adhoc

completed
2026-09-23T22:33:39.734382+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 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
238.9 s
total steps
383
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteTwo empty turquoise baskets sit at the far side, with a central cluster of several small plush objects that appear to be two visual types. I’ll bring the left arm above the isolated darker plush at the lower-left of the cluster while keeping the right arm parked.
move_to
left_x0.3000left_y-0.1700left_z0.1600left_gripper1.0000right_x0.2960right_y0.0010right_z0.1830
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, 0.7986, 0.6155, -0.3798, -0.0219, -0.033, 0.9996, -0.0154, 0.7967, 0.6109, -0.3786, -0.0116, -0.0254, 0.9998] state[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.184 left_yaw=-0.0001 left_pitch=0.0004 left_roll=-0.0005 left_gripper=0.9996 right_x=0.296 right_y=0.0011 right_z=0.1827 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4171, -1.4701, 9.388, 1.7607, -0.0171, 0.1734, -0.0708, -0.7316, -1.4427, 9.7709, 1.746, -0.1245, 0.0855, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.17,"left_z":0.16,"left_gripper":1.0,"right_x":0.296,"right_y":0.001,"right_z":0.183},"note":"Two empty turquoise baskets sit at the far side, with a central cluster of several small plush objects that appear to be two visual types. I’ll bring the left arm above the isolated darker plush at the lower-left of the cluster while keeping the right arm parked."})
tool
executing move_to over 16 steps (1.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe wrist view identifies this item as a tan teddy bear; its face is just to the right of the jaw column and slightly beyond the fingertips. I’ll shift about 1 cm right and 2.5 cm forward to center the bear before descending.
move_to
left_x0.3180left_y-0.1800left_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]: [-0.8631, 1.2335, 0.7303, -0.3199, -0.6777, -0.5743, 0.9995, -0.0151, 0.7982, 0.6086, -0.3847, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.2933 left_y=-0.1669 left_z=0.1434 left_yaw=-0.0216 left_pitch=-0.0454 left_roll=0.0315 left_gripper=0.9995 right_x=0.295 right_y=0.0011 right_z=0.1799 right_yaw=0.0001 right_pitch=-0.0099 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [0.0068, -4.4376, 9.4838, 1.536, -0.5299, 0.0073, -0.0708, -0.1026, -0.8274, 7.3504, 1.7656, -0.0708, -0.0317, -0.0122] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.318,"left_y":-0.18,"left_z":0.14},"note":"The wrist view identifies this item as a tan teddy bear; its face is just to the right of the jaw column and slightly beyond the fingertips. I’ll shift about 1 cm right and 2.5 cm forward to center the bear before descending."})
tool
executing move_to over 2 steps (0.2s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe teddy bear is now centered between the open jaws in the wrist view. I’ll descend nearly to table level so the fingers straddle its soft body before closing.
move_to
left_x0.3180left_y-0.1800left_z0.0250
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8211, 1.3575, 0.762, -0.2668, -0.6506, -0.5533, 0.9995, -0.0151, 0.7986, 0.6086, -0.3847, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.311 left_y=-0.1718 left_z=0.1225 left_yaw=-0.0079 left_pitch=-0.0876 left_roll=0.0637 left_gripper=0.9995 right_x=0.295 right_y=0.0011 right_z=0.1798 right_yaw=0.0001 right_pitch=-0.0103 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [-0.253, -5.8051, 9.0872, 1.5849, -0.2418, 0.149, -0.0122, -0.0615, -0.8821, 7.0632, 1.7363, -0.022, -0.0513, -0.0122] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.318,"left_y":-0.18,"left_z":0.025},"note":"The teddy bear is now centered between the open jaws in the wrist view. I’ll descend nearly to table level so the fingers straddle its soft body before closing."})
tool
executing move_to over 7 steps (0.7s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe descent stopped at z≈4.8 cm with the bear filling the jaw gap, indicating the fingers have reached its body. I’ll close the gripper around it and then verify the grasp by lifting.
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]: [-0.8211, 1.6375, 0.6037, 0.2504, -0.6628, -0.5667, 0.9995, -0.0154, 0.7998, 0.6086, -0.3855, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.3294 left_y=-0.1891 left_z=0.048 left_yaw=0.0046 left_pitch=-0.0268 left_roll=0.0012 left_gripper=0.9995 right_x=0.295 right_y=0.001 right_z=0.1794 right_yaw=-0.0002 right_pitch=-0.0122 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [-0.2667, -4.0821, 3.0427, 0.7009, -0.1538, 0.0708, -0.0122, -0.1026, -0.8137, 7.0359, 1.7509, -0.022, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The descent stopped at z≈4.8 cm with the bear filling the jaw gap, indicating the fingers have reached its body. I’ll close the gripper around it and then verify the grasp by lifting."})
tool
executing move_to over 10 steps (1.0s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe gripper settled at 0.116 (about 1.1 cm), clearly above the empty-close reading, so the teddy bear is likely held. I’ll lift it well clear of the other objects and confirm that it moves with the arm.
move_to
left_z0.1600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8242, 1.6363, 0.6003, 0.2935, -0.6624, -0.577, 0.1164, -0.0154, 0.7994, 0.6086, -0.3851, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.3324 left_y=-0.194 left_z=0.0538 left_yaw=0.0064 left_pitch=0.0006 left_roll=-0.0377 left_gripper=0.1164 right_x=0.295 right_y=0.001 right_z=0.1796 right_yaw=-0.0002 right_pitch=-0.0115 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [-0.1436, -6.4479, 5.6, 1.0672, -0.3199, 0.0855, 1.0232, -0.0479, -1.265, 7.0769, 1.7265, -0.0024, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.16},"note":"The gripper settled at 0.116 (about 1.1 cm), clearly above the empty-close reading, so the teddy bear is likely held. I’ll lift it well clear of the other objects and confirm that it moves with the arm."})
tool
executing move_to over 7 steps (0.7s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe tan teddy rose with the gripper, confirming the grasp. I’ll use the left basket for teddy bears and carry this one over its center at a height that clears the basket rim.
move_to
left_x0.4700left_y-0.1000left_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]: [-0.8242, 1.4078, 0.8322, -0.2241, -0.6514, -0.5842, 0.119, -0.0154, 0.7998, 0.6086, -0.3851, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.3272 left_y=-0.1906 left_z=0.1386 left_yaw=0.0031 left_pitch=-0.0438 left_roll=-0.0068 left_gripper=0.119 right_x=0.295 right_y=0.001 right_z=0.1794 right_yaw=-0.0002 right_pitch=-0.0118 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [-0.1846, -7.4872, 9.0598, 1.4774, -0.4078, 0.022, 0.8962, -0.1436, -1.2103, 7.0632, 1.707, -0.0317, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.1,"left_z":0.22},"note":"The tan teddy rose with the gripper, confirming the grasp. I’ll use the left basket for teddy bears and carry this one over its center at a height that clears the basket rim."})
tool
executing move_to over 11 steps (1.1s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe held teddy is above the open left basket, and the basket rim is clearly visible around it in the wrist view. I’ll lower the toy inside while keeping the grasp closed.
move_to
left_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]: [-0.3237, 1.6077, 1.2678, -0.3359, -0.2993, -0.2546, 0.1198, -0.0154, 0.8032, 0.6083, -0.3855, -0.0109, -0.0257, 0.9998] state[eef_state]: left_x=0.4607 left_y=-0.0958 left_z=0.2014 left_yaw=0.0479 left_pitch=-0.0775 left_roll=-0.0038 left_gripper=0.1198 right_x=0.2952 right_y=0.0009 right_z=0.1782 right_yaw=-0.0004 right_pitch=-0.016 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [0.1436, -8.335, 9.347, 1.5751, 0.0904, 0.1636, 1.0281, -0.3897, -1.3607, 7.0359, 1.7167, -0.0366, -0.0415, -0.0122] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.14},"note":"The held teddy is above the open left basket, and the basket rim is clearly visible around it in the wrist view. I’ll lower the toy inside while keeping the grasp closed."})
tool
executing move_to over 4 steps (0.4s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe teddy is now lowered within the left basket walls. I’ll open the jaws to release it into the designated teddy basket.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3225, 1.6432, 1.1007, -0.1482, -0.2951, -0.2554, 0.12, -0.0154, 0.8032, 0.6083, -0.3855, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.4578 left_y=-0.0951 left_z=0.1481 left_yaw=0.0464 left_pitch=-0.0924 left_roll=-0.0015 left_gripper=0.12 right_x=0.2952 right_y=0.0009 right_z=0.1782 right_yaw=-0.0006 right_pitch=-0.016 right_roll=-0.001 right_gripper=0.9998 state[joint_eff]: [0.1573, -6.4205, 5.6137, 1.4481, -0.149, -0.022, 0.5348, -0.3897, -1.1829, 7.0632, 1.7021, -0.0415, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The teddy is now lowered within the left basket walls. I’ll open the jaws to release it into the designated teddy basket."})
tool
executing move_to over 9 steps (0.9s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe jaws are fully open and the teddy remains inside the left basket. I’ll retract and park the left arm to uncover the remaining objects for classification.
move_to
left_x0.2960left_y0.0020left_z0.1840
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]: [-0.3241, 1.644, 1.0882, -0.1226, -0.3054, -0.2619, 0.9954, -0.0151, 0.8032, 0.6083, -0.3855, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.4588 left_y=-0.0943 left_z=0.1474 left_yaw=0.0565 left_pitch=-0.0786 left_roll=-0.005 left_gripper=0.9954 right_x=0.2952 right_y=0.001 right_z=0.1782 right_yaw=-0.0002 right_pitch=-0.016 right_roll=-0.001 right_gripper=0.9998 state[joint_eff]: [0.0205, -8.0615, 7.788, 1.4139, -0.0708, -0.0073, -0.149, -0.253, -1.2923, 7.0496, 1.6972, -0.0269, -0.0317, -0.0122] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0.002,"left_z":0.184},"note":"The jaws are fully open and the teddy remains inside the left basket. I’ll retract and park the left arm to uncover the remaining objects for classification."})
tool
executing move_to over 13 steps (1.3s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteWith the arm retracted, the first tan teddy is visibly resting within the front-right portion of the left basket. Several plushes remain below it; I’ll inspect the isolated pale, shaggy object at the lower-left of the cluster to determine the second category.
move_to
left_x0.2900left_y-0.1000left_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]: [-0.0799, 0.886, 0.7074, -0.4301, -0.1349, -0.1345, 0.9967, -0.0151, 0.8078, 0.6079, -0.3855, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.3072 left_y=0.0028 left_z=0.192 left_yaw=0.0889 left_pitch=-0.0392 left_roll=-0.0189 left_gripper=0.9967 right_x=0.2954 right_y=0.001 right_z=0.1768 right_yaw=-0.0002 right_pitch=-0.021 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [0.0068, -1.3197, 6.694, 1.7656, -0.0171, 0.1245, 0.1148, -0.0615, -1.7299, 7.2137, 1.7509, -0.0415, -0.0562, -0.0171] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":-0.1,"left_z":0.16},"note":"With the arm retracted, the first tan teddy is visibly resting within the front-right portion of the left basket. Several plushes remain below it; I’ll inspect the isolated pale, shaggy object at the lower-left of the cluster to determine the second category."})
tool
executing move_to over 10 steps (1.0s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe wrist view reveals another tan teddy bear directly on the jaw column; its torso is between the open fingers. I’ll descend onto the torso to grasp this second member of the teddy category.
move_to
left_z0.0400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6617, 1.0149, 0.667, -0.4217, -0.5484, -0.4885, 0.9968, -0.0154, 0.8082, 0.6075, -0.3855, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.2877 left_y=-0.1028 left_z=0.1556 left_yaw=0.0372 left_pitch=-0.0727 left_roll=-0.0023 left_gripper=0.9968 right_x=0.2954 right_y=0.0009 right_z=0.1765 right_yaw=-0.0002 right_pitch=-0.0217 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.0342, -2.8239, 6.7487, 1.7167, -0.4176, -0.0806, -0.0073, -0.2667, -1.2239, 7.2957, 1.7216, -0.0269, -0.0415, -0.0122] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.04},"note":"The wrist view reveals another tan teddy bear directly on the jaw column; its torso is between the open fingers. I’ll descend onto the torso to grasp this second member of the teddy category."})
tool
executing move_to over 8 steps (0.8s)
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 noteAt table height the second teddy’s torso spans the gap between the fingertips. I’ll close around it and check the settled opening before lifting.
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]: [-0.6624, 1.2713, 0.3199, 0.1078, -0.5533, -0.4892, 0.9968, -0.0151, 0.8082, 0.6075, -0.3859, -0.0101, -0.0261, 0.9998] state[eef_state]: left_x=0.2799 left_y=-0.096 left_z=0.0351 left_yaw=0.0454 left_pitch=-0.1268 left_roll=0.0479 left_gripper=0.9968 right_x=0.2953 right_y=0.0009 right_z=0.1765 right_yaw=-0.0005 right_pitch=-0.0221 right_roll=-0.0011 right_gripper=0.9998 state[joint_eff]: [-0.0205, -4.1231, 5.1897, 1.5018, -0.1392, -0.1392, -0.0073, -0.1983, -1.265, 7.0359, 1.6825, -0.0171, -0.0562, -0.0122] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At table height the second teddy’s torso spans the gap between the fingertips. I’ll close around it and check the settled opening before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteThe close settled at 0.034, right at the empty threshold, so the grip may only have caught fur. I’ll perform a short verification lift rather than transporting an uncertain grasp.
move_to
left_z0.1100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6624, 1.2808, 0.3046, 0.1188, -0.5537, -0.4889, 0.0342, -0.0151, 0.8097, 0.6075, -0.3851, -0.0105, -0.0257, 0.9998] state[eef_state]: left_x=0.2767 left_y=-0.0935 left_z=0.0292 left_yaw=0.0466 left_pitch=-0.1371 left_roll=0.0575 left_gripper=0.0342 right_x=0.2955 right_y=0.001 right_z=0.1762 right_yaw=-0.0004 right_pitch=-0.0229 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.1299, -4.1094, 6.612, 1.3162, -0.2222, -0.0659, 0.7009, -0.0615, -1.306, 6.9949, 1.7607, -0.0366, -0.0366, -0.0122] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.11},"note":"The close settled at 0.034, right at the empty threshold, so the grip may only have caught fur. I’ll perform a short verification lift rather than transporting an uncertain grasp."})
tool
executing move_to over 6 steps (0.6s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe teddy rose upright with the hand, confirming that the borderline reading is a valid grasp through its thin plush body. I’ll carry it above the left basket, which already contains the first teddy.
move_to
left_x0.4600left_y-0.1000left_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]: [-0.6624, 1.0698, 0.503, -0.2871, -0.5461, -0.4908, 0.0415, -0.0151, 0.812, 0.6075, -0.3859, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.2773 left_y=-0.0954 left_z=0.0961 left_yaw=0.0417 left_pitch=-0.1382 left_roll=0.0493 left_gripper=0.0415 right_x=0.2956 right_y=0.001 right_z=0.1754 right_yaw=-0.0002 right_pitch=-0.0259 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [-0.0068, -3.8359, 8.9504, 1.4432, -0.3736, 0.0122, 1.0281, -0.2393, -1.5111, 7.0496, 1.7753, -0.022, -0.0269, -0.0122] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.1,"left_z":0.22},"note":"The teddy rose upright with the hand, confirming that the borderline reading is a valid grasp through its thin plush body. I’ll carry it above the left basket, which already contains the first teddy."})
tool
executing move_to over 15 steps (1.5s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe overhead view shows the held teddy hanging to the right of the left basket’s center, so releasing now could spill it outside. I’ll shift the grasp point about 8 cm leftward to center the toy over the basket interior.
move_to
left_x0.4600left_y-0.0200left_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]: [-0.3462, 1.6424, 1.3693, -0.5385, -0.3233, -0.2611, 0.0476, -0.0151, 0.8158, 0.6075, -0.3923, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.4479 left_y=-0.0981 left_z=0.1948 left_yaw=0.0558 left_pitch=-0.1971 left_roll=0.0581 left_gripper=0.0476 right_x=0.2949 right_y=0.001 right_z=0.173 right_yaw=-0.0002 right_pitch=-0.0362 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [0.294, -9.0598, 9.3607, 1.6044, -0.1636, 0.1197, 1.033, -0.1846, -1.6342, 7.0359, 1.7509, -0.0024, -0.0366, -0.0122] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.02,"left_z":0.22},"note":"The overhead view shows the held teddy hanging to the right of the left basket’s center, so releasing now could spill it outside. I’ll shift the grasp point about 8 cm leftward to center the toy over the basket interior."})
tool
executing move_to over 7 steps (0.7s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteThe grasp point is now over the basket, but the large teddy still extends toward the right rim. I’ll make a final 5 cm leftward adjustment and lower it inside so its center of mass drops into the basket rather than across the edge.
move_to
left_y0.0300left_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]: [-0.128, 1.655, 1.3918, -0.5873, -0.173, -0.1246, 0.0476, -0.0154, 0.8165, 0.6067, -0.3923, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.4561 left_y=-0.0244 left_z=0.1859 left_yaw=0.0751 left_pitch=-0.2724 left_roll=0.0591 left_gripper=0.0476 right_x=0.2949 right_y=0.0009 right_z=0.1725 right_yaw=-0.0005 right_pitch=-0.0378 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [0.2667, -11.3709, 10.3316, 1.5995, -0.2271, 0.1148, 1.0281, -0.1573, -1.4701, 7.0906, 1.7167, -0.0171, -0.0171, -0.0122] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":0.03,"left_z":0.16},"note":"The grasp point is now over the basket, but the large teddy still extends toward the right rim. I’ll make a final 5 cm leftward adjustment and lower it inside so its center of mass drops into the basket rather than across the edge."})
tool
executing move_to over 5 steps (0.5s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteThe teddy’s lower body is now within the basket but still near the inner right wall. I’ll use the remaining safe leftward travel and lower slightly more before releasing.
move_to
left_y0.0500left_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]: [0.0116, 1.6535, 1.2957, -0.5068, -0.0677, -0.0338, 0.0476, -0.0151, 0.8185, 0.6067, -0.3927, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.452 left_y=0.0208 left_z=0.1582 left_yaw=0.0726 left_pitch=-0.2999 left_roll=0.0413 left_gripper=0.0476 right_x=0.2949 right_y=0.001 right_z=0.1719 right_yaw=-0.0002 right_pitch=-0.0401 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [0.5949, -8.3487, 6.4205, 1.6093, -0.2418, 0.0513, 1.0281, -0.1299, -1.306, 7.0359, 1.7118, -0.022, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":0.05,"left_z":0.14},"note":"The teddy’s lower body is now within the basket but still near the inner right wall. I’ll use the remaining safe leftward travel and lower slightly more before releasing."})
tool
executing move_to over 3 steps (0.3s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe teddy’s lower body is inside the left basket and supported below the rim. I’ll open the gripper now so it settles into the teddy basket.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0238, 1.6535, 1.2842, -0.4992, -0.0475, -0.0143, 0.0476, -0.0151, 0.8185, 0.6067, -0.3923, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.4508 left_y=0.0227 left_z=0.1546 left_yaw=0.0561 left_pitch=-0.3049 left_roll=0.0386 left_gripper=0.0476 right_x=0.295 right_y=0.001 right_z=0.1719 right_yaw=-0.0002 right_pitch=-0.0397 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [0.5402, -8.3214, 6.6667, 1.7411, -0.2857, 0.0611, 1.0281, -0.1162, -1.4017, 7.0496, 1.7167, -0.0562, -0.0366, -0.0122] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The teddy’s lower body is inside the left basket and supported below the rim. I’ll open the gripper now so it settles into the teddy basket."})
tool
executing move_to over 10 steps (1.0s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe teddy settled just outside the basket because this grasp was on one leg, leaving its body offset to the right even though the hand was centered. I’ll retract to reassess and regrasp the toy around its torso so its center of mass aligns with the basket.
move_to
left_x0.2960left_y0.0020left_z0.1840
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]: [0.0238, 1.6535, 1.2823, -0.5037, -0.0509, -0.0181, 0.9953, -0.0151, 0.8185, 0.6067, -0.3923, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.4495 left_y=0.0233 left_z=0.1531 left_yaw=0.0614 left_pitch=-0.3112 left_roll=0.039 left_gripper=0.9953 right_x=0.295 right_y=0.001 right_z=0.1719 right_yaw=-0.0002 right_pitch=-0.0397 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.0068, -8.1299, 6.8855, 1.4286, -0.0171, 0.0855, -0.0415, -0.1162, -1.3197, 7.0769, 1.7216, -0.0122, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0.002,"left_z":0.184},"note":"The teddy settled just outside the basket because this grasp was on one leg, leaving its body offset to the right even though the hand was centered. I’ll retract to reassess and regrasp the toy around its torso so its center of mass aligns with the basket."})
tool
executing move_to over 12 steps (1.2s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteWith the view clear, the two classes are teddy bears and elephants; a gray elephant and a small brown teddy are visible below two larger beige teddies. I’ll approach the torso of the beige teddy closest to the left basket for a centered regrasp.
move_to
left_x0.4100left_y-0.0700left_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]: [-0.0685, 1.0798, 0.9493, -0.7273, -0.0978, -0.083, 0.9966, -0.0151, 0.8211, 0.6067, -0.3923, -0.0101, -0.0261, 0.9998] state[eef_state]: left_x=0.3078 left_y=-0.0002 left_z=0.1866 left_yaw=0.0463 left_pitch=-0.2898 left_roll=0.0309 left_gripper=0.9966 right_x=0.2951 right_y=0.0009 right_z=0.1712 right_yaw=-0.0005 right_pitch=-0.0424 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-0.1709, -3.2205, 6.2017, 1.5507, -0.1832, -0.0073, 0.1294, -0.3077, -1.4701, 7.0359, 1.7558, -0.0366, -0.0806, -0.0122] camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.07,"left_z":0.16},"note":"With the view clear, the two classes are teddy bears and elephants; a gray elephant and a small brown teddy are visible below two larger beige teddies. I’ll approach the torso of the beige teddy closest to the left basket for a centered regrasp."})
tool
executing move_to over 8 steps (0.8s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteThe beige teddy’s torso fills the wrist view but is slightly right of the jaw column and beyond the fingertips. I’ll shift a couple of centimetres right/forward while descending to straddle its torso rather than a limb.
move_to
left_x0.4200left_y-0.0900left_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]: [-0.2684, 1.5146, 1.1362, -0.564, -0.2104, -0.2337, 0.9968, -0.0151, 0.8249, 0.6067, -0.3927, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.3943 left_y=-0.0664 left_z=0.1445 left_yaw=0.0357 left_pitch=-0.3506 left_roll=0.0395 left_gripper=0.9968 right_x=0.2953 right_y=0.001 right_z=0.1701 right_yaw=-0.0002 right_pitch=-0.0465 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.2667, -7.4325, 8.9641, 1.2674, -0.2759, 0.0659, 0.0024, -0.1983, -1.6889, 7.0359, 1.6777, -0.0317, -0.022, -0.0122] camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.09,"left_z":0.055},"note":"The beige teddy’s torso fills the wrist view but is slightly right of the jaw column and beyond the fingertips. I’ll shift a couple of centimetres right/forward while descending to straddle its torso rather than a limb."})
tool
executing move_to over 6 steps (0.6s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent noteThe teddy’s broad torso is now centered between both fingertips at z≈5.5 cm. I’ll close for a balanced body grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3115, 1.7241, 1.0164, -0.2947, -0.2306, -0.2672, 0.9968, -0.0151, 0.8249, 0.6067, -0.3931, -0.0105, -0.0257, 0.9998] state[eef_state]: left_x=0.4093 left_y=-0.0856 left_z=0.0554 left_yaw=0.0371 left_pitch=-0.401 left_roll=0.0559 left_gripper=0.9968 right_x=0.2952 right_y=0.001 right_z=0.17 right_yaw=-0.0004 right_pitch=-0.0469 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.6496, -7.8838, 5.5453, 1.3993, -0.2222, -0.0757, -0.0122, -0.0752, -1.3744, 7.0496, 1.7021, -0.0415, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The teddy’s broad torso is now centered between both fingertips at z≈5.5 cm. I’ll close for a balanced body grasp."})
tool
executing move_to over 10 steps (1.0s)
step 189
top_cam
camera top_cam step 189
left_cam
camera left_cam step 189
right_cam
camera right_cam step 189
assistant
agent noteThe gripper closed to 0.015 and the wrist view shows the fingertips met between the teddy’s legs, so this was empty. I’ll reopen and advance about 3.5 cm toward the torso before retrying.
move_to
left_gripper1.0000left_x0.4400left_z0.0800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3145, 1.7485, 1.0058, -0.2943, -0.2317, -0.2699, 0.0153, -0.0154, 0.8249, 0.6067, -0.3923, -0.0109, -0.0257, 0.9998] state[eef_state]: left_x=0.4043 left_y=-0.0851 left_z=0.0421 left_yaw=0.0419 left_pitch=-0.4331 left_roll=0.0683 left_gripper=0.0153 right_x=0.2954 right_y=0.0009 right_z=0.1702 right_yaw=-0.0004 right_pitch=-0.0462 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [0.1983, -10.0991, 6.8991, 1.2381, -0.105, 0.0366, 0.6618, -0.1026, -1.2786, 7.0085, 1.707, -0.0317, -0.0415, -0.0122] camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0,"left_x":0.44,"left_z":0.08},"note":"The gripper closed to 0.015 and the wrist view shows the fingertips met between the teddy’s legs, so this was empty. I’ll reopen and advance about 3.5 cm toward the torso before retrying."})
tool
executing move_to over 10 steps (1.0s)
step 199
top_cam
camera top_cam step 199
left_cam
camera left_cam step 199
right_cam
camera right_cam step 199
assistant
agent noteAfter advancing, the teddy’s abdomen now spans the full gap between the open fingers rather than sitting beyond them. I’ll lower slightly and close around this broad section.
move_to
left_z0.0400left_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]: [-0.2852, 1.8015, 1.2106, -0.4519, -0.2253, -0.2596, 0.9953, -0.0151, 0.8249, 0.6067, -0.3927, -0.0105, -0.0257, 0.9998] state[eef_state]: left_x=0.4337 left_y=-0.0823 left_z=0.0732 left_yaw=0.0604 left_pitch=-0.4408 left_roll=0.0709 left_gripper=0.9953 right_x=0.2953 right_y=0.001 right_z=0.1701 right_yaw=-0.0004 right_pitch=-0.0465 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [0.2393, -8.3897, 8.5402, 1.2088, -0.0659, 0.1001, -0.0562, -0.2256, -1.347, 7.0359, 1.6825, -0.0171, -0.0073, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.04,"left_gripper":0.0},"note":"After advancing, the teddy’s abdomen now spans the full gap between the open fingers rather than sitting beyond them. I’ll lower slightly and close around this broad section."})
tool
executing move_to over 10 steps (1.0s)
step 209
assistant
agent noteThe second close again reached 0.012; the finger tips are still meeting at the crotch while the torso remains farther forward. I’ll reopen and move another 3.5 cm forward, staying within table-contact reach, to put the grasp point under the abdomen.
move_to
left_gripper1.0000left_x0.4700left_z0.0800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2829, 1.8442, 1.1458, -0.345, -0.2256, -0.2626, 0.0123, -0.0151, 0.8249, 0.6067, -0.3923, -0.0101, -0.0261, 0.9998] state[eef_state]: left_x=0.4339 left_y=-0.0812 left_z=0.0454 left_yaw=0.065 left_pitch=-0.4413 left_roll=0.0697 left_gripper=0.0123 right_x=0.2954 right_y=0.0009 right_z=0.1702 right_yaw=-0.0005 right_pitch=-0.0462 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-0.335, -8.1436, 5.1077, 1.4139, -0.1245, 0.0171, 1.0476, -0.1983, -1.4427, 7.2, 1.7167, -0.022, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0,"left_x":0.47,"left_z":0.08},"note":"The second close again reached 0.012; the finger tips are still meeting at the crotch while the torso remains farther forward. I’ll reopen and move another 3.5 cm forward, staying within table-contact reach, to put the grasp point under the abdomen."})
tool
executing move_to over 10 steps (1.0s)
step 219
assistant
agent noteThe additional forward motion has moved the grasp point beneath the teddy’s abdomen; its body now lies squarely across both jaws. I’ll descend to the tabletop and close for the torso grasp.
move_to
left_z0.0350left_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]: [-0.2577, 1.9099, 1.3556, -0.5026, -0.2249, -0.2565, 0.9952, -0.0151, 0.8249, 0.6067, -0.3927, -0.0105, -0.0257, 0.9998] state[eef_state]: left_x=0.4623 left_y=-0.0774 left_z=0.0722 left_yaw=0.088 left_pitch=-0.4544 left_roll=0.0776 left_gripper=0.9952 right_x=0.2953 right_y=0.001 right_z=0.1701 right_yaw=-0.0004 right_pitch=-0.0465 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [0.0342, -9.1556, 8.7726, 1.2674, -0.0122, 0.1148, -0.1734, -0.1162, -1.3607, 7.2821, 1.7021, -0.0317, -0.0269, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.035,"left_gripper":0.0},"note":"The additional forward motion has moved the grasp point beneath the teddy’s abdomen; its body now lies squarely across both jaws. I’ll descend to the tabletop and close for the torso grasp."})
tool
executing move_to over 10 steps (1.0s)
step 229
assistant
agent noteThe opening still reads like an empty close, but the closed fingertips are visibly buried under the plush abdomen, so I’ll make one short lift test to determine whether the fur/body is actually captured.
move_to
left_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]: [-0.2584, 1.943, 1.2873, -0.3771, -0.2256, -0.2626, 0.0121, -0.0154, 0.8249, 0.6067, -0.3927, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.4663 left_y=-0.0787 left_z=0.0482 left_yaw=0.0877 left_pitch=-0.4313 left_roll=0.0657 left_gripper=0.0121 right_x=0.2953 right_y=0.0009 right_z=0.1701 right_yaw=-0.0002 right_pitch=-0.0465 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.0615, -8.4308, 5.1897, 1.116, -0.1099, 0.0562, 1.0623, -0.2393, -1.3333, 7.1726, 1.6874, -0.0317, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.12},"note":"The opening still reads like an empty close, but the closed fingertips are visibly buried under the plush abdomen, so I’ll make one short lift test to determine whether the fur/body is actually captured."})
tool
executing move_to over 5 steps (0.5s)
step 234
assistant
agent noteThe teddy rose with the arm and remains fixed against the jaws, so this is a thin-fur grasp despite the nearly closed reading. Because the torso is now centered, I’ll carry it over the left basket’s center and release at rim height.
move_to
left_x0.4400left_y0.0200left_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]: [-0.2584, 1.9179, 1.4349, -0.6003, -0.2249, -0.2699, 0.0137, -0.0151, 0.8249, 0.6067, -0.3923, -0.0101, -0.0261, 0.9998] state[eef_state]: left_x=0.4636 left_y=-0.0781 left_z=0.0857 left_yaw=0.0998 left_pitch=-0.4784 left_roll=0.0801 left_gripper=0.0137 right_x=0.2954 right_y=0.0009 right_z=0.1702 right_yaw=-0.0005 right_pitch=-0.0462 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-0.2393, -13.8462, 9.0462, 1.3114, -0.1978, 0.0464, 0.7741, -0.1983, -1.2923, 7.1316, 1.7411, -0.0415, -0.0366, -0.0122] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":0.02,"left_z":0.22},"note":"The teddy rose with the arm and remains fixed against the jaws, so this is a thin-fur grasp despite the nearly closed reading. Because the torso is now centered, I’ll carry it over the left basket’s center and release at rim height."})
tool
executing move_to over 9 steps (0.9s)
step 243
assistant
agent noteThe overhead view confirms one teddy is moving with the arm while the other remains outside; the held teddy’s center now overlaps the left basket interior. I’ll shift to the left limit and lower it so the torso is supported inside before release.
move_to
left_y0.0500left_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]: [-0.0124, 1.8034, 1.7271, -0.9977, -0.1211, -0.0917, 0.0163, -0.0151, 0.8249, 0.6067, -0.3927, -0.0109, -0.0265, 0.9998] state[eef_state]: left_x=0.4469 left_y=0.0194 left_z=0.1944 left_yaw=0.1409 left_pitch=-0.5013 left_roll=0.0772 left_gripper=0.0163 right_x=0.2953 right_y=0.0011 right_z=0.1701 right_yaw=0.0004 right_pitch=-0.0465 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [0.1026, -11.7128, 8.8137, 1.2039, 0.0562, 0.2027, 0.9744, -0.0479, -1.265, 7.0359, 1.707, -0.0415, -0.0806, -0.0122] camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":0.05,"left_z":0.14},"note":"The overhead view confirms one teddy is moving with the arm while the other remains outside; the held teddy’s center now overlaps the left basket interior. I’ll shift to the left limit and lower it so the torso is supported inside before release."})
tool
executing move_to over 4 steps (0.4s)
step 247
assistant
agent noteThe held teddy is lowered against the basket floor/wall and its grasp point is at the safe leftward limit. I’ll open the jaws and let it settle into the left basket.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0647, 1.8004, 1.5108, -0.8555, -0.0956, -0.041, 0.0182, -0.0151, 0.8257, 0.6067, -0.392, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.4313 left_y=0.0484 left_z=0.1328 left_yaw=0.1669 left_pitch=-0.5772 left_roll=0.0881 left_gripper=0.0182 right_x=0.2955 right_y=0.0011 right_z=0.17 right_yaw=0.0002 right_pitch=-0.0465 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.1436, -9.5111, 7.5419, 1.37, 0.0806, 0.0855, 0.5397, -0.1709, -1.2103, 7.3094, 1.7558, -0.0317, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The held teddy is lowered against the basket floor/wall and its grasp point is at the safe leftward limit. I’ll open the jaws and let it settle into the left basket."})
tool
executing move_to over 10 steps (1.0s)
step 257
assistant
agent noteThe left basket is tipped on its side with its opening facing the teddy pile, so top-release attempts leave toys at the mouth rather than inside. I’ll place the closed gripper to the right of the beige teddies and use a controlled low lateral sweep to push them through the side opening without disturbing the lower elephant group.
move_to
left_x0.4300left_y-0.1800left_z0.1200left_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]: [0.0727, 1.8046, 1.4918, -0.791, -0.0883, -0.0296, 0.9955, -0.0151, 0.8261, 0.6067, -0.3923, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.4409 left_y=0.0513 left_z=0.131 left_yaw=0.1582 left_pitch=-0.5374 left_roll=0.0817 left_gripper=0.9955 right_x=0.2954 right_y=0.0011 right_z=0.1698 right_yaw=0.0002 right_pitch=-0.0473 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.1573, -10.1402, 7.0632, 1.2674, -0.0171, 0.0757, -0.2369, -0.1846, -1.4291, 7.0359, 1.7656, -0.0171, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.18,"left_z":0.12,"left_gripper":0.0},"note":"The left basket is tipped on its side with its opening facing the teddy pile, so top-release attempts leave toys at the mouth rather than inside. I’ll place the closed gripper to the right of the beige teddies and use a controlled low lateral sweep to push them through the side opening without disturbing the lower elephant group."})
tool
executing move_to over 21 steps (2.1s)
step 278
assistant
agent noteThe closed gripper is now immediately to the right of the beige teddy’s body, as confirmed by the wrist view, with the elephant group farther toward the base. I’ll lower to mid-body height before sweeping left.
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]: [-0.5194, 1.9884, 1.6867, -0.9314, -0.3088, -0.572, 0.012, -0.0151, 0.8276, 0.6067, -0.3923, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.4258 left_y=-0.1775 left_z=0.113 left_yaw=0.1384 left_pitch=-0.5582 left_roll=0.0779 left_gripper=0.012 right_x=0.2955 right_y=0.0011 right_z=0.1694 right_yaw=0.0002 right_pitch=-0.0488 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.2256, -9.935, 8.7043, 0.6764, -0.3834, 0.0757, 0.6129, -0.0205, -1.5795, 7.2, 1.7265, -0.0317, -0.0366, -0.0122] camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.055},"note":"The closed gripper is now immediately to the right of the beige teddy’s body, as confirmed by the wrist view, with the elephant group farther toward the base. I’ll lower to mid-body height before sweeping left."})
tool
executing move_to over 4 steps (0.4s)
step 282
assistant
agent noteAt z≈5.8 cm the gripper contacts the teddy’s thick body rather than riding over it. I’ll sweep left toward the basket opening, stopping at the workspace limit.
move_to
left_y0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5201, 2.0193, 1.523, -0.7807, -0.3111, -0.5835, 0.0128, -0.0154, 0.8284, 0.6067, -0.3923, -0.0105, -0.0257, 0.9998] state[eef_state]: left_x=0.4169 left_y=-0.1723 left_z=0.0581 left_yaw=0.1643 left_pitch=-0.5906 left_roll=0.1067 left_gripper=0.0128 right_x=0.2956 right_y=0.0009 right_z=0.1692 right_yaw=-0.0007 right_pitch=-0.0496 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [0.1983, -10.5778, 6.3111, 1.072, -0.1783, 0.105, 1.0281, -0.0615, -1.1282, 7.0085, 1.7118, -0.0122, -0.0317, -0.0122] camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":0.05},"note":"At z≈5.8 cm the gripper contacts the teddy’s thick body rather than riding over it. I’ll sweep left toward the basket opening, stopping at the workspace limit."})
tool
executing move_to over 20 steps (2.0s)
step 302
assistant
agent noteThe sweep carried the hand into the tipped basket cavity and moved the beige teddies into/against its opening; their raised heads still project outside in the oblique view. I’ll retract to expose the lower cluster and begin moving the elephant class to the upright right basket.
move_to
left_x0.2960left_y0.0020left_z0.1840left_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]: [0.0574, 1.8454, 1.232, -0.598, -0.1215, -0.0677, 0.0128, -0.0147, 0.8314, 0.6067, -0.3923, -0.0101, -0.0261, 0.9998] state[eef_state]: left_x=0.4106 left_y=0.0486 left_z=0.0445 left_yaw=0.2093 left_pitch=-0.6384 left_roll=0.1145 left_gripper=0.0128 right_x=0.2957 right_y=0.001 right_z=0.1684 right_yaw=-0.0001 right_pitch=-0.0527 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [0.1299, -11.7949, 5.7368, 1.1258, 0.1148, 0.1294, 1.0427, -0.2803, -1.6752, 7.2684, 1.7363, -0.0464, -0.0171, -0.0122] camera 'top_cam' (step 302): [image omitted: streamed camera frame] camera 'left_cam' (step 302): [image omitted: streamed camera frame] camera 'right_cam' (step 302): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0.002,"left_z":0.184,"left_gripper":1.0},"note":"The sweep carried the hand into the tipped basket cavity and moved the beige teddies into/against its opening; their raised heads still project outside in the oblique view. I’ll retract to expose the lower cluster and begin moving the elephant class to the upright right basket."})
tool
executing move_to over 10 steps (1.0s)
step 312
assistant
agent noteThe cleared wrist view shows a gray elephant on the left and a brown teddy on the right, confirming the remaining classifications. I’ll align over the gray elephant, shifting left and forward toward its body.
move_to
left_x0.3400left_y0.0400left_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]: [-0.1116, 1.3624, 1.2186, -1.0443, -0.1741, -0.2111, 0.9953, -0.0147, 0.836, 0.6067, -0.3923, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.3094 left_y=-0.0003 left_z=0.1683 left_yaw=0.1829 left_pitch=-0.5957 left_roll=0.0996 left_gripper=0.9953 right_x=0.296 right_y=0.0011 right_z=0.1671 right_yaw=0.0002 right_pitch=-0.0572 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.2393, -6.1744, 8.4855, 0.8718, -0.2076, 0.0806, -0.0122, -0.1573, -1.6615, 7.0496, 1.6874, -0.0171, -0.0269, -0.0122] camera 'top_cam' (step 312): [image omitted: streamed camera frame] camera 'left_cam' (step 312): [image omitted: streamed camera frame] camera 'right_cam' (step 312): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":0.04,"left_z":0.14},"note":"The cleared wrist view shows a gray elephant on the left and a brown teddy on the right, confirming the remaining classifications. I’ll align over the gray elephant, shifting left and forward toward its body."})
tool
executing move_to over 4 steps (0.4s)
step 316
assistant
agent noteThe elephant’s torso is just left of the jaw column, but the open left finger already straddles its outer side. I’ll move to the left limit, advance a few centimetres, and descend so the jaws close across its body.
move_to
left_x0.3650left_y0.0500left_z0.0400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0372, 1.4708, 1.1942, -0.9527, -0.1333, -0.1158, 0.9966, -0.0147, 0.8379, 0.6067, -0.3931, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.3265 left_y=0.0392 left_z=0.1346 left_yaw=0.2355 left_pitch=-0.6509 left_roll=0.1106 left_gripper=0.9966 right_x=0.296 right_y=0.0011 right_z=0.1664 right_yaw=0.0002 right_pitch=-0.0599 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [0.1846, -7.0496, 6.1607, 1.0525, -0.0904, 0.1685, 0.1343, -0.1983, -1.5111, 7.3368, 1.7118, -0.022, -0.0611, -0.0122] camera 'top_cam' (step 316): [image omitted: streamed camera frame] camera 'left_cam' (step 316): [image omitted: streamed camera frame] camera 'right_cam' (step 316): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":0.05,"left_z":0.04},"note":"The elephant’s torso is just left of the jaw column, but the open left finger already straddles its outer side. I’ll move to the left limit, advance a few centimetres, and descend so the jaws close across its body."})
tool
executing move_to over 7 steps (0.7s)
step 323
assistant
agent noteThe attempted descent stopped at z≈11.4 cm while the jaw center lies over the elephant’s torso, indicating contact with the thick plush. I’ll close around it from this height and verify by the opening and lift.
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]: [0.0353, 1.4662, 1.1023, -0.8467, -0.1341, -0.1127, 0.9968, -0.0147, 0.8379, 0.6067, -0.3923, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.3279 left_y=0.0388 left_z=0.1142 left_yaw=0.2297 left_pitch=-0.6327 left_roll=0.1083 left_gripper=0.9968 right_x=0.2961 right_y=0.0011 right_z=0.1666 right_yaw=0.0002 right_pitch=-0.0591 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.1026, -6.9402, 6.6256, 1.033, -0.2125, -0.0171, 0.0024, -0.1983, -1.5521, 7.3504, 1.7265, -0.0366, -0.0464, -0.0122] camera 'top_cam' (step 323): [image omitted: streamed camera frame] camera 'left_cam' (step 323): [image omitted: streamed camera frame] camera 'right_cam' (step 323): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The attempted descent stopped at z≈11.4 cm while the jaw center lies over the elephant’s torso, indicating contact with the thick plush. I’ll close around it from this height and verify by the opening and lift."})
tool
executing move_to over 10 steps (1.0s)
step 333
assistant
agent noteThe close landed in the gap between the elephant and brown teddy, so it was empty. I’ll reopen at the leftmost reachable point and rotate the jaws 90°; this lets their radial closing axis catch the elephant’s near-side torso despite the tight fence-side limit.
move_to
left_x0.3100left_y0.0500left_z0.0700left_yaw1.5700left_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]: [0.0334, 1.4624, 1.0695, -0.8173, -0.1337, -0.1165, 0.012, -0.0147, 0.8379, 0.6067, -0.3923, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.3261 left_y=0.038 left_z=0.1068 left_yaw=0.2298 left_pitch=-0.6321 left_roll=0.1061 left_gripper=0.012 right_x=0.2961 right_y=0.0012 right_z=0.1666 right_yaw=0.0006 right_pitch=-0.0591 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.212, -7.6786, 6.0786, 1.0281, -0.1587, 0.0171, 1.0818, -0.0615, -1.5111, 7.0632, 1.7265, -0.0317, -0.022, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). 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":{"left_x":0.31,"left_y":0.05,"left_z":0.07,"left_yaw":1.57,"left_gripper":1.0},"note":"The close landed in the gap between the elephant and brown teddy, so it was empty. I’ll reopen at the leftmost reachable point and rotate the jaws 90°; this lets their radial closing axis catch the elephant’s near-side torso despite the tight fence-side limit."})
tool
executing move_to over 10 steps (1.0s)
step 343
assistant
agent noteWith the jaws rotated, the gray elephant’s torso now fills the gap between both fingertips at table height. 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]: [-0.0814, 1.8034, 1.2812, -1.0863, -0.3935, -1.4338, 0.995, -0.0147, 0.8383, 0.6067, -0.3931, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.3189 left_y=0.0455 left_z=0.0658 left_yaw=1.4058 left_pitch=-0.6214 left_roll=0.1139 left_gripper=0.995 right_x=0.296 right_y=0.0011 right_z=0.1663 right_yaw=0.0002 right_pitch=-0.0603 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [0.4308, -8.0479, 7.3368, -0.0952, -0.4078, -0.0464, 0.1978, -0.1573, -0.9504, 7.0222, 1.707, -0.0317, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 343): [image omitted: streamed camera frame] camera 'left_cam' (step 343): [image omitted: streamed camera frame] camera 'right_cam' (step 343): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"With the jaws rotated, the gray elephant’s torso now fills the gap between both fingertips at table height. I’ll close around its body."})
tool
executing move_to over 10 steps (1.0s)
step 353
assistant
agent noteThe gripper is nearly closed but visibly buried in the elephant’s dense fur, similar to the earlier thin-fur teddy grasp. I’ll lift and carry it directly above the upright right basket, using the overhead view to verify that the elephant moves with the arm.
move_to
left_x0.4500left_y-0.2800left_z0.2200left_yaw1.5700
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]: [-0.0952, 1.8252, 1.2804, -1.0794, -0.3973, -1.4479, 0.0126, -0.0143, 0.8379, 0.6067, -0.3927, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.3198 left_y=0.0417 left_z=0.0594 left_yaw=1.4124 left_pitch=-0.6177 left_roll=0.1268 left_gripper=0.0126 right_x=0.296 right_y=0.0012 right_z=0.1665 right_yaw=0.0006 right_pitch=-0.0595 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [0.1026, -10.1128, 5.135, 0.1441, -0.4615, -0.0269, 1.033, -0.0752, -1.3607, 7.0359, 1.7216, -0.0366, -0.0562, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 353): [image omitted: streamed camera frame] camera 'left_cam' (step 353): [image omitted: streamed camera frame] camera 'right_cam' (step 353): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.28,"left_z":0.22,"left_yaw":1.57},"note":"The gripper is nearly closed but visibly buried in the elephant’s dense fur, similar to the earlier thin-fur teddy grasp. I’ll lift and carry it directly above the upright right basket, using the overhead view to verify that the elephant moves with the arm."})
tool
executing move_to over 29 steps (2.9s)
step 382
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]: [-0.5789, 2.3024, 2.0621, -1.557, -0.3096, -2.0495, 0.0128, -0.0147, 0.8383, 0.6067, -0.3927, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.3619 left_y=-0.168 left_z=0.0764 left_yaw=1.4718 left_pitch=-0.6312 left_roll=0.0808 left_gripper=0.0128 right_x=0.296 right_y=0.0011 right_z=0.1664 right_yaw=0.0002 right_pitch=-0.0599 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [0.212, -10.5231, 7.8154, -0.3248, -0.1392, -0.5201, 1.0379, -0.1299, -1.347, 7.0359, 1.6777, -0.0415, 0.0024, -0.0171] camera 'top_cam' (step 382): [image omitted: streamed camera frame] camera 'left_cam' (step 382): [image omitted: streamed camera frame] camera 'right_cam' (step 382): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 10.25 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
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{
  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
    }
  ],
  "role": "user"
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  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6155, -0.3798, -0.0219, -0.033, 0.9996, -0.0154, 0.7967, 0.6109, -0.3786, -0.0116, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.184 left_yaw=-0.0001 left_pitch=0.0004 left_roll=-0.0005 left_gripper=0.9996 right_x=0.296 right_y=0.0011 right_z=0.1827 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.4701, 9.388, 1.7607, -0.0171, 0.1734, -0.0708, -0.7316, -1.4427, 9.7709, 1.746, -0.1245, 0.0855, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1efc0634482ac9814140175de6576ab577a841c66cb7db3b17158b425c14a259",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd57b907e77216a9afe851dc45c5abef3cb8b3b71f19b5c79efdab13c5075107",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d08c3b45f4806f82cc544ff8412d7842669b97bc0300e8984661db3dd7c6aa8e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "text": "",
      "type": "input_text"
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  "role": "user"
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call 1 attempt 0 · /responses · status 200 · 6.638 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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  "id": "rs_01f1f8fcc073e07b016ab453d2cb5c87d09ae617a1518fce67",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFPb00ctiOWSe_FRnqgPyoxdNwATUKFeMxhtofqXJsH93JJb1bOIeNuJ0aBNBgXpQ1YjWSW3zUEhP42SM8EaKNRInk_ulgFV0a2vSXPW6LjJBd1RaGus7uba5rhfEISpeZwQraFVK9WN_mUAjoPM8uQ9Fxov16t8XRfJ8hqLb_P5MH5KitN8UT9FPKyG8u-9Xn88kgqQtUVCLCTIb0osjvKdgAkuYGH5saXpk913kCo-ToGL1jZ3inceZBVOQ47iOgg2H2M-YrlVuH8NPhqtzMkoITmwYm2a7KF9VpMLS9suoNPVTnvvnTf-sNkdPspQnMsHJlDg_2Us7z78lZftzq_6GEO8AeErOps_QdPSFlMMtg4gR2Iur6ps0cXodd9rRhD6lqE4rBc8Sp3S0ZQb6yteABCeo859Iai9V4UoAx-BTH7kxuzmwH6JCTAzLfd6PlzvbPZ1UEjLgv4VpfNYWoK_E4QfBsovIVEHKshOuCdlC8GRkkUJYZSJJs7RIWDC8OOwMPBwHSkg4Sk_zRKvw3sIAm1jbo4w7G9sCu6LVOWojg4hWAlhh5QIRQmA70XxMScFHWspm4fi6L8BgevmrZbmL3c7awnjjLVs95c_iQ1hpr149vfKaO_9i97699tPRQpk-KYYoc9Rlvu8e3qcY0PCkg-GUDxLVh8haSmdajaCqfAtSRpnoL9aE8rjAbCe3_XX0cXBQVKCfgAVy1c8jQd_X6jqRgRbjRVG4vluZ68vNTYOIJ0JO6_JZ17jszrs9cz6N11E4tYwbPBx_y_6Ke4zy2zLpor9O_y_Yk3TH8IC51Qjc_vOyd_f82C_Fw2xfk-26JcRYQevoFIClPUpMZxFZulS6gb_1t-3rT3oRbBsdESGRs6_7swQo6-m4IGxWDPHHMxLhZiIdBgrHemaMNYpiwiR2lzGHq3Y0JTEyKusEfwMzy6t6AJaFfpg8Ouhe_ySGn8B9Y9HpUzZPL6zdxuH7cJPmr5AAN4rxUwJA_x4rH0SG8HgTMISe692LcCBlLYKI1XuXV_utdp2F1JSFxZ4Df9vQUmrofN-uJRaR41XLJIEdb3-v9vZ4kLyTLbSyAagcbf4Yi7YR81QiXW8hlLFi92bQD7f_hids3RgwrfHBGvb2rPkMOZvpRo6b7Tow0-ht3yFY7ufEe2dpogGjoYi4SbHXWdYOR-Gha_E2knZggvlTgYt11wFuifesqhwfYEFeomfeSMfH4IgJg1RBLMETH2A1dcNu-ZGXOLQULVBpD51gniTCrUyPcx_r38RmnmVvQejwaOLaGwJqKLt0nx0jUF5-CCr3tihofWgHWg0XbWZs-kBwv_n_HnZ-NGwJCvzlrKlonzgD3Q4C1NhTfvHhLw1Ge4wThMtQizRE5u4Nrv5YuqyTWWT8Q5EzrTELwHYJdbsSdqOESLBKvqJodCsSOuaN-B-AAB0RkW35dMb3INETmIJ73rHq5omshQCoH27qzq8IoBU2komFDVlpXxbofFdmE74td3l2pOaXQB0h8wY2bZwkELMZf-dfMlUBPqmsIgKr5-byPd9XgkvzkbdJV6aDTNChfr8-DDcuFwGk2aH58xq9-o7EUWODe-9KPq1nqZrOli32wZhD9NsXhjCIJQvPcuPy9bb8-nUdq-vnf3IpLpzlolvXmnOhLwYrnHEru4gBtYNhYq8LCWVaCMGlOW258YAVNrxd5Blkaq5Uuwo7pNh_cPJp5HlzMWRFgls582ZYsj5uPrjLMCLpH3PJl1p3_NbcIdCA3f8nASROljdtgWtwhM3weskIPsTwXZmR8ozfyUuw_VQSByn2GbW0PygZRKGy1C_Qf6d74i0it7sufMnBXVoOWf28Itlxhbbp38lpqB7u6lePXjPsm2Ux6eXKVT_FtBaqw14sbd6O17ftDwZqOUHLjsuNM4gVyAWJ3F9MN8XCiYjkU688gE-tTBsefHrHdAmDXO6DqI79sEQh9pwIG5zS2_JkUeroVPxj2-Ut_UxVM-n8t4MqNZnu251Xs8VPSZa9pzPhPRhwKCHbPxcUhD1x60IVHbjq9Pm5zzITShAsGvt9Je4IwdgVQ_Vbg-CVRJczKX66DbHNgYUNUyqOVKAUA2HwGFX9c8u_aDh02IRJRIhXVim4qX8nnXZRoJjNJcaXuYgOS1C18qUS89WXacGbdBoZpWxOaw3",
  "id": "rs_01f1f8fcc073e07b016ab453d8f86c87d088f405a0f478c1a4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.17,\"left_z\":0.16,\"left_gripper\":1.0,\"right_x\":0.296,\"right_y\":0.001,\"right_z\":0.183},\"note\":\"Two empty turquoise baskets sit at the far side, with a central cluster of several small plush objects that appear to be two visual types. I’ll bring the left arm above the isolated darker plush at the lower-left of the cluster while keeping the right arm parked.\"}",
  "call_id": "call_X7RhtBHrDD4AUdAJUZsXZR1T",
