adhoc

completed
2026-09-23T21:19:44.101860+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 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
210.9 s
total steps
377
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 visually distinct groups in the center: light tan plush figures mostly on the right and gray/white plush figures mostly on the left, with an empty basket on each far side. I’ll use the right arm to approach the isolated tan figure at the top of the cluster, assigning tan objects to the right basket.
move_to
right_x0.3800right_y0.3200right_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]: [-0.0193, 0.7994, 0.617, -0.3801, -0.0219, -0.0334, 0.9996, -0.0208, 0.7986, 0.6109, -0.3779, -0.0116, -0.025, 0.9998] state[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1845 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2962 right_y=-0.0005 right_z=0.1823 right_yaw=0.0001 right_pitch=0.0 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [-0.5812, -1.7162, 9.2786, 1.7607, -0.0317, 0.1392, -0.0562, -0.2803, -1.6342, 9.7846, 1.7851, -0.1538, 0.0855, -0.0317] 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":{"right_x":0.38,"right_y":0.32,"right_z":0.16,"right_gripper":1.0},"note":"I see two visually distinct groups in the center: light tan plush figures mostly on the right and gray/white plush figures mostly on the left, with an empty basket on each far side. I’ll use the right arm to approach the isolated tan figure at the top of the cluster, assigning tan objects to the right basket."})
tool
executing move_to over 27 steps (2.7s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe right wrist view shows the isolated tan plush very close to the fingertips but about 5 cm to the arm’s left of the jaw column. I’ll shift the right grasp point leftward to center the plush before descending.
move_to
right_y0.3600
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, 0.8043, 0.6151, -0.3805, -0.0219, -0.0376, 0.9996, 0.9279, 1.8824, 1.3895, -0.3546, 0.73, 0.601, 0.9998] state[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1821 left_yaw=0.0026 left_pitch=-0.0072 left_roll=-0.0034 left_gripper=0.9996 right_x=0.3784 right_y=0.3147 right_z=0.1492 right_yaw=0.0162 right_pitch=-0.0275 right_roll=-0.0227 right_gripper=0.9998 state[joint_eff]: [-0.1026, -1.6752, 7.2, 1.707, -0.0073, -0.0122, -0.0122, 0.6906, -9.5932, 9.1145, 1.3211, 0.4762, 0.1636, -0.0366] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.36},"note":"The right wrist view shows the isolated tan plush very close to the fingertips but about 5 cm to the arm’s left of the jaw column. I’ll shift the right grasp point leftward to center the plush before descending."})
tool
executing move_to over 4 steps (0.4s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe tan plush’s head is now centered on the jaw column and fills the bottom of the wrist view, indicating it is directly at the fingertips rather than still short of them. I’ll descend to mid-body height for a soft side grasp.
move_to
right_z0.0600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8043, 0.6151, -0.3805, -0.0219, -0.038, 0.9996, 0.9863, 2.0235, 1.5745, -0.4625, 0.7448, 0.6544, 0.9998] state[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1821 left_yaw=0.0028 left_pitch=-0.0072 left_roll=-0.0037 left_gripper=0.9996 right_x=0.3754 right_y=0.3569 right_z=0.1392 right_yaw=0.0341 right_pitch=-0.0554 right_roll=-0.0371 right_gripper=0.9998 state[joint_eff]: [-0.0342, -1.306, 7.1863, 1.7509, -0.0171, -0.0659, -0.0171, 0.2256, -10.6872, 8.9778, 1.243, 0.5446, 0.1001, -0.0171] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.06},"note":"The tan plush’s head is now centered on the jaw column and fills the bottom of the wrist view, indicating it is directly at the fingertips rather than still short of them. I’ll descend to mid-body height for a soft side grasp."})
tool
executing move_to over 6 steps (0.6s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe descent stopped at z≈0.14 despite a 0.06 target, which means the open fingertips contacted the upright plush at its top. Since it is centered, I’ll close around it at this contact height rather than forcing downward.
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]: [-0.0189, 0.8043, 0.6151, -0.3805, -0.0219, -0.0383, 0.9996, 0.9863, 2.0235, 1.5745, -0.4629, 0.7444, 0.6548, 0.9998] state[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1821 left_yaw=0.003 left_pitch=-0.0072 left_roll=-0.004 left_gripper=0.9996 right_x=0.3753 right_y=0.3569 right_z=0.1391 right_yaw=0.0341 right_pitch=-0.0558 right_roll=-0.0369 right_gripper=0.9998 state[joint_eff]: [-0.0615, -1.265, 7.0222, 1.746, -0.022, -0.0757, -0.0122, 0.0615, -10.7282, 9.1556, 1.2479, 0.5006, 0.0952, -0.0171] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The descent stopped at z≈0.14 despite a 0.06 target, which means the open fingertips contacted the upright plush at its top. Since it is centered, I’ll close around it at this contact height rather than forcing downward."})
tool
executing move_to over 10 steps (1.0s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe gripper settled at 0.013, confirming an empty close, and the plush remains visible below the jaws. It was slightly toward the base, so I’ll reopen, lift, and retreat radially by about 2.5 cm for one corrected approach.
move_to
right_gripper1.0000right_z0.1800right_x0.3500
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, 0.8043, 0.6151, -0.3801, -0.0223, -0.038, 0.9996, 0.9863, 2.0235, 1.5734, -0.4606, 0.7292, 0.6506, 0.0126] state[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1822 left_yaw=0.0031 left_pitch=-0.0068 left_roll=-0.0035 left_gripper=0.9996 right_x=0.3743 right_y=0.359 right_z=0.1375 right_yaw=0.0462 right_pitch=-0.065 right_roll=-0.0323 right_gripper=0.0126 state[joint_eff]: [-0.0752, -1.2103, 7.159, 1.7021, -0.0317, -0.0611, -0.0122, -0.253, -11.0701, 6.6667, 1.2967, 0.4469, 0.022, 1.1013] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0,"right_z":0.18,"right_x":0.35},"note":"The gripper settled at 0.013, confirming an empty close, and the plush remains visible below the jaws. It was slightly toward the base, so I’ll reopen, lift, and retreat radially by about 2.5 cm for one corrected approach."})
tool
executing move_to over 10 steps (1.0s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteAfter the radial correction, the tan plush is centered between the open jaws in the wrist view, with its full face visible. I’ll try the corrected vertical descent; successful alignment should let the fingers pass on either side rather than stopping on top.
move_to
right_z0.0600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8051, 0.6151, -0.3805, -0.0223, -0.0383, 0.9996, 1.0241, 2.0087, 1.6234, -0.6113, 0.733, 0.6895, 0.9953] state[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1819 left_yaw=0.0033 left_pitch=-0.008 left_roll=-0.0038 left_gripper=0.9996 right_x=0.3531 right_y=0.3598 right_z=0.1457 right_yaw=0.0545 right_pitch=-0.1108 right_roll=-0.0734 right_gripper=0.9953 state[joint_eff]: [-0.0479, -1.1829, 7.0906, 1.7363, -0.0366, -0.0366, -0.0122, 1.0598, -15.0496, 9.388, 1.0037, 0.5153, 0.0269, -0.1685] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.06},"note":"After the radial correction, the tan plush is centered between the open jaws in the wrist view, with its full face visible. I’ll try the corrected vertical descent; successful alignment should let the fingers pass on either side rather than stopping on top."})
tool
executing move_to over 6 steps (0.6s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe corrected descent reached z≈0.07, with the tan plush filling the gap symmetrically between the fingertips. I’ll close now around its body.
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]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0219, -0.0383, 0.9996, 1.0256, 2.0827, 1.4288, -0.3618, 0.7254, 0.6888, 0.9964] state[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.003 left_pitch=-0.0087 left_roll=-0.004 left_gripper=0.9996 right_x=0.3496 right_y=0.3574 right_z=0.069 right_yaw=0.0591 right_pitch=-0.1269 right_roll=-0.0862 right_gripper=0.9964 state[joint_eff]: [-0.0615, -1.388, 7.159, 1.7363, -0.0122, -0.0366, -0.0171, -0.4308, -9.4838, 5.5726, 1.2576, 0.3932, -0.0171, 0.1001] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The corrected descent reached z≈0.07, with the tan plush filling the gap symmetrically between the fingertips. I’ll close now around its body."})
tool
executing move_to over 10 steps (1.0s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteThe gripper settled at 0.287, a clear non-empty grasp on the plush. I’ll lift about 10 cm to verify it moves with the right gripper before transporting it.
move_to
right_z0.1600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0219, -0.041, 0.9996, 1.0256, 2.0979, 1.4181, -0.3355, 0.7223, 0.6849, 0.2868] state[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.0045 left_pitch=-0.0087 left_roll=-0.0062 left_gripper=0.9996 right_x=0.3498 right_y=0.3585 right_z=0.0608 right_yaw=0.063 right_pitch=-0.129 right_roll=-0.0873 right_gripper=0.2868 state[joint_eff]: [-0.0479, -1.306, 7.2274, 1.707, -0.0269, -0.0171, -0.0122, -0.3761, -12.6701, 6.8855, 0.9402, 0.3492, 0.0073, 0.696] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.16},"note":"The gripper settled at 0.287, a clear non-empty grasp on the plush. I’ll lift about 10 cm to verify it moves with the right gripper before transporting it."})
tool
executing move_to over 7 steps (0.7s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe tan plush rose with the gripper in the overhead view, confirming the grasp. I’ll carry it high to the center of the right basket, which is the assigned basket for all tan dog plushes.
move_to
right_x0.4600right_y0.1600right_z0.2400
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, 0.8059, 0.6151, -0.3805, -0.0219, -0.0418, 0.9996, 1.0256, 2.0583, 1.6287, -0.6296, 0.7029, 0.6811, 0.2885] state[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.0049 left_pitch=-0.0087 left_roll=-0.0069 left_gripper=0.9996 right_x=0.3495 right_y=0.363 right_z=0.1193 right_yaw=0.071 right_pitch=-0.1682 right_roll=-0.1168 right_gripper=0.2885 state[joint_eff]: [-0.1162, -1.2103, 7.0222, 1.7216, -0.0562, -0.0611, -0.0122, -0.212, -15.3915, 9.2239, 0.9109, 0.4762, 0.0317, 0.1587] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.16,"right_z":0.24},"note":"The tan plush rose with the gripper in the overhead view, confirming the grasp. I’ll carry it high to the center of the right basket, which is the assigned basket for all tan dog plushes."})
tool
executing move_to over 17 steps (1.7s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe right gripper is centered above the right basket, with the tan plush hanging over its interior. I’ll lower it inside while keeping the jaws above the rim.
move_to
right_z0.1100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.807, 0.6151, -0.3801, -0.0219, -0.0418, 0.9996, 0.469, 1.7935, 1.5982, -0.6739, 0.3653, 0.1841, 0.2907] state[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1815 left_yaw=0.0049 left_pitch=-0.0095 left_roll=-0.0069 left_gripper=0.9996 right_x=0.4569 right_y=0.1648 right_z=0.2014 right_yaw=0.0502 right_pitch=-0.2374 right_roll=-0.1402 right_gripper=0.2907 state[joint_eff]: [-0.0068, -1.3197, 7.2274, 1.7021, -0.0562, -0.0415, -0.0122, -0.335, -12.9846, 10.2769, 1.3065, 0.1587, -0.0757, 0.2173] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.11},"note":"The right gripper is centered above the right basket, with the tan plush hanging over its interior. I’ll lower it inside while keeping the jaws above the rim."})
tool
executing move_to over 6 steps (0.6s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe descent stopped around z≈0.14 with the plush fully inside the basket, indicating it has contacted the basket floor. I’ll release it here.
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]: [-0.0189, 0.8116, 0.6151, -0.3801, -0.0223, -0.0418, 0.9996, 0.4656, 1.8, 1.3331, -0.3481, 0.3836, 0.1684, 0.2927] state[eef_state]: left_x=0.2973 left_y=0.0019 left_z=0.1802 left_yaw=0.0052 left_pitch=-0.0141 left_roll=-0.0066 left_gripper=0.9996 right_x=0.4626 right_y=0.1624 right_z=0.1423 right_yaw=0.0451 right_pitch=-0.1837 right_roll=-0.1418 right_gripper=0.2927 state[joint_eff]: [-0.1573, -1.6752, 7.1043, 1.7118, -0.0757, -0.0415, -0.0122, 0.2393, -6.3111, 4.465, 1.0574, -0.1197, 0.149, 0.1978] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The descent stopped around z≈0.14 with the plush fully inside the basket, indicating it has contacted the basket floor. I’ll release it here."})
tool
executing move_to over 8 steps (0.8s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteThe jaws are open and the tan plush remains resting inside the right basket. I’ll park the right arm to clear the overhead view and then handle the gray plushes with the left arm.
move_to
right_x0.3000right_y0.0000right_z0.1900right_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, 0.8116, 0.6151, -0.3801, -0.0223, -0.0418, 0.9996, 0.4652, 1.8008, 1.3216, -0.3248, 0.3832, 0.1604, 0.9953] state[eef_state]: left_x=0.2973 left_y=0.0019 left_z=0.1802 left_yaw=0.0052 left_pitch=-0.0141 left_roll=-0.0066 left_gripper=0.9996 right_x=0.4638 right_y=0.1629 right_z=0.141 right_yaw=0.0501 right_pitch=-0.1743 right_roll=-0.143 right_gripper=0.9953 state[joint_eff]: [-0.0752, -1.1966, 7.2684, 1.7363, -0.0708, -0.0659, -0.0122, -0.1162, -9.4291, 7.6786, 1.2381, 0.0904, 0.0513, -0.1832] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.30,"right_y":0.0,"right_z":0.19,"right_gripper":1.0},"note":"The jaws are open and the tan plush remains resting inside the right basket. I’ll park the right arm to clear the overhead view and then handle the gray plushes with the left arm."})
tool
executing move_to over 14 steps (1.4s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteAfter the arm cleared, the first tan plush is visible standing just outside the right basket, so it caught on the open fingertip during retraction instead of staying inside. I’ll re-approach it from the basket side for a cleaner, deeper placement.
move_to
right_x0.3600right_y0.1500right_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]: [-0.0189, 0.8173, 0.6147, -0.3794, -0.0219, -0.0418, 0.9996, 0.0498, 0.9775, 0.8238, -0.5541, 0.1112, -0.107, 0.9986] state[eef_state]: left_x=0.2977 left_y=0.0018 left_z=0.1786 left_yaw=0.0049 left_pitch=-0.0194 left_roll=-0.0066 left_gripper=0.9996 right_x=0.3108 right_y=-0.0005 right_z=0.1931 right_yaw=0.0103 right_pitch=-0.145 right_roll=-0.1401 right_gripper=0.9986 state[joint_eff]: [-0.0068, -1.5521, 7.2137, 1.8046, -0.0317, -0.0415, -0.0122, -0.3077, -2.7145, 7.0222, 1.6288, -0.0513, -0.0073, -0.1538] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.15,"right_z":0.16,"right_gripper":1.0},"note":"After the arm cleared, the first tan plush is visible standing just outside the right basket, so it caught on the open fingertip during retraction instead of staying inside. I’ll re-approach it from the basket side for a cleaner, deeper placement."})
tool
executing move_to over 13 steps (1.3s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe tan plush is now broadside across the fingertip gap and nearly centered, with the right basket just beyond it. I’ll descend directly around its torso for a firmer grasp.
move_to
right_y0.1400right_z0.0600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8234, 0.6121, -0.3805, -0.0219, -0.0448, 0.9996, 0.5995, 1.4208, 0.9642, -0.4297, 0.4805, 0.2592, 0.9986] state[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1754 left_yaw=0.0065 left_pitch=-0.0293 left_roll=-0.0089 left_gripper=0.9996 right_x=0.3498 right_y=0.1445 right_z=0.1433 right_yaw=0.0468 right_pitch=-0.2044 right_roll=-0.1742 right_gripper=0.9986 state[joint_eff]: [-0.1846, -1.9077, 7.2547, 1.7216, -0.0269, -0.0073, -0.0171, 0.253, -6.0513, 9.4974, 1.4676, 0.4029, 0.188, -0.1538] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.14,"right_z":0.06},"note":"The tan plush is now broadside across the fingertip gap and nearly centered, with the right basket just beyond it. I’ll descend directly around its torso for a firmer grasp."})
tool
executing move_to over 6 steps (0.6s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteAt z≈0.076 the open fingers visibly straddle the tan plush’s torso. I’ll close on the body for a secure pickup.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8249, 0.6113, -0.3805, -0.0219, -0.0452, 0.9996, 0.5934, 1.52, 0.7502, -0.0982, 0.4961, 0.2352, 0.9985] state[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1747 left_yaw=0.0067 left_pitch=-0.0316 left_roll=-0.0092 left_gripper=0.9996 right_x=0.3518 right_y=0.1402 right_z=0.0763 right_yaw=0.0435 right_pitch=-0.185 right_roll=-0.1927 right_gripper=0.9985 state[joint_eff]: [0.0068, -1.5248, 7.1043, 1.707, -0.0562, -0.0317, -0.0171, -0.9778, -4.3829, 4.6974, 0.9646, -0.1099, 0.0952, -0.0269] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At z≈0.076 the open fingers visibly straddle the tan plush’s torso. I’ll close on the body for a secure pickup."})
tool
executing move_to over 10 steps (1.0s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe gripper settled at 0.108 around the plush’s torso, confirming a solid grasp. I’ll lift and carry it over the center of the right basket.
move_to
right_x0.4600right_y0.1600right_z0.2600
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, 0.8249, 0.6113, -0.3801, -0.0219, -0.0452, 0.9996, 0.5934, 1.5204, 0.7395, -0.0589, 0.5385, 0.2176, 0.1081] state[eef_state]: left_x=0.2977 left_y=0.0018 left_z=0.1748 left_yaw=0.0067 left_pitch=-0.0312 left_roll=-0.0092 left_gripper=0.9996 right_x=0.3563 right_y=0.1353 right_z=0.0809 right_yaw=0.023 right_pitch=-0.1462 right_roll=-0.2182 right_gripper=0.1081 state[joint_eff]: [-0.0342, -1.4154, 7.0496, 1.7265, -0.0464, -0.0708, -0.0122, -0.335, -6.3248, 6.8718, 1.033, -0.2662, 0.1392, 0.6911] camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.16,"right_z":0.26},"note":"The gripper settled at 0.108 around the plush’s torso, confirming a solid grasp. I’ll lift and carry it over the center of the right basket."})
tool
executing move_to over 12 steps (1.2s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteThe tan plush is suspended over the middle of the right basket with ample clearance from its rim. I’ll release from this height so it drops free of the fingertips and cannot be dragged back out.
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]: [-0.0189, 0.8284, 0.6094, -0.3813, -0.0223, -0.0452, 0.9996, 0.4999, 1.7752, 1.6768, -0.7315, 0.4515, 0.1349, 0.1106] state[eef_state]: left_x=0.2975 left_y=0.0019 left_z=0.1727 left_yaw=0.007 left_pitch=-0.0377 left_roll=-0.0088 left_gripper=0.9996 right_x=0.4547 right_y=0.1646 right_z=0.2373 right_yaw=0.0417 right_pitch=-0.1794 right_roll=-0.2192 right_gripper=0.1106 state[joint_eff]: [-0.212, -1.7026, 7.1726, 1.6728, -0.0317, -0.0366, -0.0171, -0.6359, -9.4838, 9.5111, 1.3944, 0.2955, 0.0757, 0.2466] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The tan plush is suspended over the middle of the right basket with ample clearance from its rim. I’ll release from this height so it drops free of the fingertips and cannot be dragged back out."})
tool
executing move_to over 9 steps (0.9s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
right_cam
camera right_cam step 175
assistant
agent noteThe overhead view reveals the right basket is farther forward than the initial metric estimate; the plush dropped cleanly but landed just in front of it. I’ll descend on the same plush again, then carry it farther forward over the true basket center.
move_to
right_z0.0700right_x0.4500right_y0.1600right_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]: [-0.0189, 0.8295, 0.6094, -0.3801, -0.0223, -0.0452, 0.9996, 0.4969, 1.7855, 1.6741, -0.7479, 0.4404, 0.1261, 0.9949] state[eef_state]: left_x=0.2977 left_y=0.0019 left_z=0.1726 left_yaw=0.007 left_pitch=-0.0377 left_roll=-0.0088 left_gripper=0.9996 right_x=0.4531 right_y=0.1641 right_z=0.2284 right_yaw=0.0496 right_pitch=-0.2105 right_roll=-0.2312 right_gripper=0.9949 state[joint_eff]: [-0.1846, -1.4017, 7.0222, 1.6874, -0.0122, -0.0513, -0.0122, -0.0342, -10.1128, 6.9402, 1.5751, 0.2857, 0.0269, -0.1783] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.07,"right_x":0.45,"right_y":0.16,"right_gripper":1.0},"note":"The overhead view reveals the right basket is farther forward than the initial metric estimate; the plush dropped cleanly but landed just in front of it. I’ll descend on the same plush again, then carry it farther forward over the true basket center."})
tool
executing move_to over 11 steps (1.1s)
step 186
top_cam
camera top_cam step 186
left_cam
camera left_cam step 186
right_cam
camera right_cam step 186
assistant
agent noteThe plush is again centered between the jaws at body height, and the wrist view also shows the basket farther ahead. I’ll secure the plush for the corrected forward transfer.
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]: [-0.0189, 0.8314, 0.6094, -0.3805, -0.0223, -0.0452, 0.9996, 0.4953, 1.8545, 1.1637, -0.1844, 0.4335, 0.1188, 0.9986] state[eef_state]: left_x=0.2978 left_y=0.0019 left_z=0.172 left_yaw=0.007 left_pitch=-0.04 left_roll=-0.0088 left_gripper=0.9996 right_x=0.4459 right_y=0.1606 right_z=0.0788 right_yaw=0.0559 right_pitch=-0.2282 right_roll=-0.2387 right_gripper=0.9986 state[joint_eff]: [-0.1026, -1.5385, 7.0359, 1.6825, -0.0562, -0.0806, -0.0171, -0.5538, -7.788, 5.4085, 1.4286, 0.2027, -0.0317, -0.1538] camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The plush is again centered between the jaws at body height, and the wrist view also shows the basket farther ahead. I’ll secure the plush for the corrected forward transfer."})
tool
executing move_to over 10 steps (1.0s)
step 196
top_cam
camera top_cam step 196
left_cam
camera left_cam step 196
right_cam
camera right_cam step 196
assistant
agent noteThe 0.013 gripper reading confirms this close missed; the plush remained at the bottom of the wrist image, slightly toward the base. I’ll reopen, back up 2.5 cm radially, and retry once from the corrected line.
move_to
right_gripper1.0000right_x0.4250right_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8314, 0.6094, -0.3805, -0.0223, -0.0452, 0.9996, 0.4953, 1.8645, 1.1515, -0.1677, 0.4324, 0.1116, 0.0131] state[eef_state]: left_x=0.2978 left_y=0.0019 left_z=0.172 left_yaw=0.007 left_pitch=-0.04 left_roll=-0.0088 left_gripper=0.9996 right_x=0.445 right_y=0.1604 right_z=0.0722 right_yaw=0.0601 right_pitch=-0.2344 right_roll=-0.2454 right_gripper=0.0131 state[joint_eff]: [-0.0889, -1.306, 7.0359, 1.6825, -0.0855, -0.0855, -0.0171, -0.3624, -10.4274, 7.2, 1.2332, 0.1783, 0.0659, 1.1502] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0,"right_x":0.425,"right_z":0.15},"note":"The 0.013 gripper reading confirms this close missed; the plush remained at the bottom of the wrist image, slightly toward the base. I’ll reopen, back up 2.5 cm radially, and retry once from the corrected line."})
tool
executing move_to over 10 steps (1.0s)
step 206
top_cam
camera top_cam step 206
left_cam
camera left_cam step 206
right_cam
camera right_cam step 206
assistant
agent noteAfter backing up, the tan plush’s torso is now clearly centered between both open fingertips rather than below them. I’ll descend on this corrected alignment.
move_to
right_z0.0600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8314, 0.6094, -0.3805, -0.0223, -0.0452, 0.9996, 0.5179, 1.7466, 1.2476, -0.4335, 0.4343, 0.1204, 0.9948] state[eef_state]: left_x=0.2978 left_y=0.0019 left_z=0.172 left_yaw=0.007 left_pitch=-0.04 left_roll=-0.0088 left_gripper=0.9996 right_x=0.4236 right_y=0.1599 right_z=0.1225 right_yaw=0.0706 right_pitch=-0.2794 right_roll=-0.2635 right_gripper=0.9948 state[joint_eff]: [-0.1846, -1.4838, 7.1863, 1.7167, -0.022, -0.0708, -0.0122, 0.5949, -11.1248, 9.5932, 1.2527, 0.2906, 0.0366, -0.1783] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.06},"note":"After backing up, the tan plush’s torso is now clearly centered between both open fingertips rather than below them. I’ll descend on this corrected alignment."})
tool
executing move_to over 5 steps (0.5s)
step 211
top_cam
camera top_cam step 211
left_cam
camera left_cam step 211
right_cam
camera right_cam step 211
assistant
agent noteAt z≈0.066 the fingertips are straddling the plush’s body symmetrically. I’ll close for the corrected grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8314, 0.6094, -0.3805, -0.0223, -0.0452, 0.9996, 0.5175, 1.8172, 1.1084, -0.2455, 0.4332, 0.1146, 0.9963] state[eef_state]: left_x=0.2978 left_y=0.0019 left_z=0.172 left_yaw=0.007 left_pitch=-0.04 left_roll=-0.0088 left_gripper=0.9996 right_x=0.4196 right_y=0.1577 right_z=0.0663 right_yaw=0.0714 right_pitch=-0.3003 right_roll=-0.2764 right_gripper=0.9963 state[joint_eff]: [-0.1162, -1.4974, 7.0085, 1.6825, -0.0562, -0.0562, -0.0122, -0.0205, -7.4325, 5.2718, 1.3651, 0.1783, 0.0122, 0.1343] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At z≈0.066 the fingertips are straddling the plush’s body symmetrically. I’ll close for the corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 221
top_cam
camera top_cam step 221
left_cam
camera left_cam step 221
right_cam
camera right_cam step 221
assistant
agent noteThe plush again slipped to image-right during the full close, which is consistent with a rounded soft body ejecting sideways. I’ll reopen, shift about 4 cm toward it, and retry with a partial close rather than squeezing it out.
move_to
right_gripper1.0000right_y0.1200right_z0.1400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8314, 0.6094, -0.3805, -0.0216, -0.0452, 0.9996, 0.5175, 1.8236, 1.1042, -0.2268, 0.4324, 0.1089, 0.0127] state[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.172 left_yaw=0.0064 left_pitch=-0.04 left_roll=-0.0092 left_gripper=0.9996 right_x=0.4213 right_y=0.1587 right_z=0.0645 right_yaw=0.0762 right_pitch=-0.2942 right_roll=-0.2761 right_gripper=0.0127 state[joint_eff]: [-0.0752, -1.4701, 7.0222, 1.7216, -0.022, -0.0562, -0.0122, -0.0615, -9.6615, 6.4479, 1.1648, 0.2418, 0.0757, 1.1111] camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0,"right_y":0.12,"right_z":0.14},"note":"The plush again slipped to image-right during the full close, which is consistent with a rounded soft body ejecting sideways. I’ll reopen, shift about 4 cm toward it, and retry with a partial close rather than squeezing it out."})
tool
executing move_to over 10 steps (1.0s)
step 231
top_cam
camera top_cam step 231
left_cam
camera left_cam step 231
right_cam
camera right_cam step 231
assistant
agent noteThe shift centers the plush’s narrow torso between the open fingertips, with equal clearance on both sides. I’ll descend to grip that narrower section.
move_to
right_z0.0550
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8314, 0.6094, -0.3805, -0.0219, -0.0452, 0.9996, 0.4232, 1.6966, 1.1816, -0.4385, 0.3725, 0.0231, 0.995] state[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.172 left_yaw=0.0067 left_pitch=-0.04 left_roll=-0.009 left_gripper=0.9996 right_x=0.4186 right_y=0.122 right_z=0.1143 right_yaw=0.0768 right_pitch=-0.333 right_roll=-0.2899 right_gripper=0.995 state[joint_eff]: [-0.1983, -1.2513, 7.0632, 1.6728, -0.0269, -0.0659, -0.0122, -0.4991, -11.1521, 9.7573, 1.1209, 0.1685, 0.0708, -0.1685] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.055},"note":"The shift centers the plush’s narrow torso between the open fingertips, with equal clearance on both sides. I’ll descend to grip that narrower section."})
tool
executing move_to over 4 steps (0.4s)
step 235
top_cam
camera top_cam step 235
left_cam
camera left_cam step 235
assistant
agent noteThe torso is now centered low between the jaws. I’ll close only to 35% opening, enough to hold its roughly 4 cm width without the full-close squeeze that caused sideways ejection.
move_to
right_gripper0.3500
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, 0.8314, 0.6094, -0.3805, -0.0223, -0.0452, 0.9996, 0.4194, 1.7721, 1.0466, -0.2665, 0.3679, 0.0216, 0.9963] state[eef_state]: left_x=0.2978 left_y=0.0019 left_z=0.172 left_yaw=0.007 left_pitch=-0.04 left_roll=-0.0088 left_gripper=0.9996 right_x=0.412 right_y=0.1181 right_z=0.0565 right_yaw=0.0728 right_pitch=-0.3707 right_roll=-0.3011 right_gripper=0.9963 state[joint_eff]: [-0.1573, -1.3607, 7.2684, 1.6777, -0.0269, -0.0562, -0.0122, 0.3077, -8.0342, 6.188, 1.37, 0.2076, -0.022, 0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.35},"note":"The torso is now centered low between the jaws. I’ll close only to 35% opening, enough to hold its roughly 4 cm width without the full-close squeeze that caused sideways ejection."})
tool
executing move_to over 7 steps (0.7s)
step 242
assistant
agent noteThe plush disappeared from the wrist view at a 0.355 opening, indicating it is now held securely between the fingertips. The basket is farther forward and slightly left, so I’ll lift and carry to x≈0.55, y≈0.17 above its true center.
move_to
right_x0.5500right_y0.1700right_z0.2600
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, 0.8314, 0.6094, -0.3805, -0.0216, -0.0452, 0.9996, 0.4183, 1.7805, 1.0386, -0.2398, 0.3607, 0.0177, 0.3549] state[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.172 left_yaw=0.0064 left_pitch=-0.04 left_roll=-0.0092 left_gripper=0.9996 right_x=0.4139 right_y=0.1197 right_z=0.0533 right_yaw=0.0813 right_pitch=-0.3637 right_roll=-0.2938 right_gripper=0.3549 state[joint_eff]: [-0.1026, -1.3744, 7.0085, 1.7167, -0.0366, -0.0317, -0.0122, -0.2393, -9.347, 6.7761, 1.0379, 0.2515, 0.0122, 0.2271] 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":{"right_x":0.55,"right_y":0.17,"right_z":0.26},"note":"The plush disappeared from the wrist view at a 0.355 opening, indicating it is now held securely between the fingertips. The basket is farther forward and slightly left, so I’ll lift and carry to x≈0.55, y≈0.17 above its true center."})
tool
executing move_to over 14 steps (1.4s)
step 256
assistant
agent noteThe right basket now fills the wrist view directly beneath the jaws, confirming the corrected target. I’ll release the tan plush into its center from above the rim.
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]: [-0.0189, 0.8371, 0.6094, -0.3813, -0.0223, -0.0452, 0.9996, 0.403, 2.4756, 2.7949, -1.3018, 0.3454, -0.0082, 0.3543] state[eef_state]: left_x=0.298 left_y=0.0019 left_z=0.1703 left_yaw=0.007 left_pitch=-0.0465 left_roll=-0.0086 left_gripper=0.9996 right_x=0.5487 right_y=0.1728 right_z=0.2126 right_yaw=0.0933 right_pitch=-0.3726 right_roll=-0.2979 right_gripper=0.3543 state[joint_eff]: [-0.1162, -1.7436, 7.0359, 1.6874, -0.0269, -0.0317, -0.0122, -0.8274, -12.6154, 6.3111, 0.3687, 0.1343, 0.0611, -0.0757] camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The right basket now fills the wrist view directly beneath the jaws, confirming the corrected target. I’ll release the tan plush into its center from above the rim."})
tool
executing move_to over 7 steps (0.7s)
step 263
assistant
agent noteThe basket is directly beneath the open jaws; the released plush may be hidden at the near side of the wrist view. I’ll retract the right arm to verify the drop and expose all remaining objects.
move_to
right_x0.3000right_y0.0000right_z0.2000right_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, 0.8371, 0.6094, -0.3805, -0.0223, -0.0452, 0.9996, 0.4007, 2.5301, 2.7903, -1.3216, 0.3378, -0.0223, 0.9953] state[eef_state]: left_x=0.2981 left_y=0.0019 left_z=0.1704 left_yaw=0.007 left_pitch=-0.0457 left_roll=-0.0086 left_gripper=0.9996 right_x=0.5489 right_y=0.1729 right_z=0.178 right_yaw=0.095 right_pitch=-0.4523 right_roll=-0.326 right_gripper=0.9953 state[joint_eff]: [0.1162, -1.5111, 7.0769, 1.663, -0.0659, -0.0122, -0.0122, 0.0889, -18.0718, 6.0513, 1.3748, 0.2027, 0.0757, -0.1832] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.0,"right_z":0.2,"right_gripper":1.0},"note":"The basket is directly beneath the open jaws; the released plush may be hidden at the near side of the wrist view. I’ll retract the right arm to verify the drop and expose all remaining objects."})
tool
executing move_to over 20 steps (2.0s)
step 283
assistant
agent noteThe cream dog is confirmed still on the table beneath the right wrist; its fur snagged on the open fingers during retraction. I’ll re-center over its torso, then use a low basket placement and vertical withdrawal to ensure it detaches.
move_to
right_x0.3500right_y0.1200right_z0.1100right_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, 0.8398, 0.6094, -0.3801, -0.0223, -0.0452, 0.9996, 0.1036, 1.2018, 1.1362, -0.9154, 0.1951, -0.2649, 0.9986] state[eef_state]: left_x=0.2983 left_y=0.0019 left_z=0.1697 left_yaw=0.007 left_pitch=-0.048 left_roll=-0.0086 left_gripper=0.9996 right_x=0.3101 right_y=0.0014 right_z=0.1999 right_yaw=0.0724 right_pitch=-0.4363 right_roll=-0.3245 right_gripper=0.9986 state[joint_eff]: [-0.0889, -1.1556, 7.0359, 1.7411, -0.0464, -0.0366, -0.0122, -0.1709, -4.0274, 6.6803, 1.3407, -0.0171, -0.0757, -0.1587] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.12,"right_z":0.11,"right_gripper":1.0},"note":"The cream dog is confirmed still on the table beneath the right wrist; its fur snagged on the open fingers during retraction. I’ll re-center over its torso, then use a low basket placement and vertical withdrawal to ensure it detaches."})
tool
executing move_to over 10 steps (1.0s)
step 293
assistant
agent noteThe cream dog’s narrow body is centered between the open jaws, with the basket visible farther forward. I’ll descend to torso height before using the successful partial-close method.
move_to
right_z0.0550
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8436, 0.6064, -0.3805, -0.0219, -0.0452, 0.9996, 0.4973, 1.5101, 1.0576, -0.6144, 0.3805, 0.0544, 0.9986] state[eef_state]: left_x=0.2981 left_y=0.0018 left_z=0.1672 left_yaw=0.0067 left_pitch=-0.0553 left_roll=-0.0086 left_gripper=0.9996 right_x=0.3491 right_y=0.1189 right_z=0.1175 right_yaw=0.1104 right_pitch=-0.4311 right_roll=-0.3205 right_gripper=0.9986 state[joint_eff]: [-0.0889, -1.8667, 7.3231, 1.6728, -0.0464, -0.0562, -0.0122, 0.1983, -5.3949, 7.1726, 0.6569, 0.2369, 0.1148, -0.1587] camera 'top_cam' (step 293): [image omitted: streamed camera frame] camera 'left_cam' (step 293): [image omitted: streamed camera frame] camera 'right_cam' (step 293): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.055},"note":"The cream dog’s narrow body is centered between the open jaws, with the basket visible farther forward. I’ll descend to torso height before using the successful partial-close method."})
tool
executing move_to over 5 steps (0.5s)
step 298
assistant
agent noteThe jaws are now down on either side of the dog’s torso. I’ll close only to 35% so the soft rounded body stays centered instead of squirting sideways.
move_to
right_gripper0.3500
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, 0.8436, 0.6064, -0.3801, -0.0223, -0.0456, 0.9996, 0.5018, 1.5517, 0.9226, -0.3275, 0.3897, 0.0681, 0.9985] state[eef_state]: left_x=0.2981 left_y=0.0019 left_z=0.1673 left_yaw=0.0073 left_pitch=-0.0549 left_roll=-0.0087 left_gripper=0.9996 right_x=0.3663 right_y=0.1285 right_z=0.0896 right_yaw=0.1162 right_pitch=-0.3238 right_roll=-0.2748 right_gripper=0.9985 state[joint_eff]: [-0.0342, -1.5385, 7.0496, 1.7363, -0.0317, -0.0708, -0.0171, -0.3897, -3.4393, 3.7128, 0.3297, 0.0562, -0.1636, -0.0317] camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.35},"note":"The jaws are now down on either side of the dog’s torso. I’ll close only to 35% so the soft rounded body stays centered instead of squirting sideways."})
tool
executing move_to over 7 steps (0.7s)
step 305
assistant
agent noteThe partial close holds the cream dog between the fingertips. I’ll carry it to the verified far-forward basket center while keeping enough height to clear the rim.
move_to
right_x0.5500right_y0.1700right_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]: [-0.0189, 0.8436, 0.6064, -0.3805, -0.0219, -0.0452, 0.9996, 0.5018, 1.5654, 0.9073, -0.2646, 0.3828, 0.0528, 0.3558] state[eef_state]: left_x=0.2981 left_y=0.0018 left_z=0.1672 left_yaw=0.0067 left_pitch=-0.0553 left_roll=-0.0086 left_gripper=0.9996 right_x=0.3723 right_y=0.1331 right_z=0.0873 right_yaw=0.1342 right_pitch=-0.2965 right_roll=-0.2666 right_gripper=0.3558 state[joint_eff]: [-0.0752, -1.5385, 7.0496, 1.6972, -0.0122, -0.0269, -0.0171, -0.6222, -4.5197, 4.0547, 0.5153, 0.1001, 0.0024, 0.149] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.55,"right_y":0.17,"right_z":0.22},"note":"The partial close holds the cream dog between the fingertips. I’ll carry it to the verified far-forward basket center while keeping enough height to clear the rim."})
tool
executing move_to over 14 steps (1.4s)
step 319
assistant
agent noteThe cream dog is suspended directly over the verified basket interior. I’ll lower it until its body is supported inside the basket before opening.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8494, 0.6064, -0.3805, -0.0219, -0.0452, 0.9996, 0.3958, 2.2303, 2.2852, -0.9157, 0.3088, -0.0486, 0.3557] state[eef_state]: left_x=0.2984 left_y=0.0018 left_z=0.1656 left_yaw=0.0067 left_pitch=-0.061 left_roll=-0.0084 left_gripper=0.9996 right_x=0.5531 right_y=0.1768 right_z=0.2134 right_yaw=0.1506 right_pitch=-0.2698 right_roll=-0.2605 right_gripper=0.3557 state[joint_eff]: [-0.0615, -2.0034, 6.9949, 1.6679, -0.0415, -0.0611, -0.0122, -0.7863, -13.2991, 7.6376, 0.6129, 0.2027, 0.0366, -0.0269] camera 'top_cam' (step 319): [image omitted: streamed camera frame] camera 'left_cam' (step 319): [image omitted: streamed camera frame] camera 'right_cam' (step 319): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.12},"note":"The cream dog is suspended directly over the verified basket interior. I’ll lower it until its body is supported inside the basket before opening."})
tool
executing move_to over 7 steps (0.7s)
step 326
assistant
agent noteThe gripper is now deep inside the basket at z≈0.106, so the plush is supported by the basket floor and walls. I’ll open fully to disengage 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]: [-0.0189, 0.8501, 0.6064, -0.3805, -0.0223, -0.0452, 0.9996, 0.3931, 2.2074, 1.8576, -0.5762, 0.3058, -0.0525, 0.3556] state[eef_state]: left_x=0.2984 left_y=0.0019 left_z=0.1654 left_yaw=0.0071 left_pitch=-0.0617 left_roll=-0.0082 left_gripper=0.9996 right_x=0.5465 right_y=0.1729 right_z=0.1062 right_yaw=0.1477 right_pitch=-0.3342 right_roll=-0.2772 right_gripper=0.3556 state[joint_eff]: [-0.1026, -1.6615, 7.1043, 1.7314, -0.0171, -0.0806, -0.0122, 0.0068, -14.4342, 6.2291, 1.2967, 0.1538, 0.0171, -0.0171] 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":{"right_gripper":1.0},"note":"The gripper is now deep inside the basket at z≈0.106, so the plush is supported by the basket floor and walls. I’ll open fully to disengage it."})
tool
executing move_to over 7 steps (0.7s)
step 333
assistant
agent noteThe jaws are fully open inside the basket. I’ll withdraw straight upward—rather than backward—so the basket walls can strip any snagged fur from the fingertips and leave the plush behind.
move_to
right_z0.2700
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, 0.8501, 0.6064, -0.3801, -0.0219, -0.0452, 0.9996, 0.3923, 2.2074, 1.8435, -0.5552, 0.3031, -0.0597, 0.9954] state[eef_state]: left_x=0.2985 left_y=0.0018 left_z=0.1655 left_yaw=0.0067 left_pitch=-0.0614 left_roll=-0.0084 left_gripper=0.9996 right_x=0.5474 right_y=0.1733 right_z=0.1035 right_yaw=0.1537 right_pitch=-0.3292 right_roll=-0.2782 right_gripper=0.9954 state[joint_eff]: [-0.0752, -1.5932, 7.1726, 1.6484, -0.0464, -0.0659, -0.0171, -0.294, -12.9299, 8.1846, 1.199, 0.0904, 0.0122, -0.1783] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 333): [image omitted: streamed camera frame] camera 'left_cam' (step 333): [image omitted: streamed camera frame] camera 'right_cam' (step 333): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.27},"note":"The jaws are fully open inside the basket. I’ll withdraw straight upward—rather than backward—so the basket walls can strip any snagged fur from the fingertips and leave the plush behind."})
tool
executing move_to over 11 steps (1.1s)
step 344
assistant
agent noteThe dog remained on the table, so the 35% opening was still wider than its narrow torso and never actually gripped it. I’ll return directly to the known torso pose and use a tighter controlled close.
move_to
right_x0.3700right_y0.1300right_z0.0600right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8528, 0.6064, -0.3801, -0.0219, -0.0452, 0.9996, 0.3923, 2.4668, 2.7441, -1.2816, 0.3012, -0.0681, 0.9964] state[eef_state]: left_x=0.2986 left_y=0.0018 left_z=0.1648 left_yaw=0.0067 left_pitch=-0.064 left_roll=-0.0084 left_gripper=0.9996 right_x=0.5486 right_y=0.1742 right_z=0.2004 right_yaw=0.1522 right_pitch=-0.4135 right_roll=-0.3036 right_gripper=0.9964 state[joint_eff]: [-0.0342, -1.388, 7.1043, 1.7216, -0.0562, -0.0708, -0.0171, -0.3214, -21.7915, 7.4462, 1.6825, 0.1538, 0.0171, 0.0855] camera 'top_cam' (step 344): [image omitted: streamed camera frame] camera 'left_cam' (step 344): [image omitted: streamed camera frame] camera 'right_cam' (step 344): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.13,"right_z":0.06,"right_gripper":1.0},"note":"The dog remained on the table, so the 35% opening was still wider than its narrow torso and never actually gripped it. I’ll return directly to the known torso pose and use a tighter controlled close."})
tool
executing move_to over 14 steps (1.4s)
step 358
assistant
agent noteThe right arm is momentarily pinned against the far basket rim, while the gray plush is already centered directly beneath the left wrist. I’ll use the left arm to secure the gray type for the left basket.
move_to
left_z0.0550
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8566, 0.6064, -0.3801, -0.0216, -0.0452, 0.9996, 0.4332, 2.6598, 3.1271, -1.512, 0.3397, -0.0158, 0.9987] state[eef_state]: left_x=0.2988 left_y=0.0018 left_z=0.1637 left_yaw=0.0064 left_pitch=-0.0679 left_roll=-0.0085 left_gripper=0.9996 right_x=0.5355 right_y=0.1868 right_z=0.1938 right_yaw=0.1245 right_pitch=-0.4346 right_roll=-0.3182 right_gripper=0.9987 state[joint_eff]: [-0.1162, -1.9077, 7.159, 1.746, -0.0269, -0.0757, -0.0122, 5.1624, -10.441, 5.7915, 1.0623, 0.0317, 0.1832, -0.149] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 358): [image omitted: streamed camera frame] camera 'left_cam' (step 358): [image omitted: streamed camera frame] camera 'right_cam' (step 358): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.055},"note":"The right arm is momentarily pinned against the far basket rim, while the gray plush is already centered directly beneath the left wrist. I’ll use the left arm to secure the gray type for the left basket."})
tool
executing move_to over 8 steps (0.8s)
step 366
assistant
agent noteThe left fingertips are down on either side of the gray plush at z≈0.062. I’ll close around its 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]: [-0.0189, 1.0325, 0.2565, 0.1307, -0.0257, -0.0402, 0.9996, 0.4164, 2.6812, 3.1218, -1.5326, 0.347, -0.012, 0.9985] state[eef_state]: left_x=0.2988 left_y=0.0025 left_z=0.0617 left_yaw=0.0074 left_pitch=-0.0827 left_roll=-0.0016 left_gripper=0.9996 right_x=0.5362 right_y=0.1754 right_z=0.1786 right_yaw=0.0919 right_pitch=-0.4769 right_roll=-0.3391 right_gripper=0.9985 state[joint_eff]: [-0.1709, -1.5385, 4.4923, 1.2088, 0.0024, -0.0806, -0.0171, 1.0325, -15.5966, 5.4632, 1.2967, 0.1001, 0.0269, -0.0317] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 366): [image omitted: streamed camera frame] camera 'left_cam' (step 366): [image omitted: streamed camera frame] camera 'right_cam' (step 366): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The left fingertips are down on either side of the gray plush at z≈0.062. I’ll close around its body."})
tool
executing move_to over 10 steps (1.0s)
step 376
assistant
agent noteI could identify the two classes (tan dog plushes and a gray/white plush) and the intended two baskets, but I could not complete the sorting safely. The soft rounded toys repeatedly slipped sideways or remained on the table, and the far-right basket placement also exposed a large radial-coordinate error; both baskets remain unsorted.
give_up
hindsightOn this setup the basket centers are much farther forward than their overhead appearance suggests: approximately x=0.55 m (the initial x=0.46 estimate lands in front of them). These plush torsos can be narrower than a 0.35 gripper command, so 0.35 may look aligned yet exert no grip; a successful dog grasp required a settled opening near 0.11. Full close can eject the rounded plush sideways, so center carefully and use a tighter intermediate command around 0.15–0.20, verifying by lift. Also, approaching the far basket at low z can pin the arm at long reach; retract high first.
