175 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -4.506, 7.6786, 1.663, -0.1099, 0.1538, 0.0415, -0.0615, -1.4701, 7.1863, 1.7509, -0.0562, -0.0122, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e76011af5ea79a38f9fe5f213de2f78448c61c4542a6a0746548e03f39a2de2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd41386b468ebe1c9594ca6ebcd64af83ff150cf1eb7bb9272a000c001aa31eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6487b3b5331cfa3f4d5deb36b8722c3a381b10b2e7948c8f8366db1a2a67efa1",
      "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 · 2.127 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7708, 1.1313, 0.6586, -0.2977, -0.6147, -0.4988, 0.9995, -0.0147, 0.7986, 0.6086, -0.3782, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2937 left_y=-0.1383 left_z=0.1436 left_yaw=-0.0156 left_pitch=-0.0405 left_roll=0.0227 left_gripper=0.9995 right_x=0.2959 right_y=0.0014 right_z=0.1812 right_yaw=0.001 right_pitch=-0.0061 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -3.8222, 9.2376, 1.5897, -0.486, -0.0317, -0.0659, -0.294, -1.1282, 7.2274, 1.746, -0.0708, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6743, 1.4017, 0.4263, 0.2302, -0.5499, -0.4389, 0.0115, -0.0147, 0.8013, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3137 left_y=-0.1279 left_z=0.0535 left_yaw=-0.0006 left_pitch=-0.0518 left_roll=0.0216 left_gripper=0.0115 right_x=0.2952 right_y=0.0014 right_z=0.1791 right_yaw=0.001 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -4.6701, 5.5179, 1.4872, -0.232, 0.0122, 1.0183, -0.1983, -1.2923, 7.0906, 1.746, -0.0415, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6205, 1.4853, 0.4473, 0.2779, -0.5156, -0.4114, 0.9952, -0.0143, 0.8032, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.326 left_y=-0.1215 left_z=0.0404 left_yaw=0.0128 left_pitch=-0.0784 left_roll=0.0342 left_gripper=0.9952 right_x=0.2953 right_y=0.0015 right_z=0.1785 right_yaw=0.0014 right_pitch=-0.0175 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -4.506, 7.6786, 1.663, -0.1099, 0.1538, 0.0415, -0.0615, -1.4701, 7.1863, 1.7509, -0.0562, -0.0122, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e76011af5ea79a38f9fe5f213de2f78448c61c4542a6a0746548e03f39a2de2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd41386b468ebe1c9594ca6ebcd64af83ff150cf1eb7bb9272a000c001aa31eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6487b3b5331cfa3f4d5deb36b8722c3a381b10b2e7948c8f8366db1a2a67efa1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEZwj0S3WPk38qAw1Xb-MU0Pb65Hj7dNxNUJ9w7hhX752EhqrY3iviyN01QBg_RzaIOdJpDMBCiqH1hM9MiJFoASpudz5FAJG9LKT7qyOQv2xyWdWAii-FyN6UVdjYemrjuYrsSruTRFAO-43TPzUGt8Ydhk1RLjN7nDXyJaEbrZZcMRDWSyD4O0psyLYLI1InUsMtYNPo7cnHGOQIVv-TGrbanp-qMIkmGJzn0HufufvzQioVHkAg7X4XxiXpsST5sZuQ62U_PFjgQ7fOWxFvLvlJsCok7d5MNZztBMOuTfhJatXen0FYbBvpaXbivOEb7gXjpeD9l6U6UZZuVnmyxqbP5QI85cZnLSKhtkZNY2JJLCq3I6bbW64PNxwvjcxoGTupsclFXiGDqe-mcwGE8-S5PUQqwOVNRL1DYJNnpE5W7nGqYjeDuga-2lkx_XuRimrlajGQ7ReWVUTIaU3RN2ZcuoB8yONV4Tlu1chsZqyZ6Fa7jcytfktk4FFN5CeD_3i9IA6XgmkprT4ZY4HKtOjcXuFj_VKWNyw9ff0z5vxYkdpEvN0ZNomFHowA5yJDmwXwwhAkei2q_V_gJx8COmlwsrcq6I0mgREON6miH2ZMuFNkF2h1e2baljFUWLIgnsTg10tSySo2RFjBwGR6B3WuDuX2nDGP6cfDo57DZiLSe04k3EWBrVJIXR-EuUBdUc2pZaQfXvFyEy8MmpIIsAkhbvTQuuMl6Qg1qSd7aDxC6I_CCAIA-PYrVQAwKPFSdSeZStEqENGziCQ1AgUt-uEUoBKJOsgXQNM-DJTE9PtR34O5_rW5zrmW-MU3_jV5TJL7bhoL7DZm4qmAUnGBpk3imzbrfItmJFACV0iED7hqrSTLRRaVkFHDCFjq5PLKpS03Vn41BS-E_m2Dd6Zx3YI3SjscPhSkpXiOelt_Z6yTC1_dRnXZCXEsNO8zhJJLbl8x2M__vx01K_TmFMFuJOe6R172mTta2Z7B9Wvpf4YQcoRf4N4wETJs0oJPS5gzwyP1pjDQKr2aKz7d6p01tFDQYjVZUHDUWnf3xVS1nbT_OsELDQNJD_wgFRqWWmRe4RCJwGols5yQd9HH9ta0_LN0kpWIWd5I988GT2lN0gEGm87a-mXD6vgrDfmr80wsbZpUDoHHOPscTfGUlrDX7MQtuRQ99zVj7irKorHUs6UiyHBFj8XxM00fNnITdfAGqakPeVY5356N09lEvslgHKcmzDChwFyI56NsAk2xnYaYkkCfXDTA7M0OyZ_4MYoEk8",
  "id": "rs_04122c8e8bc3d057016ab4466f0bc887d0a08744e288dbf237",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"After reopening and advancing, the dog’s torso now fills the gap between both jaws instead of sitting beyond them. I’m closing for the corrected grasp.\"}",
  "call_id": "call_7NsYatdXmJs0ztgIquLUkeMF",
  "id": "fc_04122c8e8bc3d057016ab4466f4cd087d0abdb423c3f5f9e51",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7NsYatdXmJs0ztgIquLUkeMF",
  "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]: [-0.6186, 1.4868, 0.4492, 0.2794, -0.5159, -0.4194, 0.1928, -0.0147, 0.8051, 0.6083, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3268 left_y=-0.1212 left_z=0.0409 left_yaw=0.0192 left_pitch=-0.0766 left_roll=0.0268 left_gripper=0.1928 right_x=0.2954 right_y=0.0014 right_z=0.1779 right_yaw=0.001 right_pitch=-0.0195 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -5.2034, 5.0803, 1.4921, -0.232, 0.0366, 0.6129, -0.0752, -1.2239, 7.0359, 1.79, -0.0464, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:358b2061f2ca32babecb3ebb168e30dd1c2b6bbb901fd2c395169ae0b95b081a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ca7bf32366423a7c62b9a85b60a7829f3c2fc33c4e6fc813aef20f0cfa34be2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83de20cfd2a9d9c9e9c13da1ebe3ee0d1ba152f738f0244ed8632263ecbf542c",
      "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 · 3.463 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6743, 1.4017, 0.4267, 0.2253, -0.5491, -0.4343, 0.9995, -0.0147, 0.8013, 0.6086, -0.3843, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3132 left_y=-0.1277 left_z=0.0528 left_yaw=-0.0035 left_pitch=-0.0558 left_roll=0.0277 left_gripper=0.9995 right_x=0.2952 right_y=0.0014 right_z=0.1792 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -4.588, 5.0803, 1.6435, -0.2125, 0.105, -0.0659, -0.253, -1.4154, 7.2274, 1.7753, -0.0415, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6205, 1.4853, 0.4473, 0.2779, -0.5156, -0.4114, 0.9952, -0.0143, 0.8032, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.326 left_y=-0.1215 left_z=0.0404 left_yaw=0.0128 left_pitch=-0.0784 left_roll=0.0342 left_gripper=0.9952 right_x=0.2953 right_y=0.0015 right_z=0.1785 right_yaw=0.0014 right_pitch=-0.0175 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -4.506, 7.6786, 1.663, -0.1099, 0.1538, 0.0415, -0.0615, -1.4701, 7.1863, 1.7509, -0.0562, -0.0122, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6186, 1.4868, 0.4492, 0.2794, -0.5159, -0.4194, 0.1928, -0.0147, 0.8051, 0.6083, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3268 left_y=-0.1212 left_z=0.0409 left_yaw=0.0192 left_pitch=-0.0766 left_roll=0.0268 left_gripper=0.1928 right_x=0.2954 right_y=0.0014 right_z=0.1779 right_yaw=0.001 right_pitch=-0.0195 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -5.2034, 5.0803, 1.4921, -0.232, 0.0366, 0.6129, -0.0752, -1.2239, 7.0359, 1.79, -0.0464, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:358b2061f2ca32babecb3ebb168e30dd1c2b6bbb901fd2c395169ae0b95b081a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ca7bf32366423a7c62b9a85b60a7829f3c2fc33c4e6fc813aef20f0cfa34be2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83de20cfd2a9d9c9e9c13da1ebe3ee0d1ba152f738f0244ed8632263ecbf542c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEZzOi-g29LhWR_8usRVXu5caOL4RUTbUqKBKTjMgG6YR5SFUTwL8DE7vK_QZt4Y_Qsn2tcIN4HBri-oOG5umG5URzQRqKQaplhJt9QmuP03KKmLXcfdZh7TSiprypSgnM1n6LGv79JA5I42v4xP8Bbm0CzU73IHKA0Tfo7AzyLmOB0rMA_3V7lF47aw6er6lU13J-o4V2rIytp8Cy_EjgTrICUJ5WhYvQidDos_2djMKU03nTPU1WV69degNLWCpH6e0tT9cGifVOggC6HG_XlgDCTLeYQue_xltg2Az6yuGP8druB7ey4-UP3M2TV2PshejCD59pYd0CAW8MFXmXRUqLO8fl2jbLgFsfRBj_gHrqbRGu9UB9TEq-dCYKzFnpXU7CLkwXG9FGKHTXflpeLpjKIYsrwqbyHrr-_V8-D7sTkjjsqBPPa_nwobryVHqamzxldKdUuK7DaVR9elfcMa0S2Z1FlRcKpHS5HFjiE_ruPTCShQYEBH6spE6h5tJDAEkzf7pkfEVQFQBNfWOtghkCOdYdPphii0bat8EGAs2JjtWhA7VvlE0FPVpggfcV9IQR1YgK0JiB84bXi5bGCYUycA0qIN9qAnsAmpd_qyBS1y_k0u6WjiXn7nXH_neiPxdYS7hlE90JzZd8JIJtMTtxZeRrWcPqypWFnU7EG2CoMrR874fbPCO4taXl2S3sa8DlgVQiUZ1ypp3f2f6SyzKcsOTm5il_FuXVTJ69YljhNE8WSHwGY6mBagS6cnzox_F9-khOGMwr741rTqb2ZPJ_wfxi-V8PspZsogSRAcH5yBIkCWOu_-LVCvAJwuI0ofkDo0xSWEKKHrAAx2866QaHodLnmxkVAt1m3PoKVknbPbXQoMKeeza6sKuJKDLdmOjnznOVS3qEVJqSeOAglGLG3RMWFMhXa5yJ7wfYvigMVLRlwr9psHhBPR3Z5dX436LE5Zkv6QxdFX4AWQJWgIMz12G42plJVmGUBN_oh9q8DItOvfmInwxthINQ7lT5T85Ubuvu0Z216y-gUVFsblHj0M7yctbxpEg2Hza4CZNy8keL_yF3xlsg1n1MDaDDw3ltY5M2dz32i3caSztwr0SJi0IDP5dPzMjShj33zdXjJ1gdwRSCLZBrBp5NSxJcm4KblEpYaJfL04p9LsR5B9vc0sG1YDPCYVvc1aCCGJiJG52TzuIungzymDk2TrGHp6Mm8intS1U9zYP7DbZndIWA==",
  "id": "rs_04122c8e8bc3d057016ab446721dd487d09e89480e49c37fe1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.17},\"note\":\"The gripper settled at 0.193, indicating a secure roughly 1.8 cm grasp on the dog. I’m lifting it well clear of the remaining animals before moving toward the dog basket.\"}",
  "call_id": "call_iGAGFV6CrYjw5bXvSYfzwcGn",
  "id": "fc_04122c8e8bc3d057016ab446724bdc87d08048f8acdc113a59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iGAGFV6CrYjw5bXvSYfzwcGn",
  "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]: [-0.6182, 1.2221, 0.7937, -0.3599, -0.5156, -0.4274, 0.1923, -0.0143, 0.8082, 0.6083, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3259 left_y=-0.1205 left_z=0.1544 left_yaw=0.0252 left_pitch=-0.1007 left_roll=0.0383 left_gripper=0.1923 right_x=0.2955 right_y=0.0015 right_z=0.1769 right_yaw=0.0014 right_pitch=-0.0233 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -5.8325, 8.9231, 1.2821, -0.2222, 0.0415, -0.0659, -0.0889, -1.5111, 7.0359, 1.7411, -0.0317, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57817f7b6e2c58cfc0f1a433c74466781e9cf52913895fa7b5fd3fea57938686",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d61210bca1815eb2a4469f86a851cfbb5d58a80cf1f38d7686c2ceb2c976a510",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0cb1ed2b5218a4ead2300f699e28aedabc3d296e0713cff254065fe909d1c4f",
      "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 · 2.273 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6743, 1.4017, 0.4263, 0.2302, -0.5499, -0.4389, 0.0115, -0.0147, 0.8013, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3137 left_y=-0.1279 left_z=0.0535 left_yaw=-0.0006 left_pitch=-0.0518 left_roll=0.0216 left_gripper=0.0115 right_x=0.2952 right_y=0.0014 right_z=0.1791 right_yaw=0.001 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -4.6701, 5.5179, 1.4872, -0.232, 0.0122, 1.0183, -0.1983, -1.2923, 7.0906, 1.746, -0.0415, -0.0708, -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 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6186, 1.4868, 0.4492, 0.2794, -0.5159, -0.4194, 0.1928, -0.0147, 0.8051, 0.6083, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3268 left_y=-0.1212 left_z=0.0409 left_yaw=0.0192 left_pitch=-0.0766 left_roll=0.0268 left_gripper=0.1928 right_x=0.2954 right_y=0.0014 right_z=0.1779 right_yaw=0.001 right_pitch=-0.0195 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -5.2034, 5.0803, 1.4921, -0.232, 0.0366, 0.6129, -0.0752, -1.2239, 7.0359, 1.79, -0.0464, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6182, 1.2221, 0.7937, -0.3599, -0.5156, -0.4274, 0.1923, -0.0143, 0.8082, 0.6083, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3259 left_y=-0.1205 left_z=0.1544 left_yaw=0.0252 left_pitch=-0.1007 left_roll=0.0383 left_gripper=0.1923 right_x=0.2955 right_y=0.0015 right_z=0.1769 right_yaw=0.0014 right_pitch=-0.0233 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -5.8325, 8.9231, 1.2821, -0.2222, 0.0415, -0.0659, -0.0889, -1.5111, 7.0359, 1.7411, -0.0317, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57817f7b6e2c58cfc0f1a433c74466781e9cf52913895fa7b5fd3fea57938686",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d61210bca1815eb2a4469f86a851cfbb5d58a80cf1f38d7686c2ceb2c976a510",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0cb1ed2b5218a4ead2300f699e28aedabc3d296e0713cff254065fe909d1c4f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEZ4LD166gySnO-BT2RLPpF_9815TfHXYoDAP5rAa5uqB0r-jybKpLd0m9GnyPVNjLK7KZSn237ouK7SDQW-wSxiCBeHNIQXArkbhzLgqLQWdJFXIqaReVkPW3Sdv3NAc6lvnd-BAuTLoqVtg-cs6qHzLTw0qS9n271RnxVHQZegFhObUmf3dofZ8FgKdJLXz67-HpEDhd2o0rSVRB1FgqgVm5rG9Srx_-GaA2wkFTc5_pB73xMD2uNUBZuc4w7_xOSj1YOSWFNeICcqE181V6DTXD7JXvO1znCoMeXaCtuggMFvPh8u71FjVK5t5nhMXNffe6QnJLBtN0nVZjJdDDBgowzkVxrxNdGe_MLqROhtdLquwJ1dARXCuvDMGtFVx3bAbvzofa30OWNHF5grE2ApXqNcq927kEi5SFzoKYtGRgi2rHS7SSxe6BufbCEMS99Tl8ARq2hCobCqd0rvcfaNl50IdX1oGajePkDW5JsKZ9YpvOarKfGTccW96oYXU0W7FnbQJWoRzV3FUR5YEyiOm8OZl0C2xYDo-LGYvj-YDJ6R-mRvH1TxLzmBr831KfHBdY8QSdibFg87NUkVveb6hPOGcKuiRoUhDLL77aA5nlk81CgDYxrX3g4LrA7IHsCtFO93GJqi_-j-UfFn6msPWb0vvYSu3RhSv45Rm53JytlhQA_TW18XrvzIJDM2QiJKeVnBWyfqq_GJlKm3dT0ocm4f3fXOLq0STZdWqtBc3Da60wR5znb4gLOCoPJSYieMcPbukm-aEX-oxvQK1Di3rIscRcz3DM_Obpko_LBtgIWdq2mwETLuZlFCmPOke2jFLHmFG2Xuq_qFMtpLU7Wu33JiF_XxmxaHK9BGc2Fs4d7ZYnnyZjJGw7OtDCSnEH_XU0ogrUwugZZKkMjpYXtyl4Lr-8a2ZRzSsyXHQP6S-qk-KG1xfsUSpqlA4Fvee70Rn3nQ8AGtKGtIr18x4nXAsVytkVSLyvS1_4DOSuy1mkzdlVnAt7KzMqSHQ-nniVllCMMscyTs7_mlAnwPKQYhOSUBTO0mI97KIwBXbJ6NqvwqNDAjv9wRFIzqjjvEKW6NrCVs2fFeTVTUT6_MLXEzVqvIIUYVQDhTvq1fDtjfNMGA1zDB9RBcLtFaVsAbOA0VeBULZWPe5c-Zo3RiTj4mSYWT8h-bh-4ssS3u8TywyY4hbOQGy49YD6Z8c_mNeA2fdP2tNqvg48pKVrflNXDY4kbDaTsi6_O4JMuptYPKWzk7K2VsblHv0Cl_L5JUv5JV01X2m_jFFkaz1lUnn4ThsjGa-0KI96CIBMzXYLQMXG8k5jv90R4qud0_j0AKhtwQp_1Y-byOC647pcvFyViFkD5kSz1d3hGuAtRUFghlrWUb2pLV67YNdl4iJp1SQU1lydrjaixVy8MLdiJaYEXb_lqu6A1pVxKzZIbKrCQrmywuOO5nREfOgsFr-m3sQrYJTE1pDAJ_C57jfmxkq1X_oDC3B_9J6AMnTFi8kbE-nf4txI9L5W55Zk2q4O5JerDLrFEE0zzvxX-cbYYhiVxkpjin70Rmx5NN4gpXRhJB-fS5HnD7ix21XiFm0cLV-oUiNsMt1WS0rjfp1woBv-5utT9aa3LbF54DaNRLsWgeBAxjjWGcCcrNRzomwKVwpT2lw0UqE9bhfJMNUk-MMU-ci3pE91OvK_lXGJzM89HX2sSJFpIioFcbltwqSVl8tOONFohufbp_nNWy-DEnSpwXIVOvwT865PY7lZPWCJTUgTrShVnFdlL6-P0dFcYpcxa0h8d9-XK4ZimoIZiOceRXZkJ0yf4mkMSOoe7MU60GzlXDctCGNgF4jnVP40uc7hG3XMjnYPGKq21S19J47ZM_S4FkvVVhlbocsYMz4Kx9XwsLLVuzbA3lVKV5HiU-15smpid4xCSh83cRItFSRhRtMIcRwg46BjCyO64tMq-jbag=",
  "id": "rs_04122c8e8bc3d057016ab44676114087d09cbe2d0b39ed3848",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.12,\"left_z\":0.25},\"note\":\"The overhead view confirms the dog lifted with the gripper and separated from the cluster. I’m carrying it high toward the center of the left turquoise basket, which I’m assigning to dogs.\"}",
  "call_id": "call_Sf5doZegWG47CnJnFusuBv7A",
  "id": "fc_04122c8e8bc3d057016ab44677abb887d0a1c34b2decd109a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Sf5doZegWG47CnJnFusuBv7A",
  "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]: [-0.3771, 1.6928, 1.5356, -0.6285, -0.35, -0.2836, 0.1922, -0.0147, 0.812, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.461 left_y=-0.1136 left_z=0.2282 left_yaw=0.0581 left_pitch=-0.1628 left_roll=0.0468 left_gripper=0.1922 right_x=0.2957 right_y=0.0014 right_z=0.1756 right_yaw=0.001 right_pitch=-0.0275 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -8.6359, 9.7436, 1.8437, -0.0806, 0.3199, -0.0171, -0.3487, -1.6615, 7.0632, 1.7558, -0.0073, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e467c04d557c91c9ad1b5301efde7c2b945eb8cce1e7f80460b3dce91049896f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e56c8094baaaf9ef33410c0efde687c20a90fd538941b169f7a802bc380c7a09",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcf949be934d80ba013c956e2a47de31ea77ba76de4f91e29e0918e617dcbd84",
      "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 · 2.098 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6205, 1.4853, 0.4473, 0.2779, -0.5156, -0.4114, 0.9952, -0.0143, 0.8032, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.326 left_y=-0.1215 left_z=0.0404 left_yaw=0.0128 left_pitch=-0.0784 left_roll=0.0342 left_gripper=0.9952 right_x=0.2953 right_y=0.0015 right_z=0.1785 right_yaw=0.0014 right_pitch=-0.0175 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -4.506, 7.6786, 1.663, -0.1099, 0.1538, 0.0415, -0.0615, -1.4701, 7.1863, 1.7509, -0.0562, -0.0122, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6182, 1.2221, 0.7937, -0.3599, -0.5156, -0.4274, 0.1923, -0.0143, 0.8082, 0.6083, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3259 left_y=-0.1205 left_z=0.1544 left_yaw=0.0252 left_pitch=-0.1007 left_roll=0.0383 left_gripper=0.1923 right_x=0.2955 right_y=0.0015 right_z=0.1769 right_yaw=0.0014 right_pitch=-0.0233 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -5.8325, 8.9231, 1.2821, -0.2222, 0.0415, -0.0659, -0.0889, -1.5111, 7.0359, 1.7411, -0.0317, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3771, 1.6928, 1.5356, -0.6285, -0.35, -0.2836, 0.1922, -0.0147, 0.812, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.461 left_y=-0.1136 left_z=0.2282 left_yaw=0.0581 left_pitch=-0.1628 left_roll=0.0468 left_gripper=0.1922 right_x=0.2957 right_y=0.0014 right_z=0.1756 right_yaw=0.001 right_pitch=-0.0275 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -8.6359, 9.7436, 1.8437, -0.0806, 0.3199, -0.0171, -0.3487, -1.6615, 7.0632, 1.7558, -0.0073, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e467c04d557c91c9ad1b5301efde7c2b945eb8cce1e7f80460b3dce91049896f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e56c8094baaaf9ef33410c0efde687c20a90fd538941b169f7a802bc380c7a09",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcf949be934d80ba013c956e2a47de31ea77ba76de4f91e29e0918e617dcbd84",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEaGsWvgM9IhtO7ZY3ORqHxS39a6LOBnpOpAEqZHLDcT0ar4sBSKPicCEBkt6GLib2XnLCIt11ZKZcvR-gjZbGOUpunXwdxwLHSHN9KW2ZZwEkIJrKg5XLm3W0oEhwanFfqhjeraAHIh3crJcpcjsxbjVJBj2V_9iacfeysRjEw467TJsw_rnxJkylwg7bWGHj-fhVZojRY-zBdCy7L1lHZlptoKrNSF0_hqAjB6_XmfX44rEOVlglZHzo4OMYOr6U02UBDQxeysJRuJvBA7rjAt1hhCfHS0dfjs24G99K27SYw0NodZSoPeony98kX56BM0nu88ImbSYJ5HUbsCo4vpJR7SI1m0Yv2M-kX3KtVNTRjldRfnhWa7GBxKwMXxCXESVaz59Mj9kpyRHiVvPyzxfvUeY_3OfifaWLI8XWWIVY1Fr_Mdh58mxpoBJ2pKgRaQMo5HIhF42DDUFWtuD0ZPhXHrNX37ywY48L3FvdzC4x8kNkIxj3GxZpHitE-iqyH9KsxQK-O2IyQzhy1mmQgq0LSVOom42NJFxmK_CfFo3SWW5zAQ-f114f2wqiG_JV0Qj4Gg0mm08USpTA7PEbaljyb0Ln_MmhOZIixoFh9TnUJdmdn1V7uXyiqs3kCx9-qmgC4gso4M9htVCDcFzAg2OuoyyaJC7dJJtshnqMRBXQ_bu1b7yP3taNCcy7VehrR4wErtS-50eLqaqVJkuKFfFj2QV70b1-z80l_eXQLVLCupTSVDCSPUcfIhiA1ZSybkNxCxjRFYMExx8lST418pKl4_3C0D-wtb_Z6o_otq6TXJGWq_ZuaYtvmE-jHzHy1Qbqe01c93cyVezPCVeHSgjnyla2iPcVxHT4GD8aFwKD5UI8J5INTa5zoCqM4oj8D9KjYO79rzfAg40XLACbc04NaEPRlBI4ESzZdLpRx-dlVxLFbGNPuMDfo3YFZcq-US09XWC-QtvucamyL7_Z4-tppABQfZvGn2RtL7IdbEJkSOT0lbtJX0EBKssroMjoboDL98eyudpuAqhyyTGwEiFhJSinuZjFK9wLZqZP62T4Qf9iCIVFl84aTAv-zqeyZU0uDAXVDk5FQ3ajnSR5JRPlyN97jmbQdUhXi0S96kVcsWu_9CwQAOX1SbuZ9_7PXtpfJmmXn2YBRMS79UyI9upgVjTfZDTuMsLmbwmZ5J_7v0Eh2Gcjr8l9U6-iLf5oHXl_lxMKYPs0R3NJ1GfwdAME6MP-diI3YRYlCuvwoeuwxndEdXWAGWIZmAPyBpn91VIQEwuSjR0yEtpbq03cg_23p_OcZ8Bao5EHrSm3bU-YG00HqYcoQiZB1KVKl2OgIKt2LsEs752z4AqLILEpQ6Qq0BbmRc7xZRvtD6hSyBv-gMdZ3aVfBCmM7NjfzUgc68nW_LCWMAdFVTLed0mo7FYRhK-oXsqRpILJjo01KhZ-sWMpHrG_9-0UsLxqVCL7nEdUbhMpd0w33tu-fkOwA1SUwe_OW1mP_yvkBXcpMLovCtbdBafXKga_Z0JAF2zWnzzG5vHD5B4KbD7EmVXEnC7ijHLI0cbudZKcUK9L45TGzL5JuMd9i0WAnfDH0eobe1HCO4IFXCI451xNMZCNUuBw==",
  "id": "rs_04122c8e8bc3d057016ab44685b96087d08d0e8803088a4436",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.13},\"note\":\"The dog is centered over the left basket with clear clearance from its rim. I’m lowering it into the basket until the body is near the basket floor.\"}",
  "call_id": "call_F9IxFHSJt32qIgXBKMW9NNiu",
  "id": "fc_04122c8e8bc3d057016ab44686505887d0b7e03cd2a93d81f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F9IxFHSJt32qIgXBKMW9NNiu",
  "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]: [-0.3763, 1.7241, 1.198, -0.2687, -0.3508, -0.2897, 0.1922, -0.0147, 0.8146, 0.6075, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4586 left_y=-0.1121 left_z=0.1335 left_yaw=0.0634 left_pitch=-0.1707 left_roll=0.0466 left_gripper=0.1922 right_x=0.2959 right_y=0.0013 right_z=0.1748 right_yaw=0.0007 right_pitch=-0.0301 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -8.0342, 6.1744, 1.6288, -0.1343, 0.0171, -0.0171, -0.212, -1.5521, 7.2274, 1.707, -0.0317, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba45fd6882e0d62559e85b77602e3f96e6e56d591b09192e183917c1e2b48064",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:659ee58ec084db716b3e863d2e820c7338554d6d7b6a5d44d58f4d6eaaff980b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b06935943ac309ba1ebc2b17194ba1e4a414453977ae451c8c1eb5714a4d3b34",
