adhoc

completed
2026-09-23T21:24:19.444910+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (70 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
261.3 s
total steps
391
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see two empty turquoise baskets at the back and a central cluster of roughly six small plush animals in two visually distinct designs. I’ll bring the left wrist camera above the leftmost upright toy so I can identify and align on it before grasping.
move_to
left_x0.3700left_y-0.1300left_z0.1600left_gripper1.0000right_x0.2967right_y0.0013right_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, 0.7994, 0.6155, -0.3801, -0.0219, -0.0299, 0.9996, -0.0154, 0.7986, 0.6106, -0.374, -0.0128, -0.0227, 0.9996] state[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.1838 left_yaw=-0.0002 left_pitch=0.0 left_roll=-0.0003 left_gripper=0.9996 right_x=0.2967 right_y=0.0013 right_z=0.1829 right_yaw=0.0006 right_pitch=0.0 right_roll=0.0004 right_gripper=0.9996 state[joint_eff]: [-0.4581, -1.7026, 9.4291, 1.7558, -0.0317, 0.1197, -0.0562, -0.7726, -1.6479, 9.8667, 1.6972, -0.1099, 0.0611, -0.0562] 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":0.37,"left_y":-0.13,"left_z":0.16,"left_gripper":1.0,"right_x":0.2967,"right_y":0.0013,"right_z":0.183},"note":"I see two empty turquoise baskets at the back and a central cluster of roughly six small plush animals in two visually distinct designs. I’ll bring the left wrist camera above the leftmost upright toy so I can identify and align on it before grasping."})
tool
executing move_to over 12 steps (1.2s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteThe first move landed over the left basket, confirming that image-up corresponds to larger arm x; the toy is closer to the bases than I estimated. I’ll retract radially by about 9 cm while keeping the same lateral coordinate to bring the leftmost toy into the wrist view.
move_to
left_x0.2700left_y-0.1300left_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]: [-0.548, 1.3384, 0.7746, -0.1341, -0.4492, -0.342, 0.9996, -0.0193, 0.8013, 0.6086, -0.3847, -0.012, -0.0231, 0.9996] state[eef_state]: left_x=0.3611 left_y=-0.1263 left_z=0.1415 left_yaw=-0.0058 left_pitch=-0.0537 left_roll=0.0184 left_gripper=0.9996 right_x=0.2952 right_y=0.0 right_z=0.1791 right_yaw=-0.0036 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9996 state[joint_eff]: [-0.1436, -5.0667, 9.3744, 1.873, -0.2857, -0.022, -0.0562, -0.0068, -1.4701, 7.2137, 1.7753, -0.0366, -0.0073, -0.0122] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.27,"left_y":-0.13,"left_z":0.16},"note":"The first move landed over the left basket, confirming that image-up corresponds to larger arm x; the toy is closer to the bases than I estimated. I’ll retract radially by about 9 cm while keeping the same lateral coordinate to bring the leftmost toy into the wrist view."})
tool
executing move_to over 8 steps (0.8s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe closer view reveals two clear families: gray elephant-like plush toys grouped on the left and tan floppy-eared dog plush toys on the right. I’ll use the left basket for the gray toys and shift laterally onto the nearest gray toy while staying high.
move_to
left_x0.2700left_y-0.0400left_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8288, 1.0389, 0.691, -0.4492, -0.6266, -0.551, 0.9996, -0.02, 0.807, 0.6079, -0.3847, -0.012, -0.0231, 0.9996] state[eef_state]: left_x=0.2722 left_y=-0.1383 left_z=0.1601 left_yaw=-0.0356 left_pitch=-0.0542 left_roll=0.0039 left_gripper=0.9996 right_x=0.2955 right_y=-0.0002 right_z=0.1772 right_yaw=-0.0044 right_pitch=-0.0217 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [0.3487, -3.2479, 6.6803, 1.3162, -0.4664, -0.0562, -0.0171, -0.1299, -1.7983, 7.2821, 1.7216, -0.0415, -0.0415, -0.0122] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.27,"left_y":-0.04,"left_z":0.15},"note":"The closer view reveals two clear families: gray elephant-like plush toys grouped on the left and tan floppy-eared dog plush toys on the right. I’ll use the left basket for the gray toys and shift laterally onto the nearest gray toy while staying high."})
tool
executing move_to over 9 steps (0.9s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe nearest gray plush now sits directly beneath the left gripper in the overhead view, with its broad soft torso just slightly to the arm’s left. I’ll make a small lateral correction and descend to mid-body height for a secure grasp.
move_to
left_x0.2700left_y0.0000left_z0.0500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3069, 0.7315, 0.5179, -0.4267, -0.2569, -0.2047, 0.9995, -0.02, 0.8082, 0.6079, -0.3855, -0.0116, -0.0231, 0.9996] state[eef_state]: left_x=0.2711 left_y=-0.0351 left_z=0.1513 left_yaw=0.0036 left_pitch=-0.0522 left_roll=-0.0019 left_gripper=0.9995 right_x=0.2954 right_y=-0.0003 right_z=0.1767 right_yaw=-0.0047 right_pitch=-0.0237 right_roll=-0.0002 right_gripper=0.9996 state[joint_eff]: [0.0068, -0.9915, 6.5573, 1.6825, -0.0122, 0.1148, -0.0171, -0.1299, -1.388, 7.0496, 1.6972, -0.0317, -0.0415, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.27,"left_y":0.0,"left_z":0.05,"left_gripper":1.0},"note":"The nearest gray plush now sits directly beneath the left gripper in the overhead view, with its broad soft torso just slightly to the arm’s left. I’ll make a small lateral correction and descend to mid-body height for a secure grasp."})
tool
executing move_to over 7 steps (0.7s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteAt grasp height the wrist view shows I am over a yellow marker-like item between the groups, while the gray plush torso is still to the left of the jaws. I’ll shift to the left arm’s safe lateral limit to center the gray toy rather than closing off-center.
move_to
left_y0.0500left_z0.0600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0433, 0.8494, 0.1318, 0.0776, -0.0509, -0.0586, 0.9996, -0.02, 0.8101, 0.6079, -0.3855, -0.012, -0.0231, 0.9996] state[eef_state]: left_x=0.2678 left_y=0.001 left_z=0.0473 left_yaw=0.0157 left_pitch=-0.0751 left_roll=-0.0045 left_gripper=0.9996 right_x=0.2956 right_y=-0.0002 right_z=0.1762 right_yaw=-0.0044 right_pitch=-0.0256 right_roll=0.0001 right_gripper=0.9996 state[joint_eff]: [0.1846, -0.9368, 5.7504, 2.0147, 0.0366, 0.0855, -0.0562, -0.0889, -1.1829, 7.0769, 1.707, -0.0317, -0.0562, -0.0122] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":0.05,"left_z":0.06},"note":"At grasp height the wrist view shows I am over a yellow marker-like item between the groups, while the gray plush torso is still to the left of the jaws. I’ll shift to the left arm’s safe lateral limit to center the gray toy rather than closing off-center."})
tool
executing move_to over 5 steps (0.5s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe maximum lateral shift brings the large gray plush across the jaw path; although its center remains fence-side, its torso spans well between the open fingers. I’ll close gently at mid-body height and verify the retained gripper width 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]: [0.329, 0.8745, 0.1757, 0.0151, 0.2192, 0.1467, 0.9996, -0.02, 0.8143, 0.6067, -0.3851, -0.012, -0.0231, 0.9996] state[eef_state]: left_x=0.262 left_y=0.0527 left_z=0.0498 left_yaw=0.0491 left_pitch=-0.1006 left_roll=-0.011 left_gripper=0.9996 right_x=0.2957 right_y=-0.0002 right_z=0.1746 right_yaw=-0.0044 right_pitch=-0.0305 right_roll=0.0002 right_gripper=0.9996 state[joint_eff]: [0.1983, -1.4017, 8.9094, 1.5849, 0.2027, 0.0806, -0.0171, -0.0615, -1.6889, 7.1179, 1.7705, -0.0513, -0.0659, -0.0122] camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The maximum lateral shift brings the large gray plush across the jaw path; although its center remains fence-side, its torso spans well between the open fingers. I’ll close gently at mid-body height and verify the retained gripper width before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe close was empty, so the fence-side elephant’s center is beyond this arm’s lateral limit and I won’t repeat that same grasp. The scene appears to contain two broader classes—plush animals (gray elephants and tan dogs) and marker pens—so I’ll sort plush into the left basket and pens into the right, starting with an accessible tan plush.
move_to
left_x0.2500left_y-0.1100left_z0.1600left_yaw0.0000left_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]: [0.3099, 0.8742, 0.1738, 0.012, 0.205, 0.131, 0.0104, -0.02, 0.8146, 0.6067, -0.3855, -0.0116, -0.0231, 0.9996] state[eef_state]: left_x=0.2617 left_y=0.0498 left_z=0.0482 left_yaw=0.0501 left_pitch=-0.1074 left_roll=-0.0159 left_gripper=0.0104 right_x=0.2957 right_y=-0.0003 right_z=0.1744 right_yaw=-0.0047 right_pitch=-0.0313 right_roll=-0.0 right_gripper=0.9996 state[joint_eff]: [-0.212, -1.7983, 6.4889, 1.6386, -0.0073, 0.0464, 0.8571, -0.1436, -1.3607, 7.2547, 1.6874, -0.0415, -0.0464, -0.0122] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_y":-0.11,"left_z":0.16,"left_yaw":0.0,"left_gripper":1.0},"note":"The close was empty, so the fence-side elephant’s center is beyond this arm’s lateral limit and I won’t repeat that same grasp. The scene appears to contain two broader classes—plush animals (gray elephants and tan dogs) and marker pens—so I’ll sort plush into the left basket and pens into the right, starting with an accessible tan plush."})
tool
executing move_to over 15 steps (1.5s)
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 wrist view now clearly separates the categories: a yellow marker lies beside several soft animal toys. A small brown plush is centered on the jaw column but still slightly beyond the fingertips, so I’ll advance 2 cm and descend to its torso height.
move_to
left_x0.2700left_y-0.1100left_z0.0400left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8001, 0.9115, 0.6518, -0.5964, -0.5644, -0.5865, 0.9988, -0.02, 0.8165, 0.6067, -0.3851, -0.0116, -0.0231, 0.9996] state[eef_state]: left_x=0.2475 left_y=-0.1141 left_z=0.1502 left_yaw=-0.0293 left_pitch=-0.1283 left_roll=-0.0151 left_gripper=0.9988 right_x=0.2959 right_y=-0.0003 right_z=0.174 right_yaw=-0.0047 right_pitch=-0.0328 right_roll=-0.0 right_gripper=0.9996 state[joint_eff]: [0.0752, -1.4564, 9.0325, 1.2039, -0.5153, -0.0952, -0.1392, -0.3624, -1.3333, 7.1863, 1.7411, -0.0269, -0.0659, -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":0.27,"left_y":-0.11,"left_z":0.04,"left_gripper":1.0},"note":"The wrist view now clearly separates the categories: a yellow marker lies beside several soft animal toys. A small brown plush is centered on the jaw column but still slightly beyond the fingertips, so I’ll advance 2 cm and descend to its torso height."})
tool
executing move_to over 8 steps (0.8s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe small brown plush’s torso is now centered between the two fingers at about 3.5 cm above the table, while the adjacent yellow marker remains outside the jaw path. I’ll close on the plush and check the retained opening.
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]: [-0.6891, 1.1969, 0.2955, 0.0601, -0.4934, -0.5045, 0.9988, -0.02, 0.8192, 0.6067, -0.3851, -0.0116, -0.0231, 0.9996] state[eef_state]: left_x=0.2663 left_y=-0.1063 left_z=0.0348 left_yaw=-0.0165 left_pitch=-0.1524 left_roll=-0.0023 left_gripper=0.9988 right_x=0.296 right_y=-0.0003 right_z=0.1732 right_yaw=-0.0047 right_pitch=-0.0355 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [0.1026, -3.3709, 5.9282, 1.5507, -0.232, 0.1001, -0.1392, -0.1162, -1.4154, 7.2, 1.707, -0.022, -0.0708, -0.0122] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The small brown plush’s torso is now centered between the two fingers at about 3.5 cm above the table, while the adjacent yellow marker remains outside the jaw path. I’ll close on the plush and check the retained opening."})
tool
executing move_to over 10 steps (1.0s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe gripper retained a 3.2 mm normalized opening and the plush is visibly pinched between the fingers, but that value is close to the empty threshold. I’ll lift 10 cm now and confirm in the overhead image that the toy rises with the arm.
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]: [-0.6895, 1.1969, 0.2955, 0.0681, -0.4938, -0.5072, 0.0321, -0.02, 0.8192, 0.6067, -0.3851, -0.0116, -0.0231, 0.9996] state[eef_state]: left_x=0.2673 left_y=-0.1072 left_z=0.036 left_yaw=-0.0159 left_pitch=-0.146 left_roll=-0.0091 left_gripper=0.0321 right_x=0.296 right_y=-0.0003 right_z=0.1732 right_yaw=-0.0047 right_pitch=-0.0355 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.0889, -3.0154, 5.6957, 1.3797, -0.2857, 0.0611, 0.5788, -0.0615, -1.4154, 7.2274, 1.7411, -0.022, -0.0659, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.14},"note":"The gripper retained a 3.2 mm normalized opening and the plush is visibly pinched between the fingers, but that value is close to the empty threshold. I’ll lift 10 cm now and confirm in the overhead image that the toy rises with the arm."})
tool
executing move_to over 7 steps (0.7s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe overhead view confirms the small plush moved with the gripper, so the grasp is secure. I’ll carry it high to the center of the left basket, which is the designated basket for all plush animals.
move_to
left_x0.3700left_y-0.1300left_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6903, 0.9867, 0.6163, -0.4709, -0.4931, -0.5121, 0.0418, -0.02, 0.8211, 0.6067, -0.3855, -0.012, -0.0227, 0.9996] state[eef_state]: left_x=0.2676 left_y=-0.1079 left_z=0.1314 left_yaw=-0.0138 left_pitch=-0.1526 left_roll=-0.0083 left_gripper=0.0418 right_x=0.2961 right_y=-0.0002 right_z=0.1726 right_yaw=-0.0046 right_pitch=-0.0378 right_roll=0.0006 right_gripper=0.9996 state[joint_eff]: [-0.0068, -3.2205, 8.6769, 1.3211, -0.2759, 0.0317, 1.033, -0.1026, -1.5385, 7.0085, 1.6923, -0.0415, -0.0122, -0.0122] camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.13,"left_z":0.2},"note":"The overhead view confirms the small plush moved with the gripper, so the grasp is secure. I’ll carry it high to the center of the left basket, which is the designated basket for all plush animals."})
tool
executing move_to over 8 steps (0.8s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteThe held plush is centered over the left basket with ample clearance from its rim. I’ll lower until the toy is just above the basket floor, then release it.
move_to
left_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]: [-0.5091, 1.3727, 1.0763, -0.5457, -0.3725, -0.3992, 0.0418, -0.02, 0.8249, 0.6067, -0.3923, -0.012, -0.0231, 0.9996] state[eef_state]: left_x=0.3616 left_y=-0.1241 left_z=0.1818 left_yaw=0.0124 left_pitch=-0.2044 left_roll=0.0012 left_gripper=0.0418 right_x=0.2954 right_y=-0.0002 right_z=0.1702 right_yaw=-0.0044 right_pitch=-0.0484 right_roll=0.0004 right_gripper=0.9996 state[joint_eff]: [-0.4581, -5.9009, 9.3197, 1.6728, -0.1294, 0.3101, 1.0281, -0.1709, -1.7162, 7.0222, 1.7705, -0.0317, -0.022, -0.0171] camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.08},"note":"The held plush is centered over the left basket with ample clearance from its rim. I’ll lower until the toy is just above the basket floor, then release it."})
tool
executing move_to over 7 steps (0.7s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe descent stopped around 12 cm and drifted slightly, indicating the plush or fingers have contacted the basket interior; the toy is already safely inside the rim. I’ll open now to release it without pressing harder.
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]: [-0.5091, 1.4532, 0.7856, -0.0158, -0.4034, -0.4038, 0.0418, -0.02, 0.8257, 0.6067, -0.3927, -0.012, -0.0231, 0.9996] state[eef_state]: left_x=0.384 left_y=-0.1308 left_z=0.1229 left_yaw=0.0291 left_pitch=-0.0567 left_roll=-0.0645 left_gripper=0.0418 right_x=0.2954 right_y=-0.0002 right_z=0.1699 right_yaw=-0.0044 right_pitch=-0.0496 right_roll=0.0005 right_gripper=0.9996 state[joint_eff]: [-0.0342, -3.1932, 4.0137, 0.7106, 0.0904, -0.0122, 1.0281, -0.0068, -1.3197, 7.0496, 1.6972, -0.0415, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The descent stopped around 12 cm and drifted slightly, indicating the plush or fingers have contacted the basket interior; the toy is already safely inside the rim. I’ll open now to release it without pressing harder."})
tool
executing move_to over 10 steps (1.0s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe fingers are fully open around the plush inside the left basket, so it has been released. I’ll retract upward and inward to clear the rim and reveal the basket contents before selecting the next item.
move_to
left_x0.3200left_y-0.0800left_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5091, 1.4651, 0.7902, -0.0143, -0.3958, -0.4156, 0.9954, -0.02, 0.8288, 0.6067, -0.3927, -0.012, -0.0231, 0.9996] state[eef_state]: left_x=0.385 left_y=-0.1328 left_z=0.1203 left_yaw=0.0295 left_pitch=-0.0645 left_roll=-0.0754 left_gripper=0.9954 right_x=0.2955 right_y=-0.0002 right_z=0.169 right_yaw=-0.0044 right_pitch=-0.0526 right_roll=0.0005 right_gripper=0.9996 state[joint_eff]: [-0.1709, -7.1179, 6.1333, 1.58, -0.2662, 0.0611, -0.2222, -0.0615, -1.7162, 7.0222, 1.7167, -0.0317, -0.022, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.08,"left_z":0.2},"note":"The fingers are fully open around the plush inside the left basket, so it has been released. I’ll retract upward and inward to clear the rim and reveal the basket contents before selecting the next item."})
tool
executing move_to over 6 steps (0.6s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteThe retracted view confirms the first dog is in the left basket. Three tan dogs remain in the central cluster, so I’ll move above the large front dog next; the gray elephants will go to the right basket as the second class.
move_to
left_x0.2300left_y-0.1700left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4355, 1.0451, 0.7998, -0.4335, -0.3466, -0.3809, 0.9967, -0.02, 0.8314, 0.6067, -0.3927, -0.0124, -0.0231, 0.9996] state[eef_state]: left_x=0.3203 left_y=-0.0789 left_z=0.1909 left_yaw=0.0442 left_pitch=-0.0694 left_roll=-0.0795 left_gripper=0.9967 right_x=0.2957 right_y=-0.0001 right_z=0.1683 right_yaw=-0.004 right_pitch=-0.0553 right_roll=0.0008 right_gripper=0.9996 state[joint_eff]: [0.2803, -3.1795, 9.5932, 1.4188, -0.0317, 0.1392, 0.1148, -0.2667, -1.6615, 7.0359, 1.6874, -0.0464, -0.0562, -0.0122] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.23,"left_y":-0.17,"left_z":0.15,"left_gripper":1.0},"note":"The retracted view confirms the first dog is in the left basket. Three tan dogs remain in the central cluster, so I’ll move above the large front dog next; the gray elephants will go to the right basket as the second class."})
tool
executing move_to over 9 steps (0.9s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteThe large front dog is fully visible just beyond the fingertips and slightly to the arm’s right. I’ll advance 2 cm, shift right 2 cm, and descend to its thick torso for a stable grasp.
move_to
left_x0.2500left_y-0.1900left_z0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.116, 1.1255, 0.7273, -0.627, -0.7799, -0.9703, 0.9988, -0.02, 0.836, 0.6067, -0.3923, -0.012, -0.0227, 0.9996] state[eef_state]: left_x=0.2277 left_y=-0.1747 left_z=0.1434 left_yaw=0.016 left_pitch=-0.0908 left_roll=-0.0771 left_gripper=0.9988 right_x=0.296 right_y=-0.0002 right_z=0.1671 right_yaw=-0.0046 right_pitch=-0.0595 right_roll=0.0009 right_gripper=0.9996 state[joint_eff]: [0.3214, -3.4256, 7.4598, 1.0085, -0.5641, -0.0415, -0.1441, -0.0479, -1.8393, 7.0496, 1.7314, -0.0562, -0.0464, -0.0122] camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_y":-0.19,"left_z":0.05},"note":"The large front dog is fully visible just beyond the fingertips and slightly to the arm’s right. I’ll advance 2 cm, shift right 2 cm, and descend to its thick torso for a stable grasp."})
tool
executing move_to over 7 steps (0.7s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe large dog’s torso now fills the gap between the fingers, with the arms outside the closing path. I’ll close around the torso and use the retained width to verify the grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0557, 1.4189, 0.5083, -0.0895, -0.7513, -0.9123, 0.9983, -0.02, 0.8379, 0.6067, -0.3923, -0.012, -0.0231, 0.9996] state[eef_state]: left_x=0.2486 left_y=-0.1871 left_z=0.0488 left_yaw=0.0268 left_pitch=-0.0994 left_roll=-0.0646 left_gripper=0.9983 right_x=0.2961 right_y=-0.0002 right_z=0.1666 right_yaw=-0.0043 right_pitch=-0.0614 right_roll=0.0006 right_gripper=0.9996 state[joint_eff]: [0.212, -4.2325, 5.1624, 1.3016, -0.315, 0.0952, -0.0659, -0.1299, -1.4564, 7.0359, 1.7167, -0.0464, -0.0464, -0.0122] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The large dog’s torso now fills the gap between the fingers, with the arms outside the closing path. I’ll close around the torso and use the retained width to verify the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe gripper is held open about 4.7 mm normalized around the plush, clearly indicating a secure torso grasp. I’ll lift and carry this second dog directly over the left basket.
move_to
left_x0.3700left_y-0.1300left_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0561, 1.4185, 0.5083, -0.0834, -0.7513, -0.9165, 0.0497, -0.02, 0.8379, 0.6067, -0.3923, -0.012, -0.0231, 0.9996] state[eef_state]: left_x=0.249 left_y=-0.1881 left_z=0.0495 left_yaw=0.0281 left_pitch=-0.0965 left_roll=-0.0736 left_gripper=0.0497 right_x=0.2961 right_y=-0.0002 right_z=0.1666 right_yaw=-0.0043 right_pitch=-0.0614 right_roll=0.0006 right_gripper=0.9996 state[joint_eff]: [-0.2393, -4.547, 5.4359, 1.0867, -0.4127, 0.0171, 3.7192, -0.1436, -1.5111, 7.1179, 1.7021, -0.0366, -0.0366, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.13,"left_z":0.2},"note":"The gripper is held open about 4.7 mm normalized around the plush, clearly indicating a secure torso grasp. I’ll lift and carry this second dog directly over the left basket."})
tool
executing move_to over 10 steps (1.0s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe large dog is centered over the left basket, which already contains the first dog. Because it is soft and the basket has high walls, I’ll release from this safe height rather than descend into the existing contents.
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]: [-0.5163, 1.3426, 1.0119, -0.4381, -0.3954, -0.4591, 0.0684, -0.02, 0.8391, 0.6067, -0.3927, -0.0116, -0.0231, 0.9996] state[eef_state]: left_x=0.365 left_y=-0.1249 left_z=0.1844 left_yaw=0.0494 left_pitch=-0.1339 left_roll=-0.068 left_gripper=0.0684 right_x=0.2961 right_y=-0.0003 right_z=0.1662 right_yaw=-0.0047 right_pitch=-0.0629 right_roll=0.0004 right_gripper=0.9996 state[joint_eff]: [-0.1983, -5.8188, 9.3333, 1.5849, -0.2125, 0.2125, 1.033, -0.0889, -1.5795, 7.0496, 1.7411, -0.0269, -0.022, -0.0122] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The large dog is centered over the left basket, which already contains the first dog. Because it is soft and the basket has high walls, I’ll release from this safe height rather than descend into the existing contents."})
tool
executing move_to over 10 steps (1.0s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteThe overhead view shows the large dog bounced off the basket’s front rim and landed upright on the table, so the left basket center is farther forward than the prior high-drop point. I’ll immediately re-grasp the dog at its new location, then place it deeper at x≈0.40.
move_to
left_x0.2700left_y-0.1700left_z0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5182, 1.343, 1.0134, -0.4549, -0.392, -0.4679, 0.9954, -0.02, 0.8391, 0.6067, -0.3923, -0.012, -0.0227, 0.9996] state[eef_state]: left_x=0.3625 left_y=-0.1249 left_z=0.182 left_yaw=0.0507 left_pitch=-0.1486 left_roll=-0.0683 left_gripper=0.9954 right_x=0.2961 right_y=-0.0002 right_z=0.1663 right_yaw=-0.0045 right_pitch=-0.0626 right_roll=0.001 right_gripper=0.9996 state[joint_eff]: [0.0615, -5.4496, 6.7487, 1.7118, -0.2027, 0.0415, -0.0952, -0.1983, -1.5385, 7.2547, 1.707, -0.0269, -0.0464, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.27,"left_y":-0.17,"left_z":0.05},"note":"The overhead view shows the large dog bounced off the basket’s front rim and landed upright on the table, so the left basket center is farther forward than the prior high-drop point. I’ll immediately re-grasp the dog at its new location, then place it deeper at x≈0.40."})
tool
executing move_to over 9 steps (0.9s)
step 177
top_cam
camera top_cam step 177
left_cam
camera left_cam step 177
right_cam
camera right_cam step 177
assistant
agent noteThe fallen dog is now tightly framed between the open fingers at torso height. I’ll close again, then carry it to the deeper center of the left basket.
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]: [-0.9169, 1.3876, 0.5465, -0.062, -0.6674, -0.7891, 0.9967, -0.02, 0.8436, 0.6067, -0.4007, -0.012, -0.0231, 0.9996] state[eef_state]: left_x=0.2778 left_y=-0.1768 left_z=0.0651 left_yaw=0.0387 left_pitch=-0.1026 left_roll=-0.086 left_gripper=0.9967 right_x=0.2952 right_y=-0.0002 right_z=0.1633 right_yaw=-0.0043 right_pitch=-0.0755 right_roll=0.0009 right_gripper=0.9996 state[joint_eff]: [-0.212, -3.6034, 4.2598, 1.0916, -0.188, -0.2906, 0.1245, -0.3214, -1.8667, 7.0222, 1.7705, -0.0171, -0.0269, -0.0122] camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The fallen dog is now tightly framed between the open fingers at torso height. I’ll close again, then carry it to the deeper center of the left basket."})
tool
executing move_to over 10 steps (1.0s)
step 187
top_cam
camera top_cam step 187
left_cam
camera left_cam step 187
right_cam
camera right_cam step 187
assistant
agent noteThe large rounded plush squeezed sideways and the fully closed reading confirms an empty grasp. I’ll reopen and shift 4 cm toward its body center, aiming for the narrower neck/shoulder area rather than the broad torso.
move_to
left_y-0.1300left_z0.0700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9169, 1.3884, 0.5438, -0.0509, -0.6731, -0.786, 0.0105, -0.02, 0.8436, 0.6064, -0.4076, -0.012, -0.0231, 0.9996] state[eef_state]: left_x=0.2787 left_y=-0.1768 left_z=0.0659 left_yaw=0.0403 left_pitch=-0.0945 left_roll=-0.0873 left_gripper=0.0105 right_x=0.2941 right_y=-0.0002 right_z=0.1618 right_yaw=-0.0043 right_pitch=-0.0828 right_roll=0.001 right_gripper=0.9996 state[joint_eff]: [-0.1436, -4.7248, 5.9966, 1.1795, -0.2711, -0.0073, 0.8718, -0.1709, -1.3197, 7.0359, 1.7656, -0.0317, -0.0464, -0.0122] camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.13,"left_z":0.07,"left_gripper":1.0},"note":"The large rounded plush squeezed sideways and the fully closed reading confirms an empty grasp. I’ll reopen and shift 4 cm toward its body center, aiming for the narrower neck/shoulder area rather than the broad torso."})
tool
executing move_to over 10 steps (1.0s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent noteThe correction centers the dog’s narrower neck between the fingers, with its head on the jaw axis rather than off to one side. I’ll close on this narrower section and check for a clearly nonzero retained width.
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]: [-0.7731, 1.2194, 0.4389, -0.0288, -0.5888, -0.6685, 0.9952, -0.02, 0.8436, 0.6064, -0.4084, -0.0116, -0.0231, 0.9996] state[eef_state]: left_x=0.2823 left_y=-0.1334 left_z=0.0732 left_yaw=0.0561 left_pitch=-0.0847 left_roll=-0.101 left_gripper=0.9952 right_x=0.294 right_y=-0.0002 right_z=0.1617 right_yaw=-0.0046 right_pitch=-0.0835 right_roll=0.0008 right_gripper=0.9996 state[joint_eff]: [0.212, -4.3556, 4.8479, 1.3407, -0.1783, 0.1441, 0.105, -0.1846, -1.5521, 6.9675, 1.707, -0.0317, -0.0611, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The correction centers the dog’s narrower neck between the fingers, with its head on the jaw axis rather than off to one side. I’ll close on this narrower section and check for a clearly nonzero retained width."})
tool
executing move_to over 10 steps (1.0s)
step 207
top_cam
camera top_cam step 207
assistant
agent noteThe neck also slipped free, confirming this oversized plush is too rounded for the parallel jaws in its current pose. I’ll leave it rather than repeat the failed geometry and collect the smaller dog immediately beside the gripper, which matches the successful first grasp.
move_to
left_x0.2500left_y-0.1700left_z0.0400left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7715, 1.2167, 0.4351, -0.0288, -0.5797, -0.6697, 0.0103, -0.02, 0.8436, 0.6064, -0.4084, -0.012, -0.0231, 0.9996] state[eef_state]: left_x=0.2813 left_y=-0.1336 left_z=0.0719 left_yaw=0.0516 left_pitch=-0.0904 left_roll=-0.1055 left_gripper=0.0103 right_x=0.294 right_y=-0.0002 right_z=0.1617 right_yaw=-0.0043 right_pitch=-0.0835 right_roll=0.001 right_gripper=0.9996 state[joint_eff]: [-0.1709, -3.3573, 6.5573, 1.4188, -0.3492, -0.0171, 0.8425, -0.2667, -1.4838, 6.9675, 1.6874, -0.0317, -0.0269, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_y":-0.17,"left_z":0.04,"left_gripper":1.0},"note":"The neck also slipped free, confirming this oversized plush is too rounded for the parallel jaws in its current pose. I’ll leave it rather than repeat the failed geometry and collect the smaller dog immediately beside the gripper, which matches the successful first grasp."})
tool
executing move_to over 10 steps (1.0s)
step 217
assistant
agent noteThe reposition unexpectedly brought one of the large dog’s narrow legs squarely between the fingertips. This is a much better grasp feature than its torso, so I’ll close on the leg and lift if the retained width is nonzero.
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]: [-1.0103, 1.3708, 0.4335, 0.0395, -0.741, -0.8749, 0.9988, -0.02, 0.8436, 0.6064, -0.4084, -0.012, -0.0227, 0.9996] state[eef_state]: left_x=0.256 left_y=-0.1769 left_z=0.0522 left_yaw=0.039 left_pitch=-0.0555 left_roll=-0.1283 left_gripper=0.9988 right_x=0.294 right_y=-0.0002 right_z=0.1617 right_yaw=-0.0045 right_pitch=-0.0835 right_roll=0.0013 right_gripper=0.9996 state[joint_eff]: [-0.2393, -2.4957, 4.6564, 0.9939, -0.2173, -0.2613, -0.1392, -0.1846, -1.265, 7.0085, 1.663, -0.0806, -0.0317, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The reposition unexpectedly brought one of the large dog’s narrow legs squarely between the fingertips. This is a much better grasp feature than its torso, so I’ll close on the leg and lift if the retained width is nonzero."})
tool
executing move_to over 10 steps (1.0s)
step 227
assistant
agent noteThe gripper reading is near empty because the plush leg compresses very thin, but the wrist view shows the foot still pinched between the jaw tips. I’ll lift and carry it to the deeper basket center; the overhead view will reveal whether it stays attached.
move_to
left_x0.4000left_y-0.1300left_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0103, 1.3708, 0.4335, 0.046, -0.7441, -0.8749, 0.0104, -0.02, 0.8436, 0.6064, -0.4084, -0.012, -0.0227, 0.9996] state[eef_state]: left_x=0.2568 left_y=-0.1773 left_z=0.0533 left_yaw=0.0406 left_pitch=-0.0502 left_roll=-0.1328 left_gripper=0.0104 right_x=0.294 right_y=-0.0002 right_z=0.1617 right_yaw=-0.0045 right_pitch=-0.0835 right_roll=0.0013 right_gripper=0.9996 state[joint_eff]: [-0.1026, -4.1368, 5.4632, 1.2137, -0.315, 0.0171, 0.8523, -0.1846, -1.4427, 7.0085, 1.6581, -0.0122, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.13,"left_z":0.2},"note":"The gripper reading is near empty because the plush leg compresses very thin, but the wrist view shows the foot still pinched between the jaw tips. I’ll lift and carry it to the deeper basket center; the overhead view will reveal whether it stays attached."})
tool
executing move_to over 12 steps (1.2s)
step 239
assistant
agent noteThe thin leg slipped during transport and the large dog remains on the table. With the remaining motion budget I’ll collect the small spotted dog at the front-right of the cluster, whose compact body should grasp like the first successful toy.
move_to
left_x0.2300left_y-0.2600left_z0.0400left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4683, 1.4097, 1.0245, -0.2874, -0.3637, -0.4603, 0.0126, -0.02, 0.8474, 0.6064, -0.4084, -0.012, -0.0227, 0.9996] state[eef_state]: left_x=0.397 left_y=-0.1264 left_z=0.1897 left_yaw=0.0675 left_pitch=-0.063 left_roll=-0.1374 left_gripper=0.0126 right_x=0.2942 right_y=-0.0002 right_z=0.1606 right_yaw=-0.0045 right_pitch=-0.0873 right_roll=0.0014 right_gripper=0.9996 state[joint_eff]: [-0.1436, -5.9145, 8.841, 1.4725, -0.0122, 0.1636, 0.5055, -0.0479, -1.8803, 7.0085, 1.663, -0.0464, -0.0171, -0.0171] camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.23,"left_y":-0.26,"left_z":0.04,"left_gripper":1.0},"note":"The thin leg slipped during transport and the large dog remains on the table. With the remaining motion budget I’ll collect the small spotted dog at the front-right of the cluster, whose compact body should grasp like the first successful toy."})
tool
executing move_to over 13 steps (1.3s)
step 252
assistant
agent noteThe close view confirms a blue marker lies beside the plush toys, supporting the broader sorting rule: plush animals in the left basket and markers in the right. I’ll park the left arm and bring the right gripper down crosswise over the blue marker directly in front of the right basket.
move_to
left_x0.3000left_y0.0000left_z0.1800right_x0.2300right_y0.2500right_z0.0100right_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]: [-1.2644, 1.7, 0.7204, -0.1741, -0.8597, -1.2018, 0.9988, -0.02, 0.8528, 0.6018, -0.4099, -0.012, -0.0231, 0.9996] state[eef_state]: left_x=0.2262 left_y=-0.2593 left_z=0.0345 left_yaw=0.0409 left_pitch=-0.0793 left_roll=-0.1167 left_gripper=0.9988 right_x=0.2935 right_y=-0.0002 right_z=0.1568 right_yaw=-0.0043 right_pitch=-0.0988 right_roll=0.0012 right_gripper=0.9996 state[joint_eff]: [0.0615, -6.5573, 6.4889, 0.7937, -0.5641, -0.1099, -0.1392, -0.3761, -2.0034, 7.3504, 1.6386, -0.0269, -0.0415, -0.0122] camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0.0,"left_z":0.18,"right_x":0.23,"right_y":0.25,"right_z":0.01,"right_gripper":1.0},"note":"The close view confirms a blue marker lies beside the plush toys, supporting the broader sorting rule: plush animals in the left basket and markers in the right. I’ll park the left arm and bring the right gripper down crosswise over the blue marker directly in front of the right basket."})
tool
executing move_to over 24 steps (2.4s)
step 276
assistant
agent noteTwo marker pens are now plainly visible in the right wrist view; the blue pen is under the left finger but not yet centered. I’ll shift the right gripper 5 cm toward image-left so the pen’s barrel crosses the center of the closing path at table level.
move_to
right_y0.3000right_z0.0000
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]: [0.0036, 0.8753, 0.6529, -0.4564, 0.0082, -0.1638, 0.9983, 1.2041, 1.7565, 0.6659, -0.0509, 0.8196, 1.0008, 0.9996] state[eef_state]: left_x=0.2952 left_y=0.0032 left_z=0.1644 left_yaw=0.0691 left_pitch=-0.1191 left_roll=-0.122 left_gripper=0.9983 right_x=0.2299 right_y=0.2485 right_z=0.0087 right_yaw=0.0028 right_pitch=-0.1074 right_roll=0.0038 right_gripper=0.9996 state[joint_eff]: [-0.212, -1.935, 9.5111, 1.7216, 0.1294, 0.188, -0.0659, 0.3077, -6.3248, 5.4906, 0.8327, 0.486, 0.105, -0.0611] camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.3,"right_z":0.0},"note":"Two marker pens are now plainly visible in the right wrist view; the blue pen is under the left finger but not yet centered. I’ll shift the right gripper 5 cm toward image-left so the pen’s barrel crosses the center of the closing path at table level."})
tool
executing move_to over 5 steps (0.5s)
step 281
assistant
agent noteThe lateral shift centers the pen’s upper barrel, but the crossing point is still well beyond the fingertips near the top of the wrist image. I’ll advance the right gripper 4–5 cm radially so the barrel reaches the jaw tips before closing.
move_to
right_x0.2800right_z0.0000
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]: [0.0036, 0.8772, 0.6525, -0.4572, 0.0078, -0.1684, 0.9983, 1.2465, 1.9102, 0.8593, -0.1001, 0.849, 1.0645, 0.9996] state[eef_state]: left_x=0.2951 left_y=0.0033 left_z=0.1636 left_yaw=0.0719 left_pitch=-0.1224 left_roll=-0.1251 left_gripper=0.9983 right_x=0.2363 right_y=0.298 right_z=0.0077 right_yaw=-0.0028 right_pitch=-0.0861 right_roll=0.0363 right_gripper=0.9996 state[joint_eff]: [-0.0342, -1.7436, 7.0222, 1.6777, -0.0366, -0.0122, -0.0269, 1.0051, -7.0906, 5.2171, 0.4371, 0.3297, 0.0952, -0.0122] camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.28,"right_z":0.0},"note":"The lateral shift centers the pen’s upper barrel, but the crossing point is still well beyond the fingertips near the top of the wrist image. I’ll advance the right gripper 4–5 cm radially so the barrel reaches the jaw tips before closing."})
tool
executing move_to over 4 steps (0.4s)
step 285
assistant
agent noteAfter the radial advance, the marker barrel now lies across the fingertip closing line near the center, with the long axis nearly perpendicular to the jaws. I’ll close on the barrel and verify a substantial retained opening.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0036, 0.8772, 0.6525, -0.4595, 0.0074, -0.1722, 0.9983, 1.1297, 1.9423, 0.8745, 0.0345, 0.8181, 0.9558, 0.9996] state[eef_state]: left_x=0.2947 left_y=0.0033 left_z=0.1631 left_yaw=0.0743 left_pitch=-0.1249 left_roll=-0.1277 left_gripper=0.9983 right_x=0.2774 right_y=0.2939 right_z=0.0085 right_yaw=-0.038 right_pitch=-0.067 right_roll=0.069 right_gripper=0.9996 state[joint_eff]: [-0.0479, -1.7162, 7.1316, 1.6386, -0.0317, -0.0122, -0.0122, -0.2256, -6.4479, 5.9829, 0.7253, 0.0611, -0.1734, -0.0171] camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"After the radial advance, the marker barrel now lies across the fingertip closing line near the center, with the long axis nearly perpendicular to the jaws. I’ll close on the barrel and verify a substantial retained opening."})
tool
executing move_to over 10 steps (1.0s)
step 295
assistant
agent noteThe empty-close reading and image show the left finger pushed the marker away rather than trapping it; its barrel remains intact just beyond and left of the tip. I’ll reopen, advance 3 cm, and shift another 4 cm left so the barrel crosses the exact jaw center.
move_to
right_x0.3100right_y0.3400right_z0.0000right_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]: [0.0036, 0.8772, 0.6525, -0.4595, 0.0071, -0.1753, 0.9983, 1.1179, 1.953, 0.8772, 0.0769, 0.7921, 0.8963, 0.0124] state[eef_state]: left_x=0.2947 left_y=0.0034 left_z=0.1631 left_yaw=0.0762 left_pitch=-0.1251 left_roll=-0.1298 left_gripper=0.9983 right_x=0.2817 right_y=0.2997 right_z=0.0068 right_yaw=-0.0016 right_pitch=-0.0709 right_roll=0.0613 right_gripper=0.0124 state[joint_eff]: [-0.0068, -1.7436, 6.9402, 1.6093, -0.0269, -0.0366, -0.0122, 0.0342, -7.4188, 5.5043, 0.9695, 0.3004, 0.0122, 1.0037] camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.31,"right_y":0.34,"right_z":0.0,"right_gripper":1.0},"note":"The empty-close reading and image show the left finger pushed the marker away rather than trapping it; its barrel remains intact just beyond and left of the tip. I’ll reopen, advance 3 cm, and shift another 4 cm left so the barrel crosses the exact jaw center."})
tool
executing move_to over 10 steps (1.0s)
step 305
assistant
agent noteThe correction places the marker’s white end directly between the two fingertip tips at the bottom of the wrist view. I’ll close now on that end, which should leave a measurable opening if captured.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0036, 0.8791, 0.6525, -0.4599, 0.0074, -0.1757, 0.9983, 1.1015, 2.0804, 1.0733, 0.062, 0.7902, 0.8749, 0.9953] state[eef_state]: left_x=0.2948 left_y=0.0033 left_z=0.1625 left_yaw=0.0761 left_pitch=-0.1274 left_roll=-0.1302 left_gripper=0.9983 right_x=0.3097 right_y=0.3411 right_z=0.01 right_yaw=-0.0027 right_pitch=-0.0476 right_roll=0.0929 right_gripper=0.9953 state[joint_eff]: [-0.0342, -1.7573, 6.9949, 1.6093, -0.0024, -0.0024, -0.0122, -0.6222, -8.3624, 6.2427, 0.9402, 0.315, -0.0513, -0.1783] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The correction places the marker’s white end directly between the two fingertip tips at the bottom of the wrist view. I’ll close now on that end, which should leave a measurable opening if captured."})
tool
executing move_to over 10 steps (1.0s)
step 315
assistant
agent noteThe close again pushed the marker forward; the wrist camera confirms that even at the bottom of the image it was still beyond the actual fingertip point. I’ll reopen and advance 4 cm without changing lateral alignment so the marker passes under the jaws rather than remaining just ahead.
move_to
right_x0.3500right_y0.3400right_z0.0000right_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]: [0.0036, 0.8791, 0.6525, -0.4595, 0.0071, -0.1761, 0.9983, 1.1, 2.0872, 1.0786, 0.0727, 0.7811, 0.8715, 0.0121] state[eef_state]: left_x=0.2948 left_y=0.0034 left_z=0.1626 left_yaw=0.0767 left_pitch=-0.127 left_roll=-0.1303 left_gripper=0.9983 right_x=0.3107 right_y=0.3442 right_z=0.009 right_yaw=0.0036 right_pitch=-0.0499 right_roll=0.1017 right_gripper=0.0121 state[joint_eff]: [-0.0752, -1.7573, 7.0632, 1.6044, -0.0024, -0.0708, -0.0122, -0.0615, -10.947, 4.8342, 1.116, 0.4176, 0.0562, 1.0672] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 315): [image omitted: streamed camera frame] camera 'left_cam' (step 315): [image omitted: streamed camera frame] camera 'right_cam' (step 315): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.34,"right_z":0.0,"right_gripper":1.0},"note":"The close again pushed the marker forward; the wrist camera confirms that even at the bottom of the image it was still beyond the actual fingertip point. I’ll reopen and advance 4 cm without changing lateral alignment so the marker passes under the jaws rather than remaining just ahead."})
tool
executing move_to over 10 steps (1.0s)
step 325
assistant
agent noteNow the marker barrel lies physically between the jaw tips at the very bottom of the wrist image rather than ahead of them. I’ll close once more; this alignment should trap the barrel near its white end.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0036, 0.8791, 0.6525, -0.4599, 0.0078, -0.1757, 0.9983, 1.0145, 2.1254, 1.1103, 0.1745, 0.7414, 0.7826, 0.9951] state[eef_state]: left_x=0.2948 left_y=0.0033 left_z=0.1625 left_yaw=0.0758 left_pitch=-0.1274 left_roll=-0.1304 left_gripper=0.9983 right_x=0.348 right_y=0.3405 right_z=0.0108 right_yaw=-0.006 right_pitch=-0.0246 right_roll=0.1265 right_gripper=0.9951 state[joint_eff]: [-0.0068, -1.7162, 6.9675, 1.5995, -0.0366, -0.0317, -0.0122, -0.8821, -8.335, 6.7897, 1.1013, 0.1538, -0.0708, -0.1538] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 325): [image omitted: streamed camera frame] camera 'left_cam' (step 325): [image omitted: streamed camera frame] camera 'right_cam' (step 325): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"Now the marker barrel lies physically between the jaw tips at the very bottom of the wrist image rather than ahead of them. I’ll close once more; this alignment should trap the barrel near its white end."})
tool
executing move_to over 10 steps (1.0s)
step 335
assistant
agent noteThe jaws met just at the marker’s end and nudged it instead of enclosing it; the endpoint is now exactly on the jaw centerline. I’ll reopen and advance another 4 cm past that endpoint so the barrel sits behind the tips before closing.
move_to
right_x0.3900right_y0.3400right_z0.0000right_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]: [0.0036, 0.8791, 0.6525, -0.4599, 0.0071, -0.1761, 0.9983, 1.013, 2.1284, 1.113, 0.1852, 0.7395, 0.7788, 0.0122] state[eef_state]: left_x=0.2948 left_y=0.0034 left_z=0.1625 left_yaw=0.0767 left_pitch=-0.1274 left_roll=-0.1302 left_gripper=0.9983 right_x=0.3495 right_y=0.3421 right_z=0.0115 right_yaw=-0.004 right_pitch=-0.0202 right_roll=0.1328 right_gripper=0.0122 state[joint_eff]: [-0.1846, -1.7573, 6.9812, 1.6044, -0.0024, -0.0513, -0.0122, -0.0615, -11.0564, 5.0256, 1.2576, 0.2857, 0.0513, 1.0476] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 335): [image omitted: streamed camera frame] camera 'left_cam' (step 335): [image omitted: streamed camera frame] camera 'right_cam' (step 335): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.34,"right_z":0.0,"right_gripper":1.0},"note":"The jaws met just at the marker’s end and nudged it instead of enclosing it; the endpoint is now exactly on the jaw centerline. I’ll reopen and advance another 4 cm past that endpoint so the barrel sits behind the tips before closing."})
tool
executing move_to over 10 steps (1.0s)
step 345
assistant
agent noteThe extra advance finally puts the barrel beside the fingertips, but it is now under the right jaw rather than between them. I’ll shift the arm 5 cm to its right, which moves the marker leftward in the wrist image onto the closing centerline.
move_to
right_y0.2900right_z0.0000
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]: [0.0036, 0.8791, 0.6525, -0.4595, 0.0074, -0.1761, 0.9983, 0.9413, 2.1864, 1.1816, 0.263, 0.6983, 0.6918, 0.9948] state[eef_state]: left_x=0.2948 left_y=0.0033 left_z=0.1626 left_yaw=0.0763 left_pitch=-0.127 left_roll=-0.1305 left_gripper=0.9983 right_x=0.3868 right_y=0.3442 right_z=0.0143 right_yaw=-0.0002 right_pitch=0.0114 right_roll=0.1492 right_gripper=0.9948 state[joint_eff]: [-0.1709, -1.7162, 6.9675, 1.6239, -0.0171, -0.0464, -0.0122, -1.2103, -8.7863, 6.653, 1.2576, 0.0415, 0.1538, -0.1197] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 345): [image omitted: streamed camera frame] camera 'left_cam' (step 345): [image omitted: streamed camera frame] camera 'right_cam' (step 345): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.29,"right_z":0.0},"note":"The extra advance finally puts the barrel beside the fingertips, but it is now under the right jaw rather than between them. I’ll shift the arm 5 cm to its right, which moves the marker leftward in the wrist image onto the closing centerline."})
tool
executing move_to over 5 steps (0.5s)
step 350
assistant
agent noteThat shift moved the marker farther toward the right edge, so the wrist-image lateral relation is reversed here by the current roll. I’ll correct the other way, increasing right-arm y by 9 cm to bring the barrel back between the jaws.
move_to
right_y0.3900right_z0.0000
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]: [0.0036, 0.8791, 0.6525, -0.4595, 0.0071, -0.1761, 0.9983, 0.8703, 2.1197, 0.9901, 0.4782, 0.6674, 0.6189, 0.996] state[eef_state]: left_x=0.2948 left_y=0.0034 left_z=0.1626 left_yaw=0.0767 left_pitch=-0.127 left_roll=-0.1303 left_gripper=0.9983 right_x=0.3921 right_y=0.301 right_z=0.0149 right_yaw=-0.0119 right_pitch=0.0572 right_roll=0.1698 right_gripper=0.996 state[joint_eff]: [-0.1026, -1.7299, 7.0359, 1.663, -0.0366, -0.0562, -0.0122, -0.8821, -10.0308, 3.8085, 1.0623, -0.1197, 0.0269, 0.1099] camera 'top_cam' (step 350): [image omitted: streamed camera frame] camera 'left_cam' (step 350): [image omitted: streamed camera frame] camera 'right_cam' (step 350): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.39,"right_z":0.0},"note":"That shift moved the marker farther toward the right edge, so the wrist-image lateral relation is reversed here by the current roll. I’ll correct the other way, increasing right-arm y by 9 cm to bring the barrel back between the jaws."})
tool
executing move_to over 8 steps (0.8s)
step 358
assistant
agent noteThe right-arm target is reach-limited beside the basket and the apparent “marker” is fixed along its side, so I’ll stop treating it as a sortable item. The actual remaining classes are tan/brown bears (left basket) and gray elephants; I’ll rotate the left jaws 90° at the fence-side limit to grasp an elephant along its radial dimension, where the lateral limit previously caused misses.
move_to
right_x0.3000right_y0.0000right_z0.1800right_gripper1.0000left_x0.2500left_y0.0500left_z0.1500left_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]: [0.0036, 0.8791, 0.6525, -0.4595, 0.0071, -0.1761, 0.9983, 0.857, 2.1162, 0.971, 0.5083, 0.6678, 0.6048, 0.9961] state[eef_state]: left_x=0.2948 left_y=0.0034 left_z=0.1626 left_yaw=0.0767 left_pitch=-0.127 left_roll=-0.1303 left_gripper=0.9983 right_x=0.3947 right_y=0.2941 right_z=0.0153 right_yaw=-0.0188 right_pitch=0.0679 right_roll=0.1685 right_gripper=0.9961 state[joint_eff]: [-0.0342, -1.4701, 7.0085, 1.6777, -0.0073, -0.0122, -0.0122, -0.6359, -10.2359, 3.5624, 1.1306, -0.1734, 0.0757, 0.0024] camera 'top_cam' (step 358): [image omitted: streamed camera frame] camera 'left_cam' (step 358): [image omitted: streamed camera frame] camera 'right_cam' (step 358): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.0,"right_z":0.18,"right_gripper":1.0,"left_x":0.25,"left_y":0.05,"left_z":0.15,"left_yaw":1.57,"left_gripper":1.0},"note":"The right-arm target is reach-limited beside the basket and the apparent “marker” is fixed along its side, so I’ll stop treating it as a sortable item. The actual remaining classes are tan/brown bears (left basket) and gray elephants; I’ll rotate the left jaws 90° at the fence-side limit to grasp an elephant along its radial dimension, where the lateral limit previously caused misses."})
tool
executing move_to over 25 steps (2.5s)
step 383
assistant
agent noteWith the jaws rotated 90°, the nearest gray elephant is now centered along its body length in the left wrist view despite the fence-side limit. I’ll descend to mid-body height while preserving this radial jaw orientation.
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]: [-0.334, 1.578, 1.1343, -1.3563, -0.8532, -2.0476, 0.9988, -0.0811, 0.7879, 0.485, -0.2054, -0.0906, 0.1265, 0.9988] state[eef_state]: left_x=0.2586 left_y=0.0549 left_z=0.1439 left_yaw=1.512 left_pitch=-0.1356 left_roll=-0.1254 left_gripper=0.9988 right_x=0.3012 right_y=-0.0048 right_z=0.1638 right_yaw=-0.0782 right_pitch=0.0477 right_roll=0.1678 right_gripper=0.9988 state[joint_eff]: [0.1709, -5.7368, 6.9812, -0.4664, -0.4274, -0.1294, -0.1392, -0.1299, -1.5658, 10.2359, 1.7998, -0.2515, -0.1197, -0.1294] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 383): [image omitted: streamed camera frame] camera 'left_cam' (step 383): [image omitted: streamed camera frame] camera 'right_cam' (step 383): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.04},"note":"With the jaws rotated 90°, the nearest gray elephant is now centered along its body length in the left wrist view despite the fence-side limit. I’ll descend to mid-body height while preserving this radial jaw orientation."})
tool
executing move_to over 7 steps (0.7s)
step 390
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]: [-0.35, 1.7378, 0.9001, -1.0359, -0.8608, -2.0491, 0.9983, -0.0841, 0.7918, 0.4847, -0.2272, -0.1047, 0.1123, 0.9987] state[eef_state]: left_x=0.2509 left_y=0.0548 left_z=0.0539 left_yaw=1.5032 left_pitch=-0.1083 left_roll=-0.0573 left_gripper=0.9983 right_x=0.2987 right_y=-0.0031 right_z=0.158 right_yaw=-0.0618 right_pitch=0.023 right_roll=0.1629 right_gripper=0.9987 state[joint_eff]: [-0.4444, -5.8872, 3.9316, -0.0073, -0.359, -0.2857, -0.0659, 0.1983, -1.5521, 7.3094, 1.9902, 0.0904, 0.0708, -0.022] camera 'top_cam' (step 390): [image omitted: streamed camera frame] camera 'left_cam' (step 390): [image omitted: streamed camera frame] camera 'right_cam' (step 390): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
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]
call 0 attempt 0 · /responses · status 200 · 11.06 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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  ],
  "role": "system"
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{
  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7994, 0.6155, -0.3801, -0.0219, -0.0299, 0.9996, -0.0154, 0.7986, 0.6106, -0.374, -0.0128, -0.0227, 0.9996]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.1838 left_yaw=-0.0002 left_pitch=0.0 left_roll=-0.0003 left_gripper=0.9996 right_x=0.2967 right_y=0.0013 right_z=0.1829 right_yaw=0.0006 right_pitch=0.0 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -1.7026, 9.4291, 1.7558, -0.0317, 0.1197, -0.0562, -0.7726, -1.6479, 9.8667, 1.6972, -0.1099, 0.0611, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cbad0aacc9dd6de988032108df1b0e3e931acbe74ad5301546f9ca3e0370e36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b35b6e55475eb19bd2352a42be0b2149d545fd9e4f1bd92b0043b616d9bfb70e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f34b168373a1a25113195cb63f6e04ba65198ff1458887dda290a3dc9bd1c20f",
      "type": "input_image"
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    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "text": "",
      "type": "input_text"
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[blob elided: media budget]
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call 1 attempt 0 · /responses · status 200 · 3.474 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_0505104689070752016ab44393223887d0960e78db5336fa77",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEOcztclbGcIkao9FBmpPTC8_AWinv3QHXq1lRL5la1YdG4N0YKt3X7JCc7jZlscJ3nekCjttaUkFMjIvKDmwd4CzAGXhE15h04joybdqShFO7OjZvYcvFa0R0fVfXojmeJfW1TwVTwMYVgwnQeS4JnBQj2PHR9FvX5nalwISUYSezS0xlE9s4Pd5Y4enabPwE7zcSowHRhIfkpcIQS_LJdHQwCEfqLYOR5oyp6hmu_8A_SVUxKgRj5pnK0PC1xTJrYsi_eWu_L9N41sUaG614IWV2LCK-fG2dMoIgaz2ZBaZNwz6Kvc6ERbePyrGZDcN4isCaGD30gviqb0K3HqfVJYqggkWB7yb9sYh3ojH1DHj_8MMsAxoCHiGw5qQkZL21r9H4aS18J1J5V3z1dcp5ZJk0BY-X_3ZFest-j8UoZbPL01dLnAFS5HfQWs6fm46oj7TK1D2KHwi2V9IdrRGIgXfU0HEAXTJiC_R3-ynCsnfn3Ks-FoiaZ3YxIHXhACVgyhKZsdq9jleotYju2TwZnaENbTIIa-vsIeb1Otq9uO_EXQ_x__IhRWZujxpRcgmKwgp0hvZMiPO75IhnS-RAeWD6QVmxIQlRgbPnVFd6MDuvON1hlDr3Cn-o8D7nQR2k_t5YD1GePspcM1JbqnQCZIvKMJA5Lnv0TdqnAC5xiqW0dekMwZh9kKzNtWGgoFGwAoF8CiNseOvHKVH1llPZPWfSTg98-ForbxKNQXYCAuBpGQLJDWIAuONoYZAkS00Nqdq1dH7w76ewz7AANnwbARsZYCsrWhEN5zeV5_5FZvJj9hejQ5kpIJdfaMi_-scISnB0F1wxGVp3njm_9eHH-h9QiXy3MuIT3gwoXOc6q0bAV11Swn5JamrGUXvvt8DRoAyfa0SqYxF4_0JANFZJ7yvG-17W_Dpx9QaILiGr3a8JV51TZuXNkZZoSZqywCMvTkTH9w0Qg9RZi8mfUmAW_gHCMwZz0QRIHxAA16D5hbvrZQuVXqJQ0ZTjoItx6RnNWTTO_l6rFcpNtGLKV2zP-ifNB1gayTx9i2vG_KzKjXONbi_kiPX23Cks4qKl6dnB5sHUVjzeeCUSw5neLop4_aEJQWnsYE2qBJJZ67c9iw0ivuMwuOOucVp-Ve0bBxqWajb8DGgpZ87LU76CxQK3vIEpEZS0NdB816RgAKchoUaGYU4N1_ZtV5tjiA2Qp5hK1KGJd6SAKmeCmTJxBgdelgybjnJb-35R1Izn4fNlbIVWNKWmjDLblnX0xblqNo2c3u6hn0Nu2TQtYIUuuiifmxSk_Ba1Mjej-rZ5fD23KRD5RzH1PqUWTf-SED6ZjOC6ICVeUcph9IY35FkCbBdmdVuTFf_U0JoGO9IPg2h_8o9mKS1v02SGnQZTl3J6nqbgNlWFKlUKPMUXpYtUegOFDPYCqzik--SIhL9OBULMIvam-HhGeMvTFZw239D-OHpohmtjfgv1Eug7IDwfWesFV6FaBZGbNRLXfITxF2jeotRIeaKmAuJorf__sYD3iMpiBDDU7rWzx4ar8RpxXDi6uEhUjcDJ8SYj3KAUHTXiJbc77IsAN_WpfSXcpTMTKh-JOGlLRLFbRkfKtjZ-UpwsGo3wU_timfxI9TJ1vP0F1fjtapio-johjnnc8htuCpoqF-lOnWZ7uJi6AS67ASQ2hrtkPcbcPcpEwZwkw-RYX8urAlnopJmxoWKigzDQ5RmB1RsNHR_N4REnu-4MG0mxAicxq6oS4b20EB6U4eM2MaHFipLJY4tYLkDI1mbib7UtgvPn2hv-22wh5BQDCTzXOp7hkjN2P6HujILXZBPnG7pFzR_DlqgFDfB5jZvDQXX4Nwm_fnPCE5ML4-MCtUL58rkp0RBElzgWjlaCA9U7bKzmFECqCEJ19dA_FirlG3H0MoC7cmeff1Ygd_CE5S28EpBuleODqOcdxUIDwN2pbhoxJbDNGSpu1W3DEXFoZsV4pTYT2e2ms2cG2ItydQSCYJmE2MmD038Smq4pKdtj4Z1G-c_tH1K1I8D1W_aQSfYbbg7s-1yDb0Q4SfLMrCqN4J9x5dib01Bxc9t1y6Rm3wBxjhPBDMuVu6kn_WELs1CwKxx5QABwAgBcSOQiXIOf2EyZtq7l_VObyc2L9RKR6w_YVkNDAHvkVc-DgCENfrMenFLj3AuVOIVQ1PoX30bX2Re1iiepXKcAC8nO8pDBAfPoUjWxl1MbxWyMQyD4n5DnZlc58NOVktWiFb4LUbPATzHUIrwajXfDVb4O0XQkU-Q0E=",
  "id": "rs_0505104689070752016ab44398e9f887d0ba21cd20e96bf0cc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.13,\"left_z\":0.16,\"left_gripper\":1.0,\"right_x\":0.2967,\"right_y\":0.0013,\"right_z\":0.183},\"note\":\"I see two empty turquoise baskets at the back and a central cluster of roughly six small plush animals in two visually distinct designs. I’ll bring the left wrist camera above the leftmost upright toy so I can identify and align on it before grasping.\"}",
  "call_id": "call_TLhPHUOo1pO0kaGGIVrb8oVn",
  "id": "fc_0505104689070752016ab4439b116887d0977ec087508b7e5d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TLhPHUOo1pO0kaGGIVrb8oVn",
  "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]: [-0.548, 1.3384, 0.7746, -0.1341, -0.4492, -0.342, 0.9996, -0.0193, 0.8013, 0.6086, -0.3847, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.3611 left_y=-0.1263 left_z=0.1415 left_yaw=-0.0058 left_pitch=-0.0537 left_roll=0.0184 left_gripper=0.9996 right_x=0.2952 right_y=0.0 right_z=0.1791 right_yaw=-0.0036 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -5.0667, 9.3744, 1.873, -0.2857, -0.022, -0.0562, -0.0068, -1.4701, 7.2137, 1.7753, -0.0366, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2dd1a7813ef1630ed05c905940724164124de4fc0d0de8d371a7c5c5bc0af8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:926593634ededda27f4a1bb8b4bda252791b38ba95535489d80628d3cc390e33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:079f383f5dfb5bd07f0bffbda0a9aa83285fb203a3c25ddb6f9c764fcd88e34a",
      "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 · 8.616 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7994, 0.6155, -0.3801, -0.0219, -0.0299, 0.9996, -0.0154, 0.7986, 0.6106, -0.374, -0.0128, -0.0227, 0.9996]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.1838 left_yaw=-0.0002 left_pitch=0.0 left_roll=-0.0003 left_gripper=0.9996 right_x=0.2967 right_y=0.0013 right_z=0.1829 right_yaw=0.0006 right_pitch=0.0 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -1.7026, 9.4291, 1.7558, -0.0317, 0.1197, -0.0562, -0.7726, -1.6479, 9.8667, 1.6972, -0.1099, 0.0611, -0.0562]",
      "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]: [-0.548, 1.3384, 0.7746, -0.1341, -0.4492, -0.342, 0.9996, -0.0193, 0.8013, 0.6086, -0.3847, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.3611 left_y=-0.1263 left_z=0.1415 left_yaw=-0.0058 left_pitch=-0.0537 left_roll=0.0184 left_gripper=0.9996 right_x=0.2952 right_y=0.0 right_z=0.1791 right_yaw=-0.0036 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -5.0667, 9.3744, 1.873, -0.2857, -0.022, -0.0562, -0.0068, -1.4701, 7.2137, 1.7753, -0.0366, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2dd1a7813ef1630ed05c905940724164124de4fc0d0de8d371a7c5c5bc0af8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:926593634ededda27f4a1bb8b4bda252791b38ba95535489d80628d3cc390e33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:079f383f5dfb5bd07f0bffbda0a9aa83285fb203a3c25ddb6f9c764fcd88e34a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEOnh4GRwywnFgMYkfaHkh1V5pvFTVavZPaaxUaO44EdobNRZyFbNiAhhEMnpKl7vowL8rkEpxuLrCldHMiy_sWIBCurykk5R-fau8wn9A_LervRWGQsaa4szx_HehnTC8o0KeDSIehYjcxW-pD0TyQetM1Fj7za8JeodE_yv7iQ4Uj1Du5U1ellXU7YeJUA31VWYChnuc0j1OlmEUgczWME1TZDAn5zQh7rlb8BwHlVjOv2kTs63_xsdqDq2WefM5gpWNFh42xP1kbow4-lmN1EyG80MGv_pmnu3J5nu7NPHCfkktqKQh_P_fqmB9dwr8IXPkfwDTbT-XfSmKAdYBnicbFfdFNe_N9RAiWa0RqnECOep6zQeD9gZFcknFqIyM71TDmat_uGaHjDtBaE8FzpT_5abEl2cHJ56vqQMoHKPPRTfCS1TZCJupt9u-Hi96EmZvhJL3jaQmpyZ40HEQ2GZUnSNaGC81Ipi2g1Crkx4GsI23QvR7S1i5WtM9crdQLkAMPz9DhubIHIC1mM2DjzZljrxsi6fiYszd2pabeWr3W5rO7XkRJGe2MQt3E---7fYakwRtvvgxEro75yk-12s4M8ukh9b_2kzHmG7zb72lNWGjv0zzdcafWbD1XFZa36ACC-wUx2Xi5ll5xm__MK6jYEIi8NOVnhFKiGBG2bbaB0WOdOl9TALAnu6WSxBJh_uayiPqG33LWedxy8hTkoszrFjf3fTMbCv2G39XPCJhJZZ_bgV4l8PJ32lJG4qhtoyUr_DZ4YYryy2yIVFm7xrtbFh10lDxqXCFhO_iR7Xbs7Ew_WXvbmLEAxv-W0MiA4k4jZBzzKWsG4LyAESro-9ycnC6cFpIcU52v8fjDICFQHK1fDV3oewuqmT_6bB0r6tqXgUsMZvvqw5ZR9WiVCVJnrK_p-cLJCzOqqS5o1OJIQ0SSR1SDe58PurAL-SOoWkb-WIawNS4KGZ-uBxzF4a0JOYEShfY6BtTh-C4KbWktwfYi-Z3OU_caf_uStTNCgardA-BrESCyuKKIR4FcbuRuxfdMTTTLg68evHt6lMgEm4ss6OfpPA_0jGTNX2KTJM64dRLP1G_JUh9G6p8pBlhMl88H-6pyWwypR3UP32cdJ0dENcxicX9UoknE5nJQm0pSDF3EFGdNNgsDSJwv-S9OpuqI74OSw8psiCSILFCm3_pLriTq9IRD32Tg4MPLTX4lLbTHfMXj9qYw_hsIh1TeTS8oGcsZPdXrIEB_W_nfIx5aQL5Ms4Ai2Qqw3HVq1Vo3T6Dcu9NAVYbSt4CH9hMTFNQjFbRUybXjWOBgpxUk2n0GxMkzy271Xje047KCWsNctFk5odGyUjLcvTWvWxCUu88h9LzGyPSm5mFgggOJXC7DvSXzwH-_gUYnBWPWVix7Tw2uxu3V9aHzzlmQ6JBZKA5qiaTvSMt3XikIq5v8Kc-dearQS-LMjCCdxAm5Q_wzuwCT18zniQnXa5b2aVh52xsYt_Uzn-Jn0X9hQ3A9uT1SRjGitkdb4T6IDIFVAihfC6PlxTL2FHUfOg0m7FbMiKDnMx5ij-MrL2pR7P11hUqmexDV-8HtHWNdhwIXvxIzugS4DPoVq5wtvMKSx0xi9wMUJfPpLYKK631kpBUNe3A6mbJr9pFbA3gZ2XleuD7tT_qT5KtSjHjyjJNJ4Jze6abfeVuUy151ouwLxooDwm__KmVOpDjr-O7OiL3WQN2eGHtGOeWWaETzUSGc4wQ==",
  "id": "rs_0505104689070752016ab443a5794087d0b53ba3ac2a4a0479",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.13,\"left_z\":0.16},\"note\":\"The first move landed over the left basket, confirming that image-up corresponds to larger arm x; the toy is closer to the bases than I estimated. I’ll retract radially by about 9 cm while keeping the same lateral coordinate to bring the leftmost toy into the wrist view.\"}",
  "call_id": "call_sQrDhBcS1bx14xM1N3TNpBVb",
  "id": "fc_0505104689070752016ab443a6bc4487d083980703aeec6c6e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sQrDhBcS1bx14xM1N3TNpBVb",
  "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]: [-0.8288, 1.0389, 0.691, -0.4492, -0.6266, -0.551, 0.9996, -0.02, 0.807, 0.6079, -0.3847, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2722 left_y=-0.1383 left_z=0.1601 left_yaw=-0.0356 left_pitch=-0.0542 left_roll=0.0039 left_gripper=0.9996 right_x=0.2955 right_y=-0.0002 right_z=0.1772 right_yaw=-0.0044 right_pitch=-0.0217 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [0.3487, -3.2479, 6.6803, 1.3162, -0.4664, -0.0562, -0.0171, -0.1299, -1.7983, 7.2821, 1.7216, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0ce948f80860bc0216aaa47c7876f38083ba4d4fb71ab892605da7dd42ad78d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6519e8894190c8b31d1c9bf3a5e2ababc9c1051fa296d65bbf1661e3785174da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5d9a22969ed795f72653209aaa0d3066ee764efa106abfa6194487a5e336537",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 6.942 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]: [-0.548, 1.3384, 0.7746, -0.1341, -0.4492, -0.342, 0.9996, -0.0193, 0.8013, 0.6086, -0.3847, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.3611 left_y=-0.1263 left_z=0.1415 left_yaw=-0.0058 left_pitch=-0.0537 left_roll=0.0184 left_gripper=0.9996 right_x=0.2952 right_y=0.0 right_z=0.1791 right_yaw=-0.0036 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -5.0667, 9.3744, 1.873, -0.2857, -0.022, -0.0562, -0.0068, -1.4701, 7.2137, 1.7753, -0.0366, -0.0073, -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]: [-0.8288, 1.0389, 0.691, -0.4492, -0.6266, -0.551, 0.9996, -0.02, 0.807, 0.6079, -0.3847, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2722 left_y=-0.1383 left_z=0.1601 left_yaw=-0.0356 left_pitch=-0.0542 left_roll=0.0039 left_gripper=0.9996 right_x=0.2955 right_y=-0.0002 right_z=0.1772 right_yaw=-0.0044 right_pitch=-0.0217 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [0.3487, -3.2479, 6.6803, 1.3162, -0.4664, -0.0562, -0.0171, -0.1299, -1.7983, 7.2821, 1.7216, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0ce948f80860bc0216aaa47c7876f38083ba4d4fb71ab892605da7dd42ad78d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6519e8894190c8b31d1c9bf3a5e2ababc9c1051fa296d65bbf1661e3785174da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5d9a22969ed795f72653209aaa0d3066ee764efa106abfa6194487a5e336537",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0505104689070752016ab443ab00c887d09d18d998eba01d19",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.04,\"left_z\":0.15},\"note\":\"The closer view reveals two clear families: gray elephant-like plush toys grouped on the left and tan floppy-eared dog plush toys on the right. I’ll use the left basket for the gray toys and shift laterally onto the nearest gray toy while staying high.\"}",
  "call_id": "call_3n2GulqhgSX0s64euqgQflls",
  "id": "fc_0505104689070752016ab443b0805087d0b7ccfa10a334887b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3n2GulqhgSX0s64euqgQflls",
  "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]: [-0.3069, 0.7315, 0.5179, -0.4267, -0.2569, -0.2047, 0.9995, -0.02, 0.8082, 0.6079, -0.3855, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2711 left_y=-0.0351 left_z=0.1513 left_yaw=0.0036 left_pitch=-0.0522 left_roll=-0.0019 left_gripper=0.9995 right_x=0.2954 right_y=-0.0003 right_z=0.1767 right_yaw=-0.0047 right_pitch=-0.0237 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -0.9915, 6.5573, 1.6825, -0.0122, 0.1148, -0.0171, -0.1299, -1.388, 7.0496, 1.6972, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3815f72449455be88f1fb4b9934b716edc6a741bd5d6e966fb41b92dbdc16eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:260b2f5ada123363e5ff38537c0482ff7ab84c48195c8fd994d2ed5bde1a14f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baf79f7ba8993e96ba13787da1161b6ec5c8f68716b3c9ba86945f83a4cd093a",
      "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 · 6.041 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7994, 0.6155, -0.3801, -0.0219, -0.0299, 0.9996, -0.0154, 0.7986, 0.6106, -0.374, -0.0128, -0.0227, 0.9996]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.1838 left_yaw=-0.0002 left_pitch=0.0 left_roll=-0.0003 left_gripper=0.9996 right_x=0.2967 right_y=0.0013 right_z=0.1829 right_yaw=0.0006 right_pitch=0.0 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -1.7026, 9.4291, 1.7558, -0.0317, 0.1197, -0.0562, -0.7726, -1.6479, 9.8667, 1.6972, -0.1099, 0.0611, -0.0562]",
      "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]: [-0.8288, 1.0389, 0.691, -0.4492, -0.6266, -0.551, 0.9996, -0.02, 0.807, 0.6079, -0.3847, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2722 left_y=-0.1383 left_z=0.1601 left_yaw=-0.0356 left_pitch=-0.0542 left_roll=0.0039 left_gripper=0.9996 right_x=0.2955 right_y=-0.0002 right_z=0.1772 right_yaw=-0.0044 right_pitch=-0.0217 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [0.3487, -3.2479, 6.6803, 1.3162, -0.4664, -0.0562, -0.0171, -0.1299, -1.7983, 7.2821, 1.7216, -0.0415, -0.0415, -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]: [-0.3069, 0.7315, 0.5179, -0.4267, -0.2569, -0.2047, 0.9995, -0.02, 0.8082, 0.6079, -0.3855, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2711 left_y=-0.0351 left_z=0.1513 left_yaw=0.0036 left_pitch=-0.0522 left_roll=-0.0019 left_gripper=0.9995 right_x=0.2954 right_y=-0.0003 right_z=0.1767 right_yaw=-0.0047 right_pitch=-0.0237 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -0.9915, 6.5573, 1.6825, -0.0122, 0.1148, -0.0171, -0.1299, -1.388, 7.0496, 1.6972, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3815f72449455be88f1fb4b9934b716edc6a741bd5d6e966fb41b92dbdc16eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:260b2f5ada123363e5ff38537c0482ff7ab84c48195c8fd994d2ed5bde1a14f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baf79f7ba8993e96ba13787da1161b6ec5c8f68716b3c9ba86945f83a4cd093a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEO6qgmUinFVuq63lJFsUNPS9zkcN7dhe-3pFf_gxjp_1Tx9mkL4eUii0Mw9FdOMc9f-_nUhHvc0gjAwNWk-u7ms2f58oePBAshMzFW5AbQt2RvXohEVC1hAClIZPiZ7qe1HyUKUY-mhMmP9bFaHw0nRxc8ip_i3wU0x_fp8I4Ry9dckRDwpnv5Bm-8sLHZJeelrpz_gHdN6kt37NBmlW-bH56Awwp6O4aA1hvlkip0z7DsM99IFzIoeISKBXRTtzZ011NG0vh1Nw7rQ5Fg0No3voUO-J7yXOFX4YTy9PX9zplSvx7fbnSh9wf21j9FtYgxK3lCKD9ZB_7dJ10F5Nd3SVQkL76ReSRRcs_SuOKtK-XhbwSxaqaAFt7Oynde6Vc41IcqGYwiC81HrQ8C4ojUeLTS-WYKaVQXzsnfUF1p-GxkhxcyfWgJwjV-KTch8xSwDGNT8-9i2za01Cg6RbIZ16e3EneYDYLzAQRqlM1Wg8dGbnBBWjjUiZJ3FDHNsTn8DsqmRDgJTVJfoy6I78__4OiIloWqWxO_H4RL0XbEtCds-MFhdeUNfyfE9qOvS15hWgoJrmFZHucJNglMv52qSrrC5LCb5h8mNAcgoOHwbIzr39d4ty7rz4bv2AOQx8waqnR6wHVQKs--DWJbMy5EeSM2OBZNmxsdbsC0dSur5U1N6kKaCq6I4q2LfX4oSwhDOPnTNd2pcyZuRc3kuzErsso-Rz7jD7uqIaMbhF6Lrfc8WUpHspkMuNPzEjIB8yMTEqKnoNRyFc3IdREagGthMAfdule_rIXgHMc0WdtEtYxvXiZToT63JPKZVTEiJnab57rodwnxiRgO9_tXTwjHWLNr035RAbGQDPRlibO358Ww-FYOWbRBH7wo_88HDm71E-7DMo2p02qM0i8i3aLbdOIT2rYQAiwxY5b5XmHY4YapWziI9VJtQiH9vF8Oh39dp6J426V7vRu2M-Rg878AlzrViaxFY5FdqzzfW_Fn0aKcT9Gf5ZJCFnPw8cNbj29gIpCvm4r6N15kcEpHQjGOxcbdiB2257qcIo7Z3153XKb5sd9vnycqM2Rhk2PeMNqRJ7gdermScbg0XSM-0BJ4ECb9IWgECgUfJvDK8gnZjMRcEQdrMIU9RYJnVb9SacPXEn3kzo9YdzRdKe6s1_WNx1focd5WNUrLvoDtrf1l37aCO7PZlSbhym4bBg-UXwrN6dLf9i7T00-wGqOp8a44OM2JnumF64cg8TZx9zvNAmlM8OKZJGwEIvPcasf8aolzVnkwm2c5Rk_xpdWIqrCIoHecDa7gMjn2cgs3GryasWmBa9jDOw8ua1GUTGBv3YZgRwqTU8lIRMrOHIZsfDOdj3erx7_I9TLMvWXEgQrxWqbfYbHux5-7AjbMW8te-qWm5ukZuD98qUEGCxdWtIS7ZQZtIJ9jGKxONUTpzgcknPE8eOmj5sYZBUE0_RXrHs2jL9wG3q6Wi12A_VoBHb4yvRzcRFBgFDpXqE3mZyjlpmIv5r5C2xX6v-2jNa23fL1-2eBBL6HLI0jWVckvCUMq19tKBDREErHnZy0C2_l9eMUlSt7Dh24N83etKvf6xCf1cJxADN9OrQ1vGqKpOggCQ8PsRuYP3wAuHnisM1p8RTjNoS_TkoVcq6UOfBA35IyHTCekFfqazmMFqU-_rbF3S3SrGlhCZl8C9Cn4FsCx3D6EUA1y-QZjTb4Ml3SQoBdYAz6ah2BRfOQDOacJ1QIVsU3Lobr4PC_Zi1twjXdqE04iT2xvnh5I7Zlt8d78TZQ1VwQeNgUmlkF2_Ug7dtc-3ixqREr9QSvX01R5eGUVvZV7D5c-eCQ4mydhf7xQBVQfbwCcGv4-4uEr2InbuQJeOt23E4_24O9BYdEWtRmC5086aOdzgCQVcHZjtUPuYSWw6AhUO0uo0P2dqQXdIy7ufrypALNPFyLK6LpydxFTMvq5fCU63gPo4v8YLnhZzCRSEPuPcOu48L0gXrezaJjXM_n-H3pqSYCHn8F-E7Vxmi9jA3MNruGZnDhSMull38Dncd6iQKt7zKUlRVddMbggqnwQz61NB4Vr7rMaAZjJxzj8VrycfO1q14VOZxXodsDSxq505W4jRV01sAWSIoydLHmM6ZvrTEdQ3ia8B1fQ-egPjeTMMK_7e2Gfq5CRnza7DZTIHYG0OF9sUTml4Ff4OWvb54JWzAu-EbYhfSfa7typhJnO5FwsgSYeGOxrVu_jmD3fi7aDoxlTHPN1RarPGk01JQtNH0dQuL5lqaOY_COWzejNfAvMANHgxAdvaWDLFc_oQQDi2SZcO-IMDXV3AP5eBBx4HCd-Ckt7FMVQeiEXyuu53Vlnk58p81iKuNISjupHN_QjAc4zS8R-guGUPHg0dSfNGBOQwqKjajP9jfEgDZUZc7lWXSFhpJHm0eLn4KpemvpxWsLE6QDG9M9JllVH7GUalcP49GsbV7F_kX3dPmCd4jXwn92a6lGFBoJWrdhfhJ0sORXIfEpzEZucsgoFr726z9lmyNmnztNRf6UqiyNkx0O6i0hmHjBEXUm-LubnZ3KPiGb9nBa8xJcxInSubFrvB4paCUA9VnkDFdTqTk29taTaMWxbeZcWyDD7cDWCBMuWIiYhqyUMP3OrZGF88FFW3HK9VkXnJVtkuc9Q=",
  "id": "rs_0505104689070752016ab443b621ec87d0abc8d40b7c97a9bc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":0.0,\"left_z\":0.05,\"left_gripper\":1.0},\"note\":\"The nearest gray plush now sits directly beneath the left gripper in the overhead view, with its broad soft torso just slightly to the arm’s left. I’ll make a small lateral correction and descend to mid-body height for a secure grasp.\"}",
  "call_id": "call_RWa0pbLlVowruXcskW8EA3Dq",
  "id": "fc_0505104689070752016ab443b96a8c87d0ac60ee7f504edee4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RWa0pbLlVowruXcskW8EA3Dq",
  "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]: [-0.0433, 0.8494, 0.1318, 0.0776, -0.0509, -0.0586, 0.9996, -0.02, 0.8101, 0.6079, -0.3855, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2678 left_y=0.001 left_z=0.0473 left_yaw=0.0157 left_pitch=-0.0751 left_roll=-0.0045 left_gripper=0.9996 right_x=0.2956 right_y=-0.0002 right_z=0.1762 right_yaw=-0.0044 right_pitch=-0.0256 right_roll=0.0001 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -0.9368, 5.7504, 2.0147, 0.0366, 0.0855, -0.0562, -0.0889, -1.1829, 7.0769, 1.707, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53941aa5e69b88ae3138ef7904c2623f762b88a83a14ff1138076424bdc301d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df2e824dcacb777f2b56e784e3f7aa095ecd80f20746edc019d54c50c61f61b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2772f7a44e983a4aeac8f17c11e8456db211068eb8828d3c4c0929f0419ed0b8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /responses · status 200 · 4.173 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]: [-0.548, 1.3384, 0.7746, -0.1341, -0.4492, -0.342, 0.9996, -0.0193, 0.8013, 0.6086, -0.3847, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.3611 left_y=-0.1263 left_z=0.1415 left_yaw=-0.0058 left_pitch=-0.0537 left_roll=0.0184 left_gripper=0.9996 right_x=0.2952 right_y=0.0 right_z=0.1791 right_yaw=-0.0036 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -5.0667, 9.3744, 1.873, -0.2857, -0.022, -0.0562, -0.0068, -1.4701, 7.2137, 1.7753, -0.0366, -0.0073, -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]: [-0.3069, 0.7315, 0.5179, -0.4267, -0.2569, -0.2047, 0.9995, -0.02, 0.8082, 0.6079, -0.3855, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2711 left_y=-0.0351 left_z=0.1513 left_yaw=0.0036 left_pitch=-0.0522 left_roll=-0.0019 left_gripper=0.9995 right_x=0.2954 right_y=-0.0003 right_z=0.1767 right_yaw=-0.0047 right_pitch=-0.0237 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -0.9915, 6.5573, 1.6825, -0.0122, 0.1148, -0.0171, -0.1299, -1.388, 7.0496, 1.6972, -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 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]: [-0.0433, 0.8494, 0.1318, 0.0776, -0.0509, -0.0586, 0.9996, -0.02, 0.8101, 0.6079, -0.3855, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2678 left_y=0.001 left_z=0.0473 left_yaw=0.0157 left_pitch=-0.0751 left_roll=-0.0045 left_gripper=0.9996 right_x=0.2956 right_y=-0.0002 right_z=0.1762 right_yaw=-0.0044 right_pitch=-0.0256 right_roll=0.0001 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -0.9368, 5.7504, 2.0147, 0.0366, 0.0855, -0.0562, -0.0889, -1.1829, 7.0769, 1.707, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53941aa5e69b88ae3138ef7904c2623f762b88a83a14ff1138076424bdc301d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df2e824dcacb777f2b56e784e3f7aa095ecd80f20746edc019d54c50c61f61b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2772f7a44e983a4aeac8f17c11e8456db211068eb8828d3c4c0929f0419ed0b8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPCRZeMCq_sWiMlPuFNlm-Ir7xCNy34JKfLG7ftjsIVkS0YLa3TyE8Imyo7YKZKzIw9nZ63gWtCPvA3SS320_TXVb5H7r4SkWv6PQRqUXJehfj-9BvJcizdfT3Squmdvq5k1Pqh94VnW8K1NwvZlpjsKSmEeodnYuyiT9w8l3eXlxk3lEaMR9jW8u3OBt9gDtZMXowt2pcPKjLxhIU-1Js-3qTy6f1iqAUG5RTktZSj7UF3xYdi7JL9bxtecBskj0guuj98JVrHrDPi5kzofK1TZsGlmAhxOIp5Odb82Sd7oy0SfB-90bSU3oBtprW-t1KKmcVKjDRhxA4wdHFwisv1uZIFwEstTRAEevjjYVHk4u1SI5s9Bnf2O35sW4Ih97UznMlvqfAF8uSpLC1uwmVuDiL78X-_W-eZGHGpQyjXt7aH2gsn7nGQct0T-14qBI-01IgCddNLGqdbNcQyWFIMnrVdjPENFrXQyasMkjlsKK2U1ZgPbNoFkL5j-kN96U077c48yR_ms_E5jMHHvIiohLLLlw0HeprYdgslDAVfWJu6LIF6HHotOAXRV9ku6zrd6N_AGd79lQ3y15F7Qqa3yvldcdKo0sjP-J80m2epiPCWLZvvx5pMjogszZietzm-UgVV5R5ylW2RxrXc0TfRCuXp1VuHA5sPaiuKfKk3ekfNILgT_bLRybg2WDp5yAL_seCO51s1zvz2PjhFCJmUh9aGXTVUaAuBxjW5h4u5d_Cx8XOWX51kpnIAMEzs9uXIdZ248c49L7-E0w-gdtsRSntB6j6A8B1m9EAIQIasUs3qkyOs7B0v-BbR0Gff9Ky_8rd0AK_ukxjM41sAkUR-IzAqnCOhFhwzSh4LNR_E2C3k-Rv67w-IkMIk2I_vDfPrM0qTe35XVohBzZ5baQ8bfMcT3ae3K2hhmpGzMP0KWrsh3zFQy-r9ZwdQkCBovFA7CJdne1O2JX87S2Cf_Q_idLSIcNAxUZBwLKtFGX2ncDp8saXg4dhXQyABa-chOeNWHRw05pWIaH3LkI8dc_U1hyZEdPz_YIqWAEJcShyc-RPYwulbqMAKjDxcepfZ4w9plZu_cDJWP4P9uK-F1wEwdxe4HKlrW-8tnID5wZxLEutSvzNyQM8D0C4KNY0eXa-8WDGoxPpUndU7t3sBxICksdoWaKA4zgiMhug9lsBsdhkcjst_KMj0ty6h1m4I-SktfisDYx1jjD08YXONQiuBsvYpoQ9mv4kHHYrzdF7AK5lW3HNxrfEpz6d5gnNHHgTbrhxkK3v0WI6O6h1znQG4G2At_oTc_AaLVrAiKIsv-PWGJ0OrJb47EbtUK4R7-fnO1-c4-uqrVwT8otDi2S7J0UZLVqOINHAPqUsPcPC4zLzOMzpU-5f9MpDSkxGk_xa4GRk6xKOY0dwnAKc5oYr04u49tw0pNA_8Sspvr8XquHBz7KWc5RYM15bnHDNmvgdqsEX1gfrmEUTHjAmx7K8ceWLtaoNeCVyHf1g5NgKCN92lEc1EeUAQPCUQiXgF4q24OzZrS8UN8q5wn7jwUMrpCYItvbNVICtEY_u8OvRZTNZpXqHs2eI1J2fguTEXHIt0Jm8jLkvsA8Izg_M7AwOg9baSaQS7oACRzdEZ6DB_z0Z2COY-IUPlZ1c11zqG0DIQW7dcuaSNsp1ETweKfZqYjUaOSPjYQ33pkedAh-mbKICQCF8PMYtQkhLsoYkyrdUbkTOvYbhC4aFWYxJO_A6nFwhn58lHAFOYupzN4PfJU-y4kEr5klY7HVGwfPx1dZOUTywMyFAJRomZEMfH40MSPNbEK3q5_OcTQ-QhAq5RuQY2Jhn8w2Rn06YsLZ-FSIOn9-nkw-nm_AYABzC8X583DYFXTaYtf5uCJIseTKeF9Q-5H0xc9YTlRi3Vnenl8LrZrvHmT9itan23GaftWFOEnn6HlqPTSm3QiDN-Yod6r3tW-cS-A944yiGPEFt09k8HbRuNOuIjvjFMBlbulO1WK_FAh9JTyTZcm9Tqm36Jk1y5T43DmkwH0JtPRgV6WTuI7xkaViWhNwbwFB2GBJ7GA3amTaX_ybOF7ciwlW_dt_0Nn7ORe_aJO8jWT_nPb7HW2W7BYfYznlwxP3T8W_ydDk_cYZhvtwBI3_lzrNcSaWIOZlVfymy1XCfMD9Mzbtia2UOOhuvMS8fpzsrTqDY_rqWD9WVk7yhUpar9XPr2tIb5zQnO4Cb7zQQyrn_dtvrrr_hNR2guiAeMq43ya98BQU_Nnr77nv_Cvj5qLo5wBe9wJlV08acr_HWaE4xXqo81ZuDKWNHq4phd9r0swI3JjJbpSZLuq-D7tPuA9pkIbgwRA72RFLEenIHTfrseHUvmnkiNBxdzksNcdQ5QlInstQ1ldfN4j5ZJnwk_F-n50XPknhcPGqAZ-ANj6bMzd2_wgPi_BZm0bxMiQz5o6nSh_TS2JPz4c-d72gayIHpZc45p61jglIxlBq-mkrdK_-BWwv6pzMvolqeNhsPcsDNae4eHXSmjRivrz_-Ec6GZT7e1ZTHsscU9gLXBdw0hFMfE4V4StzVvYlQWL1iSKuye2geSUn_OcsnDMzzHPPwqbYpDyifOWbeJYyPZ6VUGGPiO4p-wAqw61aODsAzx6gSew3HyLOdOGEXUplLfVN-o7hYCn8ukp8wkXALjKcHWl8rvwdcPU18hDtQivjkrC-NjEWNuGhCq7cvrlAJq7Mwc1ak5B-IDGOowQja0AdLcClelUfZK78Y_IUP45alLyYSA8m12Ka0_PhhjYpAPaBSPLdNNrdjxst6gWtCvLvvLjxjlfJXPYd7JGPZwd7OSkaAnxRRLBQr7o--_iChUGwaWCMVTyAcNhAx6F0RzGVbwSzeRgVNPd7KPXNd2O_6XE5o2fIndXQN9S1qPgWq1kiZIhpUVCbgeChFgc9YB0Xw2QUq_PuD4bniFB6g_DKHB756gROYP61E5gsYbIpwVPrUlQZXu65eGaddf9rgUZDqu3iI1T0SIOnmmipZywTY6Igd2pjJ99ypHSwq8JjFJBBfL6kpyrTHxNt8dDyo7-EAZojo__zDPqmWYL56YYMg3dK6zXjwneqokeKTa43_6yrO4aGbcr_IKVDKcc1SYp6zmqoqX1ItpaYjbfLv1znugtoozCIu2bz18aC01Pmj4ty7XpqBhP4x_UhUCM72sMPKWIC1K6T_QMg1fHxAdSEkhuTvsoLmvyptWDcnkDQTX9yhCBwKSIJ71Y12TeAE5OWKnkWy6ZKQdWDZeosCMEs-SVAlr15kgSw7mpwHop7ms0QjC2ASmDB8FF4n2i4MQfK2iZvtMPR56aYdR1_VD5nSaysThvg==",
  "id": "rs_0505104689070752016ab443bda17487d08a616519e023baee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":0.05,\"left_z\":0.06},\"note\":\"At grasp height the wrist view shows I am over a yellow marker-like item between the groups, while the gray plush torso is still to the left of the jaws. I’ll shift to the left arm’s safe lateral limit to center the gray toy rather than closing off-center.\"}",
  "call_id": "call_8hqwu0YJk6ptoM8JAlKgPwcN",
  "id": "fc_0505104689070752016ab443c14ac087d081b3f0cf874c3be4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8hqwu0YJk6ptoM8JAlKgPwcN",
  "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]: [0.329, 0.8745, 0.1757, 0.0151, 0.2192, 0.1467, 0.9996, -0.02, 0.8143, 0.6067, -0.3851, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.262 left_y=0.0527 left_z=0.0498 left_yaw=0.0491 left_pitch=-0.1006 left_roll=-0.011 left_gripper=0.9996 right_x=0.2957 right_y=-0.0002 right_z=0.1746 right_yaw=-0.0044 right_pitch=-0.0305 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -1.4017, 8.9094, 1.5849, 0.2027, 0.0806, -0.0171, -0.0615, -1.6889, 7.1179, 1.7705, -0.0513, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8b911e471982db6dad5b8f23b6ba86fa3e76f44fc91678d5376be1403156c70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bf4b0a28e63c8dfc42c313801b2ce952277c52dc4c6b5bd82c118f963f68c15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc1ab6859184f4052065fd53814abcef387a0d33f25438a67917a296c42afb77",
      "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 · 10.91 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]: [-0.8288, 1.0389, 0.691, -0.4492, -0.6266, -0.551, 0.9996, -0.02, 0.807, 0.6079, -0.3847, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2722 left_y=-0.1383 left_z=0.1601 left_yaw=-0.0356 left_pitch=-0.0542 left_roll=0.0039 left_gripper=0.9996 right_x=0.2955 right_y=-0.0002 right_z=0.1772 right_yaw=-0.0044 right_pitch=-0.0217 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [0.3487, -3.2479, 6.6803, 1.3162, -0.4664, -0.0562, -0.0171, -0.1299, -1.7983, 7.2821, 1.7216, -0.0415, -0.0415, -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]: [-0.0433, 0.8494, 0.1318, 0.0776, -0.0509, -0.0586, 0.9996, -0.02, 0.8101, 0.6079, -0.3855, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2678 left_y=0.001 left_z=0.0473 left_yaw=0.0157 left_pitch=-0.0751 left_roll=-0.0045 left_gripper=0.9996 right_x=0.2956 right_y=-0.0002 right_z=0.1762 right_yaw=-0.0044 right_pitch=-0.0256 right_roll=0.0001 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -0.9368, 5.7504, 2.0147, 0.0366, 0.0855, -0.0562, -0.0889, -1.1829, 7.0769, 1.707, -0.0317, -0.0562, -0.0122]",
      "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]: [0.329, 0.8745, 0.1757, 0.0151, 0.2192, 0.1467, 0.9996, -0.02, 0.8143, 0.6067, -0.3851, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.262 left_y=0.0527 left_z=0.0498 left_yaw=0.0491 left_pitch=-0.1006 left_roll=-0.011 left_gripper=0.9996 right_x=0.2957 right_y=-0.0002 right_z=0.1746 right_yaw=-0.0044 right_pitch=-0.0305 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -1.4017, 8.9094, 1.5849, 0.2027, 0.0806, -0.0171, -0.0615, -1.6889, 7.1179, 1.7705, -0.0513, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8b911e471982db6dad5b8f23b6ba86fa3e76f44fc91678d5376be1403156c70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bf4b0a28e63c8dfc42c313801b2ce952277c52dc4c6b5bd82c118f963f68c15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc1ab6859184f4052065fd53814abcef387a0d33f25438a67917a296c42afb77",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0505104689070752016ab443c4b5ac87d0b3d8bdd38ad5a3c2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The maximum lateral shift brings the large gray plush across the jaw path; although its center remains fence-side, its torso spans well between the open fingers. I’ll close gently at mid-body height and verify the retained gripper width before lifting.\"}",
  "call_id": "call_9jBgGlSppvUOEsF8T4Iygnt5",
  "id": "fc_0505104689070752016ab443c6807c87d08c601eb71863dbf5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9jBgGlSppvUOEsF8T4Iygnt5",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.3099, 0.8742, 0.1738, 0.012, 0.205, 0.131, 0.0104, -0.02, 0.8146, 0.6067, -0.3855, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2617 left_y=0.0498 left_z=0.0482 left_yaw=0.0501 left_pitch=-0.1074 left_roll=-0.0159 left_gripper=0.0104 right_x=0.2957 right_y=-0.0003 right_z=0.1744 right_yaw=-0.0047 right_pitch=-0.0313 right_roll=-0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.7983, 6.4889, 1.6386, -0.0073, 0.0464, 0.8571, -0.1436, -1.3607, 7.2547, 1.6874, -0.0415, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2c29b19ed5b7fdd4c5bc0e8e8e51c2fbe1c699efc2b4904b11ea1c21c5e1815",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12162069f78972012a6d9f8a56bf084ac8fae5b3007123ad4ae98bd2dd75a2c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5183b11f4fd5e5fa1f3d7c0ddfe0d2c673aa21e0df046df606cea5411cff961",
      "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 · 4.307 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]: [-0.3069, 0.7315, 0.5179, -0.4267, -0.2569, -0.2047, 0.9995, -0.02, 0.8082, 0.6079, -0.3855, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2711 left_y=-0.0351 left_z=0.1513 left_yaw=0.0036 left_pitch=-0.0522 left_roll=-0.0019 left_gripper=0.9995 right_x=0.2954 right_y=-0.0003 right_z=0.1767 right_yaw=-0.0047 right_pitch=-0.0237 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -0.9915, 6.5573, 1.6825, -0.0122, 0.1148, -0.0171, -0.1299, -1.388, 7.0496, 1.6972, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.329, 0.8745, 0.1757, 0.0151, 0.2192, 0.1467, 0.9996, -0.02, 0.8143, 0.6067, -0.3851, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.262 left_y=0.0527 left_z=0.0498 left_yaw=0.0491 left_pitch=-0.1006 left_roll=-0.011 left_gripper=0.9996 right_x=0.2957 right_y=-0.0002 right_z=0.1746 right_yaw=-0.0044 right_pitch=-0.0305 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -1.4017, 8.9094, 1.5849, 0.2027, 0.0806, -0.0171, -0.0615, -1.6889, 7.1179, 1.7705, -0.0513, -0.0659, -0.0122]",
      "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]: [0.3099, 0.8742, 0.1738, 0.012, 0.205, 0.131, 0.0104, -0.02, 0.8146, 0.6067, -0.3855, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2617 left_y=0.0498 left_z=0.0482 left_yaw=0.0501 left_pitch=-0.1074 left_roll=-0.0159 left_gripper=0.0104 right_x=0.2957 right_y=-0.0003 right_z=0.1744 right_yaw=-0.0047 right_pitch=-0.0313 right_roll=-0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.7983, 6.4889, 1.6386, -0.0073, 0.0464, 0.8571, -0.1436, -1.3607, 7.2547, 1.6874, -0.0415, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2c29b19ed5b7fdd4c5bc0e8e8e51c2fbe1c699efc2b4904b11ea1c21c5e1815",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12162069f78972012a6d9f8a56bf084ac8fae5b3007123ad4ae98bd2dd75a2c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5183b11f4fd5e5fa1f3d7c0ddfe0d2c673aa21e0df046df606cea5411cff961",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0505104689070752016ab443c9c86c87d0a1cad697c0bf47f1",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPTGZSLSDMnpAP9DorH7Ux680C-w-j6PS0JkYdWQtTBh9Id-2Q061NFUI9XKbJh_WE7vF52VzVJ7cYsatJ8hO2hba3saIHo-1zYUXzufJ1w0Ib8bdVL-RH-dVSVVvwR80pnLRyBparBSX2NQg-5E75FxcXIXo_OyJEvz5GSc2Xou-C7AmuGjiqulMScCTAVuc4mb8EwRA57a7aRZdMSB2MUuIgh0uETzo7C4KjrMLFbJnej1NjxA4q_h9W2u145UofiYskgHfoe-plFdRc03a5aitUjmaI7bSYvo_idYc1wcvDgSend22YkLv6FPs5IRB5sEpHGSSYWH4YzHcebSW9vVdPhOeyzkJVotavKCkNehj3MSSua8h1zwVuaOu_IoEcf6VF2FeseIz2bA_yx_tUhytq4KIfzLrG1B8LXEB5RL3Gqur0zHTihLipn7GveXLwY10tvLSeXFhGGzEVYSQFLmzPfJiBjD_ed766865CNZlW9JHheVAkBra3d2IL_kY5m45I8OOwCaz9RLHWFlbqJnTrFdCjEZ5i0If2UMSnfk6FDwQvzxHGpPzp05MFs_ktE1uIeqgv3VPIxGzxiPfaZ7SxdORmYSy-p0c0OT-HuNd6EeRNvRbaQ-Q4OYcobyvAQ-6LInCQVO2hROMXC7PUQkDlVVySpAandpylB9chywvMncPiYGEVKn-xG901yaF0Bbrc-bEN8-jnQWka7pCSZ-3h65GppfCi0dfG2Q3v7DdRjH3WORyR5x7jsbXyU6bkdIMvykWHuN-ubfaXkzHTuImJzYQ9RAAwe5xk5t3amZm9g3EWJoqqgOvdf9Kb7JYXxewrv2-i36tvw3vMZgGUubSu2SlOtlxxHcNP00RE4d2zy8c08qG4jkd9x2cqSCmyTqyMuGcZN5JDIYyTaoqyXejqu8FoxV23pMYRyh_UeKh3Tc5U_knKddsc1YJkw8eJGuHtaDbKjJY5uLfJMZqGRttS1JpqTArl9mwqm5YceCDWzgESjbKF10Kp90_kFKQaZzuZgw2co8qQVyCx6_QCzHP6ars6MYprYrfJfJnit-M02KbXTvbrETVETCKZDy8hvnKzc8JlNVvr_VYNlrcDr_Kp1cEw3csK1mI2ozUh-MFQu1ZyCYLYKeYblMHUrKvUwQ0HWusb5VVo6EUxpuGB_c1UF7MaML-xKybz0e-eeg7i-lpzjRt9q7oBEiHzK-VYaS9w6utbC8D56rRDZeYYWLI86ON0KSVEovaOea4GJ00yMRe47smG_wYpiLqTwZ_K7agCX6HmooYcv_9W6PBVNaGFpijUgnD3YWxGjyXAVF-YG-XfrXhJAyhPn9XwCDm3Z5aA3vl8qqEUQRZRZSoZ7-wsuF0bcYQc8G7bUoquBEx_3djiJ4j7uRGYFuyEySSTlRrlyTxhqkl06hBE9Xh9rMS5wN2m1ZPsEOkeKrSufNTz4Jd9BL_b1aJEkTZ-oGqvrVLBpOxwWssgZXOJ30vuPYYsot8KTF6gbE3-KmDLxFJ3eNY7eRO7C2tCDdUfyFWQ57Yk1yomeid5brq8P0WKdxzjgKHv7ZPBI5eZs68DyJd3Sg4qAufQDL_ITjBualsoH9Hf5ZZdTNWWRDCvAwL0CNd9AmTVQDMSDhZ0hzLssnxN4IS9w5QHTv4XfwX3d_emddElT0Hq5A3cgKy8vN8HFIXEATZMwHDZQIlxybGwtu1u_ah6IPfgjpxZrUaqsIrA-pUF_XTDD56xt6WXNGFL3hqrghsAS_KE6Pr9XiR7hPDiX_f9aUc5ACb0DcU_k8L90HK-A3N030DjWZD_eV8A1_flpOB_PU7VFEMt_f8DQZsBgbPIPH5cjhEhp2gKZMi7sDfNhP5d8Pjq1vHhZBbNPzpBAVJHBA2lnvg7Wsb_J8qWe_zlvEm2aiLqIo3MYyHCo2T5_vVlXNVmagqtxQh5ErVaQMnBSbBuzjU6fFww1cwaYy0QAi5rytctX0EdlzB0bOKQZa2WIHcOE1rEQcDU5I3wi9cFHX-4AQgXg_PtlhQpjPg3IZxREUaFuCG_3PK_vegdz1NI5SwJoiWLrBCXzlcEEiVVpGk4_sQzbFX8SsK8CCVV74jpLUysLDKJeEi0rycfhjx2Tv7uvskzxLKcB5cbCV70bIbmqzMIIasjiuOxk3C6bPcQg581I69VlWKkFpecZPbDzvf1nPosEgGzNqPMloNp8gvZwdL_lIpoUeLqNf5OAr62qYoMN2yk5cDj15_ICBOKdWJbrdnCd2ZAq_z8Dg5xXujWwsXaKMQhgeZX-LQV_dQ0XGvDlhDeh_CUok98yNKES9VLhZKS_OoJT7K4MlOJhc-rKfoOAh2CwjSAF-UjKKkEgP7eUDfrW0Bp4LGZj3YrAQjUPutar0-gtYwhI3AtdAwowwkNwr3Cavv47uv__BDhQ3aJKJ2kBNETP7QBu7FenzH5hs6sF5Ot-yATq_vmNLqS5H6WOxxDNelv3i65Ll944-tIOdzoo54a1yfJgX4WaNKztZtet-RG4BXgQJT9Hmb5V6QCeUhlyA-TqcO93waE6d5Jdq7fGBbW-BLotLQuzEMbHN9zH8uI7Yw==",
  "id": "rs_0505104689070752016ab443cf3dcc87d086ceface4c0abaeb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.11,\"left_z\":0.16,\"left_yaw\":0.0,\"left_gripper\":1.0},\"note\":\"The close was empty, so the fence-side elephant’s center is beyond this arm’s lateral limit and I won’t repeat that same grasp. The scene appears to contain two broader classes—plush animals (gray elephants and tan dogs) and marker pens—so I’ll sort plush into the left basket and pens into the right, starting with an accessible tan plush.\"}",
  "call_id": "call_VkTrN2ZfYmDxErjTmrhu33rv",
  "id": "fc_0505104689070752016ab443d29c0087d0af23b60f381d4a8c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VkTrN2ZfYmDxErjTmrhu33rv",
  "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]: [-0.8001, 0.9115, 0.6518, -0.5964, -0.5644, -0.5865, 0.9988, -0.02, 0.8165, 0.6067, -0.3851, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2475 left_y=-0.1141 left_z=0.1502 left_yaw=-0.0293 left_pitch=-0.1283 left_roll=-0.0151 left_gripper=0.9988 right_x=0.2959 right_y=-0.0003 right_z=0.174 right_yaw=-0.0047 right_pitch=-0.0328 right_roll=-0.0 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -1.4564, 9.0325, 1.2039, -0.5153, -0.0952, -0.1392, -0.3624, -1.3333, 7.1863, 1.7411, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a02068b383e772f5e383ca6eef16ec315f6a9be5b32c95e92cf2b6c32f41df2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79f81143c2de4579ad908bc9a27d1f3679a0697edebf0554aabff90a28556535",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d26e1c907d11859c30d8bdb417e3b951ddfcf066d5e40f25eb540392deb3990f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 2.05 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 32 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]: [-0.0433, 0.8494, 0.1318, 0.0776, -0.0509, -0.0586, 0.9996, -0.02, 0.8101, 0.6079, -0.3855, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2678 left_y=0.001 left_z=0.0473 left_yaw=0.0157 left_pitch=-0.0751 left_roll=-0.0045 left_gripper=0.9996 right_x=0.2956 right_y=-0.0002 right_z=0.1762 right_yaw=-0.0044 right_pitch=-0.0256 right_roll=0.0001 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -0.9368, 5.7504, 2.0147, 0.0366, 0.0855, -0.0562, -0.0889, -1.1829, 7.0769, 1.707, -0.0317, -0.0562, -0.0122]",
      "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]: [0.3099, 0.8742, 0.1738, 0.012, 0.205, 0.131, 0.0104, -0.02, 0.8146, 0.6067, -0.3855, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2617 left_y=0.0498 left_z=0.0482 left_yaw=0.0501 left_pitch=-0.1074 left_roll=-0.0159 left_gripper=0.0104 right_x=0.2957 right_y=-0.0003 right_z=0.1744 right_yaw=-0.0047 right_pitch=-0.0313 right_roll=-0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.7983, 6.4889, 1.6386, -0.0073, 0.0464, 0.8571, -0.1436, -1.3607, 7.2547, 1.6874, -0.0415, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8001, 0.9115, 0.6518, -0.5964, -0.5644, -0.5865, 0.9988, -0.02, 0.8165, 0.6067, -0.3851, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2475 left_y=-0.1141 left_z=0.1502 left_yaw=-0.0293 left_pitch=-0.1283 left_roll=-0.0151 left_gripper=0.9988 right_x=0.2959 right_y=-0.0003 right_z=0.174 right_yaw=-0.0047 right_pitch=-0.0328 right_roll=-0.0 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -1.4564, 9.0325, 1.2039, -0.5153, -0.0952, -0.1392, -0.3624, -1.3333, 7.1863, 1.7411, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a02068b383e772f5e383ca6eef16ec315f6a9be5b32c95e92cf2b6c32f41df2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79f81143c2de4579ad908bc9a27d1f3679a0697edebf0554aabff90a28556535",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d26e1c907d11859c30d8bdb417e3b951ddfcf066d5e40f25eb540392deb3990f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPaYVq8s0J9fPJ3tSzxc04wYmT0YWtuHWtKqhIwf36Ep1uBp2y6VmhBjRBvUiKzwEdcLcSoAsDZu9oFlmUXJZVl1MGHmraebFLV23o6ez9B55UoB4aEon9WSNAWDe3aMuPxmUkcxAkhM7Y8xX98pmm8YSqZJZrWRNAoeqkosUWpyu7k2rF2Upiuv_16L8Y-7VYaK77PQYULjNYXp_dQU5eSmbAN4UWVRryJx5nNCOroGOHoHsUohS_tAavwaNiOiv58c9s0RHMyd2Kysoez2MeEHei7sjtUCOnpqs61mWCpI8u6nu1Kw9EhbnoyEjhDef39YMxo2yjzArVv9AItk9erPhPQZlA7WVHaQC6dEaSUT-8Vf-t36-sBh6RuD04r6gwfv120Wt99BGaOSjnibpCGVSsUflx-vRl1fcngrYL0ZTWcsCg3m0Vmj9wHa-MPk9UIM41omQtpPaQgWRKneQxMHnXOC1WQ4lQyLfDdOn9g_r9G-ZvX4uq_mpQWlyyTmPfXUVpf8QeNFre03JHWiLE80VVwXg9H7IF7NQrz6OyUKoXA656waKgdXl0C5d0AXqPU4mI7LKIH36X5wf2bLokAksLPh8sndN7UN0G9GmdI9KETwXXvN2FaNfYKSfcS8QmOfSYWum57eCJMELLmxJBeDixzM1nTjMrdiqA30dnVHPsF2PxaCR1SgyBwlR5A5jHdJH9nNoj2z70rT3QWgtA4iWMcHcxY1FN5pyF448_lBxIUv_QVyYuPNmUxMRD0pap0Qqzq2IH13M0DCGkwfh3BZR0HIQnrCHZsHLslNKZQEvvJzQoveB95E0-RdNyApI2ngM2aY0K7xqCYcUxpFsQflNLczLiEqHvjNswdczpWDYWbQ9-DFs8iUGEy6oQ_2BkrFaVYohbONrHRQuP1cf8YrblNGNLZpC4UOTSPfNjJe4fyHDA1SPc0OebPKC9QuAMBTkCLi4PKW7a_ZPP_ryRTKatxp0hhq4M4nq_9KuyXKW8runVHrGq-1OAaNQ4MVSE_s1ESD2syKbe67AWrPQaDkjpxUX8vcJLj900Ngf4zMmSwanV_FxmTvroBGiDW2Eqj00KxLhMl2noTa906AsF24KfTOXnb_lBX-Sh6FzIeYUcxpxZeS1DBpz0ALEY11rXPUT4drdy5YE6p1Y0sZ2OQ2uR6jJo9gYQgjFguRIp3n458pGfoFXqwaPTHd3EZq90RN_JzROKBqzyLYub37Ur_QsU5CRT4HVNxMYRlD_fHUdNmTYVY8u0gJieuRzBtv0wXpOQX5-Rede8M7Mx-b473AJEabzAf6TLXHJTdWzlilLCoIY6IZksJ0lEIHfbx1rh0_WZvXZ4MzHNEUwMLUR3eDDT4FCvlSUS79Utw2FoQ-YSpfh3Ro4Eo1bX9XLdpPOL-5KkP9qx4VLn4gPxOFyOKj1Qbj2APip3sXZR-uNF1NKdJyXW43aOLcrmL2opFd0gsMpYam24joxdwSg3SS5nl8ch9D6Wkoevzk-F2MWUCKuEU2ykfjY3a2kd5Mh1K2h1OPeNl8e2T-sOnm_qJSDF0wZ4l74EIoya-jAtfN-0lOCoGogaJ9ZWCFxd0CWMHcgIBwmSqtyWy_Hm4VGc2MwemkRPBY-uAtSwYUH7PU5BQjVh1GnsnM6A2I_Qzq2FqPmopt-s4AZ2xtQYQ88hduNv2Ht8VfovpSGLtd-lwoYlDNlru53ZK6tJPkzw5X0lWTZlBbo4-uMYhq3NiwwD_E1oYeOupCYyKciPa2k1rkiy7Ie_-0Yp_ABNMu_orT9G1mmv1GRdTraaKPA65L56nkZ35rir3xnHHxZRM7tvfaeFdOzK_Q1PX7gBu1F_ATB1wLXJ1sQFrQDZPfZCv4t82BKIOkf9xT65_QxJYOm4pfKTladA=",
  "id": "rs_0505104689070752016ab443d86d6487d0995cd94472f1542d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.11,\"left_z\":0.04,\"left_gripper\":1.0},\"note\":\"The wrist view now clearly separates the categories: a yellow marker lies beside several soft animal toys. A small brown plush is centered on the jaw column but still slightly beyond the fingertips, so I’ll advance 2 cm and descend to its torso height.\"}",
  "call_id": "call_Qj8BhFViAwTcsfx5mJPFN1yS",
  "id": "fc_0505104689070752016ab443d9f39487d09d546569210c2ec2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Qj8BhFViAwTcsfx5mJPFN1yS",
  "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]: [-0.6891, 1.1969, 0.2955, 0.0601, -0.4934, -0.5045, 0.9988, -0.02, 0.8192, 0.6067, -0.3851, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2663 left_y=-0.1063 left_z=0.0348 left_yaw=-0.0165 left_pitch=-0.1524 left_roll=-0.0023 left_gripper=0.9988 right_x=0.296 right_y=-0.0003 right_z=0.1732 right_yaw=-0.0047 right_pitch=-0.0355 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -3.3709, 5.9282, 1.5507, -0.232, 0.1001, -0.1392, -0.1162, -1.4154, 7.2, 1.707, -0.022, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bac93aef289254bceb48c9e95726e104cb28f24053066340d30a8d567ee7ae68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5ac5441d43cb03d316fbbfe78906846030cb1b92fe621e6ddbd3b86d673d83d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f620c64a21f343f75ec1532f2c33f15d096faf909b809a5359dfff48f879ae1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 2.399 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 32 changed as sent

