adhoc

completed
2026-09-23T21:30:17.305330+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
246.8 s
total steps
401
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 a central cluster of small plush animals and two empty turquoise baskets; the animals appear to comprise fluffy gray/white toys and smoother tan/spotted puppy toys. I am moving the left arm above the front-left fluffy toy while keeping the right arm parked.
move_to
left_x0.2900left_y-0.1800left_z0.1500left_gripper1.0000right_x0.2960right_y0.0010right_z0.1830right_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]: [-0.0277, 0.7986, 0.6155, -0.3801, -0.0216, -0.0334, 0.9995, -0.0154, 0.7975, 0.6106, -0.374, -0.012, -0.0158, 0.9992] state[eef_state]: left_x=0.2965 left_y=-0.0008 left_z=0.184 left_yaw=-0.0001 left_pitch=-0.0004 left_roll=-0.0005 left_gripper=0.9995 right_x=0.2966 right_y=0.0011 right_z=0.1833 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9992 state[joint_eff]: [0.1846, -1.6479, 9.4154, 1.8144, -0.0317, 0.1441, -0.0611, -0.9368, -1.4291, 9.9214, 1.7265, -0.1099, -0.0269, -0.0952] 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":0.29,"left_y":-0.18,"left_z":0.15,"left_gripper":1,"right_x":0.296,"right_y":0.001,"right_z":0.183,"right_gripper":1},"note":"The table holds a central cluster of small plush animals and two empty turquoise baskets; the animals appear to comprise fluffy gray/white toys and smoother tan/spotted puppy toys. I am moving the left arm above the front-left fluffy toy while keeping the right arm parked."})
tool
executing move_to over 16 steps (1.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteFrom the wrist view, the right-hand toy is clearly a tan teddy bear, while the neighboring compact brown-and-white toy is a different animal type. I am shifting inward to center the gripper over the tan bear before descending.
move_to
left_x0.2900left_y-0.2300left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9165, 1.2465, 0.7078, -0.2977, -0.7094, -0.6186, 0.9995, -0.0189, 0.7986, 0.6086, -0.384, -0.0185, -0.0162, 0.9992] state[eef_state]: left_x=0.2851 left_y=-0.1768 left_z=0.1367 left_yaw=-0.0205 left_pitch=-0.0356 left_roll=0.0212 left_gripper=0.9995 right_x=0.2951 right_y=0.0013 right_z=0.18 right_yaw=0.0026 right_pitch=-0.0133 right_roll=0.0036 right_gripper=0.9992 state[joint_eff]: [-0.2803, -4.465, 9.0598, 1.3846, -0.5739, 0.0366, -0.0659, 0.1299, -1.4974, 7.0769, 1.9072, 0.022, -0.0513, -0.0952] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":-0.23,"left_z":0.15,"left_gripper":1},"note":"From the wrist view, the right-hand toy is clearly a tan teddy bear, while the neighboring compact brown-and-white toy is a different animal type. I am shifting inward to center the gripper over the tan bear before descending."})
tool
executing move_to over 5 steps (0.5s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe tan bear is now centered precisely between the jaw columns in the wrist view. I am descending to torso height so the fingers can close around its body rather than over its head.
move_to
left_x0.2860left_y-0.2270left_z0.0550left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0225, 1.4376, 0.8875, -0.3809, -0.7631, -0.7311, 0.9995, -0.02, 0.7986, 0.6083, -0.3847, -0.0185, -0.0162, 0.9992] state[eef_state]: left_x=0.2862 left_y=-0.2274 left_z=0.1382 left_yaw=-0.0276 left_pitch=-0.0559 left_roll=0.0299 left_gripper=0.9995 right_x=0.295 right_y=0.0009 right_z=0.1797 right_yaw=0.0014 right_pitch=-0.0144 right_roll=0.0036 right_gripper=0.9992 state[joint_eff]: [-0.0752, -5.9282, 9.1282, 1.1111, -0.5348, -0.0269, -0.0659, -0.1162, -1.0735, 7.1863, 1.7265, -0.0269, -0.0415, -0.0122] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.286,"left_y":-0.227,"left_z":0.055,"left_gripper":1},"note":"The tan bear is now centered precisely between the jaw columns in the wrist view. I am descending to torso height so the fingers can close around its body rather than over its head."})
tool
executing move_to over 6 steps (0.6s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe descent stopped at z≈0.136 m, indicating the open fingers have contacted the tall bear rather than reaching the lower target. Since its head and shoulders remain centered between the jaws, I am closing at this contact height to grasp it securely.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0218, 1.4384, 0.8886, -0.3996, -0.7635, -0.7341, 0.9995, -0.02, 0.8028, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992] state[eef_state]: left_x=0.285 left_y=-0.2249 left_z=0.1363 left_yaw=-0.024 left_pitch=-0.0656 left_roll=0.043 left_gripper=0.9995 right_x=0.294 right_y=0.001 right_z=0.1762 right_yaw=0.0018 right_pitch=-0.0282 right_roll=0.0041 right_gripper=0.9992 state[joint_eff]: [-0.3487, -5.9966, 8.8957, 1.2625, -0.4713, -0.0171, -0.0659, -0.1162, -1.4154, 7.2821, 1.8144, -0.022, -0.0562, -0.0122] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The descent stopped at z≈0.136 m, indicating the open fingers have contacted the tall bear rather than reaching the lower target. Since its head and shoulders remain centered between the jaws, I am closing at this contact height to grasp it securely."})
tool
executing move_to over 10 steps (1.0s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe gripper settled at 0.01, so the close was empty; the bear remains visible in the wrist camera, confirming it was short of the fingertips. I am reopening and advancing 3 cm outward, using the known camera-to-grasp offset, before trying again.
move_to
left_x0.3150left_y-0.2250left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0218, 1.4384, 0.8886, -0.4004, -0.7593, -0.7345, 0.0097, -0.02, 0.8043, 0.6067, -0.3923, -0.0185, -0.0166, 0.9992] state[eef_state]: left_x=0.2846 left_y=-0.2253 left_z=0.1358 left_yaw=-0.0263 left_pitch=-0.0688 left_roll=0.0415 left_gripper=0.0097 right_x=0.2941 right_y=0.001 right_z=0.1758 right_yaw=0.0017 right_pitch=-0.0293 right_roll=0.0036 right_gripper=0.9992 state[joint_eff]: [-0.2667, -5.6684, 6.5436, 1.2137, -0.3639, -0.0073, 0.7546, -0.0479, -1.4291, 7.0222, 1.7411, -0.0415, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.315,"left_y":-0.225,"left_z":0.15,"left_gripper":1},"note":"The gripper settled at 0.01, so the close was empty; the bear remains visible in the wrist camera, confirming it was short of the fingertips. I am reopening and advancing 3 cm outward, using the known camera-to-grasp offset, before trying again."})
tool
executing move_to over 10 steps (1.0s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteAfter advancing, the bear is much lower in the wrist image and its shoulders now lie at the fingertip depth. I am making a smaller controlled descent toward its mid-body before closing.
move_to
left_x0.3080left_y-0.2170left_z0.0900left_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]: [-0.9314, 1.4673, 0.9409, -0.3962, -0.7025, -0.6579, 0.9988, -0.02, 0.8051, 0.6067, -0.3923, -0.0189, -0.0166, 0.9992] state[eef_state]: left_x=0.3084 left_y=-0.2174 left_z=0.1402 left_yaw=-0.0146 left_pitch=-0.0922 left_roll=0.054 left_gripper=0.9988 right_x=0.2942 right_y=0.001 right_z=0.1756 right_yaw=0.002 right_pitch=-0.0301 right_roll=0.0039 right_gripper=0.9992 state[joint_eff]: [-0.0342, -5.1897, 9.347, 1.4432, -0.3492, 0.1832, -0.1392, -0.1709, -1.3607, 7.0222, 1.7363, -0.022, -0.0806, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). 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_x":0.308,"left_y":-0.217,"left_z":0.09,"left_gripper":1},"note":"After advancing, the bear is much lower in the wrist image and its shoulders now lie at the fingertip depth. I am making a smaller controlled descent toward its mid-body before closing."})
tool
executing move_to over 4 steps (0.4s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe bear’s torso now fills the space between both fingertips at z≈0.086 m, with the jaw faces aligned on its sides. I am closing to grasp it.
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]: [-0.9314, 1.5505, 0.8021, -0.2031, -0.6987, -0.6624, 0.9988, -0.02, 0.8051, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992] state[eef_state]: left_x=0.3054 left_y=-0.2143 left_z=0.0861 left_yaw=-0.0122 left_pitch=-0.1122 left_roll=0.0717 left_gripper=0.9988 right_x=0.2941 right_y=0.001 right_z=0.1755 right_yaw=0.0018 right_pitch=-0.0304 right_roll=0.0042 right_gripper=0.9992 state[joint_eff]: [-0.1436, -6.7214, 5.8872, 1.4579, -0.3785, -0.0073, -0.1441, -0.0889, -0.9641, 7.0496, 1.7216, -0.0366, -0.0317, -0.0171] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The bear’s torso now fills the space between both fingertips at z≈0.086 m, with the jaw faces aligned on its sides. I am closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThis second close was also empty at 0.013, and the bear is still visible, so its upright face is misleadingly closer to the wrist camera than its body is to the grasp point. I am reopening, lifting, and advancing another 3 cm to put the fingertips around the torso rather than in front of it.
move_to
left_x0.3350left_y-0.2150left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9314, 1.5505, 0.8021, -0.2005, -0.6991, -0.664, 0.0129, -0.02, 0.8051, 0.6067, -0.3923, -0.0189, -0.0162, 0.9992] state[eef_state]: left_x=0.3057 left_y=-0.2146 left_z=0.0865 left_yaw=-0.0114 left_pitch=-0.1102 left_roll=0.0685 left_gripper=0.0129 right_x=0.2942 right_y=0.001 right_z=0.1756 right_yaw=0.0018 right_pitch=-0.0301 right_roll=0.0042 right_gripper=0.9992 state[joint_eff]: [-0.0889, -6.2427, 5.9692, 1.199, -0.3248, -0.0269, 0.9597, -0.3214, -1.2923, 7.0222, 1.7216, -0.0317, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.335,"left_y":-0.215,"left_z":0.15,"left_gripper":1},"note":"This second close was also empty at 0.013, and the bear is still visible, so its upright face is misleadingly closer to the wrist camera than its body is to the grasp point. I am reopening, lifting, and advancing another 3 cm to put the fingertips around the torso rather than in front of it."})
tool
executing move_to over 10 steps (1.0s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteWith the extra radial advance, the bear is finally at fingertip depth near the bottom of the wrist view, but it is now about 5 cm to the gripper’s right. I am shifting inward to recenter its torso between the jaws.
move_to
left_x0.3320left_y-0.2600left_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]: [-0.8547, 1.5429, 1.0054, -0.4011, -0.6502, -0.6041, 0.9984, -0.02, 0.8097, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992] state[eef_state]: left_x=0.3317 left_y=-0.2128 left_z=0.1322 left_yaw=0.0004 left_pitch=-0.1367 left_roll=0.082 left_gripper=0.9984 right_x=0.2944 right_y=0.001 right_z=0.1743 right_yaw=0.0018 right_pitch=-0.035 right_roll=0.0043 right_gripper=0.9992 state[joint_eff]: [0.1573, -8.7453, 8.6906, 1.1453, -0.3394, 0.1734, -0.1392, -0.1436, -1.6889, 7.241, 1.7411, -0.0366, -0.022, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.332,"left_y":-0.26,"left_z":0.14,"left_gripper":1},"note":"With the extra radial advance, the bear is finally at fingertip depth near the bottom of the wrist view, but it is now about 5 cm to the gripper’s right. I am shifting inward to recenter its torso between the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe bear is now centered between the fingertips at the bottom of the wrist frame, indicating correct radial and lateral alignment. I am lowering to body height for a secure side grasp.
move_to
left_x0.3290left_y-0.2560left_z0.0750left_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]: [-0.9398, 1.6695, 1.1557, -0.4885, -0.68, -0.6895, 0.9988, -0.02, 0.8108, 0.6067, -0.3931, -0.0185, -0.0166, 0.9992] state[eef_state]: left_x=0.3289 left_y=-0.2558 left_z=0.1319 left_yaw=-0.0124 left_pitch=-0.154 left_roll=0.0821 left_gripper=0.9988 right_x=0.2944 right_y=0.001 right_z=0.1739 right_yaw=0.0017 right_pitch=-0.0365 right_roll=0.0038 right_gripper=0.9992 state[joint_eff]: [-0.2393, -7.2957, 8.4034, 0.9499, -0.5104, -0.0757, -0.1441, -0.1162, -1.2923, 7.0496, 1.7314, -0.0366, -0.0611, -0.0122] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.329,"left_y":-0.256,"left_z":0.075,"left_gripper":1},"note":"The bear is now centered between the fingertips at the bottom of the wrist frame, indicating correct radial and lateral alignment. I am lowering to body height for a secure side grasp."})
tool
executing move_to over 4 steps (0.4s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteAt z≈0.079 m the jaw tips flank the bear’s head and upper torso, and the body is centered. I am closing for the grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9413, 1.7428, 1.0298, -0.3199, -0.6762, -0.7002, 0.9988, -0.02, 0.812, 0.6067, -0.3927, -0.0189, -0.0166, 0.9992] state[eef_state]: left_x=0.3255 left_y=-0.2531 left_z=0.0789 left_yaw=-0.0064 left_pitch=-0.1744 left_roll=0.0969 left_gripper=0.9988 right_x=0.2945 right_y=0.001 right_z=0.1737 right_yaw=0.002 right_pitch=-0.0373 right_roll=0.004 right_gripper=0.9992 state[joint_eff]: [-0.2393, -7.8154, 5.2991, 1.0476, -0.3492, 0.0708, -0.1441, -0.0889, -1.4427, 7.0222, 1.7167, -0.0269, -0.0806, -0.0171] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"At z≈0.079 m the jaw tips flank the bear’s head and upper torso, and the body is centered. I am closing for the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe gripper settled at 0.203, far above the empty threshold, indicating a firm grasp on the soft bear. I am lifting it clear of the cluster to verify it moves with the arm.
move_to
left_x0.3250left_y-0.2540left_z0.1700left_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]: [-0.9428, 1.7523, 1.0191, -0.2993, -0.675, -0.7078, 0.2029, -0.02, 0.812, 0.6067, -0.3927, -0.0189, -0.0166, 0.9992] state[eef_state]: left_x=0.3252 left_y=-0.2539 left_z=0.0738 left_yaw=-0.0045 left_pitch=-0.1746 left_roll=0.0902 left_gripper=0.2029 right_x=0.2945 right_y=0.001 right_z=0.1737 right_yaw=0.002 right_pitch=-0.0373 right_roll=0.004 right_gripper=0.9992 state[joint_eff]: [-0.0615, -9.0872, 6.7897, 0.9792, -0.3443, 0.0659, 0.696, -0.0615, -1.265, 7.0496, 1.7167, -0.0317, -0.022, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.325,"left_y":-0.254,"left_z":0.17,"left_gripper":0},"note":"The gripper settled at 0.203, far above the empty threshold, indicating a firm grasp on the soft bear. I am lifting it clear of the cluster to verify it moves with the arm."})
tool
executing move_to over 7 steps (0.7s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe gripper remains closed around a roughly 1.7 cm compressed thickness after lifting, and the bear has moved under the arm, confirming the grasp. I am carrying this teddy-bear type over the left basket with generous rim clearance.
move_to
left_x0.4600left_y-0.1500left_z0.2400left_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]: [-0.9428, 1.6833, 1.2533, -0.6273, -0.6727, -0.7158, 0.1763, -0.02, 0.812, 0.6067, -0.3931, -0.0185, -0.0162, 0.9992] state[eef_state]: left_x=0.3268 left_y=-0.2566 left_z=0.1455 left_yaw=0.0021 left_pitch=-0.1904 left_roll=0.1034 left_gripper=0.1763 right_x=0.2945 right_y=0.001 right_z=0.1736 right_yaw=0.0015 right_pitch=-0.0377 right_roll=0.0041 right_gripper=0.9992 state[joint_eff]: [-0.212, -11.0154, 8.5675, 0.9402, -0.3883, 0.0366, 1.0281, -0.1709, -1.3197, 7.4188, 1.7265, -0.0562, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.15,"left_z":0.24,"left_gripper":0},"note":"The gripper remains closed around a roughly 1.7 cm compressed thickness after lifting, and the bear has moved under the arm, confirming the grasp. I am carrying this teddy-bear type over the left basket with generous rim clearance."})
tool
executing move_to over 11 steps (1.1s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteThe bear is visibly carried, but the overhead and wrist views show it about one gripper-width to the right of the left basket’s center. I am shifting leftward in the arm frame to center the payload over the basket before lowering.
move_to
left_x0.4550left_y-0.0600left_z0.2400left_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]: [-0.4717, 1.7565, 1.6352, -0.7376, -0.4107, -0.3206, 0.1679, -0.02, 0.8165, 0.6067, -0.3935, -0.0185, -0.0162, 0.9992] state[eef_state]: left_x=0.4531 left_y=-0.1479 left_z=0.2258 left_yaw=0.0462 left_pitch=-0.2078 left_roll=0.0972 left_gripper=0.1679 right_x=0.2947 right_y=0.001 right_z=0.1723 right_yaw=0.0015 right_pitch=-0.0426 right_roll=0.0042 right_gripper=0.9992 state[joint_eff]: [0.0889, -8.9641, 9.1556, 1.3358, -0.1685, 0.1978, 1.033, -0.1573, -1.7162, 7.2, 1.6777, -0.0464, -0.0269, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":-0.06,"left_z":0.24,"left_gripper":0},"note":"The bear is visibly carried, but the overhead and wrist views show it about one gripper-width to the right of the left basket’s center. I am shifting leftward in the arm frame to center the payload over the basket before lowering."})
tool
executing move_to over 8 steps (0.8s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe left basket is now centered directly behind the held bear in the wrist view, and the overhead view confirms the payload is over its opening. I am lowering into the basket until the bear rests on its floor.
move_to
left_x0.4550left_y-0.0610left_z0.1050left_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]: [-0.2462, 1.6848, 1.557, -0.7361, -0.2749, -0.1749, 0.1677, -0.02, 0.8165, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992] state[eef_state]: left_x=0.4555 left_y=-0.0613 left_z=0.2202 left_yaw=0.0814 left_pitch=-0.2624 left_roll=0.1074 left_gripper=0.1677 right_x=0.2948 right_y=0.001 right_z=0.1724 right_yaw=0.0018 right_pitch=-0.0419 right_roll=0.0044 right_gripper=0.9992 state[joint_eff]: [0.1026, -11.3162, 6.1333, 1.6777, -0.0269, 0.1587, 1.0281, -0.212, -1.3744, 7.0632, 1.7411, -0.0415, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":-0.061,"left_z":0.105,"left_gripper":0},"note":"The left basket is now centered directly behind the held bear in the wrist view, and the overhead view confirms the payload is over its opening. I am lowering into the basket until the bear rests on its floor."})
tool
executing move_to over 8 steps (0.8s)
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 bear is visibly inside the left basket and supported near its floor, with the arm’s descent stopping slightly above the requested height. I am opening the gripper to release it.
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]: [-0.2466, 1.705, 1.1778, -0.3359, -0.2684, -0.1753, 0.1664, -0.02, 0.8185, 0.6067, -0.3931, -0.0185, -0.0162, 0.9992] state[eef_state]: left_x=0.4522 left_y=-0.0618 left_z=0.1197 left_yaw=0.0757 left_pitch=-0.2632 left_roll=0.1021 left_gripper=0.1664 right_x=0.2949 right_y=0.001 right_z=0.1718 right_yaw=0.0015 right_pitch=-0.0442 right_roll=0.0043 right_gripper=0.9992 state[joint_eff]: [-0.1709, -6.3521, 5.3949, 1.4139, -0.1783, 0.0024, 1.0281, -0.1026, -1.4838, 7.0906, 1.7021, -0.0317, -0.0366, -0.0122] 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},"note":"The bear is visibly inside the left basket and supported near its floor, with the arm’s descent stopping slightly above the requested height. I am opening the gripper to release it."})
tool
executing move_to over 9 steps (0.9s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe first teddy bear has been released into the left basket and remains there. I am retracting the left arm to its parked pose to expose the remaining toys for classification and avoid blocking the workspace.
move_to
left_x0.2960left_y0.0000left_z0.1840left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2455, 1.7161, 1.166, -0.3237, -0.2684, -0.1799, 0.8954, -0.02, 0.8185, 0.6067, -0.3923, -0.0189, -0.0162, 0.9992] state[eef_state]: left_x=0.4515 left_y=-0.0611 left_z=0.1121 left_yaw=0.0803 left_pitch=-0.2731 left_roll=0.1024 left_gripper=0.8954 right_x=0.295 right_y=0.001 right_z=0.172 right_yaw=0.0018 right_pitch=-0.0434 right_roll=0.0045 right_gripper=0.9992 state[joint_eff]: [-0.294, -9.4974, 7.4735, 1.2869, -0.1929, 0.0073, -0.0708, -0.1983, -1.3744, 7.0359, 1.746, -0.0366, -0.0562, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0,"left_z":0.184,"left_gripper":1},"note":"The first teddy bear has been released into the left basket and remains there. I am retracting the left arm to its parked pose to expose the remaining toys for classification and avoid blocking the workspace."})
tool
executing move_to over 12 steps (1.2s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteAfter retracting, the bear is revealed standing just in front of the left basket rather than remaining inside; the basket was also nudged but its opening is still accessible. I am moving above the isolated bear for a cleaner re-grasp, and will later release deeper and lift vertically before retracting.
move_to
left_x0.3900left_y-0.0600left_z0.1700left_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]: [-0.1322, 1.0576, 0.9119, -0.6697, -0.2066, -0.1108, 0.9984, -0.02, 0.8249, 0.6067, -0.3923, -0.0189, -0.0166, 0.9992] state[eef_state]: left_x=0.3107 left_y=-0.0011 left_z=0.189 left_yaw=0.099 left_pitch=-0.2331 left_roll=0.0889 left_gripper=0.9984 right_x=0.2954 right_y=0.001 right_z=0.1702 right_yaw=0.002 right_pitch=-0.0499 right_roll=0.0043 right_gripper=0.9992 state[joint_eff]: [0.3761, -3.3436, 6.1744, 1.4969, -0.0024, 0.188, -0.1734, -0.212, -1.4974, 7.0632, 1.7753, -0.0366, -0.0708, -0.0122] camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.06,"left_z":0.17,"left_gripper":1},"note":"After retracting, the bear is revealed standing just in front of the left basket rather than remaining inside; the basket was also nudged but its opening is still accessible. I am moving above the isolated bear for a cleaner re-grasp, and will later release deeper and lift vertically before retracting."})
tool
executing move_to over 7 steps (0.7s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteThe isolated tan bear is centered between the fingertips at the bottom of the wrist frame, with the left basket directly behind it. I am lowering to its upper torso for another secure grasp.
move_to
left_x0.3760left_y-0.0530left_z0.0800left_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]: [-0.2928, 1.3975, 1.047, -0.5411, -0.3084, -0.2241, 0.9987, -0.0196, 0.8307, 0.6067, -0.3931, -0.0189, -0.0162, 0.9992] state[eef_state]: left_x=0.3755 left_y=-0.0534 left_z=0.1589 left_yaw=0.0928 left_pitch=-0.2767 left_roll=0.1082 left_gripper=0.9987 right_x=0.2956 right_y=0.0011 right_z=0.1684 right_yaw=0.0022 right_pitch=-0.0564 right_roll=0.0048 right_gripper=0.9992 state[joint_eff]: [-0.6769, -5.1761, 9.2103, 1.5409, -0.2027, -0.0757, -0.1441, -0.0068, -1.3197, 7.0496, 1.7363, -0.0659, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.376,"left_y":-0.053,"left_z":0.08,"left_gripper":1},"note":"The isolated tan bear is centered between the fingertips at the bottom of the wrist frame, with the left basket directly behind it. I am lowering to its upper torso for another secure grasp."})
tool
executing move_to over 6 steps (0.6s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe bear’s head and shoulders are now between the jaw faces at z≈0.10 m. I am closing around its upper torso.
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]: [-0.2893, 1.462, 0.8387, -0.2314, -0.3141, -0.2321, 0.9987, -0.0196, 0.8314, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992] state[eef_state]: left_x=0.3824 left_y=-0.0531 left_z=0.1007 left_yaw=0.1017 left_pitch=-0.2404 left_roll=0.0923 left_gripper=0.9987 right_x=0.2957 right_y=0.0011 right_z=0.1683 right_yaw=0.0022 right_pitch=-0.0568 right_roll=0.0048 right_gripper=0.9992 state[joint_eff]: [-0.212, -4.4239, 4.8615, 1.16, -0.0757, 0.0708, -0.149, -0.0342, -1.5248, 7.0359, 1.707, -0.0464, -0.0513, -0.0122] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The bear’s head and shoulders are now between the jaw faces at z≈0.10 m. I am closing around its upper torso."})
tool
executing move_to over 10 steps (1.0s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteThe gripper has settled at 0.217 on the bear, confirming a solid grasp. I am lifting it vertically clear of the basket rim before translating the short distance to the basket center.
move_to
left_x0.3800left_y-0.0520left_z0.2000left_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]: [-0.2893, 1.4773, 0.82, -0.2157, -0.3141, -0.2371, 0.2174, -0.02, 0.8314, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992] state[eef_state]: left_x=0.3798 left_y=-0.0524 left_z=0.0904 left_yaw=0.1062 left_pitch=-0.2571 left_roll=0.096 left_gripper=0.2174 right_x=0.2957 right_y=0.001 right_z=0.1683 right_yaw=0.0018 right_pitch=-0.0568 right_roll=0.0048 right_gripper=0.9992 state[joint_eff]: [-0.335, -7.4188, 7.9248, 1.243, -0.1441, -0.0024, 1.0281, -0.3487, -1.2376, 7.0496, 1.7021, -0.0415, -0.0269, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.052,"left_z":0.2,"left_gripper":0},"note":"The gripper has settled at 0.217 on the bear, confirming a solid grasp. I am lifting it vertically clear of the basket rim before translating the short distance to the basket center."})
tool
executing move_to over 8 steps (0.8s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteThe lift reveals that the first bear is in fact already standing inside the left basket, while this is a second bear now held in front of it. I am positioning the second bear above the same basket, keeping enough height to avoid the first occupant and the rim.
move_to
left_x0.4550left_y-0.0520left_z0.2100left_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]: [-0.2893, 1.4281, 1.1469, -0.6216, -0.3141, -0.244, 0.2161, -0.02, 0.8314, 0.6067, -0.3923, -0.0189, -0.0162, 0.9992] state[eef_state]: left_x=0.3827 left_y=-0.0532 left_z=0.1762 left_yaw=0.1132 left_pitch=-0.2841 left_roll=0.1032 left_gripper=0.2161 right_x=0.2957 right_y=0.001 right_z=0.1684 right_yaw=0.0018 right_pitch=-0.0564 right_roll=0.0048 right_gripper=0.9992 state[joint_eff]: [-0.0615, -8.3624, 9.0325, 1.3651, -0.1783, 0.0415, 1.033, -0.0889, -1.4974, 7.0085, 1.7411, -0.0269, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":-0.052,"left_z":0.21,"left_gripper":0},"note":"The lift reveals that the first bear is in fact already standing inside the left basket, while this is a second bear now held in front of it. I am positioning the second bear above the same basket, keeping enough height to avoid the first occupant and the rim."})
tool
executing move_to over 6 steps (0.6s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteThe second bear is centered over the left basket alongside the first. I am lowering it until its lower body reaches the basket floor while keeping the gripper closed.
move_to
left_x0.4460left_y-0.0500left_z0.1200left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2302, 1.684, 1.4883, -0.7319, -0.2836, -0.2203, 0.216, -0.0196, 0.836, 0.6067, -0.3939, -0.0185, -0.0162, 0.9992] state[eef_state]: left_x=0.4459 left_y=-0.0501 left_z=0.1939 left_yaw=0.1365 left_pitch=-0.3175 left_roll=0.1056 left_gripper=0.216 right_x=0.2958 right_y=0.001 right_z=0.1668 right_yaw=0.0019 right_pitch=-0.0625 right_roll=0.0047 right_gripper=0.9992 state[joint_eff]: [0.4444, -8.4444, 8.5812, 1.2527, -0.0855, 0.2076, 1.0281, -0.1026, -1.7983, 7.1179, 1.6581, -0.0415, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.446,"left_y":-0.05,"left_z":0.12,"left_gripper":0},"note":"The second bear is centered over the left basket alongside the first. I am lowering it until its lower body reaches the basket floor while keeping the gripper closed."})
tool
executing move_to over 5 steps (0.5s)
step 187
top_cam
camera top_cam step 187
left_cam
camera left_cam step 187
right_cam
camera right_cam step 187
assistant
agent noteThe second bear is now seated inside the left basket, with its body supported below the rim. I am releasing it.
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]: [-0.2264, 1.7134, 1.2316, -0.527, -0.2844, -0.2184, 0.216, -0.02, 0.8379, 0.6067, -0.3927, -0.0185, -0.0162, 0.9992] state[eef_state]: left_x=0.4311 left_y=-0.0448 left_z=0.1103 left_yaw=0.1508 left_pitch=-0.3931 left_roll=0.1389 left_gripper=0.216 right_x=0.296 right_y=0.0009 right_z=0.1665 right_yaw=0.0015 right_pitch=-0.0632 right_roll=0.0047 right_gripper=0.9992 state[joint_eff]: [-0.4308, -8.212, 7.3231, 1.5311, -0.1343, -0.0659, 1.033, -0.1026, -1.3333, 7.0085, 1.663, -0.0317, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The second bear is now seated inside the left basket, with its body supported below the rim. I am releasing it."})
tool
executing move_to over 8 steps (0.8s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
assistant
agent noteBoth tan teddy bears are now visibly together in the left basket. I am lifting and parking the left arm so the remaining compact gray/brown toys are exposed for sorting into the right basket.
move_to
left_x0.2960left_y0.0000left_z0.1840left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2264, 1.7157, 1.2179, -0.5293, -0.2844, -0.2249, 0.7951, -0.02, 0.8379, 0.6067, -0.3927, -0.0185, -0.0162, 0.9992] state[eef_state]: left_x=0.427 left_y=-0.0438 left_z=0.104 left_yaw=0.1575 left_pitch=-0.4096 left_roll=0.1423 left_gripper=0.7951 right_x=0.296 right_y=0.0009 right_z=0.1665 right_yaw=0.0015 right_pitch=-0.0632 right_roll=0.0047 right_gripper=0.9992 state[joint_eff]: [-0.1026, -8.6906, 7.7197, 1.2967, -0.2222, 0.0122, -0.1245, -0.0479, -1.5111, 7.0496, 1.7021, -0.0366, -0.0464, -0.0122] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0,"left_z":0.184,"left_gripper":1},"note":"Both tan teddy bears are now visibly together in the left basket. I am lifting and parking the left arm so the remaining compact gray/brown toys are exposed for sorting into the right basket."})
tool
executing move_to over 11 steps (1.1s)
step 206
assistant
agent noteWith the arm parked, two remaining non-bear toys are visible: one brown-and-white and one gray-and-white compact plush, so they belong together in the other basket. I am moving the left arm above the brown-and-white toy first; the near-left edge of the right basket remains within this arm’s cross-over reach.
move_to
left_x0.3100left_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]: [-0.1661, 1.1893, 1.0637, -0.8497, -0.2604, -0.1829, 0.9982, -0.02, 0.8417, 0.6064, -0.3923, -0.0185, -0.0162, 0.9992] state[eef_state]: left_x=0.3112 left_y=-0.0024 left_z=0.1867 left_yaw=0.1655 left_pitch=-0.371 left_roll=0.1285 left_gripper=0.9982 right_x=0.2962 right_y=0.0009 right_z=0.1654 right_yaw=0.0015 right_pitch=-0.0671 right_roll=0.0048 right_gripper=0.9992 state[joint_eff]: [0.4308, -4.1504, 6.065, 1.2479, -0.0464, 0.0611, -0.1392, -0.2256, -1.5385, 7.0359, 1.7656, -0.0073, -0.0366, -0.0171] 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":{"left_x":0.31,"left_y":-0.2,"left_z":0.16,"left_gripper":1},"note":"With the arm parked, two remaining non-bear toys are visible: one brown-and-white and one gray-and-white compact plush, so they belong together in the other basket. I am moving the left arm above the brown-and-white toy first; the near-left edge of the right basket remains within this arm’s cross-over reach."})
tool
executing move_to over 18 steps (1.8s)
step 224
assistant
agent noteThe wrist camera looks past the target and shows the two bears’ paw pads in the left basket; the overhead view places the brown compact toy directly under the gripper. I am descending at this fixed position to grasp that toy near table level.
move_to
left_x0.3070left_y-0.1940left_z0.0650left_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]: [-0.8337, 1.6176, 1.3258, -0.976, -0.5537, -0.8204, 0.9988, -0.02, 0.8429, 0.6067, -0.3931, -0.0189, -0.0162, 0.9992] state[eef_state]: left_x=0.3066 left_y=-0.1942 left_z=0.1525 left_yaw=0.1554 left_pitch=-0.3934 left_roll=0.1474 left_gripper=0.9988 right_x=0.2962 right_y=0.001 right_z=0.1651 right_yaw=0.0018 right_pitch=-0.0686 right_roll=0.005 right_gripper=0.9992 state[joint_eff]: [-0.253, -7.1043, 8.3214, 0.696, -0.3932, -0.0073, -0.1441, -0.1026, -1.6068, 7.159, 1.6972, -0.0366, -0.022, -0.0122] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.307,"left_y":-0.194,"left_z":0.065,"left_gripper":1},"note":"The wrist camera looks past the target and shows the two bears’ paw pads in the left basket; the overhead view places the brown compact toy directly under the gripper. I am descending at this fixed position to grasp that toy near table level."})
tool
executing move_to over 6 steps (0.6s)
step 230
assistant
agent noteThe overhead view after descent shows the brown toy offset down-left of the jaw center rather than directly between the fingers. I am backing slightly toward the base and left to recenter over its torso before closing.
move_to
left_x0.2800left_y-0.1500left_z0.1100left_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]: [-0.8276, 1.665, 1.0794, -0.6819, -0.5568, -0.836, 0.9987, -0.02, 0.8429, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992] state[eef_state]: left_x=0.3067 left_y=-0.1905 left_z=0.0796 left_yaw=0.1718 left_pitch=-0.3896 left_roll=0.1389 left_gripper=0.9987 right_x=0.2963 right_y=0.001 right_z=0.1652 right_yaw=0.0018 right_pitch=-0.0682 right_roll=0.005 right_gripper=0.9992 state[joint_eff]: [-0.3897, -5.094, 4.6974, 0.5885, -0.2173, 0.1294, -0.149, -0.0479, -1.5521, 7.1863, 1.707, -0.0366, -0.0317, -0.0122] camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.28,"left_y":-0.15,"left_z":0.11,"left_gripper":1},"note":"The overhead view after descent shows the brown toy offset down-left of the jaw center rather than directly between the fingers. I am backing slightly toward the base and left to recenter over its torso before closing."})
tool
executing move_to over 4 steps (0.4s)
step 234
assistant
agent noteThe lateral alignment is now correct, but the toy’s body is still slightly toward the base from the fingertips in the overhead view. I am moving another 2.5 cm toward the base while descending to torso height.
move_to
left_x0.2650left_y-0.1500left_z0.0550left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7986, 1.4765, 1.0004, -0.7414, -0.543, -0.8192, 0.9988, -0.02, 0.8448, 0.6067, -0.3927, -0.0185, -0.0162, 0.9992] state[eef_state]: left_x=0.2891 left_y=-0.1608 left_z=0.1084 left_yaw=0.1672 left_pitch=-0.3737 left_roll=0.097 left_gripper=0.9988 right_x=0.2964 right_y=0.0009 right_z=0.1646 right_yaw=0.0015 right_pitch=-0.0701 right_roll=0.0048 right_gripper=0.9992 state[joint_eff]: [-0.1026, -5.8051, 5.641, 0.9304, -0.398, 0.1636, -0.1441, -0.1026, -1.1282, 7.0359, 1.7118, -0.0366, -0.0415, -0.0122] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.265,"left_y":-0.15,"left_z":0.055,"left_gripper":1},"note":"The lateral alignment is now correct, but the toy’s body is still slightly toward the base from the fingertips in the overhead view. I am moving another 2.5 cm toward the base while descending to torso height."})
tool
executing move_to over 4 steps (0.4s)
step 238
assistant
agent noteThe arm stopped short at z≈0.093 m and x≈0.28 m, consistent with the fingers contacting the compact toy. Its torso is now directly under the jaw center, so I am closing to grasp it.
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]: [-0.8082, 1.47, 0.9382, -0.7097, -0.5426, -0.8249, 0.9988, -0.02, 0.8455, 0.6067, -0.3927, -0.0189, -0.0166, 0.9992] state[eef_state]: left_x=0.2803 left_y=-0.1561 left_z=0.0928 left_yaw=0.1687 left_pitch=-0.3873 left_roll=0.1145 left_gripper=0.9988 right_x=0.2964 right_y=0.001 right_z=0.1644 right_yaw=0.002 right_pitch=-0.0709 right_roll=0.0048 right_gripper=0.9992 state[joint_eff]: [-0.0479, -6.0239, 6.3521, 0.9109, -0.3687, -0.0806, -0.1441, -0.1026, -1.3333, 7.0496, 1.6532, -0.0366, -0.0708, -0.0122] camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The arm stopped short at z≈0.093 m and x≈0.28 m, consistent with the fingers contacting the compact toy. Its torso is now directly under the jaw center, so I am closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 248
assistant
agent noteThe close settled at 0.038, just below the reliable grasp threshold, so it was empty. The wrist has accumulated a large tilt from contact; I am reopening, lifting, and explicitly restoring the tool to its vertical start orientation while moving toward the toy’s true overhead position.
move_to
left_x0.2600left_y-0.1500left_z0.1500left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8082, 1.4715, 0.9382, -0.6941, -0.5392, -0.8307, 0.0381, -0.02, 0.8494, 0.6022, -0.3931, -0.0189, -0.0166, 0.9992] state[eef_state]: left_x=0.2822 left_y=-0.1589 left_z=0.0932 left_yaw=0.1654 left_pitch=-0.3817 left_roll=0.0963 left_gripper=0.0381 right_x=0.2959 right_y=0.001 right_z=0.1612 right_yaw=0.002 right_pitch=-0.0796 right_roll=0.005 right_gripper=0.9992 state[joint_eff]: [-0.1162, -5.9692, 6.1197, 0.7399, -0.3785, 0.0122, 0.9988, -0.0889, -1.6205, 7.6376, 1.6972, -0.0171, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.26,"left_y":-0.15,"left_z":0.15,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":1},"note":"The close settled at 0.038, just below the reliable grasp threshold, so it was empty. The wrist has accumulated a large tilt from contact; I am reopening, lifting, and explicitly restoring the tool to its vertical start orientation while moving toward the toy’s true overhead position."})
tool
executing move_to over 13 steps (1.3s)
step 261
assistant
agent noteWith the tool vertical, the remaining gray compact plush is clearly isolated near the left fence, while the brown one remains partly under the arm. I am shifting to hover over the unobstructed gray toy first.
move_to
left_x0.2500left_y0.0000left_z0.1300left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9489, 1.0813, 0.6449, -0.4404, -0.73, -0.6941, 0.9971, -0.02, 0.8513, 0.601, -0.392, -0.0185, -0.0166, 0.9992] state[eef_state]: left_x=0.2573 left_y=-0.1506 left_z=0.1409 left_yaw=0.0027 left_pitch=-0.0473 left_roll=0.0006 left_gripper=0.9971 right_x=0.296 right_y=0.0009 right_z=0.1604 right_yaw=0.0017 right_pitch=-0.0815 right_roll=0.0048 right_gripper=0.9992 state[joint_eff]: [-0.5402, -3.412, 6.5299, 1.4872, -0.5201, 0.1685, -0.0122, -0.3624, -1.5932, 7.1316, 1.7265, -0.0513, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_y":0.0,"left_z":0.13,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":1},"note":"With the tool vertical, the remaining gray compact plush is clearly isolated near the left fence, while the brown one remains partly under the arm. I am shifting to hover over the unobstructed gray toy first."})
tool
executing move_to over 14 steps (1.4s)
step 275
assistant
agent noteThe gray toy is now clearly visible near the bottom of the wrist view, about 4 cm to the gripper’s left and already at fingertip depth. I am shifting to the fence-side limit and lowering onto its body.
move_to
left_x0.2500left_y0.0500left_z0.0650left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0723, 0.5201, 0.3614, -0.424, -0.1287, -0.1108, 0.9988, -0.02, 0.8566, 0.6003, -0.4004, -0.0189, -0.0166, 0.9992] state[eef_state]: left_x=0.2485 left_y=0.0083 left_z=0.1289 left_yaw=0.0871 left_pitch=-0.0146 left_roll=-0.006 left_gripper=0.9988 right_x=0.2949 right_y=0.001 right_z=0.1569 right_yaw=0.0021 right_pitch=-0.096 right_roll=0.0053 right_gripper=0.9992 state[joint_eff]: [-0.0889, -0.0342, 6.3658, 1.9463, 0.0611, 0.1392, -0.1441, -0.2256, -2.0171, 7.1179, 1.6923, -0.0464, -0.0366, -0.0122] camera 'top_cam' (step 275): [image omitted: streamed camera frame] camera 'left_cam' (step 275): [image omitted: streamed camera frame] camera 'right_cam' (step 275): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_y":0.05,"left_z":0.065,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":1},"note":"The gray toy is now clearly visible near the bottom of the wrist view, about 4 cm to the gripper’s left and already at fingertip depth. I am shifting to the fence-side limit and lowering onto its body."})
tool
executing move_to over 5 steps (0.5s)
step 280
assistant
agent noteThe gray plush is centered between the jaw faces at z≈0.064 m, with its body spanning the gripper opening. I am closing around it.
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]: [0.3977, 0.6521, 0.1505, -0.1333, 0.2485, 0.152, 0.9988, -0.02, 0.8597, 0.598, -0.4065, -0.0189, -0.0162, 0.9992] state[eef_state]: left_x=0.2443 left_y=0.0594 left_z=0.064 left_yaw=0.0984 left_pitch=-0.0498 left_roll=-0.0066 left_gripper=0.9988 right_x=0.2937 right_y=0.001 right_z=0.1539 right_yaw=0.0019 right_pitch=-0.1075 right_roll=0.0059 right_gripper=0.9992 state[joint_eff]: [-0.1436, 0.2393, 5.3402, 1.3407, 0.315, -0.0122, -0.1441, -0.1709, -1.8256, 7.1726, 1.7509, -0.0415, -0.0562, -0.0122] camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The gray plush is centered between the jaw faces at z≈0.064 m, with its body spanning the gripper opening. I am closing around it."})
tool
executing move_to over 10 steps (1.0s)
step 290
assistant
agent noteThe 0.01 close was empty; the gray toy remains visible because it is still short of the actual fingertips despite being centered. I am reopening, lifting slightly, and advancing 3 cm outward while preserving the lateral alignment.
move_to
left_x0.2850left_y0.0500left_z0.1200left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.429, 0.6807, 0.1333, -0.038, 0.3416, 0.2173, 0.0102, -0.0196, 0.8604, 0.5972, -0.408, -0.0189, -0.0162, 0.9992] state[eef_state]: left_x=0.2528 left_y=0.0545 left_z=0.0714 left_yaw=0.0179 left_pitch=0.0151 left_roll=0.0152 left_gripper=0.0102 right_x=0.2934 right_y=0.0012 right_z=0.1531 right_yaw=0.0023 right_pitch=-0.1105 right_roll=0.006 right_gripper=0.9992 state[joint_eff]: [0.1709, 0.2256, 5.9419, 1.6093, 0.2369, 0.0513, 0.7546, -0.0615, -1.7026, 7.1453, 1.7216, -0.0464, -0.0269, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 290): [image omitted: streamed camera frame] camera 'left_cam' (step 290): [image omitted: streamed camera frame] camera 'right_cam' (step 290): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.285,"left_y":0.05,"left_z":0.12,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":1},"note":"The 0.01 close was empty; the gray toy remains visible because it is still short of the actual fingertips despite being centered. I am reopening, lifting slightly, and advancing 3 cm outward while preserving the lateral alignment."})
tool
executing move_to over 10 steps (1.0s)
step 300
assistant
agent noteAfter the radial advance, the gray toy is now at the fingertip depth at the bottom center of the wrist frame. I am descending onto its body before closing.
move_to
left_x0.2790left_y0.0480left_z0.0450left_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]: [0.3344, 0.8169, 0.3344, -0.1368, 0.2848, 0.1593, 0.9952, -0.02, 0.8639, 0.5972, -0.4091, -0.0189, -0.0162, 0.9992] state[eef_state]: left_x=0.279 left_y=0.0482 left_z=0.105 left_yaw=0.0012 left_pitch=-0.0283 left_roll=-0.0159 left_gripper=0.9952 right_x=0.2933 right_y=0.001 right_z=0.1519 right_yaw=0.0019 right_pitch=-0.1151 right_roll=0.0061 right_gripper=0.9992 state[joint_eff]: [-0.4855, -1.2513, 9.265, 1.6288, 0.0269, 0.1148, 0.0415, -0.0889, -1.9624, 6.9675, 1.6337, -0.0464, -0.0317, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 300): [image omitted: streamed camera frame] camera 'left_cam' (step 300): [image omitted: streamed camera frame] camera 'right_cam' (step 300): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.279,"left_y":0.048,"left_z":0.045,"left_gripper":1},"note":"After the radial advance, the gray toy is now at the fingertip depth at the bottom center of the wrist frame. I am descending onto its body before closing."})
tool
executing move_to over 4 steps (0.4s)
step 304
assistant
agent noteThe gray plush now fills the gap between both jaws at table-level height. I am closing for the grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.3344, 1.0004, 0.1646, 0.1867, 0.2787, 0.1684, 0.9988, -0.02, 0.8639, 0.5972, -0.4095, -0.0185, -0.0166, 0.9992] state[eef_state]: left_x=0.2769 left_y=0.0486 left_z=0.0478 left_yaw=0.001 left_pitch=-0.0575 left_roll=-0.0147 left_gripper=0.9988 right_x=0.2933 right_y=0.001 right_z=0.1518 right_yaw=0.0018 right_pitch=-0.1155 right_roll=0.0055 right_gripper=0.9992 state[joint_eff]: [-0.1299, -0.9368, 4.3009, 1.0232, 0.2173, -0.1197, -0.1441, -0.1983, -1.6479, 7.1043, 1.6142, -0.0415, -0.0611, -0.0122] camera 'top_cam' (step 304): [image omitted: streamed camera frame] camera 'left_cam' (step 304): [image omitted: streamed camera frame] camera 'right_cam' (step 304): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The gray plush now fills the gap between both jaws at table-level height. I am closing for the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 314
assistant
agent noteThe close settled at 0.033, borderline for a very soft toy, and the gray plush appears pinched between the jaws. I am lifting and carrying toward the reachable left side of the right basket; the overhead view will confirm whether it travels with the arm.
move_to
left_x0.4500left_y-0.3900left_z0.2200left_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]: [0.3351, 0.9993, 0.157, 0.2504, 0.2703, 0.1677, 0.0326, -0.02, 0.8696, 0.5972, -0.4095, -0.0189, -0.0166, 0.9992] state[eef_state]: left_x=0.2832 left_y=0.0525 left_z=0.0573 left_yaw=0.0097 left_pitch=-0.0049 left_roll=0.0078 left_gripper=0.0326 right_x=0.2935 right_y=0.001 right_z=0.1503 right_yaw=0.0021 right_pitch=-0.1212 right_roll=0.0059 right_gripper=0.9992 state[joint_eff]: [-0.1299, -1.7436, 6.8034, 1.0867, 0.1294, 0.0024, 0.9206, -0.0889, -2.1675, 6.9812, 1.619, -0.0415, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.39,"left_z":0.22,"left_gripper":0},"note":"The close settled at 0.033, borderline for a very soft toy, and the gray plush appears pinched between the jaws. I am lifting and carrying toward the reachable left side of the right basket; the overhead view will confirm whether it travels with the arm."})
tool
executing move_to over 40 steps (4.0s)
step 354
assistant
agent noteThe gray plush has traveled with the gripper and is now directly over the near side of the empty right basket. I am lowering while opening so it drops gently into that basket.
move_to
left_x0.4500left_y-0.3900left_z0.1000left_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]: [-0.9138, 2.3146, 2.2639, -0.7929, -0.738, -0.6746, 0.0323, -0.02, 0.8707, 0.5972, -0.4107, -0.0189, -0.0166, 0.9992] state[eef_state]: left_x=0.4512 left_y=-0.3845 left_z=0.2039 left_yaw=0.0318 left_pitch=-0.0229 left_roll=-0.0067 left_gripper=0.0323 right_x=0.2934 right_y=0.001 right_z=0.1497 right_yaw=0.0021 right_pitch=-0.1235 right_roll=0.0059 right_gripper=0.9992 state[joint_eff]: [-0.8274, -14.4889, 8.6222, 1.16, -0.4274, 0.2759, 1.033, -0.212, -1.6205, 7.0085, 1.619, -0.0611, -0.0415, -0.0171] camera 'top_cam' (step 354): [image omitted: streamed camera frame] camera 'left_cam' (step 354): [image omitted: streamed camera frame] camera 'right_cam' (step 354): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.39,"left_z":0.1,"left_gripper":1},"note":"The gray plush has traveled with the gripper and is now directly over the near side of the empty right basket. I am lowering while opening so it drops gently into that basket."})
tool
executing move_to over 10 steps (1.0s)
step 364
assistant
agent noteThe drop revealed the near basket is the bear basket, so the gray toy is mis-sorted there; the empty basket is farther right. I am retracting the left arm and positioning the right arm above the gray toy so it can transfer it to the adjacent empty basket.
move_to
left_x0.2960left_y0.0000left_z0.1840left_gripper1.0000right_x0.4500right_y0.2800right_z0.2000right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9295, 2.3112, 1.9324, -0.3862, -0.7601, -0.6815, 0.9948, -0.02, 0.8707, 0.5972, -0.4099, -0.0189, -0.0166, 0.9992] state[eef_state]: left_x=0.4539 left_y=-0.3985 left_z=0.135 left_yaw=0.0355 left_pitch=0.0353 left_roll=-0.0675 left_gripper=0.9948 right_x=0.2935 right_y=0.001 right_z=0.1499 right_yaw=0.0021 right_pitch=-0.1227 right_roll=0.0059 right_gripper=0.9992 state[joint_eff]: [0.4308, -11.3299, 4.3282, 0.8767, -0.1685, -0.0611, -0.2076, -0.1436, -1.6752, 6.9675, 1.6288, -0.0269, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 364): [image omitted: streamed camera frame] camera 'left_cam' (step 364): [image omitted: streamed camera frame] camera 'right_cam' (step 364): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0,"left_z":0.184,"left_gripper":1,"right_x":0.45,"right_y":0.28,"right_z":0.2,"right_yaw":0,"right_pitch":0,"right_roll":0,"right_gripper":1},"note":"The drop revealed the near basket is the bear basket, so the gray toy is mis-sorted there; the empty basket is farther right. I am retracting the left arm and positioning the right arm above the gray toy so it can transfer it to the adjacent empty basket."})
tool
executing move_to over 36 steps (3.6s)
step 400
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]: [-0.0444, 0.7856, 0.5888, -0.3077, -0.0837, -0.1524, 0.9988, 0.7341, 1.8896, 1.5253, -0.3737, 0.5808, 0.4244, 0.9992] state[eef_state]: left_x=0.3015 left_y=0.005 left_z=0.1909 left_yaw=0.0994 left_pitch=0.0582 left_roll=-0.0765 left_gripper=0.9988 right_x=0.4443 right_y=0.2752 right_z=0.1851 right_yaw=0.0261 right_pitch=-0.0371 right_roll=-0.0247 right_gripper=0.9992 state[joint_eff]: [0.1436, -1.5658, 6.2017, 1.8584, 0.0464, 0.1294, -0.1392, 0.6769, -10.0444, 9.4427, 1.453, 0.4957, 0.1538, -0.0952] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 400): [image omitted: streamed camera frame] camera 'left_cam' (step 400): [image omitted: streamed camera frame] camera 'right_cam' (step 400): [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 · 14 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0277, 0.7986, 0.6155, -0.3801, -0.0216, -0.0334, 0.9995, -0.0154, 0.7975, 0.6106, -0.374, -0.012, -0.0158, 0.9992]\nstate[eef_state]: left_x=0.2965 left_y=-0.0008 left_z=0.184 left_yaw=-0.0001 left_pitch=-0.0004 left_roll=-0.0005 left_gripper=0.9995 right_x=0.2966 right_y=0.0011 right_z=0.1833 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.1846, -1.6479, 9.4154, 1.8144, -0.0317, 0.1441, -0.0611, -0.9368, -1.4291, 9.9214, 1.7265, -0.1099, -0.0269, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da62c8deba1d126205548c7834df62624ad02f32a53ab3195f7ea6d6136c4a2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d258ff9f72f4399b7e18b3ede7b90be5409d33a7624952262248e72049e36bbb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d11ea3e243d0872e08de58d783f50a7a41f91c7fcbebb4c6ead0bbe760366fa8",
      "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 · 6.971 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_006d44f07b7fc7ad016ab444f895f087d091606fcfcbb27264",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEUF1cVCCgDWWp7XAoLdkFFtP1AlvF5AEI3N0Ia2hFDnCbCY-jZ8MvQVYoQ55-7ek0GtrGcy6mFm4Gu-Qm6M0ozoUCaRfUHPL_Vfb3b_GGCLas5WC8iyLjZ_FxOwYrQOAbQWjcoFJaOUWDaLFFhy5DVnwXgQKXg8yfIVVX9u5pQDBYVNprbxASXUoh4QTlHfj5E3Olrx4CYPL4coEeK92AGQ10MaP6EIo-PPK5PRp9TMACF9MCm-BxIbH9AADORxXxCD8BVnEjU70xgCx3ppZn704gn7uOi0yHzTMYFnMkK93B35X6IDnFTzSsb2g3yxdAYc2TuMja3s9cmC8POxYwNF_KsnH4_FGpoOl9S_FgNOvyv-rY9c8-44yVZLGUfLq_w51w_AObXMUX8q6k63gM64qqUBlPX_Naw0SoRx618S6WUEfHc2Z6Lp7ONp1o_WHi8-rEjYAa4vhrd8Xa-835ERKN4_aa1kmAaW02yIat_fBKE41hjYGrGgXeAn1qC8WzS0XTqeIfnUPjbraE5Z3bFLuTcRLT6vnkBH00Wa5lnzZjB5kOcbWhqGYym1jz2Kf7oSXvPcD5A8XQ6_NibUEP3M7NCY1F8aI33s63g259UhzhuMA21K2plTloVmPLymT_wiXYuGWUBfALqZeTp04P1NB_02KmrmTbAxr6R6-3BfM77wdDmQkr6_lDquixSt0rrdyDOmsMOBTIqUShVDCDAknoYpYz3MGOzendN7H0GZinPSdnS4f4x8gu-zbJKbfjqVB85BVMeRCgzt25OjLNg4bQfApq7tkFwUPhOBOsuWBQc7zXRepg1qsOsT1MbeYYDVaQeOVVC-vglLqkz3oqHmYnjFA9Fef1KpOivJGaYyB5jPb8IZiHOFfvhlq3pFjy1CANYDHnlmexDa2if-ow_CvFdp5ozSu1bt9XvHYOJWuQB9Onz2pcKR8P0KYhoHFZoCee5Tn19dDWm2B5ZmDLhX95-PUz0Okc15ZvtHARTcuEyOf4zdkDtI4VVeClMfXiTdD89xCESMn30ERkdUTS7ieOZJaTB3lxPgusmt6gd6f3YoAyaniSvmB_HIPm_sZuFcsieidbI3a_4jAW3Rl-8LGqP5nOK13NE-Za_pamF0WM6nfKJeOl2AJKB_CGa6UOo4gv3lFMa99X0Ie4YKrGBYTm-fK5BCFbZrYwY9_QjhMTIQEa8hNJzgJIqrA7_p9Vb8jrv_PMXtcyVrQnn49ZJttKunHUetR9eGHAx2tR9rxe2kyun72P9seB-z2kTSxSDZegjRbX-ongJTEL1F3lMEwzDgTs454wadb4u0dw6PT4NtWLjqth-xexg6muRtsJ1y-1dltlodHJkLwkusxDBDVRo7Kuvo8pORd2R-QHMbHVEcHf7w3NZlDub9pJTZfh6FUzE4EYhzbieKoKFdfSX_Gl0wSsVqF7D8VRCs3iTP5UAgRmfgdAb01To29DJJ8s0PYfmKZYherv_y2wRYuWeqQsPkD9hvXsrZMoayVX55BWZZz7_unv5GmBAOJMi9jg5_g0cxC5Ke6-epILBbijEhxqSXEpDWeCl6gdKKRA1rTkZwKor14piOF2Kc78edYmGV66CaUiLFxVKfrYr5CQZGw4FXAe6zyhDCULUu_iU6QriK9lIq06z_nvaNYG58mvhqAIngvBj0GYmb0jl1BjE5IAD01tJQGv62qhzRI0PT5CrgoBKP53nX-0peIwScfujCzhgJoK5-950672f2rAqjp-2lGKiPFZkFUg4AdUAyuw15FCZRIPGyHZCmgLxl2EDhB1wtkHmqJ0qbHKwYuMn-BulwxtBVIY_10zvEi7R-y34EvCyDiGShIrd9MhAZR3yYAyH4NnOmQTcPdiETccnkQwgRod5NTWJM3_qnARG6raaXsGTVjN6INmYJT7M7WAPa-CwFvZJaJpkmfE8jE7ecpL2W8nvXCf8NTlVlI1K1gI3PbjhgQUlyMt-rJEQi286Y9cqKBNHqxNOJIPrrKD4HuuySB1bZ1E01kxJKmOCPKOVtaGtRjUuo7QIliCGo-bb_6w8GhUvSYxC9Vo_tp79e1o_T3sB-I3fzXe0_W4C5snX_450j_Cv1oQKDnP5MKWDzLM5-hZIWZt_KYbNkwVoayUQQBiLaGpIX7Dxv2P1p4TGjWezH21pss8bN7igo1-Ro6ejhUIslNeImbWDCYsDh84V3_1dyig6cZGXX-b6LpUqne-tJL74GM4_KvnrtZ71rBIodNeVIQ1Up3p76b4b4f-VX4iqxwY80Nc4p5jwQJtwH1BxTThdOEX-v7FDnafVy_IYvZZZOGfeNzErhiN0_3WG-gmsGQXLpVeevKAuNs7xOee6s0LBNDr-YmcSaoKVD8_cijjqGVi34qk5gkpo9gt6aark0sZnYQhySx2u-w6UnhRe2BeIZH5IDpo9dZlUBkVmoLjSIakKooCxJrGg7FZfbNHQGMEkNU72Qa6maLe9ogc_TKLnwozkHPOkss7Cdu-RFozrkz7yCXkyJEp-F4LkZq14msvrt88-PVk8GISCA9lkBuOqyLLmdCLtkXuiW3O1feLk9HKgYGeckRpkEr-7BeIHjAN5YioswYGcNbPa8tdzir5TVHouifxxANf9k0cPCZGw6F1crDPFZ0hA8pZEA1NJ5XGjOiYUkihh6_MwHhYcq3lbdkJWtVaTcVH_bCKk0Noj0k-zCWa1Rx1S6P4A8Tld60M3ODIHYs_CBzNpWzK5hof9S4vTX_dgXjg1owB50CD66Q461kpMUr9MYq8UY3HfCn02D_hxFiSN0UgWAghHef68zXIOC8QfdBEXsWQCNf_c9LtimqZ0a5UaLBNyEKdFGDGip6dn8ar9S5X4cl9AEyKlal2jN44erPs7hOtG-SLYyqMRnKP-p2OgaePnaTh4BVwAHe-7WJhOKveYB_Z98CuTV5dKYs3m2VNGktYK1-RnPgbDFYFBGXgX3lF6zk9QLOSqnJvJXtNsxZGImXUV5OYPfxXQa3Vr0YzSv-DFZlFCIXBeHooj07Ft08AgF18ehDHUO2XenGBPngB9x1D2Tscby3uaVkr5j7UxAvGDK1kXzV05hGzj9OTLVYAd7d4Oqz7NkKTcZTXjPeR4gVlcEDhdPnsXAM6SaI1m5pEnrCUl7iiVoc0-aP1t7Y0eYOoHLuHzi3LNm4Q-UaRn0C-9PHF0suhXE9t4vnSmTE2uZiipTD2yPacWb-btokPCY0Sc7a1J8EjI9mD9I2soAx_Dx1qOMDK0_6cX0BSVGJSiDG-4IchKn-PRlkQx6N6bP3yR7OEHZAy_DoZZf7Bk5BLWqZHhvojVEoDRCFnOz09M5JRFZbioBGMYp2eIdDddOkuTxQCmZHaB6QTsbLzbpNpptBm0IOd4YpYvDc-1cFjxNbWIkntp5i2hBil07JRA8L1FQzIUd95ewfpUioLZKIWxPHOiXheJHpWB26oOv--V5DQ95SdY5VwIkSZzRlFV0-cuhPJnwtk2eZ4AG_T7D3Ye6lLmsaWq4apQ_RSKKasvUAxwIGmLF_tJYv5HTrCa2xnPvAOp1wzaCSPpHPKuKCaGX1LKV6sSUC6_W_44KZffnHPe_ZgUHyRXjtcMNmO7EYrA0Mi252eNWfu84HBYuTgx-z0kcYa9HpqdN4IOp85ng1BM8LCKEKE4gD-cPj6FMA06apryn9gFzn0OmFCtCOENaAy43jMSIFKNk_Lb2bASn6xElNEul-NwBqg4AmdgzWnwC1oAely4pJJlcrydle1t6qGk-KXy3s6lW2GEXSjwednt6Tr422PUqM67MRMZIDtQ4c_dTY1uWOWiTf-HEXTLISLxs7_-lbcbwAPg6oZMM_dsSo7_o9LIzdZUSMUfZC3YGYKkrcyOEbdngo8-j3jVw_7AetaDdBlePE_R4fbR_phr893StahrG_jOocMGmFkpgmEx5gIjsIojTzwM=",
  "id": "rs_006d44f07b7fc7ad016ab444fdc25c87d0b5e000e6f5161ad5",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEUFJ9V-slrCADI9pac8DSm_5NK9Jwy7pgBaJRG_gC96m9WI3r8oLjqw1bYXKpHNNPSUrHF0VW4fQyxKZ3RFXSxp2epYVpDGi_ZtgWs_9N9bsqVZn98jwGEHLbSm2V9BU6wGAgHiFzsvh59kRiDiOAYaDf1NoevA6uzc5IsLT8Xz0muy5JreW-5CcO7L92HUJHYbwcyev_faiceQP4udrKnZD0H8SXx54uF6za6xZgJvKScx2u0ScJ4krdzAVH1d99C1U-s5_OzoYjNTF5tXYrGFMDsoJrlwG3d7vqgqQ9OAiqpe1LWEdmfsXHVdmyRS8NtkWGSWtUv0CJ0IVF114hP-a23LKCF4jfGwuzRaXelNC_aXbTyXVSYk2Sj2ZolqBSVm33Y0LpXVVvFpnXhV2LBdXJ17w22hKUfvTADkg3SoAKYHN1m7mxtiiE1G_MpX06xdJDEKIpVpyooPHaGB2eanqEcLHmtaCROxbWEEsfdvYbU1mdzc1tTZJCUYymfWePLH-VM9ZbVWwuq_xfgHvAdl-dtbnEDmr1hx5ZMPN6f0IkIok49bt0lGbPf9fq6DXYQ_HobVBONIE51IAUusvqv2nOnJeFqKUlCmoVzGcAeWlkZu1U1h5QyIOz-JxMV0g208JwyouGhfQUxhKgQcJFDk7PxRnDeXFyHGLE6SGQ9jySKEQhgM0hqvYXfkIp329I0GbEzG9m8MsupgUbcAqJjAlf0A5kxn7RF1EzzIkn2NqvSJFL6Maq5CbZfebmQwR8eFLBN0P9vfwZLY5s7hJt-4jNRx_-fsTRJ91sb1-SWAf-XCK_3EKYjY6wELvB7DQwMsn50NXkLVRnfAFG2PoLAHny9pGniftpeWYB2VgUrth9Y3huFHsLAWEoLiir7btGBR_L0fzXcl-rwuoCoIMAM3cX6J_39hCvrXQNM1HRwfopVFTj2fRhY-MAlntGVI9me-3eugY2KbTGfsU1cJodTOZ7OsiaELMWQ1bjb1MiXS2MEwIU-IwdKndwa609mqN6mziyztYcaOn0xmi98TfFg7kX0Wd6aDBLE5ry-Ew1IGUJEntY_rEOh2GcjdUMIaTWbDm5egxp9GNhCaLsuzqCQ4saMDhVa_3rNeMQEc0Y5S8dQBswbZlgbDNK5iHC2bxvfz_t5ZsL9JU6fTWcKPISE7NMXVr2c9NokqFFIdI01GbkkvoIsEh6mLvYycKVmTWTk7ewAQOz0NR6ErvDqyUfOqHmqCMwiwrd4BjjahErYIY3LP7TV0uiAs3VZ9sNUGgmWITVagAZfs4B3ULlHEHIAz2wiraXF8fcsoxzVOYG2WlGpOzYiiwFgqiLVUUYYWL5m4UlWsucqgeuuT-2-_4EbryPfbVR_ClDuCTvIORuEA-lsQ5x7jLvB2AOo2osqJnEMrzmEHDgbBNumkFmVqUFYAWN1VoPxIieYPxgoPwT3U5cg-l5ytn4qVm4eeYxEh9lCm4c21hXXFQVkCVlH_qbNWotWvc7yTdph6b-IXzkvZMbi-m4SNZd1GMV3neBSUpDlZDu0dZCcB0iY7EqXV0T2tBQ==",
  "id": "rs_006d44f07b7fc7ad016ab4450335c487d08fbe41ca14027f12",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.18,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.296,\"right_y\":0.001,\"right_z\":0.183,\"right_gripper\":1},\"note\":\"The table holds a central cluster of small plush animals and two empty turquoise baskets; the animals appear to comprise fluffy gray/white toys and smoother tan/spotted puppy toys. I am moving the left arm above the front-left fluffy toy while keeping the right arm parked.\"}",
  "call_id": "call_rnJrY9pW1wBmaPM2jJkrA3aX",
  "id": "fc_006d44f07b7fc7ad016ab4450403b887d0b2d887a9f9721a2d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rnJrY9pW1wBmaPM2jJkrA3aX",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9165, 1.2465, 0.7078, -0.2977, -0.7094, -0.6186, 0.9995, -0.0189, 0.7986, 0.6086, -0.384, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2851 left_y=-0.1768 left_z=0.1367 left_yaw=-0.0205 left_pitch=-0.0356 left_roll=0.0212 left_gripper=0.9995 right_x=0.2951 right_y=0.0013 right_z=0.18 right_yaw=0.0026 right_pitch=-0.0133 right_roll=0.0036 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -4.465, 9.0598, 1.3846, -0.5739, 0.0366, -0.0659, 0.1299, -1.4974, 7.0769, 1.9072, 0.022, -0.0513, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aacf9bc3a9ffc4bda825af33f130aa9ac8a732fae534795b01e55678496c550f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac6007068e449043ce480f92047c9360c574527f7d18e8ed42a27f3e7193a451",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f22310b9bc5d8ff0c7f2101dd7b6a38e6d9584669d921f8bb334544b25901a7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 2.608 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 8 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]: [-0.0277, 0.7986, 0.6155, -0.3801, -0.0216, -0.0334, 0.9995, -0.0154, 0.7975, 0.6106, -0.374, -0.012, -0.0158, 0.9992]\nstate[eef_state]: left_x=0.2965 left_y=-0.0008 left_z=0.184 left_yaw=-0.0001 left_pitch=-0.0004 left_roll=-0.0005 left_gripper=0.9995 right_x=0.2966 right_y=0.0011 right_z=0.1833 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.1846, -1.6479, 9.4154, 1.8144, -0.0317, 0.1441, -0.0611, -0.9368, -1.4291, 9.9214, 1.7265, -0.1099, -0.0269, -0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9165, 1.2465, 0.7078, -0.2977, -0.7094, -0.6186, 0.9995, -0.0189, 0.7986, 0.6086, -0.384, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2851 left_y=-0.1768 left_z=0.1367 left_yaw=-0.0205 left_pitch=-0.0356 left_roll=0.0212 left_gripper=0.9995 right_x=0.2951 right_y=0.0013 right_z=0.18 right_yaw=0.0026 right_pitch=-0.0133 right_roll=0.0036 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -4.465, 9.0598, 1.3846, -0.5739, 0.0366, -0.0659, 0.1299, -1.4974, 7.0769, 1.9072, 0.022, -0.0513, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aacf9bc3a9ffc4bda825af33f130aa9ac8a732fae534795b01e55678496c550f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac6007068e449043ce480f92047c9360c574527f7d18e8ed42a27f3e7193a451",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f22310b9bc5d8ff0c7f2101dd7b6a38e6d9584669d921f8bb334544b25901a7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEUPFaIgdcpPI8gY8btHeD4Ex_WtnjzdHoByQUi6GIxW9m1nKupQF1TgaOby_khF7An1Hd36lM2fX-pEYHPzesaQKIppt5L2fTcgkE-HBoDwXOUaf5n7kuGiTtoYF1NE2xtkDuVIzsrBPaNU58tHjM3K2gjchxUtNFPQor74uQzmUhP44hKFquaoMtYaU60UEePrDqVjl6xRkaXC_BT3NqcgMF_wdrgjDgYVkxps1IIRhi2b5S1mY5_8GXvAKGx9qzPGHexFuF8iqAR5yLnUFYGoKltoqqbMHHpxe87rzcB4eo1xuoFwUYd1_CITPAmMDrIvdVOHxIeg2TbbUUPOiDusBTrekSnbQHWuSdgORed4mgqIlqp7DxZ7J_C8_v_eNSQHv74X9jGrMUlIBoQBTgU_OANUT6ChfGpjlQLUIbk5lO4L70BIje-m0iwWhY4Eq-ZHiS628jflzfcL4YiEXOGGmyYYzllOTRnwVWfOq2zgo14_BQ94h4XICJh3xbK6Lk3V3etTwp3kfKa2oEXmFOgBW-xO-d9XESV7rRBit0HfgQivdaDgF0jP1p8WoTXQ7D7jR-G5899mXVZHrPAURoqJUBVOzx9ctP4ymTiMuHsl9_PYxc_61bMzoQM9Rlo0oOU_z6kJmU2Tzh-5JZgjeQQLqVzpimpbx4GGL4XYPuCnMktUBoMNYLFSWBQVkK0elU2QCkRMADRsUNx-cKaWeuDHhibdE_4GBb6vBN1tcjyjMZ9TrYTNRCFHlFQ4tRuXszXYcgR02sdm2xKYSMXhVhIo4GpJAto0BwrswJ4iQs4gfx4B_ig5iocFP8P16P81pRI1hlzEgxSvItgs_kCN86jEThoX01I9eqN8xo74pGVgRAcCcl7L_HuDzZcuwz7kc_DwHXmyjqU-DWW1ldBEnohXn1FDght1y8FHPKaT2xjt01TI7uyax9SZD39i_EkkU4ihyKHYiN8o13dMZ_Zsa28hJOSC6wAbgI9-R8zGuQ1mqKolbcSzIgmSGADaTFY4TEBO88THH5zCepYXo0z1wJNCldduKlW_ORYfPKlNnrOO_G-RrAGQDXaEhRWuCusMjGZmo2AdC8ci65Ekg25bBXnzQRfBm0sQ7eq1BjPfssByUHjrUdM-VehlzUUlD9gDqqcY536AOjHqK8imHTbnK2azz99XYowQitlzCcihZY_E2N6Hr07mTUZSolvKe9aSJx-x8BKL9YrE_QfoyjKhD7D_wVaUDTCdNKzNHNrXWJjF59tVw6DFCfD9lyrryD8SVDHieGAwJUfE_KhYt-AnKj8EPQzjcQ4B2_Tbf6o-CgjJPRdjb-tGpHEH5J1ohaVLE4FE22ezj1b-gc8F8LDN7f-y43Rd8UH-1Go88WabDsTuZ9v7yKkrTOCgCqyUomVG-6r3883bSjHlCqFh8b9AYFjyPaFsn7A5MFsPTEWnKn3qv_CsH12lo87y8I2RirsPCavy88H37wflmrREfu19z1vceEfAIuFr6tcQWmpMKOlQJoiA8XVgMzkDBvRtp3taNbIeQRbqUmtkTNlWq9Owu3MANc9ObgYqqnL_nvK8DlvAyz9hiJcUb9TfHRm8LJZJ9iyNH7kC6o6oAS11zcSGunDJlzlaBYbH8cVoHci9Xi1carpXOmCTGR5xdCDQoyD7LO6K5hXtMkk0816e00kvCCYLPXqA3W_eiMhCEfgtiM_rH__44Shyp7wNU4vAGyANn496ZIICxeDIuv4oa731VgcMAwAEOg192EAkLFQ-YuRomVNj_PCXJwjYwbz2VcTrPBllfb30AJSjilnO6g4N-23WDK-btWOCcRahb2Ripyl-G3VSg-AnK8TtMqebMkGQ-jrm61ltF4Ugvd2DKCFVzCP3q7EbdlaMmSCOZy7XXLU9SJw8l8SyUJS59C_Wpzm41KZqIJfn-tcu5nQj64ArK7oAUZdkXUruMpe7ybycDt6i_udoi46MoWeWj-FMXVWNAjZszCnu-sAZi67Br9RQqoH8qpnlVBgXkDqGA2lMTgNiI-RkGKmprj3XyxCrXbdGnDv5GYLcJcj8iEOKkyH9jS9B5f7zkbq7HaENuifevFYflyj2dUjt_X59gHo3WdbHUdFBFtSMihRdH-urUa3SqM1AL4JpYJrXtI0CIvluXdWdo08dQ9pcNqY3Xa-S0LxESn4isFmk4YwNJlQ9eF5VmSDYtQpePQVtY5KVdUUUkYGREMFa8E32p8VMq_E7ArCU7jVfcDbozLZIFhbvgjXb61IkfdtLCv6lCLsAWyp5PuPKVzSw-EvETViHB7ti09u2eIMaL_3Iu_f0vRyL-Ht9CGPIhzFYuKrTaDvdmMCzzDweHi-ssb1ndHzlxvFjNH3O2B7Sfm4b7Q5z4wekNBwSOrDrzSnCBN1qVy9AzQvXXnW5Y12kApQk7zsMxLvm9Vwo992ICA6wldu1myq5-hznJ2TcEc1V9CDRo9QGjKKMO0nu8diQFKX_57GTaqOU4klDvPnRiXiTRSptAS38coS8f8jVS5cZSY8ZeyeUUDmN_NekAZ72sC07Z96xiTEqyPffEW5Cj6ctlA4W_4tKULqXZI7uleRWmNhjMZXh0Sy-kYb0DxXyo9OSgpL_j2xNcqZRciTGB6dCk04nFF2DTxtNzuWBZdApI-xJdijVp4JjHN6QnvqD6sd_1qLBfQQBNWZUhfo7IN-ct8TGnHVLnmC1jq0AJwjBWrB206u3fXDYStnfeN8uRfaWKeg6lJM1wxZmk7cdoANVFjt1qq-z7DbegwqSqPRntYxj3Ow1rWhEwseSYonH-sPJEtQhiZispjB11iuJeideWJyylQuNIFP_3Nd8qpP2Dn8RYg61pcIhQ9pT2Xe51_D3u5XQ5pccUaJdNVyXKN23Q4a0jl2x5AtTkyANglOuxnDJP1ZuJesyOKRcLADu9-h041wjrDuULBRdK9NZi48dH4Vs43Equ3VrgF0jiW-f5fCgP2QC5U5hTqZuNv0YGevmncrLNdndDne_EcvSVe_5i4IspYOthC09GmQjFv-smK6QJQauTPHWJhL7wxJ4kEk6vCxJekWEp2Q6jlxB-qhHw5Hm2tBbP5gFFlFUoB8Hh4Ort_AGw9CaXg1pKa8VzO2ytxfpBbnbA4bwPpGVbUSXQt2yAzyfDZukWUmMWSNUWTpKocditmqvpwd9xuD9SODvyPkrjdXP0fK-ECUfEh1XFvNTVWDy5t0OMyAKim6dXD--0gQg2cAk0wXiZFIElmAY2igCNGzBNO0k1D3G4kt9D9UXTgfHn12hNSRXeJaw2ai8n3R470IwFO9lxQ9n9Dtd3GWv9gh1A9k_RXL-xTl8T3gJqdZYSw-vet85AwIx-6VCPTbXNi78HbuM1Gepgh_VY5r9LlXHp8SXYgeStpcFLzqF_3o6KZFaaXsivMosQAfLoQWvY8EQGzHY0plvT_2rLQ8gQ_JAoAWkVauLnGLEyfERfQq_ry0QHOkqs1MYQa34ozMgK7bSctZdksFaVB_SjWdASGTDHAyW54boQs3gQ19YxEdIdZfFJaNejliYKyQPyvVMhAADY2J9m_ePe6W5TOObgWVr8TLh-FxplH1Rr0nBZH1VVuVcCMgzgL6xdwyJKXng8Gbq9h1wZVyQnhkL9HYJbzF_rKL4G9dftf4-3mpU9d4u3afABc7Ci30Nb3nbgkmoVW3gLQIEdSNbcfVj1UD-Bg6NpCFKgaUa71hRHuzOqG3a5lxgj5dEmLDSerNQ4RkhWflzVpbB0Xc1iIicLAt0bT5P07czgLr_vbCKLLmwua3uxHRIH15sjQ6uUnXKoBx40vy7KbX2cC45PucPYUfiKjqDWzvov7c9nvUcLdzcyyaVpNyd4exPfG09ux_x_G3M8Mrj_2A1u9RC3FsrC7hovbhf-2o3_63JyMAr7uS__6ot83kUiV8Ti1uouc0Xq5JJGpMxEA2LKkQfROA8YGdrE1i77FkoV60svgNeABrb6-q9U0UVupFcDbguYz2dh58V-2ZlKO-b4da1z16VOsTRzSP20rbCSubNRCToIo1bBBRKIfAqfUxdzgYH1UAc7CUTiQrUxFqC8rs=",
  "id": "rs_006d44f07b7fc7ad016ab445099b7c87d0b9006cd851c0eb31",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.23,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"From the wrist view, the right-hand toy is clearly a tan teddy bear, while the neighboring compact brown-and-white toy is a different animal type. I am shifting inward to center the gripper over the tan bear before descending.\"}",
  "call_id": "call_Nir7zkv3Lcks6CfNSrX0xp7p",
  "id": "fc_006d44f07b7fc7ad016ab4450eba8487d0aeb61d2ab46003a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Nir7zkv3Lcks6CfNSrX0xp7p",
  "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]: [-1.0225, 1.4376, 0.8875, -0.3809, -0.7631, -0.7311, 0.9995, -0.02, 0.7986, 0.6083, -0.3847, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2862 left_y=-0.2274 left_z=0.1382 left_yaw=-0.0276 left_pitch=-0.0559 left_roll=0.0299 left_gripper=0.9995 right_x=0.295 right_y=0.0009 right_z=0.1797 right_yaw=0.0014 right_pitch=-0.0144 right_roll=0.0036 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -5.9282, 9.1282, 1.1111, -0.5348, -0.0269, -0.0659, -0.1162, -1.0735, 7.1863, 1.7265, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dc930674839688a5e53ccf56e104627be55f3502ace3d617ee8cc2e69223e56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:893f774697fdefb06d7c1e76216d8c2310dfd4a5c0e7ce11f917ea5fc3df0d9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef32819d513b5b45f220922bb806e57709b20549e892cd6c155ca263e48efee9",
      "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 3 attempt 0 · /responses · status 200 · 2.815 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 8 changed as sent