      "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 · 5.134 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6186, 1.4868, 0.4492, 0.2794, -0.5159, -0.4194, 0.1928, -0.0147, 0.8051, 0.6083, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3268 left_y=-0.1212 left_z=0.0409 left_yaw=0.0192 left_pitch=-0.0766 left_roll=0.0268 left_gripper=0.1928 right_x=0.2954 right_y=0.0014 right_z=0.1779 right_yaw=0.001 right_pitch=-0.0195 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -5.2034, 5.0803, 1.4921, -0.232, 0.0366, 0.6129, -0.0752, -1.2239, 7.0359, 1.79, -0.0464, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3771, 1.6928, 1.5356, -0.6285, -0.35, -0.2836, 0.1922, -0.0147, 0.812, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.461 left_y=-0.1136 left_z=0.2282 left_yaw=0.0581 left_pitch=-0.1628 left_roll=0.0468 left_gripper=0.1922 right_x=0.2957 right_y=0.0014 right_z=0.1756 right_yaw=0.001 right_pitch=-0.0275 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -8.6359, 9.7436, 1.8437, -0.0806, 0.3199, -0.0171, -0.3487, -1.6615, 7.0632, 1.7558, -0.0073, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3763, 1.7241, 1.198, -0.2687, -0.3508, -0.2897, 0.1922, -0.0147, 0.8146, 0.6075, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4586 left_y=-0.1121 left_z=0.1335 left_yaw=0.0634 left_pitch=-0.1707 left_roll=0.0466 left_gripper=0.1922 right_x=0.2959 right_y=0.0013 right_z=0.1748 right_yaw=0.0007 right_pitch=-0.0301 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -8.0342, 6.1744, 1.6288, -0.1343, 0.0171, -0.0171, -0.212, -1.5521, 7.2274, 1.707, -0.0317, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba45fd6882e0d62559e85b77602e3f96e6e56d591b09192e183917c1e2b48064",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:659ee58ec084db716b3e863d2e820c7338554d6d7b6a5d44d58f4d6eaaff980b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b06935943ac309ba1ebc2b17194ba1e4a414453977ae451c8c1eb5714a4d3b34",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEaM8JB7UQBmoxW3UixFskBddtVD0Fk6SpxrqS2GX1FDqBEzwTtLfm3khM-aSLbKLz46wmKaO-lSljQEwRGcdpHYg18LuISzHzYmKX-CoBUPh65v8Y_plIMPLbDc277hUIdsn4wY3D_rwgz5x7Y708kcv_08d7mn25br9IJVCQ-thbWR2JYd4vBXyUqBySnEJaPA7lOtPGxsd-yQwWtk7GT2ODeegJQ5zkNEbnVYO230x1zH0nmsqGhODX9JVa3jh5e3PxOQ2j_cwfnQKSIIMPgcSbz-Flj2MTAOc5HgWWqs4ol38ei6khXSiC5GpepcFkVKksx2_oqLYAQnayOV7KpWdadE4bGu_JtS_jIiWJzYtFEC0QOkyjqirb-_OSsDlCsZtO6nsR-5J5JG0XwGb70Ne47f4n05voDfX3992jtfCyKp6HZJM3pkOMdYNps0AdOP8C3gPN_DIryiNwuqlgRGQzt9V-p59J6_LN1W5EcSKL071pxyqYYjL8E2TEvkbk-PcpUZFzpDwmE7NUYvfdsccRpC3Z65wrDzWwcsAGmRmFbRrw3dypATOLkSGvqmrbffp591GQ-ljQIXA1rTUasynxsmJgI94vL8GYECEbTiuVEgSIppKR8Wq1RARlw9pVjR7U_DZEDCXPsxpERPP9rdY4GoiFKk7PuZ5KsC_yZTIOSo2rfYf7q8MNPCGWok-puLEfmgBsqxX9H9AYQo3aL4Pz4daxBAKqX7rk0AQ6Kpdf7FY2VYg8A8awCDENKjNBF31mI_fedeCjuS9J-Lt9ZrCPt_WsyiyXh9cRtjBfNsJTflhC0RfI9CsZCoQevVad6B_Ld9tkMhRV-bCEY_v4N5Fgb3csSfzGDx6JMR-7ivA8URwYXE9dFv9yrX2fax86niSYWUyB-frJUAslTIpzE04Z9ESDZW_kAVcB4OBrdvhcjcs5seBCb7fIjU-VpAvnlJIOnRDL6wIhuSEPqBwm7jUpOirYoTUquqbYYBRbxHILcm29kYj3xzoKif9SW-aejJv2UofjG8V6I0xeyGDm5QoATyyoiEbMmKuNdWcJ8XiYHMnj3d784tTdLTZeFXxZXDBT6Cdy6FYPYaDrrztsCE3k7z3hIbzdfc4fYgxaxzQFFXsmhiIZJZVlEWdUIkjobLsmcBruCJmTA9wRm63XKvgMr3j2rMEdbleaxnXO3X53A=",
  "id": "rs_04122c8e8bc3d057016ab4468bdda487d08434c122b3baf039",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The dog is now well inside the basket below the rim and appears supported near the floor. I’m opening the jaws to release it into the dog basket.\"}",
  "call_id": "call_QVHj0BhzXPUrQS9V4zyC4Q0r",
  "id": "fc_04122c8e8bc3d057016ab4468bfc2487d08c55be731ff85115",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QVHj0BhzXPUrQS9V4zyC4Q0r",
  "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]: [-0.3763, 1.7287, 1.1954, -0.268, -0.3508, -0.2958, 0.9954, -0.0147, 0.8146, 0.6075, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4582 left_y=-0.1119 left_z=0.1305 left_yaw=0.0672 left_pitch=-0.1764 left_roll=0.0448 left_gripper=0.9954 right_x=0.2959 right_y=0.0013 right_z=0.1748 right_yaw=0.0007 right_pitch=-0.0301 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -9.1966, 6.8444, 1.4969, -0.2173, 0.0317, -0.1392, -0.253, -1.1282, 7.0359, 1.6923, -0.0415, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4a019f43cac6ce4fc3c4dc33cc28bcf69dad35146631733ee23662c06fe7ad6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:561fffc1db552d12b95bf72a704b9f6429f218ecce42639e7eee89c39f942845",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:952ef042710175e6d36032c4a7dda8f2215e1c193bf041bfd21705c29866cead",
      "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 · 7.259 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6182, 1.2221, 0.7937, -0.3599, -0.5156, -0.4274, 0.1923, -0.0143, 0.8082, 0.6083, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3259 left_y=-0.1205 left_z=0.1544 left_yaw=0.0252 left_pitch=-0.1007 left_roll=0.0383 left_gripper=0.1923 right_x=0.2955 right_y=0.0015 right_z=0.1769 right_yaw=0.0014 right_pitch=-0.0233 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -5.8325, 8.9231, 1.2821, -0.2222, 0.0415, -0.0659, -0.0889, -1.5111, 7.0359, 1.7411, -0.0317, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3763, 1.7241, 1.198, -0.2687, -0.3508, -0.2897, 0.1922, -0.0147, 0.8146, 0.6075, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4586 left_y=-0.1121 left_z=0.1335 left_yaw=0.0634 left_pitch=-0.1707 left_roll=0.0466 left_gripper=0.1922 right_x=0.2959 right_y=0.0013 right_z=0.1748 right_yaw=0.0007 right_pitch=-0.0301 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -8.0342, 6.1744, 1.6288, -0.1343, 0.0171, -0.0171, -0.212, -1.5521, 7.2274, 1.707, -0.0317, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3763, 1.7287, 1.1954, -0.268, -0.3508, -0.2958, 0.9954, -0.0147, 0.8146, 0.6075, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4582 left_y=-0.1119 left_z=0.1305 left_yaw=0.0672 left_pitch=-0.1764 left_roll=0.0448 left_gripper=0.9954 right_x=0.2959 right_y=0.0013 right_z=0.1748 right_yaw=0.0007 right_pitch=-0.0301 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -9.1966, 6.8444, 1.4969, -0.2173, 0.0317, -0.1392, -0.253, -1.1282, 7.0359, 1.6923, -0.0415, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4a019f43cac6ce4fc3c4dc33cc28bcf69dad35146631733ee23662c06fe7ad6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:561fffc1db552d12b95bf72a704b9f6429f218ecce42639e7eee89c39f942845",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:952ef042710175e6d36032c4a7dda8f2215e1c193bf041bfd21705c29866cead",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEaSnQeA2Sd7SD0uCjFHGqIQqXrUTUqEenUhin1zI-bqQxZ5a7hbonBhG8fTuEM_J7VWPgmx-QJIR0vNJfeXxWTRE-3V0w8I2qkXX-otKD3swk2Yea__vhVmnG33SX1Xy4kmurfjRiSorcOo2Iwc2BVcmFPiGFg_0ZFXeGMQbYcRkIDY5BjT5L1F0X6VIQlcOLrodFI86m33KTmFT7kI2EysuPdSOX7F_zBwqCuC8G2mp0ABIwwNLRlNPE6aNfH1zd7lBVzJ81vsELLXMR5YR8RtE8r-tOotFuVTyaLLqHMTdRiAlw4xmCzHTzpnf4O3yDPaGwSDbKAuOXm0Ye-eq-eCw4Odov7em-RAUtBU8e2AnAbtvELrcI32h5ktEyAD4320I5yFbD5FBJzybDtjb1gMh4zVLUiXMh2OKuZXan6Y6zrfBakaR3Fie3J9_78SE3r99BGlmF2Gr3xZ3e9MnRR0ElzXtpEyszc_nVnqJvNEJj_-_u3kwoifLYM80mZIG8p__yk4l9n7aO4f7xiMESjhe3qyMnTpu8J_uOmMGrS9s6w7hRX7safrH4NUWmhIM8pbErBudHfBc6sWKZHrD1qiDUrtYv_2xEe6ma07cACAbgsnj5sQwKxTeoVJddjBcfDiaDRYqeZo9wAO1X3BmfdgdTgH2MrlZBwDaoMpHwEKWyyJZ8ePCWbgP-E4aLYnU9hA92t4YuSObrN2Lkg-5LKhELZVeVcqsDgLoyNATCFVRXVgAAnl_ZVdaEkbVlp79iViJnx_TBHuxeaM2gZF89GVGQu0ULwxNICyIsULdCNQScx0z_wXLtHaLj1k8BHY4hjTBxs_B8nG1fnlHPV-eakr8K-1oOpxOY3HlosLRrNChMLInkB3jP6IbXZtzMPYAvAiNpjQyOsqyc-LmwzrArpfZ9aQ_ShZ1l8k8XXB7Xj1JaSe3doCLqM7jLwxegOw2Ifr4zc3vrIRZQzDyAaNQUG6uit_UGySNziZFBEEtlwm7Oeayd-7P3eVIdsPTwc_H0TJv6-fs0yHrlSHCpOvQAJzkENDoBxkm8pOq9qvdiRtPykdRiTQH0j8jag7XYv1zR8Ql8WeROSXrC8O-iSK1Wz5aY_Ba3qQqeWTe-6fEbIB8eRDKhobKnTQB3XEiUGj2FL9d4Iff8VowF3jP48QLr0-1wv2RT_G10wyh_3ro8ic--alfKBs8PJdByjIlL_ImvAL-9f82zjkNdHCgfW-ihyjh8K4CPJ9yp_0Z_ROi4FwxRqsvAFJaWqgHp9wfZ6PXHeyhaNc26irtezcOicQFL_tYrNs0NQrKjYE9gLlkTjt16pw7ePew8ovK1Pg7LwpWQyIjkMs1XcTxSiBwc8V9TJVvlWJwJZtWi44eGaKDAA4x-IXyz7ZbLOjB5lpYQ86QJmBTOdnNey2uAoGq-DBYIqE9QzJ1r6Noz0jzXClRlCQ8uHQedRvTEk_-oNMTgWGlw6-o7o-1uLexJgJHJ65R6XUjY3kFURktbEu3qxqDiGdda0NunOXzYqtqyyi-GSg4PeqoDiUKDxt12I60MOYYOvG-fQ3TbLeZwJAGB1xTHfLOsbBFjzMhhtqMjlVI88Tkk-tCL5UZzWqc8M0SrKI5jzVgaavra7ZLDadwKJCV1qWcp54RIRV_P1lFj-RgMoT_oB7UV8FEdEqkwIEXKYP330h3De9deq19YXKCnw3UJdbQzdaubkobg9V_51_-NstQcrdVWVahFYXU6mpbGXHNTQ-zi2SBX42KCSQpyzLcFVF-2nBBAooCKMamts3A68nOSpd9KL1pVYeFXFFd0nMimTaSnIMleLP_jopy5xxignGCXB7WAuMkH_ntNrmwJ3_Ou-9M5ux0uyL-4UQdz_2CcFxA5NULQsS_LQUJd1TczM2Aq0efaeIQJ5hCEv6mOVwDgVQjWZmQxOE371oVqlNBY7Qx9fQ7rROZSWcGTN5xdtKmmUuSSf2R24l7xKpKU1kGwDaHR-IMVfwuCXHholCvztaYXb-aHbO3ZorBSr4_6QB0gm-Qj5xvfb_77wwtymyCBQ4_FCe6Zbm5AIGpOsiRYs4v1eauFU93ZDFjTXnr4-N1Skl_y28_WEOA9TCP8s83SWzxIoV4uOZKragRkMlRNu2TTDdV1fRDp9ZIUs8tp1R8uHr5EhbDDkVMvJzC94Aw2aKy5WSCazgKiQmsYnHDfMM3xhWrwPjcgAhB3JaFLzACMVOwse9EumWl1YCuirT5k-FEhwF3Ih_NcNfvJNteTBwEgssnWcg1ixaO98ZgZ57_xXaseZhx5meI851DNUWTlXLBfeomwkQ6srRB_MmhapwHcsImZEX_Ebh3nQ6fAhrHsM-CSlG7RVVU7HVnexREVxchpBD3OPgkpix6GvF1x9L9NTg1kJ5euVq2Cb0Vu-XDtSkXWG5yw7e9BKwn_Fk8o_uvQXBj9TuCfCNa7I_huwh0DsSXC9bHlhb7ycNuXRToX2Cr4prRvzSJsORJEESbga9gi75zj27MBl517bJjA_vzI38hHs55Roj8QDuIE9uXgnogWdTkIZxwW7U-EqB0YtxlBD3LBBeDFCI2U7CJCBBmID5ZhEAWqB-3Ae-JKbmq3tw4HE-Uxg8zIVxVzESVo052YNWZQ78NI2svRYiuYfyGvu6-i-kZquky3NLpR5jFKpDMov8TlWP2J4dAjB0SriJGf_rXu-fhyKLQ7XgLmGB5IGRu26pbNCg6ii0VFBcedfT_veuWp5bo7uoElib_Ob_qzOw0LCNQisf5dfZ0pfoful0vF-q7An35OT2gTAJoVnpnFskKU6yjFqQaEIf4reSMUjWWzmaiHg43NfNg1rIc6Z1Ip2q7TTuJh_ij-RBv9ecNTyQPrU6qrr6zr0O9QfNAukCXuw6zx--eov16YFIl7k1I01eIKTvgYDhFCPdOVIJn9s6rVFUPaXlhSScHScvBSyHtNmUuaxWRNnmZX3HrRKs9sSRnYk8UIHRWXqdO6OvmMavEFHPrD1Zeh4w1g8mFJK1Z-hoNl_kI0nVO5bMM9ccT2SiV_KJ5LXNIcPaEupAvPZx1vzi8NXixvbhzwPvCxSoqgX3xra94z7fJFUFJXXxzdSQIagib7_I1Mz5wB3GcZTusqz3VT1jQ8t0TUOE",
  "id": "rs_04122c8e8bc3d057016ab4468eafb087d0b5a5d57e17f08165",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.2},\"note\":\"The released beagle is visibly resting in the left basket. I’m retracting and parking the left arm to clear the overhead view and avoid interference before using the right arm on the central cluster.\"}",
  "call_id": "call_FDdi6J6LOdssARS00T6pdtTY",
  "id": "fc_04122c8e8bc3d057016ab44691f1c087d08ae6fe31690c7427",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FDdi6J6LOdssARS00T6pdtTY",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1062, 0.981, 0.8875, -0.6323, -0.1776, -0.1234, 0.9967, -0.0147, 0.8188, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3072 left_y=0.0022 left_z=0.2065 left_yaw=0.0958 left_pitch=-0.1476 left_roll=0.0361 left_gripper=0.9967 right_x=0.2961 right_y=0.0014 right_z=0.1736 right_yaw=0.001 right_pitch=-0.0347 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -2.1402, 6.1333, 1.5653, 0.1197, 0.1001, 0.1148, -0.3761, -1.6615, 7.0359, 1.7363, -0.0611, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ff8136334ed4e37a078f2d19b7ed326c141e0f886a24b7cddd12f6c407fe160",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dde573c6c7d83e41664793746a39a8bd8d3bfeebb487255d63312cff1f78be23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0631bc22806728c49c072eb7724018f1bb5108c9f4240005b271f80247909a6",
      "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 · 3.911 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3771, 1.6928, 1.5356, -0.6285, -0.35, -0.2836, 0.1922, -0.0147, 0.812, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.461 left_y=-0.1136 left_z=0.2282 left_yaw=0.0581 left_pitch=-0.1628 left_roll=0.0468 left_gripper=0.1922 right_x=0.2957 right_y=0.0014 right_z=0.1756 right_yaw=0.001 right_pitch=-0.0275 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -8.6359, 9.7436, 1.8437, -0.0806, 0.3199, -0.0171, -0.3487, -1.6615, 7.0632, 1.7558, -0.0073, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3763, 1.7287, 1.1954, -0.268, -0.3508, -0.2958, 0.9954, -0.0147, 0.8146, 0.6075, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4582 left_y=-0.1119 left_z=0.1305 left_yaw=0.0672 left_pitch=-0.1764 left_roll=0.0448 left_gripper=0.9954 right_x=0.2959 right_y=0.0013 right_z=0.1748 right_yaw=0.0007 right_pitch=-0.0301 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -9.1966, 6.8444, 1.4969, -0.2173, 0.0317, -0.1392, -0.253, -1.1282, 7.0359, 1.6923, -0.0415, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1062, 0.981, 0.8875, -0.6323, -0.1776, -0.1234, 0.9967, -0.0147, 0.8188, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3072 left_y=0.0022 left_z=0.2065 left_yaw=0.0958 left_pitch=-0.1476 left_roll=0.0361 left_gripper=0.9967 right_x=0.2961 right_y=0.0014 right_z=0.1736 right_yaw=0.001 right_pitch=-0.0347 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -2.1402, 6.1333, 1.5653, 0.1197, 0.1001, 0.1148, -0.3761, -1.6615, 7.0359, 1.7363, -0.0611, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ff8136334ed4e37a078f2d19b7ed326c141e0f886a24b7cddd12f6c407fe160",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dde573c6c7d83e41664793746a39a8bd8d3bfeebb487255d63312cff1f78be23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0631bc22806728c49c072eb7724018f1bb5108c9f4240005b271f80247909a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_04122c8e8bc3d057016ab44696a2a487d0b7d1f6241b82d109",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEacDGkRHeEDftZFA0-R5KLZ3NyN8ublhSBbtzbtaZUU6fpj2KJw5rtNDRp8T3NjYIP2TNi6Exd0rIcqFZ075hu301TPgIjz7pRky9LLsQXXU1If0I1XLPC6zT7IDGZhUtAPhKpkUpdHEybtKC-8COcYfPkAYZzSADUjzBAdLftOe_-jAcGN4L6hFAzNY9ZN-69U3I3g9Qqu9z4kEWQfYRLR7iaH5irCCpjcl984gETs0i99ZnWQGNtlMMCdTktCYu2yooyhyTJdPDNAi1bUHBCmLT6mhlWwe0XbE6c9HSte5XdAynEE-O1CY9CG5nrOeS7C0RP6wWvK_RrbpmM2PeaBEB_xB0gIul8Rgm_fkv57URpMmYvN9fMEihj2CFmlnY58PIXlbXc1XFBXtB42pc6UDwOkO699H1XRn-TZgIpNyAK78Pb21MluQu0uN5qg9OsQ4P7ijfNM2neHcpyeQ3EsUOCP1AA7L_x1989nrvbNQOsfdHQa8O1qZFfzlXzcuL3y_dSNY7cxD4Vu-MAAAH1xpoM0MBYzqPFVtgwUa-qRjvcWR9F_A9qQzNxtFAOq4XEWkJx3dzehHpnZRyFFlGbDUjc2lgNszqbfEvMUAxhK_otz9ao_XqZwaeh78vygTOJV3vwABuvfV9kt8-pf0TMWJH6kJAbk5VYGTGnCWMhOs5Z4VaXRwq8LovOPOzj8OT9FvwQ84oHYopP9v_9PAs8Jqv_H2FGoqV4MlKGmGBcSnzPD7dchR_GT7sa1wDBQGSH6GF_hZiDHxI1WspSX3OOmAoOKfWv7hrCb8wmMyB_SUJf9wDFr6eItLqpRnC9t3YKaH9-ORwij9oSaied8-5wENA9HzBrGJl5A6SvLF0KoLrf_5OHo-aTknaq7d12j4wdjrxI3UMpvi8xXs4OyD3pT7kYbSJTxK41N06ql-8_W0HqQSjS1Bf1uKcQIZhvdsXFmEcdQ7CtPyhZGtJBdaZ7tFlDY6YVYjUc1WekYUVqzBBm6fxZSpXb9ZclAi9Rfzj128w3mZGpXnMbil49oqh2sa_KG_yY4HmjsESOEBHNUnz2wq0E3sjuWiICR6R6q1OjzhJ-IZh5BIBXjBVHOa1J_UeykkA_K5as29plDJ46XTqANf4jgvOcoqRYvNXs9foJh7q7DlDmLHJo8Mv2QYlZ6t-ozwz76RKneNJkagiPfBfp_kmHYvscWNXlBLH8DE2ct",
  "id": "rs_04122c8e8bc3d057016ab4469bc18087d084d05dde3cb98ee4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.3,\"right_z\":0.16,\"right_gripper\":1.0},\"note\":\"With the left arm clear, I can see four animals remain: one obvious beagle at left and a mix of round-eared teddy bears and beagles in the center. I’m moving the right gripper above the right side of the cluster to identify and align with the next animal.\"}",
  "call_id": "call_l7a11d7wSrUpUnjVCOB0rQA8",
  "id": "fc_04122c8e8bc3d057016ab4469bd4d487d09fa53fd47e2a6f00",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_l7a11d7wSrUpUnjVCOB0rQA8",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "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]: [-0.1043, 0.9874, 0.886, -0.6434, -0.1761, -0.1276, 0.9968, 1.0473, 1.6924, 1.1904, -0.4591, 0.7692, 0.7418, 0.9998]\nstate[eef_state]: left_x=0.3058 left_y=0.0027 left_z=0.202 left_yaw=0.0993 left_pitch=-0.1664 left_roll=0.0357 left_gripper=0.9968 right_x=0.3075 right_y=0.2942 right_z=0.1474 right_yaw=0.0297 right_pitch=-0.068 right_roll=-0.0269 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -2.6325, 6.9128, 1.6874, -0.1392, -0.0122, -0.0073, 0.6496, -8.2667, 8.6769, 1.0134, 0.6081, 0.1538, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30897d96e824e76d7ebd4bee55dac62e9606f4f0c72ce29794c32469fd2e75f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd9206f803e999c9ad569ecb131c76c5f615f496d411729334f85c643ee1ea2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b9af0d11e9cadf2d66716eefe7061edc1805d012a005c977a0a6491f9f9def5",
      "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 · 3.384 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 48 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3763, 1.7241, 1.198, -0.2687, -0.3508, -0.2897, 0.1922, -0.0147, 0.8146, 0.6075, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4586 left_y=-0.1121 left_z=0.1335 left_yaw=0.0634 left_pitch=-0.1707 left_roll=0.0466 left_gripper=0.1922 right_x=0.2959 right_y=0.0013 right_z=0.1748 right_yaw=0.0007 right_pitch=-0.0301 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -8.0342, 6.1744, 1.6288, -0.1343, 0.0171, -0.0171, -0.212, -1.5521, 7.2274, 1.707, -0.0317, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1062, 0.981, 0.8875, -0.6323, -0.1776, -0.1234, 0.9967, -0.0147, 0.8188, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3072 left_y=0.0022 left_z=0.2065 left_yaw=0.0958 left_pitch=-0.1476 left_roll=0.0361 left_gripper=0.9967 right_x=0.2961 right_y=0.0014 right_z=0.1736 right_yaw=0.001 right_pitch=-0.0347 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -2.1402, 6.1333, 1.5653, 0.1197, 0.1001, 0.1148, -0.3761, -1.6615, 7.0359, 1.7363, -0.0611, -0.0415, -0.0171]",
      "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]: [-0.1043, 0.9874, 0.886, -0.6434, -0.1761, -0.1276, 0.9968, 1.0473, 1.6924, 1.1904, -0.4591, 0.7692, 0.7418, 0.9998]\nstate[eef_state]: left_x=0.3058 left_y=0.0027 left_z=0.202 left_yaw=0.0993 left_pitch=-0.1664 left_roll=0.0357 left_gripper=0.9968 right_x=0.3075 right_y=0.2942 right_z=0.1474 right_yaw=0.0297 right_pitch=-0.068 right_roll=-0.0269 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -2.6325, 6.9128, 1.6874, -0.1392, -0.0122, -0.0073, 0.6496, -8.2667, 8.6769, 1.0134, 0.6081, 0.1538, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30897d96e824e76d7ebd4bee55dac62e9606f4f0c72ce29794c32469fd2e75f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd9206f803e999c9ad569ecb131c76c5f615f496d411729334f85c643ee1ea2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b9af0d11e9cadf2d66716eefe7061edc1805d012a005c977a0a6491f9f9def5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEanQXqdpdkPxpMVfscOKS2ZIgblWdBW333XsPfmOH44Bu3VFNEr4p9e1GW3wMabffLUPPjhexwviNVVuwCpkvpJzWU0BO3Qo00Zn1HIxc8l8BwNReEP6daALHzkBnofyS5q6VHYGf-YEsf8W8PYezdVpDDSfWH_IGlXZvDcjGN_Ig8On-ezAiqg2ATvySQcBYs9NyI2C3taMNCx4PfogD2nnKTmz7dGQSbQWPr4ejcFvbLz4mhvrsdouDXCuhzdaFmctJxW2oLGKeqnrmnuZZjISWo4AD36H9tEG2aEDWsmfLdL4J96zn5YiBHVlO_SyljRvzuLWDoqSwsIKJKQQNJyw5iWlTsaz8k9ru9CRXmxY0A7PzXYxS8W_cYvxTAdYRLkJYJyRuKzA552Ev72rnkbhZ_va5Y0hebDR7ysW9DvrBa7tGwooHflN1PvuMUaYJ2T33DtsWvxbpyWdOpDmmKmkVgsHs4lw8kR1X1HMnvWdf7GJGCTk3mCQIq57cLjtBo-cjmL4o-Gx20_T61QvoEW9xyiXHJdhrkzJX9RlChrF4iTf53hbC4gWIl2vBK21qZO7w2I1d8LFhAMvDCUojDAwE2aw66YcaUlGHL-VAadsGcAfHCC20VmoGNqgPPcR_DpjePY0SDb8-RB7PuqwrP-guPBAIxagcPLwnYwrEeRcRtEhBjvo3uYU27K4logs60clPgL-ALXt1biQS48wDrjNuy6QehcV4u2Zv8I5V4sdBq6q0IczzlIDsCXv4gQ2DV5aiKCOjjkbP21nfbLFFVR8zbnvOm_VhH8yMyUAOAIbJIkxRLr8he4ywzxZpjbZV0tAba7K7devbVLb5H4qpcVT4DAoFQ_AEwr7f28izpcIXY3qy5s-ZniuLAJ57ke6EdSxzEJqkIxCH618XoBPHZINUmBB0QkELwbS6sQvJSIbgcK9BI-0HG3IXicDVR0yj8_sUTUXhcAGyhrrekHh3QLysFvN-wfVSwwpC3XPyvtyo6DqgCDjKJOy0D2jjLb6XcnMEBacB33J7tLvXcNbEicaL8tV7TuUhS-Px7Ou9WZS2ZaDlsVcMudCqgqo0ywpbLECcEWie256jnZ5WWc0VanL6wiOuZWqWKl8tNsjrak460ivNy4Cn-CRWHc56De9ogoC7zTAvHw1Uwx8pYr8SAXtbP-lLPWVVDxIlkMlFhJnqGINmAf3ugZLlwr-gqB8QkFLNaegr030SkeIYX8vzoPw_CjKiJuBtC9oKKrXozmHRP5PVf_iRLt2fcUxVFzK1bxuJyhV4rYfonW1NeN64h3f8EiHJYKqk7jLvMzmneZHDNAQelUUSKFHNmZXPA3YwG_dq3cQsSV0IqQYY_dD32X_D_oKhaTifFaI4LLhJtZNCaZnCApLByM3ZaFx5-O2yYF_UhR_5AGKHWPRjgYhQdFfyBI7sOeQxKuMDBytOslLFBUFLryafMr_nTA5jFvaI9NFW0hrXQKUZJiCBtf4-JwK7BqjHjGTBvJb_lo33MCVrHyWF4VgIRWXfuHcQUeaUrIg2FR0-t65qXUgFGOE_ZouM_t2We0pt9EWydoJLJUFHrl9cpgOG_jTfrXpOVxy5r5Na3l-dm8JQYcWF2WZmwnM0OvOd4tYkMOozF6c_QOACwBCL_e6QDRsenzVU_loBN7C1xts6IV3pcodpJR9vS33eQo2RA4ytZcLnvb6mmH_mEBT961tUNoDNremxYSO2FxARAtSRH0PJWsCwxQj6AQR7BrZ9-U1w4jYseyBp4zcLeFNyfkbt_n4YqDGR-VSvf-WVHCLaJHLeWEphxkK9Ud0H3TXuOix5_hW01xjfeyqC3C_g9CXLNeZftigv5GQl9ItWd7w5H5i8SUpQQhtC1XMf6QPk7J4QL-DIKHFwcREN8_upnkZUOBBZye1jyZ44w7yDfm3C2QSV142KEptrxAK_40_QSbnLVVxi7Dth4Bn-s=",
  "id": "rs_04122c8e8bc3d057016ab446a45ddc87d0b81ea28366fb29e7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_y\":0.34,\"right_z\":0.065,\"right_gripper\":1.0},\"note\":\"The right wrist view identifies the selected animal as a tan teddy bear with round ears and a stitched smile. It is slightly left of the jaw column, so I’m shifting left in the right arm’s frame, advancing a little, and lowering to grasp around its torso.\"}",
  "call_id": "call_pHzGwZGfO5TReNnaVQ6cb3VR",
  "id": "fc_04122c8e8bc3d057016ab446a649f487d0956f8c0b91e49698",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pHzGwZGfO5TReNnaVQ6cb3VR",
  "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]: [-0.1043, 0.9894, 0.886, -0.6437, -0.1761, -0.1303, 0.9968, 1.0603, 1.9511, 1.206, -0.2474, 0.7769, 0.7605, 0.9998]\nstate[eef_state]: left_x=0.3059 left_y=0.0027 left_z=0.2014 left_yaw=0.1009 left_pitch=-0.1686 left_roll=0.0342 left_gripper=0.9968 right_x=0.3228 right_y=0.3303 right_z=0.0711 right_yaw=0.0262 right_pitch=-0.0785 right_roll=-0.0419 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -2.441, 7.0085, 1.58, -0.1197, 0.0073, -0.0122, 0.6085, -8.1162, 7.1179, 0.9499, 0.398, 0.0073, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccc5ec099e26ba91de095d500440a1a1de2d30827f6918663dbc8fc11d120995",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a10a1be21e953fffa01da1c80f3c3311170da829ddce64b88d81731e7e206c77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2b2093114c526030f1e99123d40fd23deb4e655350ebc719f425662b4f4a7b4",
      "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 13 attempt 0 · /responses · status 200 · 1.827 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 48 changed as sent

message 52 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3763, 1.7287, 1.1954, -0.268, -0.3508, -0.2958, 0.9954, -0.0147, 0.8146, 0.6075, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4582 left_y=-0.1119 left_z=0.1305 left_yaw=0.0672 left_pitch=-0.1764 left_roll=0.0448 left_gripper=0.9954 right_x=0.2959 right_y=0.0013 right_z=0.1748 right_yaw=0.0007 right_pitch=-0.0301 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -9.1966, 6.8444, 1.4969, -0.2173, 0.0317, -0.1392, -0.253, -1.1282, 7.0359, 1.6923, -0.0415, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1043, 0.9874, 0.886, -0.6434, -0.1761, -0.1276, 0.9968, 1.0473, 1.6924, 1.1904, -0.4591, 0.7692, 0.7418, 0.9998]\nstate[eef_state]: left_x=0.3058 left_y=0.0027 left_z=0.202 left_yaw=0.0993 left_pitch=-0.1664 left_roll=0.0357 left_gripper=0.9968 right_x=0.3075 right_y=0.2942 right_z=0.1474 right_yaw=0.0297 right_pitch=-0.068 right_roll=-0.0269 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -2.6325, 6.9128, 1.6874, -0.1392, -0.0122, -0.0073, 0.6496, -8.2667, 8.6769, 1.0134, 0.6081, 0.1538, -0.0366]",