message 36 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]: [0.329, 0.8745, 0.1757, 0.0151, 0.2192, 0.1467, 0.9996, -0.02, 0.8143, 0.6067, -0.3851, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.262 left_y=0.0527 left_z=0.0498 left_yaw=0.0491 left_pitch=-0.1006 left_roll=-0.011 left_gripper=0.9996 right_x=0.2957 right_y=-0.0002 right_z=0.1746 right_yaw=-0.0044 right_pitch=-0.0305 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -1.4017, 8.9094, 1.5849, 0.2027, 0.0806, -0.0171, -0.0615, -1.6889, 7.1179, 1.7705, -0.0513, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8001, 0.9115, 0.6518, -0.5964, -0.5644, -0.5865, 0.9988, -0.02, 0.8165, 0.6067, -0.3851, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2475 left_y=-0.1141 left_z=0.1502 left_yaw=-0.0293 left_pitch=-0.1283 left_roll=-0.0151 left_gripper=0.9988 right_x=0.2959 right_y=-0.0003 right_z=0.174 right_yaw=-0.0047 right_pitch=-0.0328 right_roll=-0.0 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -1.4564, 9.0325, 1.2039, -0.5153, -0.0952, -0.1392, -0.3624, -1.3333, 7.1863, 1.7411, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6891, 1.1969, 0.2955, 0.0601, -0.4934, -0.5045, 0.9988, -0.02, 0.8192, 0.6067, -0.3851, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2663 left_y=-0.1063 left_z=0.0348 left_yaw=-0.0165 left_pitch=-0.1524 left_roll=-0.0023 left_gripper=0.9988 right_x=0.296 right_y=-0.0003 right_z=0.1732 right_yaw=-0.0047 right_pitch=-0.0355 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -3.3709, 5.9282, 1.5507, -0.232, 0.1001, -0.1392, -0.1162, -1.4154, 7.2, 1.707, -0.022, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bac93aef289254bceb48c9e95726e104cb28f24053066340d30a8d567ee7ae68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5ac5441d43cb03d316fbbfe78906846030cb1b92fe621e6ddbd3b86d673d83d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f620c64a21f343f75ec1532f2c33f15d096faf909b809a5359dfff48f879ae1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPf7UpPim9RFJTHCFZixClXgvlQS7kD4B_0KRxqG_9MzJZV95OtaPvqadxP-gsO1P2UWds0I2hvPU5pw7x_i5DTIgEthxj9fiuQwHBby4rmaVkwiYAs1KZlRpYFDiMqSMnM4KIMGBL9wAEbeqijqjCQgyda5cRCRoPar87lUUJrsi8RQOaiDvVcYqR8ymAgsUOKC0WWxRCSJZbcbbECSuoadMflRn01AMgKb8u2PSooAs3i0zL0UJmp_xus0M8ftXH2wt70NEyLWexGz5Kk5gTBXwHNIzIOjnPT4_wOPWd_Gkg42U9NG-yQzk1gePIZRRFIQqg79s9Cef-X6I5vpN8dvJMG7b3wW9QO8T0Xgu4ZU9WkhGJ9Xw-L_TlTokptIgLGl9xPFFTFtw_zF3Slvi7421ycMueOhRUUbrIHr-kEBQkZKd9MqAsq0aTlYwIASahsq53shVUNKAwwip07U7z8S_ldYC60EIN5oJnwgvU5iEIWmh03YLAAv3Eqe6B-favhCvO9xjGMHorM3HO6i5S8TDm6urz7iobYKUV6GQ2heljhgwUiJmx-kYClgSQCWQNamTyOPAY8udl9CfXAJEgqArafgs_bzzTw4IQlVzgoDrrf5Xo3kGHyTQuKAaJHocqav_ujuXD-eAlPQ2bCD5M0-M3WjX-z-Z9ho-RecKrY5dGPNUzSNuVA1gMPBdwsct5TFSCzHeJsug2Lm51huyXtoWDqHa4kdhzabSigddFq0oSnEMpCGQ1p8Kv6LNshkBMkf7G6JczqHmAfpbhsn1UEgu0thWOarVpQZrO9K5S4FxNx8Dp4rNPITl3lWJSxF6YnmxwFcBbvNIrg2orRNE-v-gsZIXxZ6UUlYmh7u0BLkKP5sezZJsHrO2TrBnCWtLF06KbarJvuF-ENC7XCauDvaABKeQvlTFzHLnu4v-Zj89jKZeyr56ssW7Ej8bFcPgLFhXTZu5KR89cm-78bcjxdPVuEFvvxk75EqLA0XEzqSzgP4PXLCevghV369Sx6J2EWo96lpoMB067ciGKPiSerI1-MI1c8iEP0EFqPyRyZb274svYdVilTY5gEwgIKCZEBVYSIVlNLuqEiINa27UafjLoDdkGhkWyMLJzCjAl0W246d5kxROuyzDf1uSa3qVj33q31E3nYW2eoDfA_9saLYNy8-AvuSplDMgM8_PjrIOuAVzw3Asg0YlV_CKZzxzPNzoLXSG6yyXuBKytFwFz5yu27BM9rvxVkVWuNpImqyLALxLoAfYtpwA0QjZ4hJpVj",
  "id": "rs_0505104689070752016ab443de752487d08f697631076c99f8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The small brown plush’s torso is now centered between the two fingers at about 3.5 cm above the table, while the adjacent yellow marker remains outside the jaw path. I’ll close on the plush and check the retained opening.\"}",
  "call_id": "call_hHlyvavj8JqeGouFlwxuz8AA",
  "id": "fc_0505104689070752016ab443deaff887d0830427a534ce5203",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hHlyvavj8JqeGouFlwxuz8AA",
  "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]: [-0.6895, 1.1969, 0.2955, 0.0681, -0.4938, -0.5072, 0.0321, -0.02, 0.8192, 0.6067, -0.3851, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2673 left_y=-0.1072 left_z=0.036 left_yaw=-0.0159 left_pitch=-0.146 left_roll=-0.0091 left_gripper=0.0321 right_x=0.296 right_y=-0.0003 right_z=0.1732 right_yaw=-0.0047 right_pitch=-0.0355 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -3.0154, 5.6957, 1.3797, -0.2857, 0.0611, 0.5788, -0.0615, -1.4154, 7.2274, 1.7411, -0.022, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf41fa7ed14cb64dc8372b77b1130209d2d908689f145726d0edf2c2b4acd089",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37ca6696cf9dd27f435cabc45fed2c545be6c5261b72df3a2500e41a707f8c3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:472eab155968e0162ed66684eebf6decfe06f7d83442a766a17dcab95e1431c9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 3.077 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 36 changed as sent