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, 1.0332, 0.2409, 0.1421, -0.028, -0.0418, 0.0124, 0.4175, 2.6812, 3.1218, -1.5257, 0.3363, -0.0227, 0.9985] state[eef_state]: left_x=0.2961 left_y=0.0029 left_z=0.0573 left_yaw=0.0101 left_pitch=-0.0876 left_roll=-0.0013 left_gripper=0.0124 right_x=0.5369 right_y=0.1783 right_z=0.1787 right_yaw=0.1098 right_pitch=-0.4753 right_roll=-0.3328 right_gripper=0.9985 state[joint_eff]: [-0.0342, -2.2222, 7.6376, 1.58, 0.0024, 0.0024, 1.1111, -0.2667, -13.8872, 5.2308, 1.0085, 0.2759, 0.0415, -0.0122] camera 'top_cam' (step 376): [image omitted: streamed camera frame] camera 'left_cam' (step 376): [image omitted: streamed camera frame] camera 'right_cam' (step 376): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could identify the two classes (tan dog plushes and a gray/white plush) and the intended two baskets, but I could not complete the sorting safely. The soft rounded toys repeatedly slipped sideways or remained on the table, and the far-right basket placement also exposed a large radial-coordinate error; both baskets remain unsorted.","hindsight":"On this setup the basket centers are much farther forward than their overhead appearance suggests: approximately x=0.55 m (the initial x=0.46 estimate lands in front of them). These plush torsos can be narrower than a 0.35 gripper command, so 0.35 may look aligned yet exert no grip; a successful dog grasp required a settled opening near 0.11. Full close can eject the rounded plush sideways, so center carefully and use a tighter intermediate command around 0.15–0.20, verifying by lift. Also, approaching the far basket at low z can pin the arm at long reach; retract high first."})
tool
give_up: I could identify the two classes (tan dog plushes and a gray/white plush) and the intended two baskets, but I could not complete the sorting safely. The soft rounded toys repeatedly slipped sideways or remained on the table, and the far-right basket placement also exposed a large radial-coordinate error; both baskets remain unsorted.
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 · 9.621 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7994, 0.617, -0.3801, -0.0219, -0.0334, 0.9996, -0.0208, 0.7986, 0.6109, -0.3779, -0.0116, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1845 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2962 right_y=-0.0005 right_z=0.1823 right_yaw=0.0001 right_pitch=0.0 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -1.7162, 9.2786, 1.7607, -0.0317, 0.1392, -0.0562, -0.2803, -1.6342, 9.7846, 1.7851, -0.1538, 0.0855, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e80b0f6e247c38bd11270d7983934e0962fd8f9f3e39e678320defcdeef6949",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3e682e71d4db5578c7cc8c7e21ccaef9b1d4dfba04aebf26a1d201d30fa66c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfbc91fea1e249ad0cf64070639890d0d23a2fec4c2caf3864e9c0cc71a05816",
      "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 · 4.851 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtEKH6ihijtfKjvLnELtB4NYNOH9dlyx3_l_KfrIbeP1HFiSPJAQLWAqUAU7umrliViJzTCquPJ0tat8NiSXrjH4dtb2YowBx6fKjUn7NDSlh7iaDfWDmTCYXnIgONN3sjfPb4mL09c_ZIQoSTWtKrprpBjx7nsmDBZ8H09keCUALqhKhbs5ZzgRpiA03u1N_8kGX5w5snP0sHneOC1j5zB8NHV4VL-hWUXpobErBBsLXpFODr4wGEPjD2vuu72e2pkUgn8oEctWvNpGlj72H_93UbghiRNaQHQdSvzVnn2MHJjZEjYpMf655781Mg5Jmdgs24-K3naG-kEsiip3fh-bHiPgNyV-lnGKeF1WZemAFdIxyMDV1awf6SOKRJjEh_zzaVo9kKuJ6v7aJaEzyZOW-5GlwsN2RcQMsjiaAesAokGDWuppZHOwqxj-oPS_lw4TriQ7gqUmV_lf0blTrkx0-a1D2yZw4bNDMC91ppN8vXRsdvRkFRnsU5Gh_xowMIdaKoAsuulitf-uPH7ftmB4uJ1enGrVSa-OIVOQCxeTsmoEKnbX6imaop4oYhwZQGKDBu_kzOTY3hSHLQUPkg8eHiyeYrnmvjy4Wp7G0cRPK26fS123NdjTws3U6JgCjdxSw2fuBkcT5_hr9nzeI877dNOPqTcueox9sEWrb0ung55d8sXLt7U1cQ09wtWsRpATWCoC1Dxx1tELVAa4ROCbpHvw24DPuPn5AMHDRR05UPlsOC8JalRxgv7va4-ijYRKDxqdPE-8UoNwDFlPpATgsQL4yY51-iAkYsG0q-oNEG2QohUYu-0tz3vA5D358d4B-2XUcXjt-2tOrDSYY14INLK_lArgq0F0OS9XK_EauPbmNLCOi5jBQT0JBC-Zss2_mKLr4-f_wApRrp8yqSouWHEMC5RxaxAMuDJg-po-GIED94FhATIgGps-sjZeqC8du9DigLHvBWCHNJnxxd2fxWJxgCMjP4o8ClFni_TWFle2IBTU_589ezmTuWOyVVfgbqQw2crBJH_31lDjalgr5kysNZG0Wn6nqFQ_tfPK705mzzgRw_W89DrEk4iJT6czXbEiZUeg_0NXPqCAamiVA-sfYwfm1UkaqaCQWDW2ubcva0aOsysTHOMUenV1t_aqNFAcgo9AucPJI87N6KFtgL4b4ej9obs9qXGOnllpyqKa8c2kjpBjgJja-laeyW_wOUebIYWp01VX1XYU4L62_UY99wyNsrksuGkGp57DBVKf9-L9fpvpTlRx6ITR7f7gqR4y1jRMMfbZnrmXdO0yXRy6hmt1GaCT0B968IMTnQmOjpF7M9s55hVUA-xMZqD0I3cFExzNd4xPB1MhogjLFhWqU0v1DZ0cbPgY2pL05W0KQ7YzJ5xb3Eq0NdjSxldz2Nbd2Jqgenlu3yHFEmHM5AaIV4wjQXuSu-iDF5f6Sz96mg2RR3d0wQ2FbPYlaL0uM-ky_6k6tZoBMrrmn3GOwfrOyZiLLEtTAKeJYc7c8Kd9qEJLB_2Y-_n-CiP-dVdylA_iAc_RKlqRDVNeET21EkbVpv6ZnABLWC5zL2g-6qfg4gkQ_jXKIRoNadKksKuRL9tpuNfJ3FC_CIQKoDaOVrtK3ifx_Nhc-800ai90ug0ssooEvGZhQHopQ2bPNnlcMNnL9E5S4n6kkMINnAfzSlqPltseYrTe7X8LKaLm8IJk4539TQKFhTyjsU566cXBwE6jnOGvIqQqNXH9YrgtxtkkPbNTMGo-gao_oHEGDmmObPTrZucCaNvyJhqgQPz5TIOnXtp2rCHYHhQR1yZnmJ_CtFfOVH56En0OPSRfY-tGOe9PfmZQusfpEg5nU8OZ_UNLxttVA4MzehMG204BVOhqZ3xb5mWtZHja-uh52jmF4qdcoA0xYjDSsRa3rty49JYJD73hbmb4Z76_V5zCrPo7EWD0P6X4BLQLi-kPPS364ftSOlDKTTQLc1VeAbE1o0EjC8aB4tROrwZ_Za-K6MtDNPwz4WcsesmONOB3YkSSPizzu3DpA1TE44qqLTN8JIfMiZAGGuz2-Nxok0KMluOWiJj4DFbW9KX-JIGmlXV0FYTGSNYo4jfUHwbHSmGTj9deKKk_d-0TcaDGNFeTLsvGNi8HUuCIppPJTgGDpPGmvER9Vm6fp1yv6xRZctx8WOHM44_cCyg4hDyOwVZD1RthdtdKZUlgctff0QLki7JAkAlcObmNqjMIvemWhLxktwYih6nWjLbuA6YraF9ouQgFmu5twmKzrQ4ycUJWqSPqV5oFMwiq002Vd16HvnJWAsUytgVOgxC32jJFX65sH1lWGK1weUuPslP_wIcUOaBUSZ8oOEkiH9RaGpSUrjYJ9T6apSQD5ahXhtgOZU6UfLiUFb7hsCsDO2pRv3aLqfNCYAfEvehIUAe-Fd3hJhwyz4w5jlJznT7aYz9hrfB47VwDjG83XiDRU-XrQ801MvaxiPFOibqY_NiP-UYqLTiLTk-FqN_tQUlzpxwVSZUk7IEwe0QLe9fqqWy64eUmOBFP9UPEb1Y9M-CE4EZMaU8CFwVAr_TGJczT-FbiKdN2Q54Nv5u7iNCkf5NdcQEiyL6Tl3WUUiqoyHxgJVk737qrcRmee9uG_JmDeLOTcOcKO2kGQugDSgFJ34G1qrYB6GVik4c6OKlA01rCfZJMf4tP8y2CEfY8ICRndStGRz0RTo1jSsiqtf29IpCV8tYKR1ijTG9OlC3rCpZBz3SLLEqG6P8qppA5m73shNhjZ9zW2hiniuFBJ0bKZfHeaAtUpFmJ3PbtM4PKM0KpsAP8Xeq7tnp4ZKsOdQxjRcjhZ91Et6q9eeoiILIJ-maa6Wkzgi2nJktbYNT7uND0MggbINTZnYxNBRE_QDF0zHCMPPCNm0CYBIM7JPQq3sLTRtWiXZu3UNTEQ58k38KgoMLNUR-sFfUqLVP8Yup83YfkFtcq2B_HjB4dFEcRvEVisHa90J1cmqzYG5s8y6mGOrs5F50sB7ivRwV-wt8535CkHbfGw7DWIAl1i80lPNGpqiCLgLbJ7iBaHU_FMeY70Sc668kuHK3Pob2WGTAK0UQEOwIQl4MbrZUj22ziA5ORRo-_-H0OJjhadT94MiZJg0RrilsURAc-dYVW-VMPvHoHked-KXcOQrDMhU_ZBGq81jrEJW2pHsh50RojBHita1VFvAedphvVASlHtjep1VEKBuF1645YX3-FzvCQpWEPWhCMUf2S2aToKpda-AIRk8PMhQhM-GxJbN8FM-9tu9njWgOizmCkkM85p4ccw2uT4J83PhDJAlhg3ef3sREm8AM38ej9UVjDOldsBjRgRRfOhH7f5gktsazlwhxnQmh86c0h0GdY-CmrOEUgJTJMjUarM0GGsleuk31xsZxFlaJV8HOPSkvgPWB_yuUnKOmrwQtOnYGw9kqdFNLDIdlI_DTOulqMYVIb7sxN5POE8dENMxBsaKDMrJu5fKJCDmfTBIpWJK5UgWtS0gL_0rbqP7syF4p3GV9l2xiCPmGTKm8AKjLRxSKSUmeZeG4olLRV4Pk_Cv_AndHurdy_GFNQ35q03MrtdTSTpA1J6Dp8mx5yaa08YDbdSOGQ77K_6YhSSkNIfjddszrzO93omBz9SaZBCbH29CRLPv3CNiKkpJiqQOTSDmfIj2a5e0ip2iw_n_Q4ZFl5kIS1KfWRIKq3cv9iwsNEZjjFxsWbuOBNj9AbYqrq5-GhGy6M22YQzvmAhrQ9mT8SCP-k0-hRt9PrzO87U5QzQpu9PFBm10I7QCsBsnyu5_VZzaV0buXPgjwVKheRyULWv_b_VOzH92qYDW60xoXJ5reWBizis_GE5bkvO8pmg6bsuHL4UdjJ6ssFYTTMLZzQMEvkYt9SADAeEu2OaH7yW58hOL15eTLle_FO4eOyltKwATtq2bu5cHBTCV4N59UnKOcr8yXGiIMARJhCsOOmvJywF6IYb1sDsjvDA9iMQM5xckC3Qhu0rr3jVRnu7IoHtHWHS923Vz2s5J09yuW-keF2AwOpw8G6qSi53o0_yYd53d6VabpaweNJFA1bD7VY=",
  "id": "rs_0c04e6904acf901f016ab4427ed0a887d0b85685b1c21b7d34",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEKHuiD9dtKeRMjOx8TiLbgnqCt9r0REg71WJ9Ee8_Fj4kL4bvLJ7vapaNduwGeVANRG8fHCPcxCX9sdzUiMftd6tVaSPzj9JoDcYsVA8zbFevPkq0PJUHJWSc5PAowQQoB6rwVf4mWb3QWqfVUZ_9lOMlYPNhbNI_fMoMPrSKJj72oCxX-txX7_TcT4U3-Xa9jhKQ4sqBW_h_vq4yBc_iVsGKjt3SNTxj65SSBzJv6Y1kxZjvss8udZvYkuDp1I0gojVfX-ZFdhL7adGSlkjzxWgokIPZAnJBVJ1GsYiM8Vsl-9o9Qi2sJDDaWhOoC3t-oa3fLP_N-PsNgc08-5PkrnGD7plJ6ktbC0_YS22ANeyfIoZahwmyzM_30CnoF6iAQDCDC68_rtdMbZaCKlZBMz4Gj61iBuQhHhyx6L1zKEzB-qE1Kh2J5xMaM8hkngPlsUTBBUqPA3_cBIrBkDE0IEqmgmT0Qni7Y6OmyCjlxKk0F5XmJSSFx7Zi5hKmRsHgbFildJArcpm2ouZo9-fz1wuKcBnIv7w5qMioIYQbimYbNrYssAZsLZDRnIB20d5Cu9MGNb9KZHAjNtHskywLNYA48yhSq2wWeb9CvHL_Se2dkkstj5klvEAiRMNmd2wk_i_Szz3E524aimDD_od6MT3FQoR_QbbuYUZZNyyfg_BDEXugRE_m9pkhCeY84hu7WKRP18V52V84cy2dz-emDbU-PCircjhqG8Me6i4aXZdklS8DSU3LdzxA7EMR8C3HpMODI-LPxQCpFx2XL8VrzOubM81IpHiT49tT7XPcQX0Dgh6oIiTnTvJdbYo7Ep7FrkW84jd_sC2QUkLcF_2R-LoYz8OvL7DwByjJ6VZDAk0O2ar8VGNLSWY520lEEYWJl5YrTOQ09F1mXb-RL4K-GEDfUnPwD6Y0zk9EuCDh_SRAoU4GHGUA7SOWsKLaNAykpRMg7Kbi18LWHpGdpCMMe4GO7bxPRX0Bimt22N3wXCMNlJLMkIPYXkMwltJuCY3DkyD5oSV0FP3N7NzZIAyNhiOryj0ftn9xSOaNgosS7JvH2lOk-fxGif1gfyGzHg37i6jHkhH_tN0m2EHVKJm-HsWQBbxb5cyTU6FtoQJhahS_HHW2KoczaiDJQEICfcj74uDYZ2I1M9T1jWZaZPMZ0RMc2IYvWI5wSmEGAK_RBs80bcP7WoU6A9UMXqfbno1MuBn9IgblDlCnQk2fvPvGjhP4IKmXm5aOzPHpx5c4L2Ikd7BMixFubjh2CJ1lieiCHjue21GPRt_0Mh7r1vt-5IQaY7QTD4wGNc4-6xJsQv2mP_NBrPCsRtjpDBjbhNW7vCvAtrMdHyuRg_c2eW0qiznHUeS7LxIAs9g3Aj-ZqHFzbKtVf0wp9WyvdUjKNRgNbjVG7aidV1rQYuiA8s84__CcIREbf7IDV_AmJNZYu63dNhgrGgclv23toNI9m4ESlR0hEUlDlH1slYUxFCxYTiaJIb-rNPU1VSquLG6_S_93C2npWc4yn9X1_XCudeUdzN_iYig_AE7MVJ1dZO3rnTqMnWesMAILHBAwbEPv13KkQP5mulSAUwEZ008EBgCMeFXZ-6v1Xc9Nst8TSDXeCI9TG5bnz7mDIx8kJ2lKd4NNirXmmlVGM29vafJpKASp6KaguHMV776Z6mQ3YPmCHhF5TZSPX9piePJkAdCsmmw81ZG_bzvHNZSZDnbL0KKpX7Jo3CtIqWxL23AaWOg9I-bTU9oZkA0OPnLsLBydReaU8WL9sf6HjgHLLPvYgqUnGOwvaHLwp-X8Sla5SzfL1VIFn5IAUZ8iaKOXBOanJ41Ms2t9S_LZ_YO_Xa7w34Hnih9ettDZH6HGAY5poupVKOKKMgV1w4_fkNQdF6n4kgFmeMD_W6SrM1bJEiZTr-pUw3tFR7kkpF3lGTpzIDx7eMUWLCctjavek7RQ41cxjVKp2CGWlfk7pEXN3D4rlA7H-uoqUaYpaK6-VwSjo2b7OtoGyKNvOTiAIjKNG2GBXyPD_LF8f2nA_7YccqPp-xwsO-KrBaqaLPG-Bdy6SQ7OcrwSD7xlwiRU4CjhrjFRGy1KyeKzuXMbQH6Mbcps-uu136TIvlpjCULn15YKfzgFB4MeJN7RrDaD4NBTTgZCI1oNwpfBvbf86f9EjCjhUD9jPe2XVSVEi131A1pAw445IJFdodJNqYdHO02tFKIrb1z4SLteNLFpNNlHbQPP2sIz9dJ_04DLZXPGS7jvJhnmgM7pvD6gvfIwS_Eduoi0b4G_lABww0CmP3ypkcz7byNEupIA6eWv6XFOe596JlRl4FI9BXu1lgKijAGySlaob-MGfi_BIpQsnPYY8MLd2Uuku72B9ilLBdP0AVL5EnpunvqA==",
  "id": "rs_0c04e6904acf901f016ab442840f3887d0ace874611c3a6882",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.32,\"right_z\":0.16,\"right_gripper\":1.0},\"note\":\"I see two visually distinct groups in the center: light tan plush figures mostly on the right and gray/white plush figures mostly on the left, with an empty basket on each far side. I’ll use the right arm to approach the isolated tan figure at the top of the cluster, assigning tan objects to the right basket.\"}",
  "call_id": "call_StI9kROLg5PAMzAEVZxrq8q4",
  "id": "fc_0c04e6904acf901f016ab4428673cc87d0a0b2325c823a49a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_StI9kROLg5PAMzAEVZxrq8q4",
  "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]: [-0.0189, 0.8043, 0.6151, -0.3805, -0.0219, -0.0376, 0.9996, 0.9279, 1.8824, 1.3895, -0.3546, 0.73, 0.601, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1821 left_yaw=0.0026 left_pitch=-0.0072 left_roll=-0.0034 left_gripper=0.9996 right_x=0.3784 right_y=0.3147 right_z=0.1492 right_yaw=0.0162 right_pitch=-0.0275 right_roll=-0.0227 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.6752, 7.2, 1.707, -0.0073, -0.0122, -0.0122, 0.6906, -9.5932, 9.1145, 1.3211, 0.4762, 0.1636, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e7e7ecf99c80928de01c93d93fee37703d0d088460f498458dc8e18363414d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:134aa8066c8c7ef35e012ec0e2e479ebea02f2cf81ce7777bb3b930de6ac6797",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50c30e2eca7218f0a975093ec866f444d54f64024f8a661b89c3edd0eda54885",
      "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 2 attempt 0 · /responses · status 200 · 3.277 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7994, 0.617, -0.3801, -0.0219, -0.0334, 0.9996, -0.0208, 0.7986, 0.6109, -0.3779, -0.0116, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1845 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2962 right_y=-0.0005 right_z=0.1823 right_yaw=0.0001 right_pitch=0.0 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -1.7162, 9.2786, 1.7607, -0.0317, 0.1392, -0.0562, -0.2803, -1.6342, 9.7846, 1.7851, -0.1538, 0.0855, -0.0317]",
      "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]: [-0.0189, 0.8043, 0.6151, -0.3805, -0.0219, -0.0376, 0.9996, 0.9279, 1.8824, 1.3895, -0.3546, 0.73, 0.601, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1821 left_yaw=0.0026 left_pitch=-0.0072 left_roll=-0.0034 left_gripper=0.9996 right_x=0.3784 right_y=0.3147 right_z=0.1492 right_yaw=0.0162 right_pitch=-0.0275 right_roll=-0.0227 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.6752, 7.2, 1.707, -0.0073, -0.0122, -0.0122, 0.6906, -9.5932, 9.1145, 1.3211, 0.4762, 0.1636, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e7e7ecf99c80928de01c93d93fee37703d0d088460f498458dc8e18363414d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:134aa8066c8c7ef35e012ec0e2e479ebea02f2cf81ce7777bb3b930de6ac6797",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50c30e2eca7218f0a975093ec866f444d54f64024f8a661b89c3edd0eda54885",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEKeQW0s1t5bOVsAb9Z9mTF4FIU-oyOLe2UA7zGMuq4_OmhqMUpRNrjYab25NAndwNxWqlbejGiGw2wDV9qBuWLq8WQQb9FCRBV75cfeyG2kAj9CzIde6282L_BnqFzpPLY3Ym9Gfsm0EcINoF8o38wyafuenHv-ZAEC9gmRVKHRRGg_CW1xF60PF2uPQuVJbycZ5MFt04OEPrNFZdEGPnXh1oG1jf5Vgrrhz4a-Mc_XoKJiCYd9Me9PaJvB8AU6OGVMsOcmhTRhHkhWQ5NcBSlucuT-jBHhv_l-RavHr_3WUoJuiXf6cntieoc-EE8sdri6kOZyRBJ_00hqwXy038ZDq9Tjrb7dksvjue1SD-rrM-Yobgkg_7QEjyTlRB0F05LiBCRW-naAjkAmgTUouva8MXH_rsJV89LPCS9QFd4ceuUAelQk8Fv7RaJM7zvMFhOpl78LFABYmZkOJJRk7cBVpiZcPAPV7qw9NMe9xbmE4HYCN61C-e4nSE25zo94avnd9kYAtqqhGSwAPNt6osk8ItZgsSClmtglUQiu5Uohbdw8StYmzisatkSrQzjlPTn4zL7UJAyAyB12ClxFbrT0-xA10_aNVwvufiVE9hUa8Wy68NOOxZrgFOo8BpxXkYNtRrlCwmuFYM90qdGE5TWKUttGm3v8_gYnc6D9nd8fELxYijKmbyHMqS2LQDSd5DzXrqKxNM3cyKkh80QMNybL7W1UPKoD75f5Cf78G7VYV2J2JCzvo-TTg46skBcBRqd-UoCiWwSAImfNNtiveleJwvp1rEp1zQoL9j8laiF5wB8jIf4XZIPqX3uuukZQsj13GfwAcDPANYBbzK9pfmxDddzA_BAniDgD_nSab2joXA0icArkAIrG79Zu2LhbR3mgtuUFxMxZlbTLndylfHHnVAR19M4Yby-p47RAWsv7K6H7hj1aD2KSqusUfv6zh-nja3l0hf9S8W_Q49Y-E9rfSHTsF0cuETT1NdpjkaQoIVr9N29-IdulrlJ2rgO3b7BlYaI1Q0zHrQPUs-jpr8apXX7LGd0kfUedkHMvOrGnpM3hPW7ae2huPL5fgfyFDaHVp2dZW3Cbir4ujJFvw2WllnEe6jiQ-5Vlvch9jf73PUlfdxV5QzshKq2nTjl2KGYL5T8ExDnvuzqPsAUW1AoeHpk9k5pMt6MO3_fM6ecnIakFDDnVBbTXLssGRDvEX4WKZO9E6i89ZPd9YnmykRwh0R6kYjRZw2cfGB2tchwBIlc5Ek6cKM8fvzKiaKJMYmFcGvktfLv55Ovag_HOgmKcmnD-wvauOee1bW6itw6Gh4zb165VmE4VaIQ4qQ78Ng78sjiQKHk1S_VztE409QVsqlSmjbvX0SjlawIOKPetJj80OiXlrJu2JJz7JJ0whRSEGG9BXQgttMLeEpPwkSMpfa9D0jEHAp1mbdntxpOEq9cte3NJuwQNcfBnK7slJZWWLFj0Ris7COfFSOoEYmwkYo4Fqx5EIxywbP35j9DY4eMcqZS7m_jvQZORH-jyUtI6XRrBNmB4xcWlFaJOKLmLyzegv2jIJgGo4MNtU4JlkQi-mRbeC8CtmMoGWxNa5ZO-TLqaqpuWpX8wSLFkkBP13HDzMjFlp3Odz_OjpHEua9FbOL7HaTQMxD2mp4Lq_w-ND9MCLtK-xHPGGlJLF79rJud4hso8XzWvh4szGGGv5lAxcEFoAhuLFXMmoYxQHt65QeRJKbrDRy3vNDhGq5EeYfz-nQUY-AlqhL5MLehBtlzahKFq1tAvoTlUR5xcvq2tcNO4oyUqWB5LPlYQpncamm1VRWY0lphvE0I-AWO5lCA6jM_h98phkR-hOMobLpopJ7mBSxytVL23K7zSC85Exux3nH7dnkpoCZ_bmvqlZwuGHDhY814ZugpmkoEL8ps43Lj0-PE5zB3W-08-7g0Hk1COP6fFeyOH74B5dzZYHBVvfbuXD62bCrcOpMiSjduZKl1I2cpxV3zdwOzh2PYrEZVWVq1t6HkTj_Y9RPlaVH-UpScG9mKDKRuaB_K5mlAQ1bSF6krBw3qyYg9M3zPwYmHLHnDukqwzNz22JTY0OVAjMd3JsWNLoP5ATOe4DKFLu6haroiqoAmhtUzOjSuFXyB0pRxNLiGigW5v5-xAzs45rXzlKnplXTsV_0dVRsMJVzC7CMPjoM9Muk-ZsrGVshYDRqgDP2LtDJwkHFZEon0X3Or3gWi-S6wQLAAl4NZYb6JxJgEp-U--Av6in0IDH08g-xND_ETeGsAZf29M3ifNuGbTghBJmXZ91-AZWl2iSFKMU4pxgmKmttL8A9iF3T3lIXcEeR_supVEzjDzQ0XUjfQPGcnn41BXVQh8IElLDI3sj0TgkXjpEr1SDy42cbIYrQDrpo2SoUR7UgUcpnNnQgAbpdicRcBNijTweJEEyOd7mmhnChQwsHQ73AoihjVe07kDmaIpZKfQj8kFIuxsfPRQbYvKkz0nVM_Xdh7Wl7Vxys_vHMJzBl2SNCi8b6dGWPTFfjYLTASYU0OpM6ntwVPNgDge5mTNqM5E0tbX",
  "id": "rs_0c04e6904acf901f016ab4429b2fd887d0999c6d68d100b7a3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.36},\"note\":\"The right wrist view shows the isolated tan plush very close to the fingertips but about 5 cm to the arm’s left of the jaw column. I’ll shift the right grasp point leftward to center the plush before descending.\"}",
  "call_id": "call_9r3aJ0w0t0uTFGsfmpcljn31",
  "id": "fc_0c04e6904acf901f016ab4429dc2d487d0b0e99e490f048ff2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9r3aJ0w0t0uTFGsfmpcljn31",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8043, 0.6151, -0.3805, -0.0219, -0.038, 0.9996, 0.9863, 2.0235, 1.5745, -0.4625, 0.7448, 0.6544, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1821 left_yaw=0.0028 left_pitch=-0.0072 left_roll=-0.0037 left_gripper=0.9996 right_x=0.3754 right_y=0.3569 right_z=0.1392 right_yaw=0.0341 right_pitch=-0.0554 right_roll=-0.0371 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -1.306, 7.1863, 1.7509, -0.0171, -0.0659, -0.0171, 0.2256, -10.6872, 8.9778, 1.243, 0.5446, 0.1001, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f53c6b32f72911d61bbd883a9c4f5b75dca752c048bb75ab3993311ce4b7994d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bf3227a0b89729994e244a70569147cf1618c41114b376552d997e5184b0655",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3372c0e02e985ce9983c38bbb39d28cffc0a6c05ae0e99a6da8f775f870d2db1",
      "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 3 attempt 0 · /responses · status 200 · 2.971 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]: [-0.0189, 0.8043, 0.6151, -0.3805, -0.0219, -0.0376, 0.9996, 0.9279, 1.8824, 1.3895, -0.3546, 0.73, 0.601, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1821 left_yaw=0.0026 left_pitch=-0.0072 left_roll=-0.0034 left_gripper=0.9996 right_x=0.3784 right_y=0.3147 right_z=0.1492 right_yaw=0.0162 right_pitch=-0.0275 right_roll=-0.0227 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.6752, 7.2, 1.707, -0.0073, -0.0122, -0.0122, 0.6906, -9.5932, 9.1145, 1.3211, 0.4762, 0.1636, -0.0366]",
      "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]: [-0.0189, 0.8043, 0.6151, -0.3805, -0.0219, -0.038, 0.9996, 0.9863, 2.0235, 1.5745, -0.4625, 0.7448, 0.6544, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1821 left_yaw=0.0028 left_pitch=-0.0072 left_roll=-0.0037 left_gripper=0.9996 right_x=0.3754 right_y=0.3569 right_z=0.1392 right_yaw=0.0341 right_pitch=-0.0554 right_roll=-0.0371 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -1.306, 7.1863, 1.7509, -0.0171, -0.0659, -0.0171, 0.2256, -10.6872, 8.9778, 1.243, 0.5446, 0.1001, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f53c6b32f72911d61bbd883a9c4f5b75dca752c048bb75ab3993311ce4b7994d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bf3227a0b89729994e244a70569147cf1618c41114b376552d997e5184b0655",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3372c0e02e985ce9983c38bbb39d28cffc0a6c05ae0e99a6da8f775f870d2db1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEKkNTGq41A9MX2L8ng2GzHXuPpZw8DRBRqQpR-5UdzbuEZ7jY9L3p4CwrEidzT2mLilnXEWdqCf0yltOo8KKq1qdc3roqCxy9Y06lIbr2aeGGzRvYXtRtIAmMAi9KWDayIXg6-njivvV6o3ef3Xfh3cqh2_qVsKQ3PBVUnzligdZZnPPxNlJ6hrwunZLLE87PejYROeAn_vja0P2JVY6vv5tVah7B5kzFme0zmJ7xqiaT5qebQmlK0QsL1Kjy1LfSgE6DyPZdQIj6DajdF0In7k6749DS9FsXsBP2RtNmobGU_FnHCiqLgfOFwOYfhKg0Dq76QCo9Z4VtzIUdSRj_hUJyvemw6TlmOb4-2syduOrGEI21cG4rnkUPUefBalH2jKWDUAwvzAA57pIj7BFKBgXPHWJsoiNjcDzN6LQafCAKwQw-DgZe-Tqgf093j4247958yqiinxdPHyCA6qRCT9wLtF75ssvdH3SpWSfkceBSydXBvyk-mR3tvcFkMKeSLVl011Dv-1vGcH_IzGjlU5QadbiFRml1EJmZPtEo0YWsEaGcpiInU6ar1woMfCF1gw5cfTUnZCcmU_-xFqg8wDQIrGeBhnxt2j4S7Qch2IbQD99wH9D2jcAphkTdYW4ckGi7zntCC6gCwcKVc_TQ1fVTnafo91v-o7DaxP9rm-Wjfto3ij36s_PzroJ5Gb7WyUr7cXe6S60DCwtfYGAjTJfJEBEAK5FRMGFSC5dnClgIh98SGe_xQ-rKGbXOGxxMUfrNTWfizKbfojouou1-VJYGkgqbLzdkCQ_tO2DPk9v4tmiasvOGovqQGM9K9bfMdYYEdOCjmLDA4J1X5jJXoQV4NrqAnWG3nyeIfzNjq7zdMDmxVk70738ZWEX-Z2wH4z8_8nrFHiZFREAzxLzjpkrloWP5uavpQgxwWKdPLnYbyr-3tvM44MiCQ0RJSd-Up44b8UFj3ry27FYTzoAiQuIxAmmM6IsMwKt4zJc2Eo9b21KfHZxC_Qd1FC4B-z_UKsU-_uIIerBzIcCTuzoDfVdQDq3Y_PAvQ4I9VyQPBWbkhT9J8d6YRBE8aQMQUg3M7pYqEdew6Ab0fShdIOLyYp3CkENLFAJzWcFO9fUawi9FqZW6bd_07ABxpeZu4wz1hZCMVPV5bWwWN04rrjbm5lwaSvaXmQko6TvlW2s-WCRuVEJT-ZADz2KT_6gTJAMq7muQjzcY5mH96zF69hMwy3Wih21wR4h6U0EDcz4U-gZEnWMD2NMki-XiMYoQy9NJjJidbNsJQ3iowqs50tRbJbkH2pVfjZJ5qVlW1jTVxsVzWY8CS_QPd0gz6B7fXuqbxTwLdBTc7NWS_fbuSdQUNxiyxXS0_58lBmf3lJXMTkT0rTuIBysyHILH8mHN5kKh616vKYE7OdXYujTxRPfUT2tCx2Zj-AueKRGws_cPQ__5OXRoA7V0gtrrulIH0FtRbN8zreN_BsmAgHhYIUmipMiiOQmEqxGAhL7Iu2wjXOr09kOuE5zXLhku1H3XPdqso7BL6AQGEHPKbNpRqCaopWgB3istOn6o09bgnnjTa2QvFlEaafDSqATC1IBi3DmRQXzFjkYy9Y_7MpXg7zlmXZPFDgDmpr9MWm7jDnZLZp_JWEAUh5c2TaqnYBiwqgcEjLbnn93qOYyNs7sRdOJVvceepuKOFdzhw4XtOA9Hsw-6-E-Qd0NCOd0pdBtIgVBL_iZvgUK05zaXEYa7W7w_D4wM2kXYtiFInB7E0Yv6tHyS88RPyebBJ-taAF-VXnBfFvl4-WirVrGbVA8kaYYYyl28qJ6ORdGtx3Nvo15E4SbELsakBEnLuuhCkShZ78Cllqy5Tmf85v_R043ylAl9AIBmu2uOpyWTa7MtKYueEHa2sCZEW_VH5BcQwwnYQLpXdLQ0Fk3EmiFQYp4DHFwbMKwhvQK66k45x6U3DOX9FsLIf_nf7gBvbjc5dE2w-CcRFy",
  "id": "rs_0c04e6904acf901f016ab442a29c5487d0b0a01f2a32517cdf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.06},\"note\":\"The tan plush’s head is now centered on the jaw column and fills the bottom of the wrist view, indicating it is directly at the fingertips rather than still short of them. I’ll descend to mid-body height for a soft side grasp.\"}",
  "call_id": "call_fmmELgLWFGL9cAmccdSgz0Ok",
  "id": "fc_0c04e6904acf901f016ab442a3b75487d08fe25d9cc3f5d7d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fmmELgLWFGL9cAmccdSgz0Ok",
  "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]: [-0.0189, 0.8043, 0.6151, -0.3805, -0.0219, -0.0383, 0.9996, 0.9863, 2.0235, 1.5745, -0.4629, 0.7444, 0.6548, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1821 left_yaw=0.003 left_pitch=-0.0072 left_roll=-0.004 left_gripper=0.9996 right_x=0.3753 right_y=0.3569 right_z=0.1391 right_yaw=0.0341 right_pitch=-0.0558 right_roll=-0.0369 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.265, 7.0222, 1.746, -0.022, -0.0757, -0.0122, 0.0615, -10.7282, 9.1556, 1.2479, 0.5006, 0.0952, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84f4053601feb764ca0e6cdaa9b4efb189f0ad0546a07ef4a5615cf131347fbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fed563a35a03b52249b2d68ad61b7ebea0cba6d6b61cd09f772983601c85ec1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:109a85b8551b405518b5bc4ca239520fc3b844d26a97085e457ae786a900c082",
      "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 4 attempt 0 · /responses · status 200 · 5.011 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7994, 0.617, -0.3801, -0.0219, -0.0334, 0.9996, -0.0208, 0.7986, 0.6109, -0.3779, -0.0116, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1845 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2962 right_y=-0.0005 right_z=0.1823 right_yaw=0.0001 right_pitch=0.0 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -1.7162, 9.2786, 1.7607, -0.0317, 0.1392, -0.0562, -0.2803, -1.6342, 9.7846, 1.7851, -0.1538, 0.0855, -0.0317]",
      "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]: [-0.0189, 0.8043, 0.6151, -0.3805, -0.0219, -0.038, 0.9996, 0.9863, 2.0235, 1.5745, -0.4625, 0.7448, 0.6544, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1821 left_yaw=0.0028 left_pitch=-0.0072 left_roll=-0.0037 left_gripper=0.9996 right_x=0.3754 right_y=0.3569 right_z=0.1392 right_yaw=0.0341 right_pitch=-0.0554 right_roll=-0.0371 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -1.306, 7.1863, 1.7509, -0.0171, -0.0659, -0.0171, 0.2256, -10.6872, 8.9778, 1.243, 0.5446, 0.1001, -0.0171]",
      "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]: [-0.0189, 0.8043, 0.6151, -0.3805, -0.0219, -0.0383, 0.9996, 0.9863, 2.0235, 1.5745, -0.4629, 0.7444, 0.6548, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1821 left_yaw=0.003 left_pitch=-0.0072 left_roll=-0.004 left_gripper=0.9996 right_x=0.3753 right_y=0.3569 right_z=0.1391 right_yaw=0.0341 right_pitch=-0.0558 right_roll=-0.0369 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.265, 7.0222, 1.746, -0.022, -0.0757, -0.0122, 0.0615, -10.7282, 9.1556, 1.2479, 0.5006, 0.0952, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84f4053601feb764ca0e6cdaa9b4efb189f0ad0546a07ef4a5615cf131347fbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fed563a35a03b52249b2d68ad61b7ebea0cba6d6b61cd09f772983601c85ec1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:109a85b8551b405518b5bc4ca239520fc3b844d26a97085e457ae786a900c082",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEKpP2vVaA6icEhf4NiRxhqru5KWVttush_T0wOmvyq7ai16AdlYkR2le8fPFgspbuHcCr9RuIaBqFcLHp1jQo7_5NS1zaywTnPwxRp3VMVWM1HGh6mOqKbR4qVeaNA42QyyMFeCdVTYAYLsahkV0wDSIYadQjYuAaUna2M0HPhzfR8gms8XZYpdbT7a1ynxT-SoWZ-f96VFYNfMlrpZ79mFO8HzG4ZWXEXA3b0EvzxyRtAiKM8ZWYOo-m5EPUbBUenE2XR48V8T3bhbJiloGmvLwHuXSsnxU50pPoP53E5VzHG3tjyI1VX25BX1TPZKjdKSumR2MRTzHoNF95W3s7VjuoWaSUwvfkGS145eGEYLDH5Qfb53jh2oOlbgqR38l8BhxhmUd5vL_10Ndy17P6UwXGVU2k9jMovVwD7r8DJcEkCi2UMiT9Zr3_ga9XmufCwo1V_u2QAKSoPK8xxy7hJkcaMFOa_vzaQWEMUfT-EKa6l1IubS0scuCsjcK55bV_UP3kN-Z2YNaJGMVc5VBl63XQAOlADjzPWCEKuKkywPfMmecpW1i9mpIkmCNIfqKP-anoO3C8M2RCQxNZqiCn-kRZa52wYIkxBD3BIKw4YqJnlHzLsbSN7stA6MuxxofO3wHe7P-nnm8n5SIXj2qRE6lwTmCGZIdF-QswhgfRsj_4-S5QYNj6DMapvAeK63mR9Ov7NW3dRCnMfcSuOCdtoeZeGJnEAhtADZl0lgyzRcHbutPnn52o5KPYrncKR9Pr8vCdsRGfhFScGy9uGuTkr3jdOEAlW-dV_dYopfiFqyR1IhljtAGiZLxGSqu2BsXYuc6GyPTfdETvzZheV4NoYWgivLSYu1_2rkDXmbZ4zUM5iK4HCwpCzFzUVURwdXbjr3w6W-oH5QQFW2lR2oghgKiAN74Fdp9YGKAximF9wqEWLw7CpKD9-92kzQp4OkGynUdG82bASI9N-k-ExdOdK3kmwElTED2iAtNwYC7cubRpMccf6h--wJ7XNOHZo5kKyT3aB91GKDpYGiEvvGFVYll9GNnrJPdVT0-pIpFXfhVjq7pon1_z6ceBt6zs8hD1xV9lFmKczhv6m4bnAL3PpS-8lcVZCNaIXmIcuSwy6LEB0o3a4vhlE_SVPNPeb0WJ4xDW89J7MiBovuX-K0hOACk0Z9e8bONB-72B-T7oIBO9o5-PecOW-bwORnDbgeCNsIBxwLUUzVa5GkKYRWGsUlmILXqVW5lX6fT8ZRxMPN_h4LSXWFlSNb4Wu-Q1Oct1MA9OSPI8hLpqLQY0eSLIc-8nZW8uoxqNqlDrLE08Y0ZMKFPgB8M9z-OeI2QBTuHnjVzyCecp0jPyz5SWeJnc7Ox8zX_q6mpl8Fn8Onw3flRb979YwbACRWZHrO1cSKF7FYCVeJWzEBx94mAPg86sJumxbHNW54wgCJVD_m4LS0Cf_XpFJPvw58-JfWt0YiIZWRi0ig1LRVg87gxp_0RUwLZv7yWxhuGKQXheo5WrKTGDmHd0TWxRrU1DMBwpr8L0qn1eHWDjsT_b1VSfrG-oT536odWs8AFrEgIH2tLtR81yU5edg2ZJDJJUC5o2KzyedF",
  "id": "rs_0c04e6904acf901f016ab442a7176487d09fbab1e665b9802e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The descent stopped at z≈0.14 despite a 0.06 target, which means the open fingertips contacted the upright plush at its top. Since it is centered, I’ll close around it at this contact height rather than forcing downward.\"}",
  "call_id": "call_sUXQPwdwEmmp5M0UITn2oS8y",
  "id": "fc_0c04e6904acf901f016ab442a81e9087d0a0989a16c93f69db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sUXQPwdwEmmp5M0UITn2oS8y",
  "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]: [-0.0189, 0.8043, 0.6151, -0.3801, -0.0223, -0.038, 0.9996, 0.9863, 2.0235, 1.5734, -0.4606, 0.7292, 0.6506, 0.0126]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1822 left_yaw=0.0031 left_pitch=-0.0068 left_roll=-0.0035 left_gripper=0.9996 right_x=0.3743 right_y=0.359 right_z=0.1375 right_yaw=0.0462 right_pitch=-0.065 right_roll=-0.0323 right_gripper=0.0126\nstate[joint_eff]: [-0.0752, -1.2103, 7.159, 1.7021, -0.0317, -0.0611, -0.0122, -0.253, -11.0701, 6.6667, 1.2967, 0.4469, 0.022, 1.1013]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4918f3bb0511f19c9762c8d2e4fa31b5b3ad2a72d5bf30a32310efac2eca8b6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b9c9bf9e9729eb3469d0cf23f59995d33ed93d0a365816746a1010dd9f471f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac2794e35c01eca69072c1d4e6af84f1be37c63740a54a1ab8777bab3e966df1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 3.885 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]: [-0.0189, 0.8043, 0.6151, -0.3805, -0.0219, -0.0376, 0.9996, 0.9279, 1.8824, 1.3895, -0.3546, 0.73, 0.601, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1821 left_yaw=0.0026 left_pitch=-0.0072 left_roll=-0.0034 left_gripper=0.9996 right_x=0.3784 right_y=0.3147 right_z=0.1492 right_yaw=0.0162 right_pitch=-0.0275 right_roll=-0.0227 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.6752, 7.2, 1.707, -0.0073, -0.0122, -0.0122, 0.6906, -9.5932, 9.1145, 1.3211, 0.4762, 0.1636, -0.0366]",
      "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]: [-0.0189, 0.8043, 0.6151, -0.3805, -0.0219, -0.0383, 0.9996, 0.9863, 2.0235, 1.5745, -0.4629, 0.7444, 0.6548, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1821 left_yaw=0.003 left_pitch=-0.0072 left_roll=-0.004 left_gripper=0.9996 right_x=0.3753 right_y=0.3569 right_z=0.1391 right_yaw=0.0341 right_pitch=-0.0558 right_roll=-0.0369 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.265, 7.0222, 1.746, -0.022, -0.0757, -0.0122, 0.0615, -10.7282, 9.1556, 1.2479, 0.5006, 0.0952, -0.0171]",
      "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]: [-0.0189, 0.8043, 0.6151, -0.3801, -0.0223, -0.038, 0.9996, 0.9863, 2.0235, 1.5734, -0.4606, 0.7292, 0.6506, 0.0126]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1822 left_yaw=0.0031 left_pitch=-0.0068 left_roll=-0.0035 left_gripper=0.9996 right_x=0.3743 right_y=0.359 right_z=0.1375 right_yaw=0.0462 right_pitch=-0.065 right_roll=-0.0323 right_gripper=0.0126\nstate[joint_eff]: [-0.0752, -1.2103, 7.159, 1.7021, -0.0317, -0.0611, -0.0122, -0.253, -11.0701, 6.6667, 1.2967, 0.4469, 0.022, 1.1013]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4918f3bb0511f19c9762c8d2e4fa31b5b3ad2a72d5bf30a32310efac2eca8b6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b9c9bf9e9729eb3469d0cf23f59995d33ed93d0a365816746a1010dd9f471f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac2794e35c01eca69072c1d4e6af84f1be37c63740a54a1ab8777bab3e966df1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEKvPv3bGl2CZdAXOt8w7DDVSKYQVirU6Vb8NsGNXkM5jBthoMNBqL89YWDil3YPO-rLfYSSXIDJ3F8gSe7r-pv3W4fUj9Fq5TjPtESbsIfyhn5a7Na-9RQ1fFbT2TFX5ZCxVm4E1HuRZHNULa2toolHUKTUj0wqqXUhQcqc07UIE8rVbkciSQDRpOIvbCu6HqlL22tITWAf_H1OAsvpaLsK10-2hdKyhR6f4gVdRiCG52G9ILYIruqPZRcOSL_OlFuyYWrBpcg05gR8UDH_kl8lu2cexXDY2k_WSjp3rhre2NGAGvy8bzBpX84Vtf5PVDd-c5Fxdi7roNcr7E1TOY33YLkWEmMN5xQX7AbrAVLfbTXJG4OzH1Gyp4OiRKZgaZ1GGnw33DxISEL3_q6YQNTwnUKCM1_Y3lpe72YSrlJVEZzT1M_U-oOlGZtYMN47Crs2Ib4KJK5f1nt_UXt4OgLSeSBzSWFqI1-wpnEX0dL8fPD5zdl7b_JJw8kpqIvBXi4K-2vQ6MhTcPmdMtrPi8N6KW4_k0rlFgbgzWU0Z1M0GNft_4OyZd6-toqhsdPiou4F7Z_EA935ZLTo6lnmF4cyd3FvWbivgIC4sxz63rESQ9TSRWrXHa-qaZsEaXRJg_n0nwsDtEo-es2xLrGLdEKZUNWi6mqNLPwoDROa5G_VCoAePccFmadZa3KzaKcIvRmgdPsBT-oLcn9B8N4OPrNEBOp5Uu5YYWrzO5IT3yn5qTXbe6Ev2FfTBxCpo1xYhqtuntplv6kO-cSwmrXEL8EvJiSd_Wb27eIYf00aeP8lBWqppf_mi5gTDJSccX8BcwiikS0oKZqnrUBu7_JbMsCd5WpC7NVWka9L30YzELMHAp4TcEC9rF6MdDXlJnqgov-nJ_hN9vVN651DxK5lAvY31sJqi3sFXBjEKn-HgkfArom8Fe6VIIr67jbwUD0s4zTjVaa1Jj-bs5XFoXDh--yOsrgU3rakRAvv1HCPpjtdxfPWCLwbEnE7Z1LO46MKoNzt4_E-X6IYxWkNh7k7lg8nDoAvcGuu4HkLTXj5_qE2H3sg5qpD8_YKgrDcpK4rBt1M7UV124jEVmgZDTNiJEDqB7vEDqgBbayGZbLli1wFQCvMUq7D1YYsJZqGFoYBrxtBqOeNipgr5H5bzAG5KXJOFsRNYgqrxQUicxWBBm6q58LB51byaTFluzLmKLc72tTGExgmxUDjABdco6W5tPYc7SV6Tl6Dku1UZu8_5V2JrGK83jCJu0YWw7qWGj-ohlSl1j2kAAhIEEUll9fmGvdGKlQj5s11kSMEeoSzfg6t_exL7rmJVjWqw0DthdKc2SNISiaoKNBvcAr2cQYSrQHEnY5YDJ-MXicZaUj0PaHNdNLMD0KvnrgGVD_-DndQU44gZ4fSiXQXofOVi5jA_92e8jK-8gJKc9sDAVLYgOySLcU0bkunXShpAjQc1TT9CaMfOPfhPWYREmAMEDn_auI_lYb0fjR4GtfKrij7oM7K6QC1chcZfuYWzozUb5w_ELUs3o3IO28fmR4yJedUBzStpaH42k7hnfHnVs5jexC3sSk4CTUIHnl4VaS90Ph-Jjhndd1XF8Id7mYfbxhm9p5wimwg7H6dd-wObK7B8aXJVnM631-1yS83edLGUbO1HLldT_ocVsdteZZ6q42Zar62Pf5ONhFZQGqZk6AXoJIwG2i4umAQWAafbKflWhw20lv04sVn6ODDj0-BIVD1xWCnplmjxCqswrlq3rW4SYKLCmt0IefssxMnzC7dPyC_g4k54CHpgMqFZq8uTHaUsnanI-aOc5nP0d3Pyh-OQZMqxaJwmpXLYc_o6O-NtPLr2cXndgGrzVNsjcbFXDEwKaNBdG18jtUjLPW-QucFw-bgk3DHGHp7UZp7WJLD3TeCL_3SWjcwOA7kq78gkRKJs96ujHjJJXmamocmbaLmnhAIMmmNfKlgLTjIupjG6ndPKy4dMup6icP_vzUI3xMprcjl1eewWVqlSzhjxiCEJdz6zBaVX5lnbcGbqLKFZcuosO3783Aogb60I96ubi0aTtb6r0_RZ7BT6I2D7ys668zubgin1tCCYDEYddLeKMlFdyLlPDLjXbYZqSMzBuzAR3MionO8mo9h5NyVAhye9vtJGbsMBfFEZ6AWz_dcyv-69x8v83Av2rGZlAubGf2XuZpVw9XBiOv08qSd2WcW-NughBbRjaLKT4ojmqepSpA-3K-nRrgm21A4e_UOw5pKp4vN-QyCPHk0fASmr_wdaxpS2ohARty5-6cysT9DsfhWPlZa2uQSYY1t0C8ecqtiOONR493JMOmf-xjNtMMYcpFKwyaLCGUPoXX9moBalYv6YIf5x5UdbRlla9Qeiez3FxYp6SCp83tEOWDnme_L36eFKWj6823UZQ5Xzhryjxr3gDc0lagN71oAtdm5tB42U-SvC0xOq5cjBkxh_Hp8-RTDPg0f6Niav_Aer0t21QN0pJHgmUx5OVKcO3I5py2aMi-RnVG93wMlrjToGFEvBkLhim8Jalzwb9JkBAj-3x092rde4T5LJUfKl75gUm4KjXQ8lJYGmc1emGZnU_wFEu9B97HFz_wTJgIJIO5jUKkUyYH1claP3nbqMApt6es1Mm8yhYARJfIyahvDd5WfNCqF696WgwWfxZuBbVkNr_VGUeCwjllQCkgYSPcfOQ0KwDWOktCKJeTyXT7amkFR9s0eZdtfWsi8DJ3-MjiAL2i-6QTaOh-h_JsnWRf2FrCunV1CEA==",