      "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]: [-0.1043, 0.9894, 0.886, -0.6437, -0.1761, -0.1303, 0.9968, 1.0603, 1.9511, 1.206, -0.2474, 0.7769, 0.7605, 0.9998]\nstate[eef_state]: left_x=0.3059 left_y=0.0027 left_z=0.2014 left_yaw=0.1009 left_pitch=-0.1686 left_roll=0.0342 left_gripper=0.9968 right_x=0.3228 right_y=0.3303 right_z=0.0711 right_yaw=0.0262 right_pitch=-0.0785 right_roll=-0.0419 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -2.441, 7.0085, 1.58, -0.1197, 0.0073, -0.0122, 0.6085, -8.1162, 7.1179, 0.9499, 0.398, 0.0073, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccc5ec099e26ba91de095d500440a1a1de2d30827f6918663dbc8fc11d120995",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a10a1be21e953fffa01da1c80f3c3311170da829ddce64b88d81731e7e206c77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2b2093114c526030f1e99123d40fd23deb4e655350ebc719f425662b4f4a7b4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEarax2w1_3dtM8cbstGfYoYRfH1MxDs9u5GVEtborlMijbLPKOaQ-2agRt4g5fKvzbXxLz_Nsl6v7ZpqMxOrNfIdIxe7l_L-puB1G-EmPUAWbhbuLfcXtIJNPFkS8YWfmXHVJWwSjsBKBoD2idRY059wMsjNpBgVx9L-Gpr4AXPlzfWy5VnvsIPhBM8OxVkX-B0fsbPlgw76tlecTtFyg00_zA5tNCw4x2wtha2xUn5e0xI52OlsYUr1cTMR5cxgEvoBs6J6d5DKiSXRs0rYsB4wBBz-fkqhOVcA0i3pk9ureyik0bl8CIYohyGDri5N8yQ3LcxQlkrcfT92ypwIOkLS3o_NkzDdJP9bzffB_5h23Q6QX6Sr2Ii0RUXNb72FvfNLTKMndxqtnIzEVk7jpivFj43Wt9QbFkF9-2r_mSzF9VMWQtjX79740o8u8OuUSekkkVLFAIGkuDisI1LwZSLhq984doIfG2ipyu1ejFxrNJVjv_GmN28bA3PwJl_LXX0noYJFWs8LR-89JFadNteYSpor1TRKHZx4d3Ul4KfGuDhIVRhE3CncIfNhTxSas_virMbPkNpOy9Wk1LUfTa8VOye1jU8CD2Oc2gFWBpC-ra3TwJcpl2DS_XDOIE0dwQu-zJccxHUYhm3Lw7MHY0_N16lt8FGJa0iSz882poh6zdX23ypqI2K93hhuCb7ranarIkwntbCNwdby_iQ_lmxUwRZHvKvD96tIrfkt81aHlEc53zCohukw1TG1pzRVbIXPGb9E1OGTJHLtF7zKawxA-rxxbGD_EoUyAfk0yrxsR1wdxJ-HnjFNSNoQkX7TM2u3sXCmJyc8iIampeR5GDE_Czqhh-cthok2PqK7TAdo9sHPvfCCuugr_x3dttTp8PBd0muj1JiMJrfotckxgz_PIQTnSwB0QirTyw-IMTvSHubUjeDcJzYs-jPYpvM01kqCD6lZbiObq6pklKN_N2p21zZ3SN2WPvLhZidIceBLfYAsOaWooXuAVHm4bx5_CTzVNvVsloVObP1Kv8sXwDmF8VaastudVK1PdwyfDEb4pDCLCWWqrLKMETqnaNQGcLqIaWy9bzRqd6585mb4N37O1PJsPHrtwbU7kiyWo6YZd3kiS3fbKkFmvQNiIWuymtftiV4h4uXyQmivZ_wiz49Q94en1ofi9RV525qLaJyVQAVSiPSIeB9HmlVZ29DSWn9R3-17tgmo3O6PnFjFotztoU7VDt8fQO-j5uTkCFtXr-vTL8GL8ue0roGerFo42HSH1ACNgs8uIwTc7EO0v0WB4Uc4Vc3EEahiM5zwd3s8NRq5bvPy_zE4dKcC6fMCgJaU6CgI21CD4h3u1PtGy1oMYwFuH7uyY9fvMquP2oI7h7Ro3GQufULoxdpPx_F0nOfuXEKbKAzmiwM0UQ96vhyDEMEF6ITufvDERB9cA76bZYpycw0qwaw7ueMUEoqmitbz9cRnX8f-G9NAN3CeOeIyQ==",
  "id": "rs_04122c8e8bc3d057016ab446a9383c87d08015d0e45626f5c7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The teddy’s torso now fills the gap immediately in front of the fingertips, indicating the jaws are around its midsection. I’m closing to secure the bear.\"}",
  "call_id": "call_qsxOG8wHmz1RXSh1LAsaIdEO",
  "id": "fc_04122c8e8bc3d057016ab446a9e92887d0a2b790363a51740d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qsxOG8wHmz1RXSh1LAsaIdEO",
  "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]: [-0.104, 0.9894, 0.886, -0.6437, -0.1761, -0.1307, 0.9968, 1.0603, 1.9675, 1.2106, -0.2192, 0.7738, 0.7597, 0.1137]\nstate[eef_state]: left_x=0.3059 left_y=0.0028 left_z=0.2014 left_yaw=0.1015 left_pitch=-0.1686 left_roll=0.0339 left_gripper=0.9968 right_x=0.3251 right_y=0.3353 right_z=0.0683 right_yaw=0.0294 right_pitch=-0.0723 right_roll=-0.0271 right_gripper=0.1137\nstate[joint_eff]: [-0.0889, -2.4274, 7.0496, 1.5897, -0.1099, -0.0513, -0.0122, -0.1299, -11.5077, 5.5453, 0.9158, 0.3297, -0.0171, 0.8571]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feb750d11c8b8ac2bf1e1fcf11295ec75d8a6e2d63ca2a66c074e68893f5358a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbfa75e331ffe51ba8d507cab96d16df55e38911e419446cbef112da12b534b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5234176e2950d3c51a71ed900c76f20856e9198d05c2d9cada464a1028a2477",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 3.035 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 52 changed as sent

message 56 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1062, 0.981, 0.8875, -0.6323, -0.1776, -0.1234, 0.9967, -0.0147, 0.8188, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3072 left_y=0.0022 left_z=0.2065 left_yaw=0.0958 left_pitch=-0.1476 left_roll=0.0361 left_gripper=0.9967 right_x=0.2961 right_y=0.0014 right_z=0.1736 right_yaw=0.001 right_pitch=-0.0347 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -2.1402, 6.1333, 1.5653, 0.1197, 0.1001, 0.1148, -0.3761, -1.6615, 7.0359, 1.7363, -0.0611, -0.0415, -0.0171]",
      "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]: [-0.1043, 0.9894, 0.886, -0.6437, -0.1761, -0.1303, 0.9968, 1.0603, 1.9511, 1.206, -0.2474, 0.7769, 0.7605, 0.9998]\nstate[eef_state]: left_x=0.3059 left_y=0.0027 left_z=0.2014 left_yaw=0.1009 left_pitch=-0.1686 left_roll=0.0342 left_gripper=0.9968 right_x=0.3228 right_y=0.3303 right_z=0.0711 right_yaw=0.0262 right_pitch=-0.0785 right_roll=-0.0419 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -2.441, 7.0085, 1.58, -0.1197, 0.0073, -0.0122, 0.6085, -8.1162, 7.1179, 0.9499, 0.398, 0.0073, -0.0366]",
      "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]: [-0.104, 0.9894, 0.886, -0.6437, -0.1761, -0.1307, 0.9968, 1.0603, 1.9675, 1.2106, -0.2192, 0.7738, 0.7597, 0.1137]\nstate[eef_state]: left_x=0.3059 left_y=0.0028 left_z=0.2014 left_yaw=0.1015 left_pitch=-0.1686 left_roll=0.0339 left_gripper=0.9968 right_x=0.3251 right_y=0.3353 right_z=0.0683 right_yaw=0.0294 right_pitch=-0.0723 right_roll=-0.0271 right_gripper=0.1137\nstate[joint_eff]: [-0.0889, -2.4274, 7.0496, 1.5897, -0.1099, -0.0513, -0.0122, -0.1299, -11.5077, 5.5453, 0.9158, 0.3297, -0.0171, 0.8571]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feb750d11c8b8ac2bf1e1fcf11295ec75d8a6e2d63ca2a66c074e68893f5358a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbfa75e331ffe51ba8d507cab96d16df55e38911e419446cbef112da12b534b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5234176e2950d3c51a71ed900c76f20856e9198d05c2d9cada464a1028a2477",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEatDgJq52loEmrn1Z3rWwMq0HbUDXKjBW1OHvjspicdzYq9G1aNyjTExKzHo2MadAncGN7aB0m4QHCJdE1dJVQBS-qUHkLAVyswk8hBOSdRcXjEeNDut4IIl81zsqJu_awlUdJQ2q0fONCKMgueCuT0yk8w-hDNAN9CNRYG3hRVGVsLwyDcO8XJDGC-q55MYxGtoNLzV0th5_aG66n5O0hMBtZ0QAqJEhuGYEQoL908axKBgthFqK83_wJcUC_y2GXLjK3CV0Ytm99a9o6W1f7ThaJUmWyHTlfkYY2Q06xKgk0Qs1rQVCeLOT1I6dZkKV1NqX80_znDHmC0yw1cZbuidVQYY11GjkcXgRkTtwOrkc9_DEsP7FZfLTW-NkIg2fIVFtDwGLKHsQEqnYuRHebgy2ngWNAY_jNctmS3uvv9jvTK4JO3qfXVGu_NKIXXh5Y6l0u_KSPDvJwdjZnf8vkKT9lwalUunCqr5aEHWCPwKkJomdKqRVpG98RR_yq7mQHF6f8l6oGx5NRV7WJoXKVk_zUOq2COwn-sIw1F-cF7Jpun1pIO363letAkZluftTCeKPmnpGCRPLrSxkd4ERgsOiSzISHes9QO1L0e8D26CG0wZfL912fG_4X5nAI-t1G_A_JqHaM7aY2OV4VA8rJ0BnTjSna22_9Wf6z0D5_oABaIYgRlRawEqwtx0RTUGQhu3zH9-RNmAJBjxs-hvWRYaU9s2ze61tvnKJ--raf4Fuqp6CxLENwuFTsOWe9T4jV8Ebezlz4aMBx2njsy8LlpMQcdejDLjxeURk6jLt863EDqdXeScbXnDs1QPUTn3-juuWR8-tBX1_ZtSmobsykIV6TnfPa2qiAyRXHf41b52C9DH72cP6kk9-IPBonUstl9I5DiCqg_pOm8_bH05r00_-ToyLVgP72CUtnNAYZiJ_EiqFsazLva_uXD8rBwFCWXaL8LZN6dc8MAE7bdqhqAbAYQIdENzhmvFdU9ZkKjg9bipbj_vlfmPSpC5VI1zM4ejZ9q_mvgqgSuIUgwGsss3UoIex02twKzd_3ubcC9WaT7E0UTEqikuA8ZD-QdoRiID9x7z6816j6NHcPzbRWhC6gaxM2RELqPIuY1hVw3WZ-prdpxOFr9dxEXEd7BLgJ3EkblQYVVJskRgBooK5wg56kMJtSEknhY8x3Jtp9TsEDxkfilu7T6HR7oCPAdArat87K862nwLgaKI_fei7_BGM9oHHVDI8kSraYxHex00Gg=",
  "id": "rs_04122c8e8bc3d057016ab446acef5c87d096cb7dada485a2ca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.19},\"note\":\"The right gripper settled at 0.114, confirming it has captured the teddy’s plush body rather than closing empty. I’m lifting straight up to verify the bear clears the table and neighboring toys.\"}",
  "call_id": "call_MSpq4vLSK4wZEUKGgP5ZdJvu",
  "id": "fc_04122c8e8bc3d057016ab446ad1d7887d0a058ac554f8b70b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MSpq4vLSK4wZEUKGgP5ZdJvu",
  "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]: [-0.104, 0.9894, 0.886, -0.6437, -0.1761, -0.131, 0.9968, 1.0603, 1.8778, 1.4902, -0.6167, 0.7486, 0.7563, 0.1169]\nstate[eef_state]: left_x=0.3059 left_y=0.0028 left_z=0.2014 left_yaw=0.1017 left_pitch=-0.1686 left_roll=0.0336 left_gripper=0.9968 right_x=0.3248 right_y=0.3412 right_z=0.1584 right_yaw=0.0439 right_pitch=-0.105 right_roll=-0.0431 right_gripper=0.1169\nstate[joint_eff]: [-0.0342, -2.4, 6.9812, 1.5849, -0.0855, -0.0513, -0.0122, -0.1983, -12.8889, 9.1282, 1.0525, 0.6081, 0.0024, 0.3101]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:033835b9aec1eefd64f93ec0c9d09ea86f60abbecea82a5a1c06b4318a271cd9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e836569c243bb10c08f9f5d5ca44e782cf162a510fc4c2af2ae0c5386b5c8c6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6abf6f19f2a8d017a7fc5c161995d1929de98ecd67c4197aaf4f94c07d7e1be4",
      "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 · 1.69 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]: [-0.1043, 0.9874, 0.886, -0.6434, -0.1761, -0.1276, 0.9968, 1.0473, 1.6924, 1.1904, -0.4591, 0.7692, 0.7418, 0.9998]\nstate[eef_state]: left_x=0.3058 left_y=0.0027 left_z=0.202 left_yaw=0.0993 left_pitch=-0.1664 left_roll=0.0357 left_gripper=0.9968 right_x=0.3075 right_y=0.2942 right_z=0.1474 right_yaw=0.0297 right_pitch=-0.068 right_roll=-0.0269 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -2.6325, 6.9128, 1.6874, -0.1392, -0.0122, -0.0073, 0.6496, -8.2667, 8.6769, 1.0134, 0.6081, 0.1538, -0.0366]",
      "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]: [-0.104, 0.9894, 0.886, -0.6437, -0.1761, -0.1307, 0.9968, 1.0603, 1.9675, 1.2106, -0.2192, 0.7738, 0.7597, 0.1137]\nstate[eef_state]: left_x=0.3059 left_y=0.0028 left_z=0.2014 left_yaw=0.1015 left_pitch=-0.1686 left_roll=0.0339 left_gripper=0.9968 right_x=0.3251 right_y=0.3353 right_z=0.0683 right_yaw=0.0294 right_pitch=-0.0723 right_roll=-0.0271 right_gripper=0.1137\nstate[joint_eff]: [-0.0889, -2.4274, 7.0496, 1.5897, -0.1099, -0.0513, -0.0122, -0.1299, -11.5077, 5.5453, 0.9158, 0.3297, -0.0171, 0.8571]\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]: [-0.104, 0.9894, 0.886, -0.6437, -0.1761, -0.131, 0.9968, 1.0603, 1.8778, 1.4902, -0.6167, 0.7486, 0.7563, 0.1169]\nstate[eef_state]: left_x=0.3059 left_y=0.0028 left_z=0.2014 left_yaw=0.1017 left_pitch=-0.1686 left_roll=0.0336 left_gripper=0.9968 right_x=0.3248 right_y=0.3412 right_z=0.1584 right_yaw=0.0439 right_pitch=-0.105 right_roll=-0.0431 right_gripper=0.1169\nstate[joint_eff]: [-0.0342, -2.4, 6.9812, 1.5849, -0.0855, -0.0513, -0.0122, -0.1983, -12.8889, 9.1282, 1.0525, 0.6081, 0.0024, 0.3101]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:033835b9aec1eefd64f93ec0c9d09ea86f60abbecea82a5a1c06b4318a271cd9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e836569c243bb10c08f9f5d5ca44e782cf162a510fc4c2af2ae0c5386b5c8c6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6abf6f19f2a8d017a7fc5c161995d1929de98ecd67c4197aaf4f94c07d7e1be4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEaxA9msFIpwhspOhbrrqxMo9VsyVHJIN3aBD39I2nUcUMhFzABqS2nv2sihJtKJzE8d-zoasE-fEZjE_WmpLk92Pv9oJe7l1hZolmq3f5z6zY-aAqjlqbstR9pIbo1G1NC2hOy11NBQpoUmHqXU9ojHi09hbc1suRFzVXOciLsQzocJCEjoGr2hIRqVXh-qACNmttb4i7KzugWhKf2M9qT6gThZ9wsmRUcpTlj3ZGx8G0yrFIck2Fcvf1CnvwLKf1upwXXWx9QKHi95WuaXpecsp2aeN0AS510eHnXulMbux-RFgVHGhlz6nQ6OIyYcDJ-e-Mcc80IJN3uijGkdfJGzqsyKmPdMZgvfA6MIAKp5jNPaXfWOPo-oTslFXXTozPBXkVQCTS-H7LO0E8VhCgxYA3PT9ufBEsh7mD7vsfI8GShWYe9F9qtzLvbeAFkPtBAdH7o39OI9rHQs27CwHblsO07ARSWqYNoMh-_Tf4G7z812LHz9VJnM-U0dBCrlwjUsVdGEAy2qPNqeX1hjxuSKo8ng68pzp0OrJTjmdROTuV4MsuYps0xmZhxWaJACr2x-CWsyq0P2QkPsyS7tXEOJ6eeD6yFgIs8VMfvVOQnrAm-cLdUjsUODZE-fS8iPZJXDKpOjkeHa_ZIwc3g0-JuAl2IYz3MmUsxn7WkURyGirPkNUqboVKuraeZhMMZnty73-CakAVl07xTNcbB40JbpUG4qxKdvZPAO8-M7UTmDvn8__HMKFAi4Pw6lrq8b2igaHUnZrp8tUa5opfX2wseff1_0wn5u1R--HTsz13WuIbuRa7Jd4l82lNmjgplwZNhHlYr2euqkN1UFRjHDGTHSlg73lq914xIb1quAG7OBzHk953I3XMbxwbfPghwFCWdTtb8NNZVGdRG8pbED2JNicR1ywpMM9OY1fdQIlyDP9ZXaOJA-RdrPr0v4jgx_MChnvU0D-fLwwAraWHhG1eRjKF2s67_au81dwE-SC4_KmfH0e9ml9fVXuFI4nVotSvD3PRGo8MhX-C8mDdTL7DiprtvO42HkpCXv0hX98WvwWoDWeVpu9WFMbUH3WRZe5NNYJny3xNqEFmu-DAX2vtTzGRn6HmLtOsrnNsyMQc9c_GoKbEXKO3gnt9BnaQN3czpEx9CLIjN_80Jzq6MqYwDd7pjlPddoqKm82PG7EdgUjZSnyWlcH_cyy3jAY0yCMG6L604P9G9cXs-rqrP54cVBRG0SFMhZtKo-al0-04Ia6ONvomno_ciaQnN4IVcwTo7x7A4IypOsh8YzN97VY4FQgvdSXOiONoZBEus9dn5hf__lme-i0vKdZMj9N9zeTZzfOpgmVc9vE-Ymqm-kEukqFQb9LH6Mo4XBC6N0MbiRD4YKcM2XNCtPcXoj4zjxvI2w4Rc2z8IlEBW8blqHqBhMpcdznt0y9CvKtMYtjgsylcYFUL0iaeJlQ5W-YMRV_R5LadbvIamm6Sn1f-OpfHeZ6w-eQj9WHkvXjQtgc-dvx9K2Ji1b38y5HdePHbpR77dfKeU2WXd7lWWuma1Nx9WlsGVZrAdc7suoEHdu1IwsnQFXOtCmE_CZK_8pGAcHsBg3gT3taWHemvPh0QKdWerntMluiGLHMNDhhYVis-sRmcTpP4SC1_8ABOHvtbQlRR9TUkS3wJRlGLalXiMwa4pImYELFIZ94T9ArkQO9Gvk_oOr5arb-MFDyvHohIwhWJUpqLw2pSuICWCv7-u5Eodx23O7rxURW8tqe-GPfUTe7Sba-Twbc9i33ekw0Ct1-Q2mov8mW7IvzsIfB9aDCQkjmRiYxQoePV78FT6bED0AOI8=",
  "id": "rs_04122c8e8bc3d057016ab446afad8087d089d2238028b0a9fb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.14,\"right_z\":0.25},\"note\":\"The teddy rose with the gripper and the remaining cluster is now visible below, confirming the grasp. I’m carrying this bear high to the center of the right turquoise basket, which is assigned to bears.\"}",
  "call_id": "call_8b69hoZgap6JNYQA7F8VzLke",
  "id": "fc_04122c8e8bc3d057016ab446b0d99c87d0ab93bf11b4833873",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8b69hoZgap6JNYQA7F8VzLke",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1043, 0.9894, 0.886, -0.6437, -0.1761, -0.131, 0.9968, 0.4019, 1.7149, 1.5311, -0.5919, 0.3149, 0.2005, 0.1198]\nstate[eef_state]: left_x=0.3059 left_y=0.0027 left_z=0.2014 left_yaw=0.1013 left_pitch=-0.1686 left_roll=0.0336 left_gripper=0.9968 right_x=0.4615 right_y=0.1406 right_z=0.2209 right_yaw=0.0216 right_pitch=-0.1681 right_roll=-0.065 right_gripper=0.1198\nstate[joint_eff]: [-0.0889, -2.4274, 6.9675, 1.5409, -0.1099, -0.0513, -0.0073, -0.2803, -9.7573, 10.359, 1.5897, 0.0024, -0.0073, 0.2906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c42c158e73e71c60900642a07d3e5a6119edc5e83732666ec5e8c32fde74435",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:281d175b897463a8dcc614e3568508b1e0ea70166208a07e7497aa1ef4400c4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86ee31a94af437639d2503dcae51bd88f255e8d575ece8bb6097e1dc1b009580",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 1.671 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]: [-0.1043, 0.9894, 0.886, -0.6437, -0.1761, -0.1303, 0.9968, 1.0603, 1.9511, 1.206, -0.2474, 0.7769, 0.7605, 0.9998]\nstate[eef_state]: left_x=0.3059 left_y=0.0027 left_z=0.2014 left_yaw=0.1009 left_pitch=-0.1686 left_roll=0.0342 left_gripper=0.9968 right_x=0.3228 right_y=0.3303 right_z=0.0711 right_yaw=0.0262 right_pitch=-0.0785 right_roll=-0.0419 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -2.441, 7.0085, 1.58, -0.1197, 0.0073, -0.0122, 0.6085, -8.1162, 7.1179, 0.9499, 0.398, 0.0073, -0.0366]",
      "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]: [-0.104, 0.9894, 0.886, -0.6437, -0.1761, -0.131, 0.9968, 1.0603, 1.8778, 1.4902, -0.6167, 0.7486, 0.7563, 0.1169]\nstate[eef_state]: left_x=0.3059 left_y=0.0028 left_z=0.2014 left_yaw=0.1017 left_pitch=-0.1686 left_roll=0.0336 left_gripper=0.9968 right_x=0.3248 right_y=0.3412 right_z=0.1584 right_yaw=0.0439 right_pitch=-0.105 right_roll=-0.0431 right_gripper=0.1169\nstate[joint_eff]: [-0.0342, -2.4, 6.9812, 1.5849, -0.0855, -0.0513, -0.0122, -0.1983, -12.8889, 9.1282, 1.0525, 0.6081, 0.0024, 0.3101]\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 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]: [-0.1043, 0.9894, 0.886, -0.6437, -0.1761, -0.131, 0.9968, 0.4019, 1.7149, 1.5311, -0.5919, 0.3149, 0.2005, 0.1198]\nstate[eef_state]: left_x=0.3059 left_y=0.0027 left_z=0.2014 left_yaw=0.1013 left_pitch=-0.1686 left_roll=0.0336 left_gripper=0.9968 right_x=0.4615 right_y=0.1406 right_z=0.2209 right_yaw=0.0216 right_pitch=-0.1681 right_roll=-0.065 right_gripper=0.1198\nstate[joint_eff]: [-0.0889, -2.4274, 6.9675, 1.5409, -0.1099, -0.0513, -0.0073, -0.2803, -9.7573, 10.359, 1.5897, 0.0024, -0.0073, 0.2906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c42c158e73e71c60900642a07d3e5a6119edc5e83732666ec5e8c32fde74435",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:281d175b897463a8dcc614e3568508b1e0ea70166208a07e7497aa1ef4400c4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86ee31a94af437639d2503dcae51bd88f255e8d575ece8bb6097e1dc1b009580",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEa0_8tRE7uJXYwO28lMUlF2_n50zxbEO8gtFGlACtuTHZEM7ms2IRF1Y4ee3_W0_5X-lxhHMhoQ8zFK5KXeiazx8a8FKu5NwGyIWNKuuK_yfESyoMhG16UdFy-ZcxWPTkT84bmujFyM7fVqipFAMkqpFF1OT1ZFnRxjaTQPjYqwczfKulj1lVshNxraKUCYlf0Yiw_ZujcnvhcS9xDJsZujsAVazMJ-PFpv5ljU5b73AGoQNRCAaNB4Aug9e1lF63FLVdd3ge3eqa-_NVfJqMLUZ8GiYRN--af8XS3IvAd7KEzClRptP1plNSzLafFAW5qa48dZTW720Q_th5ww0hkDBnYQjrOAi_VqQ6pHbdFmNLIvpU7RY551d_l32cPo2hneF4af6rKTmkPRJ57chXF_XdYHYHBIa_t-_iVmB8pddE_RfHZcuwVK6rTCvUxkxHL4WDACr7j7mqF3JtArP2PQTZ0EGJZzbjJU_W-4PVO8q93buz-G9OaPDXr-x6NYrFVzJd7GBW_CBpJ45IPfrX5ApY6RqPRDh1VClbCF2GUSHwNVG9OLGuD_j63PTn-5MhvveyI_eTzC0FL3GRV_9ePsQxtMFZzhiMclFs16rz9cIm9PH-DuR3N9cChlchu9wjFpIWBdlfnWClSAT4kQYOTzPNWxKuV7SbQIl5ZW3G92LdVIdOi3jWS2D-CnnFghhYQCl6oI60dyVzOwgQOtEZZb9ExFvNu7jw_o8kW1K0BWpmcjvjJIHfotgiFQYeJpfvaceNEAzgkvyEi6MFHpz-31kFUeUEbBnN2wJvaB_dvMGVX_7KqJ8Y-Pg_h0L-sW4qoAx0ygw9P6pq-C8oeJPcqNzvA-WVXyziCSgElttOQKec_mPE_uwe4cspWLKqpEbhPuUJ6-ZvhIXVIdkjQ6qlQbCb9C6qm-9nmN155nf9tlg9vpe5AkjD9NE_I3mrPNPcK5su3zQ5kD9SgKsQucgd_1P6hh3l9otDupUqblnIHGgpQHjdRT0Acp_jn4aT2VyxDtrfCj12gQ9pgKnhOOwKSwvVcElKD9loaUh-0lgeem37vPMYptEq6Rd2kT1MiqEfVLR0K8lOkfBY2CbBXkluYetlF9BJojLfGvEe59RPhSr_6y-QIb7FltesjqZOFlMXeH1u3y_49-bOtwvx5psuwyW486Da_gNq5iJKuW4nhV82oE4g5Ob6TT0PRW4jfxX2JL",
  "id": "rs_04122c8e8bc3d057016ab446b437f087d091a19cff03fe206e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.13},\"note\":\"The teddy is centered over the right basket with its body inside the rim footprint. I’m lowering it into the basket before release.\"}",
  "call_id": "call_QyQkahsxveLg1EbceW0tXJkM",
  "id": "fc_04122c8e8bc3d057016ab446b459dc87d0ad528329fb214bf2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QyQkahsxveLg1EbceW0tXJkM",
  "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]: [-0.1043, 0.9905, 0.886, -0.6441, -0.1761, -0.131, 0.9968, 0.3981, 1.7332, 1.2491, -0.3046, 0.3054, 0.1833, 0.1224]\nstate[eef_state]: left_x=0.306 left_y=0.0027 left_z=0.201 left_yaw=0.1013 left_pitch=-0.1701 left_roll=0.0339 left_gripper=0.9968 right_x=0.4577 right_y=0.1387 right_z=0.1425 right_yaw=0.0341 right_pitch=-0.1833 right_roll=-0.0763 right_gripper=0.1224\nstate[joint_eff]: [-0.212, -2.2906, 6.8034, 1.5995, -0.1197, -0.0708, -0.0122, 0.253, -6.8855, 5.3812, 1.5653, 0.2027, 0.1441, 0.2662]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c39fbd1ca89eecc5c3daeb7d110e6d143fe9140b4df0b293f55e26ce5e08ff4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e648fe0fc2df75aa7a6f4b39b50be9d2fb4615ee6d246878a13d18624003df7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c84a76bd60cafc267d242926cef080e0c312d9198969ba0ee5d292e58f85f888",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 2.057 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]: [-0.104, 0.9894, 0.886, -0.6437, -0.1761, -0.1307, 0.9968, 1.0603, 1.9675, 1.2106, -0.2192, 0.7738, 0.7597, 0.1137]\nstate[eef_state]: left_x=0.3059 left_y=0.0028 left_z=0.2014 left_yaw=0.1015 left_pitch=-0.1686 left_roll=0.0339 left_gripper=0.9968 right_x=0.3251 right_y=0.3353 right_z=0.0683 right_yaw=0.0294 right_pitch=-0.0723 right_roll=-0.0271 right_gripper=0.1137\nstate[joint_eff]: [-0.0889, -2.4274, 7.0496, 1.5897, -0.1099, -0.0513, -0.0122, -0.1299, -11.5077, 5.5453, 0.9158, 0.3297, -0.0171, 0.8571]\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]: [-0.1043, 0.9894, 0.886, -0.6437, -0.1761, -0.131, 0.9968, 0.4019, 1.7149, 1.5311, -0.5919, 0.3149, 0.2005, 0.1198]\nstate[eef_state]: left_x=0.3059 left_y=0.0027 left_z=0.2014 left_yaw=0.1013 left_pitch=-0.1686 left_roll=0.0336 left_gripper=0.9968 right_x=0.4615 right_y=0.1406 right_z=0.2209 right_yaw=0.0216 right_pitch=-0.1681 right_roll=-0.065 right_gripper=0.1198\nstate[joint_eff]: [-0.0889, -2.4274, 6.9675, 1.5409, -0.1099, -0.0513, -0.0073, -0.2803, -9.7573, 10.359, 1.5897, 0.0024, -0.0073, 0.2906]",