message 40 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.3099, 0.8742, 0.1738, 0.012, 0.205, 0.131, 0.0104, -0.02, 0.8146, 0.6067, -0.3855, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2617 left_y=0.0498 left_z=0.0482 left_yaw=0.0501 left_pitch=-0.1074 left_roll=-0.0159 left_gripper=0.0104 right_x=0.2957 right_y=-0.0003 right_z=0.1744 right_yaw=-0.0047 right_pitch=-0.0313 right_roll=-0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.7983, 6.4889, 1.6386, -0.0073, 0.0464, 0.8571, -0.1436, -1.3607, 7.2547, 1.6874, -0.0415, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6891, 1.1969, 0.2955, 0.0601, -0.4934, -0.5045, 0.9988, -0.02, 0.8192, 0.6067, -0.3851, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2663 left_y=-0.1063 left_z=0.0348 left_yaw=-0.0165 left_pitch=-0.1524 left_roll=-0.0023 left_gripper=0.9988 right_x=0.296 right_y=-0.0003 right_z=0.1732 right_yaw=-0.0047 right_pitch=-0.0355 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -3.3709, 5.9282, 1.5507, -0.232, 0.1001, -0.1392, -0.1162, -1.4154, 7.2, 1.707, -0.022, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6895, 1.1969, 0.2955, 0.0681, -0.4938, -0.5072, 0.0321, -0.02, 0.8192, 0.6067, -0.3851, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2673 left_y=-0.1072 left_z=0.036 left_yaw=-0.0159 left_pitch=-0.146 left_roll=-0.0091 left_gripper=0.0321 right_x=0.296 right_y=-0.0003 right_z=0.1732 right_yaw=-0.0047 right_pitch=-0.0355 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -3.0154, 5.6957, 1.3797, -0.2857, 0.0611, 0.5788, -0.0615, -1.4154, 7.2274, 1.7411, -0.022, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf41fa7ed14cb64dc8372b77b1130209d2d908689f145726d0edf2c2b4acd089",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37ca6696cf9dd27f435cabc45fed2c545be6c5261b72df3a2500e41a707f8c3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:472eab155968e0162ed66684eebf6decfe06f7d83442a766a17dcab95e1431c9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPiL5Syc1QdFu99Ifnvv06Fy2EetFvA30AHlap_1ARrVtnTpO7AzZBhlzBw1q9oULT31_zv0isuaUHyhMic2lYijVyKqDv8f_p5YEF8EgtEQ3EqsI3himEa0B-BC7X1ycybWABxlIzkM9oDAxsUiV-j-3UTWj8wrvAA3LnOY9fDAcKlb8CC-C6zvuafKR1XVQOFBc1O19AvyIB3pB2LczWgZMVFHYnoQ2H36o6yNMDvMfcHx0AGSEj7e_GebL0cGBOsU9FsVWOqVm2D8SZPIo9s--hwOi9O3wzezSNAGEafTx-AHJO8cntuby791U-4bQ_31ZTZOIGJ0o5-Gq-CWRN6DfwhqxnoqbObOQ_WFbMnyh-bYmgWYaKypNpLz_Hq8V8hm5aDW4mlj5FdcXj5L0DKY7JpENpHgXxm1lxW2tszELk3x-P1978QMgYAJwvA79ciSqC5dpg4RDk1W5jJqQi0dWHA1XwKzoVesfpSTxxVjHcN0uo--TQX2hPY7JhAznM3OT5ODLiCpp6IipHW36yfFpg5lOp_ArxgtQykUxzF47KpskBRC8fgvut9iU_RvFMJmWmMG-XPZsa2LrptWESC4k77_q6FvJeNGRD0yBAGcLeE-uxfGH0Ob4qG1-FOFvd8nC2wkCY62HNsMiBjOW8k0pv6qO_MrK6UM8PzNyBD4Zn9npWuVXy651oDb0lRv-ntakEF8ck0437Ogwy8z6okx9df1_Uu9IYPeniOy4c0eliJ2oRgHidJbnhM_HbrxymI-yuNx2VbTrsvZlUKAK7Kkcuf_-3QXbq0cM4JpJBLvLmdP_cs-Feh8NPLR6vtPlDAzb3xOetC-IHWKanX06Ms2S20NyU6jJha0nsO10fmRMGdfYeAwvoRF_HiD-SnfxR3Ew5iM09cOJ694szOh-FAnSj61nvU8qiYe0-huPp6wigsS-wNjYNtnmg7dE4tUpul5lPY-57efUe-B8zKTuOhTXaUpo1ny63a72i2eMH2FRkILGMWqGMikNxPce4wxF3bNTb05lWaxXVcDIOgfb0WzUPT9aBmo2HY8xWTxeIXGNtE2LYuiuwhy_VMbEKExZvBuxOcDaGzHFjhatxTp2gXhtzVqHeDUPKR6kuchc9zSBrOiBHqtyxpv_c_B20RY990nkDu8tY_DHpamA6YidKqrGexTYCZawI00MeNUr5nC7dnp4UYVi7KLSgqahT6OzO419S2--Ugy0Jr1FVC3KVbA2K2OZ6cmfduN_UlHXBl2z9t6EETnrTust24UWjMPqFMMdGs0BowaWzG8Fo5voXt8A==",
  "id": "rs_0505104689070752016ab443e1af0087d0bc6986026d29ecd6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.14},\"note\":\"The gripper retained a 3.2 mm normalized opening and the plush is visibly pinched between the fingers, but that value is close to the empty threshold. I’ll lift 10 cm now and confirm in the overhead image that the toy rises with the arm.\"}",
  "call_id": "call_i3HBCRkwSJZyAqeGncNwVItO",
  "id": "fc_0505104689070752016ab443e1d61c87d090aa5f35e4106204",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_i3HBCRkwSJZyAqeGncNwVItO",
  "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]: [-0.6903, 0.9867, 0.6163, -0.4709, -0.4931, -0.5121, 0.0418, -0.02, 0.8211, 0.6067, -0.3855, -0.012, -0.0227, 0.9996]\nstate[eef_state]: left_x=0.2676 left_y=-0.1079 left_z=0.1314 left_yaw=-0.0138 left_pitch=-0.1526 left_roll=-0.0083 left_gripper=0.0418 right_x=0.2961 right_y=-0.0002 right_z=0.1726 right_yaw=-0.0046 right_pitch=-0.0378 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -3.2205, 8.6769, 1.3211, -0.2759, 0.0317, 1.033, -0.1026, -1.5385, 7.0085, 1.6923, -0.0415, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4272dc04ebb50cdec0aca7b1ef36b68e4909f1186a25317a686293be982ee15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b003f8a26342363c2234b2e3dc70d9593340bff552566ca0c18d905eec5c7d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:087dea7fa721113ce8a844be8b2060354e98893e06360f6584a9db510c7ef384",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 2.416 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8001, 0.9115, 0.6518, -0.5964, -0.5644, -0.5865, 0.9988, -0.02, 0.8165, 0.6067, -0.3851, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2475 left_y=-0.1141 left_z=0.1502 left_yaw=-0.0293 left_pitch=-0.1283 left_roll=-0.0151 left_gripper=0.9988 right_x=0.2959 right_y=-0.0003 right_z=0.174 right_yaw=-0.0047 right_pitch=-0.0328 right_roll=-0.0 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -1.4564, 9.0325, 1.2039, -0.5153, -0.0952, -0.1392, -0.3624, -1.3333, 7.1863, 1.7411, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6895, 1.1969, 0.2955, 0.0681, -0.4938, -0.5072, 0.0321, -0.02, 0.8192, 0.6067, -0.3851, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2673 left_y=-0.1072 left_z=0.036 left_yaw=-0.0159 left_pitch=-0.146 left_roll=-0.0091 left_gripper=0.0321 right_x=0.296 right_y=-0.0003 right_z=0.1732 right_yaw=-0.0047 right_pitch=-0.0355 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -3.0154, 5.6957, 1.3797, -0.2857, 0.0611, 0.5788, -0.0615, -1.4154, 7.2274, 1.7411, -0.022, -0.0659, -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 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]: [-0.6903, 0.9867, 0.6163, -0.4709, -0.4931, -0.5121, 0.0418, -0.02, 0.8211, 0.6067, -0.3855, -0.012, -0.0227, 0.9996]\nstate[eef_state]: left_x=0.2676 left_y=-0.1079 left_z=0.1314 left_yaw=-0.0138 left_pitch=-0.1526 left_roll=-0.0083 left_gripper=0.0418 right_x=0.2961 right_y=-0.0002 right_z=0.1726 right_yaw=-0.0046 right_pitch=-0.0378 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -3.2205, 8.6769, 1.3211, -0.2759, 0.0317, 1.033, -0.1026, -1.5385, 7.0085, 1.6923, -0.0415, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4272dc04ebb50cdec0aca7b1ef36b68e4909f1186a25317a686293be982ee15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b003f8a26342363c2234b2e3dc70d9593340bff552566ca0c18d905eec5c7d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:087dea7fa721113ce8a844be8b2060354e98893e06360f6584a9db510c7ef384",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPnHwPBy-ldwDGFjxpOrRcA9PdddGelQOzj8c5sILfjzIINYo27YLD2yUE5lHf8JEIysyIU5bk4XT3LYJawBhjuxaHxP5hC6OLnFR8BB1S63TPFVejiisBbCNZpnBY5Llr53QHTV-AejyIhRS4hN2uBLZ25a0F8PYHi7kyU1jlX6A8Llp2WW94sEYfvJwSUzDt2eiiwpRjYSF_dksIvjMH0nQ-3O50xF_kan9g6fU8Jh74CPoGmymEJDNoj0kQ3MR6lXTVd_oaopk41v7wl4vmVBBmHYSt6c7gN-AfcLCOala7AAA1QEBCm08yaD5OhjjlDnoZUpATgGJG4My6lxeGyCN_TLGflhXVD9uJCYoIBgZafKdvxFfmjIGiaowkvskV3LcQjFiRQy7QBTwks9fPLGkO42YolKJMTH1KMf3s5u19HBc7SsY2Ig5tCf_EyQV1nQbFkylEqG7OHwio5q9larUSodU37gMb-vx5V2rY4N8-UkP9iWRl2tGUeqgkCDqouNK37_krjOUZK2y2iPMLdCwBanipQnBr4iyjHhu-CnUBchJ3uJkntfJkrd6V8TDRdVw2b1ZhhJCil-7y3_vObDc49L2LD2XOpWGedkOgWeUiFSoKNlbarHyHJa5xqHUibW95sNdzm62WRUW9enlMzmsgoya3_Vm38WdO2e9I2icBqQF8U8goJ-TJrX5TY3DqoVNzroYajR0WgekS23DaEu4xSRtVRaKtMLRwq37KXNqaKg17l5QDfAxbRx-PqsFfWH2gWjSQUUvvjnHPu-r0j4zaEBtFGmn0cIIvbzYbttS4i1PBaED5ovtrGG7meEXWQJ4qSNcuK70bz46BS_wFpmgjdTEW1buAmfDOCbIOwvc75FMlMwypyb43052bQLj6NxDfmYNqYJLvCkOd8RdPWb645ydm_yMi2s-tklwyYSL2wur2r16UyKGxRXpGAqPH3dnIXpZDuEDfT6ycpg5moYLzIas-lxURLeFe-zv4riEAhXqFKAZZTG0k1Zh07mAhUczJEoS9VsCrd7bOjweOP_dojvqAn3i5dslhrQ7bvphopjxmcNY1WA1g5KNlK2_a90B5-DslQqxQ6f_ihVHBhHm4hX7iLw0ngT9U3hH6lVe_8h8FqobWxd9O3arCkGjhug2egPRu7uzp8nhp5iM7CxpvbS6nDkNe6gy3w1DOlflaGadOHu6bXt-T9TkhEOfBGdTf4HXzTasASzVDcqh3aPrlQiE8kGPCXSAQeBXBoz74jIa7ci5hCY8xshiTeX90ouWOJPPhofz9w8ufoppSlpfWwEBxsBmc_hilf2vfwZY90qeZec5Se-5JZpiefbr_sOJxtwXP32a8tfuwvX2qy67ArVutgDa5GSxeGnQ33VdsWUoKEHCuEp6z2QSVV_kcfZVNzZElvrDNWf9wk9FHWhwmpT6FBnlYkrUxNWrl3VTSUxdPPrE37e7cGfOZXJ2xU5HdpPwqwVbyI2_IzYCOf239KnSYjh3qcwTVhkG0gms1DxQxxmB4knJqG4eEC-2ReAa4keX3mqJ1uXwgjVPdfbnZqAubntDVHDsX-z4NrPgKC-J53zX6UNstXukUouCsfeFGiq2MqVbhfn8mQlna5-iczO3m1RsiZq9CeiOtwJ4NXPZdHLH1Nid288ZYUraqqT6FUFnWOMKtP678xS1bfsFJp7thC2gHjq0p7rngwZRG55SwBcOUUSfKhx-JqoWDq06QYB-BiFYUzatpZrOn1-zb9OXYPVskYwJoh1CbkihM=",
  "id": "rs_0505104689070752016ab443e56e0087d0a7f9b54f4f2b701a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.13,\"left_z\":0.2},\"note\":\"The overhead view confirms the small plush moved with the gripper, so the grasp is secure. I’ll carry it high to the center of the left basket, which is the designated basket for all plush animals.\"}",
  "call_id": "call_1Ht9ssRU5Kky1tNh6TYqO1ZC",
  "id": "fc_0505104689070752016ab443e6929887d096063a5c708da8ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1Ht9ssRU5Kky1tNh6TYqO1ZC",
  "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]: [-0.5091, 1.3727, 1.0763, -0.5457, -0.3725, -0.3992, 0.0418, -0.02, 0.8249, 0.6067, -0.3923, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.3616 left_y=-0.1241 left_z=0.1818 left_yaw=0.0124 left_pitch=-0.2044 left_roll=0.0012 left_gripper=0.0418 right_x=0.2954 right_y=-0.0002 right_z=0.1702 right_yaw=-0.0044 right_pitch=-0.0484 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -5.9009, 9.3197, 1.6728, -0.1294, 0.3101, 1.0281, -0.1709, -1.7162, 7.0222, 1.7705, -0.0317, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a145eab53cef96120fc1461ace04c6e2f8d8ef2151f5b8ff19c157fef7bcd8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94928e796eb7bf656ada1cbbab05d35b77192bd3a59bcbada6ab0eb37793a459",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3f2b4f1892e1fca0df51defe629168eab5afc50fbbb0d9d9c53bfa1222393a2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 3.084 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6891, 1.1969, 0.2955, 0.0601, -0.4934, -0.5045, 0.9988, -0.02, 0.8192, 0.6067, -0.3851, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2663 left_y=-0.1063 left_z=0.0348 left_yaw=-0.0165 left_pitch=-0.1524 left_roll=-0.0023 left_gripper=0.9988 right_x=0.296 right_y=-0.0003 right_z=0.1732 right_yaw=-0.0047 right_pitch=-0.0355 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -3.3709, 5.9282, 1.5507, -0.232, 0.1001, -0.1392, -0.1162, -1.4154, 7.2, 1.707, -0.022, -0.0708, -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]: [-0.6903, 0.9867, 0.6163, -0.4709, -0.4931, -0.5121, 0.0418, -0.02, 0.8211, 0.6067, -0.3855, -0.012, -0.0227, 0.9996]\nstate[eef_state]: left_x=0.2676 left_y=-0.1079 left_z=0.1314 left_yaw=-0.0138 left_pitch=-0.1526 left_roll=-0.0083 left_gripper=0.0418 right_x=0.2961 right_y=-0.0002 right_z=0.1726 right_yaw=-0.0046 right_pitch=-0.0378 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -3.2205, 8.6769, 1.3211, -0.2759, 0.0317, 1.033, -0.1026, -1.5385, 7.0085, 1.6923, -0.0415, -0.0122, -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]: [-0.5091, 1.3727, 1.0763, -0.5457, -0.3725, -0.3992, 0.0418, -0.02, 0.8249, 0.6067, -0.3923, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.3616 left_y=-0.1241 left_z=0.1818 left_yaw=0.0124 left_pitch=-0.2044 left_roll=0.0012 left_gripper=0.0418 right_x=0.2954 right_y=-0.0002 right_z=0.1702 right_yaw=-0.0044 right_pitch=-0.0484 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -5.9009, 9.3197, 1.6728, -0.1294, 0.3101, 1.0281, -0.1709, -1.7162, 7.0222, 1.7705, -0.0317, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a145eab53cef96120fc1461ace04c6e2f8d8ef2151f5b8ff19c157fef7bcd8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94928e796eb7bf656ada1cbbab05d35b77192bd3a59bcbada6ab0eb37793a459",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3f2b4f1892e1fca0df51defe629168eab5afc50fbbb0d9d9c53bfa1222393a2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPu2uY1F1C5Q038S-baP0sLpO8s2_6H4_J4h6H0QYllcFJnWBnZBNpOKfUCTEClbIM3vwz12Y5o67vjDyh74dL9slEAAhoIf0CueQiGhQzeQ42lm-oaJVNLjrFm74TPfn6kxulKCXMPpXp2Citjykl-hrKvzL0lv6-u6WmN9-VBl7V5orXc7a5KbcIkmfcAjbxD_znmMy2FyYXfcQfBvTT4M5F_GFPDevb_sPk3et41UrmE7qa3OXNWmk_md-Rr-6rs4GF2xUbOX71hkXSzpABeCTVzXptMsHEXuZrOa_q20pQqFzUq5PVONba3G3jpSbwusObX1urA9qDjaPGZC0HnyGIaIFEk3wr9mQs4NpyWOk9Ubl03yMMcXFbyMez6ZdmWQ4AqP4n1H0IjCnyTJzgmfMuxq5UJEzS0WhWMSpZBG9NaUULa7Jpq-SZZ2xotUWMZ_94oMwmOlnbj34LVFtlGSgBfGoB0A8WYRjjNwB9JGnHNoeCDrcbfxHz4R67a0aTx63lNkAgkRbuP1cwM19A7s11upc0Xt3sPceHeokvoQts3IdjL_J48L6ktdqoUmGHUF1PG5IiLQRC1lsmCP8zJoJWpABwAOYTS8ErKhXKRWMKPhJOYw2tg-TToZnPzYCJEHzILXMvMGpnb3TxA2yKnoqB066D2cUrkX7W8EMiO-Uuxhhn6klFyI0FYW6UdZi8C82Wd8qy1vve3QK9CE21g9LK1ju_1YLwu6RpBB4XRSmKLot5p0_zDoVG3z5YPrC0owPI53A7e4SfSxqOov5j7KTTSlpZYqh91TKAfm6Cft-CS8wS4_FEOEsUeUc-DbGdymfgWybrg1FgDgiMDD4nfD65p4c840jXcB7kA4viMvSvG7igf1Fxz63L7Rp7HO9_VS9EzcQWPb1USwOgbdrvcox-rWRbPXtMFRSUTVShnWERc5sQ_PZxz3TFtFziZ90_KnhTV1kInrNeUirNTU1J0M1aa-rZhD41JWHFu20nd8MD7BrVjP4I4T6wymVI8QzxzzpCzbNH_KR9sTXChnQzsvDIQ8nJ1ovg9S_plHXBRksYCjVsu3gZuICatzuZolFUxv0pXwPVdvCwUW2hHllKQ6ntnTSWr6GfRiHLrd-lBeUm7ce3hto9WrcmbnQv5Fgi5MleqFH92r4YB1hyb43rZd3Mv2evoz1rWPLYxpCndjcFGthc7vTG-ZE_odSznCARzpSavzcFDmLzj2fi1Vi8hCpFGV8jT7zi45ceH0WKOz1ACgjtO2ucsEsKU1aQbisWXiQN8JDyJ17eIad2RwccrvRN2Ghy_JRsRDDmQQUjL0_K6F1kK1GVlQ_X3dfX0Rzn0rXbwKNuDegcEb3oet2lR5hurQKq4zAi0ZGfEmV1ntkuz8-Nd-_siOScfamNIdbwa",
  "id": "rs_0505104689070752016ab443ed621087d08c7b255895a00b3d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.08},\"note\":\"The held plush is centered over the left basket with ample clearance from its rim. I’ll lower until the toy is just above the basket floor, then release it.\"}",
  "call_id": "call_0TWednXmDAeLx9LOY2ApRTrK",
  "id": "fc_0505104689070752016ab443edddfc87d0965bbf3df49e8c0c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0TWednXmDAeLx9LOY2ApRTrK",
  "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]: [-0.5091, 1.4532, 0.7856, -0.0158, -0.4034, -0.4038, 0.0418, -0.02, 0.8257, 0.6067, -0.3927, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.384 left_y=-0.1308 left_z=0.1229 left_yaw=0.0291 left_pitch=-0.0567 left_roll=-0.0645 left_gripper=0.0418 right_x=0.2954 right_y=-0.0002 right_z=0.1699 right_yaw=-0.0044 right_pitch=-0.0496 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -3.1932, 4.0137, 0.7106, 0.0904, -0.0122, 1.0281, -0.0068, -1.3197, 7.0496, 1.6972, -0.0415, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a9de5706aac5ad2ff7c3b7b0cba6d9948e336ac4bc35d55b3d6e3cea8c30c59",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4914b3d5590de12ad1494356cf138f1beaf295f7e5f2bd73f57d8751d94e92d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:753a8dcb36c64e23703bb7c69f004f2529deabda79625afa733e0056cdf475d7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 1.962 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6895, 1.1969, 0.2955, 0.0681, -0.4938, -0.5072, 0.0321, -0.02, 0.8192, 0.6067, -0.3851, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2673 left_y=-0.1072 left_z=0.036 left_yaw=-0.0159 left_pitch=-0.146 left_roll=-0.0091 left_gripper=0.0321 right_x=0.296 right_y=-0.0003 right_z=0.1732 right_yaw=-0.0047 right_pitch=-0.0355 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -3.0154, 5.6957, 1.3797, -0.2857, 0.0611, 0.5788, -0.0615, -1.4154, 7.2274, 1.7411, -0.022, -0.0659, -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 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]: [-0.5091, 1.3727, 1.0763, -0.5457, -0.3725, -0.3992, 0.0418, -0.02, 0.8249, 0.6067, -0.3923, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.3616 left_y=-0.1241 left_z=0.1818 left_yaw=0.0124 left_pitch=-0.2044 left_roll=0.0012 left_gripper=0.0418 right_x=0.2954 right_y=-0.0002 right_z=0.1702 right_yaw=-0.0044 right_pitch=-0.0484 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -5.9009, 9.3197, 1.6728, -0.1294, 0.3101, 1.0281, -0.1709, -1.7162, 7.0222, 1.7705, -0.0317, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5091, 1.4532, 0.7856, -0.0158, -0.4034, -0.4038, 0.0418, -0.02, 0.8257, 0.6067, -0.3927, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.384 left_y=-0.1308 left_z=0.1229 left_yaw=0.0291 left_pitch=-0.0567 left_roll=-0.0645 left_gripper=0.0418 right_x=0.2954 right_y=-0.0002 right_z=0.1699 right_yaw=-0.0044 right_pitch=-0.0496 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -3.1932, 4.0137, 0.7106, 0.0904, -0.0122, 1.0281, -0.0068, -1.3197, 7.0496, 1.6972, -0.0415, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a9de5706aac5ad2ff7c3b7b0cba6d9948e336ac4bc35d55b3d6e3cea8c30c59",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4914b3d5590de12ad1494356cf138f1beaf295f7e5f2bd73f57d8751d94e92d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:753a8dcb36c64e23703bb7c69f004f2529deabda79625afa733e0056cdf475d7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEP0pd-VIwbErutt-nc2OySo2iT6Nc5hUtFXz1LvkJHm55XZSn-9qKfrK3pEyxamzJ5Ie7EfuH0sOe_TKVRMS0xdJ3wFjl132qUU3GSPauyyuIVs4zJzSacFaCSt9VPiV9AbOEjHUo5mgQMrqxPzu5KQsxDnzMJzZ3UB_fyn28rDw1i8UnlofODtHwC4OYKBF9p14h8Uyt3l_ZIsgHUyinoP867IeFZm9aH3elqLhWDNQnHBnQoKYTZx2jo9gUMQsvvzNJQQps5Wx9gWB7mTG3f3tFVY60PsZqWEIv9crABZMC1dKSHl978_6qWaLjKO0bMlvwpSfDVbCkAg_Bz_sp3ZdOK1uZCLdS80l1vtMgZcP7uO2FAwZ0ZCCFKT5-I-BuuT3qQLxUhn5k_CnDdm_5xw00P4tZ_f_4OM2vN77OAm33ZEk9z4ffOvrhZjtN6i30ypoGi0SvnWiUCfdK4wvt1RP1BDRVMINd2MsogKEtMo6vyvBaG4BUNA9rPgxArH7oxx2s0mL28KNdxuwJKxWz8Gx5ORzg1YXbVZ9_yvUykOVuI3bOeh05A0XozVuIz_yfQSfHzxqGJDF0is0astqhVnMdDTzbY38OpyTxU3CEwnr-faOsXgMJ5jZmZPRXbcFIsOLID0fqKnWO_ViNCzNlpWsESyq45n7a82YD_aE-r8T-ThijY8JTTtLdWox5agfMouTJkw7uiNHnHzRxWIqEFyxiwh5ItPAciqUop8Dr8f1bdtmwcICcjo2g8gp7Sm9R8n7hTo3O7_x1oeS8blL9RHqMQhG4b_K68Dgvg5yvw2yhTKEsc1xRJ7sVkN6ik5VzE8A6tgxM0UQJ3R0AYFo3xYlJLFfJMUjD3vetzAiqP_DwePNhMQ-1hBrdjIjfrxt6lXXUoy2upE5GUe95jY0thk9hxkF6hBGLv1McxGUbFhO3gCoKS9--hGZK2CL5iqK4bYRqGla9bwJotOPhfamTv0hinySOwRCRvOBrvm0t1nwwv63ZWW0BLjjM3kJJAATfk_343yIQl8oX4QjkTbborzDS71qyEBYK90DXa2mxYGKpJEheH1YFRGEaCz_JEdYQqUcqE-lLyJOr2kzCz6AC9jqBfRzMBruKa9cXFu2lWfATf5BiP0-wlPZKgCmUO1PusNztLXDRUhRa4AwmtsNMMcCp4skB3wP389kwXWdB0-mF8YLmFoXCit91PvCVkxdnnO4LG_IhHfWgHr1BpvWtOEKQiseQgF1PSwaWEeEdGD-DTSM1tnRaFCmsisAQBZtm2ksh5_XxXIKmFzcjPP6NDqo8dtJrnG6ig2Sd0s-qmLceELclKoWx76jQla5ox3gluQLEOBZSz6Zmym45lTeZGOYA==",
  "id": "rs_0505104689070752016ab443f337a887d0a7648bbf6116df54",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The descent stopped around 12 cm and drifted slightly, indicating the plush or fingers have contacted the basket interior; the toy is already safely inside the rim. I’ll open now to release it without pressing harder.\"}",
  "call_id": "call_ZjMmNSRFMn1SRze2YoW6eg7A",
  "id": "fc_0505104689070752016ab443f39e4c87d092d1029b87f68294",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZjMmNSRFMn1SRze2YoW6eg7A",
  "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]: [-0.5091, 1.4651, 0.7902, -0.0143, -0.3958, -0.4156, 0.9954, -0.02, 0.8288, 0.6067, -0.3927, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.385 left_y=-0.1328 left_z=0.1203 left_yaw=0.0295 left_pitch=-0.0645 left_roll=-0.0754 left_gripper=0.9954 right_x=0.2955 right_y=-0.0002 right_z=0.169 right_yaw=-0.0044 right_pitch=-0.0526 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -7.1179, 6.1333, 1.58, -0.2662, 0.0611, -0.2222, -0.0615, -1.7162, 7.0222, 1.7167, -0.0317, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baefe55df7fffdd6366143014d6ea6ab29d6452700a5152efb777afe9461e2f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:244ca902a79e81d4e4f32ba2661743ef69d81e5a99ac9d0f49ba5fdf8a2e303e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85926c374633580dfd363e8b22813ef1701cbf82e2d0a8468eb61623dfc471d6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 8.566 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]: [-0.6903, 0.9867, 0.6163, -0.4709, -0.4931, -0.5121, 0.0418, -0.02, 0.8211, 0.6067, -0.3855, -0.012, -0.0227, 0.9996]\nstate[eef_state]: left_x=0.2676 left_y=-0.1079 left_z=0.1314 left_yaw=-0.0138 left_pitch=-0.1526 left_roll=-0.0083 left_gripper=0.0418 right_x=0.2961 right_y=-0.0002 right_z=0.1726 right_yaw=-0.0046 right_pitch=-0.0378 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -3.2205, 8.6769, 1.3211, -0.2759, 0.0317, 1.033, -0.1026, -1.5385, 7.0085, 1.6923, -0.0415, -0.0122, -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]: [-0.5091, 1.4532, 0.7856, -0.0158, -0.4034, -0.4038, 0.0418, -0.02, 0.8257, 0.6067, -0.3927, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.384 left_y=-0.1308 left_z=0.1229 left_yaw=0.0291 left_pitch=-0.0567 left_roll=-0.0645 left_gripper=0.0418 right_x=0.2954 right_y=-0.0002 right_z=0.1699 right_yaw=-0.0044 right_pitch=-0.0496 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -3.1932, 4.0137, 0.7106, 0.0904, -0.0122, 1.0281, -0.0068, -1.3197, 7.0496, 1.6972, -0.0415, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5091, 1.4651, 0.7902, -0.0143, -0.3958, -0.4156, 0.9954, -0.02, 0.8288, 0.6067, -0.3927, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.385 left_y=-0.1328 left_z=0.1203 left_yaw=0.0295 left_pitch=-0.0645 left_roll=-0.0754 left_gripper=0.9954 right_x=0.2955 right_y=-0.0002 right_z=0.169 right_yaw=-0.0044 right_pitch=-0.0526 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -7.1179, 6.1333, 1.58, -0.2662, 0.0611, -0.2222, -0.0615, -1.7162, 7.0222, 1.7167, -0.0317, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baefe55df7fffdd6366143014d6ea6ab29d6452700a5152efb777afe9461e2f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:244ca902a79e81d4e4f32ba2661743ef69d81e5a99ac9d0f49ba5fdf8a2e303e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85926c374633580dfd363e8b22813ef1701cbf82e2d0a8468eb61623dfc471d6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEP4r_d9RnsiF5RhPGLNBLfuk_SNosrMDdyccX_3FgpGKgw4sXxMmOPjTVm-KfaCwH6INcQMZubOK2jAasM2AAaqDXnj-gix01tEqA8FTjd1IfJfwK45Yt7zw4FpjlM0KXm2NBjO2q4s-H6oJYWR2TFseWRCISvLN3SbQOf5GpAKkchjHJC0biLLr47mfx7SyVUK_nveO0G43g-8-GAwJeZflJPFy-HWyGCpr-2i0iPhbBPBq9rE8dKq26looYtAK7eRIbcOiStwk-kVAj5sdIsWfHR3IbNp01G8SWuas52q9qQsX05yu_EYDWLnAnsLDTfN1hV-_9mu60bt4xY0krS6fuUjK3l-2wnhglDE1YW4BoFn6rcpEpLDBVHzU6_jkHNfU-bsvVY5WF1SDWd2GucRGpwyLd7Zh33hBrzSWIaXv2Jc1OfTE9S8wKJX4BjqQEivY1Zz4yuOPQM4TEZg9YFgKqt7SxjLHaHlilHxN_tDgT2Eqlp33cDneU8hTUJ23pLypcaNYcEfN3DF2td3D6kYkVQd3t1Ns-RhF6440LgaMRxAK1igOBtltU8i4QxdUWFowe-302bxqwfjsf0Sa2FS1_tHnTgv6T9drC7k-dfplDcO8gXXsRvuEBQNI_PWSi68chRwzr57URnZrn_ZCX5lq_k4b1p0Yd6UGe4cT7g573fZcBiGUECYr8oK5Each9Mt9DkM50LtkQZ4I49XnvXnkvuyeHSOguZfrOfx5zf3JEAsU41DaaaB2qBACACVzp4e5Iru0K4KX89C2HLL-_nta5tCTlebin2ZgsBb49EUuscspROMkCgEe_O1EzpGfJNLXztgZzppH6l8OfGgSeaMRWWVwLVJTLjsPOy8NWAgT-Q4Fe0TniwFBopJeyJfZvUwtnIIlWi90MFQZXxjShK3XhkwB6AF10HAo_de1QIvKPrCPFaDDv9Ow-ytroHs15Kv2voVbKlzcRr-Agl3E8vwXhIpc-s6B1qYMHulp79muPvQ_gp2q2XqjmjZdR0pxm8SPq0B1SVLA5Zpj6nrbUpF9daxsV7_pMq1jsGFEHQesAI7uCpkoM2KtFQLF7oRzBM0UyiG2RR9nijqT876U4P0V_q9RFrrLn2Qj-XAGYpcQi8gcUqHZtoISStOH0lyz7i076wX-3hIFzMdENiJ3nxr8BfU6kox57YfuqU7TNw-TJ8yLQrSRoA2QX_1hetisV1RCedZVtznn7pKcKsH5Cu45BW7pEh89WZnsIam8FLC1urWUQMe32ns4AtzZeNcB0L8rrZ0RgH7pmkBerULXHMVlT2ncDrWP_RoZNyhlc4GSY2TgwimThOwu7dcUq38w4CUdXgxKpKKyeL6Oh1fZrQ7KHomg8WxadRwGANaa6q3qs1979gyq7kFeBRkjfKkbkMf",
  "id": "rs_0505104689070752016ab443f7a68887d09de66402d5a06e84",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.08,\"left_z\":0.2},\"note\":\"The fingers are fully open around the plush inside the left basket, so it has been released. I’ll retract upward and inward to clear the rim and reveal the basket contents before selecting the next item.\"}",
  "call_id": "call_mmrDq2omOLxEZhbgnrCwVIji",
  "id": "fc_0505104689070752016ab443f7e73087d0b54d8b352707ed69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mmrDq2omOLxEZhbgnrCwVIji",
  "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]: [-0.4355, 1.0451, 0.7998, -0.4335, -0.3466, -0.3809, 0.9967, -0.02, 0.8314, 0.6067, -0.3927, -0.0124, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.3203 left_y=-0.0789 left_z=0.1909 left_yaw=0.0442 left_pitch=-0.0694 left_roll=-0.0795 left_gripper=0.9967 right_x=0.2957 right_y=-0.0001 right_z=0.1683 right_yaw=-0.004 right_pitch=-0.0553 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -3.1795, 9.5932, 1.4188, -0.0317, 0.1392, 0.1148, -0.2667, -1.6615, 7.0359, 1.6874, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66d14b98a0b1e51229b9551b90852be43b65c866a1877a9fa0a2f6fd1847c4f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e26bd9570b2ebc09b5c5d65049017609cf1ab046568e8b7a18212737a78c21fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01e04979efd2c96fea5a6cdbcb272810816b9679edc1db0f9564408975410ad1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 2.712 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]: [-0.5091, 1.3727, 1.0763, -0.5457, -0.3725, -0.3992, 0.0418, -0.02, 0.8249, 0.6067, -0.3923, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.3616 left_y=-0.1241 left_z=0.1818 left_yaw=0.0124 left_pitch=-0.2044 left_roll=0.0012 left_gripper=0.0418 right_x=0.2954 right_y=-0.0002 right_z=0.1702 right_yaw=-0.0044 right_pitch=-0.0484 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -5.9009, 9.3197, 1.6728, -0.1294, 0.3101, 1.0281, -0.1709, -1.7162, 7.0222, 1.7705, -0.0317, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5091, 1.4651, 0.7902, -0.0143, -0.3958, -0.4156, 0.9954, -0.02, 0.8288, 0.6067, -0.3927, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.385 left_y=-0.1328 left_z=0.1203 left_yaw=0.0295 left_pitch=-0.0645 left_roll=-0.0754 left_gripper=0.9954 right_x=0.2955 right_y=-0.0002 right_z=0.169 right_yaw=-0.0044 right_pitch=-0.0526 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -7.1179, 6.1333, 1.58, -0.2662, 0.0611, -0.2222, -0.0615, -1.7162, 7.0222, 1.7167, -0.0317, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4355, 1.0451, 0.7998, -0.4335, -0.3466, -0.3809, 0.9967, -0.02, 0.8314, 0.6067, -0.3927, -0.0124, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.3203 left_y=-0.0789 left_z=0.1909 left_yaw=0.0442 left_pitch=-0.0694 left_roll=-0.0795 left_gripper=0.9967 right_x=0.2957 right_y=-0.0001 right_z=0.1683 right_yaw=-0.004 right_pitch=-0.0553 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -3.1795, 9.5932, 1.4188, -0.0317, 0.1392, 0.1148, -0.2667, -1.6615, 7.0359, 1.6874, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66d14b98a0b1e51229b9551b90852be43b65c866a1877a9fa0a2f6fd1847c4f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e26bd9570b2ebc09b5c5d65049017609cf1ab046568e8b7a18212737a78c21fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01e04979efd2c96fea5a6cdbcb272810816b9679edc1db0f9564408975410ad1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQCzOPoXQkxI8bi1I1wRokvaX0_hQhcC3VvvG_gIQbkNx_A3AxDVSArl8mDHNgJUmfHHKMGJmglLll4UvrCCESn2KyxmqtZnpDJ33irURBFjnSMdqLsbMTyjd5p0nw4LKHIMOXIkhfiwNz8oLB8KQy36vBf3_4adlJQJHM3n3DJIMsNsGcWGLLRF_ojsX_QxhLfjy613dJj6N1fko87LVTQHNLSqurWKx18O06tYmAS9RDktpSPo3wKJ_3YKNOevfUtv55Wc8UEVX3hmpCx2ZizztPagG1nMLkkK6x6ndJJq02yJ7IxCnDATUCpakufgejcZQwIYFChxia8nBC-XxOvYY9zwc5o5rZ6f4wZUqdenrRHYs1IsPluIcv3s-glJQfbXF5tyjCyrOc0m0bg9ERcDY38oot2TcXHPWUWbLcEix9i1XO0lY7zqn4ZPwQlsbOI2qPfKacJ2lkM7JMA_FAQaGa6TXFDP9qNiK4D5RK6nbGVTeVXP8UUUGFAfNIj5SxC9EcbLfMtJY0V7dLPyIfXTir0V9ws7f8UkIjCNJG8x4XFfVXaXJwp77A7DWjn9oOFr6wLxmk_rChbVwd8HwOUy9w65WcLMEtXdklO1zRmRwjMnv9K4udyNdvn3VGFQv2ZT8SnFBKef_goXzgNSTWLs-c8fwa0w-03ApRXGhx9CqGa9U-aJtepyuQh3a9bqfToQ7IEHoT1NXmvH8FkgehBrq92K2Mon6KdooybozLRsYJSmNuNcm4I9Z4KSergClI_Rc9JLDYS9vEZTdYloqnZ64S0jcV-yhCQY0P1N7eioIGmOiGAu85HyVE4urIgOdMji_YTiQT_W5kXdENk0O-apXvdmmgO8kO8u7O_VGqxWgouLPjMpKPySwMAHlGd0AFaZd2dNZ6TmCNRToyLzoJJ7e7OIeIKynfxcKd_9qC-6gq_A2x8MB6wT7FSDDdEoMVCR2PWv9r2xIrOfq2023L5YI8kO1Rb2ZpiXN26djuEJZ-zDE93lvkXxbpaAK6jTK1SgCQ0sBuRy94A0buO6gE5I3jYj_py4a6aiOpb19uRVgagWGtBSpLZtBm_RQSbMCzhwehhdDv9D0KsTWU2_W4y_7tXVW5RLHRaZ44jsJ7sIemA0ulLt3JIDTKRhDcPU8a3b_T_a3GADB7WdCz59RDbsaJjJM0nJJkEkm_jZ7sH9c1GMrqE3QNN7Uv9DDiZ5wF6OjT2sR_yeo36wmL-FqegxHWmNeNiv6ebJNw93nYhlQJ9mC6kr7vMg38xJ6z2LynK_rno0RMDvtuIyitCxcmlm4_XZhuGSLt-Q1XYgKKOvKP5oJ9T5S9zkfC-5Y9fbLWFWshDSH6Juuu_W94QabAOezT7bRlezJOzNJm9YsIwusamNndFyvqa-Z4mXpzxy2LIA0csiZyI9Oc1T8oI-N5TVsYqk2rfOjsKviToiAtLXOpf1oSPJPM5ySLIVcrJE3_l-d0nw08uWRgopP0Bt0CipaUaRat-PZpAGElRGyw5Vpb9MduAPYVmTC4UjrVp-g4h5vP7d6XJ6-vPS2mZ5MdAmXGwf5oVVin7tzhJSOyMjwkUqx1BglMCgeE5GQkpM3dKEUpMBrvw-RByAiqBZZ74qhhZD7vlBr1j9_c2f_T4Q11-3Nm2dnUdzBWIwbHkPIH1gJ71lrnxS2QpdUQpU7R2zGvA2wVI03FKgCENDgkz-AxfgySGxusI_RAswiYno0RGuN6IxQOwrAPq6dpQ_9F2gW4FiAy1RIrLo7wbm7PjCdMYxqTIfqxmPbJr6XdTluyL0fJXanQb97fHQPayMMAA7hAZLx-7N1z-UiOf8KGQioZUE64FXQk_w8ZqWvwDmFJZh455M_GkwIrmQr0csVleQh1NVxgcyAD5-4_wZhCe9Azg4DbAFd8FqWluYC_2KsWYZ4zMvLJsMywEFeOQwSlvC-JqgRNwmgv_b7IwvQr55dDwzM4PW4b3CLMiiNHTCXCSGAvwtVLn9EN8FaCsooMUpaUuwAVvdk1PkZhpBDLgfw5gzo0rjcMmCqLi3DKbu0ickzxS-7XskgAxoDKL2O1UQhW6zSMtKJRZ-lBd1Xrzo5M8NGTovwebih_aFOu6pJWnwHRpL53YtRTa18Rnc7OdZmBbpvx-oB1tDcz7JUbtcH_n5r4H0aId0E4UePcWIAG1XeYhVNJaJoAMwxI54gpDbNq-5cJJFol_Aqm4Vd4S1zkoovEiCEl_y9yYiW-WVq7SoBBY_KpXLJae1VHdPJaZ0BcxKfOSNseiLFkhyqaoizWVpnnBZHtjEgTtOli8-Th49W064h3V0xg5XpehA-iNAvaUOVsCPB4chnS9lXZ4rCSd3xxFK1wRK8xqZ8Lu1VXyllxtVBoUrW9mNDRtibOhenLsWt12cdM-akvTHQbSAv1SRWfNDGrHaALKCkRrU8M28YMdOcGLfWR1owC6yMEE-4BKDnYBqfXmXzAP3YRPGYyRba-YVVU6YI4ZDYpahV2e3jyBgbts__h8HaTkG4wHsiVKVscpvS_yJdrMZqoue_w3PeIQsga7cKgdwMR0GhqeJuyY0gt3qJlKTIULivKaX2yC_yVyBaaQjT-L6qm_ygDHUK296pT-RUT8fieNlgBE8S5qjRhSIKLTIfgWRY6ZGiY63b6cpw41ka1qxSIieXIECkJ1PsqsSwlRmpCVFGjLAmgrdcvJgXWJSZzOgAUw2lkgDHyLoiGZKClJvsxM0KuugNUJE2sIaOWhDi0niCwYTX9-1EF-7oTyWUOIQXkBQWLsueYjYg9FgJK3O0dw5Ykkjzt1nW_jrn8yfPfRpAW1tTPiY1bBW4Wl9lk8UXn7KZqxsHUnzNabyYA_ob7w4SKye3fzyQh0FOfX3gSEZfxIshWEEqK7bbwI0UyP5h62_-Ekxgt4W-csANa1aLBwUN1TesKLCBgBvJY-XP0tx8jFkc9aW9JzF9b-BUqD6M3IcoqicwyCr3ytBBpb30eg08W_-zxO2GXEl1mMyIWyD_0k5m6xJu_zYLttq1TK-k5rxFGAORmVbbQbGq8sHuUso6k5Xd72sA0giyubuZJZIapf9BuviaSzoq__UkioFfrLRecC6OCWX6SidFDQ5I6SNlWBhg-x1GRG9HAQcvKuFUaC-R2fONgdh2Sh3NJO6gzHPb-q7ttLI7_7332tm9PJMWK4wbIxpimiWXX6wt1k5yWK_5i5NxUXu2ROeOcjQL3TByc84H-Af7D4S_BuPiu7ain8QPloV61AJ3CyStdhGkGhHVkKSr-nB_JtT75XnWqqoQSieiSRFusnIYJhxOu4ksIvoxwSmzmzV_cDpL3A9cUgpFnAfopDCOjNGyIT_6BZfCzdM3s1n9vIEGKx6zKwSF2zyp91KSm1kH8NWsfDBc8RyUyUmYozK5p5RTmPLB67lecsf9tm7H148a2ZfRP0khGC55AZleWs5yyl-afFFbWdGM3wB49CBAX1vHuMRvutK4SKtzKtYsGn3UEPj2De_PR53MFCmPXM_AjWBLwm0JhQHxQJpmInP2BPQIZlgwZmbZIEx8yvSlrke3MWX7-MUnMjnnL2_pPFlxutK62nu1A3yLe24Jb3F7qA-F8kB5GkSzB3SldtpJL_tTWfQmO8p-JXzdDRF3docWzFyeu29aCaRUJhG8vMuGUts81pD_L9PV4M_S81WEhiX72q1Q-FYhIqGiG9VoLtib_5hWJHcrSOgFGDPqrnGxrKNBl3dv0dSOEWCDrn1gQorr5meSviissqBw7O6cpiAcXeDcHZVIAO15YGOjzt3o0GqYhlnF9TpuUS8fkz0bvVA0bSrfwppIy7RS3vRt3OkHYoInMI2ugwXkBgKWqZmDXeW1k-Wf9_RdgNYA0odal1r1wlriXZbp5VoCwXC6ZAhesApWQFBzxzaPy4xLBR_q2uXAlJon8Z-cTFbkb65GYC6eZUj1RSP3cXadSLL22ftNoepBwEC-jTJI234VZUtiYAWAT-aVFfe6I2uN8LR9QtYpYdWX3H5Bq1CrpAtAvIP1hIlQ9Bb4iP5c8mqdWlRARgPvF3wZarluHj4aKd6lihjHrZJXTYhT64-xvF-jsuqwyqhQH1Mtk1ILZT9VV-Bvckv3aYgcvWHrPvpkAbesQQTpWN5OS3RkjbFUnNcadAHTGIaAJC8KWWNSNFVOiK73m4jEUVdIh8glkxVSsC7EP-qMHjg8vrvalS8UU26kj0ahnjKgEPv8FaKg8ZhSdWHPHANreKtUrfUuHz1ccdelS_pmKLJadXFR_dS4RK94y7k4O1RkPOb81yelVziZHbW89kFrw5kljz6nqem4T8OdOMFaGWV2TmpabOWwa_uEgq9sTvkQkoMk88K1Rd22fpLXlusxzt6V2J4iY1bFF6_JDh3-wlVIRPAESHG563wSrQHs4n9q_5V62jEv0kbUzBIbeBoPYFjm0L1g==",
  "id": "rs_0505104689070752016ab443fb168c87d08ffbf55b7591906c",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQCwJ9Zn7OAPVXhDsyIQ6ySPdZzCYVv1RwsI24V0r6OUGk2O73naTCu7IeARE6pyRUppQX_N_ghY3JTK1h3VUZRnZVKdXUk6jaEGZrDXWzeDfehYBLVPf1bAtGP7Fo15rSXCim5Ws4D8Fxku9J_YrItU6AVWM2oyt7tuEhGFJuwlwrGnIua_tcb9Udxio_e7EkKDJOUyNiHecQlfnMh_MsLk5a93mPDSLrOFF-9DRMiuF41_Ks5R6jPzMHoNRdyQ3AhILjaqlZzUNxabrrxt0MrAs8EBlrcM1iD9UTO-EAzWDUXyIDdwz2P2VY1KxCgWylck98zzvGuq1EPc8dcicI5Y5LXOQYy_1R_Xrils_lYIl04GpPASeT9evVVUGYTOTnMP7tj2zXoOVpjyki1LOznDDpxfV-ZYw4mrLoC_WVlj93oHz3juUyM08tZziDJz6VvaLEEG-x74at24f-o-AZMInbnwunFGz2H8Hc2bzJRzhTsaNhRT1Sgrc61Z-5annKxj3N3ypHfEZ_x-MBHcfoj4OC7lZmNjnmj7je8WuJHx31ok-anmv1Liw4vZveSPWejHQcZt1uO7mWxvSQpWV2zbSgJEB0p-TWdUzIOM7gGfCTVlH38jjQDKsXlnLmHkz91jIdySlSdB0O4L7x8xcUp4kR6h9xgNoGPtNtXAvW3g1vJboNoa4dXyxb3PWu1_-xowxjldc-HdrOR-9a9GtI3vNUJYczBkloYiwI79eb68mJgbto69EVOruUlvP_fBbaGo_ujbpYq0f69O8r5uzn5_hhwhDtbboJrVtVDGcwexV43QQeTmYR51lEtGCtJk42uX_eX2euBkdB6osAANYF9Aj7XR-J-MddxXN34i20UnxnbGJXbN_Y90-h3BWTdkm0-yMggx_jJ7qsGYPuA1F393qMt5WMmYnKASeGP-A16kqLq8xP_wSslNEfaPw3xOlbH1ngqsVruuoJE8Osg0xaapZW2bjkvy7l6F9snJMECIds-9vhxOXciE6C9TKpEJ4rYMh1YBIt_-tcd83mWKZCVOyjFr182wDwto50mojtk2wKi8FpfgfnVKt3Yj8H5htRXp4uC3IgMHLFf8TBhZrRE7Ja5EtuWdzd2WAgqyBpUfGYX-KHSEnC_iuzxO4gr4BSFKKp78eYvCtBCxFtu_5jQ9jopHe5A_6UwqC5XfqZ4RyQeeii8hSuh5neTPMyKLmdrkF8xdDHunnOREiadkk2PCium2ygtKxeYjDw33XIV9D2AMP6VcPa7AneJ5xVL1te8iBmtF8y6_LrmYpN-G1myZSfAH-CWqJeDeZC6o58XvyCK5H2iiD5WfbthiLsAj8PWbu1GV-dyHsv1WFPLOgn9hGk1ykjEa_keAQ6DWnRaRfVfGsE3pY8tjS8zvZ9x5rSxTkEy5fu0eB3Ca1ybId89vf4NnpcLe8Rxew-ol5M1Zx-txVwwnXXJaioyoPQsT0W-sXel71-31got_rNXYmqkwh8lKeAnoHbEFTMpy7EstMDh30q4NE4aMdqYsmAmKnTzMpwFwdh_YQK-dCKGcl2vb6h6O-DRVjHjChtoXTlhlHupevipW7J7Dpil7nKeXGs4ybKmOUyX2vuZUp2lnv9suIProQpe2c-4yPW48i7pfcP-IHeeXcUJ85iKFFV5eiCv_IKDoEzg8_PfKDyIiQfI-9ObE4sQOS5WwtsqJ6WjfCbFIn_24u4c7SWPM9lfPSZyxOR_G3Rapj_ZYeTYhwicCA==",
  "id": "rs_0505104689070752016ab443ffca7887d0a1db4dc233fc8f45",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.23,\"left_y\":-0.17,\"left_z\":0.15,\"left_gripper\":1.0},\"note\":\"The retracted view confirms the first dog is in the left basket. Three tan dogs remain in the central cluster, so I’ll move above the large front dog next; the gray elephants will go to the right basket as the second class.\"}",
  "call_id": "call_J9DZPs0oPkPsAz5VDL9DYzHv",
  "id": "fc_0505104689070752016ab44400f2c487d09b5617d38a1931a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J9DZPs0oPkPsAz5VDL9DYzHv",
  "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]: [-1.116, 1.1255, 0.7273, -0.627, -0.7799, -0.9703, 0.9988, -0.02, 0.836, 0.6067, -0.3923, -0.012, -0.0227, 0.9996]\nstate[eef_state]: left_x=0.2277 left_y=-0.1747 left_z=0.1434 left_yaw=0.016 left_pitch=-0.0908 left_roll=-0.0771 left_gripper=0.9988 right_x=0.296 right_y=-0.0002 right_z=0.1671 right_yaw=-0.0046 right_pitch=-0.0595 right_roll=0.0009 right_gripper=0.9996\nstate[joint_eff]: [0.3214, -3.4256, 7.4598, 1.0085, -0.5641, -0.0415, -0.1441, -0.0479, -1.8393, 7.0496, 1.7314, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:205f98bfe9d32fc4773136a3c47efb7922203a499f54e8718a3ecb8fa0dfe370",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:243a6ee3bde63ef957d386d946f5a92221a870d4b0b23ae7bb86649c29e2f624",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:904f63dba74d2615edc7b825c2d0085cf97a74ac1f072c3dd19709aa7c6895be",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 3.093 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 65 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]: [-0.5091, 1.4532, 0.7856, -0.0158, -0.4034, -0.4038, 0.0418, -0.02, 0.8257, 0.6067, -0.3927, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.384 left_y=-0.1308 left_z=0.1229 left_yaw=0.0291 left_pitch=-0.0567 left_roll=-0.0645 left_gripper=0.0418 right_x=0.2954 right_y=-0.0002 right_z=0.1699 right_yaw=-0.0044 right_pitch=-0.0496 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -3.1932, 4.0137, 0.7106, 0.0904, -0.0122, 1.0281, -0.0068, -1.3197, 7.0496, 1.6972, -0.0415, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4355, 1.0451, 0.7998, -0.4335, -0.3466, -0.3809, 0.9967, -0.02, 0.8314, 0.6067, -0.3927, -0.0124, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.3203 left_y=-0.0789 left_z=0.1909 left_yaw=0.0442 left_pitch=-0.0694 left_roll=-0.0795 left_gripper=0.9967 right_x=0.2957 right_y=-0.0001 right_z=0.1683 right_yaw=-0.004 right_pitch=-0.0553 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -3.1795, 9.5932, 1.4188, -0.0317, 0.1392, 0.1148, -0.2667, -1.6615, 7.0359, 1.6874, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.116, 1.1255, 0.7273, -0.627, -0.7799, -0.9703, 0.9988, -0.02, 0.836, 0.6067, -0.3923, -0.012, -0.0227, 0.9996]\nstate[eef_state]: left_x=0.2277 left_y=-0.1747 left_z=0.1434 left_yaw=0.016 left_pitch=-0.0908 left_roll=-0.0771 left_gripper=0.9988 right_x=0.296 right_y=-0.0002 right_z=0.1671 right_yaw=-0.0046 right_pitch=-0.0595 right_roll=0.0009 right_gripper=0.9996\nstate[joint_eff]: [0.3214, -3.4256, 7.4598, 1.0085, -0.5641, -0.0415, -0.1441, -0.0479, -1.8393, 7.0496, 1.7314, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:205f98bfe9d32fc4773136a3c47efb7922203a499f54e8718a3ecb8fa0dfe370",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:243a6ee3bde63ef957d386d946f5a92221a870d4b0b23ae7bb86649c29e2f624",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:904f63dba74d2615edc7b825c2d0085cf97a74ac1f072c3dd19709aa7c6895be",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQHoRfAY7wPFHu9y2bfWpuk1TAn-pCQh-F8g1f5ak6Pbop1JChGAKAKJo59VX1kAyHibkvjVUl5IxwugpM_6BdZ-HcUDcGZCLRFYWoqkZOvSsdhVIWW45OFeBsl2myS6a-ND5lmj9ejmIRKCC6mvmLFGJG3MN0YPRIBDjLNa8lg9VefaZUq6fWnAKK_96XVVl_HhnDdo5m0XZZLgKhyLlpUONAFHnAw9bMm5rGSrxvHePG4EWW1oYAwRcJ39HK9GfGTkfTIcotBwUXeEH8sun6op3neHlA-FA5GfEsCO79sW--CAU3-6bn3U90_n2MmrDwLn7YxvxBKqmZHrY39Y5-SzA11g01Y9OXGJIUTP-v79J7CS8urgGxYijZKxW1Mz5NrJOYv7WPkAiZh-JpU9daC6YvXuqcFfm3hxGjWRjB7RWSODzPR13dx6HEcJN0xfjsxPKmzmm0L5NL86EuaapuFYeB7cFTjYI7bvv7DkFCcysnDOfjFhJkp_7CmUSDinLIAOcLZXobS3YbSvnwp9jWYjAYdSX-nd0snJRHRo92KKuReXKE_uxW2SLmojHgPgdTe4o-z11y7UKCoROZeVZcc0AcWkP_-9TLv1fA-CfcB1HyKLwfEAr2B1sJskE7SyAFr4bc0CSdeiOObhMlUChw4X8MoIHNV6gyUZ3ld2HtA_Siw-4wqCeJ935wU1hBERJ25LyVlJRccuBFgSwJ8KsxHwnv-ryWjexFjwsxW5og0AdNhEQHYSP5eq-sTznm5utst5EcKPMiRoBoQwpMGGaDSzrSrb4jgupcUqHB__Ccqm0AguLbF3yGBPnbabu3yZB6Bn-JD21XpB7hwEBVRifQrwA9DyjorIBr-l_M9J1FD9-BGMfvRRS3bcKwU6e7j2cLw_M89u7md-cyeoTOxaOVWbbTgSKp35YMK4wOBuXVtt2xv-e5_6J7m-9i_6956X7r7MyQKuftX3GzQlBBl7bNL_olD8H6EY8x-nDzxZIacW2vGHf_8dnehh1gtsXZz2rHeN64iXPpWYmEgfuzFWBHPCqKu_CYGbD8io5WorBCIjsg_Dt0geAcXRdyPvY7ChUEGgv8mE87G-ap0utik9x22bufTxYUYxl5hCsyxSyc0OwTs9l7HkuOuVkWirl61XvbCPeIj8xmGF2QthFR4oMC-zMxwoOJV1_ZFZzkkwBVKQqzOTJIV2Lu07xMlCXmVtASz4lQOhmuxN-BhefUVDY79xjZYabhHPqDT7H_8c4FiJqfw4NR-w8c_3UdxJyuJqboykFgZ95PQBIzLZI7JSUQXTJBnFATvKk_krYhg7o7zvT8seUfrH2d1cdsY2Mr_W5HwYMhaOv4Yet-ZEQWBwCHEsCnmTOEVY0eDCntdEBXI12jwvAhTx4T5aiWa6C8KNZj3miYvMv4Y0Xdqj_nVY87-sGelTDFQrnC5Xhx8HkZ5bD8ZEN1jIfiYhMOptTuVNdDg-c_nC50QEKCr50f6zr7hu3qVZ5cQeRjqb-vxJIcOu51QmGpfpQZOUkLdAOQ_CLOwZmC9fvUzmivC-Nv6XZct1w==",
  "id": "rs_0505104689070752016ab444063e6887d0982a4cf3a9474614",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.19,\"left_z\":0.05},\"note\":\"The large front dog is fully visible just beyond the fingertips and slightly to the arm’s right. I’ll advance 2 cm, shift right 2 cm, and descend to its thick torso for a stable grasp.\"}",
  "call_id": "call_jthlEbaiuF3gfOJmT7zmfAqR",
  "id": "fc_0505104689070752016ab44406bbe487d09bc0cdef6c3d7345",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jthlEbaiuF3gfOJmT7zmfAqR",
  "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]: [-1.0557, 1.4189, 0.5083, -0.0895, -0.7513, -0.9123, 0.9983, -0.02, 0.8379, 0.6067, -0.3923, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2486 left_y=-0.1871 left_z=0.0488 left_yaw=0.0268 left_pitch=-0.0994 left_roll=-0.0646 left_gripper=0.9983 right_x=0.2961 right_y=-0.0002 right_z=0.1666 right_yaw=-0.0043 right_pitch=-0.0614 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [0.212, -4.2325, 5.1624, 1.3016, -0.315, 0.0952, -0.0659, -0.1299, -1.4564, 7.0359, 1.7167, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b7d81f3eab723ea925f7798e35dc38a825c9b1bb9cb432494b3528e8e4465fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:389b126b9cdcb7eb2e98bce31ba0d301ac8838c63e8a215f20d4a832b642fe69",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3961cfaa62866453929c5ea52c1a50df91f30d1d2314bb59b2d5840738e44d84",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 2.521 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 65 changed as sent