message 12 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9165, 1.2465, 0.7078, -0.2977, -0.7094, -0.6186, 0.9995, -0.0189, 0.7986, 0.6086, -0.384, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2851 left_y=-0.1768 left_z=0.1367 left_yaw=-0.0205 left_pitch=-0.0356 left_roll=0.0212 left_gripper=0.9995 right_x=0.2951 right_y=0.0013 right_z=0.18 right_yaw=0.0026 right_pitch=-0.0133 right_roll=0.0036 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -4.465, 9.0598, 1.3846, -0.5739, 0.0366, -0.0659, 0.1299, -1.4974, 7.0769, 1.9072, 0.022, -0.0513, -0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0225, 1.4376, 0.8875, -0.3809, -0.7631, -0.7311, 0.9995, -0.02, 0.7986, 0.6083, -0.3847, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2862 left_y=-0.2274 left_z=0.1382 left_yaw=-0.0276 left_pitch=-0.0559 left_roll=0.0299 left_gripper=0.9995 right_x=0.295 right_y=0.0009 right_z=0.1797 right_yaw=0.0014 right_pitch=-0.0144 right_roll=0.0036 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -5.9282, 9.1282, 1.1111, -0.5348, -0.0269, -0.0659, -0.1162, -1.0735, 7.1863, 1.7265, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dc930674839688a5e53ccf56e104627be55f3502ace3d617ee8cc2e69223e56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:893f774697fdefb06d7c1e76216d8c2310dfd4a5c0e7ce11f917ea5fc3df0d9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef32819d513b5b45f220922bb806e57709b20549e892cd6c155ca263e48efee9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEUTC9TeED8YdSoZoZTsZTzNpcpiw_GoNAmYuUuw1FTDyoL8FwR9fuRuEJKTyJBD44hG1F73p_WCIIZEMoqinszuRBRDcaTmlz4eirJ6tNHq1hRJX0SIa7_l_yQQSxuNQs6Egs-36ITQTPD8WYSEzgmSLd7JJCtVUU9GiTn6X6zOjsbe0vHAITn0kvtzhx_GZNj-JenWJzQRM_smIq25seGc37SUJME8kAiaT53luR6ItHPB3584gnP2daYiq4laewRWd_T1258sE3WukBf77jQI_b4wLg_gdiuNfPvebP0ydk6xam77p4lfE-FPn4Kzj0XATuv_gQo1-pLI0GKO_1_E6RxYpOh7iPoz96P6vkJq-k-JH8XuiZ99I9wdCGjxDMO9TGnJASRtfL9gkvBl8VdO5JvMeMbXTAf6BOnwpcQp2pZSzi-vUUG7jCUPvstCPVxsIb1H_eXrHv19JjCizEGzcDXM95VYJ2XzMgfzrLFW-ioGXDU0QnCZgKtlGzaWcBDOa8cpF6sS4Xo1_uZN81sHEPf2OjdOvEf1nL0FBfRcEk-nmE_ergHqRb2LadXe2X7Zk_GPYG6u-4zpphvaRa8ILvpDScpIYc9NLQ9HpMSu8mLAstgo3SRwTsPehVTQZJ0qVKZJlRAIbJrz4y2jnFf_tYWUhcJPq2hhG2ROskZmivnUy2rezwk2JfC7OM82OLuyVCL27-Php35X3IbvgsPh5pXjAvDdalaGSX5OkjjFC2yEMLoUE2HWChUebz5CXGjBzdQHXTWhaCjhqudxiH3TbPyQBA1HGTMaDTeR3GDaEUTSONT-ImrsRckXkkC7J_ss0fjxobBMSz18Ipy6GoXJhSikRKw47vYoNHMFXE0N_E5NCGl21zJBLpHfA4r62dNHTGmn00CkR6YUsPLskEN2XQPmBE_Y1_g3YENzM1Rw-r6JWdQ6uDWlpojt-9PAv2ByP_hrrdBIfg__xYZgPGV6lcJFoLChpOKrxCwadn7larLw5RjxnQGqCesPmJLIj-ggLDhnhyz_UN_klngwSUBHcNou9BOBoG55TT85sNbYmPAJYCLYokUszruozxxY4c0pbBqnWHgCsDP4zADLLin3Yk21YYqM-NcRZgdsv25P5Ip_OIx0PwtkF_Y6ZbH1wyMhOx7kJPbbyNTjYOUqWtAmEdTarcinus-BSOek3ZwcTyCivSnxcJbKNDai0WmNwslvqZNeWWxz8sc2jJYVlDxWBZs3IklbkBf1Hs8EvOHJRPOLamdUrchjwAU5dBpvoCiOoZVUw1K-WiyjHTxqVdAoOMSFVGTsVhTWYZ6yi1aY0tidit4niFuTMpE0BAHX0NLzGcYtoJ5xg4iH2FL8hu9LRiV6y2x__78jgjY822VZykjCDDdQALpFyH_ujrHs6JFBcwCvibdzbbcDq_IePoORaLLZThDVGAhplNkJ9bIYHgj_oJelWr96DpJx8sieL9ush5pBTVJP3GMrR_0vksmi_is2MnVkapuC0RNYc_18g4X17In57j8rxrgbmwGWd0v7",
  "id": "rs_006d44f07b7fc7ad016ab445124a4087d0ab0cd16ca72d3e3a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.286,\"left_y\":-0.227,\"left_z\":0.055,\"left_gripper\":1},\"note\":\"The tan bear is now centered precisely between the jaw columns in the wrist view. I am descending to torso height so the fingers can close around its body rather than over its head.\"}",
  "call_id": "call_PG9R31uklzdOwO3VoYL5ptdg",
  "id": "fc_006d44f07b7fc7ad016ab44512f4e087d0bb72a83e1a55ce87",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PG9R31uklzdOwO3VoYL5ptdg",
  "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]: [-1.0218, 1.4384, 0.8886, -0.3996, -0.7635, -0.7341, 0.9995, -0.02, 0.8028, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.285 left_y=-0.2249 left_z=0.1363 left_yaw=-0.024 left_pitch=-0.0656 left_roll=0.043 left_gripper=0.9995 right_x=0.294 right_y=0.001 right_z=0.1762 right_yaw=0.0018 right_pitch=-0.0282 right_roll=0.0041 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -5.9966, 8.8957, 1.2625, -0.4713, -0.0171, -0.0659, -0.1162, -1.4154, 7.2821, 1.8144, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a014200f9dc618724a5847cc6be973ddc0bcc04b5f15143a18b113e91d5283d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:532d66f37de55f41a168957bc1c41bcbced2cbc1949f54b4a35406e7e6956c86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c33a2c2df355040f821586ace8e3d95a603d324b69a005942be1fcb5c049f43",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 3.611 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 12 changed as sent

