adhoc

completed
2026-09-23T22:00:04.060054+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-5.6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
216.3 s
total steps
339
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 noteThe table holds two visually distinct plush groups—gray/white animals and brown/tan animals—with two empty turquoise baskets at the back. I’m assigning gray/white to the left basket and moving the left gripper above the most isolated gray plush near the front-center of the cluster.
move_to
left_x0.3500left_y-0.2000left_z0.1600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0265, 0.7986, 0.6155, -0.3805, -0.0219, -0.0334, 0.9995, -0.0154, 0.7967, 0.6106, -0.3752, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.2964 left_y=-0.0004 left_z=0.1839 left_yaw=0.0002 left_pitch=-0.0 left_roll=-0.0003 left_gripper=0.9995 right_x=0.2964 right_y=0.0011 right_z=0.1832 right_yaw=-0.0006 right_pitch=-0.0004 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.0342, -1.6205, 9.5521, 1.7705, -0.0073, 0.1734, -0.0659, -0.7863, -1.4838, 9.7846, 1.7607, -0.1294, 0.0464, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.2,"left_z":0.16,"left_gripper":1.0},"note":"The table holds two visually distinct plush groups—gray/white animals and brown/tan animals—with two empty turquoise baskets at the back. I’m assigning gray/white to the left basket and moving the left gripper above the most isolated gray plush near the front-center of the cluster."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe first hover exposed the layout: the gray plush animals are actually grouped farther left, while the brown/tan animals remain in the center. I’m shifting the left arm toward the isolated gray group near its outer-side reach, staying high to refine alignment before descending.
move_to
left_x0.3700left_y0.0300left_z0.1600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7971, 1.4605, 0.8848, -0.2153, -0.6331, -0.5255, 0.9995, -0.0151, 0.8024, 0.6083, -0.3843, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.3419 left_y=-0.1953 left_z=0.1404 left_yaw=-0.0073 left_pitch=-0.0472 left_roll=0.0269 left_gripper=0.9995 right_x=0.2953 right_y=0.0013 right_z=0.1787 right_yaw=0.0001 right_pitch=-0.0176 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [0.0615, -6.612, 9.7162, 1.5507, -0.4713, 0.0366, -0.0659, -0.3897, -1.7299, 7.2274, 1.8632, -0.0415, -0.0513, -0.0171] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":0.03,"left_z":0.16},"note":"The first hover exposed the layout: the gray plush animals are actually grouped farther left, while the brown/tan animals remain in the center. I’m shifting the left arm toward the isolated gray group near its outer-side reach, staying high to refine alignment before descending."})
tool
executing move_to over 21 steps (2.1s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe wrist view now centers a gray-and-white plush between the jaw columns at close range, with no brown animal mixed into the grasp. I’m descending vertically to grip around its body above the tabletop.
move_to
left_z0.0350
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]: [0.1059, 1.1915, 0.7048, -0.1596, 0.0532, 0.0467, 0.9995, -0.0147, 0.8051, 0.6083, -0.3847, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.3623 left_y=0.0327 left_z=0.1474 left_yaw=0.026 left_pitch=-0.082 left_roll=0.0207 left_gripper=0.9995 right_x=0.2954 right_y=0.0014 right_z=0.1779 right_yaw=0.0005 right_pitch=-0.0206 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.335, -3.4393, 9.265, 1.8486, 0.1929, 0.2076, -0.0122, -0.1573, -1.3333, 7.1179, 1.7705, -0.0366, -0.0757, -0.0122] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.035},"note":"The wrist view now centers a gray-and-white plush between the jaw columns at close range, with no brown animal mixed into the grasp. I’m descending vertically to grip around its body above the tabletop."})
tool
executing move_to over 8 steps (0.8s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe descent stopped at about 5 cm and the plush fills the wrist view between the fingers, indicating body contact rather than free-space sag. I’m closing the gripper to secure this gray/white animal.
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]: [0.1078, 1.4807, 0.4305, 0.4347, 0.0479, 0.0463, 0.9995, -0.0147, 0.8051, 0.6083, -0.3843, -0.0116, -0.0231, 0.9998] state[eef_state]: left_x=0.3699 left_y=0.0351 left_z=0.0501 left_yaw=0.0328 left_pitch=-0.0514 left_roll=0.0259 left_gripper=0.9995 right_x=0.2954 right_y=0.0013 right_z=0.178 right_yaw=-0.0 right_pitch=-0.0202 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.1709, -4.1368, 3.5761, 1.1111, 0.0562, -0.0171, -0.0122, -0.1436, -1.265, 7.1179, 1.7656, -0.022, -0.0317, -0.0171] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The descent stopped at about 5 cm and the plush fills the wrist view between the fingers, indicating body contact rather than free-space sag. I’m closing the gripper to secure this gray/white animal."})
tool
executing move_to over 10 steps (1.0s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe gripper settled at the empty threshold and the plush remains visible ahead of the fingertips, so the first close likely missed just short. I’m reopening, lifting slightly, and advancing 2 cm outward as the wrist-camera geometry recommends before retrying.
move_to
left_gripper1.0000left_x0.3950left_z0.0700
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]: [0.1081, 1.4826, 0.4229, 0.4904, 0.0364, 0.0452, 0.0348, -0.0147, 0.8082, 0.6083, -0.3851, -0.012, -0.0231, 0.9998] state[eef_state]: left_x=0.3749 left_y=0.0378 left_z=0.0578 left_yaw=0.0436 left_pitch=-0.0058 left_roll=0.0346 left_gripper=0.0348 right_x=0.2955 right_y=0.0014 right_z=0.177 right_yaw=0.0003 right_pitch=-0.024 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.1846, -5.4359, 6.188, 1.2137, 0.0806, 0.0024, 0.9939, -0.1436, -1.5385, 7.1863, 1.7314, -0.0464, -0.0366, -0.0171] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0,"left_x":0.395,"left_z":0.07},"note":"The gripper settled at the empty threshold and the plush remains visible ahead of the fingertips, so the first close likely missed just short. I’m reopening, lifting slightly, and advancing 2 cm outward as the wrist-camera geometry recommends before retrying."})
tool
executing move_to over 10 steps (1.0s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteAfter the 2 cm advance, the gray plush is now wedged visually between the open jaws at the bottom of the wrist frame. I’m closing at this improved alignment to capture its body.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1032, 1.5002, 0.4919, 0.4328, 0.0288, 0.0334, 0.9955, -0.0147, 0.8082, 0.6083, -0.3851, -0.012, -0.0231, 0.9998] state[eef_state]: left_x=0.3879 left_y=0.0387 left_z=0.066 left_yaw=0.0514 left_pitch=-0.0119 left_roll=0.0284 left_gripper=0.9955 right_x=0.2955 right_y=0.0014 right_z=0.177 right_yaw=0.0003 right_pitch=-0.024 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.5265, -4.4923, 8.0889, 1.6777, -0.0317, 0.0366, -0.149, -0.2256, -1.3197, 7.0222, 1.707, -0.0513, -0.0171, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"After the 2 cm advance, the gray plush is now wedged visually between the open jaws at the bottom of the wrist frame. I’m closing at this improved alignment to capture its body."})
tool
executing move_to over 10 steps (1.0s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteA full close again went empty, and the rounded plush remained just beyond the fingers—full closure is pushing it outward rather than pinching it. I’m reopening and advancing another small amount, then I’ll use a partial close suited to the plush’s width.
move_to
left_gripper1.0000left_x0.4150left_z0.0750
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]: [0.1013, 1.5002, 0.4938, 0.4347, 0.0261, 0.0296, 0.0181, -0.0147, 0.8082, 0.6083, -0.3851, -0.012, -0.0231, 0.9998] state[eef_state]: left_x=0.3888 left_y=0.0385 left_z=0.0672 left_yaw=0.0537 left_pitch=-0.0082 left_roll=0.0268 left_gripper=0.0181 right_x=0.2955 right_y=0.0014 right_z=0.177 right_yaw=0.0003 right_pitch=-0.024 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.0342, -5.5179, 5.4496, 1.7118, 0.0366, 0.0269, 0.7302, -0.2803, -1.2923, 7.0359, 1.7411, -0.0415, -0.0269, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0,"left_x":0.415,"left_z":0.075},"note":"A full close again went empty, and the rounded plush remained just beyond the fingers—full closure is pushing it outward rather than pinching it. I’m reopening and advancing another small amount, then I’ll use a partial close suited to the plush’s width."})
tool
executing move_to over 10 steps (1.0s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe gray plush now sits deeply between the open fingertips, and its body spans roughly half the gripper width. I’m closing only to mid-stroke to cradle it without ejecting the rounded body.
move_to
left_gripper0.5000
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]: [0.0986, 1.5696, 0.5755, 0.4011, 0.0223, 0.0151, 0.9953, -0.0143, 0.8082, 0.6079, -0.3851, -0.012, -0.0231, 0.9998] state[eef_state]: left_x=0.4063 left_y=0.0398 left_z=0.0656 left_yaw=0.062 left_pitch=-0.0294 left_roll=0.0159 left_gripper=0.9953 right_x=0.2955 right_y=0.0015 right_z=0.1768 right_yaw=0.0007 right_pitch=-0.0244 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.7726, -5.7094, 8.2667, 1.6386, -0.1245, 0.1001, -0.0171, -0.0205, -1.3333, 7.0496, 1.746, -0.0415, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.5},"note":"The gray plush now sits deeply between the open fingertips, and its body spans roughly half the gripper width. I’m closing only to mid-stroke to cradle it without ejecting the rounded body."})
tool
executing move_to over 5 steps (0.5s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteAt half stroke the fingertips are contacting the plush on both sides without displacing it, but the grip is still loose. I’m tightening modestly to about 3 cm jaw spacing rather than fully closing.
move_to
left_gripper0.3000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0998, 1.5711, 0.5777, 0.387, 0.0219, 0.0082, 0.5048, -0.0147, 0.8082, 0.6079, -0.3851, -0.0116, -0.0235, 0.9998] state[eef_state]: left_x=0.4049 left_y=0.0402 left_z=0.0631 left_yaw=0.0671 left_pitch=-0.0427 left_roll=0.01 left_gripper=0.5048 right_x=0.2955 right_y=0.0013 right_z=0.1768 right_yaw=0.0002 right_pitch=-0.0244 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [0.0752, -6.4752, 5.4769, 1.8779, 0.0024, 0.022, -0.0366, -0.3487, -1.306, 7.0496, 1.746, -0.0317, -0.0611, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.3},"note":"At half stroke the fingertips are contacting the plush on both sides without displacing it, but the grip is still loose. I’m tightening modestly to about 3 cm jaw spacing rather than fully closing."})
tool
executing move_to over 3 steps (0.3s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThe partial close is holding at a substantial 0.30 reading, consistent with a plush body between the jaws. I’m lifting 7 cm to verify that the gray animal rises with the gripper before transporting it.
move_to
left_z0.1300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0998, 1.5711, 0.5777, 0.3866, 0.0223, 0.0067, 0.304, -0.0147, 0.8082, 0.6079, -0.3851, -0.012, -0.0231, 0.9998] state[eef_state]: left_x=0.4049 left_y=0.0402 left_z=0.063 left_yaw=0.0676 left_pitch=-0.0431 left_roll=0.0085 left_gripper=0.304 right_x=0.2955 right_y=0.0014 right_z=0.1768 right_yaw=0.0003 right_pitch=-0.0244 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.2256, -6.3111, 5.6137, 1.6923, 0.0024, 0.0073, 0.2076, -0.3487, -1.1556, 7.1863, 1.7509, -0.0415, -0.0611, -0.0171] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.13},"note":"The partial close is holding at a substantial 0.30 reading, consistent with a plush body between the jaws. I’m lifting 7 cm to verify that the gray animal rises with the gripper before transporting it."})
tool
executing move_to over 5 steps (0.5s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe gray plush rose with the left gripper and now hangs beneath it in the overhead view, confirming a secure partial-width grasp. I’m carrying it high to the center of the left basket, which is the assigned gray/white bin.
move_to
left_x0.5000left_y-0.1600left_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]: [0.0998, 1.4246, 0.7002, 0.115, 0.0223, -0.0002, 0.3023, -0.0143, 0.8093, 0.6079, -0.3851, -0.0116, -0.0235, 0.9998] state[eef_state]: left_x=0.4052 left_y=0.0402 left_z=0.1147 left_yaw=0.0713 left_pitch=-0.0458 left_roll=0.0028 left_gripper=0.3023 right_x=0.2956 right_y=0.0014 right_z=0.1765 right_yaw=0.0006 right_pitch=-0.0256 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [-0.3624, -7.3915, 8.6359, 1.7314, -0.022, 0.0269, -0.1929, -0.1162, -0.9094, 7.0496, 1.7021, -0.0122, -0.0659, -0.0171] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.5,"left_y":-0.16,"left_z":0.2},"note":"The gray plush rose with the left gripper and now hangs beneath it in the overhead view, confirming a secure partial-width grasp. I’m carrying it high to the center of the left basket, which is the assigned gray/white bin."})
tool
executing move_to over 18 steps (1.8s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteThe wrist view is centered cleanly over the empty left basket, and the held plush is hidden below the camera as expected. I’m lowering into the basket so the animal is released near the bottom rather than dropped from height.
move_to
left_z0.0900
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]: [-0.4435, 1.8244, 1.4452, -0.3466, -0.4118, -0.3531, 0.3021, -0.0143, 0.812, 0.6079, -0.3855, -0.0116, -0.0231, 0.9998] state[eef_state]: left_x=0.4922 left_y=-0.1516 left_z=0.1788 left_yaw=0.0817 left_pitch=-0.0903 left_roll=0.0059 left_gripper=0.3021 right_x=0.2957 right_y=0.0014 right_z=0.1757 right_yaw=0.0004 right_pitch=-0.0286 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.4855, -9.9897, 9.4838, 1.79, -0.2076, 0.2222, -0.0269, -0.0889, -1.5111, 7.2, 1.7118, -0.0464, -0.0269, -0.0171] camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.09},"note":"The wrist view is centered cleanly over the empty left basket, and the held plush is hidden below the camera as expected. I’m lowering into the basket so the animal is released near the bottom rather than dropped from height."})
tool
executing move_to over 6 steps (0.6s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe gripper is low inside the left basket with no rim contact or obstruction. I’m opening fully to release the gray/white plush into its assigned basket.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4419, 1.9152, 1.224, -0.0921, -0.4152, -0.3595, 0.3021, -0.0147, 0.8139, 0.6079, -0.3847, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4843 left_y=-0.1464 left_z=0.0872 left_yaw=0.0928 left_pitch=-0.1388 left_roll=0.0322 left_gripper=0.3021 right_x=0.2959 right_y=0.0014 right_z=0.1753 right_yaw=0.0005 right_pitch=-0.0298 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.1983, -9.6205, 6.3932, 1.746, -0.1832, 0.0317, -0.0171, -0.0205, -1.5385, 7.0632, 1.7167, -0.0366, -0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The gripper is low inside the left basket with no rim contact or obstruction. I’m opening fully to release the gray/white plush into its assigned basket."})
tool
executing move_to over 7 steps (0.7s)
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 first gray/white plush has been released; I’m retracting the left arm to uncover the bin while bringing the right arm above an isolated brown/tan plush at the front-right of the cluster. Brown/tan animals are assigned to the right basket.
move_to
left_x0.2960left_y0.0000left_z0.1800right_x0.3700right_y0.3000right_z0.1600right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4419, 1.9293, 1.2095, -0.0891, -0.4156, -0.3672, 0.9953, -0.0147, 0.8143, 0.6079, -0.3851, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4807 left_y=-0.1446 left_z=0.0753 left_yaw=0.0992 left_pitch=-0.1605 left_roll=0.0398 left_gripper=0.9953 right_x=0.2959 right_y=0.0014 right_z=0.1751 right_yaw=0.0005 right_pitch=-0.0305 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.1983, -11.2068, 7.4325, 1.4676, -0.2369, 0.0659, -0.0415, -0.2256, -1.2376, 7.1726, 1.707, -0.0317, -0.0562, -0.0171] 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":0.296,"left_y":0.0,"left_z":0.18,"right_x":0.37,"right_y":0.3,"right_z":0.16,"right_gripper":1.0},"note":"The first gray/white plush has been released; I’m retracting the left arm to uncover the bin while bringing the right arm above an isolated brown/tan plush at the front-right of the cluster. Brown/tan animals are assigned to the right basket."})
tool
executing move_to over 25 steps (2.5s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteWith both arms clear, the left basket appears empty, so the earlier gray attempt did not actually carry the plush and will need a later retry. In the right wrist view the cream/brown plush is low and left of the jaw column, so I’m shifting the right gripper toward it laterally while maintaining hover height.
move_to
right_y0.3600right_x0.3800right_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]: [-0.1333, 0.952, 0.7727, -0.5388, -0.2111, -0.1635, 0.9966, 0.91, 1.7893, 1.285, -0.355, 0.6891, 0.5861, 0.9998] state[eef_state]: left_x=0.3043 left_y=0.0002 left_z=0.1828 left_yaw=0.1247 left_pitch=-0.1357 left_roll=0.0285 left_gripper=0.9966 right_x=0.3654 right_y=0.2929 right_z=0.1477 right_yaw=0.0282 right_pitch=-0.0637 right_roll=-0.0281 right_gripper=0.9998 state[joint_eff]: [0.212, -2.4137, 6.735, 1.7167, -0.0464, 0.149, 0.1294, 0.6222, -9.0598, 8.9231, 1.243, 0.6129, 0.2418, -0.0366] camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.36,"right_x":0.38,"right_z":0.15},"note":"With both arms clear, the left basket appears empty, so the earlier gray attempt did not actually carry the plush and will need a later retry. In the right wrist view the cream/brown plush is low and left of the jaw column, so I’m shifting the right gripper toward it laterally while maintaining hover height."})
tool
executing move_to over 6 steps (0.6s)
step 162
top_cam
camera top_cam step 162
left_cam
camera left_cam step 162
right_cam
camera right_cam step 162
assistant
agent noteThe right wrist camera now centers a cream-and-brown dog-like plush directly between the jaws. Because the head is still just beyond the fingertip line, I’m advancing about 3 cm and descending to grasp around its neck/body rather than closing on the nose.
move_to
right_x0.4050right_z0.0700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1333, 0.9554, 0.7727, -0.5568, -0.2028, -0.1574, 0.9968, 0.9714, 2.0167, 1.5803, -0.4774, 0.704, 0.6296, 0.9998] state[eef_state]: left_x=0.3017 left_y=-0.001 left_z=0.1784 left_yaw=0.1152 left_pitch=-0.1578 left_roll=0.0331 left_gripper=0.9968 right_x=0.3771 right_y=0.3556 right_z=0.139 right_yaw=0.0533 right_pitch=-0.0877 right_roll=-0.0431 right_gripper=0.9998 state[joint_eff]: [-0.0205, -2.5231, 6.8718, 1.7167, -0.1978, -0.1343, 0.0024, 0.335, -10.9744, 8.8, 1.1062, 0.6032, 0.2466, -0.0171] camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_z":0.07},"note":"The right wrist camera now centers a cream-and-brown dog-like plush directly between the jaws. Because the head is still just beyond the fingertip line, I’m advancing about 3 cm and descending to grasp around its neck/body rather than closing on the nose."})
tool
executing move_to over 5 steps (0.5s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
right_cam
camera right_cam step 167
assistant
agent noteThe cream dog’s head and neck now sit deeply between the right fingertips at grasp height. I’m closing to half-width first so the rounded plush cannot be squeezed forward out of the jaws.
move_to
right_gripper0.5000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1333, 0.9558, 0.7727, -0.5575, -0.202, -0.157, 0.9968, 0.9272, 2.1357, 1.5021, -0.2852, 0.6712, 0.585, 0.9997] state[eef_state]: left_x=0.3016 left_y=-0.0011 left_z=0.1781 left_yaw=0.1143 left_pitch=-0.1591 left_roll=0.0332 left_gripper=0.9968 right_x=0.3975 right_y=0.3528 right_z=0.0728 right_yaw=0.0541 right_pitch=-0.1124 right_roll=-0.0661 right_gripper=0.9997 state[joint_eff]: [-0.2256, -2.2359, 6.8718, 1.5458, -0.1441, -0.0659, -0.0122, -0.6085, -11.4256, 6.1607, 1.4383, 0.2466, 0.1099, -0.0171] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.5},"note":"The cream dog’s head and neck now sit deeply between the right fingertips at grasp height. I’m closing to half-width first so the rounded plush cannot be squeezed forward out of the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteAt half-width both fingertips are visibly embedded against the plush head without shifting it, indicating a centered contact. I’m tightening slightly to a secure but still cushioned grip before lifting.
move_to
right_gripper0.4000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1333, 0.9565, 0.7727, -0.5602, -0.2016, -0.157, 0.9968, 0.9215, 2.1471, 1.4963, -0.2646, 0.6727, 0.5716, 0.5076] state[eef_state]: left_x=0.3012 left_y=-0.0011 left_z=0.1774 left_yaw=0.1142 left_pitch=-0.1625 left_roll=0.0338 left_gripper=0.9968 right_x=0.4005 right_y=0.3514 right_z=0.0677 right_yaw=0.0547 right_pitch=-0.1098 right_roll=-0.0747 right_gripper=0.5076 state[joint_eff]: [-0.2393, -2.1128, 7.1316, 1.5946, -0.1001, -0.0611, -0.0122, 0.0752, -12.9436, 6.8991, 1.0916, 0.2418, 0.0611, 0.3443] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.4},"note":"At half-width both fingertips are visibly embedded against the plush head without shifting it, indicating a centered contact. I’m tightening slightly to a secure but still cushioned grip before lifting."})
tool
executing move_to over 2 steps (0.2s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe right gripper is firmly pinching the dog’s head at a 0.41 opening, with the plush compressed but not displaced. I’m lifting straight up to confirm it leaves the tabletop.
move_to
right_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]: [-0.1333, 0.9565, 0.7727, -0.5606, -0.202, -0.157, 0.9968, 0.9215, 2.1471, 1.4963, -0.263, 0.6724, 0.5682, 0.4071] state[eef_state]: left_x=0.3011 left_y=-0.001 left_z=0.1773 left_yaw=0.1145 left_pitch=-0.1628 left_roll=0.0341 left_gripper=0.9968 right_x=0.4006 right_y=0.3517 right_z=0.0679 right_yaw=0.057 right_pitch=-0.1092 right_roll=-0.0761 right_gripper=0.4071 state[joint_eff]: [-0.1436, -2.0855, 6.8718, 1.5702, -0.1343, -0.0415, -0.0122, -0.0479, -11.8359, 6.2427, 1.2527, 0.2711, -0.0024, 0.398] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.15},"note":"The right gripper is firmly pinching the dog’s head at a 0.41 opening, with the plush compressed but not displaced. I’m lifting straight up to confirm it leaves the tabletop."})
tool
executing move_to over 6 steps (0.6s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteThe dog remains pinched between the jaws as the gripper rises, and the right basket is clear at the back-right. I’m carrying the secured plush high and diagonally to the basket center, which also moves the arm out of the crowded pickup posture.
move_to
right_x0.5000right_y0.1500right_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]: [-0.1333, 0.9565, 0.7727, -0.5606, -0.2016, -0.157, 0.9968, 0.9215, 2.1246, 1.6493, -0.5011, 0.6514, 0.5644, 0.4082] state[eef_state]: left_x=0.3011 left_y=-0.0011 left_z=0.1773 left_yaw=0.1142 left_pitch=-0.1629 left_roll=0.0339 left_gripper=0.9968 right_x=0.3981 right_y=0.3532 right_z=0.1035 right_yaw=0.0663 right_pitch=-0.1631 right_roll=-0.1157 right_gripper=0.4082 state[joint_eff]: [-0.1026, -2.2632, 7.1043, 1.5604, -0.0904, -0.0122, -0.0122, -0.1299, -16.3761, 9.8667, 1.1209, 0.4518, -0.0122, 0.1001] camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.5,"right_y":0.15,"right_z":0.2},"note":"The dog remains pinched between the jaws as the gripper rises, and the right basket is clear at the back-right. I’m carrying the secured plush high and diagonally to the basket center, which also moves the arm out of the crowded pickup posture."})
tool
executing move_to over 17 steps (1.7s)
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 overhead view now clearly shows the cream dog hanging from the right gripper above the right basket. I’m lowering it into the basket while keeping the same centered lateral position.
move_to
right_z0.0900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1333, 0.9607, 0.7727, -0.561, -0.202, -0.157, 0.9968, 0.4019, 1.8996, 1.5654, -0.5137, 0.3065, 0.1322, 0.4096] state[eef_state]: left_x=0.3013 left_y=-0.001 left_z=0.1761 left_yaw=0.1147 left_pitch=-0.1672 left_roll=0.0353 left_gripper=0.9968 right_x=0.4927 right_y=0.1554 right_z=0.1595 right_yaw=0.0558 right_pitch=-0.242 right_roll=-0.1311 right_gripper=0.4096 state[joint_eff]: [-0.1983, -2.5915, 7.0906, 1.5458, -0.1343, -0.0562, -0.0122, -0.4855, -13.9829, 10.2632, 1.4628, 0.2466, -0.105, 0.1343] approver: 1 step(s) modified (delta_clamped). 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":{"right_z":0.09},"note":"The overhead view now clearly shows the cream dog hanging from the right gripper above the right basket. I’m lowering it into the basket while keeping the same centered lateral position."})
tool
executing move_to over 5 steps (0.5s)
step 202
top_cam
camera top_cam step 202
left_cam
camera left_cam step 202
right_cam
camera right_cam step 202
assistant
agent noteAt the low pose the dog is touching the front edge area of the right basket rather than lying over its floor. I’m lifting slightly and advancing 4 cm deeper so the release lands fully inside the basket.
move_to
right_x0.5250right_z0.1100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1333, 0.9615, 0.7727, -0.5606, -0.202, -0.157, 0.9968, 0.4084, 1.9476, 1.3758, -0.3077, 0.2966, 0.12, 0.4111] state[eef_state]: left_x=0.3014 left_y=-0.0011 left_z=0.176 left_yaw=0.1147 left_pitch=-0.1676 left_roll=0.0354 left_gripper=0.9968 right_x=0.4854 right_y=0.1577 right_z=0.0913 right_yaw=0.0744 right_pitch=-0.2752 right_roll=-0.1433 right_gripper=0.4111 state[joint_eff]: [-0.1846, -2.3316, 6.9812, 1.5311, -0.149, -0.0171, -0.0073, -0.5812, -10.7419, 7.2547, 1.7753, 0.2418, 0.0904, 0.1392] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.525,"right_z":0.11},"note":"At the low pose the dog is touching the front edge area of the right basket rather than lying over its floor. I’m lifting slightly and advancing 4 cm deeper so the release lands fully inside the basket."})
tool
executing move_to over 4 steps (0.4s)
step 206
top_cam
camera top_cam step 206
left_cam
camera left_cam step 206
right_cam
camera right_cam step 206
assistant
agent noteThe deeper radial move aligned the dog with the basket front-to-back, but the overhead view shows it still left of the basket center. I’m shifting the gripper about 6 cm toward image-right and lifting slightly to clear the rim before release.
move_to
right_y0.1000right_x0.5250right_z0.1200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1333, 0.9619, 0.7727, -0.5613, -0.202, -0.157, 0.9968, 0.3843, 2.0468, 1.5616, -0.395, 0.2714, 0.0959, 0.4119] state[eef_state]: left_x=0.3013 left_y=-0.001 left_z=0.1757 left_yaw=0.1148 left_pitch=-0.1687 left_roll=0.0357 left_gripper=0.9968 right_x=0.5159 right_y=0.1614 right_z=0.1004 right_yaw=0.0848 right_pitch=-0.2838 right_roll=-0.1411 right_gripper=0.4119 state[joint_eff]: [-0.212, -2.2906, 6.8718, 1.5409, -0.1343, -0.0415, -0.0122, -0.9368, -10.7556, 9.347, 1.2088, 0.2173, 0.0464, 0.0659] camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.1,"right_x":0.525,"right_z":0.12},"note":"The deeper radial move aligned the dog with the basket front-to-back, but the overhead view shows it still left of the basket center. I’m shifting the gripper about 6 cm toward image-right and lifting slightly to clear the rim before release."})
tool
executing move_to over 6 steps (0.6s)
step 212
top_cam
camera top_cam step 212
left_cam
camera left_cam step 212
right_cam
camera right_cam step 212
assistant
agent noteThe loaded arm did not complete the full lateral shift, and the dog remains at the basket’s lower-left rim. I’m commanding another modest move deeper and toward the basket center at a safer rim-clearing height.
move_to
right_y0.0500right_x0.5500right_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]: [-0.1333, 0.9623, 0.7727, -0.5606, -0.202, -0.157, 0.9968, 0.2798, 2.0365, 1.5448, -0.4042, 0.1413, 0.0071, 0.4131] state[eef_state]: left_x=0.3015 left_y=-0.0011 left_z=0.1757 left_yaw=0.1147 left_pitch=-0.1683 left_roll=0.0356 left_gripper=0.9968 right_x=0.521 right_y=0.1275 right_z=0.094 right_yaw=0.1417 right_pitch=-0.3268 right_roll=-0.1018 right_gripper=0.4131 state[joint_eff]: [-0.1436, -2.3043, 6.9128, 1.5409, -0.149, -0.0415, -0.0122, -2.906, -14.694, 6.7761, 1.2283, 0.6276, -0.0611, 0.1197] camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.05,"right_x":0.55,"right_z":0.14},"note":"The loaded arm did not complete the full lateral shift, and the dog remains at the basket’s lower-left rim. I’m commanding another modest move deeper and toward the basket center at a safer rim-clearing height."})
tool
executing move_to over 7 steps (0.7s)
step 219
top_cam
camera top_cam step 219
left_cam
camera left_cam step 219
assistant
agent noteThe dog is securely held by its head but hangs several centimeters toward the base and left of the grasp point, so centering the gripper itself is insufficient. I’m compensating for that known offset by moving the grasp point to the far-right/back side above the basket.
move_to
right_x0.5900right_y-0.0200right_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]: [-0.1333, 0.9623, 0.7723, -0.5602, -0.202, -0.157, 0.9968, 0.1432, 2.0384, 1.7222, -0.5476, -0.0319, -0.1017, 0.414] state[eef_state]: left_x=0.3015 left_y=-0.0011 left_z=0.1757 left_yaw=0.1147 left_pitch=-0.1683 left_roll=0.0356 left_gripper=0.9968 right_x=0.5438 right_y=0.0877 right_z=0.1411 right_yaw=0.2203 right_pitch=-0.3028 right_roll=-0.0337 right_gripper=0.414 state[joint_eff]: [-0.2667, -2.2359, 6.9402, 1.5751, -0.1441, -0.0757, -0.0122, -3.7128, -9.4701, 9.0051, 1.4481, 0.7204, -0.2418, 0.0806] camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.59,"right_y":-0.02,"right_z":0.16},"note":"The dog is securely held by its head but hangs several centimeters toward the base and left of the grasp point, so centering the gripper itself is insufficient. I’m compensating for that known offset by moving the grasp point to the far-right/back side above the basket."})
tool
executing move_to over 9 steps (0.9s)
step 228
assistant
agent noteThe far-reach command moved the dog over the basket’s back edge, but the readback shows the arm could not achieve the needed rightward component. I’m reducing radial reach while keeping the rightward target, which should let the loaded arm translate the hanging plush over the basket interior.
move_to
right_x0.5500right_y-0.0500right_z0.1700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1333, 0.9623, 0.7719, -0.561, -0.202, -0.157, 0.9968, -0.0189, 2.1906, 2.0747, -0.7338, -0.2897, -0.2371, 0.4148] state[eef_state]: left_x=0.3013 left_y=-0.001 left_z=0.1754 left_yaw=0.1148 left_pitch=-0.1694 left_roll=0.0358 left_gripper=0.9968 right_x=0.5826 right_y=0.0431 right_z=0.1785 right_yaw=0.3553 right_pitch=-0.2442 right_roll=0.0658 right_gripper=0.4148 state[joint_eff]: [-0.1573, -2.2496, 6.9128, 1.5409, -0.1538, -0.0757, -0.0122, -5.8325, -9.5521, 8.3214, 1.3553, 1.2723, -0.3101, 0.0708] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.55,"right_y":-0.05,"right_z":0.17},"note":"The far-reach command moved the dog over the basket’s back edge, but the readback shows the arm could not achieve the needed rightward component. I’m reducing radial reach while keeping the rightward target, which should let the loaded arm translate the hanging plush over the basket interior."})
tool
executing move_to over 8 steps (0.8s)
step 236
assistant
agent noteAt the higher pose perspective makes the hanging dog appear far right; the verified basket center is near right-frame y≈0.15, so the last compensation overshot. I’m returning near that physical center and lowering, allowing the plush body to settle into the basket rather than judging its elevated image offset.
move_to
right_x0.5400right_y0.1200right_z0.1200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1333, 0.9623, 0.7719, -0.5606, -0.202, -0.157, 0.9968, -0.1455, 2.1014, 1.9415, -0.6525, -0.5449, -0.3508, 0.4148] state[eef_state]: left_x=0.3014 left_y=-0.001 left_z=0.1754 left_yaw=0.1148 left_pitch=-0.1691 left_roll=0.0358 left_gripper=0.9968 right_x=0.5651 right_y=0.0133 right_z=0.1996 right_yaw=0.4894 right_pitch=-0.1144 right_roll=0.1296 right_gripper=0.4148 state[joint_eff]: [-0.0752, -2.2906, 7.0359, 1.5702, -0.1538, -0.0659, -0.0122, -6.1333, -12.0547, 4.1641, 0.7741, 1.2332, -0.3639, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.54,"right_y":0.12,"right_z":0.12},"note":"At the higher pose perspective makes the hanging dog appear far right; the verified basket center is near right-frame y≈0.15, so the last compensation overshot. I’m returning near that physical center and lowering, allowing the plush body to settle into the basket rather than judging its elevated image offset."})
tool
executing move_to over 9 steps (0.9s)
step 245
assistant
agent noteAt low height the wrist view clearly shows the dog immediately left of the basket interior by roughly one head width. I’m shifting the loaded gripper about 7 cm right while staying just above the rim.
move_to
right_y0.0400right_z0.1300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1333, 0.963, 0.77, -0.5606, -0.2016, -0.157, 0.9968, 0.0685, 2.035, 1.494, -0.2298, -0.395, -0.1982, 0.4147] state[eef_state]: left_x=0.3011 left_y=-0.0011 left_z=0.1744 left_yaw=0.1146 left_pitch=-0.1717 left_roll=0.0362 left_gripper=0.9968 right_x=0.5402 right_y=0.1088 right_z=0.1111 right_yaw=0.502 right_pitch=-0.1437 right_roll=0.1345 right_gripper=0.4147 state[joint_eff]: [-0.0205, -2.3316, 7.0359, 1.5409, -0.1245, -0.0562, -0.0073, 1.5795, -13.3128, 6.3521, 1.536, -0.3004, 0.1294, -0.0171] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.04,"right_z":0.13},"note":"At low height the wrist view clearly shows the dog immediately left of the basket interior by roughly one head width. I’m shifting the loaded gripper about 7 cm right while staying just above the rim."})
tool
executing move_to over 6 steps (0.6s)
step 251
assistant
agent noteThe lateral move brought the dog’s head to the basket wall but not yet over the floor. I’m shifting another 4 cm right and slightly up to clear that wall before release.
move_to
right_y0.0000right_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]: [-0.1333, 0.9676, 0.77, -0.5598, -0.2016, -0.157, 0.9968, -0.0517, 2.035, 1.5394, -0.3218, -0.5282, -0.2924, 0.4147] state[eef_state]: left_x=0.3015 left_y=-0.0011 left_z=0.1732 left_yaw=0.1147 left_pitch=-0.1754 left_roll=0.0371 left_gripper=0.9968 right_x=0.5387 right_y=0.0649 right_z=0.1221 right_yaw=0.5399 right_pitch=-0.1301 right_roll=0.1681 right_gripper=0.4147 state[joint_eff]: [-0.3624, -2.6188, 6.8718, 1.5849, -0.1343, -0.0611, -0.0122, -2.7692, -12.1368, 8.8, 1.1795, 0.4127, -0.2662, -0.0122] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.0,"right_z":0.14},"note":"The lateral move brought the dog’s head to the basket wall but not yet over the floor. I’m shifting another 4 cm right and slightly up to clear that wall before release."})
tool
executing move_to over 6 steps (0.6s)
step 257
assistant
agent noteThe dog’s head is now pressed against the basket’s outer wall, confirming the needed direction; it needs only a few more centimeters to cross the rim. I’m continuing rightward to y=-0.04 while lifting enough to avoid scraping the rim.
move_to
right_y-0.0400right_z0.1700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1333, 0.968, 0.77, -0.5602, -0.202, -0.157, 0.9968, -0.1528, 2.0365, 1.6447, -0.4309, -0.6807, -0.3882, 0.4147] state[eef_state]: left_x=0.3015 left_y=-0.0011 left_z=0.1731 left_yaw=0.1151 left_pitch=-0.1761 left_roll=0.0376 left_gripper=0.9968 right_x=0.5403 right_y=0.0329 right_z=0.1579 right_yaw=0.6019 right_pitch=-0.0558 right_roll=0.1826 right_gripper=0.4147 state[joint_eff]: [-0.1299, -2.359, 6.8855, 1.5849, -0.1587, -0.0513, -0.0122, -3.1385, -9.3607, 7.9932, 0.9011, 0.525, -0.1978, -0.0122] camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":-0.04,"right_z":0.17},"note":"The dog’s head is now pressed against the basket’s outer wall, confirming the needed direction; it needs only a few more centimeters to cross the rim. I’m continuing rightward to y=-0.04 while lifting enough to avoid scraping the rim."})
tool
executing move_to over 7 steps (0.7s)
step 264
assistant
agent noteThe soft dog stayed secure, but its contact slid the lightweight basket toward the outer edge; the opening remains reachable and is immediately to the right. I’m moving to the allowed outer-side limit at higher clearance so the dog can pass over the relocated rim without pushing it again.
move_to
right_y-0.0800right_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1333, 0.968, 0.77, -0.561, -0.2016, -0.157, 0.9968, -0.2832, 2.0827, 1.8202, -0.5812, -0.8181, -0.5182, 0.4147] state[eef_state]: left_x=0.3014 left_y=-0.0011 left_z=0.1729 left_yaw=0.1148 left_pitch=-0.1769 left_roll=0.0375 left_gripper=0.9968 right_x=0.5444 right_y=-0.0204 right_z=0.1941 right_yaw=0.6338 right_pitch=0.0173 right_roll=0.1574 right_gripper=0.4147 state[joint_eff]: [-0.1026, -2.3043, 7.0632, 1.5507, -0.1197, -0.0708, -0.0122, -1.6889, -8.7316, 7.3368, 0.9646, 0.1392, -0.1245, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":-0.08,"right_z":0.22},"note":"The soft dog stayed secure, but its contact slid the lightweight basket toward the outer edge; the opening remains reachable and is immediately to the right. I’m moving to the allowed outer-side limit at higher clearance so the dog can pass over the relocated rim without pushing it again."})
tool
executing move_to over 5 steps (0.5s)
step 269
assistant
agent noteThe basket opening is now directly under the gripper, but the dog hangs off its left side because the loaded wrist has yawed about 0.63 rad. I’m restoring the start yaw to swing the plush body inward over the opening without translating or contacting the basket.
move_to
right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1333, 0.9676, 0.77, -0.561, -0.2016, -0.157, 0.9968, -0.3847, 2.1944, 2.1021, -0.8101, -0.873, -0.6346, 0.4147] state[eef_state]: left_x=0.3013 left_y=-0.0011 left_z=0.173 left_yaw=0.1148 left_pitch=-0.1765 left_roll=0.0374 left_gripper=0.9968 right_x=0.5503 right_y=-0.0729 right_z=0.2195 right_yaw=0.6273 right_pitch=0.0272 right_roll=0.1298 right_gripper=0.4147 state[joint_eff]: [-0.3761, -2.3179, 7.0085, 1.5067, -0.1294, -0.0757, -0.0122, -1.1966, -11.2889, 8.8547, 0.9402, -0.7204, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_yaw":0.0},"note":"The basket opening is now directly under the gripper, but the dog hangs off its left side because the loaded wrist has yawed about 0.63 rad. I’m restoring the start yaw to swing the plush body inward over the opening without translating or contacting the basket."})
tool
executing move_to over 4 steps (0.4s)
step 273
assistant
agent noteAlthough yaw cannot track at this far-side posture, the wrist view shows the plush overlapping the basket opening along its left interior edge. I’m descending vertically now so the body settles inside instead of making another lateral push.
move_to
right_z0.1100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1349, 0.968, 0.77, -0.561, -0.2016, -0.157, 0.9968, -0.3817, 2.2013, 2.1292, -0.8818, -0.8768, -0.659, 0.4147] state[eef_state]: left_x=0.3014 left_y=-0.0016 left_z=0.1729 left_yaw=0.1133 left_pitch=-0.1769 left_roll=0.0375 left_gripper=0.9968 right_x=0.544 right_y=-0.0682 right_z=0.2183 right_yaw=0.6448 right_pitch=0.0047 right_roll=0.1544 right_gripper=0.4147 state[joint_eff]: [0.0068, -2.3316, 7.1316, 1.5263, -0.105, -0.0317, -0.0122, -2.2906, -10.988, 8.4308, 1.0818, -0.6032, -0.1245, -0.0171] camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.11},"note":"Although yaw cannot track at this far-side posture, the wrist view shows the plush overlapping the basket opening along its left interior edge. I’m descending vertically now so the body settles inside instead of making another lateral push."})
tool
executing move_to over 7 steps (0.7s)
step 280
assistant
agent noteThe arm is kinematically stuck at the outer corner and cannot descend, while the dog still overlaps the basket opening in the wrist view. I’m releasing from this centered high pose so it drops into the basket rather than risking another rim shove.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1349, 0.968, 0.77, -0.5606, -0.2016, -0.157, 0.9968, -0.3817, 2.2013, 2.1292, -0.8818, -0.8768, -0.659, 0.4147] state[eef_state]: left_x=0.3014 left_y=-0.0016 left_z=0.173 left_yaw=0.1132 left_pitch=-0.1765 left_roll=0.0374 left_gripper=0.9968 right_x=0.544 right_y=-0.0682 right_z=0.2183 right_yaw=0.6448 right_pitch=0.0047 right_roll=0.1544 right_gripper=0.4147 state[joint_eff]: [-0.0205, -2.1265, 6.8581, 1.5653, -0.1441, -0.0269, -0.0122, -2.1538, -11.3436, 8.4581, 1.1013, -0.6081, -0.1099, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The arm is kinematically stuck at the outer corner and cannot descend, while the dog still overlaps the basket opening in the wrist view. I’m releasing from this centered high pose so it drops into the basket rather than risking another rim shove."})
tool
executing move_to over 6 steps (0.6s)
step 286
assistant
agent noteThe drop missed and left the right basket empty; it has also shifted to an awkward outer position. I’m parking the right arm and switching to the stable left basket, bringing the left gripper over the isolated dark brown dog near the front-left cluster for a cleaner body grasp.
move_to
right_x0.3000right_y0.0000right_z0.1800left_x0.3800left_y-0.1400left_z0.1400left_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]: [-0.1349, 0.971, 0.77, -0.5606, -0.2016, -0.157, 0.9968, -0.3702, 2.2196, 2.1124, -0.8558, -0.8688, -0.6666, 0.9951] state[eef_state]: left_x=0.3016 left_y=-0.0016 left_z=0.1721 left_yaw=0.1134 left_pitch=-0.1795 left_roll=0.0382 left_gripper=0.9968 right_x=0.5486 right_y=-0.0644 right_z=0.2048 right_yaw=0.6557 right_pitch=-0.005 right_roll=0.1524 right_gripper=0.9951 state[joint_eff]: [-0.1162, -2.5504, 6.8855, 1.5165, -0.1148, -0.0269, -0.0122, -0.9641, -14.2427, 8.1846, 0.9304, -0.5055, 0.0269, -0.1832] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 286): [image omitted: streamed camera frame] camera 'left_cam' (step 286): [image omitted: streamed camera frame] camera 'right_cam' (step 286): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.0,"right_z":0.18,"left_x":0.38,"left_y":-0.14,"left_z":0.14,"left_gripper":1.0},"note":"The drop missed and left the right basket empty; it has also shifted to an awkward outer position. I’m parking the right arm and switching to the stable left basket, bringing the left gripper over the isolated dark brown dog near the front-left cluster for a cleaner body grasp."})
tool
executing move_to over 20 steps (2.0s)
step 306
assistant
agent noteThe left wrist view now centers a tan dog directly between the jaws, just in front of the left basket. I’m advancing and descending to place the fingertips around its head/neck, using the successful partial-grip method from the earlier dog.
move_to
left_x0.4050left_z0.0650
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]: [-0.5678, 1.5173, 0.9974, -0.4191, -0.4797, -0.4957, 0.9988, -0.5026, 1.2694, 0.9138, -0.7303, -0.9119, -0.8349, 0.9963] state[eef_state]: left_x=0.3681 left_y=-0.1338 left_z=0.1231 left_yaw=0.1077 left_pitch=-0.2358 left_roll=0.0619 left_gripper=0.9988 right_x=0.3102 right_y=-0.007 right_z=0.1775 right_yaw=0.6358 right_pitch=-0.0174 right_roll=0.1367 right_gripper=0.9963 state[joint_eff]: [-0.5128, -6.7214, 8.9641, 1.4969, -0.5055, 0.0952, -0.1441, -0.294, -4.6974, 6.612, 0.9548, -0.6911, -0.0708, 0.1099] camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_z":0.065},"note":"The left wrist view now centers a tan dog directly between the jaws, just in front of the left basket. I’m advancing and descending to place the fingertips around its head/neck, using the successful partial-grip method from the earlier dog."})
tool
executing move_to over 4 steps (0.4s)
step 310
assistant
agent noteAfter the advance the tan dog disappears beneath the wrist camera, indicating its head is now at the grasp point rather than still ahead of the fingers. I’m closing to 40% width to pinch the plush securely without ejecting it.
move_to
left_gripper0.4000
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, 1.7145, 0.9661, -0.2382, -0.4522, -0.4656, 0.9983, -0.5045, 1.269, 0.902, -0.7319, -0.9012, -0.8486, 0.9964] state[eef_state]: left_x=0.3925 left_y=-0.1266 left_z=0.0596 left_yaw=0.1372 left_pitch=-0.2885 left_roll=0.0949 left_gripper=0.9983 right_x=0.308 right_y=-0.0078 right_z=0.1722 right_yaw=0.6364 right_pitch=-0.0304 right_roll=0.1331 right_gripper=0.9964 state[joint_eff]: [-0.0205, -9.2376, 5.6, 1.5604, -0.2125, 0.1197, -0.0611, -0.0752, -4.2325, 7.4188, 0.9744, -0.5495, 0.0952, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 310): [image omitted: streamed camera frame] camera 'left_cam' (step 310): [image omitted: streamed camera frame] camera 'right_cam' (step 310): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.4},"note":"After the advance the tan dog disappears beneath the wrist camera, indicating its head is now at the grasp point rather than still ahead of the fingers. I’m closing to 40% width to pinch the plush securely without ejecting it."})
tool
executing move_to over 6 steps (0.6s)
step 316
assistant
agent noteThe gripper stopped at a substantial 0.40 opening with the dog hidden below the camera, consistent with a secure body grasp. I’m lifting vertically to verify it comes off the table.