  "id": "fc_01f1f8fcc073e07b016ab453daeb2c87d0a3e264d71f31aee2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X7RhtBHrDD4AUdAJUZsXZR1T",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8631, 1.2335, 0.7303, -0.3199, -0.6777, -0.5743, 0.9995, -0.0151, 0.7982, 0.6086, -0.3847, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2933 left_y=-0.1669 left_z=0.1434 left_yaw=-0.0216 left_pitch=-0.0454 left_roll=0.0315 left_gripper=0.9995 right_x=0.295 right_y=0.0011 right_z=0.1799 right_yaw=0.0001 right_pitch=-0.0099 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -4.4376, 9.4838, 1.536, -0.5299, 0.0073, -0.0708, -0.1026, -0.8274, 7.3504, 1.7656, -0.0708, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6af284df16811170212f4f41e594b04c42a0f6468cd5cbf055db37ded82a2d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d64c4fc7df582a77264b28cd7dfa31ba799f6a18c17a5be7430f01a71bbb5335",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:284f5e07f64e5f674a5decc212d36afd31b5d5bdb93bb5578679994008cbbb7d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 2.885 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, 0.7986, 0.6155, -0.3798, -0.0219, -0.033, 0.9996, -0.0154, 0.7967, 0.6109, -0.3786, -0.0116, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.184 left_yaw=-0.0001 left_pitch=0.0004 left_roll=-0.0005 left_gripper=0.9996 right_x=0.296 right_y=0.0011 right_z=0.1827 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.4701, 9.388, 1.7607, -0.0171, 0.1734, -0.0708, -0.7316, -1.4427, 9.7709, 1.746, -0.1245, 0.0855, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8631, 1.2335, 0.7303, -0.3199, -0.6777, -0.5743, 0.9995, -0.0151, 0.7982, 0.6086, -0.3847, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2933 left_y=-0.1669 left_z=0.1434 left_yaw=-0.0216 left_pitch=-0.0454 left_roll=0.0315 left_gripper=0.9995 right_x=0.295 right_y=0.0011 right_z=0.1799 right_yaw=0.0001 right_pitch=-0.0099 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -4.4376, 9.4838, 1.536, -0.5299, 0.0073, -0.0708, -0.1026, -0.8274, 7.3504, 1.7656, -0.0708, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6af284df16811170212f4f41e594b04c42a0f6468cd5cbf055db37ded82a2d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d64c4fc7df582a77264b28cd7dfa31ba799f6a18c17a5be7430f01a71bbb5335",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:284f5e07f64e5f674a5decc212d36afd31b5d5bdb93bb5578679994008cbbb7d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFPn_gQCkxB312ARks6DJwCfSQf3ZS31fQUZemJURek5KsE-WjmKqf759QtSfjOJ73nrAl0j4wJexu6cI7-H_PGTh-ZSPhcVVUf9SEr9G5H50y5eBc_JvEav5AnoSacM4a8HK_0aZHGArqEMAoKmwJ4Po8ABhGjvg6hU9W6DcEgHj0hyzNxIqTHCCtAadZZhAbAufYlblZYtO0affDMyuPMWasasbL0t1ApnGpglZOtjf_enQO53-pn99EzVzydei2LRtTSvq4lpBfisLPJGCcd8k4pOZL_1X8eAKXdnFGDG0objpYXP7tCzRHWEro0i6ZOPc_1-zvmyx8h0clPdZVmeI7Wd9xpwHEtc3xUloZyJtzq5pHA7SmARJxVL2Btj_oJ5GocJFmwXvPWDlt7FDheutD5LvWhWO8z15N5PdzWVjAlJWQ4wl7zWQjUiX0S5NtxkDduNNwbOmczSuGoyiHvgDKSmVIUP_5lisKA84ytEoLXzTrwcej_Jk7FrT_ibC8lz2bwkCagXp1qrb8bYk0JKyGyzd1M2ANPM0TbOQF5HBw2qzEISkYzsezyrOuRHyXl4l1V2NuXY1z27M8lLxWbV5fqLJ0S_11k4e5XUzTD-fiGpopjd7p3PL4P93HzKJkKew9eSpCATUWAz1_5Cxg931BDx4zE3xdLkFgftWg1WlIl05dMkBuUaFyQmX1j0C4vAZP0Xg3k_mFqrF3yhkCJecRrPCBjp_UbrgpCeUt7vLzxfI_zTuzpPgQbtiNllU3mdNkH5uiMopBgGSJ7jGOOaZp3HVQQ6OKrAjqMqOPEUBuyO_ZpZoyqBiKJSKA6Ajz6FYP4EFW3Mimjn_a6WqR_iGj4kGINmgUVuv0NrjFRNEMqQiiWuCII3teGzNdu5vqC7xyzofHLhb_i9FSi-rSblA5OOcYGos1CvANWMdG4npwlb4Qns2Ij__Nk8XdjIQ4erd27YgPE7O7YTF2kOjsNYKd2HlmKIH1ZeW2oHO69X-V5uAJ5VH91BTMw__YZ4pBWCiZ-57ePRTJjhPFGti6A8F8B88Zrund4_SwiBQiWVFIx8YSJE74E3-m7V8XSu1faRx7jktmt0_770tsyVgz0-OJoHCEKIJSZtKDO5rrUIN4XkRWFTkz8_m_UAO1ieAPf-f67jxObkgYvzem-J38wSE0bX-6eldYz_mJi4iepwGW3-fxG6rMri_0OoyUZ-MjDHnNvvaXtnh1YCSwDyE5_1qWbqO4IdOMTU6MSsuE-P_pAoYqaMDFOmPB4WUa4vPPMdPaiAdVYLoSXDnKto4mKw45P_H1JgWk5rX_Vb8bwlnLVTSaziXGtm-fGMbTRrZ8__69Uaz1-J1RSbG3RXTDKpqzXaWeWHRc1lPwz5YoNSflal90mer2A-lQ3rbT2IqPvRQJn3AWsjU8V0r_lJ902K9eg-DGyfW5aRjvXUMkcnDSt-eHrMgXcYEl-Ev99z87KnddQr7GC5UTU7vZLzFmaP01oWebrpva8PMJ88H3wACWR620rslDGZO0oy8yCp8Fm4xdqC377XbW1c3ESUjYlVWr_AocdLP7sDy6P5GghntUVl8bP_0cHNVu_mbzPWuz4dXUrFDMMWiBsxQeVJzGXCCqqgpVEh4INJR5LHDIOcig3b-751TTJAKZV24o0d3iatfZq3g6ueKIhfo5u1JQI87C0wlq98oZDpC7m-DvmjULiNCRoytazgpiesbcI2zZ95nnREKg16pjWJn3LravfSsjdzvXoUYMVZ_SujjjdYy017xDmMLOQ2BmaysoyAVDcWGoHHLweNO1YDLdATOQD4zLNO5U5KA467SXnxr-690i9KBPR_S74zkGPgEDBc-8EiauO6fVL4pD1ZPdo3zgC-m8AW-iNGLgeusEko3IlmdHMapYJ-KuTm8NrYSiJTVANJi6W4f5n9LIg1I4E8MZjndHZ4Rqbl_gKTz9MKduyCts1m7JakH5uOy4qte3BX8ly25ZUAZUde3Wqw69CEt5J4ngyKVhRnWR5F2MU_5sePBojWFR37KMpnip7jZWGjnMhRChmKyaBnX34_wBSmOmyFg7ucS5ebXu1LeznqD6R9jDm-ludA4ax_GcCXkkNvZSGTDTCyajAfEs1KS7ndOeuyZTWAncO30jP8KE7yJ0s3tUFeRnjj0h7kMEFnoXuQNB2X_kA9EVcbKLHtOC4RR0PKgJoCEEy7hjfxrOerYLnzLZOOWUFkLSdnMGM7JWin2-xSAWJ0iaE8pvyu236np_-45DBK5cJ9D9TIgScp1ytKb5QDvZsL8KjFDk9OnYpjAlF2kRzdW5eNVaexEEcgCd9gJ_N1nOCjj8j3yFFI1TXSBvQaolsOrMBY0EwwI8x8Ir3Syk1I-sBbfzJS3hT0mwNgmMdjFo4CmXyoHsKklPKae-aLZNG-wLCp_8FQVGCMr46ARxb3cmK-S5N-3H6cDwkaY9TWLLiTCUCEwCqOyflk12Ix_mxQkkrEhUz8wG36YmV-jCorJdYRY_Vxi4-9pPRo_yRWenK8FVF2FF7cb-m78Mps8u1sg0_i1VnkfppCaURpt4bZWyShowwyjHVF6z8Xx40EBKXsu3226R9Rw2WeF4jyJrKHGiONdf9a3_nU78qIJuI4aX7e4aZO25VtLqa5-S9Nr8qVYFyLmlBqwwoSSU0d6IwceWzx090o9_geNj75zMGFMEyJrqjEASG-rseeN45dICReTm2rObyuSxlGRbctyfj0v7OxKjBsHhLKnbrbnowpoEIx8S3CDiNLSwTRMlCgOpUbCRdndbueF-VibqaaKG5eI4lJFg1LxGdKDtuS0rr8Svni82QYQp_H4LFgNxzLTYiAFjFNjxr5nExyG04m061M38L0daUTLzpZD64-M8FJLtbV0XmMFFUpN8u4nGHye8D331KdHQIFcwyJopGwxmPVjDyr_N6R8VQq3dggxOylh6seirIps9ZGQOKDoiXcdMCrvYXSNqsxE8QRnd8N2F4Ef-53iCrX5K55MBniEDgagxQhP44jCAHGpHk66d5bOSy_jht6W9nc293ud6XpCXdnkYYQPTPMBoOexX9RSta4tAy0bjsJUvc2TR1pkcFeR93Tu5AzGQYtFq23Hu5p8FkWtbhC2RUMfIC27si8KI1TBxU39jwCslP_uG4RcAlaCydMJK0pg9GPbnCbkFgSq6Vcwvv_9hr128ZyWTqkMhzZ-NVgYDgO_IADnHGnS8bU23CUybvt0hqjjDVqJzfyzrnl2gkJCCsI5nbSKl15MUYZS3wGVltzBpjnjdsReNWZI35cWB4-rIP70DDr-RYjISCDK13jAX8PweYjba9JseelaYOBGAMCBmZa2e9-evksYxPKw8mmq_n3hpO5Rjpn0Xs4GaV0zHn54Iexx5KvBU7Q6xhWLuLUkN8HNWehXMRlilfuoCR_JjV7rn_IMCzSpcyfzpSnuhrFDnyKzAKaZdl4MddJMhgEaW5DzJrw6QDisTP1yT4quUJCqJZJKguOy72fUk4vfNy2jdO9bhiLUlyWcA_C3Ad2LXm6HDdsgErdgtbr82mgk_I8zghWOKBcZgUQRbIlWP_TAItjBN9T",
  "id": "rs_01f1f8fcc073e07b016ab453e24ae887d0a2a6dd04f26f65af",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.318,\"left_y\":-0.18,\"left_z\":0.14},\"note\":\"The wrist view identifies this item as a tan teddy bear; its face is just to the right of the jaw column and slightly beyond the fingertips. I’ll shift about 1 cm right and 2.5 cm forward to center the bear before descending.\"}",
  "call_id": "call_6kiTlZFQHKt9ISbcp6yYgTod",
  "id": "fc_01f1f8fcc073e07b016ab453e69e9087d0af1e226690f0a20f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6kiTlZFQHKt9ISbcp6yYgTod",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8211, 1.3575, 0.762, -0.2668, -0.6506, -0.5533, 0.9995, -0.0151, 0.7986, 0.6086, -0.3847, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.311 left_y=-0.1718 left_z=0.1225 left_yaw=-0.0079 left_pitch=-0.0876 left_roll=0.0637 left_gripper=0.9995 right_x=0.295 right_y=0.0011 right_z=0.1798 right_yaw=0.0001 right_pitch=-0.0103 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -5.8051, 9.0872, 1.5849, -0.2418, 0.149, -0.0122, -0.0615, -0.8821, 7.0632, 1.7363, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:303b60b2d2101b830e24d40a7e98ef2a681ec291516cfe6e3bb9f695e5f89500",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d32c74c4a53491f9074ff628106f83e66260710caf856dd12d2c98b315ae7d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c8213945dde060c1d4ddfd07103ec143a484f4e947409bfd4658ac50861ee3c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 3.081 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]: [-0.8631, 1.2335, 0.7303, -0.3199, -0.6777, -0.5743, 0.9995, -0.0151, 0.7982, 0.6086, -0.3847, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2933 left_y=-0.1669 left_z=0.1434 left_yaw=-0.0216 left_pitch=-0.0454 left_roll=0.0315 left_gripper=0.9995 right_x=0.295 right_y=0.0011 right_z=0.1799 right_yaw=0.0001 right_pitch=-0.0099 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -4.4376, 9.4838, 1.536, -0.5299, 0.0073, -0.0708, -0.1026, -0.8274, 7.3504, 1.7656, -0.0708, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8211, 1.3575, 0.762, -0.2668, -0.6506, -0.5533, 0.9995, -0.0151, 0.7986, 0.6086, -0.3847, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.311 left_y=-0.1718 left_z=0.1225 left_yaw=-0.0079 left_pitch=-0.0876 left_roll=0.0637 left_gripper=0.9995 right_x=0.295 right_y=0.0011 right_z=0.1798 right_yaw=0.0001 right_pitch=-0.0103 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -5.8051, 9.0872, 1.5849, -0.2418, 0.149, -0.0122, -0.0615, -0.8821, 7.0632, 1.7363, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:303b60b2d2101b830e24d40a7e98ef2a681ec291516cfe6e3bb9f695e5f89500",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d32c74c4a53491f9074ff628106f83e66260710caf856dd12d2c98b315ae7d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c8213945dde060c1d4ddfd07103ec143a484f4e947409bfd4658ac50861ee3c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFPqEqIuqkSebVBaWMB6pW6gzuHTTC6LU3IXsVq3DLUyy3pnoJlAxKYwF2YKt98-sJTj51dry86ClUX82t-tHaGIDDXAec7uP6aqS2toFzwTxHNKIl_TxFOUKZD4W8GMG4FuCTsKRM4hVTRxU2TtmlWitzNST8v-KjicjKTIdESEAt0VvdvfrTkW1SLai9fG56feGLdkFPpQklF0E61tt43l-0cTxDZ06_T4PL6BY-a3ROqmsUyulL4tSB4HvbsvLOjW_aZDqjRm9PfuiFOukfGsvQR05wWo-pLrsYU5Sk_9eBv7NOoH3mXVtCSKY4bqwgVrhNKP9108wwAcZ2Tst3JAlu20nZj11olhj8reOBWDsc_wltTP_vm6Y215LfKQzz8lUcI5lTwLWzIs1Q_prb05oTWBB7s2XTazF41eksLbglvESd5RwAEMsJoh6fWMhp2NPN4hkj3ya61OZxHmTj9pfC5mkKaf8XYh_HAh1IlL0YiZJVFhfvav4oeLfIOMNE9sQ-hBzW3iUpuHRTOo2x_nZS3FpeN5BX-bZOTL8XprlWrrthlj-kxGQ7tRxBcwOFSbjkVatYsKGyp2TzXimZCJlzQvp49PGf2OEMeLCSaq7jSRhP3XEJ6WRU4VUO5M5im5jfQ2aMsryrrIPdtuZHpUeZXqM1MBFgFBCrhAwHJW3lEN678Xyx_O8CGkCDcQUxUIu8c9IR_97QLPY9ILYpRCmkFqsqKJcu9iT78wedufnDao2cRnuoUIjkpRj8_teEbeaUxs4oCR6QXTelq8RheFfDp37Og5cVSsoqE0_dsIFEpNBCUWwy5RZJje_PSTmxjcKycszJdkWbCIyeKsGn7yE01YZphkk4zPZAvIy2gg2x6b0lGYaWw1GXLArrRDgJWjBx7crnFQJIxN3GraiVsF6lz4mAHzHEOzkxzb1JwVlOSMZjbrzRlUyOqaIPp1-ksiar0wRU_5YtFeSsvxK-EY2x_LHsJQvvxPbdckDBAyWnEx4HzbwmFpUaIbJPCK2v7nJVSH_9-XE3HxmPZyPySMgC4lVEMwG7UT8X1s-HRsin6HRRPyMZjwwSzl5wrbUaG47g56G7-TwVeJG6UhTiS8LzZtieclJJjXisz_UuEjnD9eBo7jzMCVqZyGM1S5Bqu9H4I6gq9Mq5EwA3oynGEiNjNmPdUqNFvE3oVaaMS4L0yaAKkmes2OKp3S2qk-W4xOZc9jp_w8CIagkGy6fCuuAL11yYjdhMlOKGJnLYZsB213QmWO1_0pL1J-0x9vbB1g3gprzeS8UFco5MXAG6eiKEGpAaNn4oobiTqC8G0D21xYdkk84meCYTNxkT_rfEprf9Dcq11KZCQDI7m41YrC3rrYwQOGGwrs2jx5UE0hNE4SEYP_KGQA_iGqZt86dvtHOo7NvcXei6-xxZ1rkri2kuZStfi4RKLknZ4NtfAt1MBwtJ28KJrpy5-gO79oX48XP8JEncwAdPn_DpudictoK-pNlC9TEaoVn8J3hPmwxdq_BHWAj5wjI9b1TRJTyiVjDYIy8C1qNPcmcOnn3dUhDAn1N0UGMjmpQ2SHnWeV-dUO53Dvh-DsuIRJxfnKI_MkviGBkUZOi1yh9S6t7RkKDMAK-NZlJD6OAbv6d_xKmesemuu7Kp0yrCYu3uCJjsjQSRirC9FfzEo68MWF7AtmmwnKgd17MfRHUwwjcKec81s=",
  "id": "rs_01f1f8fcc073e07b016ab453e8c1a487d0a981c6b9261c9f13",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.318,\"left_y\":-0.18,\"left_z\":0.025},\"note\":\"The teddy bear is now centered between the open jaws in the wrist view. I’ll descend nearly to table level so the fingers straddle its soft body before closing.\"}",
  "call_id": "call_getvUfyaqIv0i5hKmqwLmwI9",
  "id": "fc_01f1f8fcc073e07b016ab453e9e46087d0b4ba9c3a6d57145b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_getvUfyaqIv0i5hKmqwLmwI9",
  "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]: [-0.8211, 1.6375, 0.6037, 0.2504, -0.6628, -0.5667, 0.9995, -0.0154, 0.7998, 0.6086, -0.3855, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3294 left_y=-0.1891 left_z=0.048 left_yaw=0.0046 left_pitch=-0.0268 left_roll=0.0012 left_gripper=0.9995 right_x=0.295 right_y=0.001 right_z=0.1794 right_yaw=-0.0002 right_pitch=-0.0122 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -4.0821, 3.0427, 0.7009, -0.1538, 0.0708, -0.0122, -0.1026, -0.8137, 7.0359, 1.7509, -0.022, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e3459155bfe535ce82831d754c3207d019aa0dd035eaa0cc66802813259557d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ed5023acc56d89ec64a18337faf1ea828cb337acea71ef5bddb04cf9625d000",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86f817d1170cb42b97df628df583ccf6d4eb360ed8f19a7302d5b33c3594aa9f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 3.03 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, 0.7986, 0.6155, -0.3798, -0.0219, -0.033, 0.9996, -0.0154, 0.7967, 0.6109, -0.3786, -0.0116, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.184 left_yaw=-0.0001 left_pitch=0.0004 left_roll=-0.0005 left_gripper=0.9996 right_x=0.296 right_y=0.0011 right_z=0.1827 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.4701, 9.388, 1.7607, -0.0171, 0.1734, -0.0708, -0.7316, -1.4427, 9.7709, 1.746, -0.1245, 0.0855, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8211, 1.3575, 0.762, -0.2668, -0.6506, -0.5533, 0.9995, -0.0151, 0.7986, 0.6086, -0.3847, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.311 left_y=-0.1718 left_z=0.1225 left_yaw=-0.0079 left_pitch=-0.0876 left_roll=0.0637 left_gripper=0.9995 right_x=0.295 right_y=0.0011 right_z=0.1798 right_yaw=0.0001 right_pitch=-0.0103 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -5.8051, 9.0872, 1.5849, -0.2418, 0.149, -0.0122, -0.0615, -0.8821, 7.0632, 1.7363, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8211, 1.6375, 0.6037, 0.2504, -0.6628, -0.5667, 0.9995, -0.0154, 0.7998, 0.6086, -0.3855, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3294 left_y=-0.1891 left_z=0.048 left_yaw=0.0046 left_pitch=-0.0268 left_roll=0.0012 left_gripper=0.9995 right_x=0.295 right_y=0.001 right_z=0.1794 right_yaw=-0.0002 right_pitch=-0.0122 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -4.0821, 3.0427, 0.7009, -0.1538, 0.0708, -0.0122, -0.1026, -0.8137, 7.0359, 1.7509, -0.022, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e3459155bfe535ce82831d754c3207d019aa0dd035eaa0cc66802813259557d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ed5023acc56d89ec64a18337faf1ea828cb337acea71ef5bddb04cf9625d000",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86f817d1170cb42b97df628df583ccf6d4eb360ed8f19a7302d5b33c3594aa9f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFPvTT525c4V7kg3eVGXL-7TWkv6LYabpc3MrNLRDGKnua9LvEpgYHBtNGCZ-sWlAYrjDF5gkHHgjCAaFfhe_YaNakdqTizokHwuH1u86xY3R64jzwWWtwcgHPkzS9PNiJxxab5yJQoiJ7_sg1mEC6OXWgUlWRpDJ614paGGKZqOn1HQwWh4i11N9tNbLm0LaHgLBlM72E96ilq-HnFHT0Q-_ntxRi92o6uEFCx8h-wyP8OsjLYLbqRRfEjAs2_qOYP0G5m0qmsB9NqY69NLEsTbpjaP5YI7PaF6RDwMIuJWI9If8d-lTnrOie1pCg9jMdqNzdQrZq01tFy18sqMLm-Zr0PwaOZ2dmablrr8J_BCJNZXGbe_oO047QgcO_hlC5m1tLAI9OehKuK-_pEiEskAB2HSmNtpdm6mNwnKpdAQCWxMgrDAG2sQE0JuRCU7WBF2lqvKu58uHtRrXEfwe99b3aps2H8bGLaicYpzH_5HCctABWETAVi5kRDqwn2Icn5xUGc6DhzHpN_FmdZbVfWmE0xuIELWazsYKhX29DHx8PQGEvg6F4zs1jYjnnOLmXsPJRk-a588-rOEo4gu78AayQdZIs9QBH6M0OQcUvk8ZdgHQ_ISVLINmb-IxlY3xB7Knqam7daBs83GM67Zh86kXiZGbcX0zMO_mtTNzL22i0FcclgBwBZs8b3zw6_OjpqV6PPc0eUTQttkjH1iWlOUcwKY2Xmej24s_Itm4qM8eD7XYCmxGWNwLjYWYggDxOhPN56OiXsmdGOGPvq8L0YHkVL2D6CiloFkfoz3RujWp9BfMPJORHUB5wZKOdcauluul4r77-a5S4gfFzfK21hvA-l3vQ52l0izCnoUh2wc5OnEbrGdrp-sJ0-o8cikx3tXVpzbyMrPgqijaPG8LLacroKsZ6ky_Kdv9_sjjDvTgIC-_JoNx1IIm19qGzQF9mUQPc8BwucbLLRsoR_aWAR25bnx34HThlU4HhqZ0C6cAg5j9Sgm2tAqIzqb-2RYALVmt6GklAEEpIbZGkaqk-A4l2LK83zsoB2wEAVDyaNDXqdaA7MtJE4ufVLid4CHRpVXPX0hy7Zo-HsbEX9fQjMRFK9ifHAzs3jlM92b4ibIUwyC5k0JqKeueb9lX7izukOTcEeaULGHjhqp6ZfwrJRnidf2UYby7FacpaaUNcF9xnoRC3BheOJnEQyOvjF172ka0iqR6KXdjN36eqV7q9N3Viq9nihcZG9IuIWZ-r7-Sf5lvt0elO7PTdhT7uWe0TKpv2wox9nZEsGofJNji8IEMFGe1Hcm4kVe-UDZeuUfoNM=",
  "id": "rs_01f1f8fcc073e07b016ab453edf9e487d0b5f64da63553b8b6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The descent stopped at z≈4.8 cm with the bear filling the jaw gap, indicating the fingers have reached its body. I’ll close the gripper around it and then verify the grasp by lifting.\"}",
  "call_id": "call_JKZRmv73l6A6W7NdZWxpADZY",
  "id": "fc_01f1f8fcc073e07b016ab453ee497087d0925276b0e57446f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JKZRmv73l6A6W7NdZWxpADZY",
  "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]: [-0.8242, 1.6363, 0.6003, 0.2935, -0.6624, -0.577, 0.1164, -0.0154, 0.7994, 0.6086, -0.3851, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3324 left_y=-0.194 left_z=0.0538 left_yaw=0.0064 left_pitch=0.0006 left_roll=-0.0377 left_gripper=0.1164 right_x=0.295 right_y=0.001 right_z=0.1796 right_yaw=-0.0002 right_pitch=-0.0115 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -6.4479, 5.6, 1.0672, -0.3199, 0.0855, 1.0232, -0.0479, -1.265, 7.0769, 1.7265, -0.0024, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ff5fe1e8f4db520e984df2d9dd297cf7342c211df318994a909967064ca1455",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95ce5c52bff915fcf33a4465b20fd6abdd4d43486e9e26e3f1c47c9927de3a11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:028c05c16b4fd6805e5febe88a077d1ac8970dcf08da9b2da1f3b95fea20645e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 3.467 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]: [-0.8631, 1.2335, 0.7303, -0.3199, -0.6777, -0.5743, 0.9995, -0.0151, 0.7982, 0.6086, -0.3847, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2933 left_y=-0.1669 left_z=0.1434 left_yaw=-0.0216 left_pitch=-0.0454 left_roll=0.0315 left_gripper=0.9995 right_x=0.295 right_y=0.0011 right_z=0.1799 right_yaw=0.0001 right_pitch=-0.0099 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -4.4376, 9.4838, 1.536, -0.5299, 0.0073, -0.0708, -0.1026, -0.8274, 7.3504, 1.7656, -0.0708, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8211, 1.6375, 0.6037, 0.2504, -0.6628, -0.5667, 0.9995, -0.0154, 0.7998, 0.6086, -0.3855, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3294 left_y=-0.1891 left_z=0.048 left_yaw=0.0046 left_pitch=-0.0268 left_roll=0.0012 left_gripper=0.9995 right_x=0.295 right_y=0.001 right_z=0.1794 right_yaw=-0.0002 right_pitch=-0.0122 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -4.0821, 3.0427, 0.7009, -0.1538, 0.0708, -0.0122, -0.1026, -0.8137, 7.0359, 1.7509, -0.022, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.8242, 1.6363, 0.6003, 0.2935, -0.6624, -0.577, 0.1164, -0.0154, 0.7994, 0.6086, -0.3851, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3324 left_y=-0.194 left_z=0.0538 left_yaw=0.0064 left_pitch=0.0006 left_roll=-0.0377 left_gripper=0.1164 right_x=0.295 right_y=0.001 right_z=0.1796 right_yaw=-0.0002 right_pitch=-0.0115 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -6.4479, 5.6, 1.0672, -0.3199, 0.0855, 1.0232, -0.0479, -1.265, 7.0769, 1.7265, -0.0024, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ff5fe1e8f4db520e984df2d9dd297cf7342c211df318994a909967064ca1455",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95ce5c52bff915fcf33a4465b20fd6abdd4d43486e9e26e3f1c47c9927de3a11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:028c05c16b4fd6805e5febe88a077d1ac8970dcf08da9b2da1f3b95fea20645e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFP8yr2NvdyaR6GGw2u4Aq6NONgKEuPIrQceoW-HN0qJ-HxxBVzv1uKMX-Ce5A0rhz030b8f1QtbzfFGYXeMvFQtmdda5RsiaUWtWoqz7v7lVuYCs0GDxNCXK_q3Lq2B0TBPnK407RIbYPjEn1hBEZK8pRXoOZqyaWyDnHUnIajoiUV2mjw5zVT4Btsej5SZVxpQ40BFyz79zDo1P2YqkIZKIUearAuE5cY0PRr4sAEHJRbkgKuNPD5L2k5scTbEiHRfkGBzJn9dH5Z0K69_YbEoJfQ9Xu6bL3WRyK7y4JdfmVpNYTQ5TyGhT99sYBYlQ0uIC7ImHLKPYEYJrE26OX-G7UwwOMbOnEb8f52yh87jT2xvfawN7z20FgkJ4rK_wFoPNArypeYESQH4ecAhIUK47jOwdAl6XN3c3vF8Yl0FHv70GaLOo_9q-OPtnMJCLBF7squxQF3WlRdmNy0YzFyeQNYsR7HU1LSdLpB-Y3axcquS2LQt5pip9WKDRLkKatqwaEsQVaII0gEkHsKBKeCFE76JmpJ_vSMoA0Q5dqu2HVqUHp-V8308D3PjHeA9_fLMK5apj5aZTBGomdm_R4C3XgV2dmJkZq7KouXu7H3B5_8_D960mlwo0yZ9pWwJcj-48Nyeplb2EWFKYSM5b0pVeC8zNdM3vbTqjPOP4xFrF7K3Lv-PDvY6DzGEBBZ8RVPTRQUFVemJRonhg-KJw_XyD5pRTlBYS97tt1T7VdY1XuMi45jRqCtwmW9VIuOEi5uUp3GsCaTJdoD_AlQzmmb4AaZVEA-LuzyHQYa51Mni2JWe0onfqTQ5dYk5EX--MnZ9rk4DxGWBhj7DlTpzeC-DkzFzVFr3Di9amuqAZr0D-XVwYog3CKCE-5FOmZypH9Dbg4VzGm-aL8OL1wMlT4Hej7VrhK9AyVqTxHmInbw9JRSQB281AjfMy7YG-oDm6Pvnyx026nvM3CJ6TFxT7a-_oY-IlgqOlYWwbJ9c2dy2wcR134pGFB6tK4DW1DRd0eEGcl0K7JvbbPnaCUYyMUva1jmx2aG4OhQ6orK96tm7-_3sWf9uBjZYk3e146H21dA_gbvWtt8TGybNdlGFHnYb0VOArMB9lSsMXptXJ6D8w_jE4MH_C6NpFnOntNUbFa0S8CqE2rNaJL35_ovyMdDCnLVIceZpgBf28vvl1fYs04_j0caHNrQunwF9wzTqhSRiz_CVms3m0uLooaRSPIsYO4rBg3vD2F_CKkzjujKS3lFVv0oPXbud_eFnk1s9v3Rw",
  "id": "rs_01f1f8fcc073e07b016ab453fb1f3087d083e6dde0d94ef4a4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.16},\"note\":\"The gripper settled at 0.116 (about 1.1 cm), clearly above the empty-close reading, so the teddy bear is likely held. I’ll lift it well clear of the other objects and confirm that it moves with the arm.\"}",
  "call_id": "call_7IFsUIIR0iCNQnnxcD6fVN11",
  "id": "fc_01f1f8fcc073e07b016ab453fb74f487d09d048d163f26b229",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7IFsUIIR0iCNQnnxcD6fVN11",
  "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]: [-0.8242, 1.4078, 0.8322, -0.2241, -0.6514, -0.5842, 0.119, -0.0154, 0.7998, 0.6086, -0.3851, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3272 left_y=-0.1906 left_z=0.1386 left_yaw=0.0031 left_pitch=-0.0438 left_roll=-0.0068 left_gripper=0.119 right_x=0.295 right_y=0.001 right_z=0.1794 right_yaw=-0.0002 right_pitch=-0.0118 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -7.4872, 9.0598, 1.4774, -0.4078, 0.022, 0.8962, -0.1436, -1.2103, 7.0632, 1.707, -0.0317, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fec58db574100af8cc9a31c8a553f83e2e779b937da7abbfa8692c8b7aab6e97",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0dc0f77e3104819282db7488fc38a33ff71c0c3cfdd1ba05bb89453bc5361a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:767b8f26f6601917396cb22c39b5c4b18d1ceb48c5552e3add6ca968ac48ffbd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 4.404 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]: [-0.8211, 1.3575, 0.762, -0.2668, -0.6506, -0.5533, 0.9995, -0.0151, 0.7986, 0.6086, -0.3847, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.311 left_y=-0.1718 left_z=0.1225 left_yaw=-0.0079 left_pitch=-0.0876 left_roll=0.0637 left_gripper=0.9995 right_x=0.295 right_y=0.0011 right_z=0.1798 right_yaw=0.0001 right_pitch=-0.0103 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -5.8051, 9.0872, 1.5849, -0.2418, 0.149, -0.0122, -0.0615, -0.8821, 7.0632, 1.7363, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8242, 1.6363, 0.6003, 0.2935, -0.6624, -0.577, 0.1164, -0.0154, 0.7994, 0.6086, -0.3851, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3324 left_y=-0.194 left_z=0.0538 left_yaw=0.0064 left_pitch=0.0006 left_roll=-0.0377 left_gripper=0.1164 right_x=0.295 right_y=0.001 right_z=0.1796 right_yaw=-0.0002 right_pitch=-0.0115 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -6.4479, 5.6, 1.0672, -0.3199, 0.0855, 1.0232, -0.0479, -1.265, 7.0769, 1.7265, -0.0024, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.8242, 1.4078, 0.8322, -0.2241, -0.6514, -0.5842, 0.119, -0.0154, 0.7998, 0.6086, -0.3851, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3272 left_y=-0.1906 left_z=0.1386 left_yaw=0.0031 left_pitch=-0.0438 left_roll=-0.0068 left_gripper=0.119 right_x=0.295 right_y=0.001 right_z=0.1794 right_yaw=-0.0002 right_pitch=-0.0118 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -7.4872, 9.0598, 1.4774, -0.4078, 0.022, 0.8962, -0.1436, -1.2103, 7.0632, 1.707, -0.0317, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fec58db574100af8cc9a31c8a553f83e2e779b937da7abbfa8692c8b7aab6e97",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0dc0f77e3104819282db7488fc38a33ff71c0c3cfdd1ba05bb89453bc5361a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:767b8f26f6601917396cb22c39b5c4b18d1ceb48c5552e3add6ca968ac48ffbd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFQCMAN8aDcBhdSXqDLH9eSGjrEGi6vzFdT4Wqowz0zJfCFfhJCMo3GuLVoz3ID6iZlQjurXqCjGHBvzLToxDkqing1XYTXZAMVbxDWNtz8CdjaEw3r-Y4lsXv0WGEbt6pmpHfN3A5QqaOJKclS_hfv3pRoKizmCkv8Ntr0vtWHYRMFF67sgtU-JPjufz4z9BH4LDJKWVhFEkGGla7WPSzyQMTsjcu2mnit7Vn5CeP1xF8tx4Ul7-DYdI_HA6j_3F4DgrmdpVh2zFgmgMP8oxdwhQS1NUoQlaskCwNdIT-dxzFaBa9eg7QuoqKL8lRy1UMtnXRQm2CUp6e4bQIg2xqV5z_9yMWynD5bbMCuIwzPAO_FjLidVDce_-g4PJP0cZVYbnUx7Jq8CVT24AgPYJzlCl3EOVU3dwZfnpBJui2l5FvndvVitN0DApOnpSK5C6Al7eNv38gI8HoyTEIqBxXlE6oK4oS7au-FF3zdIBlIva9bfIy-yqhyvFZ86R6XRTAsgs0IkMGpJzBJgHCY9c_i3NpNl8e0RzkIK97hAkBokS1p-f1f1ukWYQgfuz-I_6VkTKlEoVvVE7RD0SmzTKtfmeRiFUtXNLy8G8T3fLokGubyXq-77hkafTGyEtmQEAYuKXx-0qYoVLe_4zXqdlsPxyaoRxUGRMsoqFp3QkxfUbPO_KRR5-VgRyOeBeL8ey5_Xwedwaj7GHj804gezeqpCXm9wxX5DNfkXeMQUH-Awrkzs3iZ9Gz6RvjmlP-wJBCG2KXklUFgB-TtyhQ8YfW4bCRETFTZGpZ4WEByUjK0aOq0wqvj2GWRRuV8bxEdaTX_VNlWNMbQ8E-fdzawcFioZ7hLm9JB7ArYQygIvMfNRfA1eAwbUvqTjjf60SAy59DdEpHlcQWbJZIP1GARfbBv4DSKyNYFtk6iAm0OPeDfWmSfU1y270x4p7epGaHYItfZBDVizAQ4j9RbgUYBfQG3js_kMgNhDf6Xfwol739XQXACopW31NQxA64IdxT5jTjKEh2TXX8URzYsCpfmBhQsW8cNBekziyxduQ-oKu64W5sQ2Y8kMpmHh0aTpWudv_aj5og6s0zvuMpV_74N69IbyfYEWVLzi6dOcK8VQkUcSOEZwctZUsPJ4OW74x6S8HIsww8iZPVrno1hEdlDTe3kZU9WkRI8aKpXysj7P49YcPaYGJtYsEj3CADwFrclULcaaF8P3COQouoPfgJl18XDRThVyNv3eiJlc9tEqn35LGC14xyhgLApNMxMRK4-Zc1m7Ax_ICDb7tN8l4iGYCFVuciwpMGNoLxbHbCFA6ClkipNZxxeLJiXbHKZJRDt0YgrSzAz8zI544VAkSoa_eUGww5T_EvlinxlrrshGCoG7Ug48wtN4JIw5A3SdmGQhs7dU1z1jDEdFGlCFLfhT6TK6k0cZmyMjDA5gsHlsiN_T97eO0TRvVZQGdDqXr9H-eulojOHqDoAbquOAuNm11Qb06VdkmBgt3EbLbsOW6E39Kl5E1qus3RbV9X4WPx4D4OTpCYlnXzYcQBJuJzYa87JTRSNVrUpY9klqeZHw1lrTX6JFDZ2JuPiZkwd9KNf1FnNVIaQm1hStulkfvsYDsmoO7CtFCBRhU61kvys2zjWzafC5_XdVBjXeS8Xfk_Pu8MpD7i_SgeIW1HV4x_vQVpdjMKQoISaCo1eUFxPxvas5qj0GnM3HQl1CqffbowsGMf9ZaRn88c4S0q-pKOHssXii_eAGa8VYaddcJkzQ_EairZHknJuJtdaGXS6fQCu_nLEiQLpB7ufhcDeEa4fUksJ1RAVVM9yUu_V02Cjj1ynpI7lHSDQlzRkwfjJbjHp4iPXMbYrTd5atDlSofLukZbMPZc3TnX1xNhPuhBCm7c_i9v5L_05Qk8mPPhl9RYgGR6d1tgZOv4EA4Jw1AkvDa5ZpWgqCQjFw35tRFgVlZ48BFoVjLiVydZMbn6ismN0lRz6S",
  "id": "rs_01f1f8fcc073e07b016ab45400848c87d09ad07599c3991075",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.1,\"left_z\":0.22},\"note\":\"The tan teddy rose with the gripper, confirming the grasp. I’ll use the left basket for teddy bears and carry this one over its center at a height that clears the basket rim.\"}",
  "call_id": "call_kvMUlvsjcXTKNqPbCAnv6hMw",
  "id": "fc_01f1f8fcc073e07b016ab4540243dc87d09032ddd6d2830afd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kvMUlvsjcXTKNqPbCAnv6hMw",
  "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]: [-0.3237, 1.6077, 1.2678, -0.3359, -0.2993, -0.2546, 0.1198, -0.0154, 0.8032, 0.6083, -0.3855, -0.0109, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.4607 left_y=-0.0958 left_z=0.2014 left_yaw=0.0479 left_pitch=-0.0775 left_roll=-0.0038 left_gripper=0.1198 right_x=0.2952 right_y=0.0009 right_z=0.1782 right_yaw=-0.0004 right_pitch=-0.016 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -8.335, 9.347, 1.5751, 0.0904, 0.1636, 1.0281, -0.3897, -1.3607, 7.0359, 1.7167, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd6c695f8558ba761285ea5f5de8db99bf702e38c86f06dea088de4f121853ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fbbe101cc2e8307d65463035b3de9bf695bfb48628c7f8224aec70372e3a46e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d77d555f46543ffa0102bd1d807a028003daae3e4fdc0dded120834aeb9de838",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 1.516 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]: [-0.8211, 1.6375, 0.6037, 0.2504, -0.6628, -0.5667, 0.9995, -0.0154, 0.7998, 0.6086, -0.3855, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3294 left_y=-0.1891 left_z=0.048 left_yaw=0.0046 left_pitch=-0.0268 left_roll=0.0012 left_gripper=0.9995 right_x=0.295 right_y=0.001 right_z=0.1794 right_yaw=-0.0002 right_pitch=-0.0122 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -4.0821, 3.0427, 0.7009, -0.1538, 0.0708, -0.0122, -0.1026, -0.8137, 7.0359, 1.7509, -0.022, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.8242, 1.4078, 0.8322, -0.2241, -0.6514, -0.5842, 0.119, -0.0154, 0.7998, 0.6086, -0.3851, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3272 left_y=-0.1906 left_z=0.1386 left_yaw=0.0031 left_pitch=-0.0438 left_roll=-0.0068 left_gripper=0.119 right_x=0.295 right_y=0.001 right_z=0.1794 right_yaw=-0.0002 right_pitch=-0.0118 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -7.4872, 9.0598, 1.4774, -0.4078, 0.022, 0.8962, -0.1436, -1.2103, 7.0632, 1.707, -0.0317, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3237, 1.6077, 1.2678, -0.3359, -0.2993, -0.2546, 0.1198, -0.0154, 0.8032, 0.6083, -0.3855, -0.0109, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.4607 left_y=-0.0958 left_z=0.2014 left_yaw=0.0479 left_pitch=-0.0775 left_roll=-0.0038 left_gripper=0.1198 right_x=0.2952 right_y=0.0009 right_z=0.1782 right_yaw=-0.0004 right_pitch=-0.016 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -8.335, 9.347, 1.5751, 0.0904, 0.1636, 1.0281, -0.3897, -1.3607, 7.0359, 1.7167, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd6c695f8558ba761285ea5f5de8db99bf702e38c86f06dea088de4f121853ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fbbe101cc2e8307d65463035b3de9bf695bfb48628c7f8224aec70372e3a46e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d77d555f46543ffa0102bd1d807a028003daae3e4fdc0dded120834aeb9de838",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFQNzPGaB756QCLnmPM-06dYyMrdh5d2ydsmMDp_k9HyxKNAAKh8ypDvj5NgwJ7YVw9tkDyF7GZeJZSTZnBzW-IgQrjbdBHtaMr4VMVjKiB-ng_t14BXGexBQJaP6Kj4NxBzR-18hoJqlWiGmQLjTizDmJmhQrPcHmeH-HMEvc0LXIITnmjm7v5r72Pw-hBIafsUfdWNx9fW0MVNHAmf3aH6yc-Lc48dC3kp7U9pisR0Ov6liMuq-a6i2PEDNDXQBI25QmAjM873bGs8IqVkkSQFNzSf7QFHQp_AAuPZT9hBRKr08QEVVhaBqzJYwEvR9GOwBkfzRNgMWO5B__Il32xZWUjE6J5YhZhBOsE2q28-2OCjD8wdCtQTPR1IFqqRZMEDpUh6EUg5b3EETm6AUsUgDJbK2UF6FiYKjmawmpF3rwgPsSNIr2oSzwQFIRLlhnHWd2mOfWeLO_pVrXAj5NYhVOT4RLtpQ6HOhQdUP9ljsPgczPHAyFpUYg1TugOg6jzR_EAy3hanvOHdX1Lmb2zKz4H7oTTrpqZJwVmcNQurSa4UezqyxWhNp9h2nB8BL19Cvf4JZp3b23cMFd8AOCCqgAtQZmjh1pFkWHvUkRvw0BixSaYzcrz4XJ2F0EKz4lE0FH730MV4YKun0lxpNnoATGXcfGLUe5WOr7Lq5O5Rb2fmgD4Lw0U1jRe32ev8M3w2ENTABWqOlxOXa0KiuatwFJli9MoOio3EjPHTkg7NpS6nD5s9Q4P7a_OQ6T-cgSBheR1utJPzZR5yY7_GKFut2W-sfajA9k4rSUm8d4TlEPgQwCTGIz1k6Xuu2kGZXpDgKv821TB4LEd7rxvPUDOmOFXLprvCobY_lkl_07F5StZTUGtY1yHLpiM1ODuaJt3CY9rMhQMAuT4BgqlhsxLQcmUB1-hFsZkoTh3W95lTC1tiJ-UR5hRVUQL3R_Hm_Jy71a36wWO1sCYqmcvw1hHSVUbSRn3ce3AEBc1gxgg_O5yEwt1F5SOnz4WTfuGTDN1IDSdRL_O9-rdqQjDDbZ6wDaA6ugCsCLUU3yb4I8foULnKxBsOHki1y4J2NwgDLaA5-kjD5eldeoRM9u6cNd0nD2-oqyo5H_pqVJMtD68dXSdhc5Gt5gTYsPtF55Bo4hYeFB7DZxgxJLPrCy5XHAEyZgvoZ5BBPXxfOhQZ2tSPT5JeUiK2EdK2otXN0GOschS-5rV_qQikCJxExro1lnPld52w3VOJFP8fXWJQu7S25awBZa1Zc2vb1i55ZKZYmXKS28zdBZZEqsbPgNjdbWgu0JKe0o7NF1tqr1TmaI9jKxcQr7_FPs5TX6NTs4qS7hVgXVk87dRiJZMKkH21T6eDiNvabbk_IIxccU1paHHZmgWvEt0XjQAIgTe0eZw1jS0DeaUt-x0CmU7j3GpbaN-LXyH4mdZ3gUT5bs28Qsd7Fe113JHtA_S7i0rrfO7LQnxwmfbBHaRhiyvypXRRKMA5nrb3mTRmcB6PLztt97qDBZgqCsFK0suNn9PWMtjOh1T8ekHHXO86R9wOqg4iXNc-nqb8ncvlrykh97S-w1gQ4UTAjrdZ3KPnKKN1spmiNZFVFvopGK9XEqkxGaiu2hbf2B3KBL6G5V2Pq2341gczctcMd3HFeEX_G529wulSb_TlDKnmirYMrC3nJiQzS0lQKMcpzQfnOYIMJX7Y5kcQzbt9U8jFi1YHsPPVbOTLHQyaoVS0gu5RQ4rPG1KLtLX_-6f9HtOBiGWvDXjrGbbZtKDuSfgt5Stie6aWlhdizzhaVmh0JcAsl_0_PVu6q8SAUqIO_YXSZLQTJZkF9I3xq6h1sKjXcI8H1UW8toI_4HYoHJ8Bh1-KcnvLNImbZC5c0VRKSg9RPQFeg5jZpHMnHu9ZQtaVYNkEypWyKoWaytmS",
  "id": "rs_01f1f8fcc073e07b016ab4540afe8c87d091aa0f6dc095baf7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.14},\"note\":\"The held teddy is above the open left basket, and the basket rim is clearly visible around it in the wrist view. I’ll lower the toy inside while keeping the grasp closed.\"}",
  "call_id": "call_if9RCavceLRBW22s5HScncrt",
  "id": "fc_01f1f8fcc073e07b016ab4540c483087d09008c7d79207c2e3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_if9RCavceLRBW22s5HScncrt",
  "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]: [-0.3225, 1.6432, 1.1007, -0.1482, -0.2951, -0.2554, 0.12, -0.0154, 0.8032, 0.6083, -0.3855, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4578 left_y=-0.0951 left_z=0.1481 left_yaw=0.0464 left_pitch=-0.0924 left_roll=-0.0015 left_gripper=0.12 right_x=0.2952 right_y=0.0009 right_z=0.1782 right_yaw=-0.0006 right_pitch=-0.016 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -6.4205, 5.6137, 1.4481, -0.149, -0.022, 0.5348, -0.3897, -1.1829, 7.0632, 1.7021, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d106ee1314805bc9733f7ede0ec979db69ad332bdea932ef6e92e44a58d8ee9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02c615ed71d6ffb7e5e0e124538fecb31442cbd71f1e18f5a278883c60c54e46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ba5d02aeaa82f0753a4452697aaad17e4802e430ad8c715b27e0cf571353f09",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 2.77 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]: [-0.8242, 1.6363, 0.6003, 0.2935, -0.6624, -0.577, 0.1164, -0.0154, 0.7994, 0.6086, -0.3851, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3324 left_y=-0.194 left_z=0.0538 left_yaw=0.0064 left_pitch=0.0006 left_roll=-0.0377 left_gripper=0.1164 right_x=0.295 right_y=0.001 right_z=0.1796 right_yaw=-0.0002 right_pitch=-0.0115 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -6.4479, 5.6, 1.0672, -0.3199, 0.0855, 1.0232, -0.0479, -1.265, 7.0769, 1.7265, -0.0024, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3237, 1.6077, 1.2678, -0.3359, -0.2993, -0.2546, 0.1198, -0.0154, 0.8032, 0.6083, -0.3855, -0.0109, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.4607 left_y=-0.0958 left_z=0.2014 left_yaw=0.0479 left_pitch=-0.0775 left_roll=-0.0038 left_gripper=0.1198 right_x=0.2952 right_y=0.0009 right_z=0.1782 right_yaw=-0.0004 right_pitch=-0.016 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -8.335, 9.347, 1.5751, 0.0904, 0.1636, 1.0281, -0.3897, -1.3607, 7.0359, 1.7167, -0.0366, -0.0415, -0.0122]",
      "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]: [-0.3225, 1.6432, 1.1007, -0.1482, -0.2951, -0.2554, 0.12, -0.0154, 0.8032, 0.6083, -0.3855, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4578 left_y=-0.0951 left_z=0.1481 left_yaw=0.0464 left_pitch=-0.0924 left_roll=-0.0015 left_gripper=0.12 right_x=0.2952 right_y=0.0009 right_z=0.1782 right_yaw=-0.0006 right_pitch=-0.016 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -6.4205, 5.6137, 1.4481, -0.149, -0.022, 0.5348, -0.3897, -1.1829, 7.0632, 1.7021, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d106ee1314805bc9733f7ede0ec979db69ad332bdea932ef6e92e44a58d8ee9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02c615ed71d6ffb7e5e0e124538fecb31442cbd71f1e18f5a278883c60c54e46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ba5d02aeaa82f0753a4452697aaad17e4802e430ad8c715b27e0cf571353f09",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFQO6Bl5RusacZzkPGkgPzrzGNGAkPLIg7xijT9HUMDBxAuSsAgJQivNwYP38VYOCL20LaVJY11XvhkDxptIEFd3wYykHEgActlx_dVGU-1Yuud7quL3mJz1KZHFx41T4fI3PUt_Ua7bFGz8sCEEXdXDeHxwPtbudrei4uuiE57fHAHaEquLyemULzcUEsAy1fVAN35cb1qwj3QyNr2pmg4cNurmNA81kdrt8-J_h4_K2KT62REbx4gvJNTEhDI-ORP716mSNuRFfEKZ9HAFdObPe9oV_3el6VEt6PyqOYavSJ6_dIsziHzYb0DD9l0DI7ItdrMbNDzwzPbyYzXc4-xkyVo7MA098V2acFtZVCGYjQRtDzB0Y-vGCNp7AADLbaQ93CEYEf-Y63jY6HoOPvw17idTUGVYFf49xUCpDVwW7x0SPHZJ_-ZNKiBRxhACAJHcVi4cg26EwavcpkugUsKvLtwsQCCW08CDk1iRWxBXCzhANpNHPtG38q-SV9zCGUa93A8t7kyZgKuKFdQG9XaqiywIpnRfF3Zfimbvl6uxNM8P7Gg7x-D4qxBCf0YXsNceAIbFh-af3zqU06iet-wPIz5wDooxMf5gDxOV9zp9bPXFwUEegp9Tcua1-Pocy-czigfSEjpyFawFQQr6DeFTFEtccCFdkL-cL92eWnoW0LszNQJD_gtrzMipgdGwZ3N_BNsnayyRKjOzX3f57XwfM5cZtpcKex_tGKF5vTU1qsk13RPiaUWVaPspi6uev-Tintqo5tS__mg1AeN1_qPHgGZGwvpQv7H8wXotmEVgWLhDL7tzpH7bPD3-TNXG45JImBwDi0YF3QtJ2OLHHjfGmJ1U2nbZUnRK0XEDsVfOJmRFgrXYlYVsZLJ-rPdMUHPBUo_7c4bGzoYzMEQblgUZ1Xo0aRgudUnekWr7aNevp04WTDKEIfR0pqXEN0rpd3BDQReOiI88iuJXzUScgIvZLA6ajG55NqQGy0fp4XTxEPgZLm5jPQ7v87UHFsXqTs7nNocVy4SvgiL01FiuaO4mX-qIfeej2W7_HGBnnalEGuI4UTOLYxL1EkOW5-C2pB0Lber0QRXTIHfq4x6fxZJa_GBJhCIVj6Mvi3g5FxcwdGXV14UDhWdG35dKf2X7cbpBHkPHRdzCztBal0PzqlgBy2hE4kiwp5Xws_rkxf79gEI=",
  "id": "rs_01f1f8fcc073e07b016ab4540e568487d0979900d345c2629e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The teddy is now lowered within the left basket walls. I’ll open the jaws to release it into the designated teddy basket.\"}",
  "call_id": "call_5SoS9CaCGObHnh0mfdEfIRLG",
  "id": "fc_01f1f8fcc073e07b016ab4540e663487d0856e4c51f3d0e5b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5SoS9CaCGObHnh0mfdEfIRLG",
  "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]: [-0.3241, 1.644, 1.0882, -0.1226, -0.3054, -0.2619, 0.9954, -0.0151, 0.8032, 0.6083, -0.3855, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4588 left_y=-0.0943 left_z=0.1474 left_yaw=0.0565 left_pitch=-0.0786 left_roll=-0.005 left_gripper=0.9954 right_x=0.2952 right_y=0.001 right_z=0.1782 right_yaw=-0.0002 right_pitch=-0.016 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -8.0615, 7.788, 1.4139, -0.0708, -0.0073, -0.149, -0.253, -1.2923, 7.0496, 1.6972, -0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f8ece192df082ed666d68a42220dd3618e59860a0d9ef1046b2278b0fb3e6ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a18b92da57faec1434a516209c7bba0843bded7d2ada59744a20ddf52280306",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32243de9c4211655c7834b0ab98b65ceaa205a4fe7d3969baabfbd3f9ca57370",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 7.259 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]: [-0.8242, 1.4078, 0.8322, -0.2241, -0.6514, -0.5842, 0.119, -0.0154, 0.7998, 0.6086, -0.3851, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3272 left_y=-0.1906 left_z=0.1386 left_yaw=0.0031 left_pitch=-0.0438 left_roll=-0.0068 left_gripper=0.119 right_x=0.295 right_y=0.001 right_z=0.1794 right_yaw=-0.0002 right_pitch=-0.0118 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -7.4872, 9.0598, 1.4774, -0.4078, 0.022, 0.8962, -0.1436, -1.2103, 7.0632, 1.707, -0.0317, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3225, 1.6432, 1.1007, -0.1482, -0.2951, -0.2554, 0.12, -0.0154, 0.8032, 0.6083, -0.3855, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4578 left_y=-0.0951 left_z=0.1481 left_yaw=0.0464 left_pitch=-0.0924 left_roll=-0.0015 left_gripper=0.12 right_x=0.2952 right_y=0.0009 right_z=0.1782 right_yaw=-0.0006 right_pitch=-0.016 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -6.4205, 5.6137, 1.4481, -0.149, -0.022, 0.5348, -0.3897, -1.1829, 7.0632, 1.7021, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3241, 1.644, 1.0882, -0.1226, -0.3054, -0.2619, 0.9954, -0.0151, 0.8032, 0.6083, -0.3855, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4588 left_y=-0.0943 left_z=0.1474 left_yaw=0.0565 left_pitch=-0.0786 left_roll=-0.005 left_gripper=0.9954 right_x=0.2952 right_y=0.001 right_z=0.1782 right_yaw=-0.0002 right_pitch=-0.016 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -8.0615, 7.788, 1.4139, -0.0708, -0.0073, -0.149, -0.253, -1.2923, 7.0496, 1.6972, -0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f8ece192df082ed666d68a42220dd3618e59860a0d9ef1046b2278b0fb3e6ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a18b92da57faec1434a516209c7bba0843bded7d2ada59744a20ddf52280306",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32243de9c4211655c7834b0ab98b65ceaa205a4fe7d3969baabfbd3f9ca57370",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFQS8fR1gc6He4RiSl-V4aUHJkB9-q9HGqZHV1eVTuWdcNiIhnxt-ZFCZ0pWW-YPS_wynbhHpDHmCK8IiclIObwsP4NXyLoZaDA-64G0C3T186Hv9cHTAMeuSwm7yK_w_flkqa0-i_rswLMH79wTtHsJgQnS41JrQKdna_fXbivHQzQLt0kWEmrnA-hEp4viLvNoLZd4_tENNlXThJQWsm3jvboBIGOM7OT1_w08CxhTd70BTobz7td4UyucZIX-Wc7fd8aaBA--towi1xfEGmA6PX5S-_4rqfORR9f1clpkbFzVr7f_fsPj-Se15j0m7Ryd43uP8Zz20zhNermOIJMb8E_Qo3Ao8Knp9Cwo1YAOdTedYxC7icrFlXF2wdqQXwgctjY-7yH8-wXi629X8o19WyhWQKPqtpWZRCUlxb1n1DRMaPXk61KmRxHmR_IuS42s7JGXpXkXX-bK_4nZtgxAhYJDCUl0NEznbwJjKSekkpqxxBg09j6acInxdHHcfx7YddvoG1Ur6PFsP2b2L21aL0aWDNi5Es9EWlFmk3LE7YI2NoBUOCorQIsFxiPg852vh7gz6BZkNxCOVk5t15B73o1wsUcBgMYkTz77Wcy4xrGgjrkrqoYFuJPVNDvve3O9rGUvni2G_cfQpgbtoiR4uacwrKfXBbPgo65Aw66AGsCSkhRUXk31Iij4GW3Pt1yYSylZx0GlF_JYITFRRdlbrNWK6PZDc9mxOH4HttonfSGiETZfBOlnIS9C6cAaQn5NJLHUEFnyN6t8Rceh_ynyRqpUUlJU4pqA1lXlFjpjJTT384BNycIQuy7vKFF-gHv4rKBOJOTgw65Ex9bi_TzpgcBcBYBIbNh7k7bvD3dArpbqAf4ibOVkAPxYulIvJRGJ1I5VS3WwjeVlmp6iES06rc-IrslJoKc6xJG557MzvlUaFoR74EpBrZu1XxHzEMfwodeLKt-Aqa24_5aTuRelMcYOdrOwKOLPdsXk8NMFsqACR6ENgba29n3e-C_-pQIj_aV7h1hQoeLonySHjmMI3D3i0BKhOOvgC3oLCEgljOQU3zAYGyn4nWSuKwu-AjUP7Y0-rxEY-s83NF_RJy01Ykh8S5djBQ2TuRJl7MH0fKLc5PX8MDOHuycQmdvBs3zzstnDE_1sG_PmCq-Ayc_4PrnXbZ_ihgz9SBz6mEBUEWClBwzSsUBfOTg4b9Ovtra-eH7PyVo0uk47lmAw-IANKF626Uxv6G6VP8MbdphUU-kPF4Dlv8b-P0LV1OQX2iGsMKqrpyPxRavuee2-gxG5P1i4U3lZXI1OMSoMCLWHn9NQ0Xb_Rf5Ifz4mdVTPnf32yZHPtZI-a_KKm_WdRk_88pA4W9HNYLdDsl-zF74Po7lOslDzQJmw5By33UxIy1U68tleZa4jDRae0qjQbH2CeoLQB-pwdb6v15fxJ3Li3Xek1jkKdu8gbTZbmY0VyozxSNxZTrsU9M9Jhsjxvv8B_dZn3_WVoqdy6_x50xrsSW_d37ZwIQjYOu91MnhI97bpzy2HK_IQTh-MEm4OEZwp4v4b5gUsGP3-3ATBnGEEklDDUXkj_GZWW3_E7xy_v3iMSUoFM2D53z-cRzN6jr538yyGsAOI9aK8aatJ3Bb0f2OdDq2ZRvNRoOnFLxpQ2szGSratkIeM_bhaqrHVlhuqOucrvSPz44ml4u6nPrVT46AVsgkfu2q1YqQJZBCH76aUJOyCvqr0ZIouaRV7yNuLxqmSIS8A-wbbu3yfSPkYeOrQ0Lv2wTZY8me1uPKXg74Z",
  "id": "rs_01f1f8fcc073e07b016ab45410d8ac87d08effe37e32457d70",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0.002,\"left_z\":0.184},\"note\":\"The jaws are fully open and the teddy remains inside the left basket. I’ll retract and park the left arm to uncover the remaining objects for classification.\"}",
  "call_id": "call_K93EyPMMZQMxMorfja0Ph1aQ",
  "id": "fc_01f1f8fcc073e07b016ab454119f8887d091f76eae1dfbbb21",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_K93EyPMMZQMxMorfja0Ph1aQ",
  "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]: [-0.0799, 0.886, 0.7074, -0.4301, -0.1349, -0.1345, 0.9967, -0.0151, 0.8078, 0.6079, -0.3855, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3072 left_y=0.0028 left_z=0.192 left_yaw=0.0889 left_pitch=-0.0392 left_roll=-0.0189 left_gripper=0.9967 right_x=0.2954 right_y=0.001 right_z=0.1768 right_yaw=-0.0002 right_pitch=-0.021 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -1.3197, 6.694, 1.7656, -0.0171, 0.1245, 0.1148, -0.0615, -1.7299, 7.2137, 1.7509, -0.0415, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:045d903c558c27ef253438f03226aebd49c80444fd4f86f9a35d0705da7ad8fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:149cdf20d608edc88cc86dbfcd1448f6fbd7db7a90a88423ab834ea4f66e26b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94511e8d0f688f243b42fe2481a4c36477d472fcd3d1de8942f3c233f81cf5dc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 4.251 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]: [-0.3237, 1.6077, 1.2678, -0.3359, -0.2993, -0.2546, 0.1198, -0.0154, 0.8032, 0.6083, -0.3855, -0.0109, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.4607 left_y=-0.0958 left_z=0.2014 left_yaw=0.0479 left_pitch=-0.0775 left_roll=-0.0038 left_gripper=0.1198 right_x=0.2952 right_y=0.0009 right_z=0.1782 right_yaw=-0.0004 right_pitch=-0.016 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -8.335, 9.347, 1.5751, 0.0904, 0.1636, 1.0281, -0.3897, -1.3607, 7.0359, 1.7167, -0.0366, -0.0415, -0.0122]",
      "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]: [-0.3241, 1.644, 1.0882, -0.1226, -0.3054, -0.2619, 0.9954, -0.0151, 0.8032, 0.6083, -0.3855, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4588 left_y=-0.0943 left_z=0.1474 left_yaw=0.0565 left_pitch=-0.0786 left_roll=-0.005 left_gripper=0.9954 right_x=0.2952 right_y=0.001 right_z=0.1782 right_yaw=-0.0002 right_pitch=-0.016 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -8.0615, 7.788, 1.4139, -0.0708, -0.0073, -0.149, -0.253, -1.2923, 7.0496, 1.6972, -0.0269, -0.0317, -0.0122]",
      "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]: [-0.0799, 0.886, 0.7074, -0.4301, -0.1349, -0.1345, 0.9967, -0.0151, 0.8078, 0.6079, -0.3855, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3072 left_y=0.0028 left_z=0.192 left_yaw=0.0889 left_pitch=-0.0392 left_roll=-0.0189 left_gripper=0.9967 right_x=0.2954 right_y=0.001 right_z=0.1768 right_yaw=-0.0002 right_pitch=-0.021 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -1.3197, 6.694, 1.7656, -0.0171, 0.1245, 0.1148, -0.0615, -1.7299, 7.2137, 1.7509, -0.0415, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:045d903c558c27ef253438f03226aebd49c80444fd4f86f9a35d0705da7ad8fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:149cdf20d608edc88cc86dbfcd1448f6fbd7db7a90a88423ab834ea4f66e26b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94511e8d0f688f243b42fe2481a4c36477d472fcd3d1de8942f3c233f81cf5dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFQb4KDAPq4KO8YMMa08xuNsbi-T-SusAO-D15rXMKohlZ59zPhiIK22ieFMT3qkH9hu2Cg365F01oCSj-sTIwzmEuTo0i37ZY1DSoqC9mqnE_t0_ROw1W5DxlEVfc38_Yu_VOjO2Fx0z3Vs7yNziE-RTiwr_EvwDGYH945EZxclUxN9RF5-tzVC82QPwtwVWsqELM7b_oIUQUXo4LL05T74lqRR4Hxyc_qKXYr70zxe-6IVH1jl58Yfy-QyihMhJhcfuQ4CfEzOoPOCPBXNnTLzTAx7XyvcU5W7xV2mDkBswdFmWjgMexaVoz--6_9v8mTNs7bC46hNYrMic9ITRaWSb1_FCTjgrkp2351_Fu3qk4TRSbgoJRQHFpHhR-IOoNqzA3YSyuxSWcj2C3E1S8NCg3fZX2fB0ykpwFYg2XB80geypGHvybt_ZnTIBxQpSmho5-AMg236TIKp7lqT8ofscovjNAPzl3dguPES5plZaI4Wvg7Ypzc-vxBWU6KVlaChqO_2-N7YoNv5hKlb4n0LsM-g65AQeJvXDsGodyM31sbwBElKtO38SlEj_TVc4MMNPls2iQp-01YXm-kIvAtw3jjiKbAT7yRmMu3QexYNj2Y_1EbGimd4PYv9lyBA_Wid1JYif7wyhHJmanx8V0rnOtPMJTiR-PJUq8bGbtiv4JjTCNYI49OROfJQ33nsoOcKCBszwcBrM0jwMIv9kYEmX9tl8CveJtSTaD4siHK34OjsYLMMdJwXOfj0FP1pQbgURY9mcU8o2uIk4xXZ0K03gq6BzfoKO5I3NUly19t8WrH8Uv6fGaZBCaZx1yKqToA8KL6Q28Nw2gFHiNKvkOzCSMyW2UjuS_Ws56eRmAE0Xip2JImiF2UFcd0IFJ7fTCxIkBTdclRDrHVfsXGX6QF2vYdltEy2ebsPOt07IMBKtE7Dd0BN-bha5dUjTCh62f6eeCYtHOSKu1D5EZX3yBUNkHCU6I-cR6Y5rgcjM953nkCgRsXHJwSM22AAC-bxFBOZeua0c49S8XHFyY4V0RUv2UOjjabTOBspaJkyLBFUot2OcGAA8I-zxCIUpOMyXkjD7gVDylaNogMCY6LkJfkmgV_ZCC6PMtSzhHiXI0USTtHTPf-i3egNpCjFPqWh8aEdKXPDfZ9JIVkoXYGCvIsJQ4-rsxXtDqPjzTAPUnEzdCoCmbgzhAppD2JKO9W4baY84qYec-GkZ0ub50HTd-QeQHPPKJFNqkOXkbEjL3z97H3ku-eGIbYDKJdp_kOEULDua2EHLZCigk5EWcOnsvEQ0silstlv7mfqgQ5cX-CN1kf769e3-j8QykDCKIY4GNdo9Uq5XxUSnyEtMZ6_0f3ypyMS7CNQXzYnbVjRRLQAM6K3EGR1pfrIpMJbHx5lYrtCS4vnuxxoTH-eKSL_r4aWxq-xiqy_Do59XUfwdbZyDlofRh8vaqCLTuxvtX6Fh9om3hw8gTyMfbAROmVL_IteqCFhVrcZs4Hnx8obO0YKbtw2lleyhgAjcsKyv_aglx-ImpdDBewwY3-Z5ZpYnrcKxhmhpNyJfbGeeEAW2EFU8KP6PdJ2pjDghBeCJNIaTW2rXZ8YVwUtIasdVVyDU9NimHYdEcn28RG5mdgrzy5e3ET-onp6QqfbYoQ3zSOQtO_vzXAdZNHqPantPHz7onbvif5t0alValqHzBXMXOFz9gu7GgBIuk_vHGM-ZRMOIg4DbytwZJBtv2f0Xh_7OEsydxdx1T4R7hFxG1oe8dqtlpPSybvsuzHdRrh2lCt6OlVtk9tvITEA-BDSo8QMboe0Eev0LOExtX1KhvWv5vS3klBuEAYozErhumnyd9YNzwI13yD16CMzyiGW6Zbn_rQC4QffHAh6GNkdUzYZD577c1D8uyEIjDg_AdMTJyr68BQmySl5ocagapJ1Key9GyKkMtfqFimJzpAS4U1iNaI8coWfSFpeynxqfWMa_3pdiehNxlTEaqf9ttu-JRgkZQKZEr3_1eDTwstuhb0as5NpaNezK8HBmiPeyWYZ5-eGBTun0j5wDyDyVS49qEwITtIrn8Yl0Lpakfk2cQ4yWEir-ynNO0mw-sNUeqHdjjfPbA7llUpe1p-jitsxwqUJM6sYPyRXAfsADubJFEWRu3B6VJ0fmSW4hNVMd37gFXzgdIdD8vSfShQE7lj-auaI_Yh0fTBCpf8097GbQ75ygjEX_ZXPzXfGmR3mst0eHAiInbwnlzC-VqxkasW4P1XuA21Fn11d0u3vt47lE5lwjB5VBUwY6mT1sjRtpK3l5t8JUfM_80HcNnV52P7GWmJhJ_-9VxnTi09VgmqZLpatjyKHaCChst1OyjK9IgqvcYi9SYHvxJSvIH5_LR8xUI6LcSW8pzDtCnqcpgqDy8GvT7JnSv-_olwIvc3jAf6TbL0tvez11zF6MUoAlr6HLtAwhlCRFpiPwWR9Uo5ghCcrH-d_15OmG-JqXsXtHx9-8UP3Yicy3dOMHSd39h2Fcs5nffcdqOAth0BcR5kzOzdv5Qdudvgz6T-xmVW5fImkS_C3O5z1myM6wpUwHNs4MrxvWBOeUwQCuA2s9GchIcegyMVuEDsoRpdIfcjpbEJ2yaKHz6mInOjfVp_YXQiH5fXkrR4P5lWkRJxGIazrcAzfLO4mMsG_Xb1lhLfygzQsWYx6mQ3euBoQmvvdX-Zir33OI8wtiRkp_K7o-5FAgA-tf12A713A9TAMEthnJ5huske64ZXVIp4OzwUT7veF-wwltGe5OzyUwlvDhAXkTRftF4fg2OHbmmM1g9l_cBxslXNKn8Gn3LtPxTeSvlH89eEZLRbts0WUHdyZYh8dK5E3FtvhsQDYnuI5b9GcxjB1P_rTBkT4NDJ3KOWXT70KKh0Nl9KRvqxICbRh8xLPOqz_Aypg_3Nd7yCZ3VhfwFv1olVmp9MJJsXJKm8Ytcad_fQUkcrsbDLyWy9PT4exbEY7QN7nSz6XDh8sQ5_7n4VRZ0WABPSkkiGIUl9GbSmDesgRhlqpLueT_gHFbv4oBy1kePU_mRhyONc_9lzNoVxl275EImu1qg8ofXpeCZs7swtl61oq1UCcT04la0LGnzfXvy9lrQRXKq-I0G5wKxAwlg9GyVCywaqOsCXglFfguN7GcEFIpL3XQoRYM9TIinpyv2KocNu-_JZDHCo-MxUO6xHxmMxyE88YcYkEoWuiawVeCE-5CyV6VQ9gT64jxyQBfFL1aB8rCTMyG_IQmT6_pnBkPpuTam6ibdFFpVpFAD6A3Ga7VTy8Fy-WVRDMTrwx8QKgXtcfvaKJxkjPV5LQHVRwmKr7hgn_TBNAX4-8TbQeBk2hS6BmpMJTxhXrsZQ6aA7pQD45AE0d1L8em5MTyk1TYHjG7oEQSj0EslbY-mnxMABmruiqORCgkoJ_M8UHixP4uUaCfZTGaiIDsCah2uaLwveAFUGEuC5YnSx2XMPPky1ZvBls4NEw7Or9JBqc_NMz9J13z6HCxp9VhYoiUMgcuBZBfKoVipqHw4lTbVu6MueWsCtF8mFZwHK1anc8BDeAtArigUiiZrgMwpoT3kwonPrYM1xZV5zgjpSfm9iwuGje6La2wcQLdb4dDozjjjshJjcWEhvEYvDuVNsqMNbqHaV8bLydmWYENm3qMC_bgbB0ziJVmRdU8Fp6fFxDrquGbQu2P2qxM1DqPIKqM3vt2On1PJxk6zRUFKdywFyfZHDx6YVl1GOwq-9FPeClFQdAezmXiqlqcMxuSmY3cWG9Yn3j_OOX73kUlq2WhLolAu8u_pdLSBqiKts9ShbeV-JT2JBIrgD5jQcE1UsPVUbHYfuo19qpdb_LY2ldAx-gaGgWAE0XANwiH0g-YQUI902O5uK_TWQiAizlYUTdWGOUw9inEiFoJkHyqmOyLuHeSifS7kMxGIiG6Qh0m3EVVDsBxdVNXqv_pf7i3UvmomysTqr5CC4XHUv6bK1J_mck8azzNenv2mCKjgyBJhC7lyDBbdEVWzENKGZoWF-IHlrGr2XON2hSPA2Nu3ftoO2JjmUjty8HjNAdHtqP7LBqc_YvO9brA1AmnzPqjO63PG4o0djHMRNtPZ2URM4hvVDBqKti6g==",
  "id": "rs_01f1f8fcc073e07b016ab45414bbc487d0979ef9cb824a47f4",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFQbxFJcrAMmU5pNMFFcmKJyOXfeamq0exd2oOrSovPi4Of5zlWD02cUItSVat2KF3maLq1vV4-QOgmfJMRGnFma_M1llIYnKruYHMk6Bpc2udlbHtxm2eLIRuYjB6q7E0ooKFUrihXpN65iT8CS5chXFUP1u1BpGL-OosZX2IUlctMl3LCiXG5doeRuHBTUFoKKVZeChSPm-hPKaxu5BMKgEfoHyjgcP_nD5aTLtMYK7Uf5nybIpantm2UwtMC6pnd4C_KktbK9Iy6VApw_6hY3pibD6UmyanfBC-EA5_fivmYsTRyv8ktY4pWVTMG6woiJNVXHfK3l5eFPbBTslrxJc4Lu-1n41KL1Sq05NzjtID0xt39FfsRX6CxwaJH6wQ3inShOYs9PjW_YPZvGahuD0R-l2DxuEY7ketiuZ_G8sPwxK_INmbCKerMzeyhbFR9SSLe6zcIBlIE4rqha9_yz2Ka95BSEacMgfYT5lfplZe_7NqzguD8wLT8l-52snEbzbXZ9DHclWiiWLGCXjyYnpxUINcBCs2EtdwsJm2sj_SyNeKg9_QZhWsLJ6DVQecFIAlg7FFajLAv78a1w8kpQO1pwK314g2EUwBfa-Z75tp1Y9qrBH5GIOTOC6P3MXRsp7m-pZo_wSfs5Nm-u7Zmt_LwnIqmzUM1LTwq9UDAWjS6KEgudJz5BuYYFkV9OG-Rq7RBrOpfiNHYAnYKZed04CR7yaMj-HBinA5JaxqXVEgDhHUNsXtVdDyh3xQY2GNsTLuR9Dm7l4o7sh6VB-y-tOwOkN6RfgpDMTHoBxSO86Hc4I-ONCPzmEahyTaQMl1O1xYb9pikJxsx01xu7CXTkc3XYHSO12FeD6Rgl0qIXMB4J48ucJpClTPYjMPUcgk3IK5xDnrFSjycpVHNjgIg5ax-Q4-7HUTKZNCEzElkKBc1mM2M5NLVKqe2HOVD0Q3QEq9cMiqWrNtLCnwcTMQwK9FtGoI8sNaU2JK7k0DDDuZ--KcRO1feCgFfwgmIw6MT5ffrMTP0fM_fFxaoC-QrcEUZOm9-Unao6FnSfVkdU9uN_VTqEKmcxRorwf6Fkar1LSiRW-tMK1mJJE_U0goh12bn8P_Z8cbv3a0wsF5RydWCYUXcfmh9OhaHdHpdQfimYJDHxggdehgyZPmTsg570ye3lb37NeqaASdnRNKry8YzRnWhRSf8UgIj4zuQIQ6hb2BZz4pyTbV3ULcCLtN84H1mN4LE7c3RH0tEq0-GJ2ozZ28UHoGeEhtNrWxbmHoCtuNAVjK0xQqi-_cgWIwKBYw==",
  "id": "rs_01f1f8fcc073e07b016ab45419a52087d0b8da52f8ceda6263",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.1,\"left_z\":0.16},\"note\":\"With the arm retracted, the first tan teddy is visibly resting within the front-right portion of the left basket. Several plushes remain below it; I’ll inspect the isolated pale, shaggy object at the lower-left of the cluster to determine the second category.\"}",
  "call_id": "call_EPk6pa8IFZ3l6LBsZy2mRMLX",
  "id": "fc_01f1f8fcc073e07b016ab45419fca087d08964f45780a118c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EPk6pa8IFZ3l6LBsZy2mRMLX",
  "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]: [-0.6617, 1.0149, 0.667, -0.4217, -0.5484, -0.4885, 0.9968, -0.0154, 0.8082, 0.6075, -0.3855, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2877 left_y=-0.1028 left_z=0.1556 left_yaw=0.0372 left_pitch=-0.0727 left_roll=-0.0023 left_gripper=0.9968 right_x=0.2954 right_y=0.0009 right_z=0.1765 right_yaw=-0.0002 right_pitch=-0.0217 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -2.8239, 6.7487, 1.7167, -0.4176, -0.0806, -0.0073, -0.2667, -1.2239, 7.2957, 1.7216, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fff4ea41534cd3556fc7016e4259d6c6ce5631e2666778d19170ef59d764336",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80b9622918c16cbffb0e2f4e5148594bd6dc65e7a5f094e2c49efb4f35fe12ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18062f2234ebb349a8d7415b6397dbc32b5eaca55d0cfac2829bef591140f896",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 2.311 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 44 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3225, 1.6432, 1.1007, -0.1482, -0.2951, -0.2554, 0.12, -0.0154, 0.8032, 0.6083, -0.3855, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4578 left_y=-0.0951 left_z=0.1481 left_yaw=0.0464 left_pitch=-0.0924 left_roll=-0.0015 left_gripper=0.12 right_x=0.2952 right_y=0.0009 right_z=0.1782 right_yaw=-0.0006 right_pitch=-0.016 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -6.4205, 5.6137, 1.4481, -0.149, -0.022, 0.5348, -0.3897, -1.1829, 7.0632, 1.7021, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0799, 0.886, 0.7074, -0.4301, -0.1349, -0.1345, 0.9967, -0.0151, 0.8078, 0.6079, -0.3855, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3072 left_y=0.0028 left_z=0.192 left_yaw=0.0889 left_pitch=-0.0392 left_roll=-0.0189 left_gripper=0.9967 right_x=0.2954 right_y=0.001 right_z=0.1768 right_yaw=-0.0002 right_pitch=-0.021 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -1.3197, 6.694, 1.7656, -0.0171, 0.1245, 0.1148, -0.0615, -1.7299, 7.2137, 1.7509, -0.0415, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6617, 1.0149, 0.667, -0.4217, -0.5484, -0.4885, 0.9968, -0.0154, 0.8082, 0.6075, -0.3855, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2877 left_y=-0.1028 left_z=0.1556 left_yaw=0.0372 left_pitch=-0.0727 left_roll=-0.0023 left_gripper=0.9968 right_x=0.2954 right_y=0.0009 right_z=0.1765 right_yaw=-0.0002 right_pitch=-0.0217 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -2.8239, 6.7487, 1.7167, -0.4176, -0.0806, -0.0073, -0.2667, -1.2239, 7.2957, 1.7216, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fff4ea41534cd3556fc7016e4259d6c6ce5631e2666778d19170ef59d764336",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80b9622918c16cbffb0e2f4e5148594bd6dc65e7a5f094e2c49efb4f35fe12ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18062f2234ebb349a8d7415b6397dbc32b5eaca55d0cfac2829bef591140f896",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFQgMYDUHI6jbudWzy4nILLxsRJmPRE8XLAmZ7w3lqzWYBu5nrXtGfEKhnt8Dr7tQiqFPCEqs-ZHYCb5OlMzbeZwFB5U0SHtxUM1Q0T-LmJ2KaAfCylMGatEC317WG5DPOOZ1-3vcLNSSU2-QDlXTvKRNDp7YJNlliPd2OvqcwPE6Q3M07pxRowDN7T2stpctxOuPxTi7LbKb-VVOc8hm7tBXi1psl1K6sEfKbI1p4dfqAfn64x7m5VAOLdv1gFQnb9Kznc-qfnqOEDDKhkNxDRU8cXx3BUBai667k-7xbHrCwG0MR1GP-uCF0Dkt4y32qEi0_Tzoc0MkxxlezI9fbPvKwqTdEpoiI-r57RdMz-mo47hEeSZaZBkBS3y0j2IxnSRPw0yd8QC_4IPjXdwzGO_R56x8V-eytysZW7oKflCTWKfxPTVwl_-pqesMdc-TwLYLzQjUz7SI-o0loHjFFLZo9gd4WqLvRROXbMt0zBn3BqssmSJBYAcAfzTnTBr4zwMVYZ5qsFC7sfRaaBHepmXhqlbdryffMpytt-IhBr0VQu4JWT2o_L8o5GF7IZE0xecTTEAZT-SQlKIwtcplGYvJKA2YXtTtcBoDL9sEMOwvsb22cngEKMuNJqzU-b-MWcBKg4JD9EcCj6WdxRCLWgJ-5xAqbLvppU2rFmCHZizICSNP_ZW_jNNgHB3ZnhlnQwHd_-b_6iQP6ud45_m2LVkNrCMC4NVeDZ5eU6QLfKVJcRkGJ_7SJ91bN-4Gm0ab2SXFabU8LXjzZkYZqsQocpsN5BaD6OTumgy28T9rfx6n7i-xvBSRIXmU0AUH1TCElbJez7VZOz5VVxIv4Osd2FHLBW-gRRQ36SJZcynKEOdEYPHAZmbi2TNpYKRZiUlcHH9Hd6YKBNteXlTHA2_4eNac9Ftdb6cVKO0ndW-mJVRHV5qnv4zJt1Zb8iQ8X5h2Dnpy-LrKOkVbbBjmWZgmwGW9KFHHWoHgsE2Usg7qJIRQ4hlatNDoKvmNyn2Di0gojHHGa2dxYaFEDhtDrxL7x_jo58hyM1hFp8aaYDFGBD7nVEdxXzv3uN9i0IhKhTK8Xk4m68A_6Pubn1NHuLxuSnwVbwUunfZAKY8wbeqrIeOhH1708N1WF5EuK5r3Q9rTyHhWtsCEDxiNc3KEDiK1YBM6ERnlnUHhwG-NYsn7WUUXV0R4udg4OTISCb5LqKCS-G2TlkKEIlGLZ9Vbb-WNofZu-fPMBoZ0HEAWpbz0povxmDZWA-Vl0cnqxSPN2lBWUNcqSqwQFJ0n1OTqS8dOF0-Sbj9Ff89xTwXq1h_Ua83XPJQGfx0eAGYKGW3YxtlDq-d8IOHgpsbZwK7qPIXcg87oO84QGvzCHepc4z_ck7QSwa73E4Xn6K6n9JChD7ge1GolsMsOMfDh--6zmduIv9B_hiuySZTis-xgMIoUrPufST9qdJbQtlgYuhc31srrpk35v2iFTYqV_XIWP3MEqnK7V2OG224knJxVcQIptq61zr3MDILaRkAAyFrt2v0AIoTqF6SfKNX6TmG6FVCa8A9pjn6hMSd-XXO3cHDPwjZfgg6LnpPRKvs13oSfN9xHnZ3xrdQwb_F8HydxZYSD6ApXbqe5HW5gyLseI4khyGDjpNYFIUbLeg8uP2M9D8hAcvhDHwA9rWzf-f7Gcu3OCc_jIu1iAKvbOFZ4CYdawHa7ReWKogV1rCNjqG5wBAoTFzlN29L3_ojJNbEGZIFu1pyHhgTO4fRJOPqBvf_FrMoIa7mUNOSURlJG36douFhI3njnH2fVBBi_qOiDEyKUz9wTBx9MWu0npRx93_SRg9ZVJ_n8CveqcWQJl676PL_6BvF39APSQ0TbhbBeGnJ3kfNg2ZNtDglTgiegxmRXRAIULz27YVCnwmlY6RdjelswtWrPZU1ezvijxqB70HmacHAxDZbpagPJHT1FLJ6OTcq2m3xBHPqjLGNpmQEobRDjsedQpfxcd4dGzprqrKvXhoBNed9eDVkQPVnt_GklaCKOJg-U0Jf4vbWKemrXQuP9o9pYrDKIjB2XsFRm72a-fBVKHaehTZXhp7bJ7hxkmFhUYUsk_LbH7KAxvgJJ3ghumAlv_EDpnnInbl5qctJcUO-_F81QGFY30rhkEY9-b2l6-7A5IwtkpFp8YJtE5KS2KeoBIvazj6ORJNa7Y798ghmJpnS3hDmciwuUxy0fMd50MyVGWS4zRFteIZAVEKba3iDJkXJzWWPITTlqgxQIbZKSncJIkCthOi4A8sJXmQrGJGmxEqRXzxCyyytP9n_IVKuZCmRZi545EBXGg8dY1RnfIMA34dfF5asQsUU6Zs9DcaOTmZ9EPM3JHtvUEvPnjozP7kvcyCv6POHZFrP1R_BfuPZduoeTmCuqMCn4rTV8awZVYAVMUwO89i6oirT7XsqP0FhYJoM6CEoo-IAReGSRI6QJ-5Ebmynv2ladExkmA8FtjOvsKgNxChRDGRAwzoWjVJmNSnwaZ8QzGWoF75heQ==",
  "id": "rs_01f1f8fcc073e07b016ab4541d00b087d089ba9256086c7b45",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.04},\"note\":\"The wrist view reveals another tan teddy bear directly on the jaw column; its torso is between the open fingers. I’ll descend onto the torso to grasp this second member of the teddy category.\"}",
  "call_id": "call_pG12rc062aXAZXyyPlMl5flf",
  "id": "fc_01f1f8fcc073e07b016ab4541f925487d0b627f76bb8be4e6a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pG12rc062aXAZXyyPlMl5flf",
  "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]: [-0.6624, 1.2713, 0.3199, 0.1078, -0.5533, -0.4892, 0.9968, -0.0151, 0.8082, 0.6075, -0.3859, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2799 left_y=-0.096 left_z=0.0351 left_yaw=0.0454 left_pitch=-0.1268 left_roll=0.0479 left_gripper=0.9968 right_x=0.2953 right_y=0.0009 right_z=0.1765 right_yaw=-0.0005 right_pitch=-0.0221 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -4.1231, 5.1897, 1.5018, -0.1392, -0.1392, -0.0073, -0.1983, -1.265, 7.0359, 1.6825, -0.0171, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce459f8da9a7b6ed6cb86de04dcffc121c1b53736e3c1c121468884894789abd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7c498c92ae3cc761f73851f877aa189e2720cfe3ed7f81237db1aa32e35d6ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7acd62ef9058dff1d9980804b08c84ac04a7c354503ced65c95e53a7849f4d4",
      "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 · 2.453 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 44 changed as sent