message 16 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]: [-0.0277, 0.7986, 0.6155, -0.3801, -0.0216, -0.0334, 0.9995, -0.0154, 0.7975, 0.6106, -0.374, -0.012, -0.0158, 0.9992]\nstate[eef_state]: left_x=0.2965 left_y=-0.0008 left_z=0.184 left_yaw=-0.0001 left_pitch=-0.0004 left_roll=-0.0005 left_gripper=0.9995 right_x=0.2966 right_y=0.0011 right_z=0.1833 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.1846, -1.6479, 9.4154, 1.8144, -0.0317, 0.1441, -0.0611, -0.9368, -1.4291, 9.9214, 1.7265, -0.1099, -0.0269, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0225, 1.4376, 0.8875, -0.3809, -0.7631, -0.7311, 0.9995, -0.02, 0.7986, 0.6083, -0.3847, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2862 left_y=-0.2274 left_z=0.1382 left_yaw=-0.0276 left_pitch=-0.0559 left_roll=0.0299 left_gripper=0.9995 right_x=0.295 right_y=0.0009 right_z=0.1797 right_yaw=0.0014 right_pitch=-0.0144 right_roll=0.0036 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -5.9282, 9.1282, 1.1111, -0.5348, -0.0269, -0.0659, -0.1162, -1.0735, 7.1863, 1.7265, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0218, 1.4384, 0.8886, -0.3996, -0.7635, -0.7341, 0.9995, -0.02, 0.8028, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.285 left_y=-0.2249 left_z=0.1363 left_yaw=-0.024 left_pitch=-0.0656 left_roll=0.043 left_gripper=0.9995 right_x=0.294 right_y=0.001 right_z=0.1762 right_yaw=0.0018 right_pitch=-0.0282 right_roll=0.0041 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -5.9966, 8.8957, 1.2625, -0.4713, -0.0171, -0.0659, -0.1162, -1.4154, 7.2821, 1.8144, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a014200f9dc618724a5847cc6be973ddc0bcc04b5f15143a18b113e91d5283d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:532d66f37de55f41a168957bc1c41bcbced2cbc1949f54b4a35406e7e6956c86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c33a2c2df355040f821586ace8e3d95a603d324b69a005942be1fcb5c049f43",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEUcB1bHLlhqR2dQYjrJ91jDRxyLpaLfcK9vuSzZ1C4Vwd1sKaC7H-kK4BCIgKWPwbfTZ5KcYUSNhmpB7C21jw9AzLwlpCeCxmZSezsyXglchLBx-11cnXtoeGxaZNVQXYh8Y-B4C8YCyfE_PZ-7oWlIHg_8pLjYqrzL_XBP6j4hlrJ9xGftX_Q2tZxQkyAkKKE_ETH3TYFH6RpQmmLeFX_XJAyYHDqbKwD7zjkn7TFhkxEWFaMuIFTzTNvEEzDc5hHKAQPm4NKfOhVbfL9Rc3ZVSkz5NbpG143u11rcO5Fj_uIjCksvzTzEhBUKp9AI7nrfmQJ9PAUmdsCafv_kH8U8bFjeYhoGXSlDRSMJG9P7elr6_lkWixeCtloj2hmOU_CQuba-8S2z118Ht_3wJgTWXOb3OLYZG-88Fb7-sVMmA5Q4hDpFVQbpMWpx3FLXNfdVe2toJc9z34OCPZT0tL4NCj9sUzQ3AkiOD-vGHjSLSJjmHtc8jojtdZxzaYf5Y8_-qXxSD4YhAoKAtF85hDE4id7FnHJNFWs7S6BkTWuPZrUcENy0SuRmAUHt_VqytHURrJMb-CtpZJjqBh5JeFkeE5JeNqUifVIEOk_HSW9PmoPsaBjz8soU0h31XN4djUsR_sqXwxZ4FOAHH5-WvJq-4aIHXn7I4ZaupZuSWFqcftF-2ffjsWYo1wUA1Us1eyqadHNgiYPup4WAvTzWZU-o0Gha0h84xAT-ZpLMNforF2u1QpuZ_-z3Mrok-SuB5EwU5Z0TD1vnIXnlvsD-6IZSMvg8vuW37jX0XJdlVIGExZsFSi1dK8wZr52WI40teDpp9XVHVQohKBdwmvfkb89BGY6n8C_FgleIE55bjcesKclqLEKb-l7zKLa64qTd_Vlgce1x01VK6uOdJxpopbzcr3qefi33NHEZ58Bpii-emkxWWmCCuasx0Gd0nKQ-cZW0R3y8YagMz1XBu3d3e763PsfF2zbhaLF2ov-dcRLknLn4ny8sGWlj6qvwXy0tBiX9BIgDxFsMo8zqMDkIWkTQ9fBk-ZORZ_z3QwmSDuUBO4vPZCCX1kzq6k67ncVKJu7Ghom-XaZvV75ZM3IoykZdRIKjmDmWZw2LLLDv29c7k8kCy18z2U9qCzr4_oNM2iwJAmchXbEjk9b14KQsy3ckcmFeffNCRbna7b8j40-GSgFiDyXORM_9VMnD2g8tKsy5lZ_Sr9DxW9-GnBrp-E6rv7ILXkA0BgHULFrI-Vc5-yg8eMgPfx85H-krcjR6WWz6deRZeTI4VxakjnVgjSH_QJdI1PNWk4HvwgtI9m3XuYwGCGISlUYgLN19tSoojbskOjvDc1uVrw1LzlTHz13x87LGlEj6qD9KeQZc9MuEhlpyS5PYShI8bo9TMpWJkC9bMk61MyblEakVpTRhmiZaE5Ld1M1aUl48OW8avYEnVBawZ8o1bWDDHLp54O7I9bCRyPdFT-imKFPpuDpvypElJ9Rx5YPDiTdB5szOOl_i4eZEKIuEmdpX8Hf1vPFcRZUcZ33FY_Vhj9gTwCeNzc646oYyMhmUdzNffMkmrrZGcUq4gqzqBem9SH-Y3tOa5XwdV3cXEGgoWZJjKInaLiNdiyy7hyCF0n1lyadkFp81Oydb6y4SCKlcdldareu9opPvfR6yq0Q1lu6nq2rW4D62bCROK4eRkqFZZ0ws64j872Zh4z3lSphRbr2RPA7sicKO7wJGb6ExoSKOPMor12QoEWnTzxc_UXJlQ8ijpQZduBGhTwJUgIaZBqcIWR4a9nZkmOTVSQ6p0LbMiNwcnKPO3a_anxxkaU6NGvIh0kHxSC575FIzeN7Bgaafdg2niwdSAUVNFei7-XETdI3ReiJFgxkJGJ6jnL_JjGc_rWMvjwgp3gaUT25TOEA-tpNIfBdY",
  "id": "rs_006d44f07b7fc7ad016ab4451ad60487d0943504f82d976e88",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The descent stopped at z≈0.136 m, indicating the open fingers have contacted the tall bear rather than reaching the lower target. Since its head and shoulders remain centered between the jaws, I am closing at this contact height to grasp it securely.\"}",
  "call_id": "call_hWCbsw6johf0qPYEBfH7z3WH",
  "id": "fc_006d44f07b7fc7ad016ab4451be85c87d086c9287b5008675a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hWCbsw6johf0qPYEBfH7z3WH",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0218, 1.4384, 0.8886, -0.4004, -0.7593, -0.7345, 0.0097, -0.02, 0.8043, 0.6067, -0.3923, -0.0185, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.2846 left_y=-0.2253 left_z=0.1358 left_yaw=-0.0263 left_pitch=-0.0688 left_roll=0.0415 left_gripper=0.0097 right_x=0.2941 right_y=0.001 right_z=0.1758 right_yaw=0.0017 right_pitch=-0.0293 right_roll=0.0036 right_gripper=0.9992\nstate[joint_eff]: [-0.2667, -5.6684, 6.5436, 1.2137, -0.3639, -0.0073, 0.7546, -0.0479, -1.4291, 7.0222, 1.7411, -0.0415, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e51f460c3ebd6e7c54b02a196fb6254292801f6b68c4217ce152de48b291d62f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22bb08da2280e217beb0e136aa3835b378a84b72b0d25c91145c52c6be4c7826",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b89d1ca76030804bdc3e3123673c900c08d4dd25d9fb3789788494b2e94e088",
      "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 · 2.29 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 8 changed as sent

message 16 changed as sent

message 20 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9165, 1.2465, 0.7078, -0.2977, -0.7094, -0.6186, 0.9995, -0.0189, 0.7986, 0.6086, -0.384, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2851 left_y=-0.1768 left_z=0.1367 left_yaw=-0.0205 left_pitch=-0.0356 left_roll=0.0212 left_gripper=0.9995 right_x=0.2951 right_y=0.0013 right_z=0.18 right_yaw=0.0026 right_pitch=-0.0133 right_roll=0.0036 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -4.465, 9.0598, 1.3846, -0.5739, 0.0366, -0.0659, 0.1299, -1.4974, 7.0769, 1.9072, 0.022, -0.0513, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0218, 1.4384, 0.8886, -0.3996, -0.7635, -0.7341, 0.9995, -0.02, 0.8028, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.285 left_y=-0.2249 left_z=0.1363 left_yaw=-0.024 left_pitch=-0.0656 left_roll=0.043 left_gripper=0.9995 right_x=0.294 right_y=0.001 right_z=0.1762 right_yaw=0.0018 right_pitch=-0.0282 right_roll=0.0041 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -5.9966, 8.8957, 1.2625, -0.4713, -0.0171, -0.0659, -0.1162, -1.4154, 7.2821, 1.8144, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0218, 1.4384, 0.8886, -0.4004, -0.7593, -0.7345, 0.0097, -0.02, 0.8043, 0.6067, -0.3923, -0.0185, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.2846 left_y=-0.2253 left_z=0.1358 left_yaw=-0.0263 left_pitch=-0.0688 left_roll=0.0415 left_gripper=0.0097 right_x=0.2941 right_y=0.001 right_z=0.1758 right_yaw=0.0017 right_pitch=-0.0293 right_roll=0.0036 right_gripper=0.9992\nstate[joint_eff]: [-0.2667, -5.6684, 6.5436, 1.2137, -0.3639, -0.0073, 0.7546, -0.0479, -1.4291, 7.0222, 1.7411, -0.0415, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e51f460c3ebd6e7c54b02a196fb6254292801f6b68c4217ce152de48b291d62f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22bb08da2280e217beb0e136aa3835b378a84b72b0d25c91145c52c6be4c7826",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b89d1ca76030804bdc3e3123673c900c08d4dd25d9fb3789788494b2e94e088",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEUlil8Stv2RTEE4WWZg_c72F5S54dCvNYArjHJM8Uye0puDzTTZ6rhMsQHJC950j7SINKtxcWpPvOV9j4q-DSQbSKC5741Iy3w6WUyJBoeUW1f6qib83lE3nlUiT61hk0z76P9JPNVUGujOZIZdwT1iJ-cIwxYBrY4vtGmhVVfnJUU-MDzuD_TaGfHtodWdadS_YbbtO_gcgdwB3uXMz8a-NVYnSjeKaD7AnloZAgIWw0hq2_9kIiByHF36J-mgEAgc_p78OoSGbnxK1OnDuPGLZ-2U7zkE4FUZ900aWU_yBXNg1-U6h7af590B87ZWx03BWM64rr83SYqAZ0GlL6-mADlagU3Xigzu2BGaVlkLk2eWGnC5456tj4aWRNcF1jOqVdB5wVNo22CkyNFJ3tDSc1rqDzGEjuN9yqjUGX9k853f8hBOaVL3YZx8AlMYgOr3OyHZU-oaGHTPPDYcFOriRcR-5KSKU2j19RWsmxT-QmlAbTDBu23wOpK8vNvJnkHdAl02W6e67u5saLf1pC_r41PuiaR0Boi1eRroa0GO0rH_Yvx9D-nVtowcI-SX_KN4puTxkwGd_UiktOd6ojQItxM8ZmcUpTM2nNK9l9S77SfZ07A1aouU2PwAV3992Zgdd5RIKFtuqboOFLrYb33dHfoN91qVfGQ-UqBJ7yzfGjN1vBndtmT_odLp9qK94zZViPVv_YTFhOt21pXbxkCEkLKFfH95e8nhv5EbTT9kz95DNUMsIKD0yD0jaRGlviqhE2I2T1d7akeIZ9qIQ4PZLusYJorUu6qe0iyapQBy500E78Zscg_vQL6DJKr8kgXLwMl7AkIUDa0XMU_nch16zmmbjos1nBJybfZtP42uRFcPivLtxTNbgoEE7aTL0pmpkYwxhn_ioj1a-5seUct5NX3CzB8DOzcy7A_rKiBjlAWdXED-PQRokh78qq6TFWvvabh4bD8OCgTsdos_SAb5pfCOFmPh60hXDNr5MEgKb0kTJ82UXi-Ils7cyYtiD_NA7asLxWxpAZ2bzTi7i3PGy3CJ7r_priyuOoVikCX2OIvT7404DweC87KLuxgfuihBIOPJ3gAQ2EpHhWInqx-DN_gYJetiYwwTAI2YbO8e_17EUE-8Q7PZcqNR1AWbIWH585EBFQ2QKGOte2PxHTc7aFkQ8Faj9uy1CWXoVHIxhxZoTcKd-s6Orfdlt3cYdU1xJ_GaPsPjouekdPV5snym-5PC1QiC9AAnGCfR4CzCrJ4n-TIyiQ0LlJND5Sj4s9RWVFS6-qvALyvjKQt9mWr_nYGFzwnEdy1zI1jHN0V60KPugRhf7c6mye5EX-3LY7zf1iKFnfKjX0DR1t3s45DG4GSe2iPo_ZhSQZDiymmuMo-uHBAkWy5GQXWO-NZkrZSthntOXOX-ttHEEmmZ55iW8HChG6dtthBAvcGH0JveyRAsLMpXlcqLy-hZf9DL4Y6CUT0XE_g0f5rZ1kkTreMVxjgGH3zPMcPtp-2_9cDqhrxZtBmVrM7y29r10UAyIR_ccSPK9tW3xkFNL8c3sHt55bqrNqJE1VpskF_jW03RKqKrInINTZiTnxpyCvhiJnUTCghHjCDiElR5ZH73zB1EuGB2yt3b8t7zR4xkpK1K92TAJRD6ZJvn1xv4WJmmzhEbMUdta3k5wVXs3ot-0dh7I9OfNb-oidBtpU9DqnrV84BTv6RFBzylbM5NTvV3jvgHuRyyBVuiJn1fTJfAtvfFfepOiXs116PAeegMb5AoYhROj72pU2E-bsfQxfEgJ9id4ltm2I45QnsKQQpa0rKRdra_SqsDimpd08R4mXI810RV2m2G2SePzbS_G7ftx4mCBags-HnpQWh8BmhVDMKIfoaJCkxxMvUCrmcUxAlsgZD79Nyj-t7fZG8W4PXg4YTbDzGLwxvHHv2hkI8wixZ5SvIzpq7wcf7ezBdtwcG2qTxySfm1Vl4rZ4Iqh5CXKMAsoni6QAXNf98kQNYbdktK390WtjfK4mPmb8cmYquy8H1-TpE9XNhVqccUYzYtbg9zGDkTZqyD2p4twn9_7cziIA==",
  "id": "rs_006d44f07b7fc7ad016ab44523686087d091d3cb734b9b520e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_y\":-0.225,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"The gripper settled at 0.01, so the close was empty; the bear remains visible in the wrist camera, confirming it was short of the fingertips. I am reopening and advancing 3 cm outward, using the known camera-to-grasp offset, before trying again.\"}",
  "call_id": "call_akssCLPWOXG0GcZlehonlKFa",
  "id": "fc_006d44f07b7fc7ad016ab44524f64487d0b39330e43e772ad7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_akssCLPWOXG0GcZlehonlKFa",
  "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]: [-0.9314, 1.4673, 0.9409, -0.3962, -0.7025, -0.6579, 0.9988, -0.02, 0.8051, 0.6067, -0.3923, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3084 left_y=-0.2174 left_z=0.1402 left_yaw=-0.0146 left_pitch=-0.0922 left_roll=0.054 left_gripper=0.9988 right_x=0.2942 right_y=0.001 right_z=0.1756 right_yaw=0.002 right_pitch=-0.0301 right_roll=0.0039 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -5.1897, 9.347, 1.4432, -0.3492, 0.1832, -0.1392, -0.1709, -1.3607, 7.0222, 1.7363, -0.022, -0.0806, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bedcfa195723d4bc8f6fa59d36639c45ab7061e7036710ec31285fd45fcb043",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c89bea44501c9f9df1830a792ff3ade053bed3dce297858e9d4de61d5bf84a22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ccd8e696f2141a6061368b8ae8c694fb166347ec06d62f6ba37bad66653a077",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 4.179 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 12 changed as sent

message 20 changed as sent

message 24 changed as sent

message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0225, 1.4376, 0.8875, -0.3809, -0.7631, -0.7311, 0.9995, -0.02, 0.7986, 0.6083, -0.3847, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2862 left_y=-0.2274 left_z=0.1382 left_yaw=-0.0276 left_pitch=-0.0559 left_roll=0.0299 left_gripper=0.9995 right_x=0.295 right_y=0.0009 right_z=0.1797 right_yaw=0.0014 right_pitch=-0.0144 right_roll=0.0036 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -5.9282, 9.1282, 1.1111, -0.5348, -0.0269, -0.0659, -0.1162, -1.0735, 7.1863, 1.7265, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0218, 1.4384, 0.8886, -0.4004, -0.7593, -0.7345, 0.0097, -0.02, 0.8043, 0.6067, -0.3923, -0.0185, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.2846 left_y=-0.2253 left_z=0.1358 left_yaw=-0.0263 left_pitch=-0.0688 left_roll=0.0415 left_gripper=0.0097 right_x=0.2941 right_y=0.001 right_z=0.1758 right_yaw=0.0017 right_pitch=-0.0293 right_roll=0.0036 right_gripper=0.9992\nstate[joint_eff]: [-0.2667, -5.6684, 6.5436, 1.2137, -0.3639, -0.0073, 0.7546, -0.0479, -1.4291, 7.0222, 1.7411, -0.0415, -0.0513, -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 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9314, 1.4673, 0.9409, -0.3962, -0.7025, -0.6579, 0.9988, -0.02, 0.8051, 0.6067, -0.3923, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3084 left_y=-0.2174 left_z=0.1402 left_yaw=-0.0146 left_pitch=-0.0922 left_roll=0.054 left_gripper=0.9988 right_x=0.2942 right_y=0.001 right_z=0.1756 right_yaw=0.002 right_pitch=-0.0301 right_roll=0.0039 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -5.1897, 9.347, 1.4432, -0.3492, 0.1832, -0.1392, -0.1709, -1.3607, 7.0222, 1.7363, -0.022, -0.0806, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bedcfa195723d4bc8f6fa59d36639c45ab7061e7036710ec31285fd45fcb043",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c89bea44501c9f9df1830a792ff3ade053bed3dce297858e9d4de61d5bf84a22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ccd8e696f2141a6061368b8ae8c694fb166347ec06d62f6ba37bad66653a077",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEUtCIGWz8C2rpggsmVxXCg0m1YAMIY13PTt2abBczcNsaTu7ORWd_4q356pdQ-SYsYN80BqSEgQJcwqOhx8YHLkCMJ57hOT5BKIeWqOUaZUnZJsQ59lJfuFz9jWvABnzOkH9Kqq-Y8rPZC20FYZyCIt6htDbsky0aA2c4Yg1rh6_YZPusukJK2wEHvtsPa1viIywYRsy1kco-89xvPNqeXIGXg_u7Mr6mTDI4LBOnRKhDiT3KfEWRJygxIu5osOimJzwyMRaRo6B8bjp1YIJsm6uSSLv1ijgi0Iow6UYEHoGLl7fykGOekwGjNPWqnKdADbPnac2e7pW09dql-VnSAFQ3ngpDkK7r1XQ4aDgCdKC5Eks5SZfI50F27kmH0U1_klkCHnRB1fxGun_uOJlTOonKj_WmY-VIWnkwo8trAhVwC-WEy_4q6100Rdwu30Z6eucBo-SpQ-q73RIxc8BuM-HexLVRs0eKCjdwufrc87DcyzHfdR2hpPDwovQcFtHnJK5CIYM04Y33D8qVk9kMDtepDUL0Dvub37QVV7feUYpuzn7yapHi3gblBQAwx5EOyGKl_5ut1jT91dUM4tTSflkORWYg4p8_gxa6XNgw8-yufZqJHc14QcPwrKL2krtthqZAJr8Alha-4tTxcnVxHjRc9EdmcY6HfkhvddYXFwTfsAK30ebvS8M2N2776u3C-diZAHNH55nhR8zSB3YUnKHwD66F2YFsbVnIf6xfaAMWuDorfeJ8RqMA4h7D8KHlnTlcKs7KS4jTcUm3KbuexJBqbVMHMUGBqC97dHGwoZLJ5lLsQDZhk1c662KRJN--YACa4C3ODZXjrOqs8JITlNwpIqB52Eumuh1X1K3pk_gNT2vUpfTArX40ufWSuXc5i5Fj8cJdNF7HQ76JC4CpSPCm4BFo5qXJ-bvlsf8tzC4doOSLUTbTKPKkbi1ZZwRYhqtnS1fyKuv59anCgZz7r929s8xuM6HUygFkus7XKhamVKBQrsf5rkhqS2pCEZQfmhpU5uuqqHP1d5MPCYYQatGm43IP0maWB2agb4KfGhUHSIBu18s_jGsCzU9LN5eMCz5PtELf-cEi5ELhbnSbaCl2V5uHNyNRzUjrAy9-iNM_N5EHVxzV6EFQGFYczCxgr7McQLPxroHtkY_X2GN5hb7pjgDMq5T1qeTrlgem2ah3EFDZIh0-QAdcbyqEtxTj0gmiYglNiiIpCTRRnC-C4NcT8eW4gBP6Tr8uaz2N5bnm6zhz5YkR6wRFU61XKNKhE8AD-PZCw8v-fR_941LFmtZ0--4mAj9Ms06OGAKRnN2goXEiZz8igbK5c1rikAtCaetqWVrmc9_EOk00OxfKDwXwzDjz0PTuotzTQFp0CXIfETzjAccqjtniYCug2-id6E",
  "id": "rs_006d44f07b7fc7ad016ab4452c119087d094f66ae029f8af03",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.308,\"left_y\":-0.217,\"left_z\":0.09,\"left_gripper\":1},\"note\":\"After advancing, the bear is much lower in the wrist image and its shoulders now lie at the fingertip depth. I am making a smaller controlled descent toward its mid-body before closing.\"}",
  "call_id": "call_7Wa1ZyqoUZ1p5Lz6fYaQmugb",
  "id": "fc_006d44f07b7fc7ad016ab4452c5c6487d0abf29ca8fe9ae82d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7Wa1ZyqoUZ1p5Lz6fYaQmugb",
  "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]: [-0.9314, 1.5505, 0.8021, -0.2031, -0.6987, -0.6624, 0.9988, -0.02, 0.8051, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3054 left_y=-0.2143 left_z=0.0861 left_yaw=-0.0122 left_pitch=-0.1122 left_roll=0.0717 left_gripper=0.9988 right_x=0.2941 right_y=0.001 right_z=0.1755 right_yaw=0.0018 right_pitch=-0.0304 right_roll=0.0042 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -6.7214, 5.8872, 1.4579, -0.3785, -0.0073, -0.1441, -0.0889, -0.9641, 7.0496, 1.7216, -0.0366, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2496092f050ded0ae5409843ae10191bec7dc614b1a11977e4ee5f46deaca129",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:812904b3f8d6e8d67e4042364e4d34b83539e89ae1191e6d080df3e069915881",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd6324692be4a55afc56aaef095c38bc006f551ab07a418d629c842027ffca96",
      "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 · 15.14 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 16 changed as sent

message 24 changed as sent

message 28 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0218, 1.4384, 0.8886, -0.3996, -0.7635, -0.7341, 0.9995, -0.02, 0.8028, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.285 left_y=-0.2249 left_z=0.1363 left_yaw=-0.024 left_pitch=-0.0656 left_roll=0.043 left_gripper=0.9995 right_x=0.294 right_y=0.001 right_z=0.1762 right_yaw=0.0018 right_pitch=-0.0282 right_roll=0.0041 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -5.9966, 8.8957, 1.2625, -0.4713, -0.0171, -0.0659, -0.1162, -1.4154, 7.2821, 1.8144, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9314, 1.4673, 0.9409, -0.3962, -0.7025, -0.6579, 0.9988, -0.02, 0.8051, 0.6067, -0.3923, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3084 left_y=-0.2174 left_z=0.1402 left_yaw=-0.0146 left_pitch=-0.0922 left_roll=0.054 left_gripper=0.9988 right_x=0.2942 right_y=0.001 right_z=0.1756 right_yaw=0.002 right_pitch=-0.0301 right_roll=0.0039 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -5.1897, 9.347, 1.4432, -0.3492, 0.1832, -0.1392, -0.1709, -1.3607, 7.0222, 1.7363, -0.022, -0.0806, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9314, 1.5505, 0.8021, -0.2031, -0.6987, -0.6624, 0.9988, -0.02, 0.8051, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3054 left_y=-0.2143 left_z=0.0861 left_yaw=-0.0122 left_pitch=-0.1122 left_roll=0.0717 left_gripper=0.9988 right_x=0.2941 right_y=0.001 right_z=0.1755 right_yaw=0.0018 right_pitch=-0.0304 right_roll=0.0042 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -6.7214, 5.8872, 1.4579, -0.3785, -0.0073, -0.1441, -0.0889, -0.9641, 7.0496, 1.7216, -0.0366, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2496092f050ded0ae5409843ae10191bec7dc614b1a11977e4ee5f46deaca129",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:812904b3f8d6e8d67e4042364e4d34b83539e89ae1191e6d080df3e069915881",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd6324692be4a55afc56aaef095c38bc006f551ab07a418d629c842027ffca96",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEUy45oHUF0ZfYMW4bGC-hW4oyiMCfg-C0PVAFvSJu1sPVaP43yVm9GGZlHkC9qs03-29NKiLKg5VYJvsCTcL_VX92kTcNHump9chlcZi63l9iwOXZ0kDAe8XZlx7rBeFo4ttT7sbAPx4eLOs6rBb46ztkzUhrnCF8lma929_6mpuBTmR1NNaEFJl3igFjoy2mxcZX8fg3Ly6aZMvnnTywYAFnON90QJoDDfnswhP5SSS_J7J5AS_EeJOYOm-Z66prgTXsn2BNj4fLGMFINvZGB40G0SseGcDAYm6PnPjvwHZQ_pjItjN5SeDEFlokwvxT6q-4St8er8vS8ge3zkoxmibknugih1sLTc7T12Xazp_F7Klp2owbt9PZsj9cPRyuPoI7XbS3mAfZjm-Iru_YwsZtYmvWJZfxhJL37yzoCc2jKmhlEidaxbXIvySJV_QcBajx2NkFRxMSuvJUsYvmlX78eaSUbBP59vHWXtTnh6b2pg_R5yA6CjRyKMq-4GndK1_t6A3xoRYbL1T4mCW8f1meQbZmjnRYDbS38spK3kiNOx425WELAtVSStgYb06ag69gtElQtt-9nIhrP5cAqkjKVRqG6Q9DQLdhTaD72nb2VJyb_opClm6vxIX0r6DiBV-d7uWydEVCTFx0s7sgSPyPon8IpTxnz8Lpu41C8AiS7fDtZb2LNE-u6Us1Qksxu6XlG5gShczqfZIFImN-SrtslQGwo5ZZexRtqRQ4WCQRNnRRMALxkVnJeR-uuilBWbNzIuZO4XiYZPg7lZwO8xtXqx7RDIqB58gYgw05eAIRrSF4Q8D3er0wuvFxl3vqRSIvY478Gtoiyttf--VpLW3GI5N3irS-T-x_k83I-Ufc6JnTYBWA0ZJMDRk0Z4MWXbrqYuJ-KlNodqzSAfGn96CXC8Wa8H5I8IeBVuzBvdBIIMjNZgEP-Sny795KuiYmDtlVN6b0UFGKJOTMoAZFArC3TWbnOWTNPIuopvzaiEoasQokfjsHpTmlVjdJvvjKUxH3HJNzfbInjaqIolQEtcIgllQkBRRqDdhqty4St5NU1TF7MJL4GAcVQo-iuxRZpLjOhoEVSkyccur8N2DN2q_NPzIkdYJSU7FTC3gXw79r2eFHWs6ry1QG9p6O0BoF0nrI0h5AbIX8rwUxkpWzo4-xxjR6rzGfJdmscWgP-d8F0Tv6iMduOvGau8HPa1FE2o8knLcayp4H_JBH-2iJqadw==",
  "id": "rs_006d44f07b7fc7ad016ab44531772887d0b6d8ad61924ce61d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bear’s torso now fills the space between both fingertips at z≈0.086 m, with the jaw faces aligned on its sides. I am closing to grasp it.\"}",
  "call_id": "call_FJ4mw6ngOfzPzZBh9eDJohZk",
  "id": "fc_006d44f07b7fc7ad016ab44531993c87d0a6f8666ee1f65782",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FJ4mw6ngOfzPzZBh9eDJohZk",
  "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]: [-0.9314, 1.5505, 0.8021, -0.2005, -0.6991, -0.664, 0.0129, -0.02, 0.8051, 0.6067, -0.3923, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3057 left_y=-0.2146 left_z=0.0865 left_yaw=-0.0114 left_pitch=-0.1102 left_roll=0.0685 left_gripper=0.0129 right_x=0.2942 right_y=0.001 right_z=0.1756 right_yaw=0.0018 right_pitch=-0.0301 right_roll=0.0042 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -6.2427, 5.9692, 1.199, -0.3248, -0.0269, 0.9597, -0.3214, -1.2923, 7.0222, 1.7216, -0.0317, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ae37fd2603a684309cd066018034a533eeb1c666609120430143e484e28a7df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39e50c22e468e6a7e3bc61e0fa6421f9e41eb236564b4c350bf8e18dbff0ee9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d10b0dc9f0594cc2ed03e82b180fb59dd38b98928815567f6ff1eae1691b71fa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 4.179 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 20 changed as sent

message 28 changed as sent

message 32 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0218, 1.4384, 0.8886, -0.4004, -0.7593, -0.7345, 0.0097, -0.02, 0.8043, 0.6067, -0.3923, -0.0185, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.2846 left_y=-0.2253 left_z=0.1358 left_yaw=-0.0263 left_pitch=-0.0688 left_roll=0.0415 left_gripper=0.0097 right_x=0.2941 right_y=0.001 right_z=0.1758 right_yaw=0.0017 right_pitch=-0.0293 right_roll=0.0036 right_gripper=0.9992\nstate[joint_eff]: [-0.2667, -5.6684, 6.5436, 1.2137, -0.3639, -0.0073, 0.7546, -0.0479, -1.4291, 7.0222, 1.7411, -0.0415, -0.0513, -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 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9314, 1.5505, 0.8021, -0.2031, -0.6987, -0.6624, 0.9988, -0.02, 0.8051, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3054 left_y=-0.2143 left_z=0.0861 left_yaw=-0.0122 left_pitch=-0.1122 left_roll=0.0717 left_gripper=0.9988 right_x=0.2941 right_y=0.001 right_z=0.1755 right_yaw=0.0018 right_pitch=-0.0304 right_roll=0.0042 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -6.7214, 5.8872, 1.4579, -0.3785, -0.0073, -0.1441, -0.0889, -0.9641, 7.0496, 1.7216, -0.0366, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9314, 1.5505, 0.8021, -0.2005, -0.6991, -0.664, 0.0129, -0.02, 0.8051, 0.6067, -0.3923, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3057 left_y=-0.2146 left_z=0.0865 left_yaw=-0.0114 left_pitch=-0.1102 left_roll=0.0685 left_gripper=0.0129 right_x=0.2942 right_y=0.001 right_z=0.1756 right_yaw=0.0018 right_pitch=-0.0301 right_roll=0.0042 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -6.2427, 5.9692, 1.199, -0.3248, -0.0269, 0.9597, -0.3214, -1.2923, 7.0222, 1.7216, -0.0317, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ae37fd2603a684309cd066018034a533eeb1c666609120430143e484e28a7df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39e50c22e468e6a7e3bc61e0fa6421f9e41eb236564b4c350bf8e18dbff0ee9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d10b0dc9f0594cc2ed03e82b180fb59dd38b98928815567f6ff1eae1691b71fa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEVCC2ZXCEL0R5GTSUXSJYE0ZS7KcJraIOrnpGQf0PhsmAt_xWbkxZYUIN2Iswm0QogHxsOx6o9kM6hMxAHpgCSd4TKoL9lMiWDoKCRj-CplFRdm3pVis64puy9TV_-Ij5Im6WR4BLmtzvTIs-sOOcFiY05Z-rUmMvGrIjjd0CHejklAYTFuJQw-HuPupt0MjOW3NonC-omiCqZEaaRBFXqTXYy45hguEamY6Bbh8ruh24wHh_pg8W5IKuSztyCXyC9ZaavVaoouoHgyDMzGABk0vPh0nfjYUcf-Jv4jytCIt2ai20UI371oci_D66zKSisLa8Tw2zE7kjqoOpe034l3V4KAn7TIi_EkDpM_K-1cFBWvNqMXLsyTUwqIdmg9q0Jt7uRWVmwfGaWZSNrabbTznbU3rUqAEQ9bKv4q9Kt--URDtEeIeRlNruMu6AZBMGXJ8yK6awN2q1OfxIJaFVLc5bbta-wA2C12utF0zOrQ2Kgg1K32FrJA2bWdeu0kCyNSwF54XuBNuNQzLjAmq4nlqzghplIfXMGOQDb5AFGG8V49vijGqhAOlCp9pVkB1o6ikOjdW6-n_LJjU5kZVeusfJj2Q2WStfgCslyUINLBCkHS3zmO1lo7AdArNKFgC34gSgmZMYA1KZ6ZeZB93oAbkHQFIxf9P3wDZc0stCfxRzFFhTmbAqSoOvjd_2t6waQXXGeJr8Yb56RSj2c_TfS3f3jheY4OR6WdJ1GGJngTtqxKYbys81BWWKEmP_ItvpkYB5_-DQj7PAR6rM0XsqD_SLd52oVm55TxyouMu9dXCUa19H5BHd2Z7UpJRxXlRaR5jRz64LqXO2ipRcfgFKSuoX0E2biW7IATpeLtkMxh-GMv1-qd-2QX9S9JZL9yv0I_WKTVW2XKS8-xnWxPSsNisQaSdluHfP6qCjfy9MO2g88xngCJfO1Uxst7_uJoNj6rK4md7pzwL5gbgP8nGllz2uZmF1Ue823q3Swsn0RQUjmXb4MrbZEI11hg77BRfIFV58oxzk6djyCRYmfmZlud70tDSb34WfSmXqWxzlFZsTCbCH15tRz_lXvwF6B4-rXV-F7wNAOAyjH_jgdb4dN3ymbLjtXysA-XaQUTb2H1DGr135G9AdxSVmjGUYoNE5tnXYmbakEgkr8Y11aEc9nuTC2zqkhEpSpjtHN9a1Aqeh9GcH5hZjZvxfDYUZYCAZRgQVJO7wVKsvCL1qhhQePIkzuc-BGps__25NtSAFGgsjg_js4vvP6B_0UmIplnZG9Ogyt1kRf_vsiWXXqrjaNamgQZi1rDXeunJqqwyFfO2hrWICouv7CHyo5vvsJvIzvz-cDtOHuLTLN37xraADuzgQC_4Mo6i0elT9_Pi3r4mTTYABC8y7Cg72Wev98CF5oUdF0gadjGam8wE0-dpgLuMt38x_R1tes5xImZF4fgGFZo6qcJj3f1AVf_Qg_iuZbPTtl48B80hNfavZsVKwaRe5U6OMVrtQ0CrQcHFzf1eEV6gmUXJMcRIdDluyfBiL7lAJHBFLVuITbYoufv8WJ5SZSG60QhZzi3h5EgQcPCpEhmNYJTktSPlMyPe0XS-5fUexcaBQ3iXQj1kvZsH87SweCrQ4CkMjumclS4mTD2iz7IJcSQ0KasEH3PFgeQvoBIPinyCB7BF4cxSDIRTFYY-52-a_lOnPESV2NK0ebU3px-vrO9VY8HHad_wYxwB7dUV9PNIz5NA_I6G-ajHU_VZ1I5jVzwlfkWdJrHQ4Tum0N72sLg2ps7RAZ3up9zlk3ipYeusTgrajKUqp45Jyp9xjGinjgJxXn3QG6huAx0Tr16L4adti0KP6XhggAA2n2fqJ5_fyc0PZWWXEPiwjcDlYzsclrc6VNgbf5GVWdc2rQnQJZG6hPgoQCHZfEz0jzAOnBwFKs4LrOw85oXOjHtpK6sE_-QBOFC-u5Cln3asZLqvzRDlnamj17tJZ8yHdgjDT4XZWyQb5b4fmnxOTvQw7JRNhbWcZ8iqlS-3xVqsuw=",
  "id": "rs_006d44f07b7fc7ad016ab445390e3c87d0958c82608a1beae2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.215,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"This second close was also empty at 0.013, and the bear is still visible, so its upright face is misleadingly closer to the wrist camera than its body is to the grasp point. I am reopening, lifting, and advancing another 3 cm to put the fingertips around the torso rather than in front of it.\"}",
  "call_id": "call_CqZaJZPZ487RoSyt7xB3R7my",
  "id": "fc_006d44f07b7fc7ad016ab44540ff4087d0b22387efc5558e4a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CqZaJZPZ487RoSyt7xB3R7my",
  "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]: [-0.8547, 1.5429, 1.0054, -0.4011, -0.6502, -0.6041, 0.9984, -0.02, 0.8097, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3317 left_y=-0.2128 left_z=0.1322 left_yaw=0.0004 left_pitch=-0.1367 left_roll=0.082 left_gripper=0.9984 right_x=0.2944 right_y=0.001 right_z=0.1743 right_yaw=0.0018 right_pitch=-0.035 right_roll=0.0043 right_gripper=0.9992\nstate[joint_eff]: [0.1573, -8.7453, 8.6906, 1.1453, -0.3394, 0.1734, -0.1392, -0.1436, -1.6889, 7.241, 1.7411, -0.0366, -0.022, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0c46bab3a11d0b3ebff275a9c769236322c67eef46b3ccb4e91d9253251e146",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b71dcf0181f89dcc5f00cf903119859227db5da7cda18da2d04322b5b6a11c92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daa4dc89f9ed8d276fda06ebcbf5e2c93b6118275f621c4b968a614159479f2d",
      "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 · 2.265 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 24 changed as sent