message 69 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]: [-0.5091, 1.4651, 0.7902, -0.0143, -0.3958, -0.4156, 0.9954, -0.02, 0.8288, 0.6067, -0.3927, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.385 left_y=-0.1328 left_z=0.1203 left_yaw=0.0295 left_pitch=-0.0645 left_roll=-0.0754 left_gripper=0.9954 right_x=0.2955 right_y=-0.0002 right_z=0.169 right_yaw=-0.0044 right_pitch=-0.0526 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -7.1179, 6.1333, 1.58, -0.2662, 0.0611, -0.2222, -0.0615, -1.7162, 7.0222, 1.7167, -0.0317, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.116, 1.1255, 0.7273, -0.627, -0.7799, -0.9703, 0.9988, -0.02, 0.836, 0.6067, -0.3923, -0.012, -0.0227, 0.9996]\nstate[eef_state]: left_x=0.2277 left_y=-0.1747 left_z=0.1434 left_yaw=0.016 left_pitch=-0.0908 left_roll=-0.0771 left_gripper=0.9988 right_x=0.296 right_y=-0.0002 right_z=0.1671 right_yaw=-0.0046 right_pitch=-0.0595 right_roll=0.0009 right_gripper=0.9996\nstate[joint_eff]: [0.3214, -3.4256, 7.4598, 1.0085, -0.5641, -0.0415, -0.1441, -0.0479, -1.8393, 7.0496, 1.7314, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0557, 1.4189, 0.5083, -0.0895, -0.7513, -0.9123, 0.9983, -0.02, 0.8379, 0.6067, -0.3923, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2486 left_y=-0.1871 left_z=0.0488 left_yaw=0.0268 left_pitch=-0.0994 left_roll=-0.0646 left_gripper=0.9983 right_x=0.2961 right_y=-0.0002 right_z=0.1666 right_yaw=-0.0043 right_pitch=-0.0614 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [0.212, -4.2325, 5.1624, 1.3016, -0.315, 0.0952, -0.0659, -0.1299, -1.4564, 7.0359, 1.7167, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b7d81f3eab723ea925f7798e35dc38a825c9b1bb9cb432494b3528e8e4465fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:389b126b9cdcb7eb2e98bce31ba0d301ac8838c63e8a215f20d4a832b642fe69",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3961cfaa62866453929c5ea52c1a50df91f30d1d2314bb59b2d5840738e44d84",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEQMQASQBhpOuDj-lJ3sqCeIlLe3pt9lbnoKksc8ymQLDebkPW_13hBXDfLBBjJY_mSYY4p7xYltw5ezZEyP8ldDFutxmMbLoxiJeRVAYs11KAsPueERra9jwrdO07GTgIGTFn_zllpeDjAUUiya1Sj7HPl8fRJK5dbt000f-31gP40b4W-Ko2IfjIbYWV5CeBClTssQHUqzltVnPa4GYpzS6ReGhQoSfhCKgCpqQTIBTrEIV_XR3A2tP67lvX6Z3NvT3UADtuYPOl4X41wCoWgn8m2I-9D2UImM3eg6zuG2R6olyVVXrYuujmmG7K0WaqDJA7mMiZGPmWXxdZl5OrgqkxSFhWUSoxDpomfZQ5FjZVJpObx998sDOgQClWA7lm1sw2hna8tLl7Z83h9teSn_I9-xca28NNzpyTa73LZ00jxRVjBEJLdr6FlZ4dRItSIEe-rXJnsgqiJpnVHargeiHidPo8eS3vu6pjjUAhmvoqRc5TylHiyyAozXHz7RGV1z9fisi5v24qG25vpA2W05d34g6wDM5lP1tXzab6U6bDzKH_q1NdfHvZv4_p3cghvESFnwnHNA-Adg1_HN6QNm8ge9SHLTBgAd1YpOnrsNEIJJl_uUw5g9buBNQzPkmMU_Ma9e_N7KQnQ_oE8hVBfrMJQ1Yr8zmXAwesKXH82kfhAhGQz7V2ghcszq2DqcgfmHaMGzj5XGkoRDQME69nxTJkj3liziwmtagmOg71c0VzKH-jlkUc2FEtVzOy5oojBuqgxngzCyUPn-R_rd1OHe4geiH4JQGUuoZm1Nd4IrFmeN0Vipsnz_aG22fQ5MklbxVG7g-kMjwlzzQeuM90wC0Ad-llSH5Rd3jAIwNcojQCLlbBBtPJJkzYQVWEpv-QkQS0KGp0-qfKTpX0gM6eMLRKQtdxdxVYHRvPEqpLD42qMf-2tqX4pfhoyqlgt_6ybi8fysT1W_gRBCvN6iU5ZVJLcyJMbdsICMyk9tJQIiaAL6K1Kk1GsUALFJneOUCvGu5gcW4O4LeyTcE5N6UoRepUBh0kjBNQlNwYEWnpbmRS0lkGWrYte0hPCCKbYsTy1km_VXEdapCNPMl-pfl05_GK3fQGNpcFtGc71cuXz57TkfgW8_ftrFNuAAbDAxQeDj1ynMhek4HYoCpSvpnXVqxi2Z5h_jGUx7k6uexe-d6P2wPjGblecelLFsF01GniUyRwyXrKftZMrQX_uR9jS_0pmqPJEv85ZVCgGGM5lq4Zk=",
  "id": "rs_0505104689070752016ab4440afa4487d0b8f6d1d88f8625a7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The large dog’s torso now fills the gap between the fingers, with the arms outside the closing path. I’ll close around the torso and use the retained width to verify the grasp.\"}",
  "call_id": "call_fepjJC8S3bPP90myvTUF18ow",
  "id": "fc_0505104689070752016ab4440b4b4887d090ac980cd1a70b68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fepjJC8S3bPP90myvTUF18ow",
  "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]: [-1.0561, 1.4185, 0.5083, -0.0834, -0.7513, -0.9165, 0.0497, -0.02, 0.8379, 0.6067, -0.3923, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.249 left_y=-0.1881 left_z=0.0495 left_yaw=0.0281 left_pitch=-0.0965 left_roll=-0.0736 left_gripper=0.0497 right_x=0.2961 right_y=-0.0002 right_z=0.1666 right_yaw=-0.0043 right_pitch=-0.0614 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -4.547, 5.4359, 1.0867, -0.4127, 0.0171, 3.7192, -0.1436, -1.5111, 7.1179, 1.7021, -0.0366, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8608c0859e577b2bd8f86e7f250defe58b5aeaee40968e8231aed0a63fafb63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d28e8f5766e36cb40384925036945946eeec37f293a3e31645d5ba7a4c1bae69",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0b37817af077aae4766d7944b37407622b4b25265bbbfe1a45bd42efc990563",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 2.54 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 69 changed as sent