message 48 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3241, 1.644, 1.0882, -0.1226, -0.3054, -0.2619, 0.9954, -0.0151, 0.8032, 0.6083, -0.3855, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4588 left_y=-0.0943 left_z=0.1474 left_yaw=0.0565 left_pitch=-0.0786 left_roll=-0.005 left_gripper=0.9954 right_x=0.2952 right_y=0.001 right_z=0.1782 right_yaw=-0.0002 right_pitch=-0.016 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -8.0615, 7.788, 1.4139, -0.0708, -0.0073, -0.149, -0.253, -1.2923, 7.0496, 1.6972, -0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6617, 1.0149, 0.667, -0.4217, -0.5484, -0.4885, 0.9968, -0.0154, 0.8082, 0.6075, -0.3855, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2877 left_y=-0.1028 left_z=0.1556 left_yaw=0.0372 left_pitch=-0.0727 left_roll=-0.0023 left_gripper=0.9968 right_x=0.2954 right_y=0.0009 right_z=0.1765 right_yaw=-0.0002 right_pitch=-0.0217 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -2.8239, 6.7487, 1.7167, -0.4176, -0.0806, -0.0073, -0.2667, -1.2239, 7.2957, 1.7216, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6624, 1.2713, 0.3199, 0.1078, -0.5533, -0.4892, 0.9968, -0.0151, 0.8082, 0.6075, -0.3859, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2799 left_y=-0.096 left_z=0.0351 left_yaw=0.0454 left_pitch=-0.1268 left_roll=0.0479 left_gripper=0.9968 right_x=0.2953 right_y=0.0009 right_z=0.1765 right_yaw=-0.0005 right_pitch=-0.0221 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -4.1231, 5.1897, 1.5018, -0.1392, -0.1392, -0.0073, -0.1983, -1.265, 7.0359, 1.6825, -0.0171, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce459f8da9a7b6ed6cb86de04dcffc121c1b53736e3c1c121468884894789abd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7c498c92ae3cc761f73851f877aa189e2720cfe3ed7f81237db1aa32e35d6ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7acd62ef9058dff1d9980804b08c84ac04a7c354503ced65c95e53a7849f4d4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFQjwT6Vbz_9ma08vePHtlAMSIQzIgzaZTsmN8q74zrv0_G9D-lCHw6NiRwyPPiulyfAguzjLtgkzddfCT7YgnqSkDdfnG8hSE4VyZN7TK57eKiQfzVGa-9YDsGomIgAXEcHlIOmYNlrQiUJECTiVhLKCiuJfNgR81EVlYnNKBsl2DZQMgOxcAQiQMYAqdO4ZSPUtwNMRPfbu5LK3RzHavtFOD4PK61N185zi62kDqH_UzIL-KDG9V-nDmtyJNd4KW-V6I2Dq-m2E88r0z4YeOj5XK619yJwBVvX06ErrTQtVdVoGE4geRSHjdt1gGt_K9ciKX4Rsa_IfQrbt9PXPD-BwjAC4K-EOfaLX8s6n8SF0tISq0E7Kb8gsMfnS4HURojd5uNagEcvdgXc_hg9ymCFaZ09f2Ut9fgIejtFk0jOqaxbwZ-EpTuWntXTNnoBxEzXpL4XwgnbZTFzMpkbeZHpgB45n4MLDSpxsi5qp_XBMiIOEm8a5xht5TAypANDLKtBzuAQCVy2M3ugDO-mAX4-zGv7m5aQylDiEdyefd1GHhWtixHa7yF-SnGy9uVnLZx5khJzLsM1ekebT3MaUHYP7hFl4U5judWmg2CDCfxwEoKkTNoT4M8F2cZG_teJn_aXYL2kfdRAGZQ2jehad162owq_Ox_CHrWrLV_qXmqhKGUUNLVCVhqhTvsGmGA9fiPlX5ESKibeQvJeK6JGvs4I9d_xDNcfzOx_v-WtaK4i9b6HCDW1MPAz-o3mfZR5ehLlb8uU3t8QT-1DiZOOJGt1a-5f-q3BWsNkiiWw-1mr_GIBjyXlAKbkQYSsbvQDvfvViWHsnb9E07NZ44IUmrcyZAFL_J4pJq2Zl9rCqk7SPxI980R70-swPyfZK616tbF4qpd-49m9eE-iwwHt5p7zLvOIOx7JQLbU48O11bL-EibQumGIhBjyYIiSZpHPW7bYB4wVcvsmZ84ZfSPD4JZ2IxaqOS_f738HzUNheuzAuQ0oEKaPYR4a5DJm2ObaYUez_5DPhF38Ukx3W6hXYDXi4pQbYPcsvxApd54kpP2pvNbOiImRhzA9Ihgx_aU0wv7JMHRP6cT35BIWTinru6TOmyu8a1E_-j_Wu-SHW3SWJysdE4_XlNx9x_Zx2Lj4T8hsQF9VUgBxwnuY42G6mCe9HhgFCXiJ40FTgAy-j09H1nqPMst7zgZIkn0t_v-DUi1c-HzIKZdcydIzuaeCb9blMEKRFBR9BqwbCUQqxga4YnVC664CJi5Z-_C5f5iEgaHh9rnWnJlIbzK_QOl7PofStwIgjXU02OXKgjEws7lSI1UuXOlik0PV8l2VldfLgFcrsb_a6aGeQu-EKK73UvU9v-U_ePpiJ1yUchlOl4ZDYy9VKsXOGByMA787qkHhzrMeBbLEDEw0J5pzirJz0EXDLMsfYfTZ-jo3Qp3Bqxutf2X7hynCkHifmLGTgiw2CaQtV0nuI_8JBGkzfAI_1pAZeg==",
  "id": "rs_01f1f8fcc073e07b016ab45421d72087d08fa519a158f537f9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At table height the second teddy’s torso spans the gap between the fingertips. I’ll close around it and check the settled opening before lifting.\"}",
  "call_id": "call_vAxVupDJukbovBlH26Lnhc2h",
  "id": "fc_01f1f8fcc073e07b016ab4542275f487d0919a09d3e4135010",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vAxVupDJukbovBlH26Lnhc2h",
  "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]: [-0.6624, 1.2808, 0.3046, 0.1188, -0.5537, -0.4889, 0.0342, -0.0151, 0.8097, 0.6075, -0.3851, -0.0105, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2767 left_y=-0.0935 left_z=0.0292 left_yaw=0.0466 left_pitch=-0.1371 left_roll=0.0575 left_gripper=0.0342 right_x=0.2955 right_y=0.001 right_z=0.1762 right_yaw=-0.0004 right_pitch=-0.0229 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -4.1094, 6.612, 1.3162, -0.2222, -0.0659, 0.7009, -0.0615, -1.306, 6.9949, 1.7607, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d2f634e190c9b7a56202aa4f267cf2837a59b2f97753d80da9c99e4d9d5403e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c4219c9e2e109208e4b05bb9b8e69833d9b92a0c5ff77f0be805645214b764f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b141fc0aacda367d3413f418828f10fdae4af66ccaac2744f242063e8b2f4b7",
      "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 · 2.689 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 48 changed as sent