  "id": "rs_0c04e6904acf901f016ab442ab133887d0ab037fd4c237e562",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_z\":0.18,\"right_x\":0.35},\"note\":\"The gripper settled at 0.013, confirming an empty close, and the plush remains visible below the jaws. It was slightly toward the base, so I’ll reopen, lift, and retreat radially by about 2.5 cm for one corrected approach.\"}",
  "call_id": "call_A6rG8Wu3HmnKQI7v319qGT4u",
  "id": "fc_0c04e6904acf901f016ab442ae2a5c87d0b2621ff40ec57f01",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_A6rG8Wu3HmnKQI7v319qGT4u",
  "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]: [-0.0189, 0.8051, 0.6151, -0.3805, -0.0223, -0.0383, 0.9996, 1.0241, 2.0087, 1.6234, -0.6113, 0.733, 0.6895, 0.9953]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1819 left_yaw=0.0033 left_pitch=-0.008 left_roll=-0.0038 left_gripper=0.9996 right_x=0.3531 right_y=0.3598 right_z=0.1457 right_yaw=0.0545 right_pitch=-0.1108 right_roll=-0.0734 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.1829, 7.0906, 1.7363, -0.0366, -0.0366, -0.0122, 1.0598, -15.0496, 9.388, 1.0037, 0.5153, 0.0269, -0.1685]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13eae84026ce74cc45a28b3046494ab9f043026fce464b093ea51ee3d8cc7482",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c33f9115e952bdb159b30f9c088917754698fed6f8406bb3fad488135920e38f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62382be9ccce5322e18ecd7eb79c21279c85f7b2d878a7d9f2e402309a59ac6a",
      "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 6 attempt 0 · /responses · status 200 · 1.864 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]: [-0.0189, 0.8043, 0.6151, -0.3805, -0.0219, -0.038, 0.9996, 0.9863, 2.0235, 1.5745, -0.4625, 0.7448, 0.6544, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1821 left_yaw=0.0028 left_pitch=-0.0072 left_roll=-0.0037 left_gripper=0.9996 right_x=0.3754 right_y=0.3569 right_z=0.1392 right_yaw=0.0341 right_pitch=-0.0554 right_roll=-0.0371 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -1.306, 7.1863, 1.7509, -0.0171, -0.0659, -0.0171, 0.2256, -10.6872, 8.9778, 1.243, 0.5446, 0.1001, -0.0171]",
      "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]: [-0.0189, 0.8043, 0.6151, -0.3801, -0.0223, -0.038, 0.9996, 0.9863, 2.0235, 1.5734, -0.4606, 0.7292, 0.6506, 0.0126]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1822 left_yaw=0.0031 left_pitch=-0.0068 left_roll=-0.0035 left_gripper=0.9996 right_x=0.3743 right_y=0.359 right_z=0.1375 right_yaw=0.0462 right_pitch=-0.065 right_roll=-0.0323 right_gripper=0.0126\nstate[joint_eff]: [-0.0752, -1.2103, 7.159, 1.7021, -0.0317, -0.0611, -0.0122, -0.253, -11.0701, 6.6667, 1.2967, 0.4469, 0.022, 1.1013]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8051, 0.6151, -0.3805, -0.0223, -0.0383, 0.9996, 1.0241, 2.0087, 1.6234, -0.6113, 0.733, 0.6895, 0.9953]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1819 left_yaw=0.0033 left_pitch=-0.008 left_roll=-0.0038 left_gripper=0.9996 right_x=0.3531 right_y=0.3598 right_z=0.1457 right_yaw=0.0545 right_pitch=-0.1108 right_roll=-0.0734 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.1829, 7.0906, 1.7363, -0.0366, -0.0366, -0.0122, 1.0598, -15.0496, 9.388, 1.0037, 0.5153, 0.0269, -0.1685]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13eae84026ce74cc45a28b3046494ab9f043026fce464b093ea51ee3d8cc7482",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c33f9115e952bdb159b30f9c088917754698fed6f8406bb3fad488135920e38f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62382be9ccce5322e18ecd7eb79c21279c85f7b2d878a7d9f2e402309a59ac6a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEKzOUTZxL_cu6kfkhQ5jvkd7q-vyu9ryM3SsPfvs12YFNl7XVGjxJrL3AzfJgLO_7cDFmerahruaGJPa1iyllTw9R0MAslSlO7ZbEXOcybqvgHI8Oid1UP-gWV-2JJFAf-FvDNcfpYmqx15YC-oK8edsWgcdfmzkveEpxTrB9Ty0tL7p5UduBpXKn2sl0_P6DKVQGeq_mrTQm6wrYNBmk1dNX93Ssupw9kA-P7kr8DCpEAHPemIleXG-S_1R8i8hEvJgjmiCLcJDowZthpchxxcGyH3OkQrnGdtzxZusa5w5p-pdAWMnaZNF0yUF3rDi-2WkGMy2VFIiBJWI8IpGlQd30-hu4VLKPamyxPkGtGj1jru8LYTcEuM9kQqv75Jl9_clahbJuRL_K5YP-7IU2L8_v7vlgRYn79T2sPh6cowGMSpFQmK2FORDRyv_ETEcq-9_qJkJEozdjwZZ33mY1oatk_MJvR6Xjb-8Sb8Uz1IeXEs1As8u1FJktmhYbqhilQwkT0jYBX1IaeSDUvQyvbss5k9uDi40RHhmSsXwPX1vtJoaG-rKGQHL-3pGiPvfvJsI8rSy_aK1TvDNrpzajGVng9XKWzdDPJ281XgEo6BuuDEfhqoHlti2rVFRPx25mLKVY3BqP6QmZEo2WJs6ZJeuknSoVVH74SYpKi5EnA62uVhkNTPzuZ_c3GiNVhn_8NUHBisPGMDZcKP7X-sUfkBNVzSxdhqUHYaVPStxFvkqm8M304r6ohir8xqhhfVIAZgMBci7mKqTHDZKjREcEYTxyH-vF06oMlzlCarZJ6utQvf9AJyNWKups8crY7VAJxEBcYFdoPUM8eWNlMryHjrlCBeoK_9p6k5YnPCPFXvoQDUSFsq7YWD0R0e_4_R1i_YfidfWtGgsUikBl7wOVCKa_I8ma8tzfAOmdibpeh3YzMeyzVfaojKDTTT7-PJFHXO4HyCLD2slxtexSRejtvX7S9yk-4E1KBi31R5nSeWb33qi0EDmlefygvNPZ4VDGLnGSCfWm_3Wuy1s8ymDyFe1g8JkyEp255eXQdPOjNnR-xqzy4ElfVXkDe8axyEdvwnH8GjB9I530gayxhzCVAGkMF6poUPKm0WmLOCR8deagZSEBJGTs3JABsoPzVHx9-YXP8k-Ia-ispgX4pWKB1qxcLYknoCjIfZd8ZDVSFqZ2K3YgdfGNuHU_0T6jp7Mxdps7eRxm0OW0odO8cE4SDlBw22BFvZ9RIcYBlatS9AUEc5V8j1sSFYwRoCKrZEZt3d3LFfa_228cqCOD-g4Pn_NW09gnL6WwgGeANNari0pGcc9igU72LKOicSZ7-yav9juQtPbtA14tBviqtGQ5dfN-QIuQ_aQqtq9h5thlHq_u2MODBo2PMgitKm-_vqLA2pYHaQy1OZIHC0PvUbx7B4nVTNURgoVvo5LTnp8TcIn56KZHPVzCZ1hX37ia6GFcYqXUov9YZvMf3sJ00R-gQSDv6b5CrMPmQpfKaiZpKI9IxDSEcE_0_K0DfrkeFGyyg3VFeAcq7n6lXGWZ27erhLCGqYkoCCJ6IoGccq1xTFmPuGhTAgd-sgKYNS3itriGeS3jwIQJAhji25HyFMNMfvBYzZkUQT8rYE0c9A309QwII4WLKrYO1CIkxVzEIS7uSmPKhssYK-wmRYGTLWI37P9HU7vAz22R0cO-wZ-nzS4KQGML9iqqsN55Xio0U5ds8ZXSLnmnFPPKKQAq_REpJXl7s5ThkjE2aqGkUTnNnl-iaKc-WC-GQSeHOB8EAubnWddVyHAJa6gstHYd5xtw10dI_H_30TEvzAS42KlJK_WrVWzyaMtrfh4rF1qzGx39GFbNs8rSEc0jk_RBp_wvTGQJBwc5A2oiB0QNxy0Zd78q5s5kSiVqkufVwjYBnHs3jsb0CY4VYPjLn0s1V9pwhshBslxrU29OCNaZP7f3pwux5FioXDedhhy5g6QcwNkHEdzJmoYMpaR95vriZlc0evJbsh9QUM6E5MNU-dFc415NwsJRSBBS71hGHaSNnMoAkPJkDkEjEqAecRYtK6qxt8OmVf0Ei7_EH69RoooCsjEl5qcu_rqNvQkWo5T42w_U0x3OPNoCl4GKomPIcPOF3YZiPJpg1_92SKk1mlIhpu6woxNB_ob0XESvAa0soMzreOumnsmXrrltecOLQFeJvHX6v9aw5aBdE8kHvckrIB48WMky723dEMKqWiL5KI6G9HUSfzyBm0qII4z8X8s3qI69jBsLxvG4DZj-2g0oEDhRqljyU8RP_gv5Z1TD1s8xPa",
  "id": "rs_0c04e6904acf901f016ab442b0e4bc87d090d6870bc890cdf2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.06},\"note\":\"After the radial correction, the tan plush is centered between the open jaws in the wrist view, with its full face visible. I’ll try the corrected vertical descent; successful alignment should let the fingers pass on either side rather than stopping on top.\"}",
  "call_id": "call_VST6Gm69mgJARbzmAIkjnmuB",
  "id": "fc_0c04e6904acf901f016ab442b3005087d099b12f53cb9968fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VST6Gm69mgJARbzmAIkjnmuB",
  "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]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0219, -0.0383, 0.9996, 1.0256, 2.0827, 1.4288, -0.3618, 0.7254, 0.6888, 0.9964]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.003 left_pitch=-0.0087 left_roll=-0.004 left_gripper=0.9996 right_x=0.3496 right_y=0.3574 right_z=0.069 right_yaw=0.0591 right_pitch=-0.1269 right_roll=-0.0862 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -1.388, 7.159, 1.7363, -0.0122, -0.0366, -0.0171, -0.4308, -9.4838, 5.5726, 1.2576, 0.3932, -0.0171, 0.1001]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e30ee4fc628505dbe98c31451c766aac2fc9c50c348738acdbc6b727bf49f98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5007493075357dbffcd17c714df5f7cb28451dfd1a811591cd025f14a0a995e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21ae09a4721845ab78402bd20137dcc9260df8acdc5e5a9d28985b107618a547",
      "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 7 attempt 0 · /responses · status 200 · 3.078 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]: [-0.0189, 0.8043, 0.6151, -0.3805, -0.0219, -0.0383, 0.9996, 0.9863, 2.0235, 1.5745, -0.4629, 0.7444, 0.6548, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1821 left_yaw=0.003 left_pitch=-0.0072 left_roll=-0.004 left_gripper=0.9996 right_x=0.3753 right_y=0.3569 right_z=0.1391 right_yaw=0.0341 right_pitch=-0.0558 right_roll=-0.0369 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.265, 7.0222, 1.746, -0.022, -0.0757, -0.0122, 0.0615, -10.7282, 9.1556, 1.2479, 0.5006, 0.0952, -0.0171]",
      "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]: [-0.0189, 0.8051, 0.6151, -0.3805, -0.0223, -0.0383, 0.9996, 1.0241, 2.0087, 1.6234, -0.6113, 0.733, 0.6895, 0.9953]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1819 left_yaw=0.0033 left_pitch=-0.008 left_roll=-0.0038 left_gripper=0.9996 right_x=0.3531 right_y=0.3598 right_z=0.1457 right_yaw=0.0545 right_pitch=-0.1108 right_roll=-0.0734 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.1829, 7.0906, 1.7363, -0.0366, -0.0366, -0.0122, 1.0598, -15.0496, 9.388, 1.0037, 0.5153, 0.0269, -0.1685]\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]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0219, -0.0383, 0.9996, 1.0256, 2.0827, 1.4288, -0.3618, 0.7254, 0.6888, 0.9964]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.003 left_pitch=-0.0087 left_roll=-0.004 left_gripper=0.9996 right_x=0.3496 right_y=0.3574 right_z=0.069 right_yaw=0.0591 right_pitch=-0.1269 right_roll=-0.0862 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -1.388, 7.159, 1.7363, -0.0122, -0.0366, -0.0171, -0.4308, -9.4838, 5.5726, 1.2576, 0.3932, -0.0171, 0.1001]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e30ee4fc628505dbe98c31451c766aac2fc9c50c348738acdbc6b727bf49f98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5007493075357dbffcd17c714df5f7cb28451dfd1a811591cd025f14a0a995e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21ae09a4721845ab78402bd20137dcc9260df8acdc5e5a9d28985b107618a547",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEK2xr2VvxHBdNq2jKMEPnkHeuI3CZ179e3oMg6jJGYJLy6btDNKX6a3I2wCynSiKSSbNrx7RibD-nQRYi6uDZQH2YLoZYN380I4HdY9kBtDPqVuRLFXbUNOtUbxswcc4VTaonYFm2nLDlHHdlaI-fc9fJc-y9iWn--p8Da4v9mtRJNWalJIpfcy_pu4-P0jq5chvzqX3ZeVx5hDV8S8f0V_pVoB8Q-JTN4mSg_gb2nY0nRy73eaNbLx-W9YcoUqKz-V0DPEHhqHceqPovfta3MgKWevq1Gh9nAZji6I6nRRJmnxv9wZcQ-jY59CEdfOIz1SwXZ32w3maaxsg_ikGOzzq3azGIK9FGs4Pr2gYjR92PJRGnxXLAEK94Rwna5PxPFWVmEmkmFs10R5gdv3HeXsRcLXaqoN1JACtsqLh5eWtsJdGQC0jQi8WBEuk2JRJpp9xLogBRLPYdYLIvuAZSqI9yco9ltQ03pzQKnDL_4juNDQ3lrJxZYEzD0w736IwJLK2tu9FO2m3aYsOz3AsGVLYbX5O-Xsu_UeL_H-DEISMSHkynjj4TJTK26FsyGFd2vWOQEXGTEdYY525TA433PoD_q-hGSulSMTuUHMND33bxkKspnWAieFV3xhM5_zxGyRfymoEYJOtrju62Lkj7fkY0OPQmKesltzKNkEQhNbRCm7ZB0Txw4ghxSCV0w7lLy20cpIG1b2UHxRjOFUpUtm0e_SJfmcxpCw8uWPtJcq1tDeCJ6FRQdqo5-6ESFVxUnoXpgQbVRq3nu5bwZbfMKYdkb52tFT4QakJqxfYES5w6v286JivVo17FNk36qCJ2hdL-Rr6WOvt8Htn70Xk-MP8qqh2-lcWfJ45Vw8ej322QMMvznXhHS9ptWbtS5_hUhNs6lChVsqaRt_Uho129oRSVlvCn9GKfQwDfRqUbtgMlnjLVtD-CjKcXObIzImO5FzZUMVow6o-JJIT9us4UhT86SKNA6G1wv1ixWM-nThZTNHnhhFAmGSBxQ-XGqf15mY6ZGECFuGl4KcWRG6ZWUj2j3SJX-EAgQTiXhgvODliXivPIA4eIGsw2GDL1GTgN1n8zi_NOv30n3tROXVajT3XssOXn3ia5kPnKWKPxkoK5Zb7F5vk-uwnCrlp-TVzKgT90Uu_EM2Ed8PlZ1ooxhUt4XbFnwMHiHQImKtYo6Bk4FtU2gSgyWd8eYw4EosKQ4UaUl8aQhw0T7oMAY77iBw8KxYJLaRwCj3vPm3jwZnc10=",
  "id": "rs_0c04e6904acf901f016ab442b5588887d094ae5d0d13028a45",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The corrected descent reached z≈0.07, with the tan plush filling the gap symmetrically between the fingertips. I’ll close now around its body.\"}",
  "call_id": "call_GcU3aZ8NPaui78PHxjE2JmkN",
  "id": "fc_0c04e6904acf901f016ab442b5791487d0bcf5345406cfe928",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GcU3aZ8NPaui78PHxjE2JmkN",
  "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]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0219, -0.041, 0.9996, 1.0256, 2.0979, 1.4181, -0.3355, 0.7223, 0.6849, 0.2868]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.0045 left_pitch=-0.0087 left_roll=-0.0062 left_gripper=0.9996 right_x=0.3498 right_y=0.3585 right_z=0.0608 right_yaw=0.063 right_pitch=-0.129 right_roll=-0.0873 right_gripper=0.2868\nstate[joint_eff]: [-0.0479, -1.306, 7.2274, 1.707, -0.0269, -0.0171, -0.0122, -0.3761, -12.6701, 6.8855, 0.9402, 0.3492, 0.0073, 0.696]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2b21466b90e9b14049c2713b44615b7ad65a17d95e4c04cf05bab8a44d84e23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f169ace0b9b09759b9dd7fab178c6e742e59345d70f97eea5cde5075e3e3f98f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0a33e74e02535acab000f869f11988e9532133a5ba5934d90b190bcd79988f7",
      "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 8 attempt 0 · /responses · status 200 · 3.023 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]: [-0.0189, 0.8043, 0.6151, -0.3801, -0.0223, -0.038, 0.9996, 0.9863, 2.0235, 1.5734, -0.4606, 0.7292, 0.6506, 0.0126]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1822 left_yaw=0.0031 left_pitch=-0.0068 left_roll=-0.0035 left_gripper=0.9996 right_x=0.3743 right_y=0.359 right_z=0.1375 right_yaw=0.0462 right_pitch=-0.065 right_roll=-0.0323 right_gripper=0.0126\nstate[joint_eff]: [-0.0752, -1.2103, 7.159, 1.7021, -0.0317, -0.0611, -0.0122, -0.253, -11.0701, 6.6667, 1.2967, 0.4469, 0.022, 1.1013]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0219, -0.0383, 0.9996, 1.0256, 2.0827, 1.4288, -0.3618, 0.7254, 0.6888, 0.9964]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.003 left_pitch=-0.0087 left_roll=-0.004 left_gripper=0.9996 right_x=0.3496 right_y=0.3574 right_z=0.069 right_yaw=0.0591 right_pitch=-0.1269 right_roll=-0.0862 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -1.388, 7.159, 1.7363, -0.0122, -0.0366, -0.0171, -0.4308, -9.4838, 5.5726, 1.2576, 0.3932, -0.0171, 0.1001]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0219, -0.041, 0.9996, 1.0256, 2.0979, 1.4181, -0.3355, 0.7223, 0.6849, 0.2868]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.0045 left_pitch=-0.0087 left_roll=-0.0062 left_gripper=0.9996 right_x=0.3498 right_y=0.3585 right_z=0.0608 right_yaw=0.063 right_pitch=-0.129 right_roll=-0.0873 right_gripper=0.2868\nstate[joint_eff]: [-0.0479, -1.306, 7.2274, 1.707, -0.0269, -0.0171, -0.0122, -0.3761, -12.6701, 6.8855, 0.9402, 0.3492, 0.0073, 0.696]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2b21466b90e9b14049c2713b44615b7ad65a17d95e4c04cf05bab8a44d84e23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f169ace0b9b09759b9dd7fab178c6e742e59345d70f97eea5cde5075e3e3f98f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0a33e74e02535acab000f869f11988e9532133a5ba5934d90b190bcd79988f7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEK6EBRe0mNCT5VE-AHobT-OY6ZeYH5uc_fzqlSRfjfx960t8B8Mo-bIHoeMKJ4Mn2A1qnQHC4POVsPGOT7Pm3QG_yiAeg9eAf-JQ9MHNuuOAJdhjEZTEg1FeUBHwobou_ZR5q4LmKwA4Vm9U3F-efDnyIRX6UO2-vRFvFOIxgqJP-yHNQoVdBAETnRAReGFs7hzjjxwvok0wWd7j4nyZsPMcEIZcg07ffh6ObOLvNIyK_FiP7d8EBM9gffOhI8c5kNM75K29YlHMltJFadRuM311vqJwOheHdkexmhGNc3TJmyms5NQnFhjg9bvbxjqzntffyRO8QH6Bn9loSnB1Vhg6AjiMCR3A5FLwZBEZx_ddkJ6d-S0XyE3N3GhT-sBr1Xw-2G71c6dOjkgGj8tDM40XhHXPf6ymjW0ona5SRMoR-xaQCrgSFWzS5WCfRoEer4MfsVjhoZlDrAGEpkP4j1AVh2T9Z3agyhJyCrQQ1HbCNZOOirDrQZHh56_ydtWpTTW0Ac_sHrDNTnVz_lPF9d2hPp2i3pswVB01pwQOY3T2ZaLIK5h9N4XzMZm5Iqy3wVqfLmQx2MNoJZrFfyfQcrgwLubAujsZbt5pWpdkarrzleSAGyIXpPOuA0kiGarP6U8ndtrgwP6-pockKu-oXfNfvvDgAwXYjXnmohShv5CoWbaLqgWxmPTEMlVyhzEF6NcIvFUT8_aAxOuhqY6bCNkdoyHoy6k_gZJ1WvZYwibhyqyyMbhWT1jhVieX8lSt_awjjb6JXTeQr6YzQvPm4dlXoufsCajU6T7SW_veL7aj9mNlHIKSThz9RfnQ4A7hso5ednwWhCpPIyaqeCvt5rYuv8J1p8SyEnDu11lPNLzyI5-hr0dHvt1e0hxlbcuVOo6zDtzEHcewclio9Qix-EWpPbVI7pfr4W9soP_EszvpU0kEkW9AlRKzmmAhQCqUGcKK_x54QFgmid5NZ2YKcivDLwCjIEaSp0ndiR63HSrLEbtfSIxP-9OyAblW2M9ZX5SJuhUn7o6CYiRw8mWRUsUTh-686yBPBcPQclbAdO16aFyhvELrtpt4KheaV5P718MMd2ODu8QM4WhnAkNejLIZzI83UBLvZQ-Y2cxWqc1sktuApGPnBdE3vryXTe-rxnGqc5nezvG55sDaf2hpcFhTRbxqKthhy7rBJ2X4sLAcgQrzQE0vNyagGk19jHJ1ncVGqplmbmQFVkmowNT06XITH1uD7-4DiDq7wLcxBUGGdadRxSpsGnAmoHkdbDjP9fFf8_YJdwD8LsVBxppUfP8ci5pJcbp6JuTT2wDtMz8ir9Emq5-_axvjx3GW26w4vYY0sxS-nlCPmc3AiyBjxR_y_GWnu984uyLjqtpz_71iPsJ4yaM6kq-k6k63yE3ZLRt7HqD5Sz8pQlMF3saSatUri8g77rgyZHbXDXHUlsrKfD6CuSuZSGtaodr8Nmk1fVWpyo_c6T9Mj_PHMLMOH8ieBX3sQ9WtlCZzEyQQsitrxOb3mMGeVExUVsU2i3I7AcYBnLX_dP_X461OgtGxEx7DhV9t1mTdOe3o6UB0opU08Y=",
  "id": "rs_0c04e6904acf901f016ab442b8d21487d0be785e60d967e902",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.16},\"note\":\"The gripper settled at 0.287, a clear non-empty grasp on the plush. I’ll lift about 10 cm to verify it moves with the right gripper before transporting it.\"}",
  "call_id": "call_RJsQA6kMHyHxt3E2zHyWDeRY",
  "id": "fc_0c04e6904acf901f016ab442b9a53487d09a9f61ab63a0712e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RJsQA6kMHyHxt3E2zHyWDeRY",
  "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]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0219, -0.0418, 0.9996, 1.0256, 2.0583, 1.6287, -0.6296, 0.7029, 0.6811, 0.2885]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.0049 left_pitch=-0.0087 left_roll=-0.0069 left_gripper=0.9996 right_x=0.3495 right_y=0.363 right_z=0.1193 right_yaw=0.071 right_pitch=-0.1682 right_roll=-0.1168 right_gripper=0.2885\nstate[joint_eff]: [-0.1162, -1.2103, 7.0222, 1.7216, -0.0562, -0.0611, -0.0122, -0.212, -15.3915, 9.2239, 0.9109, 0.4762, 0.0317, 0.1587]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe27d192a603e44181e5fe8db2d568fa87f605fc1cd3abb44122996d8ef7de93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20d863a1395992c034f584cca118c10cf031519eb27f3da80ff7040bef8d3061",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f20ac6aad8cd67101416c562943459821342a26b1e11820b6eab9df0c5939ed9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 2.382 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]: [-0.0189, 0.8051, 0.6151, -0.3805, -0.0223, -0.0383, 0.9996, 1.0241, 2.0087, 1.6234, -0.6113, 0.733, 0.6895, 0.9953]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1819 left_yaw=0.0033 left_pitch=-0.008 left_roll=-0.0038 left_gripper=0.9996 right_x=0.3531 right_y=0.3598 right_z=0.1457 right_yaw=0.0545 right_pitch=-0.1108 right_roll=-0.0734 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.1829, 7.0906, 1.7363, -0.0366, -0.0366, -0.0122, 1.0598, -15.0496, 9.388, 1.0037, 0.5153, 0.0269, -0.1685]\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]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0219, -0.041, 0.9996, 1.0256, 2.0979, 1.4181, -0.3355, 0.7223, 0.6849, 0.2868]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.0045 left_pitch=-0.0087 left_roll=-0.0062 left_gripper=0.9996 right_x=0.3498 right_y=0.3585 right_z=0.0608 right_yaw=0.063 right_pitch=-0.129 right_roll=-0.0873 right_gripper=0.2868\nstate[joint_eff]: [-0.0479, -1.306, 7.2274, 1.707, -0.0269, -0.0171, -0.0122, -0.3761, -12.6701, 6.8855, 0.9402, 0.3492, 0.0073, 0.696]",
      "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]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0219, -0.0418, 0.9996, 1.0256, 2.0583, 1.6287, -0.6296, 0.7029, 0.6811, 0.2885]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.0049 left_pitch=-0.0087 left_roll=-0.0069 left_gripper=0.9996 right_x=0.3495 right_y=0.363 right_z=0.1193 right_yaw=0.071 right_pitch=-0.1682 right_roll=-0.1168 right_gripper=0.2885\nstate[joint_eff]: [-0.1162, -1.2103, 7.0222, 1.7216, -0.0562, -0.0611, -0.0122, -0.212, -15.3915, 9.2239, 0.9109, 0.4762, 0.0317, 0.1587]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe27d192a603e44181e5fe8db2d568fa87f605fc1cd3abb44122996d8ef7de93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20d863a1395992c034f584cca118c10cf031519eb27f3da80ff7040bef8d3061",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f20ac6aad8cd67101416c562943459821342a26b1e11820b6eab9df0c5939ed9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEK9BmqF5JOK_RwzdVr4-FiW8h34pFX3ruIAT3q2buEfgr8k9_YFGV8iMNJHz4xSAQOsm5qyAE6c9Hxr51zKMbo_iVyZp92YdpwFgb0JM4Ez6i-rzuVLk0ysIOMvtE_0MGa5JFrH1_lvgBPQAvY2CzyjPO8Me2BFzw4PbB6yM4O2J8H3Ux-w8nwjQY7K4gFYstkYViQuA4cbKSo1WFfjleRcGUkkwI3gUKTMEntjvEXB6YTFKSU4425zGd8HZNbismKP4O5CcRPDTS_xC3WBVIsWqa5GVradmoc83jV40G9O1Yqp8qsbgx4_9vn0-HtYGcu_xanlZ2ZD88cUBGYdFnES9D-q32GKgwK-9R0Fte0qmnt9SpvYG83ndD0f1fEpc45S49Me-gn9GjwbSnpCpptF1A1Q3TotXA7ndoJcjCYVRSK3pFgs10_nKCW3WGptDE1CCPH3_OQgwPCrGlaXzYeG_yVQTK3o1GOA3vEZUZYrcyv2qEMEzaP_9WUQAUusc5FVdtLCJSXqaUI7zzDihedSJik82OvfL3OJK8HeWDcsA0jHzZUSr_tucYwUtMdePOeVmTJXU2U4Ik2lbnQIoIXjuo2UwU6zG6Y8BtpFLui-UHIcMcPviC5Pon6JnbYxuaNfyEAkJ7rO3Xg7OBW8Tya0hppPp_5fMCb_L4T8kXaSdNDeblSe3_1R4SBsy-ZC_6aeNUWe-ISE-TjND5HntWla7uqFiRAeumABWupyrRdne4sTbnZoKpt9gzyo_TOiIvR30OTBfCLGMjHZiucauePirPjv72wGpspOnUXfnOiROUM6ks7fa0sfaMdw03HDeBNvhSKy72VDQgT5rnGQGP6T7JRmcESILPrP0_5j-8ZAMWtlzyFCxLt8fKURSBtvncPLgRp6WYiJbbQwL5zO5GCkOEh5hxK85JFEBz921kX2V_1cqauMmq7nVkZ7wwNyz7tzH7VdRLKWhyFKR1RGob39Lh-dFV8lZ47C2YCWGGI1YCClGy1e1ORzj4KG8CJE8ECe7cempkpgEboObuB5ZyxDev6WbzsuZiZ8eOCruAiPSOHSmZIPnS1I1ib_H0-CPZaj1JyV2F59ZMN9RJYDJV5quVkktK0VKnQz3mnYfeRMZTtR5169Clw--QrhWSKuCPmH_F4bT3Y0GV0aySorNWRxbGSGGY20nxpQpVDdQS2SaYBzL6h9XLIiIYMMCa41w9WW1xkPWcDcmM82Ouns4ML_CgOynDlEQ6SemeXPsfBeqDkFJGDc2k87Xwo9KESymBXlaEg8XMrIuZNHvrl7HfehgMaCpol6CENEgXqSsrtooGAiwzBKNVZ9ps7-6vb1WazdTENqomHQOpDwUwvKRjdWgaGRAYf2yL2NnK8LgWRd-h_FhP3CeWaeY64dxbTjGvyoA9MxLU6R22hGh3H1-W9uJ3dVOJhj-d498AJOj6Q9UlNYNnVqu_ijHsKUncN7FH2if-NhyC1K9CGW2J5P0o7ITpoEIXJcaCWN5Spx2ih-0h_WHFbF6X1EFlFomR2eah6LSrlXtNvH_EU8dCgKItlKHX-_RQT0MiYD5jXmerAITDXGlpCY29Oz2l-5TPyY73u218Q4_QOEqufJ9Qq9NKc3noBA5fqzkTw_kyRkkBUnlZnw0NDOP2vKPjM1JLJ598ac1VqTIe7a8N643xQu-1tG0Q==",
  "id": "rs_0c04e6904acf901f016ab442bbdcdc87d0a25ef618f9adbed8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.16,\"right_z\":0.24},\"note\":\"The tan plush rose with the gripper in the overhead view, confirming the grasp. I’ll carry it high to the center of the right basket, which is the assigned basket for all tan dog plushes.\"}",
  "call_id": "call_YMp4Js8iCZbeAC8smjBBnb0w",
  "id": "fc_0c04e6904acf901f016ab442bcee7887d0adddd936d9cf43d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YMp4Js8iCZbeAC8smjBBnb0w",
  "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]: [-0.0189, 0.807, 0.6151, -0.3801, -0.0219, -0.0418, 0.9996, 0.469, 1.7935, 1.5982, -0.6739, 0.3653, 0.1841, 0.2907]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1815 left_yaw=0.0049 left_pitch=-0.0095 left_roll=-0.0069 left_gripper=0.9996 right_x=0.4569 right_y=0.1648 right_z=0.2014 right_yaw=0.0502 right_pitch=-0.2374 right_roll=-0.1402 right_gripper=0.2907\nstate[joint_eff]: [-0.0068, -1.3197, 7.2274, 1.7021, -0.0562, -0.0415, -0.0122, -0.335, -12.9846, 10.2769, 1.3065, 0.1587, -0.0757, 0.2173]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3f412099fb5ca955f9674fffcff9ddf07549effe14a346446afdb17a4cca1c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19546d15a5cc4ce65f6935eb9eeffe7b675969945dfde409774d2abb8670d54f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8640f102ec9440347b90f0a436a8846deb75786cd2ea395ea9b100237321fd91",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 2.5 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]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0219, -0.0383, 0.9996, 1.0256, 2.0827, 1.4288, -0.3618, 0.7254, 0.6888, 0.9964]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.003 left_pitch=-0.0087 left_roll=-0.004 left_gripper=0.9996 right_x=0.3496 right_y=0.3574 right_z=0.069 right_yaw=0.0591 right_pitch=-0.1269 right_roll=-0.0862 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -1.388, 7.159, 1.7363, -0.0122, -0.0366, -0.0171, -0.4308, -9.4838, 5.5726, 1.2576, 0.3932, -0.0171, 0.1001]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0219, -0.0418, 0.9996, 1.0256, 2.0583, 1.6287, -0.6296, 0.7029, 0.6811, 0.2885]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.0049 left_pitch=-0.0087 left_roll=-0.0069 left_gripper=0.9996 right_x=0.3495 right_y=0.363 right_z=0.1193 right_yaw=0.071 right_pitch=-0.1682 right_roll=-0.1168 right_gripper=0.2885\nstate[joint_eff]: [-0.1162, -1.2103, 7.0222, 1.7216, -0.0562, -0.0611, -0.0122, -0.212, -15.3915, 9.2239, 0.9109, 0.4762, 0.0317, 0.1587]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0189, 0.807, 0.6151, -0.3801, -0.0219, -0.0418, 0.9996, 0.469, 1.7935, 1.5982, -0.6739, 0.3653, 0.1841, 0.2907]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1815 left_yaw=0.0049 left_pitch=-0.0095 left_roll=-0.0069 left_gripper=0.9996 right_x=0.4569 right_y=0.1648 right_z=0.2014 right_yaw=0.0502 right_pitch=-0.2374 right_roll=-0.1402 right_gripper=0.2907\nstate[joint_eff]: [-0.0068, -1.3197, 7.2274, 1.7021, -0.0562, -0.0415, -0.0122, -0.335, -12.9846, 10.2769, 1.3065, 0.1587, -0.0757, 0.2173]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3f412099fb5ca955f9674fffcff9ddf07549effe14a346446afdb17a4cca1c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19546d15a5cc4ce65f6935eb9eeffe7b675969945dfde409774d2abb8670d54f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8640f102ec9440347b90f0a436a8846deb75786cd2ea395ea9b100237321fd91",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtELBmwOpMNjn8ZqTLlCe4RQTSRypyMSRqH8M75qYOOoz7z_5fKVrAAR4nqmWck3Rqr1f9Eg_iK7KO2Sne10xWbWhOamXICAB3XRja9avAi6nC613FkZnYPmhWr9suMMnqMCN1XUbqOhqMx6MxiGNJ4rg1Lc2WdlNknG5pGw7GiRxU1OIX9EwQC_ubmt_53DO4FfPSH8CGYei4QhWT78xEWKazlOHxdph_cL7_GtAH2Pzu_P-OPzRP1BCOSZuXtjpE2a-PvPgX8QX9ZEkO1ZTgiX4P4Lcq_Xil3tQbOXxfjc1kNfhaHN9Fryv9FPaXFga8OyMZISULx6EdHDVH-GF2ZRgj1bvEvGOP_YTLy_0BTDuilSVwSaqYlv9nOyXPmeHZcXVwEnP2vGoFzTkrty-o_cbJqRi7e7saGArt91PwvbyM4baPhlUJmXYbhSeOgmloXBkzpc60YvN_D1olJEMo2Fa7f_0MJGRv1dEB9pHGplt2LpyXjkisOIf7CVlJGI7RIaFwd0yMwkTrzmPscBi_aHkexKzsjQs36i4lONHbiJD25YCxqfFNI6WOswCTQo7BH1PN1g83sbnnhriIQZlTgUmMrWGKdwLy12u1-zuXaJozHMyPXtD4Qk6W93RFk8DzhBMq5o7GlxUqtlrXu4C4SjpRKSZItAlWdaBJ-C3GW2j945QP8b7mt67huVSLgd4mnWGjxeEnlZxzBAEaBboZE45leGJRNcwmSQ10YjN-JWwIrZdMY_xaB9c7XqrPoPwbsFalIgks7tXfnWpwFyzNDP53LFAurNxkCupJTAFxzh6W8Ijmq7mv7Ej_r92gIDw8nfVS2R7twBcyttoRA6aWVe-wsu2CDVnTmDLh0heF1l0VmSAy3jwmzMXl9h9a3fUW78z6DKC0Q7XVmfxD0GVyXFp575hGFWqZwnlDaZAuCsBxDg634mFrMxFSE2HLI3swUAlM2krvj_xcQsaMSVApLpNnzLk27ZsiLPRtz8tB8mXb7Ma_zwZf9Nb-IRvra-BKOiaTIhlWbyjHT6332-QPoLzN0QpZxnJXVV9MIuKAIQQvxy7bKmqJAU6Jh4v0PF3He49C3d_knQ4ENO26hcz3MktuhB6G54EoiOIZKRSno8zCN6b69KAnLLEZPpGRZeLZlaS25tXSAC6XNm2xf_gcBJtugougNXp5DlPzli9yv7x0qJWS_qF_AtVnrNlcN_FWNQa7DtP5wbUuxesqHU90FHQdPeNy1FEbEQSPZpBhLk-KepDQT4uDtmigZTa20lmvgOM4eLXS2rxB-Iht1D2r7gjKHbEeqAoHyCBQolVCZuXrQqgREDWp504rMM5gWFter7MQSCg6WqKZCcil2SXTsCCExyP01GmQYM9Rh_JLxsJW8dFy23Ras4qcqjX8jQrwAtyNBXd3VAeYtTqIDxJH2fyWda3nHrdEK4YixhEogXG9nId4ls3cUOMvWA4-kv3i0UFzzXhzQ_ngcnN_tajAePYbaoLAfiKf2Fq9wJIsdO5LilgfnUfar7fCbLRJb2HoF2w5z5hOTY7k8OD5y-uh2mFXdlV-1vfIubYJK5jYWE3Qo69vQmDhQJuHn29vyYQO6l1yathHDPvDwMziH5FiZiayLLWhu2wQSXYlQ1RUEDHUao=",
  "id": "rs_0c04e6904acf901f016ab442c07e1487d0b232756c5ae74454",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.11},\"note\":\"The right gripper is centered above the right basket, with the tan plush hanging over its interior. I’ll lower it inside while keeping the jaws above the rim.\"}",
  "call_id": "call_BG432ubUC0AHEQCMgODPr7Tx",
  "id": "fc_0c04e6904acf901f016ab442c13cd087d0b49c4ebac994d4d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BG432ubUC0AHEQCMgODPr7Tx",
  "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]: [-0.0189, 0.8116, 0.6151, -0.3801, -0.0223, -0.0418, 0.9996, 0.4656, 1.8, 1.3331, -0.3481, 0.3836, 0.1684, 0.2927]\nstate[eef_state]: left_x=0.2973 left_y=0.0019 left_z=0.1802 left_yaw=0.0052 left_pitch=-0.0141 left_roll=-0.0066 left_gripper=0.9996 right_x=0.4626 right_y=0.1624 right_z=0.1423 right_yaw=0.0451 right_pitch=-0.1837 right_roll=-0.1418 right_gripper=0.2927\nstate[joint_eff]: [-0.1573, -1.6752, 7.1043, 1.7118, -0.0757, -0.0415, -0.0122, 0.2393, -6.3111, 4.465, 1.0574, -0.1197, 0.149, 0.1978]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04b8e871b407354bebe5f00863df37c0b5efbab69c4b575e635a6718d0e35f5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e957fcfce4d2c52857712f64ca9d8e792ad1253d8ab1308cf4349670c87cb092",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4045810a89b8ac7d387a39503aaea3f5e244caf91336b4d955f9fe394bd0e994",
      "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 11 attempt 0 · /responses · status 200 · 5.005 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]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0219, -0.041, 0.9996, 1.0256, 2.0979, 1.4181, -0.3355, 0.7223, 0.6849, 0.2868]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.0045 left_pitch=-0.0087 left_roll=-0.0062 left_gripper=0.9996 right_x=0.3498 right_y=0.3585 right_z=0.0608 right_yaw=0.063 right_pitch=-0.129 right_roll=-0.0873 right_gripper=0.2868\nstate[joint_eff]: [-0.0479, -1.306, 7.2274, 1.707, -0.0269, -0.0171, -0.0122, -0.3761, -12.6701, 6.8855, 0.9402, 0.3492, 0.0073, 0.696]",
      "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]: [-0.0189, 0.807, 0.6151, -0.3801, -0.0219, -0.0418, 0.9996, 0.469, 1.7935, 1.5982, -0.6739, 0.3653, 0.1841, 0.2907]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1815 left_yaw=0.0049 left_pitch=-0.0095 left_roll=-0.0069 left_gripper=0.9996 right_x=0.4569 right_y=0.1648 right_z=0.2014 right_yaw=0.0502 right_pitch=-0.2374 right_roll=-0.1402 right_gripper=0.2907\nstate[joint_eff]: [-0.0068, -1.3197, 7.2274, 1.7021, -0.0562, -0.0415, -0.0122, -0.335, -12.9846, 10.2769, 1.3065, 0.1587, -0.0757, 0.2173]\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 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]: [-0.0189, 0.8116, 0.6151, -0.3801, -0.0223, -0.0418, 0.9996, 0.4656, 1.8, 1.3331, -0.3481, 0.3836, 0.1684, 0.2927]\nstate[eef_state]: left_x=0.2973 left_y=0.0019 left_z=0.1802 left_yaw=0.0052 left_pitch=-0.0141 left_roll=-0.0066 left_gripper=0.9996 right_x=0.4626 right_y=0.1624 right_z=0.1423 right_yaw=0.0451 right_pitch=-0.1837 right_roll=-0.1418 right_gripper=0.2927\nstate[joint_eff]: [-0.1573, -1.6752, 7.1043, 1.7118, -0.0757, -0.0415, -0.0122, 0.2393, -6.3111, 4.465, 1.0574, -0.1197, 0.149, 0.1978]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04b8e871b407354bebe5f00863df37c0b5efbab69c4b575e635a6718d0e35f5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e957fcfce4d2c52857712f64ca9d8e792ad1253d8ab1308cf4349670c87cb092",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4045810a89b8ac7d387a39503aaea3f5e244caf91336b4d955f9fe394bd0e994",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtELEKOTCm4atX3-HC1UuMffCXHBqIu9rbZoHDGqE6xzNwIwWBuVA-DukMJXRtFyhJo9jtDFqNbER51vJVPmasEZSQ7j_F0QkiL9TikOgTJ2atR2zhLR04mYgrpdbdJrsnE_ulq7ordgstwcEeZWfqxRDCzeHlBeOAg346Ifdk2LDa0oKNTXXdm8S8UKr7Ngp3pckxNhuOMVAzbn5-yszqIFf98M_uCMJfAnDHuph3GuqFMOdYo2lqPEECi_is08eU5FcHBSoIEFb2zV4DE90OEYfWsPRJV-y0YpUIChdzvXTfpInjDAJHZBeueyHzVJhepSvkFi4lZgEpfZccZ02q5Co7C3mt_xsSpn2PCZ3Wb0ueIqwVIBlbEJK60TJwfpWLn-4txQrQcOZDqPnfkAxlKD140vzKDI6ik7GCTp6YFcHiG1k7SwPS1QUtp8_mUK96i2QgBqCOMEG7fXuym182g9f_zEThs9Bvx6m5fEUJ413L7fkuHmU4Z_by_SqZKT_4LpSkYMfXvWQ-L5cPPrHlW5LiTombE-gvFEFx0ZOgqS2i4cNJlSFIfAxkqaMS8CYIB-Z0Gy8bRCVQe7CG-mDpTxkoy3OiIA5e-qa426RN7wmH7D0KeetozFGWC1toCCHhEZKFiCgp6msJMea0EzDS9eNFvUaqEffIVYugK_ckn_dtqmiPKKUAWnZ2vFGnA9muU07Futu6fGFP5iyBhbHlaWL406nRjaHzfMMRCjRVNRdZQ1IWcLvOgQyrYjUFeJn7sIEzPzqPXkJCUoGjj3tIaPAVD_F2gR9BXocKNswolUtHdHSmf6ThEoGhEX121IJJsME0Epch7D_KyJpEWW6-oRtlgBx2OuwDiTwGNY39Qsg1fKHSxR9YDgC75uma2ii-fi9vxtkM4IAE1A-pVXUIhWwovk-7qdknb4htXlRT5qT3n6dUgnD9GePhqNs4SwpwL_VNZj0PAiUksEetzXmHM9wX0wvhrwFDx0DFZrIeLxJ55Ewabk502Inq514Nr91Xb9zbejbH6mzDfQjRoMQm3mHcjttU2poZy86znYEPwX9sdC1hZJtTxpshr0yfOzOdhIAMutpUMb2FgxM1yU9l-QU9U1Dn4WztCt54AOmzci5-OR_5kb1jsLmHm1gXvefsjyETKomfL7FNZp4sitmCC4OMmqJa2EVCV2iIB1GXYZMRCPTUU8BYVmFjhnQoo4lfB7x2iwVwwFmYYKPtG1dfjphHTaaWvy_qgHvJys5ncDjRP8=",