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]: [-0.5072, 1.7401, 0.9646, -0.2241, -0.4458, -0.469, 0.4047, -0.5045, 1.2697, 0.9016, -0.7235, -0.8986, -0.8497, 0.9964] state[eef_state]: left_x=0.3932 left_y=-0.1272 left_z=0.0506 left_yaw=0.1385 left_pitch=-0.302 left_roll=0.0962 left_gripper=0.4047 right_x=0.3092 right_y=-0.0087 right_z=0.1723 right_yaw=0.6356 right_pitch=-0.0295 right_roll=0.1245 right_gripper=0.9964 state[joint_eff]: [-0.253, -10.2359, 5.9966, 1.1111, -0.2662, 0.0366, 0.2125, -0.2256, -4.2325, 6.612, 0.9841, -0.4908, -0.0171, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 316): [image omitted: streamed camera frame] camera 'left_cam' (step 316): [image omitted: streamed camera frame] camera 'right_cam' (step 316): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.14},"note":"The gripper stopped at a substantial 0.40 opening with the dog hidden below the camera, consistent with a secure body grasp. I’m lifting vertically to verify it comes off the table."})
tool
executing move_to over 6 steps (0.6s)
step 322
assistant
agent noteThe tan dog rose with the left gripper and is visibly hanging between the jaws; the left basket is directly ahead and remains stable. I’m carrying the dog high over that basket, using it as the dog category bin.
move_to
left_x0.5000left_y-0.1600left_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]: [-0.5072, 1.6562, 1.1698, -0.527, -0.4454, -0.4835, 0.4044, -0.5045, 1.2697, 0.9016, -0.7212, -0.8913, -0.8528, 0.9964] state[eef_state]: left_x=0.3958 left_y=-0.1288 left_z=0.1189 left_yaw=0.149 left_pitch=-0.3124 left_roll=0.0949 left_gripper=0.4044 right_x=0.3095 right_y=-0.0098 right_z=0.1716 right_yaw=0.6337 right_pitch=-0.0341 right_roll=0.1172 right_gripper=0.9964 state[joint_eff]: [-0.335, -10.359, 8.4581, 1.1502, -0.2662, 0.1343, -0.0464, -0.3761, -4.2325, 6.3795, 0.9646, -0.5201, 0.0024, -0.0122] camera 'top_cam' (step 322): [image omitted: streamed camera frame] camera 'left_cam' (step 322): [image omitted: streamed camera frame] camera 'right_cam' (step 322): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.5,"left_y":-0.16,"left_z":0.2},"note":"The tan dog rose with the left gripper and is visibly hanging between the jaws; the left basket is directly ahead and remains stable. I’m carrying the dog high over that basket, using it as the dog category bin."})
tool
executing move_to over 9 steps (0.9s)
step 331
assistant
agent noteThe left wrist view is centered over the basket floor, and the dog is now hidden below the camera as expected for a held object. I’m lowering into the basket for a controlled release.
move_to
left_z0.0900
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]: [-0.4545, 2.0514, 1.9556, -0.9184, -0.4183, -0.4824, 0.4044, -0.5045, 1.2724, 0.9009, -0.7208, -0.8833, -0.8532, 0.9964] state[eef_state]: left_x=0.4949 left_y=-0.158 left_z=0.186 left_yaw=0.1807 left_pitch=-0.3269 left_roll=0.0768 left_gripper=0.4044 right_x=0.3096 right_y=-0.0109 right_z=0.1697 right_yaw=0.6302 right_pitch=-0.0419 right_roll=0.1167 right_gripper=0.9964 state[joint_eff]: [0.1709, -11.9043, 8.212, 1.0574, -0.1832, 0.4664, -0.0122, -0.335, -4.547, 6.4479, 0.9646, -0.5299, -0.022, -0.0122] camera 'top_cam' (step 331): [image omitted: streamed camera frame] camera 'left_cam' (step 331): [image omitted: streamed camera frame] camera 'right_cam' (step 331): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.09},"note":"The left wrist view is centered over the basket floor, and the dog is now hidden below the camera as expected for a held object. I’m lowering into the basket for a controlled release."})
tool
executing move_to over 7 steps (0.7s)
step 338
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]: [-0.4507, 2.0563, 1.6173, -0.6109, -0.4187, -0.4805, 0.4044, -0.5045, 1.2736, 0.9001, -0.7208, -0.8761, -0.8532, 0.9964] state[eef_state]: left_x=0.488 left_y=-0.1524 left_z=0.095 left_yaw=0.1913 left_pitch=-0.3556 left_roll=0.101 left_gripper=0.4044 right_x=0.3095 right_y=-0.0118 right_z=0.1683 right_yaw=0.6268 right_pitch=-0.0485 right_roll=0.1157 right_gripper=0.9964 state[joint_eff]: [-0.3761, -10.2359, 6.5299, 1.3211, -0.232, -0.0513, -0.0122, -0.0889, -3.9726, 6.6256, 0.989, -0.5446, -0.0562, -0.0171] camera 'top_cam' (step 338): [image omitted: streamed camera frame] camera 'left_cam' (step 338): [image omitted: streamed camera frame] camera 'right_cam' (step 338): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 13.66 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
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  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0265, 0.7986, 0.6155, -0.3805, -0.0219, -0.0334, 0.9995, -0.0154, 0.7967, 0.6106, -0.3752, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=-0.0004 left_z=0.1839 left_yaw=0.0002 left_pitch=-0.0 left_roll=-0.0003 left_gripper=0.9995 right_x=0.2964 right_y=0.0011 right_z=0.1832 right_yaw=-0.0006 right_pitch=-0.0004 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -1.6205, 9.5521, 1.7705, -0.0073, 0.1734, -0.0659, -0.7863, -1.4838, 9.7846, 1.7607, -0.1294, 0.0464, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f08afa480ae8d1a58dcbb4ce424d15845dda6534d07b732b1f6775ac367db414",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c6d270d98ba9b244210e5fcab3050afd1509bcba3011709caa72365dfb6590e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76a80bc5ead034a192534f297b4d3ab5118e02c7cccd947a92c916937ad033a6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "text": "",
      "type": "input_text"
    }
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  "role": "user"
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call 1 attempt 0 · /responses · status 200 · 6.395 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEv_ZU-Y2MGsWBZNMRjQ6KDryu37P1h23HeWxK1W5AXoEKKjz2Y-iYY3PunurjpHdpMx6T4JmivTJFqY7FLt-ovynIc0nBTGuACaf_dCsVah2JXFlxLqGCq5gr9PvF8kmF4xLtMlCQFAnxlQcAzWT1hci1QHq9tHJQLNSIXoE7o4EuLEookgI290WUntAEItdLu13PpHxDJqaa_99Yk2739r-IXV0LNis60EGgXqH84sLEFJoWHyxAYd4pnP-q_JjHEr-yy6BxqgAxVi4UZE79D3tmobRHVwwJbHS0QvW3MAPQb8l5yFJB01Rf_h-BFwWRrN5hvs7YpLG3AIxXYolvQzIWhUh4WTkduRPnYfdQWJE8-PCsvihdkmR_b21CzvV3NkBeZyodZyOjV30F5uOEeru8HFd35EyWaCNo4hVVIOsmfkTSQfyub7j3GdIjYdeuxYUKZf0tX3rL66fjLPEEHkEb2yExPPzkzh9zKxkdPVPjohNRF-9qecIvu43F8oUa6CyZIqmKuaZtxwJkqkZrKIBdo6FbQ5D8y_GhwkNFGFOA2ZrO1Z2sH-BoQjpxa2J960EOTgQEiVABMpqj2Tp37L2UoYHsLwmt35el2Nusl67jL9SkqrvfWc-eMpT6BWxkuI6Rsl0q-JS8hLUvtKET04YLRx7PFjreJ2PBSHQg0rsN858bjZAmcg7qD5J9j4EHFD_rxGJn4tTn75oC7Wmvdhcm-ZA2NEB8mnMGs1gIJpK1wygtApofPJI0ZISUraTPaG4m6ICXxRE942qxEJUmhssbh9P8kcdufzG10u295lVVdeOVeXphsBCA-dIIuuX3504HmdGgrX1FjVTdMi91pv2HRaqJglu9yRc4p21AoB2ADFgOy1uyTBPeRMiz7u-vfflpVrrinNEIcFA07tjACZIc4EJBXTULtiW31dE5pp_Eqc8m0cIVdiY5a4n0Jz8y9HcrFmXhHty_O13bdAN-NR6fd2Jc7CtX4zMkAeKwQ-6JJAdP9ajAO3F7butL99B_SVxLv0lg31nBK63nUOWT1f_wlmgDIUhu2UiBUixKCNegyohLC6zaLVZ7weirKuYbnYkAPahHX5XT0ia4PcOPmKLiUrooQdgUbbOOVAuzTT6DM_SOYrqgB7eW5mMTEUa6lXP-WUFu-ix9nRgrbaOx3g8D2CmDrwr0LB_YLI9IvRwHUyiVD0-W65F6Kc-RUq01j6nVfukmGchjgyBnBI1X1JBnT__JkFb3w8RJLZB86NqhR3isdpHewp_GpV1M34aW47ZbNoSumPr-uQui9MTu2rOdJxEYckfX6IfRNFKfTwDkeJbe-ah4XherYGubp4EYGrBY7j98Tj8qeZt-3iuPwh_FAlNUgCNw46iF7P6IwisC0LjCLpAuXdz3alxnEXRZY5ZD351Sn-vC8RrthZfUlMA-GZmp1emEKEvclYpqYa331FK0vFOmZJ6QyTHM-RF-bbwe2EcQJ7qampPJc6qXOL7oaH3_TeINEo1dzkAqVtQUXvumA7jPwauuuOiFqsltAzNXvNi4V3SJ87hvTls742TQDJU0i8yX0c8wmVh_YojSn4beJXbyJq6dtUSOj626FPDH1Nlc1UowVULnocd6MGzhWgTh-Jjw-kOxyguxivwpJKxrX5UPa9FIWgDHCFWNPySa4Rd2ZWwwhyT8Tl_tEGa74evq_exXmyWT1aU0FGF_2eizidKrUVktU-5LIgQBZ8nSyBDdaEzGf_RfwDk5xznSqDXv22-FgkL3MGi8f8Waw29Mgf3zbfkc2NlHjKd_0c9AC7K741E0HNziz0SO2YAn-dYrwAdPrAg6zkeuUC5zpJr9js2YGTS2vO9ONtk_tEfrdkBwpxU1aec1DF4Ng-ToI7rWL82J9sB7YztqNESCqRJJnYpvXL3rxg1bi-qecluu_9Q1uSUgRzzHDbV9_7eq5fKBQnKV9OUfAluZcawl4Hzqsy6GgNECqXiZh92WFakIvXM5pCG-5fc5qCudyEH2zpZCCivKOlbV-Zd08hD3U6cTsSZNbmLSCuRTRLVa253nCGyQfw1t4B6nwylxu5-IxnEsaVkRPqNtz_8M5cQgWdCxioLDRedD0m9aKu6v9gsTqF-U4C8fx6G2mOXYgHlWQ5WQ4PHiL9llWfoAodjBLxHo4_j5b8fLTdCEWts_tU6d51AuO3fV31A5im0Yk40KLurnboq620N9jidhLSmLRwgK_NEO5XCGpkYabDXJzK5-hsu7v86Pxzm0KTsOyKAyXJzXnAP1keOmge6GCIo_KoWrOmP23H-tbAruEx-7dQ_EysEyGVyHfuxVFkhnkpe9NCywTAJ7ev7yunnXUkMS1UWSI4dL25I0CwWuNfPOCqcvkaEhv3U1rzvoqw7eNbySkUiv2ilIaEzEMVj58geFG9YTikhC2Rae41IS2_cnlj0j-O15s7INt-oBh8Z0iugUrdOvEAu7Z37c5-ju3--y-a6tZ54fIFHvIB2PnZQEIY4OvW30kRmbQlWqma-tXt3rQP_JU2jEE2Rs4Kp-M1SN-4O6zj2Cr2GOQpApoegLBtNl3WbNQf6ihRN7caje24APLBUG5WG6kyY5nyGY5urUv2AXc2uOIwS9T6J_kqCrOQ1NdeAhhjUuxbls66ltcVJZMvLEBvxqoQJ6gX4lGmo3ecjx7G6jmRDQYTB3A6lblVtCCmVq5oaffRogYMaI6fcudTXReIbsKY3VMDCLmSyoBEA2NeLs7UEAxv3wwFve1cJWpxrjfm_U8rkOELgi-k2g==",
  "id": "rs_09f67476484e4e1e016ab44bfab7c087d0912bb9e3c72c244e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.2,\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"The table holds two visually distinct plush groups—gray/white animals and brown/tan animals—with two empty turquoise baskets at the back. I’m assigning gray/white to the left basket and moving the left gripper above the most isolated gray plush near the front-center of the cluster.\"}",
  "call_id": "call_OEbO5de3nG7gfzTGhOoRQd0t",
  "id": "fc_09f67476484e4e1e016ab44bfe7aec87d0adee170e402a9f6c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OEbO5de3nG7gfzTGhOoRQd0t",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7971, 1.4605, 0.8848, -0.2153, -0.6331, -0.5255, 0.9995, -0.0151, 0.8024, 0.6083, -0.3843, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3419 left_y=-0.1953 left_z=0.1404 left_yaw=-0.0073 left_pitch=-0.0472 left_roll=0.0269 left_gripper=0.9995 right_x=0.2953 right_y=0.0013 right_z=0.1787 right_yaw=0.0001 right_pitch=-0.0176 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -6.612, 9.7162, 1.5507, -0.4713, 0.0366, -0.0659, -0.3897, -1.7299, 7.2274, 1.8632, -0.0415, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0db79f693054f5943f6188ecf59f5c9bb186a51815c45b20ace455cda4cfbc56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64eca62f9a1adc1922e167914b2fdcc9e9951494b0f0908d4e3eca24bef3578d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3972d0797687b768dc1ec260af11dfdca657825926aba505d79e8376e99bfca",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 2.944 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]: [-0.0265, 0.7986, 0.6155, -0.3805, -0.0219, -0.0334, 0.9995, -0.0154, 0.7967, 0.6106, -0.3752, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=-0.0004 left_z=0.1839 left_yaw=0.0002 left_pitch=-0.0 left_roll=-0.0003 left_gripper=0.9995 right_x=0.2964 right_y=0.0011 right_z=0.1832 right_yaw=-0.0006 right_pitch=-0.0004 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -1.6205, 9.5521, 1.7705, -0.0073, 0.1734, -0.0659, -0.7863, -1.4838, 9.7846, 1.7607, -0.1294, 0.0464, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7971, 1.4605, 0.8848, -0.2153, -0.6331, -0.5255, 0.9995, -0.0151, 0.8024, 0.6083, -0.3843, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3419 left_y=-0.1953 left_z=0.1404 left_yaw=-0.0073 left_pitch=-0.0472 left_roll=0.0269 left_gripper=0.9995 right_x=0.2953 right_y=0.0013 right_z=0.1787 right_yaw=0.0001 right_pitch=-0.0176 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -6.612, 9.7162, 1.5507, -0.4713, 0.0366, -0.0659, -0.3897, -1.7299, 7.2274, 1.8632, -0.0415, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0db79f693054f5943f6188ecf59f5c9bb186a51815c45b20ace455cda4cfbc56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64eca62f9a1adc1922e167914b2fdcc9e9951494b0f0908d4e3eca24bef3578d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3972d0797687b768dc1ec260af11dfdca657825926aba505d79e8376e99bfca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEwTBd9gCRcjorxsVG_rPt55MeOnqgtOZ0K-fH4yg9kp1b7JkHWjTk5NEdpk2muB2cba88ggYgl75I3o-1cx0q6I-HxQIg22jagHHXlVR3yNVaSZb1avyJOt4dzfvaBkHjG56PucD3tHhyPgFRwNcyeOqRv1RLIk2kSsse7SBh16cELbkNwLS3fpONYRGR1Jwzakaoyjy4VDlrD1uGhuHgUuLfxVelq1SraRTcfhFnvGdt8ReLuihDq9M9qDBPjPzU8_QvpJjowpLXfsv53tx1eAZ0TbNrK6k8Y2ALNBqWifKUioL03JeHyhz0W75mJDRJza0__0KSfcWDDiHxeEZZTx8DJpd2gxdHcpzqkIV-RaQYKflZtUG0dekahi3gt-_BczT5AVbZVWxXA5EBBkuJBgqSc_QzciQtuwAWDGNr2DImkuNUtB_kzPCJ1Kg7Gusf4DhcBbHTQLw1MFamNX9P8_yU2LkjZKZM8SpBVPgOLiXk1t9vWQdVYu2CeUnxTtDoO1Cp0QiQuW7pn8ODyl4BRtCKcvIzbpEEgjpnYN7D-g1vYy7pBzmNDd57vc89BVoT89FspLFhFBowIx3WXhXr0egW-S0lOGA83gYUyPo_CS3ZXZNSa4b0NJ3jOi9rs_9v6Ci8kDqzEHMZi2DhE4js66nm6OWfQdRQ0Q32IUwlBacqe1jfKqIP_zhTN4VCYFf9pMQwXZg1gqQycP3dSvP3opMUUT6mMWBt2K85FG2Sj-8DdW76_2wL8GfNUJ1KDD9Pyf2kZLD9gow7UKmrW8ZELbP3QjVdDbK3vHHTpLnHtmRkM73KovwQ_YwdA7yM8_03pGHQSsgg_rPYg_flnYogFp6mZx6U5xVXopgTTcimbJMOlm9eXtoCjvdfMTn4N7qonuFQr3GYJhSm6n68KGM1Cv55uIbl3XZupj8m6Dv_WL1zGC5H6t6cP0wUE_isl33cHoy3cSDyczaK37MelAVTZ8UXdJCm7PCxISLt8FfaQEFlSbsfX-rVuvR_8Xyb-9aEy7Z_eDhSzmDEtXZrZEA3dEluK1u0XRn5vRWn0ZBqcUR1ootFrfEmzQYPyzhB3N6O8L9iCT9HEvkEjkmOndGbVQnY2Hd3DdkFOsXkZeiDG6koUfKD03WIhfRdhiuh7OSVvyGhXTT-k3Lb_lrC-7H64R59fnVFRqbzO76i48PmJj4imFxq_5VA3BKIr0ZwKK_g-iijgBGnBApAZlG8M6rMsSCEa3pG0roupdon4Zo1_QY0aGxLhjJewUWViLOvVwlvzY7jiU4LcG4J1Ha-8iFtvuIlxzH-fNn9nQ9IsMU2Gs2dkcBGBCKwkPvlBno-yldoIFIjv4CuVUa4yBDmR7hUPKBjNGV4-FHW04OJGMwpsfC_TSzhjRHztzFD9LYdWKA9BgZ02hPR-0B5z0Lz7Q6YJ9BPK23uKjSYWBrNCNqozSAf-QxE9FTRbyQp0FWtJ5WLFxduUHUf5nh8-45-MOQNMeaSptDSL256lDFSdY0-VnNmaNaOXSooIT_DO5aAfzmGl5Yw967oXifZTEMBwH9uxPe3-lxAXYixITHHdQh7wd5HVqpwQ4kWmP2OFdaCfqrpyCYHYddtXeM5gkfdBSLWv5lseoo2TBxzdhOVEf1FBPwfq357bKPhYuZTIsVZAD5g4BNTHqSevYWf-MiG-E8tPu-65XUE4cw1kGlMoFeFxtsI4ozjOcUi_C631kYQE5Nw8-jyu0gdv1xUFTTmnTZ3ZkMATNeDgUeHL74BWT1zzQuPajZg42ZSlUGOi577U5-768YJJkm-KZIHQpge8R6u8XA7o3G_-aM5hiBEF8U9yyBzpBW7KYeU8dITNynqA_8-p0IclfDpCFOerSOU2q4hDWB0IEDv8IIXenh-lcE1zjwUGG88mIlKDUVwpFfon-FIsLTSQK1HuUP85F1cK9tvN47jnPtKRmqE680rwHZm92Ci4oNhreGcv9bT971XTnOVs0OKA0D7zIHi157Wt7OQoc5GmjuAAKQy5DXFMJSBqNyY9QoOJrRUowIbiX90SietnxdLWha-rBP4pXuxPiH3wKbBsW5oKXPlnr0NwINV4UgBok8c0TPyO5xP27CXtr75KNSZZgE9gXnaCAwCPVv21EUNm06ok89mLEl1j2s97CeAFo1SkwFGnh4I7b-EMGuO6RtmlSmDgxc3OrDu7QzJxNi5M6zH6Ae2NnNsQkFZtXTMg_hPXSdcqaAFGAr9ic-22yYqpAV0Wq779qL4vluxnjmvYbM9S5JGoQuSBhEh-12_Dj1F_la52shpB7_KEba9HAPQtworvUxr7zIa-6xJD63MgKuBLKOq-HOz4M9TIVASfIiAXqYAs0FnnjEpyb1tiUTfaXVDlXEqBpsPKMmEJVzzMlBpQxY0j8MGSwB89rQXxXWv87YFUXbeGKzxb_1WcTWTEWVCn5T-_G00W87gPVGVXoX5sL6CdyZHvPRqnthuTKmZqe3oLEyzGGBdiVGh-OhNd69p1CEO_msaxbLuyt7RsjdtfrfnbWXrjErXLFuy4_qx-9MZl5CEwPJFVVTfEX6WYGhSpARLQKjsN0XobxytNxq3Qjpac7yzdshnKwG_ihEFtDQq2ZnT34Vrk43FG1dAK1H8oYZxaxYg6YDFmCi-ROZvsEN3EQyE-EPIClrpL1wvPS5LYFOpzQnLJcVtRn_L4y6tFNhhtALPQEpedzHXSAOFIP1kF43Yl-3tjztDyj2pOk3Wfb-bPwC8CFF5-O35mX2gs02kXvHQCp_AbmNcDM2FTuTOL8rZD8tMwIljOtyBgkBBh6e-qRh6d6JPlM8niu3pmzdOWoyIdgXZEMBCTP0iA2dxatrZAuRrVeDsz2WWEFo0nzNDq5MPmIP7J4Uie4hqO29yGXQRi-Yhlu_acX97sBsG9J7JjtIOQG40_A27894a0ZQWYpdwMtaYWgwwAo9wDVD1G8KANaJuZ0VtXpDKs5355XzzmtucOvIc70igMBekV8-mE_T1Q67hRYur3y9il2NNmif7QM5ofmJr-c-8zmgFcYK8jTGgS-hBdmi7SUEEoF8oWDeJaCsGqd2rukzI7FqtOcAVWiHldYxjMVZMs1E1GtfahGWcavNXM9Cci2wqtGzVgwxrD8w1vngD3aQDeQN5oCUzwl3Q5OL1S9TQhz6qCb36OhdZv2Z0BbTmgXIQGmgItE2q_VItpjwb2jONre87ThHLfxbxnxai7I_yh4z7HxJOZMMUsKATygfgEfOxFiwsCkQPxTjpCmM10ExiX78TJAr_RBAuwiO0rwOAm4Y4Ej1uBfDNlsHvx5kJ83YWbpwaanjEsOYbdPz1efFH-pUmI-iPGkHiIshTncBETYVVCjRQqV9EKLrt4=",
  "id": "rs_09f67476484e4e1e016ab44c0e627c87d0bb59b10f7805bee7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":0.03,\"left_z\":0.16},\"note\":\"The first hover exposed the layout: the gray plush animals are actually grouped farther left, while the brown/tan animals remain in the center. I’m shifting the left arm toward the isolated gray group near its outer-side reach, staying high to refine alignment before descending.\"}",
  "call_id": "call_xuL3XemeyJqL7k6RnWdgtW4k",
  "id": "fc_09f67476484e4e1e016ab44c12a3b487d0b4f16dfe8a5b1c1c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xuL3XemeyJqL7k6RnWdgtW4k",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1059, 1.1915, 0.7048, -0.1596, 0.0532, 0.0467, 0.9995, -0.0147, 0.8051, 0.6083, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3623 left_y=0.0327 left_z=0.1474 left_yaw=0.026 left_pitch=-0.082 left_roll=0.0207 left_gripper=0.9995 right_x=0.2954 right_y=0.0014 right_z=0.1779 right_yaw=0.0005 right_pitch=-0.0206 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -3.4393, 9.265, 1.8486, 0.1929, 0.2076, -0.0122, -0.1573, -1.3333, 7.1179, 1.7705, -0.0366, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c91195b71cdbd9776b082e071be3d675f8fc0a28d38304e73b4324705b0b4abf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1bb11371f4070289cdd56e9603f97f4f535e3d3074ed30c342703c940fac9c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a1eb7362fccfc8c107609030f7945bbb9ed1da6e02a4e49b08c5aff78576541",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 2.273 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]: [-0.7971, 1.4605, 0.8848, -0.2153, -0.6331, -0.5255, 0.9995, -0.0151, 0.8024, 0.6083, -0.3843, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3419 left_y=-0.1953 left_z=0.1404 left_yaw=-0.0073 left_pitch=-0.0472 left_roll=0.0269 left_gripper=0.9995 right_x=0.2953 right_y=0.0013 right_z=0.1787 right_yaw=0.0001 right_pitch=-0.0176 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -6.612, 9.7162, 1.5507, -0.4713, 0.0366, -0.0659, -0.3897, -1.7299, 7.2274, 1.8632, -0.0415, -0.0513, -0.0171]",
      "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]: [0.1059, 1.1915, 0.7048, -0.1596, 0.0532, 0.0467, 0.9995, -0.0147, 0.8051, 0.6083, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3623 left_y=0.0327 left_z=0.1474 left_yaw=0.026 left_pitch=-0.082 left_roll=0.0207 left_gripper=0.9995 right_x=0.2954 right_y=0.0014 right_z=0.1779 right_yaw=0.0005 right_pitch=-0.0206 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -3.4393, 9.265, 1.8486, 0.1929, 0.2076, -0.0122, -0.1573, -1.3333, 7.1179, 1.7705, -0.0366, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c91195b71cdbd9776b082e071be3d675f8fc0a28d38304e73b4324705b0b4abf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1bb11371f4070289cdd56e9603f97f4f535e3d3074ed30c342703c940fac9c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a1eb7362fccfc8c107609030f7945bbb9ed1da6e02a4e49b08c5aff78576541",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEwZJggifIsGvJpex_KiHgMOSdS8lLJAUWdJUdARZ2E2hhCD7UEYdXY-QDgqQ2wpXaBsZO2gaKWg7Ba3e7wjOQ7BnlTnx2NjiKUFHQjGwoUkhwUgSUcUqM7rJqY6y84h_xR-d4AATazOJdaQKqHkMfT6k0onA13EjEZJYxrj-TWuut-_J1_o50rSmKLpRD7XcmLq3DnQd6S7lk4xoO_52bw7EoyXQozh2tnrNw4PNAVfQdPKG_yaXD2oxHPvZEMCVYLGcJqs-TweCP2PYYpnBleMdfEcFRoZHbgbXDopkwr_iMXyW_rPgRL8eJP5_lygtx08rTaoek6w_ORvAcIrtvslFuVb32pzwMRCSCp2U4krb-CaIYVb7m_mI24-dS9YKia5paBaSMsK-SK7-C-Sket2qmhFCvtCMuCK4kaSOcXOaR06NjbAhP9qJAXzpOSy6C1MDV8qElQCzYYcK9WrTSF0iZFEYmuqlMK2nGX9Z-TempYkqbvb3BvWXJe_dM8VUrFAz94GHzBHiesppO-njooulMJbwnABktz4wlksD4QdQ-eB6DWKqJD5r_25OGz1zWCkMW5rWeXREZFM9tr6IpPViZX9u6WkGTOcpE0_jEpLNHSpET16KRY9Dpcrd1JgzS-ollYXIOPXt1skD_boVK8CfgJ-G-BEd0kCN6NoZRipypC6NHsCCFI60U_K6P5ebzSx7G8xLZVu1TJVSoSsxaIRn2VDwYdP3yKldGknRemA5RYOt_DUn2tT8GT68YhFSE21B6qVWdh4EoK0pNahAWGTV8V1RMV6ZnUJHV5exy_LFqkmf9fHq8L9RHUMLfnOyFtffUqi6LaotayMoe7KJtSnAV9Ev-X-Z6KJl-7UmHZFw2PQDsuyzHtw2ffS60eH-Cuw1itvaXFvXWuIjSJeI0qDTePeQUVDjKxDuU6WYNKywmyOzCxxy45-27frrkgfeDQ7LEhnE4FY5NnvqfeNeLsjCwM7cGe3FYT2EAkJU-icYKweHkffGP00vTPx34vW2RE-5frz_glo3I2vsGKfH13gtmbdPDp5aJ_cCnHecKIpXPlveuyxxQQPKzIiI9aJ9hvU5Y8ngH2AUanLlML207kkkxhTbWlkCb2Qd6EGqybcPpZTpcE9yyc1yZPf4k7aIQ7pmMcnAvezqxfpCBvv5P_jAeFYVVfPzaDm1sV7c0tvRVvk61G_vabqniTgxsv1Vmqe2nROt-QdSrdidydobqKv0Y6QQS8jLLSeDgf2UUqCs7drs1bN4V-hQYWwkui-siprxk55hSW3CA1wbWELn54ASLnfvATfMIt8ZEI6AZCRbN39dnJWnMJTLE6IruzXIfO4t7KX9RXaSxnSN0Dpp6jZnkiP1JHNuZY9DLv4vdWMAEM3vD3VO9DNHm5eKnPJh4tMWsfAw6r_lPjyQ0hQpcg0txQCKZsWwDx1ospVtvQCEWD3dRvhSdpXvjHU5YWKLrx2PqoTyRL6LUcejvh5VJjqaTHGddCZ9q-MaJJrQ81UJx-qSskRfqRteLYY80tGJQSBzHKU1lbKRJ-UwNwCbznfzVCpzsdQDmb8ttHqMYmJmWBybYbRGAwPvfGvyrQDncxTeRpf8rUhNXfns6u1kNAjFL5DklLWIJlLAD1Ip8Ri20ZWeZG1tgUMh3KNXTm9iJzDJNjVnpr7c_Tf-OeZbqOvQRSo4v81i3t0z72EFJcB6eDC_hjyOHlxbUiBGj7Ezczb5NsM-v-X7sU_iDPi7IEYGyWDu30T9FWj5a8nNARpC1HZUBX-MYK6WmFDipOOM41JQoRjLBLH1dpEz9Ya16kZn-TxRKDW8tEKaFhXG5IaBHAPFtSlZlOuJ7byimLyoCdx2P9vFTcAtqPVEVIB2N3AUtL15F_sJSF8Prxcz8t7IEGZS_BDlGJJocerziAcNNt6",
  "id": "rs_09f67476484e4e1e016ab44c17e82c87d08f5483e639835de9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.035},\"note\":\"The wrist view now centers a gray-and-white plush between the jaw columns at close range, with no brown animal mixed into the grasp. I’m descending vertically to grip around its body above the tabletop.\"}",
  "call_id": "call_Ycoz4OdBhGq0kvgQ0tGFk60W",
  "id": "fc_09f67476484e4e1e016ab44c19226087d0960bcaebbf53966e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ycoz4OdBhGq0kvgQ0tGFk60W",
  "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]: [0.1078, 1.4807, 0.4305, 0.4347, 0.0479, 0.0463, 0.9995, -0.0147, 0.8051, 0.6083, -0.3843, -0.0116, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3699 left_y=0.0351 left_z=0.0501 left_yaw=0.0328 left_pitch=-0.0514 left_roll=0.0259 left_gripper=0.9995 right_x=0.2954 right_y=0.0013 right_z=0.178 right_yaw=-0.0 right_pitch=-0.0202 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -4.1368, 3.5761, 1.1111, 0.0562, -0.0171, -0.0122, -0.1436, -1.265, 7.1179, 1.7656, -0.022, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67bd351065342d3407c79af5912cd327b69787d40c1b531350ed1176a78b010e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72758dcca9d5ab53f79674ade03411a224fe027d78b2d0522e7d11b2beee99fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18b38c5e7012c285539f2221e8e7eac7b4c9367493207dc98066eb6dcf6304df",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 3.612 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]: [-0.0265, 0.7986, 0.6155, -0.3805, -0.0219, -0.0334, 0.9995, -0.0154, 0.7967, 0.6106, -0.3752, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=-0.0004 left_z=0.1839 left_yaw=0.0002 left_pitch=-0.0 left_roll=-0.0003 left_gripper=0.9995 right_x=0.2964 right_y=0.0011 right_z=0.1832 right_yaw=-0.0006 right_pitch=-0.0004 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -1.6205, 9.5521, 1.7705, -0.0073, 0.1734, -0.0659, -0.7863, -1.4838, 9.7846, 1.7607, -0.1294, 0.0464, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1059, 1.1915, 0.7048, -0.1596, 0.0532, 0.0467, 0.9995, -0.0147, 0.8051, 0.6083, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3623 left_y=0.0327 left_z=0.1474 left_yaw=0.026 left_pitch=-0.082 left_roll=0.0207 left_gripper=0.9995 right_x=0.2954 right_y=0.0014 right_z=0.1779 right_yaw=0.0005 right_pitch=-0.0206 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -3.4393, 9.265, 1.8486, 0.1929, 0.2076, -0.0122, -0.1573, -1.3333, 7.1179, 1.7705, -0.0366, -0.0757, -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]: [0.1078, 1.4807, 0.4305, 0.4347, 0.0479, 0.0463, 0.9995, -0.0147, 0.8051, 0.6083, -0.3843, -0.0116, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3699 left_y=0.0351 left_z=0.0501 left_yaw=0.0328 left_pitch=-0.0514 left_roll=0.0259 left_gripper=0.9995 right_x=0.2954 right_y=0.0013 right_z=0.178 right_yaw=-0.0 right_pitch=-0.0202 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -4.1368, 3.5761, 1.1111, 0.0562, -0.0171, -0.0122, -0.1436, -1.265, 7.1179, 1.7656, -0.022, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67bd351065342d3407c79af5912cd327b69787d40c1b531350ed1176a78b010e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72758dcca9d5ab53f79674ade03411a224fe027d78b2d0522e7d11b2beee99fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18b38c5e7012c285539f2221e8e7eac7b4c9367493207dc98066eb6dcf6304df",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEweA2JfjyzTvdbYlENgYDQQNddN2pOYzQzVZsrAk6cxDbK9Hxg4WvYxzJBdEnFmrdJwQtz7dmtOxFFSIte7LF1T5OaW_6fdWOi79SdfPWOrNR6qx1RFjvvMWSVLULRZ0ecTQVSWGAowNjs_DoPKicfeJV9_aCGt0SfW7PAhKKRD-kapp8AZ5m8nNf53V0cFFQuKpeeEBBmqKwQ-40P-44Fo5IVeKJS2MLG5xW82OS_hT7x7SrvXP_lDflSzPDpdIVGt8GzYTpYcX9dS0tKTMwsq2gtLaf9SXToh6QE7WR9Xq-wCqrI30XxWcZdSAGam-0TV6KFJgG6z94ZJx8liizwox-Xs8mo-L25cLqFLsr54maIRqE6BkmzsWi2986E2PhJklBdnSt3qiHnYMsLpQH1zVyrdIa4YgrVqHkFKBz_NncBg7q-nhvqawbSn8X7K5RfEyRC8Rqa8P9TpFwjku3cdvhcEpi0gsKa1Yq4JQHM0Sjt3APloaDh4LtTAVvieh60pXQL2pt2Px4UKx5tLeMOSCC0qsN6xlUgURcvV389oGWuU3FL2mARrHjlFhRkoU-npPiKiBAt02WKTNP3r8ASRTut2P03lU7MSv1AIx1uSHhh-pRYQZOFNeFGIjHDDP8jTDEw3OaFbHQ_eeZ5A1VtMI5F9solUoNWz8RFIx9kYv6-KBbPnr81KVFxzOB9Rii0BuzhdkTJZdkpFSX_R67G8My9RDqag6CxpI1sYTAcc-QQWFaP7Xbnm5PxJRdPkp2u2_jOhWfN1ME_it628p4vGhQ0XkFATYVQjJ8aygpXB68EJ1JgdZfSTRIxfZAZcxyUfVF-7BdWrB9uGfVMZRe5GzGsfycGNmV3isRYDwDbUrpn4NF0r1GFp7OH35OEBtFRg0HnrZVBMZMt24LILeuZCNw02baRTdw7wAZPFVOr8Cp056bh5C_Bn7wclpqxMax9HkdL6ux4jcsDy924fkj2j2gL0_Z9WHxQZsms0Ip2GZ8Kuf1nOvNggcUOklDC8huoPgTfR2hS3UCVkP7imQOxr_EC5FkXiR3j5Aks8SSd_94HMW9y2GDD0Vphk0iIqNB5RTKrH6ykl5G26UUHKtNpKQwIAjWehkdYr_sfvLAcEhI6EQdv725h2nBVf9TyQcr2GvbPEgo-cCssuqSSB-JiNwy3T3XRxHOBSJb5tAO_8HtwUoOHgakcHLlXHFB3mRvoscoL_5rIS3xXTo6BcqmiW74IzWD9ROVYCiJfKIiKQao3oB5IT9vtJYGmU9P-lVTnX",
  "id": "rs_09f67476484e4e1e016ab44c1d07c487d09f14fb50361a6a7c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The descent stopped at about 5 cm and the plush fills the wrist view between the fingers, indicating body contact rather than free-space sag. I’m closing the gripper to secure this gray/white animal.\"}",
  "call_id": "call_euUDOBJfZDgO6X5Cz99LEzIr",
  "id": "fc_09f67476484e4e1e016ab44c1d476887d0934976a6ba0c6c9d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_euUDOBJfZDgO6X5Cz99LEzIr",
  "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]: [0.1081, 1.4826, 0.4229, 0.4904, 0.0364, 0.0452, 0.0348, -0.0147, 0.8082, 0.6083, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3749 left_y=0.0378 left_z=0.0578 left_yaw=0.0436 left_pitch=-0.0058 left_roll=0.0346 left_gripper=0.0348 right_x=0.2955 right_y=0.0014 right_z=0.177 right_yaw=0.0003 right_pitch=-0.024 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -5.4359, 6.188, 1.2137, 0.0806, 0.0024, 0.9939, -0.1436, -1.5385, 7.1863, 1.7314, -0.0464, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8744740631aec6605c46218cd108252b6ab32a1ae3cfef50cd7b29a3b6d1a79c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7f1e3876c50528c2146ae6bd4ed05b5f3ac1c0454edc7fd3f9cba8c2ca8da1a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1d0f0d450d9ba3167b1c495ee5652a3a08a5a14bc482aecd26303a00b89a045",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 2.103 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]: [-0.7971, 1.4605, 0.8848, -0.2153, -0.6331, -0.5255, 0.9995, -0.0151, 0.8024, 0.6083, -0.3843, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3419 left_y=-0.1953 left_z=0.1404 left_yaw=-0.0073 left_pitch=-0.0472 left_roll=0.0269 left_gripper=0.9995 right_x=0.2953 right_y=0.0013 right_z=0.1787 right_yaw=0.0001 right_pitch=-0.0176 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -6.612, 9.7162, 1.5507, -0.4713, 0.0366, -0.0659, -0.3897, -1.7299, 7.2274, 1.8632, -0.0415, -0.0513, -0.0171]",
      "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]: [0.1078, 1.4807, 0.4305, 0.4347, 0.0479, 0.0463, 0.9995, -0.0147, 0.8051, 0.6083, -0.3843, -0.0116, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3699 left_y=0.0351 left_z=0.0501 left_yaw=0.0328 left_pitch=-0.0514 left_roll=0.0259 left_gripper=0.9995 right_x=0.2954 right_y=0.0013 right_z=0.178 right_yaw=-0.0 right_pitch=-0.0202 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -4.1368, 3.5761, 1.1111, 0.0562, -0.0171, -0.0122, -0.1436, -1.265, 7.1179, 1.7656, -0.022, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1081, 1.4826, 0.4229, 0.4904, 0.0364, 0.0452, 0.0348, -0.0147, 0.8082, 0.6083, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3749 left_y=0.0378 left_z=0.0578 left_yaw=0.0436 left_pitch=-0.0058 left_roll=0.0346 left_gripper=0.0348 right_x=0.2955 right_y=0.0014 right_z=0.177 right_yaw=0.0003 right_pitch=-0.024 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -5.4359, 6.188, 1.2137, 0.0806, 0.0024, 0.9939, -0.1436, -1.5385, 7.1863, 1.7314, -0.0464, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8744740631aec6605c46218cd108252b6ab32a1ae3cfef50cd7b29a3b6d1a79c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7f1e3876c50528c2146ae6bd4ed05b5f3ac1c0454edc7fd3f9cba8c2ca8da1a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1d0f0d450d9ba3167b1c495ee5652a3a08a5a14bc482aecd26303a00b89a045",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEwpz9peDjVBB6zt1Bv8VgWSVJzKIKwCRFoNEDL4cStDQDMpxUKkLMf76UwGYsWk5S6Vd5Gkaadj4QXp0poVrZH-R5kQ2v32mr3Wq9XHyrYBF_3n6acIrvviec3OjMocY2XqoJAgrCrpvsGAW4AusrMuJLP7O1_CXBRY5UEbg3u89mhusxrAtEua3q6p7kwsFzaJ1rea87cwOd2C3hQ0fotBg_RWqWWwo7O7EEA52goMA9U9I56tJbCr69a8UkxtUdFFF_zXTHHdESL4WtKDaojHcOFmr9eRjrcydYiwVp69yfhGRKZgUyPlLlINyAHiYSpz-0b1VFrZUkvsIygGwXWA7rpv6rQRYgmFaxjjkg8CjCEob85P6Tn5OOYx7tdmACB90fzxW_K6Q_QUenbKeG6-oG3RJfYQLJaEMN9NWXL1xa-Z5k5t_SXKiobfcnj0kW1IJUu3mT6Yxz2bKU1zSg7lCuaAUTa9nn1DGthd4EF9xqEZdggPcWdGxGe51SCVI3XmAJsgAxQCOOoav_jfbBKa01A9aqJ_x2MZDP6OAMskUVrCTtgpQ-YcjMkSjJ3dS0Umn7tH3TSCnVmQvnl2KKzh1DQkvPHk7PKrBhXbK15fEtnPUs8uaUvYTUK9bDI5MAo8h5CY7zGm2PfPgv0PzWecsDk2OZ4IvRu4c8m0dCiyEf8Jq2_Px4t8mKBqJtnVwJWtfH8S1M6mM-V-11AYrkiCBfwGUvlyMVrvDulBgcprr6JS3NDDiXgJbN5zkFUFltoaA5woFubs7adL1T7iQxLEd6eT0JYWGTwrg55u0EKaWOVcrDklbWDCQoSoM6GfinPQ5gPCTUkQ5VIXwSXx5g24hf5yyitfv6BR9o9SRaw2pTV9ix2jDvDApJCkYN9SS3-omYy-RXsDCftO-usIFyfnzrw24XiHn3v_CBbY5USQMWiUWN4rW_Gkxw5VVx5cxpl7FC4g0wu6OC-X4ud34WJIGooA9mbXfNmtaSuPixfRNmLx3pq60LnBPlnvFOJqYTFfk2__s_CblAQUeXhWs9qmcNMO2W3Q-bPf2j_rtbejpK6ijNeAj1uI7x1mI_EhfApSUjHOy-VX9bTRsTrZ-Wqo1lVJj22pM0vS6b039ugD4F_pFpCf56M7rQhNep3sPAzErD1IsA5dKKlxYQroifMEfVn5hiaLohAvf9PNwkvu1uFtcEp5mzOX7DeCBNF2DkSxaLTr0Y9do7VV8-oKaP79Cv_3wr4SF38YNu7G5xDyQdwcTzqERXlLD6zlCLI2pfggQz9XbDOi_4jJ_NlfKbiAekasfeZO3_aIk0gnpvPRcpvM7jg49nrg4VMHSbg61vByNlAQWcjGWNpsW8Bg16CvzyO8n8hEOasRywAns2g5XBW_XF76aS24M-6uYsvOiiJn6rgAGhj0mzBxfjKcRVmLe0ZB_Kf0McqQD29LwXwlbGrDXICK28wYX6cTY4E5XLlcszEarwwla11aDnp2lxCvC21r5xhX7Uwr0LCPVvVnTL3ZXslm8Btxa6QwzwXC_JDOkJu9Ovh5EquQvbCLsVM7WE1R0PafMOjN-OH3rRmQ1QLUwBENB1O_r2Fqz8QkqrezIRqGBEk3X9DioZfZ-VxQjIL4-Djr9UUQr8ZVvhdiPFhqKUFAHfhnhChMzQwVjPZU_E3p97nf53oz2r6qeyyjaVdzM0kys28eCuc7ROeLWz_UCjQELG7QCRrniP_UGN2OfPrdgTetjlB8HhmfAO4yTIITnQhLGquHvv8_myvlwkhZgIkA_u2K0VibxwDRWRP5D-F85bDB8lfNg9oGcdR7xUigsdbQlVo7vwMymFkadS5ILlwkZuh6ZvVH8AjmIwxgQoEz6F3xXxHVSh-m87QmE8gHwcI1O4BC0nDH2VLJagNrFwavzge7ssViERdMDbIS7MVPcKteU--2hnIONQSF3XuzmSNoZHkKLJfHzL-fQxE=",
  "id": "rs_09f67476484e4e1e016ab44c268e8087d0bdd5c3b416ea0cbc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_x\":0.395,\"left_z\":0.07},\"note\":\"The gripper settled at the empty threshold and the plush remains visible ahead of the fingertips, so the first close likely missed just short. I’m reopening, lifting slightly, and advancing 2 cm outward as the wrist-camera geometry recommends before retrying.\"}",
  "call_id": "call_aozw3fZCPNrB85HB0ZXi1V1j",
  "id": "fc_09f67476484e4e1e016ab44c2830bc87d08bbfa7ef66c41eee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aozw3fZCPNrB85HB0ZXi1V1j",