      "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]: [-0.1043, 0.9905, 0.886, -0.6441, -0.1761, -0.131, 0.9968, 0.3981, 1.7332, 1.2491, -0.3046, 0.3054, 0.1833, 0.1224]\nstate[eef_state]: left_x=0.306 left_y=0.0027 left_z=0.201 left_yaw=0.1013 left_pitch=-0.1701 left_roll=0.0339 left_gripper=0.9968 right_x=0.4577 right_y=0.1387 right_z=0.1425 right_yaw=0.0341 right_pitch=-0.1833 right_roll=-0.0763 right_gripper=0.1224\nstate[joint_eff]: [-0.212, -2.2906, 6.8034, 1.5995, -0.1197, -0.0708, -0.0122, 0.253, -6.8855, 5.3812, 1.5653, 0.2027, 0.1441, 0.2662]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c39fbd1ca89eecc5c3daeb7d110e6d143fe9140b4df0b293f55e26ce5e08ff4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e648fe0fc2df75aa7a6f4b39b50be9d2fb4615ee6d246878a13d18624003df7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c84a76bd60cafc267d242926cef080e0c312d9198969ba0ee5d292e58f85f888",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEa3VMjNLGrE1MHixDI1AJEjOdDxKI2qa2kL6tBjPhvGHndxvsM7UxiQXaPKKDeVxw7uWEfMGKouhxH8KnYIides71mN3zqgtKGrwlgtZBtKpTOgPuaGXRMt7UI2fu55LxuxYShHs1JKdJg17RbZKXkMD9sxwwcnMCPU2oC-t52WWCzpaxHrlO7wixDaSWWzn1noZG3iEBuXunfGvvS4Mu2aUOSmQFs4AvO8dS-stfp8S-9bkrnyL1igpf8wcMe6dchMgln2phaAgnesL6EY1gIRKNBQwypvbHCt7lX4G3kGT7GBDkRqWiWOZzzd8etZz76D9Pnn0UIa0vyyJhMOIpXg3HjWMxkb5WJaWD_-zzn23GcrPrhEygsjiMvgxzVP-5_lL4O77Hg2TLOe3olmfRpjLv_wAJ-Wq_Fl3Mer_38RwOYCM6jVU9zI8u24laBaWEecELn3Z4UFv4an5osUFyxrouSH-VPWdrjECTq6_Ex2k77wTog5p4yMG49Yt3IH8CyGXJc9GMWH4oW4QCct_qFg1nHIk5lm5E2uuIZ-PiJb-pMFgVeoWdR4osOSfb7UHiCXY6J8L2i1ejnsja8aZMM1Rx_E1nkyvWG7BC0IqvWYW_tPkVaiF6x0rzYfxU16WszHV6OwLrwmDkD82NAm1pfTRLOov7UxEa-dlN33uQ3J3dWVaiVpjv5_Sfk_nuUYH-8I7iqnOBRbK5csaE9C3BIainL83b1NeHUNzxFGaTHuviNxMQwEwRyvsT5CECxta-PE5213lZROkyZzHlPENzB9JtD6-1A8g5KGi6GG4Rcjtp8m12s0IJ-2vgXgT3OvIs5FlnitWfArPPlci4YePdFWPKOs1VLpWBuUb8X43xVjxfqAFGwoE0BoVhHCPiqiKEffNccfzgvjrt6AwpjTT2Ah5eUL2mrGpByf1yJJL6IVbBv_FBS6X1Q0aWm3rXYMWmM_WxWInWX0-lJPmb_L7nSmuoiWgjstc7mAj7ONo9GJROtT8eYcF1-knefNYYiGEWHv90Q_4PL3nPajsPPTHhUt0T96251vPSVQ7trDH88N1E42XvJll1egU2o4qzr_G0fnCUFQmdvp8zFLsNkTVAZ_PNLCf4Gb3Nkuoqibxu6QkBwYwQ1FLy12bQ5AS-RoikRlghhU7HGLvmjZp-H8_SyRQQblSujmQcMjg3s-KHvsvs0=",
  "id": "rs_04122c8e8bc3d057016ab446b6873087d08f764cf6b9b3f525",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The teddy is down inside the right basket and supported below the rim. I’m opening the right gripper to release it.\"}",
  "call_id": "call_7nVOZeucobjBQmtDmVLaWZT1",
  "id": "fc_04122c8e8bc3d057016ab446b6a0ac87d09d3d0bfead9e40f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7nVOZeucobjBQmtDmVLaWZT1",
  "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]: [-0.1043, 0.9913, 0.886, -0.6441, -0.1761, -0.1307, 0.9968, 0.3973, 1.7336, 1.2369, -0.2874, 0.3019, 0.1772, 0.9949]\nstate[eef_state]: left_x=0.306 left_y=0.0027 left_z=0.2007 left_yaw=0.1012 left_pitch=-0.1708 left_roll=0.0344 left_gripper=0.9968 right_x=0.4578 right_y=0.139 right_z=0.1401 right_yaw=0.0398 right_pitch=-0.1801 right_roll=-0.0769 right_gripper=0.9949\nstate[joint_eff]: [-0.1983, -2.3453, 6.8034, 1.5604, -0.105, -0.0562, -0.0073, -0.0068, -8.8274, 7.6923, 1.3602, 0.0806, 0.0757, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4e65009d3a4aed44d4817d91d4b0d805052c3cc5b0801e40e0944955d68cca8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:401c8756dc8a523e2f61e6098ebd19910070b5e6464b2f9b2ef92a3269226e5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0601b0e7294c1bc622088e3a0d9f90258f4308c852192d9a7491a3935e88ee3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 6.623 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]: [-0.104, 0.9894, 0.886, -0.6437, -0.1761, -0.131, 0.9968, 1.0603, 1.8778, 1.4902, -0.6167, 0.7486, 0.7563, 0.1169]\nstate[eef_state]: left_x=0.3059 left_y=0.0028 left_z=0.2014 left_yaw=0.1017 left_pitch=-0.1686 left_roll=0.0336 left_gripper=0.9968 right_x=0.3248 right_y=0.3412 right_z=0.1584 right_yaw=0.0439 right_pitch=-0.105 right_roll=-0.0431 right_gripper=0.1169\nstate[joint_eff]: [-0.0342, -2.4, 6.9812, 1.5849, -0.0855, -0.0513, -0.0122, -0.1983, -12.8889, 9.1282, 1.0525, 0.6081, 0.0024, 0.3101]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1043, 0.9905, 0.886, -0.6441, -0.1761, -0.131, 0.9968, 0.3981, 1.7332, 1.2491, -0.3046, 0.3054, 0.1833, 0.1224]\nstate[eef_state]: left_x=0.306 left_y=0.0027 left_z=0.201 left_yaw=0.1013 left_pitch=-0.1701 left_roll=0.0339 left_gripper=0.9968 right_x=0.4577 right_y=0.1387 right_z=0.1425 right_yaw=0.0341 right_pitch=-0.1833 right_roll=-0.0763 right_gripper=0.1224\nstate[joint_eff]: [-0.212, -2.2906, 6.8034, 1.5995, -0.1197, -0.0708, -0.0122, 0.253, -6.8855, 5.3812, 1.5653, 0.2027, 0.1441, 0.2662]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1043, 0.9913, 0.886, -0.6441, -0.1761, -0.1307, 0.9968, 0.3973, 1.7336, 1.2369, -0.2874, 0.3019, 0.1772, 0.9949]\nstate[eef_state]: left_x=0.306 left_y=0.0027 left_z=0.2007 left_yaw=0.1012 left_pitch=-0.1708 left_roll=0.0344 left_gripper=0.9968 right_x=0.4578 right_y=0.139 right_z=0.1401 right_yaw=0.0398 right_pitch=-0.1801 right_roll=-0.0769 right_gripper=0.9949\nstate[joint_eff]: [-0.1983, -2.3453, 6.8034, 1.5604, -0.105, -0.0562, -0.0073, -0.0068, -8.8274, 7.6923, 1.3602, 0.0806, 0.0757, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4e65009d3a4aed44d4817d91d4b0d805052c3cc5b0801e40e0944955d68cca8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:401c8756dc8a523e2f61e6098ebd19910070b5e6464b2f9b2ef92a3269226e5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0601b0e7294c1bc622088e3a0d9f90258f4308c852192d9a7491a3935e88ee3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEa5jNBOIZqlqyt4ukY0PGWH6anfTU19ky9fVaGMAUrcoTJPK7ShanLAxIQ1V48uOxNfpy2mWLHAc7kqe_rn3fOWZIWuRjzfki3wOYpwyEQZfF-z58LRbtZ4rEi-gvSLzcx-K8sIQcsorvSCIsttr7lriJHUz_66mYSlr4rdsCIeMXy_A0J1CsWPoMdnU-8zgYo9EwJ0EuU6hKGoIzxh95d4K-zL5DhJgvM5DJ3AwEudrBY-eT5HOiiFV663OJNtaz4tA3i8xbPFNfyPT-4Gt0LiSfVm_zjXJFVfVS-gawzzFMNtJVPiPeCphK3WBJbBrWD08wfeNKpfa8R43s9ss3gP-UoiggWrNmFLCvAzfvhGD7t1Q1UgLPMNKeamNAtsfGn8NgRjPYfFsEt6bFUbB-a6KQes1pXcUiIa1DkrQIe8rJljFfwDZHNnULzD3jukj8sO07wewEPRDvrxHsXOFaTK1SduMb038pz5R8jrjoAD6SEhV0R3wjjHeU8NLEimvKTcZoFOAkp9AJH58o8lpXTH0A3L1JGo2YO8IdSEohXIZIVlXoq4F4_znLEbNpB4ZPkz2GwAIxdOxYH7OQUP9R37mX_90ALoWGKktbyKZckLzzVoY_NyrGGfeADyzh6P2K145C4dXQbaLZp-7OyuQbthofUjjItrfm3P6RA9boQaugPDOJ4fAmbO5WVJVsFKkNox0Jgxc6H0bcOiBMs0tp5fzw1553Y1FJyBvbL5AHfUkAL_L6Qe18xlF6H30PKZ0f4a6yG22cpdUadGxjmS9ZaoPBVniU3E1G_Q521gMO9EEp4g6NYYIn7LY7G0pObA_ELESAezBL2kaXGX2xX5izeWoGuLn-eyrFy0eyUsYhaX6yvzzSMEv5ROlxPGYQQ6PL_QHG9vG9jniIZNgOZzIVq4qKOlhlVrglGtfFYb38V2uiqkqg2MgDbo7_Q_XtRUqb7dVKlqSVZWuIYkej6m1Vwx-Os8R0f2Wi0QrUsuyrckt5iwdb0ydoQFpxj4aSaX_r9iOgjiVM0p4vqS7Kunhe24TgUCQMrjdZq2wFn7WRg77tasbvIeDsn9rUW5Iz03ILnr9jDjfin7zsNKjEZzejxwgcVSg2y5ErhdsWelacBIx9ic_NwNgPPcdQfm4Ak1U5txxv5W_T-olHM3hv2S_v03jmozlalTuPAtcu3kI8jnPqWuirPPRfTuAB9tkGcTAjXifWcNZtnzEaxucZNG8PqONQnMCA1Za3ZcibdC0AzYkYyjv-CV-wXAXQ37QCMkVSFueH6s5WV__wwDJF1V59pxf03_tWEKupRHW8hd8SImJCMDDEMybE1-xmFmVcVPFhdwF90XWPRpIscjCwoNucpPjAgf0ufpXdko0sGd5NCDXwbGTWSMbk8CPqGxBWZU0dpAEbhkO54vTlUJt07o2onAK1TEzDX_xZXmHVaDeSJccWI=",
  "id": "rs_04122c8e8bc3d057016ab446b8e1cc87d09202622445500b20",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.0,\"right_z\":0.2},\"note\":\"The tan teddy is visibly resting in the right basket after release. I’m retracting and parking the right arm so the three remaining animals can be seen and approached safely.\"}",
  "call_id": "call_f8oE86RhfZ3etI8XvoRoGA0N",
  "id": "fc_04122c8e8bc3d057016ab446b963a887d0b519e1a69729c9ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_f8oE86RhfZ3etI8XvoRoGA0N",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1043, 0.9951, 0.886, -0.6434, -0.1761, -0.1307, 0.9968, 0.0105, 0.9852, 0.8753, -0.5953, 0.054, -0.0639, 0.9962]\nstate[eef_state]: left_x=0.3065 left_y=0.0026 left_z=0.1998 left_yaw=0.1013 left_pitch=-0.1738 left_roll=0.035 left_gripper=0.9968 right_x=0.312 right_y=-0.0027 right_z=0.2052 right_yaw=-0.0045 right_pitch=-0.1441 right_roll=-0.078 right_gripper=0.9962\nstate[joint_eff]: [-0.1983, -2.3316, 6.9538, 1.6093, -0.0855, -0.0171, -0.0122, -0.1573, -2.3179, 6.5026, 1.5897, -0.0952, -0.0708, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1a1bbb21e9dafc77a9e94f7a2d60b0a5376f353ce181998eb6ab6e3f1ba39fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:901e97fa7fae1b2431e8cb062ffba593d3f5114ee93ed62b7a379fed5864f22a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5831dffe31dfd26b81e785b30dd861da498262ad80428b19db5f8dd6a6532301",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 5.49 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]: [-0.1043, 0.9894, 0.886, -0.6437, -0.1761, -0.131, 0.9968, 0.4019, 1.7149, 1.5311, -0.5919, 0.3149, 0.2005, 0.1198]\nstate[eef_state]: left_x=0.3059 left_y=0.0027 left_z=0.2014 left_yaw=0.1013 left_pitch=-0.1686 left_roll=0.0336 left_gripper=0.9968 right_x=0.4615 right_y=0.1406 right_z=0.2209 right_yaw=0.0216 right_pitch=-0.1681 right_roll=-0.065 right_gripper=0.1198\nstate[joint_eff]: [-0.0889, -2.4274, 6.9675, 1.5409, -0.1099, -0.0513, -0.0073, -0.2803, -9.7573, 10.359, 1.5897, 0.0024, -0.0073, 0.2906]",
      "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]: [-0.1043, 0.9913, 0.886, -0.6441, -0.1761, -0.1307, 0.9968, 0.3973, 1.7336, 1.2369, -0.2874, 0.3019, 0.1772, 0.9949]\nstate[eef_state]: left_x=0.306 left_y=0.0027 left_z=0.2007 left_yaw=0.1012 left_pitch=-0.1708 left_roll=0.0344 left_gripper=0.9968 right_x=0.4578 right_y=0.139 right_z=0.1401 right_yaw=0.0398 right_pitch=-0.1801 right_roll=-0.0769 right_gripper=0.9949\nstate[joint_eff]: [-0.1983, -2.3453, 6.8034, 1.5604, -0.105, -0.0562, -0.0073, -0.0068, -8.8274, 7.6923, 1.3602, 0.0806, 0.0757, -0.0757]\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 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]: [-0.1043, 0.9951, 0.886, -0.6434, -0.1761, -0.1307, 0.9968, 0.0105, 0.9852, 0.8753, -0.5953, 0.054, -0.0639, 0.9962]\nstate[eef_state]: left_x=0.3065 left_y=0.0026 left_z=0.1998 left_yaw=0.1013 left_pitch=-0.1738 left_roll=0.035 left_gripper=0.9968 right_x=0.312 right_y=-0.0027 right_z=0.2052 right_yaw=-0.0045 right_pitch=-0.1441 right_roll=-0.078 right_gripper=0.9962\nstate[joint_eff]: [-0.1983, -2.3316, 6.9538, 1.6093, -0.0855, -0.0171, -0.0122, -0.1573, -2.3179, 6.5026, 1.5897, -0.0952, -0.0708, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1a1bbb21e9dafc77a9e94f7a2d60b0a5376f353ce181998eb6ab6e3f1ba39fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:901e97fa7fae1b2431e8cb062ffba593d3f5114ee93ed62b7a379fed5864f22a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5831dffe31dfd26b81e785b30dd861da498262ad80428b19db5f8dd6a6532301",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEbBmtYPcLz27BZP7SqCIRgMZnaVf1wn_vFxu1GWvQAiCT5Bch-gHsc_dvd77WdRl_tdO1KPEooXRFxoUlQ8MaEaujdr2HBRiseouQqvyS-dBmKk6R49LEPmrBfkvlp6kHPp6YZUV07YYT3iEpq6Cf7B0IaGYNwxwrhfbRuHkaide1cbElwqRMIRi1BnpD6lyD09O8U51RTehnrjls6ASGmNIZveZJQyH2JYtc0ZIBz_iNzHJlN46fnGnfv9sXNPLIYravQ05iDwojaJ_GZh766mTvyUVx19EX1KPO7BfRWFx2k0vdLluBtGS39xeADwpCrCTMYKmfKHLgEl_j4ENQlOkClQawyK7OvMSLcnIERwI00Or_oIM24cOjkHdarizFXjChpMOIORrsE0kc6kGSWRvVeg9k2rYiGbkWPsSM1UwqPxCkonkMhGN9L3EYZFzMBlCvDjBkycpKLKmO3YBs7uAPNyn2bOzAKDVWBpGzD6Bv5xL1YneSAOxpyrpTPkJIOWjdEZdMiQGfd8HXMIEY_Wz2P73Dhwr8G_TQm3Xka2Lh7_K3Vyr3d8-svXhKIQmLgFXPRiBOniEUkOkgqltrrbQ6jmXMXTrpESZCgGeLYNa0D350IIssKHpULoxQ3slXNn0sijyR-EXHcMvcFUgmlmJAlL0AHnVPU3jJyWhoWOff5vF4c6DY2n8tyYifldNRxJCOzyLcT5dS4fZdjPsbuIZwfkRijxIxKK8iIELVKGjvF2wMaB8lIZX9kVAB9_7byesZ7xZo2Iz2hV6v2con1FPED_cN-sznAlzlFziCG8IaL6D692zbSVczEpG-NiXeScGii3PWK9FD58fXnpWTGSRKacZsknnGi7BrqCE_EwkEV0t-blYrkPvVE4WW9e6I1EmUid56dOjLxZDXtIUr7XdvMBBOxC88cRwjLcYeB_enU_No-Y9TxV60hFdRUOekPdlqaP9dkPXgtHxi4YBoa7vBABtullAENCjrXncAP9tKSg9kMF4h3YPs4f2Tcx-leMLwT5H9vzahSo88NGg2kp5SMf0YGwIMEL1b2FvXzpzXXs3hwldMd1r2X-08j_-WYiaNpRPCwNpq0L9ccJt4c0pMlR8nP-E2d8wjrB84TVJqXStrTpVYo9AIj5ksAbVaHXSzY-wInDRYNcr_yQUyXJxUUeByKQ4ruGJ5_6u5wBvtXShBCTjLSoDaBTWKjjN6h-2pScjmk7J6-3M0uI38J9YaDvuhiwNmydUTz6oxrodJ5aM0pGvPRrsulXYNQaV3CM9-PDKGLrHwotUjUO3V-Ary8bkzqTbu4ppQxs9ZsSGlyjlO5jN8ipMlSr0eHSmuUtbN_0dKlrcsdvPala-nQ06tB8TYSAjSzSdIJZsiic7IRnguBi4SD_Wtod643PircoHuDcE4cR1prPpwHYzM8Guy13nflbDdfiyP5AvIUyDU3aeRYmOwIhUA2xNmh80S45OoJSeV0dlw0VuC-rQ9AlH9DCO-2q0ZvAIaT39arwlzmj1XJW8Qr7yqhOx_xSYSTWwlm77H9TYUSHBTgAz9s6GF5ZMeZF-TekN2C1YPrWq8dTJMAHsK8yaGnzeWXRZqBQHDgylLBNKLVIuMPvB-IxbHK6vU5A4DEJA5KEKw5harTcPFpr4TN9iUcgO8nwdcj6bW0XjFgqK-r_yy7eNxR4grj_8LTjTG7uQK7xCQEhYQNjaw9WAI_RmG749ojoG8F6PAhuv28TvIqksFQtl55zFKftAiWX8EvIQN5xRLGs4eX0Al8CJpACCmJYmNRYyDy_2Q5hHOr6cTBPA8D8MrXYDr23fdoWtjlGl7GeGUkh8zvEtgAMaothfSkMkoRJwX9CLVhv8EAd7gP6_TDtpK_cJYhNEDDpIG1E8Tnlrvz4UBDO2DiaXuHLqV3xrD8WRLAE7Wa_3srDW09XhZ3qU91Y0WEY1aJAG_2aGpA9XHsLGFaBNFwMukvG8gpKDDlf-v9OqONxOAAtgTVL4gJmAe9muGtfNDfYCDP2ugBWnYzxqBba7uiTx59nWp3cw7KVLbBU8TzmMdFzTOjgnjAajZAjWzJ_lICN_Q19FwNuYdVvDXwSRYQSfZsFQSGDiLWw_ZQXZEg8pZZ1WpZLfmmzNZJjyE_i5Ny_0Vk0UXe_pPll2b3DhrpBDyueAzLSNzTZmR_uZjspmXwfU6HRiqfkB-dYA97gIXOnWCZPMHGwUVlRVWmWSI0J48dqe9x9_m5ptrnTtJ67yz1kHP9Gz45hxT92LKsI4lDaiW5JPjjwjXvCEP48-XxIrT_zisbQHPBOVJV1we3UaugyVL7s2dt-Ui2dr4raMQKQy-tKkyy_L8HqFs6mWBm-L0UaQqXYePugPwFw1HHWztZIXClrWvjUL74h8-cEDhmOtbKXnueZId203FIm1y5naJLeyaAo2roGcObtZDxTeveE9SjXn0XxJgxl3lTJ7Y2DRuZShfOsS0WrK40w0JRwuZUU_jytnsn_xoPrKKnrR7xQ5J_4199zqrBfa_uZ9vfCbBxhxenrflrzysQMCWE1w4JwsXlXL3yjwN04WTECFXpfoyl4fG-C8PewETZdJn_49j8ncOn-GpSXfWCAfygkkpZRCM0fG2xh7JLzlTJmpI7UrWXby01zx688H2SC1vZwHBwA2ClWcmjjfgnklOpcruBsDsyAA3_9NfimNn8JnELREgKMCAAvtjsX3ouu0j301KTfldOk_ZpYUiabhPid4v01wSQRzg-rPTiVRF5Sk1ImFlQTm-4gqCODnXVarY_FQXWgCQGfPPmEmQgbvjH05452qNtzhM2kNzcMOiVNh2Kgh9v7iTejOqmBP_HAqA8UmhVwcWEgzp-lOYd48HlBCg5-iEl4aNhHy0H2wYfDrQSFa4fLyr1YBdFtkRZD-PIq2XlKPLTjux8x8pDTeSPzse3nZuy94A5bnsOEYd3ned-kCt0Or7Y8TZdHVzbpkye9IF1XBVPxcW4uNFnJGU-VhcSEl1pcAA8uo9ugN1c2Qs5GzzNK2jYluWoDDhYzxvIJqik32HpOntmwLxmaGeoRju1Nyni0YivdEBqBJwhISCrG2lM8JlqdzJfv5GOat1nsvXVVue4o0IrGlcBA7fKiIEiIMSlr81BB_CeL8XU2NfusixYG7K0KrOVW6Qp8z8xMctDK6LDTbGefVdEyqmvIhsyCaH5ITQGRp6JrjXy7wL4KwPdtPuky_lXgRT2S0FNmMNit8idNb8bigeJ3QlRoQV5quhSwLyYybqYTDxbewjWrOqaUI3Hx-MioMOP3obo4RSWLpRZRt5mIeRpysM98OUJkFIWCt8mf6S63c2cj81CHIcD0gIK2-lBO629fr_-PA0ZSTGl1ezG2VbfQTG6ti-fUeUX-1m2aMdGZ7ApoNdwjl4ZwedZJPz6vZkXop7WyaM0jebIBL_0Zo_WGQZB31rvozuZ7ts7SnWzf",
  "id": "rs_04122c8e8bc3d057016ab446bc8cbc87d0a47352bbb3cd7db6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.22,\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"The cleared overhead view shows exactly three animals left: a gray round-eared teddy in front and two brown-and-white beagles behind it. I’m moving the left gripper above the gray teddy, which belongs in the right basket with the tan bear.\"}",
  "call_id": "call_MjEuaflNEXQQzkw4IRCLl0yn",
  "id": "fc_04122c8e8bc3d057016ab446c0fa5487d09b31524ac65c0197",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MjEuaflNEXQQzkw4IRCLl0yn",
  "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]: [-0.9802, 1.5112, 1.1107, -0.7368, -0.6994, -0.8871, 0.9987, 0.0074, 0.9913, 0.8749, -0.6155, 0.0441, -0.0818, 0.9964]\nstate[eef_state]: left_x=0.2865 left_y=-0.2166 left_z=0.1491 left_yaw=0.0784 left_pitch=-0.2042 left_roll=0.055 left_gripper=0.9987 right_x=0.3093 right_y=-0.0019 right_z=0.1994 right_yaw=0.0106 right_pitch=-0.1716 right_roll=-0.0852 right_gripper=0.9964\nstate[joint_eff]: [-0.2256, -6.5846, 8.6906, 0.8962, -0.5788, -0.0708, -0.1441, 0.1709, -2.9744, 6.8581, 1.7851, 0.0855, 0.149, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f8ad51607f4534188751501fcfcc1f6a7494afbd56d7541e6b92651340ad5c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fc34afbf5e3b3a8106ce98130aa90b0ad723034cbb525ffd11fcec11062307c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fb5299d96282dc1be9073419616f02b6a5bb18f9a3306adf23012f2f14e83eb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 6.697 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]: [-0.1043, 0.9905, 0.886, -0.6441, -0.1761, -0.131, 0.9968, 0.3981, 1.7332, 1.2491, -0.3046, 0.3054, 0.1833, 0.1224]\nstate[eef_state]: left_x=0.306 left_y=0.0027 left_z=0.201 left_yaw=0.1013 left_pitch=-0.1701 left_roll=0.0339 left_gripper=0.9968 right_x=0.4577 right_y=0.1387 right_z=0.1425 right_yaw=0.0341 right_pitch=-0.1833 right_roll=-0.0763 right_gripper=0.1224\nstate[joint_eff]: [-0.212, -2.2906, 6.8034, 1.5995, -0.1197, -0.0708, -0.0122, 0.253, -6.8855, 5.3812, 1.5653, 0.2027, 0.1441, 0.2662]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1043, 0.9951, 0.886, -0.6434, -0.1761, -0.1307, 0.9968, 0.0105, 0.9852, 0.8753, -0.5953, 0.054, -0.0639, 0.9962]\nstate[eef_state]: left_x=0.3065 left_y=0.0026 left_z=0.1998 left_yaw=0.1013 left_pitch=-0.1738 left_roll=0.035 left_gripper=0.9968 right_x=0.312 right_y=-0.0027 right_z=0.2052 right_yaw=-0.0045 right_pitch=-0.1441 right_roll=-0.078 right_gripper=0.9962\nstate[joint_eff]: [-0.1983, -2.3316, 6.9538, 1.6093, -0.0855, -0.0171, -0.0122, -0.1573, -2.3179, 6.5026, 1.5897, -0.0952, -0.0708, 0.1245]",
      "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]: [-0.9802, 1.5112, 1.1107, -0.7368, -0.6994, -0.8871, 0.9987, 0.0074, 0.9913, 0.8749, -0.6155, 0.0441, -0.0818, 0.9964]\nstate[eef_state]: left_x=0.2865 left_y=-0.2166 left_z=0.1491 left_yaw=0.0784 left_pitch=-0.2042 left_roll=0.055 left_gripper=0.9987 right_x=0.3093 right_y=-0.0019 right_z=0.1994 right_yaw=0.0106 right_pitch=-0.1716 right_roll=-0.0852 right_gripper=0.9964\nstate[joint_eff]: [-0.2256, -6.5846, 8.6906, 0.8962, -0.5788, -0.0708, -0.1441, 0.1709, -2.9744, 6.8581, 1.7851, 0.0855, 0.149, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f8ad51607f4534188751501fcfcc1f6a7494afbd56d7541e6b92651340ad5c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fc34afbf5e3b3a8106ce98130aa90b0ad723034cbb525ffd11fcec11062307c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fb5299d96282dc1be9073419616f02b6a5bb18f9a3306adf23012f2f14e83eb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_04122c8e8bc3d057016ab446c4e60c87d09ff9de8fd383a2d9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.22},\"note\":\"The approach did not line up with the gray teddy; the overhead view shows it was displaced left while the gripper ended over the dog cluster. I’m retracting high to clear the scene and re-measure rather than closing blindly.\"}",
  "call_id": "call_IxbYDcLFWC8LJmUimHUDxkA2",
  "id": "fc_04122c8e8bc3d057016ab446c8508487d0b963073e288b3a73",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IxbYDcLFWC8LJmUimHUDxkA2",
  "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]: [-0.1333, 1.0206, 0.9592, -0.7559, -0.223, -0.1707, 0.9983, 0.0071, 0.9916, 0.8749, -0.6167, 0.0429, -0.0826, 0.9964]\nstate[eef_state]: left_x=0.2991 left_y=0.0029 left_z=0.2053 left_yaw=0.137 left_pitch=-0.2278 left_roll=0.054 left_gripper=0.9983 right_x=0.3091 right_y=-0.0018 right_z=0.1991 right_yaw=0.0116 right_pitch=-0.1732 right_roll=-0.085 right_gripper=0.9964\nstate[joint_eff]: [-0.4855, -3.5624, 10.0308, 1.4383, 0.0513, 0.1392, -0.0659, -0.0615, -2.4274, 6.9812, 1.5604, 0.0171, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aa66fde9280d157ab1ba63b0521c47af727ded4d4c0319726b64be0f3f8b854",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:480d5fc28dbae00905f198f2dc7d6ca0476da887496eab65b6f55aa983984bf6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff6bfe7f541368a2dc94965902b8d6c1befedbc90cf2caa12058b26feb8c31ee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 3.985 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]: [-0.1043, 0.9913, 0.886, -0.6441, -0.1761, -0.1307, 0.9968, 0.3973, 1.7336, 1.2369, -0.2874, 0.3019, 0.1772, 0.9949]\nstate[eef_state]: left_x=0.306 left_y=0.0027 left_z=0.2007 left_yaw=0.1012 left_pitch=-0.1708 left_roll=0.0344 left_gripper=0.9968 right_x=0.4578 right_y=0.139 right_z=0.1401 right_yaw=0.0398 right_pitch=-0.1801 right_roll=-0.0769 right_gripper=0.9949\nstate[joint_eff]: [-0.1983, -2.3453, 6.8034, 1.5604, -0.105, -0.0562, -0.0073, -0.0068, -8.8274, 7.6923, 1.3602, 0.0806, 0.0757, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.9802, 1.5112, 1.1107, -0.7368, -0.6994, -0.8871, 0.9987, 0.0074, 0.9913, 0.8749, -0.6155, 0.0441, -0.0818, 0.9964]\nstate[eef_state]: left_x=0.2865 left_y=-0.2166 left_z=0.1491 left_yaw=0.0784 left_pitch=-0.2042 left_roll=0.055 left_gripper=0.9987 right_x=0.3093 right_y=-0.0019 right_z=0.1994 right_yaw=0.0106 right_pitch=-0.1716 right_roll=-0.0852 right_gripper=0.9964\nstate[joint_eff]: [-0.2256, -6.5846, 8.6906, 0.8962, -0.5788, -0.0708, -0.1441, 0.1709, -2.9744, 6.8581, 1.7851, 0.0855, 0.149, 0.0073]",