  "id": "rs_0c04e6904acf901f016ab442c3d07c87d0a2ddd215aa059d7e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The descent stopped around z≈0.14 with the plush fully inside the basket, indicating it has contacted the basket floor. I’ll release it here.\"}",
  "call_id": "call_kjttPoR1ggB7GJFHdsKWwgZf",
  "id": "fc_0c04e6904acf901f016ab442c3f12487d0ab421d2d5e16948d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kjttPoR1ggB7GJFHdsKWwgZf",
  "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]: [-0.0189, 0.8116, 0.6151, -0.3801, -0.0223, -0.0418, 0.9996, 0.4652, 1.8008, 1.3216, -0.3248, 0.3832, 0.1604, 0.9953]\nstate[eef_state]: left_x=0.2973 left_y=0.0019 left_z=0.1802 left_yaw=0.0052 left_pitch=-0.0141 left_roll=-0.0066 left_gripper=0.9996 right_x=0.4638 right_y=0.1629 right_z=0.141 right_yaw=0.0501 right_pitch=-0.1743 right_roll=-0.143 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -1.1966, 7.2684, 1.7363, -0.0708, -0.0659, -0.0122, -0.1162, -9.4291, 7.6786, 1.2381, 0.0904, 0.0513, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d62d7cc7e5effedb0ad427d6a261bddfa549d8904284710a6dc3072e39020158",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e93b6f18ce9da627a8dfa4ff18953735144329c237cfbe4cb0535985ec49129c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b1303fde46f0666e70e4a85c4d746b5f72ee1eba9984b4536d0cebb122d6234",
      "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 12 attempt 0 · /responses · status 200 · 4.516 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 47 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]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0219, -0.0418, 0.9996, 1.0256, 2.0583, 1.6287, -0.6296, 0.7029, 0.6811, 0.2885]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.0049 left_pitch=-0.0087 left_roll=-0.0069 left_gripper=0.9996 right_x=0.3495 right_y=0.363 right_z=0.1193 right_yaw=0.071 right_pitch=-0.1682 right_roll=-0.1168 right_gripper=0.2885\nstate[joint_eff]: [-0.1162, -1.2103, 7.0222, 1.7216, -0.0562, -0.0611, -0.0122, -0.212, -15.3915, 9.2239, 0.9109, 0.4762, 0.0317, 0.1587]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0189, 0.8116, 0.6151, -0.3801, -0.0223, -0.0418, 0.9996, 0.4656, 1.8, 1.3331, -0.3481, 0.3836, 0.1684, 0.2927]\nstate[eef_state]: left_x=0.2973 left_y=0.0019 left_z=0.1802 left_yaw=0.0052 left_pitch=-0.0141 left_roll=-0.0066 left_gripper=0.9996 right_x=0.4626 right_y=0.1624 right_z=0.1423 right_yaw=0.0451 right_pitch=-0.1837 right_roll=-0.1418 right_gripper=0.2927\nstate[joint_eff]: [-0.1573, -1.6752, 7.1043, 1.7118, -0.0757, -0.0415, -0.0122, 0.2393, -6.3111, 4.465, 1.0574, -0.1197, 0.149, 0.1978]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "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, 0.8116, 0.6151, -0.3801, -0.0223, -0.0418, 0.9996, 0.4652, 1.8008, 1.3216, -0.3248, 0.3832, 0.1604, 0.9953]\nstate[eef_state]: left_x=0.2973 left_y=0.0019 left_z=0.1802 left_yaw=0.0052 left_pitch=-0.0141 left_roll=-0.0066 left_gripper=0.9996 right_x=0.4638 right_y=0.1629 right_z=0.141 right_yaw=0.0501 right_pitch=-0.1743 right_roll=-0.143 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -1.1966, 7.2684, 1.7363, -0.0708, -0.0659, -0.0122, -0.1162, -9.4291, 7.6786, 1.2381, 0.0904, 0.0513, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d62d7cc7e5effedb0ad427d6a261bddfa549d8904284710a6dc3072e39020158",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e93b6f18ce9da627a8dfa4ff18953735144329c237cfbe4cb0535985ec49129c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b1303fde46f0666e70e4a85c4d746b5f72ee1eba9984b4536d0cebb122d6234",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtELKD6xcd4BH61Ivpy6SVsymsNmdNpdGURAoduHzhF1BV7TaYF7UKXKAKns9PFrR8J0k3F-xj_ywZ778rZQb72OR7RIiwJQ2yUvoS62uJF4zxT6s9Agl_PO2l-K3mQ9zn0s9rzfTU0KV4otJja_gpAYvY7kxjwIA0f4J4uxEv1RB_fiFQ-ViTN06ZzD92ZocWjhHmw9Od0PnG_CI5vhkl3n_vpobmYv2-gaCZZaLH7iEK6rZaliXzVmIIA2ml3Whg-G4Wh4HNPqJJ8jy-sz7eQc5E-z-Y0Ekwy8dIa4yAPRyIwaKWPbTAjU_NjdvpFwoZMztpC6OLFWgWUPAhOJ4JnmLErgBYDKuK8_NAe8sX0hTNfMs7wC3_HBZnLPE4yGEybN87FURhfuPmrMZF0JMAxWGxmTTccmI2tpvHl8_nYjH6dAOCqdNE3YxwPmfvosrp1ZeJJ3Eb1L_euW5gVmde6auPOr3_4IB7N7amP1VIdmvPoXrnPHVhaQazqLSOMUgBIPCK4mADv1dV9rYRbdBJhsqpOCTxjCwOemcGP12BbFmrV7afr7DSk48jaCAJuyXz_YPrWTQaD3DzjWvtwj8Oei1wpGCecH4tLba0Uj58zvgVIm--31xFUMc7TJhf1wHASUyt_f7DIHwgc5hWhHgTPbOLwuGz0JFwJdvn2ckbJLaFpB-hxOakFSx6Cvx2rYtNEcKcLxyf5eNsjDExbbVF5g9wMHgf69CT-9L6d1XcVuMXRLNzM6HbcrUfaYmFkFXv9Lsq-hpdDAUVZG7lfPEhp4LM2GGK253CYQxixrEWdZUn15oHDGDDZ0VakAP25_l9jvQVec-d8hiaiJBNFPTyBDJGMWWXpkPYRqxZyL-_NFEpvK1SqWMabGebYXP9YRokc0Kh5S0Qk3gxPMXkSy0xqP2GSh60PgkVJ8Eu3mIF8n7SEhBD4-hNvJsL3jROZQ7EspWGOAEEoCcgRANrBLD6ajkJPzzvd2vdsJ2P2Pnv4kMcW80CZJrVZHh24_3kNKzxxaaKGrckUJlNm9ee3OkqEUg9vmoNPqm4X_I9flvzuj8XMP06ngU_OFqYm89JTt5inEUTQYl8DeOjZZEBaGo9wBm-oQSbhGRxhfCqsgrpXgEcZlL9o6aBWnrt54IdVjwRWwsjtUaLqqzKdWQsB9BlL5WxShDSOWF6S5vQdOTHB9qvO9_2Hd99gq3xqnN5ysbQuEp6pQ4047JV3IUIm2bL3FeimByrIwDDSmytWn0yLu-BH2uZmG3g-3f84SGdiiwsaOVSxx4RLCWq-SmWS1Imt9wuF7etFu18j1i3fTOsdABZN0zlY79InH4EUC4oHvf3swpdKV3FlrvG--j25DLBNmy8P0zAHn72TmV7zJLhuxuU-UG3AqOM8U2NCfFY1qC_sCj8pIkd9yVW0iMCDaUoM2X9noelCxKnXcy5Kk-REv5QArAqdE1-RcNN64PYhmPXv0FkgaRq_KLagr2OBnVBYq1RlbVHRJTZ2R_N12MeoOgp1wCSlH0RW3-zPjRzxba_ISdJUoF-VFFgQ56Nf_GK4YHymhgpeSjIdbPQP7JbXt7OVwQcVD1KBtaj2Nii19y6T4O14vFclgUxrfJRsvkA_Q6ZzO4Hoym_veDViW3WHF5tRgiXSoSESyjziGUiveXSxN2WpJ2g2uwbbguzF_yc6D-3vxkX8XNkpyg9H5wMsL1IY_80mCJoibn0iZ50tnD76TJWjrNfN41V1R5SjWN46VpClshqXjlTSSb-jwiweJzHBVVyG3qibu6t4gApmAjp0oZOGl6iwo2o-yxZhDzWCa3F-hUuy4pVnOUktAuAbqDqi97mgYjSHZLAubQNBLmLaNf5Zpy1VsDVB0HRmLvmLLa2joggo_IPlRMNjhelOwXRlh4HCVewVMLpMrROyIzZtw9AAxVlRchR4k8qgvLUZAAOA==",
  "id": "rs_0c04e6904acf901f016ab442c6d1f087d09adebad329854a8b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.30,\"right_y\":0.0,\"right_z\":0.19,\"right_gripper\":1.0},\"note\":\"The jaws are open and the tan plush remains resting inside the right basket. I’ll park the right arm to clear the overhead view and then handle the gray plushes with the left arm.\"}",
  "call_id": "call_tQwpS8tsTR3JBRLp0Js8yXMF",
  "id": "fc_0c04e6904acf901f016ab442c85a9087d08af44fe99c779eed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tQwpS8tsTR3JBRLp0Js8yXMF",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8173, 0.6147, -0.3794, -0.0219, -0.0418, 0.9996, 0.0498, 0.9775, 0.8238, -0.5541, 0.1112, -0.107, 0.9986]\nstate[eef_state]: left_x=0.2977 left_y=0.0018 left_z=0.1786 left_yaw=0.0049 left_pitch=-0.0194 left_roll=-0.0066 left_gripper=0.9996 right_x=0.3108 right_y=-0.0005 right_z=0.1931 right_yaw=0.0103 right_pitch=-0.145 right_roll=-0.1401 right_gripper=0.9986\nstate[joint_eff]: [-0.0068, -1.5521, 7.2137, 1.8046, -0.0317, -0.0415, -0.0122, -0.3077, -2.7145, 7.0222, 1.6288, -0.0513, -0.0073, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b2410ce429e608f8eca3dfb7a881a3fc906991e2fc5fd3e1e43e88ca1cd3372",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79f008942ca7f5ab63b49096efb245168d9c9b350c3828cc5a5732b9346c5664",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1805f76e38b404e82455d43bc4e5b93e0e032a82e6a62c1c696b40f3d62bab2a",
      "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 13 attempt 0 · /responses · status 200 · 2.615 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 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]: [-0.0189, 0.807, 0.6151, -0.3801, -0.0219, -0.0418, 0.9996, 0.469, 1.7935, 1.5982, -0.6739, 0.3653, 0.1841, 0.2907]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1815 left_yaw=0.0049 left_pitch=-0.0095 left_roll=-0.0069 left_gripper=0.9996 right_x=0.4569 right_y=0.1648 right_z=0.2014 right_yaw=0.0502 right_pitch=-0.2374 right_roll=-0.1402 right_gripper=0.2907\nstate[joint_eff]: [-0.0068, -1.3197, 7.2274, 1.7021, -0.0562, -0.0415, -0.0122, -0.335, -12.9846, 10.2769, 1.3065, 0.1587, -0.0757, 0.2173]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "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, 0.8116, 0.6151, -0.3801, -0.0223, -0.0418, 0.9996, 0.4652, 1.8008, 1.3216, -0.3248, 0.3832, 0.1604, 0.9953]\nstate[eef_state]: left_x=0.2973 left_y=0.0019 left_z=0.1802 left_yaw=0.0052 left_pitch=-0.0141 left_roll=-0.0066 left_gripper=0.9996 right_x=0.4638 right_y=0.1629 right_z=0.141 right_yaw=0.0501 right_pitch=-0.1743 right_roll=-0.143 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -1.1966, 7.2684, 1.7363, -0.0708, -0.0659, -0.0122, -0.1162, -9.4291, 7.6786, 1.2381, 0.0904, 0.0513, -0.1832]\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 51 current as-sent form
{
  "content": [
    {
      "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, 0.8173, 0.6147, -0.3794, -0.0219, -0.0418, 0.9996, 0.0498, 0.9775, 0.8238, -0.5541, 0.1112, -0.107, 0.9986]\nstate[eef_state]: left_x=0.2977 left_y=0.0018 left_z=0.1786 left_yaw=0.0049 left_pitch=-0.0194 left_roll=-0.0066 left_gripper=0.9996 right_x=0.3108 right_y=-0.0005 right_z=0.1931 right_yaw=0.0103 right_pitch=-0.145 right_roll=-0.1401 right_gripper=0.9986\nstate[joint_eff]: [-0.0068, -1.5521, 7.2137, 1.8046, -0.0317, -0.0415, -0.0122, -0.3077, -2.7145, 7.0222, 1.6288, -0.0513, -0.0073, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b2410ce429e608f8eca3dfb7a881a3fc906991e2fc5fd3e1e43e88ca1cd3372",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79f008942ca7f5ab63b49096efb245168d9c9b350c3828cc5a5732b9346c5664",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1805f76e38b404e82455d43bc4e5b93e0e032a82e6a62c1c696b40f3d62bab2a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtELQDQ9T0D5BDL3Ac3IMWD89_w37dOYsDnn0xbVgEPvTvJJGrsTWNwu4k7NtZW7qxzuwYEOHdNFWqwpCe-NAHgtCIJJYtdI49zXH8du7MO7oB-8Ni59vYNblrlf0hkTAmysvq2QAkXSYCZS2FQq80H6JBgggOFVmUHPOAhtWu8Bns_Heslm6mp92knmuM_Mf_XCXOURI88uqhIXqT8zgtNSSX6Fe3rs966L56-4DZdm62dzh0drBBxxTMx5DyGT4I0_j4bZcUI223taJ_8UpgbXuLTnXCoUmtMm2nkS4yjCvhAwYgxCxMdGxjSSUnbfZpHvyqdnboY4DlSzpo2oCKEWO9g8aDmwLqzJ9TR33rhSTmz9XYiVXduYAHu7iytkRC8aaTQUauRDOcotNZMsdpN2l0lUeVP1MtSeyhRi8KrjhhAJzzkYE6Deq9Qop-ED1wy3WsI1zPX6Tpwu6HiZWkkrCEwKqBUBU6vtTQMZ3Pi71BZ8kZM0Z9KUPkZggOpC33U6U1YJi5Gttx-twWqusq3pLkDLqy4s6DJFnRw8iAYnRHJolwtVNui4pmh-UBTIutUN6d68FhdUpFp55B0yhZHkpzR-_y9nN7vmFb-nZ-qMImDaDI4OGCD-8cPKGltffJEuN7kU3IKow0UD6e4dRjWk4o2XXyxjQZCEvTHfoZxlDk3hRtrQdP4x1IwfCb88ZvOH0RlJBNApwQc9TEFprNXRj_K7rdQ4A_fuWgUqZX1wBvKzHxObcsJRLMJGkREwU9bvsR7cnfBWd-tHy6ym2yyU7o38vESP5dyVUQ5X939mxSPtL1TBZFShg7MLt5MD3R86QRk1zEQvmW82U-K_zkKk28q81kRtgHm09lmINuCeySvi1rgUQec_ATVsbbLUgzcSHe5ezgRtbvMJvSG3lPBE9A_D6JeMjVcaFyCwupgsenht_5ulz-4z1HMRIO7yAWNLxfI-qX6q7U4oeDQUpQh0jSmXDPfQKFBWh6g7cWaucS6YGjvTa9YBZAmS4hst-RvtBuKcPquaZC5_U1QNk4tqKrPj-UuxyriHBVkySfInBSuwnAoV21YtT6GRneHIOj7YfPdRD9nX4rhhTsgV2JWblli1dBqKZe02ub2ZgTxIQL8eYUqon9fVc0V_RL8vBTFmnChaHpyJWAA9J1NPQ4s9TlIchlWvraZc-kxp4vErlBdjv4OlkVd3OReRf7YLEtvBmkpMqwc5uYF_9maA3BglOI7QgglVRvJP9yoeIe2pUkyh5X4xC79UVrATzBGrEsywsWBMHZWPLm25tH6aB9pbW47uz7qo15eFqC4zpWhDAJTTNG-HNo4SsZ1qaTna6rAM4So2fSRrtVCu13-W5WCp8zSsqswm4o-QMq_9cGbjWlvn21FPf3Q5HfiWAOFKl0NE5o0vWAOsGCLlIFhUORI8QtGjY4j___ycGF6fZXA1Z4LIhdxCCpT1nnthZ_ZAZScJaOLx_OGBQblRtGMe55Fh2GEYTcaosdnozNOijw2-UnpAnt2J0jPBhrZuJQPGZ3_24KUfrwaRVME3UB7aH48nw-9tEJ-30NvqKRMgLTgMJVQBIgvWn4d8Yle1oVf-pnGLCSatNwAWTHYIMphGt4oXi_OZn9PnmleRF9-J89bcVBXshaKp50sWmPs7AENqVCXZwQmFH6LhRX2dfAMEpyEZyDk9ALgAI5i5pzAfe5wcechXabCXWfdWBzV-s81uPa9I8HVIieiwHWtTipmHQbE8mj0SWWFup-L62omHoEeg0lGy2960zZZp4BsXGzSUhGuDuXtZTLfqDnc8dgwcV8ql1G_wZQNYCFZSNw76p2gYAIOcwSHpNYGhPvWzd1tXNtLWXAYrYKctXccRN4YD4bEou2zVzlX79X-IEmsYGqoUZvoNStDXekRSMxeRSzQJOxjdvS6_4PIvgJbQZ3aMkXf4EZh6vTTDz-FFsitwT36YqQe8dvf7pIGvK_r2HRBKX7qHgBl71004h2Ln4qMH04nkJ8SVqT4jXpdir2CPc3vF5oQOC0ilhaoHZ3mrAkMjNC1KJoCYYUuZY7QlTUc1OawlskSHE1-WGJsJx84FUvSfeH9mZiF8Jc5R6g8jfsPjKMUm0wDbK7Mw7jtfVij46Ly56v7htJtpjHmAicpS4ruWPtWMNlasTFAcoIJJaItkh_kM9gTkQc9MlQSA-rIRsLkXMW8jfO957gwoKKa1SCPiIOjMnMU__M1uquVFSno1KLEMct9BYByxkewF1o4uPy5a-SVzwp9KmWBD744eNUtSt8aEKiw5mt5ofnKBNcauZYCycoQ5x7_QucZah2yn5IJgoqVjixOn3v7hVkDtgaZ3CeYQOpnBjNucd5ryXZvlzcsWRZ-E3oDPOQPPhPuhLT4BUQ4kpgbyKTDi0WBU2_k0kd7A7ds2yRsYPDSZ3vRMt_7UOadGaDTVwo3Ct0pa1GiFbMkZYUsmxlkFE5KaJwUWDAeDCejWjY-GPJINaPfTgl8IzhsI6vdOqS1tSf5JhBdhLktRWwGc9FexcDa-LypK8Ix4=",
  "id": "rs_0c04e6904acf901f016ab442cd196887d0b8213040a1d8ce2d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.15,\"right_z\":0.16,\"right_gripper\":1.0},\"note\":\"After the arm cleared, the first tan plush is visible standing just outside the right basket, so it caught on the open fingertip during retraction instead of staying inside. I’ll re-approach it from the basket side for a cleaner, deeper placement.\"}",
  "call_id": "call_4ZOR2TOdJbxTUDENc0IZu8Wo",
  "id": "fc_0c04e6904acf901f016ab442cf6d3087d0b1b992a74035b113",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4ZOR2TOdJbxTUDENc0IZu8Wo",
  "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]: [-0.0189, 0.8234, 0.6121, -0.3805, -0.0219, -0.0448, 0.9996, 0.5995, 1.4208, 0.9642, -0.4297, 0.4805, 0.2592, 0.9986]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1754 left_yaw=0.0065 left_pitch=-0.0293 left_roll=-0.0089 left_gripper=0.9996 right_x=0.3498 right_y=0.1445 right_z=0.1433 right_yaw=0.0468 right_pitch=-0.2044 right_roll=-0.1742 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.9077, 7.2547, 1.7216, -0.0269, -0.0073, -0.0171, 0.253, -6.0513, 9.4974, 1.4676, 0.4029, 0.188, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b89906ef6b2757a9b6a62813baf36b2f0a265f986a7ca214a840e818b5422cc8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91393329023311694b83de70cfa6bc348b7d10306993620fb0bb99c324e0c767",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e68e9df447e101d9acdf48bbbdcf46fd7550c7fe7b8dbf74fa48a4b720e99ddb",
      "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 · 2.447 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 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]: [-0.0189, 0.8116, 0.6151, -0.3801, -0.0223, -0.0418, 0.9996, 0.4656, 1.8, 1.3331, -0.3481, 0.3836, 0.1684, 0.2927]\nstate[eef_state]: left_x=0.2973 left_y=0.0019 left_z=0.1802 left_yaw=0.0052 left_pitch=-0.0141 left_roll=-0.0066 left_gripper=0.9996 right_x=0.4626 right_y=0.1624 right_z=0.1423 right_yaw=0.0451 right_pitch=-0.1837 right_roll=-0.1418 right_gripper=0.2927\nstate[joint_eff]: [-0.1573, -1.6752, 7.1043, 1.7118, -0.0757, -0.0415, -0.0122, 0.2393, -6.3111, 4.465, 1.0574, -0.1197, 0.149, 0.1978]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "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, 0.8173, 0.6147, -0.3794, -0.0219, -0.0418, 0.9996, 0.0498, 0.9775, 0.8238, -0.5541, 0.1112, -0.107, 0.9986]\nstate[eef_state]: left_x=0.2977 left_y=0.0018 left_z=0.1786 left_yaw=0.0049 left_pitch=-0.0194 left_roll=-0.0066 left_gripper=0.9996 right_x=0.3108 right_y=-0.0005 right_z=0.1931 right_yaw=0.0103 right_pitch=-0.145 right_roll=-0.1401 right_gripper=0.9986\nstate[joint_eff]: [-0.0068, -1.5521, 7.2137, 1.8046, -0.0317, -0.0415, -0.0122, -0.3077, -2.7145, 7.0222, 1.6288, -0.0513, -0.0073, -0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "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, 0.8234, 0.6121, -0.3805, -0.0219, -0.0448, 0.9996, 0.5995, 1.4208, 0.9642, -0.4297, 0.4805, 0.2592, 0.9986]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1754 left_yaw=0.0065 left_pitch=-0.0293 left_roll=-0.0089 left_gripper=0.9996 right_x=0.3498 right_y=0.1445 right_z=0.1433 right_yaw=0.0468 right_pitch=-0.2044 right_roll=-0.1742 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.9077, 7.2547, 1.7216, -0.0269, -0.0073, -0.0171, 0.253, -6.0513, 9.4974, 1.4676, 0.4029, 0.188, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b89906ef6b2757a9b6a62813baf36b2f0a265f986a7ca214a840e818b5422cc8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91393329023311694b83de70cfa6bc348b7d10306993620fb0bb99c324e0c767",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e68e9df447e101d9acdf48bbbdcf46fd7550c7fe7b8dbf74fa48a4b720e99ddb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtELUfJuvzqmbgSXqam32VGxBTGbWuL0xvQBetnWqePfU1LrcpaFEdY-_kM-LvqXtJMwk543KSek95ZBSzKgEOhfprERbdYRMqnGqafOUqeGHezwGRedbIuxZV2-WzLpFmAMPlDDIexfWHGjANI6iUUnS8OouaJSm4nmYsyFl7s1RTBBlc2U4EiXLZ3OO-oiX43nfauU9ZBvGBE7ib4dbenao9pTMTY8b43eoQLbInvJ4MZ6YG22K2GiAE6cewp3qLLj7ZUB1lX6m45qYrABfNy2b5JbCBgHSHhT3rwc-Gx1cZMshCWtKDzofmqG1kXdmFL8sSietAC7gzsm04htJJHCdjYJvLWsD0i-YWvSoXR3Vjcnu1j49tSWLNO-eHwsctm-dqwjz0FmiTEjv7aCcS5FVlAln2T4Z_wwnCQnpGBt2QDbpv8peqRpyCBOdmoXW50VFsslTd1DOH1-8FlaN6aimKYs7XvTkax7IirFRKgVNF5mxss1wZFX3K84HjWNjhDFoljRMjocou7UDw7SVXMNKJVlUQTt2Dwf9pTVcemzznGImzazlkHT7LEnfafTG0pEI3rFTskaGgGz5_wKCbKs9aI-miu3GavLGgUQQjSDtl9eIurs36_LyHaArTKzN1E3rjFBvpA_7ZIpEtiJ2gFuyLeM0CcIFSUTO7T5wy-fD143FJe8O3HtLAb4S9MKONEhMbQ_tIKI_4CEcuAOdCh1ddZMZkAW1Q0ngJknStXOuLx5J3XOvs2UQHNrRFhUGV5Co6TVTFwZcuDcjapN9XjOmYzkxXX3TlH3eYvAI6tq7NeNjTWHBQzi9TmIC4MsgQDcC6oHLx6B6EDv9UVzJgOaa3ou8al6fVPwK-m0JIbSCfX7hjQmHZsyu1mbCFa6EWYaczbQsX38rrJmuNF4gHuy2F-e79tksbJYHzz7m1IOgesIIUVSBdNUTLK1iVD_XTI1HtebovjEw1wpnSpmo-42wqYSZ4-vkFAQu6NSG-lFGf7AZKaNMb7HvxEXpsn59AuCSutukIcYcFG9x78Oa9xoSg_6OnGy7yEwTcLKECJU3u2mh27QPf7Tgxb-QBh3mtMDSfz1DUxB2siIVx8y-7pQlPEjeVarL6zapbsnejQtXDuEbDmvVolM-9oTNI7cOtkmCjSX96gpKfzpRs9ksDHs3faHMOg6XKDFlTqP1jh1j8n-SFpNa0bTkRYMpHVU7IQwK_Y79CQ1wTzUsqVtO1qI9NUG6WqAwzmf4PiTe2Lb0uELDFox0GWImEAT2ikIFqdi4aDr7vjMB88aYSjoaxhQGymm_dMPBq6BKRC1_32Z0bfDM2yhYpYierr-LBQXoAMe0Uh8egdPM9QFglBeVqgaubLiwOTxDt2gdZgLH5JGLoTBcWwrdKUdyKSISdMXPmiQxfb17pnm2WKslt75YXDwlELi8oYWxSr28LIYGf0uZ-bG4lLLlp5E9pFnPVEf0rLSKWUfHijdjC-YwHQoKJ0ZgBN82Fu4R_evuwFSx7DTMYIILXE90qYqM4N_5-V5W3xbxDURSu8iSU63mo8Lzf8qz8jhXfblwojY3nlDihyoDdSo=",
  "id": "rs_0c04e6904acf901f016ab442d2c25887d0bab4f06696a17781",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.14,\"right_z\":0.06},\"note\":\"The tan plush is now broadside across the fingertip gap and nearly centered, with the right basket just beyond it. I’ll descend directly around its torso for a firmer grasp.\"}",
  "call_id": "call_le3oDgbB6JRzPrweMJKS1np8",
  "id": "fc_0c04e6904acf901f016ab442d39fe487d08fd60334df7251dc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_le3oDgbB6JRzPrweMJKS1np8",
  "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]: [-0.0189, 0.8249, 0.6113, -0.3805, -0.0219, -0.0452, 0.9996, 0.5934, 1.52, 0.7502, -0.0982, 0.4961, 0.2352, 0.9985]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1747 left_yaw=0.0067 left_pitch=-0.0316 left_roll=-0.0092 left_gripper=0.9996 right_x=0.3518 right_y=0.1402 right_z=0.0763 right_yaw=0.0435 right_pitch=-0.185 right_roll=-0.1927 right_gripper=0.9985\nstate[joint_eff]: [0.0068, -1.5248, 7.1043, 1.707, -0.0562, -0.0317, -0.0171, -0.9778, -4.3829, 4.6974, 0.9646, -0.1099, 0.0952, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ebe2509f9699f35137e3f32564b6b98df7fcdb154684c80e67ab660f592fc0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d410af20015205d3fc5a35639c36243fa377d28c10ecc26ce3fcd9edca4a0d07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97571d85b75d1276bb2f2135377058dccea9e7ecf761c10ec79cef8421e44023",
      "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 15 attempt 0 · /responses · status 200 · 3.784 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "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, 0.8116, 0.6151, -0.3801, -0.0223, -0.0418, 0.9996, 0.4652, 1.8008, 1.3216, -0.3248, 0.3832, 0.1604, 0.9953]\nstate[eef_state]: left_x=0.2973 left_y=0.0019 left_z=0.1802 left_yaw=0.0052 left_pitch=-0.0141 left_roll=-0.0066 left_gripper=0.9996 right_x=0.4638 right_y=0.1629 right_z=0.141 right_yaw=0.0501 right_pitch=-0.1743 right_roll=-0.143 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -1.1966, 7.2684, 1.7363, -0.0708, -0.0659, -0.0122, -0.1162, -9.4291, 7.6786, 1.2381, 0.0904, 0.0513, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "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, 0.8234, 0.6121, -0.3805, -0.0219, -0.0448, 0.9996, 0.5995, 1.4208, 0.9642, -0.4297, 0.4805, 0.2592, 0.9986]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1754 left_yaw=0.0065 left_pitch=-0.0293 left_roll=-0.0089 left_gripper=0.9996 right_x=0.3498 right_y=0.1445 right_z=0.1433 right_yaw=0.0468 right_pitch=-0.2044 right_roll=-0.1742 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.9077, 7.2547, 1.7216, -0.0269, -0.0073, -0.0171, 0.253, -6.0513, 9.4974, 1.4676, 0.4029, 0.188, -0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "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, 0.8249, 0.6113, -0.3805, -0.0219, -0.0452, 0.9996, 0.5934, 1.52, 0.7502, -0.0982, 0.4961, 0.2352, 0.9985]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1747 left_yaw=0.0067 left_pitch=-0.0316 left_roll=-0.0092 left_gripper=0.9996 right_x=0.3518 right_y=0.1402 right_z=0.0763 right_yaw=0.0435 right_pitch=-0.185 right_roll=-0.1927 right_gripper=0.9985\nstate[joint_eff]: [0.0068, -1.5248, 7.1043, 1.707, -0.0562, -0.0317, -0.0171, -0.9778, -4.3829, 4.6974, 0.9646, -0.1099, 0.0952, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ebe2509f9699f35137e3f32564b6b98df7fcdb154684c80e67ab660f592fc0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d410af20015205d3fc5a35639c36243fa377d28c10ecc26ce3fcd9edca4a0d07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97571d85b75d1276bb2f2135377058dccea9e7ecf761c10ec79cef8421e44023",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtELXqRDCSK9b8wMOlpix1patvWVKqWIyC3_OBEE4TctEURMn0gwBbChIN2iRBqqQwzN4ijSgIS61FjnOFOE5hNe8XQ1tMUd_1iTVHC15Lhj3bniVqYs6Z50ddrQ7S1Q9V5VBu90zMEdjJVg8SFNsGv53kLnBmDxEUZ1q-UpL2S48L0mtbuab1A7KF3pipH0g7Wu8UXOQDz5TVUTgKev0zyousRrzPJeaxFQNNdEvaBvzgxARUhMYhkoe04_yfexRVHXJZIwTy5MH7GPIjF_Z2CXrX79r_eeb7IDsgscrdWvYeu6ssEuh8qNo7ggVDqcnwsc1oqIXiwgd3N-0WafcPCYwm7BTONtxjQFqu_lS5VXqIRCUZX6Yxre-if7F2exjzCka0U0Jkeb2N0A802BU7dfeEo5pwon9tQlgCMQB4tMy23z2afnWsfEHSVNvNZk3JH3QnkclygN0TO7Tp9Pk2gWcq0x18LxbQvJwZP5EtgblyQNqdxm2TlkUHCplZn2tSunh3bwsBho-uZdCRqDKlPVvoPQh8FeZ5Ise6Ouuuw_WZlmj0FBQU6lQh2u8rJZhKVMFmyQNjUM92m7LpQD6-08sU2erzIOt1_pgMUpp3AIitoeN-72OzE6I09RfkvW20pxfhHZbl3lq-d4cssSG2E2lgDlm7owjoj_jebzpq2kGX06pDarcVn11Jy4mCbTFcAeyLXfBJsYQXAQN-hSkQMQqcoAECuu13071v2s_G7vEmyy8DaacRP6J6BgBQBLwSOfjLGUkyVo81Te0qxA2-C2KQgQGQOxtLS7CpFcWTprUyCHlV6T6bX6PaRjo9Tpm2ngjR8pS6_Hf9QJd4-jeK5gs1-Uw1oBJZPVk4oOqewcG5jqcO24Cf6OMMDsz7YyJJ_hOX0KaO-dKF7p7ES_2E_e87ONFjqFrcShodqU-qBCk9aWNYyzMJBz8s_gRUK-ZohReHjPI-bElwraL-hRjIVoN29M6nQtQ6orzVzfmUiOjTqiBrNCj7jUygV2s4lDj4U2IILAlqINVDhuTNaYf2Aw7dBh17XUOxNsd3oQOYcqyhQAGAXHKFHE5D0J_jMVOR_JCB7XCUZ8lx8hJ46789XKwpk_BQukCMCCz1wgqlRHdJ6iJXwB4mjwQiUvpHp77N7cnz0eh3rvvSqNkTDvXQkLXVrOHygRII375KxsU-fWiAIa99CCEiwxCBI_WETxIFgXM",
  "id": "rs_0c04e6904acf901f016ab442d6747887d0a1c8a8ca677c7125",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At z≈0.076 the open fingers visibly straddle the tan plush’s torso. I’ll close on the body for a secure pickup.\"}",
  "call_id": "call_Al7qlIrUqoqInCYFTdckj6r7",
  "id": "fc_0c04e6904acf901f016ab442d691b487d0b6ce74d6b60f6b88",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Al7qlIrUqoqInCYFTdckj6r7",
  "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]: [-0.0189, 0.8249, 0.6113, -0.3801, -0.0219, -0.0452, 0.9996, 0.5934, 1.5204, 0.7395, -0.0589, 0.5385, 0.2176, 0.1081]\nstate[eef_state]: left_x=0.2977 left_y=0.0018 left_z=0.1748 left_yaw=0.0067 left_pitch=-0.0312 left_roll=-0.0092 left_gripper=0.9996 right_x=0.3563 right_y=0.1353 right_z=0.0809 right_yaw=0.023 right_pitch=-0.1462 right_roll=-0.2182 right_gripper=0.1081\nstate[joint_eff]: [-0.0342, -1.4154, 7.0496, 1.7265, -0.0464, -0.0708, -0.0122, -0.335, -6.3248, 6.8718, 1.033, -0.2662, 0.1392, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51c19fee5483370f07b04fc613183d928358b44d24219deccdbd4248156e4312",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ff1872a78cb86ff304ca6380307d0ab4762b30f32d5cf88c592c53c3f751baa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37ff33924a053ec8166ebb754b737d07418a8611b24271fa7d49625fd124e9bd",
      "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 16 attempt 0 · /responses · status 200 · 2.354 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "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, 0.8173, 0.6147, -0.3794, -0.0219, -0.0418, 0.9996, 0.0498, 0.9775, 0.8238, -0.5541, 0.1112, -0.107, 0.9986]\nstate[eef_state]: left_x=0.2977 left_y=0.0018 left_z=0.1786 left_yaw=0.0049 left_pitch=-0.0194 left_roll=-0.0066 left_gripper=0.9996 right_x=0.3108 right_y=-0.0005 right_z=0.1931 right_yaw=0.0103 right_pitch=-0.145 right_roll=-0.1401 right_gripper=0.9986\nstate[joint_eff]: [-0.0068, -1.5521, 7.2137, 1.8046, -0.0317, -0.0415, -0.0122, -0.3077, -2.7145, 7.0222, 1.6288, -0.0513, -0.0073, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "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, 0.8249, 0.6113, -0.3805, -0.0219, -0.0452, 0.9996, 0.5934, 1.52, 0.7502, -0.0982, 0.4961, 0.2352, 0.9985]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1747 left_yaw=0.0067 left_pitch=-0.0316 left_roll=-0.0092 left_gripper=0.9996 right_x=0.3518 right_y=0.1402 right_z=0.0763 right_yaw=0.0435 right_pitch=-0.185 right_roll=-0.1927 right_gripper=0.9985\nstate[joint_eff]: [0.0068, -1.5248, 7.1043, 1.707, -0.0562, -0.0317, -0.0171, -0.9778, -4.3829, 4.6974, 0.9646, -0.1099, 0.0952, -0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "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, 0.8249, 0.6113, -0.3801, -0.0219, -0.0452, 0.9996, 0.5934, 1.5204, 0.7395, -0.0589, 0.5385, 0.2176, 0.1081]\nstate[eef_state]: left_x=0.2977 left_y=0.0018 left_z=0.1748 left_yaw=0.0067 left_pitch=-0.0312 left_roll=-0.0092 left_gripper=0.9996 right_x=0.3563 right_y=0.1353 right_z=0.0809 right_yaw=0.023 right_pitch=-0.1462 right_roll=-0.2182 right_gripper=0.1081\nstate[joint_eff]: [-0.0342, -1.4154, 7.0496, 1.7265, -0.0464, -0.0708, -0.0122, -0.335, -6.3248, 6.8718, 1.033, -0.2662, 0.1392, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51c19fee5483370f07b04fc613183d928358b44d24219deccdbd4248156e4312",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ff1872a78cb86ff304ca6380307d0ab4762b30f32d5cf88c592c53c3f751baa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37ff33924a053ec8166ebb754b737d07418a8611b24271fa7d49625fd124e9bd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtELbg8JfSzsd7RkJU1uBxf4iJUE6kQfKbEXWy8LDBXg0DcJImI0U6zAtNbcxSeCwXJlrn5aMBtZKoSSLi-CrbSmc2ojzv1MvFxJYUoToyCcMP-d1r1sKRLsNrbNXtuutGZcRI0USbZOh2A_y_B34LaDggCEy0LU_ESvC-bOrDuGsDwtMnFe-_jlOWiNMRHnSjnNaXGNFTDMgbtOaw9nLmaaIXigh-p0RWu-cE3tp9SArPKKbvV0tiUXCKMqAEJAiBPNhsVyuJPQq3Q8y7UvPTGelgOu2BV04j3i9Epr9k1L6DgWpT3wGHGQyfeZLDZvagPumkaf3AcGVvkHDj_iNLy3aDHXFhvmLmD2NyLs7KOVi8qdmtSOUnDMo05j-fpp4_98L_g2pzRaUCxTT4t02RhzDWMYRb4HtZHl8ap_cAFRFqE2I8vRjNboJ6emiS1ngTPN5LyYzPXbsG-gEguHsudzMUr31Q3ktZZjDNPp-FfJOpmhbnCM0af2UeBSEt2qIRGcZv2_LegD-FEqlNOpPi61fMsExAwC63tEPCPzlFSm7Qdg6b5b5OdsOmO9sTj22kL-Q5Df1up3R3G6vEgSFC9B16IZ3j6WvfpWhbS6tWaljMW__h0INHDoQ4T2QGlliexLABQyda4CkGvWrq325NDEpAbZc9Ziu5ieho_d6RZWg2KKOzmlv7J4yBpqT_p_GrrnS-sQSeYZHQmpXaxRSZfGiaLpYGkmFibPX1eUiXoxtbxqndw5_AD4qWO8aSQ--TQr2lNTdosPCGiI4NXQZfBAizjBjdzvUyiZllKh7gt05kqEzOmF8_lpi7nAL4h8BI6g9WsTcLF1jzq9YVJy2ELvf7mpVhDG8d7saVl9dQFIGScAJdV_6I9zV5SHoSZdJ9N1BuasbUPtg7ZPn4a0x4fJMmM8COvbuSDjB64DCXbGQrCm8sQgEVbsOaL6ZotTcqpBMN5EkLp3NXfcVLennMO2y7qWVtupeAE8j1NMgZCe78KyhTYsD1iEcy3-c0kDYy8p1w4xwfK-zixqdc_S6AVRzPtPDMH9JYzngRUaoL7PPPz7XXswPoNbmlQVYKUz6_N_ceYOKaRMDNDH7zOESUc2jB9BT7GFnPwSv5p-93LKcGsVuId6_9zd-ovtlMCwq5ms0gBWzBa5cGcwVpQi4vL2DBTFMlM5eQNbzM_VfIFcT7NLYyWEfCC8NLwgpFCdpL9DivruHlxPydFE6yD4qacXtwRLQZhANUfyzQG-bAOHQ2Gd7TgBCnALA3C8OAitJ5NwZHVw4YaHLjW5CiHDf1LxVbBxvE2Wlhz0EPvhd0yFKbCZfL67ywej7VpIYPiTve_EAAD4ItdGFIZZGfoj0w9U-oJOcAMkmbPGkm8v5f0rGbpo=",
  "id": "rs_0c04e6904acf901f016ab442da1ad487d095610ac6ee3a3f3c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.16,\"right_z\":0.26},\"note\":\"The gripper settled at 0.108 around the plush’s torso, confirming a solid grasp. I’ll lift and carry it over the center of the right basket.\"}",
  "call_id": "call_DLXtSglGHNOiwYkYyzkJyWqJ",
  "id": "fc_0c04e6904acf901f016ab442dac23c87d0a9a6683929c58177",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DLXtSglGHNOiwYkYyzkJyWqJ",
  "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]: [-0.0189, 0.8284, 0.6094, -0.3813, -0.0223, -0.0452, 0.9996, 0.4999, 1.7752, 1.6768, -0.7315, 0.4515, 0.1349, 0.1106]\nstate[eef_state]: left_x=0.2975 left_y=0.0019 left_z=0.1727 left_yaw=0.007 left_pitch=-0.0377 left_roll=-0.0088 left_gripper=0.9996 right_x=0.4547 right_y=0.1646 right_z=0.2373 right_yaw=0.0417 right_pitch=-0.1794 right_roll=-0.2192 right_gripper=0.1106\nstate[joint_eff]: [-0.212, -1.7026, 7.1726, 1.6728, -0.0317, -0.0366, -0.0171, -0.6359, -9.4838, 9.5111, 1.3944, 0.2955, 0.0757, 0.2466]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b771435de2fc344621b767f1eaa95b1c8ff9aff7a4e4ebc7da9088bebe0cd846",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27f3f1919cb03c54629427ac236e1565e6ce6dd9609e566641a4071dea96e299",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:353724a3d16f1b542f488bc0ef93ca8383f31adda46085d430d47ee6ca99ce31",