  "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]: [0.1032, 1.5002, 0.4919, 0.4328, 0.0288, 0.0334, 0.9955, -0.0147, 0.8082, 0.6083, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3879 left_y=0.0387 left_z=0.066 left_yaw=0.0514 left_pitch=-0.0119 left_roll=0.0284 left_gripper=0.9955 right_x=0.2955 right_y=0.0014 right_z=0.177 right_yaw=0.0003 right_pitch=-0.024 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -4.4923, 8.0889, 1.6777, -0.0317, 0.0366, -0.149, -0.2256, -1.3197, 7.0222, 1.707, -0.0513, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d89163f3072d4bf7e477a85ff6fea739baab886f11dcd59e57bab621d90689b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a6e98bab31bf553d49691d5efd0886afc5051c1b3cebad9fdf7ea7aeaee0c42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d40ffecd7f4f6547f8e2623d62da63ffdbf4d5a7f756c065b79d466e8cab669",
      "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 · 5.755 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]: [0.1059, 1.1915, 0.7048, -0.1596, 0.0532, 0.0467, 0.9995, -0.0147, 0.8051, 0.6083, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3623 left_y=0.0327 left_z=0.1474 left_yaw=0.026 left_pitch=-0.082 left_roll=0.0207 left_gripper=0.9995 right_x=0.2954 right_y=0.0014 right_z=0.1779 right_yaw=0.0005 right_pitch=-0.0206 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -3.4393, 9.265, 1.8486, 0.1929, 0.2076, -0.0122, -0.1573, -1.3333, 7.1179, 1.7705, -0.0366, -0.0757, -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]: [0.1081, 1.4826, 0.4229, 0.4904, 0.0364, 0.0452, 0.0348, -0.0147, 0.8082, 0.6083, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3749 left_y=0.0378 left_z=0.0578 left_yaw=0.0436 left_pitch=-0.0058 left_roll=0.0346 left_gripper=0.0348 right_x=0.2955 right_y=0.0014 right_z=0.177 right_yaw=0.0003 right_pitch=-0.024 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -5.4359, 6.188, 1.2137, 0.0806, 0.0024, 0.9939, -0.1436, -1.5385, 7.1863, 1.7314, -0.0464, -0.0366, -0.0171]",
      "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]: [0.1032, 1.5002, 0.4919, 0.4328, 0.0288, 0.0334, 0.9955, -0.0147, 0.8082, 0.6083, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3879 left_y=0.0387 left_z=0.066 left_yaw=0.0514 left_pitch=-0.0119 left_roll=0.0284 left_gripper=0.9955 right_x=0.2955 right_y=0.0014 right_z=0.177 right_yaw=0.0003 right_pitch=-0.024 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -4.4923, 8.0889, 1.6777, -0.0317, 0.0366, -0.149, -0.2256, -1.3197, 7.0222, 1.707, -0.0513, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d89163f3072d4bf7e477a85ff6fea739baab886f11dcd59e57bab621d90689b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a6e98bab31bf553d49691d5efd0886afc5051c1b3cebad9fdf7ea7aeaee0c42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d40ffecd7f4f6547f8e2623d62da63ffdbf4d5a7f756c065b79d466e8cab669",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEwsoOa78YhVyrQ16N6xauOpEIcdzD81AouF61dFAzHMh8TCl1lkZiG5HcVK0UPio1B5k4SHkz9o8RE2fqxGwBZSgf5cpWd4ZXWKA1XQIN3z4C0ipEIhbj5YvDPR3sNVP9O3I0L-kyEzZBL_pEgsCftZ1yK31UwjOjJ_s0yKN4Onqoc7qhaYIzg6ieYz740hKERkxUNcahBK2fKzYamDR22GkoiJYaYkALxvXO8WyNseKM54zBWljV11eltfM6SUaAJyxyy9OwpoGmj44OEJ-hIes9rW40kRBqy-BevSbSiAINtmV1pCxJeti74KKsajwacNOAEiWgdAJMyeWU3ID4JxuHG02fYgkCQx_bHPrPNDppGVOu4acTjqfleRYy-EaDkrxmPtPwTPAXDuBkyjdkjXYky8kuGhPls7chZZJG0B4waRZQNu3TdG6bOwZsYEQHwfazymRufQXF8MIxx6fjJ0boMRx-4lVG9zdsOsyZTIoN7f2_FpAyiQRxJvmzGJghgh41UTpy2GjNxp-bPCt84nHKOLG3UQa_S0RJwhVeJ5HFIer3oJHJSPKhbDjwHDuEWvjjDE03KmMPzACUKqS1KnhfEdL1U_8ANZcuOO1LWCfGSDzpwjJv0HgagmPv62PC_OzctjpTjm9fwvdlbkQJSBVKva_K9RaMQ6nxmmD-BkucPMujHC0yk6vEu_xkzJEMIQQ8BCFrwcEyslzYnVzK_ZYM9jas1CLD3h1JgFGW2Vq4DZEu55Z6BQ2pj2dkIbmP1K440FKAZuc_nnfKMVgDGGR3fmzUJwXjRaSxC0wZ8H-dvNihXbhfd1vdhRrmpLifCImT2dvZUa8EIeGuYdzjnUKkrgtbWNbS-K_3gwAUlbq4WV8z_EYZSn52QkSYrIOoF6gQ6wZXt-iUrDS-3sGALbIfjnGdYGbjJcxuxNAyIVWwyJkP1HiUVx7Nl8f352Eon8YTQng6sDo83Xswi0C7M5H_jHol_YO5sJUqTfUjAwiyHZVERU8fSfyUNFcJGGVapmvyW78Dti4d1wu6UQwMq5hqjGk3Rkb9btfx57g6ia0WXWKlQcyEtCfairhI5E0f1b2mDsLEMsoRRk_HaNbJ3e0vBMo7nRF0iIeEV3_jNdNuQnl6WHjj-2XULwwOpuXqVkcCn_13XwFc5-reAROs9VN0Ago1FEwXo9WomYuzRIQQQVerzYV_p_MACmtSIMShyRzpGHYAbYTc4t8YTbb2Nw_E5JmmeRmcWua0e-GbsN4ro8XqTyzmaP5oJjQTejVfUHRTrBJSE_r_sBZ3NoSW6opElx2ypGolusBCf1-lbxmDo=",
  "id": "rs_09f67476484e4e1e016ab44c2ae24c87d0bd1a9c57e7284892",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"After the 2 cm advance, the gray plush is now wedged visually between the open jaws at the bottom of the wrist frame. I’m closing at this improved alignment to capture its body.\"}",
  "call_id": "call_dgsmKCzZ8wJp1RgljMxZsvbI",
  "id": "fc_09f67476484e4e1e016ab44c2b251c87d0be5c074e5d94e8be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dgsmKCzZ8wJp1RgljMxZsvbI",
  "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]: [0.1013, 1.5002, 0.4938, 0.4347, 0.0261, 0.0296, 0.0181, -0.0147, 0.8082, 0.6083, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3888 left_y=0.0385 left_z=0.0672 left_yaw=0.0537 left_pitch=-0.0082 left_roll=0.0268 left_gripper=0.0181 right_x=0.2955 right_y=0.0014 right_z=0.177 right_yaw=0.0003 right_pitch=-0.024 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -5.5179, 5.4496, 1.7118, 0.0366, 0.0269, 0.7302, -0.2803, -1.2923, 7.0359, 1.7411, -0.0415, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c26b9757de105b561177b67f9908801493bd2d35af486906dc4d09ad163faa70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f49e66084fb51ee1da864e8eec6b56af61c27ea195ddb7d38388e7a23c4c549",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd99dd78a59e4b7658ea916f63825d29b2ddf17d0fe418907ce555dfbc19fee8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 2.037 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]: [0.1078, 1.4807, 0.4305, 0.4347, 0.0479, 0.0463, 0.9995, -0.0147, 0.8051, 0.6083, -0.3843, -0.0116, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3699 left_y=0.0351 left_z=0.0501 left_yaw=0.0328 left_pitch=-0.0514 left_roll=0.0259 left_gripper=0.9995 right_x=0.2954 right_y=0.0013 right_z=0.178 right_yaw=-0.0 right_pitch=-0.0202 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -4.1368, 3.5761, 1.1111, 0.0562, -0.0171, -0.0122, -0.1436, -1.265, 7.1179, 1.7656, -0.022, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1032, 1.5002, 0.4919, 0.4328, 0.0288, 0.0334, 0.9955, -0.0147, 0.8082, 0.6083, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3879 left_y=0.0387 left_z=0.066 left_yaw=0.0514 left_pitch=-0.0119 left_roll=0.0284 left_gripper=0.9955 right_x=0.2955 right_y=0.0014 right_z=0.177 right_yaw=0.0003 right_pitch=-0.024 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -4.4923, 8.0889, 1.6777, -0.0317, 0.0366, -0.149, -0.2256, -1.3197, 7.0222, 1.707, -0.0513, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1013, 1.5002, 0.4938, 0.4347, 0.0261, 0.0296, 0.0181, -0.0147, 0.8082, 0.6083, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3888 left_y=0.0385 left_z=0.0672 left_yaw=0.0537 left_pitch=-0.0082 left_roll=0.0268 left_gripper=0.0181 right_x=0.2955 right_y=0.0014 right_z=0.177 right_yaw=0.0003 right_pitch=-0.024 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -5.5179, 5.4496, 1.7118, 0.0366, 0.0269, 0.7302, -0.2803, -1.2923, 7.0359, 1.7411, -0.0415, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c26b9757de105b561177b67f9908801493bd2d35af486906dc4d09ad163faa70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f49e66084fb51ee1da864e8eec6b56af61c27ea195ddb7d38388e7a23c4c549",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd99dd78a59e4b7658ea916f63825d29b2ddf17d0fe418907ce555dfbc19fee8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEwy1AWY2voCSnH8R5B68diPNE8Dnu9FgmOur6xgq-7IdUW-dHRmO2dw6T1joiGWV75MEExFECskPoBE-i62nltbjUonqw92hUNZA0U9KTNBsEdLKLeFzJypnlwZRy3ltxdBX6OLd7eb-sfaDW8eYdP5jTw8YylXXIRH6GdlkPHvXHJ3qaedd9FZoCxzx9cMHxubievayuYRy-7CQGvsEvs4J6hEPyaU7werxr2rcMXZMyShupOWyDQqCZ6dzh4uz4YOkHe6CiJ11hWLiB3C52XdvKgcw7AI572TOQesK-fXW7yB9JhK2Z3A5TpqV8YvcKc67j5Aql_F3PeSDWx5ghZLsSFlRzemiAoSDYQX_ndmUxxyDDzYlq0ciHyNSBE2-YkWkt6QXvZlscNo195zviYq-qvEtfQW7LTtmRMJcLoqz34o4a5TeEdN7iW27mfqZVy2CghBkXrxLhxTF4K8qrZiYcuXhJ-V2Te9oKVoJVkGm-jvDDVtUXwB5MsAFqPZ2P7gjjCYobjFhD7jHgLAlohutCUrzfApemeI8NQw6Du2nTO3sQT-6JSfitdAbFngx46jfkl-IwA0mz6_r6YQYtaeUoPobIUL4qRpaoR_p_X48Dvohp8lyKJh9TPrWfQU8wwcqw4aMMdRLq4oPcwmHVwzjdIOM_Z971rpnJy1COM12ZWfWWH-AwU663OIDIhC_mfoX5lH0Nn65cCqv863H14xF8RKhJO1V46IRXn-4BuveKta_GyKUNqMbaCtiiq9BxC7WGrk2oEeOZIfYTD7od5_O7gVNWIrY8dlkJJl_eCWvIdXX7y8PfSfr_QYVuTUMiGlWXA1AmkjIdlFY7z7_mfQoUPI6fdOV1-Fl64-XnGvDfT52tj3BYgKP9zVTE1lj_QBwr3uAjM78FeeEZwFFlYx5URlGeEN4U_4_cnfAFiUI2BzoPrkljbASHM3nOZsM7NgrCX91sVmXDPZkAGgVTATJnOSIhZ-9pa0E8i-jcWvrj6tMYzcqwZfrUXU_5yC3HmY2VbUpdruJw0mJzXEdVnR_scDs9W7C-Z2XOJq-JLGBbl9HsgcsH9aafnwW00CVFUgSQiGGmGqwkpmd3nJs3hRnleIRYSDWoOdWmSbZZQIHyo6NaY_jg3QR5Wxmy5MyDnavLvjXwlzuEOt0QZC--9eq-q1r8AQsW_qI4UkDeWzyn6ORVhqQpQNAQeKOKypzt3fLhkEv2IgxLIUfnNYPxTikIZk2zXkDj525QG6XEAjXMWV0GKjedwp_wALVkKVQgLg9fFie8nb_XkitnTV4PBQJbY1u3FHH_vc0tl-pyxL4Rk_PrjBP5qGDFQQuff-pcdOzPy8C2Mb6lIFW9ywdf3QGChSXGfenndXflh1JDimR_hv-WFi8SRNJ_Ak7U75tBtdmpK1S75G1wsQ63mapeCgstPLB8lUHHqbugv8tOi02PfDPn9fwkGrFyjtufKWdp3MMe3ukH_7lHhgwu3usZPy5RoYZPMXu4k6iMZEfHPmeSlihtw5vmCJDGiHEx7erlw2JDyu1Bm1xJG1Go1U4vV_HjSAFHc0PoIXoINXMiU0HMGZjnzFz_zaCpSpUX-A3fjNbyDxW5bf4pEdVhla1b_l4cdxTKSyeBRWmYZ83sBM9YZP3JHzhqa6dEU5hiVgM-8yzSRtZzSXC6FycDst0vcqn6mF6hlMwrn7ykP2xZD9jK2d7CWnv93WJMyLqw71hAWGOImT_V6pk69u6n-ImdutOHptg9xY7vDwhGUUEDeZ9VV9t7SrHC6t89aTzbgZi-n4oMPl-1PgmbqDWn-qEekJe50932ris4bwobcFZBrFuTHgg_Q2b0s29oSq58PJtUMsGQ9jlsRJYGEOPQErnw2Uvy4F-uSST1PpgsIHxUWdMJuUM3NellXVQ6n1GrMewgPjgm5Zq651S00kY_9PeJFjJLSae-u5Zai5otcX7r81uzQCsBBQdVS1jzv-GauqE36KTjsdwgJDmAK6_uEqUo2FH4PDzapneNJvNYDtLo_OZH5tF9MV_1ib3_1S8j7l7OA9Bqc8VC-V1koKACzFXiCTDfcG1xjB8lqRuDNDzSlkriMb1_IpCsV19r3kyHPhQ7ShGGqhA6OKeWY6sUFdLDWpWDOT_nJ5MzNZqAw4-pm9Os_6UufUwviKTFlUzgTX4hyVoCDMOVxkWPCQgmZj4XayTKp0CSw16BwbwlBKIZ45D6Ox6u9xRDcQwWRPEz8wlKx4tuEkk146tBn3zxzHjxiOgRCdZZLuur3sUSwR7F_yPQtwfiozsXzrk4ySLydyliX07efIOnQvOzOwaQq7F6s-cWywmC-3aOJJntI_g4amF7mZHD8fG9SLgsiYS0q0C_dkeTRw8bvlVzQiBmtYf44TGWZujUwAYQXkpzN8HGf78tXSTv74gR8i7N2SnR8YTmrBT-U7388TI5cO7jbyTM3VwqrEQ8CY6zmP-NBDqbPoG8q0pO8q9jPUUeZUnrDZxzbI_ZsH-fthiCd9QtSoOgMARD6JPWuZ8jqOFS-xzDNs-UbFc4xuQRPdZ_ZqUhfL1gmzYeiKjMdFbdpJZ5UjfHirDTDvvLFJOdcsVdAPO9VGq6jmdG7_fmBaaOFBkn8sKHBZ-tPpPs1N2kfZOBdcIcL1vKUUV3ZwRt9ti99pm1JPWPZRSE5PL5XAr3cxOl0cIRWJ",
  "id": "rs_09f67476484e4e1e016ab44c2f14bc87d0a103f4b7b6324e7e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_x\":0.415,\"left_z\":0.075},\"note\":\"A full close again went empty, and the rounded plush remained just beyond the fingers—full closure is pushing it outward rather than pinching it. I’m reopening and advancing another small amount, then I’ll use a partial close suited to the plush’s width.\"}",
  "call_id": "call_r5UXl182mHtpSHD2McqbkTOr",
  "id": "fc_09f67476484e4e1e016ab44c31d83487d0a99da75c32197a84",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_r5UXl182mHtpSHD2McqbkTOr",
  "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]: [0.0986, 1.5696, 0.5755, 0.4011, 0.0223, 0.0151, 0.9953, -0.0143, 0.8082, 0.6079, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4063 left_y=0.0398 left_z=0.0656 left_yaw=0.062 left_pitch=-0.0294 left_roll=0.0159 left_gripper=0.9953 right_x=0.2955 right_y=0.0015 right_z=0.1768 right_yaw=0.0007 right_pitch=-0.0244 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -5.7094, 8.2667, 1.6386, -0.1245, 0.1001, -0.0171, -0.0205, -1.3333, 7.0496, 1.746, -0.0415, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1548dc0c80b83fb866fae629fbf51a49de19a7cc2633e73e75f9d993f45c184b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09d1d2da3ada3cbfc16ecdb53a0b1766091304e7f41594fbe165aeb4d4d58649",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:911a8289d454ef91c0340d127f3e45aea28c0fd25d38c4580306173b1d3afc8e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 2.373 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1081, 1.4826, 0.4229, 0.4904, 0.0364, 0.0452, 0.0348, -0.0147, 0.8082, 0.6083, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3749 left_y=0.0378 left_z=0.0578 left_yaw=0.0436 left_pitch=-0.0058 left_roll=0.0346 left_gripper=0.0348 right_x=0.2955 right_y=0.0014 right_z=0.177 right_yaw=0.0003 right_pitch=-0.024 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -5.4359, 6.188, 1.2137, 0.0806, 0.0024, 0.9939, -0.1436, -1.5385, 7.1863, 1.7314, -0.0464, -0.0366, -0.0171]",
      "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]: [0.1013, 1.5002, 0.4938, 0.4347, 0.0261, 0.0296, 0.0181, -0.0147, 0.8082, 0.6083, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3888 left_y=0.0385 left_z=0.0672 left_yaw=0.0537 left_pitch=-0.0082 left_roll=0.0268 left_gripper=0.0181 right_x=0.2955 right_y=0.0014 right_z=0.177 right_yaw=0.0003 right_pitch=-0.024 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -5.5179, 5.4496, 1.7118, 0.0366, 0.0269, 0.7302, -0.2803, -1.2923, 7.0359, 1.7411, -0.0415, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0986, 1.5696, 0.5755, 0.4011, 0.0223, 0.0151, 0.9953, -0.0143, 0.8082, 0.6079, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4063 left_y=0.0398 left_z=0.0656 left_yaw=0.062 left_pitch=-0.0294 left_roll=0.0159 left_gripper=0.9953 right_x=0.2955 right_y=0.0015 right_z=0.1768 right_yaw=0.0007 right_pitch=-0.0244 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -5.7094, 8.2667, 1.6386, -0.1245, 0.1001, -0.0171, -0.0205, -1.3333, 7.0496, 1.746, -0.0415, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1548dc0c80b83fb866fae629fbf51a49de19a7cc2633e73e75f9d993f45c184b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09d1d2da3ada3cbfc16ecdb53a0b1766091304e7f41594fbe165aeb4d4d58649",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:911a8289d454ef91c0340d127f3e45aea28c0fd25d38c4580306173b1d3afc8e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEw1ED8TbELlAt7PpqfL_HSp87gffIzsgLn4Rm1ByPhO144T4VS7rySmmtSrz3dVPTJvML09TR0XerITVPU7D7TNvB_l7Y3Hf1WzbBHwYgLH92Cg_VDQuEChhn881vqvYD0gEDgT-LZjQ5WbEkGa-GiieIyogf2GwyHpwoY2Ei16QmgHU7tqjMVKgX1xScnw4z5yRN0CwrKgadVHhkc9csy-rwXJflCDaiHSi3EvFJu2PVFE43lqBzmCIYuKeGIuIqCh5Zmz_CSA1cDO_snGCD6mxctV2s-XFyHq6U3NGDBboa36sQCbwit3VzetNJ3RzpjWvWGtGoO2SG3ItT1dkDjZcQf_yhG5aeB-6usxGa6Dq9h4vH85PxCjm9jTWt-mAjTpEmKNpsyjAKng-7EQ_2W9svbsoK6LCXm62iUHHm6XKD_oDeZqA1QCnogmnzbnh42EPJiP9ThyZhMC9-1xWvy82LPN_V_VfVMT-sTPn7DS14OotYK5SkwVfLm4y8N0u9OWKBhLSpzdIUOgA_wMAWQzujzIXM2lsGeZ3_aRPJfWSdLPFfF36NNE2FyWXw4lUCefu62bf4rIhOQsuXs0Zf7BNl6KHJt7oGwaJWhxQaUC8trgUIPqeVX3OP43CZwvU5jUkKs3VMrV3ubwMAuofppZHCuoZKF_mnZk_oaIIMchDf-j25KdLLxcGPEsQazMvmp8xC9TE4k3-LegKWOmATZuGTjkd8gfvozGEZ964hQ5K9ngXnG1_1ZQGX2XFy8XA6tkS2Nqr93mbh1fJi1FPnxc_H-mnSm192S27mv8v43qIoGGtZIlbsF32IZcKQupBPdKpk7uGS8Dpzvf-d-cBUzkDU8gjhsCBQSLQBzlMI3z0l7UN4krJO1wqNcnX0_nHowI8TQSt_phceFkRyk-Xoq0GgkmDdg51dKr8OizTcZzt_xTEIlmwcl1LKmeaXCzUYUEUGyjOK8D-wkDpShzV4lUokTUZh_RwK819TjIk-rx7jTXcDGzzbJ16Cu8YqAX9OqmZ81KS7Vf9xj9MLOVx0cfw6cnP1qf75pIKPlIvk-2mcROD434tD0Td6WgmBHdEyjvTJLNFZTjcGDeEGswQ6p_3_Dd0gchn-5GWBKuScknVQdHSTZ_DacmcXK45YKeU_P_qQqq3AynBUm5mGVxOvThj0ZnD5mT4UOOe20x31wpbGFJGbbh7POLls0STtlD58Iw5MEqyGcH_auil4Ew7C5MWXRmaTeF_4inSMWUJnQ4170=",
  "id": "rs_09f67476484e4e1e016ab44c34c03487d0859ebb643eb5b278",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.5},\"note\":\"The gray plush now sits deeply between the open fingertips, and its body spans roughly half the gripper width. I’m closing only to mid-stroke to cradle it without ejecting the rounded body.\"}",
  "call_id": "call_BfKZefGkNVP6JEOIjiJC2FR0",
  "id": "fc_09f67476484e4e1e016ab44c34e8c087d09cb212bbe4dd30dc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BfKZefGkNVP6JEOIjiJC2FR0",
  "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]: [0.0998, 1.5711, 0.5777, 0.387, 0.0219, 0.0082, 0.5048, -0.0147, 0.8082, 0.6079, -0.3851, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4049 left_y=0.0402 left_z=0.0631 left_yaw=0.0671 left_pitch=-0.0427 left_roll=0.01 left_gripper=0.5048 right_x=0.2955 right_y=0.0013 right_z=0.1768 right_yaw=0.0002 right_pitch=-0.0244 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -6.4752, 5.4769, 1.8779, 0.0024, 0.022, -0.0366, -0.3487, -1.306, 7.0496, 1.746, -0.0317, -0.0611, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c558724c61510cb7dc4223faa7a50ada275c985bc6b020c9385fcd52c36525de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bda7ac00f0cf2629c17d9707cfcb5ac1fe37ec7f87a27d53144b28d04ea808c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66939cd3fc7a52451c0fe60e53d3cba854f7d8b0ee276f5087bed5643f76ea26",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 2.145 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1032, 1.5002, 0.4919, 0.4328, 0.0288, 0.0334, 0.9955, -0.0147, 0.8082, 0.6083, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3879 left_y=0.0387 left_z=0.066 left_yaw=0.0514 left_pitch=-0.0119 left_roll=0.0284 left_gripper=0.9955 right_x=0.2955 right_y=0.0014 right_z=0.177 right_yaw=0.0003 right_pitch=-0.024 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -4.4923, 8.0889, 1.6777, -0.0317, 0.0366, -0.149, -0.2256, -1.3197, 7.0222, 1.707, -0.0513, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0986, 1.5696, 0.5755, 0.4011, 0.0223, 0.0151, 0.9953, -0.0143, 0.8082, 0.6079, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4063 left_y=0.0398 left_z=0.0656 left_yaw=0.062 left_pitch=-0.0294 left_roll=0.0159 left_gripper=0.9953 right_x=0.2955 right_y=0.0015 right_z=0.1768 right_yaw=0.0007 right_pitch=-0.0244 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -5.7094, 8.2667, 1.6386, -0.1245, 0.1001, -0.0171, -0.0205, -1.3333, 7.0496, 1.746, -0.0415, -0.0366, -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 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0998, 1.5711, 0.5777, 0.387, 0.0219, 0.0082, 0.5048, -0.0147, 0.8082, 0.6079, -0.3851, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4049 left_y=0.0402 left_z=0.0631 left_yaw=0.0671 left_pitch=-0.0427 left_roll=0.01 left_gripper=0.5048 right_x=0.2955 right_y=0.0013 right_z=0.1768 right_yaw=0.0002 right_pitch=-0.0244 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -6.4752, 5.4769, 1.8779, 0.0024, 0.022, -0.0366, -0.3487, -1.306, 7.0496, 1.746, -0.0317, -0.0611, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c558724c61510cb7dc4223faa7a50ada275c985bc6b020c9385fcd52c36525de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bda7ac00f0cf2629c17d9707cfcb5ac1fe37ec7f87a27d53144b28d04ea808c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66939cd3fc7a52451c0fe60e53d3cba854f7d8b0ee276f5087bed5643f76ea26",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEw4IBn3qCPx_b8CiwnzuOuCbS7HbdWMw7gaJoI7Mwf3Ruk6eAHDxO84jkLlNnRN9NeMze0z9ImNsmPmRzant3_-LKpQ4HFxwjNn0nHIw9BU9lwT2casEmay3HF1n2h0KgzAvoBkOSuxXHI79MrdnLjQRPnwYnZhLwWJK5GB3kObnvSisRTkaxJkwqd1P4KlIjsIYryC1LatlIPCZi9C68W9NMInK0SU8JHG4NykDeYOhvFBaIUf78ItHDjahHpebZl3UrkW_epNaM0wre7JOgv4cncurTQciF3HPMxy80oFWsjoOGh8zsSS1NK_7GnLZPfGo2Du3CvqnbXGGcfPZW8otHz0BYVr2nbdtjhftdXLdIPhAqc48_xKf1ytTzNKDsaKMRDXDKAJveOA4dLnSuB4iO5x77KhA-4y1yAuONkv0T0fOx5WyexyCW7b8vyYfNH9IEjAW6JPzcRJxn1dQZCX2fmaXjiUOO2WUmvW4nx2q0vozEQ1y3MbusavdU6CSsrGRjmIm7syMvsLhcdOaDiIjzhQ47cNs4sWA0-sVmz-3PpkRB6JeHroK4LcMvTL66CVVPnHKefljgSfpKISr89Oqa5-hnvQm6-DoIKbNIkkLRri-Gt8kU9W-d-mWBsG0sqBUFvhY2m6DiHe_0itg3W42kCLRUjgkyX3SCTkaODrWZOsaahJBw2KImIrK6PGHShzzNWanFVShziAKn6af98ajsQSqoHneaAj_043Tmg-P0xtRev1kNYhGzJ8c1U99zL30_HL1Ffy4k3fyTXzdqFQvRRtbr2Jzq3HtdQeSWmrZgNgVnxtPkyTB15suCj7ap2h2FG-gvg0OfwEKlr2ycwpiktT8X_jVnzmxKLhvlvPxKS_RODP5MYbeGm3yaSZ3MalXwRdfiKjXPXHWrSW_42gBsMcmLOk_b-etxBmQ8nifJAxcnCMFVFTQaBgXO3o6Dv3yhvZwq65yQPRK7PPkK45fQDPcXpWwPiy8Et0a615SvUxArR3QqOrE1mkKjInBUmmdqVGtDb6F6UMkdGMPDsWvffh-_Fp4Od2ASZdGQhBpg5vnuF-Dw1WBDu8mXhYDopNDd3--u3jIpmqg4sqy3sN-Hd4RnopT9Unfpjb2_ZVqwuCM-PHAcK25M8NT-Bk4cy12loxjLlAx__kf8xC9BQe7gJzgGJeqOzwuj6dymgSSbl0sC_w93nRqWsXlQti8KWjbhOxyy1PvLkP7crvgbJ1sgBm0jCfDLRz8Ihzfdx5lddaaD_l8_dpea_q6u3a79Rsho4drSQsiQzIQoGU_tY6Jg==",
  "id": "rs_09f67476484e4e1e016ab44c37663087d0b571ffa5e734689d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.3},\"note\":\"At half stroke the fingertips are contacting the plush on both sides without displacing it, but the grip is still loose. I’m tightening modestly to about 3 cm jaw spacing rather than fully closing.\"}",
  "call_id": "call_qr3A9G2TIE1KxvysXeWrrQEh",
  "id": "fc_09f67476484e4e1e016ab44c3797b087d0bee444bbf31681d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qr3A9G2TIE1KxvysXeWrrQEh",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0998, 1.5711, 0.5777, 0.3866, 0.0223, 0.0067, 0.304, -0.0147, 0.8082, 0.6079, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4049 left_y=0.0402 left_z=0.063 left_yaw=0.0676 left_pitch=-0.0431 left_roll=0.0085 left_gripper=0.304 right_x=0.2955 right_y=0.0014 right_z=0.1768 right_yaw=0.0003 right_pitch=-0.0244 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -6.3111, 5.6137, 1.6923, 0.0024, 0.0073, 0.2076, -0.3487, -1.1556, 7.1863, 1.7509, -0.0415, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69b409f55cdaf6042b8b31b3792ddd65f1568966eeb7fcebf47ace2ea80cb255",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5b44a44f95cb28f464956f3c2e6e68019c0669a89a4e2e34327f3bb434f0699",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4394a7d120170c0e3da9864f50f3715592994b9232124df2c235f5ed98a42ed",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 4.302 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1013, 1.5002, 0.4938, 0.4347, 0.0261, 0.0296, 0.0181, -0.0147, 0.8082, 0.6083, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3888 left_y=0.0385 left_z=0.0672 left_yaw=0.0537 left_pitch=-0.0082 left_roll=0.0268 left_gripper=0.0181 right_x=0.2955 right_y=0.0014 right_z=0.177 right_yaw=0.0003 right_pitch=-0.024 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -5.5179, 5.4496, 1.7118, 0.0366, 0.0269, 0.7302, -0.2803, -1.2923, 7.0359, 1.7411, -0.0415, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0998, 1.5711, 0.5777, 0.387, 0.0219, 0.0082, 0.5048, -0.0147, 0.8082, 0.6079, -0.3851, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4049 left_y=0.0402 left_z=0.0631 left_yaw=0.0671 left_pitch=-0.0427 left_roll=0.01 left_gripper=0.5048 right_x=0.2955 right_y=0.0013 right_z=0.1768 right_yaw=0.0002 right_pitch=-0.0244 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -6.4752, 5.4769, 1.8779, 0.0024, 0.022, -0.0366, -0.3487, -1.306, 7.0496, 1.746, -0.0317, -0.0611, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0998, 1.5711, 0.5777, 0.3866, 0.0223, 0.0067, 0.304, -0.0147, 0.8082, 0.6079, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4049 left_y=0.0402 left_z=0.063 left_yaw=0.0676 left_pitch=-0.0431 left_roll=0.0085 left_gripper=0.304 right_x=0.2955 right_y=0.0014 right_z=0.1768 right_yaw=0.0003 right_pitch=-0.0244 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -6.3111, 5.6137, 1.6923, 0.0024, 0.0073, 0.2076, -0.3487, -1.1556, 7.1863, 1.7509, -0.0415, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69b409f55cdaf6042b8b31b3792ddd65f1568966eeb7fcebf47ace2ea80cb255",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5b44a44f95cb28f464956f3c2e6e68019c0669a89a4e2e34327f3bb434f0699",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4394a7d120170c0e3da9864f50f3715592994b9232124df2c235f5ed98a42ed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEw6WVYRDcO54Q6BNloSppOjyEZnWQRlhHs0sIEXC5uZyImSGAlmbrj0bxBue3LY-48oBGfcGyv7fpvs07EAGgrgrg6GkxSA9hTekYz_x1QGHZG85TOuMNHCAhN43yUCXGfVMS727yyxDFcFXKbgs2_Na1V3kJ9-SuojhrM1v74fB6cBGIw_Ay2GRt9Kh7nReD04viiInckUK2Qs84OdlSCUa6U7rQqUL0RL5CCGfESL82_CF6jHFzYz76P0Xq-L-aJ35SkiIr77ndz4G9_ZdfuhLHY2B0t61QYpQAwcC0L3LVwV2_uLF8ixW-P6qxs2-xwMxZ_pZnig7NBOUTA5oLj4BI7NL5btuR4Lt_WSWcJysMWPIIdycCbtjvl0Y0gImpSHhm3naCPJkOKIUSPC9AMJBk2kqGu35rhAVfJrEicVLfAUWO0qe0Qe3AFix-tZu53bwsa_2ZkXd5fvfVcthr6p8lX3X_kuLHt5CGWQzwkwhL07NxkNJq9Kxd7j7NcjXg_5DBLTpk8Gn6eFXa0CaNy1qtOXINqwczmN87NRigSmj5-IaMkQoCFOwoVIfUHLyZYyQYOiYjGcv0x1QF-Anl9RjtgOYhg8HU6VtC5hABOZh2395QeVrGNgHxJoS6ejvFEfqAYgJpdSUT82BPpTrvsD85nk-rxMT1MQVf0z1iYiRkJUqyAIGCndki85y_p8Fsri51QiH_Y1yI6uxYc9qYlJFnGfYGvsSYZAgFvGOUNCapNRXAbxTDdx6qfqP0RfSAKcu60C9-DOap-ldKyyPF6o5YoUg9I5HMvAO37gBwaLsaaUHSFCgrCGn02TfTSBGK0oD4viIKBOjZzszzjr9pkLifVOGAkrGJr1bi39krVrZsYMIdV9G_ReDEm2L59dXj5Sh9jEuFkHGu0XrHZQdeH6ReBV1qbY4jel3L6QMP7o4xDxhV4ilrHBkTb3s7lmc1RAj4t8Y7n2-9RvHrN1lCeBSyGSsMQwDGz1E6Q-RToGE6SPesux_26nrZUeMjDTyxWCfENxb3xwayMIbu3JzskEnNdYF59-qHyWfPRxWFZkYDaSUjG-tK-qz0llL96ea2mYrpbBu86_KbcpyPuDm4JFQXu7qFnGucd791EfKbanhu2UvhGmxJ6kmGDz3z3g6wA1AXE-418dby221_L2tV924i0a8o1mr2ObxmBw0NvbKhbiDFftO7O_L4nfYqChCZXXfirqSCDhq1bS75vsG5KQe2uAtM4rcFoL0Dj8frk0QVWOru3SygKfBLXqJrwcDNqH",
  "id": "rs_09f67476484e4e1e016ab44c39e65c87d0b5bce257277a08bc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.13},\"note\":\"The partial close is holding at a substantial 0.30 reading, consistent with a plush body between the jaws. I’m lifting 7 cm to verify that the gray animal rises with the gripper before transporting it.\"}",
  "call_id": "call_CwNC2Tgn4huIBPgFxRfLJwz9",
  "id": "fc_09f67476484e4e1e016ab44c3a227887d09e5ac11b1423eb6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CwNC2Tgn4huIBPgFxRfLJwz9",
  "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]: [0.0998, 1.4246, 0.7002, 0.115, 0.0223, -0.0002, 0.3023, -0.0143, 0.8093, 0.6079, -0.3851, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4052 left_y=0.0402 left_z=0.1147 left_yaw=0.0713 left_pitch=-0.0458 left_roll=0.0028 left_gripper=0.3023 right_x=0.2956 right_y=0.0014 right_z=0.1765 right_yaw=0.0006 right_pitch=-0.0256 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -7.3915, 8.6359, 1.7314, -0.022, 0.0269, -0.1929, -0.1162, -0.9094, 7.0496, 1.7021, -0.0122, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d23231b5822c1a840d682d7521d3eda28acb145f75caaff16194804cd7d4b88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1d65820ab8fad6fe7a7dd4852c8c27f05da8ec6b9f43476b9bb0e5195e5f412",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26bc407d751ca44628882cc21a028a8f1381bd499ca4b2451fc510d28f442c51",
      "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 11 attempt 0 · /responses · status 200 · 2.632 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0986, 1.5696, 0.5755, 0.4011, 0.0223, 0.0151, 0.9953, -0.0143, 0.8082, 0.6079, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4063 left_y=0.0398 left_z=0.0656 left_yaw=0.062 left_pitch=-0.0294 left_roll=0.0159 left_gripper=0.9953 right_x=0.2955 right_y=0.0015 right_z=0.1768 right_yaw=0.0007 right_pitch=-0.0244 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -5.7094, 8.2667, 1.6386, -0.1245, 0.1001, -0.0171, -0.0205, -1.3333, 7.0496, 1.746, -0.0415, -0.0366, -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 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0998, 1.5711, 0.5777, 0.3866, 0.0223, 0.0067, 0.304, -0.0147, 0.8082, 0.6079, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4049 left_y=0.0402 left_z=0.063 left_yaw=0.0676 left_pitch=-0.0431 left_roll=0.0085 left_gripper=0.304 right_x=0.2955 right_y=0.0014 right_z=0.1768 right_yaw=0.0003 right_pitch=-0.0244 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -6.3111, 5.6137, 1.6923, 0.0024, 0.0073, 0.2076, -0.3487, -1.1556, 7.1863, 1.7509, -0.0415, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0998, 1.4246, 0.7002, 0.115, 0.0223, -0.0002, 0.3023, -0.0143, 0.8093, 0.6079, -0.3851, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4052 left_y=0.0402 left_z=0.1147 left_yaw=0.0713 left_pitch=-0.0458 left_roll=0.0028 left_gripper=0.3023 right_x=0.2956 right_y=0.0014 right_z=0.1765 right_yaw=0.0006 right_pitch=-0.0256 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -7.3915, 8.6359, 1.7314, -0.022, 0.0269, -0.1929, -0.1162, -0.9094, 7.0496, 1.7021, -0.0122, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d23231b5822c1a840d682d7521d3eda28acb145f75caaff16194804cd7d4b88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1d65820ab8fad6fe7a7dd4852c8c27f05da8ec6b9f43476b9bb0e5195e5f412",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26bc407d751ca44628882cc21a028a8f1381bd499ca4b2451fc510d28f442c51",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEw_iYED8Vh9n0rCM_zuzJCMnc6wfZee1lpWrztKrWYNPVCubEWNFaXrJ8kThwyigIXIFnrZL76cqkKEg9pItcGySBBvPrDyD-X6_rUsGZZyVlD0CKbRjpHLYtStyTgyeBMvFddwyePMrxHhu2U1Cf-79ok5vfI0mbQDRNzfIHD_pI6iy9wH42lVehb-3R4fOxD023Jq9f_lHIWTN6dknt8OL3U2C5RocY7y2A7UV2KTj0R9oGlwO2zZ9yA3l4wvJ2eklFAkI4IEkRYIu3te7fiGc5u_Uux6_W0TMZMZQXUPRU3GeNMKUNCQn4dQ4eCGGFwkWdE4tZItmhCzRnDS91V6NfgW2RUphOQ6aQmIVK18-DwTPKtSAeqh7D3RU1PdNWJP0_ub7XqvEnivbK62bH5iBQ0ZtzXkZqAiHLUcM5-wVwEz4K01otVoZKFcNujX3uy-sQoEwKle328ywC9QuVU4v6k43eupNPyuZtE3qLyOvFMC_95Bc8FJsbIPGBoqM8OqZyZPiQAAOmybwf01Km5oppome7l2gCbEwcqu51EMEpBaO6xref42C7gDK7AfZj4vlMroh6ccvVG0f53tPRC-iHcMUsSFFWFhl1RK3Otd5vvD1dmuDol5unSSHIpkjgkGFDP7_yk0eFDqR4lsqutFhirIODuXwR3DX6jbv8WLjCVwCUg_rngQNuEhb5U8boaKFvzlPRknCgvjk2U17kjiGOIMJtf_fQSQfD_9hQc7oRoDxPptltpUsqYm9CdFTbaaEjX_8nt98x41n9_SkndntnvDQHV7wMp-TfWfKlPgEaBzdph85UArdTxJJrrpKOHF8Lm4oJ29pV8iyyq9MHLKgFLBv0DLbN9KYTe9DltYCR5JQMFL8b8B0JsZ41h878GH3oq3hB19gl-qTbb9f5HCakyVKSLYugeNKF7S6Apa_xB99MIhR0cbC8zs1e-SkwF069fIvUDQHUTpTq70_4s5HtZKUlbIuTk7FN-ygnT4lvYCHTLhEUeHPnvvmJvqUgqmC1QHMPrF6iyL_XmPXo4Ru2NaLkKLszY4IpAyTiTOZl1Da2G9idG5Yyq9Bpk_RPjPFccdq2iQ_VXcbEItUI1FveJ7VA40U1CoI9rA0Qs86CTo9eOOVVomoLHF9JVGb8TrcSjhBz-Gv4QnYPZf6wuAuSnQQ2hvyL28-XNAK5CbigHYNjk6Zr17M44SXD_Pi572h8kVF5jQ8CWJ3sOykSN07dSf8ZlidQqmMUrCSj7HcaLAHqxSV3gnYpML-GuCOvfBmJ2aup-jzyQSyU-gRzRwoJDAlzfAzo1Cl4tVF6VEpuCUJghQKABq7H2Hp7NHnhtA4ZR60ZpZKYTw_GUcwJHcTVe5YkDwVMqfsGFZ275e3qu5okfVYWEKLA1HLQZX41DNPX6nsul3RAUWAj13823ySqfIEceX4cvLjxRKoXhyf-0KPqXY4pKEXJuMnqO9Prtyzrdwy-jrBO-UONetR3DZiwv5oOZo2-dW_lPcWS9WiNmFBndJYFYT15aDQ_i92KqaGVacyt_6AXrUgHLfePtGBM_XTxpDoMj2CPtNFISOjlSYPKJ0YJo3jd1CjQhGwLerJ587a4_iUc_UAw4mwV4JITmqtKUhLttsoO0jnKUp8G2Zf5gVLkR8pxkHMvF7McgSkewUVqezxJ5MauDJBpob_Mwo56kv-fjHz9QRZnwNsENYbqQVrYZCtUgDPBsIRrC717P3JbCNWL6oMoZLbq4jTbD-_AlhUtw6LXGQCfEXVOVIqTmej9IxOYS1_Q0z8NnOLerYJ-p-p__m9TB8da8CJ_HU1oQVZ2SRePXvekjKVV2M1lRA7gdGgdEpwKmMKc1DTYJk1Y67cskD4LH7290bYnAN4RZvBQaB8n8Z2khnQrNBeT_R8LDdePoaYd-t-NqiWewzlaFTyIrP1aLpRIzFgNHFWdSx4ha6FY-MQYFeAj4gcrPs9YjLZndfjbyvDrkzq7fSIHTJDdNMssb1DhHB5CzuQ0zW77JVcy9NfvUt8aU4LLsJEA6kaWotEZds9HjGIdtGaqFV4DfmKKVqPLfc0NfCtjEf6lgwyRvWjqWBpgMHgOyp8u2uq8gcYDsRa2ujCa1etiLgbXjtl4qRwS8Bn2G4Z3sRQOMvMZM63i5iwCJXnYMfCpbb3ukKvZHt5dKN4LCBVLMtOyGaF9ZfIEsnVfSCCrH4MWuq4EWMDNHXdEZXWdkjbutWwTemb9YIZK9EBEP4Gh8RCp6lmjYTKOKCFq4CsNOkzGuqU9gDdM5p4N-nso2IU1RCwZZT9lUEEeoy8VJVrhlcxJkCajA0sdoWQQPw57IFvfbsT8xxkQFjLrw00yN4wSheFYK7jQSGrif9ObITyf3_IEdkEUoY3w90eCZlYRbBTfB0pID3izSKShpHbj-kHIwSyzouHzVqMZ8qXhlokNuNm7yGVuQa4bcHnQ==",
  "id": "rs_09f67476484e4e1e016ab44c3c770487d082b719cd24998f81",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.5,\"left_y\":-0.16,\"left_z\":0.2},\"note\":\"The gray plush rose with the left gripper and now hangs beneath it in the overhead view, confirming a secure partial-width grasp. I’m carrying it high to the center of the left basket, which is the assigned gray/white bin.\"}",
  "call_id": "call_i7Lg932E3AsY3GwoTlwTG3rO",