message 52 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0799, 0.886, 0.7074, -0.4301, -0.1349, -0.1345, 0.9967, -0.0151, 0.8078, 0.6079, -0.3855, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3072 left_y=0.0028 left_z=0.192 left_yaw=0.0889 left_pitch=-0.0392 left_roll=-0.0189 left_gripper=0.9967 right_x=0.2954 right_y=0.001 right_z=0.1768 right_yaw=-0.0002 right_pitch=-0.021 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -1.3197, 6.694, 1.7656, -0.0171, 0.1245, 0.1148, -0.0615, -1.7299, 7.2137, 1.7509, -0.0415, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6624, 1.2713, 0.3199, 0.1078, -0.5533, -0.4892, 0.9968, -0.0151, 0.8082, 0.6075, -0.3859, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2799 left_y=-0.096 left_z=0.0351 left_yaw=0.0454 left_pitch=-0.1268 left_roll=0.0479 left_gripper=0.9968 right_x=0.2953 right_y=0.0009 right_z=0.1765 right_yaw=-0.0005 right_pitch=-0.0221 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -4.1231, 5.1897, 1.5018, -0.1392, -0.1392, -0.0073, -0.1983, -1.265, 7.0359, 1.6825, -0.0171, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6624, 1.2808, 0.3046, 0.1188, -0.5537, -0.4889, 0.0342, -0.0151, 0.8097, 0.6075, -0.3851, -0.0105, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2767 left_y=-0.0935 left_z=0.0292 left_yaw=0.0466 left_pitch=-0.1371 left_roll=0.0575 left_gripper=0.0342 right_x=0.2955 right_y=0.001 right_z=0.1762 right_yaw=-0.0004 right_pitch=-0.0229 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -4.1094, 6.612, 1.3162, -0.2222, -0.0659, 0.7009, -0.0615, -1.306, 6.9949, 1.7607, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d2f634e190c9b7a56202aa4f267cf2837a59b2f97753d80da9c99e4d9d5403e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c4219c9e2e109208e4b05bb9b8e69833d9b92a0c5ff77f0be805645214b764f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b141fc0aacda367d3413f418828f10fdae4af66ccaac2744f242063e8b2f4b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFQmHlkMXQQQ40WROftLTeJPJ9MTq0K_8YNumAEh2Il0nrA6sSu8ZEjkwuorky0VMHOCfuxdgtDgohsE6VvXguoni0AU1zH9ESuPB35NtaNziotkFsxm0mLXLTg9L8sPs6Q0qTBWzU28czZpEPHXEmH_Q_PyK1ARwzux_9IsE-ZOliz7cPEM5UKEfG9wEIBNzO2GMAg657dh7CG-mrnaiDFnRLiyBhuvrkGIzgTdYLruNNtCrYXVRU2zpOLhmRoBzbpuIzrqG8suZTU9VtLJW4Z1uibXxVS1X9SyvFp2iW6g3YxDxEjIt52_Nc6JwCJdpVoeOulJJhDHCT5lAfAKoAicUxSz_u_lJel5pGAPTeBI0RdYoJpmoUD3_1jA3t4UytCty2p7qxtsiz6_czD6yiQHAkZbDPQp5IS0qOZ7_pZtJNSLCnbNan9Ym9iRZK3Uy2mGUyREk-Wx8gpy2APOnGfjzSVYVZfTHp8JMSSmMGfnnNrh9CmkB6hh3AdFa0hUt5OdgT3azSH0yXjxZcOEb5ncxsKrfbMSJgqfjNiwN_EJYcZzgfiG11dBYu5B_FLQKw2nUt6lbGYh_LgASPBrMlnkUHD6fAOCHD3cfDKVulsJrlxnXTieZs-jfooqy9zRO66EewlsZ_EyR37Q80oMyQ-MzUEMwETdQt6rqGRyk6NRm_nmzCuMQJTshYQxQVn8Yuuy0CFLwXXAmeR16mvMS7rePiWFi5VisywUK3gGH8AKTtG_1yE4vYyCEnvQhPsWyABBjEjmK_F5GdxUayqNCQZyIw7lQlcVkLvz0n4_sUWJEsLu2fP_hNXk9_95wvYxvjbcYpORQsNIPVfB5sosNBxPr8ncTQ8wfFJZ69_uYnw5Fj6SnY4PniL-W1jdENSeXv1hn8KzrO2FgIE_IpbNa_SOOOo9_90g1LYEt35InpdLll-EMbaB73NV4lh-mH0m4MQG4oheEVs4NMNpeEdvsg623tQl8XLK_PZk-Hj4EdXVBacRcWEJfvX8BUqqn0B-YSD2qQ3vlbz9aBQLP7sulWHobLviYCcZ2mNJtbEFyoEVZ7EvqTG6cMq5ckglhcXpR4JBNRlWdH7CtAylinl5_7x_IEE1ICQHxw6-nPtfm2mAEnJebc4pUz5w0aPFaZIjuWbQSDFs2Xukbh6qKxP4MMDxQ2Uq9fED8N-1bo-2nSKBYTP3UR-6H76R7WFDRR0EcDo3TDT_1efmKsvQEDr7G07RnmpljKsclHVzhyopKzewwBYrjsElCNC1mWy7NpPbm3qByqmYZNDnOO7lhKkrgVDjzbY8xgjX6at-cdwZLRr0kNrfUnMqCgOVHp4bZZzABRdPuL2dkYcze3jFOKJIvpNPootr2Sc-uE8ZGWeC9hCBsLuBrdmNKnUtC4N9tN0-CQHbL96DhW8HWR96AjfAy_sHmEvqaHch6vFOUoa_Awn-cXfEZ_79Gua-s0m0YWNIiMI6",
  "id": "rs_01f1f8fcc073e07b016ab454250c8887d0bd4d40551dac6d11",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.11},\"note\":\"The close settled at 0.034, right at the empty threshold, so the grip may only have caught fur. I’ll perform a short verification lift rather than transporting an uncertain grasp.\"}",
  "call_id": "call_wthwEb1f77Or93fcYv740M2M",
  "id": "fc_01f1f8fcc073e07b016ab45425c6a087d09f880d1ba226acca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wthwEb1f77Or93fcYv740M2M",
  "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]: [-0.6624, 1.0698, 0.503, -0.2871, -0.5461, -0.4908, 0.0415, -0.0151, 0.812, 0.6075, -0.3859, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2773 left_y=-0.0954 left_z=0.0961 left_yaw=0.0417 left_pitch=-0.1382 left_roll=0.0493 left_gripper=0.0415 right_x=0.2956 right_y=0.001 right_z=0.1754 right_yaw=-0.0002 right_pitch=-0.0259 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -3.8359, 8.9504, 1.4432, -0.3736, 0.0122, 1.0281, -0.2393, -1.5111, 7.0496, 1.7753, -0.022, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83d989c585e6811e91f37c8b3370936620144dad85689cd4151b2b51dbe36cd3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1df2f52270804fe609f8beb4c2d0bd9da1b905291d7080da643d70556ec7e3d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a130d05480614a61f43e8579c73bcc524beb8f1e9bf8e2597f1a1728fda259c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 5.716 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6617, 1.0149, 0.667, -0.4217, -0.5484, -0.4885, 0.9968, -0.0154, 0.8082, 0.6075, -0.3855, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2877 left_y=-0.1028 left_z=0.1556 left_yaw=0.0372 left_pitch=-0.0727 left_roll=-0.0023 left_gripper=0.9968 right_x=0.2954 right_y=0.0009 right_z=0.1765 right_yaw=-0.0002 right_pitch=-0.0217 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -2.8239, 6.7487, 1.7167, -0.4176, -0.0806, -0.0073, -0.2667, -1.2239, 7.2957, 1.7216, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6624, 1.2808, 0.3046, 0.1188, -0.5537, -0.4889, 0.0342, -0.0151, 0.8097, 0.6075, -0.3851, -0.0105, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2767 left_y=-0.0935 left_z=0.0292 left_yaw=0.0466 left_pitch=-0.1371 left_roll=0.0575 left_gripper=0.0342 right_x=0.2955 right_y=0.001 right_z=0.1762 right_yaw=-0.0004 right_pitch=-0.0229 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -4.1094, 6.612, 1.3162, -0.2222, -0.0659, 0.7009, -0.0615, -1.306, 6.9949, 1.7607, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6624, 1.0698, 0.503, -0.2871, -0.5461, -0.4908, 0.0415, -0.0151, 0.812, 0.6075, -0.3859, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2773 left_y=-0.0954 left_z=0.0961 left_yaw=0.0417 left_pitch=-0.1382 left_roll=0.0493 left_gripper=0.0415 right_x=0.2956 right_y=0.001 right_z=0.1754 right_yaw=-0.0002 right_pitch=-0.0259 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -3.8359, 8.9504, 1.4432, -0.3736, 0.0122, 1.0281, -0.2393, -1.5111, 7.0496, 1.7753, -0.022, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83d989c585e6811e91f37c8b3370936620144dad85689cd4151b2b51dbe36cd3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1df2f52270804fe609f8beb4c2d0bd9da1b905291d7080da643d70556ec7e3d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a130d05480614a61f43e8579c73bcc524beb8f1e9bf8e2597f1a1728fda259c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFQpVVAS2I0rpq05pJwFu-vHd6ruQd9o4JGuSXo3hM7_rsxafiGt0X3kXkniG8PVoJv1a0ISJaBQUUuAZFmWwxOPLm3Z6K94glK0f9PV5Y-30wTsBJX9qWPrYUEUoOmkawsMy9YiQgTviOCDFY5Iwh3KHX795K-kHaOFkZ6GLbRevGNMeRSdQVVJENMIzgY9pqleT50CZZOlPG1KDM47U60Po-dLuxm9v_DEiXpyxz58kkbsvzAH54rmtlxt0PHdHT0hFIeycgOczo-800Tx6Rrp2sdOm5dvw-WBbEij9ei8pLqdhkZ976IOj0HsDVjGL5EYLcKRN4r9G3RcSocdQxOuKq54j1e83IGQuPcii6YnTUYOcID48PtC0Yf08qM8LZUYNNjodXrht7_4EUp3QCVwShJUFB3x8xap_EMJCA0pG4nOqB2PIsadKeRiMx9ykHvIyGETgH_jMLDvRt4mjk4plRGm2bFp3UZkLRFfoC9cI3lWJuQexBaZwf5E60vWgphuBa_zg8McgKQPQ_b-qob4Nhujy0MPTeyO_ptaFsPZ3ph3dBLoiU4jJBKWk8bLn9q0NHWqDdYFVuY9sxLGz5Zf5JQwzq097ax64j5P9gV7NE7t6rwc3wi0Sv-pThvNDP3Rylm33WVT4x3WMQSRT1wj6vb0pOUSQwdifnliSnHv8833ME03p_qp4-V-gbs3Hox9KCW1KnrZGArR6U4gmTSCpHI68iXpqxlWFC7idxgGXUgQySbzSErnnjGHes3Gt2DxthwcSqAX93XYen9L37-23YNFWwFHDwNZdCiXmqWDgUZM2Y8D-Q-Fu4rFQTpmz7Xs_o12_zzlrXbSnIi1s6AvRfgLe_M3X_Q-Lot6atjoUv2LycxIMs4qKge66-pap0SZbZGgj4K_Thrl_nDc5Q-KEqysFRohJSxaYykL_W6OjWDuNSjJABlZBcvfe8LQ0zsncdT5VhKDxilKDqYc3KTZFSWhTrWGjY_p6nOjBYPEnjIJXbqIswK9K-SjthDtwce0dEpx3afwcZuMwOaZYqzyTvdjHoVBCBDegVEGzRrXebYzADaopWO5P0E-3JxFdtSN2VuxdyxOfojnUa-duwWa1fKADuZJVR3pxzjLhNw-3WNtxQUO-ZjbnWJCpeRQI2QarO3YTTm1eSLenXgpov9Olv9f_IeO-xhPOUCUULRHDx4RQyNQkGIQASjYdUFhwhYqQ-e8AB25aQWa3xrhIoIqv77u4hGm8VAMN1xpFhlyIJVhDd67FUfCFIHUfx0sZkAHV71F9D7Z4osTHWjeNKVumzokl6WH3QNcu6mJMVwWw63wNKkulpkvxyDRBC_Q2msLxmhKEKe9mPLbA5gZcgJ1kvC76BrKO3oImuI-HEuwBBiGPQ-mnO8WlLUhbjwTj8eEjjY4GURq4f4rI7F_a4q7sxYUNZAzz9WoK5s5v56HOlY=",
  "id": "rs_01f1f8fcc073e07b016ab45428303887d0948dc536cb55648f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.1,\"left_z\":0.22},\"note\":\"The teddy rose upright with the hand, confirming that the borderline reading is a valid grasp through its thin plush body. I’ll carry it above the left basket, which already contains the first teddy.\"}",
  "call_id": "call_8qAjY2FX11Pr6PuUQYVgiof8",
  "id": "fc_01f1f8fcc073e07b016ab45428eba487d0b4ab24a20d6bbb7b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8qAjY2FX11Pr6PuUQYVgiof8",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3462, 1.6424, 1.3693, -0.5385, -0.3233, -0.2611, 0.0476, -0.0151, 0.8158, 0.6075, -0.3923, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4479 left_y=-0.0981 left_z=0.1948 left_yaw=0.0558 left_pitch=-0.1971 left_roll=0.0581 left_gripper=0.0476 right_x=0.2949 right_y=0.001 right_z=0.173 right_yaw=-0.0002 right_pitch=-0.0362 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.294, -9.0598, 9.3607, 1.6044, -0.1636, 0.1197, 1.033, -0.1846, -1.6342, 7.0359, 1.7509, -0.0024, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb40725093d33a3647abbf2f04b97c613466e62964bc55f51caef37f5e2bc924",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4efa496bc7dec273db15582c57f10cb58d9ed4654a90ded45bc388ffefe48dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a361f0777911e7bda128c83b4bcb0a2357cc457050ef5d36347302cc12c80156",
      "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 · 4.605 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6624, 1.2713, 0.3199, 0.1078, -0.5533, -0.4892, 0.9968, -0.0151, 0.8082, 0.6075, -0.3859, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2799 left_y=-0.096 left_z=0.0351 left_yaw=0.0454 left_pitch=-0.1268 left_roll=0.0479 left_gripper=0.9968 right_x=0.2953 right_y=0.0009 right_z=0.1765 right_yaw=-0.0005 right_pitch=-0.0221 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -4.1231, 5.1897, 1.5018, -0.1392, -0.1392, -0.0073, -0.1983, -1.265, 7.0359, 1.6825, -0.0171, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6624, 1.0698, 0.503, -0.2871, -0.5461, -0.4908, 0.0415, -0.0151, 0.812, 0.6075, -0.3859, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2773 left_y=-0.0954 left_z=0.0961 left_yaw=0.0417 left_pitch=-0.1382 left_roll=0.0493 left_gripper=0.0415 right_x=0.2956 right_y=0.001 right_z=0.1754 right_yaw=-0.0002 right_pitch=-0.0259 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -3.8359, 8.9504, 1.4432, -0.3736, 0.0122, 1.0281, -0.2393, -1.5111, 7.0496, 1.7753, -0.022, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3462, 1.6424, 1.3693, -0.5385, -0.3233, -0.2611, 0.0476, -0.0151, 0.8158, 0.6075, -0.3923, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4479 left_y=-0.0981 left_z=0.1948 left_yaw=0.0558 left_pitch=-0.1971 left_roll=0.0581 left_gripper=0.0476 right_x=0.2949 right_y=0.001 right_z=0.173 right_yaw=-0.0002 right_pitch=-0.0362 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.294, -9.0598, 9.3607, 1.6044, -0.1636, 0.1197, 1.033, -0.1846, -1.6342, 7.0359, 1.7509, -0.0024, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb40725093d33a3647abbf2f04b97c613466e62964bc55f51caef37f5e2bc924",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4efa496bc7dec273db15582c57f10cb58d9ed4654a90ded45bc388ffefe48dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a361f0777911e7bda128c83b4bcb0a2357cc457050ef5d36347302cc12c80156",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFQw12qzNHdInncAhkm1MLwXq0Lrx3EasF_ugVzpTAb2ltw6kVJz9BEEiiOgWsFuK-t0MxiSZWepXpEKGNQsBAtDn4UkziCPVHkfBOMisY0p3GZ_UUlyHlOY6Mb5KGOBbjAaNeAIwljmAhUBfCOs1uy-riATWh1ClVm5gOrakczc98cPyfpV6xRUfNsUR5reI1YYEHdD2QdAtKzYaKZPxrAnfTDkbi6IwoxIzRmINbdrwMEpw8pNUoxpH7Ky1_oA4t5eE9tQXiSTomO57-n_f9WzpaEIdJo88hBdWbHGHfnVqWNkInJMEEk9yU922wtu-ps1As0IuOjSmeat6ooczP-Si0y13AxD71j9UZ1kAO6bT8_7cQjynUoYZNtI11MerzkCJvKJQnl5nTrtf4WpCwh1HEEM4zcHG7YBjcBn9TY9GZRkaXpMaDyPF_3t8ToccELQsxE2MCAAhoocnyuNNlMEmqR6YwzgTK2f5y-spaqZHIBc3zRfuXiD5QYj2WooG9pFMmMjD8nfohlIjrZTCZtuefbFtXk3A_W4ULsfmjT4_N2w1attUJgUqdrGK62Hc8uoy9gOoT2V5JcJCwwbX162mO3774a5MTyw9eCnOlqc3uD9l05cdkMdCzJ7vImo1OZCNjPuIe2_OnXfOqJhZFgOWaGy_UPFK3UcCIgPZV_PVMZJXssI0UEjEda8rxCd2-kRtYNzcpHbfVSpZh1yohkd-7bHK2YlQ_bkEcgUiCMFfAO7SKiJRZiNE_SY_gq6OcBTkw-9UIQUvzAJszh-Z5OMiU873q7xh7FpwxyJE9NuwmMwUygYhVm_DgfUvfFi1X3KBIkGWxeJxE73dsXUrLNLJWPEYYb4gWV0LhYkHqqmoZvYsQ3WiRCuxFN1duHE27TilbZStEhZj4YbRHCndVsQXLMRto2T6iqTPZgXdKZoxMTJoC2ohrkCHW11JXuI2wja72CbJnWWPRjW6W36lsqyXr25RCKy6iYrJgW1e97VFn1_JsU4PP_J4jzzaNthc_eWRVw-1-RH6el8-eYtsDVgc__Qz3D0s3MaeQSTaliLcwNA2lEYBnlvsVDCQaaP5erHnHRBkyX1wappqAGFbQql7Iiij1gjeMzaB6lDYUDkO7hDhBsTm4VqeQ5IdHUZuUABwxVEHZ6-W3qcW8nxnEc6WofOdjdrIVgtoYmD2WXn2X4VS09UCROBgR36CHpRS32IL56zDNcuLDcPmINTjD3qEe9VjxjT8NBeQ_oCe-LOFvQznycJUqOs3Cn7cKH2YiQJG0Pl_0lNizD8WsSNDQMxSubADLUhI4PgJY_kJkrpVNsfrx3hetGZYhutK3SPe-zQZK52GjY0Aj9nDXplagkZMFFv4RrCzmeBBYdUpzQvPB17R9PlgorkJxidwilZ8iFgKafbUctgTXOblo_H2-gXD5Mji6f4UHuZBdTvFNFbe-FtWsk-NrEGWOLt1IojKaIjB_NevCzly9_4gaJ2KULYJmLLQUAaDxMwVfz1RinOHGGdHKugZVUlNggpjvyLuUa3Wl5h9H8nvDFUNYm4Dth51gVLdgqHWSjASE0_-p8N-j45kYgpaM7CQKXJUSBfvoaujB9RE0pep4o9ondl4jKQR_e2Z2Om301Hm3R6-pwut4Cj8WqvMaBhze2v0mOZ5RagKgYCF1ESPf7d55-AEMI8XVkmVsV93oABXAg09elCgdKDX1Vr_-NuBtryjHNauSexoZB--AZt0ouSTj15dIVFmGHFyEK1sfE3A1qqRC_5OvluhUbXD9Rp7-2jL5MN_AIS4TtWDDGVScdFTPXxA9biQ73WjGMMn6A2v_gmZBca7oElKFJ3FP0dupACaGxTHCEjDZMBPaXpRd2h-oQGeQsUJfbmIRabPin9MZ7umd4gAQvgftgxX3gJRuLa3LInlYtqME35KM-8V-8i08WpQ4CHj70vLSF8UlqrL8zVkTjSXm7vDf6SNBddKGZkAvgKWMDjK1i7_wY3i5TpwLY6UsSsp723AaCMiuKezGakt8XZUUbgd6xD9t9tfjSgZ0vjhn7qR-apfQImNPyX8pMGz3bKLA34_Lfw66K908rBpLw-Em6sAOdRJ1-N9IGZL79yOa1FefZVqsGufVPtkfkSwff9vRULMo83j-JuRlTjXnUXJakBcpYWCjbJoRy3vzy3zz_QWMmR9SqfMwu3oMW5iLGORAahT-hqZRXmKMg_E-2yVxHGZvMvEDfSb0jYr9EqwyyPiMSJsl0uSGwdfYy2ZA9I6M0M1HLmVR6EowQ5WFFwDsKM-jpeGa1Andd0yshv3VB1jLJ0VL97STwm0sOF9So4gv5phR-sLBGM49EhKmO1AdMwA7nogewkGdAoh-WzoZMQ2fFTEYiLQl2eUEt00KRe3Idb9UvjuzdBn1TGi_nk3Z9TamhWF8qNWRGi1lUFxi7gu-sueJ_RIKOf_e5urVi50V_4rV-4ILkRUmqmhlmZaUm3KKOsk10dSgmwNoyhVrlgqkBJ-tRkkxKTOwwEUfTuLLW-sctNAtNgUcP16gnq61LEVLkDnQkZWkrzh6QEt2FINQpQTcBnEMx33Bf90Dtx-g_10nyTGVT3rzxW2EAIcVcn1If9vNEjGhCxRm8kuCOqIoc06KCNvpQG_v2JiOpcovstkR3s4lKMtW0KqkPbz1IldYLjTWxGg_9w6WgbqL9_u3H4aBDY0YtW6QFsdeNmCMBqf741UzTHcS6Xx_DWonnSBnL55OMCJihoN-Y0aQtyxEriZTrTQzlKFNntItMvkDZXH2hLTMEar179p-VhiGOp22fTjSBP0UO6zi46-PKZNzvbICChfrzOEhV2L3sY7bVqtGqrH8aZiiw-dZ4ODyTMilnPiWSi2KsXi13tHC_rDJMwTAw0si8GsjeYLbppVlBizmORo7BFB38shn9yuj26E9bTlTVaweCMESmsFckEDr-6SBXGSydoPNHQX2yP4RTg6_T4q_6QAspLaDr4BREGgZynwI2Y29y5NB7DwMVgehyoIQXkmPGtAhtmXYOp2tf76zpVC0MVEMGxoFTTTv9EP6XaT1AyyycSZB3M3oVq8gjn5kKQYpqLyCyoYs9Jm6HVvVzjvatjJI2Y0k3PVLd42ZjPnaJRF57zidHg6ZCLTLKZdGLVUq9Fz_jjNxhk3WV-TahZg9EYqSm-DzdlKRYYwyyYkNCZBWVVWN001oIBwgDDbeos6bzn5hFChXCj5Yp-VnaZ2nppMMRl31VeqWY4dcF_h_3NL-ITOoEO4RqY_NpvG9a83KHGP0yPFYZdDw==",
  "id": "rs_01f1f8fcc073e07b016ab4542c3c3887d0b9441250399d4bb1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.02,\"left_z\":0.22},\"note\":\"The overhead view shows the held teddy hanging to the right of the left basket’s center, so releasing now could spill it outside. I’ll shift the grasp point about 8 cm leftward to center the toy over the basket interior.\"}",
  "call_id": "call_Pw5kNvoVjY5XCADmDDuUweSI",
  "id": "fc_01f1f8fcc073e07b016ab45430188087d093405c6b30f729ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Pw5kNvoVjY5XCADmDDuUweSI",
  "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]: [-0.128, 1.655, 1.3918, -0.5873, -0.173, -0.1246, 0.0476, -0.0154, 0.8165, 0.6067, -0.3923, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4561 left_y=-0.0244 left_z=0.1859 left_yaw=0.0751 left_pitch=-0.2724 left_roll=0.0591 left_gripper=0.0476 right_x=0.2949 right_y=0.0009 right_z=0.1725 right_yaw=-0.0005 right_pitch=-0.0378 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -11.3709, 10.3316, 1.5995, -0.2271, 0.1148, 1.0281, -0.1573, -1.4701, 7.0906, 1.7167, -0.0171, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bec5d1c57153cf1a3b078bf35549bb353ae554e9da434c409f477719f4ca41b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e375fbe63e5a91a3ba5d8c3ff5fb852206d484e6ce66f18d50bbd9f93835de1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eac684d3d48ef011c4902433a50686db210624e4d827c2e0381020cb65c4ae6d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 2.456 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6624, 1.2808, 0.3046, 0.1188, -0.5537, -0.4889, 0.0342, -0.0151, 0.8097, 0.6075, -0.3851, -0.0105, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2767 left_y=-0.0935 left_z=0.0292 left_yaw=0.0466 left_pitch=-0.1371 left_roll=0.0575 left_gripper=0.0342 right_x=0.2955 right_y=0.001 right_z=0.1762 right_yaw=-0.0004 right_pitch=-0.0229 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -4.1094, 6.612, 1.3162, -0.2222, -0.0659, 0.7009, -0.0615, -1.306, 6.9949, 1.7607, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3462, 1.6424, 1.3693, -0.5385, -0.3233, -0.2611, 0.0476, -0.0151, 0.8158, 0.6075, -0.3923, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4479 left_y=-0.0981 left_z=0.1948 left_yaw=0.0558 left_pitch=-0.1971 left_roll=0.0581 left_gripper=0.0476 right_x=0.2949 right_y=0.001 right_z=0.173 right_yaw=-0.0002 right_pitch=-0.0362 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.294, -9.0598, 9.3607, 1.6044, -0.1636, 0.1197, 1.033, -0.1846, -1.6342, 7.0359, 1.7509, -0.0024, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.128, 1.655, 1.3918, -0.5873, -0.173, -0.1246, 0.0476, -0.0154, 0.8165, 0.6067, -0.3923, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4561 left_y=-0.0244 left_z=0.1859 left_yaw=0.0751 left_pitch=-0.2724 left_roll=0.0591 left_gripper=0.0476 right_x=0.2949 right_y=0.0009 right_z=0.1725 right_yaw=-0.0005 right_pitch=-0.0378 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -11.3709, 10.3316, 1.5995, -0.2271, 0.1148, 1.0281, -0.1573, -1.4701, 7.0906, 1.7167, -0.0171, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bec5d1c57153cf1a3b078bf35549bb353ae554e9da434c409f477719f4ca41b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e375fbe63e5a91a3ba5d8c3ff5fb852206d484e6ce66f18d50bbd9f93835de1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eac684d3d48ef011c4902433a50686db210624e4d827c2e0381020cb65c4ae6d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFQ2xmmXjjMqw-WZsWklUOIibb35285TMQ7NAu6oqj0_C_gu4dvkLL5h46XNAz7A2PFKItH02_j2yCBvipJl4wVXXsWi40II3WHghxsjBlTDTiB2MoNUpRT27djERTyNC-OEUXV00CKaz_HzQMrDIV6eb7xS8uj2yOi3fEHAshrzmzz21QxCNIXtVrWZF44SWpGy6fRYPqP3ncy64FeGfarNZbevAbVcrstg_B4h7nsvn3wMJTbWd2GW-f36_xRhXs-4T02wjc3KJm1krXwA22u5rmkqYoIGQzRNCVLQ5WSivAK7J063bThpntBsfgmZEG5TZE5wNhYSIGz9FR6Oa5GM1krHCcSaGXzyOtsliPpu2UwlZyMyXv-Upat7i-5rRSxUQl7qnmZtfOm9LUlCgeDosWnPnyvqUFgiqINDHA7EtxFyi8K3Z4QApKdPfBOoBmwIUIIuvtTbGBUJYsflW8AtAaOzA9n_8cbOw9LVnL3sQ244mXXZOWTdJnV0Yv-KPVnmySsJkT4bZXNKwk3mEtY9OOhTJ_FbzkWSZCH5wfNahkONSgJy-NHk8dxge3hU11Xeier4UBHWLjK1PmK5PuvPS_9vEpf9bkkwcM_skxIJ0prz5P8YMEVzYZIZwWUdl5iJnzQUweEV8Rsxt-hXlmpH5Cof8wwzAANVVkRfaxFA6PC_gSQU5ucKndpCW_px3iflbT97ky3DC_LmMPVKMVQbtICHuVaoKJ38dpWFOhFNXDqXFIbusx0HkWNXVXKE16pv8msUKpRvZnZ_FBEN16dqUXuEsBqQpZqIOf3LEuEiECUunTL47vlPNDouhdQIaHmeAHZPnDReu75iAyLpu9ZREQ2hhVeoXP6WIBfxXd6cVvKyBMsSlTlE-FE-FJSZQT175Az5Xnl4T1PP8T6OUCx7LYJZlj8VYSYhntCHF-eP5HpQamnhJOXsu76NBuncWxLXqAd0yChopO176cvQfGLlo7wVvYvbd3fNSl9g3eeI9_doXRp-vbE8kFAd3jaenMn_1CDg4YxRVHhXooSsfaBgEK1EJofeVEdXHTBHdEUMWsz7Ko0V-CIhoxsLR8Hqghw7urtyMnK61iXdOeUxWC1yjb4OzjixLEO-PX3jb_ruJ4UhzJFv8QAlDhFzFIqDhanoQpE0KYYLlmUhBWDYmyzvC2mBbinGYIvF8abam2lbBjFSubT56VkpTc6_hnpB8e-8QCzccDRxOrOX6HL9cNYiq2fRRLzROmzdqg7jz9We-To5ZlASE0-atQzB1ipiAvzNpZI1w7DGe-sabRt64NATHKXaPE4Vn7lJXdVEBm9zm7pnTu3QhZ0Cwac4LiNPQyxV_paXOTbrTBVqgNdugsO0aWYKfRky6Gn5TCesVbYV3xxcli2KUJFWaxbucQrJ9qE2ndzjSTgE06oEvkDNRYRxtiaLFLjfNdKwU99fXVSyqpSlH8A95HbLGgIH2McrlR2xLgLQ46RqHsneK5z55dsfL9dOgyRD25RAqjG0XxfiedfSsOdYK0e8UegTQELPDkAILbVLqbJTYHron7PJ9g2I8PL2nZXOkwvnzCEWogFyJH_b2gvlR4mxh7zSgN1N0HaOdXrKU-GenFqnsyAb36iyXaPsa1UKpVDXeun3G9h-7IikYejO4OfqkExIru5IFzgJZ4IE1sUlnaDqO83hdWS8KKt7HvbNCRXCzAcZeAWjHiG3pIbkGl-7XFgTZTMZmbTxb1IA7JvbJazl0lRY_BomWg8gczmIQ3BV_MbEwWmmR0oATumAf-g5mfAxvv2m_ntzMwVNh9emYCU1RYLjq4z7K7RmMGqrVy4_e5b41GLbHtg_lNxQabRCthr1FHRY2ap_FV-aucqZBvvsQK1wit8SxgiB5gAX4359C_flcrEJM1vZajAViC9eb55vu8h6Ny24rHeiEFSxfNYTtb4l4RApA2DBgQTpuTbg7aqc26fu8WbOZkt-Hgt8zBqI8vG46I1RmuLHwHOVTMVvEv8TOD6crTeeJ-dNhTKBI34wbF69LTHBagMde9ai3I4s3XP4EcAdqq-ThwQeKeXzZ69iY1CMVPTVx1q1GFNY4araGYjTKVa3yDz7ECDhuGqio8JG3C7in2SvoXi-5vUFTPFWsZNCV1iN3ChGMBinI0HeNcm6cAZ91J0SpPmwIR9X2tRFCDtq",
  "id": "rs_01f1f8fcc073e07b016ab454334d8887d0b135de27f3226275",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":0.03,\"left_z\":0.16},\"note\":\"The grasp point is now over the basket, but the large teddy still extends toward the right rim. I’ll make a final 5 cm leftward adjustment and lower it inside so its center of mass drops into the basket rather than across the edge.\"}",
  "call_id": "call_LOTejg81gZjtRHImLD5AFMdK",
  "id": "fc_01f1f8fcc073e07b016ab45435626887d0873ec0d60d0ec273",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LOTejg81gZjtRHImLD5AFMdK",
  "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]: [0.0116, 1.6535, 1.2957, -0.5068, -0.0677, -0.0338, 0.0476, -0.0151, 0.8185, 0.6067, -0.3927, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.452 left_y=0.0208 left_z=0.1582 left_yaw=0.0726 left_pitch=-0.2999 left_roll=0.0413 left_gripper=0.0476 right_x=0.2949 right_y=0.001 right_z=0.1719 right_yaw=-0.0002 right_pitch=-0.0401 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.5949, -8.3487, 6.4205, 1.6093, -0.2418, 0.0513, 1.0281, -0.1299, -1.306, 7.0359, 1.7118, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b71457396d96ff5c83419d2462afbf4b04a1f8ee5a609a10303e18460bfc5f37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48db887a933ca5b84120df7c76a95bc07a0fc100ff51cae45a9d753fe140f746",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebd82e0c5b7ed1dfc3f3c9f6e296b321fcb5ccf1b1ee5974ba0215bb48a9f87f",
      "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 · 2.183 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6624, 1.0698, 0.503, -0.2871, -0.5461, -0.4908, 0.0415, -0.0151, 0.812, 0.6075, -0.3859, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2773 left_y=-0.0954 left_z=0.0961 left_yaw=0.0417 left_pitch=-0.1382 left_roll=0.0493 left_gripper=0.0415 right_x=0.2956 right_y=0.001 right_z=0.1754 right_yaw=-0.0002 right_pitch=-0.0259 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -3.8359, 8.9504, 1.4432, -0.3736, 0.0122, 1.0281, -0.2393, -1.5111, 7.0496, 1.7753, -0.022, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.128, 1.655, 1.3918, -0.5873, -0.173, -0.1246, 0.0476, -0.0154, 0.8165, 0.6067, -0.3923, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4561 left_y=-0.0244 left_z=0.1859 left_yaw=0.0751 left_pitch=-0.2724 left_roll=0.0591 left_gripper=0.0476 right_x=0.2949 right_y=0.0009 right_z=0.1725 right_yaw=-0.0005 right_pitch=-0.0378 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -11.3709, 10.3316, 1.5995, -0.2271, 0.1148, 1.0281, -0.1573, -1.4701, 7.0906, 1.7167, -0.0171, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0116, 1.6535, 1.2957, -0.5068, -0.0677, -0.0338, 0.0476, -0.0151, 0.8185, 0.6067, -0.3927, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.452 left_y=0.0208 left_z=0.1582 left_yaw=0.0726 left_pitch=-0.2999 left_roll=0.0413 left_gripper=0.0476 right_x=0.2949 right_y=0.001 right_z=0.1719 right_yaw=-0.0002 right_pitch=-0.0401 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.5949, -8.3487, 6.4205, 1.6093, -0.2418, 0.0513, 1.0281, -0.1299, -1.306, 7.0359, 1.7118, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b71457396d96ff5c83419d2462afbf4b04a1f8ee5a609a10303e18460bfc5f37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48db887a933ca5b84120df7c76a95bc07a0fc100ff51cae45a9d753fe140f746",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebd82e0c5b7ed1dfc3f3c9f6e296b321fcb5ccf1b1ee5974ba0215bb48a9f87f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFQ54ELJvs67dmE3P1wwkIUq1KPFY4nRQpj1E5Ym1a6pi5yiQ4grqHHM8gs1X-vE_y0YVLbX5l3ClrbWXiDfcl2W9pqSMdFfv_PGvnC0a4isBYoLX5y_Fqg4KW3y7nWpZDG6RBpNpT8zFVWb4m69v-9HGz-NUcC3IR4gTnq7wz5Z097CKcC-rMQwAmNlqBdcgrCY_DhLkt-uoUr1xYIVEUBf_olZQmC08FQC_QwzKMbWTeUJ-TCsZAaauBz_denJ4UgIJICokrtgiRZGxq3r_y67v4qyaqIhZDm3Glu6cA9c47lwEEnYfD0qzfLts7m46MycFP7YoWriSMGy2P8EieLjgCCO1twnpiAm0aw2xCXCj1Qgo1aX77WBIBYoLmVpbF8O9CJSfF-hoFzZB3rxsinJY-IlR1z_siJxpTrre9bSB6PEKUOonL1mgbxzdPPbm40aHY5hUn_V0wz0HWhIBkV9Z3NwyX9oJO5VLGfD05RWJqtLj1X1B9lhE6oL2RoreWB2pKhCUbofLFNkdxjk4CdD7bVOwZEVuNnaBkhm0FA5ZWAiI1O0gBfeR8TIEBHCh4PqcePsRJTo-0H2okAg_J6_YVS1tnpyYKD9Vy40hEtF_-u6T2CrJtEAdJTwBF1knRDQ6DmwvkZH3Ahi8ptgFwjp2BqFjtLETnie4GgLLiTFmYJ3TWOCKkleck9C4qDoiRijHFLCN4_5Ji56kLauC9yO3sidAtr-ooug4CUYUG6kUyMC5jmLr-ccHTbeZ5LypwlCScU4H0KZGCOMS5CEjcQLPQ7zG7iMyLnv_k4Ccw8PzWwgVbwE02qowhV16todpdpwpWEHiDVMTeJET5r21bV9aUn3RInOkrDC3e8f5zoXG8XC8P0MsTTPCKOGR5vqym_GebfXlazBty7adyBQzsISP4FeiHlYRSc97P5zzteu4lFHXwDyz866f-mye8jNhv_XJGdLKopA8OYxT_HUc0sjSIThvGtsekkA4J3Z4bAwmpDbrxXYJfjvk_HPYrsTkOhNXIwBlvUBmDOGRIoXEdsoeo9eIHYlIfjVZW71h1CFBKPIGR374HA8yGW0yyXUasWdopPRG4P8LGRB7OKf7uBjHTGZM4DPKKbm0duwHTYuO444MurCYOmwFo9RudCP4rDMps3WsZY3Fknfm1NjgBEVb-i-SYfZktcUtKOrwHScIDXeVLQvXmRIRnZRhSgu0Q6dRw2myzgcKl4VTlItMbShtYICULWNhSlmd0xvJ-ytftlp8W1RswZw8BZYuyIBpJeyf3PYAXLiuMFq03MsycM9I7_2USzMcRJN9XkyqW3xP-WQK-7Eq8mOqUZjI-AeNcp-kETHLR1EJccex8I3mgDuerBT4GWaAEPsPKW9I6LSFBmi1zVg4TPG2XDAtuLrGPGLQ7Jh0WTo4n4JAFf4SzmPggFW2yB6Dp7ai3i31G9fXM68w4hm2HOcoWAPIbiG4vdy",
  "id": "rs_01f1f8fcc073e07b016ab45437e7b487d08ea88cafed0cb62d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":0.05,\"left_z\":0.14},\"note\":\"The teddy’s lower body is now within the basket but still near the inner right wall. I’ll use the remaining safe leftward travel and lower slightly more before releasing.\"}",
  "call_id": "call_6qz8iXPNbSThJs11GbaHfE3u",
  "id": "fc_01f1f8fcc073e07b016ab45438590487d0961b9b2424207f27",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6qz8iXPNbSThJs11GbaHfE3u",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0238, 1.6535, 1.2842, -0.4992, -0.0475, -0.0143, 0.0476, -0.0151, 0.8185, 0.6067, -0.3923, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4508 left_y=0.0227 left_z=0.1546 left_yaw=0.0561 left_pitch=-0.3049 left_roll=0.0386 left_gripper=0.0476 right_x=0.295 right_y=0.001 right_z=0.1719 right_yaw=-0.0002 right_pitch=-0.0397 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.5402, -8.3214, 6.6667, 1.7411, -0.2857, 0.0611, 1.0281, -0.1162, -1.4017, 7.0496, 1.7167, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e7b728625ad1d715c52f2de0d565b050504948ca959aa2e6a69e659286d2f3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:314224d2e8c8af43fc7181219a7312084b53f46e66bdb4aed94305ec6e10e0a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96ce57cc0e6d40be9adc0e3d2348da470cc43f6024aa86014b3bf6b8e5dd7fce",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 6.336 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3462, 1.6424, 1.3693, -0.5385, -0.3233, -0.2611, 0.0476, -0.0151, 0.8158, 0.6075, -0.3923, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4479 left_y=-0.0981 left_z=0.1948 left_yaw=0.0558 left_pitch=-0.1971 left_roll=0.0581 left_gripper=0.0476 right_x=0.2949 right_y=0.001 right_z=0.173 right_yaw=-0.0002 right_pitch=-0.0362 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.294, -9.0598, 9.3607, 1.6044, -0.1636, 0.1197, 1.033, -0.1846, -1.6342, 7.0359, 1.7509, -0.0024, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0116, 1.6535, 1.2957, -0.5068, -0.0677, -0.0338, 0.0476, -0.0151, 0.8185, 0.6067, -0.3927, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.452 left_y=0.0208 left_z=0.1582 left_yaw=0.0726 left_pitch=-0.2999 left_roll=0.0413 left_gripper=0.0476 right_x=0.2949 right_y=0.001 right_z=0.1719 right_yaw=-0.0002 right_pitch=-0.0401 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.5949, -8.3487, 6.4205, 1.6093, -0.2418, 0.0513, 1.0281, -0.1299, -1.306, 7.0359, 1.7118, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0238, 1.6535, 1.2842, -0.4992, -0.0475, -0.0143, 0.0476, -0.0151, 0.8185, 0.6067, -0.3923, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4508 left_y=0.0227 left_z=0.1546 left_yaw=0.0561 left_pitch=-0.3049 left_roll=0.0386 left_gripper=0.0476 right_x=0.295 right_y=0.001 right_z=0.1719 right_yaw=-0.0002 right_pitch=-0.0397 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.5402, -8.3214, 6.6667, 1.7411, -0.2857, 0.0611, 1.0281, -0.1162, -1.4017, 7.0496, 1.7167, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e7b728625ad1d715c52f2de0d565b050504948ca959aa2e6a69e659286d2f3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:314224d2e8c8af43fc7181219a7312084b53f46e66bdb4aed94305ec6e10e0a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96ce57cc0e6d40be9adc0e3d2348da470cc43f6024aa86014b3bf6b8e5dd7fce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFQ7PJwIuv_p4amqbqGh-sWp5Z0yEps9itEFTes4TyApjk8FvmGwAvV8HCuGPewHkE2wCL7jI66awCirvKgrvnIiJ_7hzGJLSwofI1yHU768JjeECj6vOo2S_RlvrJePE2wkBrJxPt8VRQMrFZVeDw_VZSxU3itJADYgis6AEh-NtO1XASx_7ZyJVYuqhYBSmelmtV5qp87J5fDZzy9N-0auDykAzIW56O93XULiaqeX4vq4unrRH00SPu3W4pBhbB8rJ44nVWZLln2i8N4PUzCUuY0rC5zov2bdrdyAynyaC__595j7PwRfcDL8UBzKpkJ-ou7khZwnkwdGwHDneIl-MYDWWET3JRxdZZaGAvxPplo-GnD6EVqHdVfeILCZniuscAVjxeNxkrZpOxIUs6v0tF9Ey7W9x_roEL1mj2D-CKlI9x02rQyOP_DBRS9EdUVCMbMaAqRhnELajmVOKIC0pffUzcVfAPJfM9TmEvrull9lZ1UZXseBLt0RDIICgxC58wbNcr41NKRi_UwHNadkhDFhoBkK3391Gc0tlTz2yoRcwAGBntW0VSyllQ-1X7IAQ2CB2CqFVhgrwRn2-zoOVwD3g-giPp5XmRkVPHs5zWXZOy7o-CGKKTs7H3nRIehjnM39_ADU7KO502BBA2DJc-hJJ45ZGivhZv-FSUHe04Dfiovfhejf88rVTlp4UMm-YSd9TdiGO-lNEuLWT_Sipke_FonJsyL8u164lpYjsgT3-d-Kdx6VXZK_5Jyk-8lzztQEJZM7qhgLjl2OBPeuK-bWKQqhX-0dAKZLB5_q6n_g7qRUqgv1cM6sNakFh2NhJ-uz-7dl2gJWJLvrWXbTW0ZQa0OmAWZuf0bIN_ZH3os7N7yJa0hLElsdB0tbxM5S3EcLLc40JYsIFsZTysFzlegMPawCsS93I8vL9R-FsRtmP9-xjfGbbKpYI58oH1pKRtvCtgO9EkjOu-zEr5SoZhRnRTsHt-5AgKdM5E2v0pBMMdH7TOIDdlzQJgjHeWPB7vnk_nrW_q-Xjzia0fgclgLLc3BwTnVHslXxBvZZclEa_Uv19Rd2WqrA585ci3raUrx_HoiwLZxVaoXibGWtyZp1cDFhqGyGXy1gWGrwalF1bkV0eHWMiqMX2QEyBphfA-ozqUuKSvIGfmS_MC3owVXAHThyeHFluQMx0l0QS0XX99Kl5O4XMe4nUv16S87N9EfRDvGgu8hrqlNx8F4PG8zcK0T1s0Tu45LKcV9J9ybQdCecmdU8YI3ZoIUpk91KY0ljozGI0JHhmIDUYyzduiVYi3chxtqHvxOUREtswg7hwNvjE1maCdF7yFTN9TcL6rXPdzpvmIincm6V36Y7Tkvo8jaxIJR3Qeu55TCBdZ_ZuGXMs9QnE2uBiIQl1ls7tpGlfTEG7_w9tBJVLtauwvHOgVlXkZ6JMU7aSYVZrrJMeVBLzMsICzbHHU6TcW7mpb6ZfPOefPLW6v0zPSUFVouxc2Wlie21VtoXLQjhFe4=",
  "id": "rs_01f1f8fcc073e07b016ab4543a671887d0962891b7a51e91f9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The teddy’s lower body is inside the left basket and supported below the rim. I’ll open the gripper now so it settles into the teddy basket.\"}",
  "call_id": "call_oXQwzpXcHb5rR2rUf4YpWnfh",
  "id": "fc_01f1f8fcc073e07b016ab4543adb7487d0bfa88c60055b9236",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oXQwzpXcHb5rR2rUf4YpWnfh",
  "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]: [0.0238, 1.6535, 1.2823, -0.5037, -0.0509, -0.0181, 0.9953, -0.0151, 0.8185, 0.6067, -0.3923, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4495 left_y=0.0233 left_z=0.1531 left_yaw=0.0614 left_pitch=-0.3112 left_roll=0.039 left_gripper=0.9953 right_x=0.295 right_y=0.001 right_z=0.1719 right_yaw=-0.0002 right_pitch=-0.0397 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -8.1299, 6.8855, 1.4286, -0.0171, 0.0855, -0.0415, -0.1162, -1.3197, 7.0769, 1.7216, -0.0122, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fa01f28cfb529458b0b345a69b512ddf109182a6e2395f247fbcb8ca5ff0ed3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3378dd5631e46a30fcf4a3583ff8d382bd03cb19d81036336a74af544de5e975",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:775600367cf4541b3cd11bd64a792da8da2fa3205bce2c4ff69321995a731976",
      "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 · 8.213 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.128, 1.655, 1.3918, -0.5873, -0.173, -0.1246, 0.0476, -0.0154, 0.8165, 0.6067, -0.3923, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4561 left_y=-0.0244 left_z=0.1859 left_yaw=0.0751 left_pitch=-0.2724 left_roll=0.0591 left_gripper=0.0476 right_x=0.2949 right_y=0.0009 right_z=0.1725 right_yaw=-0.0005 right_pitch=-0.0378 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -11.3709, 10.3316, 1.5995, -0.2271, 0.1148, 1.0281, -0.1573, -1.4701, 7.0906, 1.7167, -0.0171, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0238, 1.6535, 1.2842, -0.4992, -0.0475, -0.0143, 0.0476, -0.0151, 0.8185, 0.6067, -0.3923, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4508 left_y=0.0227 left_z=0.1546 left_yaw=0.0561 left_pitch=-0.3049 left_roll=0.0386 left_gripper=0.0476 right_x=0.295 right_y=0.001 right_z=0.1719 right_yaw=-0.0002 right_pitch=-0.0397 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.5402, -8.3214, 6.6667, 1.7411, -0.2857, 0.0611, 1.0281, -0.1162, -1.4017, 7.0496, 1.7167, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0238, 1.6535, 1.2823, -0.5037, -0.0509, -0.0181, 0.9953, -0.0151, 0.8185, 0.6067, -0.3923, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4495 left_y=0.0233 left_z=0.1531 left_yaw=0.0614 left_pitch=-0.3112 left_roll=0.039 left_gripper=0.9953 right_x=0.295 right_y=0.001 right_z=0.1719 right_yaw=-0.0002 right_pitch=-0.0397 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -8.1299, 6.8855, 1.4286, -0.0171, 0.0855, -0.0415, -0.1162, -1.3197, 7.0769, 1.7216, -0.0122, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fa01f28cfb529458b0b345a69b512ddf109182a6e2395f247fbcb8ca5ff0ed3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3378dd5631e46a30fcf4a3583ff8d382bd03cb19d81036336a74af544de5e975",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:775600367cf4541b3cd11bd64a792da8da2fa3205bce2c4ff69321995a731976",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_01f1f8fcc073e07b016ab4543dc43087d0b86596e0337da3fa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0.002,\"left_z\":0.184},\"note\":\"The teddy settled just outside the basket because this grasp was on one leg, leaving its body offset to the right even though the hand was centered. I’ll retract to reassess and regrasp the toy around its torso so its center of mass aligns with the basket.\"}",
  "call_id": "call_9fyyEqlvpItycA7YqQNWz4vi",
  "id": "fc_01f1f8fcc073e07b016ab45441c7e887d08ff3199937932040",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9fyyEqlvpItycA7YqQNWz4vi",
  "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]: [-0.0685, 1.0798, 0.9493, -0.7273, -0.0978, -0.083, 0.9966, -0.0151, 0.8211, 0.6067, -0.3923, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3078 left_y=-0.0002 left_z=0.1866 left_yaw=0.0463 left_pitch=-0.2898 left_roll=0.0309 left_gripper=0.9966 right_x=0.2951 right_y=0.0009 right_z=0.1712 right_yaw=-0.0005 right_pitch=-0.0424 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -3.2205, 6.2017, 1.5507, -0.1832, -0.0073, 0.1294, -0.3077, -1.4701, 7.0359, 1.7558, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42d58030ce91b827fe1f578ead8b7a1114044652845ca3ef9d8202605384b75f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e45f3633e241ecf291c86e61cd720ef1ad641aa113f54d5cf531629552f6d64c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:beb0ba9991502c65d1550cb932998aae76f47a103f46132d4d58331c2785bf63",
      "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 · 2.58 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0116, 1.6535, 1.2957, -0.5068, -0.0677, -0.0338, 0.0476, -0.0151, 0.8185, 0.6067, -0.3927, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.452 left_y=0.0208 left_z=0.1582 left_yaw=0.0726 left_pitch=-0.2999 left_roll=0.0413 left_gripper=0.0476 right_x=0.2949 right_y=0.001 right_z=0.1719 right_yaw=-0.0002 right_pitch=-0.0401 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.5949, -8.3487, 6.4205, 1.6093, -0.2418, 0.0513, 1.0281, -0.1299, -1.306, 7.0359, 1.7118, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0238, 1.6535, 1.2823, -0.5037, -0.0509, -0.0181, 0.9953, -0.0151, 0.8185, 0.6067, -0.3923, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4495 left_y=0.0233 left_z=0.1531 left_yaw=0.0614 left_pitch=-0.3112 left_roll=0.039 left_gripper=0.9953 right_x=0.295 right_y=0.001 right_z=0.1719 right_yaw=-0.0002 right_pitch=-0.0397 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -8.1299, 6.8855, 1.4286, -0.0171, 0.0855, -0.0415, -0.1162, -1.3197, 7.0769, 1.7216, -0.0122, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0685, 1.0798, 0.9493, -0.7273, -0.0978, -0.083, 0.9966, -0.0151, 0.8211, 0.6067, -0.3923, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3078 left_y=-0.0002 left_z=0.1866 left_yaw=0.0463 left_pitch=-0.2898 left_roll=0.0309 left_gripper=0.9966 right_x=0.2951 right_y=0.0009 right_z=0.1712 right_yaw=-0.0005 right_pitch=-0.0424 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -3.2205, 6.2017, 1.5507, -0.1832, -0.0073, 0.1294, -0.3077, -1.4701, 7.0359, 1.7558, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42d58030ce91b827fe1f578ead8b7a1114044652845ca3ef9d8202605384b75f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e45f3633e241ecf291c86e61cd720ef1ad641aa113f54d5cf531629552f6d64c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:beb0ba9991502c65d1550cb932998aae76f47a103f46132d4d58331c2785bf63",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_01f1f8fcc073e07b016ab45445384887d0807ccdf54441d093",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFRM5ZgHR7f-lQrufynHUTAeiRM24Es0A6K1Y_HVmk6bNNjNg9ZbXQS91QZ9pTKtH7gRRmvqQORPwYybZmOrtTIRf1M98zZSC2OhxSyWRrBa-12m3PVtLaLVYGEVrB4lbBpoBsdCr-JZUonNr_N30ri6wL0gYN2t7BoOYJumGzJVKHf1L6w21b2766QbVH888XBbWSHuP7Xq1tlzC3OaYYqFuqOIYk92QNHKvJnd6YUIvySt9RQVxvBrX_1g4iKpWTzUdiEg3RZqFSiBUKVikT6muua0-BiLZGzYhzjX1csWWblyovodF_5gfEm5gpSPTeY0IjNkz0ovg0D0Yl1QZM7zUQVUbeQIXEaCGLfg66CCTYkLiq6l8bAmGOdYFThqYO29DYJ-kxguf7rAX5o8KrGzwOU1AIJiVTo737cg9et8zOmmYLc_K5TN1bvarY_ghUIIYhdC9AfzANO4U7UOGKZ1uvgt_w3pd7H7i0QafgTntOl2C9k6RyrC9AEpgdlcXR6egbUS9Z8cG6Zr-MoypUzl7KqNRbj7bTBnIxF1WlHuoz8LhWz1clzzNGtZJRxYfIab2g2RZu2RQfvqqV8_z_VBe_lB49-eB9kRNEaoBV-xJGvMBRwhnEpS9CkaXuGZ8373_-6ttYvjwEyrK69RJmDp5HBRwKTVw3RXSNoAMjoUC_nQk-ov_VTJ9PHZTrYN1Vali-zIcuumDC-nC2jtAgNzKs3_d4C01xz9oat2WGF4SS3Xvi8s3OH4-c7IRyeVLPC6xr3QUQpffzca9JUSpoDfL59V0vu-1W4WW-nVt52-kMupv_qEV8CO-sNaWLVyTr76ghP7NdlsHCVbhGq-l-ytegknMG3ySUx8XgM03M7SVxed1WYr3APmx3-NBuZXSRhytAIAvIzraYRG-J8iZJwdcieDwB22lH1KSm_cOj7IRJuhVeWM7-6I8Saa7HPpeks1k9ZzwoINpFIfVQijiXvUoLYgfiisFvXVFPV_zGSxG4kfF3CbKRkfZ3Q99sQsP-6ExFJM42WbeGrsMPN0QMcQxozBnt4jtqOane3j2Gc7KUIFVSUZjMoMkIO19i92u6WywaNZDOay1obvwfUrZRNkqcbeo4rEdmSgFJb7utTbc4ee0jD07iAP1J7R0Uo4K8VpE8c7F43ZFCdGwHfCFK8wOpuBgtmpx0H0r1NkSke0OmXV9esoVSVyDDwSDxY3UOwukvqm8Ls5a3hCrSygXtNP-_1ulkgTND-ndbw6qgIPQrwy3eeQtnXTZYYST-QvcBEyRoB7zoveIUPBWkRlGAuvh3Z2tsg97DpII2PTOaJebNm4OsU3ACarlSmAE2IJP4-QaOmldb9gfD4_5qfhxUYNJ-4AovuVCA0ICfSdCgE1zFVNJODWUNVWchmb52bkcxWTJwVb2VDRsEbb3cuJf-RT8R0TbR6M5Z2REL288h1em9n_DxzMQ-lAPRlMBHMjJ2Y8UuFyVWssLIcvYFuICaN4kCjdGxCJ2Cse-W56P-VpodjvBbN5FJhqNgBKKLfAVngEk9nDIyWlzrowOCG81tPY5508FESr2i2JX8rbAGdM25f_C42SoT2_wkTlNMOgq66OdSHermZ2aleAkHueBTmotubULX2JY-xj1PHOllSPogbOUJZchLNfE4VI0_XaJLUCMSKGlVl3HEzumb5iB2Pu3K4Y7QbEAyNzRvmposjakIfdKKOvOG3wS4mBAjaY88FTGZ0tcsOsfIYRPDdYGMKS1GYqscFUPD6p6h_EgH06JHnaZZ_Ul1abx1-IvCzNX6psY_FeAd0mLa0YnZiYCPmfoQydq_bfEyak7K7RWyVAKtD-UQL4MG4Gx2SbvzgRt_pLl7sBbLXDGSeBMI9MS4EYBLa180SmW2DOKNspOrDPb6zO-wVcBDogTNojyxOKotHuRxTFgHz6m_fEwDHCb_FIEaU1X6vc23ZfjwO7r1A44eabg4_jcyWvEm1TQjLL-QplQ1zWeJgIB24UNpgWOtjqQw==",
  "id": "rs_01f1f8fcc073e07b016ab45449c89487d0a2a49e177306301b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.07,\"left_z\":0.16},\"note\":\"With the view clear, the two classes are teddy bears and elephants; a gray elephant and a small brown teddy are visible below two larger beige teddies. I’ll approach the torso of the beige teddy closest to the left basket for a centered regrasp.\"}",
  "call_id": "call_Q7X5iZm6suOMTV8F560gLroY",
  "id": "fc_01f1f8fcc073e07b016ab4544b19d087d0b6065e44117f0dcc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Q7X5iZm6suOMTV8F560gLroY",
  "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]: [-0.2684, 1.5146, 1.1362, -0.564, -0.2104, -0.2337, 0.9968, -0.0151, 0.8249, 0.6067, -0.3927, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3943 left_y=-0.0664 left_z=0.1445 left_yaw=0.0357 left_pitch=-0.3506 left_roll=0.0395 left_gripper=0.9968 right_x=0.2953 right_y=0.001 right_z=0.1701 right_yaw=-0.0002 right_pitch=-0.0465 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.4325, 8.9641, 1.2674, -0.2759, 0.0659, 0.0024, -0.1983, -1.6889, 7.0359, 1.6777, -0.0317, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60d5bf0b2ddce513c79b000890af8adb5dbd50e24d5fd686aaadaf2b32dbd20a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d53d1103229c6f2e72438b22ecc1a3405819a5c6f35b50cd6945043b35ea77a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a95951b754390989f2a314fc7e29ade957fb58164fc17bd14c9bd3313898e489",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 2.934 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 80 changed as sent