      "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 17 attempt 0 · /responses · status 200 · 4.808 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "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, 0.8234, 0.6121, -0.3805, -0.0219, -0.0448, 0.9996, 0.5995, 1.4208, 0.9642, -0.4297, 0.4805, 0.2592, 0.9986]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1754 left_yaw=0.0065 left_pitch=-0.0293 left_roll=-0.0089 left_gripper=0.9996 right_x=0.3498 right_y=0.1445 right_z=0.1433 right_yaw=0.0468 right_pitch=-0.2044 right_roll=-0.1742 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.9077, 7.2547, 1.7216, -0.0269, -0.0073, -0.0171, 0.253, -6.0513, 9.4974, 1.4676, 0.4029, 0.188, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "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, 0.8249, 0.6113, -0.3801, -0.0219, -0.0452, 0.9996, 0.5934, 1.5204, 0.7395, -0.0589, 0.5385, 0.2176, 0.1081]\nstate[eef_state]: left_x=0.2977 left_y=0.0018 left_z=0.1748 left_yaw=0.0067 left_pitch=-0.0312 left_roll=-0.0092 left_gripper=0.9996 right_x=0.3563 right_y=0.1353 right_z=0.0809 right_yaw=0.023 right_pitch=-0.1462 right_roll=-0.2182 right_gripper=0.1081\nstate[joint_eff]: [-0.0342, -1.4154, 7.0496, 1.7265, -0.0464, -0.0708, -0.0122, -0.335, -6.3248, 6.8718, 1.033, -0.2662, 0.1392, 0.6911]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "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, 0.8284, 0.6094, -0.3813, -0.0223, -0.0452, 0.9996, 0.4999, 1.7752, 1.6768, -0.7315, 0.4515, 0.1349, 0.1106]\nstate[eef_state]: left_x=0.2975 left_y=0.0019 left_z=0.1727 left_yaw=0.007 left_pitch=-0.0377 left_roll=-0.0088 left_gripper=0.9996 right_x=0.4547 right_y=0.1646 right_z=0.2373 right_yaw=0.0417 right_pitch=-0.1794 right_roll=-0.2192 right_gripper=0.1106\nstate[joint_eff]: [-0.212, -1.7026, 7.1726, 1.6728, -0.0317, -0.0366, -0.0171, -0.6359, -9.4838, 9.5111, 1.3944, 0.2955, 0.0757, 0.2466]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b771435de2fc344621b767f1eaa95b1c8ff9aff7a4e4ebc7da9088bebe0cd846",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27f3f1919cb03c54629427ac236e1565e6ce6dd9609e566641a4071dea96e299",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:353724a3d16f1b542f488bc0ef93ca8383f31adda46085d430d47ee6ca99ce31",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtELfo1Iqsgr2B3d09LEk5Ff__rVfJ2t2rUgTciFaNpCiXx9KeIMSzX0cnSesQTJEZre9e725x0udDq3RPsQYNqS7e2T2FqkYxZVH2v9ULdU4BBN-SSOQCHpu7SlFBkZtyTNoT6aqdcFV1bxehcbTuGCJuhcVoPMUcUBMYcTA6mVKGpb_yAEtEnbucegVarrMdEpRvQ5dwcJVX3az2HPBWCOqPVGYYA0SAKqGLnsphuAvDzMwFAFSKsrM-5Y33nkxTPt4hdabt5YAcEaqMTB_x9qqzV7UPHyV_vTlIe4fy1rG6b90FKWcqAxLAlhf4FHS_fThLgTHrTCJR9DKMpnZ4hOL5omjZztN_9fBUHsrR6_0-2A0lWf8yCZUBXB6d6bXCfJ6A-POdiIVZYXbYJWp5GBTDYdfaKezvsRCdaNArK576UBimoey68zEjFwzTLvXGGv6KP6TYWfScXSc3zohlUMpNDyhzqCYFiR4YlWU7lYKp2wmL0d74Yx7lNCW3DlGXP_SODkFHLTQAo8i0kWlRCiXSbubLDX2NKpTe_poK-Ll4ZzWrmsbFwMKwuveFJ_PWX1SBUQmjJRegiKvZ_pzmRU2vKrqOUcw1J0FrO7vK76FDLKraqjqmETQFLwKnEmVhQvGT4cvfmu5R4t9tOM6ziTt7n6Xl-MA3duxPaN-oyjo6O5xwZla39aocLoNby-4BWAgLSUKsbeGvWYUog8Tc7zEvU8QPYLTakO3UVuMVHaXoMkr07zv-nH2dS3_eqBFRwyZqahMarXSDhy77GAeRrcZEKnX26sxtqi-Zlmuv0uneCvj9mGnU0uZTDKlQV6rIiQnC1z8bQkhOgTd9yCL4UNr9rtvP1PcfA3MNxuAgF_aloqTTDBBt3rs0g4C8g-wiWgkAm9hIUvwb5HgAx-ix-OViOhsmExLIId9Z8Dqtsb_BS1jbAiQIS-hAFATS7q-Yy7E5HYfXdK-Mcqw392HHzSmSJJ9xtFmM7Uxcpe5VKDmh4G05hK--MuXZVWPasegYZWxbiBI0oREt656yyq5XT4EK2pRjRrds80_EoULFCnKDPppnw_NPBAhPcoVGWHFdAyadHygGPkrXShsSqDEGGlwBqqxEIzdScmQ5WNLOKNMM8rF6m-U0EpyM45afrSoovlX7tWmqrC1FHz0R5yaM3TalmGYVREDaGQ-yFNEDqtAAQEtpRiD6NsOayLhwghB7acNxQ7p-L-C2pCkMT8k88aRhlfVDQjtBvCi8IJe2ZpsAL22OJ53sUAgwonY_SFbYnMEX6k3x5sul1bimHpo6aCQ8XtURmyeKvX6q-gvc0ax3DLsEDVfUF8kp_mWmZNcSlSNt6S5xbA9GR92C0KhPd3nTG4F1kTgRfheYrRk9xssCa0PYmGAMA2NxCmw1P29e70fehbX0vkjmp6kDc85JWA1Z8bCKT5cWszCdi_bN6Z9Ck3TnTRwxXeIo49ZzlGSF-QBo8WnlxLIXxq8y7r_hdHqYKqO9Ap45A4FzADGI5PVBjsRdTLT86WPf6pjw8QJwmVw",
  "id": "rs_0c04e6904acf901f016ab442de15d487d09bbe46dcb3357ff9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The tan plush is suspended over the middle of the right basket with ample clearance from its rim. I’ll release from this height so it drops free of the fingertips and cannot be dragged back out.\"}",
  "call_id": "call_nvGTGtG4S2qA9xNMfb9ZvgZn",
  "id": "fc_0c04e6904acf901f016ab442deb2e487d096afe986bcbb2b88",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nvGTGtG4S2qA9xNMfb9ZvgZn",
  "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]: [-0.0189, 0.8295, 0.6094, -0.3801, -0.0223, -0.0452, 0.9996, 0.4969, 1.7855, 1.6741, -0.7479, 0.4404, 0.1261, 0.9949]\nstate[eef_state]: left_x=0.2977 left_y=0.0019 left_z=0.1726 left_yaw=0.007 left_pitch=-0.0377 left_roll=-0.0088 left_gripper=0.9996 right_x=0.4531 right_y=0.1641 right_z=0.2284 right_yaw=0.0496 right_pitch=-0.2105 right_roll=-0.2312 right_gripper=0.9949\nstate[joint_eff]: [-0.1846, -1.4017, 7.0222, 1.6874, -0.0122, -0.0513, -0.0122, -0.0342, -10.1128, 6.9402, 1.5751, 0.2857, 0.0269, -0.1783]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4761a46ff79d508ba9e139b515a0195d994d0a2a518a03c650fb519f43cb8c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b98fcd1a51f2deb44393271f5a7e52e169ce10c9738a1938359bc58eda5b0f2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7279086618847118aba221b92fba37957cd958f02409b929e66d47d4d7f1eec6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 2.317 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "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, 0.8249, 0.6113, -0.3805, -0.0219, -0.0452, 0.9996, 0.5934, 1.52, 0.7502, -0.0982, 0.4961, 0.2352, 0.9985]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1747 left_yaw=0.0067 left_pitch=-0.0316 left_roll=-0.0092 left_gripper=0.9996 right_x=0.3518 right_y=0.1402 right_z=0.0763 right_yaw=0.0435 right_pitch=-0.185 right_roll=-0.1927 right_gripper=0.9985\nstate[joint_eff]: [0.0068, -1.5248, 7.1043, 1.707, -0.0562, -0.0317, -0.0171, -0.9778, -4.3829, 4.6974, 0.9646, -0.1099, 0.0952, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "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, 0.8284, 0.6094, -0.3813, -0.0223, -0.0452, 0.9996, 0.4999, 1.7752, 1.6768, -0.7315, 0.4515, 0.1349, 0.1106]\nstate[eef_state]: left_x=0.2975 left_y=0.0019 left_z=0.1727 left_yaw=0.007 left_pitch=-0.0377 left_roll=-0.0088 left_gripper=0.9996 right_x=0.4547 right_y=0.1646 right_z=0.2373 right_yaw=0.0417 right_pitch=-0.1794 right_roll=-0.2192 right_gripper=0.1106\nstate[joint_eff]: [-0.212, -1.7026, 7.1726, 1.6728, -0.0317, -0.0366, -0.0171, -0.6359, -9.4838, 9.5111, 1.3944, 0.2955, 0.0757, 0.2466]\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 71 current as-sent form
{
  "content": [
    {
      "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, 0.8295, 0.6094, -0.3801, -0.0223, -0.0452, 0.9996, 0.4969, 1.7855, 1.6741, -0.7479, 0.4404, 0.1261, 0.9949]\nstate[eef_state]: left_x=0.2977 left_y=0.0019 left_z=0.1726 left_yaw=0.007 left_pitch=-0.0377 left_roll=-0.0088 left_gripper=0.9996 right_x=0.4531 right_y=0.1641 right_z=0.2284 right_yaw=0.0496 right_pitch=-0.2105 right_roll=-0.2312 right_gripper=0.9949\nstate[joint_eff]: [-0.1846, -1.4017, 7.0222, 1.6874, -0.0122, -0.0513, -0.0122, -0.0342, -10.1128, 6.9402, 1.5751, 0.2857, 0.0269, -0.1783]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4761a46ff79d508ba9e139b515a0195d994d0a2a518a03c650fb519f43cb8c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b98fcd1a51f2deb44393271f5a7e52e169ce10c9738a1938359bc58eda5b0f2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7279086618847118aba221b92fba37957cd958f02409b929e66d47d4d7f1eec6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtELlIr7tZEfakZEGDIBPYAKDcRQLWOMqSy-UwX5UXhSZA8pOlq4TiRB1XwGz8UHZyeMTS2Er-QibWqUmBQU2pIbNhROaGBw77WfzI7VShqQLXjDPCgNmsprFGdmdw8u31XCs7e2RJRg2-LeGFCXxs_ssFq7svuKz3yxlS2dzOIkhKZydt6vlp68LGV1sWxWK3uwa2CG1tpfPrm1UX3STw1chy11napv64vFHzXTGgS5P9_q2uDkJ72-kCxk4M82XGBDMdQNM8-pYuuX30Cj-0nPtZoOqs6wkzYvaQq8OBeZ2t0lQ13gu5fl4TGw2Lsdxa3zmUYLITUuO-ocMJyguhoUPeRrQ8lpH4r1C6yOl90AIWULRNuJtK-NhANw1qgelLER49kCrtVUfx72UwHY8F7AvqZACFi2mXThwnsf6oCOQNUXB9x2PyZ0aHmu3KrymtGfsdh_nRNDisCKSKbZha7ix6k2oggZ2ay2FM3K0mJthjcOOx5fRlch7DQ8UIT0XGxf2h7z-fBQ0ewu0dlYa3uTlUNN5mc6TVtbQByC3uT5nJRNqulruMgw4SY7Iajpdckt-blNdEmkEcK_C5Y6clEzBnQdg7L6LR1_Vxz28JItYficL78qqdHCD75jOL2_nHHuOG9A_fBhHJ5x71VVHackR8H2N67AzGEfREUdi2P3MiBHY3AqXeqwsUO3dE9C52K8JwWR6cAVWDhWA6PUblzmQAzbJGwiX4MWXwwZskDpB5G9lCweWY70Hj6v9Ju98eph6iPfWRJljdJBXLvXCoJnKeZ9n71AQwhoL4i_k21J5pPXf3o8wUX0qemhEKDSYdwhIwqNjvp-SDnyYoDULdkenb4C7G1fXMrCN2H1fJ_X6sNfsRBXJ-X1O3LaC7s7E7-YsKGZQwzE3YVLpX02AgXBTwLE-5B0ZGBu6B9QOYcNVpDws3TVHlMF_PgnERHKJ0uST510pn97cq8aUJq3eX-AQTNdCD84pnSnXLlsIGgD0LcpeS_20gsylT6xALajybO8ZPORYSpG92Rg4LTrJbiZ8XBH0xn_TXx3esqIPNw-dRixjxFWdZFkzS4o7f1UexPFJEaKhNxmuV59_Q2kkApn3j-kKXofsOnFl3M7uFF0R7lI_NsBmOZx-gWaZVyFcZ5QPVW4uAk1ogMBB0jHiQyLW2NWyntzZbKrtqbU648_zpq61qLwGRoQFGDri52H1Pmxmb90mH-RXc1o8LB3peUp-M_2j02JSDUkv7ZmTwgUMzOuFZhgujOrTyfHAp9zr56UIv3_waI5slz7t-dgDGgnxh-dhzcJY2Bl-h-EcYU05GJ5bbOiVtOCws_fyO_oiyEeD3JY0RVkJTojYLX6yX7OfjK-4pKXZAsTuvQl0os0DDbm01TLrnrF6PcBPM6A5kxWWmWDtxfuUsZtdaMivcPT7pEPnemgqvTKPCjoMUOFrGJdbkkRhElSxbPQ7rrduVEYPMcysAMwLDNDtyWr77SEYvdE82G0QAC1Q3r2VC1TxFueDcwR13KElZBfpMyyIaIXzxKrvbvtGOGhn8m3o9zmZK9xHUVv-UANB28cPDyjxZD-87lg3nt_jljxNIaUoVL7kyRGgZghwwm15qTDgcC1Lp_PLO5kOE-_Nef5RplgFeFbOoH1UNE_qX6ClonGeG_TWJSDlPvRinneBJTyDNNK5svmzZnEuYGMXyrl3bsl_yhHa95pl2UK2YV6Z5uLaNIxYcSLJ_ijl4yc4AWZslcg10m8myoOFXiZ7ziQyqqB_L070VUhzW-pvGb1ijU8BdMA4h1Aqvk4xvxbkhVB8QSEeP6QfuZMyOB8EFcEtRfFOTtmyXNdGKJPPMToRh6l69r8kk-PNBzxq0nJc_5DuehiqwxMRE723h5VF69ZzlJx7Oxl4PWHFPT2LlMM5zATU_uwjq2VEmBfOcxNKQ3-9-BdwwFse5rZjRbwm2Y1EezQQrBoqC5mkAZtZuYsTwuChCzinytaQTPSdPd6_1GjyUcIB7hxuqUu1HIXpPWw6W1wr_ZlIRVWPwWGO34JM20y4h0_SGM7aPym-JfOwWiegJUGm2D_ZwRa0A_fZruzsCSzDSbZichkqSUvVO3UhtDaYr50qotnUVBMlJnJkg314q8dgcWGm9cvqwHlwzMww-PUMhMxykT0CW1t5LW5FqR_yjSUFnamVI7M3a-tY1_5IaIEHq9Bw7ikNwvTl4io0_eoWdM5mtVrO-2Bv73Zkr2GSORqxbTirDKA3PC-aLBSuqlYRYUyvCUCet36VKJpygU1likbXqd0g1omGpXQeE3wDwRl3",
  "id": "rs_0c04e6904acf901f016ab442e1ca9c87d08d0e337d919295af",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.07,\"right_x\":0.45,\"right_y\":0.16,\"right_gripper\":1.0},\"note\":\"The overhead view reveals the right basket is farther forward than the initial metric estimate; the plush dropped cleanly but landed just in front of it. I’ll descend on the same plush again, then carry it farther forward over the true basket center.\"}",
  "call_id": "call_0s94Q7kLaNMPOv4MB7nGaPDA",
  "id": "fc_0c04e6904acf901f016ab442e4147c87d09867758b45971dca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0s94Q7kLaNMPOv4MB7nGaPDA",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8314, 0.6094, -0.3805, -0.0223, -0.0452, 0.9996, 0.4953, 1.8545, 1.1637, -0.1844, 0.4335, 0.1188, 0.9986]\nstate[eef_state]: left_x=0.2978 left_y=0.0019 left_z=0.172 left_yaw=0.007 left_pitch=-0.04 left_roll=-0.0088 left_gripper=0.9996 right_x=0.4459 right_y=0.1606 right_z=0.0788 right_yaw=0.0559 right_pitch=-0.2282 right_roll=-0.2387 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.5385, 7.0359, 1.6825, -0.0562, -0.0806, -0.0171, -0.5538, -7.788, 5.4085, 1.4286, 0.2027, -0.0317, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00cbb15e444ee5ac015a2466d4ed56f51e756f0370d272b40164f281696e4e07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62b3029817b1fa7c81f3f555d3c0fe60e8a8660b2981aa8617ea36619f851444",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7091b8ff52f2f4333c98078346cad566d2e0c61da4cc7f090ca1e916d18cb293",
      "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 19 attempt 0 · /responses · status 200 · 3.102 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "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, 0.8249, 0.6113, -0.3801, -0.0219, -0.0452, 0.9996, 0.5934, 1.5204, 0.7395, -0.0589, 0.5385, 0.2176, 0.1081]\nstate[eef_state]: left_x=0.2977 left_y=0.0018 left_z=0.1748 left_yaw=0.0067 left_pitch=-0.0312 left_roll=-0.0092 left_gripper=0.9996 right_x=0.3563 right_y=0.1353 right_z=0.0809 right_yaw=0.023 right_pitch=-0.1462 right_roll=-0.2182 right_gripper=0.1081\nstate[joint_eff]: [-0.0342, -1.4154, 7.0496, 1.7265, -0.0464, -0.0708, -0.0122, -0.335, -6.3248, 6.8718, 1.033, -0.2662, 0.1392, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "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, 0.8295, 0.6094, -0.3801, -0.0223, -0.0452, 0.9996, 0.4969, 1.7855, 1.6741, -0.7479, 0.4404, 0.1261, 0.9949]\nstate[eef_state]: left_x=0.2977 left_y=0.0019 left_z=0.1726 left_yaw=0.007 left_pitch=-0.0377 left_roll=-0.0088 left_gripper=0.9996 right_x=0.4531 right_y=0.1641 right_z=0.2284 right_yaw=0.0496 right_pitch=-0.2105 right_roll=-0.2312 right_gripper=0.9949\nstate[joint_eff]: [-0.1846, -1.4017, 7.0222, 1.6874, -0.0122, -0.0513, -0.0122, -0.0342, -10.1128, 6.9402, 1.5751, 0.2857, 0.0269, -0.1783]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "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, 0.8314, 0.6094, -0.3805, -0.0223, -0.0452, 0.9996, 0.4953, 1.8545, 1.1637, -0.1844, 0.4335, 0.1188, 0.9986]\nstate[eef_state]: left_x=0.2978 left_y=0.0019 left_z=0.172 left_yaw=0.007 left_pitch=-0.04 left_roll=-0.0088 left_gripper=0.9996 right_x=0.4459 right_y=0.1606 right_z=0.0788 right_yaw=0.0559 right_pitch=-0.2282 right_roll=-0.2387 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.5385, 7.0359, 1.6825, -0.0562, -0.0806, -0.0171, -0.5538, -7.788, 5.4085, 1.4286, 0.2027, -0.0317, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00cbb15e444ee5ac015a2466d4ed56f51e756f0370d272b40164f281696e4e07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62b3029817b1fa7c81f3f555d3c0fe60e8a8660b2981aa8617ea36619f851444",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7091b8ff52f2f4333c98078346cad566d2e0c61da4cc7f090ca1e916d18cb293",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtELohBHzBhbIDGCqg0ObHpHYrfKBs93ddHrX8Ilq6ckgn6OPOx6SAjPV60P9LqQvfNMCHZRF8YdVJPNOfAsKqxlgeaqasZTbR95lYFUrt_FJ5UjbDkE6CSHRQA9uz1Fo1sti_0RZNsfyY9gEJY5OECY-gN4D6RSzj2yeYhPfv3UUyPwW57BlnmBP0VMMP57JwMHH4keZ08QGsDVimoi2rUoYuTPiN-Wk2rU5lHabpDMJjAySFlIRyzr-h_Dh7XbtFmnuQnrrmvpHSdvIkO95TAmihZvRthp_tGLBYn9SJg-KQDCWuRLLyNU90Wn4h46UOoCQ8cmsuP6H8wDCSBi-hfDmA5fiS4XJ0ZShRyE9XVQNwuqDOjuffosm-CMkSFKxUtAIKyrqfvtkSGtEZXitg_c-VPTAIxQHOCqL1U0ZYHchaWfDb_MBkcwYTrYk4Aibr153eyaFPQf-RgFnPx_hrO-BlknyM8yNAhwrRuD4N7EE7r9YhHfHMwfBE7dclTHZegkDp_kZ5-mukEDW16ZLmJtJc3F5ISMwfGCFFxbAMWP-y_-G7kG39KWv4TnPBGcGpeVfPhlSbDEhKuqQlQriAOjslP3MwsEkvWrvk2HqxA8xrMHxMga9RdsaQjOq6T-_DEna4pLqVwoy655qrUhynojv651bqKeCR2FV4eNvmZBGf9E32dkC1OJHdypJjB596k8_NLBKWDApBYqdSNdwRnVSU-pT78gxnsL0mv-CYblpA455fIBrFOl_qzlWzqkc8qMBBfPFGJrs0jgYO93VO5wAaNk0fCxbfZ2bfdHQt5gxIy1V7CJ-fJCczmFlgW6llHkwX4zFC16ui9PnvMiwQKJS_wSaH3Vmet1CNI5vRm1ik9RfirrAexskuUZ1JYG4zrP3K3dpOIUWjYgAPi-BehV9YqveaiKkLbsGLAwcEzHnRqAIILN33z-FAR0HAIY9507R30Ujwjr4HjDp0u64c_vG1fO_0-kGZrnFf-pf7_sTroCEceKr-qxxedot_4mruusteH8l04NGOEzEVvRbc9NEQv-iJhYvRYUr1uvmY_eJn43JEar7s3p3iTW7UHT7qzCU_H9Ksn3oyrjWki0gzNpg0exSXfIeIBvmPDB6uV_hefvOnJHO0D9K-VmpDdmD_BDFc_jHNJPPVPe8sm6tCP5zhkE5iDwoVAVhNJJxmWEDF6QeFLysxHUJSELcjoJorwBCHE_eP4OO7r9tYUao2zsyyBEGUcaE1Q1B5VAC0h818-A=",
  "id": "rs_0c04e6904acf901f016ab442e7795087d081f121ea46a5307a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The plush is again centered between the jaws at body height, and the wrist view also shows the basket farther ahead. I’ll secure the plush for the corrected forward transfer.\"}",
  "call_id": "call_PRZemMqQLH7ozf0iIXYnqqfL",
  "id": "fc_0c04e6904acf901f016ab442e7a73487d0951e41e502c1c040",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PRZemMqQLH7ozf0iIXYnqqfL",
  "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]: [-0.0189, 0.8314, 0.6094, -0.3805, -0.0223, -0.0452, 0.9996, 0.4953, 1.8645, 1.1515, -0.1677, 0.4324, 0.1116, 0.0131]\nstate[eef_state]: left_x=0.2978 left_y=0.0019 left_z=0.172 left_yaw=0.007 left_pitch=-0.04 left_roll=-0.0088 left_gripper=0.9996 right_x=0.445 right_y=0.1604 right_z=0.0722 right_yaw=0.0601 right_pitch=-0.2344 right_roll=-0.2454 right_gripper=0.0131\nstate[joint_eff]: [-0.0889, -1.306, 7.0359, 1.6825, -0.0855, -0.0855, -0.0171, -0.3624, -10.4274, 7.2, 1.2332, 0.1783, 0.0659, 1.1502]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5bc3b31b8ade05d0b0d50f29edb2a64a1e2113446d5600d2c23a30cc63f7038",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:366c92b5ab1238e181efd88b3a236aeea6e00ffe43bae5a146f6c06cdd409b3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:912142004734ac02d745af1c66f1d6807e962fcc87273d6e61117599f8e8127f",
      "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 20 attempt 0 · /responses · status 200 · 2.305 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "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, 0.8284, 0.6094, -0.3813, -0.0223, -0.0452, 0.9996, 0.4999, 1.7752, 1.6768, -0.7315, 0.4515, 0.1349, 0.1106]\nstate[eef_state]: left_x=0.2975 left_y=0.0019 left_z=0.1727 left_yaw=0.007 left_pitch=-0.0377 left_roll=-0.0088 left_gripper=0.9996 right_x=0.4547 right_y=0.1646 right_z=0.2373 right_yaw=0.0417 right_pitch=-0.1794 right_roll=-0.2192 right_gripper=0.1106\nstate[joint_eff]: [-0.212, -1.7026, 7.1726, 1.6728, -0.0317, -0.0366, -0.0171, -0.6359, -9.4838, 9.5111, 1.3944, 0.2955, 0.0757, 0.2466]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "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, 0.8314, 0.6094, -0.3805, -0.0223, -0.0452, 0.9996, 0.4953, 1.8545, 1.1637, -0.1844, 0.4335, 0.1188, 0.9986]\nstate[eef_state]: left_x=0.2978 left_y=0.0019 left_z=0.172 left_yaw=0.007 left_pitch=-0.04 left_roll=-0.0088 left_gripper=0.9996 right_x=0.4459 right_y=0.1606 right_z=0.0788 right_yaw=0.0559 right_pitch=-0.2282 right_roll=-0.2387 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.5385, 7.0359, 1.6825, -0.0562, -0.0806, -0.0171, -0.5538, -7.788, 5.4085, 1.4286, 0.2027, -0.0317, -0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "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, 0.8314, 0.6094, -0.3805, -0.0223, -0.0452, 0.9996, 0.4953, 1.8645, 1.1515, -0.1677, 0.4324, 0.1116, 0.0131]\nstate[eef_state]: left_x=0.2978 left_y=0.0019 left_z=0.172 left_yaw=0.007 left_pitch=-0.04 left_roll=-0.0088 left_gripper=0.9996 right_x=0.445 right_y=0.1604 right_z=0.0722 right_yaw=0.0601 right_pitch=-0.2344 right_roll=-0.2454 right_gripper=0.0131\nstate[joint_eff]: [-0.0889, -1.306, 7.0359, 1.6825, -0.0855, -0.0855, -0.0171, -0.3624, -10.4274, 7.2, 1.2332, 0.1783, 0.0659, 1.1502]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5bc3b31b8ade05d0b0d50f29edb2a64a1e2113446d5600d2c23a30cc63f7038",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:366c92b5ab1238e181efd88b3a236aeea6e00ffe43bae5a146f6c06cdd409b3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:912142004734ac02d745af1c66f1d6807e962fcc87273d6e61117599f8e8127f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtELsFZWkM1EnQB3dOJ5J9Ut0CPvDWJahLU8UOwYBoPx0l_vUKuq7ArR-9dPkUCWhJVGTSQ8Ik5wUCVNJx2jQSoLt9DZtGzM1pa8Fevo4yyxO9BUZdm_oScnX6puWP6TN2ozzogetpmuipSDpVxdIL3DLYpvDdkZzsqyWsu9wiZlyREfz4--GqF5NPDs-TySemTqBeasFGAlHQ6Kg-hKa0os6taopQI4Qke75R4F56m-WJ4mBSvpyitoao6MBLx_t2ReTG3qK19AdpimEjDqt6d-0iaReKi92KsWt9bNfbfZFgrHYpgfpDJMZXf8jYaHl913YAZRQ2BwOIznv8Qb5YgeUxBRTKh5kTNkI63oCrfXN_bZ5zY-pExh_GkRT0apXOVEyH-nHB2osVCcdCQZnLq_GGIuqFSzev4Cak1ONUD9lUOqtCwbHvGFKHOYATmjcikxfs15S5Xnji5AFzYdrLDFWravdpPSU5ZZ8XAasI_DG004XV9_bkazfpxBSATt1IQAmvLOqgo-fRGM337wLkLVydtOb38hJvY-Koc5izNJCguznBeJpiwha5Akt0G0oYMAbAbJAxYjtypbxqfWdl1aS1tpv6G9FrQErdherJHv-6zpYzOp-0tcnlswvVX6jxtYKthoU_8muARm64-Eo8cLQTcqpuOtvExjy0rjdhyeGhA7BJ5uyRCJYB2yyuWihYIzEZwWFLLf543e0WwuZqS5bcRGE8yJpWaQ9zxHswOPW03weKD_7ia-6VBIcY-_nBD5oh65G-bvtx8_mhayQ6zAc9eYB8Rd-5bUAx1Km9cUZUMaN-_n6PdN-4KZJiravg2GEGD5mhC-WDRwE8wNv9va0mUK3tqNQTNJ8C83iwXi3vKD3UYp5PNzjFbPmKGT7jD_Rw46NcqVdAQN-IQG2_ZvBJFmrquMEcNmM4w0vr8xM0gJNyyW1S2fbUWDw3ooOnOMOt9DOP1kmbqEj8waCg9c9NgYy84o6Xd24cONvLlw0eZluQt32CvZ9_Ael3hlkvMAdsa_9ctzb0C9pQhX8gBQspnttN7toUR9MggT8RXmlMAV7zS0Ik26a9lMAngW9-I4yjjkwk94bX3aUq2Vkuk11fMeeIf4UhB9W_xNQSNSHzjRngqLhBQYp6yCWTfic8Tl4VK5OJOWwzjG3i1hMGH0mcFDajNIlXiG5Uw4W-w0B5LcPB0svyuuUFjJa9nenZt1-ChA-CUjCoRv-emLPDI16j570YvkAnl7--0L9flTjhPjXbVKNDRv3qaFQFJlg6nw7Qv9eL9RRuS89V2Xp-PXbT25V0Lv2owi3nGaxadst2VOBZ0I1M0Z-CXYJx_FaJm5zeWf8bo-Vu4lmGrC-_Zlu4Bpi-b1-HburIG3mwcHM8OgA-peFN_loeCwnPGbGSdfny_9i6qzP25PwyLBGt6AQ88bqe8j9QK0ww8kvWxZeuwghlTl1ES-q0feZxSU2n2MMmkQf3f1hdNLQX5Pl78gHnnExpSM06-fANN2AX-2L88IAuk43LA1TBbOHccIIqRT9bTaUxfgwac59ixjrvKow1ezXQFSTCS5sk4PzXzehdGWQs--HaelAvZfbG7jtxPRXb7TRo_cUrLt1Wb0fQhy6_g==",
  "id": "rs_0c04e6904acf901f016ab442eaf0b087d0a150d087e2e219e5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_x\":0.425,\"right_z\":0.15},\"note\":\"The 0.013 gripper reading confirms this close missed; the plush remained at the bottom of the wrist image, slightly toward the base. I’ll reopen, back up 2.5 cm radially, and retry once from the corrected line.\"}",
  "call_id": "call_XlwABKIjc6gd3zBj9UpWPwQK",
  "id": "fc_0c04e6904acf901f016ab442eb9d7887d0a7c9b12e2ddf866f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XlwABKIjc6gd3zBj9UpWPwQK",
  "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]: [-0.0189, 0.8314, 0.6094, -0.3805, -0.0223, -0.0452, 0.9996, 0.5179, 1.7466, 1.2476, -0.4335, 0.4343, 0.1204, 0.9948]\nstate[eef_state]: left_x=0.2978 left_y=0.0019 left_z=0.172 left_yaw=0.007 left_pitch=-0.04 left_roll=-0.0088 left_gripper=0.9996 right_x=0.4236 right_y=0.1599 right_z=0.1225 right_yaw=0.0706 right_pitch=-0.2794 right_roll=-0.2635 right_gripper=0.9948\nstate[joint_eff]: [-0.1846, -1.4838, 7.1863, 1.7167, -0.022, -0.0708, -0.0122, 0.5949, -11.1248, 9.5932, 1.2527, 0.2906, 0.0366, -0.1783]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3d620ff242115f4cfd093aaf583d760d2769fb1cb955d4d85f09a4dc2a04f6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f103d47cfc42bcec7493735f6f78690bb097ef0a8ff6620f5d2cbc702d96c55b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba5775aaf76b529b6f25057b254f2588961f0c68edd265e8152e68abb004db35",
      "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 21 attempt 0 · /responses · status 200 · 2.307 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "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, 0.8295, 0.6094, -0.3801, -0.0223, -0.0452, 0.9996, 0.4969, 1.7855, 1.6741, -0.7479, 0.4404, 0.1261, 0.9949]\nstate[eef_state]: left_x=0.2977 left_y=0.0019 left_z=0.1726 left_yaw=0.007 left_pitch=-0.0377 left_roll=-0.0088 left_gripper=0.9996 right_x=0.4531 right_y=0.1641 right_z=0.2284 right_yaw=0.0496 right_pitch=-0.2105 right_roll=-0.2312 right_gripper=0.9949\nstate[joint_eff]: [-0.1846, -1.4017, 7.0222, 1.6874, -0.0122, -0.0513, -0.0122, -0.0342, -10.1128, 6.9402, 1.5751, 0.2857, 0.0269, -0.1783]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "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, 0.8314, 0.6094, -0.3805, -0.0223, -0.0452, 0.9996, 0.4953, 1.8645, 1.1515, -0.1677, 0.4324, 0.1116, 0.0131]\nstate[eef_state]: left_x=0.2978 left_y=0.0019 left_z=0.172 left_yaw=0.007 left_pitch=-0.04 left_roll=-0.0088 left_gripper=0.9996 right_x=0.445 right_y=0.1604 right_z=0.0722 right_yaw=0.0601 right_pitch=-0.2344 right_roll=-0.2454 right_gripper=0.0131\nstate[joint_eff]: [-0.0889, -1.306, 7.0359, 1.6825, -0.0855, -0.0855, -0.0171, -0.3624, -10.4274, 7.2, 1.2332, 0.1783, 0.0659, 1.1502]\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 83 current as-sent form
{
  "content": [
    {
      "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, 0.8314, 0.6094, -0.3805, -0.0223, -0.0452, 0.9996, 0.5179, 1.7466, 1.2476, -0.4335, 0.4343, 0.1204, 0.9948]\nstate[eef_state]: left_x=0.2978 left_y=0.0019 left_z=0.172 left_yaw=0.007 left_pitch=-0.04 left_roll=-0.0088 left_gripper=0.9996 right_x=0.4236 right_y=0.1599 right_z=0.1225 right_yaw=0.0706 right_pitch=-0.2794 right_roll=-0.2635 right_gripper=0.9948\nstate[joint_eff]: [-0.1846, -1.4838, 7.1863, 1.7167, -0.022, -0.0708, -0.0122, 0.5949, -11.1248, 9.5932, 1.2527, 0.2906, 0.0366, -0.1783]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3d620ff242115f4cfd093aaf583d760d2769fb1cb955d4d85f09a4dc2a04f6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f103d47cfc42bcec7493735f6f78690bb097ef0a8ff6620f5d2cbc702d96c55b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba5775aaf76b529b6f25057b254f2588961f0c68edd265e8152e68abb004db35",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtELv6aT_zGHZ1TjAzvGDDM3jGiFgvoc0BLZaqZd5awUd7UM_euh_EW6Et3ej9YptfR4i6_gfiTm2-Zw_-9AD3DNL-ll9K35m-0yyRMdpP4She3nIb50iEsgSddkVL7fg0c6erKPsQ6KPZcB7vF3G8Cd60qEX3b8pTGrI5F0DjYL8BBiJ-KScyBRuJivEKe1ABZ0DVHVMy6CuvH2wlY5JUYe-dR9Lv6O5stmEmcblmYdH0NXSVWbjFsYlTX1jwAQ3pS5FzduxwvhWs52KGWBSSg0r7Nu7BqpvI2FhxHRHSfM-mCJC9TWbQgFXuJYTzRhMivWGUc7Vm_UnRtawEixh37vgQD5TQ2SxGyQGeNWizSoMYv6BrI-1E-LSvHDxkAUvPWd-4mQHGD82PLelsuzGfMRr-GidBUA2iFc5qafkNQrgj5MtfkV6HknrYX4WyhzehdCyO9vomDqAefXuo7uegIN5pbXKzX2pZSBIEyXZ9L0jc4hx-4kQKldjA6C3mgUB7-PBLtocNSWknUE14BjuPnJQOaHxHckwTliGDXQkBk0r_Ouvo9TGAIfPlMCKmRBb67cuEMOmKEfbBhff2joqQgByD_9xSxv15wOjKiBlwWAcY02Lw36nUCWFI21XR6Irym_ANhbS-Cj7cTir_fDEI_s7M8EvjRh2M_9EYoQXw4z6jkD6FAVIWg0rhp3yTQZ3ge0PNiz3qBTfCq2yVd6HBLuP0iYiF26HDf20ciGvMv5jC15aV_W-8Lj5XmF6h4iAv6ZR7IaYNcbscEa2g5UChlLleVmYHIQR0rkE2RNOuYPvl6Gvdfq47zgjl3399FnQin7l04K7rXTKKKCCsuekVffgp_vtTtY9wsOdhPfO6CyMDXtZ7tzWZNI4lcP6Khzlp6yaGcVr6-zTpARSF6WDBPj69iArDXv8ef6126i7B-DvmmD6-WmJl1OrXpTv6nBdiKI8abX5V2c87bdyLT1ifUwtWXCkDI404_rKe0bBCMpovln-OT3CYmFZ0uUSYGCdEfDNIiRJEu9UdzTiXT_eId73r_jAPX4VOH5BxzEOMEI5KbpER4i3hYAj0O-7v83vt3_f3MnVdpjvGvaqtHQfKKod7xvmrWOPCD89W9JRUq3X8fizoQc-bI9P6TSpO7ucqOvFVAXTTN3DCCnqzw81PzJj2w6Xv9p-3TmWAvWFVnGsZaa2UnHQsJbNsKfyN4IVNbU4dXdciPkUA1-MBba9JYjYBVHyqiRa_-z9sdeSAYzj0Vam4sRoqW51zCBS0OVjInP6",
  "id": "rs_0c04e6904acf901f016ab442ee945c87d0b28a0c47ffda79c3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.06},\"note\":\"After backing up, the tan plush’s torso is now clearly centered between both open fingertips rather than below them. I’ll descend on this corrected alignment.\"}",
  "call_id": "call_ZBX4IDDEnbEdQi8FYfPYv7FU",
  "id": "fc_0c04e6904acf901f016ab442eeb90887d0b3022c5a8091ec7a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZBX4IDDEnbEdQi8FYfPYv7FU",
  "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]: [-0.0189, 0.8314, 0.6094, -0.3805, -0.0223, -0.0452, 0.9996, 0.5175, 1.8172, 1.1084, -0.2455, 0.4332, 0.1146, 0.9963]\nstate[eef_state]: left_x=0.2978 left_y=0.0019 left_z=0.172 left_yaw=0.007 left_pitch=-0.04 left_roll=-0.0088 left_gripper=0.9996 right_x=0.4196 right_y=0.1577 right_z=0.0663 right_yaw=0.0714 right_pitch=-0.3003 right_roll=-0.2764 right_gripper=0.9963\nstate[joint_eff]: [-0.1162, -1.4974, 7.0085, 1.6825, -0.0562, -0.0562, -0.0122, -0.0205, -7.4325, 5.2718, 1.3651, 0.1783, 0.0122, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ada6f62af3bbab2ea216e60edaff8e69bbc61e15cbee5b6c1e5f6572094d8e2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aad6e055d45a9a9c267c3d5fbe807e1b791496d87e305b6be3bd4a1dff9c78e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08a61d947a31f09a314c4ece26ebe3a1db34a954bcd57eb41fe7bd1975eddef5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 4.261 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "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, 0.8314, 0.6094, -0.3805, -0.0223, -0.0452, 0.9996, 0.4953, 1.8545, 1.1637, -0.1844, 0.4335, 0.1188, 0.9986]\nstate[eef_state]: left_x=0.2978 left_y=0.0019 left_z=0.172 left_yaw=0.007 left_pitch=-0.04 left_roll=-0.0088 left_gripper=0.9996 right_x=0.4459 right_y=0.1606 right_z=0.0788 right_yaw=0.0559 right_pitch=-0.2282 right_roll=-0.2387 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.5385, 7.0359, 1.6825, -0.0562, -0.0806, -0.0171, -0.5538, -7.788, 5.4085, 1.4286, 0.2027, -0.0317, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "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, 0.8314, 0.6094, -0.3805, -0.0223, -0.0452, 0.9996, 0.5179, 1.7466, 1.2476, -0.4335, 0.4343, 0.1204, 0.9948]\nstate[eef_state]: left_x=0.2978 left_y=0.0019 left_z=0.172 left_yaw=0.007 left_pitch=-0.04 left_roll=-0.0088 left_gripper=0.9996 right_x=0.4236 right_y=0.1599 right_z=0.1225 right_yaw=0.0706 right_pitch=-0.2794 right_roll=-0.2635 right_gripper=0.9948\nstate[joint_eff]: [-0.1846, -1.4838, 7.1863, 1.7167, -0.022, -0.0708, -0.0122, 0.5949, -11.1248, 9.5932, 1.2527, 0.2906, 0.0366, -0.1783]\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 87 current as-sent form
{
  "content": [
    {
      "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, 0.8314, 0.6094, -0.3805, -0.0223, -0.0452, 0.9996, 0.5175, 1.8172, 1.1084, -0.2455, 0.4332, 0.1146, 0.9963]\nstate[eef_state]: left_x=0.2978 left_y=0.0019 left_z=0.172 left_yaw=0.007 left_pitch=-0.04 left_roll=-0.0088 left_gripper=0.9996 right_x=0.4196 right_y=0.1577 right_z=0.0663 right_yaw=0.0714 right_pitch=-0.3003 right_roll=-0.2764 right_gripper=0.9963\nstate[joint_eff]: [-0.1162, -1.4974, 7.0085, 1.6825, -0.0562, -0.0562, -0.0122, -0.0205, -7.4325, 5.2718, 1.3651, 0.1783, 0.0122, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ada6f62af3bbab2ea216e60edaff8e69bbc61e15cbee5b6c1e5f6572094d8e2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aad6e055d45a9a9c267c3d5fbe807e1b791496d87e305b6be3bd4a1dff9c78e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08a61d947a31f09a314c4ece26ebe3a1db34a954bcd57eb41fe7bd1975eddef5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtELyVmzz_KbiBJvKzUtmGklzE-_-9NxbwyFtzgQBSZSCYxXgDXggYBfwnFkVLjfA-dF34YJ_CM000LuYoXHwEdVbQB48cQdR27xS_Lyql7BQrhNcdMo2GUoV3nUblh4DhmT-Jjbu17MtbBtrAA6yT71w3JENUmeE_7nh0OYPk2wmgjj-32F1L-jmr3hGK8YVP43p9hR7E20gCNm86x-wZktR1e_G-32lT5R68kPUNMJXUQu6MjeWckh77qMSYlzMuZx5sWoG_mpqtz9tbX2G2cGtzfzdF8_KimNKqPhFHRXF4aWMPYFjsBTh_xnDirGHrhcgib0RhR0Y6PrKAjfXWxVecxtl1wMOi-tFe5Cl1voHfv3dy0Lk2l7fHCGH4g0xLkLA6O4uywb_a6z9OCtoU_Q5NKnp-sNtDx-2B0EWWpP2kfAaLch5KpPtY_bN-cOY137XNCK2rTo25alXPK6OQHq_VGSryoAKvzoiuGDMznzJb0kUViXmd7xIMoeTLrZhLvIliudDopZXdFRbw5hqy2GjSidzQT2CVwR-ZPLc7aPuCj85t_Doma0Luo2eOfFMi-HfljBeg3LfflBDH6LIVE6SExrvAADcCJG2dwPZWVM2mP_ncjL2VBYXuhU87T-Z6xmYUvt6y1xz_aMxqtTrU0ZxxxKABeetJpOgCw9cFe6sCcTXH90fXLwiTgo1mBKv9zRAt7Q5oX6ZU0BavwRJgTCyAsocMOQ88QxHzEq6spTxq0kK4zFcFnyECWkS1XDblX7iFEuag93DA7agJaWQO9ehKKRFGQJnRCzECuR8aA-wYvPoLBmUGDzLJfm-96IGNPgfHumDXWhJWVXFBOY0nh21OaGNXrj-m4Of0e7s5tdH7E95KZqYImg7mmjXytOorTa8EN1BgIngc7T-Uo_b3plBZQmaMRA48d2CZ3yfrQ2IuyrZQIl5tSmzlOP6wBpS5hSi9pcpxIaWFqFJTwCdstKVcpzOJEnvDQAhWZKUtBbzwUSmS2Z4emc4XvrrIjP6VB7QZj5mVMCFkfn9H87j35m1IBieBMsJVIrgcR8fJ3syO8aDz8oZMzMnr65zu2PuaeCwSclc1y44yHuT0e-zS39FURoR9k3zFCBd1Ii5QUGfRvIsDMlgjJPrKCCJ5wZK0q2Zpv6RCVFUlDu9pNK85HOuYChfMDMr0W7azKbpwMkRgeE=",
  "id": "rs_0c04e6904acf901f016ab442f1bfd087d0a3406fe7f2fccd28",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At z≈0.066 the fingertips are straddling the plush’s body symmetrically. I’ll close for the corrected grasp.\"}",
  "call_id": "call_AInNfejCWH6lU1xtdEY0sHkz",
  "id": "fc_0c04e6904acf901f016ab442f1cf2087d0ae43982cc7e2842a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AInNfejCWH6lU1xtdEY0sHkz",
  "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]: [-0.0189, 0.8314, 0.6094, -0.3805, -0.0216, -0.0452, 0.9996, 0.5175, 1.8236, 1.1042, -0.2268, 0.4324, 0.1089, 0.0127]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.172 left_yaw=0.0064 left_pitch=-0.04 left_roll=-0.0092 left_gripper=0.9996 right_x=0.4213 right_y=0.1587 right_z=0.0645 right_yaw=0.0762 right_pitch=-0.2942 right_roll=-0.2761 right_gripper=0.0127\nstate[joint_eff]: [-0.0752, -1.4701, 7.0222, 1.7216, -0.022, -0.0562, -0.0122, -0.0615, -9.6615, 6.4479, 1.1648, 0.2418, 0.0757, 1.1111]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4a3c4a00bc45cff86c79baaa9e3fe591d2a79deb37ab9140a7afa2fa95fcca8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac3df47d230051c1df2d091bab6424fb2ca90c77f18320bab41a2533cb98a22e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fc75e97c1ae865f47c1e5fef54be3f57dbf8f90ab272d51e48a21ae7522ed7e",
      "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 23 attempt 0 · /responses · status 200 · 2.475 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "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, 0.8314, 0.6094, -0.3805, -0.0223, -0.0452, 0.9996, 0.4953, 1.8645, 1.1515, -0.1677, 0.4324, 0.1116, 0.0131]\nstate[eef_state]: left_x=0.2978 left_y=0.0019 left_z=0.172 left_yaw=0.007 left_pitch=-0.04 left_roll=-0.0088 left_gripper=0.9996 right_x=0.445 right_y=0.1604 right_z=0.0722 right_yaw=0.0601 right_pitch=-0.2344 right_roll=-0.2454 right_gripper=0.0131\nstate[joint_eff]: [-0.0889, -1.306, 7.0359, 1.6825, -0.0855, -0.0855, -0.0171, -0.3624, -10.4274, 7.2, 1.2332, 0.1783, 0.0659, 1.1502]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "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, 0.8314, 0.6094, -0.3805, -0.0223, -0.0452, 0.9996, 0.5175, 1.8172, 1.1084, -0.2455, 0.4332, 0.1146, 0.9963]\nstate[eef_state]: left_x=0.2978 left_y=0.0019 left_z=0.172 left_yaw=0.007 left_pitch=-0.04 left_roll=-0.0088 left_gripper=0.9996 right_x=0.4196 right_y=0.1577 right_z=0.0663 right_yaw=0.0714 right_pitch=-0.3003 right_roll=-0.2764 right_gripper=0.9963\nstate[joint_eff]: [-0.1162, -1.4974, 7.0085, 1.6825, -0.0562, -0.0562, -0.0122, -0.0205, -7.4325, 5.2718, 1.3651, 0.1783, 0.0122, 0.1343]\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 91 current as-sent form
{
  "content": [
    {