message 32 changed as sent

message 36 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9314, 1.4673, 0.9409, -0.3962, -0.7025, -0.6579, 0.9988, -0.02, 0.8051, 0.6067, -0.3923, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3084 left_y=-0.2174 left_z=0.1402 left_yaw=-0.0146 left_pitch=-0.0922 left_roll=0.054 left_gripper=0.9988 right_x=0.2942 right_y=0.001 right_z=0.1756 right_yaw=0.002 right_pitch=-0.0301 right_roll=0.0039 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -5.1897, 9.347, 1.4432, -0.3492, 0.1832, -0.1392, -0.1709, -1.3607, 7.0222, 1.7363, -0.022, -0.0806, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9314, 1.5505, 0.8021, -0.2005, -0.6991, -0.664, 0.0129, -0.02, 0.8051, 0.6067, -0.3923, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3057 left_y=-0.2146 left_z=0.0865 left_yaw=-0.0114 left_pitch=-0.1102 left_roll=0.0685 left_gripper=0.0129 right_x=0.2942 right_y=0.001 right_z=0.1756 right_yaw=0.0018 right_pitch=-0.0301 right_roll=0.0042 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -6.2427, 5.9692, 1.199, -0.3248, -0.0269, 0.9597, -0.3214, -1.2923, 7.0222, 1.7216, -0.0317, -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 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8547, 1.5429, 1.0054, -0.4011, -0.6502, -0.6041, 0.9984, -0.02, 0.8097, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3317 left_y=-0.2128 left_z=0.1322 left_yaw=0.0004 left_pitch=-0.1367 left_roll=0.082 left_gripper=0.9984 right_x=0.2944 right_y=0.001 right_z=0.1743 right_yaw=0.0018 right_pitch=-0.035 right_roll=0.0043 right_gripper=0.9992\nstate[joint_eff]: [0.1573, -8.7453, 8.6906, 1.1453, -0.3394, 0.1734, -0.1392, -0.1436, -1.6889, 7.241, 1.7411, -0.0366, -0.022, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0c46bab3a11d0b3ebff275a9c769236322c67eef46b3ccb4e91d9253251e146",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b71dcf0181f89dcc5f00cf903119859227db5da7cda18da2d04322b5b6a11c92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daa4dc89f9ed8d276fda06ebcbf5e2c93b6118275f621c4b968a614159479f2d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEVJsAsxR1dycljh_S99Rsq5ES8mfLJrEFyOLKHl5BnNLj2KJeJOW51zwnXJIhr6NxXZEjDvWNKgtZdcZSmyoLZcrVp032oyGCkdqCYaivi98_0a6OXRA88_a8G6K8wEBhCfVgjfrSXiHhmzoysROYBfA_9OrcwDIuU9gkA9EUJRqjcCnBMMr50VuLCp8U45jK44I9c851zjtGmcCn4QZvLVUWsLZTO0ozy0LVPBp6KkPB65Cf-qXCIjV01Y7r_NU3TLQybDdCziZSF7ubIO3h2Ha7SDQlz6aUA1Lu1SYBWZq-Pm-i9kozD95WeBBLyQJAFyu5yuhXuIahF3eTu-9VbgnmZAyIGwyGTNN3Is4fyxr_18tFwaX-zosVjK9JWAZKESZneRDEAPhSGwysS0butIrQcaaAMPPuivWCcnj8BNZivf3LaGN3j_LQIW9F7quYzaU0l65abfoEoM-yKGvHWU1i8cXrUdQMQmksuh5J3ziuWPWG8tZb281mK2-G7EBjAG4ibgBppIA8n_ZPwUtWY8Wb8CGnf2OC0x6wfXdZ2uKowXz71nEAwjGy2fVIZW4oxpMO5bns8OxsdMQzMdFtr9eRsFs8ojiZbK-sscg92e_08HT3FyVcUR6jUT9BuJ3mmN7WYwILOeFWA-0S0BsU5J50ovnwCd6Rz1xVue8TLSptv-pSvJ-S0yySyg2rg6n6tyVnWg39TTeWebxYGcrG3q3Mz8QQJdDSOsjpp3PW-2jbht2gUnUF1vc5mnXm1zPWsktNEGiRBGF1QB7TeFXBO_e2oO5Se4PVBULSmns0tJCNXckyDAWesRINfEmA3hJ526iXmsVOfaru7jhdU1094t6ew5ro_9srd699yTim9bm5LaOSlkMMJAWHEUoJjsO3OeonspRCzxHyCP2iaC9C5WNuOMWEhoXA1V2-OzEIjSdOkv4Tp0HPMvWXaGiF9sK4eQVS6ht4jB-ADFj2xTO-ll0gHu4idVwjk396kr6Sg8yb95sxC9eR_TYZQHjkQ9xe5Q0768no3JpfPdOtPmud9R93giw2AFKZnSEZHXONAbl1aWrg2udwhYMg2YH4F1w3YCASlHyOTGZyYFJdR78QPbArZrysGtu5bi_qhG03euKa7b3hqlgvcVHL5ighwrxMTk1vwBzZ8Kx4BZqfkAqRg-gq9hORpHyFCsOrr944RK7NfE9xqJ1C2n0zBDn94Bv0-s1dYLdUiu9zc3vzWaWFIIbLMq4AEPVsFFfkvUuergUm2LGFy7Ua68UberaHFJhE5cn374MoAIxnxyZ-dNs5OP5etP5fZHx6Q1iiEmBactrM54txt5RH8tTng3ttvSO-K19Z1F6XG5SYdZOwNAaTAQn4lkiUswDk5-7Jktq2iSuP11x6cZIxeM9_rpLkXlHwxw_XJ91CKxmdCO7HxZ4on-qkbTK3mgVsfzx--CLJ-md43ursRMdVcYXLfN6R4vgzX9Sf0zVFRNr4Cv2ph-hePwPKbCWy4Q_CZ_kZRtiGpiCo5__2DeJNs1LEFsqNetjJEGm5tAW6IyUDU0iD7oDpx-sUcg-_0dnyHXSuTTVZaCowUuBBnj_sS6ZqBYPlR74-xh",
  "id": "rs_006d44f07b7fc7ad016ab4454805b087d0a395bad38a143c3b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.332,\"left_y\":-0.26,\"left_z\":0.14,\"left_gripper\":1},\"note\":\"With the extra radial advance, the bear is finally at fingertip depth near the bottom of the wrist view, but it is now about 5 cm to the gripper’s right. I am shifting inward to recenter its torso between the jaws.\"}",
  "call_id": "call_if6qDAVhna4VI8zonuNTwWsw",
  "id": "fc_006d44f07b7fc7ad016ab44548fbb087d08f326d2c4f73309a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_if6qDAVhna4VI8zonuNTwWsw",
  "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]: [-0.9398, 1.6695, 1.1557, -0.4885, -0.68, -0.6895, 0.9988, -0.02, 0.8108, 0.6067, -0.3931, -0.0185, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3289 left_y=-0.2558 left_z=0.1319 left_yaw=-0.0124 left_pitch=-0.154 left_roll=0.0821 left_gripper=0.9988 right_x=0.2944 right_y=0.001 right_z=0.1739 right_yaw=0.0017 right_pitch=-0.0365 right_roll=0.0038 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -7.2957, 8.4034, 0.9499, -0.5104, -0.0757, -0.1441, -0.1162, -1.2923, 7.0496, 1.7314, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a377fa3b0e011ff97778ea21686a87611edebf1a9456064c6dd2d78d6fda0f11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb27189c46ea48b09ed02cad55fb8f2c0716ae66590da62a321bf1c57514c399",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4c9c58c79e10c84cf84e22bb41e5f58dec955f6675429e96c16f9634a7d6023",
      "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 · 1.821 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9314, 1.5505, 0.8021, -0.2031, -0.6987, -0.6624, 0.9988, -0.02, 0.8051, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3054 left_y=-0.2143 left_z=0.0861 left_yaw=-0.0122 left_pitch=-0.1122 left_roll=0.0717 left_gripper=0.9988 right_x=0.2941 right_y=0.001 right_z=0.1755 right_yaw=0.0018 right_pitch=-0.0304 right_roll=0.0042 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -6.7214, 5.8872, 1.4579, -0.3785, -0.0073, -0.1441, -0.0889, -0.9641, 7.0496, 1.7216, -0.0366, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8547, 1.5429, 1.0054, -0.4011, -0.6502, -0.6041, 0.9984, -0.02, 0.8097, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3317 left_y=-0.2128 left_z=0.1322 left_yaw=0.0004 left_pitch=-0.1367 left_roll=0.082 left_gripper=0.9984 right_x=0.2944 right_y=0.001 right_z=0.1743 right_yaw=0.0018 right_pitch=-0.035 right_roll=0.0043 right_gripper=0.9992\nstate[joint_eff]: [0.1573, -8.7453, 8.6906, 1.1453, -0.3394, 0.1734, -0.1392, -0.1436, -1.6889, 7.241, 1.7411, -0.0366, -0.022, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9398, 1.6695, 1.1557, -0.4885, -0.68, -0.6895, 0.9988, -0.02, 0.8108, 0.6067, -0.3931, -0.0185, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3289 left_y=-0.2558 left_z=0.1319 left_yaw=-0.0124 left_pitch=-0.154 left_roll=0.0821 left_gripper=0.9988 right_x=0.2944 right_y=0.001 right_z=0.1739 right_yaw=0.0017 right_pitch=-0.0365 right_roll=0.0038 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -7.2957, 8.4034, 0.9499, -0.5104, -0.0757, -0.1441, -0.1162, -1.2923, 7.0496, 1.7314, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a377fa3b0e011ff97778ea21686a87611edebf1a9456064c6dd2d78d6fda0f11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb27189c46ea48b09ed02cad55fb8f2c0716ae66590da62a321bf1c57514c399",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4c9c58c79e10c84cf84e22bb41e5f58dec955f6675429e96c16f9634a7d6023",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEVNBFOTiAjZIXUkdOwZh8JpoFFzLrELVmgyM2hp5vUD6nZlb8Q1dnuGUOgHAU7__rp_h9H35Bad0dTihODmKzyzP-A3Hb_kCdkt4ma7mz_p5K6aeePusfg6ogIYzGwptp_dzhFfxv9oJkD0pkJV-6MDur7u4pdwK3Vtcu-njrImDBVT3_JV4oqB10MEgRZ7XboIVxonhMf1WOBbPgkdsNP4x1UDABfGS7fD7QJuY9G-zOO80DaE7Zy-5YjoJBVC-MGpC5mAwwdCRZRF2YHrjcIEnuni5cECHwpbwnFuJHc8PvfDe4yuck9os88DWuRHX2j_Wx9Uc6X1b8mXryXCBU_8e5ThJ19wV0FEYukTl1o8z5j71D51G4FCzkAwz5vQsahV3-HNQg0xyrbsaU9-m2bc2_4uWn34OFu46CNN1O62slHfZ4p9_7wW0E_gfG1qKlw6O-FIS8B2vHdCLXp73EpEEe5CM_owvjZfOFFNqJveYSd59wDnuS094KrFsVND4bAo2WZOhvbWkCDpgseD5sa7EuZBaaKnf_r9Vsf5T3XrSIeExnZDsH-f4xKy021x38fX7JFYjY-MwTeIg7K8ABRfFQYJGx17R4H3QeEXrkDqGiNdHgevXUec5-1Wx_g0kwha6Dvl1A-SCf1eyvk-u25ASiCvI1pVd7F1HuAB5Xpabercw_wJOmOxYQXIbrvWr-PFq1NQNHOjcu_lSzyoBMYMeFGQbrOlq-ogE6J1kAPmKiR9mnmQH5A6mXZ5jw2ko0DBX06lsV8Ay2j2dQV2D9lRzyU12hCaaQrph6vAniSQ9uU07POMSreKujly4AskgXiMa5mLHdZHx8YhPwMw--q572x9Wc2qUYj7peIwt31BQw9Ce-MBNjtmpp_LVEcd19wbv2YqnVT2m7pEuNl9fSVL7VAXf97rBO4xlCZzXpXeHczPpSY0X7hvz8E9kbxiZqsBOTuAfvjR4vG-pd3EhoYMi-ebwhArnTcmi77TUjg4Nt0aGqyzGvk2MobD8gTcSoZt-7CZLj1kt1bki52n8h--I99NBdqwezdaf3QcA9YV9a3kvNBoce1KDL4RKmNsG50QqC8f1GyUwlOCUsAiLEW45FbQGl7aXjzj1pz8a44aWCjEKy_6_ZKHI7Y5iJAR1Z8WkHOAH18NGAzpVbR-Ufl96DLtYxkBS512P8y91iLM8eU9e48mwphTP7Tr-uqlQgb-8gew1gNgqi1K_cDp6s-X7SQbPy6S4jTSK0WU4lbqIm7qfq10iDpwe7YqBuGldOOnWT-AdRvcLgVIXnAtWBs6ng==",
  "id": "rs_006d44f07b7fc7ad016ab4454c637087d0b011a927bb11d5eb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.329,\"left_y\":-0.256,\"left_z\":0.075,\"left_gripper\":1},\"note\":\"The bear is now centered between the fingertips at the bottom of the wrist frame, indicating correct radial and lateral alignment. I am lowering to body height for a secure side grasp.\"}",
  "call_id": "call_HW8bCJHLjFpU9G1B5MdMhcm0",
  "id": "fc_006d44f07b7fc7ad016ab4454caab087d0adabfb1e86db1621",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HW8bCJHLjFpU9G1B5MdMhcm0",
  "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]: [-0.9413, 1.7428, 1.0298, -0.3199, -0.6762, -0.7002, 0.9988, -0.02, 0.812, 0.6067, -0.3927, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3255 left_y=-0.2531 left_z=0.0789 left_yaw=-0.0064 left_pitch=-0.1744 left_roll=0.0969 left_gripper=0.9988 right_x=0.2945 right_y=0.001 right_z=0.1737 right_yaw=0.002 right_pitch=-0.0373 right_roll=0.004 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -7.8154, 5.2991, 1.0476, -0.3492, 0.0708, -0.1441, -0.0889, -1.4427, 7.0222, 1.7167, -0.0269, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b987aab59b1587094111857dbcc5e47cf2a629f724f9846a54742b1dff2b80ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c80027d91bda84414d9b1b6d82531d00c520b221bcfa6ba77eb1373224275983",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7aa7476ac31fd195267e9a93ae8a9babf99038e9938e275d9e08d73bdb127de3",
      "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 · 2.78 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9314, 1.5505, 0.8021, -0.2005, -0.6991, -0.664, 0.0129, -0.02, 0.8051, 0.6067, -0.3923, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3057 left_y=-0.2146 left_z=0.0865 left_yaw=-0.0114 left_pitch=-0.1102 left_roll=0.0685 left_gripper=0.0129 right_x=0.2942 right_y=0.001 right_z=0.1756 right_yaw=0.0018 right_pitch=-0.0301 right_roll=0.0042 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -6.2427, 5.9692, 1.199, -0.3248, -0.0269, 0.9597, -0.3214, -1.2923, 7.0222, 1.7216, -0.0317, -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 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9398, 1.6695, 1.1557, -0.4885, -0.68, -0.6895, 0.9988, -0.02, 0.8108, 0.6067, -0.3931, -0.0185, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3289 left_y=-0.2558 left_z=0.1319 left_yaw=-0.0124 left_pitch=-0.154 left_roll=0.0821 left_gripper=0.9988 right_x=0.2944 right_y=0.001 right_z=0.1739 right_yaw=0.0017 right_pitch=-0.0365 right_roll=0.0038 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -7.2957, 8.4034, 0.9499, -0.5104, -0.0757, -0.1441, -0.1162, -1.2923, 7.0496, 1.7314, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9413, 1.7428, 1.0298, -0.3199, -0.6762, -0.7002, 0.9988, -0.02, 0.812, 0.6067, -0.3927, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3255 left_y=-0.2531 left_z=0.0789 left_yaw=-0.0064 left_pitch=-0.1744 left_roll=0.0969 left_gripper=0.9988 right_x=0.2945 right_y=0.001 right_z=0.1737 right_yaw=0.002 right_pitch=-0.0373 right_roll=0.004 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -7.8154, 5.2991, 1.0476, -0.3492, 0.0708, -0.1441, -0.0889, -1.4427, 7.0222, 1.7167, -0.0269, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b987aab59b1587094111857dbcc5e47cf2a629f724f9846a54742b1dff2b80ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c80027d91bda84414d9b1b6d82531d00c520b221bcfa6ba77eb1373224275983",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7aa7476ac31fd195267e9a93ae8a9babf99038e9938e275d9e08d73bdb127de3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEVP78EJr8yAHVOoGe0UIgOCkvANRTfAv7mgWijcN80Yivk2wiol8MkTbxY2B91aqr-IdGbqTr0Q_Uoprbl6mNOfUqPwf3bJU1FaznaMgFWyIctgtMnUPNGVKnBApHVh12P7L0JAQE9RXhFP-6ULkdvrvjQO1oxKl7jEWXokPN8OMgHfwp6gkzt1n2sQ9Sp8JxX8GjSzkeebz0ftIPudxqlLO_0JTCUajyWJxigywbS1HirMjHTaxB6OIouKu7BQCRQ949rVWuN3_OGIUBWb__frTEMMQW8B3FgWV1gZ0FsvZQ0Qw2g3Zu-QgULk-RMZmo2yzO4BX_5dqw7dhNzMW6QHeKrl0bkTApyUPFpwFejKzO_ifm7qLAch_3GwsvqqczF5GgWcglRhNQsVWrLnPWGf8qgWFu7ih3Mr805NI9x7-IQdDyT48CPUpEljNeNqp2OGirVa5xid7QZx8Y9vgIpy-NrEjUAhRrnQpaL8z0SeJBYsC5HrdPSkU7hXFzJkWs0aeIweXHRpdYs-qKUYMyt89VF0CxLrBjslJ3DBxmTlEN4lfvjRnKK6Z0WtreOjXM-opqfMx7-NPj27Rp8g57Ok8FI-mUXIFkVz6P4bFlhfQ6gykUzQJ8TfIbeT8ojqpWtplP0j2c2lQNBmhv2jUoPrQpnq1x0mFbf7dqQyL2lzhaIs_5T-3su5p0ZMDC6zkjl8TAtM-lSgqz7BQCk9mUqjG1Y9GadL32qTXO-PFF-bFGazAJAj_YzmDydV2dowkqWwJqn4JVN9yEHAcItIJ3XRma15KWyUX7vXYfV3urlSUHc4WIC07BfgxR8m-VA_OUZggQXtb0PMp1R4js85KdiEPq_ah-MPWRafGvbbPthu_JVEoYpcCntrT0M9vneGD1VtjAMTjHVQ6juJXM9pl4Qdr122Higs7msEd6Io3i765p7llsJbH6iQ_azdmuWRvYUcoomfclXoyno7_YcqjdumxFI8GTjqbndJ4ftf-i84PJb_lEri5v335RHsUBp7eIf2bdifnCVJTk_McQxGiPyH5w6J6qVqWq5QX9gXm8mYJJW9TAS5laEpsx6P3A9MpLPZPBihmAz8ADvA6xOSbNAvxmLZGovOmcpeDwTSzPmjTZQJ6wawHO7ltpyyyeTMmzPG2Hn9ZSeKTiuMMyY7PNNbTjqGTttDJG2AuG0SIhk6lUA=",
  "id": "rs_006d44f07b7fc7ad016ab4454ee50c87d0ab2ec9e2df9ae1bb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"At z≈0.079 m the jaw tips flank the bear’s head and upper torso, and the body is centered. I am closing for the grasp.\"}",
  "call_id": "call_sed06tOGYgPeRHepvu3x45ax",
  "id": "fc_006d44f07b7fc7ad016ab4454ef66487d0bb1fff632833903a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sed06tOGYgPeRHepvu3x45ax",
  "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]: [-0.9428, 1.7523, 1.0191, -0.2993, -0.675, -0.7078, 0.2029, -0.02, 0.812, 0.6067, -0.3927, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3252 left_y=-0.2539 left_z=0.0738 left_yaw=-0.0045 left_pitch=-0.1746 left_roll=0.0902 left_gripper=0.2029 right_x=0.2945 right_y=0.001 right_z=0.1737 right_yaw=0.002 right_pitch=-0.0373 right_roll=0.004 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -9.0872, 6.7897, 0.9792, -0.3443, 0.0659, 0.696, -0.0615, -1.265, 7.0496, 1.7167, -0.0317, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b50434638538c70130aadf4ba78534235ffecb9f476f0e7cfa7c15059745ddd3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59de819e0084eeba3f01f1d25211c4b269ac8ac82838db264de3e7b0b638aca6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09fab554bef31391cb8f57a23f5e2496106b9246596938b24d20164588dae609",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 4.164 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8547, 1.5429, 1.0054, -0.4011, -0.6502, -0.6041, 0.9984, -0.02, 0.8097, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3317 left_y=-0.2128 left_z=0.1322 left_yaw=0.0004 left_pitch=-0.1367 left_roll=0.082 left_gripper=0.9984 right_x=0.2944 right_y=0.001 right_z=0.1743 right_yaw=0.0018 right_pitch=-0.035 right_roll=0.0043 right_gripper=0.9992\nstate[joint_eff]: [0.1573, -8.7453, 8.6906, 1.1453, -0.3394, 0.1734, -0.1392, -0.1436, -1.6889, 7.241, 1.7411, -0.0366, -0.022, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9413, 1.7428, 1.0298, -0.3199, -0.6762, -0.7002, 0.9988, -0.02, 0.812, 0.6067, -0.3927, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3255 left_y=-0.2531 left_z=0.0789 left_yaw=-0.0064 left_pitch=-0.1744 left_roll=0.0969 left_gripper=0.9988 right_x=0.2945 right_y=0.001 right_z=0.1737 right_yaw=0.002 right_pitch=-0.0373 right_roll=0.004 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -7.8154, 5.2991, 1.0476, -0.3492, 0.0708, -0.1441, -0.0889, -1.4427, 7.0222, 1.7167, -0.0269, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9428, 1.7523, 1.0191, -0.2993, -0.675, -0.7078, 0.2029, -0.02, 0.812, 0.6067, -0.3927, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3252 left_y=-0.2539 left_z=0.0738 left_yaw=-0.0045 left_pitch=-0.1746 left_roll=0.0902 left_gripper=0.2029 right_x=0.2945 right_y=0.001 right_z=0.1737 right_yaw=0.002 right_pitch=-0.0373 right_roll=0.004 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -9.0872, 6.7897, 0.9792, -0.3443, 0.0659, 0.696, -0.0615, -1.265, 7.0496, 1.7167, -0.0317, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b50434638538c70130aadf4ba78534235ffecb9f476f0e7cfa7c15059745ddd3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59de819e0084eeba3f01f1d25211c4b269ac8ac82838db264de3e7b0b638aca6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09fab554bef31391cb8f57a23f5e2496106b9246596938b24d20164588dae609",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEVTh-7ULfpseKeejCRN87fs3kA931vxwyA10Xbj3EZ5NXViQWPvY8DA82MPk3jQ-4cL7N5bYYwLfOpP9NDLRhSel4WdK6nUsogaGs9RsI1k70fXskqQqBL4znC1h01uKglZYt_ELI2w3se9v-xprwrYAe0zOwiYQvx6yYfYYRkyswJSFtm3JkyhOn1f6fjBAnY18LJfnUF7nhsyfAAcfQ5AgE2sOsEue2vz7O9AKklUIyxeiOQDoLdhMo_7AcMb4gwo0JICL45qApSrzY1_efZi4RAxKS9MOxPH5V0vQkNHSrNgB2afKKHwbYvGZlNAi2BeTkHaJq1WNMITcDRd6TnvobMlc3wFQ6MAvinDrQ7E5f23EI222DhDabgAZR5k4V_FO02h5_nHeY0S_sb8oxpjPIuoMt4VxxQs0GF4_N-wFuyz_N1nKc5_Y5zXHp1imfMnnpA1-ovUbEbMOEwNuiFAZJBRtp1e2-meMxTJeCuie5V3bbuLMwdCRY4difxNY3SFgaiD71tiLumHQ4F5sEzn3ztywZ4xkTE4AqrtTRp-Kk5mOVVaY862VGQO300WJR4p7BZ6jjVYXWjhcxMp6F0OxWVP2YMAF5VWbMg1Pj1baEc_MQ37o9UbnIzHUS9eK-rYUxqA5thGhBqaTX-wkV8GOdyYIjGNm_Cl8atjsZnzFFPSkY5X57AMFOfdo1bPg4l878cCF1b39PMtKusfbtBb6XKmH5uYyptBv4hpARJ9vSSv_4gt82ZPrK4-wQUp4jQ8YKCYKHB-8JrJvNENZtQmb4-ZBcvuTA1KmpzlO9Ta93SIAR8BQnNr4wT3Bg2GM4UGhX7PBUTbTpaHDpP-iHvh4W2PfVk8Kl2sp2m6fGC-OrzMqdVgbmOBzLC5k4PR-k2fKyZUX99f99yBJ488Knu1oA4Q9d4lqb_eIkPdTBOjBtG0Hi0Y4duBj_6qaJfeMY5MwPWaqtVLjD8m1QBIiJRg1tK_e-3rcxEmvKai2StzrCyumsxJIeJvKkBWBxQlqoOXtQQ5aKRb5WoUo0KKSpqwwr1PDoBUxYjskvS9hM3fbGfy5GYCiK2IbkMJ6dNFAwZGsgj7cPnlbWyshw0I3sUgsOVDkaXz4i4xto3d8HR6mYhk4EgRG46VVsCR5cDgg23wV1g9H5JoNwKB7zODKgYtN8pBl_bmOaFA4hwnsgOHRh5m4AzsrkHxPu8PxH246_xe9DLCLeUl_jUA_TTU9xS1tkJrg9Vyu9YYAB8CWQDtq_S4pK_WlHus3AI2z3xHqilEYtLWuP5u8mHRTM9zFaE_SD7nnZszA15-wmqHVaojbBGfk9rdzFYJEhsrKVFrCOLUH7GfMee2Nd0iFVoHj08EMaAr8_Sd7AoD7nSDg-7dqBRlf2TNAftn-H_Qa-N2i_GQZOiAursui8aJZyzJSg5DWFP4u0WF0vBch4bL8Quh5X-Gnju8kGUTFLucfWWvjMYklszmoDwscafbMwSYHrm-cqTopj_erGg8d4YGPbPn11A=",
  "id": "rs_006d44f07b7fc7ad016ab44551ee2c87d0b630f6240d868212",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.254,\"left_z\":0.17,\"left_gripper\":0},\"note\":\"The gripper settled at 0.203, far above the empty threshold, indicating a firm grasp on the soft bear. I am lifting it clear of the cluster to verify it moves with the arm.\"}",
  "call_id": "call_VlUPz9XA8oruC6zZrS42v4Os",
  "id": "fc_006d44f07b7fc7ad016ab44552836c87d08539d31e371a726b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VlUPz9XA8oruC6zZrS42v4Os",
  "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]: [-0.9428, 1.6833, 1.2533, -0.6273, -0.6727, -0.7158, 0.1763, -0.02, 0.812, 0.6067, -0.3931, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3268 left_y=-0.2566 left_z=0.1455 left_yaw=0.0021 left_pitch=-0.1904 left_roll=0.1034 left_gripper=0.1763 right_x=0.2945 right_y=0.001 right_z=0.1736 right_yaw=0.0015 right_pitch=-0.0377 right_roll=0.0041 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -11.0154, 8.5675, 0.9402, -0.3883, 0.0366, 1.0281, -0.1709, -1.3197, 7.4188, 1.7265, -0.0562, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7052f33b435d33f24c43bce6a76064881caa63e7ad505d537eeeef610d6508b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc5b1b04e9551b99f5193b25aa40068a16963fe3ed4f04133b029e641150343c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bbf561b400555a2b433c747f0094fa9caa5a698190a5b22068e51e633cf5324",
      "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 · 5.801 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9398, 1.6695, 1.1557, -0.4885, -0.68, -0.6895, 0.9988, -0.02, 0.8108, 0.6067, -0.3931, -0.0185, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3289 left_y=-0.2558 left_z=0.1319 left_yaw=-0.0124 left_pitch=-0.154 left_roll=0.0821 left_gripper=0.9988 right_x=0.2944 right_y=0.001 right_z=0.1739 right_yaw=0.0017 right_pitch=-0.0365 right_roll=0.0038 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -7.2957, 8.4034, 0.9499, -0.5104, -0.0757, -0.1441, -0.1162, -1.2923, 7.0496, 1.7314, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9428, 1.7523, 1.0191, -0.2993, -0.675, -0.7078, 0.2029, -0.02, 0.812, 0.6067, -0.3927, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3252 left_y=-0.2539 left_z=0.0738 left_yaw=-0.0045 left_pitch=-0.1746 left_roll=0.0902 left_gripper=0.2029 right_x=0.2945 right_y=0.001 right_z=0.1737 right_yaw=0.002 right_pitch=-0.0373 right_roll=0.004 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -9.0872, 6.7897, 0.9792, -0.3443, 0.0659, 0.696, -0.0615, -1.265, 7.0496, 1.7167, -0.0317, -0.022, -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 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9428, 1.6833, 1.2533, -0.6273, -0.6727, -0.7158, 0.1763, -0.02, 0.812, 0.6067, -0.3931, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3268 left_y=-0.2566 left_z=0.1455 left_yaw=0.0021 left_pitch=-0.1904 left_roll=0.1034 left_gripper=0.1763 right_x=0.2945 right_y=0.001 right_z=0.1736 right_yaw=0.0015 right_pitch=-0.0377 right_roll=0.0041 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -11.0154, 8.5675, 0.9402, -0.3883, 0.0366, 1.0281, -0.1709, -1.3197, 7.4188, 1.7265, -0.0562, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7052f33b435d33f24c43bce6a76064881caa63e7ad505d537eeeef610d6508b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc5b1b04e9551b99f5193b25aa40068a16963fe3ed4f04133b029e641150343c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bbf561b400555a2b433c747f0094fa9caa5a698190a5b22068e51e633cf5324",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEVY11hzT0401PX0x68AGhEWeWSJpXS4bBtSwdgkIy45vvrIaCDNK7xwPzcMEz0v4Ky0SUzmwh6k5peJDNgMlB87bemlidI70Ml3LsvFdvye6QDGWDa_dOas3E7E6_rCLkmFbq9rCgrpN5qsiWLwOu33TARRmRIzq8c-eR0aCayTLU6TEdOsuFfM3V82CHXz2OJ_Fv1JBDzUSrgG5ESSo3P-kT2IV2OSEZGZMzFJT6p-Ax-pbpFIFzsOrsHIAPnOuxncTCFCAbMjW6W6-aJ2HkiRGdIm6SuigrdQNKzqk53AxOlLIjrhXy9hdC_2iplluwQP7yQ-UULVlWolMDCJCvhzHHvgZUJFKcTKvv28QXhvtXfXZfyLLCH89MxxXRt-Hdfb3Hyvfp_oQXiGanAudSPen6bwdLseL5FyBlnj-gSjVXqVv6fwX997aPkCHInxOhnIbfO2tv8j6T3iZ_lGQYKEZ6CiqhE_Lqu-o5hhdP4PtMdLByM9oMh8JBRF9XCmRIHxsXRjZKVzUoK0W7wtZsGVvtGGpUIJCJLyDlhSk30esWJy63xVrQlEQih-NYPcwrjTR4w0nnewnNbpE260v67YWT7LZc6a3S-BNDvjY9aGCkqnQXKcgpJ55duri2lIEqpbwVn9F4dX2UyxUoQb6cpCTDMXrPuQHEQw_RurI8jLpb28BZCE6gfKSqzn0q1Oa7TqaJDhz5tTjfpxMfaU2oMLgEUwF8lodaacCYuHBAem0IRimNnRAulHxVKOpK7Ixm40Z-PrQzCye3a-Hmyhh35ya7vmBWGH7IMYYLXx12jau39Yo0HJl_2TYxzheSd9cDJrN5rwNfCZzFBq-xKkC7d5QqfstphiaeBDHXnWz51mAiahGE47tzGFCLaw19xtmjzwA4KiaOsd1C0dsCWpCmcRoDuoTDpFY-vZE4WOs-Q2a7yBctjt7pfNpSZ2-TJfHZXp2oBDnIehmGX_1kmFj2Az62nzfBfbRajTa4rE4KjzATKkQxcYNczuTAe7XEkR8-gNLOUWbyBKGdotabLbzOCfh1Pp1HTqIlmLD4DFCyvYpJw7OkOnAaHUMTd1ONspgZe6rAm2jmON1lo50YSL1D-byP4ORpp2NHclvitRFCXxK6IRx4lrqvFyoxfXw3E5AmgDBGtVvptpx3zIWvCclNNygN9pHzcEI1xhdNDO23Z6U9wUxIbMsFgMMiFLKwRhLMSNZ2dhT5yOBZlrV5V6VshfIPkok7rhp652j5ZFHhHMSdwLjhNZnfcsc7_bJpEofnfMQHFb5Rl2n9O7iUkCWEGdRfWnfaiX4GtVCo0hIwCrj3BneanW3A_ycNjsJf3Eo2gfglKPJeAedmqkxc3bZK4ff3q9YxI8mymEZY7tLdM9IFNcPA3M13K9Ah8MmMZAwUGD0NeYfxukuGTDk8RRetpTq94nK6yjygWouAL8F-UCtyLkz9_yDJ7T41CRrXWSlrVTSqyDZVgMfR4NwRR2L3i0GjkBcAI-rssFAWqzUSUfVblWwz4tPUezjiTKn8POr3MJBroN7NM0zMOBdMleRvSDRpC2t19Ajx77WMfpXBIaJx-H05D6b8PYW8Ldhl64tRp4bbCRx6QZS5DZy2O7C3NQQNrqfRg03iC3Rm5SDJgGTXWhrwo_uOZxeh-borhl7TMAbWoQxNpAWgmYpN8e84UANVycI0zY3m20Q_OFzBz0rvl_xcrYdXc5g9RbS0F2FJSuBgbM-Z7i1AazdfB_TXZEy6r1K5r4gZxTnkg2W9zfcIqnves0Yr7qJ5QBNLTAYGcdhwU9A7S2wnjG_bqP-7-TOirVgxSynQ3gkgEHfUUA0PjBTIuE1TnHTdTugqXLSLlm_bdwtwC-MXp_bOxKCEt1cwhj_GekweTTmcYGN7Hz4Q6EnPjKZ9YsmKW6SrTzKeHn1oCucgXop2fHtsAd4DawUCmr7JTWvgPZ-CJ8LGLZdiFdmuXP_mUlUUnII-nSAFT3",
  "id": "rs_006d44f07b7fc7ad016ab44555545087d083269d396d301a10",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.15,\"left_z\":0.24,\"left_gripper\":0},\"note\":\"The gripper remains closed around a roughly 1.7 cm compressed thickness after lifting, and the bear has moved under the arm, confirming the grasp. I am carrying this teddy-bear type over the left basket with generous rim clearance.\"}",
  "call_id": "call_xBog4OOlRVmIkcbWcES4Z8ub",
  "id": "fc_006d44f07b7fc7ad016ab44557254087d08bdfe93b07bb361e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xBog4OOlRVmIkcbWcES4Z8ub",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4717, 1.7565, 1.6352, -0.7376, -0.4107, -0.3206, 0.1679, -0.02, 0.8165, 0.6067, -0.3935, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4531 left_y=-0.1479 left_z=0.2258 left_yaw=0.0462 left_pitch=-0.2078 left_roll=0.0972 left_gripper=0.1679 right_x=0.2947 right_y=0.001 right_z=0.1723 right_yaw=0.0015 right_pitch=-0.0426 right_roll=0.0042 right_gripper=0.9992\nstate[joint_eff]: [0.0889, -8.9641, 9.1556, 1.3358, -0.1685, 0.1978, 1.033, -0.1573, -1.7162, 7.2, 1.6777, -0.0464, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0422072add6c19e878693479a5b67b092076184b3999473cc517d4e0e855dedc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f1c402b9be3f3d7dfc7a4cbc1d2dab80051e00018169d3dbfac4aa412aff828",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:256aae9197c6e953a08586ca883ec3be49eecd94a52d8c9abeb1ce593d23d4fb",
      "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 · 2.677 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9413, 1.7428, 1.0298, -0.3199, -0.6762, -0.7002, 0.9988, -0.02, 0.812, 0.6067, -0.3927, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3255 left_y=-0.2531 left_z=0.0789 left_yaw=-0.0064 left_pitch=-0.1744 left_roll=0.0969 left_gripper=0.9988 right_x=0.2945 right_y=0.001 right_z=0.1737 right_yaw=0.002 right_pitch=-0.0373 right_roll=0.004 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -7.8154, 5.2991, 1.0476, -0.3492, 0.0708, -0.1441, -0.0889, -1.4427, 7.0222, 1.7167, -0.0269, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9428, 1.6833, 1.2533, -0.6273, -0.6727, -0.7158, 0.1763, -0.02, 0.812, 0.6067, -0.3931, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3268 left_y=-0.2566 left_z=0.1455 left_yaw=0.0021 left_pitch=-0.1904 left_roll=0.1034 left_gripper=0.1763 right_x=0.2945 right_y=0.001 right_z=0.1736 right_yaw=0.0015 right_pitch=-0.0377 right_roll=0.0041 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -11.0154, 8.5675, 0.9402, -0.3883, 0.0366, 1.0281, -0.1709, -1.3197, 7.4188, 1.7265, -0.0562, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4717, 1.7565, 1.6352, -0.7376, -0.4107, -0.3206, 0.1679, -0.02, 0.8165, 0.6067, -0.3935, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4531 left_y=-0.1479 left_z=0.2258 left_yaw=0.0462 left_pitch=-0.2078 left_roll=0.0972 left_gripper=0.1679 right_x=0.2947 right_y=0.001 right_z=0.1723 right_yaw=0.0015 right_pitch=-0.0426 right_roll=0.0042 right_gripper=0.9992\nstate[joint_eff]: [0.0889, -8.9641, 9.1556, 1.3358, -0.1685, 0.1978, 1.033, -0.1573, -1.7162, 7.2, 1.6777, -0.0464, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0422072add6c19e878693479a5b67b092076184b3999473cc517d4e0e855dedc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f1c402b9be3f3d7dfc7a4cbc1d2dab80051e00018169d3dbfac4aa412aff828",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:256aae9197c6e953a08586ca883ec3be49eecd94a52d8c9abeb1ce593d23d4fb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEVejOYrUGxjhejxBwU36yOAc6pVD8jFoqKrGtS9gU3xxT4S7swK74DgYQz74yJ3b5kWXJWpcSG4zSn-_Pi4GIzPml2-lodQ2ZRJ87QKYYIs5AL3J2rXIRBF8LKD54LjuQ8LNlMAaVUzBRv0Xy1DpWQnbUo17DWu7faR-4f0Wtwk-lGPk1XlvL5mvz4wS0d_I_fSNE-JZJDhSFrYh-BWZ9SwzPO1pOG5nUOtuIwTUUtBx32K9kRMvxybN2p9pWte1ULhBxRM1-w0KpGqMYF9P2DzgnzKkHcICJF_w8I5JHoXidcWQjbBL36sl6svIns5RWlBGZukIwUUqGo00IZFPCZ3fGtKWBQpXndAGZs2SSzqxp6h1y93vzfzpgSI8kmg8b5BqaVTfpNJLFb-30uVaOpot08aq8V3OCe7R6uV2n72ByRMyyK0jbJzcoshPNTy1V0os7c0xlE1ytjz6LCXQQ-qjnbkG3r7H5ylEyS2iKKGEZk_vqKXvM3Nqok85uSotkU8vze9AWIQpbYXFbKMN4Qi3BXoSvhOmTMLD9PYpIHA9x5ZbaiWBLijsYcdmIKcGoVh1A-TznltoUCKqV6C0dAdinNDZrTsHu9QdyGTyWR9kHiBzHWa67MCj7tAffUN_2x1lGnvKqxS0qewYZ9GyoVHOmleFme7tbWeu3rIFkGL7MlhvN2YdpaK5bSvOYhnFZLdh206A3Kwj7yMcCAiBAMWTNimkAOjDB--d_N8haYdoJtleEnkkaxZFFV8vnfMVBsCPNQ6YkDodS_JW9oSuSn76EX0R0xYmihCcYKT6sR94Raf6pCwqoGO55Okmqoem7vJnbpV9BCEyaS0pp0BLRh1vPtKohvhY53M2Z-w9Rc1CWv4uH1o_oS78WxH7vf-COCGMdFf3Id9WnxeUrH4h60yVA51HKK0dajraNBfWc7Vm6d9JxBJHYVDEB02OQE0QEXwzdgXU5JCMEkPi-t8T_1qIJfxB4Dh5GvEvGf5Cz3xCxR0nawMtm7vDh_M_gFytPOEMBXpVGS8bRE1L-xlIyg-Xo8lJs4eee9GEADQn4I5T1RGsyemXE7yPe17XDnVG62yxYX0DrfDAXSNf2nzQR7uMHorLv8A2vKIPaGhHB7QvvPLuoEQMlis501oeYz53ykhixN1BS7DXhtcVqbWDR5LQ9i3IkaGk3oSAZnPjx39AOrciCc_F9TFkEmHq0n0Q1HsW7Vv30YHeS3Fnd7XOG6Fue5p-UyhPy-Qb_f0csS1rCh_CCA2h6cu2xfG4ZCvgpSM0X9g3AkZemRVcHeTA4XI7gElkyBeXUVGeCevUxpEI6n6xglzKLeBkozxfuSugFJpWLCYYR7jNj8KCNErBO-zQaw9hBl1AQGrC8oIptMYt-ovMqzKqeOwCguR-s7kBzNKWIBA0_1bZ8gntp7jYZpTzSz8qPpitDWDmm8R-eDUtTAKWSYQ8GiRnyLN6G0az_MBRa6D6y6uttkt-FdXmjTju1U0wn_CiZUq5xIzPqs1lt3cv2exSCMV1GkzyXa4wv6-lSjXlS4_48MimTFHn11YqPu-VEi8H_eZbQdbQ3tnMu-dBs8iUKiatolTEwsh4UnUsy5O8EyykHiggUBQKfqSxjfUtxOoYACxWmcUnkNIF6t9inrJaEhQ14Vq33I4gsRIWN_yHcnwIc9YPHYVvFMBnBvQgwa1U5Hj9uHpNufxb6MaRhRh_palHQQVX3szklVxEmIPR6nRLh-6tBZCck9Y0ubyyNg3mFKjnNFl4WAMhu0qHOWpiiEnpkLK71a1fo8BvFY9qrg34KcA1wCEn3RZufi5ahq08uDyTCliV69R2-QcIMc7f1T-QluF7tgmE-4f9Sc15-dk1umtD-1H-p-39NP6VAcxNMnrNaX8yEAQUdpgEG92Gh2k_WNCUMDxl0LTDKkBengfy40kODvfnJWHJ15E_6XNLB9b9U1WmE_UWLcBYReJXQfxb8V_UzZ-VE3CXb52WzfNytaGsgCystPA3QvmMHe5uUyx65XCCs8l9qfzRErsP5nfw7H-USJO__cyPqM9tzYhbs7hyGOiQknPJYHyWBPEZXLwBSLNuZQxOlJL2I-j5zMWx0D8yM1NPMLQfazXOFCKSst2ohJNDkMRkXay9j063HHdPf1bhHkF4a9oVtEFm0UXRV72jzdhxnvFJDAnZELIdZYzkvZN5-TDT7kIh85W3-tbE2xQHr8vVTeR_PblGAQi-irRuiGGkhoV7HmBvnxC2bntB7EgRo2MogTDEjN935kC5fJ5wlQ6TD-wZqZ4hhIbM0JD12EmlqsIy-gD8ym-l8wXzH7XemAbKSD8BCAwapriaxLys1MnW8a0CgmPkje03gipO9ygmbSEys57WtgVlv2YQ4p0OcAhBK0uc-8nNK0LyycdC8d15wC-KBhlgVrSRJHX5FMhPjYT90NDFCJuE4bnj9YrC-X2pWyO9gK1tzSzCbZ2EjV7Agga0DtDnIxXS0gb1EwgQrHTKKNpIJHaGem9MPiXey8d8r15OE0h-i7nzUmhY7dFFhw=",
  "id": "rs_006d44f07b7fc7ad016ab4455b891087d082d22032e54d7ab2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.06,\"left_z\":0.24,\"left_gripper\":0},\"note\":\"The bear is visibly carried, but the overhead and wrist views show it about one gripper-width to the right of the left basket’s center. I am shifting leftward in the arm frame to center the payload over the basket before lowering.\"}",
  "call_id": "call_KHwPeIo7rtcBP4r4hshwr5g6",
  "id": "fc_006d44f07b7fc7ad016ab4455e103887d0964a4af015b303f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KHwPeIo7rtcBP4r4hshwr5g6",
  "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]: [-0.2462, 1.6848, 1.557, -0.7361, -0.2749, -0.1749, 0.1677, -0.02, 0.8165, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4555 left_y=-0.0613 left_z=0.2202 left_yaw=0.0814 left_pitch=-0.2624 left_roll=0.1074 left_gripper=0.1677 right_x=0.2948 right_y=0.001 right_z=0.1724 right_yaw=0.0018 right_pitch=-0.0419 right_roll=0.0044 right_gripper=0.9992\nstate[joint_eff]: [0.1026, -11.3162, 6.1333, 1.6777, -0.0269, 0.1587, 1.0281, -0.212, -1.3744, 7.0632, 1.7411, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d38c0948a4e8a572a290246e32aafa2b2bf0df395ff70f0e14686de859dcd8bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce840834d26fafff948e50ec1aa42e93fe4317904b3a5a4aafa511f2c6dfdab6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:777b8f37e17cf60377dcf75b6baba5243f28f39e9d3781b1645f0991aa8ac0c5",
      "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 · 4.02 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9428, 1.7523, 1.0191, -0.2993, -0.675, -0.7078, 0.2029, -0.02, 0.812, 0.6067, -0.3927, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3252 left_y=-0.2539 left_z=0.0738 left_yaw=-0.0045 left_pitch=-0.1746 left_roll=0.0902 left_gripper=0.2029 right_x=0.2945 right_y=0.001 right_z=0.1737 right_yaw=0.002 right_pitch=-0.0373 right_roll=0.004 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -9.0872, 6.7897, 0.9792, -0.3443, 0.0659, 0.696, -0.0615, -1.265, 7.0496, 1.7167, -0.0317, -0.022, -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 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4717, 1.7565, 1.6352, -0.7376, -0.4107, -0.3206, 0.1679, -0.02, 0.8165, 0.6067, -0.3935, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4531 left_y=-0.1479 left_z=0.2258 left_yaw=0.0462 left_pitch=-0.2078 left_roll=0.0972 left_gripper=0.1679 right_x=0.2947 right_y=0.001 right_z=0.1723 right_yaw=0.0015 right_pitch=-0.0426 right_roll=0.0042 right_gripper=0.9992\nstate[joint_eff]: [0.0889, -8.9641, 9.1556, 1.3358, -0.1685, 0.1978, 1.033, -0.1573, -1.7162, 7.2, 1.6777, -0.0464, -0.0269, -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 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]: [-0.2462, 1.6848, 1.557, -0.7361, -0.2749, -0.1749, 0.1677, -0.02, 0.8165, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4555 left_y=-0.0613 left_z=0.2202 left_yaw=0.0814 left_pitch=-0.2624 left_roll=0.1074 left_gripper=0.1677 right_x=0.2948 right_y=0.001 right_z=0.1724 right_yaw=0.0018 right_pitch=-0.0419 right_roll=0.0044 right_gripper=0.9992\nstate[joint_eff]: [0.1026, -11.3162, 6.1333, 1.6777, -0.0269, 0.1587, 1.0281, -0.212, -1.3744, 7.0632, 1.7411, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d38c0948a4e8a572a290246e32aafa2b2bf0df395ff70f0e14686de859dcd8bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce840834d26fafff948e50ec1aa42e93fe4317904b3a5a4aafa511f2c6dfdab6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:777b8f37e17cf60377dcf75b6baba5243f28f39e9d3781b1645f0991aa8ac0c5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEVigLqUf2QyGfci4H5rlfEq6YNOA3Bx1c1sG2lBHJGbrSMf9Qa9hbcrygGF4KRC1t6FLyfjSU-wxkklig1vcmVELxyYj37vGzE9oh0QsyCd8zvOdJhOqGvibU5Vm5Am9mEJRRSF2l_bSP6Q-aXSseTC_y95KsLVOIzUqpi-naD-5f0msjG3CFidvZddp1oEJ93vf1ne5L7TVIbsvqWcS_oXgChYFk7f6HPtyQnECbwBRnWQmDj76FU1GS2u-8WlPC9mZl00HRAlwZ0zUm-aHb3LN6jZvQmJYu8wlM3e_sE6wXUyjXZWJMEtreNRCMXMubAqeyBkUSyVHldsDlaniY9d2qYGYMlwnlL8y9rSV6W2ww3HvcpiEdesR4Euko4c-aZnMED-EYXhtwjs7M3nzHraoMSIZ5ynj9mg9vLREqPhDHIdm0gvnVcZJ8T3h1UbpDzVFNsrVJsH6cx04OhI4NdWA6VedLd16csvzBxTPPg8b7gLRR6_R6xGAmAu-gB0i0EYyzxfoGlwcfBN7wthhY4e8Iyc6Na01dSJ3qmAuu3Q_nwrFCtxJqpZRVywZODBPO0_5hQwFpEMYQUv6T7PJSCd3Xcgr7yP98R32FfVs5a-EfVu1j2zrxTXnWlFjZkHY4naXZOTYlEILup8Uoo5R_UmpGMN61GQuOPvXevggMMXxae15eC2e9NURJpQpLs4JW94EB0CD5rGruKDnkzB5XmfEho2XlLFkPx-tNCWojAnGV41ujpxWtNV5hY8cetEFenLk_AxG_ohMrbP_E7TLFLWw2jCcW5_r-u_3GRLmaXHTaSTvs6xZmw13nVq90V1xvaucMvxpVVQfYNX7qm_wtygejM3s35BUnMkvkhnz4cPIHLKfDn1ozGke3uyK7AIndtNYAlnmXWlNkkt41qZ6I2Lejj4QiR1f0iuOE66suSfWj7pJuQAVtq7hQsVKLQS1ImdLsJL5Oe_yuq4YF-5CDgguDiNPqrh4ef88VOUh9AB7gW43tFyZIaTz4WnNXw0pfSknzGsyuqMVEiWwXk0kmrsQenWLOdHrydLKWKfIMLzZpZ645uBpQS4oleEWlDlfEhE5vym4qiAK2GlO-OlFRrWXhhzjagxmqfYK2ALwFkfH-1J5AzrkogMZJjgGzVcTXN0CQnAgWeqY-Ez0TG3AZ6QEOYw7Pcs0loSamaCse4izNhRWFtk3XZbx0G9Zhe22G1iWTWYF5eqx1wlrk0gLiKhEZIjDMDsW7-iU2CkoYcLM5ToX-IzeqNSLZdR3ljAzwAprIR-UyIDwxns1igaW3LaMpikxMuBE7Tujx9a3JCHbL4yT9bAGbg2Lot0OnaPo7Y_PJRoNc_0NzEJazkdx4nHRi8uX6RNKckuxfao55iGNOZKyNuDCfDSfJ2XRTXljNC3EZJZx9GKI0igijZMhEWjHByzdV3tPrpjKy4sNb8I_z1i01eC-aIdXJMzTg0_SMeQDnjB6enxjc1akLfgy-tel97m9xJuBuebcmCHsbaGDbMNwqER6rJ7hCmxd6wwLKqL95kJMhdt-5RLA6BpzwzCWzgFJea9_ryZmSWi9YEP42CYQlLVOgsssvwTVPH4mY_Uea5ixNZRh53ey1JEM_8lCXQS_fAX9jV63hsXTpPS2vo=",
  "id": "rs_006d44f07b7fc7ad016ab44560a10087d0ba22631b15c75d7c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.061,\"left_z\":0.105,\"left_gripper\":0},\"note\":\"The left basket is now centered directly behind the held bear in the wrist view, and the overhead view confirms the payload is over its opening. I am lowering into the basket until the bear rests on its floor.\"}",
  "call_id": "call_R34tzI1WtOmlCYxwQVjPZLuA",
  "id": "fc_006d44f07b7fc7ad016ab4456196e087d0aaffc7b5d89b63a1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_R34tzI1WtOmlCYxwQVjPZLuA",