message 85 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0238, 1.6535, 1.2842, -0.4992, -0.0475, -0.0143, 0.0476, -0.0151, 0.8185, 0.6067, -0.3923, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4508 left_y=0.0227 left_z=0.1546 left_yaw=0.0561 left_pitch=-0.3049 left_roll=0.0386 left_gripper=0.0476 right_x=0.295 right_y=0.001 right_z=0.1719 right_yaw=-0.0002 right_pitch=-0.0397 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.5402, -8.3214, 6.6667, 1.7411, -0.2857, 0.0611, 1.0281, -0.1162, -1.4017, 7.0496, 1.7167, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0685, 1.0798, 0.9493, -0.7273, -0.0978, -0.083, 0.9966, -0.0151, 0.8211, 0.6067, -0.3923, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3078 left_y=-0.0002 left_z=0.1866 left_yaw=0.0463 left_pitch=-0.2898 left_roll=0.0309 left_gripper=0.9966 right_x=0.2951 right_y=0.0009 right_z=0.1712 right_yaw=-0.0005 right_pitch=-0.0424 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -3.2205, 6.2017, 1.5507, -0.1832, -0.0073, 0.1294, -0.3077, -1.4701, 7.0359, 1.7558, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2684, 1.5146, 1.1362, -0.564, -0.2104, -0.2337, 0.9968, -0.0151, 0.8249, 0.6067, -0.3927, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3943 left_y=-0.0664 left_z=0.1445 left_yaw=0.0357 left_pitch=-0.3506 left_roll=0.0395 left_gripper=0.9968 right_x=0.2953 right_y=0.001 right_z=0.1701 right_yaw=-0.0002 right_pitch=-0.0465 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.4325, 8.9641, 1.2674, -0.2759, 0.0659, 0.0024, -0.1983, -1.6889, 7.0359, 1.6777, -0.0317, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60d5bf0b2ddce513c79b000890af8adb5dbd50e24d5fd686aaadaf2b32dbd20a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d53d1103229c6f2e72438b22ecc1a3405819a5c6f35b50cd6945043b35ea77a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a95951b754390989f2a314fc7e29ade957fb58164fc17bd14c9bd3313898e489",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFRPwi6yfjbW4L8vrhdLzRj2UwQHBFsWGqhCGmZ_qXzOPhTSHoOgudJKpqV_2mIWibOX-oGvomSTUTPKC54US--O8qoxBf6zAq7_ugBpyKRspKCRoFuDWyZtI26SiQcNNKZcC6FuHr8PqfIsvW8edaoxUiglBI0DosxU8lUBKVaNA2_iuIZvfIsvBEyE1W_WIJR-1Jm4PhOLwYY2CYY7lnK2-LYJFYhS3lQzF9SBYPMsXyUvaQ6J3ZypfNZgmSybAhuK7ptlU5c2_VYHIOzAorA5vMhWylFuetBqbiUiHM0BzJFtLSkTxxCMW-Xq-m2Rq4m6V2e5TLjcTTTpHn3H1BLfuWCBRxEcSbsZH-z4_w8WKJiGS9tLV8LlfLbZqhHye9K7c4hfdB-iR32kkF_MUdDbb9REFOuVMoiMacaCc-TTmMJ0PpBmR-QPngZGYYY5oY5VKaPk-P3gzGsclsbZozvfTICwoXajJ0xtNMDRLT7VFaZsrzRhRWW30V4icREC_L9bGv-bPHKE0u8XyQF_54LPMPlao2bla5UXHKKkHs328Vzc0UQL6bZhwmrkraHIQiOVS4M5LlqSRaVaar8IXsnOpUlu-AOwyhF9C7dJvZaJ4EHJdD3YZjLMVcxI0T_DswUJS_x97LC2Kx4T2imuwjgUr5FczGfAXzPLCCn5s5zNt4C2m7s7YdD--Di1GbiH7PbricGUkDspVY2pXLmfxVOvfS_Z1RpqMFZOj6H0VANLR2FrtKxoDc09aANwYNiD3sj-63Fjhi5_NHpwxMdAhRocUX4qLOmYW4PPf0n5MsDTjNGirInkpv18K3F8s3WEEnQOBdW83FT8m4JQQVQG9goTLDtIT_29zT3g3DERDVpHBtNGHEcsBibyphvBSpntQp-p0s9TfbghizllI-_gr5ZT5QVdoP2kWZ5ohFi9OV_kOMbG-yUyNPoPffqQpn47KqONo-Rsh08eOXh_45d8WLcpLplV4hcy1fk8d5l5PAhCehGTlwRB-rMLKWzf_xtkdmNrexf3ZCPjfDKau5gCsc-y3THcZsQXkk1ii134kc6DKHrQq7QCX4OLYFebclaumojYuGPQ7wCjpb7WPiPDTORpiRW_Ra4vyMSWoAI2LtuYHe4Pq_9ThVPkwG7p2CiKNCsJPMsXUadBn3410U38WIg8kIfaljDHbEz6T-QVHa8ZMKX0Bag6u1QdDQD3-edKplY7MGbDS_W2fUtTEBKMzzdche4tXYr-f0MKsdbXEd6rZQnDoQ-2uxfPTDzBUx1hQTSdMUVuSStVypcdUMwZ2bxVW7UwrAqPhrc4SKPJNag2s3Klkl0QAy3r5t3TCdnpiHGwZreui8E09KpjXzZlKoUwPxzR38Usx1mWzV0rYALkg8FXSYMWtOHtBANF0kisC4LxBh-brZOxDjdjKRk_UVw_XSdW-WsMVhrY3mRLsGz6UNjWR_CCgM5vr5JkGfTnJizYFQEmWjM0tALXeRLiw4HvC4Nr0Yoa0Fg1PSk3zf-vso9dH3j38sj-lCJLQtGCYfLmaXxpOirLhpFIbKJtLImL6pfgCqrVx6DMzQzC-nJ1efnDQAoxiDI0TskXcGIMGJRNzCdZ8NN0nvCuKYwnKnoWOw==",
  "id": "rs_01f1f8fcc073e07b016ab4544de12887d0aabd59ed7909f2e3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.09,\"left_z\":0.055},\"note\":\"The beige teddy’s torso fills the wrist view but is slightly right of the jaw column and beyond the fingertips. I’ll shift a couple of centimetres right/forward while descending to straddle its torso rather than a limb.\"}",
  "call_id": "call_LPECNp0kmmSKjXZZeSweX1XD",
  "id": "fc_01f1f8fcc073e07b016ab4544e89e887d0b59c4802bf5b9e01",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LPECNp0kmmSKjXZZeSweX1XD",
  "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]: [-0.3115, 1.7241, 1.0164, -0.2947, -0.2306, -0.2672, 0.9968, -0.0151, 0.8249, 0.6067, -0.3931, -0.0105, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.4093 left_y=-0.0856 left_z=0.0554 left_yaw=0.0371 left_pitch=-0.401 left_roll=0.0559 left_gripper=0.9968 right_x=0.2952 right_y=0.001 right_z=0.17 right_yaw=-0.0004 right_pitch=-0.0469 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6496, -7.8838, 5.5453, 1.3993, -0.2222, -0.0757, -0.0122, -0.0752, -1.3744, 7.0496, 1.7021, -0.0415, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e8445d5c0b25406195927fd010e752b615fc1afdd1b0568b03a7261e8a9d7fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:331778cd699712fa0d55c696583f5cf7d090b3cb08fa3837103c7f96ee35e5f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1855f2582d13096c3205d71c0e3a1f3e1cfe64dba9b878c56b2a2731632c3544",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 3.338 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 85 changed as sent

message 89 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0238, 1.6535, 1.2823, -0.5037, -0.0509, -0.0181, 0.9953, -0.0151, 0.8185, 0.6067, -0.3923, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4495 left_y=0.0233 left_z=0.1531 left_yaw=0.0614 left_pitch=-0.3112 left_roll=0.039 left_gripper=0.9953 right_x=0.295 right_y=0.001 right_z=0.1719 right_yaw=-0.0002 right_pitch=-0.0397 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -8.1299, 6.8855, 1.4286, -0.0171, 0.0855, -0.0415, -0.1162, -1.3197, 7.0769, 1.7216, -0.0122, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2684, 1.5146, 1.1362, -0.564, -0.2104, -0.2337, 0.9968, -0.0151, 0.8249, 0.6067, -0.3927, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3943 left_y=-0.0664 left_z=0.1445 left_yaw=0.0357 left_pitch=-0.3506 left_roll=0.0395 left_gripper=0.9968 right_x=0.2953 right_y=0.001 right_z=0.1701 right_yaw=-0.0002 right_pitch=-0.0465 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.4325, 8.9641, 1.2674, -0.2759, 0.0659, 0.0024, -0.1983, -1.6889, 7.0359, 1.6777, -0.0317, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3115, 1.7241, 1.0164, -0.2947, -0.2306, -0.2672, 0.9968, -0.0151, 0.8249, 0.6067, -0.3931, -0.0105, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.4093 left_y=-0.0856 left_z=0.0554 left_yaw=0.0371 left_pitch=-0.401 left_roll=0.0559 left_gripper=0.9968 right_x=0.2952 right_y=0.001 right_z=0.17 right_yaw=-0.0004 right_pitch=-0.0469 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6496, -7.8838, 5.5453, 1.3993, -0.2222, -0.0757, -0.0122, -0.0752, -1.3744, 7.0496, 1.7021, -0.0415, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e8445d5c0b25406195927fd010e752b615fc1afdd1b0568b03a7261e8a9d7fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:331778cd699712fa0d55c696583f5cf7d090b3cb08fa3837103c7f96ee35e5f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1855f2582d13096c3205d71c0e3a1f3e1cfe64dba9b878c56b2a2731632c3544",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFRSTkjbhL9vhA2Z_GJu-1RJI9GCaz_X6F0e2ldX-0THZRDfjj2ASE6FuYfMf99ycCBaFDan9zJHagvC0J3tlX2YMpvmfbVEGUKiAOg03jo4pBXKUox7CxLbhLyPvM3cqrtO1gUhbJCmmj6jSARMc_710nUZ_PAJLgS4yFmvX-3MMYEzWXgffEtWlpFeME1lhtGhH6QYHnNPA5I0EFlXP-WgPNH4ZcZDx1uQAJCC_rDqVQAKw5ArfT4fsgP64uxbcgQCtOb2d2ffgSOGaoSm1ruFhhPjRuOIFEMy0YaS9tvVw7-yR8zwxQP9_uxdxpVxAIETHHs37VTovbDBVd-AyD7eUhiBwManc5SOKx4WzQKHS5nkaTPp9It3hblaJtzNga7BUDu0i0lyseoy9VbQ_AjwF5CigAHGPQNJ4mrXicoUqHjLXTZMFTB6dJlsuNc6N2jR8LYxr_e7-ulpHJnpulfhrhnNkTQYQrZk-FDeco53vQFzvSjJs4XOo4IzfIdtjdA6qFDWIvpyxSZXWOU8jOzVn7f-glcbw4lcRaXook99xOV450qZ1kzc0_eus-ScYbdAjqAIwFKxCyhoAu5no5F5c490BcI0ft6CEqf356Z2daOy1MZS6FrIPyBM8vlfVK0K3xY2yfeaRzLDum6FDF2j6eecOfEFi49rcuVtjbYM9PRiyRzLig8YxzQ1Fu_X_rSxz_hqRqx0ZsaeTyCD0O6T3af1VWBa8Sw0QrD3F35-N4h8f7xKD5zK0GAQmRoyZmvA_0FuXrcfsYWXHMRvsVvWRPHF-I5EhJlJirmmh9blJG_WPDjEXQLZfQg8d1eEIinbK6PwfY-uk8H0lJxZmROxNyWmTBpoB_Ogn5JcBj2Y5NQq20ZsJ6A5XHznO8bHBpQ9xBWbvVtYlMis-XvW9vz_nigV4eTTeD7rywOcOTAvDMnENNOSaGNqYA62--V4rt1jpwWboDhplHx93sUE9O_rN1hTa_yljZQoD7YVV1x7AzVV6emdqYPjaAhVjb3muzbyIpJIqL_xursnhIjAIjGPPvAcXAEgzb1T_OUbTzgJmYbsayfonEuFtkBahoHH-Ncx81undKio3Jb-GEHMDYRovkWmEBIuzgW8PovXKjNZtuxvo7_UWIdL_klroMjheQe72zNOwz-2Fa9zRIvtPqLLS9AHknrMyLOgH6HJJgsi7yOhxKmshgMNBkzjArdr9R0PMPVtazIwgorpULvdC9ZZwg==",
  "id": "rs_01f1f8fcc073e07b016ab45451e25c87d08a249140108c7f1e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The teddy’s broad torso is now centered between both fingertips at z≈5.5 cm. I’ll close for a balanced body grasp.\"}",
  "call_id": "call_9F557W2mxWdxO6v3ljNsMKH3",
  "id": "fc_01f1f8fcc073e07b016ab45451f8f487d09e1e9d77dc3ea4e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9F557W2mxWdxO6v3ljNsMKH3",
  "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]: [-0.3145, 1.7485, 1.0058, -0.2943, -0.2317, -0.2699, 0.0153, -0.0154, 0.8249, 0.6067, -0.3923, -0.0109, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.4043 left_y=-0.0851 left_z=0.0421 left_yaw=0.0419 left_pitch=-0.4331 left_roll=0.0683 left_gripper=0.0153 right_x=0.2954 right_y=0.0009 right_z=0.1702 right_yaw=-0.0004 right_pitch=-0.0462 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -10.0991, 6.8991, 1.2381, -0.105, 0.0366, 0.6618, -0.1026, -1.2786, 7.0085, 1.707, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9d60f4bda3c5969afc36eaf231caae7f8dd3fecd128b942269a04bd34416c40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0da387eb9eabe2272e0c46381f35ce0eb56d5ae66560457e01ccdbc606bd9316",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15787ec003e9899443a538043ae46540cf482d6f229f825db5b9de50b590c78c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 2.907 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 89 changed as sent