      "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, 0.8314, 0.6094, -0.3805, -0.0216, -0.0452, 0.9996, 0.5175, 1.8236, 1.1042, -0.2268, 0.4324, 0.1089, 0.0127]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.172 left_yaw=0.0064 left_pitch=-0.04 left_roll=-0.0092 left_gripper=0.9996 right_x=0.4213 right_y=0.1587 right_z=0.0645 right_yaw=0.0762 right_pitch=-0.2942 right_roll=-0.2761 right_gripper=0.0127\nstate[joint_eff]: [-0.0752, -1.4701, 7.0222, 1.7216, -0.022, -0.0562, -0.0122, -0.0615, -9.6615, 6.4479, 1.1648, 0.2418, 0.0757, 1.1111]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4a3c4a00bc45cff86c79baaa9e3fe591d2a79deb37ab9140a7afa2fa95fcca8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac3df47d230051c1df2d091bab6424fb2ca90c77f18320bab41a2533cb98a22e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fc75e97c1ae865f47c1e5fef54be3f57dbf8f90ab272d51e48a21ae7522ed7e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEL3zIEgZ_fMM_sOvm2tQ4nwkov5lIxFE2_sG6TnGaM7Rr1FCotkCIOLXLZjjc6kWyLPf_1Ly8zaxB8fpxn0X09wAWqjAppPF4y2V796xRy3bDhfXCSoKiQch9WWyhV77l6UQPqOl_j6ba5fO_Qer-q7mNaoWzQICep3kUwFfdu9tfHelMiOG1SRmLlQ9DRCWrHPp75VbPJXVMEdy8XxjlFFHRKHh0N3_hXIqhI71CNQPWV4iKV9sKPFqNy5oab6Hxdcs383Xru8g4UyEugSBJ1MQPrVo6u4Ft6yP53z8JWMtxxvzg9w7_NCXQ1O5G9u-zvHl_lYFIWJem8lzW0t21gN4nJFQdYfQC_EMzqt6StDTMMNfijsA99Me9dXpI7MBHcsfX5lhU_79li2CQulwiJrnadWKl5_71MtjwJsT6IWXdGmjWGgySoyom0zqRDEs5BfVUYVFzBhgAOK_ZiDUjDohD33xpxUde_WO12sst3wrO5Avdr3aXa-F-wvL3cRxtu9MYQO0MDUMnR4XKp20-Nfx1a_Yflp3hBH2Kx-M67R_NdDxGxZ96NI8dFZdqF0ZXiQr5M_xb2CgVPEX6V3NC6NA5rP4lQ9ylKmXV_2AQFDK5IcD_cfmTbiwlu8rUfwgHgJLaFctpRrjam1cuXyumcKiKJa6LxcSesZwEYNzDLi9oEbqKbrkuPOScbhx3qQPf-74oak62MkDw8mGYbBUv7witGkQ0Ao0wSRYZZHiNmHSN7zhgxPF9b9MJBvI-u1I_pbQ2Z5I-DrKihMitqMQ_8m1JK60_lX9W8KmfbOKPqO91yOn5r0CiALD494NFhXzF4f0isain-FjnlDdE5cFdI_XkiSRXRiO_aYADuZ8WvEsK7K51c2IXWvxva2liMPEyYqMc_AE1NuIxOQ3T-6AhncJgm6cTMecuceJdcnCSUqV65RiF2xEqTHlAdeyl_2jbYWbmqs9v7zpXWbKQBkiGJnJt9MOidNmgmq1bnFukwinGkGtSGElGFjn10xAjjfjN-DbrUnubGvoXNsx-jUMmShVdBtbKTiahfnuFrbsq8WrO8LJywduJcYfaeS1N9mvUStYi3nlq2L-d4bRL_UbJgWJnPtlieCBS5pAET9T3D1QSxaE6Hwrt5kJDjpCB2j5s3V6MMYMxaTt3nu2aQrwGtv1fRWhAeHRnXs0Xuip2XFeqXWaLpRgxo2JlscEoGrxAAzd7I7bnp1_HLnboMR4wyDT03b2xSFMixaGtvLcCgIhDZqjyoL5wAjklCq11OfoMD6lrUPI7Ox8McfO-M8SfWdY7T-0KzRktiTCMnOoVrbyCsX30ekv35w0szugdWTH5Vj6v4ve-x29gv8KU24UCckMSL2i1QIvc8-C6MHaPLNsSme7Xifx1i2uH401l9yCi4XzXhx1CMIowwwmnfK_heZvvue58NZji8Zg9YPjy-uCVt9gQ4zK3xmfy39KWN3GXMwldXvPiC35kx9fOr_S0U0aiZZDUTXyblZ2JT3us05oGj4GOJ3G0zNT1ZcsB6w67eB_9edxzCCMEzwjiWZga8cP9Jjl7jZMPlDQiS7kUwMd7UBuw1hAeEUvuKyHXJIm9m-ME849V-nuaug4EDyLFiStRuHddhIoEQ-GhhFoRt4Q4AiolVzqgyhSPmN_lLrFuzK_T8p7GmhkB3enTLjSeBlJLuDya0bmaxiJCy2_tHHhVb519iJF-gmD8Ygm6bmqsKT_-m_spqTNxBAfwnG6Ra9io7xdOiK9i2-OBYUYhaZhnpqR4DPxwTewZOK-2qJdgh3RSLCgREuoVtqe0i-VlzXl_ZiwX934HkBZNRsqeXMTCHlBMMTosT08L18dB-32hSjN2VA1qf2q7-YicO1A5KI2wPSV4qol5ydoOt2nUk7gvk=",
  "id": "rs_0c04e6904acf901f016ab442f53ff887d09ca9c7572b27f035",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_y\":0.12,\"right_z\":0.14},\"note\":\"The plush again slipped to image-right during the full close, which is consistent with a rounded soft body ejecting sideways. I’ll reopen, shift about 4 cm toward it, and retry with a partial close rather than squeezing it out.\"}",
  "call_id": "call_tRILpu485NDpvw87jprOp9iI",
  "id": "fc_0c04e6904acf901f016ab442f6821c87d097f527f3c3572feb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tRILpu485NDpvw87jprOp9iI",
  "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]: [-0.0189, 0.8314, 0.6094, -0.3805, -0.0219, -0.0452, 0.9996, 0.4232, 1.6966, 1.1816, -0.4385, 0.3725, 0.0231, 0.995]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.172 left_yaw=0.0067 left_pitch=-0.04 left_roll=-0.009 left_gripper=0.9996 right_x=0.4186 right_y=0.122 right_z=0.1143 right_yaw=0.0768 right_pitch=-0.333 right_roll=-0.2899 right_gripper=0.995\nstate[joint_eff]: [-0.1983, -1.2513, 7.0632, 1.6728, -0.0269, -0.0659, -0.0122, -0.4991, -11.1521, 9.7573, 1.1209, 0.1685, 0.0708, -0.1685]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f074d5336b4329ed3ef3ac6150cf2fb62db5ba7aedbf23729bbd6b55ef3f4755",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8f5ec8d4ed9f7a1a549be5f1f290ae0fa0db7751fa2f282b148f0fbcc2d080c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74ce6e543d8bae31fdada700c89652c5e89ec7642d409e40c289e58caf7b2e17",
      "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 24 attempt 0 · /responses · status 200 · 2.478 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "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, 0.8314, 0.6094, -0.3805, -0.0223, -0.0452, 0.9996, 0.5179, 1.7466, 1.2476, -0.4335, 0.4343, 0.1204, 0.9948]\nstate[eef_state]: left_x=0.2978 left_y=0.0019 left_z=0.172 left_yaw=0.007 left_pitch=-0.04 left_roll=-0.0088 left_gripper=0.9996 right_x=0.4236 right_y=0.1599 right_z=0.1225 right_yaw=0.0706 right_pitch=-0.2794 right_roll=-0.2635 right_gripper=0.9948\nstate[joint_eff]: [-0.1846, -1.4838, 7.1863, 1.7167, -0.022, -0.0708, -0.0122, 0.5949, -11.1248, 9.5932, 1.2527, 0.2906, 0.0366, -0.1783]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "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, 0.8314, 0.6094, -0.3805, -0.0216, -0.0452, 0.9996, 0.5175, 1.8236, 1.1042, -0.2268, 0.4324, 0.1089, 0.0127]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.172 left_yaw=0.0064 left_pitch=-0.04 left_roll=-0.0092 left_gripper=0.9996 right_x=0.4213 right_y=0.1587 right_z=0.0645 right_yaw=0.0762 right_pitch=-0.2942 right_roll=-0.2761 right_gripper=0.0127\nstate[joint_eff]: [-0.0752, -1.4701, 7.0222, 1.7216, -0.022, -0.0562, -0.0122, -0.0615, -9.6615, 6.4479, 1.1648, 0.2418, 0.0757, 1.1111]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "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, 0.8314, 0.6094, -0.3805, -0.0219, -0.0452, 0.9996, 0.4232, 1.6966, 1.1816, -0.4385, 0.3725, 0.0231, 0.995]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.172 left_yaw=0.0067 left_pitch=-0.04 left_roll=-0.009 left_gripper=0.9996 right_x=0.4186 right_y=0.122 right_z=0.1143 right_yaw=0.0768 right_pitch=-0.333 right_roll=-0.2899 right_gripper=0.995\nstate[joint_eff]: [-0.1983, -1.2513, 7.0632, 1.6728, -0.0269, -0.0659, -0.0122, -0.4991, -11.1521, 9.7573, 1.1209, 0.1685, 0.0708, -0.1685]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f074d5336b4329ed3ef3ac6150cf2fb62db5ba7aedbf23729bbd6b55ef3f4755",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8f5ec8d4ed9f7a1a549be5f1f290ae0fa0db7751fa2f282b148f0fbcc2d080c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74ce6e543d8bae31fdada700c89652c5e89ec7642d409e40c289e58caf7b2e17",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEL7oncYIAZalfBh_t246XYkeiLjtJabCkfJgnV2BWrZPmytxC-PBwXt_DHGO5wN939vDGmWPXkUaMhCqIf0j1U175i3dIxOoXnp5wJMbKFefKYeGzCxTpK26lXZQlhYORHIeoQNFVQWMlh82zTY-hhZnBmfMHBhhORdeLHXueRJojzCSsmIabIJ1RmTnX4j82tsBsQg0h02_YDR-U4n1zw14ylMuDg6OjxQUwBZd2tjMBOA012ZWOR0c_1dh7zU4GVe2fBPv9WBbkrDtagrngW-ugOQvj6QxgcInvyrWiW1e8-KjbamUg7sqtEcgrha77rcwJwr-ltN98O6_QOfGm0zpPtB63ocLN6R7bgeD49D3npxrcbbyIsO9B_QQG-YrzI9vLIVtWJ-KXauQ4SraqYvLh0aZVtKiGL2h3IuEZDdZJCi2U4LwyAnCbdtilLUXfO3ULWmKOwOkNtstmfWJZ0zcJ19RnMEY1XiAIEXPvF1hcoarIVjcTj5E7958RTsM6CAkcjKTv_sN9CMKM--O69DkVXvX1bldQAm6GF_wC3ztcZ6uRjHJSvP2pJNhIdMPbB8qr732pngMN820cMXw3WPhMtoiQvJsdJWLxhlIMiCR0_ie8sbRclPExNBGTOaV6uWRvMiO1D7inow8twRs2d7wgjoJ0JMby_GYVp8Mowl70YGNbY94O_jTS9XyDA7BTcWFRhhn3Z8Hn_lSrf0btZmorwrdXGoNFZG7FFb_o2rv2Ruk7U3IswhZ2gnpb5_dq2UBZGMHm-Qa-dl4CwHyWihWeYwRGfkinwJls7X33n_r4tT44zJi_ExgFK5eGybaCdfgXnkCIisqo5QN-c2CVsgvksHMgfkuevWeoWs7AHEQBy9ZTfcGDaCSeRiDJSlUxj8Kp117as4QwtfgV-tbm7c0Gk2VBi8d4KmvsEg0OAynUCSstmFn7omHL81pCW3kMR5q3bjrMD8BgM7oov0Au6mGwD-KVwvqH7l49ydNqMuCQSEW5jwCbv_5YzWwK7cJPlY0nb7GN4vf455UfD0L9ZkRIG8-Ut66ANahH4b5otnfUzwIW8wvXPafpqQ_iIJXOowXkygYptH8y9LB-p-KKG_JSqa-MtLAVzixHGi-OJBjWafpU6k2qNA53-1oD5-I1nbryXTsVmfVRj1XnU-sT4noWXakbLarbeELZf0Rg-YAeiiSVNGl-pW8TEVcroXg8aQ7K3fJclXhtBExBBzSrJjyl3VYG4pITosoFZNNh6qUXALsdwLWaFwppv-bUo4SyjT",
  "id": "rs_0c04e6904acf901f016ab442fa2fac87d09d20ca8942bfe888",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.055},\"note\":\"The shift centers the plush’s narrow torso between the open fingertips, with equal clearance on both sides. I’ll descend to grip that narrower section.\"}",
  "call_id": "call_G3ycOGpRZSzJs0DAWJnaL4VI",
  "id": "fc_0c04e6904acf901f016ab442fa4a0c87d088814c10895e0a8d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_G3ycOGpRZSzJs0DAWJnaL4VI",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8314, 0.6094, -0.3805, -0.0223, -0.0452, 0.9996, 0.4194, 1.7721, 1.0466, -0.2665, 0.3679, 0.0216, 0.9963]\nstate[eef_state]: left_x=0.2978 left_y=0.0019 left_z=0.172 left_yaw=0.007 left_pitch=-0.04 left_roll=-0.0088 left_gripper=0.9996 right_x=0.412 right_y=0.1181 right_z=0.0565 right_yaw=0.0728 right_pitch=-0.3707 right_roll=-0.3011 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -1.3607, 7.2684, 1.6777, -0.0269, -0.0562, -0.0122, 0.3077, -8.0342, 6.188, 1.37, 0.2076, -0.022, 0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b3aefb2127d3f9f777d961e0f958fc60344479b52531aca4625c3fd82d10aea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ee1faaa39effbcc2e5fa26b71a0b0658fb3320ef5c6cbc0374e87448e49d492",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3003921bc48a2490834b81cac70c1ec059a7cd4ad20260d200c6f85b7ae12b9d",
      "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 · 3.294 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "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, 0.8314, 0.6094, -0.3805, -0.0223, -0.0452, 0.9996, 0.5175, 1.8172, 1.1084, -0.2455, 0.4332, 0.1146, 0.9963]\nstate[eef_state]: left_x=0.2978 left_y=0.0019 left_z=0.172 left_yaw=0.007 left_pitch=-0.04 left_roll=-0.0088 left_gripper=0.9996 right_x=0.4196 right_y=0.1577 right_z=0.0663 right_yaw=0.0714 right_pitch=-0.3003 right_roll=-0.2764 right_gripper=0.9963\nstate[joint_eff]: [-0.1162, -1.4974, 7.0085, 1.6825, -0.0562, -0.0562, -0.0122, -0.0205, -7.4325, 5.2718, 1.3651, 0.1783, 0.0122, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "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, 0.8314, 0.6094, -0.3805, -0.0219, -0.0452, 0.9996, 0.4232, 1.6966, 1.1816, -0.4385, 0.3725, 0.0231, 0.995]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.172 left_yaw=0.0067 left_pitch=-0.04 left_roll=-0.009 left_gripper=0.9996 right_x=0.4186 right_y=0.122 right_z=0.1143 right_yaw=0.0768 right_pitch=-0.333 right_roll=-0.2899 right_gripper=0.995\nstate[joint_eff]: [-0.1983, -1.2513, 7.0632, 1.6728, -0.0269, -0.0659, -0.0122, -0.4991, -11.1521, 9.7573, 1.1209, 0.1685, 0.0708, -0.1685]\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 99 current as-sent form
{
  "content": [
    {
      "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, 0.8314, 0.6094, -0.3805, -0.0223, -0.0452, 0.9996, 0.4194, 1.7721, 1.0466, -0.2665, 0.3679, 0.0216, 0.9963]\nstate[eef_state]: left_x=0.2978 left_y=0.0019 left_z=0.172 left_yaw=0.007 left_pitch=-0.04 left_roll=-0.0088 left_gripper=0.9996 right_x=0.412 right_y=0.1181 right_z=0.0565 right_yaw=0.0728 right_pitch=-0.3707 right_roll=-0.3011 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -1.3607, 7.2684, 1.6777, -0.0269, -0.0562, -0.0122, 0.3077, -8.0342, 6.188, 1.37, 0.2076, -0.022, 0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b3aefb2127d3f9f777d961e0f958fc60344479b52531aca4625c3fd82d10aea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ee1faaa39effbcc2e5fa26b71a0b0658fb3320ef5c6cbc0374e87448e49d492",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3003921bc48a2490834b81cac70c1ec059a7cd4ad20260d200c6f85b7ae12b9d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEL9CEPZsJ-mdtJpkfuBcG8BwjI0H351j6zyvy5HPOWGa1JMhUSgSAHgYUv9DV3CP8JelKdnd8b3vRkS7iluaYAXg7ugEfZGJ9Y-mwu0TVhSoUbphcYNLUi9seSrF7J_qtE0R3JKZbRcw36RbcjYkcmboWJdhz916QqB4s5AsbAg2Hg7M7M2TB1rqJ2VL4PrsX9KGYJO89MFdoqBO21gkfD_2Nqa3FTHwdtIO5JeMb30Wk2tdgxMruQ2hV0IQTZpuCOdAAXwehSLNM9S6iJ8aNMzQDoRizc-UY1hPzoibOtj8Opy9vmFINJAyqc6h3rc3Lv-RAYqQcXJrkxCDOKOtbGvi4ZH7pvIdQ_9sbjXrIAizoVm7ASoMt_-bWcGZ0Mw8kktDoyiOgzUO_2s7jdGg20OtXlv3G8hwp7vM76mxI6J5N4sCex5jL9D3442AMYK3R3RANf-f4SZv-JOSDcj5nmujaZvkUUl6Xmc5fgDJme8YxEoidqiDT7Wcg_dxpRL9J2ax_M5ogb37XL6UNUwQth9wsfMeK8bsPjuzEsEDcN7PNljksS1xMsVDpJGBm66bkdkm5EBxw7YKUyBhHrG6HiUJYAWXWtsLIQ37laS8Nt_FpqVm8sGCq2uN3yExNfr1dqAicnq_rxvz1MbPuS4nvW1vfxk-lfuqDnQGzHl95Yqy365T0EkHTPuyw9bqU_5deXfvCNJfmsxHZxap0MCdSZgYLZ5G1LHZs7fFBJHjVlszxBb58LHI0vmob5q0W1NTYkiREozrPnqzmWDCh6nYUfOUnehdS2173W5S8nZBtzfxhXlrN0l3nmC5r7fAlYSoMBNvYIV3jEJWTCNRUBMzsdldCPh_JBdgDXsRg9HU_mX7Q5Kwg2cWAwUh9o8GrJWjfasvo6HAplzRteBBp9HwmFUQIGZEgdCyL6xMTOQwbpvxFg4Nk2WenaAR3DDXFvFrnP8Z27wlPEZsFeQViPn3oSXsYc5j30Y0M8l5UWiz5LHgDajlN9-2i1Jg2UD-rctRSmny9QP1uTX55eQEr-G6DMz6Y0AkLmf3BR28nFb6Fsp87kg0xDux8KBsmxyNPuNQs0IRIxJCRxgrJRDlagUUwEivA9uIucm1zAXiq74TpbIH45nCiQ-Qhb6Ype_3F9mpQRe3_R5gyZGnHihike22WlEZl2YX7-Tno2zwkKItvovTv2gfD8Rvvrc3MLvyQeahw2v38P9oAIVtf-dbpgqCiwHQ8yrUpc-ReR9KUkXgdn2IPeLi5ekcQ5a78EHzBHGkksGhLO1kEmUmLiYYOCXLVPhx36s24yAJ-jglgDNlIZkLyD3jGKl3lscKFSYTW85QFiQcST5GCaX9rO0hbzLmwVqBUEwKhlhjHjsRD-vu2sZNtWynGlnPjU_ncGg9NvPs9EPcppWHW_OQohktcjqdLw9Sk_bhgq9FBetfDQqGbvqP-bjJdTn-50WEddr0Ruiua9IDuOullgiSuS2CZNl3gRMbg==",
  "id": "rs_0c04e6904acf901f016ab442fc7b4c87d0ae9c77817ba9b4d5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.35},\"note\":\"The torso is now centered low between the jaws. I’ll close only to 35% opening, enough to hold its roughly 4 cm width without the full-close squeeze that caused sideways ejection.\"}",
  "call_id": "call_403kXxNxWl1SiHTVtMD8acLf",
  "id": "fc_0c04e6904acf901f016ab442fd19ec87d092e2035e88c7a268",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_403kXxNxWl1SiHTVtMD8acLf",
  "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]: [-0.0189, 0.8314, 0.6094, -0.3805, -0.0216, -0.0452, 0.9996, 0.4183, 1.7805, 1.0386, -0.2398, 0.3607, 0.0177, 0.3549]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.172 left_yaw=0.0064 left_pitch=-0.04 left_roll=-0.0092 left_gripper=0.9996 right_x=0.4139 right_y=0.1197 right_z=0.0533 right_yaw=0.0813 right_pitch=-0.3637 right_roll=-0.2938 right_gripper=0.3549\nstate[joint_eff]: [-0.1026, -1.3744, 7.0085, 1.7167, -0.0366, -0.0317, -0.0122, -0.2393, -9.347, 6.7761, 1.0379, 0.2515, 0.0122, 0.2271]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aad33326cbd88243e075b56347323bbd666e4770b709fb964d66392e9d0dece0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cce198da9413171e191ad9fb37d6c17ba1d006f2a564c39788e893cc1b401fe9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96780b575a397f2b7bc159c522194a18008bdfcfd3b0a583189114b2db437d94",
      "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 26 attempt 0 · /responses · status 200 · 2.552 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "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, 0.8314, 0.6094, -0.3805, -0.0216, -0.0452, 0.9996, 0.5175, 1.8236, 1.1042, -0.2268, 0.4324, 0.1089, 0.0127]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.172 left_yaw=0.0064 left_pitch=-0.04 left_roll=-0.0092 left_gripper=0.9996 right_x=0.4213 right_y=0.1587 right_z=0.0645 right_yaw=0.0762 right_pitch=-0.2942 right_roll=-0.2761 right_gripper=0.0127\nstate[joint_eff]: [-0.0752, -1.4701, 7.0222, 1.7216, -0.022, -0.0562, -0.0122, -0.0615, -9.6615, 6.4479, 1.1648, 0.2418, 0.0757, 1.1111]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "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, 0.8314, 0.6094, -0.3805, -0.0223, -0.0452, 0.9996, 0.4194, 1.7721, 1.0466, -0.2665, 0.3679, 0.0216, 0.9963]\nstate[eef_state]: left_x=0.2978 left_y=0.0019 left_z=0.172 left_yaw=0.007 left_pitch=-0.04 left_roll=-0.0088 left_gripper=0.9996 right_x=0.412 right_y=0.1181 right_z=0.0565 right_yaw=0.0728 right_pitch=-0.3707 right_roll=-0.3011 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -1.3607, 7.2684, 1.6777, -0.0269, -0.0562, -0.0122, 0.3077, -8.0342, 6.188, 1.37, 0.2076, -0.022, 0.1148]\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 103 current as-sent form
{
  "content": [
    {
      "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, 0.8314, 0.6094, -0.3805, -0.0216, -0.0452, 0.9996, 0.4183, 1.7805, 1.0386, -0.2398, 0.3607, 0.0177, 0.3549]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.172 left_yaw=0.0064 left_pitch=-0.04 left_roll=-0.0092 left_gripper=0.9996 right_x=0.4139 right_y=0.1197 right_z=0.0533 right_yaw=0.0813 right_pitch=-0.3637 right_roll=-0.2938 right_gripper=0.3549\nstate[joint_eff]: [-0.1026, -1.3744, 7.0085, 1.7167, -0.0366, -0.0317, -0.0122, -0.2393, -9.347, 6.7761, 1.0379, 0.2515, 0.0122, 0.2271]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aad33326cbd88243e075b56347323bbd666e4770b709fb964d66392e9d0dece0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cce198da9413171e191ad9fb37d6c17ba1d006f2a564c39788e893cc1b401fe9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96780b575a397f2b7bc159c522194a18008bdfcfd3b0a583189114b2db437d94",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEMBU6yyrWlw3y6Cx7rhm7ZuqLM2t9Gcs8ED5Uokm40UNOrGQCMKr0-gN9NAIp9zCvpQ3yYoBeL3FMgPh4t21HPpY1_KhL09Q5NI_Q-VgILEJUpEIKLYEtttWxurS_e2PYlKvnfGe4-YVZcNNJoNWtdlImw84qSCrePnVPEhO385m_q9pzBk5GzQAqqWUg-Y9Sd577GtCz4Jfne8MBSr3eRwlMTlf7XzGt1ATKmwNvkjvZaTT_RDNKo_cbv4CeIU-a1yKNwIO8oCG40vJlLiw30bCSxvAcUIXMTdevmQC9_gl41_Irwq7RMFinmVZeM-63jd8MDqesf2elBi0kIUZXK9YPDMsPUPKrAdxSvt3PgRau1qwpUsg3-ooAVqNz0WS3TTvq4BlS5376tmDzmAbfL3_HqkVMO0_3W8BV2QxpEvx69WAkpEYEPKPjQRlYltqVxRRUtINBYNUNGJy0GLBdnmewxNnA8jpiPCv3aqsXCj9xtf_nW8wiiGAX1RLJFFFVv8ZLutSf0S_GlVFV_71c3VlZbmosGaGVwtgYqtB_Eg9TGit6zNhQKsaVh3Uj-ewNeWg0Qoq-twMWfbU7yRLC71pKCF1JoyHr1inr43kNvfl77m-H8kP9EWuJ-4dwNjZHvXwGDP8qAabGte-MKWa4wdk5qyo6qfcCop4pGPMOB7g0lHZEcZtn2JS2eBojImNfjZ387vGU8YO1YESR9fiuKcCOGwBzG4QHROM9djKqB0xHcU-inVPy_oTpQqNr_a6VVpyHHM7597hUDs4kls1UqZk77q8GfBeHnnVm0A-Sew_PyYQtCksITJcqsp0rRfnn8fFlXutofCsVsJhZ9OhBhzuEBS1RUpV58Ek40DuUyhbWdor2_Q5qsjI4jTM7ILJuZj_cs4EHT5TNgswOvuB29dQKBFR6UWr2ak_iKNYBmvsNsgUkZ6k3k2_oGB_sXmJqHch2sok_4SRdukpKGB1Xb5pv2E2CfVZIkYXVSAtnwML29dz9fkmHlU7XqCdOx_IJ3VJEQVSEuUlRc6EYdBcVZehVEb7G1p9dzPheJ3twSHhIXeN9pppKAtEB19lCcBWcKP5sUDh_nVKYrAxh7O1HSWqA24A3NkcQj7KJvR-QlSuM-vMeLJD9tf83161-2YBNuk0l8eguaGSYlVCbThcDrzy6U3XoXSTuVPrfmEWZEXFhOp4eJE2jOtofdfcufyh3qcjUu1hxq8cxP-fbouiyMTbXBQLAJAVx3pHMjKForGSmCzZfENHgL9lFmTqihrlyunuQeBS-g70S8ojQB_Wkjs7sii0bXfrtPjmVJ8ToqhRd2m6wQ8V7yOVeAacPA0ZfOwpc5wf3xz_0OZSPzjWRVPsdu7u6pkADFvp3lhHWPM5XV9B9kULLmnBjKsk9iEQDHwggg7ytwjYb8VcvhuuPt8BOf3zRqVt-rRSTTmiqwbL8V01rZWIPGgUoKvS8kUvnU3lSAvDX1g6CyaEenrR6t31G4Cp6DzsoRozHXd6zvwR_NapSEvtLOb6r0objW-LL_J5B7wMeB0sjnO_sZPthDYUSRNuESx55z1T1H8Re-yTJQpDTXSV-UYKJCwDEZDo_6tBEhKM-93rVJM9W5vIg4Ufnb9J0Erx6VmK4fc9nmZCp4cxt2dFRDBkjzh0As5yEyKo3QGQEI4V9ynS4xcruNSevggw8Z5XonpTncoZG-9lEk=",
  "id": "rs_0c04e6904acf901f016ab442ff851087d0b0988d932b2cdcd9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.17,\"right_z\":0.26},\"note\":\"The plush disappeared from the wrist view at a 0.355 opening, indicating it is now held securely between the fingertips. The basket is farther forward and slightly left, so I’ll lift and carry to x≈0.55, y≈0.17 above its true center.\"}",
  "call_id": "call_uHEdiaRQsNifWKfG2ZDs8oRQ",
  "id": "fc_0c04e6904acf901f016ab44300c3cc87d0946ee6d262369c63",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uHEdiaRQsNifWKfG2ZDs8oRQ",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8371, 0.6094, -0.3813, -0.0223, -0.0452, 0.9996, 0.403, 2.4756, 2.7949, -1.3018, 0.3454, -0.0082, 0.3543]\nstate[eef_state]: left_x=0.298 left_y=0.0019 left_z=0.1703 left_yaw=0.007 left_pitch=-0.0465 left_roll=-0.0086 left_gripper=0.9996 right_x=0.5487 right_y=0.1728 right_z=0.2126 right_yaw=0.0933 right_pitch=-0.3726 right_roll=-0.2979 right_gripper=0.3543\nstate[joint_eff]: [-0.1162, -1.7436, 7.0359, 1.6874, -0.0269, -0.0317, -0.0122, -0.8274, -12.6154, 6.3111, 0.3687, 0.1343, 0.0611, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d7c219ee5291e5e8d7f7f4d4f26048e2d879e7bd2f0e5ecbc90e4c6d3164854",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:864530eb7d000577a3b28706b26eec349c1e9bc38b36e2bcb1e3faf887f9a7fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9751f9e8df24fc8a793dc07797a24b1043f243c953820dc2d4fc77609aae221",
      "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 27 attempt 0 · /responses · status 200 · 6.316 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "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, 0.8314, 0.6094, -0.3805, -0.0219, -0.0452, 0.9996, 0.4232, 1.6966, 1.1816, -0.4385, 0.3725, 0.0231, 0.995]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.172 left_yaw=0.0067 left_pitch=-0.04 left_roll=-0.009 left_gripper=0.9996 right_x=0.4186 right_y=0.122 right_z=0.1143 right_yaw=0.0768 right_pitch=-0.333 right_roll=-0.2899 right_gripper=0.995\nstate[joint_eff]: [-0.1983, -1.2513, 7.0632, 1.6728, -0.0269, -0.0659, -0.0122, -0.4991, -11.1521, 9.7573, 1.1209, 0.1685, 0.0708, -0.1685]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "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, 0.8314, 0.6094, -0.3805, -0.0216, -0.0452, 0.9996, 0.4183, 1.7805, 1.0386, -0.2398, 0.3607, 0.0177, 0.3549]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.172 left_yaw=0.0064 left_pitch=-0.04 left_roll=-0.0092 left_gripper=0.9996 right_x=0.4139 right_y=0.1197 right_z=0.0533 right_yaw=0.0813 right_pitch=-0.3637 right_roll=-0.2938 right_gripper=0.3549\nstate[joint_eff]: [-0.1026, -1.3744, 7.0085, 1.7167, -0.0366, -0.0317, -0.0122, -0.2393, -9.347, 6.7761, 1.0379, 0.2515, 0.0122, 0.2271]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "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, 0.8371, 0.6094, -0.3813, -0.0223, -0.0452, 0.9996, 0.403, 2.4756, 2.7949, -1.3018, 0.3454, -0.0082, 0.3543]\nstate[eef_state]: left_x=0.298 left_y=0.0019 left_z=0.1703 left_yaw=0.007 left_pitch=-0.0465 left_roll=-0.0086 left_gripper=0.9996 right_x=0.5487 right_y=0.1728 right_z=0.2126 right_yaw=0.0933 right_pitch=-0.3726 right_roll=-0.2979 right_gripper=0.3543\nstate[joint_eff]: [-0.1162, -1.7436, 7.0359, 1.6874, -0.0269, -0.0317, -0.0122, -0.8274, -12.6154, 6.3111, 0.3687, 0.1343, 0.0611, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d7c219ee5291e5e8d7f7f4d4f26048e2d879e7bd2f0e5ecbc90e4c6d3164854",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:864530eb7d000577a3b28706b26eec349c1e9bc38b36e2bcb1e3faf887f9a7fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9751f9e8df24fc8a793dc07797a24b1043f243c953820dc2d4fc77609aae221",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEMFMLJiIySCIcj4au8iLnWAS1Vx0PnhdJRUIaCrtKWCJZcH6CI1s5u-ShMkKoiREzKA59Fhql654xA6YdQ1e6apFsHXwzf3l_vkp1me_CFpAyUN0uXpbuiUqe055_RNv_R9lFlr0ASPEUoq4WvDqtwf_493f8DjKWmnVQyeg_QO8erdI81x8I94qFtKEEhkxJx9l0rDlggjM7Y0kweyLAr9yXp2HRBf1v7cpHsx3EBPgWaUI9Xk36aXzo41XwMgpjuXWCFS7R0jxV-t-i3ycueC0gRyVauRXwUxKmw96A-h59muL-8z7NtFCXPE6gkCNHoC0bDetgI27d4dz4KqmyFRDAwObAylFOd-Du5_ZVWrt9_n0JY8sKd4CjNAa0YZD8r37j0gMnvRke1dyElAaqeDRtLrSNqa589iZM_wsRevCYjTk5VAeyUzXcCJni8M6qcHdXcx0dRP_Pf2z6O-QqzNoptFLf9Et5HC9UgQCVamn6CsISQzQZptEqVozRN1T39JYC0H5kqIKPl9U0LamTJh7JO4CYr0MBbzRTGCAas3-OdL5JULpzd6wW62H9xpXZrP17GaFcmx4iXle9Vc6gjkrcjypf80_dUfMa5YXft3ueVjXG6rVy3VPsMoWT8K92o3LeQ74ERkxRDim4d-5aorb1-xSGDH2CnQP2BxSQ65DQotiTPutPVEGQofJTANc8NF4B7SW2NY4xZsweg9bvDH1DdnkSuKjV8tbZwRW_Wc5CpJs_PSvXPADco1ukQJGrnCZYglY5cwD_IK_eH0oi49dqEIAe6-25qeWhYiuB_1a_yANPs9MncVFlYYzUYOvAs5ioiYf9PS6t1YGrdyl15AI9oe0BFKJdlf_pD6XinwtRoIA_JZEEIqJyKlP3yaG0_GCRAcR1eFSb7b39iSUbb-4rZqN3EpEleis4v_SMeSuVzqRsJV5mQMRKcnKoCLgpBXmbTLCDvZ0dHzb82b1qoXgB3jFt9iUfuCTf8qtAAjcX7SEOEi5TIeHKPk679rL0Pl1DwZ3-owTGEtItok4LYXxPmdD4mviC4GMPeiCVtJjtSez-ncRy0DtrB8f_lGKzpwybvXLyQv93uE1qzBKruaAUgMy0QsjjJT2I5YRNTLaU8T6uaHAasBcY9nrHxIZ6Noy6iAo_y-pTPR18hRl4UEEYplIad5ErqVIWfyVhb-HALlMR-0nK4KtyXc7yNUMJyjrc62-z4dJtuRd03KtT-QIUuT6af2BOI16_i9uZBBfQqU-NgrFzc3M70_Bcb4ZIi9FIciezcjTWTBfe1Nsa4wwfyHjGO1P54tumVQDTtd_HVfMTgIKECTb7JGMvbEiNyOhkxDKNeoSaqPwYRtic7ew4Xpyp2LlDXexDdsCyg76EZ4kzwuZ-my7KfOG9eXPAwc",
  "id": "rs_0c04e6904acf901f016ab443049a8487d08fdcf10d11351557",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The right basket now fills the wrist view directly beneath the jaws, confirming the corrected target. I’ll release the tan plush into its center from above the rim.\"}",
  "call_id": "call_aO1EXTjE5dl8ecMx5aXTQPrz",
  "id": "fc_0c04e6904acf901f016ab44305080887d081711dbf6b8079ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aO1EXTjE5dl8ecMx5aXTQPrz",
  "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]: [-0.0189, 0.8371, 0.6094, -0.3805, -0.0223, -0.0452, 0.9996, 0.4007, 2.5301, 2.7903, -1.3216, 0.3378, -0.0223, 0.9953]\nstate[eef_state]: left_x=0.2981 left_y=0.0019 left_z=0.1704 left_yaw=0.007 left_pitch=-0.0457 left_roll=-0.0086 left_gripper=0.9996 right_x=0.5489 right_y=0.1729 right_z=0.178 right_yaw=0.095 right_pitch=-0.4523 right_roll=-0.326 right_gripper=0.9953\nstate[joint_eff]: [0.1162, -1.5111, 7.0769, 1.663, -0.0659, -0.0122, -0.0122, 0.0889, -18.0718, 6.0513, 1.3748, 0.2027, 0.0757, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9b97ed067dbcb8dbffba24eef7251a829b0217ae056a3a343937c8d03a3350f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e121102bc65f1ac64a84dd8a0aa0f4fb2ab3244eeb2500d1051a226a7696ccda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fdca9dfcf91c367ae1f8f84c97c7eb2505c224f46012afd5a9f4c0fd9089cf6",
      "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 · 9.523 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "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, 0.8314, 0.6094, -0.3805, -0.0223, -0.0452, 0.9996, 0.4194, 1.7721, 1.0466, -0.2665, 0.3679, 0.0216, 0.9963]\nstate[eef_state]: left_x=0.2978 left_y=0.0019 left_z=0.172 left_yaw=0.007 left_pitch=-0.04 left_roll=-0.0088 left_gripper=0.9996 right_x=0.412 right_y=0.1181 right_z=0.0565 right_yaw=0.0728 right_pitch=-0.3707 right_roll=-0.3011 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -1.3607, 7.2684, 1.6777, -0.0269, -0.0562, -0.0122, 0.3077, -8.0342, 6.188, 1.37, 0.2076, -0.022, 0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "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, 0.8371, 0.6094, -0.3813, -0.0223, -0.0452, 0.9996, 0.403, 2.4756, 2.7949, -1.3018, 0.3454, -0.0082, 0.3543]\nstate[eef_state]: left_x=0.298 left_y=0.0019 left_z=0.1703 left_yaw=0.007 left_pitch=-0.0465 left_roll=-0.0086 left_gripper=0.9996 right_x=0.5487 right_y=0.1728 right_z=0.2126 right_yaw=0.0933 right_pitch=-0.3726 right_roll=-0.2979 right_gripper=0.3543\nstate[joint_eff]: [-0.1162, -1.7436, 7.0359, 1.6874, -0.0269, -0.0317, -0.0122, -0.8274, -12.6154, 6.3111, 0.3687, 0.1343, 0.0611, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "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, 0.8371, 0.6094, -0.3805, -0.0223, -0.0452, 0.9996, 0.4007, 2.5301, 2.7903, -1.3216, 0.3378, -0.0223, 0.9953]\nstate[eef_state]: left_x=0.2981 left_y=0.0019 left_z=0.1704 left_yaw=0.007 left_pitch=-0.0457 left_roll=-0.0086 left_gripper=0.9996 right_x=0.5489 right_y=0.1729 right_z=0.178 right_yaw=0.095 right_pitch=-0.4523 right_roll=-0.326 right_gripper=0.9953\nstate[joint_eff]: [0.1162, -1.5111, 7.0769, 1.663, -0.0659, -0.0122, -0.0122, 0.0889, -18.0718, 6.0513, 1.3748, 0.2027, 0.0757, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9b97ed067dbcb8dbffba24eef7251a829b0217ae056a3a343937c8d03a3350f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e121102bc65f1ac64a84dd8a0aa0f4fb2ab3244eeb2500d1051a226a7696ccda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fdca9dfcf91c367ae1f8f84c97c7eb2505c224f46012afd5a9f4c0fd9089cf6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEMMQtbhYX0vAYqq_phPF4xFXRxkmHnCw5MA6uiJCB6qOAb7_T1iGC4TPfIz8lZBkJo3SRk7RYaaa4KGfhj3Y9SEBB2iAiRyOCO4NsJq1pcrAV_a1QMEC7iFszh5rAxGJx7KRY7WqgfhuUvcVW0lJZ1-pNjvsrsCYFmCcVwYl6dmCqDcsAv3fgxyDeEcO_Z0oWaoxm4xwByAkvLSEvvuGVMwlRVei69AVgr_P-eHiNq3cGg2ESChQwZ_9csuvMns7pHAckpkrdzl30XaxGrLZWTXs-OsQPyuImY1ezx8WsnxxAfVlxMa0VyCGbwGiuYF3HBNISTBPZsgjHmWYEZjaBoa43iMGWlCDcGzzO8f73PFvR2B2aXbf7Fw6ENvpffXtlFr0foIzwqjSC5M21iFkSJCfWJkHe-iXce3zn7ZqMzrD2hqXo-BTpdyW0KUFJOmnqgYlPK0HhgMOVK8WnlXuVMxq4OiCy3re608qQUenM8LSE91b47VB7tozlt2-kInGXLyEfIEtfDNHsFo0gDenYgESnPyUyuFkRPPpF9Xz-ATFbaUk4IsxMLs2ThH_zVmCXy_3s-8GliCOAp8r7UjKSrYo3kbokYkXo3G7BZWeCtNm53ZxssBYDNb6q4X39oPSXQOsc_Ir88jvS29eWRwE1MBKiG1iH9MoM-HhHESNsW1y7E8W0TugQHkM20AZ7KIUDTj_mPidkX1ZGxf1L9sn3C1xV75vzlTWEM_5KkhvVVswmJt2G67AboagOpvcG5-SSZJiAI5uvP5J48HxfkjXiwYORBOH7DiN6OsSx8cAzq2WwuHOwu9ctBunZykD4oSmrHISTHpjwI7O7hXMzsmu6idmOkiMEmz7FVMPiZALTF038xNn_1TYNKat3ibg4mOLBUoMuR8sXMNKAGEks4o_RoEoLAnSF7fakvx7G3-69jNAKZK41TNNajtnhxeHVMsE9vmc81DSSAuA77WpvschF6rlZLXL34IBP9DBrSNnn448JP7Gimih758kejzyVILPpfXauz3zhhI9NKRRaYk0dKd3owmztTXizDVIAEws-K4WdCBmvDdiiymzV2E1DxTUKtWzVS3ZBqamyyVym49nMWuJb8yRGGLRnmePYKLxBFX2Nlkwm7F0P9dZejCdCi7Sff9RiH6QtivYCiA-QglPuIs-dovu-019gY-LV2Bmg5oP2n9y3UNoLVHICWi_EzGN3cEtj5rguCIVzUVycIfnO7PHGDw1aX3xm56i0E3lC3wg8RrtGz6sbXD9nCYR0Rj4kTg3-iEgrQIRU_3zNiKyXtaUGgr-otdBfL4HfU4P7-RK-IdyZJQpBJEphRfDb0EUU1tmynetYc7t22DE84ruGKXdaz3IaH0C6PBIufhUy2U8ubE0mIlGrXQAX33OrWcWUsySXCF47YHwDdv-N-V0Yt4Mml8YH3c3CQLKY-lpVA8j710dySm3afloFAQVftbmNjBeZBWy_xgxXFkPibzW80jXRPq5cK5WLNDsW_pvFlolGxDh8H4sMyLhmVYAfkwV30zkFPeGEyIm8q-H9xIAk1T611qh1OuteAUByKxBTluzuHm7KkKG4AcUNWk9WCJ8L33N2vAyKbiqXuMba1QWMxVE_MylH2gles41M1UeGFRa2nM-hhvIzeAzoN6e89RUTJ8Xq8uxsprZl2MCFxO1NclIBEO9OCOCzPFtsImMLNtu4hrX5dEvwNlEBiJ7aZSY68AAVMR114Hq20hp1FZWHhDR1k2nTbRnD0ytva_8EizgwiiZTEr-dZmmB17uOCLGAU8QX0a00NuUTFWdHDv1MoZTUrZk8CbvZ-B5_4__87Qu7cwg4lmLMQdHKpc9i3aCNINYUfBNhVL-nOiJ4_P83fhF6KdjgznwZXg_scE_aBHMq9KIIIzlo9xi--hp5HWOdcNVhk9CRcyB0RuKlGvOuGrfWfCiH4iC3EVI61H9l-TJapmfcKkW1Bjda0tqUnO74oP027pAXgtFj52ta0ndRj0Qg_D6G95RQ2ZmahOaRu28GsLubKrfxPHE4qrVYLTjDcQCAagRHOF1W3NnQXsS4hAFubzmOEIkjHbHAZGwpLIoPKRCUyDkw-lDGDAqnc56on9glmT5PsEz3FaT6Ui0Lw7pccRlHmTZUfneCML86M_9fqjbBvNPKtL4pAyvnfgl10Kp4eRO3eBQVTf_DCt-Tq-vajMpbYviAv_Br3-ZQobFe-T9LjHOBFtQkczYBb_Fxr2w2XDmNwLScoEJ_8hm8cUQTQ75rmx_HsjK_IiTzn1uqyoRqIoXciQ08I9le8XHhYIyzRgbFk1yS9m-tVJywyKdq_EhG-d9PNoZxhw3R2ZZALB2GajFMJA9onVTz2AoGMKVVjn4yP151rV3Nh95D_Tw7wtU1OyE2SoIWn8kFvm5H8Owx2Apo1Qd37lipE19YV9gjIzYiVHAUzsOEYRV07Ulyow2wlYMhmRBsHsoFquwTPOGsLYDENr79NZdLZhZSHtPqSNOmyT7IhzNSrtfLdr4RI7CD_MG6Q4wMgRZAyHVxYOIhKbFQh3QSAXFf0qF1O8axQk024k0HlTzGINQ-3iAaOgx8UgjQ7JHLQA42K_Fjb2DUaQYbWuVw7y66xCNNfdKqcxrEf427MafBVKwYNyZJHwpfw74ajw-dYsTRan-bw0A3kTNipHKsAKK1cM2SES7wVwjWEjQIbmDlruJQvmUtxy-xo162hXqDOj8qchiQwxi-gxW-qnq_7Xt-yURFjdFnv8kecH46b8KvN7TOC9VrdGAihNe8I1LadJOCXUf1Vj1lEbSaSI8UpoBcOR3QcDecdjP1fRKiNGRE099DvQVsXPF2HiJlu_eKoSarvLzcRfbg1cjmrUEuMPWKXAgLLmbCytE8BT8i2ZUKd0d9F55n7WF-OGJHtBOuJmmtWrqR7Ef5FxmHWWLSX536veFWx3GjETxWvNn9Jhbr9j46I1a2rm_pbKmXnKL6qzsVx5-lY1aQGA1qqvg75Fx_35fTlMD0bxt-FmAcDEPAgNp1fI1Bp14ACD5aPAR0M6QVWTKA3eVUM_RJxhZSakeqWgM_5T2oFOHfhr5unqMNwj0mYZTtnMQChAd7RXl4H0mpnJ1PuBk4VihX7r6hqpMApeQ5ZWz8lqNnV-UiyoPYQHNPKSbJFAnIEPe_dO79NT4y8zoCrTLcsMuNfaGs_Ls2_lecS9aE9iPX12ygb72yz4MH_6yihnD2GlNSPvG0amFO9j_kbYfacDeqm5d_lhNSqqa-m_bLz-eV7ivbALcIJQWNEmQYPj8oi3rIbbWC-d04x9Rhkd1foqquvd5UaJAe1VGpnRq5cSv8sJLAi2Esjbi2XK5zqYdwbXAnpyMK5GHlRzctB6MiRIniknFWECqMloTuKQ-qHiqOaPjeKzFzWvHkeoC-L8Im8em_4ahh_1NME5Yb-fBTBj6uIr4sxPoHhMcIRePs_vdH80QnBc25esEARIo5_nS0MEhZtlZ0GxuTzegDxHXP-hAxg9sP5p5aK8tK29Gyz-o6kUwj6C9UYb_8CZMLPT6NEGL7c3H_abosjv_8Y3aBUanlgGz4GMEaaXiBY6jBeRVOjv7kgU1neuZMxkwOqhNm9FUShVA4Xh1ztQBa9N5c0p3uZoLr8lqhmrXKBkrprGtkhMqoenEgZm-CYpNt9u6XPc3kEJNKTZuDBc07PvYafBp3esCsbrqNgGdSH4",