      "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]: [-0.1333, 1.0206, 0.9592, -0.7559, -0.223, -0.1707, 0.9983, 0.0071, 0.9916, 0.8749, -0.6167, 0.0429, -0.0826, 0.9964]\nstate[eef_state]: left_x=0.2991 left_y=0.0029 left_z=0.2053 left_yaw=0.137 left_pitch=-0.2278 left_roll=0.054 left_gripper=0.9983 right_x=0.3091 right_y=-0.0018 right_z=0.1991 right_yaw=0.0116 right_pitch=-0.1732 right_roll=-0.085 right_gripper=0.9964\nstate[joint_eff]: [-0.4855, -3.5624, 10.0308, 1.4383, 0.0513, 0.1392, -0.0659, -0.0615, -2.4274, 6.9812, 1.5604, 0.0171, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aa66fde9280d157ab1ba63b0521c47af727ded4d4c0319726b64be0f3f8b854",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:480d5fc28dbae00905f198f2dc7d6ca0476da887496eab65b6f55aa983984bf6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff6bfe7f541368a2dc94965902b8d6c1befedbc90cf2caa12058b26feb8c31ee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEbRndu6Wp5pZaFHN3VI_Y7KXhwV8ZDhAgLVAJnqFs9jEtwPIXawCz9SDyRUKG1zpHeMXKeRSei4gkmiFTdXfDWUEvzHqivG0RV9sAIG5hd2U-tmrjXDf0VXRlk7iZRqSlGNG1Jqe3KVfsvo4HHIIvyOPsEqPbHF6ZmkohAsEo5IKO7o_EM9B7jCZgiYT1LCQT3llZSGRa1PP9W8s0lteKR-6RCQE_AxOcVnN0tOXmgEkagLNcKLNUH-oPaj3YyYh2WQE-RCMKTiMW8_gppcBb_GWRDu-UHVm42bVwhFT9SZcvsDdX1384_Ov5bv07zWXvC45UVZ3c1o2Y5Bk0mnJ5MGxYovObqFaERKGjIcLUxFcowTIz19IYXUpQl-hCd5iICqLe-gR0c0xnOwgu6Kiyyrlwfz9-XFIANrlpC7KMt-bHD88Jteh177mhdgjYNMXauwHA-HKzTZ-GDz489uyL6z3aHv5zP0K0Vrwb2svYVV-i0gZnrnq9XOXCycpU1Aj5EDlHZgRQ4NzLzvtyDdIY0wCPU2HW1QohwUuKaC4Agmd195R2-NircNgj0uK3f6Phhj2yED2qeLKewtRa9nVzqqzD_hLNJ_Gy9kqZe2nSrHzf5MCMqzIZViZTSyi62RLqTCJJZOBeh_gUT04_AFTc_ANv1ZFsh6DieUfuoaD79i3sYGmrujHzsVpnKtRvpqSuaezVXeJ2ho8wCT9mNGpjxZDbSLWEr_J9_SRvk9JN58ULxLO_FIbtbTy6Z77oQDAXGJky9shWyAlymuaUEnTzrc-8HzU_oGGz2fZ4DkDvzZkjcdaBl4sp0MxV2ZMyPpitgumlTzOKyfCptM-yI7iFyJLtUhDZ2_GNUexaa62ZUASHscexwKYQJVOVqIEcTFOLCcmisJ_jQm_GKw44MdwPkoR1u3NgBbvo9M1iYASYild9GFJSgs1H75b3vPmPIMsppE2O6d3-EYxaFwQoxyhxW8ZbUVYArAWsmvcA6gPDXOf01SGE2V5Q0qjKm41jaFAnQ4JxcwvwfawMccXFFjWCv9I_dTp1gaMMSsHtbKO9DKLgoH-huiqAmb4MbT_qK3T-v0lKDPfmLKZql3tTm_f4Vc2f2PLl2AYsdcncLHlpVpnaLodzSPVk5kQ5KGef45dqYHrczY0DLnKZxAc5HXwV4bHOuOD4rug-5OVQVtNjiRoxjuxQqiK8K1JqXKzpDyYz0rlmFbOGsGCiiGxZgFR4vgsFTFe1x6ew7mbI0JP373iVa1xgsoYRfbC__zzj2fY9ge85Ll55wY8ZVc3DQVyr9eouiPvfkZ6xBzJKdPjpC5b-W-PYsYvI-JEAH3SIrfw-rvzUUbnwAmFOD6tbuTzy7KxLI7pqhBJSG8mT3ASHJ816CcSsjU7NCVNJ2wjMWgLhsBSEKt9F0kyGdf6GdBMake5gaem37v7rDsMTndB_MPVAfbcrKjVje5b-Fx6PjMgm0G9iNPUeUQprDL26Bol1TrTR6cLSye-vwdHuXKgHHUhgIv_44ykZ-9HDomKO-yAeyokBRjuSiaNPzlm8fVpDQqbbfWxLkTDwTHKdYYia-PQkDadZzC1mODi28X7a5fHh-5lPCLjuUv4ULY2-WyFKrJwYGVXEeRJyW6P4NzT8ADcUdewbVUjGXlhsXJutjo-hwffdkdWpwImSuH7whUE8wl67ZuEcTqTG5jtxmWm8N5zYLWWYuVMPGikWv9uTVfyh2McbRoK5yPL82c81iEnwon1_FK-zVMCi-OfOhc35rTSif8rrchmLfB6WTXuctVDO5pHZAHpjK9t8fs5ACtWpVpC25766h2KMKRT8aEzvuZGccEwSsFZ7Xu4Jw3a3eM3VOgM82k776Woo7r0-9Zblwwm9Mb0Zun4VYKoSpA34f9tMsoMFZQ68i2MjZhm-zhUQDKd9xNLzIkiW-HSaR5c5jcBgPi5JDG5HueFjBGmi4ceHo0fLh10tx4aPgiZwVMrbsCR33NjtOGHdHMhVoNaUWeUtDZk0Obu6Ao_CgJEr0dWAhmzwubSRYVG-eN6gn7xdGY3i-w4_uCuQqbnmVMiKmcjr4fmYPa-tbJKZhPj5lXEQS1jRm4PTygcvLjGYnQD37KAT3EJxew37DVZhOkcwQqt8IIDOvDrSP53WIha1oQk7brlODQW-3sLy7WheGUsrD69huO9IcMO9thTM6J5Fnwa3KgTBwdh4Yb8WSXgkuTZRm02n72FCKRkczp40qH3tDcWr6vVV2TYMLsICHzfNpfpCwpIx4yPYX2OxMAdQv-4NT5j0s0LiEzs18Y5azKZDn4YcG5zA6_PfT34_Pf7HydMkxpM35sE7V-RYj3oMFU9pUDOJilgwpSC7TaxUWqAksyg4btEtCZvIWK7I23bPxWZbWDhXctymJIF9ZJM5Yfh_fnBmrEVBTx20M3f2Ve2UnG748ZhuXPjoscZ1jljcXbe37tU2rWpRY8eBgckYE8s5VrFX_rKiamagxr_PwEPCJb6yRqA6TU0BQU1HRycf8YMh7-ErvLYaJhQRo7wjiU8O9CJcFknSLYO-09Iyxfp1AZCvuMIeyEWL0uIu8E6LrF8da_THK4iNxap5U1VVA6nKstH597HDP-BOMYOs69cC9tjcTzNHGnqUD3z8Pl6NLqZJvIN38IyufeB4Pxssx-4x0jDfA87rxYxZt1Y8fliF8jTA0zG8BNPNFJy7F7YQjuwKgkeRmJ0bvGtzXoYb3yj9AE2IJ5W0_1bNZ5vy6RGNVcXeg0CbR5lDVbVOEXVM8zYCacQg_ayKUxB9ILvwiSk2n2Lqs8RIUvdMBUTpM7M7TSLS5hCoLFqFpTW7LX_Kczh1nqkNNxJVx_zgoNhNSQ13bUe8WtkDC1FQqZWKqjrZyQL-Dng2lywhP1revTiio8ayJ2N5TYifQRi50MRfqdDPRoMnw0w6docvdTLdMe3HpCIunj9gK7cDE8cHpKnH5gO2Guc5prQ4AFEUXMmkF7UxJ6Vx1hE-BoqKqpxTRzzOvlpMlRx0QBmgq0AbGOOaCQ3fn9OduwPzDOJV2AZ8FWm3bsE-YbwR7_TYFwZaFnCSNPrjZfL_4qV6EFTKgN1YshySWhV8TQAvaq1p-chIZK57f628pk5iYfWCZ8LBmQ6odYAhBwQARB8mAmiN0dZlUx0bsDLYydPLa7lcC4TwZ1Ic2WEKEy68U752aLm7bQj_PZTHBPOLlie-vf8--Bre_H-z0zXqkizGiDy5_NzCCdJRFeI2MDYoGu00ewhRn2CLXHHMT2vyenVaNim_3lmNjHgpO4AeG1RKdnx-hy41-Ud82Fcg8WQf56T9ZhvNdmEQVYLqT6rHKPuMWehrYqZzugIXrfsYw-Wz8xI1JLEeHMtdpGzSwp_kMkxfAYydAEXl9Fmh7ktfdpgPb8ntzkOzFMtStwlfhQCsdn4HlEA5fhrmsXwPTPz9_pYU77KnNy33FSk016tT33Jlx7o4paWPJZgftQ4LvQPWzIzFLlqCrfPkX3mQ7hhz3FIATyy_8Lem-WT906o1b1w_Jh9qDAc4ss1XATdXCbCC66zGuq2vGeO0s=",
  "id": "rs_04122c8e8bc3d057016ab446cc446487d0bc1d1c9acab81de9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.03,\"left_z\":0.07,\"left_gripper\":1.0},\"note\":\"From the parked pose, the left wrist now has the gray teddy clearly in front of the jaws; its earlier apparent overhead position was distorted by the arm occlusion. I’m aligning slightly right on the wrist image, advancing 2–3 cm, and lowering around the teddy’s torso.\"}",
  "call_id": "call_jXA3EvwPhqlwLta103XBUyVF",
  "id": "fc_04122c8e8bc3d057016ab446d0ab6887d0a4494233c3071933",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jXA3EvwPhqlwLta103XBUyVF",
  "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]: [-0.268, 1.2442, 0.5587, -0.2317, -0.2966, -0.2634, 0.9987, 0.0071, 0.9932, 0.8749, -0.6167, 0.0429, -0.083, 0.9964]\nstate[eef_state]: left_x=0.3119 left_y=-0.0284 left_z=0.0638 left_yaw=0.1246 left_pitch=-0.3003 left_roll=0.0778 left_gripper=0.9987 right_x=0.3093 right_y=-0.0018 right_z=0.1987 right_yaw=0.0118 right_pitch=-0.1747 right_roll=-0.0852 right_gripper=0.9964\nstate[joint_eff]: [-0.253, -4.3556, 6.2701, 1.5165, -0.3932, -0.149, -0.149, -0.0479, -2.6188, 6.8308, 1.6142, -0.0317, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5908f6978bdecc7bc5630c76f21b57e9ec970b45d1daffbc93bc71f4f11702e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e82cb6e5b0c2963aa60449be724c5f8b9239a38a23805962b7b4e2d4fe231fa4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea87f57db2594f2f2c3335822324c3133c3816b0ec073b7d0cf653ec2577ddcb",
      "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 · 3.528 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]: [-0.1043, 0.9951, 0.886, -0.6434, -0.1761, -0.1307, 0.9968, 0.0105, 0.9852, 0.8753, -0.5953, 0.054, -0.0639, 0.9962]\nstate[eef_state]: left_x=0.3065 left_y=0.0026 left_z=0.1998 left_yaw=0.1013 left_pitch=-0.1738 left_roll=0.035 left_gripper=0.9968 right_x=0.312 right_y=-0.0027 right_z=0.2052 right_yaw=-0.0045 right_pitch=-0.1441 right_roll=-0.078 right_gripper=0.9962\nstate[joint_eff]: [-0.1983, -2.3316, 6.9538, 1.6093, -0.0855, -0.0171, -0.0122, -0.1573, -2.3179, 6.5026, 1.5897, -0.0952, -0.0708, 0.1245]",
      "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]: [-0.1333, 1.0206, 0.9592, -0.7559, -0.223, -0.1707, 0.9983, 0.0071, 0.9916, 0.8749, -0.6167, 0.0429, -0.0826, 0.9964]\nstate[eef_state]: left_x=0.2991 left_y=0.0029 left_z=0.2053 left_yaw=0.137 left_pitch=-0.2278 left_roll=0.054 left_gripper=0.9983 right_x=0.3091 right_y=-0.0018 right_z=0.1991 right_yaw=0.0116 right_pitch=-0.1732 right_roll=-0.085 right_gripper=0.9964\nstate[joint_eff]: [-0.4855, -3.5624, 10.0308, 1.4383, 0.0513, 0.1392, -0.0659, -0.0615, -2.4274, 6.9812, 1.5604, 0.0171, -0.022, -0.0073]",
      "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]: [-0.268, 1.2442, 0.5587, -0.2317, -0.2966, -0.2634, 0.9987, 0.0071, 0.9932, 0.8749, -0.6167, 0.0429, -0.083, 0.9964]\nstate[eef_state]: left_x=0.3119 left_y=-0.0284 left_z=0.0638 left_yaw=0.1246 left_pitch=-0.3003 left_roll=0.0778 left_gripper=0.9987 right_x=0.3093 right_y=-0.0018 right_z=0.1987 right_yaw=0.0118 right_pitch=-0.1747 right_roll=-0.0852 right_gripper=0.9964\nstate[joint_eff]: [-0.253, -4.3556, 6.2701, 1.5165, -0.3932, -0.149, -0.149, -0.0479, -2.6188, 6.8308, 1.6142, -0.0317, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5908f6978bdecc7bc5630c76f21b57e9ec970b45d1daffbc93bc71f4f11702e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e82cb6e5b0c2963aa60449be724c5f8b9239a38a23805962b7b4e2d4fe231fa4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea87f57db2594f2f2c3335822324c3133c3816b0ec073b7d0cf653ec2577ddcb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEbW961ExAM1E0HEtHPDk5i8_zyyDPXvuNqAzBgtRmxDBcH7Kypj1H-cyuewmqbGHGNaGcbq5ntpFwYBI-YC5aRBMTcYQsgmESVU2VGwbEyPfNHxUX7EAjnGi869c0usoIdb_wiMWprBrw3QI03DkyjMPk6VPl3w8PjZU1N7Jj-KWhNs0n32oCjXl4-r1vstfa-9bKVE7hF7hs_STQzkPTSkjwFiKFNuYx1x1cKctE0Qk4Y5blFFNRNjXFUS3Oejf3UJgdtBre37FIcPCUgoXLLH1r-1NUiky0hzQRw0klB8ecSc0WlAveqj2whaRw1ph1S6OdrQJJPDd1R7zakX1tbtlU2uIRcRDMSmkkWXRhtbRv2njitq9ajqiXXsT4xuAg6NVaT8bJcHjhkXlnQMUILZYa5xgkA5y191oaCdzrL_pYuVdYwUhS_5rAz-O_K1p9MKN7G593AwhRjuxBhklEdOCQMUk-AhxRAdHDiUoZ0ypM1hvYSE8uTN9ky80DbbYVfBCtjyZ8azxBm0zUv8PGRu1T17-dlfcwDOCNCc3oGubYN1sukq_uRCIIF5KJQQH0rMam4kqeeeMD2ccjbkf6w2jikFP--elTyfaozfG-jk4j1Wo9yK-Pqhrg75XF0rACLc-EXWCEJU2Lg4dtE-QvkYQek0jIEmfVoXcUBTPnsk_iHH2e1HLCOzFwJXYmjO8SEPLj9DcdSNXu8uK9vNhQLPNuCwE437a3ZKedYKDz6iF3nHzJz27k0ol_AKbplG4HLktPjnBQBqAkAQqztrdWuY49q2mjCoXeMHod7SVreTizvAGukzmRruXO4UG9e8AYZIPG0QSihQJXqsexMYiDPH6hi3tjbdlUl9T22cdUxU-noSqc-pBAealwTdtVnEg8tYoeBc9LuOvH16Vq2oA7XaSgZZHuAc6hll3ICPW5-esn4cTSpicGu_zGowHbDjvfH3wjp7W4P1blwEm94Zr8NSlrI9DXK9MUh_ICsCye01QoUKAP8DjGL9dfOow5ZiYPeHflrmfglqQ5UoK9tVdSyZFYFwJMKRtQJSb2zgWwFuTD4DkO5IWlkJB9GkS1GCKojhkocJrQ87DEv9mJgydnDO1bC0f_fARO80E0xVoua2TtC77xbhck7igmbFtbrYbReWy4ZrWif1dwoDIdyw0t5hmOPMdGlYO7H8iw7tCDx_whtETol6XMUFQeQg-680BnENfxGiihgcVlmnBWkOJZHMDl2Mxfue70lWJCbKh_-caxQ_EdreQ-GmeqOoTOiXhYolgcd_ITVo6OOLTG3ika77jgOIlfTgYYOXAeJvnT20ggKenDqgiJlZ_ZyqGyTSfocr7KKxwjQVCCb0zpBKLwuY8q07RXKSJ8Q4TumguTLT-7d44p6BhJvDrDxdDIY3UyEeQuclrUQAXy2x_3hJDQLZVKX6KXhH-O_xthrXaIY5sEnPGb9wSN2tTr7c6RrSE0tFo-Oef_fB1J_gTFs3yyLX5TqcJMjqtftDkULfO49TR5LSg6H3SufsdXaojdgysaSt4w-TMYqCPd6lZcI2g67MXTjSvYdSvq81ShanQZEQ2Cb_yW_vhq2QJgpC2jCsENgHzJRO191ASohiUVbgTtsXQtj81sj3VC_wZUOwgUgAdPPuwVkgQyaXn1GWFQzcBhu_B827oBJRwSb1KTr9CHvZ4TwXVRTQEkwdULuPITGSOJZGOkPJi_SXbE6Zb_d-XEZZCvQYf8w7fsUqSAyXeWoOrqp63otysZh8_A5-fM13gxYOcQhVF1p9uSxcnO00r9CtZ6VKV0_K8DlPHaEuSKqOh7C08HjsnMSH-GrzQmRnAxoXDFmRIHaa6XQuKgpBa80SBely0Khmf_ae7ajCzKoiw6KpXnv4a09z5LQDJ9Vwyn5WHrXdfbRxzOd1DdmhkpMuZLhcXOntzGGxubrMO0ZCRTKO3PErVvzXFRHTsC1zbWK40_KAnDvbYxD5Qs4jAIyrkIB8qZ_hYlTMaRWdZ-5LxTPUvLDrcYtOb1qa0qGdAAd1E4PLWaKp_8Y3YVo1sWnmheQFhBliNkeCUzAnFSn2pkSV4YyHhZMRX1s_oeXZKAzJDPSOOzvyJWYHTzxRkLfj",
  "id": "rs_04122c8e8bc3d057016ab446d3c67887d099bbe9417ae5cab9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":0.025},\"note\":\"The low wrist view shows the teddy immediately to the left of the jaw gap; my prior lateral correction was in the wrong direction. I’m shifting the gripper about 5 cm left in its base frame while holding height and radial position steady.\"}",
  "call_id": "call_EB8Vdjd9Pr9usHYqCr0Dn30h",
  "id": "fc_04122c8e8bc3d057016ab446d5c59487d0aaa649fd2e9673df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EB8Vdjd9Pr9usHYqCr0Dn30h",
  "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]: [-0.0254, 1.224, 0.5396, -0.1928, -0.1734, -0.1093, 0.9983, 0.0071, 0.9932, 0.8749, -0.6163, 0.0429, -0.083, 0.9964]\nstate[eef_state]: left_x=0.3149 left_y=0.0261 left_z=0.0643 left_yaw=0.1722 left_pitch=-0.2972 left_roll=0.074 left_gripper=0.9983 right_x=0.3093 right_y=-0.0018 right_z=0.1987 right_yaw=0.0118 right_pitch=-0.1743 right_roll=-0.0852 right_gripper=0.9964\nstate[joint_eff]: [0.0205, -5.3128, 5.3538, 1.4481, 0.0708, 0.0611, -0.0659, -0.1299, -2.3453, 7.0085, 1.6142, 0.0024, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbc4a5674da53500fc9a73becc343f05510003a7f9fce1409e4a663f6c896583",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e10bfab9861c4c43c5c86cc7a52b89f6797989d33979a87ba713c67d03d11adf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:331fde756c60622bf6e26e8287e80d851a163247fd1e17358d49c3c62084bd91",
      "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 · 4.836 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]: [-0.9802, 1.5112, 1.1107, -0.7368, -0.6994, -0.8871, 0.9987, 0.0074, 0.9913, 0.8749, -0.6155, 0.0441, -0.0818, 0.9964]\nstate[eef_state]: left_x=0.2865 left_y=-0.2166 left_z=0.1491 left_yaw=0.0784 left_pitch=-0.2042 left_roll=0.055 left_gripper=0.9987 right_x=0.3093 right_y=-0.0019 right_z=0.1994 right_yaw=0.0106 right_pitch=-0.1716 right_roll=-0.0852 right_gripper=0.9964\nstate[joint_eff]: [-0.2256, -6.5846, 8.6906, 0.8962, -0.5788, -0.0708, -0.1441, 0.1709, -2.9744, 6.8581, 1.7851, 0.0855, 0.149, 0.0073]",
      "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]: [-0.268, 1.2442, 0.5587, -0.2317, -0.2966, -0.2634, 0.9987, 0.0071, 0.9932, 0.8749, -0.6167, 0.0429, -0.083, 0.9964]\nstate[eef_state]: left_x=0.3119 left_y=-0.0284 left_z=0.0638 left_yaw=0.1246 left_pitch=-0.3003 left_roll=0.0778 left_gripper=0.9987 right_x=0.3093 right_y=-0.0018 right_z=0.1987 right_yaw=0.0118 right_pitch=-0.1747 right_roll=-0.0852 right_gripper=0.9964\nstate[joint_eff]: [-0.253, -4.3556, 6.2701, 1.5165, -0.3932, -0.149, -0.149, -0.0479, -2.6188, 6.8308, 1.6142, -0.0317, -0.0464, -0.0171]",
      "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]: [-0.0254, 1.224, 0.5396, -0.1928, -0.1734, -0.1093, 0.9983, 0.0071, 0.9932, 0.8749, -0.6163, 0.0429, -0.083, 0.9964]\nstate[eef_state]: left_x=0.3149 left_y=0.0261 left_z=0.0643 left_yaw=0.1722 left_pitch=-0.2972 left_roll=0.074 left_gripper=0.9983 right_x=0.3093 right_y=-0.0018 right_z=0.1987 right_yaw=0.0118 right_pitch=-0.1743 right_roll=-0.0852 right_gripper=0.9964\nstate[joint_eff]: [0.0205, -5.3128, 5.3538, 1.4481, 0.0708, 0.0611, -0.0659, -0.1299, -2.3453, 7.0085, 1.6142, 0.0024, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbc4a5674da53500fc9a73becc343f05510003a7f9fce1409e4a663f6c896583",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e10bfab9861c4c43c5c86cc7a52b89f6797989d33979a87ba713c67d03d11adf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:331fde756c60622bf6e26e8287e80d851a163247fd1e17358d49c3c62084bd91",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEbaEnJpR7RO1d_f1fCICmxOyKGDxt9FSGHHuzUnVtqswdECdXiKUeJAEm6r3ZMGt8YkFIPvZ7hJ_7nIggfA3NsJIntTdoRvJhnHnLaIzQNWwAzc1H7-691xkq4ISOE8hRHzKfol1kTU0l5foWChUaZ-Zo7G1AfMTePGX7Qtqz_S0oBrmkKJFu-lcFTsd_-eno5RXU7R8sdyDCeQh3Xau0D2CFkcPnLLAhlb6S913Ik5gJ275qcmWTVjy4ZSlZXJe3Quakea35R6EAlC99RMDvGxDnmJPVVYFlj3pygzbRsF5OsrjbPUVT-f2fn_zFtSwXRt9VqdNSOUd9d3ewT8VktSyT4EnGiOZnFqyMgn9hun9Znz5-anV-gZDPfAde341kz6LgQVZiP1IGP8uXMEAtdMQG8B92cjmC20Q-JCrDKw1zB2hflWLW0Of9pRSMX3dUgLIHPDG2reHGwqTpX4FcTBTHB0As26iGO9WaxPpw50JjyO9CmSX89GoW9NHHHhXa91J7IugHnDlixx2FNjGKETQ8zrJZrMfkdUY4Z1OlAo2SIhDqs5QJZdM50WG9jrYm-TfZTHFHdmMWMeQqaHOPaYqZ3tbTN4ed4k5Lo-D9_085WICFD7UTWZdLKW9Yw4dbNu5Wr-oIoDzUZWDFhXJrZmo9yxuB6RywlNi7mMfeL_u6HKSE7T8ZsTQT_Doh1xN_SzkiBhtYne1qp3bueHL-n0yDO0QTIjvywtOPF4h3U3eZWR_M56e0WVca5JHGGkjuv7QNtHs2_xfCufoVd6d4qcgw1x3D7ZLBIqkySw04teqcNVORJV6ueRRTO-dDr2an0kac5GjaUFh86LLO9tvlRGS4IHjNHXFFi6o2rsKDPL_aqfPOu604otUita1iOCrvhl2SDPIG0FtA1CGk88UywPdHPclLTDYz_uEvEyR7hLqJthdnkKKcNFg91ET9ihc0OVa6wsD52tlkTaoHLzaaqHw8sVXJGlsoQXieQpgFG-AJh16A7IlfMlpClMR1mmanbndWeHpXwoNKhfs5Wt66r-HCiGuBqlAYP2rdmnZ7auI1UYAHyThePNI6eLFyWBvWUswveLotDUXUBm-_WUptivoxyPBDsvJdiAR9zJjFfEp4p5QXE8jWyIKZgFcfvnPtOvVdfrOv59JOHrAhaRdd7lkS1kLrr7nyh1cG09Lf6tBOV9CTMcs89rEdWdclfnZHzOJnm2DyzSscuTvl7T3vmbaaXwhzUDBnTDSrOV3hrKLxtl4OCEUM5e35zemnvtvYznEOpuM2Wnxn6m_14y07Op_XT5kfAr_lG2XTKXzyi4Xqm8mxuALj-JzmlqI-W0vIYDqH4w-Sq9s_-JGibIXI7FpQ==",
  "id": "rs_04122c8e8bc3d057016ab446d8e05887d093d21a6ed1f0bb52",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":0.05},\"note\":\"The teddy shifted toward the jaw column and is now only about 2 cm left of center. I’m continuing the same lateral correction to the safe outer bound so the jaws straddle its torso.\"}",
  "call_id": "call_cpYVkN2g29sRQsV2d52dl8EV",
  "id": "fc_04122c8e8bc3d057016ab446d95e9087d0886f319d818b8cb3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cpYVkN2g29sRQsV2d52dl8EV",
  "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]: [0.0765, 1.2232, 0.5308, -0.1852, -0.1207, -0.0448, 0.9982, 0.0071, 0.9932, 0.8749, -0.6167, 0.0429, -0.0834, 0.9964]\nstate[eef_state]: left_x=0.311 left_y=0.0488 left_z=0.0613 left_yaw=0.1919 left_pitch=-0.3068 left_roll=0.0759 left_gripper=0.9982 right_x=0.3093 right_y=-0.0018 right_z=0.1987 right_yaw=0.012 right_pitch=-0.1747 right_roll=-0.0855 right_gripper=0.9964\nstate[joint_eff]: [0.0068, -3.1521, 6.9812, 1.5653, 0.1148, 0.0562, -0.0269, -0.0479, -2.4821, 6.8991, 1.5556, 0.0122, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b027b20305b976a91196e3da05f0654f986e98b9708f88ca28902e7fdaf999c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2292a9e7aa38ab93e82beee67186eca856ee019b1c02facfe50c57344f6d2249",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95f5d0a2eb3903c62185c6133ea1b4aa3758a17456b92ec1828c3600a1c1441a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 8.816 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]: [-0.1333, 1.0206, 0.9592, -0.7559, -0.223, -0.1707, 0.9983, 0.0071, 0.9916, 0.8749, -0.6167, 0.0429, -0.0826, 0.9964]\nstate[eef_state]: left_x=0.2991 left_y=0.0029 left_z=0.2053 left_yaw=0.137 left_pitch=-0.2278 left_roll=0.054 left_gripper=0.9983 right_x=0.3091 right_y=-0.0018 right_z=0.1991 right_yaw=0.0116 right_pitch=-0.1732 right_roll=-0.085 right_gripper=0.9964\nstate[joint_eff]: [-0.4855, -3.5624, 10.0308, 1.4383, 0.0513, 0.1392, -0.0659, -0.0615, -2.4274, 6.9812, 1.5604, 0.0171, -0.022, -0.0073]",
      "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]: [-0.0254, 1.224, 0.5396, -0.1928, -0.1734, -0.1093, 0.9983, 0.0071, 0.9932, 0.8749, -0.6163, 0.0429, -0.083, 0.9964]\nstate[eef_state]: left_x=0.3149 left_y=0.0261 left_z=0.0643 left_yaw=0.1722 left_pitch=-0.2972 left_roll=0.074 left_gripper=0.9983 right_x=0.3093 right_y=-0.0018 right_z=0.1987 right_yaw=0.0118 right_pitch=-0.1743 right_roll=-0.0852 right_gripper=0.9964\nstate[joint_eff]: [0.0205, -5.3128, 5.3538, 1.4481, 0.0708, 0.0611, -0.0659, -0.1299, -2.3453, 7.0085, 1.6142, 0.0024, -0.0317, -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 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]: [0.0765, 1.2232, 0.5308, -0.1852, -0.1207, -0.0448, 0.9982, 0.0071, 0.9932, 0.8749, -0.6167, 0.0429, -0.0834, 0.9964]\nstate[eef_state]: left_x=0.311 left_y=0.0488 left_z=0.0613 left_yaw=0.1919 left_pitch=-0.3068 left_roll=0.0759 left_gripper=0.9982 right_x=0.3093 right_y=-0.0018 right_z=0.1987 right_yaw=0.012 right_pitch=-0.1747 right_roll=-0.0855 right_gripper=0.9964\nstate[joint_eff]: [0.0068, -3.1521, 6.9812, 1.5653, 0.1148, 0.0562, -0.0269, -0.0479, -2.4821, 6.8991, 1.5556, 0.0122, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b027b20305b976a91196e3da05f0654f986e98b9708f88ca28902e7fdaf999c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2292a9e7aa38ab93e82beee67186eca856ee019b1c02facfe50c57344f6d2249",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95f5d0a2eb3903c62185c6133ea1b4aa3758a17456b92ec1828c3600a1c1441a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEbfxnED2TiowQ7yNp-E3nYr4GyJQCVSDWsJBl2wPxdqHr8nSomlr4-OYvDhxPdkUMQbwh9YPoYvek0gEnsBClh8b8jwX-v3fkkulHZSMuf-R3dRBuFa4cYFvPOEw3JeN0O6NpEbrABJthjKUNab5HZ0TGTn2OcMrNHJyP6Vo4B3wzIfjXz2mP8qzWDHhRQH2BZVpC1eGjQdRPaB3z3c4YAc0vWZVmNXuXYP-H2hhCEMgi8l2vroCy5Fn2j7HB1HmfrJ8croRV9GEeWkUemBIqBhYzaTCo2QLN84jkfUCKyUM9g_Btacxkh4fSeAumUIaXVgl-217-juIoD02I0OYeYVMzrkaO9WwynEf1T_CywfdGCdIyS6xtKZ599fL5ee0A_oj2MmwSyZxKfKICRRUgosEF8U7zHyL4aYjHkKqPC9X4yVclFoTEXK5TV0R7ICm1VkPDs6N92-RwfoiitQdQcow61AQ7oYZ6FbCkBlOx1nZJZQkya865E1CYy7tCESyVLrHPibQImGdmywOh_XQimf-SA77P-78J-akjBdef93TX1C_k34sSoju1L8FAIFBDsS_JaoXfVnLpXELUy9nheZ9dwegyiHOktqkTFuBP9ewOmvtR-hdleLvymdw63VIl42W6TTOUKyu8mlip2_lUSit1P0QYZfJVY7H5y80DSoawcL2pGm3KRJS_YeShvdJLsSovrSg813yGMBVeelRp08GAVlM3UfxFEU-glMjSSg4pQuW420C1PpKIQgRGmMJIvm8nzIHbR12BkmBSYzFY8AtlGJice4VyLOl5lmGemM8uZj7fwUbhOni-Vazss0lo1zrayxTmGJhuRP6VihDlMyr1E3Q1cz3fiNZiS0fgyjTPLY3XS7LeTV_ZdY8XlyfvjGyfQpRNpowkHQuEIFUF3Ws_hcJQ7cbqwm-EJPm5Ef5P8fGmDC8tEUOJmldcjvYIB-ei6gefM8ozGiTWsBynzgkYoYcM18T0SsQ2p11eocPHUcnTnyYWLtglJWr6e0SS-y4-EfgCvoM93d_aQWRgUa1azqpRV9G0vBOgYnvx07EDCMmJ-QF74CfqD1qjwd8tointiU9r0ov7i8fnXNU0P_4wNFCblioxwfGplsTetavPd4FT-vlYp_NxDE8ylhiGHIpim3sh9bVY4HUamGOr9j-nI3lYd8a6EF7y0uqgj_wMMv5c4gMTIEAONhT6k8MLHMAXNxFiAUvZn9VveGe1KPOB2DXmi4WcgitXALNeA8iMum0ciFcIYzj108XN7JWH6DiQK90KIdtkgV-z4PqafpbJb6IkD9FgqyS5MBkNSGZTr2vFdqmq4s6ptIl3Fn71whtFV3WzlrtUegPkKXyCUJZY2fp_XgL3CTliZkWniFbvFKC69-myb41DE0nLOO_FtWxofECEsOPhSq7VW56zrUvMrX2Ce3E6mUkI9PZXL-VHC_GclvtymuBwO7WqymMWZ6vAd6asSgGVMIQ1JLy8U8o4a2VWG67x_zl7C9xTWvyqFEHefR4r93B8yQjidv2ecz9ByZ72FC8PFncO2CzysO3wyDyF2OmwfIDwSY25FQe5DMjXr8o2soM4HOg2dpXB8eUJHzq1pOg3DiPMBqTq8VlZ0E1WbzzR8K2CY4KGAxRXG8gFNChx7GAUvTRcvTgkVJqYRG-X4fWXvnV-o10CtERdRqxAvCXURiNjUqfURwpUR8b3kmt8655HWkF4GF6vEhL3LLReY9rCNBqYzhq60b7YJPFwxDlyNo_s2J8rgZPxDDgtquNngr7KQs45PDHp7CCc3ZdWXmve5yHq13eIk-9eA3aq0ePjcOyQxHZhTMZFpbxGKsjrlPgv79FhQLJoRZg4QWr4BrDyOmUbGA-E457OzIGVCdAK2cuSA5f9vvgitaTJvxtSvnAWXzPw6Ox0551gBQEV2nEc8Nz3RNbmkqRX5Trnafw2m97STJrmqYAjFEKTStpcjE8Pt1crr-NpbLwY01J3CnILY2WuzMg_WvWjvNtB91nvaI8LUw5RteNrI7e8EP06V1HvHP5XggEYtTPu_k0W-soGHUPand9In3tVJ_TelxYQOkdfrA0DalvhALATngr7Xw3ODsnQwCM1qbdIqF2nqp5PfhEcQ-LBTZtpXa7Xa9H38mxFalPvaQLYwQ1Pkz7EKxC9kmlrGON7cKCNUbjYUgelqwCEzHfVEUY-wwKzNr7Mvzpie-wsvaWyJQwHG9FfjA2IWP83ihked9RdTLTEmKq1CiUf109-wLZlYBuBIhaeji-iwqutMbkuj4bzyxrGuCm9X6IaP7aljBsZGvcFik_lJNnOPEx1-6yDqoGk-SxKxTzmjSfDC645OevdRc7PqhfGIAgmEhxPVVhxddEq5iBm-WUzi7--_va3wKmYWZMSm53f-GAX7j7f_zpfzM5nmKesbv1apmKpJPBOLyJrnJCulRcgVHSix3eur18p3juSaplLtTr1keRNnCI3E6L2e0wK3EOR0ooodz",
  "id": "rs_04122c8e8bc3d057016ab446dbf60887d0a36a0ca584573c15",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The gripper has reached its lateral workspace bound; the gray teddy is slightly left of center but still spans the open jaw gap, with room for the closing left jaw to center the plush body. I’m closing carefully to test the grasp.\"}",
  "call_id": "call_TFWv7whfwQWce2NqKBi2ok8a",
  "id": "fc_04122c8e8bc3d057016ab446dea51887d0bccc7fa9033a70f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TFWv7whfwQWce2NqKBi2ok8a",
  "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]: [0.0933, 1.2232, 0.5308, -0.1867, -0.1036, -0.0219, 0.0115, 0.0071, 0.9936, 0.8749, -0.6167, 0.0429, -0.083, 0.9964]\nstate[eef_state]: left_x=0.3104 left_y=0.051 left_z=0.0608 left_yaw=0.1808 left_pitch=-0.3108 left_roll=0.0777 left_gripper=0.0115 right_x=0.3093 right_y=-0.0018 right_z=0.1986 right_yaw=0.0118 right_pitch=-0.1751 right_roll=-0.0852 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -3.4393, 6.9675, 1.5165, -0.0317, 0.0366, 1.0232, -0.0615, -2.0444, 6.8991, 1.6044, -0.0073, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e542878a81e5b51722dd07c518fcf1ebc4acaf0e2ac5f9c7bb312336e9bd1b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4790cebf679a17f8588053c418fa1692b9886d37099a98f390a35539e02ab89d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a4e44aad1180d7d6edbf9408863a7ce1cbcbd5bee6be2a2d4af2396d68394f6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 1.926 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]: [-0.268, 1.2442, 0.5587, -0.2317, -0.2966, -0.2634, 0.9987, 0.0071, 0.9932, 0.8749, -0.6167, 0.0429, -0.083, 0.9964]\nstate[eef_state]: left_x=0.3119 left_y=-0.0284 left_z=0.0638 left_yaw=0.1246 left_pitch=-0.3003 left_roll=0.0778 left_gripper=0.9987 right_x=0.3093 right_y=-0.0018 right_z=0.1987 right_yaw=0.0118 right_pitch=-0.1747 right_roll=-0.0852 right_gripper=0.9964\nstate[joint_eff]: [-0.253, -4.3556, 6.2701, 1.5165, -0.3932, -0.149, -0.149, -0.0479, -2.6188, 6.8308, 1.6142, -0.0317, -0.0464, -0.0171]",