message 93 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0685, 1.0798, 0.9493, -0.7273, -0.0978, -0.083, 0.9966, -0.0151, 0.8211, 0.6067, -0.3923, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3078 left_y=-0.0002 left_z=0.1866 left_yaw=0.0463 left_pitch=-0.2898 left_roll=0.0309 left_gripper=0.9966 right_x=0.2951 right_y=0.0009 right_z=0.1712 right_yaw=-0.0005 right_pitch=-0.0424 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -3.2205, 6.2017, 1.5507, -0.1832, -0.0073, 0.1294, -0.3077, -1.4701, 7.0359, 1.7558, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3115, 1.7241, 1.0164, -0.2947, -0.2306, -0.2672, 0.9968, -0.0151, 0.8249, 0.6067, -0.3931, -0.0105, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.4093 left_y=-0.0856 left_z=0.0554 left_yaw=0.0371 left_pitch=-0.401 left_roll=0.0559 left_gripper=0.9968 right_x=0.2952 right_y=0.001 right_z=0.17 right_yaw=-0.0004 right_pitch=-0.0469 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6496, -7.8838, 5.5453, 1.3993, -0.2222, -0.0757, -0.0122, -0.0752, -1.3744, 7.0496, 1.7021, -0.0415, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3145, 1.7485, 1.0058, -0.2943, -0.2317, -0.2699, 0.0153, -0.0154, 0.8249, 0.6067, -0.3923, -0.0109, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.4043 left_y=-0.0851 left_z=0.0421 left_yaw=0.0419 left_pitch=-0.4331 left_roll=0.0683 left_gripper=0.0153 right_x=0.2954 right_y=0.0009 right_z=0.1702 right_yaw=-0.0004 right_pitch=-0.0462 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -10.0991, 6.8991, 1.2381, -0.105, 0.0366, 0.6618, -0.1026, -1.2786, 7.0085, 1.707, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9d60f4bda3c5969afc36eaf231caae7f8dd3fecd128b942269a04bd34416c40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0da387eb9eabe2272e0c46381f35ce0eb56d5ae66560457e01ccdbc606bd9316",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15787ec003e9899443a538043ae46540cf482d6f229f825db5b9de50b590c78c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFRXV7viZpJlTE1LrBBUO4BYbsjUEZXLqKtbfkCS_MaKajUJIl6S0iUP-VvFZTFDkAxaCfO2Oyct09GJ6UpEei4FNlakjPho-Z9lj8LwB_8q4OixYO-3E6gpN6wfF7dauuB9vZhK9BS0wTCcxmZuPRAJQ_kc00Yva9mWeGR1KJm5ulI79BQ-gUi73Fun3jQx1pEKAuFjxFquOLbV6ecpzNdHUix7gYFQA1yjO1AVYFcL7s6ElvG_c-gFG4PHEyP-Hp-1XheaRlSMVnGIOcVbnL9bGdXRmJy39fVTXXvME5anymdmIx7E1VxdsdSqj47yiIUqN02e84ip6JvkKLGX5KlFdMxhImk9-7J0cglZhfEb5fWVYmlcT55mOsaUFcyLAcXedPtD21kPZYbDIkgpmzYgVt5ctkv-b7MW8XSE2afSVexCpCn79BPp192usLFP1wpdO3F-yYaT9wQEuvxce-R4lOvmmjqZE5G0j9iE-Daa7zh-zXUlcZJ7mI7D6YCcetnnhg9euFhhcl48OKi0KIL9lOTQKi1jGiSCC7CCSVHG8EMoe8SoqpSG5eKq4n6eme4Wo2nO1RsImH6rn-SBLVvwrK4jOnT4Jswpo1KRhhex8pMtw5e6fLmjff2C__DnSpSw-iQiWMKcZAp0QA59oQKGdnrYhyhZmNVXMsluwnOhiICzlsfVpIQdCgLyrZ-VbzTrCbOPFfEeXkExTtTBS4HAoAERUh7jwLEZO6rPFneQzc4BOu6omwtBOhxfUTfLC6iMXQ4Cg_VQ6JOXKbmEjW0qptpr4rs1YGU145UnjtGltTwlNd8YzoUhWcN-spFPdIcHHMf9BsDBa0k5eE9wsh2WyrKjPQO-xce2nFdgppaiIDUPboPJJ5BmYkbKsfi5Ec5uUOXeC5gTZCwCDKqrdEjdL22Zqb_gMS8eOvqQIkr1ZX-r-_hDeLWJA2j2u7XdFbJsQijx-9NkhH5KQh7c9n2DC0n_jihEph7ioDqHMfBjOLNch0MpZ-4SUpgkOxKOF5bORpWr7KVR0dmvNypEbhb9nFvmspiUS4V64RpintnPMa-rnIe8elCVk52qeVqXW1MJBVf5L8ueIqRIQpiv8yqa2OuTsuzR0-JTSLGTOiTcTiQEPbM24uEn4CWwi_C4j0fPpeeB7xe_aNofSgsLwOAwe786hEibOC0BB3_yxB2jwwJs-ZfxxzePv1sDJ4pZPANKaVolZLbcjs92Vy1xeV-j2HZyIbolN-tm7j2JgpTHu5gB4nwYz7mAB_-t9GaI5guXRafIiHZCwr_CYQz08nhL3VzT-QVJNOgXx2uT16pWkxWYdFB93bG9bpu50aVi3X94CczsYAtLvuZbBoDHUxIdNV37qaQ2nu8YLJxLuWYob7-4IBLFcQkCEUkhdWXc4UhTdwXUX3WqK_r7yLIrQgpydMnq7ZuIT0gN6IOyQgJMkAo-zxcQUV1tM4M9GMPUbHF3HbPtmeUjJ-oLSUTQnJswLrPkUKrCaetwBEY_r3MMLASOrv5-mJEQiL5Su52lxyEar2iBeaxg6CqBGfOPwdzqdhMiqP4rGO5rApkX-K2d0AdHNuwynzdSiK742K2AgbxosVoCUq32q7SGkl5i4XrgRbK0U8N4mOcDtuQ2KcEKdedIPmuyrPoiMORa5ARD4qg_o-BZpPY11jjI-hC5ou1Aiup6r-8y-BHCmgd5vf4r26u7nOUhtIN3aOcZygZzgpoKs54hoA5HGaavjOyk9epeKyXRLYYqivvggMAt1hKDnEJYLT0riXU_XPlepw824Soem1Nj0jWY5fsKN_kJORCqIwcLnFcg2DDs1vp29UxVf9nGyWPBNmAUMBFn64JKJqzrQhchrk6rBqkkn9hg0VD24A==",
  "id": "rs_01f1f8fcc073e07b016ab45454ef8887d0b60e23a0adba8f47",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_x\":0.44,\"left_z\":0.08},\"note\":\"The gripper closed to 0.015 and the wrist view shows the fingertips met between the teddy’s legs, so this was empty. I’ll reopen and advance about 3.5 cm toward the torso before retrying.\"}",
  "call_id": "call_IM4BvJWwQcX2NAmYv6P6PCzb",
  "id": "fc_01f1f8fcc073e07b016ab454564e9487d08acf853c6cfc9284",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IM4BvJWwQcX2NAmYv6P6PCzb",
  "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]: [-0.2852, 1.8015, 1.2106, -0.4519, -0.2253, -0.2596, 0.9953, -0.0151, 0.8249, 0.6067, -0.3927, -0.0105, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.4337 left_y=-0.0823 left_z=0.0732 left_yaw=0.0604 left_pitch=-0.4408 left_roll=0.0709 left_gripper=0.9953 right_x=0.2953 right_y=0.001 right_z=0.1701 right_yaw=-0.0004 right_pitch=-0.0465 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -8.3897, 8.5402, 1.2088, -0.0659, 0.1001, -0.0562, -0.2256, -1.347, 7.0359, 1.6825, -0.0171, -0.0073, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6516bb1eebb1b660294fcc8de4efbf091772ceb1b41154029cfb553ed339eed8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0580ce6a6e6039d9ef6f761ffc430defbc5f129289515bf41eefdbcd7b5ff8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad0e66db9b1585406b1162446a9d2d3478cb6917578b0c29abb034263e8e0fcd",
      "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 · 2.928 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2684, 1.5146, 1.1362, -0.564, -0.2104, -0.2337, 0.9968, -0.0151, 0.8249, 0.6067, -0.3927, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3943 left_y=-0.0664 left_z=0.1445 left_yaw=0.0357 left_pitch=-0.3506 left_roll=0.0395 left_gripper=0.9968 right_x=0.2953 right_y=0.001 right_z=0.1701 right_yaw=-0.0002 right_pitch=-0.0465 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.4325, 8.9641, 1.2674, -0.2759, 0.0659, 0.0024, -0.1983, -1.6889, 7.0359, 1.6777, -0.0317, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3145, 1.7485, 1.0058, -0.2943, -0.2317, -0.2699, 0.0153, -0.0154, 0.8249, 0.6067, -0.3923, -0.0109, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.4043 left_y=-0.0851 left_z=0.0421 left_yaw=0.0419 left_pitch=-0.4331 left_roll=0.0683 left_gripper=0.0153 right_x=0.2954 right_y=0.0009 right_z=0.1702 right_yaw=-0.0004 right_pitch=-0.0462 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -10.0991, 6.8991, 1.2381, -0.105, 0.0366, 0.6618, -0.1026, -1.2786, 7.0085, 1.707, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2852, 1.8015, 1.2106, -0.4519, -0.2253, -0.2596, 0.9953, -0.0151, 0.8249, 0.6067, -0.3927, -0.0105, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.4337 left_y=-0.0823 left_z=0.0732 left_yaw=0.0604 left_pitch=-0.4408 left_roll=0.0709 left_gripper=0.9953 right_x=0.2953 right_y=0.001 right_z=0.1701 right_yaw=-0.0004 right_pitch=-0.0465 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -8.3897, 8.5402, 1.2088, -0.0659, 0.1001, -0.0562, -0.2256, -1.347, 7.0359, 1.6825, -0.0171, -0.0073, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6516bb1eebb1b660294fcc8de4efbf091772ceb1b41154029cfb553ed339eed8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0580ce6a6e6039d9ef6f761ffc430defbc5f129289515bf41eefdbcd7b5ff8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad0e66db9b1585406b1162446a9d2d3478cb6917578b0c29abb034263e8e0fcd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFRanWMUOTJXlF8If4cij0uB7gyjWiI_gxtVozI12XtZxjavlul_s5Uu68U1IqOpmQ2yv1MKxNLZJlPGOG9QIG0KHa4rVI-TG8xRc4ah5Ys4WMEO0vdQLtUu1E2aQoU8_QHvzgK8L_xXo5HWZ4_GKo169_PVNJvsZqc6wVpDx7nrDEb0QEJbEx5A5y0WRLME7gI3xLqSUBsKNeppzYbYVdQb6YaKfvpLXw3Jcnme2_vjSd0jXPNauqM7Lpdw_nTEaO_Kqp1so7tfkk-39RoxmQXNiD4V0UIr1fVoJ1m2Q9EcCtnG7Baj3woAq7qvJUXa5euf9mhvg9nP9mLYjcj5eCfZgW4VdthUOlQcgMS1bmI9aUxcEAsK0j6qYAk3eGvlOFrIpuKv9i0OkIEXtzQfIux_gIVrDfzJBB1_9BnzvPdWTeo6d7FVydt6PaJ3R3zy890VDMpSdETNUipqsvmO8nZ73ywTORYkoMxLAHIfabTanmLF5fWGQyYlKNz5w1iuCe6l_0WC0fmT-217BnKKIzY9dJAQOyWThVlSNIgh4ypph0P5UsFdE9JLwkqNiVLzTFzk3NmWPcxoWYHhFl-IuUvGA5Q7NK-8PiAZhvO7INOPOMJrd7ttcciWAU1IMC3HkxKSyvX_-AhWDZnRwXKYNIGCMasvQ6INbKry7RZu3DKoZqsqVImXC0GDhu2R8ywzfF2LOnbF4cV2zkMc_qVG1k2CDLNHmVnQ7PWhQG_oMzLuCrI91qMWokze8Epy1SWUfK0P-hJiy2FMhELxQTz7B-_zsRlt0oUMsu4fYyD2B240LUI1zrm5VHec0tXXQ2QC1UtN-uZFvhX_jF06SlJLBkY6LXBpt4NI-6-8021USlo_vPMPpOXI9fHpmkbbWIRMzFYrUMA2Ex_DuS64o6LSvdMEsvtpyNIGvdDBQpQfSkEA0Tx0Us_WbfgiKeivMRVvCL4IXZBTF_VcCe6LEsvllD4m4Ho7pNVpvcZdhZsrqlsXq8nOTfiiI4XmahdLtHhOmPrz-Q06QDA04CIq3iPUKXzpmU2vHJks7wOFhAwVuqFFR85z9L2DNBZTSegiGpcRcTuXq0phFMRv0UXSVaBLzpML0jnboGVgQenQxXO6Sl7XcVX3TRQiiZdVEMV-xXjHWzNJgBs68eyFkkyO2OFeSJoinYRx2R03_PzUV31SrvGebzveJ0N_aoeIvaLzOS-D4YBVg0hnPHn7iqbddbsmV3Xc8ULK8pywKc4SJf-UaDOytFTHWtDsqnK-fqKdkpHaUZau-JBmajO9mkSfMl66U_6Zi2Z3eaaD9rw-cvecjOtDbkezvfXqbk7SYlYGsQJ3yuDSfNBW-sZlszPBbNTL10UTV2hKtk0JqGQ2zNHAh6L7ZZK9RRgAcyYjtn6rPJTtcJFBhVTgFDSj6mFg_MurbhhSK8_HLBTTnwjlIzCiphcaIwR8e_mUjuQmIiDX56cRkKd1MQoAeNXCmbb-WYoQ_5sEjpItlJnXSeogWl0bP62K7JterqBp7Ok8MEKINdlEMGJ-TsDuOkEZy3Yn_sbXsx0TwR9msYOOUCSczchayAIoyPA=",
  "id": "rs_01f1f8fcc073e07b016ab454593e5887d0b1adb463f12a868c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.04,\"left_gripper\":0.0},\"note\":\"After advancing, the teddy’s abdomen now spans the full gap between the open fingers rather than sitting beyond them. I’ll lower slightly and close around this broad section.\"}",
  "call_id": "call_jMe6yLL9h9ddQX8ornbxHfpt",
  "id": "fc_01f1f8fcc073e07b016ab4545a2e6087d0adeed65fda10b5fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jMe6yLL9h9ddQX8ornbxHfpt",
  "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]: [-0.2829, 1.8442, 1.1458, -0.345, -0.2256, -0.2626, 0.0123, -0.0151, 0.8249, 0.6067, -0.3923, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4339 left_y=-0.0812 left_z=0.0454 left_yaw=0.065 left_pitch=-0.4413 left_roll=0.0697 left_gripper=0.0123 right_x=0.2954 right_y=0.0009 right_z=0.1702 right_yaw=-0.0005 right_pitch=-0.0462 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -8.1436, 5.1077, 1.4139, -0.1245, 0.0171, 1.0476, -0.1983, -1.4427, 7.2, 1.7167, -0.022, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e1185c99ba90a39ceb2ed30cacd7c76f81bbd87fdefd3deb5f645f92e7e7fb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26698460f605034623424576779e4ec812909bdad15b4ddd33317615f4ef4e19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8f665974dc960bedb6e01c94a1e57bd29eff4130c4b5282bb48f4f22d9d0e65",
      "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 · 2.371 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3115, 1.7241, 1.0164, -0.2947, -0.2306, -0.2672, 0.9968, -0.0151, 0.8249, 0.6067, -0.3931, -0.0105, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.4093 left_y=-0.0856 left_z=0.0554 left_yaw=0.0371 left_pitch=-0.401 left_roll=0.0559 left_gripper=0.9968 right_x=0.2952 right_y=0.001 right_z=0.17 right_yaw=-0.0004 right_pitch=-0.0469 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6496, -7.8838, 5.5453, 1.3993, -0.2222, -0.0757, -0.0122, -0.0752, -1.3744, 7.0496, 1.7021, -0.0415, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2852, 1.8015, 1.2106, -0.4519, -0.2253, -0.2596, 0.9953, -0.0151, 0.8249, 0.6067, -0.3927, -0.0105, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.4337 left_y=-0.0823 left_z=0.0732 left_yaw=0.0604 left_pitch=-0.4408 left_roll=0.0709 left_gripper=0.9953 right_x=0.2953 right_y=0.001 right_z=0.1701 right_yaw=-0.0004 right_pitch=-0.0465 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -8.3897, 8.5402, 1.2088, -0.0659, 0.1001, -0.0562, -0.2256, -1.347, 7.0359, 1.6825, -0.0171, -0.0073, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2829, 1.8442, 1.1458, -0.345, -0.2256, -0.2626, 0.0123, -0.0151, 0.8249, 0.6067, -0.3923, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4339 left_y=-0.0812 left_z=0.0454 left_yaw=0.065 left_pitch=-0.4413 left_roll=0.0697 left_gripper=0.0123 right_x=0.2954 right_y=0.0009 right_z=0.1702 right_yaw=-0.0005 right_pitch=-0.0462 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -8.1436, 5.1077, 1.4139, -0.1245, 0.0171, 1.0476, -0.1983, -1.4427, 7.2, 1.7167, -0.022, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e1185c99ba90a39ceb2ed30cacd7c76f81bbd87fdefd3deb5f645f92e7e7fb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26698460f605034623424576779e4ec812909bdad15b4ddd33317615f4ef4e19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8f665974dc960bedb6e01c94a1e57bd29eff4130c4b5282bb48f4f22d9d0e65",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFRei5l-pqquoPH4A2F7JQCamSTvwsFR_32CQcILvIdagRdTTYdIh_u5Ct75bpaMuLtR4j7YPasrZKxLiFXWQmyCCxvISsXf9XpN0zpkCXWQN6iNWErLuDSJU-XkkjxQoq7qo7aI8sHHlen-UZBCUZYg9MksSJZnqBsa7qQOugfcxEMC3Vbo5nVqGOPuxXhaFQY_e4zE6opMI17RdeodT36nAv2bdL7TKQTcvvD2Pj7hA6fuGSZhUl_iahiVgAPAtvYv8d1MNdoaVHXxdwPQ-WrcxmK2vbNY9WreNc_4e53ckSnlfLfiVEo8CzV92nUR5JbDv-tyTJIFnl2NuFk-NqNnz6U1AwMDZxTGeWy9bgo8E-7QEirBwfR3pehzUZYURoqIyZ5c0GX4RlVdJypKZy4p5_VITNuDzIvmyk2Z_3rIR3yi4tEniqZdUUqEO3udR8wl4pb_kHsgDFK_-hZBkJ2JOlDY7aeTu1Rkt9vzqTm5L-qqjKNxpa0jIabp2V4Jb5V8PiLLe_LpdcrOEZgJbUdBgQ7fvNWbTRwfiwGprp-HIio4rogZYabR4nw5iMtWUeQLlePsSXVizBj_e1kvnRHJv8YbcM1K-pKpfIRXtKOtECgseEs9XLPDJSgzGHCyHKMIcvUkw1Ue7Dy02HE-jaRoG2L2NxcCSk6EFP6SLXvg78cECBTEzKy0q1IA7TD0FJapITh7XvVStHwUCnIjIFT4gcXu8XkFBRl1nb6i--rooBKkqRsGHjxSRGmV04MvfoRAhGquSJ3uzBW0RmPqGl0h1bO1GlGHY9n4lWnklH34a8cpNGFzpHxJEIQdhcnFHhMRdc6e4_nhs4fg_p_9w3cfO9ucSgSFsQpuKiPvxaG1LHcLAxWDBWm0CXilu1hmIWPeWVebDvncnnqB4bpx1Ng6LhumnNBFDobLDBndWB5GlSZaolvaBFZVPiN-TWPAY4VdqLgHQjRLLFKcyiKv5DECYX2fDkFLb0yTfyzVKMxsAf4IYib-bqnEtznqg61Z3Ix96Kxpe8dWrKigUq2XqpVTQFSYU8GayyAIsGnIQutdbAWCS7teFIFqwArw-U4QdlyjLOsjOSqTZJyf1i9hn3fzTmnmiTi8WxsjcFbgYMoP7je9U9wWQ8QnU9Kr3vxHnB-aDV7WUcCqkOUhmRLAZtEIXHCY-uC-8kTFIqQSzCwiIHt7PpyvPOzqN-wc9gd3arcWHdo5ipFueBjPyCHsjur2lhNQiksx12mFAcD2fUKWBMQuIZRUabysmI6ZUg7AHpaB1Jp5FW26E-1B_4Qjvcx438CyFgjlOz1--aKL6GGpylN5o9wpWmX5UgdxEGol5g8w24N0m81jBuh_xerRuHBA4GBIyyNutIyVyw_bLbxk76Cpcnbw1mRc5KbGl_FqF0VnwSef7XXfNbmLHufDeUTLqKHO6OkDJBK8PK19IB-Y0XCRheG3tAHx4vgaeHz96j1ShnzACDOnZ4iZKJwhEX9KYYkzRSL9H3vQ_2eaIzVkont37L-UFVLdWrr2WDsmeQDvuc6C0-cZR19nWuILaRzIyqQUlm1eQVsXLo9veA4ieDVi8vGKtAZQASgV27DNvz9WRMuaPoUQt5Knp-4-cbVIZy_GVrzGodrKQFnRWR6z8wBRLrukJbe5E2kTV8Al5YWONo9ndUPeb3jL5zESDSgjPXJq6-4uWL9EKE5OO32hz4zLcbdZaybJTlHbwVyN1kpq",
  "id": "rs_01f1f8fcc073e07b016ab4545d073887d0a6412cf8146e9598",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_x\":0.47,\"left_z\":0.08},\"note\":\"The second close again reached 0.012; the finger tips are still meeting at the crotch while the torso remains farther forward. I’ll reopen and move another 3.5 cm forward, staying within table-contact reach, to put the grasp point under the abdomen.\"}",
  "call_id": "call_Xud60eqGTnclWfUQG9hGDhmg",
  "id": "fc_01f1f8fcc073e07b016ab4545ded8887d08728e4141c1424ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Xud60eqGTnclWfUQG9hGDhmg",
  "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]: [-0.2577, 1.9099, 1.3556, -0.5026, -0.2249, -0.2565, 0.9952, -0.0151, 0.8249, 0.6067, -0.3927, -0.0105, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.4623 left_y=-0.0774 left_z=0.0722 left_yaw=0.088 left_pitch=-0.4544 left_roll=0.0776 left_gripper=0.9952 right_x=0.2953 right_y=0.001 right_z=0.1701 right_yaw=-0.0004 right_pitch=-0.0465 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -9.1556, 8.7726, 1.2674, -0.0122, 0.1148, -0.1734, -0.1162, -1.3607, 7.2821, 1.7021, -0.0317, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:603573700011572db755ce38c17853388a6826be1a1e5a06efc674bd2bacc4c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d995dd96d1117eff46adb7504821cf38c9c541b7fe392c9457e2f4ab507bf9c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e957c011f770359a627dc8ac2e25d34a191b93cb87a7e98d25bbe168860ae7af",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 4.026 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3145, 1.7485, 1.0058, -0.2943, -0.2317, -0.2699, 0.0153, -0.0154, 0.8249, 0.6067, -0.3923, -0.0109, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.4043 left_y=-0.0851 left_z=0.0421 left_yaw=0.0419 left_pitch=-0.4331 left_roll=0.0683 left_gripper=0.0153 right_x=0.2954 right_y=0.0009 right_z=0.1702 right_yaw=-0.0004 right_pitch=-0.0462 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -10.0991, 6.8991, 1.2381, -0.105, 0.0366, 0.6618, -0.1026, -1.2786, 7.0085, 1.707, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2829, 1.8442, 1.1458, -0.345, -0.2256, -0.2626, 0.0123, -0.0151, 0.8249, 0.6067, -0.3923, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4339 left_y=-0.0812 left_z=0.0454 left_yaw=0.065 left_pitch=-0.4413 left_roll=0.0697 left_gripper=0.0123 right_x=0.2954 right_y=0.0009 right_z=0.1702 right_yaw=-0.0005 right_pitch=-0.0462 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -8.1436, 5.1077, 1.4139, -0.1245, 0.0171, 1.0476, -0.1983, -1.4427, 7.2, 1.7167, -0.022, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2577, 1.9099, 1.3556, -0.5026, -0.2249, -0.2565, 0.9952, -0.0151, 0.8249, 0.6067, -0.3927, -0.0105, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.4623 left_y=-0.0774 left_z=0.0722 left_yaw=0.088 left_pitch=-0.4544 left_roll=0.0776 left_gripper=0.9952 right_x=0.2953 right_y=0.001 right_z=0.1701 right_yaw=-0.0004 right_pitch=-0.0465 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -9.1556, 8.7726, 1.2674, -0.0122, 0.1148, -0.1734, -0.1162, -1.3607, 7.2821, 1.7021, -0.0317, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:603573700011572db755ce38c17853388a6826be1a1e5a06efc674bd2bacc4c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d995dd96d1117eff46adb7504821cf38c9c541b7fe392c9457e2f4ab507bf9c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e957c011f770359a627dc8ac2e25d34a191b93cb87a7e98d25bbe168860ae7af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFRitJzkxXztLbmCOBwUNL6hHDLhAlT0MHfXHcn7DKkuFc_Akmw7GftdlA07xQIRKhqvBtq2Dau7i_WyMyaK9ZG5mnvCzx9xGvZ2d4XbP_adfbs34f2ZfLvrwn-qhuaZhnqMgId1ILJDEQbq4JPO8JpBEvuLvCYWINP_TXt0y_yg1idwcqGA0HInMQWvRcL6cDQAzuMQE06dtH7DoLCvXjdgZ0qamIxNqFA2gw1iQfkEaOVx9lf80oa3lgSL37ycMAvfL-IGLOj5M4BaIgH_eUO_5TWVEWonzXDAWd8gzUII_VZvrzCgcLgCecWWc8A3JqfX2XxEogwdVBVurtscoAzYwrQmZvj0DvkE2KeP2UPzHzMndHSGywoNLIlwNvecb95O9EBEzn-BDggIe2PxfyBa4oSvU8mvk5d8Br8-B6oV4tsVj34QwqZlj4Nbtqit3oUJdRsOOkab_BrbY2tGANrvgTVnK5NkeULx5BiOWy9t_nexH4bybx6RJ_a2LxC9IxznAl14uV8QFFZiBgjwB80koak0GWP_342kUyEX8vxmIGEqhcTaPfx67Z-T4X9I53s8tho0_tjSR2HJROaBo8wwhPRxOqNfN0PrwqVT8cWGPYUWQnFOPft0Y4K609KtYmD4VQT8vAQ6B3HIXHruMa2H4_3bOijaqa_s8Za3a0E6cH1zG9cKokYou8A1DHr6376N_h3ZhN_a5bwVPeOqoT4TqtsFpHjhOaQDfCQEPoFLpYcxqbuvJhgYam-F9XdiOlkOTqylF_UHMLOoiMio3Vee8Vk1LYTLiNGhDuZ89mWBWyjC5IXOevMThPgk9eLoXFO30XMLAEVdz5Av9TND9mZpxTYNCDNYExLXePumxs_sF0Da5nvVELgA-L98qBL8gSIJsTilAhXzixZMActgDOVTnIlgF3dNGv_dBEvmPwe715KOqZLclqJmtdGDin4Wm8k8EgF0gpS_cDxayF0UEVbslMGBFTr0vsAPuqIPask2mt-gua283wPrfnkw8JpLbvZI6bJPJX6VATj1R6s83pDrwLEgjtadgsHB0yHWy7Sq9UhcAuqFwPLIDxVj7wl85SabguZ3OXe47h4I_bh4TszzVC6a_8aiLcyT-Zl18rKRdei7vJEuV1j8Pu3mQdzAJWz5JOs9rSB0thFaRdlNjjTkU7fI9dIPieNprkMJy043erHcBRU9Za0EiGhB8PoO_udB5T72UiuOvkM_Hpen21fdjtD3nvDLT8U6szIliMNgtYw=",
  "id": "rs_01f1f8fcc073e07b016ab45460e18c87d0b7f7a9acb6426473",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.035,\"left_gripper\":0.0},\"note\":\"The additional forward motion has moved the grasp point beneath the teddy’s abdomen; its body now lies squarely across both jaws. I’ll descend to the tabletop and close for the torso grasp.\"}",
  "call_id": "call_BFP4axhTgyljNtxGAWPykAvL",
  "id": "fc_01f1f8fcc073e07b016ab454610bd887d08aeadc59553909df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BFP4axhTgyljNtxGAWPykAvL",
  "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]: [-0.2584, 1.943, 1.2873, -0.3771, -0.2256, -0.2626, 0.0121, -0.0154, 0.8249, 0.6067, -0.3927, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4663 left_y=-0.0787 left_z=0.0482 left_yaw=0.0877 left_pitch=-0.4313 left_roll=0.0657 left_gripper=0.0121 right_x=0.2953 right_y=0.0009 right_z=0.1701 right_yaw=-0.0002 right_pitch=-0.0465 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -8.4308, 5.1897, 1.116, -0.1099, 0.0562, 1.0623, -0.2393, -1.3333, 7.1726, 1.6874, -0.0317, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad20af32935dbae0f81f1eecaa5f7cc399593cd2bd60e52a2f5acfe1aa452810",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f20311de54709d3dc82907f64d14869d4838b145eddf0e6450314ddf897ad4ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40351557940f25264d8404a743fc26a6f61f11dbe85aafd104fd1655b0ded1a2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /responses · status 200 · 3.052 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2852, 1.8015, 1.2106, -0.4519, -0.2253, -0.2596, 0.9953, -0.0151, 0.8249, 0.6067, -0.3927, -0.0105, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.4337 left_y=-0.0823 left_z=0.0732 left_yaw=0.0604 left_pitch=-0.4408 left_roll=0.0709 left_gripper=0.9953 right_x=0.2953 right_y=0.001 right_z=0.1701 right_yaw=-0.0004 right_pitch=-0.0465 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -8.3897, 8.5402, 1.2088, -0.0659, 0.1001, -0.0562, -0.2256, -1.347, 7.0359, 1.6825, -0.0171, -0.0073, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2577, 1.9099, 1.3556, -0.5026, -0.2249, -0.2565, 0.9952, -0.0151, 0.8249, 0.6067, -0.3927, -0.0105, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.4623 left_y=-0.0774 left_z=0.0722 left_yaw=0.088 left_pitch=-0.4544 left_roll=0.0776 left_gripper=0.9952 right_x=0.2953 right_y=0.001 right_z=0.1701 right_yaw=-0.0004 right_pitch=-0.0465 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -9.1556, 8.7726, 1.2674, -0.0122, 0.1148, -0.1734, -0.1162, -1.3607, 7.2821, 1.7021, -0.0317, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2584, 1.943, 1.2873, -0.3771, -0.2256, -0.2626, 0.0121, -0.0154, 0.8249, 0.6067, -0.3927, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4663 left_y=-0.0787 left_z=0.0482 left_yaw=0.0877 left_pitch=-0.4313 left_roll=0.0657 left_gripper=0.0121 right_x=0.2953 right_y=0.0009 right_z=0.1701 right_yaw=-0.0002 right_pitch=-0.0465 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -8.4308, 5.1897, 1.116, -0.1099, 0.0562, 1.0623, -0.2393, -1.3333, 7.1726, 1.6874, -0.0317, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad20af32935dbae0f81f1eecaa5f7cc399593cd2bd60e52a2f5acfe1aa452810",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f20311de54709d3dc82907f64d14869d4838b145eddf0e6450314ddf897ad4ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40351557940f25264d8404a743fc26a6f61f11dbe85aafd104fd1655b0ded1a2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFRnJwyb-V9Gd4y6-vbp4pm5Z8Nsq-04v5iegOmRYiRYdXGxQ8OJ4TYoka11xFv1CM_BFkwaJR9cRxKgiD6H6pxO2A0fuvI0H15y6427u4YQ8DuWeOjCQGtyBZNzJ81AHtGOp3NASAqCxBfx0_3MVFv8-qOYnLIqKG3YPHx2sgEDG5surBVfHZ18IEJgnnQbTCf48wtoP-aa0yOOFwSeagOL4e8inVrD3RkyACk9pljpbWSM0HLMdg1GyXTe1le8VW1eEHuJS9JGmKzhTgAUZ32cFVSsDt221Vc5GONqzQtuylb8rWBFWhP9s3yjDJO50AVhlMQohWZoeYKxGfW3F_nu1N9e0Rk755eyQMWikyj_ZznjFsqAQSDyrGiIBJ0IYsrqtvSx_Dq5rpndzxV6eClusMWp1ep5dEAPJ7mrz7z1KF-t3CyCKRcQ15J1iUdEehXdttNoBxwl9t3yoWXHA15ee5u9e5q-Qp-JMHJy9Skf19XoFem8xZwsVOS69kj692Lou84VPsVu7qpiqQG2fHCy7hl58ZgB8Cnc_EgdL9hUlHy0M7gStiAkTYyEUbMxpfO-ka8PyHtDEiGuNWwadaOs8QbsgomxyiUknlYtTPCnB6IGqPPyUSdNprXl3ryBCh1G3O3wcKIrFpmNSFNWBLzdDyxK_hiHFHOjRXzeG9M9TCKc-2a9EH04dqOmHboBWrXSyITkrgYfOib2QL1cikT2luFywtvEOPHZ8pK_wBpfZOgSjgJ0tI8hsmydVqUxzGH7JF8l9T58DB25_6uNl33etkIUAkfOym3X5joPWj-CGWu5Q7uvurkQmdy2DTK_ZfDkugLU3dh3uDQuFHhRkEhg4IQ0II-BC3-LQAZwl3mHoPdeuHyzQT_mKEAllnEjiLnN1rSoRiRFB-9jjr-82VM-DoUiKxr1_oPf_1fW_KuXKfCec56dosU0MOE-WR2M3z9ZZsKTkkBB14URYvwrwlhom9_ChOKnARxUKzx0-Tes2oHIGgXBwonYOOUAjOaUR3qFauxhg7F1wRtj7xH0J0BmkKR8hlvT7oWw7-hwTfCdHyXPHJzsQKtXGunFQv0SU8x4AOYQG2tzUrIeOhIhLeH7VqF2Lxj-pUPZ6A6QWKDJducCqlzekWeY3sa-slhZusHisGkOd7VqqQtYZe1scjJT8YF1DqTHtL7MFxfQNuHdDlJ0B9_KIDXLjVKg3ZtlbE4Y6ubQ5BIsYT-XC6ONHImtH1uVfgyQYu3Pmn46UeRjNkgvILP0zTRCyORZGWUesVjz-px5eUoUKNmegZwnRMjzM_ekivduoNEXSlD1qCLx2seIMBBLOFUVvMHEw86jCAJa_mzSmPs8QVyErQsDvl5jCjZ0a6VQEEaQmw8IR_-fvn_fFUOv6fN3oTfaYeb2leIrfVlYazUQmvWLe4KRiHm-8Yl1vLE_rDBzdaAHWqdcbuGvsxq37ofqh-Z4Yjxw2G19pphccbW1x7fhyWxRH1uZ7KKxxD4Gq1tsRYqMm_u2hN1npfauXOvBBMmPmhytXi6KWaTtS5K60wRTHeaeyUBIdMMuoWBBwyh0GiQH1UGfZW3DD0J7lQwlVFhs2pVV0BAUXRxGsKFnhLbSmItWIvgj_leEVrlDDDtN5nGiXeG8_2kuhYXPFUGaYPsm3e31GiPdL2y1jCn_GSD7rSvpRDkiHfT2C8Ug7xaMkpeij4sHLGarlqg2zgtBHQOa4uLMkekP3WKlE27P8INa16uG0pZCZIxdEAwWIUfM11S5q9tEOC-2ldasTm7fw3KV4PQ6qHaC_QLfCiIh1auaK5gXn_PozOp9NoWx7MmB8z-QC7VZT97B3ZPpdlw9wmC8IhL0PG440ZUlJdjtceB1DM7bUNefy1NRfyqbdYttJyUCyTZ7O-o9IYnvYLJDrnagTIGCI5IRZE2PMKqiMupYIykajen7Rd4a3k4o7XWhK5JKGy6KGBoyC9_PGIIFgb1vMk_3ppvOGaXsgzqg6wVOg544Kq0jbLpXipgKYSmOgP641ixiyVo=",
  "id": "rs_01f1f8fcc073e07b016ab454648efc87d0958cb3e3d750ff54",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.12},\"note\":\"The opening still reads like an empty close, but the closed fingertips are visibly buried under the plush abdomen, so I’ll make one short lift test to determine whether the fur/body is actually captured.\"}",
  "call_id": "call_CXQ2XnjMTMTu3ZneXR9TyGXw",
  "id": "fc_01f1f8fcc073e07b016ab45466102487d0afc8312ee9acf73c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CXQ2XnjMTMTu3ZneXR9TyGXw",
  "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]: [-0.2584, 1.9179, 1.4349, -0.6003, -0.2249, -0.2699, 0.0137, -0.0151, 0.8249, 0.6067, -0.3923, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4636 left_y=-0.0781 left_z=0.0857 left_yaw=0.0998 left_pitch=-0.4784 left_roll=0.0801 left_gripper=0.0137 right_x=0.2954 right_y=0.0009 right_z=0.1702 right_yaw=-0.0005 right_pitch=-0.0462 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -13.8462, 9.0462, 1.3114, -0.1978, 0.0464, 0.7741, -0.1983, -1.2923, 7.1316, 1.7411, -0.0415, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2e974270bdf2578f5f92d82db10c68a9dae2d9f94a10f9a051b64e51494d9e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9be4121024e17162952ae335596c5727fd1df45b96730222eb90ddaaa91a497e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:551dbe5f790e6e91069c9daf9b1c559ee85d2ef89368e325f124e41b8bcdd22b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 4.245 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2829, 1.8442, 1.1458, -0.345, -0.2256, -0.2626, 0.0123, -0.0151, 0.8249, 0.6067, -0.3923, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4339 left_y=-0.0812 left_z=0.0454 left_yaw=0.065 left_pitch=-0.4413 left_roll=0.0697 left_gripper=0.0123 right_x=0.2954 right_y=0.0009 right_z=0.1702 right_yaw=-0.0005 right_pitch=-0.0462 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -8.1436, 5.1077, 1.4139, -0.1245, 0.0171, 1.0476, -0.1983, -1.4427, 7.2, 1.7167, -0.022, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2584, 1.943, 1.2873, -0.3771, -0.2256, -0.2626, 0.0121, -0.0154, 0.8249, 0.6067, -0.3927, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4663 left_y=-0.0787 left_z=0.0482 left_yaw=0.0877 left_pitch=-0.4313 left_roll=0.0657 left_gripper=0.0121 right_x=0.2953 right_y=0.0009 right_z=0.1701 right_yaw=-0.0002 right_pitch=-0.0465 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -8.4308, 5.1897, 1.116, -0.1099, 0.0562, 1.0623, -0.2393, -1.3333, 7.1726, 1.6874, -0.0317, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2584, 1.9179, 1.4349, -0.6003, -0.2249, -0.2699, 0.0137, -0.0151, 0.8249, 0.6067, -0.3923, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4636 left_y=-0.0781 left_z=0.0857 left_yaw=0.0998 left_pitch=-0.4784 left_roll=0.0801 left_gripper=0.0137 right_x=0.2954 right_y=0.0009 right_z=0.1702 right_yaw=-0.0005 right_pitch=-0.0462 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -13.8462, 9.0462, 1.3114, -0.1978, 0.0464, 0.7741, -0.1983, -1.2923, 7.1316, 1.7411, -0.0415, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2e974270bdf2578f5f92d82db10c68a9dae2d9f94a10f9a051b64e51494d9e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9be4121024e17162952ae335596c5727fd1df45b96730222eb90ddaaa91a497e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:551dbe5f790e6e91069c9daf9b1c559ee85d2ef89368e325f124e41b8bcdd22b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFRqw4rHrCC19_6I0qE6w7yxWy2Zm_tLFNRUPwkN7rRnSUHzXbW_fkMn4bL7q49gDDohUW7PxezfSlfyDJId8lR3JGKgoQuLjEE4WSLG0VVz5Vyfc3fvacPID5Oy6iafph80e7OdO5AKc5j9Fy-xaKIfWUYQRTg3AdqYR3fNZPmvAVLe0IKJ6VjHKLTghvxrTewR-ckzuOxrwV56QAMtFZu08opR-aZKRiiG8NYjYPYKhxzS3hcrY4wB2ponp0cphPshQ4HvCImzmZwh8t5um5KDJNz31oB7RUziAxku4EDs7BSxC9z-J9Oky-6t2Ebab_aMhfBVi0Sx95bpQJCAIu2KaED_q87h7PY3_fXC9ZYeo9OH-sIUdaUq01ji9x33_gRgnBnKKQYci9-Ric13geTsxJZzfZAovId-YyBgFcR6q_obDfUl2xsirMMOL2HMlRzXOyvuFQ97V7Eiv3hecr05_60lRhLkY1b9iiN-qoWGFKrbtq-ZPF4JDj3BB13SJg9arvzv-8NUZacNeZk0NT8IB5PjNgVxvusWefGYqgedtTfbg_Dg3ARDyk_aj74Z_qy1V4Tj4TrU0pkIUyBP4rDhwf6ZTI7XJawyAopBX4cGPf2OxZ1xhU_j3KXbM9X6boZ39o4bI-6XI1wtXvzp3NKS8NV4567ZtiZ2Vh6D9ueagvgeFl49SA1zsyLWZnOBhvb6MnfJ527dkn1ilGIHf-Up8AwF5cuqUAuxCQzbtx6mUyxot6ShrXAs-JFRSatplSnDTs4BwEBdzzxI-aB6OpQR0GU5hf3NsFIuRG5ZgZHHM8fiJsocRqBuBBy7t5nbApj2G7g5zdKtAmZKijIPXhaIoB-f1mCemJwA4paUbAdZ-yakmFp7ylPm7T1fNXeorpHxL4At0h6WsQToVFFcSGEo9onQf5LkKqt6dZqiaHN9EhINLrgTKHd5Z7qIRRnDGmh4Y_LQ8HxJcPhEscfaW5OAnHXaexRO3MjFayTnkzEwY1lxNXz8ZZCEtWylYbEy1QwOsv3JlKLOSYm-iEf2UK43Vx8mhQ-CM7rp9UDBYV7iMB-XAlgVNTVB-jto7zG33aO89ZeGwNZKfwMYPq_TKvIz_wLSV298OGzxPMZcfkotBRcA0Qe_TQ6yD46MSRdWflFK92dFDba-0faUlHXkBb48kyC4SZfHB9DBtricwRo7ZPk1zhhYHgiC5gW1iZnIbO07k9ESQJpRG_5oQs1nRbAtP9g8p4IE2UxpXsFaJM7fsF91i1eD8DOWg4RiVYG3aCnwY860zc06o-WLKtO61O_KUt3auUFjqdT7kl4hzxHwRlysmYhAoRproLOtaoIRkA9f37lIb1H8mABKbkNSQy0PfV8WPO2if2s6ab8E1RtubPp4RwsFX-dyIRLMxCu4QkGDHMiFqTQN6SzsZrYgZhizLTKr0KhCx8QH0iuawHZ6CuBRfJNIJSZJDcWDyg8DuEz7L4FUsT4w3yObC7Ct0qvEX3Um2PIYTU7DsUbabppvF36DcMkMLH8Mn7gzLWxBk0M1TmTC9KoH4l3XHG5MOh2eX6B1crROPW0Eg4PeqTPNVBFs5SXOhWtMRIIg2FRoP_RX_OU17h75TuKSnU8-_096lKcVYN4rRe6aNFnjsyWKe2J50oNLx6CXeYDQivlFzCg3FV7ePi8fdxdAL8pGiMyNr34z0A464qNDCfrHZ3dzDRM7qZYBEDuO-NVFD_FpgkYi6hnQF7M4FsvTefGoWySqlsTmvlcnSDPeBI_5rlt-JRFegEp6sDpG071_t5cJSsNEXzUzV5FxaLo1ILNvNXtClnICuXz9z9mm1VYjcmzbPy3H5FfuW8zcOU9p7Nely6pgRiKXM0oG4l_JV1TppnYCha9F-oaUB2X47aGjuMHR2H2JD9wM0NJlAneoUZgsP4PetM0y4n3F3jSBSPOthEynDAB8LkqmgT_16cN9JkjthJ4Qar2LPsBNDxIMp8XoisT8jTUlety1zXHqJBRiGjghQaRsXZTL2MUKyBTEYOkk7c4=",
  "id": "rs_01f1f8fcc073e07b016ab45468817887d0aa6ffa2ffa4c11f8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":0.02,\"left_z\":0.22},\"note\":\"The teddy rose with the arm and remains fixed against the jaws, so this is a thin-fur grasp despite the nearly closed reading. Because the torso is now centered, I’ll carry it over the left basket’s center and release at rim height.\"}",
  "call_id": "call_2ISlmCSZ7vqorq1a56DI7bQY",
  "id": "fc_01f1f8fcc073e07b016ab45469c11887d0bf3dbaf4e3bc128e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2ISlmCSZ7vqorq1a56DI7bQY",
  "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]: [-0.0124, 1.8034, 1.7271, -0.9977, -0.1211, -0.0917, 0.0163, -0.0151, 0.8249, 0.6067, -0.3927, -0.0109, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4469 left_y=0.0194 left_z=0.1944 left_yaw=0.1409 left_pitch=-0.5013 left_roll=0.0772 left_gripper=0.0163 right_x=0.2953 right_y=0.0011 right_z=0.1701 right_yaw=0.0004 right_pitch=-0.0465 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -11.7128, 8.8137, 1.2039, 0.0562, 0.2027, 0.9744, -0.0479, -1.265, 7.0359, 1.707, -0.0415, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6395c64956321df114f71730fac312af8a7f9ee43bce751cfbaba1db7f0df49d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4770af64f72da7b2feb52eb011fb0c7baa112da8fc7475f17886262f87a47ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4118f2b5b2a4bde4a01e7427894b1d419a78e2217efc6faee05ae753ca75ab46",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 1.97 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2577, 1.9099, 1.3556, -0.5026, -0.2249, -0.2565, 0.9952, -0.0151, 0.8249, 0.6067, -0.3927, -0.0105, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.4623 left_y=-0.0774 left_z=0.0722 left_yaw=0.088 left_pitch=-0.4544 left_roll=0.0776 left_gripper=0.9952 right_x=0.2953 right_y=0.001 right_z=0.1701 right_yaw=-0.0004 right_pitch=-0.0465 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -9.1556, 8.7726, 1.2674, -0.0122, 0.1148, -0.1734, -0.1162, -1.3607, 7.2821, 1.7021, -0.0317, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2584, 1.9179, 1.4349, -0.6003, -0.2249, -0.2699, 0.0137, -0.0151, 0.8249, 0.6067, -0.3923, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4636 left_y=-0.0781 left_z=0.0857 left_yaw=0.0998 left_pitch=-0.4784 left_roll=0.0801 left_gripper=0.0137 right_x=0.2954 right_y=0.0009 right_z=0.1702 right_yaw=-0.0005 right_pitch=-0.0462 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -13.8462, 9.0462, 1.3114, -0.1978, 0.0464, 0.7741, -0.1983, -1.2923, 7.1316, 1.7411, -0.0415, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0124, 1.8034, 1.7271, -0.9977, -0.1211, -0.0917, 0.0163, -0.0151, 0.8249, 0.6067, -0.3927, -0.0109, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4469 left_y=0.0194 left_z=0.1944 left_yaw=0.1409 left_pitch=-0.5013 left_roll=0.0772 left_gripper=0.0163 right_x=0.2953 right_y=0.0011 right_z=0.1701 right_yaw=0.0004 right_pitch=-0.0465 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -11.7128, 8.8137, 1.2039, 0.0562, 0.2027, 0.9744, -0.0479, -1.265, 7.0359, 1.707, -0.0415, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6395c64956321df114f71730fac312af8a7f9ee43bce751cfbaba1db7f0df49d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4770af64f72da7b2feb52eb011fb0c7baa112da8fc7475f17886262f87a47ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4118f2b5b2a4bde4a01e7427894b1d419a78e2217efc6faee05ae753ca75ab46",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFRvcq8dVzOlal4Iqc30TZSfkdyn9jBf0um6ZQ-arIdoSRQ1uKERcqflhn2MByEUU3K9DeAVMCaZwkn9aZYPB1_suCUkI12fnLYuIAkdOdAKeO4V35b0ZXe2PwlUWjmbSwka-g79gcq_6UFUtXWWRRzh9d5c79Qq2SlfJPk5xHmvtGkuUiW7c0jtyFvQCWs3uFg_Oyun7-mz1A0ys1m9tBTLlf2EltL0FQaHJTAacJzD6lbK7DSU3aPpnfLqA8y7blA2cmUahePtkgoHnr-zyyJQpV6fSNz29ZJ2EKum9DMI-8UWjMp-QhE79Y-IhcUMspbFj3bijOgCPDiP8PcMVd8IqsP1oE5yP_idVAZqaqDitNbFPV-1fBp7hz0vj2pk2Vgq5N-DzSJ7n691QE1uEjbeU13z4RRxk00L3YN1_HChKSWSOahGQjTPcHDkTf74I7VAbkDi-pXHBOGQWou19dEEyTQotTub8mWlfdxbY-sZgiCDKL3FqJyD1Y6rgGwVKV3m6Wn21yRWYTQLXixtr-ysaii-uJC6fYsZDOaR2VDVvLAZwK9VnyMPQ3pz5q3BgB8lo2eTlcGfolPqNopJOrGhr17ulpqqMa23CQbBNZdnxXZRy0eC37rrsJAqzwidUQ4ZkVzhUCVISWhBuHKczzDHigd9u8_koN7jXlSX_-TmD6jj1FZbGjFJiZmEpVa6kkvcfv9YL1sKXCoqgYrubLp97b8vOtm4gGlRApoXO87s-I1Dg1MQcgPok0BxiEoZOsbaz3cSv04RPdI_WSbURFFiO-SVOL13ifK7rcrOsBBFIGeQwmMWBhZyYgcLQ2CpaizlLDZ7Dd9q33GfDnEK139LL1GRvVY5g4kehkvmoMtnOazb5NLRNN0daqcgDqB6leMNoVU6Yzv7P7rvCoXEZZBEN7ASL8XDD0FsHXm1KNNGnoD0VDtgtr3fukx2RL-spGJHmcLetUaayBGZt2U5lgnzZB-A_9985EpbX_tcNCH4rtoJirddddosIAuQ4ZI8iRDLR5JPCXMKvMHlAIfUZkaTnHL5ivBmMH_2Ze7fszBjJoQvJpgsgklWJiYK5gpMlGx3dvbJ2cPHbf1zXhMhjqBLavKmo8846aAJ3pyyADv50fV5eKNujsuYxQjRQGwU3545J3s7ZaRBKn8AD_Wmf1xE0EOkgJKN6Daiv44VThKKn2VQkgINa2_nl8TPt9Jd-KN0suvYFbEJG2l99cI0Z0bSios5wQGj4ETum4YHIEM_BdTiC-f1lHllAa52v57pPfgnSZeElQfGWmzjWLRdaAXCYWcnFJCZqrFo6XI_ixJI6_ng6bc5o6aWaHh0ogCQGUA3go4PKkxqiruF31wpxd4j1rnCRRInb2qs4G1WgW_f9qzwPAscP4NM9e9tGuKd6sYqznRvCXIWmmhT4zqUz0fJiO6fxIQzwrydzzlpgxm7fO4PIkYvRurfOaxZDLh0taZFg0xSThTkJ9R_QJApdUvAynPKKFGCbUQwWFY7ArBkTl-LgxrhgWYruyHvb_RxQvFeuVbVGOuG6o6CEhTVF3lGQ5blm2AyL237tq3k4U_fL7rTFb-5gtIntJg3nwR1stWVEoh9z9wi60DqitLWKsSfcd2MlWrwgGJcQQ6x5_giN8YG0d8vbtjMau7t_MQIMWg7eWT8UYhcubry9d9kT_Quq4pbCSN4cMORjEuG6LeKOvaFaksa_oP3mOnB2kVZxZJqWDwOAFcVth5E-sMAhClBo4L-lGhb1qNkzSJe5nBXUGlCVbE5vE2NarLOZb5ed-OaBDYMa4qynd1U01nIiqbBhzsFCUklyXe74_ENc1N4RJEQCfrAHlakOuxjEqUrPZc0idtqsWD353sB5NQXiiK2XpihqA0MUu6MPHBhlyYG5SLYMUsfXSvtYIFlE5MIqr_qyFpZNWzpIS-WdxyVTEmPvpw2pUDxje3c40iPnCs6Jd7KBNJOdiuJRuc53GiSkybUw4r3jOPVMw2xoHx68Dr9Gnz0vpiMsumnBo0Vl0PhqSZAn3xmAy58QLwMRtxaYBt-5Od-sQQpgIC7di4_otAm6MoXxoYx9rZaiMSZf9T6XlCm3835eY6p4JHDQG2Pgb95uF4qHyP7WZIESHxttUUl1ERxhvTX_aFYl49jZiS9T1xxr4tmgmLTMr2yeaZUg9pvLmp4dFE2bdyxVYKAyC4xcEjuWW044keNILqzpS-uhPCxEUC_MA0cZ8AIy16BBlkbN0lZs_okAL24l2qRvgMyDfdAQuKQUy-5a7RCG0WGysvBu_XZzGUHogQjplxXi3gd8kCllWE74HkL9vfBXiIytGHVearVcsKOvogcP3mUnF5IR5McH0XfN6uWls-BXbL-sINSwNFpiiK_DHAdoo0jKTPaz165l8VHC0q-HzBSwE-VGAMwrToZf2whRXzK6iT19iZPcSvkBd8lKEwY9Cv2KY8CeoDXqby5QGSzhC7jiQZPN4f6if9EGv-J9zKrpVXOfHl-ibProMF5D5x81hyp_UXZKE0WH_Mcnu9HXR6O1hZlQ9A-aANabdzGImTx6sEI8f-P8hfD13_ip_pa9Bmla-zp-8Y0zQtU2JnBN3smJDg=",
  "id": "rs_01f1f8fcc073e07b016ab4546c5cd087d0af81a9790f5aa73e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":0.05,\"left_z\":0.14},\"note\":\"The overhead view confirms one teddy is moving with the arm while the other remains outside; the held teddy’s center now overlaps the left basket interior. I’ll shift to the left limit and lower it so the torso is supported inside before release.\"}",
  "call_id": "call_tnBNwu7eW7i0eTuOiOVPidt2",
  "id": "fc_01f1f8fcc073e07b016ab4546ecdc887d0b387b943e8be29f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tnBNwu7eW7i0eTuOiOVPidt2",
  "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]: [0.0647, 1.8004, 1.5108, -0.8555, -0.0956, -0.041, 0.0182, -0.0151, 0.8257, 0.6067, -0.392, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4313 left_y=0.0484 left_z=0.1328 left_yaw=0.1669 left_pitch=-0.5772 left_roll=0.0881 left_gripper=0.0182 right_x=0.2955 right_y=0.0011 right_z=0.17 right_yaw=0.0002 right_pitch=-0.0465 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -9.5111, 7.5419, 1.37, 0.0806, 0.0855, 0.5397, -0.1709, -1.2103, 7.3094, 1.7558, -0.0317, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4597e93b9a84e3e15d1ca6a791f44a51efa9d277addf7b4025d81bbd9c153ef9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:919dbc9886ca0c6dc1afeb6bd1d24445950a58554f819d962af58912d085a44e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec63d13684184aba76ba60769e4305c1fd849490e89743d1ba64b527c7d5c4b7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 10.09 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2584, 1.943, 1.2873, -0.3771, -0.2256, -0.2626, 0.0121, -0.0154, 0.8249, 0.6067, -0.3927, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4663 left_y=-0.0787 left_z=0.0482 left_yaw=0.0877 left_pitch=-0.4313 left_roll=0.0657 left_gripper=0.0121 right_x=0.2953 right_y=0.0009 right_z=0.1701 right_yaw=-0.0002 right_pitch=-0.0465 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -8.4308, 5.1897, 1.116, -0.1099, 0.0562, 1.0623, -0.2393, -1.3333, 7.1726, 1.6874, -0.0317, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0124, 1.8034, 1.7271, -0.9977, -0.1211, -0.0917, 0.0163, -0.0151, 0.8249, 0.6067, -0.3927, -0.0109, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4469 left_y=0.0194 left_z=0.1944 left_yaw=0.1409 left_pitch=-0.5013 left_roll=0.0772 left_gripper=0.0163 right_x=0.2953 right_y=0.0011 right_z=0.1701 right_yaw=0.0004 right_pitch=-0.0465 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -11.7128, 8.8137, 1.2039, 0.0562, 0.2027, 0.9744, -0.0479, -1.265, 7.0359, 1.707, -0.0415, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0647, 1.8004, 1.5108, -0.8555, -0.0956, -0.041, 0.0182, -0.0151, 0.8257, 0.6067, -0.392, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4313 left_y=0.0484 left_z=0.1328 left_yaw=0.1669 left_pitch=-0.5772 left_roll=0.0881 left_gripper=0.0182 right_x=0.2955 right_y=0.0011 right_z=0.17 right_yaw=0.0002 right_pitch=-0.0465 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -9.5111, 7.5419, 1.37, 0.0806, 0.0855, 0.5397, -0.1709, -1.2103, 7.3094, 1.7558, -0.0317, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4597e93b9a84e3e15d1ca6a791f44a51efa9d277addf7b4025d81bbd9c153ef9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:919dbc9886ca0c6dc1afeb6bd1d24445950a58554f819d962af58912d085a44e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec63d13684184aba76ba60769e4305c1fd849490e89743d1ba64b527c7d5c4b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFRxrTXx6thvioveRxCVv72EjV3XVmajmNB1HBLavVMkSSCUpxRJjky_N2CoJ7R_YK8IaR6XH5rtzwlYgcCf8_wV3RfvJJ1hy3QMLbN_heQhZj7V_9070yTYic3YCgaMMc08bF_LT9ujpIjACXjmVZekVTmq0c0R51wrE8FZAgWMMI6z3inuHW5J_Jo3EV4VsLjoOQl0SiJ1gWH0NnSn7YQFc4QBUPLuMbv_pJURWjgV1nQNrTk9S7e5YKMWqDEJtufwuqLGX7AArTLskHjXvo4_Bee8a1pZ2uY5DakgR1Tx2O6bl5d9wIoTasF-IUVPiDp16WdUpjEa_leLDjZvDzjT0xosqshlCC_iNEMaYXzoFLgXul_hLoNgNREbwhaQ24wlvkdNdly8NEAjxDateiP_w0xTk5b70cGGlNBGxaRfBlrpC5wWLT6Jue_dyo-jAdGkzO5uKmExUaeKB-y3pXqm2b5AMZUAsoAlQYMW6C8pM6EPMKumYBB-GJORrtKNDXZkbaLxdXxoipDJG2HupmtXkqNU3o2hUc2v-1UgfizpfnHCOYT2UAfmZH1w1NDySpXjySBKu-ASaCgb8TePlT-nnpJvPzVibYcfm6zfpP-MqoAD5i4wfGNj6wpouo8-1dZd14A8Gcfbz5HZSg8CDVy92XY8KDCNeoKbPi5UD1G3mE8xOOgEBf7T6HPs6dwHJSsvV6fSmpsMUZmPcW0zPUEnITtaqGtTy314njWDasaegajqqRXLeCojqvM_Vi7FfIk70J9AQBIlD771ySCksVvRpxE0D6--tcmojKwxnQ9v39gMJ__YmnmbPxB7vcybG8Z-4opdNIyGoZX2Tu4m5GAdiCcOqL6gsEeZRj-dDA9-xMHhPo3DCYU9nXsCirKAGfSDXRbGCvqIyYkOJtrHl-GzY4Uao8P38-u3BHpAQO3LRNUDZUqBo3MyDGkTVWttSG1j9e2fUFABZZIMx5ui4MexJDc_opAY86swlAnpbiRx79MMppmwLOh27H-DreGp1myf-wuRsmqxbG_b5scYiMkrVv4W23PeUhqa0dx33eT1sMKyUlwChwZ_b8P8DuGt7L_-R1rze7B4kch6Pp69tfEklkwab_V6SXdCaUmFpqF7KVGZrmgu1FNldOw8WDv73_GNpyE-mwIrfMvLuYUqhPsFBNjPMKUYJewuT3XO1QcPJyA2F6aUh0TfUxdGFWuoCPRplVCj3wNuuxzugrhjJG6cFBKbjSUh6RjfVK_-ZgIkU9BWN-tzu3z-dVRQqFUE3aP-j2cR1YR6Zme-uzK3Z2ZUMQ==",
  "id": "rs_01f1f8fcc073e07b016ab45470ef1c87d0945da1ac8f4254c4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The held teddy is lowered against the basket floor/wall and its grasp point is at the safe leftward limit. I’ll open the jaws and let it settle into the left basket.\"}",
  "call_id": "call_ipPw7xXrdNn7v1v4DWVvdgPi",
  "id": "fc_01f1f8fcc073e07b016ab454713fdc87d0a55ee9d035b00568",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ipPw7xXrdNn7v1v4DWVvdgPi",
  "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]: [0.0727, 1.8046, 1.4918, -0.791, -0.0883, -0.0296, 0.9955, -0.0151, 0.8261, 0.6067, -0.3923, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4409 left_y=0.0513 left_z=0.131 left_yaw=0.1582 left_pitch=-0.5374 left_roll=0.0817 left_gripper=0.9955 right_x=0.2954 right_y=0.0011 right_z=0.1698 right_yaw=0.0002 right_pitch=-0.0473 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -10.1402, 7.0632, 1.2674, -0.0171, 0.0757, -0.2369, -0.1846, -1.4291, 7.0359, 1.7656, -0.0171, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8af9d90fd5c7ce7b7c9ba91fd42f391fa78048e377c379f5a6258d07a241388a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20ca4e99f6a985f186fb3acbb72782eb990c4ec4cff6c3c586f8199f651f9c59",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:528d181865fcce9c787bbf54350b6e1d73789aeec4ef2695515b3dc5d9bfc041",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 2.474 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2584, 1.9179, 1.4349, -0.6003, -0.2249, -0.2699, 0.0137, -0.0151, 0.8249, 0.6067, -0.3923, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4636 left_y=-0.0781 left_z=0.0857 left_yaw=0.0998 left_pitch=-0.4784 left_roll=0.0801 left_gripper=0.0137 right_x=0.2954 right_y=0.0009 right_z=0.1702 right_yaw=-0.0005 right_pitch=-0.0462 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -13.8462, 9.0462, 1.3114, -0.1978, 0.0464, 0.7741, -0.1983, -1.2923, 7.1316, 1.7411, -0.0415, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0647, 1.8004, 1.5108, -0.8555, -0.0956, -0.041, 0.0182, -0.0151, 0.8257, 0.6067, -0.392, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4313 left_y=0.0484 left_z=0.1328 left_yaw=0.1669 left_pitch=-0.5772 left_roll=0.0881 left_gripper=0.0182 right_x=0.2955 right_y=0.0011 right_z=0.17 right_yaw=0.0002 right_pitch=-0.0465 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -9.5111, 7.5419, 1.37, 0.0806, 0.0855, 0.5397, -0.1709, -1.2103, 7.3094, 1.7558, -0.0317, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0727, 1.8046, 1.4918, -0.791, -0.0883, -0.0296, 0.9955, -0.0151, 0.8261, 0.6067, -0.3923, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4409 left_y=0.0513 left_z=0.131 left_yaw=0.1582 left_pitch=-0.5374 left_roll=0.0817 left_gripper=0.9955 right_x=0.2954 right_y=0.0011 right_z=0.1698 right_yaw=0.0002 right_pitch=-0.0473 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -10.1402, 7.0632, 1.2674, -0.0171, 0.0757, -0.2369, -0.1846, -1.4291, 7.0359, 1.7656, -0.0171, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8af9d90fd5c7ce7b7c9ba91fd42f391fa78048e377c379f5a6258d07a241388a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20ca4e99f6a985f186fb3acbb72782eb990c4ec4cff6c3c586f8199f651f9c59",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:528d181865fcce9c787bbf54350b6e1d73789aeec4ef2695515b3dc5d9bfc041",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFR8uHm8_g5nIn4Qdsrbs0uv-MHVMlGKEKFAnfIf2X90H9QMpeOGOdcvlv26NRctjERPDOtKjmx0fIY1igHhFyH31Z3WP8wv_NuutqBfk86bnKk-tE13KApPzGSwX69ax1gxosJqy9XWJsXeiqXkeOluso_SP3A0WeA-I8NAf-1ZSAwxiaFYaEyy6d2uxSZlgqNWHKt3DyCx_i3MeGQO5y7IolsWXievjJ8eR-B4ok1yxWvRB9X9KYbQwd6FWSmHjQEIAB2SccssVcRaYbNKISnLHzEq2V1NhU8UKWZ93cB8p8dnEGTDiBWsC7ZEeoH3ufZYg9JpxuN3wCIHqGA8SO8tN_aWPKDPkB3uDbE9OeQ7rNzorVSen_m_svRxTta_OVGF9WwXnecZZE687iCWRm7Oh7Ts_yOm2GZK2nZBc9HooHxrnv042tfCOuKvmClC-i3UAOSeIJUSoD_RC302Cslq7D3PciKubZeYBn6P_ZPP-_TP21EAXrodB5MeC-vYhseXCvPa3h8Mw67NXSk_BdoYzdmC_4oK1kPtcKNapMG1FT2HJL9FMjxrKaii4a6DEfGKPeF4JGbEZ7dBYrOmbG4jD7HMkSXQWC6txrwKy2CKugY-uc6rEudPnkeU0q8oCNTGL3sbbo0H0kzgc3ndrita-13y-tkWX3_JzdO1jceKw8VHQij-6NDRf7JCPEuMUSDvaA_ucXS0FN98Wkp81yCuePnXk5jC1AwrpHSg20HMxlQlGbcs4wA-b5c-C1UCaaFSP14J9hxKeQ4J0C6wyMy6RX3P7Ra12nDTmuT9Enudx9vCleziJHRG-S0XnQOeA6-4TQ7iButu-N-W0LV_N-I7gQg0K0mi6prYHC_sgycqC8PDYi0QZBs6aGuKn0RL2czC_Sey1p_e_IFuFeLmbDAo6G_06GZFwnHo56HI5YbTUn7FuNd3fCp8vRwJ_god7ODoifSGuE57U9zdZO4tH4W2lOx3Ol909-2TU7NAHc39x-sO6YUAZnW1YhEZDhdKClHOqX2NSnGYNfBzwNqaAuplIR91iSCTRNvc8SxAugbejZl3_Yr0pTg5jChhDkTc-kyYp_MjjNpPemJ4IGqsbHUjoMPDjSDf__BIsI5nMghEWSnCox5ErQVzd-rhEyU7U9Gheqkr_-mCEeSZ85xsRcEE_s_YXphPbOLKouPZ-Zo_peZpAa-4mCusQ-rf5zDArRsAFC9xeWKl2ZKqVIORiFst_AGdH1ARI1k-fMcMqJ6XURHqmqQ2itjdUnELVUTM74u9GniLpiJPcPtByPi6wWUnhCXn0lO085UGG9bOAWgnpTkPC3KQZrG1soH0hng0-KfaAxO_grqSfoAND3vHbtr5jSXewbjBl0KMvQ9hhhEGrBugYw9Txkxdhuhpkn-z3wWT9QeHNUf4mPRA_Wwi1PlpudBdI8RSHxMV6WzHpYmYyZJMIF_-ru21qlwFU4_hw68F2j4GrUFxL1lXNq9Thr6xGgm4IDZnhcnXVY8jB5AH_g1arjF1MGgXG8FmnTOFhaeWJgm6PlwzGn8E8gkx-kgCk8rJFkxHtSUcQTujdZ-mvXiNG2XwdHJKl3FA7KFHcsw-X1y-rjuscrAcrtFcn6f1qVgAlZYycfnfo9ntsheHSxMkcGDwmlm8aEFnxdXN4zpospQHMR1kOPPaysRuGNU_Mx5qy8r9G5vrlbAoHIVrfSI5JKwKBDoehl70expRDPX8nW7uMNoHubqpGXsxppkogttPGSOuqnHetwERegXSk3SWijUXTHYqnjvvmcm-_xJXV9dHAq5NhVUS1Vz2Wp2PgzY1Mc3wIXZ3QH2bNfUzvHi6JuT2-XQAIw311BrKFClc2xbCvC4t0cu3G87OkfER4DZfqSbZYgz--pUpJBp9Amlfe32wxJwXtHFm0nBdcbgqLqmXs9lLCLYLzTsqhn29C_WJRdCivVqn8sfhGKIYfhtehcmTOchIIc6iZrABnPJOx30RphVqvhBAqO9R74GSvwXpzRm7Glrn0XqfeDdo5QuFpKj0ocuJRAqpPwACKNaNh7BT-sn-f_Kyzq-Q3c9GU0OxEYxbq5YyJXrw03NvpPGUzOyoV_k-3Ao7xBdoQitjUxFrdyBEoOTNgonbwQQf8KV4SrBCtdPWveO5qQ_pElOZ5iKcRCIaAgwclETPQjZmBX7ak9y5_vAD26WEO3nJu2abz5vUB68xshx2Emg24X2yby-7B-_sTXhk29azPvE0A-jD5jtz-XQWwFDcxRSn0C-ODSSUUupCoCh99PP1AsrG4XpgAnjI4Kc25HAqmmY80ruVGPv1yqiqlC4hYx0TZgb0GTF9gqnBDYKkHWKsZDtGqPHct0JoZ_JFDqM82crsGMm16JX_x8DK9DVvPJs3IDk957zlvEExMAIGsfV-52r7hOkyw911a9F527ywO4MQinc3hNVp-nEaKT5fiE4-__3A2Di-LVW4dZnJcBnmwSVjIA_zSB2Isr48e4xvZ9IZvwIvomC5rszZmOle41-krN1VZGoFSsXQXgJZngHIrMB1VWlN8RztQ7NfKBax-p9-YxziwfvxeBBfNIUWaIkgufsG4RgAV7-qDLdHwgsEHOGKdwS-qCIVUXiGTfVlOY8W_cWj_4-yRtbmGpHU233AHJ-nRtbabLBz5sGUZGnsptTcXjev6iMTJLYIgHIMd-8OU5iA49w7_NzdavBNldAo-Rp1n2IaVpINJa1oTyZEcff_FxXffogfM7mOS7Ava4EqjG4MBbXok2jUPoPFddwVqmk6iLTXEjQJoNMvc3bj-GXtwx3xs1_DvStEKP9Fx1g5toLtpMuth6QfmGw8zdQDtkj5HfuIVgs7hzkzYH06xcS0q0IL20DIylYxkhMxB417oFEIYflMi_kLZvgePz9OeX0cpVcfuMZMsPJi5w6zwtm75hiqElCNSfC40KvzAkUiNTS42ikffT7KFSCuth_RF9aRMWEw10CzfShOOBK-jB6Dwqi_aY73EPS81C-YT8tKQ69OcjXDieSQ8wse5OqbvWbGVvNO1DWkq5me3GxDfWXlLEYLua3tDLXxJw2bXRDw0XmzKIswC5aRsScB2-lyud_OMboLEw5YLMm0hw6rcGMR4NQBQJ-M9JzgBbexEnBD_AKSaNOArnM3u5ohEgw3yLRZPDll4DX2gW8qxu48NvM0rfZhQ0p9Wg4dPBvEG2naQZEYn0_at8M3lhyl8nfDl2cJU4JStYi-e4LINORyXj7eYFkwPSYnivEjPj7-AwyBg1LrmuUg0W8wWjEUd1LqK7cvBf3KSWg7GL-uVpUAHmVtaGA9s0k4YWEZB7F8CR28EXxGGdA8BrRH5omyAb49s92hggj4cYNAwNonEz3R_5wFOjI0LoCNh2u2_fp19_v-dXsR0HOJ8m6cCBrTSC0XD-hdzkGqmmkH87CgCZZSWFR4f6TqEisPVDSPltKZoiV9_nnpFJ0j0kySLRjSsW7RKkJo4Kx9EAEygRHdC2W2-Cac5zRUmp9kz10kgjhLr0BEtZMXQ3mKhXmP9GWNj9HbSMGksbX0mvP7Zh553pq1PSxX7nEzgPLMpOyBuVkStrhdbxLr1QSYIUy5zP81-FtI5bY6PwjVN-2UR7F6HLgL-YIUc0P_wVmpR5-ShLIB38UmeSBx0WoJsQGI82t9FtEOtq1GtvCDh4QA-um9vjJnYTwV7KNWfW8P5fk_qGX_F-UjhVYa6OsSM5kHqin-h56QtoyqKteoEJfbm1IYeKK9ZExMJ9JfgSeGjyl8WJFtPjVgnN6NUvwPtXDYtNLfwHygNAkXg3hbbzxQS2p42UjZ1760CXIIK9pmdrlWDVw7H8tjUXsmTvcpO0FZKNAQUbpxoX4R5PDhFmWEmtOYg7QAMw09E8rRzUfk_WC-s7Ws4iHg_9JG5qQrfisr0gIkpC3-3sNHsh2Zm532OYWiNufG11XgdMrlOZ4atQlcPQq_6aPbNICKsQuywwWiycJQcNF2uR1QSV3jaxbuu4WEQm_LaT1IE7DfAiRy2h0_bQdJcNVr3p02uPq8vK1BAZO2TlTh5Bd8EbTVm4nFqY3_gmneiCQSums-zwxfWEnLGntHQuj_Gu6B7JTLnqBFXkGzSVDZJKpaRi46-u4-4I4-QWLY8TJVuFBvP5sxcWS7H6OcehMUeDyX7dqNSRiwhXl0g9or_hmQv8O6pDHfsmHIdyh8yvw7A9itv4eQt5YGZ-R-1iWPTTbZr1n8SznPKSvwjPNjYojpIwHxmnYDHrE2bgTRVmxv3mWs9cgMQbBXO1lv5RJE5Jkr8ozW0iL0O7_t1EmkxQff4-ogJEcY0r1NZuPTzzQ=",
  "id": "rs_01f1f8fcc073e07b016ab45474525087d08b75dc9c75c539ee",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFR8cgNiVFDJzx7tiMIwFuC8ibMCGv3Srbb_ISJJvo0MO2uXKZzvkbj43ql_fGTWe9TsRxdpMf5pFWtFXnydazlIG17xvF0XQfay3ZaQa5n1dlVF0-YsOsPqnRWJV5uJ_8exXaZ0t95wsG6Md6QHaLkyj7jBt_KDuUHmQ4T0MxDDpnAmQoUhNWPt-Dd-cRpSI7gvBwegVVVUsdjPZvAWTjFA_DZdLWDOUpPC_HEPG9vcv6LJp6mzCIaOdPrdvZeE_97vVpZeznw7zmNHbp9XMLHHGVfWrazIIm4h3_SoDu1TP55ppRSEmYhP7a2OF3Jq_tXlKMR8QumF_zXI-PUndZxogtDNW7Ke1lXSgwovpiZHc26NBB5O8Y6avLzWqsLtMTd9_jRafH2yBLPbC7wDEYcp_tzjBlRnGKNP3HMwJ5IX4bvODY_Gp_tDDUU47xwmRhJIeg2z3v9aa-MRG1rxD0B-S6PALUlP-NP651JbpZYY-457Wa1Ia-f0ytFHOxHOEs3vP5DTEBLqV6Sd74LpApxr77VOgFi0RuGtztXN7KmVi0jbL1KbJO659AbSlGXweUARGnJiLBRUvUhOZB6wi9G27r-uDHf3TFgQxJf4NAfNpTnT3vW5hAs3UJ6q4ldzGsriNl-wcqKJ6-SMo_ML89xzV_zr8VDKfRk-tKIXF2m-BSQru8svNrSN02MDpcPg1ABWnlizrgouCoWP0LEYgRwcAFZuZ8yMYfNoYthXRsHiDAIkh4JXwe5feTavUa85q4kCCbmUa9Go1lEodxPi5PoMj1dAOsZztZy7n5lZgVeL9A6X30R_q3zpMtVPvjlZyl_TnlZieHiA_hxIa-eO-9ACyfgKSw9HBCjh603nW3unuxr7EFHfiY_Mw3SA9SA3SUKJ4YnTRsMO4_m_iA54ZWDvf6UrJ9qPij2VZTH3LPyj4vjDoDg-3QDin-B4pF0ybTfoRA5NM2_Ot4NDceVL0GIvlZNl6sQpFiZScQFFJy7PHPy9pX31vDphVPduVwlDhpxldCkhJTvaexzyVXlgZwKNcBWKHYniAaozCKAj_4Tev05X5u9Dmn_xoNW_w2C2cp_5u3w9dpZPKGHn1nFwj7ETFuBmR0V1U1_R8DAeprhkES_ifIEn_ar41qCLKCvNhQ45WJsuBeJbGwilNl2swQ9VYlk3zeodDhg4zTM4xklHkr8Fer8h9TO3hjcduCvD1C9xqeO7MbVnmG7nbN0Um2Lfq9btQ8GDR_cBO1KSwRYzrWWkKYU8z5rI_4-iPhChIEMlCE3u5RabesfQQrMtwf2GnGp2aCawQhuTVx39Hw9fjq0JI5jbLIONaD-FiWiSAlgyzPn4KDOmgjP7C0UpoSApeEyvT1pqBIC9Ok14HWi353FPnWcNcPYSAjTh57lKjIVp7Kf_HpB28XXs8qqHjRyz37uYSqJhIR3ngtkRH4cC7B771sJTf6NE12QvokZn8zobNoHlA4ZW3AhTv_p_XUFr4gcPkvnG0IQqFwG6Xr_4bXyLxVmUoqR0egONOJ3I282ttfH6bpCNIkjRdCkSuKsl-OmB51teQ8koWko_Cr-etQZg8nAahN3LcMC6P8z8eoO5_BpXkzHcLwKruWFXkbC3daVwcohiJX82Qqv1_XBbHtU1Tu9KhOQ6pyaGh-BxQEYjDurywG1p44E0DX-jwCyK_oMRxnImgvhCsUBLyOlgUbF4sgH8xR-iYYT1WPMOv_klxxVl4IY0ObV-7ml_wkSY-hBS1mykMJrtjZ3p8Xns5E8r1-d6J4f_om4cfPKEIH8SVwhWEa_tVyJ83vPDEAR6CVGOyUiYg4dQ0ADG-5FmjvxFHz4Gff7Lef15QGIbtUsJ16wPQNWtXWTNr6uEmnb8w0EQbYI_pKNjAuZHO3vOQWCH_-Ga-qe8tDlkxQUuxErWx36r2STJIE4gRGz4Nk5tc0WxVCfmeEfxetwpPsEgCq253gyDmWPBnTE44QN1dHGZn1zpclvwOKVEqQpUNs3_2tmieE8vBHnmjfPcG0D1rYft7VMHz7kO8w9I4pLsvfun6FPd4rpAdoFZQv_ysUhKHm1OpEvEHAgqU6PKDdhzLYm5gCz6IhFgDwfaOffg_Ffx-rxSVZbsDeu5c1F4lllwdpDebD12Ht6fHVSqvg0V1LXYoHTHyUJQ1eeHO5_nnJfF1Aue7TardkpNfEwjGr_urDtJDx4RMOUCgx_kNPugS0Hr63zp3NaBVVG24MMnnrf0yofjtiDuZ-K1DKYw8dP19CH3OcLXZvtDQ-_T09EWc356yCjnmf7RgyEJ2kkU8_zoO94X4ajjawoO239pgGwvItjBBnR7uc1-lp_wAJaLeIzLuoD7OJpMI2smZVs6gAKr-OteWWpjNnIPb5Sdo3RMlDXmY_sjI3MKTcTg0G6OdPvyIO1RFMh1FsRzN14sElW-wVEoVWNZwtPsao4frymcLj-bo4aqiVGGPQRlkOIN7-nz09PzdimzAE97pif3p1lJCy2Js54PozrTgmCXyKGqg_kp13EQQF8UIAdt_3HrkEksZiWdV7zLdX6z3LelTwmyRObkO_YJQOoQAKJoB7A_e-h2sOz38G8OLk1SDzUDz9V1zdNhpfx0u56WSApLiAFH9B29vAi8141oG0hQyH30fSbyFvByDilq82dLTncC2VymZ6XIVFCUeXVOR7QdY-7vY4LJF0lsdAeZfSsSxIDBYoWwIViCirxbOuWAX9wHbGkq7GcmsZsyA-3HWmDDDIisbnHwfSfgBwSETajv_T3YvQ==",
  "id": "rs_01f1f8fcc073e07b016ab45478afe887d0bf562611bfcdd2fa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.18,\"left_z\":0.12,\"left_gripper\":0.0},\"note\":\"The left basket is tipped on its side with its opening facing the teddy pile, so top-release attempts leave toys at the mouth rather than inside. I’ll place the closed gripper to the right of the beige teddies and use a controlled low lateral sweep to push them through the side opening without disturbing the lower elephant group.\"}",
  "call_id": "call_i2yHr3KQdefKQneMkln3taDp",
  "id": "fc_01f1f8fcc073e07b016ab4547be81487d090600b74564af214",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_i2yHr3KQdefKQneMkln3taDp",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5194, 1.9884, 1.6867, -0.9314, -0.3088, -0.572, 0.012, -0.0151, 0.8276, 0.6067, -0.3923, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4258 left_y=-0.1775 left_z=0.113 left_yaw=0.1384 left_pitch=-0.5582 left_roll=0.0779 left_gripper=0.012 right_x=0.2955 right_y=0.0011 right_z=0.1694 right_yaw=0.0002 right_pitch=-0.0488 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -9.935, 8.7043, 0.6764, -0.3834, 0.0757, 0.6129, -0.0205, -1.5795, 7.2, 1.7265, -0.0317, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55b06c6e65ae40505d3af11b0ca9b75c438949b98877d962ba7199b71feb96bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1eb5f57a63256970053072f20fabe65e87d4ec072aca5d9fe94f0490a35cc2ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e557f06c3504fe390849ccd61e1bcc0eef6b75a2f7b21ca41566f24a29438b27",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 32 attempt 0 · /responses · status 200 · 2.088 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 125 changed as sent