message 73 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]: [-0.4355, 1.0451, 0.7998, -0.4335, -0.3466, -0.3809, 0.9967, -0.02, 0.8314, 0.6067, -0.3927, -0.0124, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.3203 left_y=-0.0789 left_z=0.1909 left_yaw=0.0442 left_pitch=-0.0694 left_roll=-0.0795 left_gripper=0.9967 right_x=0.2957 right_y=-0.0001 right_z=0.1683 right_yaw=-0.004 right_pitch=-0.0553 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -3.1795, 9.5932, 1.4188, -0.0317, 0.1392, 0.1148, -0.2667, -1.6615, 7.0359, 1.6874, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0557, 1.4189, 0.5083, -0.0895, -0.7513, -0.9123, 0.9983, -0.02, 0.8379, 0.6067, -0.3923, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2486 left_y=-0.1871 left_z=0.0488 left_yaw=0.0268 left_pitch=-0.0994 left_roll=-0.0646 left_gripper=0.9983 right_x=0.2961 right_y=-0.0002 right_z=0.1666 right_yaw=-0.0043 right_pitch=-0.0614 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [0.212, -4.2325, 5.1624, 1.3016, -0.315, 0.0952, -0.0659, -0.1299, -1.4564, 7.0359, 1.7167, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0561, 1.4185, 0.5083, -0.0834, -0.7513, -0.9165, 0.0497, -0.02, 0.8379, 0.6067, -0.3923, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.249 left_y=-0.1881 left_z=0.0495 left_yaw=0.0281 left_pitch=-0.0965 left_roll=-0.0736 left_gripper=0.0497 right_x=0.2961 right_y=-0.0002 right_z=0.1666 right_yaw=-0.0043 right_pitch=-0.0614 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -4.547, 5.4359, 1.0867, -0.4127, 0.0171, 3.7192, -0.1436, -1.5111, 7.1179, 1.7021, -0.0366, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8608c0859e577b2bd8f86e7f250defe58b5aeaee40968e8231aed0a63fafb63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d28e8f5766e36cb40384925036945946eeec37f293a3e31645d5ba7a4c1bae69",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0b37817af077aae4766d7944b37407622b4b25265bbbfe1a45bd42efc990563",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEQPy6t1bcK5MNpP6BMIWIbwxHfprilar7MDA6RDyV70Pfsii-RMLfUN4JaACP3SedpiPDpza6603S7pTNOeMY8W3DOc0Y7RfUo1gcbk70sjIB57bw9zqldcmW6N3Jw0RpQGCyLbhQ2yYYvUzEkv5G_vjXVmMbhpw2Cugze5QQ4cBVHhARteQTdTfBEzTJSXOOi0FPptQHKoj81AsRCe_sw4BZ_cXfWqtQLeBU1b3Z1KPOoIWO0C1k_S0nrPxnB7uvB622LnnfeNrTzy_S_OT0cSF7miJy8PGBANoTxqJi3095thoflTjoHfcaNSkAE1J9_i1nR2E2LDHsdy1s4pwrZUljsqL-6IRmgJzCWBXHFCQdJlXf1NSsNjka3jPgJSGlSmW-aMtOYVol5JofAg41HkZUT8EO9VoVH3UUd-1ynYQotFINdraYy6DgkPwE6GU39scWTQ6-yHDBWmi2_OD4crIw4abtHWHKwiimzDj3chkqhH10pz7aoMmshCNsaXWm37EoOZFj5pP9aFs3Fy4U1AAVU-uEv9aqG7s4oC6Sa0AQ52G0Ie7u7ZMRZ4dENB771FrCpPvaW4Z4MOc1XpUaBTiWHsZNvLUTWvlmjanUiCAHFlK59s-7o0-pYOZlQ2CTxcJW_MIkW7wlNdws_nej1zpQQ6wBiooi6mfgmW2LYChkPhyJSGfiRg16cImkrg9beKs2eI6QQLGrhXxUqQ-f3Ha_k7XUx1-9MA71G6R4d1QdTOozzowoP8fglizchVdligHyQqKqSC3W5wlr1_Tm3XtAT_2KX3W6ux5ErXx8IPwYv7Uw2S6gyqfocSPj0oYyIwGoidaQesnrrZ7X4YfoPDHI73iZ5lpTQUlTaq3ApH7rmrQHEEtz7kBmHZ6oxYbxaupkrbYyUNSgxQeVXlXDBCr4twdLs6A8e7JO8eE-s0BKjQ7Ul33riTzxxhDgiSiAxgyIGIrJSjq0yrLQphMXn0lAVF1C0EXVBaIeqJ0HSELkdGuA4pnvM2_Q93NEUGDCzMxspWSL4SzigWENqGSWdgnrmTSnGhKfk-BxzNvZZCyPmA0djhvF33gT0TmcnJ8vSl1sAGZqKDaOS60hE4Xw7B632Rbm4G5N-9m0xluSzaaCkIhpHxdhkBNS7UuRTyO2cTxZUeHj6_-Z-sAXkR-EspFC-lVw-RBnA3gNy4DB1SZfd4xr61_Tj85rRqHSSbnQmHgUoQ9M2-a-6QaAjpB5lEND9CN4JxQ8XFywLVQ0hfkYIM0aMl-eONXj8Rs9QRxh0zNcSv-KYVm4xCPLOsqRA87Q==",
  "id": "rs_0505104689070752016ab4440e998887d0899b30a0708154d8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.13,\"left_z\":0.2},\"note\":\"The gripper is held open about 4.7 mm normalized around the plush, clearly indicating a secure torso grasp. I’ll lift and carry this second dog directly over the left basket.\"}",
  "call_id": "call_nMd69pYSjUVnJlCQlUImFHq7",
  "id": "fc_0505104689070752016ab4440edd2887d099ef2a5bb7e9ebdc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nMd69pYSjUVnJlCQlUImFHq7",
  "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]: [-0.5163, 1.3426, 1.0119, -0.4381, -0.3954, -0.4591, 0.0684, -0.02, 0.8391, 0.6067, -0.3927, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.365 left_y=-0.1249 left_z=0.1844 left_yaw=0.0494 left_pitch=-0.1339 left_roll=-0.068 left_gripper=0.0684 right_x=0.2961 right_y=-0.0003 right_z=0.1662 right_yaw=-0.0047 right_pitch=-0.0629 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -5.8188, 9.3333, 1.5849, -0.2125, 0.2125, 1.033, -0.0889, -1.5795, 7.0496, 1.7411, -0.0269, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:487c8cea1ef92eeb98679fd36b2d0834334ad29f23a551355bf41b36121897f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2cb61e250d1e4448360784ed213be8e688f4a448d810cf8dc986847ef256369",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d146504296ddc78c518bb92c857363b55f01548bc83e140ee2577f436343a82",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 3.819 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.116, 1.1255, 0.7273, -0.627, -0.7799, -0.9703, 0.9988, -0.02, 0.836, 0.6067, -0.3923, -0.012, -0.0227, 0.9996]\nstate[eef_state]: left_x=0.2277 left_y=-0.1747 left_z=0.1434 left_yaw=0.016 left_pitch=-0.0908 left_roll=-0.0771 left_gripper=0.9988 right_x=0.296 right_y=-0.0002 right_z=0.1671 right_yaw=-0.0046 right_pitch=-0.0595 right_roll=0.0009 right_gripper=0.9996\nstate[joint_eff]: [0.3214, -3.4256, 7.4598, 1.0085, -0.5641, -0.0415, -0.1441, -0.0479, -1.8393, 7.0496, 1.7314, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0561, 1.4185, 0.5083, -0.0834, -0.7513, -0.9165, 0.0497, -0.02, 0.8379, 0.6067, -0.3923, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.249 left_y=-0.1881 left_z=0.0495 left_yaw=0.0281 left_pitch=-0.0965 left_roll=-0.0736 left_gripper=0.0497 right_x=0.2961 right_y=-0.0002 right_z=0.1666 right_yaw=-0.0043 right_pitch=-0.0614 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -4.547, 5.4359, 1.0867, -0.4127, 0.0171, 3.7192, -0.1436, -1.5111, 7.1179, 1.7021, -0.0366, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5163, 1.3426, 1.0119, -0.4381, -0.3954, -0.4591, 0.0684, -0.02, 0.8391, 0.6067, -0.3927, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.365 left_y=-0.1249 left_z=0.1844 left_yaw=0.0494 left_pitch=-0.1339 left_roll=-0.068 left_gripper=0.0684 right_x=0.2961 right_y=-0.0003 right_z=0.1662 right_yaw=-0.0047 right_pitch=-0.0629 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -5.8188, 9.3333, 1.5849, -0.2125, 0.2125, 1.033, -0.0889, -1.5795, 7.0496, 1.7411, -0.0269, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:487c8cea1ef92eeb98679fd36b2d0834334ad29f23a551355bf41b36121897f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2cb61e250d1e4448360784ed213be8e688f4a448d810cf8dc986847ef256369",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d146504296ddc78c518bb92c857363b55f01548bc83e140ee2577f436343a82",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQVgkZvhkpNsItdbvN2-RamStbMPYbJYcUUC2dI0P27Dpmkt3NbMc6g37atlmjikx1-H_uvyol2mapjKH80p4Luzj4zZL1fNUWiwhwqCSuKJ7ggbkZLgUvOVltkzym4EtSPW1-PRktZXz7TlproNZbAsRFA2LGo8OmmCZJhpuiYD_NB5Rfp5JY1-HJFVFNnTw30DyBg7sEzNwYrd3BY21fzHBAf9vzPmD_2JEoyw7QAPNrvfLWJXQAOAYlrLcTp88uLU86ks5LOfht0TcSV2RhCsZhIS4UMddpYDvtShojDhU4uLpcxq2Qomd2g8YSElGTRUh8G4QNxowIIxKRqdNrH97tZjYjlVgMOgiJzMcrwsx46b3H2uO1IP_sjk0IEta-U_0pPpIwy4hIjmxnsf_U1wXUVGaM0mxj5PRQTKMcwaGMn2xG4dDyEqavd9sWJA3FtDxG-a73PeWggCJr42adYxka06y8L531jlIgdkuQY7yrAghKzOumS1c_zas_hfij71Wz1ycWM6uCyA3n4dNGpEvt3GEnFbcAXwXl2cqwwlXQs6_73AiCwVvsdWxCeeO8dQYtxwRaN5Yyd-QixLki3FNw5eKNXeHkLVSyL2JY3kxn67eTvu3Dt80pOdYYYEzNF-xoMzYWXpL7-4ek7ybPW_noTZT_Dzpl-6A7yCrwNzBAAPSDJUrKjXXzfjlmmsnPNgU_DsGgnWfan6W-WOar0vybh2qc1l9R7uRoX4tP3LtmbIsitA86twS2gsR9_aItKkz2NIQK4k7-6rM8jI2waeMa-BRAiNJG4D3qcWQs8Un8BlII2Xu8nzRaKI3YPEV-gAy3bCnxbb8g6LfS3iRHJDEySQVllUO1QvtBcJR0sRQKvlqe4BIiAN0itvz0Rdvx3iowdi6FBxXxL5bxPu9FjPDy89HPjdy5r2rF3jrcKtba8tWmXDoa5q4FHZVMbG4LRoWoj9Z5yWdCRUvYPzdBBt50FgZMMm1RzCFJOb1XezNNhAG6v2FAR-lvBZ3kZee1N-HlQ0KryzbmHPFrDXylF6S_kWrHdt7WzK8OB8i2uo9oqpTgm724QqELX2KcE40-MjkbiEJvJw4QdyZadOdtrHpnrRaQQNW45qGzA8174R1bOMI0crcOhvOHewn1JOr7uD9uS4NWzt5ifXIVtm2ZTZigwciXEAyecV4Xrb3XzyULNLh-jiBEJZLN5TGv3VnMTU-Wevjpd2PlHqf4afnGsMoyjShz2tPVboxyltM3kGYXXNrZojLR75WnGHE6bnEBKJrknSzNJM2xXPSkoGYTicm3k6KQSedkrRr-Id2VGpvcJJ3NbonIYvLswrJkf4z8gImD0HFT1qQ86FPrKF9Mc_mxG-nnbsEttlBh-scpbGpM=",
  "id": "rs_0505104689070752016ab44413f3b087d0b33c8069aaf7790e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The large dog is centered over the left basket, which already contains the first dog. Because it is soft and the basket has high walls, I’ll release from this safe height rather than descend into the existing contents.\"}",
  "call_id": "call_Oyqn7VMe4YQmz9k63oZdfuok",
  "id": "fc_0505104689070752016ab44414660c87d0857f2641ea887df8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Oyqn7VMe4YQmz9k63oZdfuok",
  "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]: [-0.5182, 1.343, 1.0134, -0.4549, -0.392, -0.4679, 0.9954, -0.02, 0.8391, 0.6067, -0.3923, -0.012, -0.0227, 0.9996]\nstate[eef_state]: left_x=0.3625 left_y=-0.1249 left_z=0.182 left_yaw=0.0507 left_pitch=-0.1486 left_roll=-0.0683 left_gripper=0.9954 right_x=0.2961 right_y=-0.0002 right_z=0.1663 right_yaw=-0.0045 right_pitch=-0.0626 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -5.4496, 6.7487, 1.7118, -0.2027, 0.0415, -0.0952, -0.1983, -1.5385, 7.2547, 1.707, -0.0269, -0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1191ca558f28b4ceb3b5b26a095bbf86a5b9580fb36b0c09a2d8e051fe593078",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fcb8aa6d7dfdb689a8ffd247f4a91c5824d13552e91adbce1b2f3b22802518c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d3cf5b449b7b14ff2cd8b2f817dde1d23163c495b00f17be4c2dc6048a224e3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 2.223 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0557, 1.4189, 0.5083, -0.0895, -0.7513, -0.9123, 0.9983, -0.02, 0.8379, 0.6067, -0.3923, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2486 left_y=-0.1871 left_z=0.0488 left_yaw=0.0268 left_pitch=-0.0994 left_roll=-0.0646 left_gripper=0.9983 right_x=0.2961 right_y=-0.0002 right_z=0.1666 right_yaw=-0.0043 right_pitch=-0.0614 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [0.212, -4.2325, 5.1624, 1.3016, -0.315, 0.0952, -0.0659, -0.1299, -1.4564, 7.0359, 1.7167, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5163, 1.3426, 1.0119, -0.4381, -0.3954, -0.4591, 0.0684, -0.02, 0.8391, 0.6067, -0.3927, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.365 left_y=-0.1249 left_z=0.1844 left_yaw=0.0494 left_pitch=-0.1339 left_roll=-0.068 left_gripper=0.0684 right_x=0.2961 right_y=-0.0003 right_z=0.1662 right_yaw=-0.0047 right_pitch=-0.0629 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -5.8188, 9.3333, 1.5849, -0.2125, 0.2125, 1.033, -0.0889, -1.5795, 7.0496, 1.7411, -0.0269, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5182, 1.343, 1.0134, -0.4549, -0.392, -0.4679, 0.9954, -0.02, 0.8391, 0.6067, -0.3923, -0.012, -0.0227, 0.9996]\nstate[eef_state]: left_x=0.3625 left_y=-0.1249 left_z=0.182 left_yaw=0.0507 left_pitch=-0.1486 left_roll=-0.0683 left_gripper=0.9954 right_x=0.2961 right_y=-0.0002 right_z=0.1663 right_yaw=-0.0045 right_pitch=-0.0626 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -5.4496, 6.7487, 1.7118, -0.2027, 0.0415, -0.0952, -0.1983, -1.5385, 7.2547, 1.707, -0.0269, -0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1191ca558f28b4ceb3b5b26a095bbf86a5b9580fb36b0c09a2d8e051fe593078",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fcb8aa6d7dfdb689a8ffd247f4a91c5824d13552e91adbce1b2f3b22802518c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d3cf5b449b7b14ff2cd8b2f817dde1d23163c495b00f17be4c2dc6048a224e3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEQZd_YH_ogiAjGCvRlxCXGESJxWhiln65175T4chMpD7xVJqIYrVgYCaFlPak-Vrn8QVtL1KWEYR8xfrI_1q33oRLOtg8N-f1xW3aLE7L30Vg-4LwjACPQ6viFJVkd_MWLWgv97_ycWoeed1_sO0sVcUKM0JvqMwnp4XKDAA0kECf8LmiGhtDFqjHjYWrpxC4rSYLrqohdH3OcIiOJ9ZvCoBU6NR7-PLciF50bAJKUr78LjYpeAqgsmXOVWfEH5q1LxHGwCPJ7njeBH63aylQ0rfi4xM9nFptgUwL_wXVra7sTJV8B1kZvUtbDKNNO93epOX-CVt6QDF9hhZzM-xUBUJk4Qh4THXU7SEaX0Rjv6t9ZBkpcAtxsNbN9oka2dqAFHC9nI7QwH0wvyflWwMYOkHxwWooZzR5MxcybVxMfRI6eoxjKYEi8tmp1DhC-1jUb19pLaZ_YLNIMhgIdd7rQnHCd9RrlK-PiDGjRFZNY0MA7mpc3QC2_XFjh4yYDMjQwZ3SycHfIcXHqVsaxiCf9pQaMYUveiD0JB1fsfAUxrnLODrS_EGN7AnodYdls1JchwlPeIROjdQQOpzPXgnFnre5Ea8YiP4vqR1FlImhtW5kkjRKhbdqJt06iJ5pBJVB9ExdrWE7RR6IUi9afU1oMhtXNqEPgxrAMgYpK-pMRPjgKgP7IO9rcOrtPqWRAGNvmBd8dYm-OpyVBrujgxYwhY80P9XcrsADxwOc65ONe1PipjS97WvIQID1yIfu19G4o0X-N2yS-56Z2oWaaoL88PoYE0Mqmri4lnqt6q83bUN_luT-ryPWs7_UEo7XXCwh9HqeeHBjMtoeMhoH50GoFWJLaPuasYMano_oM7WOMZvt0ua1D4RnwiThHUCNEzRltwIhafoax5Ew_RoK_nswnk6-AWe2NXXWz2YlZhltGoOFB6EPJ0ccshfJguSWpYCrStuhFjfUtUZd2HVPDuh9_ezV_vR8AwMQv7zJ-FayV1Ad74iP6vKZzOwUMq9i9mfRWCQMBolwjXOFQwgUx3wp8S1X4qrsbgT4JZQH1dW2l_MOp3i4PHLKNMEN4z-qn-_r5rmModFdNIB8oR39Oe8YoDJSRCyjPQEMyWvFbmN_xWY9ePmvVHZqdxvpPxKULU1hbZPQTZ1UNaSItXzUUIht7B5WZxPqEox2YxYcMETrUvyuggymJ6ECUOB4aSAjK_1CjkjlcBg_GPu1XEPfYBIkA3VZshd-PJR-TiBweY4B6vA_yDe66Z2dH8231bnjHn5hZcntDXq5flg7mJRR4C7zLhGlOEwQepeuUGUTWSxdTolw-x_TDuGBhgWpaJzlPBPLqoT8qAiUv9L1G34eR2f5WRj4Ydk61TdARcGO67tYqh75Xte8tmSe0uIncx_WVNerHXJrb1uTXGdXV7xgyieq8eFYFVwXjF9pZ5JMpWYZleXVMtwxF0YMLdiaS_obOILjv1866AOVFRS-o1D4s3oYxYrQWjr8mk-y3m2tjUOdaVG4ud6XHU6HDybKhFIc_a7q9Lbv0648LfM3coSrOfornc5OnM2sMqExkGX6ytVYPsE3xpSX6FaHrbnXO6jBGfk9X-1bK6zT_rdzGjJxR-UyH6qMG1-sRb-TBkc7fQaLYVcc6o6nG2hVD1_Pz9CjlLJfVCmNksglAI-uX6ednwz__JUjC0GPHCptRvIZcUnhMTm0sBZ30ylnsxhhuZY8qR00A2To4j9S-teAb_aIDqAuu04CQhTAnKAfhHVLF7MBshxOPqSVPHMTqzMolMoL8BDcs92pEwWhtR3DejTQbu7H5sGMYsXR6rmnGctyVndIM4dgTdspJZ_2neAwiGkiM5qZ3bCIb4PffspmccIVsYpLh8lKeDYBiuMHlBstbkLuG3lxY50xFEGGki8bQabS9dk_rkH9QyoZrF0RkbxsmbIc7FN3lyBssRGjelSPSA5wEk55M85RT2rIZ8xMHOyfz0rdAQsrsJAFPiWgE_-_rCjlwi9m5MteG0OCxGJPsIX_kYGiZMhQOdkLYqo4z3Crxdq70NAd1LX-f0gyauIresgxRCg0M6KHpGPRS79PQbZLn44hkZYXaU5YyYc_3iNn7ks0lYFxzuj9eP5BqZW5MCNt7f_w-4bvKnS6FlA1-eA2FMuXHTSceD6BsVXoMo-h9mGyYw1EpzZXEpZ-SDA4Ai3Y6DJrCXUd_qwK_WbdtUTZul8xXjZozM8FKrm3rOfNWpnNp3MLBbYI9gfbDdPogwcbSRn79rrruiem49_0kGHESk_zukzaZTsPF1CWJcvbWRmzqxr7jzdOA1Qyd5D1eDfOBgNg==",
  "id": "rs_0505104689070752016ab44417409087d0b7047e395221671a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.17,\"left_z\":0.05},\"note\":\"The overhead view shows the large dog bounced off the basket’s front rim and landed upright on the table, so the left basket center is farther forward than the prior high-drop point. I’ll immediately re-grasp the dog at its new location, then place it deeper at x≈0.40.\"}",
  "call_id": "call_CQhaPLcrnCzXMWLras4mk19Q",
  "id": "fc_0505104689070752016ab444192b1887d097d1af2de3ee644f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CQhaPLcrnCzXMWLras4mk19Q",
  "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]: [-0.9169, 1.3876, 0.5465, -0.062, -0.6674, -0.7891, 0.9967, -0.02, 0.8436, 0.6067, -0.4007, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2778 left_y=-0.1768 left_z=0.0651 left_yaw=0.0387 left_pitch=-0.1026 left_roll=-0.086 left_gripper=0.9967 right_x=0.2952 right_y=-0.0002 right_z=0.1633 right_yaw=-0.0043 right_pitch=-0.0755 right_roll=0.0009 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -3.6034, 4.2598, 1.0916, -0.188, -0.2906, 0.1245, -0.3214, -1.8667, 7.0222, 1.7705, -0.0171, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28261ae1dd63bd708cce0197e546954c87ed2d1924a1776e2fdd59e9fa8d2306",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ecd38419ca77e13f3de44519563d7da796d9012590259c8d7e4ce2750e28ac9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d4eb20fc84668457560f043d195d96bfda91560fac900acb61e062f8357cd2b",
      "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 21 attempt 0 · /responses · status 200 · 4.79 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0561, 1.4185, 0.5083, -0.0834, -0.7513, -0.9165, 0.0497, -0.02, 0.8379, 0.6067, -0.3923, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.249 left_y=-0.1881 left_z=0.0495 left_yaw=0.0281 left_pitch=-0.0965 left_roll=-0.0736 left_gripper=0.0497 right_x=0.2961 right_y=-0.0002 right_z=0.1666 right_yaw=-0.0043 right_pitch=-0.0614 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -4.547, 5.4359, 1.0867, -0.4127, 0.0171, 3.7192, -0.1436, -1.5111, 7.1179, 1.7021, -0.0366, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5182, 1.343, 1.0134, -0.4549, -0.392, -0.4679, 0.9954, -0.02, 0.8391, 0.6067, -0.3923, -0.012, -0.0227, 0.9996]\nstate[eef_state]: left_x=0.3625 left_y=-0.1249 left_z=0.182 left_yaw=0.0507 left_pitch=-0.1486 left_roll=-0.0683 left_gripper=0.9954 right_x=0.2961 right_y=-0.0002 right_z=0.1663 right_yaw=-0.0045 right_pitch=-0.0626 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -5.4496, 6.7487, 1.7118, -0.2027, 0.0415, -0.0952, -0.1983, -1.5385, 7.2547, 1.707, -0.0269, -0.0464, -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 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]: [-0.9169, 1.3876, 0.5465, -0.062, -0.6674, -0.7891, 0.9967, -0.02, 0.8436, 0.6067, -0.4007, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2778 left_y=-0.1768 left_z=0.0651 left_yaw=0.0387 left_pitch=-0.1026 left_roll=-0.086 left_gripper=0.9967 right_x=0.2952 right_y=-0.0002 right_z=0.1633 right_yaw=-0.0043 right_pitch=-0.0755 right_roll=0.0009 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -3.6034, 4.2598, 1.0916, -0.188, -0.2906, 0.1245, -0.3214, -1.8667, 7.0222, 1.7705, -0.0171, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28261ae1dd63bd708cce0197e546954c87ed2d1924a1776e2fdd59e9fa8d2306",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ecd38419ca77e13f3de44519563d7da796d9012590259c8d7e4ce2750e28ac9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d4eb20fc84668457560f043d195d96bfda91560fac900acb61e062f8357cd2b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQdjjvPq06GeahRB1ZDAQ3MZxo5TV5xIjXGLMRokMVNM8BPPgj6w9see974Rvoby9L1vAmvKMiGIkp-4z1f05kXNq8dGSpg1W-zHDnNZ2PKeWXcksw1Yfkn9CRBQZETZwKoK4QjuRf-xHx5IwYMvbWWAt1R_5n5B7oGCK0vkXrgzEBL9JMxsRGO3ernegOcG1KkJ2UT61yc3NYTlbXZLL2ye-PZCqpyRM8qg3yx_KQ-L1t5xtP4HqwZu2u9idAoP1sHq29AW8ycYamjUOSSIiApDfx7dJr4NFqh4TRPVtFOKhQ2VIKkEghlmKWIXJ7IGuS-psfvyQLpOj2PbZ625LxoJ0G8YLYOd3iFTeODI8laBUIejVNjGvwZvx3Z4UbtkZWXItW-K0gM9yaGQZJ2Z6P9N94QxO4KFBcrTu4iBpJy3eT8lZ6pktNAMbUJakpBWrphL8t_8Adt6bnVhbbZAuec5S8hyQ88Lw76lBfcqjyfnt1RdBSlLclxCgmj1wJbOuDMN971IYNE11rt15CotbK76ysbG1enuUyTpzGRqyzAA49JqpzwP4mELeY6Q-Bc8YLnybhzQsVDWjyu3sgMYN_PDWmjEL9UVsGbZiyezshoqPwYAkCphjxWU21_l9QixKJ3HBgSGHteXOExvQ-OuY46fntsEYKG3K6uD4wY206bI3rB9y9-VQrzEBzL8OrZ91Hav0ZCqgf8YPoFJFLVVlmYZB7aaeL2OTBl4at4DeZkWG3hgt3a9FFqOyOnxnA3qMe0bnh1Uj9rtwESIpnXV4bgWFSMIoeTmDHCE1HK1lmVT-eeZ4L1MijLpulMli8JEX-nDEk5LIeIk1_ifxon2BgzX7r9bZ3lxSLLMRIPU0c6eiP0l-MZBENQ_GuYfzGrGlDvQNuVFWiYbG2LKn8vjZiM9cRxiwfWtAgYn--HUeZGxvuCOQqPxJeHUj-qTIM38ZEe0sDC2vINVZ9_Tw4e43GOlSkd4l0yLJ02PVQkxwzq3RIaTiUuSI2NTlm--8FXqL9oJsnig9AovwNdbaZ5m7OyJkbY0leomnaiF7zU2yzj456pwnUF9Iatbg_tmARH54b9CwQLxiS7AqFCydQeCzmHpe2dZ5_2vZEO8l7-e57QUPWUo6hHjgyfdP1Cb0GCijAyounQA-ItYlrPi2lGtZxuNBicwoV9sKf2GBR899K6PENNqlPDlm3V5B1JLJ8epkqBFpFbifAXIAKQa_VPzsy11A==",
  "id": "rs_0505104689070752016ab4441d200087d0bd39af3294e06077",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The fallen dog is now tightly framed between the open fingers at torso height. I’ll close again, then carry it to the deeper center of the left basket.\"}",
  "call_id": "call_UDh0x0ag2cPcFSZ1cLJUpSQw",
  "id": "fc_0505104689070752016ab4441d457487d09486a85e82cabb1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UDh0x0ag2cPcFSZ1cLJUpSQw",
  "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]: [-0.9169, 1.3884, 0.5438, -0.0509, -0.6731, -0.786, 0.0105, -0.02, 0.8436, 0.6064, -0.4076, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2787 left_y=-0.1768 left_z=0.0659 left_yaw=0.0403 left_pitch=-0.0945 left_roll=-0.0873 left_gripper=0.0105 right_x=0.2941 right_y=-0.0002 right_z=0.1618 right_yaw=-0.0043 right_pitch=-0.0828 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -4.7248, 5.9966, 1.1795, -0.2711, -0.0073, 0.8718, -0.1709, -1.3197, 7.0359, 1.7656, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3ce35c07486be4e59ffa2ddcac3c1473f0aef1225f11201e75438e1104ada84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daa35af699a8b98382cd931b2414ea7e344883864d0928dc4531b3a510a45cdf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b07cd5673dd83d05389530eb7f003895e7936b0fb6ddb61981d613ba00dd0ec2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 2.223 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5163, 1.3426, 1.0119, -0.4381, -0.3954, -0.4591, 0.0684, -0.02, 0.8391, 0.6067, -0.3927, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.365 left_y=-0.1249 left_z=0.1844 left_yaw=0.0494 left_pitch=-0.1339 left_roll=-0.068 left_gripper=0.0684 right_x=0.2961 right_y=-0.0003 right_z=0.1662 right_yaw=-0.0047 right_pitch=-0.0629 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -5.8188, 9.3333, 1.5849, -0.2125, 0.2125, 1.033, -0.0889, -1.5795, 7.0496, 1.7411, -0.0269, -0.022, -0.0122]",
      "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]: [-0.9169, 1.3876, 0.5465, -0.062, -0.6674, -0.7891, 0.9967, -0.02, 0.8436, 0.6067, -0.4007, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2778 left_y=-0.1768 left_z=0.0651 left_yaw=0.0387 left_pitch=-0.1026 left_roll=-0.086 left_gripper=0.9967 right_x=0.2952 right_y=-0.0002 right_z=0.1633 right_yaw=-0.0043 right_pitch=-0.0755 right_roll=0.0009 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -3.6034, 4.2598, 1.0916, -0.188, -0.2906, 0.1245, -0.3214, -1.8667, 7.0222, 1.7705, -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 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]: [-0.9169, 1.3884, 0.5438, -0.0509, -0.6731, -0.786, 0.0105, -0.02, 0.8436, 0.6064, -0.4076, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2787 left_y=-0.1768 left_z=0.0659 left_yaw=0.0403 left_pitch=-0.0945 left_roll=-0.0873 left_gripper=0.0105 right_x=0.2941 right_y=-0.0002 right_z=0.1618 right_yaw=-0.0043 right_pitch=-0.0828 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -4.7248, 5.9966, 1.1795, -0.2711, -0.0073, 0.8718, -0.1709, -1.3197, 7.0359, 1.7656, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3ce35c07486be4e59ffa2ddcac3c1473f0aef1225f11201e75438e1104ada84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daa35af699a8b98382cd931b2414ea7e344883864d0928dc4531b3a510a45cdf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b07cd5673dd83d05389530eb7f003895e7936b0fb6ddb61981d613ba00dd0ec2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQjxu2oXiSKDYPF_PPX9odTU7iwjXPa6TE3jKMq4m-wF1xvk6Qxo58xQc8MwpPPJaMy_ORZrFOFU2HtGDd4k3CAnOFDSznykhFGy8uvQWAGk4ykhPamDnfLo3ChDsXfsewiijlV6o9A_DLN9AURNkzj6Dhfu7O8ks9B9dfUvuzj_-s-VomsHLPXjTUs9SIBuxP1yrO-3TgMMQiIeXa6zk6vdXmJOeeIdU1y3aUO7aVjgPYY88WgMTkp8RoJFz5M_7893FeckEl2uk7CE6b4YzTCwN_7MZFOK5y5OgvaTUwsLohAwLh9p0hrrbJQ9t0Q80AXNXTdmuJax5tZKNFGT0doUVKy18oUFwykbn3EWwCSPTVovMVX_b9MB1RedngdGmJ3i9C9PsrMTGHgZFVbCgqjjjixPnFjfP9-bp7X1xrxxzIi-tO4MDa75IGWSJS8TFxeC5BNdY3a7OZ0OYL6x7haCRfJ6SCJ6KByI_R5dt6tqTR9DuPEVn1dNEqSr2mmf4afzttLFsXOHlVe4fzxilUj77xm1bg04tQ-46hF4MZ-dT2Gc1cwFqGa-71u6PaiAyC3v5nDA6_bh8-NJO27Tipq7Ltkwk3cZqvpEJMFgmyTSGZ4eKdtICTtWUM81Oqo0TpM9IOf2gzgO7agpcVUhc5IRIv2DrpUAiucpfS6HSOd69elINpda1x9BNztNOciqZmxFmNFBc57tJMSPXKSk2ncJ9sDxGj3Hy25CZXMABy22HXY8PyXvoDz8u6q4VqLQuiHnN1zXszp9riF8z5Dh4WWelxFNlnkYYXBayl-eVQWdYcDkiXDxmjKkj50IOvK2_ID8EDqJMF_N2EqqVWSlUnzewSluLImPXSojcvnPaIAfsyHg0wlnOHSVifRXfg-o-2UxulmKDcJYGT0dS6t1qBvmCWrH2FKevqftmaC_8xTr-DZ8f-0RS3cYVAu2OTwiwT9Af3I8oHHe_4KCp-nM-KpAzTb88uvY_WeMGnDFCLJseuWpxQ4_RcKOTPG-elDoTqyKopIxT0uLpAEgGtYtsAbpkGy6_j8i7HQsNSxdWEkpZ5rkAlLX58Ps0TIAJ2WvVVjTwSYz1orgJUuF6EuPk1zUx26jkzx1rGjIwanypWdLFJ3peCZK-Ed7Il33V_CiGOy45nzzkFjBnfWTzGBle8Zd0mKHVqQ3XnXEYktfJc4eCdLqqM1BSlNPh9lUMuGXL8-MYIwkSTeffxfH8q9O2N9aUzpnucU6TGK-w_ONDvcISqXkQlztv-padMmvTWz-qFlXKf9C6QhECSTrGM_lbVahqGaMJvjtDhJLVfOWcCycqHIfNlbHtRQ7yND25R_lscxG1nXLfcvadWxZ0k2AO9aE8KXm8PdD49646k4ztGj0CPGXQ4bujL1C_nPlVrRemiyXp0gjvIyRzb32mIGYmRdKPMEudqcAYAfDa456VFaw8TT1jCRB8CcorCRjaqwp_uFfIRzJ_TjrqZ8Je6S60jvrqBFHQrVSZtR0VrGd-mycVG2tCifZJ2aHnccybnGp2AZgHL8bXve3xJkTj3MCD6J-1EsLmlMqxIRg6Q-yOe2RFDZvU5mK7VDUlagY81JTYSTAEOrsOWynBUo4IgZKgEv8w_JoxqYqzw8AN7ky5FwkTU8KdlE2colocfwfs8KNfcRs-cj5jb7fSsP0gWTbBqTB_sSLNZZCHzwJKafXVrVROAc18PnINWJjJQjVkZjRw81u7usdd1wZbxlVVhGrjK9VAgvM0R2vz4OGXIs86f0kFtcQ1BMSX1F0wVGMCOonVIN6gQQqaMIiCWQbELTIy4HcK3_1HfdijjcZ6akuui4gt8biPIc7b6hIrl_HmG3ATkuarFE12HYr13B_YaNnhP7C0bvhSU5NnNdvIQ68QNFIIYpT9Db4iQSu6Cuq4RdYL737bvQvdw_EhxGEVz5ZszljrAfnZP6pg0nwIXth2gqq-3YocDh5VqzPhZAsrncxC5i1D00mlzE-E5UU4yil4DdS0avqViek0bO25NhFdohtcrJKxPmfm2sKOkWeE5rqJZT5epATQl4fT2tyPF0OWLgAB6gG-2ISpa2dzZw2j0Qi2a4CYK-qsx_7dricHfpl_eIv9N3rxMYpRZI1UqWrJjNCMD78AUmX-eBV0tQfk1xb4TJE1JDYFOgAKG7RcwAjzVJ880hrlX4OIkRbukIZhu2FdzDVpBX-8xGzBPxDU0xRyOTp21eB4clHxp2CmArXcwLVTmc07TWeeF8BSpkIgN3dgTfZPCxwLwVE7aewNCYRzk7DuVXLl1cGRLBDZ953k7JQC46dwLkjqL7QetxBK1vX1l28GCnde32DK0Ll25ucs4ZYSHIrO3rgsVL02nk3OpxA9wCVRlSJgKDx8KO32liQCm7AzXPCzLAsk7j-8z9XxMSyjI3TcEEcs3o9Vw1By2sgSBdp7xStymzOznh2JC_9iY2tlyVCG6DrE--e1JKhniBt-Y0yIyMm26wQWK7O_i8dkmCLi8crIMTa55wy9v5LfX9eSb6VyR1YSrf_G15Rv0kFSfpCjhHeTjYc9DgC9dQltHrEviAsmP4K-SQfanTLjYeOJuJ-z1AGRo6yZDwP9c=",
  "id": "rs_0505104689070752016ab44420128c87d0942926d010de54e6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.13,\"left_z\":0.07,\"left_gripper\":1.0},\"note\":\"The large rounded plush squeezed sideways and the fully closed reading confirms an empty grasp. I’ll reopen and shift 4 cm toward its body center, aiming for the narrower neck/shoulder area rather than the broad torso.\"}",
  "call_id": "call_34VqiTG9SeZ5R8lppQVuXonR",
  "id": "fc_0505104689070752016ab44422adf887d0867e10ac5d42aef9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_34VqiTG9SeZ5R8lppQVuXonR",
  "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]: [-0.7731, 1.2194, 0.4389, -0.0288, -0.5888, -0.6685, 0.9952, -0.02, 0.8436, 0.6064, -0.4084, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2823 left_y=-0.1334 left_z=0.0732 left_yaw=0.0561 left_pitch=-0.0847 left_roll=-0.101 left_gripper=0.9952 right_x=0.294 right_y=-0.0002 right_z=0.1617 right_yaw=-0.0046 right_pitch=-0.0835 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.212, -4.3556, 4.8479, 1.3407, -0.1783, 0.1441, 0.105, -0.1846, -1.5521, 6.9675, 1.707, -0.0317, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:698b849b84b5f2659f827d18a928d95dd262964f2f0afd1a03237ffb6dd6a9e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cb42ab9f6c94e8edff48c346f7d1e6880b89d0de168a2608d642a74e5971e3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0345fcb778dc1c2fe5c92f4f3e1afc6a46b7f92207a04b5dc792f640b6c98757",
      "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 · 5.006 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5182, 1.343, 1.0134, -0.4549, -0.392, -0.4679, 0.9954, -0.02, 0.8391, 0.6067, -0.3923, -0.012, -0.0227, 0.9996]\nstate[eef_state]: left_x=0.3625 left_y=-0.1249 left_z=0.182 left_yaw=0.0507 left_pitch=-0.1486 left_roll=-0.0683 left_gripper=0.9954 right_x=0.2961 right_y=-0.0002 right_z=0.1663 right_yaw=-0.0045 right_pitch=-0.0626 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -5.4496, 6.7487, 1.7118, -0.2027, 0.0415, -0.0952, -0.1983, -1.5385, 7.2547, 1.707, -0.0269, -0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.9169, 1.3884, 0.5438, -0.0509, -0.6731, -0.786, 0.0105, -0.02, 0.8436, 0.6064, -0.4076, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2787 left_y=-0.1768 left_z=0.0659 left_yaw=0.0403 left_pitch=-0.0945 left_roll=-0.0873 left_gripper=0.0105 right_x=0.2941 right_y=-0.0002 right_z=0.1618 right_yaw=-0.0043 right_pitch=-0.0828 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -4.7248, 5.9966, 1.1795, -0.2711, -0.0073, 0.8718, -0.1709, -1.3197, 7.0359, 1.7656, -0.0317, -0.0464, -0.0122]",
      "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]: [-0.7731, 1.2194, 0.4389, -0.0288, -0.5888, -0.6685, 0.9952, -0.02, 0.8436, 0.6064, -0.4084, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2823 left_y=-0.1334 left_z=0.0732 left_yaw=0.0561 left_pitch=-0.0847 left_roll=-0.101 left_gripper=0.9952 right_x=0.294 right_y=-0.0002 right_z=0.1617 right_yaw=-0.0046 right_pitch=-0.0835 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.212, -4.3556, 4.8479, 1.3407, -0.1783, 0.1441, 0.105, -0.1846, -1.5521, 6.9675, 1.707, -0.0317, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:698b849b84b5f2659f827d18a928d95dd262964f2f0afd1a03237ffb6dd6a9e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cb42ab9f6c94e8edff48c346f7d1e6880b89d0de168a2608d642a74e5971e3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0345fcb778dc1c2fe5c92f4f3e1afc6a46b7f92207a04b5dc792f640b6c98757",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQmbQCTrIWVmhP_M76lhigC0JSypG970kKAYlIwKPzOyxFWH3SO8m_Wtvbsl2B4IwRIkiOnVO3lVwziBZgalhAQThilF-3nC6oLO8XlpKSbxmgBX934rwttYExSmrOBJYENJ3FolaKuB_VSj5-4K-JXiHa_-pYilahX7IXgPQf0J6NP7xAYQpas3S98TCmS5sXDuL-xkfV-YGAy8-uQl9hMeGDpUWf5leALM47swUjM1jABnj3ajFSaKaxN3VnMvpOyV0gsN-E06X2WuWKWMVCnp2c_0p9EJS4Lz_RQbg_3JUP-b4AH95z9zWHqrGfheqCTLcuskrKOMlZ8wb_aJ2qejGUzt4XZaukMkV-ChuLs2EJ-2YGnA0FtEQ1XZmbukOzW54Rb7iDlkqGfmgQZpMlDttHAO6VNZvaZRS4kIId9L9VGXu1jYfm0aPOBuYxFQt5FS51I0esE3SEck2diSBtqFfkyzSO4TpGEdNBlqENXAhd2B0vZYaYsyf_wj7n7YB8Vpn-fDO3vTWk6hhXUwZLvCXoT_Qj69WxnRJwMgegC5K1qYLzbPPlwJUvz9WXZApXtKdrtdi7Jm6p5xUxhcc4HPnzqSpZoG0mf8Kj7nDzU3yLAn6uveXvhs-IzyNulFhhjfEX_vpO6oeJ40_4gxmzGzY010iPdWmQH2FXplzt0DGYVsOM--HBY7kNrd6pnVfHh4csSSs8MKAZWFczxniDPYEgTIh602LwGdquNpjXaLZS1KtpnKF-9lulX1XYDoN4KmIWtu6j6Ugyy6swIbXi1c3YZ9xI9igjJoDdSlRqBPUgQY_OUfoHFte54HnKjxEKuQpvi6VcPTZA1e7MNYlrsNIi-eZ9zrKmmVCtAtf4109O5INPGUaNzCjohByA0IRhP_iz2aF2iDnkuUW0vnxoYgQW-Pa3nlm4Tf2QyW1oFAuBr3bxuTvBqxGbePL781LmCOztA6rFw20uGH3XHl0CG8FxrBgT9JTHP5rS4JOyY1DFZlgmJLO-uITzUb4aUdB3STM2FCZU1GvQppvs3MTpKgKv_qjnhFdorD4ixTUH65rMYxlnCbY-Isa5dg-K_cm761jMXGmz5To38Rs73fkJSIZyUUapUH83JgKbqlLG1twGk3WlvWOugzfMVVxcWwSzkVLbDl4tgq3sAloMn77c_AbyMNAtkHhIX4TjCZJbHuXky3S2HZ-8GNAWaffIRuQWAfkhmAY547-nI8gIr--bdguk3nJLfsAzaPo0mAnGua6KTcrwQ0uhR_pJ3DOj1pllq8tUmCsDlMSSp5nPX-_wnlQ==",
  "id": "rs_0505104689070752016ab44425d43c87d0b3537271bd21b11e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The correction centers the dog’s narrower neck between the fingers, with its head on the jaw axis rather than off to one side. I’ll close on this narrower section and check for a clearly nonzero retained width.\"}",
  "call_id": "call_PQ7cIzMPi1OEcsaLNKKibII1",
  "id": "fc_0505104689070752016ab4442608e087d0965e8f15ab348b85",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PQ7cIzMPi1OEcsaLNKKibII1",
  "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]: [-0.7715, 1.2167, 0.4351, -0.0288, -0.5797, -0.6697, 0.0103, -0.02, 0.8436, 0.6064, -0.4084, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2813 left_y=-0.1336 left_z=0.0719 left_yaw=0.0516 left_pitch=-0.0904 left_roll=-0.1055 left_gripper=0.0103 right_x=0.294 right_y=-0.0002 right_z=0.1617 right_yaw=-0.0043 right_pitch=-0.0835 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -3.3573, 6.5573, 1.4188, -0.3492, -0.0171, 0.8425, -0.2667, -1.4838, 6.9675, 1.6874, -0.0317, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0032c69e1fdeee1e689ff3aef2cf340a573ba570b599af8ccefdbadfa0cb0e21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e603c51641ba377889a10042d66e5b0d033fdddfca6a593c279cf13fcb876b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:183ab2f326dc53cb68fb809c9115799c43de4a5ca27174d362a29afc49fd4326",
      "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 · 2.604 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]: [-0.9169, 1.3876, 0.5465, -0.062, -0.6674, -0.7891, 0.9967, -0.02, 0.8436, 0.6067, -0.4007, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2778 left_y=-0.1768 left_z=0.0651 left_yaw=0.0387 left_pitch=-0.1026 left_roll=-0.086 left_gripper=0.9967 right_x=0.2952 right_y=-0.0002 right_z=0.1633 right_yaw=-0.0043 right_pitch=-0.0755 right_roll=0.0009 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -3.6034, 4.2598, 1.0916, -0.188, -0.2906, 0.1245, -0.3214, -1.8667, 7.0222, 1.7705, -0.0171, -0.0269, -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]: [-0.7731, 1.2194, 0.4389, -0.0288, -0.5888, -0.6685, 0.9952, -0.02, 0.8436, 0.6064, -0.4084, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2823 left_y=-0.1334 left_z=0.0732 left_yaw=0.0561 left_pitch=-0.0847 left_roll=-0.101 left_gripper=0.9952 right_x=0.294 right_y=-0.0002 right_z=0.1617 right_yaw=-0.0046 right_pitch=-0.0835 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.212, -4.3556, 4.8479, 1.3407, -0.1783, 0.1441, 0.105, -0.1846, -1.5521, 6.9675, 1.707, -0.0317, -0.0611, -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 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]: [-0.7715, 1.2167, 0.4351, -0.0288, -0.5797, -0.6697, 0.0103, -0.02, 0.8436, 0.6064, -0.4084, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2813 left_y=-0.1336 left_z=0.0719 left_yaw=0.0516 left_pitch=-0.0904 left_roll=-0.1055 left_gripper=0.0103 right_x=0.294 right_y=-0.0002 right_z=0.1617 right_yaw=-0.0043 right_pitch=-0.0835 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -3.3573, 6.5573, 1.4188, -0.3492, -0.0171, 0.8425, -0.2667, -1.4838, 6.9675, 1.6874, -0.0317, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0032c69e1fdeee1e689ff3aef2cf340a573ba570b599af8ccefdbadfa0cb0e21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e603c51641ba377889a10042d66e5b0d033fdddfca6a593c279cf13fcb876b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:183ab2f326dc53cb68fb809c9115799c43de4a5ca27174d362a29afc49fd4326",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQsgHI-XO0NEa8Saz-6x98dy93A6Hv73LnC4k7jp4b-A4EKchXbZhN9Nldkmd4E1_UDUE4lJBi_0shN7XC-pwwJpH13vN46eqbM-A-HHQ1LPpS0R-pyG65ByFMYVPkLTw6E43YbUCSklXlhMdXsn5sy2xotttXmy5BHxJ-8POloKrnpgb5i9RhAwxNhC7tY1l-HPd47Z22vzr9ptePSY82KRlppRpxjFSD2-MnJWBJFZ5QbtmUxdIXpXk75UQLfSF5DoZxWykSC6DHxwQsZRBA4ODMyl8uMsqhxnAZw3wHlwWjMYFEr26psFsGq0LyDZNiQ2zldvzHvifwl7J-yikEKN0TSg54sBNcJMYHm5ibAqzvD4q8qnlWZ3BNqU6q_c6qEp6mykAT0xDIAd51PBkydASHzhfMhotUVvRSqhee6P7EP3-vAKtCjp09s-SLajoHcxZBxImeGwGtEM-E25Afip02mDp4HJTh1rD86InZs3yFMn5nuA5k19CtD3RSRCONE3mrtDIon-lCYGpl6aVcYDdpceUDgV3aCw1QNdYNoAEZxtZtvpzdYoaCtWky-oM-0JgK688nyN1ngSBiJ4qhC8muyLHLU4S8gixXUhFOOp4OBEale-TZOEsDN_EPh71mtEAgLFg_NCtXIo0-LAAtrnWLdyNzoZVnYR7ONWD3Qt4DM2rlYNOPslpmIr_IbnvQ67_KHOzfYb5hBAx1gcEiD9EYqgNdbq6_boJwrvumMsFC-QwPiO_Fwm2QwIGD3Uh5FXW0p96Gv5GHAhzMtxldSpJGiGKY0SclTYJwnCBw7ITYOwWTji-OCWIOIoxUVO2QZ6vtvnqTqdGX85uP4VKZsKNsAS8IQuwc3xaUQKl3_kOc0MNwlRXQQe_4pNX6llGVcSFLi5-BJisGAQJ_jk-wA08KL2TQSm5lc-8UCnlXK74WMh82z_ZTPVS-3pRtjuR3Kcgll4qBVJ_1zcf1qcsNDVfIypRWTle7eb1SxVjHj75RnXz1LyGqWoWxlIvF3f5LZJSNeFSG8rKThioAPLcYpfcJ15UT7sZzEcdEzFmYtZPRN9Z_Rop0HXhMlPGBcesnOAeMf67fU-ncWTaIiBFB8DyJgQ4y1lxZhuoBwTJCoJafnGx-w07-T6yCEweTpMjHupVQKLjXNoIS5px66QacXjDaj67o8ftc5p_kcD-m0RvtFZ7aahSLL09rbwdVMl5OTy2j-NRnYiUoGkLxTejETtYf_kyo1omkR9mfGkm4glAV_Ia6GmRx_DYKN9vxd592n3KZuxaqNKkgz2oks0zly5TJOionyHFDEzvaFEV_4zv6Tl-semeRwRQRqHFl_8HGigLSdb9bBDuQoB9ZRbXCFVSNE6lMDTOaIhappVfzvnCSIzpHZgZoCd7hcI2cEGgrmUtvUCnX7USG2lf5pGD9usfognYOzd_irJqoykpHe3gkgAo_RodvkdhmZOiSopwtA67luFhWFNeCgcZ3DWxY-3HMWuam8MY91cYUiko2kmXVu44_B38RPe8b5XUQvJ-jUgJV6mHRxkU0OWhMYij8qsPQpJqersVaoffxJI-lZkE4eeYTFPl9bnjMVtiz4oyfo95894f60MGiYBSq3egQ1QUV0WEAcrDPBdc3EwNiDciNho5CAO63lof4VhD1HTOrKL19K2Ew-O3ofA80E_qUxPIiYE6jYinCbjf2fBXqrJLEg_nMLXy489jSRrRgfh5rtmLGSzKpIqvGOvomExk_5xj1iGOjc6V8p8spY9jsT0NqRueP11ypeCzXGd275dzFUooPITxDRgl9OjgpU5bfs7N-2RFjdB0eH1sVOv_sk9qFliB8c3s0hIjWMJ_Go_HKP26YP4WB_QnSjypDzckVg-7ffMDFV1xr0Xxtz10JlnivT4Gfae4tKSIxciFr7YxE80HNDB3kWRhFaanm602kmy8-4w2F16c1NkyXmE1teMzvIPipSRu-wXxnfDboW6JTuUuovMN21UZllaECEjTZAyYVYrM8Q2LfSp34SrqNpiVNS7e_liVHZj-4Lp-gf0zry6SxfXetHxgnZtIw516pXgyZ2IsEdvl9S6s74Husi7BEgSHlsffQJ5O5-ODHzbpOSb06VgFjnGn5BoMFJJY7rHUuWiRldwFlBY29SSNg35nYzil4bbbp8YY4v7CvEZ_r43OEBdhlwE_KltHdIF65A1_lS9vCOfPm0LlAUvgyGbDNIgK_OFvHT3yxQqdF1ZpI3kwQ14hPOSFTci2KjAaEzaAL9b2y7rCX2T3GNNb2V3fUBuFDgh_eTRUCwDoKxMBcGxvL87VUZje-ggjfVsqj0Na4oeQ3wdEyWbu_nD7-syNuWygPKv8zAMfXf2TDFk24QfOai-1qJOYdnNd9j3PobCGnbl4aEJ7y-ADNOjf9QLad_j0ChnbZHV2cKLNmelbmPhvJ0rRaoQ-bALSnPIkgIn0ZBkwDovL36tuR0buOHkwxCk4Q_3qYkLmkkW0mJUgCieznRW72s0uAEfySCJSiojenJ7O7zbEXOJnx7aLMqa7uWQNinc_OekrXMhwObIroQfAkh7PXagIzjKzVFXZ20GjUtNEyJWkPIlT0Q_i-I-iAaTflcH9sqC4mTSaCWbmMw-Oj39pLyYz3KmYJM9g5TofVKBlGA18ZfVYNebTmA0UaVnJpOymD2GSQcxjM8TxdFik4yvrf1_gEPqPVyNibvMicwUNJ5103AdS566ND5FVTpMLkZSnEFEdSbIXzSqWJx8r99KfxOYUnY6YnjLZ7u1fCPFTo7PI726Nocl1BUfPpNTY_TRgAU33SPb3rRxOgQ",
  "id": "rs_0505104689070752016ab44428f42887d0a6211a721abe504b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.17,\"left_z\":0.04,\"left_gripper\":1.0},\"note\":\"The neck also slipped free, confirming this oversized plush is too rounded for the parallel jaws in its current pose. I’ll leave it rather than repeat the failed geometry and collect the smaller dog immediately beside the gripper, which matches the successful first grasp.\"}",
  "call_id": "call_7Guq9pxOlLX5VlMkNshw6Stl",
  "id": "fc_0505104689070752016ab4442bbcb887d0ae5f950ef9bd6f8c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7Guq9pxOlLX5VlMkNshw6Stl",
  "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]: [-1.0103, 1.3708, 0.4335, 0.0395, -0.741, -0.8749, 0.9988, -0.02, 0.8436, 0.6064, -0.4084, -0.012, -0.0227, 0.9996]\nstate[eef_state]: left_x=0.256 left_y=-0.1769 left_z=0.0522 left_yaw=0.039 left_pitch=-0.0555 left_roll=-0.1283 left_gripper=0.9988 right_x=0.294 right_y=-0.0002 right_z=0.1617 right_yaw=-0.0045 right_pitch=-0.0835 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -2.4957, 4.6564, 0.9939, -0.2173, -0.2613, -0.1392, -0.1846, -1.265, 7.0085, 1.663, -0.0806, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5afed6b2fca76b8d2bb5ed8590840ec86a7d69096dcf090470bf2d47329423f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1615dfaaf0d4efe3c4abe5f152015045043a3f15b48572e40792ca03c3bd229",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be48648468f1adc0fc435f6ab6a65d8e11733e5e699e9d0655b40d9128e9d1e4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 4.34 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]: [-0.9169, 1.3884, 0.5438, -0.0509, -0.6731, -0.786, 0.0105, -0.02, 0.8436, 0.6064, -0.4076, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2787 left_y=-0.1768 left_z=0.0659 left_yaw=0.0403 left_pitch=-0.0945 left_roll=-0.0873 left_gripper=0.0105 right_x=0.2941 right_y=-0.0002 right_z=0.1618 right_yaw=-0.0043 right_pitch=-0.0828 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -4.7248, 5.9966, 1.1795, -0.2711, -0.0073, 0.8718, -0.1709, -1.3197, 7.0359, 1.7656, -0.0317, -0.0464, -0.0122]",
      "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]: [-0.7715, 1.2167, 0.4351, -0.0288, -0.5797, -0.6697, 0.0103, -0.02, 0.8436, 0.6064, -0.4084, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2813 left_y=-0.1336 left_z=0.0719 left_yaw=0.0516 left_pitch=-0.0904 left_roll=-0.1055 left_gripper=0.0103 right_x=0.294 right_y=-0.0002 right_z=0.1617 right_yaw=-0.0043 right_pitch=-0.0835 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -3.3573, 6.5573, 1.4188, -0.3492, -0.0171, 0.8425, -0.2667, -1.4838, 6.9675, 1.6874, -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 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]: [-1.0103, 1.3708, 0.4335, 0.0395, -0.741, -0.8749, 0.9988, -0.02, 0.8436, 0.6064, -0.4084, -0.012, -0.0227, 0.9996]\nstate[eef_state]: left_x=0.256 left_y=-0.1769 left_z=0.0522 left_yaw=0.039 left_pitch=-0.0555 left_roll=-0.1283 left_gripper=0.9988 right_x=0.294 right_y=-0.0002 right_z=0.1617 right_yaw=-0.0045 right_pitch=-0.0835 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -2.4957, 4.6564, 0.9939, -0.2173, -0.2613, -0.1392, -0.1846, -1.265, 7.0085, 1.663, -0.0806, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5afed6b2fca76b8d2bb5ed8590840ec86a7d69096dcf090470bf2d47329423f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1615dfaaf0d4efe3c4abe5f152015045043a3f15b48572e40792ca03c3bd229",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be48648468f1adc0fc435f6ab6a65d8e11733e5e699e9d0655b40d9128e9d1e4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQwEsYX5l0yzINjTr9iw93_7-bQu1DiuijxGMmBGPPY9Hj00Zwm_av-QwBbYmQtkgzGOtWg_JdrccATl5ViziKRMSc2H-NLs-22AWBMnpD2KH8Th0NYoK5ze429W1yLVqU6K6fv6jvxr_oGOBgUkpzipMrLYwKU6uGAsVqqS6RDy7ORxdq3PxPaGtBG2I9hA02O4CZZty4yy0-9xaJePZX98f0vh29J1fDKhmHHkkmqJnU4tkJq8vcAGqK8f_BWOAorSnFd-8xcI0kbpRWu-DyLxymtLVk_fYII2FytJD38bm5b68QPuJjaoa3h2TAtKjHLJCWajxOqs31eutMHO8K90QJng4qBt_mYOQlOAIw7pBKgGANNGRlOB2shcPyc1P6vkgVsbYV5tIa6FyvbB4ziiYdLBxPUyT6rrByUVBNQGXkUxmpaZ0JaHNxOtNzZ3dHC8jU5B1sMRSd-WTpRP6B8DqD09s7YPbJSC52gcKDJm11fB1Ce2hcL7dJPNV_sH66mg73pQbAEWkq1aZl6eUtp8EZkta74Y8afmPobn47v7Q_eIf62kXIDkqEhjTOsAUD6eTrm0Xh2ZmzqrNDC-i-naK-SW9rPD88HkItko0ZNG_9DFbLrFaCEoukgq6xIAFdkeqGM1yrpIbKMpO9S5huCBx6KAsmuATZVIJMoS6VbD9kRU6FIITxY4gsBii4wiRZBEILZJ0qDYwptIxRLGsR2UxyAEkeFT7T1s0FKd5HdElzKtSWE9E-QhQvi27YtX6VquyIimyyBaaCtzH4-wB7GrSVhylZRA7v16v0aFjGc5thPNwXXCc1OlpNLLs1ILyfRKLcV3srR33AtQ5cMg4Rt2eShjSRoCNYkEtsUOqAY7TuFhA-W4U6mUfitrSWUJklJyxtjoK5Ik1la9XTVZ735lKNmethJjDtRUDLYjARUo3Rf-PGgngJtJkbgE3aWy5YDjyE46VXWvj7izDIwU59itWBiLU2ULSc1mOaCIKGta3lKLNUOoEI1vMeR_qelmM-CTvj3e35AHixW6TR_jC_6gMV0MTZacjyaqcxUmhF1QNkGUfr38i3ifMD9Qo4mfpoaz3kfYmrM5pNEFI-qMYA0hj-WdYH22qxdVtpAJi7pXQjFUziJkv-swVtsmG5TsUau-551nbafp6S_CTzvp78hog9vDYsN4byRsbNsIf1a2i8NwvAwtLAiRwKaVSaNOt5wIveFU-e2mOyF1VoYr8egO6b7QRzPxeGIOlOAQa64IQta4j8jwrMXcILQazKoS49xHejn6GFo-OFx4Q1bP5TW0w==",