  "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]: [-0.2466, 1.705, 1.1778, -0.3359, -0.2684, -0.1753, 0.1664, -0.02, 0.8185, 0.6067, -0.3931, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4522 left_y=-0.0618 left_z=0.1197 left_yaw=0.0757 left_pitch=-0.2632 left_roll=0.1021 left_gripper=0.1664 right_x=0.2949 right_y=0.001 right_z=0.1718 right_yaw=0.0015 right_pitch=-0.0442 right_roll=0.0043 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -6.3521, 5.3949, 1.4139, -0.1783, 0.0024, 1.0281, -0.1026, -1.4838, 7.0906, 1.7021, -0.0317, -0.0366, -0.0122]\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:ce613e595ed0e420895e06f1f4377840b85ac4d984ffb2ca060554dffe09494b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dfaa2018ef0197a59ddfb006b3f8a7e330b466f190a70d0a62f361e15287012",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19bbf2e93cd66433e7273b461fa79f741226e786ab6bbd1d05c3a8c183027675",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 2.119 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9428, 1.6833, 1.2533, -0.6273, -0.6727, -0.7158, 0.1763, -0.02, 0.812, 0.6067, -0.3931, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3268 left_y=-0.2566 left_z=0.1455 left_yaw=0.0021 left_pitch=-0.1904 left_roll=0.1034 left_gripper=0.1763 right_x=0.2945 right_y=0.001 right_z=0.1736 right_yaw=0.0015 right_pitch=-0.0377 right_roll=0.0041 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -11.0154, 8.5675, 0.9402, -0.3883, 0.0366, 1.0281, -0.1709, -1.3197, 7.4188, 1.7265, -0.0562, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.2462, 1.6848, 1.557, -0.7361, -0.2749, -0.1749, 0.1677, -0.02, 0.8165, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4555 left_y=-0.0613 left_z=0.2202 left_yaw=0.0814 left_pitch=-0.2624 left_roll=0.1074 left_gripper=0.1677 right_x=0.2948 right_y=0.001 right_z=0.1724 right_yaw=0.0018 right_pitch=-0.0419 right_roll=0.0044 right_gripper=0.9992\nstate[joint_eff]: [0.1026, -11.3162, 6.1333, 1.6777, -0.0269, 0.1587, 1.0281, -0.212, -1.3744, 7.0632, 1.7411, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.2466, 1.705, 1.1778, -0.3359, -0.2684, -0.1753, 0.1664, -0.02, 0.8185, 0.6067, -0.3931, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4522 left_y=-0.0618 left_z=0.1197 left_yaw=0.0757 left_pitch=-0.2632 left_roll=0.1021 left_gripper=0.1664 right_x=0.2949 right_y=0.001 right_z=0.1718 right_yaw=0.0015 right_pitch=-0.0442 right_roll=0.0043 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -6.3521, 5.3949, 1.4139, -0.1783, 0.0024, 1.0281, -0.1026, -1.4838, 7.0906, 1.7021, -0.0317, -0.0366, -0.0122]\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,$blob:ce613e595ed0e420895e06f1f4377840b85ac4d984ffb2ca060554dffe09494b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dfaa2018ef0197a59ddfb006b3f8a7e330b466f190a70d0a62f361e15287012",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19bbf2e93cd66433e7273b461fa79f741226e786ab6bbd1d05c3a8c183027675",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEVn6jBMYiOnLzbkRESDVhUiabmiGkDlptM0cq6hR4xloXvHBDTiVsE7UHn643y-bsvdqChdVogtw3cBGOW8zY5-AfVHHtF7zgxYqeDSjWEOGC3xkx-WkARo5h7pfvMPHZAVcj6sLRFD2q0gESj7JQcgcoPb3ELG0EeeocrSrVErYa4H1wgR23rMMdcHKGu_PG_oF9N_O7kI_2Rs2vrcRdxkhQkLtWbJIMptMIdhGfh0UMo1T0kl4H4sLVXWru3OtmQpQxNxW5kzyjl3_HugbgBwfnxfZk2atPaw6aqdNpujmTlUdB6tUb6jzsZHVtwvPALIACERzejdFZH0GqVCD9O_GUrZzmjW6vKD6ZY-xelS-SgEqGruD3UkHBRD7gvwE3zIX9stROF7VG_L5L07km4ayjDJGYCdrMj2IyVQ8BtuqKAMCDNqqoQBsDrQ_BMTwlBuq61sCqan9ZrWnp0Xjdvsec-7aNoxIHaUO72hQnzUbehQkLxQ4cwIRkpf1Ics3YUcqG7Lh4fPcrfXyq7xMT5u233pcLIRyVl-AcruAsxkJDCiT7_TmgDcNR9GKcjvi5U7AADyt_0wt5IoDkDuIc0p0-vvWO_11rEI4Lull_zSX_igIMoVfaZt0wILYujN1zzCu5C-OL7Mf1nfg8s9YpFDfAMt4VFJk14rxbEpHvB2u3ADCJPreUNULVXFsWlzhjIzW-j15EUErp8Rhn5n9m7opYHsH2xzkdpZijltInpwy-QhWAszzqUAHeX6ZbzM6DgfjZv9fMdhhGHh776bDEW-STRkYKbAe_2GtFAgAuRyGnGR0Z74OYo9L440a_zEIeQ4Jw-9ouhpsfrMj3bb91zIGamvMA8w6WRGmD98pc5yAkLIIiyiKquGqtKozj1NWwRHgfKJPVDM-2IREM-IbvaC9XVvDRnBchWbFbyoeZRT7PJFTD2hyEGOXzK7ZzcMdvJiZt-bDAfN6S2I7E7R3EXvcbdsBVqWB0acwvwtGkzeCXk7-JBNN-RnqEilRmLdsE8PWcs4lyHXx132y9P9tCy8KMo8W1kbB1epleDH9vUikrxFii2okJQretokg70tiQGrlViuEs3zFZj13sNeYGldXvkxRZUlunEtbzmFtcoNJmhXR0eC7nnJ01Oa-Qw5ZTCr0-hDyoqg7SzvJHKgxWlg9D1Qw4QKa3HDVIgqeahjbtW2vINC396Z15NrpAOJmSV0",
  "id": "rs_006d44f07b7fc7ad016ab4456661a887d08c72848298d975bd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The bear is visibly inside the left basket and supported near its floor, with the arm’s descent stopping slightly above the requested height. I am opening the gripper to release it.\"}",
  "call_id": "call_hHIjf8iS1SoCuoBFZCbTiEwH",
  "id": "fc_006d44f07b7fc7ad016ab445667b4487d08367461cf5459a92",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hHIjf8iS1SoCuoBFZCbTiEwH",
  "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]: [-0.2455, 1.7161, 1.166, -0.3237, -0.2684, -0.1799, 0.8954, -0.02, 0.8185, 0.6067, -0.3923, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4515 left_y=-0.0611 left_z=0.1121 left_yaw=0.0803 left_pitch=-0.2731 left_roll=0.1024 left_gripper=0.8954 right_x=0.295 right_y=0.001 right_z=0.172 right_yaw=0.0018 right_pitch=-0.0434 right_roll=0.0045 right_gripper=0.9992\nstate[joint_eff]: [-0.294, -9.4974, 7.4735, 1.2869, -0.1929, 0.0073, -0.0708, -0.1983, -1.3744, 7.0359, 1.746, -0.0366, -0.0562, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33da87cc29f0f3f1afff0434b39f4fc34816c952e528da0db2da2e4c6dfb358c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:636a827845d338f70e2d735ee29b2bba27ece6d3d2964a3dc2fa80d355b92e61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e573494dbe5c48ed3e99f22c7d5e1ab3afe943776f88d3909b5ab0a08075771",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 7.388 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4717, 1.7565, 1.6352, -0.7376, -0.4107, -0.3206, 0.1679, -0.02, 0.8165, 0.6067, -0.3935, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4531 left_y=-0.1479 left_z=0.2258 left_yaw=0.0462 left_pitch=-0.2078 left_roll=0.0972 left_gripper=0.1679 right_x=0.2947 right_y=0.001 right_z=0.1723 right_yaw=0.0015 right_pitch=-0.0426 right_roll=0.0042 right_gripper=0.9992\nstate[joint_eff]: [0.0889, -8.9641, 9.1556, 1.3358, -0.1685, 0.1978, 1.033, -0.1573, -1.7162, 7.2, 1.6777, -0.0464, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.2466, 1.705, 1.1778, -0.3359, -0.2684, -0.1753, 0.1664, -0.02, 0.8185, 0.6067, -0.3931, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4522 left_y=-0.0618 left_z=0.1197 left_yaw=0.0757 left_pitch=-0.2632 left_roll=0.1021 left_gripper=0.1664 right_x=0.2949 right_y=0.001 right_z=0.1718 right_yaw=0.0015 right_pitch=-0.0442 right_roll=0.0043 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -6.3521, 5.3949, 1.4139, -0.1783, 0.0024, 1.0281, -0.1026, -1.4838, 7.0906, 1.7021, -0.0317, -0.0366, -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 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]: [-0.2455, 1.7161, 1.166, -0.3237, -0.2684, -0.1799, 0.8954, -0.02, 0.8185, 0.6067, -0.3923, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4515 left_y=-0.0611 left_z=0.1121 left_yaw=0.0803 left_pitch=-0.2731 left_roll=0.1024 left_gripper=0.8954 right_x=0.295 right_y=0.001 right_z=0.172 right_yaw=0.0018 right_pitch=-0.0434 right_roll=0.0045 right_gripper=0.9992\nstate[joint_eff]: [-0.294, -9.4974, 7.4735, 1.2869, -0.1929, 0.0073, -0.0708, -0.1983, -1.3744, 7.0359, 1.746, -0.0366, -0.0562, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33da87cc29f0f3f1afff0434b39f4fc34816c952e528da0db2da2e4c6dfb358c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:636a827845d338f70e2d735ee29b2bba27ece6d3d2964a3dc2fa80d355b92e61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e573494dbe5c48ed3e99f22c7d5e1ab3afe943776f88d3909b5ab0a08075771",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEVqHMHhy7jHjPB5-zHJcBf-LoafvYiH4aJUa2sU8LjxkOqQshjegmMUd4NJSZ7yqCTkWgo4OU7Kpm54uGaPQ6nv3F8vkbqODIPJFYWY_nTPQB7-vQAP1j1ks1QbbW9_IpUVbXziNSp6h3kkxrQWUWPy-nA_lQyk47nXPXDCMTAapCpy1Cd2KTrvhkiDDdT1XnHMunqBtYBOm3TYayiUB5lOKKMT9LlEJ-iJhiaJvfg3DBu-504NSnbORN7rklYOOv9Z2P__LVnknBZhkTLdk_DlcPho5H57TkJ8QAZkUAd4fWOg20AEcQfziofU3lU8NzRhX1tCf-PKQgwXX20op4gtWV3JBZoXDzr2BdLRSOjoX4umGUS4EGS4yjuHQpaBAhqGUi953R_ZfcjfDpQHV5hN6HEpN6bdMGjAnmHZdiVtYa2JvxtmUfcv_1iSioxXztflTyrdCbWon98wHbyUk11uhfbUHqBZc1V2HNo44p-dt4V-QvTExrNZm2oMC-aZ0afJWp0PFLqxoPW6zOxD2-uI0pjwIC5gblcF5Q2XHycHBFXsDMAgD9J5URdN20CBxl5pqtdDkOcCULwWxSExTHLEssll4QpzfP79UTbZ543ClzC0hdxwOq50et92YWMJ_GBzOrjZllyP5kdIaFx0xunDtcj9w9m8YmnpJYxMIuXxeUAtyWga8R05lGtH0UIvpUGvEUMAllsf5QUrys_xe9fK-3Jv7z4uAyVh5xdGyCYIV7sJDSIBjtZAzv7Hz7qU9I3lN0NTOUnlqWb4o79pS15-U62zgAcao2X3DDRDnTKWGboPkh_0k1ibV2oeZIKFiHDwCkgBFQc2HpsHUWdByJnbj7JhGTBGDihWx9Lpm-QbzcSkB_1b1buYPq70pw-K7CqYqbPdtIsRUUlqbae95ZTo93vqV5cGLUU85aPR4KoVeWFrJHDod-t2y4jpBXmgVId2zY4I3y0wspm1XTG7c1tMpEqZEsU0Kt3gfcdUxG0IupAq5669OtCPJ9dNWOB3QrF5X00qBw6Ch78cKIo3qoFn8sQBLopMv8PPfhYQbGngBRDnLn8JP9ZYkTFJvoqMFnQ65AJY1awEeJbkUt8m0Shk99TZL1qYEoMoPkZXzu79i11siD4J2tp7IYGpKWJXOAm9zXGSQ48xZjJN7B-RcSRVKx9Js6aK9KBDvdFW3U78Hu4jA4sjpCGGnmaEQDWswAsc7VQSZpcOqu_ZFrgIq9qOjt-Kdcwiv_cV5-_JEfSgK5oTHOofe7_QQPkWYIV74fI6MEcizCf4YJnnvVrTXocV2wmj_QfThWodZeWIq3IokB0=",
  "id": "rs_006d44f07b7fc7ad016ab44568f99887d0b141790767738182",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.184,\"left_gripper\":1},\"note\":\"The first teddy bear has been released into the left basket and remains there. I am retracting the left arm to its parked pose to expose the remaining toys for classification and avoid blocking the workspace.\"}",
  "call_id": "call_vNFaCZz3minx64JtbR8DSKrn",
  "id": "fc_006d44f07b7fc7ad016ab4456935a487d085061f7b602e1002",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vNFaCZz3minx64JtbR8DSKrn",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1322, 1.0576, 0.9119, -0.6697, -0.2066, -0.1108, 0.9984, -0.02, 0.8249, 0.6067, -0.3923, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3107 left_y=-0.0011 left_z=0.189 left_yaw=0.099 left_pitch=-0.2331 left_roll=0.0889 left_gripper=0.9984 right_x=0.2954 right_y=0.001 right_z=0.1702 right_yaw=0.002 right_pitch=-0.0499 right_roll=0.0043 right_gripper=0.9992\nstate[joint_eff]: [0.3761, -3.3436, 6.1744, 1.4969, -0.0024, 0.188, -0.1734, -0.212, -1.4974, 7.0632, 1.7753, -0.0366, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:101b7013582a1f4155db408944202751c5c95268c8edb3c137d25be4df5dee38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:755f4f4fd5e6d6e0966ddad45581d8b95b3d54449616d96fd83798b9772b83ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efe9b9f029ee6e233bee3340fd2f9adac980da51f25ce80f5f505c4970b036b2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 2.136 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]: [-0.2462, 1.6848, 1.557, -0.7361, -0.2749, -0.1749, 0.1677, -0.02, 0.8165, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4555 left_y=-0.0613 left_z=0.2202 left_yaw=0.0814 left_pitch=-0.2624 left_roll=0.1074 left_gripper=0.1677 right_x=0.2948 right_y=0.001 right_z=0.1724 right_yaw=0.0018 right_pitch=-0.0419 right_roll=0.0044 right_gripper=0.9992\nstate[joint_eff]: [0.1026, -11.3162, 6.1333, 1.6777, -0.0269, 0.1587, 1.0281, -0.212, -1.3744, 7.0632, 1.7411, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.2455, 1.7161, 1.166, -0.3237, -0.2684, -0.1799, 0.8954, -0.02, 0.8185, 0.6067, -0.3923, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4515 left_y=-0.0611 left_z=0.1121 left_yaw=0.0803 left_pitch=-0.2731 left_roll=0.1024 left_gripper=0.8954 right_x=0.295 right_y=0.001 right_z=0.172 right_yaw=0.0018 right_pitch=-0.0434 right_roll=0.0045 right_gripper=0.9992\nstate[joint_eff]: [-0.294, -9.4974, 7.4735, 1.2869, -0.1929, 0.0073, -0.0708, -0.1983, -1.3744, 7.0359, 1.746, -0.0366, -0.0562, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1322, 1.0576, 0.9119, -0.6697, -0.2066, -0.1108, 0.9984, -0.02, 0.8249, 0.6067, -0.3923, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3107 left_y=-0.0011 left_z=0.189 left_yaw=0.099 left_pitch=-0.2331 left_roll=0.0889 left_gripper=0.9984 right_x=0.2954 right_y=0.001 right_z=0.1702 right_yaw=0.002 right_pitch=-0.0499 right_roll=0.0043 right_gripper=0.9992\nstate[joint_eff]: [0.3761, -3.3436, 6.1744, 1.4969, -0.0024, 0.188, -0.1734, -0.212, -1.4974, 7.0632, 1.7753, -0.0366, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:101b7013582a1f4155db408944202751c5c95268c8edb3c137d25be4df5dee38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:755f4f4fd5e6d6e0966ddad45581d8b95b3d54449616d96fd83798b9772b83ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efe9b9f029ee6e233bee3340fd2f9adac980da51f25ce80f5f505c4970b036b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEVygUhO44vJsiTeUiTnvbjBtRBlMHrSmv5CpNbTEiBdRtRHTSTx3LrLsVBpbnXBFMbQu-CQsH05tjb2daESg9LzhRMhOJagJrPX-FqrI001m1XB3KPntZ5SjBaPWPXJIIkvDhnt9cdpGbgtqEY83rRekmOqyg-gwSncchG3KfhVQEHBVv_HT1A9N9Fn6l69Z_7pMjN5iWFduy2IyqCUllA7uuBcqpqXiHgH6Th487e-PgZOYGE-ZD5HoOR5bV2xM3bq1jJWsIv7RhlGIMUOK9rhE_Sj63siZgP4RJ_LCSFzZ5tkQT9Hs0SyTwSCSRc_VH8V893kUE78AV1fPSKjugZpqmuY-ws2nwKD70a7p-ktfWsCAPB0gJVTxxGeyQazBBRfC93cOkaTldy8NWv8aUpzViiVnRCEPa8_z-aUK3aWSMDrp_iBB6CoR-DauOPpKe3eZj7kuAMC3ifV9gP3dx4pI4FDbwTauI79R0wEW2wk5Ubc3sF7c9PZS8H3Ddu570QypJyyuZfR1_F81J_QwEPNdEe9JvSjDMZ6ndpSygLY_mgVs17PSwXrur_bqCyB8gtC0mdh4sKsD76iw3Ob5zVgWkgRHlDKlJrEBYpJbNsr1PMtDrFI0_xV-rknBKAH2_ArfKkV9DNP7vq3uy2GYFZsUBlHMqwR27l5Uh4tcGbRQrcyPzLDZoAISs-yf0YbULlWtEGtwM1pJkqfl3FrwBp4tskD9Ln8TZsulAUTtvrBiN7zN_Rnw2tmVApnDaDr-_iwXGcdblXux5r0jHDLWWAEnkbkYQjTbdMSJEYPF9jn9LrmVGvNSsqTEoqbnk6as4bAuToNmCaxBoGk_K-AXDd71dZNtZhQSNq9TPEZHyANZ2A8Mca3ARqi4T1h7lywHwzxExMsY3EglIVPx-Ie9ORZVA9h2LBWwGvdx_v-oMYM_31hN7JwnSBmTou7zP1lLHlaB7K7MiAEQ_9xlyE2d7RvhghOny1dTqx8jLKxBypOwdkYTXJs1L_f3fXgfM359jOEyoPkc9aJfF_LstqXuF43P6o9GJqfXFYgTu98Mf6F5OtnxvY_8V35psFiQUljIAqieGjPwZjW2CmKMNbExRXjk6-_lfYcPhprBUSrjplskN-J4VQjC4tCOrPNFIJJsj-74KieTg_9u05WfqRWCiNAv99Bnjqt_W4T2U2l3K1B7-Vys5KnBHePjxnSQUid5s4TNSo1MGVyy3HeaS1AOBce3Hx6E86UtnxJKI05y3J1zq850LhYIjiroAoXg4Yue4-zjqgQfC9ktWdgNirCemlaE1cJ7TvNNtnJSZDdqMiNTTznRyggunvB6l5zCizRiP_jXfxH0JlTOKV6S3OFvUlmtirDL8MOGj3JlrSa6h_92fOCcCdA-9d1eOnelF5unbo0p0egTd7tsDHCtc3RxYw1Jav_rXPUTLF3o5FdJytUY7qJ1p181GbkHlhsHKXtd3HEp8-2aGmgNo1CpUCcwt6fz4DFwcpCjQgnwwQFkB2X8kBmXHQGUsApltTGEXdiwt7otIL2b1ePhQz0nZSdorePME782Fjz7aq0VvE8b7H9J9JgG5_z2M-A4_piqwoiWwiVpPOLkMCfP8y4sFA7npzjxUA1D5j6Te25-iEKgdk5wMpjG_zjc8pgMH4lAHpgbcB1JJbdqItQ_AWPTBr-RE_itXioUheVHKwUvrOntKdkf4un0LrLKuKuM74pbHQk02Wq5TFnS0FiaqpnK7PHbq_-NmAUSgqg6th07e8AU5-8tePEzs6i41r_OvokPaT_esjuH_NAUWRxAtZYgXLPZ-TYP9IMyHp7N5ElnCBvecgiEboDqRvR0RGORhKYqed4okkGaPDsbbqyOfqwkCVPfvJlH2wE3mBxfamOez7K7p14D3aJimRHIOZaJ04krv0i0RdJqdEU-jovywHJW6vV7aV68Tka3wixeyAGtlIO14Mmc9TE_cgb_XTsUFcdm969aRaQTaDUrFlHJyvQOpRGltlJ1udUSRjmyLlhMyomFE2d5IgBu63DdK4qLacrrRS4xkBoJqH_IAt0IjdlzwxxZxtXEJRNg9pj_hAfJZYUH23O5cedmRwwKu4zyUD752xjm-o5MfbLSzjsWlw_r2vhLMSlSAgYboNpLVq_B_DUdyrn8H0SOEzBe6-_uEKQvcAzXxgS6_Cqp_a8sCNxkrscG6ZeGQD6IzrZqMchyJkWkAn4JkLG52jP0F63nC3roW0uNrl2lMGgpilr7p1Exgj-Mum1l8BiS8oqkKT1wEzzxgaiUu8D8KNPQHbiUqENKpuclN8QvLToTBQrKa1LRIodfsQmwdRTJ3L5CzMihRztNix_AUWq9_KMqfPEf7sV5eu5ZX1upU9yMP1vXdjIIA4nXsPlmEOpnG1lKto4GqLc77bPzA1erwNJ7BToW4DwPbHAkqsD0J3W_xhNTVLnpqPTc5Gt_PqwbvP-4EDZLyTYyl9-dcwtar8PltsDWTO3pe_w9U1OOxbsfFPdmk5QvGANXsGcWxAnQe9C18W4biwJ6lOkpQuPct9xBeWwRrYmWZikpFZhjWPI1hfr59xPoSD_vxD_4Qu-vd7YaqULEjIjIJLx-OGPu-MB4HX5F4X6BML1MyxDT-8WpIS4043Fw4AgWaSEH3RYLndz010I6yDjsWfSNJJJlpIu7APjvmO-5f4y34ETYSaxJOP_PAKVWdwZZk4Ct-Z5fyRpTWmAGO9XewDPTx4vVaPF4G-HJUb-WLLcU8ArlcGcFIltp6mBDl-Tl3CUq-PW2NTMO0ZhJEZc0jCmFOqA1dWkRiM9ZbNS-eqBJ6eGpM3-uGAGKKy6lu-HBUdbcmoUnuRZLsvin1boCTVBZ5R7HWjZ18V_ec7PcftskXOMdnmnvvsqL3ra5C7z_En5cpF7WIRXc2epJLUwc_lhnCFypXZf-inclcPDncnLR-g2lpWP6CEUp-bk3ru9ZLuou1UAoycFuna5i9pGCYCQ5mh7Ef106d3rogoQiNkU8FVF5tdH7Un2tRBoZacJAgjPaf6sn3ABmQRG77ywLFm7way6BavQCkN1xONFcGPyrZIUrRSZraPlQ6kDD3g1jExiZGblkefPBV7WFjUFgXkL9Ptmd3Dqi-BSq5ATN_ZUONBchwXJiLjYyz4wisVe2Bspp86tHDJfY8a54gtCAarhmigWEEELa2hZBb-tdXG9HWKyAt571jIZbiYwppc6mFBpfOHE-WmVhNIRFs87IkO13k2I2oA-n4mmgWAj6GfoFEyVQMAdmoOFA9_X5b-fzGzYhBW3S0aQf2qcfNqNwaqmJOoBuuD77SREamhnW5Falj0LD45hwDV8MrFBlejdhaiNIGer2YppCGTXsvUQABjzjnyx6tAvqc7t6hQtRYXGSGAzL5ADKTuMst6WwshuHNM-sJQvUMmAqs7_-QLWbQmw-rBgTScS_aK8r3gWn3j6hF7vkfzdiS7cpsRavv5dEyBEnQWTU7Kui-sse0HpZTdpQ2ruYI64YfwQRXxOu9fDlvV-bpgfN99wndgj-RAR8sn9hDzHIE7gUuiyH35BxXuXJjwpyS7E2dm8IfV5RgS0e2ZU_8dokpfrkydZZ9Q5SbgeL-yB1eP2WMHgnc-drwsOc5ykKJvQj3wpeVw-SuuDmlm3zow4zbTBhQhl-civGd0T47F-zqBP3egv1a4LgDe59DaB09nOqrEwCR3cs2LbFBRS",
  "id": "rs_006d44f07b7fc7ad016ab4456c676087d0b6fb86b692de8772",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.06,\"left_z\":0.17,\"left_gripper\":1},\"note\":\"After retracting, the bear is revealed standing just in front of the left basket rather than remaining inside; the basket was also nudged but its opening is still accessible. I am moving above the isolated bear for a cleaner re-grasp, and will later release deeper and lift vertically before retracting.\"}",
  "call_id": "call_S8niK5hGEPTZOo64yXjxPac9",
  "id": "fc_006d44f07b7fc7ad016ab44570f1bc87d0be961171bee0994b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S8niK5hGEPTZOo64yXjxPac9",
  "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]: [-0.2928, 1.3975, 1.047, -0.5411, -0.3084, -0.2241, 0.9987, -0.0196, 0.8307, 0.6067, -0.3931, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3755 left_y=-0.0534 left_z=0.1589 left_yaw=0.0928 left_pitch=-0.2767 left_roll=0.1082 left_gripper=0.9987 right_x=0.2956 right_y=0.0011 right_z=0.1684 right_yaw=0.0022 right_pitch=-0.0564 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.6769, -5.1761, 9.2103, 1.5409, -0.2027, -0.0757, -0.1441, -0.0068, -1.3197, 7.0496, 1.7363, -0.0659, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17bcc54be471b211e4fd2bf5e477aba7d9bf45a06553534875300b989a75c0ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1b1e526d5967e6ce7d22298d22c85d80e20f34d654d4069913f4eb31977752c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25b319d79bb0441519e7b439e3faf92c70666aec66f7f720b5f9fc2fb35374ca",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 2.08 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]: [-0.2466, 1.705, 1.1778, -0.3359, -0.2684, -0.1753, 0.1664, -0.02, 0.8185, 0.6067, -0.3931, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4522 left_y=-0.0618 left_z=0.1197 left_yaw=0.0757 left_pitch=-0.2632 left_roll=0.1021 left_gripper=0.1664 right_x=0.2949 right_y=0.001 right_z=0.1718 right_yaw=0.0015 right_pitch=-0.0442 right_roll=0.0043 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -6.3521, 5.3949, 1.4139, -0.1783, 0.0024, 1.0281, -0.1026, -1.4838, 7.0906, 1.7021, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1322, 1.0576, 0.9119, -0.6697, -0.2066, -0.1108, 0.9984, -0.02, 0.8249, 0.6067, -0.3923, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3107 left_y=-0.0011 left_z=0.189 left_yaw=0.099 left_pitch=-0.2331 left_roll=0.0889 left_gripper=0.9984 right_x=0.2954 right_y=0.001 right_z=0.1702 right_yaw=0.002 right_pitch=-0.0499 right_roll=0.0043 right_gripper=0.9992\nstate[joint_eff]: [0.3761, -3.3436, 6.1744, 1.4969, -0.0024, 0.188, -0.1734, -0.212, -1.4974, 7.0632, 1.7753, -0.0366, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2928, 1.3975, 1.047, -0.5411, -0.3084, -0.2241, 0.9987, -0.0196, 0.8307, 0.6067, -0.3931, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3755 left_y=-0.0534 left_z=0.1589 left_yaw=0.0928 left_pitch=-0.2767 left_roll=0.1082 left_gripper=0.9987 right_x=0.2956 right_y=0.0011 right_z=0.1684 right_yaw=0.0022 right_pitch=-0.0564 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.6769, -5.1761, 9.2103, 1.5409, -0.2027, -0.0757, -0.1441, -0.0068, -1.3197, 7.0496, 1.7363, -0.0659, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17bcc54be471b211e4fd2bf5e477aba7d9bf45a06553534875300b989a75c0ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1b1e526d5967e6ce7d22298d22c85d80e20f34d654d4069913f4eb31977752c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25b319d79bb0441519e7b439e3faf92c70666aec66f7f720b5f9fc2fb35374ca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEV16kUc4Xa7F3gW_B0qt8bXFDiG-Z9I37zEZtgxvFM1ozFIz8rLJPJ-gISH3AL2CGNjE79lXYkxr0t8Cey4Mvlw8z5UGAhR8zWjZ13WOqxIZgBz7DevOCH_RnZbs-y9MeEoYkqkLE3yxrXkPCi5j7ZDi5Ekm0FIATsTnDVakEXPFmkkzw125TVQ6xpDNW1g8rMgzVe4qzAVIWRLHKpMcoRVxnKv9IB-HfF4lvcF8YnYnnxvu41zC4yaZZ5Ev5AwPD5EmAOhUUfDp3JnitmLtEJaLsjQBnSIjFXmg8pQ8r85y71MZWvDMKBWZ1kpowhw5G6wF8JTupceER4CypmD1OTNCGgqOT-n9y3S67ZkW8zMpOs1XfjGKnIr7McuN1Q95Z_1c3atnrvGL2i9sp9Oh-Oj1JOcfD5LxHcEpDjyg2QC9yBezV6fIjRGmkMY2mNPr5I7M6g0yrLLCRmoJ-chOa8Atky6bjZvUzAoKAE9lVlxL3rUE5_cH8G_h6wNuZCylypUrsPBVHsIEpex7gYQML-RI8_aticT0aLyQvG0v4OqNMeKsRp-126L0ZbkAR201nIe9mJJCO3FsR_aY2fvWjWcAcNCcHfHMdt6wHObe-aTNuglswSCgMzGt2UK-lhE3qaSEnh6R98zjvgoB1Yf7HycN6Npw5_lRqAmwd-7LRyzNcokUuivdQZ_5wGMZP_1JVgdjiZEOgRDrkjdqn6nxMohd6ehmifDzQ7SocVjeLrFrBrQi-migDhFg9FWYBpl2sK6lQR8zUM9zJ9rMU6YjJmZaEgHSa2IAQ00LAmS2qLl0YMyOtm5_qb-hcJdJ5wP23zf_TGRkpQP1trwv1VhAH4HZE4ZDH-x-CT7MJKYwXH5avstv_-6-WpAWbM_hYMy6LLsKgoQtllfLnW8M69lL6hDkb1i_A1MC4JRj0J1b24DC6zbVN95uC07HXnPkH3Ppi1OvaNP8CQHYA9OiRA9ugW8C-vlPGiBx25NYbsX25Hhnsao8n5nsqgDoAitccp9c4ROYRTHQc1Mb8xaqb3kTDmXRQE6ojnM6iUyS33YM88ALPqCUJxXgBh5V5qoTVwrJ_MK4d4OaXFaCq4gKg9HI60ODpB53iSqJ5fuw9lJxg_GIqPjfsmuYkCW2P8IWB9zH-9U1rbytLMkX0brXV70-u7EQcqF1ncTdJwUw6bIVo-VokJ8185MKl_kQ9rpp8Imj8rG9vbiweLnXKMZAufgfTHVPPdbb_GI8t0FmXDc2MArNEoyRw-w1JhZE465JkoEtQPBoSA1nlAKZeAes32wrffRiw==",
  "id": "rs_006d44f07b7fc7ad016ab44574478487d0993e6b83bbb10f3c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.376,\"left_y\":-0.053,\"left_z\":0.08,\"left_gripper\":1},\"note\":\"The isolated tan bear is centered between the fingertips at the bottom of the wrist frame, with the left basket directly behind it. I am lowering to its upper torso for another secure grasp.\"}",
  "call_id": "call_jdhUwu5GR9EQ5vhggHN5Gpqv",
  "id": "fc_006d44f07b7fc7ad016ab44574896887d0806cf7b5ed406381",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jdhUwu5GR9EQ5vhggHN5Gpqv",
  "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]: [-0.2893, 1.462, 0.8387, -0.2314, -0.3141, -0.2321, 0.9987, -0.0196, 0.8314, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3824 left_y=-0.0531 left_z=0.1007 left_yaw=0.1017 left_pitch=-0.2404 left_roll=0.0923 left_gripper=0.9987 right_x=0.2957 right_y=0.0011 right_z=0.1683 right_yaw=0.0022 right_pitch=-0.0568 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -4.4239, 4.8615, 1.16, -0.0757, 0.0708, -0.149, -0.0342, -1.5248, 7.0359, 1.707, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0794ab71b25a2b4c15e6dc2f3e78ec67047fc4671efb00b56e751394c957972f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20af57af38ff883bbaef82808bb11838f41c5d76c73777f9c462220947d23343",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6399abed18ae30954dbf3ec475c5254749919605c4dc8ffc74b7534999d1a600",
      "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 · 4.252 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]: [-0.2455, 1.7161, 1.166, -0.3237, -0.2684, -0.1799, 0.8954, -0.02, 0.8185, 0.6067, -0.3923, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4515 left_y=-0.0611 left_z=0.1121 left_yaw=0.0803 left_pitch=-0.2731 left_roll=0.1024 left_gripper=0.8954 right_x=0.295 right_y=0.001 right_z=0.172 right_yaw=0.0018 right_pitch=-0.0434 right_roll=0.0045 right_gripper=0.9992\nstate[joint_eff]: [-0.294, -9.4974, 7.4735, 1.2869, -0.1929, 0.0073, -0.0708, -0.1983, -1.3744, 7.0359, 1.746, -0.0366, -0.0562, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.2928, 1.3975, 1.047, -0.5411, -0.3084, -0.2241, 0.9987, -0.0196, 0.8307, 0.6067, -0.3931, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3755 left_y=-0.0534 left_z=0.1589 left_yaw=0.0928 left_pitch=-0.2767 left_roll=0.1082 left_gripper=0.9987 right_x=0.2956 right_y=0.0011 right_z=0.1684 right_yaw=0.0022 right_pitch=-0.0564 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.6769, -5.1761, 9.2103, 1.5409, -0.2027, -0.0757, -0.1441, -0.0068, -1.3197, 7.0496, 1.7363, -0.0659, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2893, 1.462, 0.8387, -0.2314, -0.3141, -0.2321, 0.9987, -0.0196, 0.8314, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3824 left_y=-0.0531 left_z=0.1007 left_yaw=0.1017 left_pitch=-0.2404 left_roll=0.0923 left_gripper=0.9987 right_x=0.2957 right_y=0.0011 right_z=0.1683 right_yaw=0.0022 right_pitch=-0.0568 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -4.4239, 4.8615, 1.16, -0.0757, 0.0708, -0.149, -0.0342, -1.5248, 7.0359, 1.707, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0794ab71b25a2b4c15e6dc2f3e78ec67047fc4671efb00b56e751394c957972f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20af57af38ff883bbaef82808bb11838f41c5d76c73777f9c462220947d23343",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6399abed18ae30954dbf3ec475c5254749919605c4dc8ffc74b7534999d1a600",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEV3PpekYNaMHmsYjhHvwywH8VhSFeqR3Dl91zRN4vjpS_RPORCnPuhvSrgJ2hW22GMSx6ejaSMzHms2jj3OmGDpmXk3ty3DQd6yvRHd8Qk1RqPXVjk1K9zzK-HsKS0-Bi-NgZ6e-ll93nudHI7raeZBp3T72vt37g-Omp9d0S2F2sT1Rj7Oh5xtCvqGU8THOp_bbiqbhSxwBn-Yxvqwk5QWHLhB29BdzQfVeaTDVZgDhB1hGPoha5lkEgpD9R5F9sn0UIUvFiU66W6oW677qD7KT6QoG8153SCuc5Jc-4060M89lR2yRDS6WFBNc0bC5bgqZ2rXbySzzirRjXQfzgx4A0ApbB0jiwu2KfBEcY5Nc1kVYfVjZJRWHoOxc8OmDXHG9udMr7vcyIGzRjtc5CtCY6deTQyl7uyHVSnc_-itK6ZNaYyVwyDZbUB1dFR1EDl5zKRAbdlrzy-gCKaI3iO0GdJfWOugccEOl67eknbMXvrzGCamQYf-IpRUIyayPvLV_TMggI1WjLyXWELTx4jLQoJCrgcTQLMkfW59o24IDqnsg0vBk75O4X9kBiZaxnnQJPT17O2gDpYAGnEut9AgyL0w_gMavaRF7lkMCMHVT-RnfFUTz7SpasMEr4SrrbbkFypHzvUvpLLNcz9y8wx0vr1NV_-y1FjDnropm8Xd9GLa9MdlB1NV6_F_bSBGzJ91HkWy_IWxRL12helWXma4ulVAj3AwMomezvCCphFHBOzycIp-rfdyGwn03oj4vAHuRrH8KDL_dzEscwU-K9pdnpwXvCNDDG_cl-e-_oJXTTKUJg_23BrjPtNGKbv6XIt0-DrHnPlSMuKRi1ngQTmFYi4KgIZMKeeLqeMasxXe4JiPMIsf_tSCcyrGzuzcNwNnV4vIDGb7L1Lfu6slC8cJEtxr7TY1ooWomqvU-VMPxQ6jxUnu1J4KFDOJQgcQm7jDsKW-BkP9AjGhmFQu876_wH0GjyuK0N9N6w5vveeDFcN5V7DYOrUbrrQTlwB2E0y_DW1mQWEXfkZ7HJze428AZQf05B3t7oOMdALyp2P3U23PAXRHEIW-5miOJmdenOObnEVhotwZEE8dPae95ZYW7s_IBFed5RsZDQVtsdovn-OWqElKWftldjUbfZVEIRRHSVg_1BFWFbtRewLCzhqEs7q83yWRhUeRW1ragFz99Mm8U_0_5xC8PVrDnNRN1lEflb8fMzqvYpV2MHC6_vXtlg==",
  "id": "rs_006d44f07b7fc7ad016ab44576feb087d0a090a36ee646b998",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bear’s head and shoulders are now between the jaw faces at z≈0.10 m. I am closing around its upper torso.\"}",
  "call_id": "call_6OLJ8b2rrMSfhNtmzayvNnsx",
  "id": "fc_006d44f07b7fc7ad016ab44577315887d0a418f1b6e712ea3d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6OLJ8b2rrMSfhNtmzayvNnsx",
  "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]: [-0.2893, 1.4773, 0.82, -0.2157, -0.3141, -0.2371, 0.2174, -0.02, 0.8314, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3798 left_y=-0.0524 left_z=0.0904 left_yaw=0.1062 left_pitch=-0.2571 left_roll=0.096 left_gripper=0.2174 right_x=0.2957 right_y=0.001 right_z=0.1683 right_yaw=0.0018 right_pitch=-0.0568 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -7.4188, 7.9248, 1.243, -0.1441, -0.0024, 1.0281, -0.3487, -1.2376, 7.0496, 1.7021, -0.0415, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc9b5bd0eaedbe05f8862eb5372218d90245d752433ce53600520ff5ebd798e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dd22407a6810d909a88a4752254e6bab4d94052b51a34d2535869ba7d4cfe30",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26fd2e9f7d247f5fdd381ed0c2823beab6b4c0f0f4c3bf69c26fc1db787450b2",
      "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 · 3.056 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]: [-0.1322, 1.0576, 0.9119, -0.6697, -0.2066, -0.1108, 0.9984, -0.02, 0.8249, 0.6067, -0.3923, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3107 left_y=-0.0011 left_z=0.189 left_yaw=0.099 left_pitch=-0.2331 left_roll=0.0889 left_gripper=0.9984 right_x=0.2954 right_y=0.001 right_z=0.1702 right_yaw=0.002 right_pitch=-0.0499 right_roll=0.0043 right_gripper=0.9992\nstate[joint_eff]: [0.3761, -3.3436, 6.1744, 1.4969, -0.0024, 0.188, -0.1734, -0.212, -1.4974, 7.0632, 1.7753, -0.0366, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2893, 1.462, 0.8387, -0.2314, -0.3141, -0.2321, 0.9987, -0.0196, 0.8314, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3824 left_y=-0.0531 left_z=0.1007 left_yaw=0.1017 left_pitch=-0.2404 left_roll=0.0923 left_gripper=0.9987 right_x=0.2957 right_y=0.0011 right_z=0.1683 right_yaw=0.0022 right_pitch=-0.0568 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -4.4239, 4.8615, 1.16, -0.0757, 0.0708, -0.149, -0.0342, -1.5248, 7.0359, 1.707, -0.0464, -0.0513, -0.0122]",
      "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]: [-0.2893, 1.4773, 0.82, -0.2157, -0.3141, -0.2371, 0.2174, -0.02, 0.8314, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3798 left_y=-0.0524 left_z=0.0904 left_yaw=0.1062 left_pitch=-0.2571 left_roll=0.096 left_gripper=0.2174 right_x=0.2957 right_y=0.001 right_z=0.1683 right_yaw=0.0018 right_pitch=-0.0568 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -7.4188, 7.9248, 1.243, -0.1441, -0.0024, 1.0281, -0.3487, -1.2376, 7.0496, 1.7021, -0.0415, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc9b5bd0eaedbe05f8862eb5372218d90245d752433ce53600520ff5ebd798e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dd22407a6810d909a88a4752254e6bab4d94052b51a34d2535869ba7d4cfe30",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26fd2e9f7d247f5fdd381ed0c2823beab6b4c0f0f4c3bf69c26fc1db787450b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEV9eRLsDg7kKK_59L3V2We2d33yrzsvl2lPhIJr34kifspx3ZOxfftZ1i6QOvVNF_k1FNROL9vyFxpD5UmPNKpYO2XY-hS8JxettdKneHwPujVE6dUbvofpU3VgcJCy_1Vd0fOxTEjM_KJ-TF7WNBM-Ljtl_5kyq9Vl6ZBZO3FNX9Mo3Ma7KOkCP4bW9Nwkk3TBNtKoeItWra0oM-AvJwU52hq5axN5U80PTBbz_HJKTlm_kGubYuJsYAFmO5eb_IM3_2O9x0_ltD9RZNIaC9GHZAezIY-PIGNTg7880F7EqWK_eIaXk5mw7YT0ztULnSyputv-Zk49PradkJjbq-QHV8sr7th2hBjiafFL4htzqeTdFbjhXSfLZLHgB3qWn0kfgs29D6aUvlA_cD_JrWGrPknO0XbgfGiVomDKF2-HoWB06uoHdP5WCW26ZhC-Exn-kJp2w1CAVaZdHtoKAJNJBIKQtcPcnO2QuL-_akCMJVVZpbzzfmtHbAWA2oWtd8d5sBZ8iaZFqUL-jjs0sqI9hwdIoF--jWj-ltacF7iYiJaweZyoPOm6GJzvkLQruc8c6HTRrGojNy8e043VRd3k-AvDXQcYznpl2vtF15I48HaP_PBJE0urSJEGlsTYSCtWI-F-4esczppwsXZsFE004e3570IcHffbd9OSWpRaP2W7GbH3ecjPYwHRbvqcwV2i3Dl0bhekpf4x77DaFjbtLEoVUbBF6kmz6cEpnq-ae7IcelY0fzDUqvGwsz_hEjLDws6g7jaZk8Zxu1x_-A9Ua8KAAo1fD3D3f89jwa8mPYFGNy8qEXPVNi2kw8j-69Y1YnZCYdpmFhSZLbDnXFX9TV2ku3C_sfSW8FOfeOfXBJNIMNfKfhmZWc8rzbAUmSkHV4fAntoqfUhGjQ7fTshOjp1DfDGT8NVH-g4qt-ztQYpunrm2BZ7kZ9WcZdo9icps4lcyUXLnJrOlLsu9_hcQrYNFGr3B__0VMQpI_h9Ls8iBLmLgrfSe3DUeaxiPgJiw_hFiwd8oDPsxm1OSRR-3bmcywru0HKTcH3ifaiS7_pZFnXOAytu0Ok2amFqJfLwp9fW6mB1VGWm5fSjtM-xeHqin-x5XTyBrthjjR7VdIxvqBaWXV-JlZoQc0BrOHDZz-0N5XHDf5Kl1cA_nlXkFjxp-CrJ3Qcz6rWT2JsREZLIm_E3zs3akLUJupEhYsW6KuTUrWBqCfifDhgBf5Gq1n9ayHNHJJlGfp86_oLW02WcBfRDQcFsDGo3hNkvQKpO_d2oqFX6mmu7sLaq_4bu0RKZDfo9diCcyvgcudotp6c44n7JIq9d4qvL1pbnMP8RJKTyBanvqAuYN_tAnapggJffwI0t7Tp2slp8c3HFYdogqUX221m_O-Jycs-g6yc2IGYamfHBQxMFb6XT0bvVhtrFkzJelQWsAQ3R98MfsAgQ8HO_dbK8BTMYN_2kXiv9bewyH5X-X6SR2EVX32aKccHpTZxzvL-pIjzKuJ0Mu7DptPMrU5KppIUwvQ68cM2RO71cOYje81i6RpxdZs1zezrT9erw0rnMw_CaOvGApc2-RR5JjklPVtwBNkbytXS4FQc628sHj0zlTWuPwuli91E99x8NQOEnwpNvNyLg6pNZz5XXhV-6jM2ZzWG280hkDkpbQZ2tAMn908teeyv2QIjTTxqgbN9A6pvJ_T4vEIZueD8xLbmsKQISvAtf-o2I9n4KbDJoUqCQwg8SMeTlCoQ==",
  "id": "rs_006d44f07b7fc7ad016ab4457b24ec87d0a58f3d6c8474cdf0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.052,\"left_z\":0.2,\"left_gripper\":0},\"note\":\"The gripper has settled at 0.217 on the bear, confirming a solid grasp. I am lifting it vertically clear of the basket rim before translating the short distance to the basket center.\"}",
  "call_id": "call_aInFIarFwPV8AXTPt3wMVHMZ",
  "id": "fc_006d44f07b7fc7ad016ab4457c2e3087d0ab82c18aae975826",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aInFIarFwPV8AXTPt3wMVHMZ",
  "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]: [-0.2893, 1.4281, 1.1469, -0.6216, -0.3141, -0.244, 0.2161, -0.02, 0.8314, 0.6067, -0.3923, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3827 left_y=-0.0532 left_z=0.1762 left_yaw=0.1132 left_pitch=-0.2841 left_roll=0.1032 left_gripper=0.2161 right_x=0.2957 right_y=0.001 right_z=0.1684 right_yaw=0.0018 right_pitch=-0.0564 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -8.3624, 9.0325, 1.3651, -0.1783, 0.0415, 1.033, -0.0889, -1.4974, 7.0085, 1.7411, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d2c2ca9af39fb36ec76877d89e114b7c9318d5f1c0b719bf018a72d9d349160",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cf818f05329ca19d63f5791869512e6fa36b9296442551a8bb5fceceff07847",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:151e05af582c51cf0a4a95d165aaa0344f19ad7919c68f8346fc981ce49f6823",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 2.268 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]: [-0.2928, 1.3975, 1.047, -0.5411, -0.3084, -0.2241, 0.9987, -0.0196, 0.8307, 0.6067, -0.3931, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3755 left_y=-0.0534 left_z=0.1589 left_yaw=0.0928 left_pitch=-0.2767 left_roll=0.1082 left_gripper=0.9987 right_x=0.2956 right_y=0.0011 right_z=0.1684 right_yaw=0.0022 right_pitch=-0.0564 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.6769, -5.1761, 9.2103, 1.5409, -0.2027, -0.0757, -0.1441, -0.0068, -1.3197, 7.0496, 1.7363, -0.0659, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.2893, 1.4773, 0.82, -0.2157, -0.3141, -0.2371, 0.2174, -0.02, 0.8314, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3798 left_y=-0.0524 left_z=0.0904 left_yaw=0.1062 left_pitch=-0.2571 left_roll=0.096 left_gripper=0.2174 right_x=0.2957 right_y=0.001 right_z=0.1683 right_yaw=0.0018 right_pitch=-0.0568 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -7.4188, 7.9248, 1.243, -0.1441, -0.0024, 1.0281, -0.3487, -1.2376, 7.0496, 1.7021, -0.0415, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.2893, 1.4281, 1.1469, -0.6216, -0.3141, -0.244, 0.2161, -0.02, 0.8314, 0.6067, -0.3923, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3827 left_y=-0.0532 left_z=0.1762 left_yaw=0.1132 left_pitch=-0.2841 left_roll=0.1032 left_gripper=0.2161 right_x=0.2957 right_y=0.001 right_z=0.1684 right_yaw=0.0018 right_pitch=-0.0564 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -8.3624, 9.0325, 1.3651, -0.1783, 0.0415, 1.033, -0.0889, -1.4974, 7.0085, 1.7411, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d2c2ca9af39fb36ec76877d89e114b7c9318d5f1c0b719bf018a72d9d349160",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cf818f05329ca19d63f5791869512e6fa36b9296442551a8bb5fceceff07847",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:151e05af582c51cf0a4a95d165aaa0344f19ad7919c68f8346fc981ce49f6823",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEWAx4qTunrtdg_H7MUUeh8ihbgYgWL41pTW3sRB8rnKQz7nYiKm9mzTfsEcFjaPQwTw7duyczEtnd0csHfPP8FbuodrKPWsptjMRcPZYfuF-Bblpu9oR9dCbETa-pZpu3qrrIpWFkTkkvRJq47gOiLd_H4IA9kUf91vPtfjQ1z9iJJK1Ng5Xj0QgA70lrOq4eJJkdgPAlBc8JEO_7EyBr55fh2zvqlo-3cLBC2D38DnD_w7veIfu9JRkHdTcQV9TLROCqIPF02-DkLhSmraovuge09AtIRpMFTrYbQcvtsbdke4geB5TecHI7SRSgp5Ttx3wfJQjmALEwFoxZ4LYNxB-7cpngDR2mqyXsHgbnBEtsXiykxoLN2JjDgj2uz4xJq2oQ2frMuYc34VOYpOhwDR33ZuKyr1NgpNgPuI9N2cpMi5qiUDao26R0NiSrIjULpylU9ClDOVm65c56-Isr2tG8u-zYISe8S9k0AsKYUkxGar44e_RQDuqzwREW7QgpqTik_dpQUppBq1tIWpk1VVedRzvMlBiWs8kvb3RY-0evB-aQZlnizieCWv_8iSmXAQ4MIv-SVE4LsaRlOWjENJES2oP26qThRRQWIJxN9CDCGUph-3QBVyZawKiDyF4jU61OVCS_IhjWWTRg0afmiMpE0kvMLIVeBnECPLPvh6Kw5UUlx6GmLct-NvnIEfVO1T7xuYqoeQtyJOLK472xUUDOlxUP2QGT38sny_NagIZakNeHTYIfesXjZFaQhRfYU1KiHsV_4wKlmaC1JH1suzNMKRdO1LbvpwmGBSBziciUGKMVcfq7pzg6pu6_dClmfsXL42I3OUrid3ze62vN-zxjm_F7hGI6UnvPOcYBYi0-rAtftj0K_22x63V-YZfXwd9dorCynYOiMr-dLxVZMfvw30p8UFrDuM5SDqdCH6qGq9YvVLq6y7sp4efQT7WT5Q__qviPfniWyqi6qxRTSw9MlFCVMYZnDrZEF9e5bJfNXPFXYE3ODWB4U6Sln58aiuPvnFjt39469f21q3_x4sVeyMxPhvZkRaUGBeChSrqDrT0vifMvggAMtBgZakMx8SWnkuvGRvdYyI0Oeh8QN9607FMMS9jPZLGjgKhx-AGEpfzeZ41wVQurv-wNJZMG-m4AjnbBo_oXjasTU9-1-zsRKOSH_RipZ3cIIujETxcqG-sAL1H7gOafb-TK8ikDaw-cxzGcCzzmWk_3SRdYv1YRdRYsAMIuba2EnL_zFCSnf8SdWfSI4H0c2igyoSDO9HlMUeCIUU5EYXHJJ_qCoWeGoLvO0w2kdCgtlhoRqayv0mOg0k1mmlLGncNG8gnxy6A_IR1lmqihh0M2PgI3HUe59uL1SD5DI41RWK4TjcKkgFDx2t-m2xWqwe0HmUC0BjPVAmscdeN2RLMTHXqnd_V5V9IY4B01DUwtKPSuu5_3yA9KXsSDIiE8ow1muoXP_Bgyo4F1yN0BRDE6w0NNWyFjp3U7fadnnJilRoMg2-JO-e475RnP5ayVMVepYZSS6812t1y8hYGAy8pqcYFtxC97LAr02oLM36ZN0YlZgdMS_pIDdXV8iC98ccvk6Cs5CPxLgfjPhJboKgYvTASLfqlAhmVUb9vByj-TWg0FboUaRyh4Lckq52RM-6iM-93oeE-k-nWk5rRZXQs98fMwR3X5VQ3kA5S_uy9BsYDZ_FuRcXsa8fVunbtqn_mDYw--DxXvPg6iRmgT5XnG-qSrj11RWGVMx0cJlg3tbKBc67l1SO4loW8BCiQoBiMTCR0eiXUAi5aEuUT8HCWXcqMUE0_832iHT9Zl-nAR9yxqKz_SZoWaVtvMHf_295_TabkAd1PiIisfFOeriyVh2LHwxluA==",
  "id": "rs_006d44f07b7fc7ad016ab4457eed8c87d0a32b42c90e900737",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.052,\"left_z\":0.21,\"left_gripper\":0},\"note\":\"The lift reveals that the first bear is in fact already standing inside the left basket, while this is a second bear now held in front of it. I am positioning the second bear above the same basket, keeping enough height to avoid the first occupant and the rim.\"}",
  "call_id": "call_AY8WuF4CE7MRP2QG1bkXtH21",
  "id": "fc_006d44f07b7fc7ad016ab4457fc53487d085c4011df3a5f0bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AY8WuF4CE7MRP2QG1bkXtH21",