      "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]: [0.0765, 1.2232, 0.5308, -0.1852, -0.1207, -0.0448, 0.9982, 0.0071, 0.9932, 0.8749, -0.6167, 0.0429, -0.0834, 0.9964]\nstate[eef_state]: left_x=0.311 left_y=0.0488 left_z=0.0613 left_yaw=0.1919 left_pitch=-0.3068 left_roll=0.0759 left_gripper=0.9982 right_x=0.3093 right_y=-0.0018 right_z=0.1987 right_yaw=0.012 right_pitch=-0.1747 right_roll=-0.0855 right_gripper=0.9964\nstate[joint_eff]: [0.0068, -3.1521, 6.9812, 1.5653, 0.1148, 0.0562, -0.0269, -0.0479, -2.4821, 6.8991, 1.5556, 0.0122, -0.0659, -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]: [0.0933, 1.2232, 0.5308, -0.1867, -0.1036, -0.0219, 0.0115, 0.0071, 0.9936, 0.8749, -0.6167, 0.0429, -0.083, 0.9964]\nstate[eef_state]: left_x=0.3104 left_y=0.051 left_z=0.0608 left_yaw=0.1808 left_pitch=-0.3108 left_roll=0.0777 left_gripper=0.0115 right_x=0.3093 right_y=-0.0018 right_z=0.1986 right_yaw=0.0118 right_pitch=-0.1751 right_roll=-0.0852 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -3.4393, 6.9675, 1.5165, -0.0317, 0.0366, 1.0232, -0.0615, -2.0444, 6.8991, 1.6044, -0.0073, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e542878a81e5b51722dd07c518fcf1ebc4acaf0e2ac5f9c7bb312336e9bd1b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4790cebf679a17f8588053c418fa1692b9886d37099a98f390a35539e02ab89d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a4e44aad1180d7d6edbf9408863a7ce1cbcbd5bee6be2a2d4af2396d68394f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEbpln0hFMPlUTLUGLq7din6hRa5uOMsL5rPJCGCnmgxKJahHY8m-hfMW3_JGk38WOQTlaBrrINe4IlK2r2DqlPKFhdok4sXqYaBSZNnrq9xhc48EchFzrcvAiGLWiIRVYxhlqvhP809Nxn1TEbdPREs6h_KrJ9anoV56clYpnaAhKsh1F8MOExZIKVTOBwHEHR04wkTr91-naZv_F-Ahsl7OrwRHLR2U3vMAJz3_9mUXpAZyaxfqWaN6AhRyRxuNdPaysenoBvQAgyDjHjiZ_HxRroFs4AjmEF84FrV301kdP6q2xGKBNwhP08W-kkOaeuuwUxB3tjKDfGaH0JFhaquOeIGU-96D-Ne1DwvfQMJCUnnW_m8kwduYBtHv4ZMwizIOODvwndlmSBQ30JHMwQyftMUOscV95vm4Ix27Ed4pqxH8SsrUWXHxH8_GfAaxjqx_NmCA2ONZFb_fxXyFS1h5x_ay11pkUQdOaPnqv6_ire9u1I6C60QMMKoQxo7Jz63p4U8-rr5m1M1M2hvQdwVETevHpojAdIqWJDRBTVqWRhbTuRL96cCkdY4J6CtNBYyk2PHRLXRFOkuIziyXbOFGdiqK1gIjG86lYOn5ZD2wNK3hCRu6OvPauv7zQRpzFh-78l-0tJe-z76g4fEYLQ5ULUmU6qjpOUvPc7zoeqNmyM4GR8l4Sd5e6sxKWRTl_WJS8WiyOyT3-Y0vt-A-JjfRhgv4M-cJwm3vK02Rg5lZFg0TRWOs5HpO6SJuuP_RKAgXUlRZeqe_0Bz-bYld2JZsq6sRQ9OACGSMImhZxbr-ayZuOGMKj21amdTVdrjMrSqAKYmUEMo5TBJDiZDnK0aNCvI7NImPujCd3mArF89LgSvsZhMWbhrrBSfQvlSrfGHIRDGKk8LTOMjdNnl3m2fZcF5yA72kyjBXt0Plh7j8jUWxwU7TcVi-myfsesbq9GhvxfKLZS5d4QQz3COypPtDifA1T6g48Hkv_rSO18kx6IJi07P5HC6u4bIQL5qrEuH5ajz2FsLR40qBHYYKhDFDj7LOxe1TrrN428S_f_A5xBZVFtZU7sUg0ghvrAuxd9kQsU41fN1bpSZA1bdY1v_JahL09QuDxhN_gM08Un50P64Pgi4WRWJTpfu7W5a7s_2gQOtBSVOWW2U_dpzqgZwxt9irfdDodd3YZ12ZQspPSDGZtqCP4JZkK9NwMaOTgU8f_Rxlqne9VH6RGrvr48-QN7BFzt8lCG3iXmZJDS0tTT7VCcMZpaHBj5Gf0il7TzxSn5I1qi9b7lT2K21zEjC3AA8yKaqENd2QhY4miqrNENdHrNX67T_5D2pS-IK6Q4VDOK8vuS-jOC6tu_a5hnt59MYwJ8lUi7zmcW1AfymfjEHGon5lI7253KWVUxmW0GBAkiSOaNU-oUgY875B4QuqItmQeOm7MgjFBaWGjT0yc1ugwDPKH7t-AHWQcDp1NphVWuHON73QSiN8yKZKE1qZApEPJHcDfqfCbFCnYBW1CKFiSQx1tFae2Prea0o9zSl348XfikqV4bSHjkUowRBifF1RgpAyexQWeeV2caNDb7uALhx319tzZFD66nHApWbbuYAlcV2BTosdRDIdxq3hwgYzEbU_NVsVswdHKyJj6RHSxWvWOffL9z0FlrJuzBIJkPZH26s8qi68q0f6bCz5-nT-CL3TCHzwNSIqQXfHteCWFulXlkh1bxO6iM-aBGtZ-xNFssqSCiyQe1QP6N75SipzO6zJMgF2uhugiTTOf5q5dqqUm5BEMlkQMyLiUgRdJoLUUPYKDQtnisf0PZq2M_GPcBjO-FplFf8-Cg131it2lIcQKeyACt_rCi2Veuq0Yh3kD7boNU43niKawx0eKo_9Rlw1MomrOwl3jurWN9mfoGnLSpYk5HRBTACU4LZlF2ouyIw7x8TtbvgzhWsvsphojRXvIb_T3eH6Ye-MHXp6Rfceq0bdPtEkuf_2Dgf8HMCea4qpeKvGrWBJWUn0WhuaqfFFEOP5bb1Uss4GdKlBqfLl-xuJCmYi9hqwoaQgN20NXw6LGeS_qBpYUQX3WALTXhPGp9FCgHFmAt96qP_VPlE5RC1tw2lrth0j9_LQPdYtxyzWqNfN92baYuVcv5ZWig4NkYHemRh3PTQJJQNvWXbalIL14FzfWfi4PGLg5z11g5pahuFvE51FTv7XRy1edbcFMEfTP4SFNsawIMteLlNeHX4E6oCCL__lKTzd9b3BmJJCY8DMNveXOKY3JOqOjISWTjA7QR8SyGIuOLpefnNQJJo3DvJiCTCMsrP4OpKNjRkLRQcNDdgvTOUqDQMot3KNTpi78KRuzK3XoQ6-KiECn1KW_azGx4DERiwZhF2akc4Nuns7CuQhYwsdstRtzQ9g0S_-BdEbuDu7r1rGBl9bvhKuc8JK6YcD-cKQAKspc04UtZ_ASeH7zbK7ZVyhzvDL_Yt0DhBqC02seBebDw-QkdaVJoPTbVr82CHqNitgSSqEAyUSEWuf0fReczcYllXUBqFvJaMmT7IjAGinlW295_W63pZ-ckZG_e74JI5uxrfpEreQrVyH6-N1nYFz9tu7_OgOsvMg03vRug9XSFNEbs-pki5gRoeBrQiJC2eOnLVJQFXwhQ90WFMCafsPBLEJzySubRrAMnKvk3yOG2GCameeiM_Uqo3z6USKTjd1quFcU7KnRoHH4mE-5wnjaGAcS-ItqGJ8OvPWIBQkvyvqS-lN_pq6cKJwMk7BdELq-KwDowiHbcn5I1wQfAC_9oU74Mm2Oq9V0y1YgQsB6KuBwNLCmuY_Rvb4OcpezTlwIPX9fw0og2eUgY9AhySTFtBWqzxQlBAWK2Dzy3s25ndm8gz2ang8gVbyfhTQbkI1WkXACgoSX0t_X7MekvClvANe2-NgMLY9q_AcaZ31RccZrhioUBfPyIdvV8qYE42usWl1qaOu4q_XefJr6-qeC8dUcsTPyHbNc-ioOBRJFb0W9xFE7hSj3ZcZ3cBC3yyqxtd8-JrPka0MecBBGGrR9RzbhHVuJiQZrU2NY96TgNxOyhYdGuR07HPglkY_NI-oI3nXVW32wyn7f9LYelcM1FshRg9NrTBiNKkJK-SWCQdicfRgcZwk6pNtNHu4AwvMbHRC3e-LeN7gmBRWPkJgRLxYRhCr33YBZ1fd6ChfCFVu9HCIpFk1UfBxXFk0poC7D21OkPLg0Y9ed1D41bQMtnsKczUlNS--8dYTW17UQQHhwvYqYuzKsfxG8rm8AwgEowudPfKD06Zcrz6rAcAv37Ka7Ge8ku-vuv7wyVdmRCP51J-loGDZH5ILLDL1BRP-0TZ64oVE-kWdPWRzGH9ZAk7W4UnWn7Gpqji8RKWX5bW8AKQJF240fd0_KNb5TrGtyUEUCXkEACZWspTgY3ILiDkgBjW2A-mvs13n7Pugvug9L-5sp5GyqLtzqzQeYld8efL4yGIRq-yWoyM9jzn-sFbf55RtZbLicCU3bG4LJ2T2xcIf5ICKb91H__02OVkZ_XXUxnklX-19q1pHvotPXSV492XafaMnB7RM5QJyQTgc73wMnlrxdPWFZscEA6WoLZFm_s7MXdDmlqk6fHAUcMwyFu8IgsP63DVfPE7Jzw2NQqlo3LGWtunOevx93Ip52ng42EDpIpy9djGn1r49WNwvaA8V2r5700AFlMVkMlTNl0kmAP_s1vpHf4abUBaFm8gnDkkLafk-568E4SmGIJFN67C4Zs67o9y7OQCkZDHDoHG8DjRYgjZkQ5RRv96COxCnC_5zg0WMAhvraNQ_WT_5i4HloFuidSpQ_yDPfdDZvTsb2_SD_RhDnmGS6Yd5-tvX1VveT2oyfLNu_D5NCgakfssRMUXlrz31l21zKR2Bkfc0yl_pbQAvcf_JjU7WZyc1oV876F7q4mqMZTR1bKOEdKt1eX90b7uJQ4zhz6W8FcXbbdY7JhW5qmuEtEroa5xGJf70eoxiv2nTo65QWKWq2hhRTBjD3Wx_I8jex0PSw4PoaLo2oAIdwqoiSjRA1AUHKutM5G-nBDEc_5NDWIZC_ixv5rvZm7sXYr7q0ajNpZ6WYwbPHlv59CJ2b5-_6DJwLZ05RYYfDfypHh5EspafdcahDjjh5DTdJtTrBpOff5Sl8XcVLftnlPKVr3lnRWo9oZTzg9W9ZHe0NzTLZGKjmyvE1M3gB2i9Kd6W7gLJByVFW2vDcb6qb-op2qiF7XeSD8bTEMm3oStQw==",
  "id": "rs_04122c8e8bc3d057016ab446e1e7fc87d0a4a06e526893d4f0",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEbpYkDVYsvIVGjFx6UemgBI0MQ7ZFm2omt5QzmNz7Ys_pe4gPZHyPKgQbLbFbYG9gROGt8gBv38efjuElvikZjoh0uxbEbYhMusdZsxVHfkpgjWBAEB1I1wcYN3uEPIg1RFbXCDvBhubLIcXhONKNRJeEHFw_d4uhXlUvGGXL-5YVXgTiStT0RZJOVl6p-cvHla8F12Zbhg-HkfnUoewMGglv8_CTgSz3QGr3EXzbfYu_uyblpoW2IL0QvzCpjTsEkipz7xAfCnj5Da7crn1ofLeUL0GlmOGW0Cl7IHz-qikykxpbp4k-sK0M4b0kjHaKJ3AOcc4f7smRAkD-OXSGjT8QClL6lUilH9ZOuMorS-aHmBf2IZlhQuVcl1FRkn1JOHu93FKGtfnWakZ4Tsv53Sft5-FaGeAIXXpgIwqp2ROI82FxqeayS9ch1h1yN17hBlaRtRwdXG39SuPfay9k3LyjX3dclWNqNXu2gfVecYTPap20xrQWuu7GQFfSQCPksFrTJYu7odhpr6lSAcwrb78R6a8Pep41z8xsedEMbrYeihcUkM-3Os0vcb9PZNP0E0vOTSjOq2t74ZZEc-wEbCSiHo5gPf-7zBfRe7SjoozQqS7jd4-xa7WIlQtaBcQDQeVCgJ1-rf3D_f_Y_ObLxSp87iKP_TXgGhw_KG5naHjCQrEgXPzFKUie98KSwcqtsJ7tGul7Egarvmfv7YXGJp7qGeEzncJjIWy-CglvS15IgiaVhJoCd2Q9ruYhbx9cfbiZxZQphGwq1ZbGbVzzmdUezyUbK1lIdTG-dUhb0K8qb3n-qu48u92jSDmmlyHBP-AZae-33IE4TZgrMSfvgrSmweLCHLNzprVITY4lzWLAYy3MNVsE2UNKUaD6B-3DUhPkimWYvhxK0CiM8FNW-pxg6JxEa8mJHP4et_KvqhwvPW5eUS7xLrzEA7tBAp3_ZR4vd7GTeo54Mw1anHIUyivBpB7-HDRtv2SnAHFHMVK2D4oxbimMxlDh8EDuB6awZ61MAgXO6b3eWOiENAo5tVsqmg03DtBHpigZ4NRcADrVJr_VWngDs8Kacd6ca3RV2SewwyjdHq4ZmJUdFqu-NxC5rxzWjC_vRjcun5cgTIDJJf8UOX4jsoAFstnWdr7I8PvLRyonnw2GMDCZGxGv09qDc1uDBOCY2uieuf6npfeKAfj5TzFhX272s2Kg3JHN0fKO3wPT08c1GAzf0LiU4HkT2TLNTWrpxIRhwPmApTcZW5peKbesTPO8hWvclv63yjyV8jtuFgCi4PnS46a3vb4AZ8TwO49k5L2KAZaXWr6v8_QpSfD0hFJz7_0eb7ChiYGk2zTpFun3vPjtLBX-XkcQy4CIfz_H2Dgm2dZPwZIekZIzpsjXxrTXqhFjvKHS-SMv7Rc0_EBts-IVDD0GbL3YRMh_ghTfwD4tO3d7pb_qH5Z44Ewk814QGyFye2BO-MMrHd1PGs-lM-Gtp-Hmme4oungMuJTx8IT5dhNOkcktBVIgsV8VVr12Wb5Ee8Ni_A",
  "id": "rs_04122c8e8bc3d057016ab446e7af6887d0a7948779c139bda2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":0.05,\"left_z\":0.06,\"left_gripper\":1.0},\"note\":\"The close was empty, and the wrist image shows the teddy remained a few centimeters beyond the fingertips rather than being laterally unreachable. I’m reopening and advancing outward at the same maximum-left alignment for a second, properly depth-aligned attempt.\"}",
  "call_id": "call_4p5F4zXPTiMY63okePFXtXvz",
  "id": "fc_04122c8e8bc3d057016ab446e86e8c87d0a5672c9be5370805",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4p5F4zXPTiMY63okePFXtXvz",
  "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, 1.3544, 0.5892, -0.1604, -0.1078, -0.0395, 0.9953, 0.0071, 0.9943, 0.8749, -0.6167, 0.0429, -0.083, 0.9964]\nstate[eef_state]: left_x=0.3266 left_y=0.0479 left_z=0.0472 left_yaw=0.1799 left_pitch=-0.356 left_roll=0.0743 left_gripper=0.9953 right_x=0.3093 right_y=-0.0018 right_z=0.1983 right_yaw=0.0118 right_pitch=-0.1759 right_roll=-0.0852 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -4.1504, 8.759, 1.5751, -0.1734, 0.0952, -0.0659, -0.1162, -2.3863, 7.0222, 1.5849, -0.0171, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a3838d47394c9395723bd1a18c2789d4afc4d5b6514205c2f2196970cef002e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52158dba5e8a0bd7f415c01a6a28aa7bb6f0ad4510d61f36d9da96dd4faff690",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3140b163810b0783d6bafa79455ea5c3ca977a793627647c24e90b8c7442e61b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 12.69 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 105 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0254, 1.224, 0.5396, -0.1928, -0.1734, -0.1093, 0.9983, 0.0071, 0.9932, 0.8749, -0.6163, 0.0429, -0.083, 0.9964]\nstate[eef_state]: left_x=0.3149 left_y=0.0261 left_z=0.0643 left_yaw=0.1722 left_pitch=-0.2972 left_roll=0.074 left_gripper=0.9983 right_x=0.3093 right_y=-0.0018 right_z=0.1987 right_yaw=0.0118 right_pitch=-0.1743 right_roll=-0.0852 right_gripper=0.9964\nstate[joint_eff]: [0.0205, -5.3128, 5.3538, 1.4481, 0.0708, 0.0611, -0.0659, -0.1299, -2.3453, 7.0085, 1.6142, 0.0024, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [0.0933, 1.2232, 0.5308, -0.1867, -0.1036, -0.0219, 0.0115, 0.0071, 0.9936, 0.8749, -0.6167, 0.0429, -0.083, 0.9964]\nstate[eef_state]: left_x=0.3104 left_y=0.051 left_z=0.0608 left_yaw=0.1808 left_pitch=-0.3108 left_roll=0.0777 left_gripper=0.0115 right_x=0.3093 right_y=-0.0018 right_z=0.1986 right_yaw=0.0118 right_pitch=-0.1751 right_roll=-0.0852 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -3.4393, 6.9675, 1.5165, -0.0317, 0.0366, 1.0232, -0.0615, -2.0444, 6.8991, 1.6044, -0.0073, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0772, 1.3544, 0.5892, -0.1604, -0.1078, -0.0395, 0.9953, 0.0071, 0.9943, 0.8749, -0.6167, 0.0429, -0.083, 0.9964]\nstate[eef_state]: left_x=0.3266 left_y=0.0479 left_z=0.0472 left_yaw=0.1799 left_pitch=-0.356 left_roll=0.0743 left_gripper=0.9953 right_x=0.3093 right_y=-0.0018 right_z=0.1983 right_yaw=0.0118 right_pitch=-0.1759 right_roll=-0.0852 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -4.1504, 8.759, 1.5751, -0.1734, 0.0952, -0.0659, -0.1162, -2.3863, 7.0222, 1.5849, -0.0171, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a3838d47394c9395723bd1a18c2789d4afc4d5b6514205c2f2196970cef002e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52158dba5e8a0bd7f415c01a6a28aa7bb6f0ad4510d61f36d9da96dd4faff690",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3140b163810b0783d6bafa79455ea5c3ca977a793627647c24e90b8c7442e61b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEbsoh2boDOVAW0AXdworvdZfDaWCx0J-YXtBeYnxgse-lhPDNViPEtHZFmKMUg_BHHEjqRRWnpiS7eLNz3p_JGLtBtlofmQWO9RPo1Yyz4OyuIxKHsB7-VobdhrqyFT3tlX5BLFW8WFAME3JcQliF9Ssf7JfyhlrDY4ZvBza5Ek3KskZwxbUECXsSS9gPa4pgXVg0eBYYBGNa35d4fQbni7x3_rDWRDrcsHmJKLVShb8O2In79QjGjs52tXhSVTO1nl_wZS3ETmT59eOIYZESZjyCtIpG8q0o_H9SbNxWYxn5dww8tcbesog5eY8fJsPQvfnt-S9RdgzTOYfhLbNa2uj5lQIhsj_XD8lYZbbuGF5jBZJG4w4S7OG8s9LOLsngw63osxkPAkOuVM8ntl0Nlc8DGJqI4tQ9LFCgXCrQT_Y-6ybHwTOuFNVJHW7prnrPa98X--7nqe2bkzq1hGOrbMslgML3TNJfVocA8wE3CDcjbiZAfyTs9BPHfFwox91bBNqmMYXb2zpQ2iVLppU4W2s3zmFefC5v-R97juWp31vu0Tra21w8pyI0Nqe4fI3p2UGkJXFy4YJVZGP6TLN1hFYoJ918u6YZ7qVHEbKwSBB_kiC6aBsbZ81FGE4dDkybIOvY2nzkuXjry5q13Sn-Esixv_h6oL3JOkyhj5MUnpFEBIqwo9NQqqQkOYlqfyH3r9UNpvK68GND9iWu0un5pKdHhST1lm6sVqgl8CNYr2zk3macydnXt5-lTEuD0mYOjGc9A-CiL8i0aVNI1FHw_P1Oxkb0z8vCWDPystWDzKdKvK0SrlAzboevz8u2wqTN2drHSVpxHAIBjlIJsnGdp3gkc42pHva7-SD256qdCMhqj9o3ig7C1tnbDAmhZBPm3SoAoiK3yWKGyboJDdDRSiha69G9NZsdeD4XCe9Z9eKvznr60YRv0s4WYUK4WT-67X_Rmjgs4i9PyO_3fMfLElmLFrVHCHEdarp4Qygm-Af4cN3uKyl6dbfrcdx6dJEz3T_sNDdk7T3h2pSG-fVk29qGRXjmhKAeUO5D3kjGuA7efQqsf9OTDibNtB6lcrVd24J0GfN4CCTZnMNREFdcLti1FHRh6cvyOE8RtWid18wbkO8qwefrreC08cx3vmQCM5g8Zokq6m1r_s0h5jjeuz_4kyGomPn5xJfshHXwM09m-bH2Aq4ssIx8mYwXKEJqsqDFxFNbXx8UjmOnOrpdU8Uf2026MXU8TvrYN-joc1dBgBijUkhLJi8mqNN1hGiYwFOn0eXnyzNtu-k8u4FcUe-w==",
  "id": "rs_04122c8e8bc3d057016ab446eb615487d0bbd31ca8bf8d8a4d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"After advancing, the teddy’s torso is now at fingertip depth and lies within the span of the open jaws, unlike the previous attempt. I’m closing for the corrected grasp.\"}",
  "call_id": "call_2KKU3YP2FgeUM9B89GkhH2mT",
  "id": "fc_04122c8e8bc3d057016ab446eb97bc87d0a7f91c1e0439cf8a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2KKU3YP2FgeUM9B89GkhH2mT",
  "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, 1.356, 0.5911, -0.1635, -0.1074, -0.0441, 0.0112, 0.0071, 0.9951, 0.8749, -0.6167, 0.0429, -0.083, 0.9964]\nstate[eef_state]: left_x=0.3266 left_y=0.0479 left_z=0.047 left_yaw=0.1823 left_pitch=-0.3584 left_roll=0.0713 left_gripper=0.0112 right_x=0.3094 right_y=-0.0018 right_z=0.1981 right_yaw=0.0118 right_pitch=-0.1766 right_roll=-0.0852 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -4.9026, 6.106, 1.3553, -0.0806, 0.0171, 1.0379, -0.1162, -2.3726, 6.8581, 1.58, -0.0317, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d2352ed6629011f96760541c13afcbcfc30516923683fe9df64b2d1d27f3dea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a780f2e814bfc2dd0b88a2e3ead0acbe57800adda2a9e75b9ea8f1f48862b78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ee9d7554af481a1e4003b4d7ee40683be12bd1976c4dc250adb78605091bcfc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 4.97 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 105 changed as sent

message 109 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0765, 1.2232, 0.5308, -0.1852, -0.1207, -0.0448, 0.9982, 0.0071, 0.9932, 0.8749, -0.6167, 0.0429, -0.0834, 0.9964]\nstate[eef_state]: left_x=0.311 left_y=0.0488 left_z=0.0613 left_yaw=0.1919 left_pitch=-0.3068 left_roll=0.0759 left_gripper=0.9982 right_x=0.3093 right_y=-0.0018 right_z=0.1987 right_yaw=0.012 right_pitch=-0.1747 right_roll=-0.0855 right_gripper=0.9964\nstate[joint_eff]: [0.0068, -3.1521, 6.9812, 1.5653, 0.1148, 0.0562, -0.0269, -0.0479, -2.4821, 6.8991, 1.5556, 0.0122, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0772, 1.3544, 0.5892, -0.1604, -0.1078, -0.0395, 0.9953, 0.0071, 0.9943, 0.8749, -0.6167, 0.0429, -0.083, 0.9964]\nstate[eef_state]: left_x=0.3266 left_y=0.0479 left_z=0.0472 left_yaw=0.1799 left_pitch=-0.356 left_roll=0.0743 left_gripper=0.9953 right_x=0.3093 right_y=-0.0018 right_z=0.1983 right_yaw=0.0118 right_pitch=-0.1759 right_roll=-0.0852 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -4.1504, 8.759, 1.5751, -0.1734, 0.0952, -0.0659, -0.1162, -2.3863, 7.0222, 1.5849, -0.0171, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0772, 1.356, 0.5911, -0.1635, -0.1074, -0.0441, 0.0112, 0.0071, 0.9951, 0.8749, -0.6167, 0.0429, -0.083, 0.9964]\nstate[eef_state]: left_x=0.3266 left_y=0.0479 left_z=0.047 left_yaw=0.1823 left_pitch=-0.3584 left_roll=0.0713 left_gripper=0.0112 right_x=0.3094 right_y=-0.0018 right_z=0.1981 right_yaw=0.0118 right_pitch=-0.1766 right_roll=-0.0852 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -4.9026, 6.106, 1.3553, -0.0806, 0.0171, 1.0379, -0.1162, -2.3726, 6.8581, 1.58, -0.0317, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d2352ed6629011f96760541c13afcbcfc30516923683fe9df64b2d1d27f3dea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a780f2e814bfc2dd0b88a2e3ead0acbe57800adda2a9e75b9ea8f1f48862b78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ee9d7554af481a1e4003b4d7ee40683be12bd1976c4dc250adb78605091bcfc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_04122c8e8bc3d057016ab446ee44c087d09d987526d39e0a9a",
  "summary": [],
  "type": "reasoning"
}
{
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  "id": "rs_04122c8e8bc3d057016ab446f411ac87d0a3196588eb1baf66",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.22,\"left_gripper\":1.0},\"note\":\"The second teddy close was still empty at the outer limit, so I’m withdrawing rather than repeating it. I also need an unobstructed overhead check because the remaining beagles now visually overlap the right basket’s front edge.\"}",
  "call_id": "call_FwTnnFQLBgVEgrymRO3XOhHN",
  "id": "fc_04122c8e8bc3d057016ab446f95ac487d0a03b34d6d7336982",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FwTnnFQLBgVEgrymRO3XOhHN",
  "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]: [-0.1463, 1.1648, 1.1297, -0.9077, -0.2195, -0.2241, 0.996, 0.0071, 0.9989, 0.8749, -0.6163, 0.041, -0.0834, 0.9964]\nstate[eef_state]: left_x=0.3081 left_y=-0.0029 left_z=0.2098 left_yaw=0.1615 left_pitch=-0.3471 left_roll=0.052 left_gripper=0.996 right_x=0.3098 right_y=-0.0015 right_z=0.1971 right_yaw=0.0137 right_pitch=-0.1801 right_roll=-0.0842 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -3.8632, 8.335, 1.1453, -0.3004, 0.0611, -0.0806, -0.3761, -2.8513, 6.8718, 1.6484, 0.0073, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c842575e22f5f0736bfd29a739224f53b3fe906b0b8cb5ede26bbb00e3f82a59",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88acf8539064ad8db17f96d3d346bc67d80710904b430ec7cade7d1897ba069e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be55d7a67911aea69d3c477171557023038f9a3b02f59e88941dfae790c8478c",
      "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 28 attempt 0 · /responses · status 200 · 8.71 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 109 changed as sent

message 114 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]: [0.0933, 1.2232, 0.5308, -0.1867, -0.1036, -0.0219, 0.0115, 0.0071, 0.9936, 0.8749, -0.6167, 0.0429, -0.083, 0.9964]\nstate[eef_state]: left_x=0.3104 left_y=0.051 left_z=0.0608 left_yaw=0.1808 left_pitch=-0.3108 left_roll=0.0777 left_gripper=0.0115 right_x=0.3093 right_y=-0.0018 right_z=0.1986 right_yaw=0.0118 right_pitch=-0.1751 right_roll=-0.0852 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -3.4393, 6.9675, 1.5165, -0.0317, 0.0366, 1.0232, -0.0615, -2.0444, 6.8991, 1.6044, -0.0073, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0772, 1.356, 0.5911, -0.1635, -0.1074, -0.0441, 0.0112, 0.0071, 0.9951, 0.8749, -0.6167, 0.0429, -0.083, 0.9964]\nstate[eef_state]: left_x=0.3266 left_y=0.0479 left_z=0.047 left_yaw=0.1823 left_pitch=-0.3584 left_roll=0.0713 left_gripper=0.0112 right_x=0.3094 right_y=-0.0018 right_z=0.1981 right_yaw=0.0118 right_pitch=-0.1766 right_roll=-0.0852 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -4.9026, 6.106, 1.3553, -0.0806, 0.0171, 1.0379, -0.1162, -2.3726, 6.8581, 1.58, -0.0317, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 1.1648, 1.1297, -0.9077, -0.2195, -0.2241, 0.996, 0.0071, 0.9989, 0.8749, -0.6163, 0.041, -0.0834, 0.9964]\nstate[eef_state]: left_x=0.3081 left_y=-0.0029 left_z=0.2098 left_yaw=0.1615 left_pitch=-0.3471 left_roll=0.052 left_gripper=0.996 right_x=0.3098 right_y=-0.0015 right_z=0.1971 right_yaw=0.0137 right_pitch=-0.1801 right_roll=-0.0842 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -3.8632, 8.335, 1.1453, -0.3004, 0.0611, -0.0806, -0.3761, -2.8513, 6.8718, 1.6484, 0.0073, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c842575e22f5f0736bfd29a739224f53b3fe906b0b8cb5ede26bbb00e3f82a59",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88acf8539064ad8db17f96d3d346bc67d80710904b430ec7cade7d1897ba069e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be55d7a67911aea69d3c477171557023038f9a3b02f59e88941dfae790c8478c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_04122c8e8bc3d057016ab446fc2b4c87d090dd70b390c95944",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.2,\"right_z\":0.18,\"right_gripper\":1.0},\"note\":\"With the arm clear, the gray teddy is the only toy still plainly on the tabletop. The right basket appears to contain the tan teddy plus a small beagle at its front-left, so I’m moving the right gripper above that small animal to transfer it to the dog basket.\"}",
  "call_id": "call_7PlBEq8SYj7DNafdAQONapiH",
  "id": "fc_04122c8e8bc3d057016ab446fef2f487d09adeaf0340d1cb33",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7PlBEq8SYj7DNafdAQONapiH",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.149, 1.1694, 1.1313, -0.9226, -0.2245, -0.2363, 0.9968, 0.5846, 1.7325, 1.3777, -0.5255, 0.4271, 0.3126, 0.9986]\nstate[eef_state]: left_x=0.3058 left_y=-0.0025 left_z=0.2072 left_yaw=0.1722 left_pitch=-0.3625 left_roll=0.0541 left_gripper=0.9968 right_x=0.4221 right_y=0.1959 right_z=0.1659 right_yaw=0.0439 right_pitch=-0.2198 right_roll=-0.1045 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -3.6855, 6.4068, 1.4579, -0.0366, 0.1148, 0.0708, 0.3624, -8.9641, 9.2376, 1.3797, 0.4567, 0.1441, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc0ba72143ebf265d8fb08ceb4d62e566017cd639430867c18c2e1108c821910",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:705d7c8e40aa650a4d203028037fe20811da464de82d19c318039cebac87887d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca9b7d99687d36fb982d67b4157c10673948bfd3d44d71b03b75a3d3e461acc0",
      "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 · 3.222 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 114 changed as sent