  "id": "rs_0505104689070752016ab4442f916887d0a3b66768bd7d11a9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The reposition unexpectedly brought one of the large dog’s narrow legs squarely between the fingertips. This is a much better grasp feature than its torso, so I’ll close on the leg and lift if the retained width is nonzero.\"}",
  "call_id": "call_a7uHpJIQJpjqpnCjAaXguXJh",
  "id": "fc_0505104689070752016ab4442fc80c87d0a67b00caf5ec548e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_a7uHpJIQJpjqpnCjAaXguXJh",
  "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]: [-1.0103, 1.3708, 0.4335, 0.046, -0.7441, -0.8749, 0.0104, -0.02, 0.8436, 0.6064, -0.4084, -0.012, -0.0227, 0.9996]\nstate[eef_state]: left_x=0.2568 left_y=-0.1773 left_z=0.0533 left_yaw=0.0406 left_pitch=-0.0502 left_roll=-0.1328 left_gripper=0.0104 right_x=0.294 right_y=-0.0002 right_z=0.1617 right_yaw=-0.0045 right_pitch=-0.0835 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -4.1368, 5.4632, 1.2137, -0.315, 0.0171, 0.8523, -0.1846, -1.4427, 7.0085, 1.6581, -0.0122, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d0521e1052105ab24518ac2019053d19fa63121c414723a13129c0262e968f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78567da56b38df456ff9439fa438befc7861666c824dbefdf81841a5dba9573e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:674ae2eab21957466e320fa2ad8d4052bf167afd040bd0ca3373295d7974cea1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 5.515 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]: [-0.7731, 1.2194, 0.4389, -0.0288, -0.5888, -0.6685, 0.9952, -0.02, 0.8436, 0.6064, -0.4084, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2823 left_y=-0.1334 left_z=0.0732 left_yaw=0.0561 left_pitch=-0.0847 left_roll=-0.101 left_gripper=0.9952 right_x=0.294 right_y=-0.0002 right_z=0.1617 right_yaw=-0.0046 right_pitch=-0.0835 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.212, -4.3556, 4.8479, 1.3407, -0.1783, 0.1441, 0.105, -0.1846, -1.5521, 6.9675, 1.707, -0.0317, -0.0611, -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 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]: [-1.0103, 1.3708, 0.4335, 0.0395, -0.741, -0.8749, 0.9988, -0.02, 0.8436, 0.6064, -0.4084, -0.012, -0.0227, 0.9996]\nstate[eef_state]: left_x=0.256 left_y=-0.1769 left_z=0.0522 left_yaw=0.039 left_pitch=-0.0555 left_roll=-0.1283 left_gripper=0.9988 right_x=0.294 right_y=-0.0002 right_z=0.1617 right_yaw=-0.0045 right_pitch=-0.0835 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -2.4957, 4.6564, 0.9939, -0.2173, -0.2613, -0.1392, -0.1846, -1.265, 7.0085, 1.663, -0.0806, -0.0317, -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 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]: [-1.0103, 1.3708, 0.4335, 0.046, -0.7441, -0.8749, 0.0104, -0.02, 0.8436, 0.6064, -0.4084, -0.012, -0.0227, 0.9996]\nstate[eef_state]: left_x=0.2568 left_y=-0.1773 left_z=0.0533 left_yaw=0.0406 left_pitch=-0.0502 left_roll=-0.1328 left_gripper=0.0104 right_x=0.294 right_y=-0.0002 right_z=0.1617 right_yaw=-0.0045 right_pitch=-0.0835 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -4.1368, 5.4632, 1.2137, -0.315, 0.0171, 0.8523, -0.1846, -1.4427, 7.0085, 1.6581, -0.0122, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d0521e1052105ab24518ac2019053d19fa63121c414723a13129c0262e968f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78567da56b38df456ff9439fa438befc7861666c824dbefdf81841a5dba9573e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:674ae2eab21957466e320fa2ad8d4052bf167afd040bd0ca3373295d7974cea1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQ1zbUeGVb4uqHSmFjFn2E3mqI49_2R2Z_hCw8-D6pgSL_vNxdOFh_-lyWbrNmOaEfuuz2v6mh7vtmcZL1ztO3p6ZEE1DnurK1UCJGmzyvi9FteYZ5p0p5ZjAg8utWIeLhVlUJdpjlwIFvJ53R1JRfscqbgy8dI7qfWhAr_lwY063ZidPj7F_uY32xn2IHyV3u8XdXyAncg6IHggpYG1YqRtewyI4bT0oEK8LuM9WMPxaSgd09sRqZoPKL6zoNZb9DuQXmc2I7QOw7R28xGbfSIMnTTKh3IjLW2hryqCTJSbS2OvaBtCxA3f2W4yycZUWqvyfakRUdLC2sIFrTSMON2n1VivuCxQGeOMqZ2WedaFP7g2xKzM8X4P05mXLccyKt39jHCO0j5mJOKsLeE_NdNOh5ZPtRCjSXyaIGwNsSiUEjzR5LNId1W3v6BPKV2o9b8CC4rWb0NqDmXYzyEeDJu7x4QwMTJBFWNuADfDWpvjTiiUsEUea1yHVbkATxBAuNqpMTtwD3rkM9ZDnD13yu_zFKZtxcAHTNWiIBJXeGWmlO12qYHiVjCGLLot1WiwLf3Qvj5NG6sy7xQtMT24m53vREOF3alwolvDPsOMQNLQAsUadljRYhEmYVG7zdhMpnOaeYrp85JRpPY32785vjLhifPWGuyj7cBtk-oEPBM45LTTdgxAy21F6XI-ud9zXTZHDUFXsGsoYqokgQEp788ZP75rj3dnX9lPY_yMmZlYKDdYL7oc3SrdvuDR22OVlT6cvnw1KBwggwxtOaNX07bz55EerXH0F6j171H4k2Fgwou1grUs42VXY9z8OVCaRNmk5Al2DRFCN5wDzF2U33IQMu6nCS-9U5qmWkx_jMIMKldJBaKSnA1sZQ8IYyYK2ROIbrl9K45Q4NesVUF5dcm3VqwoZXQH_Ua7MO45hEVOxBHWqET9bszOEouySQ9M82Zo3wYphsgKmu7v6uKls5fWeuSmxH_nhcWPZs7NcwQEw-5UUVhXmdK5nsJeIXZKZBNI3p6745fa9N0bAxPkJpqpWjLlEPw2rA8FjjCDB4p32PHiwHQzthFcuqmggMbarkMe1d247wvJiOEwoWv2et4PPXUYo0QBZgtpYK6eeR9EanJoP4PkC2ZcdKOD32_6knwjsx_KJXDy1ozrVCVGV0wou4yyO2vxJavrrU2WzMMt62z4zzvbAKvHhvlF0yF5h2kD6P2GNEn-PBpMe8CE5umVRk5Y0U3FErbQ73fMdFR7dhZUjc8LMYsPJK5RCEjrcHcwOwT-H3bXd3RbtqmYch5fk76jR5yPQW9A0FfCKlp8z7vjBZ_KkYLC1y3GP293rr7GpN1rQkKbNzeq4djoI3Zxw==",
  "id": "rs_0505104689070752016ab444343c2087d0933cc90593275ae6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.13,\"left_z\":0.2},\"note\":\"The gripper reading is near empty because the plush leg compresses very thin, but the wrist view shows the foot still pinched between the jaw tips. I’ll lift and carry it to the deeper basket center; the overhead view will reveal whether it stays attached.\"}",
  "call_id": "call_mWav1yAkoJPGXeXw1CTNdk73",
  "id": "fc_0505104689070752016ab44434a3c487d0806d26b6d0248c74",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mWav1yAkoJPGXeXw1CTNdk73",
  "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]: [-0.4683, 1.4097, 1.0245, -0.2874, -0.3637, -0.4603, 0.0126, -0.02, 0.8474, 0.6064, -0.4084, -0.012, -0.0227, 0.9996]\nstate[eef_state]: left_x=0.397 left_y=-0.1264 left_z=0.1897 left_yaw=0.0675 left_pitch=-0.063 left_roll=-0.1374 left_gripper=0.0126 right_x=0.2942 right_y=-0.0002 right_z=0.1606 right_yaw=-0.0045 right_pitch=-0.0873 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -5.9145, 8.841, 1.4725, -0.0122, 0.1636, 0.5055, -0.0479, -1.8803, 7.0085, 1.663, -0.0464, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4a8f462c0781f211c4e921312768fc3a1ab543aff85cfadcd3d7cb8c00510fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:192ea4be380aba1f0be367665a246d11c164395a5dcbb45f0895f2416eb2d7c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a1b45a9fed7798a40685b75187c0ac53d11fd86df8968580407b2998e2f80db",
      "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 · 6.513 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]: [-0.7715, 1.2167, 0.4351, -0.0288, -0.5797, -0.6697, 0.0103, -0.02, 0.8436, 0.6064, -0.4084, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2813 left_y=-0.1336 left_z=0.0719 left_yaw=0.0516 left_pitch=-0.0904 left_roll=-0.1055 left_gripper=0.0103 right_x=0.294 right_y=-0.0002 right_z=0.1617 right_yaw=-0.0043 right_pitch=-0.0835 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -3.3573, 6.5573, 1.4188, -0.3492, -0.0171, 0.8425, -0.2667, -1.4838, 6.9675, 1.6874, -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 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]: [-1.0103, 1.3708, 0.4335, 0.046, -0.7441, -0.8749, 0.0104, -0.02, 0.8436, 0.6064, -0.4084, -0.012, -0.0227, 0.9996]\nstate[eef_state]: left_x=0.2568 left_y=-0.1773 left_z=0.0533 left_yaw=0.0406 left_pitch=-0.0502 left_roll=-0.1328 left_gripper=0.0104 right_x=0.294 right_y=-0.0002 right_z=0.1617 right_yaw=-0.0045 right_pitch=-0.0835 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -4.1368, 5.4632, 1.2137, -0.315, 0.0171, 0.8523, -0.1846, -1.4427, 7.0085, 1.6581, -0.0122, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4683, 1.4097, 1.0245, -0.2874, -0.3637, -0.4603, 0.0126, -0.02, 0.8474, 0.6064, -0.4084, -0.012, -0.0227, 0.9996]\nstate[eef_state]: left_x=0.397 left_y=-0.1264 left_z=0.1897 left_yaw=0.0675 left_pitch=-0.063 left_roll=-0.1374 left_gripper=0.0126 right_x=0.2942 right_y=-0.0002 right_z=0.1606 right_yaw=-0.0045 right_pitch=-0.0873 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -5.9145, 8.841, 1.4725, -0.0122, 0.1636, 0.5055, -0.0479, -1.8803, 7.0085, 1.663, -0.0464, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4a8f462c0781f211c4e921312768fc3a1ab543aff85cfadcd3d7cb8c00510fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:192ea4be380aba1f0be367665a246d11c164395a5dcbb45f0895f2416eb2d7c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a1b45a9fed7798a40685b75187c0ac53d11fd86df8968580407b2998e2f80db",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEQ9GqAeS9bzRH3xfBvb56ob_6-jEOc8NkKOFWOSQskk09KCRzL5ELQC6bL8E5YD3mDyV8yiSLJ9c4CzNl-1WJMoHU8zTwIcIehqs66uIgUJLJxbNsrbf6hzWp19QfjN9Ibjs-iwG3C2wzSAXjZv9Jb6yIx2wvba2StPzdSi3-zAOyLSr5vdTvNyb5ZzuBqBwqtioMzUBi3QCnxq9R9_KN_B7wY0F0VLxL1S0vm4xpdQWxXDuDkOW4ZNM6H3vwuZOpA5Uh_l1OJcVKzM48tNcpNWf2mz-oQz2erMevMFktyJYzaTHnEtPw5kSAZhvfZn-cBsl67LXNJXD2eArIBZUN6BvNPgg5FJUABVDeKZ-dMzogn53mqdQMsbko8CilHherxB_f6s8IWgrSnKFwnlHsAEoqKfauqpU89hGB9xAgDUrPXRkL6f_i50vCtfj1aNgrh8ZO8DzNHRzrJxNSe21VIlSEk3tyyrjwOp5YXmeeurI3wiTgZXvj8JAlmRN3rmH-_L-gUOrESAa8FvBzEUJhxu3wcZdFt4TgJwaloefatRrN4tBTRKJloLVSIqpEYfDcgijjN8HEMngPoXaJiOR-EnVcM6zXDbIJDryELZHQJdbJhaPDyC1M2iI-SPKYIcGv_njmXVN2jnnAOxLZTAE86ZSEn7ZkcrqUtUAOGHF_snXlkY0pitnbffohDe41i9qmRaWEezyMKLtCAcb_DuVg4xLfUXqDOxrJwaklEggBpwOX9-7FHdke5UyZYOCdHddCkHl-OkXy1pTJy2X319zN3QZ82nJInKnr9u90PL-u2E0n3kAMaNllf9dAcDTBKzF-rBM6tloOsfIhabkfIbd1XJH16gqMXIt0AxoNK8hrKjrpiquAnUHwtLhrTxedYtobHdXfJDjRluSuAXf1o7pU76lNWBPy94YHqbn-e-35mB1IL2lCyTnvV7yapwKFGDQfaGDB5iTNyx4DzAe4-t3VZTYG4sDE0EGKLYW_2uA32FTXic7foJfXtRfT97rs4WtVhVBUjOpVWqiqaSAECwYtjo9hLYoQcKkdJgUpW0vQBLtel7kXUihTTtXkTkh0riQiWLAPaaEF0yHFzjLUnDnalDsSWi9JyIOVAPyefprr0_M7BIcP-e8rfLlWUldcUE-7TSG-BpJoFh84avqw4NEJZXBhLNII858W2BKMUS3JTLdiG_hEBTibWJgkBlSZvSrUAD2NW63ifqBf6GrRVJi6hqFf2rYbR8vnYwVyUXMlTMUt7GNhTELRj6Jlw4xS0SFA_6BTMTSJV3JI1nWMBXI4QkGU0sZDVZZuW40_-MJX44ec1i0vwU3cp3w1LRvyeiGPFriRfnGp05ioVxB4lFEZ_r7Qz8-tPVCKWE-4dgcm6063A2nFUznTA_GaBQdmAZpAGmlGgE9lYjsYIznGmXAdoF6XMDh76f5NecF6g6X7zGkuJ4lYdkWBkd7yWdsXLRt5nAOf3vppO_Dd5WwbH2V4JcagEW_w-SmXEAZp3ciBGadzU6H0D3RH4Fz-STzK-D2d05gmfiiVoDWCZfaIDgMOGbvaw9NBmuryXTq-GangdIra4t1vE6KeJlGpjSnMLYDWfBF2A-AXAKUqGex2G7n0Am0veNgVC-l82wLomc4xyogBUOg0LW5xhjB8Qt3bGLBMDbosQQRPaqbzIs16pZ8bNp5iFf19ZSFHtc3cTsb6iUwbBUosUdmgVlXtpE8i54me4jhgPaOwJt8-r3oUg45p476mdhqf8sZhJNQwguf_Iw7K1vZ4oGIfacVGFV5dLdTbKOVo1Sa5aVligHuhTBPhKijz84uktPmnViUkLCdCS0I17CYmRoS7z746BDZLyWl2ttvYz6sNSw--Bf3pAbxrBHHQGCbTAtC_-gcifoerru5R67I3O3hHYOEMgTmYN0gwShdCD2RMYFjMCPxeS3px4ym1xc2RiflgDS_CgslhJ3jEvqs6weU8UH_6t93Bx_oNFwSck4OmriOBYfHOL6wMX1EfpVDz1jf0UHTYx6Dmyp0cFSzqQhN1iZ2ToJMxhczKjn7u2VebU0G5cZnRm7uW6aRfJpJV15yzn8hA2CzUHUHCBQifVCN35UlIuJCK7lCsxZZnkVgjXy1_uFegA7GmG5FfkU1xa6-ymXJDztFdtyp7rPjRGvGtSel_um9q1aNRKZ3krrpRHPLbrWcf0FiTbnVY6spbAm23d3nLN3rT1miLlJfXu4-U1_hZNKHawYEZT4F2eIRKTKgbMr_axO0hY-esMpMS9xCOPozDWom0J9sHXJQMuFOXK-LjQVRSXzN-hT_8GjRapnL9XP1ffGDAYQZ9FPJln7CUugxvfYQhe1pePkVsCBMZZuZx6EX8oQawli6avrEqLvIEExoQpxbNKcOP8f8joE9UCLVfPvWtMK7yTakXFBg27HWoK4MmLbCKm_QLdBMGdydmUpBl1J3y1emOudEZgovF-zw4z_njiXYC-sUqwSOZdVYQQXZhazn5LmHGTffbrTDoSpDeo61AYD_Q==",
  "id": "rs_0505104689070752016ab44439bfa487d0ab17e12fbe166c39",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.23,\"left_y\":-0.26,\"left_z\":0.04,\"left_gripper\":1.0},\"note\":\"The thin leg slipped during transport and the large dog remains on the table. With the remaining motion budget I’ll collect the small spotted dog at the front-right of the cluster, whose compact body should grasp like the first successful toy.\"}",
  "call_id": "call_kfjVXQc16W3FfCxYI0LmrB7v",
  "id": "fc_0505104689070752016ab4443c55a487d0b2ca118677aadd54",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kfjVXQc16W3FfCxYI0LmrB7v",
  "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]: [-1.2644, 1.7, 0.7204, -0.1741, -0.8597, -1.2018, 0.9988, -0.02, 0.8528, 0.6018, -0.4099, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2262 left_y=-0.2593 left_z=0.0345 left_yaw=0.0409 left_pitch=-0.0793 left_roll=-0.1167 left_gripper=0.9988 right_x=0.2935 right_y=-0.0002 right_z=0.1568 right_yaw=-0.0043 right_pitch=-0.0988 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -6.5573, 6.4889, 0.7937, -0.5641, -0.1099, -0.1392, -0.3761, -2.0034, 7.3504, 1.6386, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db488f679d253433bb89170341ff77bc796689cf5d9d0aff9aa87e85a44ce9a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58b4bc5cd65d3f2e0083792113f9968f53a7d59d53ef4023c11420839c5ad3b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dacd10522403b5317874410123e0e7c5c19f30b659ba3402d37f0569769a4fa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 4.211 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]: [-1.0103, 1.3708, 0.4335, 0.0395, -0.741, -0.8749, 0.9988, -0.02, 0.8436, 0.6064, -0.4084, -0.012, -0.0227, 0.9996]\nstate[eef_state]: left_x=0.256 left_y=-0.1769 left_z=0.0522 left_yaw=0.039 left_pitch=-0.0555 left_roll=-0.1283 left_gripper=0.9988 right_x=0.294 right_y=-0.0002 right_z=0.1617 right_yaw=-0.0045 right_pitch=-0.0835 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -2.4957, 4.6564, 0.9939, -0.2173, -0.2613, -0.1392, -0.1846, -1.265, 7.0085, 1.663, -0.0806, -0.0317, -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 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]: [-0.4683, 1.4097, 1.0245, -0.2874, -0.3637, -0.4603, 0.0126, -0.02, 0.8474, 0.6064, -0.4084, -0.012, -0.0227, 0.9996]\nstate[eef_state]: left_x=0.397 left_y=-0.1264 left_z=0.1897 left_yaw=0.0675 left_pitch=-0.063 left_roll=-0.1374 left_gripper=0.0126 right_x=0.2942 right_y=-0.0002 right_z=0.1606 right_yaw=-0.0045 right_pitch=-0.0873 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -5.9145, 8.841, 1.4725, -0.0122, 0.1636, 0.5055, -0.0479, -1.8803, 7.0085, 1.663, -0.0464, -0.0171, -0.0171]",
      "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]: [-1.2644, 1.7, 0.7204, -0.1741, -0.8597, -1.2018, 0.9988, -0.02, 0.8528, 0.6018, -0.4099, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2262 left_y=-0.2593 left_z=0.0345 left_yaw=0.0409 left_pitch=-0.0793 left_roll=-0.1167 left_gripper=0.9988 right_x=0.2935 right_y=-0.0002 right_z=0.1568 right_yaw=-0.0043 right_pitch=-0.0988 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -6.5573, 6.4889, 0.7937, -0.5641, -0.1099, -0.1392, -0.3761, -2.0034, 7.3504, 1.6386, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db488f679d253433bb89170341ff77bc796689cf5d9d0aff9aa87e85a44ce9a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58b4bc5cd65d3f2e0083792113f9968f53a7d59d53ef4023c11420839c5ad3b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dacd10522403b5317874410123e0e7c5c19f30b659ba3402d37f0569769a4fa",
      "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_0505104689070752016ab44442005887d0b4512e08c22f34bd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.18,\"right_x\":0.23,\"right_y\":0.25,\"right_z\":0.01,\"right_gripper\":1.0},\"note\":\"The close view confirms a blue marker lies beside the plush toys, supporting the broader sorting rule: plush animals in the left basket and markers in the right. I’ll park the left arm and bring the right gripper down crosswise over the blue marker directly in front of the right basket.\"}",
  "call_id": "call_p9zyg3DdyRdLqu1L6LVDncg7",
  "id": "fc_0505104689070752016ab44445c69087d0b28e66e151d463d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_p9zyg3DdyRdLqu1L6LVDncg7",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "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]: [0.0036, 0.8753, 0.6529, -0.4564, 0.0082, -0.1638, 0.9983, 1.2041, 1.7565, 0.6659, -0.0509, 0.8196, 1.0008, 0.9996]\nstate[eef_state]: left_x=0.2952 left_y=0.0032 left_z=0.1644 left_yaw=0.0691 left_pitch=-0.1191 left_roll=-0.122 left_gripper=0.9983 right_x=0.2299 right_y=0.2485 right_z=0.0087 right_yaw=0.0028 right_pitch=-0.1074 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.935, 9.5111, 1.7216, 0.1294, 0.188, -0.0659, 0.3077, -6.3248, 5.4906, 0.8327, 0.486, 0.105, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da8fc166f3f80917820285bb632a061a5ac28f34c7f5a4b42a715065a1bbe4d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebb18514b2d0a67b9ff4c8f8361cfa6920812f459ce2a53ad5ef7a73b2ea3782",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37124d822aea6e4421c317c43d8b81ffcdf4e160dbb82fc9f483989e38909d19",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 3.303 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]: [-1.0103, 1.3708, 0.4335, 0.046, -0.7441, -0.8749, 0.0104, -0.02, 0.8436, 0.6064, -0.4084, -0.012, -0.0227, 0.9996]\nstate[eef_state]: left_x=0.2568 left_y=-0.1773 left_z=0.0533 left_yaw=0.0406 left_pitch=-0.0502 left_roll=-0.1328 left_gripper=0.0104 right_x=0.294 right_y=-0.0002 right_z=0.1617 right_yaw=-0.0045 right_pitch=-0.0835 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -4.1368, 5.4632, 1.2137, -0.315, 0.0171, 0.8523, -0.1846, -1.4427, 7.0085, 1.6581, -0.0122, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-1.2644, 1.7, 0.7204, -0.1741, -0.8597, -1.2018, 0.9988, -0.02, 0.8528, 0.6018, -0.4099, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2262 left_y=-0.2593 left_z=0.0345 left_yaw=0.0409 left_pitch=-0.0793 left_roll=-0.1167 left_gripper=0.9988 right_x=0.2935 right_y=-0.0002 right_z=0.1568 right_yaw=-0.0043 right_pitch=-0.0988 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -6.5573, 6.4889, 0.7937, -0.5641, -0.1099, -0.1392, -0.3761, -2.0034, 7.3504, 1.6386, -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 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]: [0.0036, 0.8753, 0.6529, -0.4564, 0.0082, -0.1638, 0.9983, 1.2041, 1.7565, 0.6659, -0.0509, 0.8196, 1.0008, 0.9996]\nstate[eef_state]: left_x=0.2952 left_y=0.0032 left_z=0.1644 left_yaw=0.0691 left_pitch=-0.1191 left_roll=-0.122 left_gripper=0.9983 right_x=0.2299 right_y=0.2485 right_z=0.0087 right_yaw=0.0028 right_pitch=-0.1074 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.935, 9.5111, 1.7216, 0.1294, 0.188, -0.0659, 0.3077, -6.3248, 5.4906, 0.8327, 0.486, 0.105, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da8fc166f3f80917820285bb632a061a5ac28f34c7f5a4b42a715065a1bbe4d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebb18514b2d0a67b9ff4c8f8361cfa6920812f459ce2a53ad5ef7a73b2ea3782",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37124d822aea6e4421c317c43d8b81ffcdf4e160dbb82fc9f483989e38909d19",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtERUEoaDre7MGIbJPrKStSuSsRjlDs0ne1_HyCQ4DqCHDt8Gfm9RGkd8fxPdSCAQWl3M0J4-K_taZbbKAOBDDKas7vH5rFZ9wQYbM7mktOCjW6tl53063on0M32Uc-MmATM5ypEWPlpdmvW4H78-lowAN6D04xKna7cEFqfmhUsudotZlAeWnMd__cng5C6AeLK5-EOxIPlIWBj_d5Pchcj72Q1U2GlYvYod6zDzmoTLJme900QXkuCAtrfhf1KAdLkI-f09gGGAs_PRxCPSmbeAN76rADw7qUAXD6YU3uFpkG3D8WxbeE7ts_jxHz3Beqbm1J1LUhu9rDPtQ8rdNqALi90OiBU7TDddHDNb5QgiRd_fXkBMBa-NWg4NhnqRqa0euBi7YjnopbeB4OEewglkb7w3rpQfc5ckCEhjK8xsCwQ9g3fIFb9mRhb_vHogMuNdNfpBl8RyD5UyYMCNMKjGEcNUmvDrYYfwpee-a5NcjrjZmvRItDOzl3D7xUk1u7mCLq4-gUMWfShaJH4VLAYfvOGbfK7zz_wMeiUXvymY5Uhzpr9Pdy2DvPH0si-8RpSYRjaao4D2N1ePdwUCP7Gb-nwx-0m-wbf23RfFfgEFz0JapC5vmNsZ30m7nwYvLTIGefwXze2gmN4e_bOmjyPqAZ1mSKr2ab7X2RpnxByqASiYn1NDz2sDoUbzuwEAutIyiFV4HpzrbHTHcH0bTWkmVIY8H08RVaPWX52DJ0gJ6B3-qmzALE0F0yZd6qhSv-fOsPF17WvUU1O5PdJkTa9bjUmnIf10dLiDfsioWYU3AMVjRf88lQqrM98qN4RBw3j3AWPmbq90aXfYi9pV3444itKpG9wFWfip9SWTmlYLitc4VTcxdDcM3-tumn1JmEB9wz0eJocJn2OhjvkmnqWlrTgYvJs2dgT9StdFQhUr9HGMiiC-2EatVzJO1KTFfXiq92P5ynsB-krm7640LKeEv4M4NMgDS1DnKCVOYnZgMx0EHCX2HeI4chPpYXuUBkbQCTbLjE43G-_IwlcNS1trcxdaKfMC_-eSF6iIa8O058n5JKiQ-QRXwMP6Nf0gClxyN0M2RjZikhlg0YKOsmow3Cms-LC1a2g5PFJRfDKRqjXIEsr0vQkEWp5KB7W4UDhg3WiJYOk-s4aIbqyjj9m81QP6DNuB-OJs3nkXeiUbnWlzC6bbkBS5vyDH0grSEDZw426DRUVRFcGJ3ArZyVF8P5fh2Pj5F0AhI51z5FW0_2c0qWbW0R7ra8L84bhqqagirxoeGQjS0pNyW_iSyWlUFI7YeRpV2SgtJdSYEY-srnAVpKHTplIjAkktagvnpSu_2SoQN11mAbTz7IQrCfHeBASFoFA5bIw-mwtRPOVC7F7zSHPsIEuB1J6ahceGxgd7zCvNMKk_4WN7Lf7lOfEE9xBA2UhZCX38URVz96WqrmArLC7Zp1m1pW6Q-_GrKCeuG4DlfuQkj-1rDmIZlKdzg4YJTSZ5j26LHBP4QvFm-oGVa5MFcqhIpmNuyptj2WeqDZD__b-usOTaikmFGgn2x9ScJYZYsDPgB3QIS0ijaBa35u0GyFQiqLSX_wwbuhpCI2FfQepJ9aKpw7A_ARDA_xpwqa-dWDWdc6mbWMqEVqXbACe7TtdfKQ7BO7QWEtDYzKhLtMBkCaDjBoScHYighS9csnIep900hzAEQpnA41-ar0Y4Fk3qgRw7keNLrT2ZEcQIDlG2MV2TynDvBwlO0MbhpFx9rHIS0M3aliL2rtRQWWy8LuRMzkznLXfHDWRAIMORD8JnUFslc45T_piewCWbB2ziMFcXjxtpqSQx-Qbilllfpllf_nw49s7_vuCYFHq7__HcRCx3eDJRDxi6nQP_iU5QXI6eDRtJ2jubFSpOF44a82-z5Jnl9XygcuM1q9IH2y2YAbOikJbntwcZujeyKCFm-05q2AIrlOGfkeOS4tVYFSIjWiTnutrxK0bicMm-tRpxgHZD2fACqhHIE8CVel0m-qk_P3Z8Pd3weq7oBMbV2WGvmGvrNiAniO9OgkULuBWXi3bmLnk1fe7fffOUNMHMW4DLNtA4l__sEQUSqk5LrskQqJ5ZKZmx1aqKUNdesPk2EJ2j8pou7EeFxqlw_VzZEO7D_t9b5mA77Xr1wUZyYhMysSLjq7KIzUau_8NFDvEYkX-on07ZaKNa2kNaiJ5vQywhh_qu_n1iPd0zE_JVN71krtX1VkkwhefVAgQsjB4g-1SAuarCkV7SesndHcyJUEfc4Ll8L6s9fi90SXTF0mm9-U0cxbZaQtRS",
  "id": "rs_0505104689070752016ab4445214dc87d0a0174302aa1a0ea0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.3,\"right_z\":0.0},\"note\":\"Two marker pens are now plainly visible in the right wrist view; the blue pen is under the left finger but not yet centered. I’ll shift the right gripper 5 cm toward image-left so the pen’s barrel crosses the center of the closing path at table level.\"}",
  "call_id": "call_ustZLWRQYBIgEA3iK6L2G8pY",
  "id": "fc_0505104689070752016ab44453fa5087d091c0ad964b7ab52e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ustZLWRQYBIgEA3iK6L2G8pY",
  "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]: [0.0036, 0.8772, 0.6525, -0.4572, 0.0078, -0.1684, 0.9983, 1.2465, 1.9102, 0.8593, -0.1001, 0.849, 1.0645, 0.9996]\nstate[eef_state]: left_x=0.2951 left_y=0.0033 left_z=0.1636 left_yaw=0.0719 left_pitch=-0.1224 left_roll=-0.1251 left_gripper=0.9983 right_x=0.2363 right_y=0.298 right_z=0.0077 right_yaw=-0.0028 right_pitch=-0.0861 right_roll=0.0363 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.7436, 7.0222, 1.6777, -0.0366, -0.0122, -0.0269, 1.0051, -7.0906, 5.2171, 0.4371, 0.3297, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab8fcea747f7bd98a7d232af7beec1f383093bded12ea9af63c571258a1d2fc4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48836f97b4132ad989414c17fbe288fa48d253d159ac9e32c633a780d0f98c6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f857f3932a7b9cd3e39938d63df737ab981f9360458a51551b426bf687f0ed29",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 3.786 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]: [-0.4683, 1.4097, 1.0245, -0.2874, -0.3637, -0.4603, 0.0126, -0.02, 0.8474, 0.6064, -0.4084, -0.012, -0.0227, 0.9996]\nstate[eef_state]: left_x=0.397 left_y=-0.1264 left_z=0.1897 left_yaw=0.0675 left_pitch=-0.063 left_roll=-0.1374 left_gripper=0.0126 right_x=0.2942 right_y=-0.0002 right_z=0.1606 right_yaw=-0.0045 right_pitch=-0.0873 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -5.9145, 8.841, 1.4725, -0.0122, 0.1636, 0.5055, -0.0479, -1.8803, 7.0085, 1.663, -0.0464, -0.0171, -0.0171]",
      "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]: [0.0036, 0.8753, 0.6529, -0.4564, 0.0082, -0.1638, 0.9983, 1.2041, 1.7565, 0.6659, -0.0509, 0.8196, 1.0008, 0.9996]\nstate[eef_state]: left_x=0.2952 left_y=0.0032 left_z=0.1644 left_yaw=0.0691 left_pitch=-0.1191 left_roll=-0.122 left_gripper=0.9983 right_x=0.2299 right_y=0.2485 right_z=0.0087 right_yaw=0.0028 right_pitch=-0.1074 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.935, 9.5111, 1.7216, 0.1294, 0.188, -0.0659, 0.3077, -6.3248, 5.4906, 0.8327, 0.486, 0.105, -0.0611]",
      "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]: [0.0036, 0.8772, 0.6525, -0.4572, 0.0078, -0.1684, 0.9983, 1.2465, 1.9102, 0.8593, -0.1001, 0.849, 1.0645, 0.9996]\nstate[eef_state]: left_x=0.2951 left_y=0.0033 left_z=0.1636 left_yaw=0.0719 left_pitch=-0.1224 left_roll=-0.1251 left_gripper=0.9983 right_x=0.2363 right_y=0.298 right_z=0.0077 right_yaw=-0.0028 right_pitch=-0.0861 right_roll=0.0363 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.7436, 7.0222, 1.6777, -0.0366, -0.0122, -0.0269, 1.0051, -7.0906, 5.2171, 0.4371, 0.3297, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab8fcea747f7bd98a7d232af7beec1f383093bded12ea9af63c571258a1d2fc4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48836f97b4132ad989414c17fbe288fa48d253d159ac9e32c633a780d0f98c6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f857f3932a7b9cd3e39938d63df737ab981f9360458a51551b426bf687f0ed29",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERZtdFBrYG5upOtz5_4zYoGuLmxg55E47gB43kXwIt8sRWFjtFaJsVlHzjZEhkS7ZTnGMdZ41DenTc5WdFPViqO7pDh5DE_bkcgqBN20aH6gRp2VfVqzmxGX-DQMQxzAA9dvX16k2NDPTf2RcFSGQdJI6GqDu0OlQXXYYMqj8qLkWAXWiUNJrAFMd2V_qD2vtw_zYWtfOdXNyqym8wfsXcAyrUogK24yRUVv9_I3MKjfQsxECQv1-Ow8OPlIsXeK-u_jIQYQH-USUf60mHOIi79vm5bndNsjH5jDVl-6rilcYhpduz6si3wDxuBb69hkHDGJ1vk37YzkeZYgKZWx69yh49QzgRyNjrW5pVqmIhkwkndPGy7vyfOu9bJJXQBImA3OIYuCl6sXIlQYQSqyRXUZZmxGbG0zWycFYdyQV3KRgSudjaQq5sxcrM3sWa05kdAaEG2OmI-ngnL9fzFEor7zn9bqGcjImGpHMbRQGQOuSFtcIvWyQhpDdGIaKCbKyrMzvOoX_xpPlrPt7ldxsj7UEKR159qOiioTxAjJcCk41yKPShLAnfB6the7xotbZ360uiY42f8dY95TwXjNYcwcAbsAgReL6hIMSnMGL8VN8EHMfVCdO3DghC6W0-72ANNecUluyZbe155uP_8aXMTwOGDZNI5W9tWexTZFKYN3adRVHv7kkZgS0s_ryuLE-30x45FbNkmYDq83UT4_TSK1xZH7teURZfGzNbueeNf49pRI5fbt9IWBHdzmPqSIviT3c19WxUu608abflQN9lawmJzn7NQO5IvLhwnDqG3pWqnc0_in2OHVdIFixMpjXbmvUs0DmuEcY-YYByQ6mbjVD7PF_M-l2DGscWLs9KEZbipgpRgIXFZhpSndjobLwkLRWhz0E0g-DXmxOzuPEG-oQH_QMA4quRjLgdmLIzSLJ9hRmiN4ncLKatfdUtwwB8WOYi7aNweQOvr54xoWSDwh1V2KVebdJA2ro3nqCKHnmxoNdZxy_qBQadUMZFwiFRAU0rto333iFPrPH9mE3gHZO0h4cE9n9bFbkhoUJ1Yxw5iKB9ezVN8WLWpvf2FSeUg3hazxrzMAAgXGLLma3xK3WbE99v9L7jPQEiTS6FT22NohLEDrvBp0W9lsaCiVfYhlPKK0lhMC6enkNzT-zJmNWE4BoBYSVBZFK2mmNENBGO8mhs14TMwuWJVHD-W9DVaKWqKqbPKUN5G8z9Xq7YXfVbVYzope0uxC2m5B4L3taQ5bdcBu3KXM3cR1cqtLPAECYdjZnLzGM29mpfNYNMrNaSaevw17yOgj7Ast5iXAWigWucrR2bTa5ychtfq9Mnx4EkdNZFPan2jZhd3F_J1iDlvBcBxxU8jDACXa01ecRMOYwoZRDddyljUuIp8ncRifuhJPKT1oE_2bmwAoZyhPNjyybPz3rBkf0MZ380VVfKNVVDds5Miy1I5Io-ZpBgvTR3cu22uAxIzflFRk5YC6NDUMezemJ-JYay1K3lakEJd09R04hog4gmEZTrhUF0AE_AAlpAoPn4czg9bJA-O9QQDVJYyycqcFDoRQAUsfTiB0E_bBYSrD0HIzNbFqAnhCsa_E_zvnuDkSxFVurTKcsP7prTbEhXYLIiFenZKjgUtyZDNcDiWBgIUeGP1PdSKA5tZvytRc4RNAbQyZ7Yh3hGqYBBnqibXc49dzC8giN7_yfc71fUkWnNW--Gs6i75J1PbHMyac-C31dH8iJ9f_hgHG5oHADbDVaF1cXlyInc0j1pfbr12F5jBnB_0Ehu8LZ-s2qyefJfaY6b2bZoLJlhfP3hPUkg2aYQAoaSmb82aB_bFj23-oNQDsgDUmiNAr3auXKh7Zj5MNnzXQWYyH03nNLDDqfn2u17OTHMkzn5zXHUAyMuNdPWYX-a-OF2zfXpcDtanO1hOVxMlaafqXlovqgA512VENm-kRPqnLvI=",
  "id": "rs_0505104689070752016ab4445867d887d0b9f846d1f0d21370",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_z\":0.0},\"note\":\"The lateral shift centers the pen’s upper barrel, but the crossing point is still well beyond the fingertips near the top of the wrist image. I’ll advance the right gripper 4–5 cm radially so the barrel reaches the jaw tips before closing.\"}",
  "call_id": "call_0dFlBa7E4MeBpeGgLrKhlabd",
  "id": "fc_0505104689070752016ab44459175487d09b6d02ecee806d46",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0dFlBa7E4MeBpeGgLrKhlabd",
  "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]: [0.0036, 0.8772, 0.6525, -0.4595, 0.0074, -0.1722, 0.9983, 1.1297, 1.9423, 0.8745, 0.0345, 0.8181, 0.9558, 0.9996]\nstate[eef_state]: left_x=0.2947 left_y=0.0033 left_z=0.1631 left_yaw=0.0743 left_pitch=-0.1249 left_roll=-0.1277 left_gripper=0.9983 right_x=0.2774 right_y=0.2939 right_z=0.0085 right_yaw=-0.038 right_pitch=-0.067 right_roll=0.069 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.7162, 7.1316, 1.6386, -0.0317, -0.0122, -0.0122, -0.2256, -6.4479, 5.9829, 0.7253, 0.0611, -0.1734, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:855a4cb3587abd1b5bc62cf643577b1fe11c1f83145a9092045f65e7b5cb7e61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52493ef682d43cab72fd4e0b234ee8f0d1089b3795b200fc6e270a0d968dcf00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aba6e7fbaab4bcdaf45c81e77c9f89592c60f5b260145ac2dfc6708fac41f10e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 8.403 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]: [-1.2644, 1.7, 0.7204, -0.1741, -0.8597, -1.2018, 0.9988, -0.02, 0.8528, 0.6018, -0.4099, -0.012, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.2262 left_y=-0.2593 left_z=0.0345 left_yaw=0.0409 left_pitch=-0.0793 left_roll=-0.1167 left_gripper=0.9988 right_x=0.2935 right_y=-0.0002 right_z=0.1568 right_yaw=-0.0043 right_pitch=-0.0988 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -6.5573, 6.4889, 0.7937, -0.5641, -0.1099, -0.1392, -0.3761, -2.0034, 7.3504, 1.6386, -0.0269, -0.0415, -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]: [0.0036, 0.8772, 0.6525, -0.4572, 0.0078, -0.1684, 0.9983, 1.2465, 1.9102, 0.8593, -0.1001, 0.849, 1.0645, 0.9996]\nstate[eef_state]: left_x=0.2951 left_y=0.0033 left_z=0.1636 left_yaw=0.0719 left_pitch=-0.1224 left_roll=-0.1251 left_gripper=0.9983 right_x=0.2363 right_y=0.298 right_z=0.0077 right_yaw=-0.0028 right_pitch=-0.0861 right_roll=0.0363 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.7436, 7.0222, 1.6777, -0.0366, -0.0122, -0.0269, 1.0051, -7.0906, 5.2171, 0.4371, 0.3297, 0.0952, -0.0122]",
      "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]: [0.0036, 0.8772, 0.6525, -0.4595, 0.0074, -0.1722, 0.9983, 1.1297, 1.9423, 0.8745, 0.0345, 0.8181, 0.9558, 0.9996]\nstate[eef_state]: left_x=0.2947 left_y=0.0033 left_z=0.1631 left_yaw=0.0743 left_pitch=-0.1249 left_roll=-0.1277 left_gripper=0.9983 right_x=0.2774 right_y=0.2939 right_z=0.0085 right_yaw=-0.038 right_pitch=-0.067 right_roll=0.069 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.7162, 7.1316, 1.6386, -0.0317, -0.0122, -0.0122, -0.2256, -6.4479, 5.9829, 0.7253, 0.0611, -0.1734, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:855a4cb3587abd1b5bc62cf643577b1fe11c1f83145a9092045f65e7b5cb7e61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52493ef682d43cab72fd4e0b234ee8f0d1089b3795b200fc6e270a0d968dcf00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aba6e7fbaab4bcdaf45c81e77c9f89592c60f5b260145ac2dfc6708fac41f10e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERd6Vro2XwdIusnWrRV_eiYMiJY5zcquHvszmB3_TsouncxHMJ2FSJB5v-Pj9RBGTJ4LAv3ENfNDttOdA4FAztXt_j2AZyjnjJQjwsRL3Y9v3GwC0Z3WIexppxXHfg-2o1klfn-KW6c6fzhNn3Z_dNsqWuyQ-FOPv9z97F1sFjB4Lnbvp1cwcMs5AvCtKNGR7CfFXiMIy6f9iPJwRfXqwEK36wbiAgaH0rBf2e_DQ-0xP8zYqyUZ3b-WAXNFE8ysr6Nw8iiSGS1P0TAqW_FWLTYHJ0APWR-oc6IXB_-iNgMS2te79cuIc1BBg6IYtNy3jDkNcDZYO9A7ByB2DkRgArHNOqYGc4uKlSLSkMorerRXj7QruGavbHWL4NUEQZFs5-P2jr2q5TcijgJRMz93JzncAwmbMLnwzROBSc9hSgIPtPF7ACtnRFdpmB_iVyOrIPrF7Ke70jjdHTkV0DD24_vFyPrfjPlerU7QZi1GeEC9q6Np4-9Bdv6_RtHI1GA6iebs-FhLbdnuRomI0_1pqyebKCbldon6ayZBlGIKI1kmia3o55QCIlajXWHsxIyxYU1TDZO0Mx7Dm9L2XeKOJ4LsjJjfoI39-bn-DGa9C0hR5As7qCx4Kvim3OzLqpiaZwQaN8vUi6XeH7ml_DPi-5il7WbENC7K37i3MjZgFvYWQYBwOMdr63MNKp8HLwwFTARN_j71D-vxrPAXwV12x73WG4AllTAxnCEeYkBsO6TylJzWLEDWle8RR35wKZIFFX41bDM6Yvs3Nbru74Td-oh4jBb15ixIFfxJ5kHuFyPODNeeZoyuXQrYKJ6jgdhJN-7w-jzDj9-8AmJXhE-8bAHn0bWB4iLB0b7iyhrQVaVuefuHRX_rSk2sRldMZMdiohwyPPNDWlV1arMMv9qhs7UEIHLZhJ-vG5y12sav2CT7dthTaEMAoaldXhWeli76uTzpixrSpAN4p9MY4bVxZ3AYd4idDZ7lEHtTrN8yZ19zUTP64_xg6kx6h-PrHZagk8R0jqFj9E5NBjDRgbPBWAyGhK0RKY98rLDpKBRGYd2MJf8zlvoPeo5cwe6i5IhEHc_qpqjTASbeGfzJdi2c2o43_NNvZXhDj5lxnowUG1whLfRecG0MTif5Cpd8nfZDp2MXY1AdK7k7dHvTvpVooPzfU7U4nJ09rPvYAk8EM33lzRVsi4ygkt_1S9Epgaj3VCYFsj2yeUCewZ2cGYSWnAwT4Ex6spqXMF9zMZYOLCjLDLbXjOXksqOAJRkpGstNlMF3KlTMWYVwK35QVTr6FVy_88zR0tr5s7PXsQqiV8fB0Q8CTqzHNMvScBRPzAhUXjVP2UIBfcfC8g9k9jXmxAyZwrwEzj3rX1_JUd2f7pr4VXOqDxKUt61gyB9ei_Gcn8FeHPaEIjO7DGPo85auabMTQkD8u_6cbOM1wmuCdHiWupcyM-Wl0R1t4AEVj_713euVHjVtYM34YGYwvImavYVB9BSwqA6fkBaMJh1tXFmB-URRr_pn7n2BN3abaNXuQ3pWbMCouDRFKLkndL8YnvyCg3aedcFt4UcWHwAkX1FniX49ZKwSpPhWU89rkl5C2HvqORJes-7AFFJNKnsz9cU7NMRA_TYXLLz71QdWFPDCucwEElV5H4DKA1JIVvdUBUaI-2d9tVp_5B0MRPtOtjX7xSwUBJyKwT7XfDhYWePsCttyAAvg6yl_9qr8-l0IRGFrC2n-O9pDQ1hOq6a5hQ6k8TtkNkf0qFPdI_9WH69CP47kBIyvgHZjW5BDkErGYrQ0yD_N8qONj-kA6gZo8-OdSTdh-aPuG4BxGRN53a5SoGkoyrhHAJFNapDJXmmgAM9UuqglKt-4Smv0ZGFVCLwM6dMZkco1jI9GMG_UdU1SZrhCU6-tGo8VeKa-_7DX4FsZXv7SegLmlMrJo_zKxZHK0eOiKoquNQfU3oVa45aG3JWWBKKJ9YNxsfr3fU5NDt2o9Ux4Zt-LxsTbr9M6h6P0w==",
  "id": "rs_0505104689070752016ab4445b949487d08995eb8317979512",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"After the radial advance, the marker barrel now lies across the fingertip closing line near the center, with the long axis nearly perpendicular to the jaws. I’ll close on the barrel and verify a substantial retained opening.\"}",
  "call_id": "call_m7tGmQ5vviu51SkBbldiJOVy",
  "id": "fc_0505104689070752016ab4445d05ec87d090808c2c6310f4ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_m7tGmQ5vviu51SkBbldiJOVy",
  "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]: [0.0036, 0.8772, 0.6525, -0.4595, 0.0071, -0.1753, 0.9983, 1.1179, 1.953, 0.8772, 0.0769, 0.7921, 0.8963, 0.0124]\nstate[eef_state]: left_x=0.2947 left_y=0.0034 left_z=0.1631 left_yaw=0.0762 left_pitch=-0.1251 left_roll=-0.1298 left_gripper=0.9983 right_x=0.2817 right_y=0.2997 right_z=0.0068 right_yaw=-0.0016 right_pitch=-0.0709 right_roll=0.0613 right_gripper=0.0124\nstate[joint_eff]: [-0.0068, -1.7436, 6.9402, 1.6093, -0.0269, -0.0366, -0.0122, 0.0342, -7.4188, 5.5043, 0.9695, 0.3004, 0.0122, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7e04192e350483df3e0df73b19dd2583424d6267a5415cebedb4c64d8f62ae9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b2def9a9ac25ebb73485837fc1a3207b3dd030f2ebef4631d42f03b478fb656",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58456c279126ad91ca460f2ad7ab44e968d47a6003a30cb92e69b7adc28a00ef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 2.333 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 129 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]: [0.0036, 0.8753, 0.6529, -0.4564, 0.0082, -0.1638, 0.9983, 1.2041, 1.7565, 0.6659, -0.0509, 0.8196, 1.0008, 0.9996]\nstate[eef_state]: left_x=0.2952 left_y=0.0032 left_z=0.1644 left_yaw=0.0691 left_pitch=-0.1191 left_roll=-0.122 left_gripper=0.9983 right_x=0.2299 right_y=0.2485 right_z=0.0087 right_yaw=0.0028 right_pitch=-0.1074 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.935, 9.5111, 1.7216, 0.1294, 0.188, -0.0659, 0.3077, -6.3248, 5.4906, 0.8327, 0.486, 0.105, -0.0611]",
      "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]: [0.0036, 0.8772, 0.6525, -0.4595, 0.0074, -0.1722, 0.9983, 1.1297, 1.9423, 0.8745, 0.0345, 0.8181, 0.9558, 0.9996]\nstate[eef_state]: left_x=0.2947 left_y=0.0033 left_z=0.1631 left_yaw=0.0743 left_pitch=-0.1249 left_roll=-0.1277 left_gripper=0.9983 right_x=0.2774 right_y=0.2939 right_z=0.0085 right_yaw=-0.038 right_pitch=-0.067 right_roll=0.069 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.7162, 7.1316, 1.6386, -0.0317, -0.0122, -0.0122, -0.2256, -6.4479, 5.9829, 0.7253, 0.0611, -0.1734, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0036, 0.8772, 0.6525, -0.4595, 0.0071, -0.1753, 0.9983, 1.1179, 1.953, 0.8772, 0.0769, 0.7921, 0.8963, 0.0124]\nstate[eef_state]: left_x=0.2947 left_y=0.0034 left_z=0.1631 left_yaw=0.0762 left_pitch=-0.1251 left_roll=-0.1298 left_gripper=0.9983 right_x=0.2817 right_y=0.2997 right_z=0.0068 right_yaw=-0.0016 right_pitch=-0.0709 right_roll=0.0613 right_gripper=0.0124\nstate[joint_eff]: [-0.0068, -1.7436, 6.9402, 1.6093, -0.0269, -0.0366, -0.0122, 0.0342, -7.4188, 5.5043, 0.9695, 0.3004, 0.0122, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7e04192e350483df3e0df73b19dd2583424d6267a5415cebedb4c64d8f62ae9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b2def9a9ac25ebb73485837fc1a3207b3dd030f2ebef4631d42f03b478fb656",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58456c279126ad91ca460f2ad7ab44e968d47a6003a30cb92e69b7adc28a00ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtERnjz24_R_nQSvtmw0TixQVcYbv0TeJ83rBElCwoiRPCd0tkRDk8P5lT0FZTLDUmdos5UkcQYQyczQ5lkf1H77gjO-6NGXsycmTweVnbNHvVDzEaSqwSzEr9qUlpdTJKMKnpifm7aN1HYEKcWh0KHTmqjjz_FYhsMDhndDewluB_F9NtO7ZLQSdlkdV_HeZGOBP6vx07CjvZ7_q83--0Mv84IuJK0GYhqEsn-2Zonfc0p7pMxT5O4CwVNfSmDIwLpSzwAZjhDcP4J03bm2QkFd0qc8gG4mOeCgJtZOiCSD8dG0Fz1k6CqAfXeWoFDFwC9Sxi9-Z0jd355vwjxnszdh645MRe9e6nhnyd_JjltA9oMvrH1NswhPvDDwBBzqwK2bOHzcy5zrguhhUnNXT8nmCbBva2VGSmZb973ZvWpM0SkoDspl_MhsYG--HzvfbqqhpIxYQ2gVfeS4puze4VHwzBN2ojtIqIesY4VlxXRl1UBXF0kbdrI5uEZFw6iGRNlMuNGb3XQHCCyolB1UiHku6GvIgTwcIE21CiUgEPBpsPFqls17sXs608a6gIXMujgh5HcznV-WMmW29-DJDp8_XAhHG9iK-24g990MWJnuPTj_RyyAWYVO8Gj6b8i7Ybu5vBtVKevG__aHVsYYefjF5MW-iXs31CBgn5n0ddPaYdGPUJd_o6HzPPakHpkCMmufMnUG2DKDXuvbQhZlACZ6XvfX7wQkmAQB4VAj_eVfifioFoeG2toqShVyz-Doq-JfFImTmGTNMys_Kl3ExYUEuJsnbuJToDwhjU0elUQR9t4Ug14zqVKraZ6SQNJAZoDUR1iWz3IMASdzcQSXudJDwu3O1_H9GvSFidwRnfRjS3BgKRrik4qHGE4S8E2QGXXn9ZlSVg98jehQU4JpnIbMJ4obGP9KVQfQU80fCA1L1pQblchf7hyCcfQ_aiI7HKx2fFtjhW2HomRI4ayuN_7yFh8ROIjkDtk-WMyaEN6u39z-PD4_WyJgA2VQhqud1yd3m-sDnkaUDgB1nYYWiYtSM88L5OurGRx3NumAp0zIUPU88KK-9Kanl38NyPayXmuIyQ4GwjHnpRSnl_azqnBKqXt1NVv2wXT5kv-A8dhhwCDAzcvT8Vm3_UtwEmXyU_gYrfLw_8dBlQtu5zBLWp-TFvYNls0aZ_t820Ftf1bdF49b776BjJ5aFuDsVdrDfmC1G790QiRvtywOnYvrTFrbFr4NbCxMYT8ORtaRLOVAwuGQJV8jNY1HXf2b0f5u_eAeUHkrQjfKuoXJjWqRu30boSfkU4oh4m0q2F63CbTPfz5Qu0UNCZsOOo-yIx5pIjgIOcwdReeie4Nw0WJxfQ-QIqkfaufUpiMuSgZpDx_tBWmy2Hyg84AgRmlxd0NDzKMNUhE2CVp7m14W5vT9Ruyn7C5PXHRioi37avFUHff2mHkhkREeXtrhxdFla8kmp8zzUl5x9IsoR9QrhwxTIUI5DjyZs1gbpIJrNiGUHRM4LI2gvqEOcSfPKQLN3xssFj-29Ytx25W5eSftcrbaUjJeGcsPF9U9dB2KUHCPSUGz9xePJs_hYJY6wnD_FlfHi15sFEcvrfBu09M5Jk3t2jVhlqMYs4cJMNO5ywH3wG4tcQw3kzePV3pmSVec6AhRl9GioUIaN8iVc3jebuUBnohkweQTVEmXeYV2We9kTp5jQihZcy8G-ws1MJhNpKOAn3ByH6N9d-Ev5465UYFFKsAwxUPptS4qeaXbRvZhuI7byoJ1-Z101HQdB-W4Y_Ym2wU9yJKa5QhN6-vxB8Me6CydNU4g3PuZZBpXR24pas6zk1HgJ1_B2fWChvICDDuWLBQ6RiuGRKdIzQlG3WuYTGvhjGOW5xB2lOb-mK6rVdAPZSQDd_kwHFdcEsqNLNwJejzbM36fRLtZvnRt6gq0RJruHFbRPvTuqmVoSfmapVXNBE_e8NzrpYXJM6LRUC0LJrVJz",
  "id": "rs_0505104689070752016ab44464396487d0a55bf068a56ebcba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.34,\"right_z\":0.0,\"right_gripper\":1.0},\"note\":\"The empty-close reading and image show the left finger pushed the marker away rather than trapping it; its barrel remains intact just beyond and left of the tip. I’ll reopen, advance 3 cm, and shift another 4 cm left so the barrel crosses the exact jaw center.\"}",
  "call_id": "call_viIA79Imb5mMB4UfqAykqp7H",
  "id": "fc_0505104689070752016ab44465fb9487d09f89e1899fdfb8da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_viIA79Imb5mMB4UfqAykqp7H",
  "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]: [0.0036, 0.8791, 0.6525, -0.4599, 0.0074, -0.1757, 0.9983, 1.1015, 2.0804, 1.0733, 0.062, 0.7902, 0.8749, 0.9953]\nstate[eef_state]: left_x=0.2948 left_y=0.0033 left_z=0.1625 left_yaw=0.0761 left_pitch=-0.1274 left_roll=-0.1302 left_gripper=0.9983 right_x=0.3097 right_y=0.3411 right_z=0.01 right_yaw=-0.0027 right_pitch=-0.0476 right_roll=0.0929 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -1.7573, 6.9949, 1.6093, -0.0024, -0.0024, -0.0122, -0.6222, -8.3624, 6.2427, 0.9402, 0.315, -0.0513, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3db425c61bd3bfc5e0ee4f50fc89ffc68d3bb21917aec8a7dec9a9bc536b6c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deaccfd1277dc094ea50bc02159bfb1d04961c1be9856239252057876e890334",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c95f5127579367153c8a8888d8c71fb24ac0c39673c9ddddcf9f0e9775955a67",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /responses · status 200 · 4.132 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 129 changed as sent