  "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]: [-0.2302, 1.684, 1.4883, -0.7319, -0.2836, -0.2203, 0.216, -0.0196, 0.836, 0.6067, -0.3939, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4459 left_y=-0.0501 left_z=0.1939 left_yaw=0.1365 left_pitch=-0.3175 left_roll=0.1056 left_gripper=0.216 right_x=0.2958 right_y=0.001 right_z=0.1668 right_yaw=0.0019 right_pitch=-0.0625 right_roll=0.0047 right_gripper=0.9992\nstate[joint_eff]: [0.4444, -8.4444, 8.5812, 1.2527, -0.0855, 0.2076, 1.0281, -0.1026, -1.7983, 7.1179, 1.6581, -0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b65bea65bce9613e9eb14a99703945a24f4107921e8c3cb49c9ffa7a2fa1a7c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cbe31cfab2b8067af66d235c573bd34aca650d89ebc6fdcb7c1a70343062643",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72755ec22013e1b129d96438c86f42eae1f20b87a1e6dc1d14cd55c2eecda450",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 2.231 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]: [-0.2893, 1.462, 0.8387, -0.2314, -0.3141, -0.2321, 0.9987, -0.0196, 0.8314, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3824 left_y=-0.0531 left_z=0.1007 left_yaw=0.1017 left_pitch=-0.2404 left_roll=0.0923 left_gripper=0.9987 right_x=0.2957 right_y=0.0011 right_z=0.1683 right_yaw=0.0022 right_pitch=-0.0568 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -4.4239, 4.8615, 1.16, -0.0757, 0.0708, -0.149, -0.0342, -1.5248, 7.0359, 1.707, -0.0464, -0.0513, -0.0122]",
      "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]: [-0.2893, 1.4281, 1.1469, -0.6216, -0.3141, -0.244, 0.2161, -0.02, 0.8314, 0.6067, -0.3923, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3827 left_y=-0.0532 left_z=0.1762 left_yaw=0.1132 left_pitch=-0.2841 left_roll=0.1032 left_gripper=0.2161 right_x=0.2957 right_y=0.001 right_z=0.1684 right_yaw=0.0018 right_pitch=-0.0564 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -8.3624, 9.0325, 1.3651, -0.1783, 0.0415, 1.033, -0.0889, -1.4974, 7.0085, 1.7411, -0.0269, -0.0513, -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 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]: [-0.2302, 1.684, 1.4883, -0.7319, -0.2836, -0.2203, 0.216, -0.0196, 0.836, 0.6067, -0.3939, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4459 left_y=-0.0501 left_z=0.1939 left_yaw=0.1365 left_pitch=-0.3175 left_roll=0.1056 left_gripper=0.216 right_x=0.2958 right_y=0.001 right_z=0.1668 right_yaw=0.0019 right_pitch=-0.0625 right_roll=0.0047 right_gripper=0.9992\nstate[joint_eff]: [0.4444, -8.4444, 8.5812, 1.2527, -0.0855, 0.2076, 1.0281, -0.1026, -1.7983, 7.1179, 1.6581, -0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b65bea65bce9613e9eb14a99703945a24f4107921e8c3cb49c9ffa7a2fa1a7c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cbe31cfab2b8067af66d235c573bd34aca650d89ebc6fdcb7c1a70343062643",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72755ec22013e1b129d96438c86f42eae1f20b87a1e6dc1d14cd55c2eecda450",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEWDqgTfejaOkUmc1Cjn9gbS1Q4ljk4AyUiPLMv6I55gJrTngK7B9-6Up396051suxlLbv1jsxp2VnZZjKme2MArS7klxxPwR585TbxGXKRCza0rZ9DPedwLe9GNQEu12plv1uz5hZ04uD3FDoOjm7GDLtJT66lQ044uGMOQMxnHvSny-GK5mfpo3qvcYrvOOhevIA1sbM64ghW1jXctKvOg7g5g-tHCYZTemNY8EhfLmklJN_rZUdZ0b3LzEVzbuzrKabgRT4CF-K_LUEg3apdNm7ehHZeZ9nncj3ipNbg2chqb8grTUEaSuZydBjL-JYzsZp01a9mYMWW2j_0FhKP5Uy5jC1tnrwsnfK0JdvCvTrW0LWCYVf0Hn1p0tZUnstESG1za7NInM5m465qZM5afyDi8dAfcvXm2PaCyVosYtr4vgcjBqfSY1fuu4Wnb3NyFc0HoESZviviICQap-BCMh0hhcSgOfkVY_OZTJ2MRBnscZcLzzv3xq10oHmOUGNJleRhlzle4TzGxEZuNxqvTz3FJ3sTi6UT_Qj79Yq4-QXEL1h39TqBDv99t4M26rhsSSj8sfHQHux6PCgRJf_n7KUsH9XWRnOenQc3SXOub6qOiqoooJDxypCjy_LWJuctk2l_q-ptCp3N7Z-8x-rVt4db2gzo8vOq7pFtEtLr8s8z8bDFSU5X6yYkbW0yH6LnX3FqR9KovQvPuLO4sSdaXicgYPIU2e0-zmmcbTcYHXiyuHZJJOhEw6Yc-r2TbO4LVdDFtYTH8FrIEnU7ozB4G9Z4PfTbt8I2BL06wD5yLW1MRIBqZBbawOZfGfQTL2EepF-7RtBjrhF5g6hWu1AA6Y1pxREhXJSyVwMhgRFltUUCVsLLpaWCat5YlKfkjmE7Qx4CjRY3436Mp8rlzsE3LIacRzMgRDgzUTMNglYECciwb-rUgjqeHxxPUkjJ7lJmT8z1yEmm5udJh8xkYGwiuF5TfRE67B7Hd7QEgA77jYa50xyNkv9YhDVBcY9bmEd-YymaoX5FMZjIQUrWo_g2OTTOvfRktcpj-dKXmnev4BhYYZE7sShTBYgirOrcDXjev003ajP2YljM-CW4tRQK6ARdJMNTIzm7Ze-yyZRvQjknFxmjeDadteeNiZmKufMKv4kIwscl8m4St3419mv4VSxIyoB4Go6CLLQALt2V4QUdGwpTIcFu7oRNzfeOAlx2wYTCHvpD7V8GanwKNdEQ2qJw0Ac5TOjn3NXUQs-duvNLZjn_4B3ZENp_R9tkoSUNiE0H26v3uhv0di2oIM0t5yx4IBnq9oSyAqbAGeCgfrrphXruAy23G7QAHheXo0_fJH21zyCNetbOpBI_o_CdPeFKRABZb1Hr22I-Glkv2L0O4R0GaX_apDEMsXFT71KqxHskAdDLCynadxLvj6oh0_cV_ny1SpT8ig3fQtAL59VDhLoKA330o9R7Vsu9-gMe4",
  "id": "rs_006d44f07b7fc7ad016ab445828dc887d0a0994a7854144d7c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.446,\"left_y\":-0.05,\"left_z\":0.12,\"left_gripper\":0},\"note\":\"The second bear is centered over the left basket alongside the first. I am lowering it until its lower body reaches the basket floor while keeping the gripper closed.\"}",
  "call_id": "call_Mn1dFSnbYU7BPqe9xRXyvLpx",
  "id": "fc_006d44f07b7fc7ad016ab44583100c87d083151b097616b1c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Mn1dFSnbYU7BPqe9xRXyvLpx",
  "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]: [-0.2264, 1.7134, 1.2316, -0.527, -0.2844, -0.2184, 0.216, -0.02, 0.8379, 0.6067, -0.3927, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4311 left_y=-0.0448 left_z=0.1103 left_yaw=0.1508 left_pitch=-0.3931 left_roll=0.1389 left_gripper=0.216 right_x=0.296 right_y=0.0009 right_z=0.1665 right_yaw=0.0015 right_pitch=-0.0632 right_roll=0.0047 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -8.212, 7.3231, 1.5311, -0.1343, -0.0659, 1.033, -0.1026, -1.3333, 7.0085, 1.663, -0.0317, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7673fcdf9bc5cc9f9f0997983e28eb583a60b26e1f56dd0fc4064c5436ebc37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1c75d7769c092c0eee496bad03dcecb484ff1de850a947bc9328892d6171b86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82baf7db592118cdd766517a682ff20290c0b8bd725660edd6dac73d7c7a1d04",
      "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 · 3.294 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]: [-0.2893, 1.4773, 0.82, -0.2157, -0.3141, -0.2371, 0.2174, -0.02, 0.8314, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3798 left_y=-0.0524 left_z=0.0904 left_yaw=0.1062 left_pitch=-0.2571 left_roll=0.096 left_gripper=0.2174 right_x=0.2957 right_y=0.001 right_z=0.1683 right_yaw=0.0018 right_pitch=-0.0568 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -7.4188, 7.9248, 1.243, -0.1441, -0.0024, 1.0281, -0.3487, -1.2376, 7.0496, 1.7021, -0.0415, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.2302, 1.684, 1.4883, -0.7319, -0.2836, -0.2203, 0.216, -0.0196, 0.836, 0.6067, -0.3939, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4459 left_y=-0.0501 left_z=0.1939 left_yaw=0.1365 left_pitch=-0.3175 left_roll=0.1056 left_gripper=0.216 right_x=0.2958 right_y=0.001 right_z=0.1668 right_yaw=0.0019 right_pitch=-0.0625 right_roll=0.0047 right_gripper=0.9992\nstate[joint_eff]: [0.4444, -8.4444, 8.5812, 1.2527, -0.0855, 0.2076, 1.0281, -0.1026, -1.7983, 7.1179, 1.6581, -0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.2264, 1.7134, 1.2316, -0.527, -0.2844, -0.2184, 0.216, -0.02, 0.8379, 0.6067, -0.3927, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4311 left_y=-0.0448 left_z=0.1103 left_yaw=0.1508 left_pitch=-0.3931 left_roll=0.1389 left_gripper=0.216 right_x=0.296 right_y=0.0009 right_z=0.1665 right_yaw=0.0015 right_pitch=-0.0632 right_roll=0.0047 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -8.212, 7.3231, 1.5311, -0.1343, -0.0659, 1.033, -0.1026, -1.3333, 7.0085, 1.663, -0.0317, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7673fcdf9bc5cc9f9f0997983e28eb583a60b26e1f56dd0fc4064c5436ebc37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1c75d7769c092c0eee496bad03dcecb484ff1de850a947bc9328892d6171b86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82baf7db592118cdd766517a682ff20290c0b8bd725660edd6dac73d7c7a1d04",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEWGMbuuORdLQ2wgF-aWhOdifLqgp4HnhY7V1lW6eKaDCrt6i2R-URhT9Wa9S10LOFU0uycaN-psZumvHSvD50eiFmj7jZAUe6GTZFJWtTzxdHYEQJ7tcSrQcxWQ8PLI2vbzgXoeKVZjHZ4aEEdIgIuWj_3BMVVUhNZdq02lj4YiOshzVKCXph6Q3a20Iq37B0SyJ-41oL1V289n0joDomf5_CLwz342ZEci4-7XK6hPXdAuZZQ6c74jVoK8NgzvCG4WpVTzckAwCgZRiWxB1uI5Mj9oA2fxgdn49X-xoRnmqC_2696UFW2pRGf_T1iGl728B8OHsn8keOnRnPvEYOV0tkTvbHyMyKryFufwp4DIMVa_EHHbKEZmPQF3NbEl6cIflo4Xdac3geao2Rax56EiS5-519WDFgDrbrsbmK3IRc6L5-jazt9nDCbQlIcUnhhZIJf-Pviiq_X5YPKlBIgtZaVatp2iZ6nniU6dZ1TU0R7ed9TWbilSW9Y6DOhTaioNIjPlx4M4d26UEUQvPB5IYQam4cEyvk3CFhM5-b5X3aj6zc1bS4pjITxefUxdLRJ2cpz0xofSTP5f48vzP6a784MhzYlR03hSzmApgGaTbRgp4wIPy7ZGFStL4ZMPZNZnziynTpAD7iiABMWaqPmp6VixONA1SwN8wxaYY6PX0aLoCGRPe8UwhDE1xvFxkPUwkxEUIkUZZAYxVOv1hVnxtP0qMy-QhO9nFc_uDZlPQqiEIq3V9iQRT0pRXCTv5GW0xYzXrErzC3JrsKFFdV6C4fr4Ekhl1q9LVHJHRgh46Ou3_5Rme3yZ-5IIh1Ti0YAVs2WNOi37ZBtDgFp1U1eYnrMAk_psXKs8ZLueDb483Q9gT8hqVHorSxPZQ7-7glotKLrLCYHH7wrD3XNoqmldg4kn4kDO_GdF_TzZJhegGA-G7an1Xt5y_QMtPNNVPl19i7kkbWWzwetX7dTmf2Z5PBATu761MVUtRj9E_qtr8as8RFzIl_kKWk7-9tMMFut_GEru-wwRsY2XBKNKncaGCZ0MHDUeeroqgS-tFWstIZffOtBD6wzqusSC4ELkI3uZighZ3qPXh6NJ60ftqy8Q8S2Lqr3f7KTTJqKNOzHsxgCGIyi_kxn0HbXXyWKO8MOYT2BYXJd3mq1rZPEBDqqlgsbHmEZnnDBPN_FerGkGUWtzPz3VJo7Z8-SEwRYNNgQi",
  "id": "rs_006d44f07b7fc7ad016ab445858f5487d0ab4079a41ea3fede",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The second bear is now seated inside the left basket, with its body supported below the rim. I am releasing it.\"}",
  "call_id": "call_kpJvcc302ybWYUj2UtxQcAAk",
  "id": "fc_006d44f07b7fc7ad016ab44585aba087d0af3273cf30d59e9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kpJvcc302ybWYUj2UtxQcAAk",
  "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]: [-0.2264, 1.7157, 1.2179, -0.5293, -0.2844, -0.2249, 0.7951, -0.02, 0.8379, 0.6067, -0.3927, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.427 left_y=-0.0438 left_z=0.104 left_yaw=0.1575 left_pitch=-0.4096 left_roll=0.1423 left_gripper=0.7951 right_x=0.296 right_y=0.0009 right_z=0.1665 right_yaw=0.0015 right_pitch=-0.0632 right_roll=0.0047 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -8.6906, 7.7197, 1.2967, -0.2222, 0.0122, -0.1245, -0.0479, -1.5111, 7.0496, 1.7021, -0.0366, -0.0464, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4a425b2fd336c0457bc62f839768bc273fa6c53ad421a81612c11741241a8d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6986f235b6364f330ec6c745c809f7b4071ec9920d3241b2bf6719d8e4183f08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9dc12ab413f2f98ce4f7a307eefe83261fe87c09b4c053c962058cb00b3975b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 6.366 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]: [-0.2893, 1.4281, 1.1469, -0.6216, -0.3141, -0.244, 0.2161, -0.02, 0.8314, 0.6067, -0.3923, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3827 left_y=-0.0532 left_z=0.1762 left_yaw=0.1132 left_pitch=-0.2841 left_roll=0.1032 left_gripper=0.2161 right_x=0.2957 right_y=0.001 right_z=0.1684 right_yaw=0.0018 right_pitch=-0.0564 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -8.3624, 9.0325, 1.3651, -0.1783, 0.0415, 1.033, -0.0889, -1.4974, 7.0085, 1.7411, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.2264, 1.7134, 1.2316, -0.527, -0.2844, -0.2184, 0.216, -0.02, 0.8379, 0.6067, -0.3927, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4311 left_y=-0.0448 left_z=0.1103 left_yaw=0.1508 left_pitch=-0.3931 left_roll=0.1389 left_gripper=0.216 right_x=0.296 right_y=0.0009 right_z=0.1665 right_yaw=0.0015 right_pitch=-0.0632 right_roll=0.0047 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -8.212, 7.3231, 1.5311, -0.1343, -0.0659, 1.033, -0.1026, -1.3333, 7.0085, 1.663, -0.0317, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.2264, 1.7157, 1.2179, -0.5293, -0.2844, -0.2249, 0.7951, -0.02, 0.8379, 0.6067, -0.3927, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.427 left_y=-0.0438 left_z=0.104 left_yaw=0.1575 left_pitch=-0.4096 left_roll=0.1423 left_gripper=0.7951 right_x=0.296 right_y=0.0009 right_z=0.1665 right_yaw=0.0015 right_pitch=-0.0632 right_roll=0.0047 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -8.6906, 7.7197, 1.2967, -0.2222, 0.0122, -0.1245, -0.0479, -1.5111, 7.0496, 1.7021, -0.0366, -0.0464, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4a425b2fd336c0457bc62f839768bc273fa6c53ad421a81612c11741241a8d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6986f235b6364f330ec6c745c809f7b4071ec9920d3241b2bf6719d8e4183f08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9dc12ab413f2f98ce4f7a307eefe83261fe87c09b4c053c962058cb00b3975b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEWKv9-baFGk9BWSJ48YZyy_v7hdNQb9b8qI1Kz2wBk6yTfYJhefhk5Icr-h3uglH77DZZig_XXvdMBdviJoGVsvfFHC-n8mAwp_g8MY1LR4RBfmjE2e8X-qCt88-YcHe9GerzdyomNfbRwZpiu-X7oS51Jir59lTDpYLBpZS5iAh8640ZXYQyXsg7m-INojwBlnpKC7RDCwW2ndir09rnQPvU9Gg-OsrsV6xW-RlwUwV-0Hgbm64mXobzAbLNu7UrKCv78sm5cYSwLIE8zSwEwxQJdtRiSyEZAeKXYS7gyl_jBq3nR6tKzBllmXf2c9TQFmDvgph4Ta0egKVWVHiBQqiE2LH2fU2iuy60qCe7TpdDUAheUrUkQZJhxDEJMHrUIP-X1N4HLR1Wwdpy_WN-byIIw0rKKTpN9np-PkZApIo7J7ZnofxAZlFZ1IMAnz1MucKFVoIHdcMwYvlYH_uTKJ6r1TFmOVzfovgv5QzR--igznTzsHEdep240M12GsdSSvF3xYNPLYNLS-h_ZT5yGQwXzV8USVvSeLG472149alAbpBqmBtmSuX-6Pv3OlTeGQWIDrutoYuoQIBJ48Do5uFXEPI_-adoE04CyZhp1NyOzgVBJKnuXol3napuXNOMJQh2YdhY05ndT38w9zCx3ACpsG6lLEpNSlJqYQiUAa_0it0zb0BJG9KiU6_vWYS_4bSqA5z3-uGYWxXDOyw-cy0oqjmC3oWCjwCwQlQ59jEwwR2DmApv671WbX-DuJ_GzE1m7bSoS5TqWceMsMpl13sZwk-PQPLHleWQUYjN6iJbAgBqy3AONKsRxPRZctevHONktljnj6NApHjuOhfWnziIkA0K4PxsrHquPPpje5kggQoTotodUCzX9NqumVvYck230O9r3iJL4MKdukRENytI7jO9CMDJ_5f4pRnwkkYKvIjHNhFk3zpVdBcNkIt7yTackKP1RsygShnMsoW0HByreCj3e-1OOYswhEElCnps2x8lADdIAxIPHyKjDsoM8ReKURRtAeDlzndzdJlnOQkyKHU3tWgEZufKsuPAuHEItfMZSrHplanfLn7pooyE_JLpnWDZz4Xe5gISfHWP6BApmTZcfBRpCslQ0TouoGsWZOWUvBk36IZuxUSA8ZgidHjjrzGVvavnclVT92eAGzI668Duby3yU4Bpc6mSNz-L-VYKtJ62oCv8UXNkAuV4Vp3qvzVUsv2HF89IxZA_LaYcboJczcwMLHclbYru5pv415t8BCS1FwJOZYS3KXaUGIXW32VxMPG5bmUiX9ccIsp6Cf0kHv4moDB3Q4s2QW_WzR1Pxn4bkIz6hU1OUqH_ozPq3MTzpnYkUjVeIXRxTBOkFYmEKj0U4qPv8QwUWyxrVtiLhzUTFYymFacS0bZe_9XSk-DIAXjFFMHGwQcio2B237JLOWB8JDzhWboIdKOnnM5Vz547wxfvpvjwqmZTR7B27_ppQZ5qHpkqBdL5MfAB-f71F8W2CHK4ABm3EbojzYM0vxfz03bbDhRfqiRBc3mYE-PIhKne-dluYzuuEP-qmH4IijVJyl2zCl89y7RwfBsmNg_TfR23PFBaX5t8uEXrMPr6UOdTJAFpB8I_k0EGhogGIwXbusFynX5ooprx-5hWdyGHbGV_hCGTjDLA209ga55IdbMwRglC9Lpcjyd8MJ1ak4dkFIHmY5McUjR-Tu3S23OeHVqn9_K0-h4GQQ9xT4jnYdS_5unMpZQ91YrEszHfgI718v3OyMnptACfmK-24qCxJP9X5e459-uZB2DkmblkbKrchisHjBmfaDjUcQVOjR3cKJva9_nVIkd8742GJdaFWm4G8WUY-c-gcxghpyNf9gxnUgNEi3eo02lWveeWOOYEXJAixfSfqFkrZZ5xeGj3ZPBbN2TW_IWJVJtF5xi7t7WMYLZmGtS2TWLIMxHvK1CzTdue_WpFe2H1x8T4-Z3hQAbVBSqrGx7JIPinEQc3V7DHRN4FbSoLk6hQhyOBP4XI-DvKis3zCo0lpCZlJj1OBsvIgVXL6IiXBiVEtfQAr7_6qXgIDVvZylNehtuqtGn2p9i6JgsED-ZDEY1KU0wpAafdX5dXeu76nY2MwcgmqzaTLB7FXZonF3vmnRBS-eSXFRoVClptRh5gY=",
  "id": "rs_006d44f07b7fc7ad016ab4458807d487d09dfb56cc285c61a0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.184,\"left_gripper\":1},\"note\":\"Both tan teddy bears are now visibly together in the left basket. I am lifting and parking the left arm so the remaining compact gray/brown toys are exposed for sorting into the right basket.\"}",
  "call_id": "call_MzqwNrRXSMPQq29Ttq3nxkfy",
  "id": "fc_006d44f07b7fc7ad016ab44589bce087d08e5bd519301a567f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MzqwNrRXSMPQq29Ttq3nxkfy",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1661, 1.1893, 1.0637, -0.8497, -0.2604, -0.1829, 0.9982, -0.02, 0.8417, 0.6064, -0.3923, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3112 left_y=-0.0024 left_z=0.1867 left_yaw=0.1655 left_pitch=-0.371 left_roll=0.1285 left_gripper=0.9982 right_x=0.2962 right_y=0.0009 right_z=0.1654 right_yaw=0.0015 right_pitch=-0.0671 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [0.4308, -4.1504, 6.065, 1.2479, -0.0464, 0.0611, -0.1392, -0.2256, -1.5385, 7.0359, 1.7656, -0.0073, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7c779adf9ddc7363d67867c9d4c5242c04d4c7dc2a7b0ccb9fdab7705fc4ff7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12683901be2520adb3d0d53cbc6d5ad259574ab92f8bc92a638d3f431cb7dd97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fd25969412dabbbdc16c141d3ebf4bd7ea0d8e4f84113d8278f12298da8fb51",
      "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 · 3.592 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]: [-0.2302, 1.684, 1.4883, -0.7319, -0.2836, -0.2203, 0.216, -0.0196, 0.836, 0.6067, -0.3939, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4459 left_y=-0.0501 left_z=0.1939 left_yaw=0.1365 left_pitch=-0.3175 left_roll=0.1056 left_gripper=0.216 right_x=0.2958 right_y=0.001 right_z=0.1668 right_yaw=0.0019 right_pitch=-0.0625 right_roll=0.0047 right_gripper=0.9992\nstate[joint_eff]: [0.4444, -8.4444, 8.5812, 1.2527, -0.0855, 0.2076, 1.0281, -0.1026, -1.7983, 7.1179, 1.6581, -0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.2264, 1.7157, 1.2179, -0.5293, -0.2844, -0.2249, 0.7951, -0.02, 0.8379, 0.6067, -0.3927, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.427 left_y=-0.0438 left_z=0.104 left_yaw=0.1575 left_pitch=-0.4096 left_roll=0.1423 left_gripper=0.7951 right_x=0.296 right_y=0.0009 right_z=0.1665 right_yaw=0.0015 right_pitch=-0.0632 right_roll=0.0047 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -8.6906, 7.7197, 1.2967, -0.2222, 0.0122, -0.1245, -0.0479, -1.5111, 7.0496, 1.7021, -0.0366, -0.0464, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "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]: [-0.1661, 1.1893, 1.0637, -0.8497, -0.2604, -0.1829, 0.9982, -0.02, 0.8417, 0.6064, -0.3923, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3112 left_y=-0.0024 left_z=0.1867 left_yaw=0.1655 left_pitch=-0.371 left_roll=0.1285 left_gripper=0.9982 right_x=0.2962 right_y=0.0009 right_z=0.1654 right_yaw=0.0015 right_pitch=-0.0671 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [0.4308, -4.1504, 6.065, 1.2479, -0.0464, 0.0611, -0.1392, -0.2256, -1.5385, 7.0359, 1.7656, -0.0073, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7c779adf9ddc7363d67867c9d4c5242c04d4c7dc2a7b0ccb9fdab7705fc4ff7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12683901be2520adb3d0d53cbc6d5ad259574ab92f8bc92a638d3f431cb7dd97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fd25969412dabbbdc16c141d3ebf4bd7ea0d8e4f84113d8278f12298da8fb51",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEWRrSO1_frtMH5SdlfsiYvERYr4q_Vvq0mTYQAC5Y4YC8kf9C9d4F-K6cZvAk-DqSNGJU584SuDxxRGD49yfgUFK6gLAQmDsFU3JNbWf2m4kleCd6clm1xTqr-C2KWXLa4TlYq4CJOebn7TtVhaQiLysgo6u_CCR0GdLgFeDiVGzHaohm4PKZ3v8grXV0ytD_GUiPZV0xu7h8cKIcV0MSslro0VbuIK0zJkBoRm9lN2F_XesZoWyVvzCOuu7uWS0T2R8rcHzbjXgR5FZHLqdb4SSmBMYQm4xB3yXF-fSj85HGk4sNSZMmvljcxMHfqJxZD42EWRcdfout1FMRK1goGMq8e5PuagMP5WlVneXI1H2iv2W80DPs48xcQXx64wPxoH-lBKv_XM-n035xJYwrXyhCX3Wf5ABtU3m9hRNqKtEbE_biVSpq_E3dVsUyq8r3YcmEBsniK1xRQJHk5q6Mp46VudHbvvWP6RuCD3sVO5uao3wprdi--MotTh8hh_UMKgFK6AhgQSNuOfNdBamKTmEF9fqvSpsrp6Lv_dJvJ6FschDW8x72cuNXZTz_ridVz2b0S4XZDmzwgvGxt65VXWSo-przI9LdjO909qAnkygt-yTyJryTda1P05yXFFxBZc4eioy_Oj3TiofeQwl7D8CpJzlXlnrIIWYA6FLr1mFRTT77QRFBVRr2EBdVJnd8wWguxFSZCkPOW47eRKPCocg3rRXIvcvuRiTjvNyx92V1HFYY_WQNk5c5Ek9K7gZwRiyj-vFc9CehqE0BvC0sm9_RFMEwagHu5C-tZJKmgxRZsmAYzeIvwe5o1qzk8x7M55kTzW-Ng6wyXTHYSIyGWjlxkiGLmEIz8OI2-VeXEvHCPigpHOFlwyMQ7o37KRETyoD2W-hn1nVfCztcvSgZ80fwl7GzkKVt3iMn2QrBeLPVEDbArxizJm1HTYlgCgzq1Zo4D07QwAi-ZBkIztPgjh8NkAa9yeKa4pgssSIt_CGW2RdhaQ200bI3KPhMUKpFDIK01u7gnyCJcD8KDrBjpsGk0hayNtx3anxp_OEMjlo-iHjaPI-v4M81v9jbxbkLf-3STqiIaC6GyOV2-5HMxZMBeC2815hzC-2r8uzjjC0mGgOx1FT92UzU6Oo2DSvN1zU4c7e6T49FoJvo7eOhRjtVsvBY5TCnynsPs2woWDe3hXJjuF313FndOwuLy5I6eU_lXWxID6zaPntBlF497t0tr41B6J4naX7mA6QyPdeEgEj2YGQwJABiREmAZdz-_RuPgmNx4PEAGh-sfShuCYWe8dedF_a-Vb-y4bOwMKinGHA_iTJOLQ5Nukvz117O4uBgemMvQgsE2ACiN2PmImb-4AQ1fzSvtbpXjyscwuf-zIDrgbRVxXhToRcm6J3To3_8NEfc0vmQqNQNtoMAIJDN2W9_a7Msg-y84zxL5Eh8wWR1v1qz1QdeSGgz-LUhburwvz40RI2iSTAh1UllXfyOM3T3JM7W0BObK4_5MDPNJlYo7noD7GURjDznN-eUkqnahHdtMENZPU0BDk_Ih8OVXHYp5oye54PWzB9I0yPqUE6FuEp5UTUcOVOdZiYwTEKtukvZ42i4sCOPzRbT0r7WxFgY85ENXqBNGlz778pTBsRTHeCej7mauruvN4VBVWEvo4bSOf9dUhxQAVKONw-qtddIkulkn5Dy6dk4E2wVpqdu8wFn89t-rXoupRVf0hm26JkwWq6ALGvSim7mKbVqcEjLc8lpqrSUQCaLgQOWuFigUxDxCALFZnjlHAHAbLjfS-ahKtDBRrA-5JsYHoaYEBdYNs31Jp6Bc1emZgREk_TZxMWMKML5A2tjrRGnvW16M0jxuyMuom_jLTwSZHHOei4w8ttWt-xRZeS7oyyNFVtaIciMoH4UhsjyasTOqZ3aeGHWC25nmhK4VWtOph1YfAi39G-_dPuhAIiW5AivGzwFPEepH34W5QiRKWbiYVYyPyA1U-l2EJYYVKsuixODeumzXscMKkOwyIJeYYiCSWempKMQUZCa4X0VxYRf822seVuBtIBxYHCFNgdxRosd7BPdYHcDm6pSPe8aZgkyw4ZPEVVU3YmkBYnmL2l83quCi2ccEEEzgRFySC0d0Kaon0g_stMWmlqmHwJQmk3Keo3K7kJ8U0zrmUxsk03Xaf13fvxoNv0uaQJrxSYwjqv0WXPfyfeR5vAaO0Pk93j9utg_ReJLGyIc8fWt62ExnBwedqVoGCbYNWuEfYQTq9mZu0YRDVE7gGHtm9W_RHRqtGCaVu0uGznxcmpuuNy_L7dWP-A5M_uXvfQ5LeO66myMipcOXlwgVO-gpCzpl4wsKq50uvpSaAkHjYckBUn_pak-cFqD9503OGqpflzzvciBjORGS4hZCcV_JuwFlSizFeMQIWCfHD_RU1Xit8Qtqg0gH6g6RRsgWnnYULNzcqSoP2D2CnHOvz-67z1zOr52HI1wh5D-acZ51HAoPKopb_A966Gx5MygVbjc6tIGllCTwBX0egp_s-VvZ_dArpHOUGSjk6viZa-9bppFmQX5qI0JShdNg4ZTbYK3gLFh69OMRwpp5B5j25SfRjL-qpNWJdz6yHGnNlSZ5bQm-gyKieYxTqa7J2GdWnltNTLKgFNpN5nNWwjHPSHRZfRsevWapSrqNQB4UxARSnsS006oJyoTfa6w8UtvYutiuvCFSKSuax4zFqhvGR-DCT4pgxCWgHz47kVfRV8laadA3hCQIgkIA8BIA1d55gEiNLbfdcVEoIRcvFEBWCeqYssasNJdfl6ezgtLWv3-SQlnIEXLsukURrkB2drvLX_H0ExpsX5feRDTOkQ4D1qNw8uzvhW4qrkNx_pl1nDORPXOGAvxzqUmYNIUnB9JKP8GbNZYtZO9FzMlnTczeqAOBkplZSlsRUTxTyXvfaOzEMa_QMY4NfLjqppa1qggvGvitV0LTifoSe5xDpqHkJG3e_9LVBZvbO65ZURs9-CbhiQoXahALZaZ2zR407oNgom2Bv_bEnr4sKikWLIXw1ohOMapqJNJFgS0mmBk-n9Drzuq3U7OyZ7t2S9rU-s9s1zEt7c_JzUkb80kTYSTy98qB8gZjMIV1hVC96xxJSt94Xm9QreflQ_UKNiwhdvjhFwH2xf1fk4cLN6kDmBvQM-BmZVRFvHAp-SLLiVzcxO1nK47YvABqlGWHojktOPJUkQ0YRRinE_D1iqP_pcCLahwSPSGGjea99-WWU-73N2raO87zZxw3XgoTTXi78FbUMaHG7iJrXv_p9awVc0u0uHDo4PqOkWVRqRJ8lEzFBlP7tRmNg215yPBb_qK4hsa53Zw25wJtv76PONgvu1HDCi-RlbYYp1QAXLub7hJQ7-FfWdBbhWFIDfvovr3McXbgsZeCNAZsWvEFV0yq-4jQZWyTyfh80xYeVv-hOeBDXKQpEDfxIhWxik65YadLlI7o_4xz53u0xldgZetzGL1G-04khszcGWCGmE2anyB32CYmDNhLXDt-jDYXsCjeCuc409EAEhRKcVcOzowQ0tVTL_13mHET2hOjBW2StWHlMV1w9csXekp1u1y4lWro7Bj2xME7LsY1XH9orBi-eRozVyUuUrxTxKQ7QDU5DpYXk0HeU5ioeJlzzkTLNqrvQJvPemjtrYZQ8dwQ-eUmKSq1iRVeH_i8a3PZb3R2X1wNV3gQFgpuDfceljfZYOKox1IRhOLJxCLBIkHbFNBpaecihRifJpz8XPVkxumdY_-STXgHj3PetTaB_j5krJvwbaCbG55owq4CU8Q==",
  "id": "rs_006d44f07b7fc7ad016ab4458c79c087d09d519e651af13de6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.2,\"left_z\":0.16,\"left_gripper\":1},\"note\":\"With the arm parked, two remaining non-bear toys are visible: one brown-and-white and one gray-and-white compact plush, so they belong together in the other basket. I am moving the left arm above the brown-and-white toy first; the near-left edge of the right basket remains within this arm’s cross-over reach.\"}",
  "call_id": "call_pfq34lbFwNZyBFKO2OaDsnM6",
  "id": "fc_006d44f07b7fc7ad016ab44590c6d087d08c906a239de6f9f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pfq34lbFwNZyBFKO2OaDsnM6",
  "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]: [-0.8337, 1.6176, 1.3258, -0.976, -0.5537, -0.8204, 0.9988, -0.02, 0.8429, 0.6067, -0.3931, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3066 left_y=-0.1942 left_z=0.1525 left_yaw=0.1554 left_pitch=-0.3934 left_roll=0.1474 left_gripper=0.9988 right_x=0.2962 right_y=0.001 right_z=0.1651 right_yaw=0.0018 right_pitch=-0.0686 right_roll=0.005 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -7.1043, 8.3214, 0.696, -0.3932, -0.0073, -0.1441, -0.1026, -1.6068, 7.159, 1.6972, -0.0366, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9602d5e2ef350183505e80b9f939277c2d169515e3a98c6f9096e39d1cb9a25c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b3844b18a03b5a5997fb98906e2753d2447558de682e7dea1867bcd1ca25702",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48cd288ac1edddf33c6c8eaa5f0e53c61f1498afaf003e4b55164e117a1c2cc2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /responses · status 200 · 6.282 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]: [-0.2264, 1.7134, 1.2316, -0.527, -0.2844, -0.2184, 0.216, -0.02, 0.8379, 0.6067, -0.3927, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4311 left_y=-0.0448 left_z=0.1103 left_yaw=0.1508 left_pitch=-0.3931 left_roll=0.1389 left_gripper=0.216 right_x=0.296 right_y=0.0009 right_z=0.1665 right_yaw=0.0015 right_pitch=-0.0632 right_roll=0.0047 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -8.212, 7.3231, 1.5311, -0.1343, -0.0659, 1.033, -0.1026, -1.3333, 7.0085, 1.663, -0.0317, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1661, 1.1893, 1.0637, -0.8497, -0.2604, -0.1829, 0.9982, -0.02, 0.8417, 0.6064, -0.3923, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3112 left_y=-0.0024 left_z=0.1867 left_yaw=0.1655 left_pitch=-0.371 left_roll=0.1285 left_gripper=0.9982 right_x=0.2962 right_y=0.0009 right_z=0.1654 right_yaw=0.0015 right_pitch=-0.0671 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [0.4308, -4.1504, 6.065, 1.2479, -0.0464, 0.0611, -0.1392, -0.2256, -1.5385, 7.0359, 1.7656, -0.0073, -0.0366, -0.0171]",
      "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]: [-0.8337, 1.6176, 1.3258, -0.976, -0.5537, -0.8204, 0.9988, -0.02, 0.8429, 0.6067, -0.3931, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3066 left_y=-0.1942 left_z=0.1525 left_yaw=0.1554 left_pitch=-0.3934 left_roll=0.1474 left_gripper=0.9988 right_x=0.2962 right_y=0.001 right_z=0.1651 right_yaw=0.0018 right_pitch=-0.0686 right_roll=0.005 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -7.1043, 8.3214, 0.696, -0.3932, -0.0073, -0.1441, -0.1026, -1.6068, 7.159, 1.6972, -0.0366, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9602d5e2ef350183505e80b9f939277c2d169515e3a98c6f9096e39d1cb9a25c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b3844b18a03b5a5997fb98906e2753d2447558de682e7dea1867bcd1ca25702",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48cd288ac1edddf33c6c8eaa5f0e53c61f1498afaf003e4b55164e117a1c2cc2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEWX7j84DTijzvzWyi5RTjtTPy5FBLbGotVfNd5gLNX8EBXKD8TMCp9K7EHjvAKN7205I5IE-OGyL0EHLLioCeOQb3mrTICtDXZBBHC9dmGZd9Uj9he8SDWsPGZx05LSJkDY8lgKfMfnsOqf63qigoNutJg6K9gNuOzoTb6ICOOaM8TbgOPQIQNOqi8HVE3x4spaU7wlxeKwUSAuRJtRYsQayrPmSx25uMCrriRah3IXR40YM7ghYA4fXF6JaDS_qUpgaEcjGuhJ-yeXpex1SCo4l-YtBIciDzl7iPw7rX6KN5HQliMLZaczgj6sS-IBLLOQ26EXhBOnzMqABDFHgZR-RhZobILalId_tWLDK4WFMh8ToUCcsuvFbx7j1ooRcJ1ysM7c7ymSWO9eWVVIncdYU4FeUTlxSIi2im3lpdPM4JsK46IE9kEgRcXzCbfUf82KscmF7cT4t4v1DOk2Dh5tgyJlA98nRZRzb4bx9TnIzI53GzS4j0rHYlxpj8Cqppz7gpqtVAgRhkoE5kEIdKFsigOUmpInJqWw0BUxXIb8TMSY5Vpog_iNWYiR94RW0UJGBopVS_kKMc8h7g0YjYJu3up3chzPBMjMCsSbCzPUC7xItG3VRinzIexFungYH5gBVinop0B7hFFau_Qz9cSbvfiRonToIkpacXu6RDlaOydgaCD0TOEwKvS_oJFV9pqa6nEALybDW_4byL9cZ71LekuEcKHIfyFNRO4fRqgOig8Idw0P0FQiRXGnWpkuyzZto0ImsLEnxI8zw9UsPBHke0eYeF34iKDmfNn-TWmoo84Pxtgjd39_eKvf8Ls9YWJdsr22A9F5-VTnZVzEik35VbQRqkaSnma6eRmPRClIy7uhGcuANeexHGpiqNLWi0veTMfIRrmJrgocVdz7i15NxI_lIzPaB_BUMhvfZ282XQbrHQZXrGRFy7u3Mya4SUo8nAFlHVpJeBpkPnfqUPS0j9NQKndrq51AP6DhkouVBCFCIVdQCZLlXRlUDUTX_0TKvI1JExYvo4S0vrS_oxSkR2xvTHU0sYiTORZaooaiVmNB6_EhxVu7eANEL2_Qh8WJ8bXV2PDWPGHxKZ1qTG6QvwICqTGfsN2S5n1EZ1jM0_Oftdi4Vf1WQrNBAH4vFkjGVsthExmvriuKoyBru8D7udaS3l3dKfvEPTbu74eiIhkjwuZSBxy5bNZnZIc_CZG4NdeN8hP5Fv2g6T3vLkUNW_ignMZAWeuakTp0_r-p7OoiRi11VA5hg8BhD4BE9zogrKth44g63z4OiguoArPM8FRGFoZHLNI3pkUOyJSSGa4xeUo1Uc_7wyQ_G2pZJBvZAl9Bstv2Z_xbY5oJqeU2ir4xTvWJb7MmxLjILy1dNoT07QwL5aT1hp7qiWGW6ODw2D1Rz4LAbEGHU9tRc9lRH18s6nvPL_xbVgG2hUrs4Cr5lCyKvk_ULHAXCRFlD2_IzEQZiMJGxdTDaPMMNUOPmUeZiWU3FDhbUYnaYwXds_kn1HllLycplJnSm3S1tLV_K2BYID4D_j1O5BfizIZdiP4AyEHp59uhkAGpxCfEHDhKQ0OsHx89rRtyCAZNCAd4SKfV9TVLotADDkfkGeeq7RBtN54lzKb9qy95ltY9S3i7Q4W3K0Ul7h92duUyQluULi_4zl2PBa-ikhO1SvBl9GsC6Y47OuprCe2DFBJdANSoBObm-hO-67Z1PgVVSJnxy62lAqT2cjQG1Jb0aFq52sioNN8IErj4Fs9ljF349fBgfrDP5tKx1CKvklQVb84eo7tjrPJsK6qA1ToOehp89z83_bld2iWX-SK7I4ETkGdtqlqtt6BUxqXEgoivTa8T7qJL2sBP4VR4bMNOsagMteeGzfaeqAVi2g7VPiyukNft6-8iAFTaRfslXNxF8I1bCnYUPdVVYIeedzJtuMRJ6tJAXXNI4yCRVz2HpjZSvz9XUPWZ3H_mkIJa8pwRqRFIX0JjB0quJHE1gSBegnPhKXa8ZTzCjYWxdylcmKhngGi12nCDjy2b5WpUhXyzsSMf6xYIuFOU_AQI7yioVTmE45RzzmkgY-qg9fOfekhyDLCWcdiRRYVpUSCMbJtYq-HCsO4bX__6KO2jD0R_xzAWFegojN_CoLLkYrqNQ4OrHao=",
  "id": "rs_006d44f07b7fc7ad016ab445948e4c87d0974539f009143845",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.307,\"left_y\":-0.194,\"left_z\":0.065,\"left_gripper\":1},\"note\":\"The wrist camera looks past the target and shows the two bears’ paw pads in the left basket; the overhead view places the brown compact toy directly under the gripper. I am descending at this fixed position to grasp that toy near table level.\"}",
  "call_id": "call_JBKKIzPemPvmxkixK8JiqtYg",
  "id": "fc_006d44f07b7fc7ad016ab4459623b887d0ba9348bbd84be9ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JBKKIzPemPvmxkixK8JiqtYg",
  "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]: [-0.8276, 1.665, 1.0794, -0.6819, -0.5568, -0.836, 0.9987, -0.02, 0.8429, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3067 left_y=-0.1905 left_z=0.0796 left_yaw=0.1718 left_pitch=-0.3896 left_roll=0.1389 left_gripper=0.9987 right_x=0.2963 right_y=0.001 right_z=0.1652 right_yaw=0.0018 right_pitch=-0.0682 right_roll=0.005 right_gripper=0.9992\nstate[joint_eff]: [-0.3897, -5.094, 4.6974, 0.5885, -0.2173, 0.1294, -0.149, -0.0479, -1.5521, 7.1863, 1.707, -0.0366, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23e6b236568a4ae0416feb32705fc4827270da0e9f2134e9c4cad83a70f9622b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1545e51d5b51eef3c62ca9266418f23ebdc2c5ac6b430b3aa92514df9ae3fa0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c5ba68766363131885bafbc402e5edb503bede362ad5853715bcb749f6bfa54",
      "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 28 attempt 0 · /responses · status 200 · 3.443 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]: [-0.2264, 1.7157, 1.2179, -0.5293, -0.2844, -0.2249, 0.7951, -0.02, 0.8379, 0.6067, -0.3927, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.427 left_y=-0.0438 left_z=0.104 left_yaw=0.1575 left_pitch=-0.4096 left_roll=0.1423 left_gripper=0.7951 right_x=0.296 right_y=0.0009 right_z=0.1665 right_yaw=0.0015 right_pitch=-0.0632 right_roll=0.0047 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -8.6906, 7.7197, 1.2967, -0.2222, 0.0122, -0.1245, -0.0479, -1.5111, 7.0496, 1.7021, -0.0366, -0.0464, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "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]: [-0.8337, 1.6176, 1.3258, -0.976, -0.5537, -0.8204, 0.9988, -0.02, 0.8429, 0.6067, -0.3931, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3066 left_y=-0.1942 left_z=0.1525 left_yaw=0.1554 left_pitch=-0.3934 left_roll=0.1474 left_gripper=0.9988 right_x=0.2962 right_y=0.001 right_z=0.1651 right_yaw=0.0018 right_pitch=-0.0686 right_roll=0.005 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -7.1043, 8.3214, 0.696, -0.3932, -0.0073, -0.1441, -0.1026, -1.6068, 7.159, 1.6972, -0.0366, -0.022, -0.0122]",
      "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]: [-0.8276, 1.665, 1.0794, -0.6819, -0.5568, -0.836, 0.9987, -0.02, 0.8429, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3067 left_y=-0.1905 left_z=0.0796 left_yaw=0.1718 left_pitch=-0.3896 left_roll=0.1389 left_gripper=0.9987 right_x=0.2963 right_y=0.001 right_z=0.1652 right_yaw=0.0018 right_pitch=-0.0682 right_roll=0.005 right_gripper=0.9992\nstate[joint_eff]: [-0.3897, -5.094, 4.6974, 0.5885, -0.2173, 0.1294, -0.149, -0.0479, -1.5521, 7.1863, 1.707, -0.0366, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23e6b236568a4ae0416feb32705fc4827270da0e9f2134e9c4cad83a70f9622b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1545e51d5b51eef3c62ca9266418f23ebdc2c5ac6b430b3aa92514df9ae3fa0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c5ba68766363131885bafbc402e5edb503bede362ad5853715bcb749f6bfa54",
      "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_006d44f07b7fc7ad016ab4459bdf5887d083d1b5aa4528b01b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.15,\"left_z\":0.11,\"left_gripper\":1},\"note\":\"The overhead view after descent shows the brown toy offset down-left of the jaw center rather than directly between the fingers. I am backing slightly toward the base and left to recenter over its torso before closing.\"}",
  "call_id": "call_AXSsKMfC3NEXN0CmpnArvxXB",
  "id": "fc_006d44f07b7fc7ad016ab4459d0dcc87d09ebd156023382112",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AXSsKMfC3NEXN0CmpnArvxXB",
  "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]: [-0.7986, 1.4765, 1.0004, -0.7414, -0.543, -0.8192, 0.9988, -0.02, 0.8448, 0.6067, -0.3927, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2891 left_y=-0.1608 left_z=0.1084 left_yaw=0.1672 left_pitch=-0.3737 left_roll=0.097 left_gripper=0.9988 right_x=0.2964 right_y=0.0009 right_z=0.1646 right_yaw=0.0015 right_pitch=-0.0701 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -5.8051, 5.641, 0.9304, -0.398, 0.1636, -0.1441, -0.1026, -1.1282, 7.0359, 1.7118, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f6d0e4737d113ebfd2ddc0e0b5902964419cb9a25c0a4ccbb3fb79bd670e00c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a7b4722a552261089c20561bdbbb99108e69a962da088eaae8117bd69b0e8fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:469728783b8d1f2f8d3dcf5d0218430a8a4ea85c50e735bb69843442f437a736",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 2.674 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]: [-0.1661, 1.1893, 1.0637, -0.8497, -0.2604, -0.1829, 0.9982, -0.02, 0.8417, 0.6064, -0.3923, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3112 left_y=-0.0024 left_z=0.1867 left_yaw=0.1655 left_pitch=-0.371 left_roll=0.1285 left_gripper=0.9982 right_x=0.2962 right_y=0.0009 right_z=0.1654 right_yaw=0.0015 right_pitch=-0.0671 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [0.4308, -4.1504, 6.065, 1.2479, -0.0464, 0.0611, -0.1392, -0.2256, -1.5385, 7.0359, 1.7656, -0.0073, -0.0366, -0.0171]",
      "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]: [-0.8276, 1.665, 1.0794, -0.6819, -0.5568, -0.836, 0.9987, -0.02, 0.8429, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3067 left_y=-0.1905 left_z=0.0796 left_yaw=0.1718 left_pitch=-0.3896 left_roll=0.1389 left_gripper=0.9987 right_x=0.2963 right_y=0.001 right_z=0.1652 right_yaw=0.0018 right_pitch=-0.0682 right_roll=0.005 right_gripper=0.9992\nstate[joint_eff]: [-0.3897, -5.094, 4.6974, 0.5885, -0.2173, 0.1294, -0.149, -0.0479, -1.5521, 7.1863, 1.707, -0.0366, -0.0317, -0.0122]",
      "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]: [-0.7986, 1.4765, 1.0004, -0.7414, -0.543, -0.8192, 0.9988, -0.02, 0.8448, 0.6067, -0.3927, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2891 left_y=-0.1608 left_z=0.1084 left_yaw=0.1672 left_pitch=-0.3737 left_roll=0.097 left_gripper=0.9988 right_x=0.2964 right_y=0.0009 right_z=0.1646 right_yaw=0.0015 right_pitch=-0.0701 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -5.8051, 5.641, 0.9304, -0.398, 0.1636, -0.1441, -0.1026, -1.1282, 7.0359, 1.7118, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f6d0e4737d113ebfd2ddc0e0b5902964419cb9a25c0a4ccbb3fb79bd670e00c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a7b4722a552261089c20561bdbbb99108e69a962da088eaae8117bd69b0e8fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:469728783b8d1f2f8d3dcf5d0218430a8a4ea85c50e735bb69843442f437a736",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
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  "id": "rs_006d44f07b7fc7ad016ab4459f609c87d091412ea1f32b3d59",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.265,\"left_y\":-0.15,\"left_z\":0.055,\"left_gripper\":1},\"note\":\"The lateral alignment is now correct, but the toy’s body is still slightly toward the base from the fingertips in the overhead view. I am moving another 2.5 cm toward the base while descending to torso height.\"}",
  "call_id": "call_xpny37y0hSDpptzDnfB4Rv6y",
  "id": "fc_006d44f07b7fc7ad016ab445a0e3e087d0b99206fcfbd87bea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xpny37y0hSDpptzDnfB4Rv6y",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8082, 1.47, 0.9382, -0.7097, -0.5426, -0.8249, 0.9988, -0.02, 0.8455, 0.6067, -0.3927, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.2803 left_y=-0.1561 left_z=0.0928 left_yaw=0.1687 left_pitch=-0.3873 left_roll=0.1145 left_gripper=0.9988 right_x=0.2964 right_y=0.001 right_z=0.1644 right_yaw=0.002 right_pitch=-0.0709 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -6.0239, 6.3521, 0.9109, -0.3687, -0.0806, -0.1441, -0.1026, -1.3333, 7.0496, 1.6532, -0.0366, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bebd62e2ad6513e99cdbe8635ef4e735add96557f06b6b607771e24b4301a066",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:663ca47c2386abab88a94f1003bc97da2754de08e72110e6d4f80301a97b90fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0c66cd286de6687f98d76a9eebaf490c5bf7af0d9f5280863e8a38a7d9ad55c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 4.091 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]: [-0.8337, 1.6176, 1.3258, -0.976, -0.5537, -0.8204, 0.9988, -0.02, 0.8429, 0.6067, -0.3931, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3066 left_y=-0.1942 left_z=0.1525 left_yaw=0.1554 left_pitch=-0.3934 left_roll=0.1474 left_gripper=0.9988 right_x=0.2962 right_y=0.001 right_z=0.1651 right_yaw=0.0018 right_pitch=-0.0686 right_roll=0.005 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -7.1043, 8.3214, 0.696, -0.3932, -0.0073, -0.1441, -0.1026, -1.6068, 7.159, 1.6972, -0.0366, -0.022, -0.0122]",