  "id": "fc_09f67476484e4e1e016ab44c3eb85887d08c5209f18d1e5dca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_i7Lg932E3AsY3GwoTlwTG3rO",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4435, 1.8244, 1.4452, -0.3466, -0.4118, -0.3531, 0.3021, -0.0143, 0.812, 0.6079, -0.3855, -0.0116, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4922 left_y=-0.1516 left_z=0.1788 left_yaw=0.0817 left_pitch=-0.0903 left_roll=0.0059 left_gripper=0.3021 right_x=0.2957 right_y=0.0014 right_z=0.1757 right_yaw=0.0004 right_pitch=-0.0286 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -9.9897, 9.4838, 1.79, -0.2076, 0.2222, -0.0269, -0.0889, -1.5111, 7.2, 1.7118, -0.0464, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf92630e3ba1e2aa18152a38589f7a09b66d973f4bbec9066301051082c101ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ed8a408917761519a43ac9ab5aad790bf4178bb2d036a8492fd70d050e1f9f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da6047ffaa0cd2c2838d66dd947827b88698c5b1ff5fffdcab4bf4e9f78aadf2",
      "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 · 2.07 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0998, 1.5711, 0.5777, 0.387, 0.0219, 0.0082, 0.5048, -0.0147, 0.8082, 0.6079, -0.3851, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4049 left_y=0.0402 left_z=0.0631 left_yaw=0.0671 left_pitch=-0.0427 left_roll=0.01 left_gripper=0.5048 right_x=0.2955 right_y=0.0013 right_z=0.1768 right_yaw=0.0002 right_pitch=-0.0244 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -6.4752, 5.4769, 1.8779, 0.0024, 0.022, -0.0366, -0.3487, -1.306, 7.0496, 1.746, -0.0317, -0.0611, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0998, 1.4246, 0.7002, 0.115, 0.0223, -0.0002, 0.3023, -0.0143, 0.8093, 0.6079, -0.3851, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4052 left_y=0.0402 left_z=0.1147 left_yaw=0.0713 left_pitch=-0.0458 left_roll=0.0028 left_gripper=0.3023 right_x=0.2956 right_y=0.0014 right_z=0.1765 right_yaw=0.0006 right_pitch=-0.0256 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -7.3915, 8.6359, 1.7314, -0.022, 0.0269, -0.1929, -0.1162, -0.9094, 7.0496, 1.7021, -0.0122, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4435, 1.8244, 1.4452, -0.3466, -0.4118, -0.3531, 0.3021, -0.0143, 0.812, 0.6079, -0.3855, -0.0116, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4922 left_y=-0.1516 left_z=0.1788 left_yaw=0.0817 left_pitch=-0.0903 left_roll=0.0059 left_gripper=0.3021 right_x=0.2957 right_y=0.0014 right_z=0.1757 right_yaw=0.0004 right_pitch=-0.0286 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -9.9897, 9.4838, 1.79, -0.2076, 0.2222, -0.0269, -0.0889, -1.5111, 7.2, 1.7118, -0.0464, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf92630e3ba1e2aa18152a38589f7a09b66d973f4bbec9066301051082c101ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ed8a408917761519a43ac9ab5aad790bf4178bb2d036a8492fd70d050e1f9f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da6047ffaa0cd2c2838d66dd947827b88698c5b1ff5fffdcab4bf4e9f78aadf2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtExDTn96NI-aDHCeU5ftobxAb8m2zeSaI6abzK90C-WJn8wBU0QpRWp1guuhimx6qbODj8D9NUSd12stJtdxrr4I5OqZrkQZ9ZavMmDbNxONa2JAljbYUT43GJpB97BPPQcxkYSU4Uauobpzb5xDwFNE3lGxn7EvFVXpd8PoX4XvHmk7XvNRu3zb_O9pt0dgO7IbrK76fuOCuxuLvPOSyh1he0NiI2VENZusgiiLsnZiQ9uxpBggA7in3H8jPOkwPVJbl4RLKnJPdWqcRTxa1Q8OEei4YHuzeMEHkpbyoFmy4Jz06FWUMJLQ6z-Qq_C0rhfCGFzBNP2uDtl16bRXxtfqDpENgfhQWrFK4YwVGKzVNpwbMJshjdHKiRI9dEoSw82tknBgpGHjpK-eCnnSPkGNcPM2_1HQShPLKhqA8mLKmlPM0xeXPR7Fng1_86ixflPWhTRDLvlTvstOga3zXRJ6HmoXmkOS90UJcpxEo_ph0yWtJq-1iWpzFCHwOXFK2-4B0-39EnDW2pEPMvsqw1j_s9ROgOlKT72EqmiC_wFV9y6xqOWg3Bc9KbMUzL4MgptCqlUf0RXgG24rAqsms-Hh-IrfDo0ao_MmKzNCnd4rc1Ii7N_gWXY1z-V7NgN7YaEnlB_71edGn4bD4AcNqE1-KKNQXCLfcO8Fm8jqw6x7E4UElaRqk6ENB_LcV2Te1jIhuIzTueEJ2RdxDSTSoP5uUHI1EZPc6PAlzi9XIjVZPRiMeU_fq_1BpngiRU9gSZUErhBcMrbccp3h18fKc4uja1uaof8E7rQ_eUCWbJ54SfEgYsv31p_VCO2zbtpmIZTJ2JhlmO6MreG36EwGCQWXSSnPjH9IFKL4_2ZrcGuOKBkJ_utv4m2GCD83JgC7QKD9oGEnuTF8mdunwd_R_e5dyxk12jKF7_u3k3dj-K1v7HFnPvbVQb6vuDG2rDPSMBaie7NhDeirvQN74yC6OHBAM0lR7LldZ6kro7j-kt52mfWms8zxlRHatMZCqupWm1U29CLwJ27UuZyQfcQ3-9mzfNHSgJUCLi7p4VAjNvrCJOIbQRLnc8h7RqVyOt8SAjpUje1FgQ2l3jOcO8T50GxiMC-kN01OM5EsfAbCRoiib-FP0Sax3A0e5BV3nW8bZU9z5yoOSZF04zloYM3oh7XAAKweDWUCrM3uDd5DG2ABwJwGbZ0Y2hG4_PTJHBLTDkpcfMgB_0HC0ME4iqJiNVmQ2_M6ihOULCWRoGD07NEK3OIMuYjN1jBjW40hbJ1y-R39xHUxEP2GqPbp0zfbgDLZ5TWzH0Hz-L_XAK2HpF8ead67Amaed27MbBcuj1TmRT9N5ol_ehEHCQe8RS_rb1E2G9-o7yq9A1VBkwoxiDEgpdcYrM4Y4_PXiNpcBVcJTeMq",
  "id": "rs_09f67476484e4e1e016ab44c42814c87d0987cebe516f6760a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.09},\"note\":\"The wrist view is centered cleanly over the empty left basket, and the held plush is hidden below the camera as expected. I’m lowering into the basket so the animal is released near the bottom rather than dropped from height.\"}",
  "call_id": "call_14LtypgWpp08BY7FCjcsTJjG",
  "id": "fc_09f67476484e4e1e016ab44c430ad087d0844e8cbfadfd5b97",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_14LtypgWpp08BY7FCjcsTJjG",
  "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]: [-0.4419, 1.9152, 1.224, -0.0921, -0.4152, -0.3595, 0.3021, -0.0147, 0.8139, 0.6079, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4843 left_y=-0.1464 left_z=0.0872 left_yaw=0.0928 left_pitch=-0.1388 left_roll=0.0322 left_gripper=0.3021 right_x=0.2959 right_y=0.0014 right_z=0.1753 right_yaw=0.0005 right_pitch=-0.0298 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -9.6205, 6.3932, 1.746, -0.1832, 0.0317, -0.0171, -0.0205, -1.5385, 7.0632, 1.7167, -0.0366, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cc09620766e85a6b26d1c500316f42023af7710a47c228ab3738369278460bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:478816cb0a3bc53bae9153e58691e0f86fff6ca9330ce21d3e5c8aaad24ae805",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11f68d63dae2cc1f0e5dbabd39235568f3fdf8ad55248d88a6424129d832d91b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 7.873 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0998, 1.5711, 0.5777, 0.3866, 0.0223, 0.0067, 0.304, -0.0147, 0.8082, 0.6079, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4049 left_y=0.0402 left_z=0.063 left_yaw=0.0676 left_pitch=-0.0431 left_roll=0.0085 left_gripper=0.304 right_x=0.2955 right_y=0.0014 right_z=0.1768 right_yaw=0.0003 right_pitch=-0.0244 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -6.3111, 5.6137, 1.6923, 0.0024, 0.0073, 0.2076, -0.3487, -1.1556, 7.1863, 1.7509, -0.0415, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4435, 1.8244, 1.4452, -0.3466, -0.4118, -0.3531, 0.3021, -0.0143, 0.812, 0.6079, -0.3855, -0.0116, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4922 left_y=-0.1516 left_z=0.1788 left_yaw=0.0817 left_pitch=-0.0903 left_roll=0.0059 left_gripper=0.3021 right_x=0.2957 right_y=0.0014 right_z=0.1757 right_yaw=0.0004 right_pitch=-0.0286 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -9.9897, 9.4838, 1.79, -0.2076, 0.2222, -0.0269, -0.0889, -1.5111, 7.2, 1.7118, -0.0464, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4419, 1.9152, 1.224, -0.0921, -0.4152, -0.3595, 0.3021, -0.0147, 0.8139, 0.6079, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4843 left_y=-0.1464 left_z=0.0872 left_yaw=0.0928 left_pitch=-0.1388 left_roll=0.0322 left_gripper=0.3021 right_x=0.2959 right_y=0.0014 right_z=0.1753 right_yaw=0.0005 right_pitch=-0.0298 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -9.6205, 6.3932, 1.746, -0.1832, 0.0317, -0.0171, -0.0205, -1.5385, 7.0632, 1.7167, -0.0366, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cc09620766e85a6b26d1c500316f42023af7710a47c228ab3738369278460bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:478816cb0a3bc53bae9153e58691e0f86fff6ca9330ce21d3e5c8aaad24ae805",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11f68d63dae2cc1f0e5dbabd39235568f3fdf8ad55248d88a6424129d832d91b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtExGjb7Q9UeyqwFKMli87snkdO6nyhvkyVPtQdXYQimtDFNNRh2rkV_8HX9F2xs7u9prICPH5QSIyNbtIPHciMULhLgIl8WJeuwNCpL5yJW4jmz6iTKLG7o6mTBi5QmgrhA0uF1NfmXHbRJQyjJonq3tziQidzrFD52a5HgQ5Ra8IKuY0te-OEoR8SdBTe9ZH2ALznk_m8crInX504UYhDTcXw8ESIP-eVUriO6Q38uTHzPSsfPeo2PCws-0WfB98kLRlVZ5qRaPFHplLycjx81WknDIqt9obD6mRomNHPmET57fetrDtmte8ZIQeRPhVfHstARz0nSAKocRCdG4cnvujEySEuAgsI4OAUoB_oPulA_I5RuZm6Cv3kTltSjvHH-CBCaGMRMQP4A67ieRqQM1D1bR-1V2fDRBcs5soPYPPSsSb4xUcXRFkjU3NEApFyJsW-3FGjqBlWydfA_zsAPYA3iT5C2NeIihdO6eMs5-B5aDCfp5iqc-8Qv4sS0rl9JQjz7r6ZF1-wSjJDzpQBvaXRtVM8r8LxBBlsHwncb7TeUJXi2FhyaWywwQN27ke8twGdtMlmv4fDPnMhCw42nK2SfVFZqlDGIleodh89mswxZUPLy2hiNM3_Fg8aiocQbpDhJTejWb66uHERDUpE_hyGNfzLaG6OnAS5uJHWRUBTyRgJIuKFHVxYMyUoZbARAYTDMkaSjDMce9g18mMFAoh1BYxqeVNarfkSii_IUg56MrEKJdRjwXSGwnpf2lxu4FRxKkbdJS5X9HoZdYWb11xYZ4AQ17BX__GgvAKTRW9PTDjhn-cs1e4CNqERv-jjYh_a_tHWz_-ju-sKlcFqTQKQNIsKcxnp0pC3h-h7B7RQHuyKrh3kQ1yE0Ura-nhODp_o1sulzAFDXpy3IhL-aYiVJ9QVAi12iXry9SPbejKNmb3HFmeZ-3gqdmq056OGIWV3UL9t5MjedTIPcB77au_3ID2EzqFeku19UbEGRIGIb7fCRkU0STvnQ5ZY7wqRCnt-uta7tCSUYJDo4hwQGlXWovTwY1QTGNIM2KHeC1XrQVEWiVvqHTnmUiHBcPtacNEEwAWIVRMmVKIa57zRo3lSdp3XF54oi-keS73p6IyigMr_-c_I2x0jchMQo9BAOGJJrP2hLiyue1v5Kc53eyewqe2esQsfKBwvgf-r0oWN4=",
  "id": "rs_09f67476484e4e1e016ab44c45c34487d0939f3f6b1b295ed9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The gripper is low inside the left basket with no rim contact or obstruction. I’m opening fully to release the gray/white plush into its assigned basket.\"}",
  "call_id": "call_n2YXu5duS5IJR4HlxDCJdfkD",
  "id": "fc_09f67476484e4e1e016ab44c45d53c87d0a3921e1cf60a8ef5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_n2YXu5duS5IJR4HlxDCJdfkD",
  "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]: [-0.4419, 1.9293, 1.2095, -0.0891, -0.4156, -0.3672, 0.9953, -0.0147, 0.8143, 0.6079, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4807 left_y=-0.1446 left_z=0.0753 left_yaw=0.0992 left_pitch=-0.1605 left_roll=0.0398 left_gripper=0.9953 right_x=0.2959 right_y=0.0014 right_z=0.1751 right_yaw=0.0005 right_pitch=-0.0305 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -11.2068, 7.4325, 1.4676, -0.2369, 0.0659, -0.0415, -0.2256, -1.2376, 7.1726, 1.707, -0.0317, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eefd955ea59a77b86b8ed4673f1bfc6a54eb3d74a5c17ed106e063cbfd1d7c13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deb7dc619fcf74002ee9c249e3f3226195849530f2f56700f3c3083778a07c29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a001573ff9194364ddd44f81aae67c0a00e95673e6a737cfe42d1ecc97d2e83",
      "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 · 5.164 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0998, 1.4246, 0.7002, 0.115, 0.0223, -0.0002, 0.3023, -0.0143, 0.8093, 0.6079, -0.3851, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4052 left_y=0.0402 left_z=0.1147 left_yaw=0.0713 left_pitch=-0.0458 left_roll=0.0028 left_gripper=0.3023 right_x=0.2956 right_y=0.0014 right_z=0.1765 right_yaw=0.0006 right_pitch=-0.0256 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -7.3915, 8.6359, 1.7314, -0.022, 0.0269, -0.1929, -0.1162, -0.9094, 7.0496, 1.7021, -0.0122, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4419, 1.9152, 1.224, -0.0921, -0.4152, -0.3595, 0.3021, -0.0147, 0.8139, 0.6079, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4843 left_y=-0.1464 left_z=0.0872 left_yaw=0.0928 left_pitch=-0.1388 left_roll=0.0322 left_gripper=0.3021 right_x=0.2959 right_y=0.0014 right_z=0.1753 right_yaw=0.0005 right_pitch=-0.0298 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -9.6205, 6.3932, 1.746, -0.1832, 0.0317, -0.0171, -0.0205, -1.5385, 7.0632, 1.7167, -0.0366, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4419, 1.9293, 1.2095, -0.0891, -0.4156, -0.3672, 0.9953, -0.0147, 0.8143, 0.6079, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4807 left_y=-0.1446 left_z=0.0753 left_yaw=0.0992 left_pitch=-0.1605 left_roll=0.0398 left_gripper=0.9953 right_x=0.2959 right_y=0.0014 right_z=0.1751 right_yaw=0.0005 right_pitch=-0.0305 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -11.2068, 7.4325, 1.4676, -0.2369, 0.0659, -0.0415, -0.2256, -1.2376, 7.1726, 1.707, -0.0317, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eefd955ea59a77b86b8ed4673f1bfc6a54eb3d74a5c17ed106e063cbfd1d7c13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deb7dc619fcf74002ee9c249e3f3226195849530f2f56700f3c3083778a07c29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a001573ff9194364ddd44f81aae67c0a00e95673e6a737cfe42d1ecc97d2e83",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtExPwr9jXcL91mZbKuGMKeg6LERuFsWRlcpC35Fr3PQHYHYqC9lnk3y7h2zfm-jh72yuoCyg2TPpAJ84g_zbuOL2fUDSsnxtYCnXgwrHCDOR9apOJgguly1SaUXos2F7OZTTuI0aCTA0NyES1nJ1ctu2p5H9W1bVWuoNuC-Ue8WZipC22tg65Aj-ZY0mrBmheT2JvHvNSDfd8bFNicXdfrk5M5lHp0I47vICaESC8qH9ygeYYZp7ZWY8RleLs9tQ7fwDrjrEp8ca9IYIbom3-BQTbClat6W8ETutZpOEiH9xAt3idkmAXW7l--z7i03c9chYDDVjKuGa50-gxIZOvKgvePXwOsYAwM3myNFwX3gJyvDjurCmBK_rKA5L8B6iV4QDv3opotBvbVv3EnICvaQAue-6QtR9XIRXWt_f6XzFUkvt80BJFViZ8p665WOxxQwR8IOOrP2sIpUs1MJUeMCUCpx61-oebv1Aad-r6XPzQELmDtP4oYV-fZJqkRo_3wUdYly3dWkvUAHDrQrB1lRUvAvnRWMTUHPZF-KYlLw4oGpgNrgsyyTtaunnM4X0CRsQfKQenLWBFlT-CVUwLlx_f_ydPuMeNNVrYaI91XItDZEFu_S3-ARRQ_Idk1n_Qj927VUgMI2mN08FNZwxSK55e6Wf0zIsEdgzuVLmlyrAZZLv5ZSMc-88cLriHfNPG3nxzORdjFqa39vCgb7CUmB50juFaHdyAJ7RxFNGiCGEM7pptzxnpt1tdwpUmMJHdc88u7SbveL9H_c5QWp06Was3mftNefT21Bk74_CWVwnILdi8KaL_C3X15I47vn99pnvwZREkwTcl6YauFOYO9SkZUzsxGXk3IfVbXFqRmvZ0F5NIzPKQHar0nA8whcVmXK3xeMhkJ4LoiPex3HLAkE9z-MNDeutfOulgcHzLqzgkTabyHAYSwvgcm_oaK5jhI2g7HbT34lGNuzXzESpPGugVSQhkTN6FmkbDhujpTtR82hembZlPFc2wQMcaxWoapBGkCWNMf-ttNfwpRxstkhC1LqpJZ0azQVr9xPX3Vg42ZGwy1kxoPqylbO6SdIvIN0J4o_8tUyBGWjMhB1dZA8nS1FaVzm1P36JQMUvxm36pBUIvNN20VeM0YxESeYvbcrOmd7ecOQh2U-G7FqTFF_CPMvyiIsI-x9hDFffbeZ9HaP5lt3dAN008gyGMvdmXmygG5iqQWOAQwgY1Bkt5yKtEm4zmB_mXyhbFpJkbvzpXQrNsYLsi7UelWNZ5pJIP8XmO5rhakFy-H2_wSTxhZUgxu3DYPmnUKEsr_sTspOR0VNwITqMhxQoUc0Oe2w34wcvEzXZzXtMQNxWrA3zgoujqeTT8gGJ1ur6YFAVpSJrLgQP5NXCqRlZlAI8Kq_-AmfogA4yRFQncXtZxYhENIkoGN-YaMcaiU8o6NHyyX7MRfXwLNoeGOQxkenEUUXCArbCvNnvblpi8rNm_zVALjlrbbsgYBb3rS_HNl0LqDKPPU7M_Nwju85c_8JYcRkcSYXIdbiRVixKvsJec68URDW9WwFtPAu7UM0SEIy4jxDUcd-0WSh_2QZqkcPuxxbMEMr8bF8ZGaNdyQGqOO657aco8Chc-TLJNNKPsF6R6bIloAWirUDtCX2uj6SzYDTqVs3XLVdnnr791DGniA4CHVbGZL_0uddfTMwUG_4EJwjUMum2xPNIpbtWIlO1Qp5QhMJWGVdSwu85qtl8MqVaUyCVabyD7MjESkbbzC8MXca70btbKR_t4y1hBzHFtwBLTIp5w0oM51Y5d63LD6K9kt7N48nISATHELh74MmK3s43bjxn-U5PsIeJ9YpsX1GjjZmdV4gC_vke3n07XkwfuGZMXn6_TpB3ysZ046uUToeDZmjU-qMTDhPFnI1dl2Wm2U8FQP2kfmnV-EBA0an7GbOhqgrXvfhJhhQbViBb2o-XLMEbayYZgUJmscI1IB1uxKg1Uknw_8K6WEPhBPzPVjNvShnDa_Pk1jRaILkuMFuUuqnELMvrUdaCvb37CpdPR77FQMb4_N6QDjUY7zjvbUf-8JQJtOBAVVKRvHcE-pqfzvJewb-NPz4or192R7M_boj_3NS5Fa4cyeY6Pkzkv98X-PCAf_PtvmZoM1xWv8MP2avJRokPdfM8ZNAXowuy9Kr1YEgmuSoosNlcc86j4eszGWChyQPuxXAqLJ6zP9Frk0qvL5QnIfe5lpKgddlwHIWLhSvsLQK2hWgxHQmNpJYs-UkaAM8KTGHDpxcaoDH6a2fclTfeM8VwvSdn-BhloPKpaYN46YHani6qKXSK3gceMzQPxAkmwrCYrDfs-QMrhiAJ_Re3QTKL9gzXSR1PyiEwwRh1LnAKrGgVtErzvC47nnZe-Nqgb_UfJxdcwfUcHHGeDZbnL57j6qVAprfO_31amKSmYflAksIgyRlq4-4WHQ3feEX-ChSFhdyNOlAmSE_qNvRQ1uWlOQGohelzkebApGM9_wQmN6od8TzXi-KfOFZDw670NNRFCjALBoSkiPyMyVPEJ3jpHKBUA4E07RkHgIoFPHD-qMX9BdDRFwHlharVzk0wDur3XBsZb47lX4Sla6PUp6dn1sRqufIX_LOEK7WfLU6qC8N53nTKbghwM2WumFxzzvebfi1GzRbmeIukvgc9VZURfWQ7ShWNad84HSP5cN_N-k6N7OyeiZj1mUhn8XRD9Snhp4F2CZ9DRXEt5TCROpBrHJ4xqwDV1Z2HVM8RbPYARj6dPNdmDGfstG4zxzS2ACnY7YidBIWGLZAE_IiK6zj0neT_XF6eJbSYrAvOEnItFaA6tousReF8xbOa7k-BNk8WL3I7RTUWkJKUg7tLxlVIf7QUa8J3EMDMFjieRttbIYBKT7IK77QGZB-fn_q1DbdfkQ9U6FktiusIRsp864p3I0GxMcbQt2h5kp6oAQ4BQzBcJjKYXR1Etu25dJruWz_JBokvP5vtXvw1UP98pxTVdMSh6aTmNeL2DmJZcvS_yyl_fXv_HQ4MCSE5jo1TOtnNva4F82tqYceVgYjUk8ASnc0Re23p-eFQ82KHzOLZOyq5lxZao6Bu528qWVO77rix6H0eLUxuucOFCeZGD4nl7CyPMSkbEJ6-EO4W3ljzOlG9dxUxY4oULzxIv9K9virYjbhGj7hm36SgwtAw5oYCpIhHu2OPD5DB6JMu5OLLSaXOHTfZDmKYPmQEB0Hx52CGktfT2p9NNldgwyzTCPqPqTLcu8j6OlR0cUtpsOov6EWJ0_RdLZp9uFDQUTk31EwqFbVT2E8REuKEqxvSR2N_zwum5TiL8uH08J5vagqu0cut8XSyTpKsLR77L3Q2asOiZPRxolc6LTzu2NFoDbrrETLDOls3At05Z3kR6A9WoyOKbO-VTQiG5r4BIaZ8QxbGlaPL7Q7eKDl4vNq_988db_SwaNV6H_eJ3UqmquxofAe-hXDAjrSbo79K0B1l84uaaH9A4PbS_nkV8ytyMqIZ9IyWd6o1aDE_1j9sdCFDu4o2cMwi2ys08t0ZRQQv6AYel5HxmWIvwnNxfbxbj38Bs1FWKNXOUDKI2JMeQ0Nrm8NY3VY4uyATR53IkwWg0InpCDIqPGDLa2jq0MYtN5spKr-GYR_YsVsSOY5eMqQ_8n_MsaNGM5g5MnU-_UVgG1RwHxLQKA-gRHWdlSvTzNN0Urq-iYBLbGzAmgNnJhAlPN_JdiWXajpTXUpcISDikk2qjofM9FZlmm3vXIPBBv6Y6dry-QHtaagPp2_rz_Rxfx7pWA9265n2-0ox_qSXGkyGSlMfQ9_nCSuxPMGZ6bPjL1QXxfH14Rw4iQOJoi1jccpJf33LsYiK5DDavqd_uCCVM-XovnWq4uBwgjHehabvkde42j_1MtGFEQs1HuJVmOJO004ykWLCDwD4VauaHxbM17-gvy6DDvTmFY3_nS_r2pdy2SEzSnTb10-YaHycrmLxaY81ZKjtvWt-pm5ZtvtDRmDhWiqbBiOlDg_Fif4aWIZHoDG5IBvEw0_w_h8rIbDhWfMOuGjyrz5a5fVMO9I0vIBjTE32QcBuZZ-r-zenQ_GDSts3z9Ry",
  "id": "rs_09f67476484e4e1e016ab44c485d5c87d0a506010ff16c7eee",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtExPRGTcEtAAbOCCKv8fpFagiZ9y5I2lLxUQPI9wyYDZ2f_9Tr3QepaTN9IoHS-_JNtdV1tHrZIOlIpqQc_GLXeGya1qaKcq5DQlE_ay3hs5tAHZPyy7dxXv-GG03RxiQzh9WISQgSK-BPnnIFG-AsdYwT4wUB7pHfbIcFP07ZhluxnvldhDFwerocum3bffBEStGtTaE5aARVdT5765To8t0NiiciacE0PwMG8JQXgBYb27CeV-9kCWC9Xbrn_9DTlHnlxhrNVcOhxjISBHZ3ozQoOIgKv2M5u9S3FK9jIlzgxQgpJWTEJNLVxl87iksKZJ9LE7fyn58FBs4IaqvAAr7hkG1y4LiYFPFU1mbd2bEUYhDxd2_Xh-H9WYypFdOyd2nz5Y7V8bXOAMG2wWGBLyslmO-Dzu6Yd6FtGcTAhzGkJMcJYwz1thd8__Ljqs1Cxtag-0fjFBIqbzZQ4Z-iHviULkUcM30PuqhdMtgyoGI-fzXOY4mBx4gzRY00Z9OJdB3f_cmPVZivXq0g_fMDKIvLVsjLV1FePC1GLEl6TBgoz0ZXttMTcMaxFVX5g5Hw00mL1cqxlgoMpYB_8r80rrvnoduKPfN160PHBrBidBf3VGMY26C7Tz7jBVpP1JUGaQmFRIm86Zv9sx_VPFiFxiBFKMnkJmw-kQ-PvTjoDjMn2Id6cVk_p_yOL2ifGEv7Wc3etgXvpDGckJKqJlRhz3KFXRiV403By9uulcS4AFnDHX6mUlg49BHPIASJFMnXnznIs9ZmNRFJyArRVzJcM9PhpWoRtY7bsdVMLVKgtZsc6ZFl2r8jRT55IRjP98cUIFi8JdYSrwqUj9WNjpuvYVhtjf433NnesD55kK2oE0ghgCS5QRgBzHmXCsoCSUWT0KtQsfYm1u7Q_63Gi9t5jTZ4dh5hOb1MH2iFYRHg5_JlZ8wgrTp_xrpstoM3xBU34z2z69YckQjOn_bn3oDr7imxM5EeFE1iF6lcKVV2ETSmWxI0VmMfPfQM-4akWyeq9kPpmrQov23zWRbTKb3wMSkS4NL4-sE-fbaukJNRf63Td6udZ_bjZNNCE1NndVsI3MKg_7UrFJkt9SwQxqDAynMlTRFzhMYTyQ1-Dw8KsK2zSwHC_e8uvVVsLou7RtEFZG0ahFoJhzZxkbPv4P7Nwx1_PzDYfgAItFXXISuv82uwEo_AYAJZ15s-oglwvf7Dk7YluT6b-1PgCAuwpUc6DvSmqkDZPFSQQvT_x0QUCGkKOfPPWa1BqeTBG92PKYIUyQe3chUfO7etUck1CHDoooVw==",
  "id": "rs_09f67476484e4e1e016ab44c4d803087d0b1b4785fdf3484c7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0.0,\"left_z\":0.18,\"right_x\":0.37,\"right_y\":0.3,\"right_z\":0.16,\"right_gripper\":1.0},\"note\":\"The first gray/white plush has been released; I’m retracting the left arm to uncover the bin while bringing the right arm above an isolated brown/tan plush at the front-right of the cluster. Brown/tan animals are assigned to the right basket.\"}",
  "call_id": "call_qFXOhoK9xE2BPXwY3Wa2e17B",
  "id": "fc_09f67476484e4e1e016ab44c4dee1c87d0b7658f6a9140dab5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qFXOhoK9xE2BPXwY3Wa2e17B",
  "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]: [-0.1333, 0.952, 0.7727, -0.5388, -0.2111, -0.1635, 0.9966, 0.91, 1.7893, 1.285, -0.355, 0.6891, 0.5861, 0.9998]\nstate[eef_state]: left_x=0.3043 left_y=0.0002 left_z=0.1828 left_yaw=0.1247 left_pitch=-0.1357 left_roll=0.0285 left_gripper=0.9966 right_x=0.3654 right_y=0.2929 right_z=0.1477 right_yaw=0.0282 right_pitch=-0.0637 right_roll=-0.0281 right_gripper=0.9998\nstate[joint_eff]: [0.212, -2.4137, 6.735, 1.7167, -0.0464, 0.149, 0.1294, 0.6222, -9.0598, 8.9231, 1.243, 0.6129, 0.2418, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25e99e6006f7cf334e8e0acc803ecabd9c5f8e03504c38fb59b939ec0868b530",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24ee338c144b9b8dbe849e8c53e290acc7ef8d0321c965bd15d2cb7571ce9eea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e9c8b08363a3b93f564b6231134d26e2851ef8d2a1fe03e07eafe49b7d6e299",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 2.854 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 60 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4435, 1.8244, 1.4452, -0.3466, -0.4118, -0.3531, 0.3021, -0.0143, 0.812, 0.6079, -0.3855, -0.0116, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4922 left_y=-0.1516 left_z=0.1788 left_yaw=0.0817 left_pitch=-0.0903 left_roll=0.0059 left_gripper=0.3021 right_x=0.2957 right_y=0.0014 right_z=0.1757 right_yaw=0.0004 right_pitch=-0.0286 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -9.9897, 9.4838, 1.79, -0.2076, 0.2222, -0.0269, -0.0889, -1.5111, 7.2, 1.7118, -0.0464, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4419, 1.9293, 1.2095, -0.0891, -0.4156, -0.3672, 0.9953, -0.0147, 0.8143, 0.6079, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4807 left_y=-0.1446 left_z=0.0753 left_yaw=0.0992 left_pitch=-0.1605 left_roll=0.0398 left_gripper=0.9953 right_x=0.2959 right_y=0.0014 right_z=0.1751 right_yaw=0.0005 right_pitch=-0.0305 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -11.2068, 7.4325, 1.4676, -0.2369, 0.0659, -0.0415, -0.2256, -1.2376, 7.1726, 1.707, -0.0317, -0.0562, -0.0171]",
      "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]: [-0.1333, 0.952, 0.7727, -0.5388, -0.2111, -0.1635, 0.9966, 0.91, 1.7893, 1.285, -0.355, 0.6891, 0.5861, 0.9998]\nstate[eef_state]: left_x=0.3043 left_y=0.0002 left_z=0.1828 left_yaw=0.1247 left_pitch=-0.1357 left_roll=0.0285 left_gripper=0.9966 right_x=0.3654 right_y=0.2929 right_z=0.1477 right_yaw=0.0282 right_pitch=-0.0637 right_roll=-0.0281 right_gripper=0.9998\nstate[joint_eff]: [0.212, -2.4137, 6.735, 1.7167, -0.0464, 0.149, 0.1294, 0.6222, -9.0598, 8.9231, 1.243, 0.6129, 0.2418, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25e99e6006f7cf334e8e0acc803ecabd9c5f8e03504c38fb59b939ec0868b530",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24ee338c144b9b8dbe849e8c53e290acc7ef8d0321c965bd15d2cb7571ce9eea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e9c8b08363a3b93f564b6231134d26e2851ef8d2a1fe03e07eafe49b7d6e299",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtExWz3SzIJUaYeB8e7vj_hEgplT2_0G5nM06aaAfcWHlUZPoI1LL12MRT1SVPCGrKwwJcFe2F_iN8tJhsFeC0PcIxt_-vEDJMUBat9canwJ6P-s34AH0kC_RQLcvkJpO5qPpl8Ql6T7xvGjdipoq9N7SSs_T6PXbvr5ZJA9HxxdbUTBkfZNRxRzAs4qsDf2-5w81HwdGbjSv2rfhb5x1nbc6aV340Ivc0wlKtlH0Tc_unfjfZutUp7_160pYvnxU_kmPGFXwiIOMXH9wIrLY6CGVWydYIe5KOKukaSrQdirD0pmQZptrX99kvxhiCPXE4A7YiF7_B4tUxbgXyyepajGV7Vt2V6-bY0YdWX3m3vmvtZpCdkolpWtq6avASKcmfqwQcjDBiI08Mg_KGK0FttJxt4JMjO8k4UoASjKO2Q0fcjSE5ysmE21Cxh3G8ZToINYx4CzLEOgc4NrrI1ETuWDqqUod9T9-CjGmKM5327Khye5WKOyDdpwSEqUW4WYEt2RPszhfB-UlQW2GmvolhYx3Auozm_hPpN3qiQRhglcKGNTRINXPnQhNlvg5dBveK7tZxWsVvFZUWsd8_JlRT_NphrfEscn5z-yNf9KWxdkMeiHiFK_HtTlF5fIy_l7lKuXY26w-X001wCdhaIMlTKwNEQMk6XKYAK6X0U-LRJRO4hnXL_tLpV1VK5exvDTOt79JeDbHG7GQqiZqOzfrE-Y1jx-RrJyzqC2M3Fk3rlhbYH-1vhwiyuAb8hyqUM-0aeQfalJYNGtDR9VovjzO6NG0CI8ODNhCp8AzHOEsK20ENl64gUPIqMgBsI4lixKiTCnZ2CLv-b_VdTgGsQNIzxrlslPlVzFJFpjbbEeOvBpcQR3sQ21KvmIdVrStHnjKqairMTJ5QIh7tDCYO9dh0WRc_htd8V4KDxZ9inB01DQwTYgTbolckXZy0StVzZjeKZhBTbg1CNJJPFalB_F3UBoqElvg6FMweDsxOMTlX2ABI9a_nyhM_70Hs2Ye_IuAMy91_nDYtVYDS2CXl6NuZB82WiSHECAzdFqrLbgG7tu6ebqESLFYRmgT_hl0hQEa78ZnwVp_LXDdhXCT9VbO6uLkG-3hQOfMeESJq8LfDykFOQ8ZmSIK7rqeS8crzvysOlyLFSUCS8nYYI89QN-Xv02maKhMz__xNgrTBF3y_32cof1aAvbsIfbmFBFjiN4cbaBuEP0vFlNPiTZnxe5tsxbcT6eH9ng8McWrBDFCS7_JjgndltB85QVhs-ULGtpDOBRG1v1e5ubhAchzxTSj3XuhD_qP2eRQaQwjJd5OLTFsBs_CDrBqL0rZ3PUUxCaqicMUw_3UEy76gDe46yRvTExDlDmfxmlpdCKK0Fms9A4N1IJaveU6WFRddPeMK0ap2k_S54HWQTZXJ6QIJx_AvSnD8U9PXSiJcGsnYLgCxv0EbW1gCDeGkJLzcYGelVmCaKz50cO2mgvDu6vIczysQOQw2xEHX-mLVo1py0ScltZ3izZ9_Bpg6JIzMQ5Xb6xSVJpqzT5KBYs-P-BXsLPg3irQGJTjdmztpFMOD0iKDVv_G5cNxm5Mkt-gwnqVTr9NWsx-FakOwfMDCFOgpxYvo7LMDmEImT1v8zpJ0aKBG86wXIuN23Bpa_MFiYDLxPIm83Zqg7WNZMl0heqJfNPgTvUCvXcqzxgw1kKk_FDOUXM0P0MZopAG-4WUvL0Qf9Gc-rkUZ-0tRto29pHOFgXZ7qYPUDWDEFZ7ZCn_cQZiJV-gS-04RNlLAnUuOdKghPiJVrIdGpCkwCTQchGpZtRhCADCbJ3TCO_-Cwt4x88Slo_lRg9j4PF1HIfATXwSiCH15jWKnDUT2o7ucpj5bXaZVu4XNJBcYnncVzLAIu7Gl6btKpr328uss23eB4yGzVhuXm5ZBkkJvPbd_9CMfgCyi8D3jdyiaJVjfLq9sw_vqvwfzDDFja13KgpicG02EFT7EZJHdrjnziAomRb3XL0Ik_fDCPzKhday4qEPOMy77nZQZZwcxGwb2GesIC6HrwNPIM60wwUrD5K8t-eXNAjauPIbnUIhcmkaGcIuuuWy7T6nWsoP4f4xN22ls3QIDrPEf0cEiJmTUj8bsoju7IQ5MMqbnaKwrTUEn4EK6ClADG9QOty-X1JzXttOalQOGw7pkpjBXI-jBGB8xdr0IQ2D8FQEmGGX3Ti1yGyHTz2Ngoi38Tlcr9R9ngG_JVxXWFBmjWG_IVNEnfvrRjLrSG6nWhRsiCkmG3yCKMXZLtSH5QTLTnLYTWBrWxL1ksnl9mp5_2QywGUd5PrcrokpiFNBgWinQGqX6Q3ZqRh2szcSrRLvoFiYgniSF5O_7u7BiO8NpgDoBU8BRxpu0BkfN-49W4sjhYJf5E6Qw8pt8W3xcMe8rz0mKQCUWLdTygAmjFHrW29_AX-4g-QBe1moZ6pIStNV8TaFYue4jKq0dkpZZilamqA0qQNVb0nHt51X1L53f2_2ADkXXUe6DXwTy5OKs65QYAtce315ESeljHL7xhJBg4A=",
  "id": "rs_09f67476484e4e1e016ab44c53257887d0908cfdf8e0c00bd9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.36,\"right_x\":0.38,\"right_z\":0.15},\"note\":\"With both arms clear, the left basket appears empty, so the earlier gray attempt did not actually carry the plush and will need a later retry. In the right wrist view the cream/brown plush is low and left of the jaw column, so I’m shifting the right gripper toward it laterally while maintaining hover height.\"}",
  "call_id": "call_qZxv6R9gVErExIrc0mt4dH0w",
  "id": "fc_09f67476484e4e1e016ab44c55909887d081663dd5948d0078",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qZxv6R9gVErExIrc0mt4dH0w",
  "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]: [-0.1333, 0.9554, 0.7727, -0.5568, -0.2028, -0.1574, 0.9968, 0.9714, 2.0167, 1.5803, -0.4774, 0.704, 0.6296, 0.9998]\nstate[eef_state]: left_x=0.3017 left_y=-0.001 left_z=0.1784 left_yaw=0.1152 left_pitch=-0.1578 left_roll=0.0331 left_gripper=0.9968 right_x=0.3771 right_y=0.3556 right_z=0.139 right_yaw=0.0533 right_pitch=-0.0877 right_roll=-0.0431 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -2.5231, 6.8718, 1.7167, -0.1978, -0.1343, 0.0024, 0.335, -10.9744, 8.8, 1.1062, 0.6032, 0.2466, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20605aca0bb791ccd7c87e094047915cf7e0ca1a9b11278216ba110c93bcba71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c4f19481f735d30d4443d374073a23706f4b29e4d88c8f4b516c85f84579446",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:850a5a7852a4ce067748762b297a04ab1e5dcccb19cde126aa8439b2a6a85d24",
      "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 16 attempt 0 · /responses · status 200 · 2.429 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 60 changed as sent

message 64 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4419, 1.9152, 1.224, -0.0921, -0.4152, -0.3595, 0.3021, -0.0147, 0.8139, 0.6079, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4843 left_y=-0.1464 left_z=0.0872 left_yaw=0.0928 left_pitch=-0.1388 left_roll=0.0322 left_gripper=0.3021 right_x=0.2959 right_y=0.0014 right_z=0.1753 right_yaw=0.0005 right_pitch=-0.0298 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -9.6205, 6.3932, 1.746, -0.1832, 0.0317, -0.0171, -0.0205, -1.5385, 7.0632, 1.7167, -0.0366, -0.0562, -0.0171]\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]: [-0.1333, 0.952, 0.7727, -0.5388, -0.2111, -0.1635, 0.9966, 0.91, 1.7893, 1.285, -0.355, 0.6891, 0.5861, 0.9998]\nstate[eef_state]: left_x=0.3043 left_y=0.0002 left_z=0.1828 left_yaw=0.1247 left_pitch=-0.1357 left_roll=0.0285 left_gripper=0.9966 right_x=0.3654 right_y=0.2929 right_z=0.1477 right_yaw=0.0282 right_pitch=-0.0637 right_roll=-0.0281 right_gripper=0.9998\nstate[joint_eff]: [0.212, -2.4137, 6.735, 1.7167, -0.0464, 0.149, 0.1294, 0.6222, -9.0598, 8.9231, 1.243, 0.6129, 0.2418, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9554, 0.7727, -0.5568, -0.2028, -0.1574, 0.9968, 0.9714, 2.0167, 1.5803, -0.4774, 0.704, 0.6296, 0.9998]\nstate[eef_state]: left_x=0.3017 left_y=-0.001 left_z=0.1784 left_yaw=0.1152 left_pitch=-0.1578 left_roll=0.0331 left_gripper=0.9968 right_x=0.3771 right_y=0.3556 right_z=0.139 right_yaw=0.0533 right_pitch=-0.0877 right_roll=-0.0431 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -2.5231, 6.8718, 1.7167, -0.1978, -0.1343, 0.0024, 0.335, -10.9744, 8.8, 1.1062, 0.6032, 0.2466, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20605aca0bb791ccd7c87e094047915cf7e0ca1a9b11278216ba110c93bcba71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c4f19481f735d30d4443d374073a23706f4b29e4d88c8f4b516c85f84579446",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:850a5a7852a4ce067748762b297a04ab1e5dcccb19cde126aa8439b2a6a85d24",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtExajrHP1Ph6ZWgRMESzDBcwp2nS_eehu5ukrltJ-EfaP-0d3Oq8MMpPPIYdngDviGduWadSgRLgsBrGKgWpHQcwFM2wduYasvAEXTO7LHECmeBuxKcLwwtktc3aDDCtyr-Rr-Lptmm_ypzTObTGGhNFcusqu2dgQQtDj-Q4IaXDeUMfyqInNucy_SV-tuaDGcuJWKVZttH8pupEeBdLWOV1RhRLmqAV5FUaYUXqcFBFFtdw98Cyp2LcZ59LrDYuzwWlMUN_twX37u8XSJYj_d2r1l7tJIxiHpoIfc-QE5L90P4C2uUal7ySGebELgVUNgZtzpK3W7LD4XBrmh_lbPcQPJG15M2op6oDqfyuXz-9ddtMoBZngB4-Y4yvYezhGkYPNle3AC9qr_KzaqB9WLq_eofJaCZAqWnK3_Kyz7Bv09t1p_6Xu2mxMZIVQqwoMM56ocWtoCaFHn34QNk7IsWiErB6V35RrDUFO9nDtN_7ZeZ1k8u6xhykXQbD7L0yljZEqcExuhIy7V_LbsQTCoHbiqiJHe0SSPC9tL1wN2119RqKzF5E9HyeqTgTHN1NV4TgnlPR3DZBl19HVst9X8xlmeZ8sd91Kaud-7rMRq0Pd2d-Hjjb5fDkEWyHjWWTfwx6LyehYPANB_cQMrC4RVmbytSr-GRUTN40zIu3fZuYhwgUzDMaD_Bv8hnclp9Tutu8m3OTkkryIMoora8l4J57XBy9pm515NUIgDlfu191eBN31y54L07qZ3OPNeHcg9800C_1BNUKfgH3yE6W_WNak6ZjofQ0sLKt_5teiX3qqpmJ-U0qc_bvSToxIStjiUA8-rbrZw8CNX1cVbh7j8LMRQoNGdxlodwonP9NBl50D90l-1ZOqfaQwGvAyJc2g5NL_Wof3NyfTftbdbjakcoIFM41tc-8EKg7y3i_FldzOoO3OlK8fQRxa60aDJEhjgh95lhknuHELHi0UTJrKJFylAuBjIXg5WyQk20Jh2brAl4436XpGc5gIZKIs2VRCnt8yRm9Zi1-1BgztuTggRKVDK2f5p1pkIyVaDRk_DvTVBjoIDLzTwuI5tUcwbIigMGR117hFBItrLEsq6nvjb3woUJYOJohRMPseEYcZxX-pNY062Lf7O4HLs3_2k7H8Nv2bd5XqSXEykEvyxxiBG4ks-b0-MrnuTa09JzKFNxKUdxrsoKqvvLXWoaIIKcjuB8G00zPEl5gOCSdGXk6QsyzjGvytXw1xt5ZQ0NN5HF9Q3RHIJZMUiGmGHrfby3MlX7ycZJEQbmRfFojK8QXipCwGdHdsuPcga8tDSxYQ3AKMU3c9F3Nu3UsFS0xYiqvfrAw75R7Lnq5Kc-6jpQzWKkdj8fisEIF1CsBmz8M7mnYhQOLArX5qxfPGWsT7npHLVSmPDXuifNwbIbQznvCxfp-B8whlAnHtQuJDJXTUqTVuUsYIO2xktAEan5oL2xxpDiTqhWQrHBLYNo_-ZuQAPiGPMcKjx7BL7hrrFeXxGvZn0rfPI9lJCy2a7ABz8xTcuNoGG4JYm4IpeSHSl81d2flKq-cU5XajbhZzcLK7Ybqmo0HGIxqDtau4jiu16t4fpQS4qZZwOuBBnVrI9ur2ouv9Jyn83MpBQ8PIj5kB2IAeugokE3ia_6FmWjD_JyXBHVBKJax3getsZXAu_8eJFZURDjuwq7Aed2xEju0m_lrX8Q=",
  "id": "rs_09f67476484e4e1e016ab44c58223887d0a82ded1babf722a6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_z\":0.07},\"note\":\"The right wrist camera now centers a cream-and-brown dog-like plush directly between the jaws. Because the head is still just beyond the fingertip line, I’m advancing about 3 cm and descending to grasp around its neck/body rather than closing on the nose.\"}",
  "call_id": "call_UbsonLdx5dRc5m9Q7BuFafin",
  "id": "fc_09f67476484e4e1e016ab44c5928ac87d0ae00f9fd69cf1a25",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UbsonLdx5dRc5m9Q7BuFafin",
  "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]: [-0.1333, 0.9558, 0.7727, -0.5575, -0.202, -0.157, 0.9968, 0.9272, 2.1357, 1.5021, -0.2852, 0.6712, 0.585, 0.9997]\nstate[eef_state]: left_x=0.3016 left_y=-0.0011 left_z=0.1781 left_yaw=0.1143 left_pitch=-0.1591 left_roll=0.0332 left_gripper=0.9968 right_x=0.3975 right_y=0.3528 right_z=0.0728 right_yaw=0.0541 right_pitch=-0.1124 right_roll=-0.0661 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -2.2359, 6.8718, 1.5458, -0.1441, -0.0659, -0.0122, -0.6085, -11.4256, 6.1607, 1.4383, 0.2466, 0.1099, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a64b94fa77c1d5cea6eb21c009b003ba773ae3682eec5f1aac4b988c0a65f8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6db4af5b1f3085a935ddf5b87b98f61161a548523f3411a7bef45c587c5cfb1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f34af03ab6828ce735bf0d578b264cae33b383ecc183caf8d5e6229d9a50671",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 1.926 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 64 changed as sent