message 130 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0124, 1.8034, 1.7271, -0.9977, -0.1211, -0.0917, 0.0163, -0.0151, 0.8249, 0.6067, -0.3927, -0.0109, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4469 left_y=0.0194 left_z=0.1944 left_yaw=0.1409 left_pitch=-0.5013 left_roll=0.0772 left_gripper=0.0163 right_x=0.2953 right_y=0.0011 right_z=0.1701 right_yaw=0.0004 right_pitch=-0.0465 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -11.7128, 8.8137, 1.2039, 0.0562, 0.2027, 0.9744, -0.0479, -1.265, 7.0359, 1.707, -0.0415, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0727, 1.8046, 1.4918, -0.791, -0.0883, -0.0296, 0.9955, -0.0151, 0.8261, 0.6067, -0.3923, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4409 left_y=0.0513 left_z=0.131 left_yaw=0.1582 left_pitch=-0.5374 left_roll=0.0817 left_gripper=0.9955 right_x=0.2954 right_y=0.0011 right_z=0.1698 right_yaw=0.0002 right_pitch=-0.0473 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -10.1402, 7.0632, 1.2674, -0.0171, 0.0757, -0.2369, -0.1846, -1.4291, 7.0359, 1.7656, -0.0171, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5194, 1.9884, 1.6867, -0.9314, -0.3088, -0.572, 0.012, -0.0151, 0.8276, 0.6067, -0.3923, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4258 left_y=-0.1775 left_z=0.113 left_yaw=0.1384 left_pitch=-0.5582 left_roll=0.0779 left_gripper=0.012 right_x=0.2955 right_y=0.0011 right_z=0.1694 right_yaw=0.0002 right_pitch=-0.0488 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -9.935, 8.7043, 0.6764, -0.3834, 0.0757, 0.6129, -0.0205, -1.5795, 7.2, 1.7265, -0.0317, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55b06c6e65ae40505d3af11b0ca9b75c438949b98877d962ba7199b71feb96bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1eb5f57a63256970053072f20fabe65e87d4ec072aca5d9fe94f0490a35cc2ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e557f06c3504fe390849ccd61e1bcc0eef6b75a2f7b21ca41566f24a29438b27",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFSBG1XOGhRhi42xplxHfag7WpEvYqQz1PasYB9sURIlsGTwWOBastA-P00uWQ60i1_5h1B3pi2_n28LIUrgnvuYayihBL157koahv5h7OY0U94bXW6hhX_a4_GFSimiXshtLpcG8rRB_-Y_-gmj0Wat7zQ80EzhxILppi1uEu4tzAoM44ggIXf01yFj1bwZnb1VgxuzuXlZKP6MLAx6eusgHO5x9yXUk9BLq2CY0pxJqiSU7rHYd3lgQrvM76ASb_royK0L865RLX3jlNn-2jacXzURMqK13UIAfhNjFlsyq2RIhA-8RkxjERj0rMAHHpahnqORlqS3G3GDPmlddNXi4qunD_7_q2ZB_JLL_PucIa2O4-WmiuPqBjdZVDKLlktGw9oCJdoRhfjfKKTH1l0WoCM8AMcF1bTHHSnNRnfzFAO1DfY-G18RV0ulD3gxFy4tukr3ZgMvffAagp7m1PWZcTkymEDZ7aDkm0-pGf8ajNcRhuimY3xB8IiTii790wHVdO9uYnSIibbVlh6H56vBbHQn-5uUY7n72egedVqHXrAJ3W0fJGdT9y16nJo7zcIyNmDZ6LOMWqDN6HMx_ifIeI1ZGdrV83YvgEMtMeU8rwJrpE18iOCkJvKNtmBNMVkD2pFC2WsVMDk7h4BQ2BN85kFBFx4JR2lZOban8WwiYWVZ2N1R_r_XoW34C8snHq_7SpEB2M9WXy0SpfYfsiNRGYYQoOc9WMbJaz_W4xKXz19sIdj2WJV9PD03WJy2G_eN8APnKavoKiB_-aXH5WRoMnrJq7BLvpUoo95jUJmUl7UdtBvoeA0-yxQ0fle96jpaT4_lja_TMnwlGcZuyCOrL-l0LScxtsvSif_RPI-8Vs4PxjPTae_oZBjf6VbEYk_tUHOITOpq-hYTHnjgR4nYZvIGEv9MZnbBH83prz_zZB19GJ684ox4C0yFw2DjFupImf4aXhqukSPYiEZ1VfrFC8HlDEZMCnvuIRDA6Dgk-6tpG0_tnozNrDsdwNb_VZCbX7ERz8vmPgt3901Fuz2Y6-rjx67ba8CwBzzhnL7Jt1zrFMx786397n9qlvBa5V3VYfZ6bFqWpcPzcIS-8P984stKKif3Bx8lrkYjYMoOx1lCqB26L9crZc4PoCUux0UBVaIQbWHfZAKTmJjXF2oLPYaQWZsv1xx0aWFMU9FbeG69RXU9OJrcPZ1HZvP3tFtqQhRWqzg8mpE-hJ24t2qk2vtUW9r7cHZvyvxuEtcpLGpUeqOYnml8GziY6zyUphk7ot4vtXTMS0EF2YmXf9aIJoST7NvHn5jALRt_6Tzap1hdJKy4xSFyE1tika3Sz6W4TvlOH7RskestpN9oTOiGUh0l_MoUc3oVnUnTuvZlKirWh3eH6iHMpS-W-2y8UytUsgWCiuu4eVwGHzBWsGNShg==",
  "id": "rs_01f1f8fcc073e07b016ab454805ba487d087877f8c69fc3a26",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.055},\"note\":\"The closed gripper is now immediately to the right of the beige teddy’s body, as confirmed by the wrist view, with the elephant group farther toward the base. I’ll lower to mid-body height before sweeping left.\"}",
  "call_id": "call_0AEIQxZgLxsZ8EbyPzZHVwfW",
  "id": "fc_01f1f8fcc073e07b016ab45480c6e887d08a65f951425a4de2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0AEIQxZgLxsZ8EbyPzZHVwfW",
  "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]: [-0.5201, 2.0193, 1.523, -0.7807, -0.3111, -0.5835, 0.0128, -0.0154, 0.8284, 0.6067, -0.3923, -0.0105, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.4169 left_y=-0.1723 left_z=0.0581 left_yaw=0.1643 left_pitch=-0.5906 left_roll=0.1067 left_gripper=0.0128 right_x=0.2956 right_y=0.0009 right_z=0.1692 right_yaw=-0.0007 right_pitch=-0.0496 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -10.5778, 6.3111, 1.072, -0.1783, 0.105, 1.0281, -0.0615, -1.1282, 7.0085, 1.7118, -0.0122, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9393f287c3db8e9f07eb48da5d72705f8090d5b9e3612886bd60b109112c064",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9491baef8f81e5e41fa9c4f15baf069c827e9c73bb39d49682c5bbd55c31cee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13b6ccb6d3048b05783d080550e8284a814f9d5999b8e8d5a383726ffe1c9717",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 33 attempt 0 · /responses · status 200 · 5.116 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 130 changed as sent

message 134 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0647, 1.8004, 1.5108, -0.8555, -0.0956, -0.041, 0.0182, -0.0151, 0.8257, 0.6067, -0.392, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4313 left_y=0.0484 left_z=0.1328 left_yaw=0.1669 left_pitch=-0.5772 left_roll=0.0881 left_gripper=0.0182 right_x=0.2955 right_y=0.0011 right_z=0.17 right_yaw=0.0002 right_pitch=-0.0465 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -9.5111, 7.5419, 1.37, 0.0806, 0.0855, 0.5397, -0.1709, -1.2103, 7.3094, 1.7558, -0.0317, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5194, 1.9884, 1.6867, -0.9314, -0.3088, -0.572, 0.012, -0.0151, 0.8276, 0.6067, -0.3923, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4258 left_y=-0.1775 left_z=0.113 left_yaw=0.1384 left_pitch=-0.5582 left_roll=0.0779 left_gripper=0.012 right_x=0.2955 right_y=0.0011 right_z=0.1694 right_yaw=0.0002 right_pitch=-0.0488 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -9.935, 8.7043, 0.6764, -0.3834, 0.0757, 0.6129, -0.0205, -1.5795, 7.2, 1.7265, -0.0317, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5201, 2.0193, 1.523, -0.7807, -0.3111, -0.5835, 0.0128, -0.0154, 0.8284, 0.6067, -0.3923, -0.0105, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.4169 left_y=-0.1723 left_z=0.0581 left_yaw=0.1643 left_pitch=-0.5906 left_roll=0.1067 left_gripper=0.0128 right_x=0.2956 right_y=0.0009 right_z=0.1692 right_yaw=-0.0007 right_pitch=-0.0496 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -10.5778, 6.3111, 1.072, -0.1783, 0.105, 1.0281, -0.0615, -1.1282, 7.0085, 1.7118, -0.0122, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9393f287c3db8e9f07eb48da5d72705f8090d5b9e3612886bd60b109112c064",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9491baef8f81e5e41fa9c4f15baf069c827e9c73bb39d49682c5bbd55c31cee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13b6ccb6d3048b05783d080550e8284a814f9d5999b8e8d5a383726ffe1c9717",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFSDpjKuzesTYaX5LSb5ctXH3NIftCwJHT01W0ssAosuOOKufOTPl0Uobo5ydrfCmn8MCNtonXfEscswfRK-hso-Uh6l0bE78YXNLA1Noe2GzlRsKg8tT1htQT-UsArqkAJYdR887gqodulM289v4wsRgmpM2KZI_WN4GF5cUMznuVcXD277Gczmxqw7LKaWVUF2Rxj2gFtea8FLwEWGp3cRJJJj0gDBW7WVtS_9Q53JwJsNvsdJ-ly2xHLz34mIBGMjCVsfqJvl5ohvbOhnkob97P_Pf0oNQZw7pRWkH3bFCtMpV0HNeLej4kVmaoEnFlp93LFjXv9dZYU5RvCvIgYVGaqTdLxoSGjm7epjLg0HkjvNwBum1K4TN52ESkee6OWUYsx9ewc81xfIezlmJ3KHXklwTrccBktIEHy2XzJrkoiZMibU_VF6IiUlClcqPYwE5FYRAlIlswV_8Ke3MD1wZqA_KR__h9mri6kTrJRWaxKTQF5frH580mJ7xjl5kzddoaqRaE9gdmjGzchR3eXWNMRljXDufPn8EempVe6PbbCyzbatdmuSxfRcmkVBGJXKQKaQrUWqvPph4fPlSvfT5snlvEeEItl_dJoXAelgAlvCmwIxB0Dm0G9ouPztLzeyhTNzQalZUA4ZhEIc2jcEZRwJJL1AqHaGsQibqCVl7fVbr43LBWx1X7fMVUrV4V0HeAK5PgEnNL02EEFF7d7ehj4W5IyrD3M8FAOunwQDzzWFi1xg-kHqmGp1Ka1WMLD6Mw3yS40U9_LgDUZJmOUpUM3vGXULaPfYEmWRVUdSJe5jsRebmahiAI6M-o--BCwuiVXz8OoC0FzzsMmEPlujKuK_jffpgHgM_8nDSowNdtSSRP-FBj9oizwTmyTMhGHHSlroxPy2ckqqs0UEyqIuxlpzXIdXxAU_K9VBBu7vHgaxG1I8i4-WRMeLIsPdAbgytkBik5B6-ta5zQ5-xjgHGe6zTTyvRqZwnr0bM5O7_dOIo9FhBgYVSeefVNUG0lA3dzyH8Oq2XaO_FegYe1Wg47FAbi1weUoJsSXhX65AYa7WQIpkmm52Hjk5vVPzZ2SiBOIqYTJRB24kkev1pD8KD81kVkhYdjNhCgVzNmrK38WQX5pQe7ABz3GTp-JWywVgMvcSvORbUzZic3rem4Z2SL80uK-AB6o4c8N8ImItq-Q=",
  "id": "rs_01f1f8fcc073e07b016ab45482f06087d0994ab867519e7ada",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":0.05},\"note\":\"At z≈5.8 cm the gripper contacts the teddy’s thick body rather than riding over it. I’ll sweep left toward the basket opening, stopping at the workspace limit.\"}",
  "call_id": "call_zk4rLzbssKhHwL1z3hZp8dQW",
  "id": "fc_01f1f8fcc073e07b016ab454830e8c87d092ff5a78b0d9407a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zk4rLzbssKhHwL1z3hZp8dQW",
  "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]: [0.0574, 1.8454, 1.232, -0.598, -0.1215, -0.0677, 0.0128, -0.0147, 0.8314, 0.6067, -0.3923, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4106 left_y=0.0486 left_z=0.0445 left_yaw=0.2093 left_pitch=-0.6384 left_roll=0.1145 left_gripper=0.0128 right_x=0.2957 right_y=0.001 right_z=0.1684 right_yaw=-0.0001 right_pitch=-0.0527 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -11.7949, 5.7368, 1.1258, 0.1148, 0.1294, 1.0427, -0.2803, -1.6752, 7.2684, 1.7363, -0.0464, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:332f6b25b056c9cea0470aefe0e9138f49c1a6b1db7329a37f700577e73fe4e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33ac4f84b5f15693d9c7b3fffc902d86f4fe78965e2bd2cf11cd2e5fb352efc0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ede36d9c14cc16a919d45e6e197a6599ed4ed114f62cb23ae5b8e48648afc609",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /responses · status 200 · 4.486 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 125 changed as sent