      "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]: [-0.7986, 1.4765, 1.0004, -0.7414, -0.543, -0.8192, 0.9988, -0.02, 0.8448, 0.6067, -0.3927, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2891 left_y=-0.1608 left_z=0.1084 left_yaw=0.1672 left_pitch=-0.3737 left_roll=0.097 left_gripper=0.9988 right_x=0.2964 right_y=0.0009 right_z=0.1646 right_yaw=0.0015 right_pitch=-0.0701 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -5.8051, 5.641, 0.9304, -0.398, 0.1636, -0.1441, -0.1026, -1.1282, 7.0359, 1.7118, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.8082, 1.47, 0.9382, -0.7097, -0.5426, -0.8249, 0.9988, -0.02, 0.8455, 0.6067, -0.3927, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.2803 left_y=-0.1561 left_z=0.0928 left_yaw=0.1687 left_pitch=-0.3873 left_roll=0.1145 left_gripper=0.9988 right_x=0.2964 right_y=0.001 right_z=0.1644 right_yaw=0.002 right_pitch=-0.0709 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -6.0239, 6.3521, 0.9109, -0.3687, -0.0806, -0.1441, -0.1026, -1.3333, 7.0496, 1.6532, -0.0366, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bebd62e2ad6513e99cdbe8635ef4e735add96557f06b6b607771e24b4301a066",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:663ca47c2386abab88a94f1003bc97da2754de08e72110e6d4f80301a97b90fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0c66cd286de6687f98d76a9eebaf490c5bf7af0d9f5280863e8a38a7d9ad55c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEWk95qKFnKPQNbatJzz8zLlOHLOMF1LTDn-yN5-PoTUYkPf6YSnpjEPlT36oH8RS15iUnFDs7IN-G0sBiOD0t30wVlhCXvK6B-aYpVwn1D1zcetJ3UCgYNiEOtjaaO6i2JBXNLUzZVreY2PgC5z4077SLeexgOEaYWb1C8z564z8j15NipqwZuR2R2wZLGQwE6QznaS6g_dknPpCoaNS1Y1csN0TE2IR3mHFmeiHyaS63VegDRt0pVuee254Eb5KawBmkzz6Z4YXkk0D8zaBpahrMvDe4mZbyadTBxo1tcCMfWm-0h2-Iv4Jcdye1FqtICellUrPaHWZ9HdqAYKdtmr7XIqkEVAvGvlLUiR-c9LJVAwWcDI8ALyvYaCpBShLyi_ctjiNw6Y5GmKjfIBnwD9O9YqFCnJvSEzObsOq-K9WwhmgowcKKQZCa8xIuhTMAI4fJlpnGGw2QK4VXMUs8iel3YytAyuEfzzkEoYht5wW0SqUsX6msJhxvQSAaZ9jnu7p-XmXwC82h9fPydmnIP8a0FN2mmWP3WQ6ssFfUQkkFP-dZU4mPAzFd0e5LQGN9csxM7cR1RoUgvx5zyX9E6HpVuJEPAMcPoKjsVOzQ3I2X5sXjAWE2mWmzVcYDi0XObZ6cjHDuu0q22HHWI5c4f8_y5T6PytmDFAWgu5goNDMHIuuw4iRONWXo2Fiyd_W6EnSR7SUoO0sBoGuNfPIBF1Xsniz1YkBofZKE_Jtwd3twLkBl42EdnpvEk0FNzc0Mk6bXoR7mY4jPSbN1BqOVhLwtXpnqAXeAxAEPJ2kuziCrafdNwg5rO1zw94RBWvQZmlYr0OkzqLbhmeGmbBvffkW86b4rdoyZVMuecgaybp4hFv4scFGc19TNirshnMJTm_6yyEn4tCKGcCjdOSEAYLBMzXHHyiz1WCFVpDX1EeEf47UklBAm8KlRPqGGnZbEpKoEZRd0TNiF4D7jM_tDO-i58RFBw8lX6Js6t2Bb3Yv_-qEfAVh7QHxQnP25Rzq_CnLxt2E1f-K1l63TRLaEI_SQ49tsgl0lPWLnbxyX5wAh1AoEORlC---pAI_ikizqIvokPNsM1wtp9AkleP3-tmW1A3he4MksMnvrN32RUFFQD9gv8ezXdQsJukHYeriZdDsJql7nhg98lDw6rWGCrk8eC6Yhl8JzDI89-D9ifUtOtWLUl-ZkOEE4sgkI45Zc8UBFUhHIg7zN3-voGdKbBDGq61XIfUC-8lIg8yPXpLmxnWeTILRPO4ui5oZXLIK9ZLxG0efk6XDY-IDIZpBnoSFCv9IwSD7VYZiBW3NTB72-Q_QPhGscHGn2bILOiWIpqPiubw8TWKIWg84aCGjJ7wZgmnn5YK6tuqdrVCtc8Mtcg=",
  "id": "rs_006d44f07b7fc7ad016ab445a393f887d0be707c4a52caf868",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The arm stopped short at z≈0.093 m and x≈0.28 m, consistent with the fingers contacting the compact toy. Its torso is now directly under the jaw center, so I am closing to grasp it.\"}",
  "call_id": "call_kmhbdFJFTVCGu2yDh9CdzNKN",
  "id": "fc_006d44f07b7fc7ad016ab445a3e9a487d0bc742777279b6244",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kmhbdFJFTVCGu2yDh9CdzNKN",
  "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]: [-0.8082, 1.4715, 0.9382, -0.6941, -0.5392, -0.8307, 0.0381, -0.02, 0.8494, 0.6022, -0.3931, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.2822 left_y=-0.1589 left_z=0.0932 left_yaw=0.1654 left_pitch=-0.3817 left_roll=0.0963 left_gripper=0.0381 right_x=0.2959 right_y=0.001 right_z=0.1612 right_yaw=0.002 right_pitch=-0.0796 right_roll=0.005 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -5.9692, 6.1197, 0.7399, -0.3785, 0.0122, 0.9988, -0.0889, -1.6205, 7.6376, 1.6972, -0.0171, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35fd130fdcb0e415db1c9ca1516e969ef2b32871f04fe7dc6c797e42b570a094",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f85ff5fcde3ad4eafbd42b323cc44203cc57b4a7ab317df31c56a1e6f0f23283",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fad61299c80487504d7b28fa86a0ecdf7b068565ab51782d4561dbf9c9157fe8",
      "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 31 attempt 0 · /responses · status 200 · 4.132 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]: [-0.8276, 1.665, 1.0794, -0.6819, -0.5568, -0.836, 0.9987, -0.02, 0.8429, 0.6067, -0.3927, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3067 left_y=-0.1905 left_z=0.0796 left_yaw=0.1718 left_pitch=-0.3896 left_roll=0.1389 left_gripper=0.9987 right_x=0.2963 right_y=0.001 right_z=0.1652 right_yaw=0.0018 right_pitch=-0.0682 right_roll=0.005 right_gripper=0.9992\nstate[joint_eff]: [-0.3897, -5.094, 4.6974, 0.5885, -0.2173, 0.1294, -0.149, -0.0479, -1.5521, 7.1863, 1.707, -0.0366, -0.0317, -0.0122]",
      "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]: [-0.8082, 1.47, 0.9382, -0.7097, -0.5426, -0.8249, 0.9988, -0.02, 0.8455, 0.6067, -0.3927, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.2803 left_y=-0.1561 left_z=0.0928 left_yaw=0.1687 left_pitch=-0.3873 left_roll=0.1145 left_gripper=0.9988 right_x=0.2964 right_y=0.001 right_z=0.1644 right_yaw=0.002 right_pitch=-0.0709 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -6.0239, 6.3521, 0.9109, -0.3687, -0.0806, -0.1441, -0.1026, -1.3333, 7.0496, 1.6532, -0.0366, -0.0708, -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]: [-0.8082, 1.4715, 0.9382, -0.6941, -0.5392, -0.8307, 0.0381, -0.02, 0.8494, 0.6022, -0.3931, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.2822 left_y=-0.1589 left_z=0.0932 left_yaw=0.1654 left_pitch=-0.3817 left_roll=0.0963 left_gripper=0.0381 right_x=0.2959 right_y=0.001 right_z=0.1612 right_yaw=0.002 right_pitch=-0.0796 right_roll=0.005 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -5.9692, 6.1197, 0.7399, -0.3785, 0.0122, 0.9988, -0.0889, -1.6205, 7.6376, 1.6972, -0.0171, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35fd130fdcb0e415db1c9ca1516e969ef2b32871f04fe7dc6c797e42b570a094",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f85ff5fcde3ad4eafbd42b323cc44203cc57b4a7ab317df31c56a1e6f0f23283",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fad61299c80487504d7b28fa86a0ecdf7b068565ab51782d4561dbf9c9157fe8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEWpEwYxMYTg0Y_poCDFd2WWP8NXlgHw1_aW4QkEeVKW8KJvANNuLzNJZpyw_8OPpjY6WAEWCjTyox_WC8LCwCs_QHl5d4QsSmov3ExrXrZjz4BuF4QsCTztUNnXS6nVFZ-y_alm1tqlv4ChFzuyEyUqdbVSorD2LfFuJW_P_V_Gvc6tUHE7d6GmR8mYJ555qI0spiif9yePyrkNggKBQyv2a2Ou8CwUVjkrnFgiRf7QcIRV5jBWqCYzxTifiL42jQlcgZqw_L4pUlZFicvyHjG5cGXTUpN-BCrLFyaVtRayGJfZthczhw7vOwP1ufVJhkpwMna4x30E3UjDTZxy821VUwltjq_fW-8W5G4ivEhX-tf-HW3rhdnN4rb2BNFue0BwU2xqREATbjMVYtt0m_NjdE4BJQL-JEsWuMVqcXbj13hpmBC15WPWfeOq8WDyzD7Z4K_IBNgVpV_GHjKlzcKacvpIZkO2kwH1r2SNPnX_c1EDSXX61xQhKiXwACsoXuDmCeGcloP6XrbdNWQJGuqR3ZjZqcJqupm_54JyZVd5b60SML-nFBJETrQIBBj3yKFUq9HWbCXQ1Hf1_qd0P4T1jUbYJHYw6d7Isv2JZ6hpicGr8i_gqo1IhG-LiEyFfEUlcUhseqnr8_WZ6f2Rg-LibRpxXgDgM-gyPugyT2IP0_MS70tUkC_DYOqk8Rf1l-wB1kOLOUUSmFE1LzS6Mug-c0ImtqsXz_4_WZhINFAbNw27yoK_b1NsxQUKa7P-cZdwdZaqAOlr1z8YP5ReN6tBMzNBG-TlxK9Zk97Wnqs32ckuZghEIXum34P1uN2lqfxs-GS5LnZKGQyIpLXLgmJGltUQvxMjumXqW593iKnuGwIAZgcEaTPGmo9M7BJep9V8t07csrMcvBKMDuTOFQjJTkaB2huM_wOa4pywqlYCOdBpXwsLUe57Y2ASdY0jFqY7JI8k1BdhH7fCskTtN76YsjVe5TuHwSnLcPobN7L2eXnTP6tyiLe98dCB06p7vDjI8fNEAmPVfJKCNFUdCsvat5fP_gf2FRhcujiP3GjP2v5-qlWgq7YvlWcQ8xi5mGPgoJlwAbOlJ-h1ccIw9D3B42be7xXmB_DBqZlr8yt9_k0kHBemuow5lDu1-aBTlthmvfIAletn5SkUYWDJW7Y3WgLC1Cmo5FQk5j_o2pbaB2puil8GA0Vl2Nih-NHmNWxPilr19QXfia8WX7gRkDqfi_MwKVa7AzUZeD4MnLCAdvw6ZRp3FFJhZtrss6CTXyg_0KCBp2CkrCsqHCRuoNC4wgXupSfgr3axKPVXvr3mT0694S_Og74ij2ftFR-ohHVgZNm_Q90HBcF2yJbtnh0rOMOE5zDwc1IC7KiGw2pCjZtmxcZBvQoE1rqGNisIXdLqd95tDhpn3znHi1e85H5uTUw0WcC6jh6qGOkCKdXqrbAjI7ugend2MeQg-R-RprgTixm9ku99eU03ddeI5W7VplXVT58VPrjlbd1drzHwoBfBidrYerM14fULQ8bbdtGagrlhDvjkJZQyMyTDfDXSsXLBzcK41QTKMCteNWEAjB4gMuEcMaLujUYUp83i2SGylzkYylRSBMTmm2fO-b2E-2_JB1QKAw8qOErTCbvJ2xX2AxksYkczWute4w06BaXhCn5U5U0IbatpfzMi6zp9JT2z17IR2wrenQvvLiYSXF7Y2pF6G1_uHuD9nvYJxUdiBPTlzfDyNlFudn25z550zk_wLw2H3uLCV1ZCsspb30KFswiPXdVzT-sm1EB6tj7twAeJwPcSX1BfdUfNKsT5cI9Yt42ti1lEhY1VobD2_I3WHyvEy8YvFyXj7FOgL4ELv5C0c_0X9mO6N5FtkNoz-FyJZek9E5pr_cTyUbANsMYkGIEK0tV4Fu0r0xH8YyHpnMw6YRcOwbE-GGAPv4ftZsm8P0zO09cZ-5PKu-8r5O6_8ZCx2Jk4dUPYxhfRy6xpRIdOfLUO02Uf91FMQF47ajvqAabAXmT7EGMsWced--fl1vZkeGLEykh01-mp7VIERAhIAZUhWtnaaMR38fzL_AsCB1Y-Et95iC34m6n-skcBZO7QFjiRSDjDHNHXMvEgcenTsqkgG0bCqXPUidbei_Pe43hm2E79KszurB6IO3G86kwPdZ9KFeynEkuD3NtBV8jQoqZOP4eOIvZo6Z0RmoP4owrl0gT7preTC0w8V8k=",
  "id": "rs_006d44f07b7fc7ad016ab445a6d78c87d0aff0338e34aefd6c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.26,\"left_y\":-0.15,\"left_z\":0.15,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":1},\"note\":\"The close settled at 0.038, just below the reliable grasp threshold, so it was empty. The wrist has accumulated a large tilt from contact; I am reopening, lifting, and explicitly restoring the tool to its vertical start orientation while moving toward the toy’s true overhead position.\"}",
  "call_id": "call_0YUUrdxZccLTK0ryDGY1A1KO",
  "id": "fc_006d44f07b7fc7ad016ab445a8a53c87d0a427ab238d65acca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0YUUrdxZccLTK0ryDGY1A1KO",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9489, 1.0813, 0.6449, -0.4404, -0.73, -0.6941, 0.9971, -0.02, 0.8513, 0.601, -0.392, -0.0185, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.2573 left_y=-0.1506 left_z=0.1409 left_yaw=0.0027 left_pitch=-0.0473 left_roll=0.0006 left_gripper=0.9971 right_x=0.296 right_y=0.0009 right_z=0.1604 right_yaw=0.0017 right_pitch=-0.0815 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.5402, -3.412, 6.5299, 1.4872, -0.5201, 0.1685, -0.0122, -0.3624, -1.5932, 7.1316, 1.7265, -0.0513, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:181ede02b49b5832f644b038b6a89bcf3893c1687c9c08e82a569cb18475b305",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cab00fb88c5d5d115d7bf1d2a645b2509ec0a6470ce572035bb44ff3e9339c65",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:853c12c13a21936f42e7b5982ec38b3578177bb82c907edafaf90508fc6e4f0f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 3.153 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]: [-0.7986, 1.4765, 1.0004, -0.7414, -0.543, -0.8192, 0.9988, -0.02, 0.8448, 0.6067, -0.3927, -0.0185, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2891 left_y=-0.1608 left_z=0.1084 left_yaw=0.1672 left_pitch=-0.3737 left_roll=0.097 left_gripper=0.9988 right_x=0.2964 right_y=0.0009 right_z=0.1646 right_yaw=0.0015 right_pitch=-0.0701 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -5.8051, 5.641, 0.9304, -0.398, 0.1636, -0.1441, -0.1026, -1.1282, 7.0359, 1.7118, -0.0366, -0.0415, -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]: [-0.8082, 1.4715, 0.9382, -0.6941, -0.5392, -0.8307, 0.0381, -0.02, 0.8494, 0.6022, -0.3931, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.2822 left_y=-0.1589 left_z=0.0932 left_yaw=0.1654 left_pitch=-0.3817 left_roll=0.0963 left_gripper=0.0381 right_x=0.2959 right_y=0.001 right_z=0.1612 right_yaw=0.002 right_pitch=-0.0796 right_roll=0.005 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -5.9692, 6.1197, 0.7399, -0.3785, 0.0122, 0.9988, -0.0889, -1.6205, 7.6376, 1.6972, -0.0171, -0.0611, -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 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]: [-0.9489, 1.0813, 0.6449, -0.4404, -0.73, -0.6941, 0.9971, -0.02, 0.8513, 0.601, -0.392, -0.0185, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.2573 left_y=-0.1506 left_z=0.1409 left_yaw=0.0027 left_pitch=-0.0473 left_roll=0.0006 left_gripper=0.9971 right_x=0.296 right_y=0.0009 right_z=0.1604 right_yaw=0.0017 right_pitch=-0.0815 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.5402, -3.412, 6.5299, 1.4872, -0.5201, 0.1685, -0.0122, -0.3624, -1.5932, 7.1316, 1.7265, -0.0513, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:181ede02b49b5832f644b038b6a89bcf3893c1687c9c08e82a569cb18475b305",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cab00fb88c5d5d115d7bf1d2a645b2509ec0a6470ce572035bb44ff3e9339c65",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:853c12c13a21936f42e7b5982ec38b3578177bb82c907edafaf90508fc6e4f0f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEWvfstr-7XirQ1aK6mzuJvUEBz-LA1ewR3WCx2EPSIW6rk4YTRUqVZeDSmGXYW1PEu-jXTiQMA6LQJhTJnBRMNXe-T1z0GgBuvh60ONv64p2roDIJBAk_Mg95BRdMdFHG4zaMYzr9nfzIAP1zOResEC56Z6EoPCja56BKRoMAzal_KH77hQ17HFFdKQ3bB9mgJf3sON7DiRT_wGGKatFq1rS1kb8AM8YHxqo8D2qP8qrv2kmcb2XRfQX2LBByQkWmo_k3dlh4I2oFNPNfoKAKsDMv5VsAre07_4Qi3J4MdeEGcz3uvpPlojGqIDj6-WpSG847ntSo3RkMT50c2lIQAAZTG8TbxqAds609TAGCwT3idFn2eBm3NguTbKF5EW2gQGe2QxJBE3vYq8RBGCjmuE3v1GFvha40KtPp-2EJV0lCCCMKOa_O8SKKs9AOCc825EtTmf6VUZIgJhmbYxDsfA06gFgbNJdUDVrkElmGNf4s9s2EP3-eJG4waNTqbQpoHKDtWMVQP850ayI1EkWVo-HlUnKy40l9UxQMiA7pe7CYEi3M5HnubYMdfqshgaI3I1yagSUvNGHi9SVzg6WvqUJcc6e46QuxUWWbi6o8AfPALv6vAwhj-o6gv6Dy6XGUKJL5iEh6--02KJgtgvPBRVeP5fZgROVIZXqRZFYld0ANWW0qSfWJQZI6qhVF_11XFxBnS8Srg5HCkn_tzW862i-IC1DZyMoPXOZwwiqAdoMk7dg3owdOmuoyDhj6n7uQOnw44FIaN6eIuzAK5nf8RGUDIaNZBfNn7tZaJhvTHKjnkH-aa9nVBsyYJ5D0E9UntepkiUS4tk5KqAa3UUbUH8rzDcQi6VMebgfYs_JRJ0PWYA-9QFQNGTbBcoCyy3B5T4uWBHAKURxHVJqkuV4aLibiUWpOFLHqp12-42iRGpIngc5tUPwpJZ3O6dWQYg5BjQsp-a02SJN6S2587WYs4KGJeW59aNXaQomdq2mHAtlo4FjQopqVpbpQ85kI3wxNUkkxtjIjZiJykrnWj0PsFNFjLEOaGv4PiJVeQSigGrjrDVVae6fX0AsGhnMxUiC7IUZVqDgV5rH5bWynsXq8e9D530eJRBYdRTDn2bHxcmSS5ZKSWMYbcIHiGP6EMmi4OcI5ExfLmgaJjlPdCd7ompfirAjS71ndWyx-YOGxceNKqyhi3f2smDVE_jTFIjAVYvKsPKp7Baukyd3L9ZboP-fjjk7JYlt3nij1tDCAh1lYaVU69jpaiDWqlhSnusxX4MYhb3jjjzlxasYuNAov260lUcrPV_EOWRb5ma_CxMsPvJf7o43DfVWqSmUMCekPB92m2dAikztRBtHn2fYQfp3r-ku35-BR8y-v8HoS8O4qQDrzCOSne4D4NsamA00IhLjOZZx36NAgf0c3Zxo7WQPsL4VcQExHzGABx57mqEh2aaM7GxR7qSfVmVJ6aVTwVG1_BXUy66oc3pZ50ylhkvIMpGzVTYGKaNeDp2EmUmiBB7fnN9wjW1eqzSBfoGEGDaUIh_KZn1q7KZR6BEAOeMobmvyQ5RqNm_hdAdbqLIIgihMFD5belREVULwa4LfhQyEl8ekhrI3tMFpeS_pBPfi8-tPohOtkWTPdcZFz3A1GzhYKtKUEvecZLh0-y5JCCMQaD_qo31gEqXUaR0ccH0Djky47Jgqamc1xEvOQDYt9c3yvEjd9KddWjetTmsrEpDZ2xWCEjlbaUc4cnuW7w-RO1yX0Hc8qU5dRB9gc0c0b0vnWpak0paMLizXLjUyx6JSf9v_kzsrulkjhf5P9F4bvrhuXtP53gXpdqNSKdIPdOrbvdMNmoJbDXoNjcoaGamE5Z2xtwTcIphkbPJN8ml4tI0rG6VKsmzkhYQpv1brljsgTV73vpnhv3AYZ7Zv77DZSf06gN4gzoDxn192B78HrEvHvJCxIoMArFxXcXxcwAm-_bu6K2_7qXj6NvxTaxxZgJ6ERyB6W3koCe7LfQHs745PewvEKtPeLvrJOB0YTRxY3YPKzkm4xX0dZY5PvKfuAnqLYmbt-sxIpWwwcXZi0uuwHnXxKDEiBXZKWZuKSNGc_zOfrkoYfYHVXX6kwnmOJLTqK1Vv84Z8gF5axdfZE_PzpXiTJ35isCHFOKlF3NJE12dHPDDVFq2aaSKm_yR",
  "id": "rs_006d44f07b7fc7ad016ab445ac105c87d08b02001a33399b67",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":0.0,\"left_z\":0.13,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":1},\"note\":\"With the tool vertical, the remaining gray compact plush is clearly isolated near the left fence, while the brown one remains partly under the arm. I am shifting to hover over the unobstructed gray toy first.\"}",
  "call_id": "call_UeQ7kVzknam2VO20Nm2PZOLv",
  "id": "fc_006d44f07b7fc7ad016ab445ae031487d0a4ac4efcef884ce6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UeQ7kVzknam2VO20Nm2PZOLv",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0723, 0.5201, 0.3614, -0.424, -0.1287, -0.1108, 0.9988, -0.02, 0.8566, 0.6003, -0.4004, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.2485 left_y=0.0083 left_z=0.1289 left_yaw=0.0871 left_pitch=-0.0146 left_roll=-0.006 left_gripper=0.9988 right_x=0.2949 right_y=0.001 right_z=0.1569 right_yaw=0.0021 right_pitch=-0.096 right_roll=0.0053 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -0.0342, 6.3658, 1.9463, 0.0611, 0.1392, -0.1441, -0.2256, -2.0171, 7.1179, 1.6923, -0.0464, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9203266a35faa9b234e902c6bec6eb333390e0fc4388eab631235548acbdbd1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b787f01a48f6aa48c8bc1fb522dbdd45de95e50d703dca660f39efc2d8d3184",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb4e786b5e76b7173b0777534ee85f1650e8590cd0d02a10ec8f765ecce5cc59",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /responses · status 200 · 2.833 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8082, 1.47, 0.9382, -0.7097, -0.5426, -0.8249, 0.9988, -0.02, 0.8455, 0.6067, -0.3927, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.2803 left_y=-0.1561 left_z=0.0928 left_yaw=0.1687 left_pitch=-0.3873 left_roll=0.1145 left_gripper=0.9988 right_x=0.2964 right_y=0.001 right_z=0.1644 right_yaw=0.002 right_pitch=-0.0709 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -6.0239, 6.3521, 0.9109, -0.3687, -0.0806, -0.1441, -0.1026, -1.3333, 7.0496, 1.6532, -0.0366, -0.0708, -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]: [-0.9489, 1.0813, 0.6449, -0.4404, -0.73, -0.6941, 0.9971, -0.02, 0.8513, 0.601, -0.392, -0.0185, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.2573 left_y=-0.1506 left_z=0.1409 left_yaw=0.0027 left_pitch=-0.0473 left_roll=0.0006 left_gripper=0.9971 right_x=0.296 right_y=0.0009 right_z=0.1604 right_yaw=0.0017 right_pitch=-0.0815 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.5402, -3.412, 6.5299, 1.4872, -0.5201, 0.1685, -0.0122, -0.3624, -1.5932, 7.1316, 1.7265, -0.0513, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0723, 0.5201, 0.3614, -0.424, -0.1287, -0.1108, 0.9988, -0.02, 0.8566, 0.6003, -0.4004, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.2485 left_y=0.0083 left_z=0.1289 left_yaw=0.0871 left_pitch=-0.0146 left_roll=-0.006 left_gripper=0.9988 right_x=0.2949 right_y=0.001 right_z=0.1569 right_yaw=0.0021 right_pitch=-0.096 right_roll=0.0053 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -0.0342, 6.3658, 1.9463, 0.0611, 0.1392, -0.1441, -0.2256, -2.0171, 7.1179, 1.6923, -0.0464, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9203266a35faa9b234e902c6bec6eb333390e0fc4388eab631235548acbdbd1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b787f01a48f6aa48c8bc1fb522dbdd45de95e50d703dca660f39efc2d8d3184",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb4e786b5e76b7173b0777534ee85f1650e8590cd0d02a10ec8f765ecce5cc59",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEWzSiDGP6Lybdo5-7T8NHY1GdCOUY9XKSYidjiY3YjayKPTUUtmuFzDARCBuM81V_yqPq08H4IHFLSMF7J-wC3FRfubHf8tu9cyLRh9mpAmE6CFtjmeVQeEG79bJxGi-AyAN_tqDc2yrdsRjWv5kZYrRHGBrG8MHzAbZEUSRctgevqdYk4jkciOh0NYs-fMB_xDpVzaxxNcqO3TBk-zg1M45wVzKNoPOfQWNezAXosHglEckLyq3KQ2-TXoO97vMPhPrF3FH2tW4fZrI3uduTTyJNMqFQgjaWr6bdyCAptpVF9-989j74VBxXdX6gZtF1ZE7aB9nNuTORyMhKFsLXLFTRp50PxTqzyrambj5ejMygoqwJIlmDftjvH6imW5CyXLd0iatcwyrk21K9CkqMXfiFl5IJTLalfwa_SgR1a73JSknjH4icLIsjfT_WtqwApfBxPnBk5Y_N6J03rnQAs2LJqFkPpGSclC_C85XAN0CH2ZNzwXR0CgMshx1zUOU-xcbXup-sTCxdA14rDpI7_sy5A9ym6ZHlVY_ZZl7CzYe8f1AxTZgSPZ202i3_gXP7bjFUnkJFPCyGkXFf0h7EAOVYu92j4fKoGMPwep2a9xocaCVQADQJCgILmxnGPrUAQMMGrijUnedX-ZpB-Hv7a949giPCii44MI4-qa5DzNS59ZOe_mGZUcOn0z2wx5zBDPQZtbVuZO7BKeun2nrS03D7pb8fFp5-WdtqVgBln8VNHRuRy-KFB6rYqEoyNRCF0QN9uB3DJFPdWv2GlVoN7XmBs_vCL12QmfBAiihW3INHMTb6adDN-Uh3QV-6Ql84S4sydOGI0uhv2JSnQBcAvDDeBc3RnyJY3AJnAX-pI01mKmftFInVvh564wsVWi6WrX25m4-G1cD1FZs1dgIjG7ovgsxB0xYiqYw-jMyKLLFor1C_S_Fnd2_ORyy4jQoEcCUC3tBWKZGgftxYFJpgtiuLIDsQxjVKWgPPjoqiDWPpr3X0Cf5yXGb61MobRhcJQYG5Q-B1lzKFLLVnHh9PaiR2RMGdiDVfdlzZ6br9puzj3mjVRohT3uY5KHtwtRnMM3RJclgYSMEIVKppgvNVgcNPJRg_nEjDXFaM4bYc56cwKR7ZgrfxSqaLNgFGLB3e8gro01kXAJyhlsRTs7S7DJTq8ZVvOS2_L-Di1LoqEJkIJzRTEz6yvrIImlufBRmpSHKGqwkAe-o5YIWO-BwVDmGgYYMijNMnyDosk_CsjKN9BFgmKzHu44gTVPObBdcRosatXpiwIlz3iG-0TGl_X4pfR_Td0NsPYUofzpYOF4POg2nwAeCSphpLPE7HZDQvXJT5nsfaQt6_HcXHW74aRIqsWmRFJnxKH5_Oh4HXnVE3mLIgCgFe7xD1sGatugpqcfK3Hqi_IQqhDRbR2dpc_wvuCCOjbs4zeIVnGQhiq8tvjD_BYU7lRha9iP70ShQa-B2K5-CgQLCAMV945QtF5SeCxmcHXIqstsymIb6GTr8qqbxQoCLa48qbYWrPh5gbvFmeHW1UMa0vRnw5rEfNtCD02V_U5Y2aA8USlwxdQPfCarCmsUDFW-raiYkuEhUtQ1D47YTxI-wQbfxnf-_zwYyGUHvJ1InbO70F3mUm4dXP5zhUX_cWPKyrYhN8CVdnkbWKO0nHZ57eYuARtDSvoKGDMdjwEHiosZbDA59I_UtKauU3wTbskxxMmLXN-qxxuU2tX533ITEzzxDP_ef9zSrLCBm7SCc0Bj59f85IGd7J9j0giSzjUCmHPesz7rKAXI",
  "id": "rs_006d44f07b7fc7ad016ab445b167ec87d0a5c4176fb66f9bbe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":0.05,\"left_z\":0.065,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":1},\"note\":\"The gray toy is now clearly visible near the bottom of the wrist view, about 4 cm to the gripper’s left and already at fingertip depth. I am shifting to the fence-side limit and lowering onto its body.\"}",
  "call_id": "call_TqQndqEorIifLVhsGFcE8N14",
  "id": "fc_006d44f07b7fc7ad016ab445b2b62087d0af71e53a0f48d948",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TqQndqEorIifLVhsGFcE8N14",
  "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]: [0.3977, 0.6521, 0.1505, -0.1333, 0.2485, 0.152, 0.9988, -0.02, 0.8597, 0.598, -0.4065, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2443 left_y=0.0594 left_z=0.064 left_yaw=0.0984 left_pitch=-0.0498 left_roll=-0.0066 left_gripper=0.9988 right_x=0.2937 right_y=0.001 right_z=0.1539 right_yaw=0.0019 right_pitch=-0.1075 right_roll=0.0059 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, 0.2393, 5.3402, 1.3407, 0.315, -0.0122, -0.1441, -0.1709, -1.8256, 7.1726, 1.7509, -0.0415, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cd4a2997148885376d2ac7ad78756f38ee244efd05bf31f034ba3a611004c2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a68ed4c94bb799791662a127b2d4c70313cfdedec6761cae9e3f66e6a7ff452",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f73ad1ceef3e624cc37a5bc40030809b3fc6ccc6be49c7575f3f17d75df646a9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /responses · status 200 · 8.547 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8082, 1.4715, 0.9382, -0.6941, -0.5392, -0.8307, 0.0381, -0.02, 0.8494, 0.6022, -0.3931, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.2822 left_y=-0.1589 left_z=0.0932 left_yaw=0.1654 left_pitch=-0.3817 left_roll=0.0963 left_gripper=0.0381 right_x=0.2959 right_y=0.001 right_z=0.1612 right_yaw=0.002 right_pitch=-0.0796 right_roll=0.005 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -5.9692, 6.1197, 0.7399, -0.3785, 0.0122, 0.9988, -0.0889, -1.6205, 7.6376, 1.6972, -0.0171, -0.0611, -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 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0723, 0.5201, 0.3614, -0.424, -0.1287, -0.1108, 0.9988, -0.02, 0.8566, 0.6003, -0.4004, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.2485 left_y=0.0083 left_z=0.1289 left_yaw=0.0871 left_pitch=-0.0146 left_roll=-0.006 left_gripper=0.9988 right_x=0.2949 right_y=0.001 right_z=0.1569 right_yaw=0.0021 right_pitch=-0.096 right_roll=0.0053 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -0.0342, 6.3658, 1.9463, 0.0611, 0.1392, -0.1441, -0.2256, -2.0171, 7.1179, 1.6923, -0.0464, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.3977, 0.6521, 0.1505, -0.1333, 0.2485, 0.152, 0.9988, -0.02, 0.8597, 0.598, -0.4065, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2443 left_y=0.0594 left_z=0.064 left_yaw=0.0984 left_pitch=-0.0498 left_roll=-0.0066 left_gripper=0.9988 right_x=0.2937 right_y=0.001 right_z=0.1539 right_yaw=0.0019 right_pitch=-0.1075 right_roll=0.0059 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, 0.2393, 5.3402, 1.3407, 0.315, -0.0122, -0.1441, -0.1709, -1.8256, 7.1726, 1.7509, -0.0415, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cd4a2997148885376d2ac7ad78756f38ee244efd05bf31f034ba3a611004c2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a68ed4c94bb799791662a127b2d4c70313cfdedec6761cae9e3f66e6a7ff452",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f73ad1ceef3e624cc37a5bc40030809b3fc6ccc6be49c7575f3f17d75df646a9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEW21MTv0C5QNfTihqryxOZ82_MwfbkCRqkTpbCM4gvrCzYYNGX_2zdqSoNp1WSwVkWDDtarf_iT1tq29Gn12K1u2rSEFuByWxJXWPomf3MbyyrxvctsABOT6MzkV7pkRjzMgjNJREZaxe100jCMHUDRGHBilGBm7MbjfcesR1zvUlcPa-2Y7vWeah3A-pUBNrGzRBmc9bqpJqnorDUPFFD6taRbKZhrR9gRNuURSZzdzmh9T7nbP-TkM3_Kv-zYmqQ-gwCvs7sG_eIRduD290NYmn6MqIIyGVpTa8JJ0GyzENHTEYPXy0tzMDcFMJLQjXg2m31EQ_aJfIE1wVvsBPoRkOLJ5GHbuhsxJJ8rnpRAM5kcIcmEuxnlrOsGzAMD9nDeAD8faGAyRbEtNNRRGFGaOBJzNdyQEnFZJfJkx_uk2R-C1MOn_IvkU0luRwunXmen4zhw4ctZuPp9asB20sabby6rzjYuz1XVdIPJm3HvuItA3pKrMtteLSQjs8UC8q-qFHiZ1uM8FtYBWtd6dqroEDGhmoyTApBv0BZTU7nASu4dc1H3kaEaXiY0zxzZhh5cR3VcT5Ri98CX394AhRrDGEe9u5H17dn95HQhHpXzj0PzsaQKJ3FJwc2qrOzkpguxTfzALDeuuT_I_ae5rpB1IHNLokEoOXMN0sT2QTgiQ0-JEYkbriwaD9COoNZX0HuJs9zN39NOEyZ1wpze_8l68SKzy0omRyQHDfrU6RVMrXwgSTticg9_7KYi5soG6h6jY85zYqRxHXII2YmIDzD0uaast2zZ8m5n6CXQr43o5tQMTqD8W4YSIDzFxFueH8z-xk1N8Ry8Kqt3TsPPnYLcHy86OBKYzIQyZYTjSUCTgu9RWuW_bsED9IZ4L6JYIsfmcjUpNhsowq1pWj-g-z_j6dFIXhiXnbDusEYHG4WhRQdVXDVD_trweEPyVos4BVJpTvMwwqjw3QWwFdJaM7ZmdswcAIBdzIVnzLmVlAENAXfUM17w9Px4b2HYFSLXkFkkUyMIJlrQSyi79P7kSFvCS8LiBxanwngt3GeKunfzZD4plB-KpbDVECd64pdvx5FqI8b9KkymMoWm7U9goyQ8mI5RC9baKYNNdd9-l60VLk5odbDyOGsSv1HaZ613loIHPbzIEuGEjIvcu4hXTKCoHeCLXc2oxnqkBXpmgHvLOXoXzALZYsdg7H7RygJT6fjWayzoZJYgJSl32kagigL2YQTwbGN8Ub8hR22O627s-XA=",
  "id": "rs_006d44f07b7fc7ad016ab445b5967487d0bd4bd8c2582f23da",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gray plush is centered between the jaw faces at z≈0.064 m, with its body spanning the gripper opening. I am closing around it.\"}",
  "call_id": "call_p7VMBjEvWVMoJ78TaezUSvQx",
  "id": "fc_006d44f07b7fc7ad016ab445b5d3e487d0a8ab719eb14fcb5c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_p7VMBjEvWVMoJ78TaezUSvQx",
  "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]: [0.429, 0.6807, 0.1333, -0.038, 0.3416, 0.2173, 0.0102, -0.0196, 0.8604, 0.5972, -0.408, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2528 left_y=0.0545 left_z=0.0714 left_yaw=0.0179 left_pitch=0.0151 left_roll=0.0152 left_gripper=0.0102 right_x=0.2934 right_y=0.0012 right_z=0.1531 right_yaw=0.0023 right_pitch=-0.1105 right_roll=0.006 right_gripper=0.9992\nstate[joint_eff]: [0.1709, 0.2256, 5.9419, 1.6093, 0.2369, 0.0513, 0.7546, -0.0615, -1.7026, 7.1453, 1.7216, -0.0464, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d497b2c21aa538d942d07fe560cf701829b09ea5fca3621d3f45a853dc4f641",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e5079582195689768f4e34f300bfa691f85fc21667e83306e3517acc02fe8b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3091c074974f236aa06933b1f0a4166997e818c323ddbca66311a1983607ed74",
      "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 · 1.958 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9489, 1.0813, 0.6449, -0.4404, -0.73, -0.6941, 0.9971, -0.02, 0.8513, 0.601, -0.392, -0.0185, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.2573 left_y=-0.1506 left_z=0.1409 left_yaw=0.0027 left_pitch=-0.0473 left_roll=0.0006 left_gripper=0.9971 right_x=0.296 right_y=0.0009 right_z=0.1604 right_yaw=0.0017 right_pitch=-0.0815 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.5402, -3.412, 6.5299, 1.4872, -0.5201, 0.1685, -0.0122, -0.3624, -1.5932, 7.1316, 1.7265, -0.0513, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.3977, 0.6521, 0.1505, -0.1333, 0.2485, 0.152, 0.9988, -0.02, 0.8597, 0.598, -0.4065, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2443 left_y=0.0594 left_z=0.064 left_yaw=0.0984 left_pitch=-0.0498 left_roll=-0.0066 left_gripper=0.9988 right_x=0.2937 right_y=0.001 right_z=0.1539 right_yaw=0.0019 right_pitch=-0.1075 right_roll=0.0059 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, 0.2393, 5.3402, 1.3407, 0.315, -0.0122, -0.1441, -0.1709, -1.8256, 7.1726, 1.7509, -0.0415, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.429, 0.6807, 0.1333, -0.038, 0.3416, 0.2173, 0.0102, -0.0196, 0.8604, 0.5972, -0.408, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2528 left_y=0.0545 left_z=0.0714 left_yaw=0.0179 left_pitch=0.0151 left_roll=0.0152 left_gripper=0.0102 right_x=0.2934 right_y=0.0012 right_z=0.1531 right_yaw=0.0023 right_pitch=-0.1105 right_roll=0.006 right_gripper=0.9992\nstate[joint_eff]: [0.1709, 0.2256, 5.9419, 1.6093, 0.2369, 0.0513, 0.7546, -0.0615, -1.7026, 7.1453, 1.7216, -0.0464, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d497b2c21aa538d942d07fe560cf701829b09ea5fca3621d3f45a853dc4f641",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e5079582195689768f4e34f300bfa691f85fc21667e83306e3517acc02fe8b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3091c074974f236aa06933b1f0a4166997e818c323ddbca66311a1983607ed74",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEXAnRqk5K631y_poiJV0JApT4fzSCfFww6wTecOd8SbigexZPvAAB6FN_PQkVQZBwEY6vBhqpPHaT4a178MTC-4YDpe9wEjD-SrxbCNbNF2X9vSQdbAvSNLvo5jZGDNPdEtf9nGbhqCPjuBcdazwEf5uVsj7GcW7Wy0jSwsUyImS7bjrVsXo9H4d2JZ_YCphVqs96gFd-qN7YcbWMDlW_h0Tpw19L9eG2k2A3nzcuMPx7FeFISQJUGRz1NdRJ-lud2Y6BK7AA9UUK7gfrJzOKpox_SImOLy_fDcZrT3G4CZnZ-e9g3vSHbU1PwxOev33CGJelkcc-I-Z9BnduLNwzFgEckAa27xP-2PWIwYPncgYZX7DD2ka8J-6VKd5p1OUqi_YLQjyCnZLC2tTrJOr33ZWrhRzpowDuBSCEhiSjLmVPK7B8jLQ4rm2uNB2IcBBWdYPRkQ7QZ73cByEtm4pf_rrgxbZGXB2r5hcFanmB1PAnfPW-A3hg2Pv72qPzz90077UNARHeVKb38BWbu-y8ipmOULmo7jVc0MYeVW1QSrjAcuSi5XhnICEPq09-F8ScU9Soj8mi8p7u1STcjAFvU9-4pqBHs4zeQ09L7X0OvFwmZHtVZImyxh0ARyf0Qwycg1yY7gGIooliyHJIcN2EiuQrxbjyOTBQClM7qAWUSMkTMBpq5lFHPCLo1PyuawzsZO0TN7v3VOepeq7Fa4aK-3PzalF2e099gjQghNyyVIaXaahcM9Y_4oy_T1IDmlTmBtJDkvef5WoxhOG2offZ5QsxOwpDDuirCCHoaVxmewsAnpCpUN1DIzf7CeSPTNrvjWMuoIxO-UuYuGtH4Rcq26ucX6jT9FSj_87_A4qfnqwL6GZusct56Cos2nmF250MF21KYImpPbI2uwfMFlRyVp-YkaOKyCmJN38Cq6jnrGdv7w6M3SamD42Na6BQ1FNSBTTrHsjdanLdfxCtqghAadg-w04ebu1WNnpVfpXYM0HIzJpMhSbEK4npTTSzTUAg0L3pbOGN0VL9PykpYnpxPZyIXDibA4m3zRuAaP_1g_t1WQ68eI39ZHbx3KL5ZeeEowLpum74iO8zl7A95CpOAWfrpAJPfq3QeTXOmLSNX2-kZFby-jJpiLGfMYnRW7LdjqGrZAZ8Ju1EpS67qzm_7e_5Zz518-smmfjugVP57SRZVQpWs6OcHoBbZl1Z61_pJ0JSCQ1DvT5p_8-uapYdPmHLDKTD1_ZnAatYbaMKYlPRUFp3S23XG_KjRU-A8fdPlbLH7JDPlG3LRyGws76P47JpEI1TdSDHk0EoKR_Z6kIAGqnz1ouEw5AFpgderpikv0GXlBaNWnuoTK2CYLO_nKGsB4nO4gwrFHaeFnvbqSmO_6H35RZ6or7Bqc_KA1UFLtt4ORXlua65JZf-EHTg-Geo-IO4MUFzb0dJ57uqB-vnXe4LVMrlpgqrBTgCyIFOrPqAxtLOWeyxlmxGGsmU-IWomVTOsOtI0isjLvSlv9WP96I2xEyNw-NbAhhQ49njrpWnH-lxId1iLTEQpKdP9IYbq3RmRtis4F5ZaLXXX_OcZbH5M-SmvcQbIoLJvuAcviW9ce1MEm7j3OrqUFWO3N9ppnDA2uA-34B74yJ99TuhFrknV_9x_2ShukzBNR776dkeU1IUyRN3ozlL9e6gAycOMipu4_TGEb4VtQVnltm-VX0utTqLp0f602o61QXrZ0pGeECGTQmDGsZHyAj4iHjiNfZcnnrLI7nZ2bgO2xGOkLLAyY9v3V2xD7glGsRmPFkrUBCueMkVq2p8Llxbg9FQ6QPhGYW8j9VzNQTJ9m-gncz9nGhGh1CsECTKO2kAqcyb_dEqueprBMAcLyrZ-wDxhFEeFqh3wAp-W-6iLUkjqBZELbBAF_n53fGuR3bAHBcrzeb33I4n9swALXg-hrfyemXTjxfVCWQ8fTc2qt5r62FYsY_osCtAboQ9cyQYg00_-cmWweuepbvNpleSyM-iPm9yqmBymOe0inCibXqrk95z8dWkBQ3GD4mQc43x3_18E2Ei-5o4NgGPdbW4JlcKmQbZoBT1mA_k7VjkMF5FzSwKJJE52TchXKAuXEmCRYbZMUnMVWFsX_W3Av1IblT7xgl327FXA00eZWola8fIBzSg_EJYEAtVN3A9TXSxkLpYCUl7gMmsFQ-ePskst3kJz7P0_z-WdXuE4xE0yGe9lnRHbIIPKjBffkyZhF2RVlVAkdTjUgQyI5qREcPsNR3WOWbPWpwsiXtz6G77yJ_xbEr7OfslfWdpYoruIDZE4s1dqsQ0hD2BjPafStmvAq99jWfJ1hgX3B12gnBsBcDjY5Hc7cmQN_3o-evBFmmKVHc1RABADydUWbairCgVqH5Axbj-UvxvTNr205AxacrcLFV3Dc-Gyvc19CHYBc6KZ4IMw2horm3WeeEvVMnWX6P9fJtz4axee4rbXFY74uLBbw_-3JsS0QfBC1ehUwjvqLXpMW6KUKzBemc-bv-HfT1iEkMxVtD0CS0cMp-o0vO8TwQ7yq0oKaAHntTzMlORpFgfUSqlrKtN1QNONowIClU3C9tcrMOGO4WOs9jZ58b3w6Ccz65Hdauul9qV0rMRp4ujJqQFJYgWpsbryMXV_rUAi1VAfBECIUO2KNWpWYHPGnRUictKhZ8U_RieUBzv7ZUdW5q_SKRQiF3gbyNNGty4mHKHEUFiokLxab-74fVrO3k9aLrAQue5Bp0OLi0TdMxBQPF3ojElnnjMgjyKm-KXPwsrZk_jZ-FPFoQUeSSZKTEESPZ-g8KhvIDGetDBA_eL4iO3WOPSFpmHwmRwrNTayN27QFb0t38YXEp1mhaaXndHkx6l9lnWo7gwZTeVCrF1_irKf6xGyRnefdp0kfD2guZ_6W7LEQ4Eud_kV3eA8yXdgExJ6YVf1QWD5eoM50kHkvoGBwwyi6wLT7ZMFKb-_Po862TJi0uDbXPAinRN6bMSewRJkiq2KYNBZ6rkCEWHkVEh5jY2KjLHO_O8SQJ4Q5dk8_rR-c00sPcmyMc3tpf9kZdDWeuUbH9jlm51oxqNzaUBYVtTrRMvILFYtBpof2LsDRlFELs-FajyIckyCyRJzo7KeEkfNZdlOFi2kindYUew8oZQBPvdwwjutfYOZ1-Ow-Hh_G-31lNqtGCHDbRCC9FZthB2gQLB1jzVEs8vq5lAaZvGLvkppxXsTXLTU-Kr94e8nY2YbhAsKdH9Aczcve_X2OfH-gevKumwsq9q-_FKZL4PmEZUSRWBMiQQImuvHfWJONkmnqUZYyTZYdE5iRia422adR1zM5cURZRw-ZRqoKFzLgniXVmQiZQOXNX4JKWdQo3Q7gJrXqMqrb39RLMvWe73fcoXS02exXRZ9q8t47y5OPRyBAKexZkjEzfhsO-gh3Ehor-zzHuIYt15_aUcFd_aKVuenggbF4h_dOyByXi8O_2JMS8k6YXRqFDVRdguYf82ZkxG8WXIhMFDzPLWk8BbvEA19pSCJOoVPsXMUgeME51uWehpj4nwdkbGv8WKvdPh9NL5vBem9t2vUuXgQJpLTv4v-7CB3uFz36ASkmbuSy1lhrGDB-gknXl8J6fCyZRte5VaqTvkGEEtOtqJRAN2yxPyrp5qRnYzWbdnaflEb1Hajies8UJnsuECPxqkLLX0OKwAz2VzWpF08uLbuG33Z7LOGu9whtfMNKBpZ6R_lU6EUzuf1v_qL_VUT38dAwMZ-4KzNiqVgdDM2a8Zy6jU3qWzdy1USnYS2EPZR7oRGC56xRXXJZh9IxYRQFlIQLXJnMkpfoDjm4yLTsdkGsC7F4FB6YSw4e",
  "id": "rs_006d44f07b7fc7ad016ab445b925ec87d0a063c6e1c3c04117",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEXATUUfK_2PRXjj2kKVcMpQSQ-ElB950kMX0O3F8jLVWZExh18TnC6bivtUvYcSZFuiCrv9Up3ppJllctMF-NW7UbkyRErh7tSqB4RFIPBhM8qrIfJc4Fa4t-Cu2NlLEf-VDCoFxP8lpA9A-v1H7v_7QysRfxMQXgugRqQJLgfhrmZc85YQmQSg254VXarj9lSlCFSE8apQvyRD7JBKgTKIZxFTEM8-flHtbmuig4_paCysaBs5lP9VZa84qHN3c7Uf5h2MDK-Oic7TbX8rCHpCfnfTv-GmU_QUl5QXqg3VXQkIdiwWK4hooWSsyQoL77hUb-Y4nYOX6P3XHVocaBIIGe8_IRL1qmAi5o_GgWDGNjYAMrktUlSK803sP3XWGVttxWKqmqzTiHXwUh7qfBDPIb4zQTOew3hapTmjx--0ppkRTe54wSPzC0PE8RKm-dpY8GvxPjG6dFIYogssXx3fpnS0AJu10RqoW1idaQsFt-IEQfwldvKOUeCWLHNZr53-tuI-cmaEQfH-AW5ecGhdltPOe6OBX6q0z6QARhTNNx8rBOV6rCu58d5NOtupphHpKoIx9PSqSOqvjr4_-DFc1h8Y_TGrcAT_G05gnH1vseCjmL4P_dUPWwU--zNPzIzP-C7yJkfOGDG5ibAa2E7qaMKE_FPyGm9FI5yUkq2ouGPwACX-QNvYcvaCKQhAdptoPi3pxKUAELgZg8qcfBYV-hcbBRWx5_PK2xnXd9gJPcwyRJtdNuH8ZhkLn1E8yFyp1HxKoWDtS9GDt3DB3zyP81qYGQ-LhqWqyY5SVAl1zU9uN4cgwnIfSfFT97k8OXn1LWu9AV8d9ANX7sI6m8aj2mg_j1JAkTQxMM1aiLHou4AO0hyuG8CfIwpdA4epVhnycp4kqOVl15WU88WYC5K0p-z1zBaHcvEvcL5kswrU4RdMOP5YFxt9BHYN8KboZfuUYMO2YlWWJp4sAvDzbAwggmbCuxnzqmEYFtGe8ZrCSbbvaAypXML5Rk6i9GBs794C6Eo1KqENn49a2kSqFmudkq6igtfEAiYbsGbMqSZ03fPowmht68HjmpNulIEdbG2EZgNGYI_9_NnpjHSZDO1oM7WiZbtekfb_9m7d91jZIye9OIDLrgzu-xkCRsgX-UBlSyVQrZtfvSH96r3yl1cPhSCPgimgNULNqO3FjkyKXT-_MayKa74YHYH2R3jOTOZwUpVH6K-rnHoZHel1KcH6_dnQp0Yl1owr_SP4K8pl-Z1FpZPy-mi1XvIa1e8i7S86mkE-Q_ELp_IoaTlr3mu94gvjTmEK9m-uCjwu80ZCs2M7uOO1OdG-JDMzawH2f1zGBvbymIcN283Bhwhb5dTd7IV-_H9ayra8CSVR7SAYBSdm1tQIT5iaqLQyTL6z3AuDbaF0Adrjv3X2XNQZI9525qu-eZ7HtRGi0hk_BYj7_LCurpEUalASVmG0X_1epZn0tZ-fgfNa0InsGxTiPsLqSAI5LLpmxs6903YpyaD4g6EY-yOk4otfFaJWODa_5sJ84GX976JhQW77Je1pRLtZ8EjXQ8LH3AnOSWqivnjK-enUvktj1EKCLrajBka6WHqZh5xakE3W3bDXSMkxQ0KAi1gvaafgLlsd9UshTI5dO8jgRZ-Efr3vK5z4AugjdpvsehJtZrIeFnz9WNYeXa5c6GSoOPLsryzNoBNE_yzMg8juVDn6ewOiCpDTvyYADVWJdz66PqezRPH6oMR5XTPdi_f5CYKqUXDdDhEd1cvh21rI8vTVN6hqE9RRYEhAeP9M",
  "id": "rs_006d44f07b7fc7ad016ab445bebe6087d0921318c4131e9a3a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.285,\"left_y\":0.05,\"left_z\":0.12,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":1},\"note\":\"The 0.01 close was empty; the gray toy remains visible because it is still short of the actual fingertips despite being centered. I am reopening, lifting slightly, and advancing 3 cm outward while preserving the lateral alignment.\"}",
  "call_id": "call_stg52Y02FqtL3cmFKfuqgdYM",
  "id": "fc_006d44f07b7fc7ad016ab445bf7d3887d0af43dfab35d3601c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_stg52Y02FqtL3cmFKfuqgdYM",
  "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]: [0.3344, 0.8169, 0.3344, -0.1368, 0.2848, 0.1593, 0.9952, -0.02, 0.8639, 0.5972, -0.4091, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.279 left_y=0.0482 left_z=0.105 left_yaw=0.0012 left_pitch=-0.0283 left_roll=-0.0159 left_gripper=0.9952 right_x=0.2933 right_y=0.001 right_z=0.1519 right_yaw=0.0019 right_pitch=-0.1151 right_roll=0.0061 right_gripper=0.9992\nstate[joint_eff]: [-0.4855, -1.2513, 9.265, 1.6288, 0.0269, 0.1148, 0.0415, -0.0889, -1.9624, 6.9675, 1.6337, -0.0464, -0.0317, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d759a6bcd8d7d33cebc9e650e9029080f5b56bf883ba7181b3930612742ea59b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1575505421568f61b15c89c1508a851a54ea0178ca3f8c1e92c63514ed650db5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1ee5d294e875abec67e25d2368b59c28721238f9fab74d8a1fbac8a078ab858",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /responses · status 200 · 1.621 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 140 changed as sent