message 68 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4419, 1.9293, 1.2095, -0.0891, -0.4156, -0.3672, 0.9953, -0.0147, 0.8143, 0.6079, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4807 left_y=-0.1446 left_z=0.0753 left_yaw=0.0992 left_pitch=-0.1605 left_roll=0.0398 left_gripper=0.9953 right_x=0.2959 right_y=0.0014 right_z=0.1751 right_yaw=0.0005 right_pitch=-0.0305 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -11.2068, 7.4325, 1.4676, -0.2369, 0.0659, -0.0415, -0.2256, -1.2376, 7.1726, 1.707, -0.0317, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9554, 0.7727, -0.5568, -0.2028, -0.1574, 0.9968, 0.9714, 2.0167, 1.5803, -0.4774, 0.704, 0.6296, 0.9998]\nstate[eef_state]: left_x=0.3017 left_y=-0.001 left_z=0.1784 left_yaw=0.1152 left_pitch=-0.1578 left_roll=0.0331 left_gripper=0.9968 right_x=0.3771 right_y=0.3556 right_z=0.139 right_yaw=0.0533 right_pitch=-0.0877 right_roll=-0.0431 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -2.5231, 6.8718, 1.7167, -0.1978, -0.1343, 0.0024, 0.335, -10.9744, 8.8, 1.1062, 0.6032, 0.2466, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9558, 0.7727, -0.5575, -0.202, -0.157, 0.9968, 0.9272, 2.1357, 1.5021, -0.2852, 0.6712, 0.585, 0.9997]\nstate[eef_state]: left_x=0.3016 left_y=-0.0011 left_z=0.1781 left_yaw=0.1143 left_pitch=-0.1591 left_roll=0.0332 left_gripper=0.9968 right_x=0.3975 right_y=0.3528 right_z=0.0728 right_yaw=0.0541 right_pitch=-0.1124 right_roll=-0.0661 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -2.2359, 6.8718, 1.5458, -0.1441, -0.0659, -0.0122, -0.6085, -11.4256, 6.1607, 1.4383, 0.2466, 0.1099, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a64b94fa77c1d5cea6eb21c009b003ba773ae3682eec5f1aac4b988c0a65f8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6db4af5b1f3085a935ddf5b87b98f61161a548523f3411a7bef45c587c5cfb1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f34af03ab6828ce735bf0d578b264cae33b383ecc183caf8d5e6229d9a50671",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtExcsmD-uO6VVE1d1b204BkJpfJ45-gAM_W2QcHGT3cwYHdZ15l7LL-zDRiAB5yjUhnwn8mOG3-WriTStZVh-OjwsnWTEa0Nwm2dbxSemf6sfi0p2m867hCwFyD6Zkto3Th8KGWQHRQ-cpvwqiOxibDbxqz727FHyjaZDk0PC8je5CmdT7ixeQ9mWq58t8gqYgM-tWvgYpRH2FQV6LIShl-n7W74tGC8g6BHzg9iuj3hOykpjO2YEPN-JnkMehirrP1IDvOnGinkXjC-5Bnvs8nVhvBPQYM1HbHEYZKiuPWX0HVBoBBwpR5c_Vlvg3THeXmj56cFApdZ9iOHi4RGd5IS9MP7BHtM7UVXQGFKbUPZy0Y8e3ti_6X4chtib8CeU1GIlEb_RNXh8oIwJj7NuT7bRs-n3d1r18du6t1lCNBJ1fmxX6ynDhnXrTafQFO4cs5zSUcXKnPOkDnBA_0cuIQpRHMU0QRfB-wSgwdY4uxQMBtWpFVzZrIsuz_m-kyRKAvu9_CNWlI-CtCTlFKCka1fR3W7vgVhADcS2KgiX9upnfd-rNkf_PoWH2JFkpzbtZVzyCuUTFWiEJKzZeQrrD2wYPOK_CKcUzoLvlpidaPT1ULH6CutzJXi76irGsRPqK3b_RsJRqzpuZAYtlVSwRQpdWWLHErsNC-jClvHV-Tjkq_itGM4_IQj2M6w5HJVF5N31DEmwccgFF45VLJfy09oJxDPk03006IdGJ1tExzFHMeDtfDSnSHSyv0m1jh5tmlSvbF-nuG3BCfAMyGT01GvnHkWInt8sPzYIhTWJUq6apziZoGRp_kd7323-CHgd3EJIy0b4CN7M_c1GuQH49v6QdD9NBhU2AOknJEVquf8miSnfpHdutOiBfD9gKa27yr9s42NYf9hwlvOkccg4yNYAjKB6zvOzoQ4sEUyfMwFkMG-kU3lwfZ9ydLs6IJFg7A5PcUcWq4-xb3g3XI3-YmY0VuTk9WRaBCww-BeDAe26P7Hc3KeA51xquivtGRs5UnDV1FRu80idV_9NWiz-Dx4WoacsP7S4oBLUU0WhFfhWlfjG-u26cPiZlBdsYSVC_HOFzGRXkoMynJpRpsqyXI434nUP1J2hjH_en9ZLaYNVEGVpbvcxvArM_T0aNrxxIUZW0kHRwTWwRzzx0eIImyPQ3G3_N_gTcj1wBUU_mOFNVsgg5g5_X3wIawVwePJDzMsA6viXAkvwgLHoKvqBaPJlRM2uaP-UjgJoNXPvvLRVGWeLTgZLk4M4ZHlYJY5L1-lbt2H6e_MVT_q8gxQx646zYcxqt2CNI0RQ8Xf0qMfdHR7o22qI4CxrG55YjQRiJ9sjlwN48KVe61mrnJfT7yhXrGfBKz0HY6vm9hvtKb9emBX_EVAEnexSjrD0v2rp3lP",
  "id": "rs_09f67476484e4e1e016ab44c5b8d5087d094cc4a27205d0c16",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.5},\"note\":\"The cream dog’s head and neck now sit deeply between the right fingertips at grasp height. I’m closing to half-width first so the rounded plush cannot be squeezed forward out of the jaws.\"}",
  "call_id": "call_BmIDbWoTKBjub9WDyGBFdV35",
  "id": "fc_09f67476484e4e1e016ab44c5c28d887d096cc7a526669e846",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BmIDbWoTKBjub9WDyGBFdV35",
  "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]: [-0.1333, 0.9565, 0.7727, -0.5602, -0.2016, -0.157, 0.9968, 0.9215, 2.1471, 1.4963, -0.2646, 0.6727, 0.5716, 0.5076]\nstate[eef_state]: left_x=0.3012 left_y=-0.0011 left_z=0.1774 left_yaw=0.1142 left_pitch=-0.1625 left_roll=0.0338 left_gripper=0.9968 right_x=0.4005 right_y=0.3514 right_z=0.0677 right_yaw=0.0547 right_pitch=-0.1098 right_roll=-0.0747 right_gripper=0.5076\nstate[joint_eff]: [-0.2393, -2.1128, 7.1316, 1.5946, -0.1001, -0.0611, -0.0122, 0.0752, -12.9436, 6.8991, 1.0916, 0.2418, 0.0611, 0.3443]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:474c86d6aba10efc8beffab4dcac907d44b4bda4f52672b195232e0d9890e8ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df042f86d3c36d50f642fed1a5c052ac69b29644dee0503115c32e813591f262",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23d6e9421d483bd68a782c474c80321db5b4ad048cf3c878229158e15208c28d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 1.995 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.952, 0.7727, -0.5388, -0.2111, -0.1635, 0.9966, 0.91, 1.7893, 1.285, -0.355, 0.6891, 0.5861, 0.9998]\nstate[eef_state]: left_x=0.3043 left_y=0.0002 left_z=0.1828 left_yaw=0.1247 left_pitch=-0.1357 left_roll=0.0285 left_gripper=0.9966 right_x=0.3654 right_y=0.2929 right_z=0.1477 right_yaw=0.0282 right_pitch=-0.0637 right_roll=-0.0281 right_gripper=0.9998\nstate[joint_eff]: [0.212, -2.4137, 6.735, 1.7167, -0.0464, 0.149, 0.1294, 0.6222, -9.0598, 8.9231, 1.243, 0.6129, 0.2418, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9558, 0.7727, -0.5575, -0.202, -0.157, 0.9968, 0.9272, 2.1357, 1.5021, -0.2852, 0.6712, 0.585, 0.9997]\nstate[eef_state]: left_x=0.3016 left_y=-0.0011 left_z=0.1781 left_yaw=0.1143 left_pitch=-0.1591 left_roll=0.0332 left_gripper=0.9968 right_x=0.3975 right_y=0.3528 right_z=0.0728 right_yaw=0.0541 right_pitch=-0.1124 right_roll=-0.0661 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -2.2359, 6.8718, 1.5458, -0.1441, -0.0659, -0.0122, -0.6085, -11.4256, 6.1607, 1.4383, 0.2466, 0.1099, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9565, 0.7727, -0.5602, -0.2016, -0.157, 0.9968, 0.9215, 2.1471, 1.4963, -0.2646, 0.6727, 0.5716, 0.5076]\nstate[eef_state]: left_x=0.3012 left_y=-0.0011 left_z=0.1774 left_yaw=0.1142 left_pitch=-0.1625 left_roll=0.0338 left_gripper=0.9968 right_x=0.4005 right_y=0.3514 right_z=0.0677 right_yaw=0.0547 right_pitch=-0.1098 right_roll=-0.0747 right_gripper=0.5076\nstate[joint_eff]: [-0.2393, -2.1128, 7.1316, 1.5946, -0.1001, -0.0611, -0.0122, 0.0752, -12.9436, 6.8991, 1.0916, 0.2418, 0.0611, 0.3443]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:474c86d6aba10efc8beffab4dcac907d44b4bda4f52672b195232e0d9890e8ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df042f86d3c36d50f642fed1a5c052ac69b29644dee0503115c32e813591f262",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23d6e9421d483bd68a782c474c80321db5b4ad048cf3c878229158e15208c28d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtExfyWPBZu5opy7bsq2tmCvgcOviYlFL_aSUMBVT0V6R0dZLk_BNrHhClIwWDFiaZKmUp97X9vTtIFEQrlA3obumqwo9w2ryaj_eKPb5ywhY7aeIkbr5fbn3XJsIbCRFY4VGyEuo-qwwTF1FtBlNtyRcjzDErTJaVLxARgu1cxzlxYwtuVLhIDD9VakITQfYgluh9aTOI4wIa2wxJm22xofg0dNI085LESf8cU1uXqmzeZuEVRwc_VAg8fedWp50CDIJYl8DLOoOLdWdGrkkshXeVUWfbPr1zUyq_VgXM1E9bywmM4TCVqGX9Kw89Sn_TW8d1u3BoJZ1HC-ligNyVt2yc55v4qwvEXOw6gbwx27UyhMVfL7NeqUr7M_5UWavKoLf4dEfE7Sa4mNNJjmhom1UzXMxxkSnZM3t1MUehfZNqGUgHdgxZ5Rf10QMwEnojRQTOJAiDP5qK4hbvmTeYtZwY4ubcotRhjGIAp45ZralkeV2573HKU69ayjg8Ua9HpyF1lnxN2Q-fm8oLEwvWSFEuw9ekGDq2MNNR14gIg1i3nJoKWcFE3Xl25knGqQSB2fHHQiqa0mjBMuU7rcFqIih-IDHlWjHU0WDSKd3LcYY1uhX9uz-AdWJlrPIrTLgyrPckeQUDPJiX1n3Bp_svzgjjv8dvihNzKoXXf24p-i1PheY9SPX41jBAd9PT0j4N2K28B8oHAr0HdPnFkrjU5z1da9Nw_KtiVC_QafUHii6eOZKPc7ebhP3VZCWtwOVabLD-r8artqa5iJQPnZRM-9y-1hMLiglMeqfD91uitMq9ZnjFE7A7yo5qDGp47BbsjJH2KPj2UM9z0NCttCiV3ppvdNNeFt570EvqIqexDzHTQnlWVy_zbvZ1Sz2XVK5_NT2F5eeH5rCcVI_Ljj4wvFdrrjRIOxZpy3y_W4woTWYC921U5wtKivODzCcrK8UeBshrrOXfUQWixbVjeMo-1JeXHtO91vt6GtEpu3muZ1xZMqXJCk6st4nh1gLAKIzEI6dp8wg3DJd1zFQoz5z_VY-aJAekwecwJfWwvLos4-OLyTMqcz1V4jLRUQ-xRztUgYEUDoRuExS94gM3zOO0JOdu6oV5I4FJLQN5VnJLyvhW4BesCvbwDFBOG4Z3IkEGkkQgVyshx5Xdmkt-y2LvhoVMNtkC-PRU27iTOIzXhRJ1T7KE2F5Un9EbAYIABn6tGRG-KSvCewfC-BPRyFyfkFjeD38U-Z4iKP9L9YL79g1Vtvyb-6dsf-XLBrDbnYZ7w5P",
  "id": "rs_09f67476484e4e1e016ab44c5e4d5487d09279b6f0e18b05e1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.4},\"note\":\"At half-width both fingertips are visibly embedded against the plush head without shifting it, indicating a centered contact. I’m tightening slightly to a secure but still cushioned grip before lifting.\"}",
  "call_id": "call_ytshuorTlLZdnxroWnUJgrfP",
  "id": "fc_09f67476484e4e1e016ab44c5e736087d0905eac12e8605e95",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ytshuorTlLZdnxroWnUJgrfP",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9565, 0.7727, -0.5606, -0.202, -0.157, 0.9968, 0.9215, 2.1471, 1.4963, -0.263, 0.6724, 0.5682, 0.4071]\nstate[eef_state]: left_x=0.3011 left_y=-0.001 left_z=0.1773 left_yaw=0.1145 left_pitch=-0.1628 left_roll=0.0341 left_gripper=0.9968 right_x=0.4006 right_y=0.3517 right_z=0.0679 right_yaw=0.057 right_pitch=-0.1092 right_roll=-0.0761 right_gripper=0.4071\nstate[joint_eff]: [-0.1436, -2.0855, 6.8718, 1.5702, -0.1343, -0.0415, -0.0122, -0.0479, -11.8359, 6.2427, 1.2527, 0.2711, -0.0024, 0.398]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85c12c19ed495d2f9e217998ccce970b3c1dacfe6d79ad0c2a1cee16e9f732fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7001149919b761e7ccde8ba75391de8e527ddba2ba40ee67c6d716db0f1d116e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:765199a95fc77a14d220df873e354a0c8a6e73cd276fac8d255b869e6acc99e6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 3.7 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9554, 0.7727, -0.5568, -0.2028, -0.1574, 0.9968, 0.9714, 2.0167, 1.5803, -0.4774, 0.704, 0.6296, 0.9998]\nstate[eef_state]: left_x=0.3017 left_y=-0.001 left_z=0.1784 left_yaw=0.1152 left_pitch=-0.1578 left_roll=0.0331 left_gripper=0.9968 right_x=0.3771 right_y=0.3556 right_z=0.139 right_yaw=0.0533 right_pitch=-0.0877 right_roll=-0.0431 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -2.5231, 6.8718, 1.7167, -0.1978, -0.1343, 0.0024, 0.335, -10.9744, 8.8, 1.1062, 0.6032, 0.2466, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9565, 0.7727, -0.5602, -0.2016, -0.157, 0.9968, 0.9215, 2.1471, 1.4963, -0.2646, 0.6727, 0.5716, 0.5076]\nstate[eef_state]: left_x=0.3012 left_y=-0.0011 left_z=0.1774 left_yaw=0.1142 left_pitch=-0.1625 left_roll=0.0338 left_gripper=0.9968 right_x=0.4005 right_y=0.3514 right_z=0.0677 right_yaw=0.0547 right_pitch=-0.1098 right_roll=-0.0747 right_gripper=0.5076\nstate[joint_eff]: [-0.2393, -2.1128, 7.1316, 1.5946, -0.1001, -0.0611, -0.0122, 0.0752, -12.9436, 6.8991, 1.0916, 0.2418, 0.0611, 0.3443]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9565, 0.7727, -0.5606, -0.202, -0.157, 0.9968, 0.9215, 2.1471, 1.4963, -0.263, 0.6724, 0.5682, 0.4071]\nstate[eef_state]: left_x=0.3011 left_y=-0.001 left_z=0.1773 left_yaw=0.1145 left_pitch=-0.1628 left_roll=0.0341 left_gripper=0.9968 right_x=0.4006 right_y=0.3517 right_z=0.0679 right_yaw=0.057 right_pitch=-0.1092 right_roll=-0.0761 right_gripper=0.4071\nstate[joint_eff]: [-0.1436, -2.0855, 6.8718, 1.5702, -0.1343, -0.0415, -0.0122, -0.0479, -11.8359, 6.2427, 1.2527, 0.2711, -0.0024, 0.398]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85c12c19ed495d2f9e217998ccce970b3c1dacfe6d79ad0c2a1cee16e9f732fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7001149919b761e7ccde8ba75391de8e527ddba2ba40ee67c6d716db0f1d116e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:765199a95fc77a14d220df873e354a0c8a6e73cd276fac8d255b869e6acc99e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtExhZXc4iKCcrGqCDkh3BozeL64gP_-JVvn-hzGz6RZ8_y9jvD6ZvLrhLiUjmj66iyiatdSu_gjN1XO7nfKzGUP6EZgOp9zq-jLHpdWApMBOuIWTvESM13rMCCSdoc9YV666rryJIYsfMBMuoGviNZTEC8nhNWRxqNyP_o7w_PtmVotsarv7C-m9DU-p0wvhE7424CVYd4VIxDdRlVnptYA0lIZTicHuGYCVuFZUCaCtSLbiIlaxsYimcsC1OrOGoFFR7c0v9sRJRpPJC28V7kl1kniS_2ja0Ri3PvrJ2jrRVelQ1z7c7otTiktZA1BhiyqIgpQSBg6p3paLQWZb1sZ_dNvcVijvw1mxQBnU2J18hWGAl-cccxSuB1KqaPU8_dLtc_gKS4T_jnYj0qeUU2247GgOzE1dCar0HChw9qhaqkLJ6NJMqOG4vwhWGzY_Muzm3O7cdNYXqhz6yppGizqmtE_9GCqCYXoabpzP6_Wcm2qw2yLOjIuUGTUBSMZeoIG2G_7pinlZvPE4YANgtUbfMlc3zqZnwXCcsV_ZoS35eojreSuaJFR7w7r1T9bEcnWX4VyGHYybQRHJcDpOvsslV2elr4mduOgGV3txrZyq7L3amlOb7ItScgqp6BkXJGaznaKCk5S6az7lEMW7H_iwmValD3121oT1a9hTCTDg4xABumhQKi7lVV0oHkvkD4hlaVliNrk08a7BOOTu_-BIJyS7T6jwW6u2WF_D3--cmux1VFT1JAkWg1qp2tCYQc9c_CmHWGw6aAiFzTPZCnoaAwXRwtzk6yeSmCD6D8xSHQuNGzE7ZlIRs6-x4sfe4EnrGB6_AQNYNPNEbcgGShOv-oTmMSUAQwDIiLML1u8uBd40kVghiC85NP7uM5SWxu2PfGwH9-io60qCI_7PGHgaZxx1AScl5811k7ui_EgAFD-dDvzk-ZoSMcu25iJqoYesAksy3vLgLkrFkxwSyqXV38StJwcniN2_UIwK2zsbtW-2F6caw6j_IzRuZELGkuhHo54t-JCQkCOHoCGjrpGPFEUin8V-B9VeY9SOQliENz2cr_0Oe62oTo0SkeSxT6J3a3g6W4REcAH4ugz-vtJYN7grIQ79370tqmzNmnKptpSzh5Dq7cQH3EIP9rW7QDOkREtG-4iGwI27M4GC-f4nNE2QzsaplXGTYLtl4X9LhzK8XFKqu8GvmMPDNVwisg9B",
  "id": "rs_09f67476484e4e1e016ab44c60847087d08e42c55361c0b80c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.15},\"note\":\"The right gripper is firmly pinching the dog’s head at a 0.41 opening, with the plush compressed but not displaced. I’m lifting straight up to confirm it leaves the tabletop.\"}",
  "call_id": "call_2Q2C5yzQZ5YUQPKkcR9lyXgU",
  "id": "fc_09f67476484e4e1e016ab44c60a5b487d0a3a2a222ea2e4fb6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2Q2C5yzQZ5YUQPKkcR9lyXgU",
  "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]: [-0.1333, 0.9565, 0.7727, -0.5606, -0.2016, -0.157, 0.9968, 0.9215, 2.1246, 1.6493, -0.5011, 0.6514, 0.5644, 0.4082]\nstate[eef_state]: left_x=0.3011 left_y=-0.0011 left_z=0.1773 left_yaw=0.1142 left_pitch=-0.1629 left_roll=0.0339 left_gripper=0.9968 right_x=0.3981 right_y=0.3532 right_z=0.1035 right_yaw=0.0663 right_pitch=-0.1631 right_roll=-0.1157 right_gripper=0.4082\nstate[joint_eff]: [-0.1026, -2.2632, 7.1043, 1.5604, -0.0904, -0.0122, -0.0122, -0.1299, -16.3761, 9.8667, 1.1209, 0.4518, -0.0122, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b03817ba7fc36972ce688db1f891ac5c420f6cb62d6e166b39a7439e77bedeb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9afc5f59ae760d9c052d598ce5b9d862f41c91f4edadf89e9336217a428c6cc5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11dfa4646cd9f4be5b9427d0f4b644013f6b42b55d760f58ecf39300c585155d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 2.868 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9558, 0.7727, -0.5575, -0.202, -0.157, 0.9968, 0.9272, 2.1357, 1.5021, -0.2852, 0.6712, 0.585, 0.9997]\nstate[eef_state]: left_x=0.3016 left_y=-0.0011 left_z=0.1781 left_yaw=0.1143 left_pitch=-0.1591 left_roll=0.0332 left_gripper=0.9968 right_x=0.3975 right_y=0.3528 right_z=0.0728 right_yaw=0.0541 right_pitch=-0.1124 right_roll=-0.0661 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -2.2359, 6.8718, 1.5458, -0.1441, -0.0659, -0.0122, -0.6085, -11.4256, 6.1607, 1.4383, 0.2466, 0.1099, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9565, 0.7727, -0.5606, -0.202, -0.157, 0.9968, 0.9215, 2.1471, 1.4963, -0.263, 0.6724, 0.5682, 0.4071]\nstate[eef_state]: left_x=0.3011 left_y=-0.001 left_z=0.1773 left_yaw=0.1145 left_pitch=-0.1628 left_roll=0.0341 left_gripper=0.9968 right_x=0.4006 right_y=0.3517 right_z=0.0679 right_yaw=0.057 right_pitch=-0.1092 right_roll=-0.0761 right_gripper=0.4071\nstate[joint_eff]: [-0.1436, -2.0855, 6.8718, 1.5702, -0.1343, -0.0415, -0.0122, -0.0479, -11.8359, 6.2427, 1.2527, 0.2711, -0.0024, 0.398]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9565, 0.7727, -0.5606, -0.2016, -0.157, 0.9968, 0.9215, 2.1246, 1.6493, -0.5011, 0.6514, 0.5644, 0.4082]\nstate[eef_state]: left_x=0.3011 left_y=-0.0011 left_z=0.1773 left_yaw=0.1142 left_pitch=-0.1629 left_roll=0.0339 left_gripper=0.9968 right_x=0.3981 right_y=0.3532 right_z=0.1035 right_yaw=0.0663 right_pitch=-0.1631 right_roll=-0.1157 right_gripper=0.4082\nstate[joint_eff]: [-0.1026, -2.2632, 7.1043, 1.5604, -0.0904, -0.0122, -0.0122, -0.1299, -16.3761, 9.8667, 1.1209, 0.4518, -0.0122, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b03817ba7fc36972ce688db1f891ac5c420f6cb62d6e166b39a7439e77bedeb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9afc5f59ae760d9c052d598ce5b9d862f41c91f4edadf89e9336217a428c6cc5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11dfa4646cd9f4be5b9427d0f4b644013f6b42b55d760f58ecf39300c585155d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtExlvSwD32JNCNP3G-PkU_PtVVA_r8wxpjQk3msxE1mdLupJnvgM_FdE1DVQedEa30fcy907pGmDzaUeSN7E1ilkt99MUvSJjBHFNxVZt_rLVdeNvbHWQSyF8L7qlyjlt6HkKQEtBw6EHS08xgIkovmhIHRVL7ddTkz7b89vQD-oa-elBnICmq_vVAupBFT-DQuXPHyqi-QdqkROgg7rFQV_sWJBfFUyjYIRGSxRM-V7CHCOqm43DUR78OgnHLX_HAsWvC0LyyZqI__3RUck9Ij07AsA71QsoC18ZFVYfrfVWypoPyjqYWN_VmxYc9PaOrkP2_USAcmx1HxSLxaCbvP8YE9oZbBGjxuACmDrCywloezhR6HRTmpKB2AhbQaCXjdkj1vI4KkuHc5uzMbxEat-cZoTWRcruRmlEBWRdHBFdYtFjHi457OCEL4XXppa51F_3rzVeM1KwN74pyzi6CpkBy7q2caag7fg4eBfxbtWrQjpNa4n0Yu50-3ZS_vpc2jEzLWUa5WC38n952vN_mZIaN0p9YVXZnydfylabcUCVyzGRlz52ypCXfygsjBuPF9rvbcOZzAbhCaIdDMW7-NCPCcrTowL24hKYRZQLn6EjPk0x-JKokqP31S4F0uY5X2Wchpy9e3PT0dpiIsZVN3pHaIJrh_w-b8P_Wq_IPk8nVXshwX3uPEQImZdsOt-5KkrzPpYMuVzp2MoFGvq6aHYgfAEpJk6T6aaEz0uwyuF5a7Oc1SZvVyLwm2pzn8sftFqHwusk-CcjUgkmtw0keZryGLxD4tgc5UJmz9Ys4NaLo-UsAu5lUY4WsKJ44erGY5kSdqwYzVHP7EXm8c0URM762_WJrMgJFl185WKTlXslnAubVEpvHYYpARjg8aW_bUT7G_5tOvknzJ4lkfRdpph7bu3z5DaCwI6faydMUkpn2GfDHre1AEF-M3Bx3oHsRcy2WgLtCL5GuS8FZFs_htnHdtktay1gPcKSGsSL2Tttyq1J-JZqPH4paZWAPe6NTfp010ZteNi08NVRIQDXnc6XcYlNnFq3owwscb1yCT8GeY3aROFsOLhJhx3F5h4aKJAXOLBLlkZEZ1TvPJmFUygbOCjwyCMjS8YURGb4ajkQwsj9HRir_CB9T6jqFxjVvVnPdPijkbN9dDmLYLT465YU_N-3k-pxyMxAkpl0w65GdUSA4rNJUDcP2M0_xgP3kdAhpMTKzZ0WoNc2z6WAHT8iajxfM8jhXEJ71bZw-zXmq-YVPwwZs4cTv3XiERmr_6q4BuAjA1atUINWPz9yFczxrKpW-m8JUMfLA-J5O2Oe4qU1wLDlnNw40RvceW6ymhrilWiQbcfxwuc36z6oWv0TiyVnxk5qOwhlyaeGm0AeYu7nP2hYUnaLGf9pV7F-bq42eURay7oiKFOsEAfLRD32FmVirgbzFsq9404PdJDfNuEMPDyr8BAILrmhQtqt7jUMAZlBfVdKxa5McRBIggFRBpf_fjpHptrlj_BY31r_MLOyR3xh8YdGZT11GALJ1LMVoFr3FbV1YZ_VE60yUOx_qWVmRYiJ1GPyAJJHNWj7aHjqKUfjCKL5K2lWuxshQ5bffnqO2xakFKJiFQWianvOZHYl-MaAih37kTFhMtxQ4ZBKEm9mV9WGkkqgBx_q6aIsWRRz-YX8MuAQwVQAYNYo6CxaAnjFz0ENOg0Mg-CGtjZHL-vuUcQPc7oDjCGFWkuxGRHDD4febeGYUDi5RgewAdWY_Wu9D60ezIPkDvS-Zd5HTF_LivVNErJThM8bjo_",
  "id": "rs_09f67476484e4e1e016ab44c63748487d09976dc0e004b9346",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.15,\"right_z\":0.2},\"note\":\"The dog remains pinched between the jaws as the gripper rises, and the right basket is clear at the back-right. I’m carrying the secured plush high and diagonally to the basket center, which also moves the arm out of the crowded pickup posture.\"}",
  "call_id": "call_Y8XNqQI2k2JtvOgp1hN2ZjwW",
  "id": "fc_09f67476484e4e1e016ab44c647a6487d0a1c385c21408500d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Y8XNqQI2k2JtvOgp1hN2ZjwW",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9607, 0.7727, -0.561, -0.202, -0.157, 0.9968, 0.4019, 1.8996, 1.5654, -0.5137, 0.3065, 0.1322, 0.4096]\nstate[eef_state]: left_x=0.3013 left_y=-0.001 left_z=0.1761 left_yaw=0.1147 left_pitch=-0.1672 left_roll=0.0353 left_gripper=0.9968 right_x=0.4927 right_y=0.1554 right_z=0.1595 right_yaw=0.0558 right_pitch=-0.242 right_roll=-0.1311 right_gripper=0.4096\nstate[joint_eff]: [-0.1983, -2.5915, 7.0906, 1.5458, -0.1343, -0.0562, -0.0122, -0.4855, -13.9829, 10.2632, 1.4628, 0.2466, -0.105, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28d0276f8cbac189ab8768da2dc1e609a7c35fa0cf8e212e98f1753f8fdce331",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f8ce73fffb6b46fbedc64292f3c9b448483d78d6bd1fc9f6a1ab21b7e3761ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c3853c3a899586659e9dfa3128b53730e28402606440d099d7039743bb75b98",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 3.239 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9565, 0.7727, -0.5602, -0.2016, -0.157, 0.9968, 0.9215, 2.1471, 1.4963, -0.2646, 0.6727, 0.5716, 0.5076]\nstate[eef_state]: left_x=0.3012 left_y=-0.0011 left_z=0.1774 left_yaw=0.1142 left_pitch=-0.1625 left_roll=0.0338 left_gripper=0.9968 right_x=0.4005 right_y=0.3514 right_z=0.0677 right_yaw=0.0547 right_pitch=-0.1098 right_roll=-0.0747 right_gripper=0.5076\nstate[joint_eff]: [-0.2393, -2.1128, 7.1316, 1.5946, -0.1001, -0.0611, -0.0122, 0.0752, -12.9436, 6.8991, 1.0916, 0.2418, 0.0611, 0.3443]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9565, 0.7727, -0.5606, -0.2016, -0.157, 0.9968, 0.9215, 2.1246, 1.6493, -0.5011, 0.6514, 0.5644, 0.4082]\nstate[eef_state]: left_x=0.3011 left_y=-0.0011 left_z=0.1773 left_yaw=0.1142 left_pitch=-0.1629 left_roll=0.0339 left_gripper=0.9968 right_x=0.3981 right_y=0.3532 right_z=0.1035 right_yaw=0.0663 right_pitch=-0.1631 right_roll=-0.1157 right_gripper=0.4082\nstate[joint_eff]: [-0.1026, -2.2632, 7.1043, 1.5604, -0.0904, -0.0122, -0.0122, -0.1299, -16.3761, 9.8667, 1.1209, 0.4518, -0.0122, 0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9607, 0.7727, -0.561, -0.202, -0.157, 0.9968, 0.4019, 1.8996, 1.5654, -0.5137, 0.3065, 0.1322, 0.4096]\nstate[eef_state]: left_x=0.3013 left_y=-0.001 left_z=0.1761 left_yaw=0.1147 left_pitch=-0.1672 left_roll=0.0353 left_gripper=0.9968 right_x=0.4927 right_y=0.1554 right_z=0.1595 right_yaw=0.0558 right_pitch=-0.242 right_roll=-0.1311 right_gripper=0.4096\nstate[joint_eff]: [-0.1983, -2.5915, 7.0906, 1.5458, -0.1343, -0.0562, -0.0122, -0.4855, -13.9829, 10.2632, 1.4628, 0.2466, -0.105, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28d0276f8cbac189ab8768da2dc1e609a7c35fa0cf8e212e98f1753f8fdce331",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f8ce73fffb6b46fbedc64292f3c9b448483d78d6bd1fc9f6a1ab21b7e3761ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c3853c3a899586659e9dfa3128b53730e28402606440d099d7039743bb75b98",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtExqQx_Zq5jqaDqP9kA4KQKO2x9CW9AR4asDykZtlDK__izliSpbWDzrrd2jNR8FZsKXG-dDYqLXLICgoMd_WYRSl2khHI20cpYw6b6nQqWGN1y0J4_TEbu5Xu0RXWS8o9FQKOnVM23xa5Ti0QuBalNTKEa8_Iht8gtkSymt2Mb5VitmMh3b3eWKKM9cZfegurExYxAWJohQQpWmaQx79wiZ8NZF4tqXHZP4rTQ0Y7FuyyZ1jpfasMPmeSmYeEsVz_mNCCGk_rOQAnXce0SPosBsYkBCjpLWJGBx0nwyH0gZlnCWyb_Pc64JvtGh96-s4ZmWMT8loyOMDZRkluW20seoq11r17UKdAn1M20cRmZPF19psNZu5OosLkIINUv13f5i6VITH657Y-J6A-Ep9OoObidLRCr0tMEDeta2Hn4WeyhMqXs_iw1PRRpUoxs4xNvremdkO_1YndhsdOyCGkdli4Aof_MrGVvJzgrL_kZAUGZMwHVNJ67Fj9rb-mDIibxa3nceS9RcdDDNGoV2eNqg9hdl1jXuSrXGT4imuCxzwoWiULzJC6tn83ItY7wdigjVNLJRCKgMOzwf_90oMy_Jk_x-a1zBeI28RlqnaloSyF4cWnuWl5BzP9USOAd0MIL2PR0Winp9C8s8v_K8APqwZIWOWlsAREXoVkjuA7Hu4AWRQCSdSPVQ9iA2gddQvMToPYuBx9ewZon43VPmrH_Z2pkUPfcsYtNSqNOjvQARcuRpNofg7q3K1tLmC-Rrt5MNyTRJGk7tpY4b1LGilYZhsFhDTooDbt2zlXO2iJPE-e8I6EbNcwtGIkWXZMH0n5hhF0RHdlgzCtvRFj3J86kpZWLl7K6VnNHINihctBF-guz8_WRnxIwObXzNozQX1YxhUqVI41bNiWuiABLzJFUcFxCE_jODay5yxyUPoqgaiMgZ86XTesU2emwjUxZWfz_skdyxIT49qpgXfWFgTnx643NqU4_RhpngtPKcF0NrZ7npDUA7XMjyDavgWPLS242pN7dCv9dGXMeI_OELpPqZ8MDy7Arq14lBzhNtE2x6X8FFEB_A-cVf70HR2oWnRp6n2yydnu2jvDufeO6Ccj3oFLmzb9AIj4JcvFebhRNrcSGXiEdNAUCG8c53XorRbqIMZdW5EJz0cypY3V4rwW4nzN7OIz_dSU8F3uHxE61DCUzFCrJJvBhoCF2F2v6occkkUsFPWq3_pShKq7jn3RwcuVQDhgHLJfI1YsU_R1ZhcnSbZELwexwolT2wEXsxPd5MwyzuF7w0FNamBYyuYbm_rrI31oR6g6g30KSB0d-gX4mItNemrR7EqOUuCYaHXESbJWBWN2ZGchhCh6lRWEeliBq3XhQC3htP7a9pDukoohMqn2yy98DhNdQQVPxXjY7SSlX9XA36BFz0QvLZJjH1sWEAxM93fiqjS9xmbg1HV-cKcpoK6W_8a2EarbYXAsdR_dPBq1oMZrlPszxBq6OTS4s-_wK5clHbsouV34IpNlh-mtmrJavhGGc364ULnRKb_yOrWg38IVTGlY7w8piOul9S1BA2FjxduiPuPMVnfq9g9m2P4y4ETrcySOzohYaDcuweNNNyWjrFKbN6m-ms7mudCIDx-AiTxRqtmyelPZEUMHba5vPJIOfNekoTa9bl7cCe2XYyFL8SThZWD3tN1pspHAV5M1pOqBqN4rSsBSU=",
  "id": "rs_09f67476484e4e1e016ab44c68648087d084a7ba4879524959",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The overhead view now clearly shows the cream dog hanging from the right gripper above the right basket. I’m lowering it into the basket while keeping the same centered lateral position.\"}",
  "call_id": "call_RKY4Gw1gTaYEHbWphLaBdce3",
  "id": "fc_09f67476484e4e1e016ab44c69537087d0b771d1e0dfc7da2f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RKY4Gw1gTaYEHbWphLaBdce3",
  "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]: [-0.1333, 0.9615, 0.7727, -0.5606, -0.202, -0.157, 0.9968, 0.4084, 1.9476, 1.3758, -0.3077, 0.2966, 0.12, 0.4111]\nstate[eef_state]: left_x=0.3014 left_y=-0.0011 left_z=0.176 left_yaw=0.1147 left_pitch=-0.1676 left_roll=0.0354 left_gripper=0.9968 right_x=0.4854 right_y=0.1577 right_z=0.0913 right_yaw=0.0744 right_pitch=-0.2752 right_roll=-0.1433 right_gripper=0.4111\nstate[joint_eff]: [-0.1846, -2.3316, 6.9812, 1.5311, -0.149, -0.0171, -0.0073, -0.5812, -10.7419, 7.2547, 1.7753, 0.2418, 0.0904, 0.1392]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:174869604b685a037aba73d6fe7115d8d3cbfb899764e0eeb25ac057076903ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:288cd6c18417c595a3470358c2585f139f067dde3f0a4dce9f15bf55aa03ed3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd4ff8c1445340be9339730bf3d730077b68e17ada83323e806298beb2c18eb2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 2.883 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9565, 0.7727, -0.5606, -0.202, -0.157, 0.9968, 0.9215, 2.1471, 1.4963, -0.263, 0.6724, 0.5682, 0.4071]\nstate[eef_state]: left_x=0.3011 left_y=-0.001 left_z=0.1773 left_yaw=0.1145 left_pitch=-0.1628 left_roll=0.0341 left_gripper=0.9968 right_x=0.4006 right_y=0.3517 right_z=0.0679 right_yaw=0.057 right_pitch=-0.1092 right_roll=-0.0761 right_gripper=0.4071\nstate[joint_eff]: [-0.1436, -2.0855, 6.8718, 1.5702, -0.1343, -0.0415, -0.0122, -0.0479, -11.8359, 6.2427, 1.2527, 0.2711, -0.0024, 0.398]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9607, 0.7727, -0.561, -0.202, -0.157, 0.9968, 0.4019, 1.8996, 1.5654, -0.5137, 0.3065, 0.1322, 0.4096]\nstate[eef_state]: left_x=0.3013 left_y=-0.001 left_z=0.1761 left_yaw=0.1147 left_pitch=-0.1672 left_roll=0.0353 left_gripper=0.9968 right_x=0.4927 right_y=0.1554 right_z=0.1595 right_yaw=0.0558 right_pitch=-0.242 right_roll=-0.1311 right_gripper=0.4096\nstate[joint_eff]: [-0.1983, -2.5915, 7.0906, 1.5458, -0.1343, -0.0562, -0.0122, -0.4855, -13.9829, 10.2632, 1.4628, 0.2466, -0.105, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9615, 0.7727, -0.5606, -0.202, -0.157, 0.9968, 0.4084, 1.9476, 1.3758, -0.3077, 0.2966, 0.12, 0.4111]\nstate[eef_state]: left_x=0.3014 left_y=-0.0011 left_z=0.176 left_yaw=0.1147 left_pitch=-0.1676 left_roll=0.0354 left_gripper=0.9968 right_x=0.4854 right_y=0.1577 right_z=0.0913 right_yaw=0.0744 right_pitch=-0.2752 right_roll=-0.1433 right_gripper=0.4111\nstate[joint_eff]: [-0.1846, -2.3316, 6.9812, 1.5311, -0.149, -0.0171, -0.0073, -0.5812, -10.7419, 7.2547, 1.7753, 0.2418, 0.0904, 0.1392]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:174869604b685a037aba73d6fe7115d8d3cbfb899764e0eeb25ac057076903ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:288cd6c18417c595a3470358c2585f139f067dde3f0a4dce9f15bf55aa03ed3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd4ff8c1445340be9339730bf3d730077b68e17ada83323e806298beb2c18eb2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtExtqSXY-LvxAaKJ1v85Y3hLbEdyHE8-Up0tSwLJnAVioh5qVIQnpwaMteS0OAu_vkoXCqeNxG3javDV_vG9X-cHsd9N5DFjG2X4xqCc0RISst5RuhjG2GhVTeaZgQIiRultLO25pqQxP8nUK_5g41HhQdFRw-Ds1BxopY4QAZYm_f1TY-o9z7EYl6D6x8NwVJDdRuCxHZUbiHMklQKQK4b7JYVJVuF0SkWpwAt_Mul5p3IlELbISIxoYa_R1mA_Zy6bgrcIPj78OrwIn6gR4N1FG8gTV2RUUhsr4ZTrsPR5wmiRReupx2Gf5-W7csaKgWGoDe6BI0_YlR-uS6K-k-s1f_wdrOgyigWsGE0IqO3pytmL2bJBRGhT2utvCBN701NoMwaQ4_NNJjZLnWsD9UpWDQCTXsom4IhDJoHfZbEWkOmOfOEMr2DvfIh8BUXdIuyAv2UDChdtwoVGVKdc-jdYHmhM9GIuYIhHOsG5JrCruc8ARswCwp_ABOsYhxW3pFhCh1Zfi4jxD2V8XsJmbH09lLDaZJ8lndhLD4C3BPguUj0bPzjOU9zVmFbS8vRzexZYCi1004WS7QkDNuPcUTh9ksJUft2S26aNjEjbqxxRz3ERmJSxLYLKNQmD6v7YiI3efaYwdtuDInAGm4VGidcmk777I01ZxzETaQu3V9ERS-BsDtoRqesN5McWtE3xM5BvkDZgO1fe8JVuYVjWmTrY_fvrPUpciJ-F5ZwwxERQVX3y-xHNhkbFnImvCKHrzV6M6TpgNCHAeRk-mY6gPHjZcJOP9OTXl04hn1rPnRoUspGeepOE2802eIyNT-L0kNDxe4Pk7qaHliH_To35rMtxq3khH70gnNId4QM0rthS9ApLtFX1SvPhobmGirnN1SUYmkI1-ck3z_fUni5kcDJPt1lbB2tVqqq7xDlnAnqUjx1SGolXD2io05ibPLK8l3XaHbvi64EBMxL4F--mU41uOgSUBG7TyibljsieR60o3uTxJ4R86jUrtxTQ_LlFmLR_XjLkINz65yQ9QxUZ82Te5O6RJpSVfOM6Np2a_DnMDiQ9XmkzlVbg_S8QzNtGo10iQ46FYltGBxfxaoUO_MDhjSCx31UqvpDHXYbRM7g0-M2CpoT5fb9zDET8QqEuKT-QxYabCE1disQoR9VuvM1cljPSExNNFxkWoF7-8v_tQ2lkVzsOn-3oX3Or-JUX745unvwyxebN8wABBzOpzquxiGXoWWJvvMUmECkHjCZ8vIp9Lfk-xs8Vqv3cg9Y8tCmdfka_fm3t9OYtfH4Cfp2dMpqgNuaAII_zdHgJ_o1RBkG81tvQRN38p_Id2GwFrb9LlsNvQAlJnE9O9HQnAC_GTCWqmFupysN5kdlwsc3YFjsMxJ6Q8O6c6bnln_QRPIEvDbGExX73vzmZAxS4onW-J7Q76eYshBLv7L1jslZJUQLUtayYL0QJe9qz1xEKX5Op4vQ8qrEUnAbDRAdQrNzLdXqsTsIGyj5Q_vH4jeNR_I_nzlplU0ayalWTRi78_dHF22hSgyO5FS4M-n6VapAI_98V_HocTsqW3C25RhBpYGU=",
  "id": "rs_09f67476484e4e1e016ab44c6c2d9887d0a5defe3265bd4275",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.525,\"right_z\":0.11},\"note\":\"At the low pose the dog is touching the front edge area of the right basket rather than lying over its floor. I’m lifting slightly and advancing 4 cm deeper so the release lands fully inside the basket.\"}",
  "call_id": "call_6BClJtAy0LLLXLyVFYnVO9gO",
  "id": "fc_09f67476484e4e1e016ab44c6cef2c87d09371584c20f86a65",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6BClJtAy0LLLXLyVFYnVO9gO",