message 133 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]: [0.0036, 0.8772, 0.6525, -0.4572, 0.0078, -0.1684, 0.9983, 1.2465, 1.9102, 0.8593, -0.1001, 0.849, 1.0645, 0.9996]\nstate[eef_state]: left_x=0.2951 left_y=0.0033 left_z=0.1636 left_yaw=0.0719 left_pitch=-0.1224 left_roll=-0.1251 left_gripper=0.9983 right_x=0.2363 right_y=0.298 right_z=0.0077 right_yaw=-0.0028 right_pitch=-0.0861 right_roll=0.0363 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.7436, 7.0222, 1.6777, -0.0366, -0.0122, -0.0269, 1.0051, -7.0906, 5.2171, 0.4371, 0.3297, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0036, 0.8772, 0.6525, -0.4595, 0.0071, -0.1753, 0.9983, 1.1179, 1.953, 0.8772, 0.0769, 0.7921, 0.8963, 0.0124]\nstate[eef_state]: left_x=0.2947 left_y=0.0034 left_z=0.1631 left_yaw=0.0762 left_pitch=-0.1251 left_roll=-0.1298 left_gripper=0.9983 right_x=0.2817 right_y=0.2997 right_z=0.0068 right_yaw=-0.0016 right_pitch=-0.0709 right_roll=0.0613 right_gripper=0.0124\nstate[joint_eff]: [-0.0068, -1.7436, 6.9402, 1.6093, -0.0269, -0.0366, -0.0122, 0.0342, -7.4188, 5.5043, 0.9695, 0.3004, 0.0122, 1.0037]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0036, 0.8791, 0.6525, -0.4599, 0.0074, -0.1757, 0.9983, 1.1015, 2.0804, 1.0733, 0.062, 0.7902, 0.8749, 0.9953]\nstate[eef_state]: left_x=0.2948 left_y=0.0033 left_z=0.1625 left_yaw=0.0761 left_pitch=-0.1274 left_roll=-0.1302 left_gripper=0.9983 right_x=0.3097 right_y=0.3411 right_z=0.01 right_yaw=-0.0027 right_pitch=-0.0476 right_roll=0.0929 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -1.7573, 6.9949, 1.6093, -0.0024, -0.0024, -0.0122, -0.6222, -8.3624, 6.2427, 0.9402, 0.315, -0.0513, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3db425c61bd3bfc5e0ee4f50fc89ffc68d3bb21917aec8a7dec9a9bc536b6c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deaccfd1277dc094ea50bc02159bfb1d04961c1be9856239252057876e890334",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c95f5127579367153c8a8888d8c71fb24ac0c39673c9ddddcf9f0e9775955a67",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERq9PK64UBZAgQEST3Tqb9scCjYLta4rgvLN8P5gTUsg1zBZFsb5_MlesibsyGUdPxzo8LBOr2wk2pFYvB4wvhSmwqv7gn1Y4VGvOiLvIO6uA6e-0DfH_38Juz-6RawVtQM2NaTfYLly9gO8PllfhwlH58nXC_zDbaimzvBrWnAe5DppLG1ZFFaqGJny3I3_APLk3K0gTI2bIoDp08mv8ziKn5ypwEF3O_NftxLAW7QJz8dMB38V-TEefyk4vYnD0Bbol-NNSyxM7IsIzVytar5Uapa6OOwpYAv6nGZ-f3I3FedHCTmNWy9Fv0Uvst8lAyrOqsmH5PIVfbkZCMFQCKwZy0Rm_JsQ67zcOwNPNUHpqP4cJF0RQCjyilA9F9HwZgS9jKoeiG3ax7lLtWGaAy776fj-8Gnzl0L6G7Q_BDNU17nTKuEg7noPD4qiVab9_A0OX0h9H2qu5eAVkF-AZJnTncUTAUI_PIe0bddIqcMmre0Ltc1Li13M3a38hZobAeKuClXfz6VHMk4e4f_g7fVC8uEx9pYBeHSov3dzW8Nb4vBAuQkKU9oYJ8qsCfRRUY33MfIGPUhMp3UfjBDsXpTDLgeShxp7PW9nEJZnZCbGk8hscqPsd82NQAXzSE--21reKhDksk7yueNVu9pIPTCuLc1f1OuHfKgtnuCvWLubZATYNFzN1Hs2WT44SaPVqgEOky9ZxSVyO27JnzxmJ9c5G2NS5wVvr3EfPzDB31ekaAJxbuj8WUU0tw65m0miNkAnovHxFilwZT_Vn-GZSv15e3t1UG5VrkzcaFPyHteF_zQwE933Tz1JKjXKDGHeInVeZcxf6InD8fRzKTAvR2LSrcTcHNk6U2-7tYG428Qm2sbC_CZ-Pey4VWcOe9pRqJchv1naSKDm3Q5DXD126piWKDgtxV61ShmkJslce0LWe4CwlTUOLs5Yh9FIsUKCyAq9ODn4Ds9y39Yvep2JtkKdqfgd3lHpXaqoe79HodaRdYJqCgEMTnjUOZEzqWQspSiA9DjSSn2gjm3AC3-APW888HgfqH0Ka4RtgUmMP02OSzvuF_g6-9ZU1JBp25W7zNPem3P_DiHfI_y89HYXBkrkhgfnVrqi3g1N4n-FZlhq3cgLD8q06GXLY5vFIrSV9H_79gqiJzNcF3dK7ESDbX6yKZKhDxr5dCHVeW-UC7iAttvEJ3RGibkyKnAUr2VUnwqiIlXO9b3kaMrV5saREnBRqD2c_8y9u7fLWo7sn1ICwnPOTp-s47IOZr6yIP3uwe97ZMkzG3bfy5IBjqfmG2uMXO6ZCNo2CQ9KBajFTjTfFvMAN9dZa675r3ZSyJ72dtB4DbZOjy1DG6VYIir3GHnSX_ecqHvyJkjELPRFcXetYoXQfOGEVih94ILCUELt6BUYJYZ9RTA-vVlPJhWQtIw8g==",
  "id": "rs_0505104689070752016ab444692b8c87d08eaaa31da27571d0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The correction places the marker’s white end directly between the two fingertip tips at the bottom of the wrist view. I’ll close now on that end, which should leave a measurable opening if captured.\"}",
  "call_id": "call_UBPYdOWeaz3OMJCEfoIjDFeo",
  "id": "fc_0505104689070752016ab44469904487d08907c84ee35fe630",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UBPYdOWeaz3OMJCEfoIjDFeo",
  "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]: [0.0036, 0.8791, 0.6525, -0.4595, 0.0071, -0.1761, 0.9983, 1.1, 2.0872, 1.0786, 0.0727, 0.7811, 0.8715, 0.0121]\nstate[eef_state]: left_x=0.2948 left_y=0.0034 left_z=0.1626 left_yaw=0.0767 left_pitch=-0.127 left_roll=-0.1303 left_gripper=0.9983 right_x=0.3107 right_y=0.3442 right_z=0.009 right_yaw=0.0036 right_pitch=-0.0499 right_roll=0.1017 right_gripper=0.0121\nstate[joint_eff]: [-0.0752, -1.7573, 7.0632, 1.6044, -0.0024, -0.0708, -0.0122, -0.0615, -10.947, 4.8342, 1.116, 0.4176, 0.0562, 1.0672]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cd7cf850abc7a2c0618e3ddb91c29f02cbc3bfe4e5b466b6a0b18e7b09d195a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:995ed68133e053d69c9c3f117a949303d50ab073d38b36b50cb68399c3b9b028",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:023994639a1dd87a00d89d5291968d1b64b1fe1023597a78f429b789735917ab",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 2.593 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 125 changed as sent