message 118 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0772, 1.3544, 0.5892, -0.1604, -0.1078, -0.0395, 0.9953, 0.0071, 0.9943, 0.8749, -0.6167, 0.0429, -0.083, 0.9964]\nstate[eef_state]: left_x=0.3266 left_y=0.0479 left_z=0.0472 left_yaw=0.1799 left_pitch=-0.356 left_roll=0.0743 left_gripper=0.9953 right_x=0.3093 right_y=-0.0018 right_z=0.1983 right_yaw=0.0118 right_pitch=-0.1759 right_roll=-0.0852 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -4.1504, 8.759, 1.5751, -0.1734, 0.0952, -0.0659, -0.1162, -2.3863, 7.0222, 1.5849, -0.0171, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 1.1648, 1.1297, -0.9077, -0.2195, -0.2241, 0.996, 0.0071, 0.9989, 0.8749, -0.6163, 0.041, -0.0834, 0.9964]\nstate[eef_state]: left_x=0.3081 left_y=-0.0029 left_z=0.2098 left_yaw=0.1615 left_pitch=-0.3471 left_roll=0.052 left_gripper=0.996 right_x=0.3098 right_y=-0.0015 right_z=0.1971 right_yaw=0.0137 right_pitch=-0.1801 right_roll=-0.0842 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -3.8632, 8.335, 1.1453, -0.3004, 0.0611, -0.0806, -0.3761, -2.8513, 6.8718, 1.6484, 0.0073, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.149, 1.1694, 1.1313, -0.9226, -0.2245, -0.2363, 0.9968, 0.5846, 1.7325, 1.3777, -0.5255, 0.4271, 0.3126, 0.9986]\nstate[eef_state]: left_x=0.3058 left_y=-0.0025 left_z=0.2072 left_yaw=0.1722 left_pitch=-0.3625 left_roll=0.0541 left_gripper=0.9968 right_x=0.4221 right_y=0.1959 right_z=0.1659 right_yaw=0.0439 right_pitch=-0.2198 right_roll=-0.1045 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -3.6855, 6.4068, 1.4579, -0.0366, 0.1148, 0.0708, 0.3624, -8.9641, 9.2376, 1.3797, 0.4567, 0.1441, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc0ba72143ebf265d8fb08ceb4d62e566017cd639430867c18c2e1108c821910",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:705d7c8e40aa650a4d203028037fe20811da464de82d19c318039cebac87887d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca9b7d99687d36fb982d67b4157c10673948bfd3d44d71b03b75a3d3e461acc0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_04122c8e8bc3d057016ab44702d26c87d091ea2057a4944206",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEcKmXB1ydRuOYXQY0Iawhur6IG6NEUAkfgLzPQuyiUn0wXaSlqz9_wnvLOGCXQwZHMCSJD9ijRVkH2_QEgzkN-H3veF9q5Zc01DLobCZPq6APcZJZppbmvsqngq-cvjRs8ZkRnnlqO78YZUUr2YlSe63_IeEFte6BjXnMCukFJ_xIRc8rSQhmqaDaSErJ1GqOP-fTQTxWuJhw9fUFOSQImdLUJspjlilMlcL-I_NtmwgOTjyPAxVoUl8sgPMF15k5hNQct9dC4uqCSZmLqiv7SQmluQU5XRxPkVFew2J7PF2_dmV3yD7UEbBy9aq98Ywr_qsoNk7Anr7mSr6kYtewBxGcwgFi1BedTQHufu2C9te2H36bklpb1b-th7Sdz2gbFETi6BHPjUmqqC1oGq8HVFL6ORR_h0CqskZbnfdnvPGM2dsYMnEKE5QQoQc4q1CJBiwp-QqE3whzuXUiuCKDxwAq4FKx5FSC2Er6yQUWzFmtG08rvJhWLBm-B2SQ2KSZ6CFvGvlaSbiDvO8MLxtNyqMPoPzVSmjNHt8bTgJBJq5ognIjRmIvGwqKCWl6iHEsN_seYbH06LI-_Bcsmv8y-twkKJJbinsOWYfBW79K60kKkMiBlazcMT4Tg-Zq4WK8WL2L8mFKky2dZePQdfc2LpvAExSzdDAs4IfnWX9lm821fd1P3OPVO6rpNoEEtqkgBI6_hZQ0HyZ6-Ke2m8zg7fs-S7Q4tcc2DcUZcQOUQi87ovDNtXi31KK3PSxfMgUJ9XpzqO4mSC521N--Fyups5pt9WblMlow8UlVSwNGYGbzW2gyM4hMj8fqXh2IxSkiW2h5gDz6DZTWfsRZpr_m6M41xDryxmG-k9pTuEh9unI6N914i9892yEiqdQG9Mt6W527l4bDbUbzDpeUfkt74OQ2wHKlH8XHyW6iIQqYuf95eahxn0Fm9-hwvtzk1mt_ZDd3WWpG3xhtV9sn33P-MXOdhQ1NpbaBmXIAzer8LtrirLEPZi8v2K9qRelxPsHtVtQhHSkqcdVA3MVn49ulSwAYe1Y8IuiCPnzFUbIA0wF-nX2dtuhnY82lq8s6vd4vi6LSM-GopM2d3hhqBJdF0JEblX6w-TikWLYmmJ30bp9Qc0FV7oD8Hgs9YupPuiNjoIkRR_LVmnyC9agPflfUOxrWLzNgGfzDaLfsFUqFd0zZNspJPRy-VjPMuDaOYaYAqFqNnfX1ZxS0glsIk6DVcz5JZgwl2RGw4lPGTDVARh5-UlZjdBiBE22qFVJjxpoewvXFN-UzVt-XLCH0P4lfZFWoGMxDYR7cMoIuOEbxoPorkbfVp2HVWIRszk-18afrS5V3CfYpTHKi1DqFgdD2AzLyc9Lvgh_xPhSKZv_l8QLr9ehxz3mG3F4bii5dBdHY8G1quoiGKMW_6KBy6Zkqb2QrMMJ0pjJAz2gyXf5N-6_46oS8BLVgbdln9yJuaJ-L3Vvoyk9-tX8QW0lpNvGO9Jta1IR-BXSmUY3gkGG0R-i8K6NS9IpgjgtjuAQ7BVWjo2",
  "id": "rs_04122c8e8bc3d057016ab44708604887d0a84764e0a56622af",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.0,\"right_z\":0.2,\"left_x\":0.33,\"left_y\":0.05,\"left_z\":0.012,\"left_gripper\":1.0},\"note\":\"The right wrist confirms the right basket contains only the tan teddy; the apparent extra shapes were its limbs, so the classification already there is correct. The gray teddy is lying low and my prior grasps stayed too high, so I’m parking the right arm and lowering the left gripper nearly to table level over the reachable side of the gray teddy.\"}",
  "call_id": "call_zkZgorK8hywhxs3OqmhZF16e",
  "id": "fc_04122c8e8bc3d057016ab44709089887d0addf18c857274137",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zkZgorK8hywhxs3OqmhZF16e",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0853, 1.4559, 0.5434, -0.041, -0.0929, -0.0513, 0.9983, 0.0269, 1.0115, 0.9138, -0.6662, 0.0765, -0.0753, 0.9985]\nstate[eef_state]: left_x=0.3266 left_y=0.048 left_z=0.0167 left_yaw=0.1824 left_pitch=-0.3844 left_roll=0.0569 left_gripper=0.9983 right_x=0.3076 right_y=-0.0016 right_z=0.2014 right_yaw=-0.0015 right_pitch=-0.203 right_roll=-0.1032 right_gripper=0.9985\nstate[joint_eff]: [0.7726, -4.7932, 4.6564, 1.1648, -0.022, 0.0806, -0.1832, -0.2256, -3.0701, 6.8034, 1.5604, -0.0952, -0.0659, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e22dc91b1beb6c10ca267afc7c720509970a8cc921c5b55add55a941c518265",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa313b4019ee7aa9e88ab64a64f9078c93ee9836a5cdee6db2276b9e540f9759",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16d59899cb3fbc463a2852128b009135b0bf7f2e6f6b8b8f612bfc12f90dd5f8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 8.896 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 118 changed as sent

message 123 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0772, 1.356, 0.5911, -0.1635, -0.1074, -0.0441, 0.0112, 0.0071, 0.9951, 0.8749, -0.6167, 0.0429, -0.083, 0.9964]\nstate[eef_state]: left_x=0.3266 left_y=0.0479 left_z=0.047 left_yaw=0.1823 left_pitch=-0.3584 left_roll=0.0713 left_gripper=0.0112 right_x=0.3094 right_y=-0.0018 right_z=0.1981 right_yaw=0.0118 right_pitch=-0.1766 right_roll=-0.0852 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -4.9026, 6.106, 1.3553, -0.0806, 0.0171, 1.0379, -0.1162, -2.3726, 6.8581, 1.58, -0.0317, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.149, 1.1694, 1.1313, -0.9226, -0.2245, -0.2363, 0.9968, 0.5846, 1.7325, 1.3777, -0.5255, 0.4271, 0.3126, 0.9986]\nstate[eef_state]: left_x=0.3058 left_y=-0.0025 left_z=0.2072 left_yaw=0.1722 left_pitch=-0.3625 left_roll=0.0541 left_gripper=0.9968 right_x=0.4221 right_y=0.1959 right_z=0.1659 right_yaw=0.0439 right_pitch=-0.2198 right_roll=-0.1045 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -3.6855, 6.4068, 1.4579, -0.0366, 0.1148, 0.0708, 0.3624, -8.9641, 9.2376, 1.3797, 0.4567, 0.1441, -0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0853, 1.4559, 0.5434, -0.041, -0.0929, -0.0513, 0.9983, 0.0269, 1.0115, 0.9138, -0.6662, 0.0765, -0.0753, 0.9985]\nstate[eef_state]: left_x=0.3266 left_y=0.048 left_z=0.0167 left_yaw=0.1824 left_pitch=-0.3844 left_roll=0.0569 left_gripper=0.9983 right_x=0.3076 right_y=-0.0016 right_z=0.2014 right_yaw=-0.0015 right_pitch=-0.203 right_roll=-0.1032 right_gripper=0.9985\nstate[joint_eff]: [0.7726, -4.7932, 4.6564, 1.1648, -0.022, 0.0806, -0.1832, -0.2256, -3.0701, 6.8034, 1.5604, -0.0952, -0.0659, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e22dc91b1beb6c10ca267afc7c720509970a8cc921c5b55add55a941c518265",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa313b4019ee7aa9e88ab64a64f9078c93ee9836a5cdee6db2276b9e540f9759",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16d59899cb3fbc463a2852128b009135b0bf7f2e6f6b8b8f612bfc12f90dd5f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEcPJzwluC-5FCmceUyJ403Y-79_c8VwV5bGV3_4QkqHv8toBtUK2w9vGTGEkKVLRcwzaHSUIaNolXLN8R01bEgur5eyMarPjLKo-pvsuwS16pSYeR2hUC1U4h6AYPXdAGEcAjLW7ldOdluQIILKL3n44vR6Sc_vA1T_7MSK0l4MBoRqel8-PjtaoRAFmo3alqHOvSuc9ChMZs6fOnVfrTkl8OyFLY4qtrGofH0Upxkjp7oICydNGGwbNIPP3syMUIhlXE2iEsdH4VejXwhZP7mgnu6IILDOh2IpGgnpqVxszIAvzEE5MreiftSIcaW-1NUfqj3QOgDspPaLMGwyMZCbHwd-ZXyEMUTcQW6aI7QP0uesG48tpHBtIe0baT62FYXYytECcoJY2pWplbQ_8S9871xbeIAdyltzMxXLjNksHzACgfKVtny_NTKHo2uTU4kBwpt6UuIFYvIVy4IkodSWUwC1rDPsM7OvrwgVZaOhoUPdTPrX3ehLWCBge0YoMi5mvh2EsF_NmbwJvdtAeihq0e5GafFXTMA2l-IHoUjHwzVjcUYnM5RBHTWoNdYXM6JPxPzDTtU-00Ee_pqZ7G4XuKG9o_rbCXp3Q385XPQGHRoZx03_p1TN8BpbO_wW10Bfp-lpr3ir2lVMgDYp0-QTLIGgPZWLpPoH9ExTca9jXfJuLM6XeP2IneYzdez3kRenallQ3b5Urx6GwLY4jiY2NBFv2KMmVFp0cbZ-W1XOFt-HNRRPdnHWm_wExUjuXMXmRzVFokx3xokRcrjP7_tkv4B0Jb68yPsXH3zHAtkBtwZZknUFV6yyEfyrZFffT5yuDe1kbMUWrmTp0HgxMWOnoXiOCw5-qm6SAv3ekguP9M0xklyYG0IGqySKutDZ7ZBMOZtcz9Frch5kPI0umXXnMDFHtZUSQZv_OZ6AUO_UAtLn6Qcu42dNbUq46ZA6iCsUQfaUqE_navNUTqhCqllNZrhTh2ttLyhpYg4otFVNWlaXUlnpTStaU4aRHGUX8sZau21PwKlem1cdpF-eQocVtZzmHLHNYYsMo-aKQhakT24gNPqQu_8t7na75HWrtgpuxKx6b8vCexf-OHbVNsmlrrWsLO64wktWEXSetddVkHldRR13qaKy16B_uvPbUVr0DF3INU2gWfUW5ZXSbovHMSAajAI7KK1aUvJM6xxcNzt7aIpC_EaUZA2JQMC-qzdNB5Fvcf1H793Wpo1PopuV5e4MIVKleW_JzIaKUL8ujiLPX_emLETeyqVWzIaVr8cr8-_n_NqpTnVloJoOt0fSD8fe8HEpXCXCTmnBW223zOk5Fcsb2emXOaxlodhtp9uvmmUqUw0X5eg0tRovvUfUfSAMj4j66NmuLSd2nQ9EOGZuWpIFmt3dp82eL34q5qubu7DqMybcH2dSMOzEqC5v1ergq0ym73ZvmtkFkoXRfBsMtYbUhxX1wrTCjVWBYkwj",
  "id": "rs_04122c8e8bc3d057016ab4470d9cb887d0a426f53109c28a34",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At table level, the gray teddy’s right-side fur now extends into the open jaw span; this is the depth that the earlier attempts missed. I’m closing to catch that reachable portion of the plush body.\"}",
  "call_id": "call_T0VkQLlrfIYaGsCvHONR7WAH",
  "id": "fc_04122c8e8bc3d057016ab4470e4bd487d08f3a8ecc318b3a1d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_T0VkQLlrfIYaGsCvHONR7WAH",
  "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]: [0.0875, 1.4719, 0.5293, -0.0372, -0.0891, -0.0525, 0.0116, 0.0204, 1.0153, 0.9092, -0.6804, 0.0669, -0.0933, 0.9985]\nstate[eef_state]: left_x=0.3206 left_y=0.0475 left_z=0.0076 left_yaw=0.1829 left_pitch=-0.4108 left_roll=0.0556 left_gripper=0.0116 right_x=0.3049 right_y=-0.002 right_z=0.1958 right_yaw=0.0099 right_pitch=-0.2267 right_roll=-0.1099 right_gripper=0.9985\nstate[joint_eff]: [-0.3214, -6.1197, 6.7214, 1.243, -0.0806, -0.0073, 0.9744, 0.3214, -2.8786, 7.1863, 1.7021, 0.0855, 0.1197, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8aabc68a8dc7522d6da757a0b07be6afa92d289d4c27a07583a61837e7c8844",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:210c58e5dd18ba2f49178add8388058608a908e1917857c5524af7922cd22528",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fb3dcf6e199c9a9f65813553c6bd462a79782a4042b60dc50806705a1e9e659",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /responses · status 200 · 11.98 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 114 changed as sent

message 123 changed as sent

message 127 changed as sent

message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 1.1648, 1.1297, -0.9077, -0.2195, -0.2241, 0.996, 0.0071, 0.9989, 0.8749, -0.6163, 0.041, -0.0834, 0.9964]\nstate[eef_state]: left_x=0.3081 left_y=-0.0029 left_z=0.2098 left_yaw=0.1615 left_pitch=-0.3471 left_roll=0.052 left_gripper=0.996 right_x=0.3098 right_y=-0.0015 right_z=0.1971 right_yaw=0.0137 right_pitch=-0.1801 right_roll=-0.0842 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -3.8632, 8.335, 1.1453, -0.3004, 0.0611, -0.0806, -0.3761, -2.8513, 6.8718, 1.6484, 0.0073, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0853, 1.4559, 0.5434, -0.041, -0.0929, -0.0513, 0.9983, 0.0269, 1.0115, 0.9138, -0.6662, 0.0765, -0.0753, 0.9985]\nstate[eef_state]: left_x=0.3266 left_y=0.048 left_z=0.0167 left_yaw=0.1824 left_pitch=-0.3844 left_roll=0.0569 left_gripper=0.9983 right_x=0.3076 right_y=-0.0016 right_z=0.2014 right_yaw=-0.0015 right_pitch=-0.203 right_roll=-0.1032 right_gripper=0.9985\nstate[joint_eff]: [0.7726, -4.7932, 4.6564, 1.1648, -0.022, 0.0806, -0.1832, -0.2256, -3.0701, 6.8034, 1.5604, -0.0952, -0.0659, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0875, 1.4719, 0.5293, -0.0372, -0.0891, -0.0525, 0.0116, 0.0204, 1.0153, 0.9092, -0.6804, 0.0669, -0.0933, 0.9985]\nstate[eef_state]: left_x=0.3206 left_y=0.0475 left_z=0.0076 left_yaw=0.1829 left_pitch=-0.4108 left_roll=0.0556 left_gripper=0.0116 right_x=0.3049 right_y=-0.002 right_z=0.1958 right_yaw=0.0099 right_pitch=-0.2267 right_roll=-0.1099 right_gripper=0.9985\nstate[joint_eff]: [-0.3214, -6.1197, 6.7214, 1.243, -0.0806, -0.0073, 0.9744, 0.3214, -2.8786, 7.1863, 1.7021, 0.0855, 0.1197, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8aabc68a8dc7522d6da757a0b07be6afa92d289d4c27a07583a61837e7c8844",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:210c58e5dd18ba2f49178add8388058608a908e1917857c5524af7922cd22528",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fb3dcf6e199c9a9f65813553c6bd462a79782a4042b60dc50806705a1e9e659",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEcY67ZWuodAUetO05APg9tUUQ9b76XbsOZVvOy7Z_OXFl37raXegzNFc2Y8eOieeXH7XMuQ_qWMUsa6V05vOH0FdAe1ggoYc6HkI4fmCeebj2zHAGd8csOevtPtnMbHaNipKKOzuNz5swv7xyzvVgULYoGerrB2_fKGhOVjoopKSbXOBKyyrqQmXFW5RAGsMuNMqSYXhkhLiBXb4WjmJYTaTa9jt7DDRdAKG4YLj9idTMYsfsx5E4fp-3DPhMxV6LpUu38XiphF5loV2MTVGuAjpPFYFesjjfPocuiy3muokpMc1N862h7G1ZHSi0rcmdnFkAGzPn-CZs_2FvqWxQH2_zYGlH_JsvWjJtj60Qt8-FF8I3W4q4vTq2uDtlhXmt8yh8twtu8zN-f8UY_cizXNuAvgdP1Wcg8N9wyfEnFfCJDawZzqSUS_-kTYeUfEtr4W3jeDg5300p4aK4DnzPtZMC51pA418RlLbqN09kWy-sE2oDOjtw_AgoanBfIGwvpLkgv04HsPZ9YwnhdcGa0xUQ_ihbNbfaXa1z9OwSLH5PT146du6cIolqfF2IumIosgGns-fh6Zn4OtwOT1aAGY78ySJqNtda1epLe2uSSdC4rR8dk_1fi0VMbfpLYDWgDzFqpHu_Wjk1jLVgDgVy2e3RrbKB0HnfdpboSBwd7yb02HF8o0g9uNYPQue-R3A8718N68rmiDqMwiN-7cHkLCwDJQeVGPup1LzgyJ19aXr0QuVlj0V5r4D9r_TzwTaDUypNYITwPIwRLCGavE1o7qZBjB9SUjWwcjJBz9A_0V0uaschhrgz-vSp0av5jrE48tjgREDI5QhbEylBg1Yf45UggJsPAUXXCk4AC-rmshf-IEY_mL-qWkRSGc-oDvxEXhHlkpnjKOZWCxgOaIZRQ2c8sWTFN5zhC8WD-a2LVhRj77fVmyA5COVFf5zbCF8uMCKEVLIxr9MtE9syjscQcR133OJhJxh2Tr58xL1RLx2VkYdRFNA4Zbs3LiKPW6LwWPZMR4N4kCFlmNy5t1Q6vl8CWOaxGzEKFJvw7Pa5Y1Td2LslCOYXwAKdO_w51Scn36Q7IfsxgfNeuMkTRjatgV9ldLu9Z_xnoZoP7yffxvXwI9-S4BS8qOVTThE6DlKqp03RDpy4MWO7VydsbdgJjvtNmCAusXRX2c8yMJW6mydAC4qdNh5VkK0FXfyK7_o3zQIF1o8j6nIy4w8kosjxXmKtaWvyLTe7mdiO7mBfza-qQNumx2bBx-rNzIiDqY_5USaYIxT9WmaLuJAqZ10b3RBmUl0AA0npgO3y9hEg9PrhKCHCkUcAKqGOy3g0Bln1mMgd9-er3qHbP9cf79IJQraGzzrULVfXeMK9NPesKw-WSGOHdu-2Kgs7OQkj8f_RPJ4JAJZz1wPwEyHdJvLLh-fToXwMDaXFHjutI6_fVAmrVqhGinNyzy20N10dEOZ0lquvDp90B4idDYvHkV4DF9KzC7uD02b1jELLBfNXpVPBRqR5eWKtAH8IG7dsxmTZ7YQ28NxTnS1IxqDFbXsQ4OYKKS72EoEw_HRtLoBOiqU68JBgv7yGLMPVUYRf293Bg_AQjOKJtFvo-lUyRPxqhblzzF_aRMshMfMw89p2gCWFyQcfwtdtHk7P3YEdPpe4tEnf0M06Iy8HfBu5gPnCmBB4Sh6bAofKhtQbCccGaRW0veiDhaOt6EjMj9wuSovYmM-ui5shpqYDi1HMCM6XY5JFk7IRxnTWvXrrB5Z-i4c-L0DjbJFzgLu-pxUqxttxrYhqqT3Q-_4yuFMAav7NjWnDqX6nDv72psne8FZ0VJK9GX_MWPDkVIKLv8SyEZdBBlA360GgYy09B2wEzD4MTJaN0X__TwMR3MtzXBPmTqGSDKqS6Qt-xpoZKFOnGWhO9kIioXd7nfVcykEt3mt93-qIoht8Bc2To8V3GL0dlEJxiBKRSspapa-DlTs_Qd5CwkyPsjJVMEMOdEvZG54Fm1DZefRQP0X7Pv36FLnwvegCnSnploXxHwqWzQqv2C8sQjAH81LOC2DFkMPEj2Q4-9SUsMoCuar1BwJQqxi4FrgFxtrm8tkk9Ntg8DY8rrplIeHOdZDDHe1yCaI2hCHGp1zaGzLg3fPqexYRIG0sGr86iny_xAuR1cLt5QMlULNC00D1syl3w4eBbwidIGWjXDw_ZpYLsssNvHK1BD3aE_BSoxoqE1I5Z66yJQoLbACX6_0gfj8ryWu6QAWnnAVK-KLOhDAqnv4XEUZQAfacmnEMTd-USFSqzazDWgUGjo9HXV1RbRE_pnKza9Hr6oauZpF2M7MS-ZIqLmKvLYwunu9guHRRcnDn16MyDoQv1UAv_7Q_TkAI4mO4DeGY3KD6RRxAK-eZ0LhodAjbRwLzTGmdNV2UOl-DlP5eOt6L_gsThmBNzi88ulEZpL4-QmrEOzRfpqAQu86fpzb6Sd16dbsmq0RoIX8nkOrKMA1ahXFDkuXVgN5zJsCvaHfCPPbfk978uHLMPqahAGLknc8Ki8afBrkqmy5TnMmwUUwVASp6NB34Pm5ObZlt9j1wkV0eSQKZQWfRRH3zbJ_1DCTrryew6hgr08ome5IFcSoInQ0zJE0cAJnvWBCHFX8spvz9yQb_ozYltisRq5CszagePWvlATJXLVUxdRPlnsp7BkjcEFRK68hAwYE8dyTXqBFr05d7ESY9UeJUq_SKfmcN5lAfSQ2kFetT2d-1hgbhhxk8SPURncK9zs7sST03MOPDR8e0odByIV9xg9Wtgzt_7tRCQOa2xhcMBYEM5hykfvvpzAnpzlNb1L-gjMQBi1tDedh3obbqa6vLzFjCBJlTwytRyTGNHwjQqBsfvRiTq9Pic0CsLhtjCNiw9qf6yAA6ztt5cJpagHC7X0XIAKSFwBUD0mFDD5uk7XoYYYn2ies7gCu_F9YTp6RthTNDowLsgk3Jph-TImglnLDvqwKRdCQLrdK1cl_C2JMNlQXCs8AsSBeeZQWm33lolpPw2CzOI6eY9ZxCnzsc_5tgpgOSm1Qi1kwA-01FOOI43bXRT4GbseDX4cfijd53CutnggNVOIV8Xif3L-jSUVhov-jczQphrIbdGSjrDlHy6F9Ir_TiLvsUjTrKdE0tN09r6I3xIdHW9oTi6nQvCZ_ERLZhXAhn3_qih1W8yj9OO2gga2Da4r350-lQOOkUSwT4Nrj036NY00VLZo3w8CDlBlmKItgpq8h5iPFviHKaV556kCDYpg-R8pQIk0chrwJnme4nM-BOrcniG-gIZ-xoINcQr6P95L72nQZIdEGNVnOE1QL9CHbZGr8mJIlkdp-2SzKTOeIMak1kgJMV4k3TMNJ7MFKigrjgmO3O4zwG5_e3xj-UQTh_HSdKdf3htNIlJVjBzUqHaCMaqR6Acg3AlcGBvi6WnZMZqpCUt0OWUIpDHTeYZ2eiuIcPBL09a7dl9pCF7uk3lbl-3zhLIW6vVI4eb3uJISd441Zjh_t0z8UnHh-44sDkASj3HP56x0AuTCf1pZlJVKPdsMCmt9T6yUivT42GNVYFKfVSAQ83_Ezamkr4O3O6gRZE_T6efWDr6dQuhvWKENyk4sVn0puSEHEsdN4zFckLHvsRzXB87tiOmJSLD3y0gBJ2v59HchasfPI_o3vAvk9kdvybb4eVYMLCHd7Zugi-C4nM6mRDpy7K8LL3-DM2CCLz3ipuHlW4Su2tSsbuH5zjE-0GXEcyqrtlbgVayBfA3VzM59ESKU6LecEsNcv6yEH0J5R5UN14po_W2Wt94VxvRvhiemk34N1wBydd9eWChrRTAu50rRii93qnrU2rFiwtLwsofpZM40IGcA1iJDHJfq2J41XUhBwqB5jgAiTrivEKVfQujiwBjWrK7aYO6_KDPcm1m-IFbprh27YBBr0OiKAbcpMkUCeyhu7TNz1QQiB_i9ySgXgOpcfpjdNnO-Yx7BmgoxVOjkPXqVyNWcg270PWskHai1rajrvfZ08GdfDw4OMsvwvbx1Cq8hU5dAOGesRdRnKFk4e1HA6MaZmb3iy0tofXxWloPmaZZv56_iHd57vPvgv_k8ed-zuhOpjSRw4kVh-AgUAjq7AbdUovCcucgdMtsWlzcI10RzWVbNIGVeb6FfE-VgTDE_8Ykw5puyhHGSw43d2eJtBnZjsAgXY39qUDhynLtUZQdCyE8xXVRreIE-z3ana73_aIJZQfjX0Cyt8d3pS-U6Ug==",
  "id": "rs_04122c8e8bc3d057016ab44711a33887d0a5cf851b4dc67c78",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEcYW3VFCzbIOcqNpz3qu3efIkwTeqtRZPgT17L-NnhHEALatM2tr9hBRS00cn_McwT8_r-WtGXU9VMTMaF9okmb-_eAQjqpBV_6SDhWa5L0DZ0GkcegjCY_eKWDwUDs3WQPuZNJ4RmrA4ZJYg8H_K3Bhe1QU-tih6IAz8NsaOFGe3P1_z_03GN-VWsZ80io8J8ZrTqE0zbPGPbjAlnaHYK-WxiBXIa5m9TBizew5rh9Wp8bGicDMqFjAh1ZPThfF4L3nMfdJsU1RPiX3CM9sRVXtpDQAggO6XL3DNi4ITlKwaDNR2hQzV9TEx4BCKiJivLs_IHAmFHHErhTgj_3IcHtFHAswAl_e7YF4Gd5GWAMzkKA86v5e-vfy0g5Lma2OUxHEpg-yOXTQ6TGE-0smNIu444isXDV0wyw02_bN3xG-Tp7JNZEz80k_EJREneYPdcN4G8oalRYsyk0K-ediXiWMy_OXO16CIxMUo-h7Gx5UD98Am2LG-BHzvehBad2_YKh5t7zOr2soHtyvGGeY3zdnipDz9WOUMECj4gEKn4PCPc_DXKFdIN82X_ACCfUi9f8L6ARyy3Y0DcrmQ4vfnw3TJ5cZd5AkRc4Z-9-BM1wQMxi_FKXzZhRLMopHY0-DmjvlU_q0JlDhD-8-B-aMpR9t05nNkxOar0dYt7I4nK9YDTA0z8QhdnDBUKSwQ5LGduAGErEK-8DGNcRsmL2MuHuDtG6Dh7DV-WS7-n_iC-rM6KYSaBRFb2YLOFb668nnJ_JTA8GqEd2FpHe1EL0QuFKN7H7KuGzBufe1PYXM2mSEp-WQlZQMOEmAJmrLc_TO_gmZu4xBJR50jPw5Do-0axSjWeMvvTvy2uguiRQBikAA27yaa3fsA3UWocTliTACqkM60FEcpkOAe7Z3NpbCXIsDjgD5RlbSN9k57G9d5eG8Xfa-uB4Nw8uzUK1sF69o3er0LBerYFAwqC9QYflluE9j4P8qGnP0b81_pIwG_7VQ2QMbnNghmsFmRHQkA_qrwB9D3zVros2-vKYWYxjtNx46v25UGOiSACWjZCDSk7ZIUrEh5oVH9zw7N3PdSmxSbOPvaHbJUG5Bh2k4oKZZbxTz_kOEubO8WBjTwKdI1sqmWXywyDfETB3yAvRoYVjHWjWIOn0rBo4NIfAexqKPh8p4zFKSayL2Kaqc58FgmLFySZk2duOa4DJwRGSwvsosNEmWJ2DNETPtlpZH3meevY2IEI0e0k8ZB5AP9l6xw_DJxLpEqIzASszxvC_OerL33iJZ9XBTmSJtRlkN9-DidUHA3sOeRZpvIfUG83O0f5O4KVtfOZqs0XB6sU8dumJz9BsiMDLG3e1to0DtxpMnannhWFp6iXL8ByVaBQ8MbQGw9n4i5LgkQL7R2CA5wA6y58aiS1eMMlqkpc2ce70_5sYCSmuNfGkjvVNDJlFWE-EX3IaODz7RHRkzQT0q2hkV_K7zOlBYNgw8L95fEJfesM7y57vSc0wwsV-kvaMZN4i__ho1CoI0io0Z9yQiKuay3NJH18hTAwXZuvyMGus46XKBqQ6jNXSWFzv3PTtEGhBLGmXBWae7Xv20wAxCEsUIRVK_cTmqWOrtf5eYU_lsdH2-TpmgY6gUiSrnejra_RtnXllwYxJ20IAOFl2h2RGkZ9vs2YXqs0lDq-wZ9YQT_d6NQ==",
  "id": "rs_04122c8e8bc3d057016ab44716cdfc87d08fd03ca4bec2a64a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.26,\"left_z\":0.05,\"left_gripper\":1.0},\"note\":\"The unobstructed overhead image resolves the mistake: the gray teddy is still centered between the baskets; the gray mass in the wrist view was the left arm’s own sleeve. I’m moving directly to the teddy’s overhead position near the centerline and lowering around its torso.\"}",
  "call_id": "call_dloBWojVs20wArMZwf7EidHA",
  "id": "fc_04122c8e8bc3d057016ab44718180c87d08136c98b328cfbcf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dloBWojVs20wArMZwf7EidHA",
  "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]: [-0.8219, 1.9877, 1.3571, -0.6338, -0.498, -0.9089, 0.9984, 0.02, 1.0157, 0.9077, -0.6811, 0.0662, -0.094, 0.9985]\nstate[eef_state]: left_x=0.3558 left_y=-0.2536 left_z=0.0428 left_yaw=0.1797 left_pitch=-0.4297 left_roll=0.0528 left_gripper=0.9984 right_x=0.3046 right_y=-0.002 right_z=0.1949 right_yaw=0.0106 right_pitch=-0.2294 right_roll=-0.1099 right_gripper=0.9985\nstate[joint_eff]: [-0.5675, -9.8803, 7.8154, 0.7937, -0.4762, 0.1587, 0.0415, -0.0889, -2.5915, 7.0906, 1.5067, -0.0171, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 364):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:879160eb52e56bcf08681c1823f437f5c70a6683e1f692fbc6329ef8542ecc40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 364):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f18c38a6600059104e23dc21fb3896ae200d59e930f88385a15d4787f67765ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 364):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81a093c90c6c977615e06bfb911f1b85245d92fc9239133b4926e128e795fb14",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 4.09 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 118 changed as sent

message 127 changed as sent