  "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]: [-0.1333, 0.9619, 0.7727, -0.5613, -0.202, -0.157, 0.9968, 0.3843, 2.0468, 1.5616, -0.395, 0.2714, 0.0959, 0.4119]\nstate[eef_state]: left_x=0.3013 left_y=-0.001 left_z=0.1757 left_yaw=0.1148 left_pitch=-0.1687 left_roll=0.0357 left_gripper=0.9968 right_x=0.5159 right_y=0.1614 right_z=0.1004 right_yaw=0.0848 right_pitch=-0.2838 right_roll=-0.1411 right_gripper=0.4119\nstate[joint_eff]: [-0.212, -2.2906, 6.8718, 1.5409, -0.1343, -0.0415, -0.0122, -0.9368, -10.7556, 9.347, 1.2088, 0.2173, 0.0464, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:656e84802fcb31f3a84f6d7622759d0f8647abf9e6cd4f50366d2ba7910ddea7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e25bec8f843d0af42dc71bb831445817fd5b2534288b1daa463c07350346826",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c4e25e1ba01f069bac60eca5b5d89b9585cf8f8140e0f69fa61aa259aad4609",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 3.51 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9565, 0.7727, -0.5606, -0.2016, -0.157, 0.9968, 0.9215, 2.1246, 1.6493, -0.5011, 0.6514, 0.5644, 0.4082]\nstate[eef_state]: left_x=0.3011 left_y=-0.0011 left_z=0.1773 left_yaw=0.1142 left_pitch=-0.1629 left_roll=0.0339 left_gripper=0.9968 right_x=0.3981 right_y=0.3532 right_z=0.1035 right_yaw=0.0663 right_pitch=-0.1631 right_roll=-0.1157 right_gripper=0.4082\nstate[joint_eff]: [-0.1026, -2.2632, 7.1043, 1.5604, -0.0904, -0.0122, -0.0122, -0.1299, -16.3761, 9.8667, 1.1209, 0.4518, -0.0122, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9615, 0.7727, -0.5606, -0.202, -0.157, 0.9968, 0.4084, 1.9476, 1.3758, -0.3077, 0.2966, 0.12, 0.4111]\nstate[eef_state]: left_x=0.3014 left_y=-0.0011 left_z=0.176 left_yaw=0.1147 left_pitch=-0.1676 left_roll=0.0354 left_gripper=0.9968 right_x=0.4854 right_y=0.1577 right_z=0.0913 right_yaw=0.0744 right_pitch=-0.2752 right_roll=-0.1433 right_gripper=0.4111\nstate[joint_eff]: [-0.1846, -2.3316, 6.9812, 1.5311, -0.149, -0.0171, -0.0073, -0.5812, -10.7419, 7.2547, 1.7753, 0.2418, 0.0904, 0.1392]\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 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9619, 0.7727, -0.5613, -0.202, -0.157, 0.9968, 0.3843, 2.0468, 1.5616, -0.395, 0.2714, 0.0959, 0.4119]\nstate[eef_state]: left_x=0.3013 left_y=-0.001 left_z=0.1757 left_yaw=0.1148 left_pitch=-0.1687 left_roll=0.0357 left_gripper=0.9968 right_x=0.5159 right_y=0.1614 right_z=0.1004 right_yaw=0.0848 right_pitch=-0.2838 right_roll=-0.1411 right_gripper=0.4119\nstate[joint_eff]: [-0.212, -2.2906, 6.8718, 1.5409, -0.1343, -0.0415, -0.0122, -0.9368, -10.7556, 9.347, 1.2088, 0.2173, 0.0464, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:656e84802fcb31f3a84f6d7622759d0f8647abf9e6cd4f50366d2ba7910ddea7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e25bec8f843d0af42dc71bb831445817fd5b2534288b1daa463c07350346826",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c4e25e1ba01f069bac60eca5b5d89b9585cf8f8140e0f69fa61aa259aad4609",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtExwxSRQPUbP40FE4n8dZz7sa7r6muA7iRIB0lJiBsq6El8pcZoTut3KNnmloJdWRjC5usw8uBAhnUrGvPWDgVJZpy1_lARmgH9_iNrci1jJYd9HifUxO4NGodZ0cUUynXB0vEdy6OJ0UBBubp--d_FDiDXRVdfq0LK9iSFub_k7lfL4Kkp9R5gVO_GhHf1TiyexzJQ9F92IFWVGVO3xHcnmSiqoPR8NdF1g3TBYdJaz8YcsCRWmKYBJ9ztlKs3H5GfacTNoUDHk9Z6Gp3dEt7zG9HUvV60IxVB7C-jtUUglzPt02hyDgnUhijQiHTEFH0gIG1lZ3e24SlJqhxgm_5EJjMZQkRejzl6SBj2kdbsD1_2CbqDTK07xesN-Tpwcuq8Ef61qpidOGLvVKyAgli6mncS8a8vY4lxZxmpaHXye1tFHKFIsbC3KB_80Q7PEpWiGIH6w3-1VXWPJBVirfzRsbqoHw4dpvAxXHQ6f92zTejRNPgyWtp9om_AB0eP6bqo0_etla5slZLzehSZhdIkRCcrTsJaXrqDK8qpa9l52pNWhzZl7A6TkZYuMtDEx66XskWUB-LZ-t80inLuUHMvdbuFCf98Eztj7WZqrQaUkgWbIMxxjkBr_L0Nk0UOblrssQpRVU3brWT4Z6DjspkzZbHYXuHwmenwvBUeaSUigiFg4LnNsg7DkUPb46jgJ6URR3X2wSNw_IjyXxK7rJcQ_sMoH2czoNZH8hWTc5fndTY_v-Z9PL3DCZvdDVFtnrzsyb-hxEV12ehg8gnNyYUSEJkUfg9prh8oYKI74p8LdQZAed2fm72_R8s8sRx3BT-GHf4WV0aLqsj96R903ePAb8ZQAsg2hJ5-sxDhcKkjGgqhXxkAFOdFa8AH8eOkzPBZZgnZDZEugb-anOfrb14EzFtJYaRc7tbwlxhJbSDMzF0GFvF6TUI2szsAwTFtoHIKvk8AFVh4ujoXmZnsMeII97kAWDLnW_2nlwe0SRVsIU_DcVXEW_ENFabewOTVb_BADBQikmdFjoPj3t5Be6lcZly9e7cSl6O-mlUBjg0QAvnccmeLAdKDZojQRfsEJyvhZWJY0pCZ3CWp4OQSU4QCiiMjZdN95j6zK-dyZOmWzRlS_X2IcnLkQwO59dfBfq8fwWSFC-Jsy6xBQ0hsvo2_6rvaJ60duKmGG2r6HBnTor7p0z8WXoRSJtjz8eC4E98rgGFB8QKN5nG4JVqP43YkzMCx9qcSKNM_7TEyMPNvfM2VKtnxhMcA649ca5R0CdDhw_560haTXuXZTbAEdQinghaQXEhQZ6sx_0LOxjEYEiiQRuOJabz9IGp1dxjoU_2OMFodKOebwlNJdCM5ghZby8ZisD0rHtbAdH5lAE3qPCVuwGUhgkQJGD3ja3MqTKNd-CcmoKz3zLu5u7Ry4grirypY-lNqjPQwvRxpVedDPB6I=",
  "id": "rs_09f67476484e4e1e016ab44c6f5ff487d09c71e19d6f2b5197",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.1,\"right_x\":0.525,\"right_z\":0.12},\"note\":\"The deeper radial move aligned the dog with the basket front-to-back, but the overhead view shows it still left of the basket center. I’m shifting the gripper about 6 cm toward image-right and lifting slightly to clear the rim before release.\"}",
  "call_id": "call_wQc9a1fDpjDLsOCO2M9rAHzU",
  "id": "fc_09f67476484e4e1e016ab44c70086487d0980945254779e0de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wQc9a1fDpjDLsOCO2M9rAHzU",
  "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]: [-0.1333, 0.9623, 0.7727, -0.5606, -0.202, -0.157, 0.9968, 0.2798, 2.0365, 1.5448, -0.4042, 0.1413, 0.0071, 0.4131]\nstate[eef_state]: left_x=0.3015 left_y=-0.0011 left_z=0.1757 left_yaw=0.1147 left_pitch=-0.1683 left_roll=0.0356 left_gripper=0.9968 right_x=0.521 right_y=0.1275 right_z=0.094 right_yaw=0.1417 right_pitch=-0.3268 right_roll=-0.1018 right_gripper=0.4131\nstate[joint_eff]: [-0.1436, -2.3043, 6.9128, 1.5409, -0.149, -0.0415, -0.0122, -2.906, -14.694, 6.7761, 1.2283, 0.6276, -0.0611, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c73a74437f51914f5edc50ab41f5f5595743e2f92c345aa1185679e99ab09b74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f7f6ad807ae9b93ae410732f36f74f03e365ce6b6cc600bfdb03ca72841fa61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fc11a4237cb6020414fc73db7a9b3670d2a16a8c6e80c00d4cd7c2196a8d3ec",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 4.728 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9607, 0.7727, -0.561, -0.202, -0.157, 0.9968, 0.4019, 1.8996, 1.5654, -0.5137, 0.3065, 0.1322, 0.4096]\nstate[eef_state]: left_x=0.3013 left_y=-0.001 left_z=0.1761 left_yaw=0.1147 left_pitch=-0.1672 left_roll=0.0353 left_gripper=0.9968 right_x=0.4927 right_y=0.1554 right_z=0.1595 right_yaw=0.0558 right_pitch=-0.242 right_roll=-0.1311 right_gripper=0.4096\nstate[joint_eff]: [-0.1983, -2.5915, 7.0906, 1.5458, -0.1343, -0.0562, -0.0122, -0.4855, -13.9829, 10.2632, 1.4628, 0.2466, -0.105, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9619, 0.7727, -0.5613, -0.202, -0.157, 0.9968, 0.3843, 2.0468, 1.5616, -0.395, 0.2714, 0.0959, 0.4119]\nstate[eef_state]: left_x=0.3013 left_y=-0.001 left_z=0.1757 left_yaw=0.1148 left_pitch=-0.1687 left_roll=0.0357 left_gripper=0.9968 right_x=0.5159 right_y=0.1614 right_z=0.1004 right_yaw=0.0848 right_pitch=-0.2838 right_roll=-0.1411 right_gripper=0.4119\nstate[joint_eff]: [-0.212, -2.2906, 6.8718, 1.5409, -0.1343, -0.0415, -0.0122, -0.9368, -10.7556, 9.347, 1.2088, 0.2173, 0.0464, 0.0659]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9623, 0.7727, -0.5606, -0.202, -0.157, 0.9968, 0.2798, 2.0365, 1.5448, -0.4042, 0.1413, 0.0071, 0.4131]\nstate[eef_state]: left_x=0.3015 left_y=-0.0011 left_z=0.1757 left_yaw=0.1147 left_pitch=-0.1683 left_roll=0.0356 left_gripper=0.9968 right_x=0.521 right_y=0.1275 right_z=0.094 right_yaw=0.1417 right_pitch=-0.3268 right_roll=-0.1018 right_gripper=0.4131\nstate[joint_eff]: [-0.1436, -2.3043, 6.9128, 1.5409, -0.149, -0.0415, -0.0122, -2.906, -14.694, 6.7761, 1.2283, 0.6276, -0.0611, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c73a74437f51914f5edc50ab41f5f5595743e2f92c345aa1185679e99ab09b74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f7f6ad807ae9b93ae410732f36f74f03e365ce6b6cc600bfdb03ca72841fa61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fc11a4237cb6020414fc73db7a9b3670d2a16a8c6e80c00d4cd7c2196a8d3ec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEx0O-JePNa4g02WrBhQ7GDVQnEjbCnAuiAZ38iOiyRHdMeGGx9POib96TUIKjMZ0g73GmOxlXKWCxfpuObdvDYutq0akftLP2S9u8es2wrUZx8JalLdfDcNnAfRVdlQRBDQCFQRPpuVNr44UcOhzWDPfBeT30-OySis6wV4nfu0t-6kA0oxj8qoOIfhpzVg1nuY9a9JYdil3EbeuZblTB4PA4Y-I5ozUStdw6aFHL6dz91kxTbornQ0h_q-efDcUicI4RXlfEYbmiwDUfvmHYycYZFYQoIwi-4_y-equVN8l0f9Yyk3CHYb6yi7-MJg0ciouDDSTc66EFY-6L3lb6gvmhNelIiYH4pJFtZhVvoxUwLC02NGOj_WdMmxO6gJRUtEPexdJ6bkR9N2RSg8tGa0k5wXqtiJ03Eba8gEFqQorvFUdNkxnIbuBNDYCRMrjNWJH0Gog0Qs4jNWRNJXIqpQTuZmBMQpIzkBs6uyUrOgenROgdepKk1UHuIWiu-TNTgf2oPlmg_6sdTIfmo5REk0Q6-BDJkHg2CNTjXLk6NDelCZG939BSVJq9xjsKQPP2_wmUBj1Iy7qTr2NPdnLOisMV8oHCr1AYlJacHmvxCra_ktPEUEiEbLTDIoJ7q-GLU-EZaloaLtp_RrkO0DYbKx-XKmxJRksqLp40MIIGH89Zb16MhaEwyWx0bLhsowJ9AJ1dT9SL7Nioo6rIT_A7oD45JPT7w83P7UevlnjHDZYLi8YHuTJ4m1I7xQ3NtwugQnFelnGmP2sRa1aJ_yPzArsTHKG0o-Kv4klp9_PzgkM_1-FelzimsXGCMxuKjvnXLXBLnAkieQzIvdA2iJe9_336zMyhP26Pd80kzOcLSKM3Iu5DVsEgjYcZv9mZvzSvG0nmh5Qtv7hMNpAEDoEXX3cNgPRY3J4FtaGXPFtUZfA2I44T2190uEJW0AaRMD4_O5-p0ZJ1pRkhbINoj1ef3_Lvmhj--ToagCJC8fvz5wRdxfhdoGPgXjGC0LmgANbxoL1zfXi70PgjZ-46N9TkXp2i8ZHysHP2mNU9_d__5Vxd5YI_jJBQ8XRJGbdRUdqj5tlDJi37FgY-zJ-6SKp0-DAVmnjdjFQNyTSJtr1_CzD9g5trPFcKLqt1qOXuhmUNvZck6c1QPxWT8TPbisxdyTHhFL1fq-_b_Mmj8d_VOsuGqvLcFz_o4deFvkO3VVrrvJ6TBQx0tbvU1VG4IvQPTuMqKm6bGnZi6LMTdWYwpy9APKKnAHyIvzqCe8qYHxrgK5Yzo7oOw39_uJakdJkcPTdICGyAypH8ST6XeiOumlx4p4_Xi2eGVVn4VIGa_UQ-Q4Y4C4AWvzRZ5L4VM2EPgKfx8VqcfoV10kTdFd5lFNd6krytwvBUP4ZHVN4tBOwup8fph9SKje-AFK28P0YZ3jkInM6XUzlJtrbfIpvyR3T8brz55bry00hpmJ-h6h5TZg95eMpvdptATUvENSID_hS0IqejMm1mt_Fl4AMms_JpR0MflJ4C3802Ru7bE5hfDBVrrOKDSZ8MgqV-DpqvLSeXhU5DkF9JpQRmM5ArTu9f3MFR_MtEjS5A-_b_ZVLWJLtu-WTramr45Kkvt0xsqYxGSyqlTqpINa08ZPRUJq7e3mIwj7EOeEccPXE1qq48qho2VNHbkN3PNAGtXIqK3qvt5g06B0RGAsOjIqavKNrmA1gbj_2KK-DM5uwk0a63qqYimVRzpWpYLRVa7ifA-2RvUnex1DAZ4L3-Kl9TtpEXRq2KqbQtLZ1tKrpAW6rvHpo7c1wyrLhbrzXst9MUdkvIZfD0JLegOsJdlcUVq4zTg=",
  "id": "rs_09f67476484e4e1e016ab44c72b1c087d0aceae70f59c5f83e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.05,\"right_x\":0.55,\"right_z\":0.14},\"note\":\"The loaded arm did not complete the full lateral shift, and the dog remains at the basket’s lower-left rim. I’m commanding another modest move deeper and toward the basket center at a safer rim-clearing height.\"}",
  "call_id": "call_jCaTXDR58tGecq3R6Qez8vVD",
  "id": "fc_09f67476484e4e1e016ab44c742b4087d0aa579dc50b4eb5aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jCaTXDR58tGecq3R6Qez8vVD",
  "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]: [-0.1333, 0.9623, 0.7723, -0.5602, -0.202, -0.157, 0.9968, 0.1432, 2.0384, 1.7222, -0.5476, -0.0319, -0.1017, 0.414]\nstate[eef_state]: left_x=0.3015 left_y=-0.0011 left_z=0.1757 left_yaw=0.1147 left_pitch=-0.1683 left_roll=0.0356 left_gripper=0.9968 right_x=0.5438 right_y=0.0877 right_z=0.1411 right_yaw=0.2203 right_pitch=-0.3028 right_roll=-0.0337 right_gripper=0.414\nstate[joint_eff]: [-0.2667, -2.2359, 6.9402, 1.5751, -0.1441, -0.0757, -0.0122, -3.7128, -9.4701, 9.0051, 1.4481, 0.7204, -0.2418, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cd92697e405804b08dbfd79cceda0e16843cb09aa8a0e0452484b39c797f36d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30b16342035fbff80d0a8d40040a1ac41ed2e558699dda8d2941ec7acf018ad5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c22e870d88812c59f4aac09e511c06d50b9df7c756ecf2433419100c0f3cfd2f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 3.955 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9615, 0.7727, -0.5606, -0.202, -0.157, 0.9968, 0.4084, 1.9476, 1.3758, -0.3077, 0.2966, 0.12, 0.4111]\nstate[eef_state]: left_x=0.3014 left_y=-0.0011 left_z=0.176 left_yaw=0.1147 left_pitch=-0.1676 left_roll=0.0354 left_gripper=0.9968 right_x=0.4854 right_y=0.1577 right_z=0.0913 right_yaw=0.0744 right_pitch=-0.2752 right_roll=-0.1433 right_gripper=0.4111\nstate[joint_eff]: [-0.1846, -2.3316, 6.9812, 1.5311, -0.149, -0.0171, -0.0073, -0.5812, -10.7419, 7.2547, 1.7753, 0.2418, 0.0904, 0.1392]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9623, 0.7727, -0.5606, -0.202, -0.157, 0.9968, 0.2798, 2.0365, 1.5448, -0.4042, 0.1413, 0.0071, 0.4131]\nstate[eef_state]: left_x=0.3015 left_y=-0.0011 left_z=0.1757 left_yaw=0.1147 left_pitch=-0.1683 left_roll=0.0356 left_gripper=0.9968 right_x=0.521 right_y=0.1275 right_z=0.094 right_yaw=0.1417 right_pitch=-0.3268 right_roll=-0.1018 right_gripper=0.4131\nstate[joint_eff]: [-0.1436, -2.3043, 6.9128, 1.5409, -0.149, -0.0415, -0.0122, -2.906, -14.694, 6.7761, 1.2283, 0.6276, -0.0611, 0.1197]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9623, 0.7723, -0.5602, -0.202, -0.157, 0.9968, 0.1432, 2.0384, 1.7222, -0.5476, -0.0319, -0.1017, 0.414]\nstate[eef_state]: left_x=0.3015 left_y=-0.0011 left_z=0.1757 left_yaw=0.1147 left_pitch=-0.1683 left_roll=0.0356 left_gripper=0.9968 right_x=0.5438 right_y=0.0877 right_z=0.1411 right_yaw=0.2203 right_pitch=-0.3028 right_roll=-0.0337 right_gripper=0.414\nstate[joint_eff]: [-0.2667, -2.2359, 6.9402, 1.5751, -0.1441, -0.0757, -0.0122, -3.7128, -9.4701, 9.0051, 1.4481, 0.7204, -0.2418, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cd92697e405804b08dbfd79cceda0e16843cb09aa8a0e0452484b39c797f36d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30b16342035fbff80d0a8d40040a1ac41ed2e558699dda8d2941ec7acf018ad5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c22e870d88812c59f4aac09e511c06d50b9df7c756ecf2433419100c0f3cfd2f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEx6kOIm8IngpjExHATP1VwjPvgwxcs7c-edCNE7mhLinRIwDNc8sr0z_k16kZ8x291AwgGrhuCJslpKLWj42NQblW3mANOYh1AZIxS0P2xnl2w15iF_bG3v6M8iUua5s4JQSQIPfI7B5wcWGkU8q6QpPVJxxGaB3B57HnVveL6dIyW81FgjAzXMxmuUbKbwyG3OM60MP60pBvLco29JbyCLWvvioK-fiQ31ZI9-SjjJafgMgqhsCEg5S7X9YR37IDGz4vKXf1v5hFVhXHJQ-K3BVk5c5YyxxXdA2yb0X5RJbYjxjkRaXf1nA_Pqx7Ulvy1hnPMkQbo6N6-2TrP9hp3HQOwdkLsHTej2P_8vpsA0foRigRAhtushGV6qwI4xQVfieNNPUkDLoSkfOy-wST9-bW7TZe2adow0TbpJAP8qs28xCbLFqP0nGrPkA-asGSy_biswwo3V-LRRrl7F7vyzl90KXZUiqZPLLk001nI-JApqPD_mL6ekVVymZJjbJ8YOsK-Z7rDl989BJVcAXg6_oElOVWdQOjShFIhJmX_aR8GEDD897Od6Xi6PM6sCu1SCeQ3dIpGVQfzLNVsHChQQrQ5of3PjBXAoEs4pJR7t28wXhXR_mIxVawxzFLkMHs2DkChF9HKBs1xvi-1qdekhg5smmAyfRZCdVb0Hw2B2AhwkMI7oVPvl6vZaU2XyEIcxmL8rfSkjNJNzDvRQCb4ZaI3JXxejNkv_n2y3WDfryzGebdW7Jbj5Hz9qBZblL3mXUPZZ2ksTFUjkcZ0_BEbDHBpjrzjweMGHU4bI8S7-bNJy4nWQFlj3wQuqEv7pjf4KP2aEl6hP5lwut7Acb_A99zOV8vFCxJN2BHOPaoRdmsLdW6cQgTZfmOGSa_aSlWQQPnkcotzbGSiwgqR6nP3y_UyExtk4nHnP2rEsOFFH753uG89yyQ956q84Vuo0zMm8OTq2fAyE3ucWtLp-YLvfeT3V0Bfazs42c440Zn3tqaa7b51tzulSYDuOZkkv8kMfnrERkhh9p4eh37xX4AebB0E-zfRhEqHVslwPBMVTNyyYH01bPkt0TlRPdlPXr7DUQJDUXslAdncL3_XvIzYNp2chhsDHEJGr2GMspRItX4Cs_C-Vr4r-gI5oZD5BJBxsPYVAezXg-0jSdxpwd3idadsBbVI7ilptYDi1bBfOTflnBiJFqMhU4oIcx5dltHWL3IRWH8i1hk2r5iRLoGFHsWp5TqJrJRfb_Y98TLaiDxJx_eue57fiEJLHzVPrZHZR2E8p-m3TW-It5us-dhcA3jcUnDsH4w15GwJV0Zg0a8NpibR8AftM-AXGz1koBu5h-mK5J1nILBDLywChSWyyGGgkHQRk5zq1LQB1MRbuJNQHLNnh3Lrlf7-Rfeq7K2iFGsQd2PB4AUyE1BpDQBD8G0mOy46FtjU3YHDi3E2qxuaV9MEhWRxhewwyeBnRYfWPZYpOLYZSzH5rkOIqZ-foje5XMho9U_ZffUBfHKTTNWu5hIh752Co6IYFG7wJ6jhGtVYjew8vmn6kx_5b35xCZX87PmgzssZG5lkcFdPJrDeO64dVHpMHRlK2bRBDBgBQ4nyxAaqjDLTa-O2Q_GLrapgbdLvig78XO0GB4EUlrBpsI6N3eMlipSTSae_SspQSKzkeJU87uTXD8tL207Q-H-ZyH6WBHZJ50aRs7wh_G6OWuq5q0uA25gR62gyYnzgQ_miZR5Gm6LBVX2bYWYmrmMgjh7_nAjUkboUYpM6yzQgP1iX3_56Nl9hJSjJv5AalkV9wtQdjtAQ2h6tHAdccUTeaE2WqYhOKubnhGoSEJpwsQF60WR3o5baSCm7pOuEXRWSW3sxveD6P0BWZ2Zoo5W1y4__RiPv5tfTZiF6kOmIVXnV6kOX86HYfVDM84UT4UL3kZ_OijeOrd2gpoA6KvykbXB8cD6x29svcPfacnhtocsYXsQx93BdRgRgJecsq2rEkm_pmXI7ZeC5o4X_fSYZShTPflDD5hfmsQUPV3opUFxNsQBzQ3GRqwqErq1s7eRpTmpeQ9Os4nZha46i03HaHkj60OYOBUXLviGvPGwfjNdBXAiTjSS9NOP24VAxZQiSfDVRzE3_OFxcVuRKWvOAX8QzKjtY-bMIRWv8d2eF68jqIQM1Hiylfd9r_vsKi4RB0tvnztu2rMX_I8ORUGiIA4qBFt8WTFSpzA9QBlIGApEKky4iZCuDU9JYSeL97JKdZxZmC9823pFiT58FC37wHqF5X4dp4fjpY6A4sKuyLNYopAKwNBHXkMgZgaUiAfPypXH2f9kWy5_GYdJrtGd-GfmioKij7ECT7Hz3-gcTMR6D1_SF_vvhVq_LaEdwzmq_as0FbYVQlAxetFz2ba1NTBygHrkCnA-i-is0VtWsrG6AVSFYqPTg5ZA50jWXkK-jyRwcSGMdxasidys9-oDl-JXNSKE2DzyfiEsjHwQ1LHsr62qL5w0c9EkD87h9QjPW_xqVVTZKWEu32pglI_M5PJ_d_X76gscPuBI5lTIt9bZ5VLmLeOWIkk3rNWUfxn29u6DBWGFq6Y7otvs5CIpJnoGSxZNsh_DVe4E5F3DxyEr0GiJRxzDeNYsjZd_AsdOqJBwU1BSfnrFCidkyz5w==",
  "id": "rs_09f67476484e4e1e016ab44c76b56887d084e127b27790a446",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.59,\"right_y\":-0.02,\"right_z\":0.16},\"note\":\"The dog is securely held by its head but hangs several centimeters toward the base and left of the grasp point, so centering the gripper itself is insufficient. I’m compensating for that known offset by moving the grasp point to the far-right/back side above the basket.\"}",
  "call_id": "call_uUuCqWEuSPp62b8QWePsdjkA",
  "id": "fc_09f67476484e4e1e016ab44c79573487d091d2e6bdf1549185",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uUuCqWEuSPp62b8QWePsdjkA",
  "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]: [-0.1333, 0.9623, 0.7719, -0.561, -0.202, -0.157, 0.9968, -0.0189, 2.1906, 2.0747, -0.7338, -0.2897, -0.2371, 0.4148]\nstate[eef_state]: left_x=0.3013 left_y=-0.001 left_z=0.1754 left_yaw=0.1148 left_pitch=-0.1694 left_roll=0.0358 left_gripper=0.9968 right_x=0.5826 right_y=0.0431 right_z=0.1785 right_yaw=0.3553 right_pitch=-0.2442 right_roll=0.0658 right_gripper=0.4148\nstate[joint_eff]: [-0.1573, -2.2496, 6.9128, 1.5409, -0.1538, -0.0757, -0.0122, -5.8325, -9.5521, 8.3214, 1.3553, 1.2723, -0.3101, 0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:677d444e238f28302ad62ce5406a3fe23a4b843f0caba548b6ff27be534d1907",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2174577ec6181c02117e677debb3d845121a6ef3e5f91dbe469b40d5af4d9e47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:864e0b1d4734e160a87aab7bb5d448823f9a7f9a7ae94b87f9db671f8b7a8a27",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 5.571 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9619, 0.7727, -0.5613, -0.202, -0.157, 0.9968, 0.3843, 2.0468, 1.5616, -0.395, 0.2714, 0.0959, 0.4119]\nstate[eef_state]: left_x=0.3013 left_y=-0.001 left_z=0.1757 left_yaw=0.1148 left_pitch=-0.1687 left_roll=0.0357 left_gripper=0.9968 right_x=0.5159 right_y=0.1614 right_z=0.1004 right_yaw=0.0848 right_pitch=-0.2838 right_roll=-0.1411 right_gripper=0.4119\nstate[joint_eff]: [-0.212, -2.2906, 6.8718, 1.5409, -0.1343, -0.0415, -0.0122, -0.9368, -10.7556, 9.347, 1.2088, 0.2173, 0.0464, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9623, 0.7723, -0.5602, -0.202, -0.157, 0.9968, 0.1432, 2.0384, 1.7222, -0.5476, -0.0319, -0.1017, 0.414]\nstate[eef_state]: left_x=0.3015 left_y=-0.0011 left_z=0.1757 left_yaw=0.1147 left_pitch=-0.1683 left_roll=0.0356 left_gripper=0.9968 right_x=0.5438 right_y=0.0877 right_z=0.1411 right_yaw=0.2203 right_pitch=-0.3028 right_roll=-0.0337 right_gripper=0.414\nstate[joint_eff]: [-0.2667, -2.2359, 6.9402, 1.5751, -0.1441, -0.0757, -0.0122, -3.7128, -9.4701, 9.0051, 1.4481, 0.7204, -0.2418, 0.0806]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9623, 0.7719, -0.561, -0.202, -0.157, 0.9968, -0.0189, 2.1906, 2.0747, -0.7338, -0.2897, -0.2371, 0.4148]\nstate[eef_state]: left_x=0.3013 left_y=-0.001 left_z=0.1754 left_yaw=0.1148 left_pitch=-0.1694 left_roll=0.0358 left_gripper=0.9968 right_x=0.5826 right_y=0.0431 right_z=0.1785 right_yaw=0.3553 right_pitch=-0.2442 right_roll=0.0658 right_gripper=0.4148\nstate[joint_eff]: [-0.1573, -2.2496, 6.9128, 1.5409, -0.1538, -0.0757, -0.0122, -5.8325, -9.5521, 8.3214, 1.3553, 1.2723, -0.3101, 0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:677d444e238f28302ad62ce5406a3fe23a4b843f0caba548b6ff27be534d1907",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2174577ec6181c02117e677debb3d845121a6ef3e5f91dbe469b40d5af4d9e47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:864e0b1d4734e160a87aab7bb5d448823f9a7f9a7ae94b87f9db671f8b7a8a27",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEx_5t_HnMsg2l6EDo5wPsJbti_HYaAWpOk8xRESWOfwdNcycCatnFHzcDAOjr9JwcL2q-5P6qTVMX29bUUYFJQj8sn9vH6Tm03GgeQ8MQEfkA-fzF-s2YqBaSqye5RNfXuJGRZUSkCgSV08xAlx3CtyIyUiOqgurNj7gtAXtWvYtdgyzOCk-gSUsv75qJPHXSzCdEdZX568yZ1Fx650rolsJ2cbcMfeRMefb121nApDhSjzf3UTOZbTjexHlEChCeNrNHm81gfmJZ_jixeSRtvhYdazVnZ3g5Us_YAxTobeiV_JovfTDSUS9Vw13e727oFmD7zzVJdIxhrakam58PAF03GiOtbcm-o3Pb6leqAJcn5bqZz1z1JMJQPSdB3si1id1HEUr-0UnJaV8TNjhOQWgy1Uezw_8Efy3zSV_ap3zt62tMJ0nojXw6jQmVNv36nWzuIooQ-MsRcHWr1gh2BSIPtI080-aPcD7ShPj4xq77DUWp2pZ-QjjdgEjhP99ahCq2NRlHBohU8upiqLi3mLmA9YWXXfsk3PmC1owEQWSMPqyauqowNFR4NOIELiwZWHaR9xq7IPa5zH9Jq9jIw96JtKakhyEZrYwOmIXpPnkQWXuSHL9e-ZLPYuR_FPdaXyYYWHxbwC-6hTmeXztoPw-pbLiqt1WS80sR7_6thG5tXl5dmb2EEngKm71okIK2_EJ5J1BR73SDHvK7G84cPk1CgYBYK0s7_xdsIiFKRqb7PimEJUuSmcMzNWkbTeKzBAuIZLP_-g6_pzk2y659-avX6VtEw02jo-R7uwUr0EjvpOjM54ay7xDZzqtlvJpOv9JLkrDS-R6NFpDKd8YpjafXR4ZJAiai1QuCR_dANFnsOjA60704xkH031DWpExlLv9MFH9IARc1t1YWaL5-Hm5HoL7j9-rbGOTabLGkQAmrCzoSPbtI3VAnjNWGZ3zBPh2E3aZoiXyuO68XX2V4UIhavtkHCa6sGDKb4FEbvhmERT-5KrivmFJA_LKQs1s6ZRkgFaB8mLvGR2HG_XrQB3c5qPcIXiEGBPJ3s9ptIQzWCTfijLrMqg4YXW9ZgNCiKmI_yuw12JWC6Kq3x4vxfMr-p0eNXRxE6RoDybEOAETJ9xuFmUw57diZIwvbO25-NWpQDpavM6D88R8Y4yKzlRnqjK2qjO-yJZhHuYRGuktjYyYWdc_0kKpj5r8aR_nsZWad3Q4ujJR6p1xTfrn8RFPHuyy8a2UlNmysT1VQj6vqa2hB-TsJVlJCZtJ9PkW-LctEU18Abm6eY9zKOoSIQhQFdcdbKu-Kl50uNaxtL7d-Jrt0Kd_QoA2sXQK3bBoB5XyJGkvXR3agzeVb3ZAZ09NtfJyWDazpOiyYWhBUtoNT7nPUCtB7EOQf0eCvv5if7g4jhm14bjbKZCQY5d92G5Y9gm9XcC5yzJv6IIW7e-_U_YFwqPepqPjfU0yjBRqGkolQakzuxZNsZAYkR8MUscgD-EmAMrm-KlIgucmyOyZLvj7ISdH18wavQj9WHOeGXBSxNJ_ic5l_rObMdbR1Yyo8MhLJY8RgB_Gwmk1LeefS7DuNp3jB_3kkns9zjnRflCU4oMnxSiak6SfgxM_eRk_7cwBx8-kIux5XXIr4RI2j-E3vsgUiJW6g2sHZeOpoZXosBxAJOjbw9QZXpFWIfqqI2uui8XujkV-0H2ZQUKoSD9Gi0s-dPcdbT3PRUpfo_UhXYVMEotXDudfnQYX-L5pylKrEaWY91SM4Yhf3rNsfQbJvzOefH4rG9r5uoNHNa10rpvkLsE0p_Xx2kqatcwxfCJqD5q_AB3QW7XtKvy_l7ihzZYDyohOhbLXkYsB25EvvY5zCp2LvkJbMQ54TwyBJui7nM7aUSJmBeDnBHE8AggfJ-KM0KMGQBxUdvgJVHl376ZSdmTaCIvfbwUFx5-X7zYU2eeL3BB7M-neuzi0f2SiDRh1bkzBtsC42TrhBPIQEYdFKcmfBmQi4zDFa1QDAmobQ6FXTORUlgztCtFlxgIrVu97cmeKSYVrOZS9I2YxI84hSvSNxQwJZLOjvihPMiGUnR0vP_Gmy7fBBtqnvtvxMr1eCBt4KZldfAhuI8_Ipjs5BScuwguBSJeC8hVbZNFb1Pp_5J0INajc_steCUZmv5QTqEivEBUfTSMInviMZoCVW9FMZXIi4tDu8HPTw==",
  "id": "rs_09f67476484e4e1e016ab44c7c531c87d0982870d829cf62e5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":-0.05,\"right_z\":0.17},\"note\":\"The far-reach command moved the dog over the basket’s back edge, but the readback shows the arm could not achieve the needed rightward component. I’m reducing radial reach while keeping the rightward target, which should let the loaded arm translate the hanging plush over the basket interior.\"}",
  "call_id": "call_OxrMjYulpkKWk8q5HhT8moyG",
  "id": "fc_09f67476484e4e1e016ab44c7df34087d0abb81b71a4bd12b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OxrMjYulpkKWk8q5HhT8moyG",
  "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]: [-0.1333, 0.9623, 0.7719, -0.5606, -0.202, -0.157, 0.9968, -0.1455, 2.1014, 1.9415, -0.6525, -0.5449, -0.3508, 0.4148]\nstate[eef_state]: left_x=0.3014 left_y=-0.001 left_z=0.1754 left_yaw=0.1148 left_pitch=-0.1691 left_roll=0.0358 left_gripper=0.9968 right_x=0.5651 right_y=0.0133 right_z=0.1996 right_yaw=0.4894 right_pitch=-0.1144 right_roll=0.1296 right_gripper=0.4148\nstate[joint_eff]: [-0.0752, -2.2906, 7.0359, 1.5702, -0.1538, -0.0659, -0.0122, -6.1333, -12.0547, 4.1641, 0.7741, 1.2332, -0.3639, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:486e39945e2dfa768e3d54e8ed5959933dfcb1ff2eba3b36e1b1b5e6e87c8397",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3ca7f591d2bd8dfad72ce15d4938c977b438cc82586a7a6fcce5580950faa94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d51bf0c10568cfc9f04a1d41607b468cd2f01a41b41b6daf82c2d6e01b01f75f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 3.175 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9623, 0.7727, -0.5606, -0.202, -0.157, 0.9968, 0.2798, 2.0365, 1.5448, -0.4042, 0.1413, 0.0071, 0.4131]\nstate[eef_state]: left_x=0.3015 left_y=-0.0011 left_z=0.1757 left_yaw=0.1147 left_pitch=-0.1683 left_roll=0.0356 left_gripper=0.9968 right_x=0.521 right_y=0.1275 right_z=0.094 right_yaw=0.1417 right_pitch=-0.3268 right_roll=-0.1018 right_gripper=0.4131\nstate[joint_eff]: [-0.1436, -2.3043, 6.9128, 1.5409, -0.149, -0.0415, -0.0122, -2.906, -14.694, 6.7761, 1.2283, 0.6276, -0.0611, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9623, 0.7719, -0.561, -0.202, -0.157, 0.9968, -0.0189, 2.1906, 2.0747, -0.7338, -0.2897, -0.2371, 0.4148]\nstate[eef_state]: left_x=0.3013 left_y=-0.001 left_z=0.1754 left_yaw=0.1148 left_pitch=-0.1694 left_roll=0.0358 left_gripper=0.9968 right_x=0.5826 right_y=0.0431 right_z=0.1785 right_yaw=0.3553 right_pitch=-0.2442 right_roll=0.0658 right_gripper=0.4148\nstate[joint_eff]: [-0.1573, -2.2496, 6.9128, 1.5409, -0.1538, -0.0757, -0.0122, -5.8325, -9.5521, 8.3214, 1.3553, 1.2723, -0.3101, 0.0708]\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 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9623, 0.7719, -0.5606, -0.202, -0.157, 0.9968, -0.1455, 2.1014, 1.9415, -0.6525, -0.5449, -0.3508, 0.4148]\nstate[eef_state]: left_x=0.3014 left_y=-0.001 left_z=0.1754 left_yaw=0.1148 left_pitch=-0.1691 left_roll=0.0358 left_gripper=0.9968 right_x=0.5651 right_y=0.0133 right_z=0.1996 right_yaw=0.4894 right_pitch=-0.1144 right_roll=0.1296 right_gripper=0.4148\nstate[joint_eff]: [-0.0752, -2.2906, 7.0359, 1.5702, -0.1538, -0.0659, -0.0122, -6.1333, -12.0547, 4.1641, 0.7741, 1.2332, -0.3639, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:486e39945e2dfa768e3d54e8ed5959933dfcb1ff2eba3b36e1b1b5e6e87c8397",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3ca7f591d2bd8dfad72ce15d4938c977b438cc82586a7a6fcce5580950faa94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d51bf0c10568cfc9f04a1d41607b468cd2f01a41b41b6daf82c2d6e01b01f75f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEyFLdHYkVEphPa0GACF_t3gLzRxDiaeWQepjWi8USkhEYEsZ2qPGwOu533m07QvkxNBrF-CkA_6tkjKk4IjD2IRMXkL4eH_mALhkF3J1kaVDTiT7ShEqJ92DXzlcfWw6-YdWs97IDLYkr7buoGvqv-uY_Wu0pvOxa2E85rRd-XmmsUsymzJNpWbLsUKZYaTW-CFiT05cl2f8c6-Xf8fcL12b-N4PlEU2_YnBNRCL5z7v0o8yQX2w6AU1G86Y_9jDTzs4TMOOknr3BFlU_BQ97zGVbqmRqQRApY8IcuNX_0vG3HohLS7cGCRFfobEndJS7zxGV6OUPz3vKKmgj5AnAruXpi30ANKJOTzyhLaosQCv6fztuc1IPdsigD0OY0VueeCCjRdLiF-OeGi4KpgZOYtpxdZofCIlXUI6_rZnDtIJhmp5g_Qree9zt4AHI2-C7mvo-gOMzlrvSPDSLhLGMleoF8VfxlVhjZiY1d9FhQepfaP8cx_NxpopWmIdcheDE8kjlUQkyts0YbsdvtQ14GVtPpsNL4tk_mB2MFzNIsrwAwQoVzMS0ztsbTRCrlxuGkJID9i3p8xlGG3LkpZlSDDOtXj-A2YWuHmKZ17Xi4W382EJsiaVtV-AwEjQZh1vyA1cV3izvTppl9iflqmshiRPfLvSJ-_xe0PMIzOVP_o74AB0Zc7e0iTbjKJPZjqL9C2Mpc1qgUEOKVwy4884KGQV78cd2Lzyvnpdbua_h0UwKCyYqM8fHsQmR5hAlO7_AVm6ynY6L-nO4j6ecGYNJaP_DSffVytOwadJbQ-AZTIkGw_0gxdKjNyQZ8_Uy-2ucEVWtZNrD3CWQea1OW0fdXIdZPzJdnrSuDDclvOTI8H9RvmsGKShO-B12PoEbalZDSynE1Z7dwr_bCmQ_e1e3GmDIIYPOoyCNdLT_nBs8grkqP1XzpRqkjOi56vZh5NQkNYKRUDnJA7MNdSIF4EaIl6Whs7RDiIsRuL9iqLBckZ8i1GwpFxxtQc5BPk77cvQJzpp70MpdyiY9QZ65CoFjupII6gQh4L7heLOFX2R3SyyXcVJ6NxcSu0pf7_aEJAgkiGBpFXoDOx0A1wEZABKPZvodaFx3uwjeOIZtD-hkVteO7JKmbIFqA3e_g6hjKbeZrkbjlSLaW8_ZUBAkotygxL76Jgi-VYuZ3-M9Byajciun-DDr1LrT_FQFhp0MFMN6llmnbZ3-yjHfbngtXgVDuOSSUDj80bLS3iXWRoMg1YjUWAutDtho2LRttsBjJ22uEI1uj2cBhVO80n4okrq2wOsMjK9QPMq4vMp23aJ1gFEq4sgC6jcwMFLFY6cpL_7mDvhE5ucDWtR8_5Vr5QRXJ_15nHHNZ2HPjY9v2UrwDd4oK0iPU_AfspU3V9weotL4DoFRZ-Caa-J-xQC8nRWDNB1tCli8TTUQZFsgfLYDCR4mKt0Qo2K1JQ8Xgnyo-nR6k7TPq91Xgh6TU3vxmOPPjyQ7GxuYAxkNWuHgAdadjXEjkF9hklxfnQwHuocknoKcTTuVY0T34WglNcmf-E2uAcuTNFa042QfXaTzVvL-oVIBFbD_cNwj4-SnGeStiP_ZkeNeFUXPvVBBsN5NAwrNf7b_ImCqIfMmOEOe--iVWfqYtnbB47qeudrh-bIDVcsniA--dcxr5aYGU6Ax7hDUKzPKRR97ePWj8hyYJl9fL76XPAH8uSB4jnBD-U-xwQAxnZnbo6W-YWD_kPPn5uTPBSxhhC1dz-0pEkQ8hc4GEWXZiB6LuOw6iSS9e6pivVl28Tb9-pLed2ryN90x87Sct9O5isRy87kVAjfzEtqlRwKv37xZ1N9Y9TnW0eGsTgfyP0n78PTzeYLalQgHeC1-dl6NoKpw_K0a5sRsDy1aDcF84fBEIznZFhLghFCx4z8gVjbHj1SaH2b4p9Qg8Hop7w4JgXKNz0T6QAEYNoCoEGbfAk-DsIcDCiMJaYOXjDGr0MJU0_Eqq3KkZB_qbre74vUJ8v3NsCPYD8ir3IKckazdhEaRP9JpZwdZM2RgoPcB8chA0z8QFIccRZkxrElfRkQIanlTUTGa1LhB8Xmh07IKBcOBLksLzymaJf-gN-z-i1ylqz9bU1tvUPYwSXtkwYODfDrj-R7gANie8rln0ILeWF9zKcD2LRi7GyF1iUez3x9F4Pvv3xELajZvidrlgYpYtKHutXSVLhJMcBd6I5sugrHA2eKy7zeOOB5Rm0pH1F74Gcy31ywD-BIVewDJuw8xiquizB9HfNsuuoRMe53r8ibwjOKg_3GIbQMtY7z6CGHdQrPYvAVG53xcvuPkKQ3Q0kam3x4toR_KOJfjd7s-ZOKFh5HzS6K14nStL5MyD1LYwr2-gJjsOi4iwPkmWtrYpplUDK8F9kaLien2bO7pGPAmTQ9mQzvbKb7v64B3ruNp_TlCqegThE-OAZ9JVKrzM9inHTGv7JblUq-AyZTeU8lQq8KgYU1GP_ovUwyJkKAJRtk0fXMP6gK8JDGoNARJPHecq85uoQ08jy3qMUpkEkx2B8HwSvsxCO-Dc-JwpWeZUrTZ-PU7PIWAkn64pSBQfweQcWos0D5AAdMGqChnx0yS3894dyw-f_evhAJ63vmQdGJG52kohKBqi7I4CPEW-m8ytHGX5dm50vIG6br21j_mws-o-rXrgd175Okh9d1UjIAplFuhHdoxtldQVJKxXeTtLW2YeybW0r_LQz95aTk0Zgu4UQXf-xX33jus7do6UZ7-ZSAwWSF0RSHDefB4Jp2U7eqAVj_rpQQcBSDfO882y6EbiRQTCziP7zpIUUs5fVpAA9a3rSr3hfH_-Z1PEg99dS94w-y7cWTqbL_-A=",
  "id": "rs_09f67476484e4e1e016ab44c814d0887d08ce590ff6a1cdc2c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.54,\"right_y\":0.12,\"right_z\":0.12},\"note\":\"At the higher pose perspective makes the hanging dog appear far right; the verified basket center is near right-frame y≈0.15, so the last compensation overshot. I’m returning near that physical center and lowering, allowing the plush body to settle into the basket rather than judging its elevated image offset.\"}",
  "call_id": "call_cP5jaOQ1CFDlO9t86ndkZCgL",
  "id": "fc_09f67476484e4e1e016ab44c84534487d0b67173003d5dce17",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cP5jaOQ1CFDlO9t86ndkZCgL",
  "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]: [-0.1333, 0.963, 0.77, -0.5606, -0.2016, -0.157, 0.9968, 0.0685, 2.035, 1.494, -0.2298, -0.395, -0.1982, 0.4147]\nstate[eef_state]: left_x=0.3011 left_y=-0.0011 left_z=0.1744 left_yaw=0.1146 left_pitch=-0.1717 left_roll=0.0362 left_gripper=0.9968 right_x=0.5402 right_y=0.1088 right_z=0.1111 right_yaw=0.502 right_pitch=-0.1437 right_roll=0.1345 right_gripper=0.4147\nstate[joint_eff]: [-0.0205, -2.3316, 7.0359, 1.5409, -0.1245, -0.0562, -0.0073, 1.5795, -13.3128, 6.3521, 1.536, -0.3004, 0.1294, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43c69aefe84b705ff860d271825200e2c8f255bc58f9913067c5e275e7b7b8c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3e1238e1abb5a73208cdb148edbabbecdc61205615f3506076a99d51626b2b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1568bfc32c3696421d6bf870d5630bde49fd0bf3cc23779e28fd2e4cc117cb44",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 2.548 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9623, 0.7723, -0.5602, -0.202, -0.157, 0.9968, 0.1432, 2.0384, 1.7222, -0.5476, -0.0319, -0.1017, 0.414]\nstate[eef_state]: left_x=0.3015 left_y=-0.0011 left_z=0.1757 left_yaw=0.1147 left_pitch=-0.1683 left_roll=0.0356 left_gripper=0.9968 right_x=0.5438 right_y=0.0877 right_z=0.1411 right_yaw=0.2203 right_pitch=-0.3028 right_roll=-0.0337 right_gripper=0.414\nstate[joint_eff]: [-0.2667, -2.2359, 6.9402, 1.5751, -0.1441, -0.0757, -0.0122, -3.7128, -9.4701, 9.0051, 1.4481, 0.7204, -0.2418, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9623, 0.7719, -0.5606, -0.202, -0.157, 0.9968, -0.1455, 2.1014, 1.9415, -0.6525, -0.5449, -0.3508, 0.4148]\nstate[eef_state]: left_x=0.3014 left_y=-0.001 left_z=0.1754 left_yaw=0.1148 left_pitch=-0.1691 left_roll=0.0358 left_gripper=0.9968 right_x=0.5651 right_y=0.0133 right_z=0.1996 right_yaw=0.4894 right_pitch=-0.1144 right_roll=0.1296 right_gripper=0.4148\nstate[joint_eff]: [-0.0752, -2.2906, 7.0359, 1.5702, -0.1538, -0.0659, -0.0122, -6.1333, -12.0547, 4.1641, 0.7741, 1.2332, -0.3639, -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 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.963, 0.77, -0.5606, -0.2016, -0.157, 0.9968, 0.0685, 2.035, 1.494, -0.2298, -0.395, -0.1982, 0.4147]\nstate[eef_state]: left_x=0.3011 left_y=-0.0011 left_z=0.1744 left_yaw=0.1146 left_pitch=-0.1717 left_roll=0.0362 left_gripper=0.9968 right_x=0.5402 right_y=0.1088 right_z=0.1111 right_yaw=0.502 right_pitch=-0.1437 right_roll=0.1345 right_gripper=0.4147\nstate[joint_eff]: [-0.0205, -2.3316, 7.0359, 1.5409, -0.1245, -0.0562, -0.0073, 1.5795, -13.3128, 6.3521, 1.536, -0.3004, 0.1294, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43c69aefe84b705ff860d271825200e2c8f255bc58f9913067c5e275e7b7b8c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3e1238e1abb5a73208cdb148edbabbecdc61205615f3506076a99d51626b2b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1568bfc32c3696421d6bf870d5630bde49fd0bf3cc23779e28fd2e4cc117cb44",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEyJSWNrB0Qk9C-5L3M4TiGD8qD-cQY3zJTOveen3CiHFeqv_tPUxCCOGWP0f40j8bWLl1DnGVex85AT5uY82P4QSgSrHjONeyzA3DvW2YZYIZ6l71RXlps_Uhi3RVCf7RO7DKujfGntMg6y8i73Uv-ofveTVPOaS0vPfwny9L2cTShwGIlFATdxW9wBLrnsIWbbdWeDQLXjCjQcpQkUmIYc9ONkJVnTBnk1ksDv3i5pIAp3pqgwgzaHNSyIkKehD96jkHN8nLwORkJaeLRn_m5xK44801R5rJEftQo0fmTukBJvsAnqbi1UAPtMD23yaKcS7YKI5ojJsFrFGvlnS-FXUElszZylzZDHlkzwEsjm5rXZ9GATsrqF3A8Fqt_AmXz6IOFEume_PWovb1FK75nabZCKes3MebyEzjNBB4I0oO03EJJ1VONcCa2LqtqbzTUSDg9EpBJ2bX22swRa5FuMVe69u-t0Ig2Si6DEOCwmCdR-dExHdyW5VvydL4cuZtgWo3ShnaroWHF9AZId0UmPIpu0KIJaw2i1cAqp8qnnK6B38AQG3heDPa-SCj9sohvs7X6SVoMCsjNz2vZIwKAutsZpaXfMleYWjOKEsZjkZuIruacmVc0E3cv6HvaFCK6yIQfgwkfeWjR4xy9N4kRtyxf_wUfTNn7fQRXS6NUpRyLFQS8fzx3Uk8RttdfnqUaL1RBA5mKoEZRrjQv-Jilf4hbnRKU7-Q-q9jddGzkeAA2M08VwUwQkhbjnF7WEIGwSmUtAbUDNh7H0DRsPHGdUUoIjcWk4IGj0kMpDaNmh2AdOjlVVMZeO4vpP89F9FEFQ-5ttjRIfCptQFgqHZrDYiV0p19Efunlm-gCEd7GuSb8GTkWj8p473P-k7mRstm-C2OWeBghCHomYyB1uw8iJKSTnoOGQI1j2TUGXy-i1rbV3YAySexaAK6voFWzfQ2nuVTlCPyuf9WR954i_vIIJG977o0v1gpkX_Ib0jkC8N6gmn83qwO5_LsIxaLILwJcQSWiSWtI_QWGMSUGdBCl453nLHLtLtJnQODC9RfFf4KbpDTQvBhXE4mg3YZuzlPViLVzKM7kXSrKP3njkDzl-TFm9ygWTx6-gtNEHTGNGC2hN6Pb6m9fmKShD20M0J0tCYEBHZNwPK_ECgemYXsGugc9fXp9DckzPNRMwv9A7VKVgR9FM-6uugh7NyXbBeF8cZ_r4YN-iA6qfzM1-ZE5A4LBwwRC-S8xR3v3Ttcf0IKM7SQCWQYQCjDzCDlEtVia1SWQMEfTOaikTgSL6d7Ss98wRJvX470ki6rP3-9wD7RtFY2EP1jYZ-P5ALQqLGWkVHkHLP-ZXJEx1jBFl4jPKBpi6FGz3dmtcOCNGhr0vvP6eLbBJ1QBAD0_GJl30GY69rtRJoWHGfdni_fzzJoVngN98WaOfxXQlWQ4rHnrjsQmciFfE-I_q6ZMlKS86FxELfXlRPgmHH2jF17lUsAsYU5oS3OUae3hVZttxAs17xYpZ6KN415WtybK41uUCXrQ588vOq32P81bvAHkmYQQXEeYDe_wxu80bX8f27SRJstju5Tl6NgX9K9tUbxqmROGCApO_RXY4JrVSCqZII0WtAjHCbGwjNPn7riIwhkv0JaA11kcZNDIZTB2MRZiJ2E8n7CfTXSHv9gzyDqH98NZbO3gzJQP-1iAsbJ0jXX6DAxNccOe_LVE_nAFm78F2YxmU",