message 134 changed as sent

message 138 changed as sent

message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0727, 1.8046, 1.4918, -0.791, -0.0883, -0.0296, 0.9955, -0.0151, 0.8261, 0.6067, -0.3923, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4409 left_y=0.0513 left_z=0.131 left_yaw=0.1582 left_pitch=-0.5374 left_roll=0.0817 left_gripper=0.9955 right_x=0.2954 right_y=0.0011 right_z=0.1698 right_yaw=0.0002 right_pitch=-0.0473 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -10.1402, 7.0632, 1.2674, -0.0171, 0.0757, -0.2369, -0.1846, -1.4291, 7.0359, 1.7656, -0.0171, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5201, 2.0193, 1.523, -0.7807, -0.3111, -0.5835, 0.0128, -0.0154, 0.8284, 0.6067, -0.3923, -0.0105, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.4169 left_y=-0.1723 left_z=0.0581 left_yaw=0.1643 left_pitch=-0.5906 left_roll=0.1067 left_gripper=0.0128 right_x=0.2956 right_y=0.0009 right_z=0.1692 right_yaw=-0.0007 right_pitch=-0.0496 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -10.5778, 6.3111, 1.072, -0.1783, 0.105, 1.0281, -0.0615, -1.1282, 7.0085, 1.7118, -0.0122, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0574, 1.8454, 1.232, -0.598, -0.1215, -0.0677, 0.0128, -0.0147, 0.8314, 0.6067, -0.3923, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4106 left_y=0.0486 left_z=0.0445 left_yaw=0.2093 left_pitch=-0.6384 left_roll=0.1145 left_gripper=0.0128 right_x=0.2957 right_y=0.001 right_z=0.1684 right_yaw=-0.0001 right_pitch=-0.0527 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -11.7949, 5.7368, 1.1258, 0.1148, 0.1294, 1.0427, -0.2803, -1.6752, 7.2684, 1.7363, -0.0464, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:332f6b25b056c9cea0470aefe0e9138f49c1a6b1db7329a37f700577e73fe4e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33ac4f84b5f15693d9c7b3fffc902d86f4fe78965e2bd2cf11cd2e5fb352efc0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ede36d9c14cc16a919d45e6e197a6599ed4ed114f62cb23ae5b8e48648afc609",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_01f1f8fcc073e07b016ab45486d45c87d0abbfa17e25f76946",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0.002,\"left_z\":0.184,\"left_gripper\":1.0},\"note\":\"The sweep carried the hand into the tipped basket cavity and moved the beige teddies into/against its opening; their raised heads still project outside in the oblique view. I’ll retract to expose the lower cluster and begin moving the elephant class to the upright right basket.\"}",
  "call_id": "call_IGc09xfSz0Q1aZn5H8ImMW42",
  "id": "fc_01f1f8fcc073e07b016ab4548a26ac87d08016de4c61e32edf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IGc09xfSz0Q1aZn5H8ImMW42",
  "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]: [-0.1116, 1.3624, 1.2186, -1.0443, -0.1741, -0.2111, 0.9953, -0.0147, 0.836, 0.6067, -0.3923, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3094 left_y=-0.0003 left_z=0.1683 left_yaw=0.1829 left_pitch=-0.5957 left_roll=0.0996 left_gripper=0.9953 right_x=0.296 right_y=0.0011 right_z=0.1671 right_yaw=0.0002 right_pitch=-0.0572 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -6.1744, 8.4855, 0.8718, -0.2076, 0.0806, -0.0122, -0.1573, -1.6615, 7.0496, 1.6874, -0.0171, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:255c4a195bb18fa585b616e65e1212abaad3e0c8541c67a1baf4d9bd4a57e417",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1af8b4b67f896eed639833693933a8a2bad15d1cfa905388c242b2e5821e5b68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5ba915ba91056c6c48ad0195f91e42759662cd6e62b9498a95f5bdfe7be23a2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 4.382 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 130 changed as sent

message 138 changed as sent

message 142 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5194, 1.9884, 1.6867, -0.9314, -0.3088, -0.572, 0.012, -0.0151, 0.8276, 0.6067, -0.3923, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4258 left_y=-0.1775 left_z=0.113 left_yaw=0.1384 left_pitch=-0.5582 left_roll=0.0779 left_gripper=0.012 right_x=0.2955 right_y=0.0011 right_z=0.1694 right_yaw=0.0002 right_pitch=-0.0488 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -9.935, 8.7043, 0.6764, -0.3834, 0.0757, 0.6129, -0.0205, -1.5795, 7.2, 1.7265, -0.0317, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0574, 1.8454, 1.232, -0.598, -0.1215, -0.0677, 0.0128, -0.0147, 0.8314, 0.6067, -0.3923, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4106 left_y=0.0486 left_z=0.0445 left_yaw=0.2093 left_pitch=-0.6384 left_roll=0.1145 left_gripper=0.0128 right_x=0.2957 right_y=0.001 right_z=0.1684 right_yaw=-0.0001 right_pitch=-0.0527 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -11.7949, 5.7368, 1.1258, 0.1148, 0.1294, 1.0427, -0.2803, -1.6752, 7.2684, 1.7363, -0.0464, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1116, 1.3624, 1.2186, -1.0443, -0.1741, -0.2111, 0.9953, -0.0147, 0.836, 0.6067, -0.3923, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3094 left_y=-0.0003 left_z=0.1683 left_yaw=0.1829 left_pitch=-0.5957 left_roll=0.0996 left_gripper=0.9953 right_x=0.296 right_y=0.0011 right_z=0.1671 right_yaw=0.0002 right_pitch=-0.0572 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -6.1744, 8.4855, 0.8718, -0.2076, 0.0806, -0.0122, -0.1573, -1.6615, 7.0496, 1.6874, -0.0171, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:255c4a195bb18fa585b616e65e1212abaad3e0c8541c67a1baf4d9bd4a57e417",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1af8b4b67f896eed639833693933a8a2bad15d1cfa905388c242b2e5821e5b68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5ba915ba91056c6c48ad0195f91e42759662cd6e62b9498a95f5bdfe7be23a2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFSQGoDrKTgrgmU0vvqymEy35Ih5uL5yWzd0d7ZWIOIvzkJd-mzvySy8UzVJNZXCLbgokplAaC1p691QmbnIF1DWGBsFRuR0Y0CasvdVcXUQS7KHzrU8OA9MyJdH1HObifBX-jkt6dPmxNe4NYInnW13uUO4UCxDGofssXQtKp2SPFPLylHs4nctZ0zIgf0fmolPbbQSwagFUUdi993Mj9nmBc0IV0izuYi7svfWxLPUiCxbE6_UvDqOyeVSQtTy7YmMxTfJuGgTJR2lv_SnQusbYuaewU8xHTKaYbWvR7nTUacwsD-nG_Q4oY4A5-zJz9o4Il5RCYQrcCDtycsOZ22-FUFUjqY5T9fb2Eh4ifMYiQeUu3QUjEMhW0jSYuwPZ5YnNUr5j04xfrGm3QzWNlt6NnTwZb0Wvqi3QTjs_noxnKJkM19MVd4B3zAJxvXrR9yYQ-0jBuRvWQbxfirbVlrk9zKJ2WIgPu_X4N1vSUla-1gYcfVpqOpeC3O5AbqZXkh2RCnNk25rknQc0vaYsQBxw44KglM8C_6PelpqhFIqknV4EgHEtE73P4-ajXPuNpTgd6mb9QnqRVzYGSBLqqEa9Avxsxx_KhhhQ5T8eSTE3VpqM3ZyqlzOPxD_y_fJAmHsykpJ3mVMjPQbA6Q1LKB_x3oeKMqLDyGIvk7Cc-iKoCMWrz-lTrQ1P07NiDxNRj_IlbrxJCsArXtjT4VP6eeETIRll-UEK6_s8lt8MuUHQQJK5m3E7sTFN8YKCj-gdTj6GaaAIc2T0bYB8I8PA0FHp_sd1OxjefiGQnY5ajiyfKFm2_PcVsXPPTrCN170i5gBgZcoyLoGtTPME_CnEOWk3I2wAgHn4lye66sZTLI8lStcVbizmMtvhPCHPOqL6P8e2wqRNOR1wZqAAlJCptn5Vc0g7HeSyDrv5Jeq1Jem7D6sbDze1_FK9geCmR_04-cVqHqeZpdPrluLJxcCNRhPL6DX1ty_cl38-Q2R_8LI-KzEqk0jgfs-N1_nv6xcGy62kpcjEibIz-5ejngTB04j8m7VA77wggg6u28h_cnyBpl_W_RIFqP_MUcJQlsPs9MPhN7tWyibngLHU2y56n6cQjGAGdjkXfBw7xvxlB9Eu1dS_cormYfp-c2Cxd86iBXcWHIlTvQxNnIk7mm5SlYKNMqR826AMTzONQjmokWTE7YqAfXh-SfRJCB8sxaSYy-FClUVxw2dbl3ehhRU2_fGywZMOek2buWAT6xypkvSUqDDudPIi24jdl9KoD6ZNDvjOJ3SeVD9H4uyvk4_SmPvdqrOfZgPWpXVCYTXrSGZJN5vu8V2mF_x2Ba2eu0yYlCMGiWoOQhuCota7nmTTn4-HyE9G2Nm0lghzvskRL3AvdxOcMPH_aKGGofWa33SYUYQfZvuf-b7yBAJbMqj4CXaV05G_3igMkObVrx6FKlmJoh_mpQNdeOGq1R59RwHp_T4uRcYpXwB_fRN7ALcGZzC7X7U_GhyPEGlBcO04g0WjfJMR1VwQyB6y7qtmPISRwVrJ6qXhWDvmCLUefRU-jRFXaar5p9qMkLEMB0gOG2Bmu8hzKoWpt2iuB9K0hUvudMvkf0HTENqpLGxCA_ZjwHc28HUPqiXmrox1awd9V0YCVzMG4dlGjcktAGHrNhXNsSAtEEUpD7AL1bwTc2TpXOqgOwQIk1XErc5_Gp9wp23kYrXRZ3KovRp2OiylFJiYLo6qaaotpmYHQZm-9FPG5VgQPOoX8cAXNIsdi_wfLnQC0PxZnNIGiM8raknY7bCZksW76xb8LdTQFPMVu10XXsfZ-z4WlaWiYqedyiIfZRxIZBUaaj4QOfbTUk0ZQ1EEO2wdbbICZM6avSNqKSwMd4gt71Uw3esgVJvrrVsyLctcrVLbR_6h0nygaRMs8YT-i7363SgSwuhFtC8H4bcSr3FnX3nDizX8hvUQe9WQKysJLRSVn0U1NVJox-nBtA3913hx5kaissmOyJFhWw4_3qysv21lm8c5hY9XIqixrxj3dyxS5DghGEp1ZIcgMKbIUstepU-pCeJo829atT_KyUeQE92lUbx4kJcZTTyIH4Jwvm-de6ygvtKqfCPufIRJIOML2SRXM6wa4eCMke2zdeHuNjb_Glj1_CipwD33C6rP3ZETPzIXeeNwMpsnSuSZXvufSYsvre9boqTTjb6C8DiHKO2wb8MDx5SahASlv4VXXpnSSaKaIhsjpgJrxHCaNHfRwKouUi866SVuzM1Um6zS9r67Eu4d-56hZZ_Sl01t2CjOjLtErnMqlBYfHovEPdDuKy0eDs2GTxPfeg1JAA1SMnV67d23eqio3n0yja7SkD9pb1en_DiirunzOc2tKL03smDbz0kWjwluosQ4cTvtg==",
  "id": "rs_01f1f8fcc073e07b016ab4548d86b087d0a13bc9eae8ef71f2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":0.04,\"left_z\":0.14},\"note\":\"The cleared wrist view shows a gray elephant on the left and a brown teddy on the right, confirming the remaining classifications. I’ll align over the gray elephant, shifting left and forward toward its body.\"}",
  "call_id": "call_NszW742wsrNkBmdbknGX8IOi",
  "id": "fc_01f1f8fcc073e07b016ab4548f7fc087d0ab6fef7edddd9531",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NszW742wsrNkBmdbknGX8IOi",
  "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]: [0.0372, 1.4708, 1.1942, -0.9527, -0.1333, -0.1158, 0.9966, -0.0147, 0.8379, 0.6067, -0.3931, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3265 left_y=0.0392 left_z=0.1346 left_yaw=0.2355 left_pitch=-0.6509 left_roll=0.1106 left_gripper=0.9966 right_x=0.296 right_y=0.0011 right_z=0.1664 right_yaw=0.0002 right_pitch=-0.0599 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.0496, 6.1607, 1.0525, -0.0904, 0.1685, 0.1343, -0.1983, -1.5111, 7.3368, 1.7118, -0.022, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65dde7dc65866cd9e1a8bb9ad623bfc5773e1151b2da1bfb20dbf4ad3db8075b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48ced0cd8666113daafb7e3ade72e17eebdeb55962c72b1361ed64a9ad58ce26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3582bfe489bcceab8ccbe8718ec0c12c44608af183f1e071f78aafb3422cd693",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 36 attempt 0 · /responses · status 200 · 4.693 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 134 changed as sent

message 142 changed as sent

message 146 changed as sent

message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5201, 2.0193, 1.523, -0.7807, -0.3111, -0.5835, 0.0128, -0.0154, 0.8284, 0.6067, -0.3923, -0.0105, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.4169 left_y=-0.1723 left_z=0.0581 left_yaw=0.1643 left_pitch=-0.5906 left_roll=0.1067 left_gripper=0.0128 right_x=0.2956 right_y=0.0009 right_z=0.1692 right_yaw=-0.0007 right_pitch=-0.0496 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -10.5778, 6.3111, 1.072, -0.1783, 0.105, 1.0281, -0.0615, -1.1282, 7.0085, 1.7118, -0.0122, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1116, 1.3624, 1.2186, -1.0443, -0.1741, -0.2111, 0.9953, -0.0147, 0.836, 0.6067, -0.3923, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3094 left_y=-0.0003 left_z=0.1683 left_yaw=0.1829 left_pitch=-0.5957 left_roll=0.0996 left_gripper=0.9953 right_x=0.296 right_y=0.0011 right_z=0.1671 right_yaw=0.0002 right_pitch=-0.0572 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -6.1744, 8.4855, 0.8718, -0.2076, 0.0806, -0.0122, -0.1573, -1.6615, 7.0496, 1.6874, -0.0171, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0372, 1.4708, 1.1942, -0.9527, -0.1333, -0.1158, 0.9966, -0.0147, 0.8379, 0.6067, -0.3931, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3265 left_y=0.0392 left_z=0.1346 left_yaw=0.2355 left_pitch=-0.6509 left_roll=0.1106 left_gripper=0.9966 right_x=0.296 right_y=0.0011 right_z=0.1664 right_yaw=0.0002 right_pitch=-0.0599 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.0496, 6.1607, 1.0525, -0.0904, 0.1685, 0.1343, -0.1983, -1.5111, 7.3368, 1.7118, -0.022, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65dde7dc65866cd9e1a8bb9ad623bfc5773e1151b2da1bfb20dbf4ad3db8075b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48ced0cd8666113daafb7e3ade72e17eebdeb55962c72b1361ed64a9ad58ce26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3582bfe489bcceab8ccbe8718ec0c12c44608af183f1e071f78aafb3422cd693",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFSV1Qv_codBs-f6irXWwXp3us6g8AITKJQZBDhWvWSUTvU4h1Kye7YtkOdTGB5J8Sb9E4eQf_ZvAHVdWkKCb_aofnixsmLzt3JQwWP3GZggejNRPC1rdRN_ncaU-gxT9oEiDPW6L_DcrxB9yOqn1wNfrEW_nmAjS0CeVNjmU0Bxu-LaFFi-yHoGi5TiGElInruvAsyuCTqVQGLhGJ4EyBGKNCjC5J_7h9kkcWCqkYHQKprX0e3kgmF8bMYpCMgLHTbLHgOsFVTj0fDIlqw6eN-odjCvkatMXNby230lITbqx9qjpc0YCFuV6UhLDHSCuoy2cdYdN15VuBlokpi_aWPt128Sv0e3MHtgAFoD0NQQ9b2yAD4RsZ2srGv_82hortgXLAmB1X6hPa8vdW6J4wtg1ol1-0uRPaALp0zc8vqCEoTNGCkv8POqCq7yepj5p6GW-STGWKtpsocUAcvrv_1b0At40LmERb2k1NM6fXaAuP753T18zRnqd2-jL5fvEWKGRNiDBnL6Y01ffi8LWFgWcIevu5ClH0ajaZO-ta9H4l8QHyp7SZj5KmOE6aaLlJefy-A2Bjs27rK2iFZQHlImQU-E79hyz2VKOV4vSNkkV19V97bIKxQeASrzfxwFwrL5X-KUyrLNPZio4lRREK7rkwb9lxNtWOok08_dkmcSmrgdYN4MzwLbzWk3og_lf-I8jLsXbznP2FQvuLwKGVOvuEbadFJdSbGdDjmwhbnQSUYNrN6vmbKi-h7isf13L0xW3mL0NCS_xtPR0UA8KeBrmixAeF7Wf45Tzjhm47KS2vFvEAZ33wWcz3z21OrIc84R9o0Cvb3lbnvKge4ogWWdoatpv43SAAZ66d-siRhEKPmwmk3a4DYAhGOSITdlYgGkzuw9_2RriPCeJ2TGrMSe4QlHmPQ_jU_Z6QS3xJNo_si7IasS5Vzqno0ry8nj2MJ_ddj3Oc01GtUawbOOlTD1gcZOLFgqhFXm_g5FXW59DSbe9uann7Kc3hKZwV6XYk3qwB-LC1KxJIqKH1FFXP-DSB6rBeHzt0CHvNTwRSLZ9VW5cIiWN7A0SF8uxFjs4SZyAYYfdJjjVStWFyGQ-KD4hEPMjFIpIVl4muMgef58e_j470ZJPRIZMnwMID4_tc3SsR492Va0QznROLGOtreAZBOAtSSsrIH4m1hEKn71ajRZhqp2CItylBTdd0kyDmdoZMxuPI1o77C-7YxVgrN_zpzoUabpiK-uUM5NUK45Tpv9gCTwIIa4WbD-cwVNTKyDTJz8ZPn7TxlAN9wJ7CKPxeKbdoJ_j3ZcdG9-2qUbzDNAmC2bBwnvItEt9G1H_1sbJztB4sc5T6yQgo7qTVymwufSUKEVMNOge6sHn4K3SUuPxlgoi_W2CYvkAn-IOhbykWKBlRX-ESZoGNZqvjOLRO5uw3w7pNqyfTCpE6JJjPvjpSzlQ5rkKclPOuV87gPn4gkLUyzNi2-MeAdSoaF_dJ7KWXdLWgo5xf1SV8kWnuHWNjyABswbGD0mGxqc60xYbMQOugSjYlfTl2M_glx_JXN7tQnZS0F7xB2zc2t5EEubOIJ12XuRxNNyJeHl-xwpLsGDaI2OOBEJVBOHYGr9YanyoP12iPVFdB9PMdZYjEwlPs2wRWx60V-QTeMHib-FI8iCOiubVgiOKYJnW9dtVEKGQ8zD1iGhWs_ZD2IQiVFfBpi1FFWMq-s5GuYOLNvilt3bnMcIZe-hukWqYFBlPxXuBFSz1PbfjOxDSmtzQeVHNNTanXd1_p_cT25c0E48WPgfkRm8tch-baZWLKuF82jXr4ls71WMQPsceWZAn9QVS7rPvE3y7V17ItB8DWZHp6GrUNlLF1yfQ8HwyPsSBTHowLHaxEMGRAfAlMSFvknK7ln93TsW8SIhC6ptDcEH",
  "id": "rs_01f1f8fcc073e07b016ab45492864c87d08a775c040394719b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":0.05,\"left_z\":0.04},\"note\":\"The elephant’s torso is just left of the jaw column, but the open left finger already straddles its outer side. I’ll move to the left limit, advance a few centimetres, and descend so the jaws close across its body.\"}",
  "call_id": "call_E6v1E3CGRkljHonrRsjKSTgi",
  "id": "fc_01f1f8fcc073e07b016ab4549419c087d0b47c8cf8c88e5f65",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_E6v1E3CGRkljHonrRsjKSTgi",
  "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]: [0.0353, 1.4662, 1.1023, -0.8467, -0.1341, -0.1127, 0.9968, -0.0147, 0.8379, 0.6067, -0.3923, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3279 left_y=0.0388 left_z=0.1142 left_yaw=0.2297 left_pitch=-0.6327 left_roll=0.1083 left_gripper=0.9968 right_x=0.2961 right_y=0.0011 right_z=0.1666 right_yaw=0.0002 right_pitch=-0.0591 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -6.9402, 6.6256, 1.033, -0.2125, -0.0171, 0.0024, -0.1983, -1.5521, 7.3504, 1.7265, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca34abeaa0381127c42a7c49da82f388033e0b9adbd2b566a8f996677fc6b8ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0658024d23ad672b65d8fd5d2881e4a777a4437137a8e6f40879ea6650c8d299",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ee257d690db1d217856eacf009f005c0f0a0d0c9cc00379e26e5163cbebf7de",
      "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 · 18.67 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 138 changed as sent

message 146 changed as sent

message 150 changed as sent

message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0574, 1.8454, 1.232, -0.598, -0.1215, -0.0677, 0.0128, -0.0147, 0.8314, 0.6067, -0.3923, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4106 left_y=0.0486 left_z=0.0445 left_yaw=0.2093 left_pitch=-0.6384 left_roll=0.1145 left_gripper=0.0128 right_x=0.2957 right_y=0.001 right_z=0.1684 right_yaw=-0.0001 right_pitch=-0.0527 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -11.7949, 5.7368, 1.1258, 0.1148, 0.1294, 1.0427, -0.2803, -1.6752, 7.2684, 1.7363, -0.0464, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0372, 1.4708, 1.1942, -0.9527, -0.1333, -0.1158, 0.9966, -0.0147, 0.8379, 0.6067, -0.3931, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3265 left_y=0.0392 left_z=0.1346 left_yaw=0.2355 left_pitch=-0.6509 left_roll=0.1106 left_gripper=0.9966 right_x=0.296 right_y=0.0011 right_z=0.1664 right_yaw=0.0002 right_pitch=-0.0599 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.0496, 6.1607, 1.0525, -0.0904, 0.1685, 0.1343, -0.1983, -1.5111, 7.3368, 1.7118, -0.022, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0353, 1.4662, 1.1023, -0.8467, -0.1341, -0.1127, 0.9968, -0.0147, 0.8379, 0.6067, -0.3923, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3279 left_y=0.0388 left_z=0.1142 left_yaw=0.2297 left_pitch=-0.6327 left_roll=0.1083 left_gripper=0.9968 right_x=0.2961 right_y=0.0011 right_z=0.1666 right_yaw=0.0002 right_pitch=-0.0591 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -6.9402, 6.6256, 1.033, -0.2125, -0.0171, 0.0024, -0.1983, -1.5521, 7.3504, 1.7265, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca34abeaa0381127c42a7c49da82f388033e0b9adbd2b566a8f996677fc6b8ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0658024d23ad672b65d8fd5d2881e4a777a4437137a8e6f40879ea6650c8d299",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ee257d690db1d217856eacf009f005c0f0a0d0c9cc00379e26e5163cbebf7de",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFSaQc-7320jBqld7-thFmudCiWwrwfwN7B4-Ab_LKLHB6U10PBK9TlZ6iDOS6FCJVGa4JlLJyz-Nu-NFHUBwRrak1QdcphZyEdDg_M1a9T1v12WKoG1dieOc6fzdio4OUR-4l07UBLqpabOz_l14Xjz8Nselz4_VDMS3ghiiNopK-X2uGzdtZVPxPAT5oOYqSEsBE5A7dKcRBpo7nMhidgDZ-0F5kdwWVsTa7LFtyTTrbAKyUxkqfYHvUXrMZeqKdaMEJg9HA9oexuCb00Ta_MSf8ZDniql4uQek53jrWbtE2HO40-S_5FCCl1HPumOhz9-FJBDrfMifRX6nHh1_dVKpNTJnJmG_Js03IgkRa1jQR_3S4T9twyiDj-WUxXFz14fjeyNuczpCJkvInplidwuXGlTw5C7Aq6pZCk5R1NsKroO6P0DMY1wriQHB_-iyxZX1lSYYRhnp3DxvtpxHoNULy7-qTk_KLqvtJoYccg4zkwGd2Lc4nGxv6nCKbu0gdOFgvTh8EBwpZMLKTTV3LKSPr49kQM5fdNh1jL-D8O8DkwdHlW_BXXKg2vgJD6d30r9iMUkpYaXSIzeLQxBWdDTpfu7ARx-H2UtrQAYGebFKGK2pb1JQBj9zPDBvj-r2Jm9bcc6fcDDquqXr9Kwk0sK9LQDvphHaZJqanPtNsdi3osCXEIc1iIuxCqKjOJn123keXROZD7q0kUdyRgZF1JIbhf5RbKgmlOp3UTQ1lheOPpNsptaayOuKWmC0-hlymBD5y_h3vOJOYF7-BJof7uv-JW5k1iW7kcDuVvrx2aQh75JkR_WrHtczL1iqv3-E2LW-3c43TbOGf3SdYvlxYYrXL-5KNcoHtiNHxFeaUrGiHeE2N_byOEnX6EoBoAjpVo1Ta-uAu2TMMofg7TguszrlE7gBQnrt75WZOJeF1s9JwkZbUjG_NRWejOOjKTWVe9_Ce7jBf7J2wiWgSug38bckzBuznXNaQ7i2L5iQ6DG-SJYdbb6JeS0b8LfLmtAjtg4UkssemKuf7ii6mBawD5KGi4UpBUxu6kpadbZOxCoifKwCFouTojBcQGmxNCvaLyBR_u50UqS4yVOkZAyQkH9SSO14I7ho91hGBFPDC46cqBKT0qSIQHThzlWQ7NSxHUNWui95YN1nYjFaM2pO4NV3qgMT-uvHGbAibEl-_13_NYRTLoesd6kucjC-cpskeIs_JnppyspNOH9nTuUnfOIQqxfTSTd8jM0GPk1hM1YYtfa5quO_EQt57FXPePI71HSGaCio_VLbHIU0rLmHivKNWIIQDpeOFwn-Mld06x5yPyqVj9o6-Z6wMUpCaGjChCKgYBPxqGQBtMH5k354uocKSqrDtJTUoN7DBMzW5RxX5lYcigNCOHMl1qeLODY8J6h5Ynn0qy5P6CI43YFGH-CGZ7s7Lg2uo49kBEleir1MfGfaPhLOjqX-cbIvL4JAwJ-nl7i6Vy2Oourv_964T15hesv25QBZ6E4y36jk8dFoSvqI4WKDzNyMAYRdhTlFQKkzSIMIrC0SxLHgEgugnwbnZCr-10n_NP-qiGFvVJqWlO659HCsB-TviQJCstAqiBOguST14-sIatZ-VvtlaofPdzVYQhE-1e-qnEeTWyaVW_GrQp0ocOjA4USAX2r9rTgqPc6hbViV8fvI21RnUEXVy5vZScewru0bIOe3hEylQnDZAa2knSsqJ2yGj5MJa5qSKRTChJpsx2H6zPQ5_KAblmoU5X5FjM4Tatbs9zHZTDXsjYSQcYqcTLTEIPBI1jcM7UEdZRbC6u979mhZoeh4j1sOiCT36200emGFgaYXn_S0vXNVxfHebEPYbpu5CV--Ce1Pb-gNm5eFN4HW6UIB3wEXcwIx8nzpFB3ruyoudWFlR4PlfeFV0crHb_XZTMwNQ4i5qdd73Cr0PVGFg18HsgLmhvgyvN0OIqOc5PB5Ow-z1zMlJHle327sW3EX6nPKtOnEoWqdo8r5F3Dmlk-tn_E_vidZAgfFH_4O4Vfhax8B_Y5CLYhH5QK3kQcinHdLqYOV1ETB0wCRj3x2IuEmkA-wHnikz-01nyWBW558SATsu-n96xMyA1D6JR4W4LkQvgPQuBtR4sThKV2SFJp9hIvn_sOzgdvMiPbL9Xg_hveSmlf1YkDDOPMNBjPTkKhehMH_NZIwWQlZgaDn3Zq3KScaD24GyYSfAvnmamiYOK58-4nNrGGyAmDNnxPY3EKvjQfrH47pWGuPOYjJ7i7zek1Gm52dyWv_1U_SZcKsVl_DQq8-9Qbm6GZwl0E8OhlDC3-FxOf5qJ2kxRVmJ8RhsdC_gaHXNOCDnKE2I3oHvhP0FsDuH2jUixU5Fyu_M63cYEZi1B4A4XZ1K-Ji79NtW8ZOo0h2FoRPPqFp8HzhufK9F4It5xXxo5ahF-j55sjd05-VaqixY7m3WmA5rY5nv0hnztZaapKo3Jj8DWaXl6XuGK6u047MZpqemdIRCC2RM1MaAscSXfWdJHx91AkduL7MmpBr3ZynlnYBJgrbVnWfAokfxqNJZbc29NKNZWjlL9hD9aHeee3VnPnGfUMYFYumPaPGDLIp9OaXST0zp-DtW5aCa1F045LBXuuGgx7E0A_x8o4qS8NlPvbozsXpwFypZ_vh6hXWMPOUOjbCwfK71HbL3ayPiE3eTw0jAAlUdB7Fsey6AqBdrk6LMt5ZRE_0Mmn3nYC-EsHq9t32HspU-HBgMEF5Y9kCDI7cGGW_5TpAdKZu5vY9Aakb3tY9SkMw8i2kR4KOSsCN8-tUeewJrtQq5_lVnfX4CY9mrKOn3D692okVdxilDVtC3CTwQ==",
  "id": "rs_01f1f8fcc073e07b016ab45496ae8c87d0b3bf6ef70f2b37fd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The attempted descent stopped at z≈11.4 cm while the jaw center lies over the elephant’s torso, indicating contact with the thick plush. I’ll close around it from this height and verify by the opening and lift.\"}",
  "call_id": "call_oCvzCiuS1sFxWmuhKRSlxubL",
  "id": "fc_01f1f8fcc073e07b016ab45499940487d0a4acfa574dc9c8a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oCvzCiuS1sFxWmuhKRSlxubL",
  "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]: [0.0334, 1.4624, 1.0695, -0.8173, -0.1337, -0.1165, 0.012, -0.0147, 0.8379, 0.6067, -0.3923, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3261 left_y=0.038 left_z=0.1068 left_yaw=0.2298 left_pitch=-0.6321 left_roll=0.1061 left_gripper=0.012 right_x=0.2961 right_y=0.0012 right_z=0.1666 right_yaw=0.0006 right_pitch=-0.0591 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.6786, 6.0786, 1.0281, -0.1587, 0.0171, 1.0818, -0.0615, -1.5111, 7.0632, 1.7265, -0.0317, -0.022, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f4f2b4c640745545238e460a732b785fc41a703648769fb0e02f91986e755a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:638fd1135dd0ee0fdf129e0375647f08062a2ec73aca4fe0a29fcd401a9d1c21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a72ded62038b9a1ce02936975f9cbdd09e897c40dbf9d11970d3d0c7256eb34c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 1.941 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 142 changed as sent

message 150 changed as sent

message 154 changed as sent

message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1116, 1.3624, 1.2186, -1.0443, -0.1741, -0.2111, 0.9953, -0.0147, 0.836, 0.6067, -0.3923, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3094 left_y=-0.0003 left_z=0.1683 left_yaw=0.1829 left_pitch=-0.5957 left_roll=0.0996 left_gripper=0.9953 right_x=0.296 right_y=0.0011 right_z=0.1671 right_yaw=0.0002 right_pitch=-0.0572 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -6.1744, 8.4855, 0.8718, -0.2076, 0.0806, -0.0122, -0.1573, -1.6615, 7.0496, 1.6874, -0.0171, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0353, 1.4662, 1.1023, -0.8467, -0.1341, -0.1127, 0.9968, -0.0147, 0.8379, 0.6067, -0.3923, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3279 left_y=0.0388 left_z=0.1142 left_yaw=0.2297 left_pitch=-0.6327 left_roll=0.1083 left_gripper=0.9968 right_x=0.2961 right_y=0.0011 right_z=0.1666 right_yaw=0.0002 right_pitch=-0.0591 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -6.9402, 6.6256, 1.033, -0.2125, -0.0171, 0.0024, -0.1983, -1.5521, 7.3504, 1.7265, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0334, 1.4624, 1.0695, -0.8173, -0.1337, -0.1165, 0.012, -0.0147, 0.8379, 0.6067, -0.3923, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3261 left_y=0.038 left_z=0.1068 left_yaw=0.2298 left_pitch=-0.6321 left_roll=0.1061 left_gripper=0.012 right_x=0.2961 right_y=0.0012 right_z=0.1666 right_yaw=0.0006 right_pitch=-0.0591 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.6786, 6.0786, 1.0281, -0.1587, 0.0171, 1.0818, -0.0615, -1.5111, 7.0632, 1.7265, -0.0317, -0.022, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f4f2b4c640745545238e460a732b785fc41a703648769fb0e02f91986e755a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:638fd1135dd0ee0fdf129e0375647f08062a2ec73aca4fe0a29fcd401a9d1c21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a72ded62038b9a1ce02936975f9cbdd09e897c40dbf9d11970d3d0c7256eb34c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_01f1f8fcc073e07b016ab4549c8e2087d082173ef70ace29c3",
  "summary": [],
  "type": "reasoning"
}
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  "id": "rs_01f1f8fcc073e07b016ab454a17bd487d0b41b005afea46b06",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_01f1f8fcc073e07b016ab454a6a8b887d089f22855805300e2",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFSt8IHeu6V3dvt_K_guLykh64NY7HQQ7t0FC0KtcXDv54mS9FWM2YxwixMpa1D9eIhJXZGuABSPt-XKNC1mZJh5MKZmLWcAyCQU2iVC-3NNIJCe_-g51RrMI56_xEX0bI2fEePB4zrnBNThLZnMR1oEWjznTV58ghbgkpf4JMDQeqVBklX6k1T8S8-4qoQb0kyRK1VePJWAtRbXPOYInmxTx-C9l6K4suGsUuGaiAMWq1UwUoz0gmOvXCjPfyyg8n4hNq5AU3ii63-HE0Bjcc5TYUaH1eZWtnJZ4uZ-2fn1yqtstKPKRg535vBjaQUe00A4rxqNFCpJOg1vjhgYwxsE3UUocEQTL-HdwaNTYClZAwAc5iafy9aW8DCa1zZpHqKDc8nOmRc4fjZ7dC_6f_AJwWBkIHLrqjuu3ECM-9pL-2lcfiXYmjjNoLaD50vPE375HqVAy5HY4OmT4R9NnPMc4IpGmV0EESmtjMl0Jt0LzsXrcFSPckn02ncQuS9jSdPD2mnLzb4asQxzbPxOeNSzXxVgOGyRr5vauZtg2UtY4blNO8zZNUnW0IsGGb0ebFE5oiMYWY3drLgkqDWT5X7_76ddLe74BdRRwC1iMwg-cQAvCUae6OguG2oSEDGAy7SGeiloiYPWTL7YOvogwG3okZFja1082zN3JNUeGL45kK8Mo7lCM4TleuZVQ5l8qzQRP9yB13Qv-8uaRrSvPhbbn3LSd3BJmf3d2QRT4J-7AFmQ_GNnS-2Bkpd0ubD-6AZ56zv0-erypyQyA5p5BIGkQIwFDdQw2gosAD8HgPnBkGFb70-cnY-yX6dw4sFVn3SZerTC3XnpL4QZSg7NhIaqVAWWfYOS3pAljGLZXW3QAXpFTajc3thVOAhOfhdkNX0Uxtt7eEcQBOp7XMNGRU_WNJzXpyy-PyIA-2u5XmrnlxdeHYTssxAELOcjx2KWvSKVznOtnpskMh-eSf3KnwahHd12bglM3-FIcKCcWS5LiYSsdJxfdOOhPjFfspYVRuCGHmV06aaumVQlJ2eL7pCdJzMaeRkkkWQnRInSvCfO5GaDM7ZW54KSdUwibJzk6GwGDPgGLbtLEz4mQ6LUHldrWDW_Kcn3-Zat6yXeCtriCfNwhg1-A2iL4g1dI2NUazMDfBO4MolcikBgxJwwTvdwV6UeX9RBrKByvjq8TQlAX045ZyElygyhWJKBoTsbzf-EFbVePPswErkrqB84eTEqSt3-uo-jzG3R4eQPM5yP1Ee9N5lTzook8L_nhKcZSgBTxspUh6HfgwrGx8dOt-wdDy4w_vcfEN6UBUWYN9EE278vsBzC1v1B0kwQZW3wd4M76HgJR2K6mEzE2zzQoxEF_JuKaT_QYZ0ADwE4nNsQSjqsHT-u9gk-UoZtiBvb_HJwFWvtN5LeExF_BRPNjabe_szBe3UzSPc6_Hwf3aRRwlct9mYfIQbpqIETvV-CnMbT_zNeO3Wb_FZX2l88FZeeO8egyc3CQHKMqtd5olc-BSNkZNlv5oYhYyjeigv4Bt2sTHmH3SpgtDI1ntnJrzhDPmILMl-vNHiZJGNr4ihmr7XxkjF6_jsmxQ9rqR7EaBFe3Bw2w9H7CnrGclCkf_xzbQ==",
  "id": "rs_01f1f8fcc073e07b016ab454abce8487d098657a086070cb38",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":0.05,\"left_z\":0.07,\"left_yaw\":1.57,\"left_gripper\":1.0},\"note\":\"The close landed in the gap between the elephant and brown teddy, so it was empty. I’ll reopen at the leftmost reachable point and rotate the jaws 90°; this lets their radial closing axis catch the elephant’s near-side torso despite the tight fence-side limit.\"}",
  "call_id": "call_sfMdKUIgXJk0kKkGS2JmQre8",
  "id": "fc_01f1f8fcc073e07b016ab454ac8d6887d0a03005601135d0e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sfMdKUIgXJk0kKkGS2JmQre8",
  "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]: [-0.0814, 1.8034, 1.2812, -1.0863, -0.3935, -1.4338, 0.995, -0.0147, 0.8383, 0.6067, -0.3931, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3189 left_y=0.0455 left_z=0.0658 left_yaw=1.4058 left_pitch=-0.6214 left_roll=0.1139 left_gripper=0.995 right_x=0.296 right_y=0.0011 right_z=0.1663 right_yaw=0.0002 right_pitch=-0.0603 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.4308, -8.0479, 7.3368, -0.0952, -0.4078, -0.0464, 0.1978, -0.1573, -0.9504, 7.0222, 1.707, -0.0317, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0002726ee2db6ad93f1fb864c8f296052c1353cb30c82545025259ec815ede2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66a9270ad6730ec49375d9000c0d176400783fe05143484791cec36ebaa4b922",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fd8d657b7878b653049ef4c16e23f3645ee7162b3293af1810a654c95ae9770",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 2.903 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 146 changed as sent

message 154 changed as sent

message 161 changed as sent

message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0372, 1.4708, 1.1942, -0.9527, -0.1333, -0.1158, 0.9966, -0.0147, 0.8379, 0.6067, -0.3931, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3265 left_y=0.0392 left_z=0.1346 left_yaw=0.2355 left_pitch=-0.6509 left_roll=0.1106 left_gripper=0.9966 right_x=0.296 right_y=0.0011 right_z=0.1664 right_yaw=0.0002 right_pitch=-0.0599 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.0496, 6.1607, 1.0525, -0.0904, 0.1685, 0.1343, -0.1983, -1.5111, 7.3368, 1.7118, -0.022, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0334, 1.4624, 1.0695, -0.8173, -0.1337, -0.1165, 0.012, -0.0147, 0.8379, 0.6067, -0.3923, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3261 left_y=0.038 left_z=0.1068 left_yaw=0.2298 left_pitch=-0.6321 left_roll=0.1061 left_gripper=0.012 right_x=0.2961 right_y=0.0012 right_z=0.1666 right_yaw=0.0006 right_pitch=-0.0591 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.6786, 6.0786, 1.0281, -0.1587, 0.0171, 1.0818, -0.0615, -1.5111, 7.0632, 1.7265, -0.0317, -0.022, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 161 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0814, 1.8034, 1.2812, -1.0863, -0.3935, -1.4338, 0.995, -0.0147, 0.8383, 0.6067, -0.3931, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3189 left_y=0.0455 left_z=0.0658 left_yaw=1.4058 left_pitch=-0.6214 left_roll=0.1139 left_gripper=0.995 right_x=0.296 right_y=0.0011 right_z=0.1663 right_yaw=0.0002 right_pitch=-0.0603 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.4308, -8.0479, 7.3368, -0.0952, -0.4078, -0.0464, 0.1978, -0.1573, -0.9504, 7.0222, 1.707, -0.0317, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0002726ee2db6ad93f1fb864c8f296052c1353cb30c82545025259ec815ede2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66a9270ad6730ec49375d9000c0d176400783fe05143484791cec36ebaa4b922",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fd8d657b7878b653049ef4c16e23f3645ee7162b3293af1810a654c95ae9770",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFSw53oBDF1CF5EiEuxLpv1MlrOip1uhWArutZIDGT7zXEHrsGSFkYlB4JxWRG01mzrdD_gxWBIncae0QNus4QJ1ycEipAQHd6YrN-yvwCF9v4A0-Q0dboc5XMEcGYH8djU5VpAhZveNCTaeqQ5YYnlhxKybNPrDntiEmBn8dp9HALAsgJYeSwSz9b6Vc8vBZrDdmzDCh69eJpSZBuV7XFctvXP3lS4eZL5ta5BcLaT1x42c8ehlGzUf7LH9dlWHiiccQZXHJMaKJ47fvtzv5Sx85JjFFPg5OHmNU_GZsANwAEUFPnTUGZYTcxPHS7aZsCBYZsOuJPvqspGXW6pL9V48Lj15SsAozi1j1sxtlar2JkSfoG0mfkY8EDXJdWNUEvhIwc-p8dw9PO0cVV0F4zH_DAv_Eh91gwnDZCwvvru0l7vDQX8t4Wg56ojlJ_vXBZkCLSOiJMo2YQ3_S8Nn7IQGyEEh0GN7akA1sJC2jTzaJ1BhfjkWuhZCMHa0T-dlXSG6ZKSuIrvtSkwrHISbhgUifB3KOwOXOD6tkXTcvnoxykYFORRsH2LA8YHd6gOXX8Cd0rhM68ntunOWcQI-w7nAkHQqhrWez6gnYKQcxjskh1ARd19QErCYwqnmhFXfwBVTfiZ-qvJVrMt90DZEkNGCJ0LifXqm7WQsqW557XP6jIDVmI7KYuF3LgkvKCDLPo9PL2vMNIiA-iUpw7wWD1Rq_PKH95KEY7n8dsuPXY1dH8QcEX-Vntq6VxjGV3XfcSosnGufI-AyGzOzrkRDxiZannHzG-cIWAw4koAwmo1V5Lf6YC-cofEIk1-FYmAm9JIQhI6HEVDDzOjJU9DkvonQsKQ0f40dsdSuNMQJ0Zj3Rqb85qAWql4UA9UU0XjJUsUOKMqhI4Et-KOq-C-hlpZSAVtMVqxSumvjv9Uqt_rr7ZDgAe0QMWHRJkJRJXk1ULEVUQZcgHnO4eIwSBaRTcnBithcixsnTCrjhPzs3rwC_k7KN4VRyP1DlI1UX-knWlDqIcZurWxz-kfWAIGUobF_kiNo-Uq9IVjnsxyxGnSfIWcrLhsE_ncMSWzz9I6Jv-YusbQBMohaVW23raBOcio4m5DpbqeZ9BcilQMfciIffSNgLR7R2GOPFEHLc4eFkFFBqXBkQsHqdk_BD0uOdAY-qG9Jf-TUKMujJ015Ib8dMYXNcpz3TKh906Bxf-fwuWYeXESuKMm0h3et0Eft9lYJxVLlrAyAsG5HNGViGvy1pvo=",
  "id": "rs_01f1f8fcc073e07b016ab454aff1cc87d09640d36f2b59a263",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"With the jaws rotated, the gray elephant’s torso now fills the gap between both fingertips at table height. I’ll close around its body.\"}",
  "call_id": "call_UxFTpOZ02O8xMhR2mI3KWoyg",
  "id": "fc_01f1f8fcc073e07b016ab454b03b5887d0864ddd4330915f97",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UxFTpOZ02O8xMhR2mI3KWoyg",
  "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]: [-0.0952, 1.8252, 1.2804, -1.0794, -0.3973, -1.4479, 0.0126, -0.0143, 0.8379, 0.6067, -0.3927, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3198 left_y=0.0417 left_z=0.0594 left_yaw=1.4124 left_pitch=-0.6177 left_roll=0.1268 left_gripper=0.0126 right_x=0.296 right_y=0.0012 right_z=0.1665 right_yaw=0.0006 right_pitch=-0.0595 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -10.1128, 5.135, 0.1441, -0.4615, -0.0269, 1.033, -0.0752, -1.3607, 7.0359, 1.7216, -0.0366, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca7f3aa99555cfc71e160839408dd3a1f62876f2ba85fe134b14616b4f0cd801",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:068c4813d964a733dedd28e70a5c92a42cdc4f10c926eec668e3b2a4dd0fc066",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2f0ed0371803c3148774da785780dc01f9e52106a8f330f62eaa168a2db17fe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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