message 133 changed as sent

message 137 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]: [0.0036, 0.8772, 0.6525, -0.4595, 0.0074, -0.1722, 0.9983, 1.1297, 1.9423, 0.8745, 0.0345, 0.8181, 0.9558, 0.9996]\nstate[eef_state]: left_x=0.2947 left_y=0.0033 left_z=0.1631 left_yaw=0.0743 left_pitch=-0.1249 left_roll=-0.1277 left_gripper=0.9983 right_x=0.2774 right_y=0.2939 right_z=0.0085 right_yaw=-0.038 right_pitch=-0.067 right_roll=0.069 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.7162, 7.1316, 1.6386, -0.0317, -0.0122, -0.0122, -0.2256, -6.4479, 5.9829, 0.7253, 0.0611, -0.1734, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0036, 0.8791, 0.6525, -0.4599, 0.0074, -0.1757, 0.9983, 1.1015, 2.0804, 1.0733, 0.062, 0.7902, 0.8749, 0.9953]\nstate[eef_state]: left_x=0.2948 left_y=0.0033 left_z=0.1625 left_yaw=0.0761 left_pitch=-0.1274 left_roll=-0.1302 left_gripper=0.9983 right_x=0.3097 right_y=0.3411 right_z=0.01 right_yaw=-0.0027 right_pitch=-0.0476 right_roll=0.0929 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -1.7573, 6.9949, 1.6093, -0.0024, -0.0024, -0.0122, -0.6222, -8.3624, 6.2427, 0.9402, 0.315, -0.0513, -0.1783]\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 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0036, 0.8791, 0.6525, -0.4595, 0.0071, -0.1761, 0.9983, 1.1, 2.0872, 1.0786, 0.0727, 0.7811, 0.8715, 0.0121]\nstate[eef_state]: left_x=0.2948 left_y=0.0034 left_z=0.1626 left_yaw=0.0767 left_pitch=-0.127 left_roll=-0.1303 left_gripper=0.9983 right_x=0.3107 right_y=0.3442 right_z=0.009 right_yaw=0.0036 right_pitch=-0.0499 right_roll=0.1017 right_gripper=0.0121\nstate[joint_eff]: [-0.0752, -1.7573, 7.0632, 1.6044, -0.0024, -0.0708, -0.0122, -0.0615, -10.947, 4.8342, 1.116, 0.4176, 0.0562, 1.0672]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cd7cf850abc7a2c0618e3ddb91c29f02cbc3bfe4e5b466b6a0b18e7b09d195a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:995ed68133e053d69c9c3f117a949303d50ab073d38b36b50cb68399c3b9b028",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:023994639a1dd87a00d89d5291968d1b64b1fe1023597a78f429b789735917ab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtERvzravsvaR7SKmYcMkEGp-NkdfhSKYw8ztLLDqTfy-AFW-DZkoZRqcN59R9pBsNHdffMLfn6yxC13m-RBNZZ8Jy3Ve2TlR9N-Zm7nQOYuDANe6CeVb9xGuYZvqOy-8aF5RJOm0RPTQeijeEatHc1OZCvqEiZwOXGDvGE4p4OE-1oxPl0ZsFxnpb_W4D1hz-XdKHh7hjySvCU2_J9XvM_Me9QTUiBrTOh1QYr36R3Bs6urvj0vPvCFYux7u4EPJkZwc8xksfyJZG3WpdsewKo7YJQk9DGXxpIefDfNFcB636jlGsTQj2XyjChDf6So9gTDt-2_jcE0obMcxYv9d9SZoltUuAeomd2V2iN6_Ahd7_6digN18uqqyGn3v5n52Wfagjzt5Vi3clRNXnd9RoBLojWAGemNLb2ZfSh6b9YNUl_oeMMeCvXfWTqnXkyYfGpnJO6sWkljfrEqDtJFec9b-QYQVFT3MxcYvKMl8qbk-I1649ycsEQRfLI4EW4kml8Vl1XlThwoifusjbuPvyWXdqk5v4eQGWVGZICU9-yFiErwKNdO3JmTQoC8m5PcvJKKXn1yEhPcVel7P1QWNTHZgtiuPpF3sYOymLRBLUQ5LRb7juiNRuPnwOPGUUK5xYE_LEFhNYWBixLj3dlD9m3j9Tkk2aSQSiQ0xawpiYbzRCF55Bgqgd9yhwA8je4exkV1NTM2lY-DTYY_F897aaduYkJjBoHypxZZSzw6lznEZRFW0nNJAHTEb2dWo8MDbui5OAtD7dpFKGc2IMaL5ejsEGYQIUMj61HUhDqPc0Y7023GDe5y3XZVrvd7sJnI2AEFDUqPm2h7iul8Xs187asq-JT6EXLcRNHlsBb8DOf3uhKssD_L1olYhUvO9mGpdraODvlpHgCWZRILsGZ8Aoc2z3mKCJ3y8mGNTm16n3zJXNpIvuDfXtRlg5t1qsioVXMP5r1tS9aprj5XdeeIqOUgRd6QsD4l1vzaDiftwAREHvQ5u7X0sU2AihtqZ5YKSh0Uq-LfMXPTlx3QUhu2ZL1YkvY0m-oeKNe6abAINgjm_TaiwEntIDAtBxTq3TG7Lh478RXLb6H6UFLIOyCYh6LOhSswWODqGQBORGowt_0FMvBYoQWyQ_4DO0fQ0UEoQvucbKHTKOHuSm6jJxmqVSMCDyt_h3JeUi9ztugkcb2K7422_h8ppIFnksQzfx4CyOYM2jshWc48FnlO3bWV2GzvtCuFu7KGFPaclkmSBVvttwG-mLxV55eWvZkHuGI4gf8YZ9VAv2nL4zBChp4IIbcDXjq10eLVd2eOQONjsnsdBJNTLFpOb7QRFZos7A8Ily3gtL1bPNYyju1OMMQVnJDQbnyqrKAlizpvtcq3aw_tJ_08=",
  "id": "rs_0505104689070752016ab4446cf10087d092001c8322d76b94",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.34,\"right_z\":0.0,\"right_gripper\":1.0},\"note\":\"The close again pushed the marker forward; the wrist camera confirms that even at the bottom of the image it was still beyond the actual fingertip point. I’ll reopen and advance 4 cm without changing lateral alignment so the marker passes under the jaws rather than remaining just ahead.\"}",
  "call_id": "call_0LMQH88T9dxdZfJmKOkzXuzS",
  "id": "fc_0505104689070752016ab4446d854487d08908f4583e57e33f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0LMQH88T9dxdZfJmKOkzXuzS",
  "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]: [0.0036, 0.8791, 0.6525, -0.4599, 0.0078, -0.1757, 0.9983, 1.0145, 2.1254, 1.1103, 0.1745, 0.7414, 0.7826, 0.9951]\nstate[eef_state]: left_x=0.2948 left_y=0.0033 left_z=0.1625 left_yaw=0.0758 left_pitch=-0.1274 left_roll=-0.1304 left_gripper=0.9983 right_x=0.348 right_y=0.3405 right_z=0.0108 right_yaw=-0.006 right_pitch=-0.0246 right_roll=0.1265 right_gripper=0.9951\nstate[joint_eff]: [-0.0068, -1.7162, 6.9675, 1.5995, -0.0366, -0.0317, -0.0122, -0.8821, -8.335, 6.7897, 1.1013, 0.1538, -0.0708, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:338ba4bec23da70508692f4da510fd63a5994c0fa5165cc565da977c8ace8f0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:693d252f4a562018f296f46e29dc9c548cbf0323a797e5786bea3f3c41f50754",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3436df7b4ea56c9417d6d493e008efa0d7f85c37ba09bbb0e59dda4a13cfc0d",
      "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 · 4.711 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 129 changed as sent

message 137 changed as sent

message 141 changed as sent

message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0036, 0.8772, 0.6525, -0.4595, 0.0071, -0.1753, 0.9983, 1.1179, 1.953, 0.8772, 0.0769, 0.7921, 0.8963, 0.0124]\nstate[eef_state]: left_x=0.2947 left_y=0.0034 left_z=0.1631 left_yaw=0.0762 left_pitch=-0.1251 left_roll=-0.1298 left_gripper=0.9983 right_x=0.2817 right_y=0.2997 right_z=0.0068 right_yaw=-0.0016 right_pitch=-0.0709 right_roll=0.0613 right_gripper=0.0124\nstate[joint_eff]: [-0.0068, -1.7436, 6.9402, 1.6093, -0.0269, -0.0366, -0.0122, 0.0342, -7.4188, 5.5043, 0.9695, 0.3004, 0.0122, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0036, 0.8791, 0.6525, -0.4595, 0.0071, -0.1761, 0.9983, 1.1, 2.0872, 1.0786, 0.0727, 0.7811, 0.8715, 0.0121]\nstate[eef_state]: left_x=0.2948 left_y=0.0034 left_z=0.1626 left_yaw=0.0767 left_pitch=-0.127 left_roll=-0.1303 left_gripper=0.9983 right_x=0.3107 right_y=0.3442 right_z=0.009 right_yaw=0.0036 right_pitch=-0.0499 right_roll=0.1017 right_gripper=0.0121\nstate[joint_eff]: [-0.0752, -1.7573, 7.0632, 1.6044, -0.0024, -0.0708, -0.0122, -0.0615, -10.947, 4.8342, 1.116, 0.4176, 0.0562, 1.0672]\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 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0036, 0.8791, 0.6525, -0.4599, 0.0078, -0.1757, 0.9983, 1.0145, 2.1254, 1.1103, 0.1745, 0.7414, 0.7826, 0.9951]\nstate[eef_state]: left_x=0.2948 left_y=0.0033 left_z=0.1625 left_yaw=0.0758 left_pitch=-0.1274 left_roll=-0.1304 left_gripper=0.9983 right_x=0.348 right_y=0.3405 right_z=0.0108 right_yaw=-0.006 right_pitch=-0.0246 right_roll=0.1265 right_gripper=0.9951\nstate[joint_eff]: [-0.0068, -1.7162, 6.9675, 1.5995, -0.0366, -0.0317, -0.0122, -0.8821, -8.335, 6.7897, 1.1013, 0.1538, -0.0708, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:338ba4bec23da70508692f4da510fd63a5994c0fa5165cc565da977c8ace8f0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:693d252f4a562018f296f46e29dc9c548cbf0323a797e5786bea3f3c41f50754",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3436df7b4ea56c9417d6d493e008efa0d7f85c37ba09bbb0e59dda4a13cfc0d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERy8XBjGnRv7jSu4vqg36ZcMryhWalXNub4kH8EcsMJtwQ5ZzDGthS6aWH4X0SxCf5VbL68eLVWthBD1-kyrg6WMoeDaZ5Kc6rq_ur-u7gHDWCiscetKVloFvPsYxkDMFIDqJmiq36Mh8nJ46jNybdq5l9t35t7ZNVeVLEM8JW7OfUq6ITCibsRYqfVsFyJycvpnoT4CZsvLyFjKbB6CJaBbwdzE1Ypnr4GND-p4nhAaMqQaVn-Or3i0NCpIwW1xaCXIHoQiSedCcSoBspXRDNjCDHUpDkRuFFz7BVCRBnD09FA-pWUkV2RAX9dzo9DtL7iXSKcRilqalTfbBPagXTJX5no-hZlsv0CTjhwB7b34ors3lql_pGAdIKkXaCTf8Y1D_V1K0kI9esynjOcqqRgCm2kVocn8PYIFIPOooGf5iFko44PXhrlOozLZe24NQaJG7d6gB9bM1eoXyMYaRT2Z42gvRruqStSpR7zMef-j-ffApG1A3dhFuuV6Ur1OYvEy3VChWW-SV5wQvdTy9JxDtmAmKVpVAFC28LsMP00iX4Pv0GV0_o3-IlAZzpoaExuvRM8qOkPdqVNjSNEwwTatFerVsPJCAMcrlycsezNIynn2pK7S0zmWjHiNSIxJXhnF96k3cAn1xdAaNfJF5ZULUNrm5laf0cDjlLllwFwQ7h3uWauJgD9_SU1lcb6VSmUfnvUAg1PaePgvTEz3G1QP347TDC-W_zYUvha_uV36RS3e0ieouLMwp5PiNXYvHkB06Z5BiISXR1s8nUzoa_zhdvQEIEM-h54a7acoSx8bqDzCRu1qmtQu8eCU0J_jff684FJvhQkorqqQymdlDZya2MmaFlziDLL84luleveNN3itIp7xdK3cGZccatoY2nWmmSVdVYB6gjUGDb28KXZJ_ccXUw4DyXHVMZTtG17iXbTZJqooZof78lP4aSZdyP1lypOFaKkFgG16sb3Xofv9rtSg-9CVtTi2_UlLZkku1ua7Q0ItrjDogmQLrGZzGz5vJPz0f9naP6IlSpABS94IQI-HbqHhraTsEwr8IvbNQkpqmLSOSdHdX2namOfBNm1sspGsP5jQiJO86U5vP52gViOSLrucJBSIukKhzCzNjLzMWKoODHgbw5xAYnoI5Oj6iy35R0DR5pNG7_aal1dueTAt5gJMwnzs2V9kzZOn74596mRKN9Sd6PQpB_RmeZ9TuPCOnobKW4_UCFChWe-2k9-6Bc7Sqilraiepyu-tSlt03s9PRUL2dC0C-wehffd4p6dq_hAqHNoNuEplHlnZ6anjOTN7Z_MakX_Rxu0GckkHoF9-VwnjjTXKO6CjUfUYiYSMtqd6AauMwf_DDTIJglw1kX19PiAFMV-D_xlRdAtGIKgcSd0BA5Ak1w0caMOWKJSX45tbUPN84odjVi6ClpkGqnn_tFo4EP8pTZL6PhMTb7LkjQZ00TuPWg30_xw",
  "id": "rs_0505104689070752016ab44471b3fc87d09128bb84eec9e230",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"Now the marker barrel lies physically between the jaw tips at the very bottom of the wrist image rather than ahead of them. I’ll close once more; this alignment should trap the barrel near its white end.\"}",
  "call_id": "call_1om9b2nwhpkaP3EWMllhD8Fs",
  "id": "fc_0505104689070752016ab444722a3c87d08c784c4ff3ec25bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1om9b2nwhpkaP3EWMllhD8Fs",
  "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]: [0.0036, 0.8791, 0.6525, -0.4599, 0.0071, -0.1761, 0.9983, 1.013, 2.1284, 1.113, 0.1852, 0.7395, 0.7788, 0.0122]\nstate[eef_state]: left_x=0.2948 left_y=0.0034 left_z=0.1625 left_yaw=0.0767 left_pitch=-0.1274 left_roll=-0.1302 left_gripper=0.9983 right_x=0.3495 right_y=0.3421 right_z=0.0115 right_yaw=-0.004 right_pitch=-0.0202 right_roll=0.1328 right_gripper=0.0122\nstate[joint_eff]: [-0.1846, -1.7573, 6.9812, 1.6044, -0.0024, -0.0513, -0.0122, -0.0615, -11.0564, 5.0256, 1.2576, 0.2857, 0.0513, 1.0476]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d773958487853ed5488be5b527dc6b825dfbc51b263d5ec82a6c138c9e58f316",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80a4c9b17bf4158dfa1bdb425ab78d34f70694aedc6b17c290e9384baff70a1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec20db41cbd16a6a9b7efa5af3f15a5eb8f82d80cac340fc2968570a9f5b48b1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 3.369 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 133 changed as sent

message 141 changed as sent

message 145 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0036, 0.8791, 0.6525, -0.4599, 0.0074, -0.1757, 0.9983, 1.1015, 2.0804, 1.0733, 0.062, 0.7902, 0.8749, 0.9953]\nstate[eef_state]: left_x=0.2948 left_y=0.0033 left_z=0.1625 left_yaw=0.0761 left_pitch=-0.1274 left_roll=-0.1302 left_gripper=0.9983 right_x=0.3097 right_y=0.3411 right_z=0.01 right_yaw=-0.0027 right_pitch=-0.0476 right_roll=0.0929 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -1.7573, 6.9949, 1.6093, -0.0024, -0.0024, -0.0122, -0.6222, -8.3624, 6.2427, 0.9402, 0.315, -0.0513, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0036, 0.8791, 0.6525, -0.4599, 0.0078, -0.1757, 0.9983, 1.0145, 2.1254, 1.1103, 0.1745, 0.7414, 0.7826, 0.9951]\nstate[eef_state]: left_x=0.2948 left_y=0.0033 left_z=0.1625 left_yaw=0.0758 left_pitch=-0.1274 left_roll=-0.1304 left_gripper=0.9983 right_x=0.348 right_y=0.3405 right_z=0.0108 right_yaw=-0.006 right_pitch=-0.0246 right_roll=0.1265 right_gripper=0.9951\nstate[joint_eff]: [-0.0068, -1.7162, 6.9675, 1.5995, -0.0366, -0.0317, -0.0122, -0.8821, -8.335, 6.7897, 1.1013, 0.1538, -0.0708, -0.1538]\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 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0036, 0.8791, 0.6525, -0.4599, 0.0071, -0.1761, 0.9983, 1.013, 2.1284, 1.113, 0.1852, 0.7395, 0.7788, 0.0122]\nstate[eef_state]: left_x=0.2948 left_y=0.0034 left_z=0.1625 left_yaw=0.0767 left_pitch=-0.1274 left_roll=-0.1302 left_gripper=0.9983 right_x=0.3495 right_y=0.3421 right_z=0.0115 right_yaw=-0.004 right_pitch=-0.0202 right_roll=0.1328 right_gripper=0.0122\nstate[joint_eff]: [-0.1846, -1.7573, 6.9812, 1.6044, -0.0024, -0.0513, -0.0122, -0.0615, -11.0564, 5.0256, 1.2576, 0.2857, 0.0513, 1.0476]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d773958487853ed5488be5b527dc6b825dfbc51b263d5ec82a6c138c9e58f316",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80a4c9b17bf4158dfa1bdb425ab78d34f70694aedc6b17c290e9384baff70a1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec20db41cbd16a6a9b7efa5af3f15a5eb8f82d80cac340fc2968570a9f5b48b1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtER4-wEieyrgR5sJWtbLOuWMU3Grf708StzCMgoCd9cCG-hXi6x43FHbINlBC4gMk_K8y3OqZH44Xn5oNF8sq6-vcoBgmhcij7iPFOZNClQNswhh-0V_rx3_UKUoLNXathX4dv8jG49mmGgUnKOE5zWxIYE95-ibDBZUQctxM75ZIyJZ52S5dLV0DVGYAhIKe1FY5g8W9Lf9Qs5OcFMdt4NYWMY07P1cQ_E2gJwTAGsqYICH5lVoREzsTW4Xg8yqH1zz9kYflDH--sFphW9rdTVmx_pNE4sM_0NR33cbaCCp6G_rMLjJkau5CRKjhAGPO8C7Q0NgB_A_BIEMrXb7CD9QMXY9Siy460f3CNxWKR3uaDbWbN-zUK63-sf7geRWKbeRVNHygy7NF80AhNbLE7uf4oHwEY-29ix9Ob2Q9JQ8uLjBPUIACmnabxH3fevQJBF1A4OrGP1nE3GNWuagpV65UdXTXwlzPO3TYT6NOV67O5O4rpatRII50KQihTmWahSCqICvhLe3MC6xETX3oRdf0WS06L9dtm1sGxK5G2her9jfhIdmRwzntqlZ46080PWRwhYABwS1tEhQyzgE-3xxIxUdZSLF0vFTfzi4bVadX0LUqlveLvI1E_jZAY4WPGeoKknLQMYLoucZPajndlv97bCGnjJaBITwKskYQMvRxaV4ipC81b78TRpoAA0pCGMODsj2Gacfz0Ayw8mkX1lYtZvu8aap-lAtzvmKDDKY--aQ-aMxFjvxQv9-BK-GCYvat8b_2vmZNGA8qGmRBhbRF_faAnY5fMIzJEEqZ2QE-HTmJtPhSv9yoDHBQA_xihDJGcAC3JrQDgvqY1eLxJBXkJi62og1zxk4-7dXh6S79rXmeGo3exqVd7-LTKF3wajrVBsqp-dH9hEOk8JN2DZ0nv3lKvOwbdlJXwvJ5ihS1S52lSdJit5GJm_6X7KRF17nISFrRY6_wmtI-VwJht8pnn0kXh53VmPyiii7iAq6Yuky4OJc-JiEOn1vPybPYKcKmXGYMWttWmgcC0zMrwd6gAJcG0C6sHWuE_8ppujACpwV1JJIyoiT4egtcJas_wKHHSspifMpzYmRpVAIz_ZJSIKnud5vgdr5o7T2BUYUJectddZjTIe6LdDJd_qksVP_ShZEp-5BnEkj_gvXK4_8DVCk2xrlMp-nrRsOyHZNyIUzG-ea7RJg4eEIJzZKzN-9L5bGMPIj1jS-bllYEm-vaKw5gDhMIFDhc1NYVx64O5kxsw6WK7wXFa95L8RYf5-QT_iV8d9Fsa34FExmtqXfqcp2_lWAdlcwp99cJyY1bS6Mr7TjTzJ55_M2nvNnVyy5AJanpkWFVrPBNFo05bvVrTS_-Bt22sVBloMSV2JMRCzmx9YesWsVN_NefsdZAGSsWXQDrVucvBI4wP1SLmacKGesLAalTRL-NOz-OlroQJkxkrnvHVbsRfslXBmnqgyVz2W0Gwsl-TC5TxYbTzbNdiyjvyopNvQ_GYCBaQ7rJ_5yDhVhh51GV_IB3vKMdc29L7csaxyAWBMxt19MLNjwRNbeUdfCDTpaZso-O272IwfcJJK8xgT2M0r51UOh7T8hjJDAsfXtSFDOaa0JU5A1zw==",
  "id": "rs_0505104689070752016ab44476890087d0ab7d102e9c30d8a3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.34,\"right_z\":0.0,\"right_gripper\":1.0},\"note\":\"The jaws met just at the marker’s end and nudged it instead of enclosing it; the endpoint is now exactly on the jaw centerline. I’ll reopen and advance another 4 cm past that endpoint so the barrel sits behind the tips before closing.\"}",
  "call_id": "call_CU97wnIKva1yUty8pUsaUiHq",
  "id": "fc_0505104689070752016ab444775fa887d08f01a210d95ecca1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CU97wnIKva1yUty8pUsaUiHq",
  "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]: [0.0036, 0.8791, 0.6525, -0.4595, 0.0074, -0.1761, 0.9983, 0.9413, 2.1864, 1.1816, 0.263, 0.6983, 0.6918, 0.9948]\nstate[eef_state]: left_x=0.2948 left_y=0.0033 left_z=0.1626 left_yaw=0.0763 left_pitch=-0.127 left_roll=-0.1305 left_gripper=0.9983 right_x=0.3868 right_y=0.3442 right_z=0.0143 right_yaw=-0.0002 right_pitch=0.0114 right_roll=0.1492 right_gripper=0.9948\nstate[joint_eff]: [-0.1709, -1.7162, 6.9675, 1.6239, -0.0171, -0.0464, -0.0122, -1.2103, -8.7863, 6.653, 1.2576, 0.0415, 0.1538, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0dab5628a769ac6a02714c3903dba9297c149576746a3a1b6b1898c535be05f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:509cb8f3f2e6e68d2c538c9c3d998f0ee382b99e739f1534dea9f426f4ff45b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17d3dfab8feadf3237982d1294a9c993cae2bb726de29d4934161f10fd1451d8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 2.431 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 137 changed as sent

message 145 changed as sent

message 149 changed as sent

message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0036, 0.8791, 0.6525, -0.4595, 0.0071, -0.1761, 0.9983, 1.1, 2.0872, 1.0786, 0.0727, 0.7811, 0.8715, 0.0121]\nstate[eef_state]: left_x=0.2948 left_y=0.0034 left_z=0.1626 left_yaw=0.0767 left_pitch=-0.127 left_roll=-0.1303 left_gripper=0.9983 right_x=0.3107 right_y=0.3442 right_z=0.009 right_yaw=0.0036 right_pitch=-0.0499 right_roll=0.1017 right_gripper=0.0121\nstate[joint_eff]: [-0.0752, -1.7573, 7.0632, 1.6044, -0.0024, -0.0708, -0.0122, -0.0615, -10.947, 4.8342, 1.116, 0.4176, 0.0562, 1.0672]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0036, 0.8791, 0.6525, -0.4599, 0.0071, -0.1761, 0.9983, 1.013, 2.1284, 1.113, 0.1852, 0.7395, 0.7788, 0.0122]\nstate[eef_state]: left_x=0.2948 left_y=0.0034 left_z=0.1625 left_yaw=0.0767 left_pitch=-0.1274 left_roll=-0.1302 left_gripper=0.9983 right_x=0.3495 right_y=0.3421 right_z=0.0115 right_yaw=-0.004 right_pitch=-0.0202 right_roll=0.1328 right_gripper=0.0122\nstate[joint_eff]: [-0.1846, -1.7573, 6.9812, 1.6044, -0.0024, -0.0513, -0.0122, -0.0615, -11.0564, 5.0256, 1.2576, 0.2857, 0.0513, 1.0476]\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 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0036, 0.8791, 0.6525, -0.4595, 0.0074, -0.1761, 0.9983, 0.9413, 2.1864, 1.1816, 0.263, 0.6983, 0.6918, 0.9948]\nstate[eef_state]: left_x=0.2948 left_y=0.0033 left_z=0.1626 left_yaw=0.0763 left_pitch=-0.127 left_roll=-0.1305 left_gripper=0.9983 right_x=0.3868 right_y=0.3442 right_z=0.0143 right_yaw=-0.0002 right_pitch=0.0114 right_roll=0.1492 right_gripper=0.9948\nstate[joint_eff]: [-0.1709, -1.7162, 6.9675, 1.6239, -0.0171, -0.0464, -0.0122, -1.2103, -8.7863, 6.653, 1.2576, 0.0415, 0.1538, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0dab5628a769ac6a02714c3903dba9297c149576746a3a1b6b1898c535be05f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:509cb8f3f2e6e68d2c538c9c3d998f0ee382b99e739f1534dea9f426f4ff45b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17d3dfab8feadf3237982d1294a9c993cae2bb726de29d4934161f10fd1451d8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtER8hBCgpWLYuiH0qeCogehboWGiHkRAIuoKxiiZ4csMmPlxcsIeun8mNxoJqY9VA2s_aikgWp27XymC9ew0MUgsp1fKi-IhTuJktJQDzlQ0wMtnrPUXpE_LLRFtl1SMqfrB74Wr--I91wemdRLvdxzJteWhw6115GNxVYeZ9Y0jR8KJdvW7KWQ7pkR-wfIWiO17aGcE1bcFVwHhwPJpJA0zRg1sv8rzDN1E4Q8dtFK1Xq5XboMlw-K_tw7RixvK8_u56H51WrOaHWbE7xxpMOy4f_1J8aELrIN4VZi0Au8tHNNSBDe-dX_-yDAIjq5O9iu67w9Xkzm-vFCIRDVHnGx3mDRxWKZRQgKMxPcnaqjaoTQ-TCH7DPnFv4jnluIc4vjw9_-I25purlVdKNe-IoHsYccQNEhG2PA5EReniumYpksC7SoJA7zoBYnpxUWCv05hj3l5TwBziLdgKgK66mGUZxxQuaZ4B-5XHkZPPZSCJ8vlVNuriigOcAQg-iFzq2evCLor8ODTVsZO3qFxqD6wz1cLXE9MBh98_ZKeLI7fDND5ZfGyER_O4B_pQ1MCeGUoyGsQUg-uQA_VTpiDQYbVIJa4wDH_cFWhQk7WdjSPN9ZPcIKV0_2xoNie6PBR-uK_ynNcE-YzNuL4VjvaR2SI1ooHMGxEoHtMxQd-p539W31ytz5DuydGimU4U5oQ29dE9RpPyN5RKxA8hgh9zpPnm1DNcrvRO_bFJjwaIOLzbzSqIqLwnz8MIfyFexP30aaiyZwf9xSR0hCy35kmZ7_PHxKc9H0COzZZ9vSuM62tcNDIr3hIQdS-SAmumZnendcU-8h9sCYtTe41uGaBpyrTHDcXyUrarxZqIZLr9_ooKdgvfboeRpCSjUteGPFfdoaKztcjuTho2h9mH6zk6ji_TRBmZGTGH-nDZ22WNUjfeLMWnL1MuBzz6C43manHrYsJtw6WGda43zrTSCF6NDhNvWytpatJpKwhmO-i508QVrSXkgixDVtT58ia9ZeI3bpWDjW7SJtB7qDF94KOvjwk_TtSjV7rnjsUXNB3B9E9X3NADd1jyIsDOec1Ka1PnT98LMOj-B8quBdpXhofC-dBkTpxydBF6sbfeEkDfIC1KPkisbgEUS7dOSludkCjPcSbRSiZUBa0bBZW5YUj0MNLjUXwKixbVrCLLJDriT2vXmwIoLc5KixR65hld-YQtg9NVC7X52fi1crpdNrhfVcH2bAdeYUy9C7b0rc6-xcfg84bNPQ2-IFtVEqtEwCfBHGdDmZFT2xersaawAJB5wculx9alWSjgTfbg3vnNW1Q6aAtYAhPkmOPxltdmqjuuJFLxhHanZ7KhHXcRJRY1j5kpTbT_sXgAsfsTbmIKNCisumSHckxICJejTivrytu8q29IqBeKMC41fCfthc_EptlXsCG1ddA-g33ZO4U8ik0LKd40_hIjeCGSJGvAqcu5_iwWsirevu83Sk-jaBdD2JywFoIYOobXMHICbDrq8NbFRiGAqGJobRftn4HzV8ygZhahuZK3q24_HFV7la138hYYlLLl_bNptHEeQLMh68YCjX-81hZx-ZrrsWpZQijPtOVmxYHhMXCuLUlx5ZK2NDY3jIwckRMrYeOG2AwrrYNtGfAS0cfHUjBUMNLrUzMZMQa8kdMj61q_TasjP0JObnqXUeEOluk68siYyySvKJkOxpQe-XsMrZTBvxl3wD39BK1SjuUHiNkbHzA2cAerGxYQw==",
  "id": "rs_0505104689070752016ab4447b221887d08af54582d250a4a1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.29,\"right_z\":0.0},\"note\":\"The extra advance finally puts the barrel beside the fingertips, but it is now under the right jaw rather than between them. I’ll shift the arm 5 cm to its right, which moves the marker leftward in the wrist image onto the closing centerline.\"}",
  "call_id": "call_P4bgatPtJEoGQr6AjtKhz6CF",
  "id": "fc_0505104689070752016ab4447c00e487d088886b7b65f26922",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P4bgatPtJEoGQr6AjtKhz6CF",
  "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]: [0.0036, 0.8791, 0.6525, -0.4595, 0.0071, -0.1761, 0.9983, 0.8703, 2.1197, 0.9901, 0.4782, 0.6674, 0.6189, 0.996]\nstate[eef_state]: left_x=0.2948 left_y=0.0034 left_z=0.1626 left_yaw=0.0767 left_pitch=-0.127 left_roll=-0.1303 left_gripper=0.9983 right_x=0.3921 right_y=0.301 right_z=0.0149 right_yaw=-0.0119 right_pitch=0.0572 right_roll=0.1698 right_gripper=0.996\nstate[joint_eff]: [-0.1026, -1.7299, 7.0359, 1.663, -0.0366, -0.0562, -0.0122, -0.8821, -10.0308, 3.8085, 1.0623, -0.1197, 0.0269, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b818c3b3ba9c79753f98372583933aa8f5ff987480ecfac2fda6b73fddd8da0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bd3305fc9ca2f319d0ef506f8b900af6354c41349276260be87917117737566",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63937e1c3984bcae82e0326146fd19e60b50a23d6436160d2d3302db3ca96aa6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 38 attempt 0 · /responses · status 200 · 7.714 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 141 changed as sent

message 149 changed as sent

message 153 changed as sent

message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0036, 0.8791, 0.6525, -0.4599, 0.0078, -0.1757, 0.9983, 1.0145, 2.1254, 1.1103, 0.1745, 0.7414, 0.7826, 0.9951]\nstate[eef_state]: left_x=0.2948 left_y=0.0033 left_z=0.1625 left_yaw=0.0758 left_pitch=-0.1274 left_roll=-0.1304 left_gripper=0.9983 right_x=0.348 right_y=0.3405 right_z=0.0108 right_yaw=-0.006 right_pitch=-0.0246 right_roll=0.1265 right_gripper=0.9951\nstate[joint_eff]: [-0.0068, -1.7162, 6.9675, 1.5995, -0.0366, -0.0317, -0.0122, -0.8821, -8.335, 6.7897, 1.1013, 0.1538, -0.0708, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0036, 0.8791, 0.6525, -0.4595, 0.0074, -0.1761, 0.9983, 0.9413, 2.1864, 1.1816, 0.263, 0.6983, 0.6918, 0.9948]\nstate[eef_state]: left_x=0.2948 left_y=0.0033 left_z=0.1626 left_yaw=0.0763 left_pitch=-0.127 left_roll=-0.1305 left_gripper=0.9983 right_x=0.3868 right_y=0.3442 right_z=0.0143 right_yaw=-0.0002 right_pitch=0.0114 right_roll=0.1492 right_gripper=0.9948\nstate[joint_eff]: [-0.1709, -1.7162, 6.9675, 1.6239, -0.0171, -0.0464, -0.0122, -1.2103, -8.7863, 6.653, 1.2576, 0.0415, 0.1538, -0.1197]\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 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0036, 0.8791, 0.6525, -0.4595, 0.0071, -0.1761, 0.9983, 0.8703, 2.1197, 0.9901, 0.4782, 0.6674, 0.6189, 0.996]\nstate[eef_state]: left_x=0.2948 left_y=0.0034 left_z=0.1626 left_yaw=0.0767 left_pitch=-0.127 left_roll=-0.1303 left_gripper=0.9983 right_x=0.3921 right_y=0.301 right_z=0.0149 right_yaw=-0.0119 right_pitch=0.0572 right_roll=0.1698 right_gripper=0.996\nstate[joint_eff]: [-0.1026, -1.7299, 7.0359, 1.663, -0.0366, -0.0562, -0.0122, -0.8821, -10.0308, 3.8085, 1.0623, -0.1197, 0.0269, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b818c3b3ba9c79753f98372583933aa8f5ff987480ecfac2fda6b73fddd8da0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bd3305fc9ca2f319d0ef506f8b900af6354c41349276260be87917117737566",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63937e1c3984bcae82e0326146fd19e60b50a23d6436160d2d3302db3ca96aa6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtER_WciBZAo4NOkKUPNJ8vcZTGPPIQZcSxrsByJ6Eg5ILdT_5uQbiomftW9YDJalme0gWsPODNAInIJX77JvDN4S-r9AhG_HlCW6fSDCGRYO5s1VfD6Dv3pHwzHsQTOXSPpiOYQev-02e0N1_dSlIa2gINywigy2x8Qgxup7jSPSFd65WNbOXcfmVtsBB12LzfDyVabMXL0l3TW-vVetkyXxi9vMTGrA4fVcHvxgCmtq7IgbNKdLQyuBfhoFP2-HymNYd3Lyorm_5TSpLC_k8vaw3xp6o4_UKwIqCk1KdMibYciSp3cjiaDlBwrfJqy2zFzOxdorHma6MDuyK83UMkaLc393VwfPoYUt8biicmiOBBWGAkNiGKwfJFqy0BIVrF3w5oks5oG1Cj4voh6JYovGBCkhFKzzea6cXK1Uw3Y__Tt_H_g41uaCavnhzfzoliPtKJE4qs58Gpd5VInMS8H4HGYWLLjBUVTwBYxuIkHYsKk_TK3i99zisxhRYnEIMHbajC6VVyLCrCw59wiKcU6jSu1NjlQ5HotfsuJLf09mz7MKB8fYymbsHMWfUajpZpE1XTTDrli7YICCDKon5D4cvqjkrPArLOr4plXWPaoskBQS3goSwMPURiBnBwrI6TE7kyy2pF3THe3utij5Gl0qyXurkFhZtQqEOktfPE4ClHq-9_mhS1xtdU7x_rCmSOH0Z72TdR4td_88UgNgv4UHtCbTUlOB3V4t2BiVGkzyx2ciYMmCN0rd8nirxlqU9Wk0H8lyZa0qpTMfjg3r9kIKpyiXoEhIQY82THDwMMk3BZAZSAgZ8Z0VZA6JUhx7TiAd7uYFIPkIweqRB8ubijb_jVuHNvR5SSRIe_pSjE07NfmeygcC4Ds5RmsW_vQMGgu0EAIPVtiw1S2lcMOKYSlep-9s2mNrZJWXnAs3Gc-9fd-IYn6DKoDboPfnwj73Zajsd5oxRcHMC4vg2hiRML0YbXNgTKEaKIa2wkujYoer67eG47cQJjz4HSMcs46AVNi-QF_Otef6l9v-rSlEvOy8e7rKDYfQJWjnlgLnzNEK52at-eRheo-bIiidR0wkiVnZy3WLweR9pMgONbb2cheb7oxOi60SDcFaNxsKaZNspb9TrMbe6JdbcFDWDNZmjzBDONxKHcR9ZefwgLxYapaiADJB88Nd2-FR8nP04RAJ1yJGRkapTuW7aFEdcr-6HpUQtpF-DJkyZ2S5OBhOjr9qdUq7mEstVqhP7FlSdVeMUo62utSy_iEu56NHOI4BqT4MYYE97Q97KHF37_U8PSo7QLvwtIkjB1kNktIcZiOF1k7x-4gX_RMcFQvsbOlBGy1tx738GVm-kT-JdqShzo96-zgwkb2bMes9G6_MR9f2o7U=",
  "id": "rs_0505104689070752016ab4447e7a4887d0a8050d7f2cafd735",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.39,\"right_z\":0.0},\"note\":\"That shift moved the marker farther toward the right edge, so the wrist-image lateral relation is reversed here by the current roll. I’ll correct the other way, increasing right-arm y by 9 cm to bring the barrel back between the jaws.\"}",
  "call_id": "call_S9QeFDrwt2bvs6UYh0HlETG9",
  "id": "fc_0505104689070752016ab4447ecb3487d09e57c0c50c69e1e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S9QeFDrwt2bvs6UYh0HlETG9",
  "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]: [0.0036, 0.8791, 0.6525, -0.4595, 0.0071, -0.1761, 0.9983, 0.857, 2.1162, 0.971, 0.5083, 0.6678, 0.6048, 0.9961]\nstate[eef_state]: left_x=0.2948 left_y=0.0034 left_z=0.1626 left_yaw=0.0767 left_pitch=-0.127 left_roll=-0.1303 left_gripper=0.9983 right_x=0.3947 right_y=0.2941 right_z=0.0153 right_yaw=-0.0188 right_pitch=0.0679 right_roll=0.1685 right_gripper=0.9961\nstate[joint_eff]: [-0.0342, -1.4701, 7.0085, 1.6777, -0.0073, -0.0122, -0.0122, -0.6359, -10.2359, 3.5624, 1.1306, -0.1734, 0.0757, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b64c6cc82c7b33d77f85c43c560a1008d46aa76b649342a6a1bba1bebc56f0f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4035f1bd8b8554df0f499e4d5af97fe3c14baccfe384fb71e66be80d7fd67e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c631d6b6c4ed6425b37dda050290bb929a8cf6d548a65601f51b0bf854fdae27",
      "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 · 2.382 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 145 changed as sent

message 153 changed as sent

message 157 changed as sent

message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0036, 0.8791, 0.6525, -0.4599, 0.0071, -0.1761, 0.9983, 1.013, 2.1284, 1.113, 0.1852, 0.7395, 0.7788, 0.0122]\nstate[eef_state]: left_x=0.2948 left_y=0.0034 left_z=0.1625 left_yaw=0.0767 left_pitch=-0.1274 left_roll=-0.1302 left_gripper=0.9983 right_x=0.3495 right_y=0.3421 right_z=0.0115 right_yaw=-0.004 right_pitch=-0.0202 right_roll=0.1328 right_gripper=0.0122\nstate[joint_eff]: [-0.1846, -1.7573, 6.9812, 1.6044, -0.0024, -0.0513, -0.0122, -0.0615, -11.0564, 5.0256, 1.2576, 0.2857, 0.0513, 1.0476]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0036, 0.8791, 0.6525, -0.4595, 0.0071, -0.1761, 0.9983, 0.8703, 2.1197, 0.9901, 0.4782, 0.6674, 0.6189, 0.996]\nstate[eef_state]: left_x=0.2948 left_y=0.0034 left_z=0.1626 left_yaw=0.0767 left_pitch=-0.127 left_roll=-0.1303 left_gripper=0.9983 right_x=0.3921 right_y=0.301 right_z=0.0149 right_yaw=-0.0119 right_pitch=0.0572 right_roll=0.1698 right_gripper=0.996\nstate[joint_eff]: [-0.1026, -1.7299, 7.0359, 1.663, -0.0366, -0.0562, -0.0122, -0.8821, -10.0308, 3.8085, 1.0623, -0.1197, 0.0269, 0.1099]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0036, 0.8791, 0.6525, -0.4595, 0.0071, -0.1761, 0.9983, 0.857, 2.1162, 0.971, 0.5083, 0.6678, 0.6048, 0.9961]\nstate[eef_state]: left_x=0.2948 left_y=0.0034 left_z=0.1626 left_yaw=0.0767 left_pitch=-0.127 left_roll=-0.1303 left_gripper=0.9983 right_x=0.3947 right_y=0.2941 right_z=0.0153 right_yaw=-0.0188 right_pitch=0.0679 right_roll=0.1685 right_gripper=0.9961\nstate[joint_eff]: [-0.0342, -1.4701, 7.0085, 1.6777, -0.0073, -0.0122, -0.0122, -0.6359, -10.2359, 3.5624, 1.1306, -0.1734, 0.0757, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b64c6cc82c7b33d77f85c43c560a1008d46aa76b649342a6a1bba1bebc56f0f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4035f1bd8b8554df0f499e4d5af97fe3c14baccfe384fb71e66be80d7fd67e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c631d6b6c4ed6425b37dda050290bb929a8cf6d548a65601f51b0bf854fdae27",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
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  "id": "rs_0505104689070752016ab44482620c87d089c59e5e53c489d2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.0,\"right_z\":0.18,\"right_gripper\":1.0,\"left_x\":0.25,\"left_y\":0.05,\"left_z\":0.15,\"left_yaw\":1.57,\"left_gripper\":1.0},\"note\":\"The right-arm target is reach-limited beside the basket and the apparent “marker” is fixed along its side, so I’ll stop treating it as a sortable item. The actual remaining classes are tan/brown bears (left basket) and gray elephants; I’ll rotate the left jaws 90° at the fence-side limit to grasp an elephant along its radial dimension, where the lateral limit previously caused misses.\"}",
  "call_id": "call_KHkXGI1vCZiLvmbQdV0nPPVq",
  "id": "fc_0505104689070752016ab444869d5487d09310eeff01c3fb4c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KHkXGI1vCZiLvmbQdV0nPPVq",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.334, 1.578, 1.1343, -1.3563, -0.8532, -2.0476, 0.9988, -0.0811, 0.7879, 0.485, -0.2054, -0.0906, 0.1265, 0.9988]\nstate[eef_state]: left_x=0.2586 left_y=0.0549 left_z=0.1439 left_yaw=1.512 left_pitch=-0.1356 left_roll=-0.1254 left_gripper=0.9988 right_x=0.3012 right_y=-0.0048 right_z=0.1638 right_yaw=-0.0782 right_pitch=0.0477 right_roll=0.1678 right_gripper=0.9988\nstate[joint_eff]: [0.1709, -5.7368, 6.9812, -0.4664, -0.4274, -0.1294, -0.1392, -0.1299, -1.5658, 10.2359, 1.7998, -0.2515, -0.1197, -0.1294]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8239895acfa7bcb86bef5245696753d4684e8ff432377279f13f62bd49f60e03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cdf52ca620927ce0e54b52f4f9886c352b440860abddd2f302e30aa3343d8d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e291e7ef5d52be58cee649b2ab04fce0965bac4bfe0e4a7ba694483bf264ec99",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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