  "id": "rs_09f67476484e4e1e016ab44c87734c87d0af6bc518486ce9f8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.04,\"right_z\":0.13},\"note\":\"At low height the wrist view clearly shows the dog immediately left of the basket interior by roughly one head width. I’m shifting the loaded gripper about 7 cm right while staying just above the rim.\"}",
  "call_id": "call_FnsTbBUIh7NQs7m4lof2bmgN",
  "id": "fc_09f67476484e4e1e016ab44c888c0487d0940e607cef21327d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FnsTbBUIh7NQs7m4lof2bmgN",
  "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]: [-0.1333, 0.9676, 0.77, -0.5598, -0.2016, -0.157, 0.9968, -0.0517, 2.035, 1.5394, -0.3218, -0.5282, -0.2924, 0.4147]\nstate[eef_state]: left_x=0.3015 left_y=-0.0011 left_z=0.1732 left_yaw=0.1147 left_pitch=-0.1754 left_roll=0.0371 left_gripper=0.9968 right_x=0.5387 right_y=0.0649 right_z=0.1221 right_yaw=0.5399 right_pitch=-0.1301 right_roll=0.1681 right_gripper=0.4147\nstate[joint_eff]: [-0.3624, -2.6188, 6.8718, 1.5849, -0.1343, -0.0611, -0.0122, -2.7692, -12.1368, 8.8, 1.1795, 0.4127, -0.2662, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51009169fc7a69197c731721cb88628dedd68996e469c973ecfed6e377f6436e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9c6bb9cb47f9716f482fea17e65008a7e9a16ace9e54f7716ca211cded8f16d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ead8b779efe6205dac6bd465bd1865df7a5b4e41a4ba97a283bccd1e6c1681c",
      "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 · 2.676 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9623, 0.7719, -0.561, -0.202, -0.157, 0.9968, -0.0189, 2.1906, 2.0747, -0.7338, -0.2897, -0.2371, 0.4148]\nstate[eef_state]: left_x=0.3013 left_y=-0.001 left_z=0.1754 left_yaw=0.1148 left_pitch=-0.1694 left_roll=0.0358 left_gripper=0.9968 right_x=0.5826 right_y=0.0431 right_z=0.1785 right_yaw=0.3553 right_pitch=-0.2442 right_roll=0.0658 right_gripper=0.4148\nstate[joint_eff]: [-0.1573, -2.2496, 6.9128, 1.5409, -0.1538, -0.0757, -0.0122, -5.8325, -9.5521, 8.3214, 1.3553, 1.2723, -0.3101, 0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.963, 0.77, -0.5606, -0.2016, -0.157, 0.9968, 0.0685, 2.035, 1.494, -0.2298, -0.395, -0.1982, 0.4147]\nstate[eef_state]: left_x=0.3011 left_y=-0.0011 left_z=0.1744 left_yaw=0.1146 left_pitch=-0.1717 left_roll=0.0362 left_gripper=0.9968 right_x=0.5402 right_y=0.1088 right_z=0.1111 right_yaw=0.502 right_pitch=-0.1437 right_roll=0.1345 right_gripper=0.4147\nstate[joint_eff]: [-0.0205, -2.3316, 7.0359, 1.5409, -0.1245, -0.0562, -0.0073, 1.5795, -13.3128, 6.3521, 1.536, -0.3004, 0.1294, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9676, 0.77, -0.5598, -0.2016, -0.157, 0.9968, -0.0517, 2.035, 1.5394, -0.3218, -0.5282, -0.2924, 0.4147]\nstate[eef_state]: left_x=0.3015 left_y=-0.0011 left_z=0.1732 left_yaw=0.1147 left_pitch=-0.1754 left_roll=0.0371 left_gripper=0.9968 right_x=0.5387 right_y=0.0649 right_z=0.1221 right_yaw=0.5399 right_pitch=-0.1301 right_roll=0.1681 right_gripper=0.4147\nstate[joint_eff]: [-0.3624, -2.6188, 6.8718, 1.5849, -0.1343, -0.0611, -0.0122, -2.7692, -12.1368, 8.8, 1.1795, 0.4127, -0.2662, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51009169fc7a69197c731721cb88628dedd68996e469c973ecfed6e377f6436e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9c6bb9cb47f9716f482fea17e65008a7e9a16ace9e54f7716ca211cded8f16d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ead8b779efe6205dac6bd465bd1865df7a5b4e41a4ba97a283bccd1e6c1681c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEyM2AVQkEDAn8khmm0Seuf72PSKttUaJS4XVbXxtD6lV1k1JfQQkK8oUkGoDEjWOz3TGqKKXktoc1DPnEZunwJZ19_nutJy4lRab_F8teWbjoaGvr_4m0_pjqxlB2PiX3HDa7WemWKGDPjGjHsce5-EHA-pBLOX16FXT6r8HMpzV-c9SI1HPXMS4OBRAN6JoLBs93lDfe-1duFuCtDz2x4ZeJFocfUplZLbmKWoel084THkDA1Ub5QXtX3sA1AB26i3nzQESsXcf0dIVu05G3MVFkFmsg4qND_8mP7bFXieoxc9pan_zsXdGybMQwvkT_iZDa0Cl_aEj3wvMRPiVb1Yu9ZEVlOw_HMztbQwkS1vFkD5W-zGbJKCSw5xEwP5SR5mcCBlW8PgEiW6EUBHOfnisvogUTl0T2a7mfXwz0jLeQ5SUwmwrQC2tWrpS_x6MsgArMZznPP4J2SK76gmf24LouZ5zFeKAtOJxYl2zbKUrmJwvse1MhNpVVdmeZstb4jRtAlUcSXSR0RM_3EsDo4S3Bm7Kyu_M7aaB8h284DBCUmeHK5boYb2lCH9kS0ZA8LgtGtJJe42brNYluGA9VVPKNxKzoOFnrpDWjxdsHBMKMtQx6Cnz5PQldu9XZsrh1iBfbfpgjblKl6cdeV0z1ErbIqNvuzNxxy4BOIdyb-xFIglJQmJVzJp3BkWKyqlJxBNRg2uWIfa1xeF9g7up_CHiBlLfk4C-nIyWsJhGh6QeA0nz1rPowbyXZkg4MFkxO3pOBanBz6O6Hlcv2Ga-eV9EFwV84gcl1-rLcW6Ua3Zl5N6ZQIe7IWxolf82WkFKxf9gYENd5KLhjxVYMdOw8iRa_XQ_k7g9DRkUWtmYAggaTnso1ZdlnmuJA8oA5Vv233t5rzb5ZZpD6VPNFNo7uIEggK6cjiDGh0-hoVlgJ8SqwZk3TIPm9_NHLp1hX5Dqfu1G_SGirTTzKzO4XBph2WYTSCV9KtRk1wxpa22U-PcgevSBNZFYcbiUOSJE8oyr3tFUyaNPebUk0UGU1HxlDFEq047lDZGDfao2PLs3F5iCUd8BQNVRxSM5C2OJxfMx7_Y1Ql7FrmITHX1TJI8Gov9aSWEqPxPYNtrXLO7PMq3VBZkfs0CixUyZn13s-u61WnSYFEKWCAnaAcMl5cMG5PXydKgNVztL8GOeT8T_j55GLHzkCsmUPz6XWse54_0S1MhSvwsm0B9GnC0KEKx2pU-9Tg_yU87MlcmJWurndiBJrICtMrssEvMdMWaOJP_H1tlpoUghumFuM7_vP0Fzn20Fi4jwqdXl97Qp20GR-Ey3Ont2ihDBKih64hvh1fX9w6IEQ172wOFd6etQW-mubF0UtfooNrHFcgGYPmvnzz1Zc7YbiYEOZgfvEHA4buTSPqY",
  "id": "rs_09f67476484e4e1e016ab44c8b403487d0b3dc6eb55f7e1216",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.0,\"right_z\":0.14},\"note\":\"The lateral move brought the dog’s head to the basket wall but not yet over the floor. I’m shifting another 4 cm right and slightly up to clear that wall before release.\"}",
  "call_id": "call_fvi4rSHmcK03xtj7zir0367n",
  "id": "fc_09f67476484e4e1e016ab44c8b95c887d08b06ba1cfe03a58d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fvi4rSHmcK03xtj7zir0367n",
  "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]: [-0.1333, 0.968, 0.77, -0.5602, -0.202, -0.157, 0.9968, -0.1528, 2.0365, 1.6447, -0.4309, -0.6807, -0.3882, 0.4147]\nstate[eef_state]: left_x=0.3015 left_y=-0.0011 left_z=0.1731 left_yaw=0.1151 left_pitch=-0.1761 left_roll=0.0376 left_gripper=0.9968 right_x=0.5403 right_y=0.0329 right_z=0.1579 right_yaw=0.6019 right_pitch=-0.0558 right_roll=0.1826 right_gripper=0.4147\nstate[joint_eff]: [-0.1299, -2.359, 6.8855, 1.5849, -0.1587, -0.0513, -0.0122, -3.1385, -9.3607, 7.9932, 0.9011, 0.525, -0.1978, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5266a33e12d79f8c09c61a643e466ee8d281e7c4ced754cdf958c1f4ce46e18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:611700353f93fe15911365107e243151def28dbf2534d7044ab5444a146d54a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d7a15f8510ae6b2cc1844bfb4dc3ddcdfddaa45c15090d3655ce6c24549782c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 4.451 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9623, 0.7719, -0.5606, -0.202, -0.157, 0.9968, -0.1455, 2.1014, 1.9415, -0.6525, -0.5449, -0.3508, 0.4148]\nstate[eef_state]: left_x=0.3014 left_y=-0.001 left_z=0.1754 left_yaw=0.1148 left_pitch=-0.1691 left_roll=0.0358 left_gripper=0.9968 right_x=0.5651 right_y=0.0133 right_z=0.1996 right_yaw=0.4894 right_pitch=-0.1144 right_roll=0.1296 right_gripper=0.4148\nstate[joint_eff]: [-0.0752, -2.2906, 7.0359, 1.5702, -0.1538, -0.0659, -0.0122, -6.1333, -12.0547, 4.1641, 0.7741, 1.2332, -0.3639, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9676, 0.77, -0.5598, -0.2016, -0.157, 0.9968, -0.0517, 2.035, 1.5394, -0.3218, -0.5282, -0.2924, 0.4147]\nstate[eef_state]: left_x=0.3015 left_y=-0.0011 left_z=0.1732 left_yaw=0.1147 left_pitch=-0.1754 left_roll=0.0371 left_gripper=0.9968 right_x=0.5387 right_y=0.0649 right_z=0.1221 right_yaw=0.5399 right_pitch=-0.1301 right_roll=0.1681 right_gripper=0.4147\nstate[joint_eff]: [-0.3624, -2.6188, 6.8718, 1.5849, -0.1343, -0.0611, -0.0122, -2.7692, -12.1368, 8.8, 1.1795, 0.4127, -0.2662, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.968, 0.77, -0.5602, -0.202, -0.157, 0.9968, -0.1528, 2.0365, 1.6447, -0.4309, -0.6807, -0.3882, 0.4147]\nstate[eef_state]: left_x=0.3015 left_y=-0.0011 left_z=0.1731 left_yaw=0.1151 left_pitch=-0.1761 left_roll=0.0376 left_gripper=0.9968 right_x=0.5403 right_y=0.0329 right_z=0.1579 right_yaw=0.6019 right_pitch=-0.0558 right_roll=0.1826 right_gripper=0.4147\nstate[joint_eff]: [-0.1299, -2.359, 6.8855, 1.5849, -0.1587, -0.0513, -0.0122, -3.1385, -9.3607, 7.9932, 0.9011, 0.525, -0.1978, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5266a33e12d79f8c09c61a643e466ee8d281e7c4ced754cdf958c1f4ce46e18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:611700353f93fe15911365107e243151def28dbf2534d7044ab5444a146d54a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d7a15f8510ae6b2cc1844bfb4dc3ddcdfddaa45c15090d3655ce6c24549782c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEyPKK90WMxLLLPVM-eJW3J_Vru7h_WUJJsUxYSpEZbeZRJ6rsj3ihjY8Z_2HsdEg5U8U9bCO-o7BWaqVWqzS6o3vDx6ykI7FEsCslm-5BTXF5L25DlHXfkPKbhkJDYWRkIiFAP9GOwThvhNGBhZMcvdUNU01TjzGcxf7eP95qmHF5_-7vBt2jODB9CrCD-DK0EhjerfNiXQyNigjzGdmevgpjo3O9whgWFInUbi8PIXlMEyifcnmZR3rMoQI-DQiQEH-hnoP7u7-eUQSirBhl9uNQ7eLGubtIWS_s9Tld2aZcfElHibhQoXMKHUkb_1PQp_eichEdMSurtQNyZO47eiGMZSxvRXiRsmXDdn32E5F4MfHejoZueOshlv4shfk7n9Zaz2DT2ZPoZRFugjHWArdFU8-zTuuJp3KSuofQqNevau0u6JxR-y-98oup9n752AvCanOPq2EcF1etOi2KsDf_IgCfrXIcQX5-P1uXwReZgnhU70379LbrPBwva-tXRezk8F-VfXTlz_HUYTqpkOZ9HMN8FKvCC-3o8_XGC_ZD4zcFIvb9Zivepx2NT_6MZR_14dcrQ_SsjyM_5SeLFjTbVPZ5fFZ6LxMu4TL-TB1VfzvmDBSMw1CfVxLkqz_LkkDP5fS5-7Oxs7yqg5t8_pRDsw1E8fVI7HvICNxm7CbrbrN4kNgrKyj0oww5KcQWmovgccwyV2n6zMcFEiOfB0lh9oqJb__uzsQuSBF6wrBKfktZwrd261NwV5p5dZJkPoGoI6fhQ1Q2yRMY5XJI7rUR81-nlvcr9b1MfkjFgGYhQk1fHgbEEAcSGHU4RAIJf4gGRZ_kPDnNMOZ4NpHUmLk8bwgKRbTI0H2A9psi2r3-brXikE1zhDMv11e__9QGDdmjv7341VNUDVNsaFYfCyL0LZiyJGQ7Y8ocRbaQCu-GoSj8Z5k1innjNjla6tRTT5M3QNGzZoF4CqYChgWEkRF1_89qPk_MMZ3UEjI987UMWmy11sSKM8qAztuhkmujpLQvlGq7nftSQ5MYnVZWXGXWYVipaTk8YoIikehiBkfLxdlnOBpXbx2HLkmZQCaytBlvq7bRBqpTyof2Vjh1o7TxdCtwwZWKr7eEi4QRsM4_O7NgUL_tD3T4FKC0K2cU1QWXTWEGBuwL2D8WBlxPC_b3Snyo-0aRwed-RSYc50NEY_qPUvvNoM_OF03AdyCPZzqDfjtPM73kDXM2G-uj9k_GKb_Tlu86aCV_DqHiq3C2h7dEEHCtZO2SLgst31zqLJWoWYnIHc_r715OOzAps6iouTZtUr-Q2Dr8FcNCanYiP7XCezaPqcNIwoKHZiNTxkWQp_zJhM58Aqy5kMDsh7R956eVgZYOjwGBfI_phC6SQK8Hnw_L5pX6XOIRG6ydQ-",
  "id": "rs_09f67476484e4e1e016ab44c8e339887d0bd384aadb1100ae1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":-0.04,\"right_z\":0.17},\"note\":\"The dog’s head is now pressed against the basket’s outer wall, confirming the needed direction; it needs only a few more centimeters to cross the rim. I’m continuing rightward to y=-0.04 while lifting enough to avoid scraping the rim.\"}",
  "call_id": "call_UKxkv1Ubx7MyvVPE9MYy1vd4",
  "id": "fc_09f67476484e4e1e016ab44c8eb83c87d0b11d579892596b13",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UKxkv1Ubx7MyvVPE9MYy1vd4",
  "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]: [-0.1333, 0.968, 0.77, -0.561, -0.2016, -0.157, 0.9968, -0.2832, 2.0827, 1.8202, -0.5812, -0.8181, -0.5182, 0.4147]\nstate[eef_state]: left_x=0.3014 left_y=-0.0011 left_z=0.1729 left_yaw=0.1148 left_pitch=-0.1769 left_roll=0.0375 left_gripper=0.9968 right_x=0.5444 right_y=-0.0204 right_z=0.1941 right_yaw=0.6338 right_pitch=0.0173 right_roll=0.1574 right_gripper=0.4147\nstate[joint_eff]: [-0.1026, -2.3043, 7.0632, 1.5507, -0.1197, -0.0708, -0.0122, -1.6889, -8.7316, 7.3368, 0.9646, 0.1392, -0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01149c2d5939c77903357c32ca4d4c20fd6157d7b270e2e25b8ca924146aba7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d98e757e94946d7f1fe0a5574262dce4d121f54e7856b613bcc76ec826971aaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8952a88b8b7e632c65102289149ad14ef707dc461c1cd8aef9c6ff4d18cefb04",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 7.914 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.963, 0.77, -0.5606, -0.2016, -0.157, 0.9968, 0.0685, 2.035, 1.494, -0.2298, -0.395, -0.1982, 0.4147]\nstate[eef_state]: left_x=0.3011 left_y=-0.0011 left_z=0.1744 left_yaw=0.1146 left_pitch=-0.1717 left_roll=0.0362 left_gripper=0.9968 right_x=0.5402 right_y=0.1088 right_z=0.1111 right_yaw=0.502 right_pitch=-0.1437 right_roll=0.1345 right_gripper=0.4147\nstate[joint_eff]: [-0.0205, -2.3316, 7.0359, 1.5409, -0.1245, -0.0562, -0.0073, 1.5795, -13.3128, 6.3521, 1.536, -0.3004, 0.1294, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.968, 0.77, -0.5602, -0.202, -0.157, 0.9968, -0.1528, 2.0365, 1.6447, -0.4309, -0.6807, -0.3882, 0.4147]\nstate[eef_state]: left_x=0.3015 left_y=-0.0011 left_z=0.1731 left_yaw=0.1151 left_pitch=-0.1761 left_roll=0.0376 left_gripper=0.9968 right_x=0.5403 right_y=0.0329 right_z=0.1579 right_yaw=0.6019 right_pitch=-0.0558 right_roll=0.1826 right_gripper=0.4147\nstate[joint_eff]: [-0.1299, -2.359, 6.8855, 1.5849, -0.1587, -0.0513, -0.0122, -3.1385, -9.3607, 7.9932, 0.9011, 0.525, -0.1978, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.968, 0.77, -0.561, -0.2016, -0.157, 0.9968, -0.2832, 2.0827, 1.8202, -0.5812, -0.8181, -0.5182, 0.4147]\nstate[eef_state]: left_x=0.3014 left_y=-0.0011 left_z=0.1729 left_yaw=0.1148 left_pitch=-0.1769 left_roll=0.0375 left_gripper=0.9968 right_x=0.5444 right_y=-0.0204 right_z=0.1941 right_yaw=0.6338 right_pitch=0.0173 right_roll=0.1574 right_gripper=0.4147\nstate[joint_eff]: [-0.1026, -2.3043, 7.0632, 1.5507, -0.1197, -0.0708, -0.0122, -1.6889, -8.7316, 7.3368, 0.9646, 0.1392, -0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01149c2d5939c77903357c32ca4d4c20fd6157d7b270e2e25b8ca924146aba7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d98e757e94946d7f1fe0a5574262dce4d121f54e7856b613bcc76ec826971aaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8952a88b8b7e632c65102289149ad14ef707dc461c1cd8aef9c6ff4d18cefb04",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEyULGnvnsyYai6Z7HogBtcJKScSKSgmmC7OjRv4KQZaF0wJhP9vLEOUnFp0eL6t4SaX3j1moRjwqWx3nojIYUz7liP_YhRDPhMryvt32brMIn1lKrSiDR92OtV7UJInnp9yRCdgaWh2fE6leKV1YPEQEyqDJxQ8trOLKbs-s6h-tGK1gL5lFQLDSU9qa2VqbupSiCf7Vz1rWz7CJI7zgrRuMm_0aedEtSHMSCI8EhlwlcDrrLBZxBJRsUXYGBEATeTK1678ufgPFK3CuZgHznANYDthUpQUigttVSmX8Wmm8Uv0Zzgt_eCkuAA1v1JVC8F-YWM5AFdxrp6vgR-vGApsmF5lk_fAnMzuYNyXbBDZMovlIehEqISyGNye3udiw4QUt58MyYK9SgTOcYjd2G2knm2Q6cYGO3s8gs_2t2DsWMC0tJb2cYCgsqO098eJ_vI7hCi-49YPl-WJ_triY4w29iW5HJTThLvVytnfxdqhchBpDkb1yhECy-zB4m1qFMzOubtma39YXVt2y7X7Va8aGTUp-Vr22clStVdbQdHGILhxMKirrmxv-JBdQFKneOh9mPDqieMGBHtitigvEMIkIJ0Irs65ISgOCDPDZvBtuwyAzh6mBEz-vlLoGwHi0kaQ01-JAWQ6cAy77UV1WEl4oP2G48vGJCFG8WNzGHc7zH4hjkvt0ZCUzKH1I6vnXsnmSbJsDypLgEqCVNvXGrp2Lj1c2yGW3MkWry20qz21Er9Ce8IJXaVaC2f0i56fDFhUrpdyjbwXuOqr6laS-Hpxa_dsUr9duTFOAWfTDKb37aKKp4yDGC2oB4aTrDM0i0BtK3kErIeTc8VRxSYY8LlQ-_G4Iyfv-5OQ6B3aVh63w7Sb-NT0EJQUD4-miQF9SXOSXS3guoQGV3Mty2yA-VWbMjTMUSCxQkP8OHpt9p1Hd5qyuQEfG543FEC7wzZc7Hdzlr74LzmyToCs1ym095Z10xusJ8mqwoP3pQ1TCfpRX_5v4dFEkrFFpMpX5851pKXQO8dJEwY1tQn3zPovrLKz1oN3568_CA1QKml7V6PFIkuKA7ln-kHOyCShRt-FRMqE4FcLaTLrBU-OrpgkQLQQ690_3ECs77kKsYFy8ECymHnYDwFsAT3nZZbAigO15C0tGOV12CWR14Wk-rFAVPGErieH6u3PXP0v39ypwsOc5Rxw55emYUVVls2HipCwdaG152pJzbkxmJHXWMexWh2IgrpQSZpwNTpXX6fAOHG3KWiMMfKSI7Sx_lp96cWmYE-zNXQdD35KxPBarytTuGuZNy2ud3emWhmtUrzP0UBhQus6YvJABCjNZ9d0B05hDsCeTqkyrPJh9X5kf_WOYLnwjI2jmF2yo0aMzHl4NsGq3ZYsltetB8hM17VNzONRObTfOqaEm3RBYGNBFGozjW2LCxGK8cTiqEYFt8wQ75xNQYda_DwGyy8tehoU0YNlW3G4U6sEpuy0CenQFit-_fobPTdaw4OcB7lNhoilWBOWXbMJ84PxbYl77IafixkgYk2_fu0v5G8TCYuSVF8gOADW_8LIJBAymNK-q0AEh4fL7DYnXTimqIGJgheRmFM07Rr5ODjM_s5btwhduW-hsEYEr5S8vH7bGHZjcKbXjAAcZit-KZpqtrdwCrAL_u_XfVOXrVyd5bglPfv-Y7fu4KI6l10F-wuvnjR6W71ZRiQxGoZlR8KEQ1TTXtRuHvGuw-T7WbwQqqJbIRZ4e5QWTLr2QEa8RMOcFXPTYXpmaCv9TTGFwXmd2YT5EZlS5btvVxU1CrXsFmZRpohlmu0CaA2n-QxtX0_P3IGtKuTz1HiKf-hnr-IRnlLHy3fDGSRBlHjHCO_rGoweleEslPeMWB4_RQqjX_ZzKFXrngLTtUdbXxvh7PTbSEYxuQLnoLM-CNfArSwneAOyY9FPUBOkYWfGQeVwtByS3XqftJjQgn0U8_DyNqgtYZNDRC5Ph98sXTkzUJ2sE2Vb9fLI86DVVpRBiYMWKjrp2RhJKLmYvFK9WXjuRbh7E_kzRjAE7DPec4QkjS0dw83VZOWDSCTiEo0latiNFsUcn8_cKv_syIDMm5yRSjeQUMu_YMJWSLQ6JUiJLnLLH01TEU6SxF_CfuJkpuI2i0d5OtVzEBXBkalDSoLLFYFVYDJDbPs6nXpr7aeKvSgC4hWvKR8-G3-MhvuT1A==",
  "id": "rs_09f67476484e4e1e016ab44c9182d887d09629978a0abaa307",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":-0.08,\"right_z\":0.22},\"note\":\"The soft dog stayed secure, but its contact slid the lightweight basket toward the outer edge; the opening remains reachable and is immediately to the right. I’m moving to the allowed outer-side limit at higher clearance so the dog can pass over the relocated rim without pushing it again.\"}",
  "call_id": "call_wCN9iMjTRJEhhcEDSOqAvFz6",
  "id": "fc_09f67476484e4e1e016ab44c935ca087d08fa7afaf16838fe9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wCN9iMjTRJEhhcEDSOqAvFz6",
  "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]: [-0.1333, 0.9676, 0.77, -0.561, -0.2016, -0.157, 0.9968, -0.3847, 2.1944, 2.1021, -0.8101, -0.873, -0.6346, 0.4147]\nstate[eef_state]: left_x=0.3013 left_y=-0.0011 left_z=0.173 left_yaw=0.1148 left_pitch=-0.1765 left_roll=0.0374 left_gripper=0.9968 right_x=0.5503 right_y=-0.0729 right_z=0.2195 right_yaw=0.6273 right_pitch=0.0272 right_roll=0.1298 right_gripper=0.4147\nstate[joint_eff]: [-0.3761, -2.3179, 7.0085, 1.5067, -0.1294, -0.0757, -0.0122, -1.1966, -11.2889, 8.8547, 0.9402, -0.7204, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70d9bf69cb80e2256eabba5063438ef4bce38e175de3e8da77261b4f4a62c981",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49334da266902e651f0dcd8f90f2ac731e9dc902912639efe2409752e22ce3db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10ef451bfb713a249c04646341c985092735e66fdb4dc3699f0a5196d1a3f2ca",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /responses · status 200 · 5.429 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9676, 0.77, -0.5598, -0.2016, -0.157, 0.9968, -0.0517, 2.035, 1.5394, -0.3218, -0.5282, -0.2924, 0.4147]\nstate[eef_state]: left_x=0.3015 left_y=-0.0011 left_z=0.1732 left_yaw=0.1147 left_pitch=-0.1754 left_roll=0.0371 left_gripper=0.9968 right_x=0.5387 right_y=0.0649 right_z=0.1221 right_yaw=0.5399 right_pitch=-0.1301 right_roll=0.1681 right_gripper=0.4147\nstate[joint_eff]: [-0.3624, -2.6188, 6.8718, 1.5849, -0.1343, -0.0611, -0.0122, -2.7692, -12.1368, 8.8, 1.1795, 0.4127, -0.2662, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.968, 0.77, -0.561, -0.2016, -0.157, 0.9968, -0.2832, 2.0827, 1.8202, -0.5812, -0.8181, -0.5182, 0.4147]\nstate[eef_state]: left_x=0.3014 left_y=-0.0011 left_z=0.1729 left_yaw=0.1148 left_pitch=-0.1769 left_roll=0.0375 left_gripper=0.9968 right_x=0.5444 right_y=-0.0204 right_z=0.1941 right_yaw=0.6338 right_pitch=0.0173 right_roll=0.1574 right_gripper=0.4147\nstate[joint_eff]: [-0.1026, -2.3043, 7.0632, 1.5507, -0.1197, -0.0708, -0.0122, -1.6889, -8.7316, 7.3368, 0.9646, 0.1392, -0.1245, -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 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9676, 0.77, -0.561, -0.2016, -0.157, 0.9968, -0.3847, 2.1944, 2.1021, -0.8101, -0.873, -0.6346, 0.4147]\nstate[eef_state]: left_x=0.3013 left_y=-0.0011 left_z=0.173 left_yaw=0.1148 left_pitch=-0.1765 left_roll=0.0374 left_gripper=0.9968 right_x=0.5503 right_y=-0.0729 right_z=0.2195 right_yaw=0.6273 right_pitch=0.0272 right_roll=0.1298 right_gripper=0.4147\nstate[joint_eff]: [-0.3761, -2.3179, 7.0085, 1.5067, -0.1294, -0.0757, -0.0122, -1.1966, -11.2889, 8.8547, 0.9402, -0.7204, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70d9bf69cb80e2256eabba5063438ef4bce38e175de3e8da77261b4f4a62c981",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49334da266902e651f0dcd8f90f2ac731e9dc902912639efe2409752e22ce3db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10ef451bfb713a249c04646341c985092735e66fdb4dc3699f0a5196d1a3f2ca",
      "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_09f67476484e4e1e016ab44c967de487d0a684b49ce126d2ac",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEydqZDbXJWM6TeuKKxNftdx7DKUKZLSy74nLy-XFOS1V5iPzmHDmjQ42nk1BLG4AA1tfYskHaX_GV7dPcGe_aRAy-SYhqrjNOwbEUsPDJVVYMcmOHzH_LbQzTspZ3DGofjJcl4YWYhrM-gao_w4z38XAKqqkwO2jX_9pgPbTDBE1O2MSIvOUn6o2CgqpdmqOqTZslaF4h2A5t4c6s_4Owj3BlTN8Xb_gjnO5q0OTBoiwpHWJdZ3M46ckJC0XtH0ct82e67EqRefuoyWqSkxfPLxVHXZ_jg0W24xDDATBD9EtBTqtkZHndRalUjVZMqh21nz1wax67HRJfG45J4TYtKi1Ai7rwmd0BTliyzdrVNGOOEdHNshwxEnZhm_8BPn1jl2rSk5YrLR3bBIHlli1nCdU_9UMTeGq0Yi9ZuMbanI0l_Dq7WPZyhUARRxLXuk22EwsdhdDEdEEwdoXLflYeawo05Y3ZgTiXtCXhlB4UT5j6E_UXM1pCMWHs8B0jANWa-ft-1UBe_uvK7KS5xb4thU5GPe7sye74DofKEjD6xBmkKJH5gRjThZzV0x6npoVd8qgjdpIDWyqUyVaUCE2AzN7JmtbkbRxB12Aq6i48zrJFU4g-0d0l56AebQl7DRY67pgDopqb7D8uHocfsEh3cYztll6BNGo1F4sUYQOqXdDPK3B5aOUMd3PzOsSi2YQWZoYItoxDcoH4MmjSV-DxqJjGLwKeAhWaON_fTNQQGx_2-v4kTfrPg6500aVjc1NjVczwRFlX1Ju3a5fEZof9ulOmPQdU1kyhMYjkq_N0LRzkIvnpqQNMaHszWCSU8ktxgaDpCUBeuDAZEVwl4Y-KikVCA6PvJbqw_NNxo0Ah1i7yXESRVRfB1SYdXVeAWxMY6t9-EGETaSPS8xM25tFhBZBEk9R70v9UqSdRQcoj_BNvZCFlOGHSqQYrSqBfHygnohwluaKatUWkKXNQPdMTleJtvs2T9680UZJA70c7dAQAefus7BjhBNPzC5lOcaBrOfoQ_SdU-167q1WucrMfq_n5aOva6nk8-Dzp5S8TtnpWWBd9Z4N7jkYUlEvafqyElQSRWVO1-XW4TYK4qiZ8pAu_s6EDJANCAqsR7TiU25xTYJsRO8WHa8XjjUjNY8tMMWSxzFJXe-2VlfssicduFin7uWbq8MmUvwF1etNx7lyl3LyjsKBd-WzYZGp2zu25I5BXAsrvaHva3seH03nd0LQrDoJD30cxFcddlk6uRjIj-uenesUzlpQnuAu8sVTCEJM6oYpL16AE1oAFrAvp1ck0tO1O-CisLz3UgIkEagI6r02KmU0I-BlnanHUpjM97oXgn7aerW4q_UJpwazNerP3rIybnFzpw-3Fnzulq0TAClsnOZ1SLNZkFZdnYtPsfeh7HRTACI_CTq8ZtiZqSm_CbE6DYANLoTRl_jOoiFexq_XHOBl1bg70XVRTOCxcn9YB9m38CpRjdIVDBYjX-2eUUQ9DtdqqkP-db7qZJ19UvrFHb7FbitAQQuAFQwConhmdcLPN65vyRTzN5uLQP3VevoQYor7eCU0clczJQvW7qEchY__ftGrQXLPuuZI-smGx4gyjLTABlBRm2Gimo_Hr2vu5IeMM1BBfv6AzbKQ7TdVF2UVzSEfLOEJRgkXzZE3-ygKX1IWW-wvh-LQDUdJQ==",
  "id": "rs_09f67476484e4e1e016ab44c9ae58887d0888e2a20efd0ed7a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_yaw\":0.0},\"note\":\"The basket opening is now directly under the gripper, but the dog hangs off its left side because the loaded wrist has yawed about 0.63 rad. I’m restoring the start yaw to swing the plush body inward over the opening without translating or contacting the basket.\"}",
  "call_id": "call_Vbn7K99bR1J6Ic63ypiTq1Ci",
  "id": "fc_09f67476484e4e1e016ab44c9b963c87d0bc275188fa3125bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Vbn7K99bR1J6Ic63ypiTq1Ci",
  "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]: [-0.1349, 0.968, 0.77, -0.561, -0.2016, -0.157, 0.9968, -0.3817, 2.2013, 2.1292, -0.8818, -0.8768, -0.659, 0.4147]\nstate[eef_state]: left_x=0.3014 left_y=-0.0016 left_z=0.1729 left_yaw=0.1133 left_pitch=-0.1769 left_roll=0.0375 left_gripper=0.9968 right_x=0.544 right_y=-0.0682 right_z=0.2183 right_yaw=0.6448 right_pitch=0.0047 right_roll=0.1544 right_gripper=0.4147\nstate[joint_eff]: [0.0068, -2.3316, 7.1316, 1.5263, -0.105, -0.0317, -0.0122, -2.2906, -10.988, 8.4308, 1.0818, -0.6032, -0.1245, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91513c2492ba987c9045805b28b6e3f660788ef30e6024216697da8be33f1fb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d8a43b0794280d2c1bbcf3f050b1c9501ad5d6b882f5ead68608d4730a053ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27f69dda212ccfdc6c8d3bbede632bd0c2d5003cbb50b6a2ebc7819e73791f24",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 2.531 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 128 changed as sent

message 133 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.968, 0.77, -0.5602, -0.202, -0.157, 0.9968, -0.1528, 2.0365, 1.6447, -0.4309, -0.6807, -0.3882, 0.4147]\nstate[eef_state]: left_x=0.3015 left_y=-0.0011 left_z=0.1731 left_yaw=0.1151 left_pitch=-0.1761 left_roll=0.0376 left_gripper=0.9968 right_x=0.5403 right_y=0.0329 right_z=0.1579 right_yaw=0.6019 right_pitch=-0.0558 right_roll=0.1826 right_gripper=0.4147\nstate[joint_eff]: [-0.1299, -2.359, 6.8855, 1.5849, -0.1587, -0.0513, -0.0122, -3.1385, -9.3607, 7.9932, 0.9011, 0.525, -0.1978, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9676, 0.77, -0.561, -0.2016, -0.157, 0.9968, -0.3847, 2.1944, 2.1021, -0.8101, -0.873, -0.6346, 0.4147]\nstate[eef_state]: left_x=0.3013 left_y=-0.0011 left_z=0.173 left_yaw=0.1148 left_pitch=-0.1765 left_roll=0.0374 left_gripper=0.9968 right_x=0.5503 right_y=-0.0729 right_z=0.2195 right_yaw=0.6273 right_pitch=0.0272 right_roll=0.1298 right_gripper=0.4147\nstate[joint_eff]: [-0.3761, -2.3179, 7.0085, 1.5067, -0.1294, -0.0757, -0.0122, -1.1966, -11.2889, 8.8547, 0.9402, -0.7204, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1349, 0.968, 0.77, -0.561, -0.2016, -0.157, 0.9968, -0.3817, 2.2013, 2.1292, -0.8818, -0.8768, -0.659, 0.4147]\nstate[eef_state]: left_x=0.3014 left_y=-0.0016 left_z=0.1729 left_yaw=0.1133 left_pitch=-0.1769 left_roll=0.0375 left_gripper=0.9968 right_x=0.544 right_y=-0.0682 right_z=0.2183 right_yaw=0.6448 right_pitch=0.0047 right_roll=0.1544 right_gripper=0.4147\nstate[joint_eff]: [0.0068, -2.3316, 7.1316, 1.5263, -0.105, -0.0317, -0.0122, -2.2906, -10.988, 8.4308, 1.0818, -0.6032, -0.1245, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91513c2492ba987c9045805b28b6e3f660788ef30e6024216697da8be33f1fb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d8a43b0794280d2c1bbcf3f050b1c9501ad5d6b882f5ead68608d4730a053ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27f69dda212ccfdc6c8d3bbede632bd0c2d5003cbb50b6a2ebc7819e73791f24",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEyiIPH7BBMI_xUsWg5aDXtRD-xqOWAFGknT_zjAhc9P2B5f4q0OTjhdDEBjWcwx22eLKIoKaN5iAKksyGELxTpn8ave3w5a821-kVxs8eV-SRIphGBBsVqVX-CcrnH79hiMKyNfNXOfJ5W7bOuEQqrjW7ICOGUTw1NLPOiJ_VcR8Oc6Bsppq69OzPDQyP1C8SCAGM-gsKCC-RBHVC_ljzlP0HBhtsC3caTVTnhqNT9QMBP7xQBOmyIhCg_kHd-o2YO2tGyePb5OTGd9tRnNPbm5LLsOddR1rcgmUy-pwXcFdn_jCitVeUEog7HScUDAB_emOeocYCOCHw5UZ9hpZ9CyezF5HUtHZxAvVoOiQFBv6MW2PBYUKGNrst-6hraED35C6w6IMTxMNM7GCgdO5ABbYCPhyNQHUH9sRKKgZUF6uPAuwYDNei4f3NY4bU9AuIezypJy4xqaFV2wQRR-mzQjrabKeb7qij4yss2UKpBS7lPOu9pIae7TQsI-hf_XYv3PZduUA7kmuUiAz-gLVCIHQ6BLRKv6bLmGJtTuWdxnkbdL5FqRDktBiPXeKNAtFo8MkjATI4r8EFLW4wMFOjQg0f_TGi3cjNBTL0jybZlDl44WSxn8Ngh4WRmfEGP2PKZzMpQip2uHVi5CkgtKpxPL0sTb5DxwplnSenRh2oG6DK3pd3-JgUKre_rU_fBabp_aqmsR6evqQOxQjPHGbjziC0C5q9fGfiKwL32GKpVj95Spx0rK8TE46ElbVTznnJvAtf2yN3bTRLhfURNvyxz9zVMzlSBcCcZKY0KVtDFu3H6e449oS9pazV9vR6WB6sqfm-03CqPk_rk0B0D5pzdJymUhmFdF_Y-C54tE7O9VA7RcmEfEP4xtWPGI1HajG-nLQkQObCPQ4e_uzkLqXHGqwBOOStVuhNA_7Bc78lQFj-TAf4j58HOIKhYXXxh9y7Ijho5Zm38FBpNb9AoGds5KDnkI5h2dhSsfUsyalgd4Oxbv4vkTBvpjNHUrXQf7r9g5f0TuQasH3a_x0sfcKTxLIrnhEx-ks2-3w_xZHm2SZYaAfzaTSIKrPSGPXduuzRvCne0Ghn43PBBeFQOYC6Pz8-IAfRlV3eXCeFumoYl06OSrSWqlVqxifLb8b56mROzj4OI3coXpWanTAk8KKGdiCTuhiVdQFrsI7zyorVeA-hx_NzTW6he9XRRac21oI7hwOxvrX7Ysh-yrSfnYfSzT77GdHjRRYxb3A_yKW4xqDKJi54fLbp9jB6c8mRkix7v5YRg1w31q2Kbo_kecJaua64f5uSQ3hmEqt4VUcgqBq6YTG6UeKuClpI2-GzbWyYkB6UAXifxTy8keZGgRppy4bp1Zi3n7dG-S0sbdsx_cbMs_3PUPpgT9UHirc8e0yjhAoK_AQcgr8uTBfDcHV5EicC-rjsRTLxsTJk-IcJhYthrN44qA5UknOCf2R7UUjDEfPdpxxhs2aOlzTOmAkPme-QGDnnFUMVsxBxmh8ebUgccn6hWwxnXr6ETOGtDc4dB5L5Ge8x3tS_hdsHqehLY6c1CZMD8J3FkqUubBi1X0dC_0Z_HKP0bkIV65vbjLbfME1Ps5_B9fnE8xze7sT7azo-IoRdMdMN9QM4oun9ID0LII85vCGFhG_cwLOpu9r7n1wdlfwx6YZ-UjBI2KUnE0iy0WA-IINE-2HNVWdDSuXfVXMffia3E359mOp89Gzea0Xeay6P-u2hRLAMQxKVd8Xln7u7D_SBOHYz-nqaG4nXwZfkeHnjLB6rYxNRYL3VaPpYwFU3znrqV6gO2Sj1g5QS_CDwkvuQx1eDSPyS5B28bBL6vbQ0vDFaCr9p85nr1BdLkIzydujuuqULczfl9gQYHO22cgKSmfDBSsCw_eYFO9IJy8Ickx3PB5j40tDdswk1O5Jlmx0kMynh-miker0DOLyW2YqHI3Hgl2bFGJ8meV1TsBlLQoITb0pLz3bzgi__yJlS2RoQItzhFj98e8Q2UADxluq3bgWkrrig6kC8MVQx9MPsaI3iwjzMtonziHT1reAWR99Te1xWrcQN23XogrFjQjddvp9spMSRG_HLaHkCu1ltjH-KSykJ-S7UxXH9MW8sX3SjNiUWgH-u1jgqBYGas57DKyyNkdq_FV1VA-ka-IvwtplaPxJO9qn4K2qlhgE2SUxZo55Tneq3eWlfdm2EajQ4bTwU_NWP9Wp45VDuoly4OkySc38AmDVCWh4fD3jzOMivcXSaUaPzShmUur0df5S9VBevqZBrwWXlO_8nHZ2hxn5VO4T52BZFNhI0MWlO7KcW-1fXiE4oeUXQkx-XPS-uoc37yQkTAYNlA2Bygpy_xVAvZH4Ma4OZZPbHn5cfP1RQul3ukDas4_IZUtkDFDnQJKT677eLn2SeW-THbMELKO0P7awjBJ4Q5PZtRhwwkGkbscUE08gHyIwC1sfr4aFFGzzSxYRJ6R0mMWWQS4oBTyV99V0N1ursNRHpR9uh4xoq2gZEFHI6ZbK7sXXi0NLUBX8tpyQx7L5BYLsW5K1q9_M_fPiHeil1WmlnuJGmYFzCcangqAwphDLsf8I5xcSorpYMP9UxL2qeNpcMeBozXREYEF6WFeXNOZdlo0-IYEJzg51ZAlWkKkILnrEbSWPyX7noNiba-MLfhYNhXTbqjAIELFr7EqWtwyHIKMGRpgnVh4IK2UBAWMeeg28cga9aADzeYZlZFMJvhgr4-ruB38TSVkk30ipNIvZUXWablpy5GBj183Vf1Nr-ecsFB9eI_9_EZyeD6KaDn4VYmiPvwTZiC2Ddu-S34OKM2y9fjcD6LDER1bhbfD6Z_M0d-HuJUspJLEDb2WgsdoFAloeqTJNJQD9zPvxDIzEkXlXNypKYiJPw4o075jRt5LM4fvErCBFbhlVEW0J68bvUSD7gzwCIZOFqjrVfagKivT9jVDTO4PCDtS_a6SDSYf4y26p0BTZfskYB6aWw6cynBHiQkGJaRITpUcuRrmADHRpGcEqg5dTQae9-nKnhrUxv41msfLolyIlLob9QIKswd4045yfWKSOUG5blWFGhzXCUdLMl9m3zsYX3XjOm5W4EyoS4AYB_AsqJUecaqjHXuoLW__3bwjqHTRR488q6onl1wi3aM9V-jAE1m4SWVxsIwGbjZ9X_5Us3lDvNMiI4zuMd2UpdLoD2J4i5WVu8JqRoy5Xc0So5UYsP3inBFf6u4T4En_Qa_uQ-TdIS8Q05Bm4uh_RmfQULjrE0PlJrunF_Y18L06xToYe1_wPwO0UaapflSmeNyGZluHqEHIwCprl3-AdQFiEg7a_sVmyssjbePS7OxZgyNr1ogkNg==",
  "id": "rs_09f67476484e4e1e016ab44c9e9dd487d092faeb8d9aeee582",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.11},\"note\":\"Although yaw cannot track at this far-side posture, the wrist view shows the plush overlapping the basket opening along its left interior edge. I’m descending vertically now so the body settles inside instead of making another lateral push.\"}",
  "call_id": "call_UvcLyxcQzJsEZ1iv3RhHWi5L",
  "id": "fc_09f67476484e4e1e016ab44ca1f56487d0b1571871364cc3f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UvcLyxcQzJsEZ1iv3RhHWi5L",
  "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]: [-0.1349, 0.968, 0.77, -0.5606, -0.2016, -0.157, 0.9968, -0.3817, 2.2013, 2.1292, -0.8818, -0.8768, -0.659, 0.4147]\nstate[eef_state]: left_x=0.3014 left_y=-0.0016 left_z=0.173 left_yaw=0.1132 left_pitch=-0.1765 left_roll=0.0374 left_gripper=0.9968 right_x=0.544 right_y=-0.0682 right_z=0.2183 right_yaw=0.6448 right_pitch=0.0047 right_roll=0.1544 right_gripper=0.4147\nstate[joint_eff]: [-0.0205, -2.1265, 6.8581, 1.5653, -0.1441, -0.0269, -0.0122, -2.1538, -11.3436, 8.4581, 1.1013, -0.6081, -0.1099, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77c0f231ada38cc7af7366c90e7f8bc55080fe5403a0fb058abe50936fda5147",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e00bef6d3382e2f83cae6186c369a0ce8f3169aed29270347143a4a4f6b3d78c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5b69b83042d5b55122a3bce475408a4e61c8ffffe43e768e7d27291dc01b037",
      "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 · 7.201 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 133 changed as sent