message 132 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.149, 1.1694, 1.1313, -0.9226, -0.2245, -0.2363, 0.9968, 0.5846, 1.7325, 1.3777, -0.5255, 0.4271, 0.3126, 0.9986]\nstate[eef_state]: left_x=0.3058 left_y=-0.0025 left_z=0.2072 left_yaw=0.1722 left_pitch=-0.3625 left_roll=0.0541 left_gripper=0.9968 right_x=0.4221 right_y=0.1959 right_z=0.1659 right_yaw=0.0439 right_pitch=-0.2198 right_roll=-0.1045 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -3.6855, 6.4068, 1.4579, -0.0366, 0.1148, 0.0708, 0.3624, -8.9641, 9.2376, 1.3797, 0.4567, 0.1441, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0875, 1.4719, 0.5293, -0.0372, -0.0891, -0.0525, 0.0116, 0.0204, 1.0153, 0.9092, -0.6804, 0.0669, -0.0933, 0.9985]\nstate[eef_state]: left_x=0.3206 left_y=0.0475 left_z=0.0076 left_yaw=0.1829 left_pitch=-0.4108 left_roll=0.0556 left_gripper=0.0116 right_x=0.3049 right_y=-0.002 right_z=0.1958 right_yaw=0.0099 right_pitch=-0.2267 right_roll=-0.1099 right_gripper=0.9985\nstate[joint_eff]: [-0.3214, -6.1197, 6.7214, 1.243, -0.0806, -0.0073, 0.9744, 0.3214, -2.8786, 7.1863, 1.7021, 0.0855, 0.1197, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.8219, 1.9877, 1.3571, -0.6338, -0.498, -0.9089, 0.9984, 0.02, 1.0157, 0.9077, -0.6811, 0.0662, -0.094, 0.9985]\nstate[eef_state]: left_x=0.3558 left_y=-0.2536 left_z=0.0428 left_yaw=0.1797 left_pitch=-0.4297 left_roll=0.0528 left_gripper=0.9984 right_x=0.3046 right_y=-0.002 right_z=0.1949 right_yaw=0.0106 right_pitch=-0.2294 right_roll=-0.1099 right_gripper=0.9985\nstate[joint_eff]: [-0.5675, -9.8803, 7.8154, 0.7937, -0.4762, 0.1587, 0.0415, -0.0889, -2.5915, 7.0906, 1.5067, -0.0171, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 364):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:879160eb52e56bcf08681c1823f437f5c70a6683e1f692fbc6329ef8542ecc40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 364):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f18c38a6600059104e23dc21fb3896ae200d59e930f88385a15d4787f67765ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 364):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81a093c90c6c977615e06bfb911f1b85245d92fc9239133b4926e128e795fb14",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEcnvG4Fzft4u37HkwYADLCbT4QSNJHDHkxyerrS1tyEktC7GyZ-FAJWqaYlPxMC6VW2UhTmHUngfZpz0vfXMBeKU4qQVETg8ZpVUDZl9n--XNggx3vrejE1Y3oJexq2vUS1Y4069UvKn_BAAhUeRQZe6x56YPOYMhFsqSInEOTyOTCtBz5yXKj6wcesCgvZDUbf_sWMljK3AYb6Sgthp0LhPwXOI8-TKWWMy9gvpYys10fy-ykpcb8ci5xTqg8YJkC9W671ybVUNcdbT8p0zXEHDuWuMu_SOOtLll11Bwo6dTDHdSN7f56KRY5xLSB4KLMIts7sQfYvbZUHFpULYEd5XyTZeIO18B_pU-fKMG_SRXrMilIVMQZY7lnKLq38z34gVwJ4L1Yx3LpvIV4RfyY0OwsoyJDf7TnIsiSkKtZKByalQnvpqHQlay02ReoR99EOnLSseNFVrQnNKXgmpo2u1G9LeF6-ZdBlENbCjIkxm3gsJZThoG_SCSpLzyV8NJ3O20P3TNXQbAT2LZwzfm9KflJJDNv6tMc48pYkb1ml18mcdbuxhN1Mnh5i33A4Q50G7VnrTVJLgq1Qk8imFaY9890iWRObxv52MNwVfa_uGxYHET0CUzo1MiVkOFh1nEHaDRkuf0K4wHU2Ks6LbtoQI2CkXrD-9-TGoRRJIQsDLiSimW_vXEswXTUwsVhZ0Wf-DrAO4YSfajxHXOqz7UgaGWdXQ1XpS6S_TvebCQ-UbpEjLypgDJI0wTAFntrPCFryMm5PbBN2L0iXJMK6uHlfTpr7IRku7LeiJxGHSxJd3ElILbJWDT5La7_WP9UF2ZpC9pqQI_JwbzmaQEKKIxaXLglOswTjmkrF3dxnKUGe4J164itE_1FEfFR_2G0pXGPQZjmqw5SWqXw6FuGre5chLc92D6_yV9Ps3w9abB-VbccRFrrjSNVL4r1WGDMNsKGr6z4S_toZnfuPvozVpxMMCdQhWgGTTdSRHCQymJiyvCvmqQ0j73S9Gzjzl5bma0DuvB6Asd07yJLkj_kxzHYGJcDWGM0OkHHvphetH0eg5pmDNOQEFthRavsR1NXoskCcHe5feda_OKzjMUQtfGH3b4OxGaC3OepbOvWEGUzQ3bklC97rmA-crmKJjbJKBaoifXpGsPZHphmNQt8RAzTKgY-Kmj65EDpcxyFavkJ1QAvkSTqaf-pkTv7FLNkwDrsWZBoEJSHGoiQfM9RrBhBgrDP2N6Kc71UtL6IoyNGKK5GFVpjN2LymotzJTV58Z5xAjry57CtPjKTl_WwYKOLgdm4aEX7n9RSfAo2zCSh6wBnpx93SAT4QOHpuqAzzY90KjUnWlohecqBch2yaDLRe5hkB9maruiL-H6Bz_93pnalxA7wiBa7x4HLP83WK2roa-RlhzqXN6tDSzASECApPScmiKn88tRN0MEBaxLciFszZfTnEWsHCGfidhloVNQ1v0hGU67nlIR15vFVrbolsBS8yTk9F8bFI3-sqhsHxLj2p9ZNx9QUGZ3mMdqujDvuSclReHnP1kgZ6G8BF72DksXGYdzVXLNb4_X6MB42wa2NWnhgrfbHA8BsXhbouQKrjrYM9kAvJhEvphbHP3_nB8TzimyM8tRMks5yO-bM-vOuJ3dOJZIxB0OvS8TTQRCSMpgI0Y0hwu4AN3SW1rJs97J4vYIVIFh6-vymg34JIJ4IyHGLxtF1n48eIw7VBLaaSVDdBPXYlc-Ln_HBvCe9NptZgQfzoR-VD0XzKP1RdudXnyGiYr3nVto1VH7e5yL5F9MsYLtBS8GO0MwNqU06x_1WN965iarWMoETOhfrEHcqB1H4efV6swey_0eUUahTLGyTV-MayW6_nSuZP0u2jSTMmDi2hq6EuitBKIhVL7nEBUYad6FiIBadzsrCjW3lVuYq_1uaXM_CCRPYs-iOJHN1clsPPmcqzO5pErRNk0D8A81p2RT2o6OR9yEBEplHnzUn5ez3OdcMTlMeKdjGzq1VyywVr8Uts6YsEDJaIfL6poNRm17L_G2j-Rn5DrbRFtRbPmzTmdkDXgfXkv_V4X-9m4D5s-EgXjcUnlebANNLRMq88O9qziAOwmCvPaVyERzDaAMbuZAg_BL1GEaD4k-T_ztpJj8N1IHGML2aXgOBd8lWC9aoKa-v4BjKSIh93a3edua237iaULMmaN_ymFlo8LUBYpJLsrxB9tfGR9zReTXKQ5_cSI_FpUjixKrl7ThAv8nW42d-d7SkCyd8dz07Ia26y7PqhK7V0WQBgjYaIpXTXDDzq8bt0vWKPJKaAPMxHv8tnVIRiW_SsD4PJQJD6orbPJTqiLOFzI6oObWTCf-tlAybEkqLzDDitcJL7XPg44V1aNTlid_GD3E_3UB2gGIiFi-kQM-SYlyZEL0UueUhAdjiJj0h2BYW0HHPRfu2vJSmLc9beIPyInzvVDuo4zZRiApKQY6ayHo_keNRzRMe9It6B1KL6uw4OJCWalkVtKfty5jZsrAI4yTxMvj61KQlvqI8mgRxmu_iNfFkfFEOYBNFHPVkT7EYO7RyI8LlvkAeUf6B32L0TKc4mKvElYXgq7RxmeQE59kd82WRv2s8ZzGLeu5zDbCRN0ZygunYaduaq5A61vpIqFBHzNEIf59Vw4uT28V8l45hBwieYUYqwLdkuAgKR7lGNPyVQgZOhMleC_wErmo75mvuALvwm4PNIXfgayGBsZWsmPT5HhNa8L1FutP9v3EZUEle13yotiLz5grlWHyvVnjH2TE1gE9PU8GlR-rss7RYd4XazP60nAuQ6dnRi3cxLrnAOAlB-stKNhdFgaXscvmtRM3WmoauQDku6nNXwKLK6DMFhZflpqIG60ftatul4eHZhNyETVUZHR9eVR56WH6u25UPOc8z7TeqIWs2D0yfT13hc3qMe5MP6GTu2q5VFM_3DK8tdEc0n2BBgiNfOy7B0pGmre156E2VqoBIf9KhM9pLSzs_VN2c1gr-k6J6bWjOouWjC7iVGjclhIYWdl92-ej3VZxYcCGa_QZAVn7eqIzmMEaLF-dZDXHhQFTZDCIzsn1JNKd_jEovJLqhKEejD3ki5VzxfbRKng3J0YQgow6FRoMEsu6B4CHVppc8-LOt6ROvaFg13xpjLYws_4BA_ldV5pBCNy6YdN9LXexzbndHlZWRxWVT5SJ_mIHoIqDtwy4gRwPUcQ41v4fXgBM_syrmRsiISoJdOnZC4GQsuSWKMyhn0B0ZjScWp50voVQtwvh-5ihg9TH4fsrYbld0BbQP8pwo0pAygXJuF-4QQP14pnnIxU_jUkLFC_xIYkjfSIEdX7tyFo9x84q_ovLqpLc0a4LfqtXPyAMRivHDxoGNQHT4k2wAQlq4Z2dFqGbDpK56WzmUfBD5K_nU3PLRlZclMgkRj8KCQD7-QyORfoWRk0lzPEol1i53-nv-mOmiOktFSV7NGWJlHlvlAYGxmKheTyPcMqhHYj8P-ONA4uimdSwndRoI5V-l1Nt5VngQ-5bW5mNAqsTCIpHKDp88qyBaE2Ei8JyD0uhb215SvjO43cOD46e9_HdHznwc9aChlcMt06VZJJyTyYnX1yzmac0tbWYjlTe8B3_oMjGZRpOSTo84XKvMFln4Ei3AQh66Y7nQBZgGsNXrKOgyO9ieq6EWBhBvEuFByHtvUsfrqxmEIIUu-uu0fJjegKaVw-i0BEh16sRl6-BEiX7VPTkUk_bsmcMpcpEpZeTjtODTLZSIqA_P2OCxsBpB4VwrhcTSqvV3YKHG1mwgQOfjKCwatGflzGbGhT6oQkLS4iykumMNhfCkJSdEBSGYqcK5jTRMg64xa_wvn7oEZAa64FzgAUFL_YteuDkCGeNuNTQ_4YdnZTfGrDYffQUCJH_Dkd4F2yl3mlakNZIUREPHFjzrU9nHjtdWIyAsUBJ-Y-DlIR0g4WX6lLX3X1ujvalODuutZJRpjFoo42oK4Rq23oGCTgwJr4auqCTq6VYq6vwgp_JuF2rKgieZQ1MtndMv2nJG0crU50RrmViludp6Nn4nuzuN7ZPQqLMwnAh6srwWZAnKzIRSw3k8EE-rykD6rGEYk8zbWF1uT_JH-jCVu31-zFPmoz76kdeweTl04Ih-x4UUrAd-iWsSzq_yNhLsxMHtPec8fnjymEdxPAxcNxwEOLxP-wcktTzZrSWkDTczdQAWB9eG3nNOrmK6ELrAjxSL6hzxSRoAaqg5jyoEN9IljJQ==",
  "id": "rs_04122c8e8bc3d057016ab4471d05b487d0a29e7c35c5a856e8",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEcnMiKTkudx_wBGGwC1SGOPyqFJRrnV5oPP9sjs6IHO_YaDl72sFxFIW-JD2PVYzw75XULKNzgAyxJ36ljBCnihs9RCYRZyWsDsMuLynadXL_IPy_-8VHWtWEuCbWTJZYSUFIXFA_qMpYTkwFFeJ_ZQyhJHQN4SpaULholYxbxy7FKmmIM1KfkIWDbKaL0svBxFwrh94-QkBC3SGStLiuANC9y4bsaPjofzNiF5JckQLl3bl2-sn6BvMZ2jAqeMw1JaPkaGrUvAY6upTNkujZKmAYcDKXA_3dR0kX8kfoZ9H_tl7EZ-SkLDOWNud9HEEapQgCtgWjnoXmjCQZRNv0t7oReM5y-CvM1hBbs2VDR_f__f-dYsYA2MjGy95IYNNhovVDbbNBbdP_RyzuJbFP1nwRYXBZV9DQx_eBtbNOe19ZRMyKf3BTAaWIc6kkIvsXr4_W2w9XFSbHI4S3zywohvoAw4LsNPjJ-aSd8pQtH9bhUvXuCH6pU5zQXMersXawxkZsove8a_0ErMIb88Zlcl_3MxCJn0cOh6uLJ7NZfRXYzdHGc8gnsC3UzjiiOauMY_hWDarvHfcxol-gkOvLndSvkXLJJxpBcSyBOGzKDzIr2BBjX678os01GW0jcl5cmHnumTjGp-CMrHVg4DBlECRS9qZ1DgLmuJXiyeXCbk0PwH1tKehO1aGpOsKrqsxkb3QoY_DeNIJAxMdX-bh5AmEL4h3sK2wXfCBNhB0KXrmkRpT4zHcdhTNS2Bg-8hfG4BH3AS9MMgFnTR6qeoSlfQZuSzEmO_zcn7oHKMn6BU6m-buBLht0yvJCsxiGtAkggEoM1ZLrntg-9HYN3qTYMwZV-e0U7_Pn6W0Qocc0ZJ6XHrkQmMO9ceyVK4mxo-N1I8Vf1ogo-wdB-tiAkAfUc1Gfixe-yjg-Xn22CVH1FnIk9xNpWXFnPSnhn-UjpgFODasbptOfazmE-2QmWfu29FPJhlmFF9SQ1ADFusqEzfl_BmdxtWZlUqJBr1rMPCUi9q3MRPBMqkf44Zb-2eJi_nl06Fzm4Ut9cVn-G4F3u5_MozvAoF1hl9SpY2I-k1mP4MoEfc1zUvf1KRPFoKMQcpC2fBPE5p9_pJaB9wPy6vnCrU20KLSBwmc5ZRPQZCWt_XQ1o9-JVp1IAC5CKcs0TTT1fKavoycbQqqqQqc9qP2oUU7b462m6TTERXwbG1eezX09aX20zsXFki5LBo55U_w8EqTcbNgkFYMjwJwcE6a6KeRQGpKnI3ywOHXtZKVxIr5xke0mo7C1uKJ6UzHvHuiAKJdQzdpe-vtqfZhNflVOMoEgpnrsL5GFiaXAVLXg1e6vAqy1mCV5ovfTZqcq7Zc0uhnznaYu2JjSgZMI0XGj_ElL_zz7WMHZ3BH_3z_I76XihETStEhRWhBmBfyefrAmpb54L6VvSB9TF6L15YbkQG5spNMBH_NGx9qfF2J6rx-q2_Rzcimnpi3gJdlMESoqU7aTup40moAtK8ZcGSDEhy_EmC536nbD0XAfqH3EFRcq_4U32W991I21x_WAHr-cE_Oxo77szmUNMox_t99JT9W88xOXbt0h_hg3LXYMkWFi7eYjbkn7fW37sIAKs-QX5CSd91QkV8JCJSO1vzUYuOSf8rbw8SSUysXUQ0tNFyi_ndzL7MWFJlD8MoV9qn3xhXsgq-XyjAgZR9XouHDop1BBwAXx-vG1gdtzMesaxk8ly74a33XRy0B9T39sJdVAdBF-q_xTGlrqcYR7E3P7Hy1ZL82r2f5yy26ZtG-nH7euzBhw5-nJcHoT9B1Oqig5NZ0jKr_NYxgMTtITdxpQ3DG802Hi_45hjzRJTpMMopapeVLZKrsXJinmR92kovH8zBmn7viB-LeDHtb97Ziiz4o-2_3SGvqXJl4Fpn_rH0rkUBw0F-cZRwHs7DaFH0_GYxZhmROamVl24SED0El_8zDoSQBtDvm11YZmXgYWjpyUmoA4cJzdEM4rUF3J4EJZTOvpVHgFnPjyoznjoITAewgs-sEeu-muW-cl8Jc040w61r7pJZuXhKtVE0gqopBeH1r1ItGccifK-z9HY5t3gM15pAwpqOAl_xZJthipqQRkhw-vUOdD6bOOYO14cntdt56tg2zxiLUDMKN0Am4KrZlPV07oDr5mSe7wXQI8jH-X9ufzKKBd-UeWhTw2zhRSX-aZ7tngczDzoiDGoe1OocEllzUvFK-mM5op44DwC707vdlH4kJzUQOT-BvEBzEvbKL6OZ_ZtfQvmvIa8xYZmGhY86TzG_KBuHHLHPVcArExO16CBO7Ce8o2dZUrqssktb63jpmBN3mOpa-SFZLwvHF5XpajlJDPt2cOw04fWffDyRD8Vn9IzQq1Z4MQjVTZ6fDqrZJ5FIeX7HeqUd6A3R7viWqHDIMBdsSKnSyW68mkkcKMGG7nZataNIgf1VuIdJM2uXsIlOcRREAbmg2psnlk3PHfEynmauqT5LrM53kJ0ZD41pRl2ocAKS5-B0lqUYWl6zGRSS-4y0OHd3elNmU3Jy3W9d-P-mIICCvlY9vzUQA4vxitSSzrJDCM7Bev0Z0Hsw9EABqPfS2bQDQ3BTteKdGLZcHGakABdixpdUvWzK2i-LnBkFygqfmYgW1qupxEvz9UKcKlOOhEjLeNAuX8Onbx4uHltifsmtiIAMtsCa38IdVtymumyn_QrJXR_xLEQVPNAV043r3J_DhmL_nMqR4KlTQPziJUvf-dLuNIB0oVMT_LrFREWzVOgHYiLzS55k2Lo5V4lfbFXOaQP36GpDlb8Xzb-8o1JZUsG9dxkSlaBcOfJgP4eFSGg-RxPdFvaPUBz5wdJTpnaVx47ZvCKhWb6ocayKA_LRtojUVW4pmoRXs6KU1_jhRpzcwF2LzvnPw4v0AgPZ3joRcYTouM54kA2tR7lhm8X9T1aSbeEuzaurjTc2KVdpRRboIk5eUdR7GyBQN_iinb7zGxxhTVu2HQ1cvWRKaiIxn2AwIvjxHOnayYtunmQ5k0qwYoNwe75NGBHFOnz7JtLlIoFiJTzMfTjaLHmV93jFeSkoFmyKNOQpx51_pSmmSPAwX6FgWAWF3PgY0tSCF7fgPrqmg_1Etk1P4SkMgg9JXYP_ZLUOpIGsDDSONV7ishxhz2BquBY2ZlGrZEXYueT3VW14ndD1WkqwE0V7iXRelvSrp2p1BLHvwRE_IfO3BVRoVxcBvjrOF_fOxqun7sXyw8P7UXZ9ab1qPkUc9udR3svtFGhZtIxzX2tzmaB3Bgsad_gHncMCDxMOy6wXBHc-7GdmCSQ-f2GESRk4wKWn_feTlCgoA9ChpHfCpzsHrv5noMuyJA5S9ZK6R0Eoxzvpp9I=",
  "id": "rs_04122c8e8bc3d057016ab44722179487d0a5c4b990c43cb106",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":0.05,\"left_z\":0.18,\"left_gripper\":1.0},\"note\":\"The overhead view confirms the gray teddy was pushed just beyond the left grasp-center bound during the earlier misaligned sweep. I’m moving high to the outermost safe pose so I can descend beside it and use the gripper body to sweep it back inward into the reachable workspace.\"}",
  "call_id": "call_2MAdJSBYxdgnvt8yGdSbsQ2S",
  "id": "fc_04122c8e8bc3d057016ab4472672b087d0833cd4f1c4cbaa4c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2MAdJSBYxdgnvt8yGdSbsQ2S",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0856, 1.2823, 1.0748, -0.8314, -0.1089, -0.1009, 0.9988, 0.0204, 1.0157, 0.9077, -0.6811, 0.0666, -0.094, 0.9985]\nstate[eef_state]: left_x=0.3184 left_y=0.0502 left_z=0.1617 left_yaw=0.2313 left_pitch=-0.4658 left_roll=0.0531 left_gripper=0.9988 right_x=0.3046 right_y=-0.0019 right_z=0.1949 right_yaw=0.0107 right_pitch=-0.2294 right_roll=-0.1102 right_gripper=0.9985\nstate[joint_eff]: [-0.2667, -6.4068, 9.1145, 1.072, 0.0659, 0.1636, -0.1441, 0.0068, -2.5368, 6.9265, 1.5067, 0.0122, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c905f7bcff3e112afb0072ec4f48d185994e25c082d957a69fc01f7b4a21896e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3803878ed1cef75cc413234e45f5cb060bb7b244ae817629bff9ecb4a7ded79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c674a99f1c56142bf4172d2213acb16d10fbe2acf44d669a256485318d7cd3bb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 2.495 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 132 changed as sent

message 137 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0853, 1.4559, 0.5434, -0.041, -0.0929, -0.0513, 0.9983, 0.0269, 1.0115, 0.9138, -0.6662, 0.0765, -0.0753, 0.9985]\nstate[eef_state]: left_x=0.3266 left_y=0.048 left_z=0.0167 left_yaw=0.1824 left_pitch=-0.3844 left_roll=0.0569 left_gripper=0.9983 right_x=0.3076 right_y=-0.0016 right_z=0.2014 right_yaw=-0.0015 right_pitch=-0.203 right_roll=-0.1032 right_gripper=0.9985\nstate[joint_eff]: [0.7726, -4.7932, 4.6564, 1.1648, -0.022, 0.0806, -0.1832, -0.2256, -3.0701, 6.8034, 1.5604, -0.0952, -0.0659, -0.0317]",
      "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]: [-0.8219, 1.9877, 1.3571, -0.6338, -0.498, -0.9089, 0.9984, 0.02, 1.0157, 0.9077, -0.6811, 0.0662, -0.094, 0.9985]\nstate[eef_state]: left_x=0.3558 left_y=-0.2536 left_z=0.0428 left_yaw=0.1797 left_pitch=-0.4297 left_roll=0.0528 left_gripper=0.9984 right_x=0.3046 right_y=-0.002 right_z=0.1949 right_yaw=0.0106 right_pitch=-0.2294 right_roll=-0.1099 right_gripper=0.9985\nstate[joint_eff]: [-0.5675, -9.8803, 7.8154, 0.7937, -0.4762, 0.1587, 0.0415, -0.0889, -2.5915, 7.0906, 1.5067, -0.0171, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0856, 1.2823, 1.0748, -0.8314, -0.1089, -0.1009, 0.9988, 0.0204, 1.0157, 0.9077, -0.6811, 0.0666, -0.094, 0.9985]\nstate[eef_state]: left_x=0.3184 left_y=0.0502 left_z=0.1617 left_yaw=0.2313 left_pitch=-0.4658 left_roll=0.0531 left_gripper=0.9988 right_x=0.3046 right_y=-0.0019 right_z=0.1949 right_yaw=0.0107 right_pitch=-0.2294 right_roll=-0.1102 right_gripper=0.9985\nstate[joint_eff]: [-0.2667, -6.4068, 9.1145, 1.072, 0.0659, 0.1636, -0.1441, 0.0068, -2.5368, 6.9265, 1.5067, 0.0122, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c905f7bcff3e112afb0072ec4f48d185994e25c082d957a69fc01f7b4a21896e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3803878ed1cef75cc413234e45f5cb060bb7b244ae817629bff9ecb4a7ded79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c674a99f1c56142bf4172d2213acb16d10fbe2acf44d669a256485318d7cd3bb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEcuwMHaTkGOLoSoP9SKie6Zrcdk1F8l3drIPC4cWuWfCLNQ9fXLAkIQW-qeTmY0qnsMO3TzRQs9-Hk0rcVeu6dlks6WRguwvgM_yZUEXZVf6aVObjzDhTxs35RADlV6_xR8k2m1BzCsjmxiFgpOOVQRj0-LzB1N5KfhL_M-PPZD8DeBuiF-XNoKYE4QM62rYmms90dO2uKk0T8QqvQww4BpbGa7MGZ28U_FX3t0xwvGqPdvMBamTJbLXaD316NYGTfO7tnCwiUZj6NZx4V8ph29WDxrfft6blhYcCl5d25aEY_GlB1t4CK90iUZU-_9q_yBvqN2sJv3Su0f6kdPqbBO1Se_ZSOVV6Mce_IddeSa3Z1UW4jwfnMkY1IpyaQnWP8K06OZJrWguRW_HzlSF6hszSBpfHp9I9tTCOPwf_7zhhcPbJi8X6DygI6VhjlDIccvqk6xOD6wZwWitw9SFtaXQU0UcDBzB4akmqdt8LmQckM61OUnrE71tTOVOvO4pyFX7inDlwQHWyaCXvmtg5HFnEKbMT3ZjmD99EbO1H22PIuP9Hz_fjRaYHr4-OVHYE3hUeXRLcaMAUMCd5fwOcu8RkY7FdTK8VT_QHQz5gmGZXa-q4CYezRZvaambYR_8qxtREiox4ciaj36eUeTjmByj514XU6NK2HvXvggkmJerV-d8u21mIScVRZREJKQGvAgK-_tKMwCbEyTGN1yog9GTUMhR6zGZllwdj1PjLcHQ1mYqCRDMzp553Hj3a4yK79cSMLuwuyO5gKp3Adj1R0xbExSEoz-IcxiJGINOXRcQO3_SsAVAO_t4URECd1XnpcPyGhMO4THIUC9DaIxqiDOZwMyNEl8j6iD2YyBedLrfJKlqUiLtg6kC8CgwNOQXinNt08V61NkK6Xqlnz0t1dkWoQDKg0q8X277SeFMqDPkrjlAds1i6V4-J6UDuTBFvH_rsoU8cJwGeK9iX8dwMuJhTk4PC1WtOUc35pTaiXCPxHR7rs7xKWDBoDC9El0ivDFE0Q4vkfVbuwQCCWZhTq1JTH5oEIbh1555aXAa2BpQ66h694okpxDtYruFgUMkRWK3tTQpXMyOsn5Pc2OUy8jkt0KT1Tx9tROMcOMvrUKX0G3ldGdE5Fge8z_RZdL5n0brZDp7LPQ4w0CqF1O9iRtm0E9zeyTKbMnt6320lT7RCJw_DdgRO5Oct6acrlWsSF_1j6mil0FS8RPeJ1BboBAkxfIXCEi_cfpJdFNNu-nDRM2UOhmWtTDO7F1tORXftNt8oIXBEh58Q_4yxLUmc9p42FN7Jzd_jUrWdcEz8rrc9Hi9DuDgC19XuXKsTUB28h8cl-9W2tonF1fyTze0au3EJjazghhdaMj2BONOHO6tIEz8qnacwMPXSzDgEus1XMArYYliuI2YtJ3-_SoDpjkcxHEDgxidudTF9-sqhUXe0eRflqMPD5VqAckfQrRAxWdEtd37OdTaNde8zfh705upXW2Ah5m8BSV38OEoINoEPAmeJNEjQrYisKTAPmWbrmQupeAg-TcaKJMyulIOslkKhfi5JRFIhcCupqqHQq060vOdUSPbMuMB_n0GWaAgxVjwXz36jWTIOODfSizVdso72J_EpvUqJ569ZLwFhqeOWf-Q7ycGqL8yQEqHf8TdEiT_lSplFWEMeLUn8tZB6fdpB7K0HhISF3vRbUxdL6NaRo=",
  "id": "rs_04122c8e8bc3d057016ab4472c8d8887d0b2f25c74380d9b3f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":0.05,\"left_z\":0.04,\"left_gripper\":1.0},\"note\":\"The outer wrist view now clearly shows the gray teddy beside a yellow ruler, just left of the jaw column. I’m descending and advancing beside its body so the outer finger can contact it during an inward sweep.\"}",
  "call_id": "call_OXfnsHNcBUWdKHsJkIhcKBKV",
  "id": "fc_04122c8e8bc3d057016ab4472d870887d0bd92a03601df1c3b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OXfnsHNcBUWdKHsJkIhcKBKV",
  "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]: [0.0765, 1.5124, 0.7876, -0.374, -0.1059, -0.1055, 0.9988, 0.02, 1.0172, 0.9073, -0.6815, 0.0662, -0.094, 0.9985]\nstate[eef_state]: left_x=0.3368 left_y=0.0481 left_z=0.0393 left_yaw=0.2268 left_pitch=-0.5253 left_roll=0.0575 left_gripper=0.9988 right_x=0.3046 right_y=-0.002 right_z=0.1943 right_yaw=0.0106 right_pitch=-0.2317 right_roll=-0.1099 right_gripper=0.9985\nstate[joint_eff]: [-0.3487, -6.0786, 5.8735, 1.2088, -0.2027, -0.0904, -0.1441, -0.0752, -2.7419, 6.7897, 1.5409, -0.022, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 399):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8a2dab2604630f0d70956728c01facb1b10dc7c730e505017b4c389b9261649",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 399):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c38890d750ddd7db7630a0b5a5193ebf3b66c108a2b5ca4ac793adebda7d19b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 399):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:807fd07e539688bc8d61079d004d6bc266133cdc81fb1df28b01a08c1848c8a2",
      "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 · 4.96 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 137 changed as sent

message 141 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0875, 1.4719, 0.5293, -0.0372, -0.0891, -0.0525, 0.0116, 0.0204, 1.0153, 0.9092, -0.6804, 0.0669, -0.0933, 0.9985]\nstate[eef_state]: left_x=0.3206 left_y=0.0475 left_z=0.0076 left_yaw=0.1829 left_pitch=-0.4108 left_roll=0.0556 left_gripper=0.0116 right_x=0.3049 right_y=-0.002 right_z=0.1958 right_yaw=0.0099 right_pitch=-0.2267 right_roll=-0.1099 right_gripper=0.9985\nstate[joint_eff]: [-0.3214, -6.1197, 6.7214, 1.243, -0.0806, -0.0073, 0.9744, 0.3214, -2.8786, 7.1863, 1.7021, 0.0855, 0.1197, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0856, 1.2823, 1.0748, -0.8314, -0.1089, -0.1009, 0.9988, 0.0204, 1.0157, 0.9077, -0.6811, 0.0666, -0.094, 0.9985]\nstate[eef_state]: left_x=0.3184 left_y=0.0502 left_z=0.1617 left_yaw=0.2313 left_pitch=-0.4658 left_roll=0.0531 left_gripper=0.9988 right_x=0.3046 right_y=-0.0019 right_z=0.1949 right_yaw=0.0107 right_pitch=-0.2294 right_roll=-0.1102 right_gripper=0.9985\nstate[joint_eff]: [-0.2667, -6.4068, 9.1145, 1.072, 0.0659, 0.1636, -0.1441, 0.0068, -2.5368, 6.9265, 1.5067, 0.0122, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0765, 1.5124, 0.7876, -0.374, -0.1059, -0.1055, 0.9988, 0.02, 1.0172, 0.9073, -0.6815, 0.0662, -0.094, 0.9985]\nstate[eef_state]: left_x=0.3368 left_y=0.0481 left_z=0.0393 left_yaw=0.2268 left_pitch=-0.5253 left_roll=0.0575 left_gripper=0.9988 right_x=0.3046 right_y=-0.002 right_z=0.1943 right_yaw=0.0106 right_pitch=-0.2317 right_roll=-0.1099 right_gripper=0.9985\nstate[joint_eff]: [-0.3487, -6.0786, 5.8735, 1.2088, -0.2027, -0.0904, -0.1441, -0.0752, -2.7419, 6.7897, 1.5409, -0.022, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 399):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8a2dab2604630f0d70956728c01facb1b10dc7c730e505017b4c389b9261649",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 399):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c38890d750ddd7db7630a0b5a5193ebf3b66c108a2b5ca4ac793adebda7d19b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 399):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:807fd07e539688bc8d61079d004d6bc266133cdc81fb1df28b01a08c1848c8a2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEcxdi3Yltjib_iJ3yCOryy-7U3ECi8jCw9FTBduj8K9HkpJn0FZ8mkE_EY71A8Vv9VgHObrC8jYOrnwmrcqezTufqHecSeuaNYk_qv2ifCPyoFKP08MwHNxWBLqNHDcmzOuYW-zLUHQvA7CVOOHRkC12m5RNm8MQVA5TJpdkUaWPJZQcC48oJheKDR3tdDY9mg6v7tvOKbZP1KVEIx5cXvNFjMKEPobuychQgXC11vJGKU_Pa1gCMw_s86dBB3GHWKYUZ5x-jcpMAMRN-FpNP6crh0ybuOUJ6VDBAcKyceAEnmGgU8k8YhBGz_y8JtRAjhYxcz33Hnb3m_f-wB1mCJ7BPPSY1mtLvC_v-hCgF4y5BxgcYz3JorEXWDbxINzsBmwaedJb8UZWwxTzmog4oTjg_P5wznLsIp389Qpq0OQ6fCGg7IWrnH0-jfZuMxtetGkapIr-bgfgmyVm8IH_8R69PKjjIVq-TfG6APqr7ibfV_ph3POjDchiVoBVFxwCbFraQqu1t_vC2v5j-dRDPimTC6wITjOP31rD1hIrcgidYsYinWBC35KICsY2bMgRTseV0-NTuUjkwyhE71lJ_a1PEMzk6FGwMDtdhbdlb37jZcbnYEmrAg8bYoMaSxomq8EJloiKtKsFSkFWJu1181ZXaZxms99Xfb_yniMpk2MoDJ-dYOg6x2iHdWLiL1_H1yFJQ5gXHxNf5Xoj7v5-quSDrIqdP7ownfWhmI9SHcvzA2XtwySjorCTjnGdBJWhuTaOxnZt5dmJ6cgjtWeQpReYvbw_5r4PTEzHlHzti2jA2XhyZE_iyTnBLKVUyDAGHyXO_I6HJsv7Il7mT-uOEQxyhtBD1NO5m8V189z0kFa2Ml1cMTYjMeP7hZuHkf7936V1w9VTxZO-K6WWQPPVLpbHWjuBn6aKnCLsOvw8BvAJCV2lXTMzn1QZrNnQCl7NyAbrgjwi0J2sLAvmxtiGPc-lr_C9_I-wOXo0ifaeyaTWq3fmIIyHPWzX9QvSJsV5x7JJKdF0fx2Q_92rHHBUZq64feZVjThVI8A_aXI557L3mWa0mxYHuiX4ABBRkX-WFp4o8_0hy5UHw-qeWgzbB7Q-1f6nru-ESubmQjQq8wLjOKgO38l-HaTMvW1SWay3VYA5I1AdKQOoSv54Ymt8fhcw3lkZXxcC_ybGeDhNfm_XVXpMnLlqAse7vgxrgt_L2wtIwqAmPZpSU9dOGs4IpVUsNAvfmVGcQFRKLcy9OfW4dO6xtfDQXvensOKHpNo17sr55tT9KSUNJxesKTQMvBAs5LNkaZaXBnqgzNnL4bPpDoeXFdvuHuQECMB8CHtVJi4",
  "id": "rs_04122c8e8bc3d057016ab447309fcc87d0b669208edf661c46",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.15},\"note\":\"At low height the gray teddy’s body is immediately against the outer side of the open gripper. I’m sweeping the gripper inward across the table to push the teddy away from the fence and back into a graspable position.\"}",
  "call_id": "call_gL74Ph8yCYGM5leY1U1aKukz",
  "id": "fc_04122c8e8bc3d057016ab44730eab487d0918b9b31abfd8adb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gL74Ph8yCYGM5leY1U1aKukz",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5949, 1.7256, 1.0172, -0.5495, -0.3523, -0.7204, 0.9983, 0.02, 1.0176, 0.9073, -0.6811, 0.0666, -0.094, 0.9985]\nstate[eef_state]: left_x=0.3329 left_y=-0.1474 left_z=0.0347 left_yaw=0.1997 left_pitch=-0.5412 left_roll=0.0553 left_gripper=0.9983 right_x=0.3047 right_y=-0.0021 right_z=0.1942 right_yaw=0.0103 right_pitch=-0.2317 right_roll=-0.1102 right_gripper=0.9985\nstate[joint_eff]: [-0.1573, -7.4462, 7.4325, 0.6813, -0.3101, -0.0806, -0.0659, 0.0752, -2.2906, 6.9128, 1.5214, -0.0024, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbedbe8f57bf354beacb3e4053b06ddb222fa6917f66f3e744a0290f3641b938",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:623d0b35a1fb686a8e70ea20abae2ad8937b03a11491bb91ed1397e56a673f51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:879c5415f284c02865c2c8b17214fb54833ae914823ccd965d033aae0b4ba22c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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