  "id": "rs_0c04e6904acf901f016ab44307540487d0b22072d1aa62dfed",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.0,\"right_z\":0.2,\"right_gripper\":1.0},\"note\":\"The basket is directly beneath the open jaws; the released plush may be hidden at the near side of the wrist view. I’ll retract the right arm to verify the drop and expose all remaining objects.\"}",
  "call_id": "call_lTeiSqnhUK140Y0UzTehbrf0",
  "id": "fc_0c04e6904acf901f016ab4430bbb1c87d0abf424c091d496df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lTeiSqnhUK140Y0UzTehbrf0",
  "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]: [-0.0189, 0.8398, 0.6094, -0.3801, -0.0223, -0.0452, 0.9996, 0.1036, 1.2018, 1.1362, -0.9154, 0.1951, -0.2649, 0.9986]\nstate[eef_state]: left_x=0.2983 left_y=0.0019 left_z=0.1697 left_yaw=0.007 left_pitch=-0.048 left_roll=-0.0086 left_gripper=0.9996 right_x=0.3101 right_y=0.0014 right_z=0.1999 right_yaw=0.0724 right_pitch=-0.4363 right_roll=-0.3245 right_gripper=0.9986\nstate[joint_eff]: [-0.0889, -1.1556, 7.0359, 1.7411, -0.0464, -0.0366, -0.0122, -0.1709, -4.0274, 6.6803, 1.3407, -0.0171, -0.0757, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:701b33a660ca062e0de44682983bfad7d69173f47f04b41a31c2822d57ab7a0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ad31809c3ae40977d766001acddfbead2aa39f3bd3ff01ac247f9a34ee65978",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eae0ddea81905b6182478dd2a21d24b0a535bbc9cc44e02607fc1168401e8e41",
      "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 29 attempt 0 · /responses · status 200 · 2.989 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "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, 0.8314, 0.6094, -0.3805, -0.0216, -0.0452, 0.9996, 0.4183, 1.7805, 1.0386, -0.2398, 0.3607, 0.0177, 0.3549]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.172 left_yaw=0.0064 left_pitch=-0.04 left_roll=-0.0092 left_gripper=0.9996 right_x=0.4139 right_y=0.1197 right_z=0.0533 right_yaw=0.0813 right_pitch=-0.3637 right_roll=-0.2938 right_gripper=0.3549\nstate[joint_eff]: [-0.1026, -1.3744, 7.0085, 1.7167, -0.0366, -0.0317, -0.0122, -0.2393, -9.347, 6.7761, 1.0379, 0.2515, 0.0122, 0.2271]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "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, 0.8371, 0.6094, -0.3805, -0.0223, -0.0452, 0.9996, 0.4007, 2.5301, 2.7903, -1.3216, 0.3378, -0.0223, 0.9953]\nstate[eef_state]: left_x=0.2981 left_y=0.0019 left_z=0.1704 left_yaw=0.007 left_pitch=-0.0457 left_roll=-0.0086 left_gripper=0.9996 right_x=0.5489 right_y=0.1729 right_z=0.178 right_yaw=0.095 right_pitch=-0.4523 right_roll=-0.326 right_gripper=0.9953\nstate[joint_eff]: [0.1162, -1.5111, 7.0769, 1.663, -0.0659, -0.0122, -0.0122, 0.0889, -18.0718, 6.0513, 1.3748, 0.2027, 0.0757, -0.1832]\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 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8398, 0.6094, -0.3801, -0.0223, -0.0452, 0.9996, 0.1036, 1.2018, 1.1362, -0.9154, 0.1951, -0.2649, 0.9986]\nstate[eef_state]: left_x=0.2983 left_y=0.0019 left_z=0.1697 left_yaw=0.007 left_pitch=-0.048 left_roll=-0.0086 left_gripper=0.9996 right_x=0.3101 right_y=0.0014 right_z=0.1999 right_yaw=0.0724 right_pitch=-0.4363 right_roll=-0.3245 right_gripper=0.9986\nstate[joint_eff]: [-0.0889, -1.1556, 7.0359, 1.7411, -0.0464, -0.0366, -0.0122, -0.1709, -4.0274, 6.6803, 1.3407, -0.0171, -0.0757, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:701b33a660ca062e0de44682983bfad7d69173f47f04b41a31c2822d57ab7a0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ad31809c3ae40977d766001acddfbead2aa39f3bd3ff01ac247f9a34ee65978",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eae0ddea81905b6182478dd2a21d24b0a535bbc9cc44e02607fc1168401e8e41",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEMY1ZdWuKWqlaq4SbsrC58y1OOM4GmVQns4Q9cNbbm4O27Ojl8YH0AT1bLRv-wwUGO2lSsDuD_m0_hnORrJY-cI4wOGpF2CeDpcKWEqD8p6mrQqBZnQ-T4lQ0t0lWeXSGPa2edcYQlpGTpB_EiVdhxC_AFjfC09iPcn0dvuc_JsMXANtp3AgyZ3sj4ixtqPw3qExKJYrjvQEQQ1oomwC7QUw9cyNMoReflmzYGFzkacF4jEkwQY25upjUcrOVrIihmB2QwsGtuc8rBFaDMd4tFNH86tPzqVzHEBeQuNYwz0dgJmF0DlTjaku3T_rqcYFSCUAMnPRByUrLhCjCojl_gbxWoQmhQHc8AizjtlmuMBEEXLcqn-fIbMllRJXgncdV1c-2JhQPITNIXgS1MskTPacA4WaRxPqZEvIBy7b-HvhvcYSKenHuDrtYtr6frC6MxFIsPD-WNsT7YKTQUoBvAGizDxttVHvMexSbVPYEhwC8rupMDNJtdGh3Vm9SsIwEeAd5EfV5-L6iv4VgJG2xs-IisBN_mXPIx8Jxyghdmx1Ezx2FJ1c0-A68gUr3UEKt5nugx06V2jTdkZX-JMp8bKyJrFqnWAdYlBkq0cyaDdqK8UMbF46PZBZ49e4gMNa8GY3UbQ7kFjx7zgzzU-tYgu5_apxymliiRguD9pksB8Mj-lVAXS3LPZPWWgYUtHTt4_LoxNcBK2Yg_xKFK8lUIwhR_2zn4dtEUIb_NYLh5DwmUi6PRD_opv_uQ0zEf-0wled0XEbTMXxE0pwKeFkbKy2Z4Hplk9i5iCpmE82yKjt9aapsRmTaFpg1u6qORcfEdGmCDXmQk6sBeoshEZSlolx_FqjmQfhcuo21bMslMLrkgZelTADvQ6oPFG8dHSsF78I_Y492fGRARgNxTh1CWMEN4BVQv6M4J3H_F7JFg6ptdad7irOU9ONeYHkj0ELWd9l03KdqSDXczKy78iOPK4Tvo2caa3N0Ph7QdDpz1m-4g0S_nVa-u4kcqJ8MhjFovLxLTpMnX63Lh2Y5iwDH5ujIiSc3gnaEa70DrktGlvkATvDpy9aTdbXQn-6Cte6e3ZsumIoQ-SFdz7GCRjijETk9LdyXJNIV7pxGojUrXPPf6gQgvn0cifnJl6LqKPb_eoPtIfrrgZOMnNYMgzc-_Zed2PsIyIZdxJJR7aKY7ljUbwNsQ3ruYc3Vzmx5nIV-nIp_xfHWthoiWpVKCu8HFPKRu3LleuqewGyDTipa6a3TC43Ie3_O_wFwo3iHeYi_HrwZIXjfo8lQ5UvudbLYlu4jSVySerAkxQcv9YNeCVBo8fZPUl4MmB_CBZjUHd0Y3JWUOjC6HL2SVfsOdYrW0ZOiVBsv3dbR6tH-XlqA8FjDTt5zY3WH8aEQ_Glxm0cEvAj3JAdQVPjJK7yjH54OL4jrGizBCSxm04AMsJ9ulbqBltfWCu_OAVroOoF7Q6OCdebmen4nCrMmudfFJh4V3INXvuQcI40deLZQ3d8aDYM5g6roQEbMurF7ml1eBzBGB-hAckOJ-YqfQdoOtBuO0l-78ugg8GnH3-1uucq4rTTBT-9GERswS-sYqSVBfgNRn8R3B6Z50Wv6hd70_4Uv4Jars0NpmBvtz02XQWtvVQAcEdXQa8htzLhDBK5ycu996tfbj1jX7A01sOrzX-bmJXsug2mNeCpua30mQJjRp1wdO7MH8LivHwbNUqDNHxdK0W5MvkYx-uKBSFZ7dDOQilw0uR0PQA0D5wj8_hXk-yw3sB7aaKzRZEWKtfcYJTAVqeAVTaj9Y7i158W_hf3l5aPb19-PvqZiD-hAN3ZlpzGHFePm7J6t_hnBOou-04ko4NRb9tBCkcMp_JGj3nJA6HoS-mgzz5D05ZiEExdDnIm0467h1oqxIUvrDyCZ2sx6_VS4idz8ULhRYsuhQ7lohsAqZg-OeAzSePIfw1mU2YPZPEHWubT4XRuSgS1g0NyOuj5HUlfotEdJZshad4oUwckK6zkuR4Nz0dVZDMf1eIm1JxcgdFXUVHlMv2YtayjyH-Mmnz23Xtn6N4GZ1JVLqmXuQSPEUa9JKA0HOOQZUICxZrheeJb7eSS-UH2z-2wfZsyq5ywksIC4Ted7utIa4W0FRhoUn3cp1zG8qX3B8JTlAu4FjcJgQen1FoNGL9bjjCrmxy-sj_frDRUeMiTpGQLqdqoGuMC-TQTjcxFmGBak4IFRYqhrskTQJ55jF3iulOoAUXKgnmjT-sr-PzFvYy3zunb5MdyRc6wDRYTJ17t4UWUrHxKMbSqKSkRAOqjN3WfH9rZOteIvPtiGiSQE4ksukwNwMCgwRvgPU3H8-Er28gxdw1atb3mwaIVgkzMrinBU51ElPw-BZ3mvukj45Pu0ohdehhwQgrMfreqx8xzS1P-il8z9JsspxVV-NRiOChHali_lSBD8r5v2APF3J7rMz5yBoA_otmpGkWFqH3K2Pq8bivaXiCo4J8GKhgO5Y43YIXDBCMML-0PMGTSgwxiokv-80oLkh2NWJDlmfXMO9KKMB0DNtTcw2FQEUTPGPzHqqyMhmqbJ76h7IQi5Exz5lZbtv3dOL74VeCPXcBKgbshZDFy13PBQq-R1TyYq2MGz3VrjvK8J2GzwNGFs9xO6CUqjZX0jR9F4Xnk9-CO1EZSYHYaTN2OS4J2sBunB3yn7QF-HysUnaQeB_PZQJcGiaE61bjIOAiiVf2AS2PmuWi4IHcJ80DsjBYSKtMDVqldJcwxR8tA5xh34EW4Tb1PcBsG5jYe0OD3W6QxuvnQc_RfVo2Sgq0kxcaNEMwYHECGQiJUqDsI8vjO11NaupnFbEsDlrYFs-6iFjPCBecCX24L80_J1TdI7BlNfWLqHhkNoxXhXJMFV6KmxaAemakpPQfy7BO41XPfVLSCoL3aFgHsrQj9MCzQOA4aBBHaSTl9bxHRUsHRmu2V_FgIespqM3K0jb04iOE0iPw_KkXN48kFfHGH_YKpcQOMa_W0PvkwiDJ24ZRqdiQgEcubT77Kvpynj2zBlDB9Imsi8sMcUwwXpPGNZMcXOjaeDqpJCeakNmGJg6G4vNEJ85THVf23m-nCFSISdPVeXRqbJapf7DVrd83FSlRCMzpX6IuPnJndZBJirlsA1kqJTjWsVhr_lOJ9Khsu4QDAkp0NXz_563pEatdyoDgOuezTBqb6CV-yJ3stHYUwHa30AiJsl63JX7wO5qCaDW86mpEq16txtxsQxkzmlTJvw9P-VI9S3Uk5N4WCZpdAZJ9DysMOKHbD9l01DIEmeEb9BECyJRMGAxVYXKRCt8i_fWAGolqtXiHm3NmrW5NKCmZw75hICR7VHo27qA2xkzy0xFEACdpPFOSYbqv8uHK5TlCLOF5xgySsXD5dq6WwBIksi9eWpPJU59lv6xtTLQwbwlu2eIZv9lC9k8xJybD2HanoeAmYKR6PvFBAKupgdQFUWuk3HyiVvRsy2xkfv8sXQbsmbWLZdJ4ShPmMMxILvw9IImzpwjWmNfNum467Z1xyFzpgH2xjxYQbwxnF_r18T10evyM7_L7xyTakz9GT8rhl2JuNo9BelGIcewd334Cl5C6YWGcprZZQQIBsI9P9bg52Tfy81TbXcdJQnuCp7VR236-zdNuISVLZqtDntH7h3nqhlX09zWnPLff7xJXuQ2xtq9Decx_Buxb-YBoMHcbrNwgmLkzPGbd9k-Nl8lgXyBrk34ZTLrFv_jS1GE0gJlqltWxeozBvWvLLMHdjXcEMa5-7sebUEvF_43PP9W-QwP72b1ljI5DtF24BOol3LIWw9AS60ufsIJkvHhlvUJw3jksAnZNfBbCOX8tXFbYAEFet7zN5QW9yEy2BpcDBW9KmUWzDhXZrnKOX7ATxAYmTbMEZ9IxbyHU7yRyomDZI-t14A1p1OVFzLhBu33XTyQ5ic2XLvvD3MsICYSRtltgEAYqeU3XGhHDJffitSuqyYKRHZwOx-wb5C8B9yLGo3_iliTLKlogqhhTx38NiSF0MQaWM8UargPxmYgkLiZBPsSgd2XTWzL1fyagUiMcH415yZyI24Y=",
  "id": "rs_0c04e6904acf901f016ab4430faf0c87d0b053ca9bd001b44f",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEMYIjyb8OWbfmxRIp9mb8Nk9_UoWBoFaXMsfazG1wbxY_VSRiD5xhD8LWq-C1NCX15r4mZNs4lYVUyI0xlEYqmB_LLjl9KjRODyY5vOm5rdNhFoYqZ7yMHMGw8bR3lQs34nFCKJ-aVrc-pGUUz4kqD_uxFCcbULtb65I2jTQTlWQ5QDqf26AoJe-AeXOPvhmQgLCDwS372yLYQXBfBlVnV-2VTTJnr-jWtyb77L8CQQXBpFe2J-OF45KFjWLZV29TAVJ5OsFUMHPj-fk9JJF9fHalb065GuTflcW6i9E2beE7GzDpvGD6UmDuVpYRb_bMZjQUkQKpBFNVmKAFy4ttOp-3b7vl1Pnw96YFBtOfG_cORLIw8xb5z9yBgwMcFtKG-4511iq-lQTB_CFnf5YSkae5CVG6wGJdXgpoA56xwwjAYbXUo_Z5gGyJXWYbSiGRqBOy4UA4RXZ19mNyTnIhjVnAeAFzAA8__17XVyl0tuyYGSwx0DPjjuvg1EY7KQegKxM80DnaHRJhudrDTDdQCUCBNBN_4FWidUv-X8LTkYKpXCZbhh_LhDFSPkY5p-ZcxUbzmBfppdVmBf8hcIY4K5llCMJSJlSF3lgGUL-yt4ufqi-MwZ0Y5H9q-iM1xu4pfybfuokEMlCBmUuh-ePiRZ63oFWUgaxOVDncRKaMpen9cmC7ykPfHThexsF3LLMYHoQS888mcHEg20QIAyopDkPUqXRxj1qTLAmMdss8LkL7aYcoH-Jtx4OMHC9pd6CZNWXzPD9rIy0O3HAhUIaSRZDi3qmU0d4I6jaekuGJsERMGeJBSv-3g3HcWu7TSxj97LC-nZJ93QzMjBAMA0XL5s6tct_ySFFFwTHwwyk4A2SaMl_9CtYvUjShGFEomTO3wehVPjlGAEFKUD1bFLAgQvWZVxfvigeCN9HAKog9zsH9GIDpwHgWjWw3Q2iTCeIPXsNWmqywP-SMZxL4XC1MywaUIlBlMqPTcUOzwPiLzT60WKdC2WgJMt6avBOEUfsScoZVHTEoooo7YQkLKpCPTXvlSy8Bd8jVM7LQFVUuXtHyAv3Ah_fN4N9UeI6Cdo4xlXeW6zYVzvIG2VtGk0yV7KIqcjOyNe3JEDuYzL2puq0QsqSOAHWQcQZKA5GOkfqsR3v3Qt61yovYy7KRNMiBTqm7HpMtVaykbf29CewgCl20ECFmpQkU2YoKufMByvjUVWOr8852AHFKRp3hSFbxBSzrWpE6kk5ODqLUDl7U0W0j1rictPc1X7nJfBQae-_gTVFSHefaJE7qEHDkCRp6rOKcgjG9g1PPew2YtskdUlf3pO0wxI1SoFzcnQWyL8v0MC8tHLeHrm25Z5MhchL-8ASBfcHvO_is1erIF2OMpvfGa30sOTPYSVdVWBRFTtHhb9arvYyrLbApvpyGXrgqJRg9UUNLPbaRgZyS2trx1CGfxKQK3JLnD-QO28_W2KuYY711iq7WJTM0u4L-qkcWI5SBtJFfKXO5fi6tY2yjHPbfNAearPCyg8jCenIu4tCClNhpDACt8dWFHAgnxLpw9niVSENlQj8d87ZTelU-SSqTvTspic6zSHTHSXn1epijyONxqoV_EifwYa_787sOjlUhLGXiMoCqHPyWP6PFpAYAwfyXsaonGrBen8ZsnSFLw1JpJs8I2OS0sJiQyfc-8sCQfEUD-QgRYg1x-knGKV8CMu-k9HPYAgxVZTzKJcnuuZcgUpsvQFICuzde7AoIydn6lLeB9htNwp6KU4EbTTvv_w-S0gC27-9TF2jIkKpkEbCGDCoxplFbsaKn9oii5QapRXeQMVN9v1vVMcNspu4Hx9GeAmaXqfY9gfHg8o2lNnmXWG4fPQVHMxPUikeEeKOdf_840-77Ci6wfWtIRgG9JZ_x-rEtWuzVq-KtwgKBdvkw99V-90ObP_UlSJ_O6zRkih805Um2fol5Eo21_iCDYD_-hd5WMn_RXuwbQrtrLSHwDxsklQOIBos_22sQKQVMalnEiZMX5V6V3OjAsy2sEKn3d33kORkVbAApvl9QPTzTWtZawuXxrJY8ZbzHo0x_xK4ir_n02xGkLOpVaeuWNk6Y2ryFnJkf-ERufgOZK6WLr56HOiFd1K5r89XvhfilkR6SzVuwhczS58yu1CZ4f3SW7tzafc_oNmcJyLkMDLXIY2lOj-esXlF1atRs5fJwubt03y0On36J9aHnKTtAKHnM6zQAlCa4bnV9VD1EAs7z_-NBWU4FxJKrrWW1K02bNwdQMzY8dVkEWe4xAdsjUDwkbB2xo9q1z0nPajCnWMdfAHMRTVtVhC7lfUoZufeL1MaRTtVXhJUV7gtI3IHfszSqRqsk693coLz0eaghnapLQlG_SMJ70VOau-u1w1F5PlfLgDFGpUg4z6zuXUzdlGNlCeed7LrZsS8lu6lbc38CSvq50WuxqAyhUn79Ks9bBqYTgnQLo7ruN1GZXU0Bn8VsXkLbG2yY8abc2WAP2sM8ztLZP0SxXCFVz07vJrlju8vqxc6sy5Xr9pUxhTZDtHFcL-gtRADOLMDUEHdyLG1lwe8S0MsPF20n74UzE6koL5q5CleavIT9smJlRFAUexMhRYGC26KoCV4UpD-4SdDvudqDQfU04bhBUd8qpvjvVEoeiU2Zg8zpkrIVaP48p6QYMrqCkf2urjN7EZGPp4sb73THr_Vjz2NWZBTLwnVJBxR4_uTcthNvcwXST_h55j63wfH34hK_GVsalyIftk",
  "id": "rs_0c04e6904acf901f016ab4431469d087d0b1d6f0afa4d7527d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.12,\"right_z\":0.11,\"right_gripper\":1.0},\"note\":\"The cream dog is confirmed still on the table beneath the right wrist; its fur snagged on the open fingers during retraction. I’ll re-center over its torso, then use a low basket placement and vertical withdrawal to ensure it detaches.\"}",
  "call_id": "call_XD7UZNkCbAP0AMkiAoBBX4wi",
  "id": "fc_0c04e6904acf901f016ab44317565c87d0abe237cb461023b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XD7UZNkCbAP0AMkiAoBBX4wi",
  "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]: [-0.0189, 0.8436, 0.6064, -0.3805, -0.0219, -0.0452, 0.9996, 0.4973, 1.5101, 1.0576, -0.6144, 0.3805, 0.0544, 0.9986]\nstate[eef_state]: left_x=0.2981 left_y=0.0018 left_z=0.1672 left_yaw=0.0067 left_pitch=-0.0553 left_roll=-0.0086 left_gripper=0.9996 right_x=0.3491 right_y=0.1189 right_z=0.1175 right_yaw=0.1104 right_pitch=-0.4311 right_roll=-0.3205 right_gripper=0.9986\nstate[joint_eff]: [-0.0889, -1.8667, 7.3231, 1.6728, -0.0464, -0.0562, -0.0122, 0.1983, -5.3949, 7.1726, 0.6569, 0.2369, 0.1148, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7efc27dd12027e2632ff432b61de52f5aca76d661e1df8e6dccb286526a7fdd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a94cbfe88d8dcb5bdfe66393b91cd4b74f12a69e1956f53950ca6138d1bcb90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd9a38810f4f3ea1b5f83d88ab0f7f897ec1228370ca8f2b96da256c570cbb96",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 2.069 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 120 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "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, 0.8371, 0.6094, -0.3813, -0.0223, -0.0452, 0.9996, 0.403, 2.4756, 2.7949, -1.3018, 0.3454, -0.0082, 0.3543]\nstate[eef_state]: left_x=0.298 left_y=0.0019 left_z=0.1703 left_yaw=0.007 left_pitch=-0.0465 left_roll=-0.0086 left_gripper=0.9996 right_x=0.5487 right_y=0.1728 right_z=0.2126 right_yaw=0.0933 right_pitch=-0.3726 right_roll=-0.2979 right_gripper=0.3543\nstate[joint_eff]: [-0.1162, -1.7436, 7.0359, 1.6874, -0.0269, -0.0317, -0.0122, -0.8274, -12.6154, 6.3111, 0.3687, 0.1343, 0.0611, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8398, 0.6094, -0.3801, -0.0223, -0.0452, 0.9996, 0.1036, 1.2018, 1.1362, -0.9154, 0.1951, -0.2649, 0.9986]\nstate[eef_state]: left_x=0.2983 left_y=0.0019 left_z=0.1697 left_yaw=0.007 left_pitch=-0.048 left_roll=-0.0086 left_gripper=0.9996 right_x=0.3101 right_y=0.0014 right_z=0.1999 right_yaw=0.0724 right_pitch=-0.4363 right_roll=-0.3245 right_gripper=0.9986\nstate[joint_eff]: [-0.0889, -1.1556, 7.0359, 1.7411, -0.0464, -0.0366, -0.0122, -0.1709, -4.0274, 6.6803, 1.3407, -0.0171, -0.0757, -0.1587]\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 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8436, 0.6064, -0.3805, -0.0219, -0.0452, 0.9996, 0.4973, 1.5101, 1.0576, -0.6144, 0.3805, 0.0544, 0.9986]\nstate[eef_state]: left_x=0.2981 left_y=0.0018 left_z=0.1672 left_yaw=0.0067 left_pitch=-0.0553 left_roll=-0.0086 left_gripper=0.9996 right_x=0.3491 right_y=0.1189 right_z=0.1175 right_yaw=0.1104 right_pitch=-0.4311 right_roll=-0.3205 right_gripper=0.9986\nstate[joint_eff]: [-0.0889, -1.8667, 7.3231, 1.6728, -0.0464, -0.0562, -0.0122, 0.1983, -5.3949, 7.1726, 0.6569, 0.2369, 0.1148, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7efc27dd12027e2632ff432b61de52f5aca76d661e1df8e6dccb286526a7fdd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a94cbfe88d8dcb5bdfe66393b91cd4b74f12a69e1956f53950ca6138d1bcb90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd9a38810f4f3ea1b5f83d88ab0f7f897ec1228370ca8f2b96da256c570cbb96",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEMbbIr9sOY-SRmNwmGtYNxOZIMy_HjShqSYF5LXbLlM3qVhA_w_6d89pHKQJtVoyk4UPbhT-o_Hzv23Mv6Ep_gjf3xZoWpAKf4AnKnnfZnrZ5xkqUMuc34wATpqtGJDGVfWspkgR1IsTidKS96C2jLaJd5-B2G_I5cPSbpmCYL43avay6lkM7aJcIdlezckcnSPhwBdrIgqreeCmEyFrc9JVfp-OPSK8BfkE39PebOe4vRIh-PpKh-ovRZ0BOpLGElE_dgC_ClyRwGeDU82nhx1jlaMl8qRNHUuImV4ko80dsADl8M2e_MHn57-S3pzcUswQoQRUZXg3YSlOJvz0FEKek5OM9gQgEcQfSOvkayz6pXYVPYAvzRmg5cmg2nhIA9oJXoFHyh0tMt0oT1ghLEnjay4pvS1AxcxmKDDcHHzwt41ZqSvPXZKfdq8uzKEjvidO3trkaK6looxXD39Q4lxWSoaMWQPv0CtvjuQddC4Gjl3ptVsd0tRSOAj8Y8l4CVHGQKBR4fNvwVMalyHZ62Xp-mv2ZG-c9x15sYSZtqGKQqVKn93g93_NjebGbTVmDOvwItCcmfsVD2-kQvre8HRWks7U_tlX30TGwZgMya7veBQaALQ6_haAwRlSqVPIA3_9zrrfjtIJROpF64HXxxYRsbiBb9zeGk_fYxJlraqbJ86RManyHg_TZu3yCaeMmSBv5jmqIVzIWSeSLI_dVG66jcayiUB4xHbF8mg3E3F4DHrwcxdfyqXcQ9a75hdOQA53E0a3YynEt9StHJLBsL8n-TIJXKTxFhlmsIR1UEILTQkyWh-LUPj_1yIThYAHjWlFm-FuYn1p8W2DsREkKQXX3kCJWzpJzAZL-1MyHcII5kc39dsyKMEMX3Zvyf3HmUE-hY5GwpfLtcL5PCTT84yRHeclMwGi0zg0FDhdaBV2kxatKGqVDniMaL-vT5-nYIc_xaTU3NuGDrv3ilXC1F6RdlP_nqa7NOV5CxU_KhRKgbDGh_v9ec07o-C89RmBnMv9FQoobKvjNXaaB0u8ruPFOU0F2n_deuPQ4UL_FGDhlKNFwkk89jkMjTeBMRHmNUJEAgW9EeDvbppBJy9RHYgZS-9PUgpTP8a3L7WEMBLpA-U43LPWQjKAzNrYOzQ6MnzIYQjR-xdi6nhCnDQFRR-8W7npeut82kdvxI_txAxegFXkiQMrb7IZWo35cVhQ0HYl1jim31JN3kDOmZPYztu25ZQShJwP5giwAinN3DHyr0=",
  "id": "rs_0c04e6904acf901f016ab4431aeb2487d0908e2eecf49050d5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.055},\"note\":\"The cream dog’s narrow body is centered between the open jaws, with the basket visible farther forward. I’ll descend to torso height before using the successful partial-close method.\"}",
  "call_id": "call_b8ZS0TR5Gp5My2XVlAzXMgJw",
  "id": "fc_0c04e6904acf901f016ab4431b13bc87d0af1e785d465b69bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_b8ZS0TR5Gp5My2XVlAzXMgJw",
  "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]: [-0.0189, 0.8436, 0.6064, -0.3801, -0.0223, -0.0456, 0.9996, 0.5018, 1.5517, 0.9226, -0.3275, 0.3897, 0.0681, 0.9985]\nstate[eef_state]: left_x=0.2981 left_y=0.0019 left_z=0.1673 left_yaw=0.0073 left_pitch=-0.0549 left_roll=-0.0087 left_gripper=0.9996 right_x=0.3663 right_y=0.1285 right_z=0.0896 right_yaw=0.1162 right_pitch=-0.3238 right_roll=-0.2748 right_gripper=0.9985\nstate[joint_eff]: [-0.0342, -1.5385, 7.0496, 1.7363, -0.0317, -0.0708, -0.0171, -0.3897, -3.4393, 3.7128, 0.3297, 0.0562, -0.1636, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57cbdab53a25cc1f5e9512f794bfd46b93c07bd2ee5a2aa06b30903eb040b0f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78a3fa1f8c362855054a097e0c4d1cd2fd1a36877787abfe1a9bee4cfc3540ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5c0d396b67fc2c14791a1a26cf52201a10069271a862e8b3bb25de8393231bb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 2.732 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 120 changed as sent

message 124 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "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, 0.8371, 0.6094, -0.3805, -0.0223, -0.0452, 0.9996, 0.4007, 2.5301, 2.7903, -1.3216, 0.3378, -0.0223, 0.9953]\nstate[eef_state]: left_x=0.2981 left_y=0.0019 left_z=0.1704 left_yaw=0.007 left_pitch=-0.0457 left_roll=-0.0086 left_gripper=0.9996 right_x=0.5489 right_y=0.1729 right_z=0.178 right_yaw=0.095 right_pitch=-0.4523 right_roll=-0.326 right_gripper=0.9953\nstate[joint_eff]: [0.1162, -1.5111, 7.0769, 1.663, -0.0659, -0.0122, -0.0122, 0.0889, -18.0718, 6.0513, 1.3748, 0.2027, 0.0757, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8436, 0.6064, -0.3805, -0.0219, -0.0452, 0.9996, 0.4973, 1.5101, 1.0576, -0.6144, 0.3805, 0.0544, 0.9986]\nstate[eef_state]: left_x=0.2981 left_y=0.0018 left_z=0.1672 left_yaw=0.0067 left_pitch=-0.0553 left_roll=-0.0086 left_gripper=0.9996 right_x=0.3491 right_y=0.1189 right_z=0.1175 right_yaw=0.1104 right_pitch=-0.4311 right_roll=-0.3205 right_gripper=0.9986\nstate[joint_eff]: [-0.0889, -1.8667, 7.3231, 1.6728, -0.0464, -0.0562, -0.0122, 0.1983, -5.3949, 7.1726, 0.6569, 0.2369, 0.1148, -0.1587]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8436, 0.6064, -0.3801, -0.0223, -0.0456, 0.9996, 0.5018, 1.5517, 0.9226, -0.3275, 0.3897, 0.0681, 0.9985]\nstate[eef_state]: left_x=0.2981 left_y=0.0019 left_z=0.1673 left_yaw=0.0073 left_pitch=-0.0549 left_roll=-0.0087 left_gripper=0.9996 right_x=0.3663 right_y=0.1285 right_z=0.0896 right_yaw=0.1162 right_pitch=-0.3238 right_roll=-0.2748 right_gripper=0.9985\nstate[joint_eff]: [-0.0342, -1.5385, 7.0496, 1.7363, -0.0317, -0.0708, -0.0171, -0.3897, -3.4393, 3.7128, 0.3297, 0.0562, -0.1636, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57cbdab53a25cc1f5e9512f794bfd46b93c07bd2ee5a2aa06b30903eb040b0f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78a3fa1f8c362855054a097e0c4d1cd2fd1a36877787abfe1a9bee4cfc3540ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5c0d396b67fc2c14791a1a26cf52201a10069271a862e8b3bb25de8393231bb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEMegbnWChDtF6jiwKiZd26Nx6yNOofTNebag5DQN1jTwKfdVQVc8R8N904cIM-69ZyUOGGfRr0CJu_uhoR3Mg_iLxMigItxV2s7HO8U7S3Sc7_cevv-o3bd5I2zcOCxWRfB-WOl3w1s4b6HYcEO2b0XG3BX0WPo_cGZPO2v1ULkLbHNOWw0IY4LgFtF4QLB7Ch5VDOdHcokyEqlXye4DCjWrsmMtDnkXVmLogWsK0kf3K3gg5wWP-utVYg117VtRkquu3-yrodYHT9PYBpb3-ihpVozzn59MQVUbdUC9lP918qJLJROPCa_K2NObBvB7IABDqyyKh10h-HwqXkURMq1i50ZzLwKRatCWGU7EeUmHng24zl_MlDeKQf7MNxQlqzoSXBHIDnNDkmdXgxMqFgPTLbtx2UtIt2Ylx-TXvSXOOUCTPlCuqdYjkbLKnSZtNEsqzq2PGoW6mXqLVGPkmZId8l9n7E9XzvKuar97rnKPwllG25g6n-AYoYoNiIDuzUlH9Ntbr3hSnwXPJuyqJ3Xs9kZMlSCFOQViX9pTF99jst-qjK2KE5dMbdDo8x9SYVuMauRwIvCCdKJAPew0leosoCcPsmVx06uVzZSYNBdFVrXkx9bHrfqmCusHsxIZAzIvxJiZTzGJVmEwTJNwF71Qzn6jif_i99yNmuld4IBz4-ktepx8ogOh5gCDbvbCj4KuBgR0wGBZ--voahT6oiq73h7XjbZqQmXJf5SpytSwOPBGViq79aGVUQ7Q7vSSYWgMaR5nSzAgsjWBuW1iWF5B_t82EtwnNnoVgDpXOE_YBinL3BFh26eXqkNNzonvLyzSBC5n-TBl_QEJXzqVaNqm6bUV5Xzeg4pAHhRwTmxrhLbmu6CB5Qnf1wPknVnO81jz9YCAyl05dWXDn-SIvHT8txn3-wOEdQxtkWyT6vX2UYGUMWjaLUVw-UlSjUUFVd3uQKPhkfn5D9ofnqXy62w2A3kybc9TCU2wQ_DyXkdivNTn2jhyi3CRJ_vAUALsWjkdhvsr8esKXp-yel0_EmxrdIYeKbdVhqUkbcjMw0Z-RP6TSsO89n2ULAMwU1ZJQW3ftPDb_MuL3XudRat1GDy6zrohrj9ApyaJJw_A8H1rlulK2NhXrkRUGQe60PuQABAMj8r_UHqtPhxbOSvLUtePbdYHJ-NOGr2nnd05_wEIW9PoPggE-30M1aqXnEiMqu1bmS0d1otLpU8kTstbjr1fuHwSAxu1xXghfsWbomBxw0lYd7gD1-jqydLxJMwmiNy",
  "id": "rs_0c04e6904acf901f016ab4431d75e087d09bf4c8a979d548ed",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.35},\"note\":\"The jaws are now down on either side of the dog’s torso. I’ll close only to 35% so the soft rounded body stays centered instead of squirting sideways.\"}",
  "call_id": "call_udcFtn4fJwY8chR1SpMlaKE8",
  "id": "fc_0c04e6904acf901f016ab4431da63887d0a12e43beab46727a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_udcFtn4fJwY8chR1SpMlaKE8",
  "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]: [-0.0189, 0.8436, 0.6064, -0.3805, -0.0219, -0.0452, 0.9996, 0.5018, 1.5654, 0.9073, -0.2646, 0.3828, 0.0528, 0.3558]\nstate[eef_state]: left_x=0.2981 left_y=0.0018 left_z=0.1672 left_yaw=0.0067 left_pitch=-0.0553 left_roll=-0.0086 left_gripper=0.9996 right_x=0.3723 right_y=0.1331 right_z=0.0873 right_yaw=0.1342 right_pitch=-0.2965 right_roll=-0.2666 right_gripper=0.3558\nstate[joint_eff]: [-0.0752, -1.5385, 7.0496, 1.6972, -0.0122, -0.0269, -0.0171, -0.6222, -4.5197, 4.0547, 0.5153, 0.1001, 0.0024, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:543a7ca4ecafeaf36decab98a6523c7fe1290793e075ef6c9dec90da2a32d8c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89bf283f30c8b43114072cefcc1d13c66ccd0252c52e195015b5b0de241dd3cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6343effd70320951eb7108a35047bf5d378411e9df17eacccff6c6466a782cc1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /responses · status 200 · 2.915 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 124 changed as sent

message 128 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8398, 0.6094, -0.3801, -0.0223, -0.0452, 0.9996, 0.1036, 1.2018, 1.1362, -0.9154, 0.1951, -0.2649, 0.9986]\nstate[eef_state]: left_x=0.2983 left_y=0.0019 left_z=0.1697 left_yaw=0.007 left_pitch=-0.048 left_roll=-0.0086 left_gripper=0.9996 right_x=0.3101 right_y=0.0014 right_z=0.1999 right_yaw=0.0724 right_pitch=-0.4363 right_roll=-0.3245 right_gripper=0.9986\nstate[joint_eff]: [-0.0889, -1.1556, 7.0359, 1.7411, -0.0464, -0.0366, -0.0122, -0.1709, -4.0274, 6.6803, 1.3407, -0.0171, -0.0757, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8436, 0.6064, -0.3801, -0.0223, -0.0456, 0.9996, 0.5018, 1.5517, 0.9226, -0.3275, 0.3897, 0.0681, 0.9985]\nstate[eef_state]: left_x=0.2981 left_y=0.0019 left_z=0.1673 left_yaw=0.0073 left_pitch=-0.0549 left_roll=-0.0087 left_gripper=0.9996 right_x=0.3663 right_y=0.1285 right_z=0.0896 right_yaw=0.1162 right_pitch=-0.3238 right_roll=-0.2748 right_gripper=0.9985\nstate[joint_eff]: [-0.0342, -1.5385, 7.0496, 1.7363, -0.0317, -0.0708, -0.0171, -0.3897, -3.4393, 3.7128, 0.3297, 0.0562, -0.1636, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8436, 0.6064, -0.3805, -0.0219, -0.0452, 0.9996, 0.5018, 1.5654, 0.9073, -0.2646, 0.3828, 0.0528, 0.3558]\nstate[eef_state]: left_x=0.2981 left_y=0.0018 left_z=0.1672 left_yaw=0.0067 left_pitch=-0.0553 left_roll=-0.0086 left_gripper=0.9996 right_x=0.3723 right_y=0.1331 right_z=0.0873 right_yaw=0.1342 right_pitch=-0.2965 right_roll=-0.2666 right_gripper=0.3558\nstate[joint_eff]: [-0.0752, -1.5385, 7.0496, 1.6972, -0.0122, -0.0269, -0.0171, -0.6222, -4.5197, 4.0547, 0.5153, 0.1001, 0.0024, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:543a7ca4ecafeaf36decab98a6523c7fe1290793e075ef6c9dec90da2a32d8c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89bf283f30c8b43114072cefcc1d13c66ccd0252c52e195015b5b0de241dd3cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6343effd70320951eb7108a35047bf5d378411e9df17eacccff6c6466a782cc1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEMh9R0WD3qfftQXI-U3jlxXCx75Lszd7_pIjzZqJEupBiWKA_AXpvrH66LVB-EAgVBsnu3SiLZ-CM3fjTVJpye9GUOBz1C4HYudE0UmyTux9kFAtc8N7_5EVDuwrPg833uoimiLVLiL-0REFlf6hPoHzGCJ7F7I3MhNN1TvE7lCRxQ7x3XcogVEEuCtYnHfc1FtYWlkxF7uIEGztjgwXBrexMavSgalKGe6h2JdSb7xwCGdswKQNwSdzTFkvFR1UH7mhy5DWWB7Zu5pHRpJZcQySTJMBjNvGqLDL1P0wlftciwIHItmut4CBWI2k50LNir4LV5OKfeCpq6y-jw4tDlT4Cy4IK-ufYoJ5KDUoVKAirFXZIOYN_xXsL-Ic8j8XUBwvuU8Xq55569HjHb56N0Ypc4Za7QTxTVW0HmrAQv8JVwggMtf5QeN944PSCNHuNSr7u-qa3Dk8C7mar8NYwDSIZR-v_B9f6JAk6A-aXJaQVz6JDcAFNF-YYKwlJsZhvknB2fUkEAzt6pwwU8Z5KXQRvhs87TlA4ZE4v2_oIas67pPDr9nSyGJ6_Qer_7Dunba2-DccIfq1qROw9dE3VlNJRKrZttxBaHizMfBknDNk_tNRr0w8IXhIdOjLj11TKd7zODpXD28FLGXbinwNbzRViSLQcvFvvkfBjP-nDJv-YHU7smlbZ6IS4eZVmk-4XBvaYDEhNjJF3Sx5dxzSu0nGKrXT0xruOBT0_viZ6X-Xt8lMeUpn7NrVXB84h5XBJHqt9MMpPMYyscmojPeH84KOFYPsFtlnPxPbpYm1XrMkvUNs0PRx6awVPmiW1tsXSE-2lpn4HDjC2XIY1R5rkWUvw2gwtiI4DWbeVDYVRSI7UpuuYktxvr7t9ZoOduVDaXIUxsOFrvinMHUSoICy8E7VySLJ473nEkUWy0WgUmuWbtSya41yZCc71IMV2QtxufMlixJ1Lw18q827wZ-gJ-NSER85RqIjlz1yWzz_JuFl0CSYzRyGHAS6k7Bvx809cNiTezNJsHYxTgaca9d7RNr1cUxfnDjH6XTy0ixpYg9e3rJPzj0vHSeTuE4uCRoaAahHTFaIdXG7Z1zxt9j8ydTZHzDsrosxa9qmAXkZEUfSF2Y2V0kxxFIngdAwHxXZ9kOkhj9B9FaCOVCLq6xM4KQntgg2RP7FcWyzVIlGQVV2UXhm1T_jR0ZRngms-I6p5cS4XO5oc9zJVlruYFEDMQe3MCEc3xkIN_ctIQnsc-W_Eof3H_0VbOLh2oBwzKjYbIA5mMP3n1ZJIaz_8scDMtbn6XRL6ljX1P5CZwZMtgFTx0ehzUaooW-hqRNvJnwn0AmXNR5XXbr9nO-2jrbOmkR7gFC-s0EYU6zsa-woQsgtmXd86X7r2WX7Kk5M-hRpLZx5OBR4p_iq2R1yy9y0hBG4zvk1OKtePzNdQSEAhoaEMvZRYIDDj60ko4WSIO6OTchXkfXvlGhyi-N_-j3KTX9u4QR5t5GlaBF96eR6QFnfxd3dGRRLVJyEisjcMCjQYfLkkqAY8kDt9fjGG01XHZwI-xosxbPLXm7VkA_mVBT4GoPmd8twq_TVUHB3z3b2kiMWYKnRbJ_-gcOatagIx4SEH1zwkb3ZONH1wh24ee3AGJBf5W0_VQRFeY7Ka1gFLdMNBkbJafKNZgNcSQQ9p2S9e-mdAZwokifrt3KYeCp8UeLXcXzl2Vo8ZXndRczHfbvXSbB3PET4dZMn7lEgHJMvg==",
  "id": "rs_0c04e6904acf901f016ab443201dd487d099fc14e03890c667",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.17,\"right_z\":0.22},\"note\":\"The partial close holds the cream dog between the fingertips. I’ll carry it to the verified far-forward basket center while keeping enough height to clear the rim.\"}",
  "call_id": "call_1LWF7oS0TU3O0xUygQ2Y3AJT",
  "id": "fc_0c04e6904acf901f016ab44321248887d09ec3a56ec09ad1fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1LWF7oS0TU3O0xUygQ2Y3AJT",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8494, 0.6064, -0.3805, -0.0219, -0.0452, 0.9996, 0.3958, 2.2303, 2.2852, -0.9157, 0.3088, -0.0486, 0.3557]\nstate[eef_state]: left_x=0.2984 left_y=0.0018 left_z=0.1656 left_yaw=0.0067 left_pitch=-0.061 left_roll=-0.0084 left_gripper=0.9996 right_x=0.5531 right_y=0.1768 right_z=0.2134 right_yaw=0.1506 right_pitch=-0.2698 right_roll=-0.2605 right_gripper=0.3557\nstate[joint_eff]: [-0.0615, -2.0034, 6.9949, 1.6679, -0.0415, -0.0611, -0.0122, -0.7863, -13.2991, 7.6376, 0.6129, 0.2027, 0.0366, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb93fe65be2ae0493e30f4b03844326fcea32047a08a4ebc7d68e1db39e8a839",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a7b0fb3ad09670834698efc6c87febb1e94218408c377b80f6f623328b56778",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8db675795c2c10edd68b66cbd6f8ed79d7f42eb2464f4c7ca4d317e67b5f9da",
      "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 33 attempt 0 · /responses · status 200 · 3.349 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8436, 0.6064, -0.3805, -0.0219, -0.0452, 0.9996, 0.4973, 1.5101, 1.0576, -0.6144, 0.3805, 0.0544, 0.9986]\nstate[eef_state]: left_x=0.2981 left_y=0.0018 left_z=0.1672 left_yaw=0.0067 left_pitch=-0.0553 left_roll=-0.0086 left_gripper=0.9996 right_x=0.3491 right_y=0.1189 right_z=0.1175 right_yaw=0.1104 right_pitch=-0.4311 right_roll=-0.3205 right_gripper=0.9986\nstate[joint_eff]: [-0.0889, -1.8667, 7.3231, 1.6728, -0.0464, -0.0562, -0.0122, 0.1983, -5.3949, 7.1726, 0.6569, 0.2369, 0.1148, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8436, 0.6064, -0.3805, -0.0219, -0.0452, 0.9996, 0.5018, 1.5654, 0.9073, -0.2646, 0.3828, 0.0528, 0.3558]\nstate[eef_state]: left_x=0.2981 left_y=0.0018 left_z=0.1672 left_yaw=0.0067 left_pitch=-0.0553 left_roll=-0.0086 left_gripper=0.9996 right_x=0.3723 right_y=0.1331 right_z=0.0873 right_yaw=0.1342 right_pitch=-0.2965 right_roll=-0.2666 right_gripper=0.3558\nstate[joint_eff]: [-0.0752, -1.5385, 7.0496, 1.6972, -0.0122, -0.0269, -0.0171, -0.6222, -4.5197, 4.0547, 0.5153, 0.1001, 0.0024, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0189, 0.8494, 0.6064, -0.3805, -0.0219, -0.0452, 0.9996, 0.3958, 2.2303, 2.2852, -0.9157, 0.3088, -0.0486, 0.3557]\nstate[eef_state]: left_x=0.2984 left_y=0.0018 left_z=0.1656 left_yaw=0.0067 left_pitch=-0.061 left_roll=-0.0084 left_gripper=0.9996 right_x=0.5531 right_y=0.1768 right_z=0.2134 right_yaw=0.1506 right_pitch=-0.2698 right_roll=-0.2605 right_gripper=0.3557\nstate[joint_eff]: [-0.0615, -2.0034, 6.9949, 1.6679, -0.0415, -0.0611, -0.0122, -0.7863, -13.2991, 7.6376, 0.6129, 0.2027, 0.0366, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb93fe65be2ae0493e30f4b03844326fcea32047a08a4ebc7d68e1db39e8a839",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a7b0fb3ad09670834698efc6c87febb1e94218408c377b80f6f623328b56778",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8db675795c2c10edd68b66cbd6f8ed79d7f42eb2464f4c7ca4d317e67b5f9da",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEMm-zpT_ABr1LGNsKKNMTIpsr7LtKSh-Qbwm-ubmyPRBLZf2y6y-7TTmZs6i3goUj1CoM8ql_oP0mhwjWmSexyqwrEy3chrna_87XOiApfwWvpq7w8II6eloIUESvypfgSz0y2sNFM6OeIDR89wICn7NYEUP1wJAkIYfakj4v42C-7v4RQwfWDAoOlCsPrHsQEEIGEbPHEin2frNd9I_rK21pJjDftSKukWkDhjt2nNMXptn9FMSqMAoXz54j8y-Pd06OTIzH7v3qGU1jEvFhGmsPXhHTn0VMz9YyhW-iiPEGaii--gJnSJeYNXx5LCHQ3ueRvMHPcWf849nW1d9oNRD8EsuSwlmMcLDPI1v3256fiG9HjdRadrk0CuV4Ir7-vPlzql6H-E98q_o6ASZObUnistG68QTBu6vwXK90pYP5IAVCKtjV-D01ZIUwIE2XH6Zc6kAAApagR0d5nljZCK2GNx917Wze0KCzWMXlyb5GX6Uz_A0gb580aW4na_SaaaIP2xdh3LM6jO5JD2CWnhugxgWO6mWEoRtAAC32r47gplodKHY-VOuR6-EG5Rj3IROJvyu_ZUAaqD68PzFXWZAM0Z1TCF0e32KpMWBVOtXeY8mW7eacV0LypQKJthzWR9GEwnzQTAPbAu0nV5tMPbpP8Zsd5WamQFDfxzfmBrY_uMVEpwyxN2FcbNp__1gFQ40OaX6K24pMOhpMGNjuWnFhK9CI-4PA-yNOdlhD56HtUi7ZnmslUUPXqOHPZDdi62JUrWVckPKH05DAOl-cGSV7DFE8JpOKi3qXpsQJjRyRBxFygZF5B7DDAzNalaR1fmGwjiG1GmLLKHNdemEWPB8MDyTU8DiGnA4G-RCy5-xW_YYufy6Gf6ogVEGQcw149nVQhLMiNSJcDUK8XWJ5N3vmj5UG6RDzXxC2UEb2A8PYW_F4lRrQA_mQmbIoPfOlxcwnF6iVoZbxy9j5jAsxvz7voNbSUfz_V6qJdiRxaN42U4TyjYtCrG4dlrUoEwyADisISV3OabOCsT-UJ36VMJMiBARwolJPq6KUqkPKIConHRbq6fLqVYyRGqysi-27agV5PQWMKpJbFGVL8WGQyeRy2tLxYXX_PW4XbLpwMTVyZ8yxa6WJzWtupqlzMbusr6JzqoROAUc9uqtyYJggE493JGlekUZ9moDlMSsPA_xxn0axeFVFNs69ZDvcmd0vih6fQTRNtlqKgIdOvGDY78-LjPzy6kIv0eH6xuHMadI3q1wXUKe-ZNRCepNe04qpcw09yiubUpcoocY59TxsjOQVWOXY6z3az1FQmqvLL-ghY=",
  "id": "rs_0c04e6904acf901f016ab44325101c87d085fe0abe55373264",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The cream dog is suspended directly over the verified basket interior. I’ll lower it until its body is supported inside the basket before opening.\"}",
  "call_id": "call_1V3CCgEjIXmn2yN3DN7K1BzE",
  "id": "fc_0c04e6904acf901f016ab443254f6487d0a550b719b451e650",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1V3CCgEjIXmn2yN3DN7K1BzE",