message 137 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.968, 0.77, -0.561, -0.2016, -0.157, 0.9968, -0.2832, 2.0827, 1.8202, -0.5812, -0.8181, -0.5182, 0.4147]\nstate[eef_state]: left_x=0.3014 left_y=-0.0011 left_z=0.1729 left_yaw=0.1148 left_pitch=-0.1769 left_roll=0.0375 left_gripper=0.9968 right_x=0.5444 right_y=-0.0204 right_z=0.1941 right_yaw=0.6338 right_pitch=0.0173 right_roll=0.1574 right_gripper=0.4147\nstate[joint_eff]: [-0.1026, -2.3043, 7.0632, 1.5507, -0.1197, -0.0708, -0.0122, -1.6889, -8.7316, 7.3368, 0.9646, 0.1392, -0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1349, 0.968, 0.77, -0.561, -0.2016, -0.157, 0.9968, -0.3817, 2.2013, 2.1292, -0.8818, -0.8768, -0.659, 0.4147]\nstate[eef_state]: left_x=0.3014 left_y=-0.0016 left_z=0.1729 left_yaw=0.1133 left_pitch=-0.1769 left_roll=0.0375 left_gripper=0.9968 right_x=0.544 right_y=-0.0682 right_z=0.2183 right_yaw=0.6448 right_pitch=0.0047 right_roll=0.1544 right_gripper=0.4147\nstate[joint_eff]: [0.0068, -2.3316, 7.1316, 1.5263, -0.105, -0.0317, -0.0122, -2.2906, -10.988, 8.4308, 1.0818, -0.6032, -0.1245, -0.0171]",
      "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]: [-0.1349, 0.968, 0.77, -0.5606, -0.2016, -0.157, 0.9968, -0.3817, 2.2013, 2.1292, -0.8818, -0.8768, -0.659, 0.4147]\nstate[eef_state]: left_x=0.3014 left_y=-0.0016 left_z=0.173 left_yaw=0.1132 left_pitch=-0.1765 left_roll=0.0374 left_gripper=0.9968 right_x=0.544 right_y=-0.0682 right_z=0.2183 right_yaw=0.6448 right_pitch=0.0047 right_roll=0.1544 right_gripper=0.4147\nstate[joint_eff]: [-0.0205, -2.1265, 6.8581, 1.5653, -0.1441, -0.0269, -0.0122, -2.1538, -11.3436, 8.4581, 1.1013, -0.6081, -0.1099, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77c0f231ada38cc7af7366c90e7f8bc55080fe5403a0fb058abe50936fda5147",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e00bef6d3382e2f83cae6186c369a0ce8f3169aed29270347143a4a4f6b3d78c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5b69b83042d5b55122a3bce475408a4e61c8ffffe43e768e7d27291dc01b037",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEym_s-4a7bfHqt0UWK-tpE2IDlzWwejHgcMYqMYFw3AtRTSuBJLgliH766jR4s2L9V0eqPKzWF4zhNYCzkP9eHtFGYX-5-f-cJuo6CYP3C6YD79lLDva2xmdzrm5hElXUA65Jw7hrRApqfZzZI0E1ZmWv4AIYNMRqOkqE-j9BGMD7nxecuKt-EhY2vqveZ4VotRzC2ljDnAGWlXZ4UXbNpApDuWTtJXml3Z0Abj1DZ4vgsZJG7Vbtad4YVo6RWPJGgXioGrKXhbVJV4Hqp1LCdBSERWeuwF48o477YIBoGU92wnTJdNI0lCT5a5ALEsbAfoeI_VQQy6e3JA8fWL4xSyjRwhSA7az5cBra8PmmnIOUt7kuV1OnvQbBhfaAv03E1oBdmJtSQRcv2LAI92BERODqRYUUObODOz1hd5Ut6eY1f42Ga3Rr7Hnv7-j-fQm2FIu3YHOIGIGdEh_tod7Ez3_ed1J-eMlJq5P2Ir_mRzDeAYLYcjRITXv_bN4gQ133TC8kHbzBAa7v3AOaHPqJZ7QVAoT2aJrKdm-D8C-3oQmW3F52ma_TbmYIHvjvi7ENf4qoJ8qZcStWXhWdZ4TiaCwh7k6wg15pDvW_R8QDWAtNLdkaBvL5zfkmqQUegBVTNMzrVmrnCA_Fg_wgqSi47o7ZkZsNCHetsavjQVSNsbY8LtN3MweXlYGSZqFSNxk1eLCd6Xe1c_qwp0xDC80bhYoOMM0xJyS6xQhprGR6XvYh6wGz3_3TfCt00FDDc8H3kK9v3t_GukXFf7oD8KQbvVVF-EuyKxuLxCQNASSerk72pUKr1TVMsFVBnh2TVMqsPI9qGgB9xrhSU7nccoUQMYZ4LGXqXI-olcYhcx8Czcn4F1SyglQIjiiw2HnKdvPhTVAp1AGv9My7rYChsBQtL7GJoMlEgIOQHKwiNq0GqgrWZBVMyFT-rpnVow-robjd3gzZopC8Lv_Z-5ugy8k12IBi3yiHf_aiOJ3bH5LVE3tq4NodO3Jbmkzvsl2K988xlsI7SZ1mZqYqjWuRZLtJeLZ2f8g_ZeEk9YS-wK-F-cjXTKNRjsVdJ6KowrFVvzZxdG--5nHeZOHIrWrqcGTidMQFV1XcuSk4rfIUGmU4jA1ReYj88UfRCvpH9T0iQWA6NNU5yf7P4fjicSjjDBmDzwHyjwuAAHWpEvgL5HWuFnRvyEMmhm0IlMUTQmgsJm7TgrPGFbL9qg82NGlzqTb1Xm3s3ETG8yzV4Dok9AuSpFdF1NfWb9wNwn4lVZPa65RHgfLYXszQJbWi9j9sT9ZEkYRd8JRnzTQYLYAXV47ke_jONxDKPQay3IPK1PbLaagH3Zy1UenFR2EOExPZmbb6SMcy6SgAG2RjZnk_N7rD-nSgnxq9QS1JryTEXMr1taAvlfDGabA79omGkD2yeKjEv_sgnLQrsBTHDYL8K9E5Vh478mfM9DxaFZSJwCWy_FSDwVFNYtau-QYWBcy5AAQ3V30hcKq0IEkfsbnMI0b_bZuoE=",
  "id": "rs_09f67476484e4e1e016ab44ca4a48c87d08d7882de33fa7d57",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The arm is kinematically stuck at the outer corner and cannot descend, while the dog still overlaps the basket opening in the wrist view. I’m releasing from this centered high pose so it drops into the basket rather than risking another rim shove.\"}",
  "call_id": "call_jBOZdatLBGvQ7VDyZnUfIR6e",
  "id": "fc_09f67476484e4e1e016ab44ca546c487d0a7665d8121df9e03",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jBOZdatLBGvQ7VDyZnUfIR6e",
  "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]: [-0.1349, 0.971, 0.77, -0.5606, -0.2016, -0.157, 0.9968, -0.3702, 2.2196, 2.1124, -0.8558, -0.8688, -0.6666, 0.9951]\nstate[eef_state]: left_x=0.3016 left_y=-0.0016 left_z=0.1721 left_yaw=0.1134 left_pitch=-0.1795 left_roll=0.0382 left_gripper=0.9968 right_x=0.5486 right_y=-0.0644 right_z=0.2048 right_yaw=0.6557 right_pitch=-0.005 right_roll=0.1524 right_gripper=0.9951\nstate[joint_eff]: [-0.1162, -2.5504, 6.8855, 1.5165, -0.1148, -0.0269, -0.0122, -0.9641, -14.2427, 8.1846, 0.9304, -0.5055, 0.0269, -0.1832]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08d94f48ae05f8ea583d24dd99d42d5f268aed3d023403c643302cce97947446",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fdf1838ac1b425bdc061a4a671f4330159f97fce6c705f62ed01517679a1a39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:805f20c7783cbe646bd9cd8a740e481130a402b3bc681062209aa15ac58e3c16",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /responses · status 200 · 3.983 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 137 changed as sent

message 141 changed as sent

message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 0.9676, 0.77, -0.561, -0.2016, -0.157, 0.9968, -0.3847, 2.1944, 2.1021, -0.8101, -0.873, -0.6346, 0.4147]\nstate[eef_state]: left_x=0.3013 left_y=-0.0011 left_z=0.173 left_yaw=0.1148 left_pitch=-0.1765 left_roll=0.0374 left_gripper=0.9968 right_x=0.5503 right_y=-0.0729 right_z=0.2195 right_yaw=0.6273 right_pitch=0.0272 right_roll=0.1298 right_gripper=0.4147\nstate[joint_eff]: [-0.3761, -2.3179, 7.0085, 1.5067, -0.1294, -0.0757, -0.0122, -1.1966, -11.2889, 8.8547, 0.9402, -0.7204, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1349, 0.968, 0.77, -0.5606, -0.2016, -0.157, 0.9968, -0.3817, 2.2013, 2.1292, -0.8818, -0.8768, -0.659, 0.4147]\nstate[eef_state]: left_x=0.3014 left_y=-0.0016 left_z=0.173 left_yaw=0.1132 left_pitch=-0.1765 left_roll=0.0374 left_gripper=0.9968 right_x=0.544 right_y=-0.0682 right_z=0.2183 right_yaw=0.6448 right_pitch=0.0047 right_roll=0.1544 right_gripper=0.4147\nstate[joint_eff]: [-0.0205, -2.1265, 6.8581, 1.5653, -0.1441, -0.0269, -0.0122, -2.1538, -11.3436, 8.4581, 1.1013, -0.6081, -0.1099, -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 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]: [-0.1349, 0.971, 0.77, -0.5606, -0.2016, -0.157, 0.9968, -0.3702, 2.2196, 2.1124, -0.8558, -0.8688, -0.6666, 0.9951]\nstate[eef_state]: left_x=0.3016 left_y=-0.0016 left_z=0.1721 left_yaw=0.1134 left_pitch=-0.1795 left_roll=0.0382 left_gripper=0.9968 right_x=0.5486 right_y=-0.0644 right_z=0.2048 right_yaw=0.6557 right_pitch=-0.005 right_roll=0.1524 right_gripper=0.9951\nstate[joint_eff]: [-0.1162, -2.5504, 6.8855, 1.5165, -0.1148, -0.0269, -0.0122, -0.9641, -14.2427, 8.1846, 0.9304, -0.5055, 0.0269, -0.1832]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08d94f48ae05f8ea583d24dd99d42d5f268aed3d023403c643302cce97947446",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fdf1838ac1b425bdc061a4a671f4330159f97fce6c705f62ed01517679a1a39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:805f20c7783cbe646bd9cd8a740e481130a402b3bc681062209aa15ac58e3c16",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEyt0Qakz0ntdvSQALBYsHfZhATg3t9Yz-OjB8k4bCf7R0ze5mqk3Y4k5HZdXyh8gc1YSgGhZz3PkkSXYh9Wx8x_gdxXGKOPZAX59-hE7MuNJ1-hIhWmr3oAffFDllyaGAScSb21Zf5h0CKma9IAGVY_UWZHqvfy5d80kXRf_-6Re2WjdDBvWp7PB58E_Y73kAH9S_HuuolmwUOq-eT8eYuGEu40JAqN1HCEOQDGeg09bA0P9H2D78b5aS4YIN07DX3eJAme0ibz26mqwnkHPIg5QuyxPR5dIukbZxXC0ImVaa67iNBE0v_6Lcha-n0pTKgzzV3uvAjfPxato5Oc3VEnJIk_VF1plYe3c9m-0GG7uM5Ojd6XuzqqTSbS2K8F693wlbggip04Y-5OzNASppzdtf9sPcBF3oVgW4e7WCjbzpLbnkgfN-sorJ9u6xKC6x4C_DKYA4Kxt0kun3A0gyLughbjet-QrbLS4h3TSKcSwNcNeLsPMIUdmZmx4m-1MhPR3lh05A8GNAq9PWO1eWEgX3MEV_hldAqEFHyCGuYHGYk-XZ82NUlE45Hv71PdgJkRc4K80GRPmO1iX2saUgSd44TufXMypGYvxUNkq-N1cLyuWacUR_VcJCGTzEuNAVbMcx7KJRrh5LMx49vh0oxEvhPKOqumV1u1uOclnjF2-5DG2NNvdhZoZu81olJ1Pfo0sa-Rxv8-3iIsfCrTpK8AbYDfwxVWyYKk4Iidb-MTIBBPxwfop_RNDA0ONeV6G8rPqtnwxbniQCAtJIEZR315LImZPU3QfkBgphAaMlSrrvpUfKoW1de4e_ntNuU4Mf8NPMnbVIPSc0uk16Fghc1ToSpQDELTCmhJLrmdoaLgFuqDJoGHgkajxzx0rHVr9zjYud7X3iSIPUwV4Dd13zGgo3IfNwvPFGBTxkcpMw7Z5xSI34k_2xbjagcliKcwm3nCiVMfId8odHeTDwxQxSWDF8Lh6xe39DuqP6b83pBiBHc11UUJp0rK1-Ot7dw7NtjqQ5zb3XBsIZDyfGKbk5Fa6iWC_m3naApR-l5YYdI7ag6K0-0sr-91CvgkVezngTkboM1RcbhbM7d9_T7Y21SIjrWqi1zqJepQzBTefNrx-TEkFOiYc1fMwLTznD9ONe6RRZsoOJZd0qleY14NUuj94nT9etlis-2awrziAYgCwszr7di5OSssKP8JKZZknjSwrXKgeDt6qRbmm3c9zHmNgA1XZtBohOLJHyQMHtzLM0J-r1EtkvHF-aLfF4grjjurLpbDv8g2qlZMVg6QhIrUz1wvq7aPrps0PzSkBQVsgC7EmVDpIo_b_l2w_4WEhkW_lykk7GeCsci8EbTDA7Kw6rbaIKUxMgKm60tgDj0-IR-t3sCKmpikE4an6kOf2X-WBpw-_l1LM18mLorWuMNIlwl7lU9S1Kygj0RsROANAtexz6VlzOLW2hC1y9fcqsFF7UfCOFnTaQhEsf2bd5tITjKO-jF08xZpAvNJrbE8oEOpAt_9gW5zFMzhu4el-EEeZYYjhC8rbV3KDFdiN6KXQ5gTaXSOr4gdYHkCRP0i6P5bI2nibPVo-F3JrIVFVRINfhEq3mr_dXfCDFLaiInk-48Uk3LdtMKZR9pDbkCWSvxRKSSftxEkWQOq-DBiDnJrZvCU2ytXhXzqUaLyV0XpbNIyEhtky1CMLrHiBqEGRkkDl11sfnxlunr6iB_v1CBZAPO6HIElkqa0QUlA6Xj1JMx2TcdRf6ZAwKwNe5qq0vHY1ww0N8i46jc3-ZmU_-S7uX6GFnU9VkSyLOL7aaIgY_wQ40oeBwg82x70wAjlFmMpJUJzUNrgUwFpEmVoNumL3UvDJtKfh2-U0sYQBwdvPEj5J45ncyV7ejW-7PVMSJ_8erQiYYonIy1xF3FaZAxh-j2exixIrRifb-iRr6jG6t9tk0C-OHgRjDXqyhBjOJ3hpYhutBw1ZEneZeyNtL4RFbLvY2mOgi8DXmR98Qmm-NhZ_KwVZuNILxBhBYkrT_Sdye70x8qNF7SCc9DiZGm3ADrmiVHiWRmcAAky_bpMof1Kra6np_ixzGuLWreOgdJrK5M5FoFbdOHVAN2rQqXcvGyODgcuztBrdvUqJkR7ugh0Tj7n1BUdsL7kXmJKKQ0nWkncuKPOtbybNI1YyjxjLRG-QWdSOqUUGn9XHtUvZuO2UjS8o8hFiKuuyR9JGGoM27PApLkrGDczf4r15NHEYDnUQGKOJnkbPqYRmuQK4v7tOgbdPEonWDsf3SsFFq4mNf80ASu8oU6_vZdbcrDYrcAEBiqNdsAAEoQ-Rxu2PGPHAr570GgnfD6l7UyXoF8gGWZLQY8WBIRTCFKLve4M3FplrscEdM8ymUIPzDC-xgduENVE4g-jFtum_qjyBXVnrk2qz7NS3u2pUwQ-pLrQP4dXuzBUC9_eMC8LawUoMXwDcQoCylt8N3GfyCd2WsGORlbvJ-a4JwyHjoTS8Y5WtQxHTMWXKrBJalxK_CvIpAqKL2tiTaA25Rznj1Uo-OBcMzze3Nxf5Z5hpoc0N-Ort_lms_UoE_PYhkEhy-Si9d_8XI3yYZR98z-8yil2DS2Na1y_s-BjWfo2ZALEZPT-ckL1o86w3hwkJcVmtUS8yTI1y5tAJw3uv9TJBE4rWlzjf_xySgSmE---T19LBt0P_1hvSd7KlDctxenV-fSfHCi4WsDuQ6jUoht7EroYgdVC-xpV07L9FQpZX119qgpBb-IgB-Ctw2KN4VhAB7LGbg08jRddV3Ia9qZn6PBotqfX1OxPbldLW2Rg5l_zbxWhVGo_Q3ENoIko3COOzpm2mtNtR6HtVxVNVXanvVVz75TGgul3OrdFUHv9D4NDUHGiP_DS9CtHm_YqoCYMZH9Y5alMjFoF9vIF3bD_9E9Oekvo6VvvEV1LAg2CiEO47y6zWSlfrGrPALf8T4ZfuiCNs7S4V3v5lmtNGAu2J8Ukp0itD5_v9vC9f072lH_K99gBdjqBRA6jTFku70k3y6BnyDxY87XtgO6EkbB8s-H2ZImh7E59PSorlRTUqVH66cvjlB0FVVmVJYEsy5fzblQ_Xs04g3ymZ5AIjS6DpaKrjno=",
  "id": "rs_09f67476484e4e1e016ab44ca80d3c87d0b609ae1dfe102fe4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.0,\"right_z\":0.18,\"left_x\":0.38,\"left_y\":-0.14,\"left_z\":0.14,\"left_gripper\":1.0},\"note\":\"The drop missed and left the right basket empty; it has also shifted to an awkward outer position. I’m parking the right arm and switching to the stable left basket, bringing the left gripper over the isolated dark brown dog near the front-left cluster for a cleaner body grasp.\"}",
  "call_id": "call_0RTaCcHJkQLjWxJdGhpNbE2q",
  "id": "fc_09f67476484e4e1e016ab44cabd01c87d0a1e4a79572ada10a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0RTaCcHJkQLjWxJdGhpNbE2q",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5678, 1.5173, 0.9974, -0.4191, -0.4797, -0.4957, 0.9988, -0.5026, 1.2694, 0.9138, -0.7303, -0.9119, -0.8349, 0.9963]\nstate[eef_state]: left_x=0.3681 left_y=-0.1338 left_z=0.1231 left_yaw=0.1077 left_pitch=-0.2358 left_roll=0.0619 left_gripper=0.9988 right_x=0.3102 right_y=-0.007 right_z=0.1775 right_yaw=0.6358 right_pitch=-0.0174 right_roll=0.1367 right_gripper=0.9963\nstate[joint_eff]: [-0.5128, -6.7214, 8.9641, 1.4969, -0.5055, 0.0952, -0.1441, -0.294, -4.6974, 6.612, 0.9548, -0.6911, -0.0708, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f129ea01f9fe682ffc9838721b4e9457218b30e0809d6934daa9d293842b4124",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:531a3cb8a69a77a83cc8a2be6781cb81619fa9e2b9ed6737f2a9b00fd06a89a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4a62617ca3d3fc435330eff5c6ac5a17f8f5c1232cdb2e48cd241037f559cca",
      "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 · 2.841 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]: [-0.1349, 0.968, 0.77, -0.561, -0.2016, -0.157, 0.9968, -0.3817, 2.2013, 2.1292, -0.8818, -0.8768, -0.659, 0.4147]\nstate[eef_state]: left_x=0.3014 left_y=-0.0016 left_z=0.1729 left_yaw=0.1133 left_pitch=-0.1769 left_roll=0.0375 left_gripper=0.9968 right_x=0.544 right_y=-0.0682 right_z=0.2183 right_yaw=0.6448 right_pitch=0.0047 right_roll=0.1544 right_gripper=0.4147\nstate[joint_eff]: [0.0068, -2.3316, 7.1316, 1.5263, -0.105, -0.0317, -0.0122, -2.2906, -10.988, 8.4308, 1.0818, -0.6032, -0.1245, -0.0171]",
      "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]: [-0.1349, 0.971, 0.77, -0.5606, -0.2016, -0.157, 0.9968, -0.3702, 2.2196, 2.1124, -0.8558, -0.8688, -0.6666, 0.9951]\nstate[eef_state]: left_x=0.3016 left_y=-0.0016 left_z=0.1721 left_yaw=0.1134 left_pitch=-0.1795 left_roll=0.0382 left_gripper=0.9968 right_x=0.5486 right_y=-0.0644 right_z=0.2048 right_yaw=0.6557 right_pitch=-0.005 right_roll=0.1524 right_gripper=0.9951\nstate[joint_eff]: [-0.1162, -2.5504, 6.8855, 1.5165, -0.1148, -0.0269, -0.0122, -0.9641, -14.2427, 8.1846, 0.9304, -0.5055, 0.0269, -0.1832]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5678, 1.5173, 0.9974, -0.4191, -0.4797, -0.4957, 0.9988, -0.5026, 1.2694, 0.9138, -0.7303, -0.9119, -0.8349, 0.9963]\nstate[eef_state]: left_x=0.3681 left_y=-0.1338 left_z=0.1231 left_yaw=0.1077 left_pitch=-0.2358 left_roll=0.0619 left_gripper=0.9988 right_x=0.3102 right_y=-0.007 right_z=0.1775 right_yaw=0.6358 right_pitch=-0.0174 right_roll=0.1367 right_gripper=0.9963\nstate[joint_eff]: [-0.5128, -6.7214, 8.9641, 1.4969, -0.5055, 0.0952, -0.1441, -0.294, -4.6974, 6.612, 0.9548, -0.6911, -0.0708, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f129ea01f9fe682ffc9838721b4e9457218b30e0809d6934daa9d293842b4124",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:531a3cb8a69a77a83cc8a2be6781cb81619fa9e2b9ed6737f2a9b00fd06a89a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4a62617ca3d3fc435330eff5c6ac5a17f8f5c1232cdb2e48cd241037f559cca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_09f67476484e4e1e016ab44cb2512c87d09716c2249cafa9eb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_z\":0.065},\"note\":\"The left wrist view now centers a tan dog directly between the jaws, just in front of the left basket. I’m advancing and descending to place the fingertips around its head/neck, using the successful partial-grip method from the earlier dog.\"}",
  "call_id": "call_iPQ8x1dcEsjQUXG5nBABAgxV",
  "id": "fc_09f67476484e4e1e016ab44cb2d01c87d0b0b59dc8f11b4397",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iPQ8x1dcEsjQUXG5nBABAgxV",
  "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]: [-0.5091, 1.7145, 0.9661, -0.2382, -0.4522, -0.4656, 0.9983, -0.5045, 1.269, 0.902, -0.7319, -0.9012, -0.8486, 0.9964]\nstate[eef_state]: left_x=0.3925 left_y=-0.1266 left_z=0.0596 left_yaw=0.1372 left_pitch=-0.2885 left_roll=0.0949 left_gripper=0.9983 right_x=0.308 right_y=-0.0078 right_z=0.1722 right_yaw=0.6364 right_pitch=-0.0304 right_roll=0.1331 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -9.2376, 5.6, 1.5604, -0.2125, 0.1197, -0.0611, -0.0752, -4.2325, 7.4188, 0.9744, -0.5495, 0.0952, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3d2701be5a22f64425f96afc71a40ef3852fd86b36c68d2ada4083cd42390eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38d759f426aa25c101160912cce9acdae32be15db5a6ad9ead01f63cc1061044",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcab83fd3fab1c0f8bf1bd6e26d97c94220160cd003122293259b2a96341e1bc",
      "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 · 2.163 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]: [-0.1349, 0.968, 0.77, -0.5606, -0.2016, -0.157, 0.9968, -0.3817, 2.2013, 2.1292, -0.8818, -0.8768, -0.659, 0.4147]\nstate[eef_state]: left_x=0.3014 left_y=-0.0016 left_z=0.173 left_yaw=0.1132 left_pitch=-0.1765 left_roll=0.0374 left_gripper=0.9968 right_x=0.544 right_y=-0.0682 right_z=0.2183 right_yaw=0.6448 right_pitch=0.0047 right_roll=0.1544 right_gripper=0.4147\nstate[joint_eff]: [-0.0205, -2.1265, 6.8581, 1.5653, -0.1441, -0.0269, -0.0122, -2.1538, -11.3436, 8.4581, 1.1013, -0.6081, -0.1099, -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 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]: [-0.5678, 1.5173, 0.9974, -0.4191, -0.4797, -0.4957, 0.9988, -0.5026, 1.2694, 0.9138, -0.7303, -0.9119, -0.8349, 0.9963]\nstate[eef_state]: left_x=0.3681 left_y=-0.1338 left_z=0.1231 left_yaw=0.1077 left_pitch=-0.2358 left_roll=0.0619 left_gripper=0.9988 right_x=0.3102 right_y=-0.007 right_z=0.1775 right_yaw=0.6358 right_pitch=-0.0174 right_roll=0.1367 right_gripper=0.9963\nstate[joint_eff]: [-0.5128, -6.7214, 8.9641, 1.4969, -0.5055, 0.0952, -0.1441, -0.294, -4.6974, 6.612, 0.9548, -0.6911, -0.0708, 0.1099]",
      "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]: [-0.5091, 1.7145, 0.9661, -0.2382, -0.4522, -0.4656, 0.9983, -0.5045, 1.269, 0.902, -0.7319, -0.9012, -0.8486, 0.9964]\nstate[eef_state]: left_x=0.3925 left_y=-0.1266 left_z=0.0596 left_yaw=0.1372 left_pitch=-0.2885 left_roll=0.0949 left_gripper=0.9983 right_x=0.308 right_y=-0.0078 right_z=0.1722 right_yaw=0.6364 right_pitch=-0.0304 right_roll=0.1331 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -9.2376, 5.6, 1.5604, -0.2125, 0.1197, -0.0611, -0.0752, -4.2325, 7.4188, 0.9744, -0.5495, 0.0952, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3d2701be5a22f64425f96afc71a40ef3852fd86b36c68d2ada4083cd42390eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38d759f426aa25c101160912cce9acdae32be15db5a6ad9ead01f63cc1061044",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcab83fd3fab1c0f8bf1bd6e26d97c94220160cd003122293259b2a96341e1bc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEy24fiuSIyLva-Kf_gAAOK_kBzgaUdNw4PBLDgiwNLj0ejEETz13R-Q6T2Q8v2gBHKj25jNUj38zmSYzX0cYJh0bwj7cvd870anjB8PTQJ8_hGDatPjWu7cZrw53N8Wm0VV8BQaiEMMYxl9if52Qfm0mcOYLqlRN02LBHP4i0N5srpTxzk2KvWf4Z8ZuRh5kRLUgN_oiyQ3x4lUeZS6SuQHzDON6QjW7oCDoby9nAh3e-TSFfAtbTbpk1y6NXGwwXdyJ2g54yXevV9pOCRDiaunaUP7rSHVyQa-dXCJIfpA1i_aWdZrEYCfcQFMPu3VcR8sGghgEcktfmJH0EfksKme6aZpAbHgbRY0pT8H2eySzb91D-kvrnln-lY4VKGW4hjitmYVNF4oDM5SaQUAZF0y4N72h1k2CfKE3vf7rUCYgKWCQjHOdjtIuhkC8obAkJw7v5AyUwUVfX1gTVV1lbfbwKiGiKTxDJpoDoiyYaiSQblL4wbhJq0xAr3tmpJZulue24ifNFcIYbjnu6alEtUNWFfeiwKl2uRrdVWXXTzAQbhWLgFlEetVTFF7XUutxAvzgKQe0FGNaQH97DEmfxX2D3BfFAoSuN64HlvY4vrqDUSj-POml_4WlvSBaKN7mOXIa6bcIT2ZICVH-ba92Aw9tGtqnskW6SXKQVhmIahMigcFHCpDo1BHSsz6UDsGTx_VHtxZIDUbkysKWCl3Pt5ouVjhaQUNS7A9qFm1oC5BQ-HIgV1ITp4IEpzxsVdJNbXZrgtIOim3ZzMnVQcZCA7ZgfYQ2SRTDVrK3Dw266BYMWBUNoiHk36Tufdxgl8PF5sdPNWjt4Ju9Nm2a1l5SKoK1gujhGGg8oqp1fwN36sY3M_IrEMNDz6Ai4rLrSkFj7Rjb_aok9waWLQaLxXfA1vhv1HKDPJtpClkcFhxsE9AL1jm_y68fU1VzAAmszUPJi6OBp2As-G0xNmHdJ9_QBXd_J3Rt9A8o-W2d9dMovvguZ5bAZD8EzPiDY4_LCjN4-DQxiy3xSj-wT1lblicnBkZeq3bPE6KNJ-ILneZctcaYYt9SIs-vBURg75FMdsidDnOb2sqZv1ytGpvbhxz8_R0zDV55gib3NDwjyMZ2cxhWMcU47YHjO7qgKJyh3TUrin7IVRM7CgD1I_oV0vH8DQVxG1hhhF4M7IcWMw8g2SFogl2IA3Ds0sa3zgCZY6VpOejHp22_V4moZapV_mHvlMkG8aaWLF3lQMz3clLnfb07putjOVthaToNwM1yA7ffNxWkLyg5wXiqEoWnv_fvnM1za0R6fXGMFEnkajOi3heHKB7AddUEODGzraiJIQkr9BloOU6wk5W_lw5vdjOB-4kiA==",
  "id": "rs_09f67476484e4e1e016ab44cb5c14487d08c9b5db6fdd07cf9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.4},\"note\":\"After the advance the tan dog disappears beneath the wrist camera, indicating its head is now at the grasp point rather than still ahead of the fingers. I’m closing to 40% width to pinch the plush securely without ejecting it.\"}",
  "call_id": "call_doP2KDZCi4BUMbRoglDXMpSV",
  "id": "fc_09f67476484e4e1e016ab44cb6316887d08d5e8e8876ff0e80",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_doP2KDZCi4BUMbRoglDXMpSV",
  "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]: [-0.5072, 1.7401, 0.9646, -0.2241, -0.4458, -0.469, 0.4047, -0.5045, 1.2697, 0.9016, -0.7235, -0.8986, -0.8497, 0.9964]\nstate[eef_state]: left_x=0.3932 left_y=-0.1272 left_z=0.0506 left_yaw=0.1385 left_pitch=-0.302 left_roll=0.0962 left_gripper=0.4047 right_x=0.3092 right_y=-0.0087 right_z=0.1723 right_yaw=0.6356 right_pitch=-0.0295 right_roll=0.1245 right_gripper=0.9964\nstate[joint_eff]: [-0.253, -10.2359, 5.9966, 1.1111, -0.2662, 0.0366, 0.2125, -0.2256, -4.2325, 6.612, 0.9841, -0.4908, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dac6b6494ce2db4d8d9c09d9b7fe7fa492ee1548c77c1722c1a7f7c6f16a4167",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ace59620c52b9c253dbbedf3c3fc5cab4e08a910c28298a630ec5c09466136a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db6b50d28849261a98a7502a6107b6a531ac1af04b297db689fd8b0fcaaf0692",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 3.4 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]: [-0.1349, 0.971, 0.77, -0.5606, -0.2016, -0.157, 0.9968, -0.3702, 2.2196, 2.1124, -0.8558, -0.8688, -0.6666, 0.9951]\nstate[eef_state]: left_x=0.3016 left_y=-0.0016 left_z=0.1721 left_yaw=0.1134 left_pitch=-0.1795 left_roll=0.0382 left_gripper=0.9968 right_x=0.5486 right_y=-0.0644 right_z=0.2048 right_yaw=0.6557 right_pitch=-0.005 right_roll=0.1524 right_gripper=0.9951\nstate[joint_eff]: [-0.1162, -2.5504, 6.8855, 1.5165, -0.1148, -0.0269, -0.0122, -0.9641, -14.2427, 8.1846, 0.9304, -0.5055, 0.0269, -0.1832]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.5091, 1.7145, 0.9661, -0.2382, -0.4522, -0.4656, 0.9983, -0.5045, 1.269, 0.902, -0.7319, -0.9012, -0.8486, 0.9964]\nstate[eef_state]: left_x=0.3925 left_y=-0.1266 left_z=0.0596 left_yaw=0.1372 left_pitch=-0.2885 left_roll=0.0949 left_gripper=0.9983 right_x=0.308 right_y=-0.0078 right_z=0.1722 right_yaw=0.6364 right_pitch=-0.0304 right_roll=0.1331 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -9.2376, 5.6, 1.5604, -0.2125, 0.1197, -0.0611, -0.0752, -4.2325, 7.4188, 0.9744, -0.5495, 0.0952, 0.0024]\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 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]: [-0.5072, 1.7401, 0.9646, -0.2241, -0.4458, -0.469, 0.4047, -0.5045, 1.2697, 0.9016, -0.7235, -0.8986, -0.8497, 0.9964]\nstate[eef_state]: left_x=0.3932 left_y=-0.1272 left_z=0.0506 left_yaw=0.1385 left_pitch=-0.302 left_roll=0.0962 left_gripper=0.4047 right_x=0.3092 right_y=-0.0087 right_z=0.1723 right_yaw=0.6356 right_pitch=-0.0295 right_roll=0.1245 right_gripper=0.9964\nstate[joint_eff]: [-0.253, -10.2359, 5.9966, 1.1111, -0.2662, 0.0366, 0.2125, -0.2256, -4.2325, 6.612, 0.9841, -0.4908, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dac6b6494ce2db4d8d9c09d9b7fe7fa492ee1548c77c1722c1a7f7c6f16a4167",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ace59620c52b9c253dbbedf3c3fc5cab4e08a910c28298a630ec5c09466136a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db6b50d28849261a98a7502a6107b6a531ac1af04b297db689fd8b0fcaaf0692",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEy5xmPcrFffzbh8F1sUMkwF3s-Q3arLUa7fQSGbTlicZ6DQL28TGf9p-SnL_O2N7Aldsni3Qqg4Tid7BMHmU8wVz0FLanf9aOg_rNRy2eGA53_zF6-eGbfSavVQZQvH3ZCkhoR98QbXsiBQS4hbIjahI6a3QioSJTWWkf9bdtQYQZUhGCMrNPFvlMDO5cUEfv1DwHrk9gmEezhPWbcDVdo8GxEqs7Mj5wCfdZ7lX12ViVDxITHX___pn-ex-cxauzHFGroorKRMv1nCiYMI8ZjT-szZT0ogZ6vRmaVIg4GE8z7H3Z9rJkenp9Okm5jS2neqP5a517Nrf76POKGDx9CYNK4FJvtbrS1FcW5MBqyW7d0bTpMnFtoUu74pRXkq62rkfxtw8IAyUGHGkbvKSAm_XqfQ29AeIbGi_4VStaVoBlmI6ziMzSs-Vs--oWNNwRk4cO1_K08_Tzwih3-E_c8pN0Qe59pBmxIMqceL3HNsLRh9g_O3emo12FuLnjsLI2HGSTJS2ve0wctSuMrUm1m-aNL-G4eZG8VQyyyuC3uPF5r1165kUTtewdjKHpEAafm6k9K5qtUhLse_mTYGIfrq9Wbl23VB1YshE82XeUeLHrAD4c1EiRygLZO1Lt7WK6sju8XVZrulRuRIH89YQFMhEqZJLhTCfZPA51zgQUHdHXuEs3WNo1z1rXfw01xyyGPR_yfaQX4xKa2wZ3FXIFeK1x5jezcEVmE2jrSJsiJSYOBuN8GfRiCeR65E_4j7GAEyEAEo6g9axWs4oCEeCfHZHmbp6x2UyYccx93uaWe95kCFyuI610bqPiA3DSG2KDOdtLHZgUjl7BTqA02Bj230GsTeFQsF8iMeKWiaRe2vZfVZSXbEteB47agiLaq-3xebg9jeshyvP7jFh_LZim3wjHlxn6fo0yPPH7rEuK7-Y61kTMx71jSPEHZaSLWdojUT4dD_56Lyh9txjIk4gb_jXe9T7kPoZj4MU7Vzta6C23rv5bAL-TLAOOKjXMnY8YLpDwfajjqdgXWjq9mosGIA24Ob4p9Di5WrnsseO5ZDdhh-RUrnG1qYDNioJaYjOkkQrebi3MqgGwK_QGEFLH6EE0S5dXLPj7bR5aFBjZ23o9ezFz_eoQkEkJreWsgeuQ_Ap-rVB86Mt0rpx6kYM8i5GTcLMLlud25DJU4Vn_X9TVfeupAC_6btoioNR3VZVkdcnULjrkFAS1PYGDWNrXHdpg==",
  "id": "rs_09f67476484e4e1e016ab44cb8cce087d0a9b841b0f6244cf9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.14},\"note\":\"The gripper stopped at a substantial 0.40 opening with the dog hidden below the camera, consistent with a secure body grasp. I’m lifting vertically to verify it comes off the table.\"}",
  "call_id": "call_IrdFCuFACAUn1kkvdp4l8h4e",
  "id": "fc_09f67476484e4e1e016ab44cb8f2e487d093f5104a6d8cd177",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IrdFCuFACAUn1kkvdp4l8h4e",
  "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]: [-0.5072, 1.6562, 1.1698, -0.527, -0.4454, -0.4835, 0.4044, -0.5045, 1.2697, 0.9016, -0.7212, -0.8913, -0.8528, 0.9964]\nstate[eef_state]: left_x=0.3958 left_y=-0.1288 left_z=0.1189 left_yaw=0.149 left_pitch=-0.3124 left_roll=0.0949 left_gripper=0.4044 right_x=0.3095 right_y=-0.0098 right_z=0.1716 right_yaw=0.6337 right_pitch=-0.0341 right_roll=0.1172 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -10.359, 8.4581, 1.1502, -0.2662, 0.1343, -0.0464, -0.3761, -4.2325, 6.3795, 0.9646, -0.5201, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6ae2441d50531eccfc4ee51dcb0672d9a2b612b68c5bd61fc286bcdb7c02b79",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dac1a2f39238ad5d32f2977a9e7f65ea1ce45f2308861399400b2f73d7c52ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fde8b92e09eab0268f8764878b430a1bafcbbd58c12fd3f6c6bf44214a72ab82",
      "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 · 2.231 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]: [-0.5678, 1.5173, 0.9974, -0.4191, -0.4797, -0.4957, 0.9988, -0.5026, 1.2694, 0.9138, -0.7303, -0.9119, -0.8349, 0.9963]\nstate[eef_state]: left_x=0.3681 left_y=-0.1338 left_z=0.1231 left_yaw=0.1077 left_pitch=-0.2358 left_roll=0.0619 left_gripper=0.9988 right_x=0.3102 right_y=-0.007 right_z=0.1775 right_yaw=0.6358 right_pitch=-0.0174 right_roll=0.1367 right_gripper=0.9963\nstate[joint_eff]: [-0.5128, -6.7214, 8.9641, 1.4969, -0.5055, 0.0952, -0.1441, -0.294, -4.6974, 6.612, 0.9548, -0.6911, -0.0708, 0.1099]",
      "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]: [-0.5072, 1.7401, 0.9646, -0.2241, -0.4458, -0.469, 0.4047, -0.5045, 1.2697, 0.9016, -0.7235, -0.8986, -0.8497, 0.9964]\nstate[eef_state]: left_x=0.3932 left_y=-0.1272 left_z=0.0506 left_yaw=0.1385 left_pitch=-0.302 left_roll=0.0962 left_gripper=0.4047 right_x=0.3092 right_y=-0.0087 right_z=0.1723 right_yaw=0.6356 right_pitch=-0.0295 right_roll=0.1245 right_gripper=0.9964\nstate[joint_eff]: [-0.253, -10.2359, 5.9966, 1.1111, -0.2662, 0.0366, 0.2125, -0.2256, -4.2325, 6.612, 0.9841, -0.4908, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5072, 1.6562, 1.1698, -0.527, -0.4454, -0.4835, 0.4044, -0.5045, 1.2697, 0.9016, -0.7212, -0.8913, -0.8528, 0.9964]\nstate[eef_state]: left_x=0.3958 left_y=-0.1288 left_z=0.1189 left_yaw=0.149 left_pitch=-0.3124 left_roll=0.0949 left_gripper=0.4044 right_x=0.3095 right_y=-0.0098 right_z=0.1716 right_yaw=0.6337 right_pitch=-0.0341 right_roll=0.1172 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -10.359, 8.4581, 1.1502, -0.2662, 0.1343, -0.0464, -0.3761, -4.2325, 6.3795, 0.9646, -0.5201, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6ae2441d50531eccfc4ee51dcb0672d9a2b612b68c5bd61fc286bcdb7c02b79",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dac1a2f39238ad5d32f2977a9e7f65ea1ce45f2308861399400b2f73d7c52ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fde8b92e09eab0268f8764878b430a1bafcbbd58c12fd3f6c6bf44214a72ab82",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEy94QNT2EmYUUJAaopyC_ymcLI92q3SFo57E96oxidGVvHrNNGROErQg4OghE3tZW23szOdq2XdShXpB64xwb1WDK38ZWmCLnFSd7kZewvmdioVunatehAt7Au4DxZfa6N4P7KteJGnGDANl6FVVtslqJ6CEkwJ2k2YlYUg6ylJfizpxx9aJDwO7CKJiJmFXLB9tWScVQq96cClCNnXGmhhjC-bo0ru7blRpVaptatCyzgj9ZCoQsoYgAA-XRlOuMF3MaKctti4GNKIfCenDAOSiCYnx1ovMk_BLJ7MVUaKZTDXFoDikzQLm0iDNuCNoQl4z5pNg1EX9Wzqs996rjn7c7mnjRCPYzOmPFRxJmO9SLn-Dr08r9c1oBprNnUURnKJsosxv0ysfvzySgr2Qsdf3gMjtpSA8_SK4_R5m3EGnkMfgGXYhOAYvwIemL8nzwGHlJ8m0JJdOoRb1yVWs9asNAaUInWptyn1pgqE9rSdXDhDQ_wrCG__210daaOuH1hkGoWXIRNZ8b2Hs45saXPQDn-lKW3jzgvJSiuE31y27tcKgBPXcWbZvrXYKXnoDC9EuHNzkpWLETDav91cRV04BAncNIFcanzk5qpQQAMVmPO-ZFXAXXjDAkxln9Y1e65RamSb4o8MqSS0y9bljwDKCnnilnKnqSzlw85vDt8hUP8mJAh03IMecEWttM80JMIHfMMPUFi9hRvxDysR_obMoaT0x5yXWYjjVtQKWJhJqDSnbM_78Zku95B90UvUD2hetLbcv6ahrv5SoeKK-Nsos-AgqJu9pIf3eGP0_3x21glfSZa4qoepfj4xEAv-Hb31iMtyUtUZ-09LI_b9fpBc_YKpNVEpSvEXl2mpcwnrdlV28oskNV_73VzYV1-ZGQQxKmEi4aQI_r7OfNNQ4opgbOFzN3iIiePPHAD2P_LzXJN-VHS4lshJo09DwF1E40S6PjH4lx2OZWrNc6VMbvchvIQgj1rWNkHj5ES8cJdLDkDo-NSBw910tJ0WlJpDHH5RiqZA9i-UhtMxJoLkCl-BR17SPFywGk7cYdj0xyPnidNas54t6JAtwkM1S0OyDokP9PsS4ZJ2yUxwz-vy_ZwbuS-5WRJB8TEvZK8h7q-CG4j4fK8yMMOeSMUxVIPWgn8LW3H-m16gmx4f-xg4bkzlrzWrWlvaVBDNUK5TOrO-MYy1U_sGfNgfveqniZO9zavi_RDflRvWS1Lap3PwzmQJ2dzBdGowHXOIpg2Iij2rgBUY0XGluOEbw7HafbYCld7xTT34W9jYLiK7qftm-FSiuL55IY4q1MqbqxIwkCtBVlsCxj4_h5l5AKGoq1dEf6sWuc6FAlkPNmtD0cBzStLgrgF8YAX3IMBXdFjI3HzOG5Xisr2fd27kiVC1Ikubsn-sBNWBe1jcahJ5WNPQqLD1jYaRp8nN05FjZFTv2yZZ7Fv4byYZrakJ77yWhPaGpjR6NQ4qHjLFDvJJRd8cybyzal5mow3R9V-C9SuN7FoaBdiNoybXdMn-_KuLDou7ziq_hu7nhDK8FeaZbDJkAK4KgpM-FZN6WVSZoRRsSmIOu8FT3bwEs44kCf5t0yUxZWYyDlDHO14q0IaG6CTdoU_9fw==",
  "id": "rs_09f67476484e4e1e016ab44cbb52c487d0a1c61b4003071001",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.5,\"left_y\":-0.16,\"left_z\":0.2},\"note\":\"The tan dog rose with the left gripper and is visibly hanging between the jaws; the left basket is directly ahead and remains stable. I’m carrying the dog high over that basket, using it as the dog category bin.\"}",
  "call_id": "call_xm2Dn8IjJaZvKy2vZVPnoH7J",
  "id": "fc_09f67476484e4e1e016ab44cbc356487d09ea42bae30413fdb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xm2Dn8IjJaZvKy2vZVPnoH7J",
  "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]: [-0.4545, 2.0514, 1.9556, -0.9184, -0.4183, -0.4824, 0.4044, -0.5045, 1.2724, 0.9009, -0.7208, -0.8833, -0.8532, 0.9964]\nstate[eef_state]: left_x=0.4949 left_y=-0.158 left_z=0.186 left_yaw=0.1807 left_pitch=-0.3269 left_roll=0.0768 left_gripper=0.4044 right_x=0.3096 right_y=-0.0109 right_z=0.1697 right_yaw=0.6302 right_pitch=-0.0419 right_roll=0.1167 right_gripper=0.9964\nstate[joint_eff]: [0.1709, -11.9043, 8.212, 1.0574, -0.1832, 0.4664, -0.0122, -0.335, -4.547, 6.4479, 0.9646, -0.5299, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e0fe1adc6fbb32fa195c01e08035b69c1c8170704e38f5111a9002d24ca0dfd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c0cdc18c10b36d4fe7f074835e30c5ba6d40938b034e93f89677edd81a7bee6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1b24b1cd8a18809306bbf46dd1294629ba9bd6a95dbec5a7e57b39221c8f0c1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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