  "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]: [-0.0189, 0.8501, 0.6064, -0.3805, -0.0223, -0.0452, 0.9996, 0.3931, 2.2074, 1.8576, -0.5762, 0.3058, -0.0525, 0.3556]\nstate[eef_state]: left_x=0.2984 left_y=0.0019 left_z=0.1654 left_yaw=0.0071 left_pitch=-0.0617 left_roll=-0.0082 left_gripper=0.9996 right_x=0.5465 right_y=0.1729 right_z=0.1062 right_yaw=0.1477 right_pitch=-0.3342 right_roll=-0.2772 right_gripper=0.3556\nstate[joint_eff]: [-0.1026, -1.6615, 7.1043, 1.7314, -0.0171, -0.0806, -0.0122, 0.0068, -14.4342, 6.2291, 1.2967, 0.1538, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3193d6e16fe97bf75fdeaeb00ed2be043e56d54afb97c09e72fa7caa1336143",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bcf9aecb5c84e4c9a0b0404704f6c75f336a65588539abc4b61e9c4d2d686d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da3f98f99d618e132e7e978c3c2b7a2040d95a46f423a49177b0da3eff03b02e",
      "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 34 attempt 0 · /responses · status 200 · 2.974 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8436, 0.6064, -0.3801, -0.0223, -0.0456, 0.9996, 0.5018, 1.5517, 0.9226, -0.3275, 0.3897, 0.0681, 0.9985]\nstate[eef_state]: left_x=0.2981 left_y=0.0019 left_z=0.1673 left_yaw=0.0073 left_pitch=-0.0549 left_roll=-0.0087 left_gripper=0.9996 right_x=0.3663 right_y=0.1285 right_z=0.0896 right_yaw=0.1162 right_pitch=-0.3238 right_roll=-0.2748 right_gripper=0.9985\nstate[joint_eff]: [-0.0342, -1.5385, 7.0496, 1.7363, -0.0317, -0.0708, -0.0171, -0.3897, -3.4393, 3.7128, 0.3297, 0.0562, -0.1636, -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]: [-0.0189, 0.8494, 0.6064, -0.3805, -0.0219, -0.0452, 0.9996, 0.3958, 2.2303, 2.2852, -0.9157, 0.3088, -0.0486, 0.3557]\nstate[eef_state]: left_x=0.2984 left_y=0.0018 left_z=0.1656 left_yaw=0.0067 left_pitch=-0.061 left_roll=-0.0084 left_gripper=0.9996 right_x=0.5531 right_y=0.1768 right_z=0.2134 right_yaw=0.1506 right_pitch=-0.2698 right_roll=-0.2605 right_gripper=0.3557\nstate[joint_eff]: [-0.0615, -2.0034, 6.9949, 1.6679, -0.0415, -0.0611, -0.0122, -0.7863, -13.2991, 7.6376, 0.6129, 0.2027, 0.0366, -0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8501, 0.6064, -0.3805, -0.0223, -0.0452, 0.9996, 0.3931, 2.2074, 1.8576, -0.5762, 0.3058, -0.0525, 0.3556]\nstate[eef_state]: left_x=0.2984 left_y=0.0019 left_z=0.1654 left_yaw=0.0071 left_pitch=-0.0617 left_roll=-0.0082 left_gripper=0.9996 right_x=0.5465 right_y=0.1729 right_z=0.1062 right_yaw=0.1477 right_pitch=-0.3342 right_roll=-0.2772 right_gripper=0.3556\nstate[joint_eff]: [-0.1026, -1.6615, 7.1043, 1.7314, -0.0171, -0.0806, -0.0122, 0.0068, -14.4342, 6.2291, 1.2967, 0.1538, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3193d6e16fe97bf75fdeaeb00ed2be043e56d54afb97c09e72fa7caa1336143",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bcf9aecb5c84e4c9a0b0404704f6c75f336a65588539abc4b61e9c4d2d686d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da3f98f99d618e132e7e978c3c2b7a2040d95a46f423a49177b0da3eff03b02e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEMp9_4YOwLJEKcm3szv3dacT9dDfiZY2NKuylaC1WKFrZwdtbbTURsXqeNWbTTgxNCjNDZk4mnqZosooYh4cgSoctsQ6sRZw1RDiF-LzP5X5ejEqBG85KsY4J9_iEw9C7pH2dxrBTEtVRSwv-L0hLMZ80AVQc287QB_x3e9J2J-iwYvk1c-1uuVsFkcgg8V-pYZksm77MKC3PBkG4xYV9HJGWWwvEotnKZOFpv-OhmodJGal0qvfAvxclwon4_vwIananX5NhDaCgYA2n_fMr8ccS63-5YdP3qlp0mORbCApYF8o4i-5iII1kfBCLtkGpbiWEjpG0N5nRCyWhFYcG2EAhuxW3xchHejFg2aFVz8HaaxjiY5cMViBlqWTjc-OyeReUcqKd1ypkKCvd7VAM3684TMte8dXrGX6TQvRVFvKB8HVPdyWLCUhZFi2jlas3CaCHE5D-pXCQOmK5w2Zq3riy_Tw4q6bpRe9tzXe0GziPHTWGBWLtzo1sm9DDaNAOUGtvmDN-IuDj1ygVKXN5uDmLNtl280kybAAcoKCNdXuZ5Q2_hhuhTATR7JAiFPtpNR8ifgeSlTxES8kJC4oCYvxTdu8ALrgxk6dp__lrSAV74X0qXokgcHC0ijtKxyOKMpZzWoqosqREDpMlovLTTFY5WKS3sqKs3dNNujwXxtcgXIoczYRvFdck32wgywZz0NQrP-rfPy7DBRFfduluNNTC_uSojbJyJjN-HHD2pHhCMPtfP1Qqq336e6fDDMNOoUQOEbHtCvaE9rgOUHeT8BttFrkfH9ySrvy40rzoxMu3Di1ubX8p8nueSuXW30_grO9LAi_KLv9ShK3Eqsr6Ql5GD90uGpbXSaaLFZ35YrVL-nXG72zkiYcXAffWbkqq-qQJQ2X2tbKnE9b2Km96-wMkg-BcQRVJtIN548XToLa7DVuiLJ2xirvAYhOPWRsDBoKKtJA9oNmFVbJRcL_jbpukR2LzldOgNBrL_oTE_mQBF-aFYqMGydjMjATyMfw5wKY3tMsy9LO92ifftogoKG2I6CR22OtPQwN9R1aiquIGf3ww2ZEQwGr6CAbTJa0mMEzqwOR9kG56NJXDHx_yJRbVg-liUuYlO0xuwuaNghdHTSQ6wKINOfLyb6E0RiktTg3m_mx2pu3ayOFuM4vk1df62sLZRiecjR7tuEuI4QaBIf17Q6kgIOiuaHNQdASLXXKG20zrJy4oQN2mf99kAi7Q==",
  "id": "rs_0c04e6904acf901f016ab44328f86c87d0960859da4e4f05b9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The gripper is now deep inside the basket at z≈0.106, so the plush is supported by the basket floor and walls. I’ll open fully to disengage it.\"}",
  "call_id": "call_UtlAWoDwd06FUKWLWenenfW0",
  "id": "fc_0c04e6904acf901f016ab44329214c87d0a19d1b42434995bb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UtlAWoDwd06FUKWLWenenfW0",
  "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]: [-0.0189, 0.8501, 0.6064, -0.3801, -0.0219, -0.0452, 0.9996, 0.3923, 2.2074, 1.8435, -0.5552, 0.3031, -0.0597, 0.9954]\nstate[eef_state]: left_x=0.2985 left_y=0.0018 left_z=0.1655 left_yaw=0.0067 left_pitch=-0.0614 left_roll=-0.0084 left_gripper=0.9996 right_x=0.5474 right_y=0.1733 right_z=0.1035 right_yaw=0.1537 right_pitch=-0.3292 right_roll=-0.2782 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.5932, 7.1726, 1.6484, -0.0464, -0.0659, -0.0171, -0.294, -12.9299, 8.1846, 1.199, 0.0904, 0.0122, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d62aff7e2e26ec22335605890b2f0eeb68540aaa3807967a169f39736216bf66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37a9e77291c57b7b5d70590f346941e994f70f2cc56299b9413db381b0f48424",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76a43029113fe553edb30b0b7fa2f3ac8f527f5ba5c516c15de3dbecf93145dd",
      "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 35 attempt 0 · /responses · status 200 · 5.553 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8436, 0.6064, -0.3805, -0.0219, -0.0452, 0.9996, 0.5018, 1.5654, 0.9073, -0.2646, 0.3828, 0.0528, 0.3558]\nstate[eef_state]: left_x=0.2981 left_y=0.0018 left_z=0.1672 left_yaw=0.0067 left_pitch=-0.0553 left_roll=-0.0086 left_gripper=0.9996 right_x=0.3723 right_y=0.1331 right_z=0.0873 right_yaw=0.1342 right_pitch=-0.2965 right_roll=-0.2666 right_gripper=0.3558\nstate[joint_eff]: [-0.0752, -1.5385, 7.0496, 1.6972, -0.0122, -0.0269, -0.0171, -0.6222, -4.5197, 4.0547, 0.5153, 0.1001, 0.0024, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8501, 0.6064, -0.3805, -0.0223, -0.0452, 0.9996, 0.3931, 2.2074, 1.8576, -0.5762, 0.3058, -0.0525, 0.3556]\nstate[eef_state]: left_x=0.2984 left_y=0.0019 left_z=0.1654 left_yaw=0.0071 left_pitch=-0.0617 left_roll=-0.0082 left_gripper=0.9996 right_x=0.5465 right_y=0.1729 right_z=0.1062 right_yaw=0.1477 right_pitch=-0.3342 right_roll=-0.2772 right_gripper=0.3556\nstate[joint_eff]: [-0.1026, -1.6615, 7.1043, 1.7314, -0.0171, -0.0806, -0.0122, 0.0068, -14.4342, 6.2291, 1.2967, 0.1538, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8501, 0.6064, -0.3801, -0.0219, -0.0452, 0.9996, 0.3923, 2.2074, 1.8435, -0.5552, 0.3031, -0.0597, 0.9954]\nstate[eef_state]: left_x=0.2985 left_y=0.0018 left_z=0.1655 left_yaw=0.0067 left_pitch=-0.0614 left_roll=-0.0084 left_gripper=0.9996 right_x=0.5474 right_y=0.1733 right_z=0.1035 right_yaw=0.1537 right_pitch=-0.3292 right_roll=-0.2782 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.5932, 7.1726, 1.6484, -0.0464, -0.0659, -0.0171, -0.294, -12.9299, 8.1846, 1.199, 0.0904, 0.0122, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d62aff7e2e26ec22335605890b2f0eeb68540aaa3807967a169f39736216bf66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37a9e77291c57b7b5d70590f346941e994f70f2cc56299b9413db381b0f48424",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76a43029113fe553edb30b0b7fa2f3ac8f527f5ba5c516c15de3dbecf93145dd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEMtT5yRw7UXXSrnyRMWx3kN3lsFxn5XQIkOE8pd1HxPO07WE7e_CZTSQUohhd5I8TVay4VoO7VzzA_7b-6VK7Z5FakI2sjDf5NuYUS_mauIA6XgpD_fp_ArnzdEpy9krl-_aN2BSOPz3LG62znF_ZdFzk-XWri0-Ol2Y_y3g3-tOfttY5Bnj1vrRN7so3ElrirOS8PQ26nCLb5FOMWEFjYEWqRz2RaKIh9AM9CEDJHeu24qTsPtVFaYTN90sQR2E7lv9ne8gpOGPQi0OJS71bOzzALIM4xwmOEk1AKI5E856VivomymW39gIky_rO-jDVCgkeQE3vdsTUNJS__dSNk3ogFCjm5xR2JEJRjriTWsFANbdkVgtkfwA8FeJf9n4PO1rhUvwxbvV8OXscyJ8AokSi62uMljdQ9iyZJ_6rFSImGorfK3VOs0sMNS8OL1E3z5ppBbKWxSVxIMviafSXFIMR5dKUk6QeDhpDeCbpqie7mZlnY10glpvEUh0Hi0ij0su1EIinUBhLHR2geQLinpGZ--ccsa3VaQqVg19W3yDm_KtAeTK8QQSUanO2JtsfciEWLLZakTN43YNzrM31b95Htq7XKbX5gJFOoYbUtU4gXVR_p0jz8wrZ0WdL8T36ZARRfohcU64bOX75sAW_B5qBqn4lktt3_aIq91CsIS-OLQQwUthOp-G7oymo_FkjvLqTbmwVMgVMhHEAWm4kbKzWF9DPrdLhX7COo96yGd40jjFMZuUG2uB8qn2iDpZ_x569fv5elGgbFL9LBmqPr6bTqisgZotVzAvda-csuyPIk7HS8eR-1BSfl4jeukRFYgs1mAa3Y0-3Zg20aW9euxU9wWZDBklHxFSqegazWirDU86sjG8U29ZAqnNQ_6WN8jHwDCofHAFi1VBZFc42YIRyfb4-AAxDf1TjpW9C5SGWe6nHDVpNr-SX5RdCvQPMcXF8rnKVgaW9OxFmRtDoh82XX6M2FQhCF2tViDOAusprrG9xo0haN4dFTxlqEoKjmCXcBycs1STmcmpvLBc-i0qp6YQ7Kuzd9i8bxo955RxpLf3k8u6FJStuncyq9S9Dz0JOKEAHIq6_v0dghTBj5HCEYtyRVevg8jss4qZz_39rLrbKab6cPqhuWRInTO0Lkw2nSmlK4PGDTqigeZVvudNAo7XXIO_cQGWc8SJC6Pldyp3k3xCAGSAsXSl-sAE0OYB56_o4AmPEXsakEEkaSC0NITHle0fUDIy0EiECwByfGa8r8BpixJQTKhAlcixpkGC5klrNcSZ5PtTzUB2rSXDEvYh_F2uLyaIc9sabKzpIBZrWY2NKH1ne1fYKPjGm37rKNfcX1YVZrH0lFq5cCQDcvjepeJo7J5ACdaD4p5sEplBwV_VZ--7YT4qT5B5MP5w1S8AVzI73VZMcRxT1rcAeqgUDf99pZ8vBzS5nlTkopL5wMsIOwUpaHSf7wuuym9uzJY9snnCOaqqf7RU0doYNFtI-6DVrk7xgzLSdcGSW_8qhf7GTGqAk-FHTJbBAuZj_WkJSIZP3B7HNMTMZos3k_vX7vFeQt6w2UlBSUW6LAB8A4QhPQBIdiTLBSctgK1",
  "id": "rs_0c04e6904acf901f016ab4432c1e0c87d09b3f8224b1fa2909",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.27},\"note\":\"The jaws are fully open inside the basket. I’ll withdraw straight upward—rather than backward—so the basket walls can strip any snagged fur from the fingertips and leave the plush behind.\"}",
  "call_id": "call_KPbHBuYzOsRJXrDnDnNNL8jv",
  "id": "fc_0c04e6904acf901f016ab4432cbecc87d0aabd62daf88c84c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KPbHBuYzOsRJXrDnDnNNL8jv",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8528, 0.6064, -0.3801, -0.0219, -0.0452, 0.9996, 0.3923, 2.4668, 2.7441, -1.2816, 0.3012, -0.0681, 0.9964]\nstate[eef_state]: left_x=0.2986 left_y=0.0018 left_z=0.1648 left_yaw=0.0067 left_pitch=-0.064 left_roll=-0.0084 left_gripper=0.9996 right_x=0.5486 right_y=0.1742 right_z=0.2004 right_yaw=0.1522 right_pitch=-0.4135 right_roll=-0.3036 right_gripper=0.9964\nstate[joint_eff]: [-0.0342, -1.388, 7.1043, 1.7216, -0.0562, -0.0708, -0.0171, -0.3214, -21.7915, 7.4462, 1.6825, 0.1538, 0.0171, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3274c87226e1e2e8fdc82b27e48a4894f28d51f05d29e9658772c4821126224d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bf215d48899ef612f6bc28cc0675687c6b70136130ef7eada79fe2e4baa1b55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9da2bb4b9f91cab2e7b9847f9435076ff8fe7875aa674e9549613e170b44278",
      "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 36 attempt 0 · /responses · status 200 · 8.216 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8494, 0.6064, -0.3805, -0.0219, -0.0452, 0.9996, 0.3958, 2.2303, 2.2852, -0.9157, 0.3088, -0.0486, 0.3557]\nstate[eef_state]: left_x=0.2984 left_y=0.0018 left_z=0.1656 left_yaw=0.0067 left_pitch=-0.061 left_roll=-0.0084 left_gripper=0.9996 right_x=0.5531 right_y=0.1768 right_z=0.2134 right_yaw=0.1506 right_pitch=-0.2698 right_roll=-0.2605 right_gripper=0.3557\nstate[joint_eff]: [-0.0615, -2.0034, 6.9949, 1.6679, -0.0415, -0.0611, -0.0122, -0.7863, -13.2991, 7.6376, 0.6129, 0.2027, 0.0366, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8501, 0.6064, -0.3801, -0.0219, -0.0452, 0.9996, 0.3923, 2.2074, 1.8435, -0.5552, 0.3031, -0.0597, 0.9954]\nstate[eef_state]: left_x=0.2985 left_y=0.0018 left_z=0.1655 left_yaw=0.0067 left_pitch=-0.0614 left_roll=-0.0084 left_gripper=0.9996 right_x=0.5474 right_y=0.1733 right_z=0.1035 right_yaw=0.1537 right_pitch=-0.3292 right_roll=-0.2782 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.5932, 7.1726, 1.6484, -0.0464, -0.0659, -0.0171, -0.294, -12.9299, 8.1846, 1.199, 0.0904, 0.0122, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8528, 0.6064, -0.3801, -0.0219, -0.0452, 0.9996, 0.3923, 2.4668, 2.7441, -1.2816, 0.3012, -0.0681, 0.9964]\nstate[eef_state]: left_x=0.2986 left_y=0.0018 left_z=0.1648 left_yaw=0.0067 left_pitch=-0.064 left_roll=-0.0084 left_gripper=0.9996 right_x=0.5486 right_y=0.1742 right_z=0.2004 right_yaw=0.1522 right_pitch=-0.4135 right_roll=-0.3036 right_gripper=0.9964\nstate[joint_eff]: [-0.0342, -1.388, 7.1043, 1.7216, -0.0562, -0.0708, -0.0171, -0.3214, -21.7915, 7.4462, 1.6825, 0.1538, 0.0171, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3274c87226e1e2e8fdc82b27e48a4894f28d51f05d29e9658772c4821126224d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bf215d48899ef612f6bc28cc0675687c6b70136130ef7eada79fe2e4baa1b55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9da2bb4b9f91cab2e7b9847f9435076ff8fe7875aa674e9549613e170b44278",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEM0muFg89qsj-aItZeR-eEz7FklLj1CjnQvRELibqCCZ_jSl0xiT3WQDlBsNn0K1f-yiE54dKsAQH5eZqbAWN8KkNIpGJ9ZLSlvimbdliV4m2kxbD7EV9-lfkdH857J2ICl64HKAJsg0cj2yeEccMY9Rvv2NfehlcM0vnn2vFa00Ew87Ret1ssr_2cMA0xkfW6M_wOZPJkfRGmISi1dUx_xvsMQu5RXqcUTW2o5UxzXb-DA081YrMXaTOAx9a-X3bgJ5lE9dNnTVMrGeBvr2tiAh8owmmKPXz1WwKu_quNaInCEm9CXGgAmk8XJJ4PtPIkiP8GQYb_xP2-4bFdqUw50zBDBg8kE9guzWvcpeLne-ymmCnPZT6hyOvLnrzjSsIBFsfUNWee36lYebgg8hZpy62okX8HCnyZLQXhWX20VOPtNo1TShrppVEug3aR6RPyts3V5973bn153bIacTLAXQJoi5109OzZ26G3ZmSQkSpActQXFqO3__NFvbIXtfdta-7E5yjN2VNwglwoOarAZml0i-lDLbh95B9wM8GTyBA7rrNv4jTJm0K_Vs8tKfZWvp8ei7RDN62Z8ONJsc_NEE-TFiWq2KLOkghrQ_DKkELJzKMoweo0DoLNkAvVb8df5aW5EzsqbiUshRleLCby5VEDRk_5lkOssmyxgO0JfTSui0LY6vR3Lh9wkGZBl4-qOfuJRGCgNPQugdz1hkm7EHxMYUnasLB4pIEvaTDyDmWUo0gB0C2vYlK4BhalKx7v_gir2Hz0ifIqS-WH3Nh3mTqaGN70lcQYpV_qElx83PA0utXBmEN4rW7gXuG5jI5HJoXOCDLAZEw5g7n5pWKTiDSMJ5UalRNvc-yv6EgTAyeDTWArFtZY-BqsdzSz6WVcNf3kLx794B69zqlk9kv5fjF3ponXYjaSLT6cew5VNUeaxrSrk8mhA8e3oNJ6Dxx5izE2QSfbqA7gR3IHhvf76v3eMRZC2nauCUmWSMZiamm7vIRu10tPQ-FbuXqetXJNSu8ShCQ4EAgnlGSH9yURy5fTwMZQfpQ-RGZavCei3RxrGnpwRG_yyBWlc7aqDrC6LicSY_3wGUAH8_8zOi_trLEGWdAsi70jna_QtXM61PSIyHFxnDgTKfKdojp-9xG-Vyb75FU-27nkOTtFxmLlZ0m9UtwOSTtFlf4C6l9d2PcH5i7gyVyFg43BlBnxGkyjwWefj6Sm-1VCvi3ZgRjKsUQW4O86cuaveXszZT_Yh-QEN1KKVTQumOcN9WQNkGOGsK4Mgj4l3UXKKfSZhP4EXDO7pq9RlZ6uCBUtjW_FetEyLtXNXcCyVKnF4MPBA3eW-qFcggQJJSGvBMKZ8d0tVb1M8L0kSY8xRIT_O0t_saECp0_othTNGlgtV5YckKPPkrNkDqg9b_KY5cdFFgrrPCcphdIxl-2uewvkPHsYi5s_5jbtDO0rl-_l_1VQ9Tye7EPmfAz9PoobMUtBO-oaFrcfS1CsarXiLT9WCuWRoi2ZLO48kDGogGqjsMyqfTmuYAMKQF4PCQTHdo-eXWWUuJIGnoWnmUVK8MdNmgEfOlaHmsZ7FGqeG4fkqjbdchmvV4029IknO9jGEVIugwfu0LiYWfR8_phV5jpIxKrbz9e1Ts1wBQoLUliHK-CsGaqsqnwfVBpxWvTJjs2lmgT6sEW6aMRN2oUBXIbF9hLe7pDeA5-_7-5gqFOKw2feC7M9Y8k-waISW6jALUQPOFIzUfkIdZ6gEq_n8G9BT8vMseW89e8e-9GinluvAaAx0E27scYqqo6V_EQKMQQ8knQ8sh5GFJAY3n_E1c2EqpzqA-PlY8RhxkI3z2Gi1P3HtY-G-FVeCgfVZOo2XKinT6EJxdx12j0iX-54yPJeF2bfrM6l8kjDppxrTp_PtgDDYKF7pnAtgZIDgDQuLInyHUJHbwzaPurScuqwHfC2QiAQtPhOMVqUf_2Nwgai-oEcz7mikBHdGA04lZYWKtXrl-lMsuXGUHJLfM1_x_DCg0pC2pkrQmvVixjtStANwqwfeS8N4SQp_v2YSJjvpPIRYRMUT6llXFrf5ZodI4wZcWzF1WJ4Nrft2r9j7qnDMvfxFsIi8jfrK4K-f_BIeIHn7FPzfwC7l57hFVpy439zeVjuT2NpgMbXyKsFOz4myKeqtKwMjiazrhlREzhzjsaleNxpBivvKY_CX1eJc69mwWacjd8YKZ5IjAX4m4OfMyfnII9Cvxn9cXia_ClG1abd08GaRMPIvPTu5nFar0sEcXBhfWA4dsC7rMLrNBg3eq_5bRhZsxItCO1Z41WfnQkszrwHJoxN8Z9DRnjy5GYDRSeockG1vscmighTJkCOILweei0GBSMH-7z3jjTj6CGg-61_zEKwzMNKuTf2NbKu1FQ7LkUx8ouo5Suc8jX1k1UaYJNQkukaF4HvimpFuI_VcED68J5hUzLZZD4Ou0r8euH2ecBgo-qXB0H7D7h37SNCylJMXqx_46SEGHyTFHkUNKT1jw6BYj04xvasnIuWJLzTMkD2Wf1JgaemuGL-ac8hxjPU32NkshjPV3rCfho7HYYbYYxIZKyIDQQrXkaZVzHMTk7T0Axa4uheES7WqKJVfbkAD7Svn07E6N4UwhTYaYx6ZoJJeMW7OJ6oh9mSxshvNOv9tRV4G5IHxIjcTGHz14MzwVhg1f_vOhZossrffNOB9yTC4bTpvjciMgFBx7Zbvq8joNCgPmGH3toaeRQDt-45hu4DATrzeCL76eLO5h-Z6HdClxmfZ3pzTS6qiMoqxU0JVR5PjwuICGyrPM86FBiZc",
  "id": "rs_0c04e6904acf901f016ab4432fe8bc87d0805b6a638da25d78",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.13,\"right_z\":0.06,\"right_gripper\":1.0},\"note\":\"The dog remained on the table, so the 35% opening was still wider than its narrow torso and never actually gripped it. I’ll return directly to the known torso pose and use a tighter controlled close.\"}",
  "call_id": "call_2w1z0t2Dj24A9vnnyynTAuKj",
  "id": "fc_0c04e6904acf901f016ab443332fa887d08f66ded62e3790b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2w1z0t2Dj24A9vnnyynTAuKj",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8566, 0.6064, -0.3801, -0.0216, -0.0452, 0.9996, 0.4332, 2.6598, 3.1271, -1.512, 0.3397, -0.0158, 0.9987]\nstate[eef_state]: left_x=0.2988 left_y=0.0018 left_z=0.1637 left_yaw=0.0064 left_pitch=-0.0679 left_roll=-0.0085 left_gripper=0.9996 right_x=0.5355 right_y=0.1868 right_z=0.1938 right_yaw=0.1245 right_pitch=-0.4346 right_roll=-0.3182 right_gripper=0.9987\nstate[joint_eff]: [-0.1162, -1.9077, 7.159, 1.746, -0.0269, -0.0757, -0.0122, 5.1624, -10.441, 5.7915, 1.0623, 0.0317, 0.1832, -0.149]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a94ac9be6abb668a823afc2bb51500ecb50523b2e1fc5355cef70fdb8ec1cb9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc5b854f50280ae1b4b57400678dcd664fa044e22faefd5c9f6611fbdaf4bfae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24a509ba6ede7aab7da3d958053ea295f9daced288becd455ab8ea5d22f2cb50",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /responses · status 200 · 2.089 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8501, 0.6064, -0.3805, -0.0223, -0.0452, 0.9996, 0.3931, 2.2074, 1.8576, -0.5762, 0.3058, -0.0525, 0.3556]\nstate[eef_state]: left_x=0.2984 left_y=0.0019 left_z=0.1654 left_yaw=0.0071 left_pitch=-0.0617 left_roll=-0.0082 left_gripper=0.9996 right_x=0.5465 right_y=0.1729 right_z=0.1062 right_yaw=0.1477 right_pitch=-0.3342 right_roll=-0.2772 right_gripper=0.3556\nstate[joint_eff]: [-0.1026, -1.6615, 7.1043, 1.7314, -0.0171, -0.0806, -0.0122, 0.0068, -14.4342, 6.2291, 1.2967, 0.1538, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8528, 0.6064, -0.3801, -0.0219, -0.0452, 0.9996, 0.3923, 2.4668, 2.7441, -1.2816, 0.3012, -0.0681, 0.9964]\nstate[eef_state]: left_x=0.2986 left_y=0.0018 left_z=0.1648 left_yaw=0.0067 left_pitch=-0.064 left_roll=-0.0084 left_gripper=0.9996 right_x=0.5486 right_y=0.1742 right_z=0.2004 right_yaw=0.1522 right_pitch=-0.4135 right_roll=-0.3036 right_gripper=0.9964\nstate[joint_eff]: [-0.0342, -1.388, 7.1043, 1.7216, -0.0562, -0.0708, -0.0171, -0.3214, -21.7915, 7.4462, 1.6825, 0.1538, 0.0171, 0.0855]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8566, 0.6064, -0.3801, -0.0216, -0.0452, 0.9996, 0.4332, 2.6598, 3.1271, -1.512, 0.3397, -0.0158, 0.9987]\nstate[eef_state]: left_x=0.2988 left_y=0.0018 left_z=0.1637 left_yaw=0.0064 left_pitch=-0.0679 left_roll=-0.0085 left_gripper=0.9996 right_x=0.5355 right_y=0.1868 right_z=0.1938 right_yaw=0.1245 right_pitch=-0.4346 right_roll=-0.3182 right_gripper=0.9987\nstate[joint_eff]: [-0.1162, -1.9077, 7.159, 1.746, -0.0269, -0.0757, -0.0122, 5.1624, -10.441, 5.7915, 1.0623, 0.0317, 0.1832, -0.149]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a94ac9be6abb668a823afc2bb51500ecb50523b2e1fc5355cef70fdb8ec1cb9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc5b854f50280ae1b4b57400678dcd664fa044e22faefd5c9f6611fbdaf4bfae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24a509ba6ede7aab7da3d958053ea295f9daced288becd455ab8ea5d22f2cb50",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEM9-YZeHL0itoNiWEsxngyKt1sfcsv36Bn4rc15N2kvCi8hkg6k9y8J4rYTeXBDVKRA6kFujPVOslxTJ6XLLaoKTw4Lb3qpKqstzbmIJPlz2aIKZPRi5zUGMqJsentxBltJtfUscq3AlqEcslkcT6i95Eru_QggxcV2PvE_yQYCkIO0MDcJ1_LK-6w6RduAps13amqW9FrPMzv9G9RMieX-kem8FgzQrXZEaRmqr9LgaPS-Y23IW4s2XT6XTv3lSXAANnxp3G_swxXO_yzQBsKSteYfec1M0nv9MIZA05Bmb-CQjXn9AxbFLGqN_tiwoRkRxhyBkcz4OY1Jh7YzP1BYghxSXsjfIOIC7Pe78n3w97RJe0_vtU36NgedFENxJkomQs8tJV8VK6xQkbOtfbk0mi9WV3bntTqDCnZFnqhiE_FRdS66geN2ODzdV6AKb8VzXuFhKYg1-ZH9UKxW8JGy6Hya_5flzILYqVxPdv6CNCUHtYy95ltNRewKoGGisjupveKP90lFXA1DL9xCfoHShf-s9ZeS7T4E18Xwa86HaE0D6CWI6vBgFUJq9Xzyre969ZWFBTzEAXC63j1HQ3Ww9I_Vnt2S4BIV-NMt2TLMxrBc1onm5GNZ1YNjfsI11eVyCrliLFRAD3beAEpvI2vpcEb3OHqPrTBwJF9uY7fnmqDpK1j8ltPnDS1r4qWml7g5m7dpBIz5sqo0297KeM_9zvfh-NoOSV4ZjxdP6kfZ7pr820XXnw8Y6d-cqhsqlpuDIN8e8SDEGIAQDjjMBp3H-Caxg9NNAj51-iNpAM072VqeSJga1IGA1OtKptt0OnpfbS61BzU3GTQDe8iGgS2C1_65mnGM2bg82ZGB1DwcA9K_a6YYrC3oMBIr0OJgHXclInicU58ShjYFLXkbIQYGTgMzImOJTiJKRITppPBfm6D2yH85E-T3MciStylvw7-4G-VDTkHD4SCmRgdNKAIeCI8aNU6KtgxX62Pl3bidPfG_KM8Tge3Vn0SNfgIJFmdn1aa3jC_9umdmt11LqMfAhmHL7Z9nJ6O-BOSxqVidI7Mbh8MiBE_bjN98A4lsnp1-kUtVKwAwaFUvFVb7L3hu67FqFQy-aazXA_GSTwrg5rVEGOE8VVruHsoiXJbDPl-RoDDpw2MZy9FSAc24Zf6mmtm1Iv2QSMVm8KdMAotW9UaEG5Bz-WtNulWGRWhMboaqZciP75cK3ocDI0Fi1hmj0c_wgDFs9EpbmbLbqVQKpzumsMJ0dXWzSx1YPa86I4irTov6S0YqQZp9KMtuU6d10uu8varKSof-X1m5tzjF308pVLeJyhJeicfcHvqmVHgauYjo4TkfKGFneFDr9qovwoT9dtDy_psT2pRUFcLxON1JKF6oT_yvbYfMbDPafCPY6SAFsgBAePMMnl6RGjOHIlu-kS3y3NRksm_BUyp5L1Cb16GzzIv8NX6uhJR79kyQIa7AVwdM1bt7D5QrJH6ShejceZno7vvioG9j5gAbFRz9HiB7JBqf1y755rLpGwSqKBUiZhii48u3K3TcjN8bqTA73Qg6YwE2uiKZclpjz7UwwtAkFBiTUvQb9kR9gIJqikRNN0UK1sdPfNFb5iPnJek6pUGN8aNuRd4rtzy1IrG7W9v-uxRN0lCU60r-HldmJ8a62z9r6yUi3lvpWcnzbBDn0lKtk4aoCQZ-dRizsIWTlAgw_GAAoB-72TxSsN4kQAVGFQ27mkYqF1lBA4aM08TXs9qKZNcfflvJF_BLgSxo2mwpW41rlzVnb6JixMdW3m4I63sNKp1cBu8CTzRc8r6ScZfx-r7x6E7QIo8UxedD4o-xQ4cBjhVrPKVmKogSCX4TcXMBZ4o1E5vFS3X5PcvUcet704KyUYJHYZyPzLtNoIUY-s9bRQBn0fqz9nRPt_asNGx5WBcwcR7k7t_fcATiDhcE2pfVO1JzxD_F0EVbvgh_UFqM3FnKulbwSYnyqpysGXiyzQzK2iWiE7Qh5FJkCq_---8XmQ4XrMCe0BvpG9ReGpciNwl-6knlE_oP5GaSEhFnmvZGKMiCP3l3VtVKcMV87ridf5AAXd87Bv5JXMgW2tLHFyKf-lx7eB9I6_prAfTSkHYOne_jwIuH-Q03XSelnV_1GRp7La2B2DADQwLWWgjSWv7kOdec6CfKghKLl2HqVfxKPasgafaXnPVGxYZhhbxoQEspl6sAYbxI879PRQjfsx-LvbWqehiKtmv-lmEGNm0YACMQ5Q_axvZqg5gw8aGGwsx62TuTskZudSYv0ZaXOunugWJj7UvtYkBC3EMDuPhLpJTvJNtcR9OMg-vdmnv7RoYd1DNh4zelKsEtXbEXcuswmVxay6s3r2__YIMahviOs4BFJyDZN1u8UxdzxQpkKI4w6esEaMwaoX_moqo5c4iJENRptgev191si77Yt94Uz1rlDTKjMiexSzKgtHgD-guTa_2IvxoG57TZ4YFUy6ZQgjQLreZNQBVhYzm55vtaY0Mo9CO3WWtRGwAXzQYyJ_fQNtZ6IzitgNPFC1qYeWX12mYqzzlhR-8GS0u-BTnYv99rq-c_6PgTz_PcJEd8Ol7SNMIYxZKkxBNCreMhDY-LKQJMC_pYeW80IDOmRUpO4_hrzevUhxUZ6MjnmgREHz9XIG_AYRIqc-yhrvsnUSGBg9Xc2ZX2ND-wIgQ35eL8opuYsWmiVEXnL-jOSzi2b6eu310B9mztb6ypOlFsmYZxMjaDgH-DVzPUTmuXmyuBYoBHtoidC5skLur-F_k7r48l2S7SiYD_NXCanWo4E5ejVm5ZKiIIUf_k8cLEYNlug8bTQC3U_z0Mk88KjfY9ROrZ3eNcYtqJpCJveJGgh0a_bkxZ2K3M63RaMDGIlcGciz-izRD57Aq5WuSXKW0vEENGUKlbLb6e0jOxxqZv9NSbUxti-3wrIby_Z3VSEZAhtx-k3woC_8mXwfh1Yeah1NOJJLAW-_L7WzoE9TxOgEmwOTYTmLrRs0qxHw-3-MeaEGF9u04aD6-QoVnaanTFm0fAgQ_IXQDW6-1UHTtAjgAyUkm-jzQ0p3plIzBlQeq8fHIfFarGlMKriL9_O0rlw_5XkddBML5KvFVWDQdlOrz0h-L1iyDk-q5xGGgPzTfdfE-zNiko1e2PLAAx7-ItoVSPjQzkDtGYBS5T4CiSzgmAKqIw4QSLjqBRqAj8FTjVF9jdB9fhzihapPOjQQJgILmWiYbT0cXEHn4fz9Z6U7ozKp-e97dFR5AVi9GvSmGiNhWyyC4a3OJQhS2Qc4rX7GzQSSW0ZKxLbg2OhXE6nZ739XARzaTDr8kmwA9kPgRrzI-yUSbDDZRHcjrn9cA6K53xiQNUPAXATabmzZN6rOqOeeWAq_-rCbolXpdZ2HDrAKbpdpyJoZXZZke5gEzi2s4QzkQnXSwUQgYs_GcS-bFlCRDfDMYYpARdqkJRpU7PNyDTiVey5_YwsYgOcydA-VpGbJ0UprKbEoArOR7I6LWR3aaNlcnmxCGBOwSBGqClsqbDty-LkwdARTgD8fx6X-J2caxpfBEQ08Bl7Yylambpsfaf02aXLl4CdQizae-trlURopeGLSY8Ad37TPcRs8fPnBWxgLyNXf3KM87uHw0bOzRTtxIyOQe7Fa7sQE2WP5dvc6khQqTBoaPtzmSJmb7Kzrnrll7spxyMU3B0SsjikQmgwQ7UHYoefD0Qr5YRfWumFCGSIoTBINKGJVvF0uZSgC_xe4GdcQO8rjlWHfEcxw3aK26plgnQFwVvCzItrCATQgN7NfpwWpHwzPr3_9L0r8kPGnyCAFClyffeSZSRnxgpyO27k3T0mXQF5QToihrZ1Gc4vp6h_T-7FqzuCn8OKrnyD-JJsroGnVhqQS4z5VA7hZfehPwvKMjwUZ08G63qPGWbzg==",
  "id": "rs_0c04e6904acf901f016ab4433754dc87d0ae39344e2e85cabd",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEM98byUbfhES86EI_RLLbyNS4kg8yQxUtzXA7znqte_VmtLNCHGcoG7_Wxo5tPPlznT720aY37S7Xw4Ies4eTfBYdkeBPREQEOHZdKQ0kNZw6pK5m5pdwTJ0yEqvL16I55VVmAG32yAtvKMmnbZjr1oasLw1Sq60z8iiOvccGrRCYfnT7C26yqAOwCffUCnIC4bnjATwMAkhDfszxyYhSei7QDYO3V-2roK8kUKfyMBIto4rzz1LHjTg8TCc1z4c70Jy-lZb7Pa4xulwJhOZkj0Fv2kZyuqgs2aqJaglV_R5rELcBeJgGI-wvt20G3-8RyTKrhE8ot2PcFeiEQ3Hrup43J6SQmeGWTNcGGL0lNGKVWMSYwaARwRTa5ZAVoholPBhGiaMDRDZhykpV2Xz8IkHsNhe5vl4Cum2UI1KL8xQSlNwyDPqKe7fYqvCjPnHKzV4iJb7OLFDGBQgVeoTHgskM9QZrIbue0UdWl-kOqWm1ekCKgN99vr48q0YM0l2vk_X8Ht37y8Pjc0CP7WO2sQ7y-Pzyj4oznbDXxTv5P8KQM24oNOlRgo0343eracSPV9iBrGtAGm60SQmIYmesfIPZEaUWfJjUjJeyw-4pYPLegmerv9VRtJDrryBhMCz-93BphT1ao_sbQZhsDP8hVNo4qmuJIIzjVVm_YaP1DuL7T6ilj1v-6TXsd-RVY8SelYFC70zPCdJTtqCm1mZfG6KA4UEyUtYu7BG3cavevQRd2ZUJb2hOAKoy9TXEPtrDNnE8eCL_BcGXWi8NQ2GpvAQC6AySLuLcCXtpSHKC2y1Vcuel38XvO2ZoDtsu4GCrfMSyQ-pf2sdy7vMZJy1siVmePHNXW9l6BvJv18ufIuZg3D2Zyu2dUEI99CH-U-Fn0GcbPNi8GIvPq8P0KV6oVnLwaWCNMuRXpPBlkquwreoXRvv8n7F1NSne1MQGG-5m_tq-uqAu2CH5b4mP52gIEEeNHVPVHLJQNzE7ms0xAUcaZXe9ZLDirbaHQJ7_4uE7huFqlK7aJwf7O4dN8R5Kc7n-mKfKPOfC380AkuJyuGj5rJ6CiSfyUMDnuGDwa6OoyPqtRU95i9legOt_Gtr09OIsYQFR6dp94pMUPvDretlgIbBTG0UOJZ4QpjmgiRNrxieNT6y85KHSmbpn-92U8fuKuOnyzAeA-qqU2wFRY8BGOOIxkb4GO_qWWZCaxLjl2IOlp33pci23PxyqGfDgmS1fgYnQ_UvO1gKVzE7vqm4dIAuHDuchQjfWTkQS9SZhkET7Psw9RVhV1IwikLmzsGwzBztjOo2zGO5upGfRTQqf-OT2Y1IBXsbio6l9w_8j6j",
  "id": "rs_0c04e6904acf901f016ab4433c625c87d0b178feb8588080fa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.055},\"note\":\"The right arm is momentarily pinned against the far basket rim, while the gray plush is already centered directly beneath the left wrist. I’ll use the left arm to secure the gray type for the left basket.\"}",
  "call_id": "call_RqF0JySr0XjoehU45MIWKfvw",
  "id": "fc_0c04e6904acf901f016ab4433cc46887d08f10f6304ec500d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RqF0JySr0XjoehU45MIWKfvw",
  "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]: [-0.0189, 1.0325, 0.2565, 0.1307, -0.0257, -0.0402, 0.9996, 0.4164, 2.6812, 3.1218, -1.5326, 0.347, -0.012, 0.9985]\nstate[eef_state]: left_x=0.2988 left_y=0.0025 left_z=0.0617 left_yaw=0.0074 left_pitch=-0.0827 left_roll=-0.0016 left_gripper=0.9996 right_x=0.5362 right_y=0.1754 right_z=0.1786 right_yaw=0.0919 right_pitch=-0.4769 right_roll=-0.3391 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -1.5385, 4.4923, 1.2088, 0.0024, -0.0806, -0.0171, 1.0325, -15.5966, 5.4632, 1.2967, 0.1001, 0.0269, -0.0317]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19eb90331590019b3e68997414b7ea39e2c1d4566bf99c932af6e5a515a908fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7004c746f01457bbd94df71e224cc174b1397a3650191dca8fedc401a75efdb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:110eadd3afc935bd8182a882405fcc488ff46ac10f3159d1f0f64dee4d64ae59",
      "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 38 attempt 0 · /responses · status 200 · 6.466 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 140 changed as sent

message 148 changed as sent

message 153 changed as sent

message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8501, 0.6064, -0.3801, -0.0219, -0.0452, 0.9996, 0.3923, 2.2074, 1.8435, -0.5552, 0.3031, -0.0597, 0.9954]\nstate[eef_state]: left_x=0.2985 left_y=0.0018 left_z=0.1655 left_yaw=0.0067 left_pitch=-0.0614 left_roll=-0.0084 left_gripper=0.9996 right_x=0.5474 right_y=0.1733 right_z=0.1035 right_yaw=0.1537 right_pitch=-0.3292 right_roll=-0.2782 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.5932, 7.1726, 1.6484, -0.0464, -0.0659, -0.0171, -0.294, -12.9299, 8.1846, 1.199, 0.0904, 0.0122, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8566, 0.6064, -0.3801, -0.0216, -0.0452, 0.9996, 0.4332, 2.6598, 3.1271, -1.512, 0.3397, -0.0158, 0.9987]\nstate[eef_state]: left_x=0.2988 left_y=0.0018 left_z=0.1637 left_yaw=0.0064 left_pitch=-0.0679 left_roll=-0.0085 left_gripper=0.9996 right_x=0.5355 right_y=0.1868 right_z=0.1938 right_yaw=0.1245 right_pitch=-0.4346 right_roll=-0.3182 right_gripper=0.9987\nstate[joint_eff]: [-0.1162, -1.9077, 7.159, 1.746, -0.0269, -0.0757, -0.0122, 5.1624, -10.441, 5.7915, 1.0623, 0.0317, 0.1832, -0.149]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 1.0325, 0.2565, 0.1307, -0.0257, -0.0402, 0.9996, 0.4164, 2.6812, 3.1218, -1.5326, 0.347, -0.012, 0.9985]\nstate[eef_state]: left_x=0.2988 left_y=0.0025 left_z=0.0617 left_yaw=0.0074 left_pitch=-0.0827 left_roll=-0.0016 left_gripper=0.9996 right_x=0.5362 right_y=0.1754 right_z=0.1786 right_yaw=0.0919 right_pitch=-0.4769 right_roll=-0.3391 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -1.5385, 4.4923, 1.2088, 0.0024, -0.0806, -0.0171, 1.0325, -15.5966, 5.4632, 1.2967, 0.1001, 0.0269, -0.0317]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19eb90331590019b3e68997414b7ea39e2c1d4566bf99c932af6e5a515a908fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7004c746f01457bbd94df71e224cc174b1397a3650191dca8fedc401a75efdb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:110eadd3afc935bd8182a882405fcc488ff46ac10f3159d1f0f64dee4d64ae59",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtENAfifjtUY1uDKmX4GZBV95sW4ErE6JdgDJhtpl3jvm3l__7Vb9sRcJteP-ROzNp5UgJ0G52zIbpSCX0pHXZwUytPOBE-gPpSGV967Piu35SbIVqXZUEx0bKyE70eRxQvmEYsart2qNQ1FEQxjm9jfQ5u2yEOuKB7OSriFlMzvP7JkpN1IhFps-nc3DH6eVF9ZEMMJnWntemuUzXEMPPApGuEU8KlIhH_jqsnKgUKjBf8HbHVEgc64Uwi46-ERAp3ICXVcT8ikfCg9VOHx9bJBGFOggEU5fbmBkNhXlA-9gJWHrAl1nw0ky5GAkPGaFMfvCBIJ4yJql2-vpNYWMDWQXLm7KzPn5ntubm0T_nrg2YjXGDI7Uwcx4KyEwDRErAxoGTGXm1hE2HedvL7_ANDWJQEKrBUnYDb576C52VPmOPE-90wlTwJFsU_k7KAC2HVworpvcA2iSskEmO7Hp1EbTTMfqsDkuK632JcvPx8bRdDIRqAc2uKIF6x9ll9_o8I3ViZzpfzt2g707-O_tYKyrZj18L3LCKd7vWOIl83eZI2FJtuAWdpABdGdTVV0hr916rxvcVnCRBUrfRc7C5ONTwPYSzioCjNmO899opKhrC5UmMAjjg-QizSxx9Cjp_CWZMKY0mztL2P_9fhRXoaB6COyUKaAMvdwpFsVnwTZtNXfZShKMav99aFa8fkVkz9DbC0xlt69PMwiX4wiaXGQTYzHQMxClOuM8CZK-M89oRhYvDDG2U4Zs_hbLtviL6hSAe3Qo4Azu7FBkdJCMuAbNNmu1y65gbJ0cPoLEkKelbImKUeBE5SIcgmt8lTJcjJ8Z68U3WzNT8g1NeS5VW-PmJZ4n5_F80VpYt81sGzLIiv_IZB4mQQrffxIiBXPZ0UTC6KMxs5DqgxIHr6LgQdOmdW4LV6l-XgCiLLHv1eactpiuKWrPbNWl943Mr4_jNvcGIo2dvxZEFKFhWvyaO2y1jEMJ-5U61HHKdVsCdsQwjzL7P506Fx49de6nZ-8PN4TXBeu87cF3tKF5xx0QzaqdKFDW08Fo0VT8HuVsllxQmi9rOiguDSySgSo8ggHFnKWG3emJXHRR3JfTnP7Hh-AcV5qkFbhugH0GD2D4gqQ5ulMbUnQt0e4bLv0hIYDChC4fl1ybJRejewfn9tm8w8yuIAS-LiEGN0TdBblIIpGZTskwP4gzv5q-GNSr27MCWV2Jfakwg3GcqgFiKoiiw96HXGW-m38HR1rqU6j3nt7dvPX4PAHBtsJOZlVLFkvjJVP0Yghzw6Zn1GTQa6Ef8Nzp9mdrF_aL-BwMNWtgKEJ_NRyzIdfXmvR3tNBVWq8FXUvX",
  "id": "rs_0c04e6904acf901f016ab4433f933487d089e178c88c3883bd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The left fingertips are down on either side of the gray plush at z≈0.062. I’ll close around its body.\"}",
  "call_id": "call_xp3Wn0JtZCHZ4ivmPlsNfV5P",
  "id": "fc_0c04e6904acf901f016ab4433fee5c87d0b0f5b7573fdcdd6f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xp3Wn0JtZCHZ4ivmPlsNfV5P",
  "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]: [-0.0189, 1.0332, 0.2409, 0.1421, -0.028, -0.0418, 0.0124, 0.4175, 2.6812, 3.1218, -1.5257, 0.3363, -0.0227, 0.9985]\nstate[eef_state]: left_x=0.2961 left_y=0.0029 left_z=0.0573 left_yaw=0.0101 left_pitch=-0.0876 left_roll=-0.0013 left_gripper=0.0124 right_x=0.5369 right_y=0.1783 right_z=0.1787 right_yaw=0.1098 right_pitch=-0.4753 right_roll=-0.3328 right_gripper=0.9985\nstate[joint_eff]: [-0.0342, -2.2222, 7.6376, 1.58, 0.0024, 0.0024, 1.1111, -0.2667, -13.8872, 5.2308, 1.0085, 0.2759, 0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc0b4c5f950bd2d30ca133eaec3055cc4607264fd6795ad5bcee6face06d86e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a86dfcad5bef2383e5f9e781108129e7f30e79ebaa41faf261015a32ccf93a14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:553e7cca605e03c51e647ce791fd85c54e1c316be301afd61371bbd7f8322ee9",
      "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]