message 145 changed as sent

message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0723, 0.5201, 0.3614, -0.424, -0.1287, -0.1108, 0.9988, -0.02, 0.8566, 0.6003, -0.4004, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.2485 left_y=0.0083 left_z=0.1289 left_yaw=0.0871 left_pitch=-0.0146 left_roll=-0.006 left_gripper=0.9988 right_x=0.2949 right_y=0.001 right_z=0.1569 right_yaw=0.0021 right_pitch=-0.096 right_roll=0.0053 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -0.0342, 6.3658, 1.9463, 0.0611, 0.1392, -0.1441, -0.2256, -2.0171, 7.1179, 1.6923, -0.0464, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.429, 0.6807, 0.1333, -0.038, 0.3416, 0.2173, 0.0102, -0.0196, 0.8604, 0.5972, -0.408, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2528 left_y=0.0545 left_z=0.0714 left_yaw=0.0179 left_pitch=0.0151 left_roll=0.0152 left_gripper=0.0102 right_x=0.2934 right_y=0.0012 right_z=0.1531 right_yaw=0.0023 right_pitch=-0.1105 right_roll=0.006 right_gripper=0.9992\nstate[joint_eff]: [0.1709, 0.2256, 5.9419, 1.6093, 0.2369, 0.0513, 0.7546, -0.0615, -1.7026, 7.1453, 1.7216, -0.0464, -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 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]: [0.3344, 0.8169, 0.3344, -0.1368, 0.2848, 0.1593, 0.9952, -0.02, 0.8639, 0.5972, -0.4091, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.279 left_y=0.0482 left_z=0.105 left_yaw=0.0012 left_pitch=-0.0283 left_roll=-0.0159 left_gripper=0.9952 right_x=0.2933 right_y=0.001 right_z=0.1519 right_yaw=0.0019 right_pitch=-0.1151 right_roll=0.0061 right_gripper=0.9992\nstate[joint_eff]: [-0.4855, -1.2513, 9.265, 1.6288, 0.0269, 0.1148, 0.0415, -0.0889, -1.9624, 6.9675, 1.6337, -0.0464, -0.0317, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d759a6bcd8d7d33cebc9e650e9029080f5b56bf883ba7181b3930612742ea59b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1575505421568f61b15c89c1508a851a54ea0178ca3f8c1e92c63514ed650db5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1ee5d294e875abec67e25d2368b59c28721238f9fab74d8a1fbac8a078ab858",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEXDxDtwKkPe9RcPWuxT_3UHuLw_3sXhFxdo2ltDPa3-u0x6ozR36fhqhrv1QnignjS-_PayW5_XRWYm4C2To_niTnZbGji0phNpdpJvRlBW7Wqdt8Gg-k-sfFkIevGYYFfjmAHK7V8Y6ayhnmN0TGnh9ceb1T6yQEt-h-jkr4V0r63vnJDTKfltb4f0TxZJYvfCvZFiWA2pkTLSxSGpYS9oa_ClO_Xp5_hQzud2dZv4fBS1b2q6XhhsF4FObJ-hozwcMI8gz3V7Ja3-y4D3spWpCNbhMn6jvHupwQrVKt5BHw6I0tPx8rGyocgiztsyyE5PVmfFEv32A_RbUhn6rqzS9skkKma7z1G1Fdm2WHasTCklgOOyc2UIDNvfh_O3swG8H9APW7zn-4jOGx5Vm9Xt7I9HcyBtOLkkqNptHCKIP5BLcXi4j1JGHoiLN25Sn2ZAcQpkJimvcZt-T84P8KKeh2BuVRkf4vlciuzSK3bQkzzgLryAlkhC_ayK5ZplaGUPKMskA6bokg9AcUEsXTRRHhUl3ciwbqxF9-z8ZYTx8kuoOecPLGNQAIM0U9mRUvuC7IGzHbRuhg38Du_EDxtn04oOYHZw-0oCjplHvaWCzEr7qzD6Xp_SXcE_WpHSK78l13DGQEToo9dF3KtG9e_uorV7pmw3Rl5asdQbftWG3jyDhXCY5Vcnw-UrAHzpfReBrQnH0vxTUOxzPdOFYJmVEeKSdS16jplTuSK5udhME279r5L4cMIlHqCcw2oZV0bVoOdNhTrIgl1RtuSCADXj771_OclYhIpNfWXtSgo67DEnU1jXEWYKax9ctFldpnR5R8iGhRGMh3goxTMftW4FYWkdHNVmHZbP4jpmV5LQgV7OTAUDazjrulkBKKdiYqzzPkEJ02CqaRSINJfS2AEl27U2aPa9IlU6Fu7OX1ghZA8HfnJ3_RTZ-B34Zpnnn6gOfC7FxiO0aJ5FRsoSlQk6JtVno2eX9HX_L4xjZcrulLtjnGedB3eIXGCYUQosooa7ExpS95Xsz1d4AnfnXRIYZ_AaOolG7p49rVDfxisEJOOaL_RJQFjU0iDtJYGo1LDwTrd9yMT7E5J_fAy2Zr5RVPowX7TUjEGhaAMrnYsoUztFQcASPv1wNW-0zWp_1XlloZL19Wj7A6f0VwUwTKHwCoiTzFD9s2kd7Ej7dK3fLzszKt_8UDw_TzsGAo-jHH8-MknrmbBDwXlzNx1VO-O53Q==",
  "id": "rs_006d44f07b7fc7ad016ab445c2616487d09efd463aaa173b64",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.279,\"left_y\":0.048,\"left_z\":0.045,\"left_gripper\":1},\"note\":\"After the radial advance, the gray toy is now at the fingertip depth at the bottom center of the wrist frame. I am descending onto its body before closing.\"}",
  "call_id": "call_edGHWndYhBGMbd0PNgi2jkou",
  "id": "fc_006d44f07b7fc7ad016ab445c2886487d0ba38d0e462bf6263",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_edGHWndYhBGMbd0PNgi2jkou",
  "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]: [0.3344, 1.0004, 0.1646, 0.1867, 0.2787, 0.1684, 0.9988, -0.02, 0.8639, 0.5972, -0.4095, -0.0185, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.2769 left_y=0.0486 left_z=0.0478 left_yaw=0.001 left_pitch=-0.0575 left_roll=-0.0147 left_gripper=0.9988 right_x=0.2933 right_y=0.001 right_z=0.1518 right_yaw=0.0018 right_pitch=-0.1155 right_roll=0.0055 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -0.9368, 4.3009, 1.0232, 0.2173, -0.1197, -0.1441, -0.1983, -1.6479, 7.1043, 1.6142, -0.0415, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e71a8fc1fc38f7ba202b2d6166504c6814003f9bbb5f7c6a12d034a172c92934",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fc6bc56bd6d5bb523c0218cb587b850648304ce02689a547d4bf68791f42f76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b2f23490e0825f1a3c7bd50dd3b4c98938176e270dcc1524e26aadb4585253a",
      "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 · 4.426 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 136 changed as sent

message 145 changed as sent

message 149 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.3977, 0.6521, 0.1505, -0.1333, 0.2485, 0.152, 0.9988, -0.02, 0.8597, 0.598, -0.4065, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2443 left_y=0.0594 left_z=0.064 left_yaw=0.0984 left_pitch=-0.0498 left_roll=-0.0066 left_gripper=0.9988 right_x=0.2937 right_y=0.001 right_z=0.1539 right_yaw=0.0019 right_pitch=-0.1075 right_roll=0.0059 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, 0.2393, 5.3402, 1.3407, 0.315, -0.0122, -0.1441, -0.1709, -1.8256, 7.1726, 1.7509, -0.0415, -0.0562, -0.0122]",
      "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]: [0.3344, 0.8169, 0.3344, -0.1368, 0.2848, 0.1593, 0.9952, -0.02, 0.8639, 0.5972, -0.4091, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.279 left_y=0.0482 left_z=0.105 left_yaw=0.0012 left_pitch=-0.0283 left_roll=-0.0159 left_gripper=0.9952 right_x=0.2933 right_y=0.001 right_z=0.1519 right_yaw=0.0019 right_pitch=-0.1151 right_roll=0.0061 right_gripper=0.9992\nstate[joint_eff]: [-0.4855, -1.2513, 9.265, 1.6288, 0.0269, 0.1148, 0.0415, -0.0889, -1.9624, 6.9675, 1.6337, -0.0464, -0.0317, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [0.3344, 1.0004, 0.1646, 0.1867, 0.2787, 0.1684, 0.9988, -0.02, 0.8639, 0.5972, -0.4095, -0.0185, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.2769 left_y=0.0486 left_z=0.0478 left_yaw=0.001 left_pitch=-0.0575 left_roll=-0.0147 left_gripper=0.9988 right_x=0.2933 right_y=0.001 right_z=0.1518 right_yaw=0.0018 right_pitch=-0.1155 right_roll=0.0055 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -0.9368, 4.3009, 1.0232, 0.2173, -0.1197, -0.1441, -0.1983, -1.6479, 7.1043, 1.6142, -0.0415, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e71a8fc1fc38f7ba202b2d6166504c6814003f9bbb5f7c6a12d034a172c92934",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fc6bc56bd6d5bb523c0218cb587b850648304ce02689a547d4bf68791f42f76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b2f23490e0825f1a3c7bd50dd3b4c98938176e270dcc1524e26aadb4585253a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEXFMqr9Vzgbvoox_-UXBltLWF9EBAdiF6TItbEBbINiNl84fFaoBSfeRIhi-f5pJWzIi4GgPRi8yyjglMxME_kbDgPxGJAaQ72GHWrReqpuuGLVVXkuVIyLUMd-9x9MS9o-EbJlCtuOsQ9CI7n9sRH6IQTMtRlQiRZkR33Sn2TQP5qjUKUIh3iNvZQaTb7gzlEmoAV2a6fc83in2QpQOdxIHK0Yi0jAKlp541bkGs8axelj3LDuGCtDAAihAUcI1UaOmi6MslQi7zceJiN67Ah2m_eTi7NQDQR3ApzbGXYk2S-qEMi-Ze3J807NEafzOQCxahX34JEx3hXNH-QeHet2rNvZiwTo85u4RwpfTsy02kJrI2Io2QO-sJqZLJs-D1U11v-PVeJ-fR98iFD_atTf5m2jkUAyW4ilAJrxN1OIxWnRNK8lltKrhXPlyO0aL_S-8_n6PNt_pd0wjDmcuOxYhYwJ19TT_AEjS-gxzUTuBy6oydDXKvQkLYTy45nwy59FNHxK36aFWU7p_4VypixuBWRxScT5GM2K26rU1w8bun543IRbsLwIrANOTvEMbQom5ul9dd76MkM08f54s83lkYpCDOoWQGqScRw33dAYXOxUGDClhc0xF9KuTnK_HyxLXv50virSQN_wM3ajVLkOy83yKSKgaujuvvRKXumd6kfZnkTAScsOAl-nHbCtM7YEeZp5o1eLf4YiRq80b0NLIZIeFUNIbfYz9U700aB1R5QTPYHtrSx4oSXJ1oVTEfEDrJ7UOhGQ0RVthmoKz5afINnfhoRwTr5Dnuh5aH-umuo3L8vq5Kcbr0V0z0MszkLjPBYNckO6Jl6RfTY8y59knxD8MQ0_u6JnfpglsJz9DlUDPzD1rRLcoeE2-8OSlGh1UVItDBNyyaRb0ZXGcdZTwL-aPMLqL9xY3kOQ-ecR-9562k1lBe7OOSHy2ZJJtBlW3mpMa6EP5qt7XDk-GyZiR274cxankLwcGQaC51mvXeCbZSEDgO4WJDX4NzyAoPZ_X8CakQ_rOIso3nWXesvDr5BXQpxMLu0XLdZE0c4RfQ84qSL5eM7kEmExg-8MaAsPW441ksFNtipRmT1x4F4apLt58T9tONln6ne5iNCKrobzQHxG-2TUhLCD6kSQCns8a2FbZqfbBCeCgh-azuHvkXBJQR4cVKeQ-NhtBttdFbQ=",
  "id": "rs_006d44f07b7fc7ad016ab445c4917c87d089fdeab13cb334b6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gray plush now fills the gap between both jaws at table-level height. I am closing for the grasp.\"}",
  "call_id": "call_3LmNxJ8jmzTN1WHjd7M797OU",
  "id": "fc_006d44f07b7fc7ad016ab445c4a26087d0b41c1e0ddfb35896",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3LmNxJ8jmzTN1WHjd7M797OU",
  "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]: [0.3351, 0.9993, 0.157, 0.2504, 0.2703, 0.1677, 0.0326, -0.02, 0.8696, 0.5972, -0.4095, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.2832 left_y=0.0525 left_z=0.0573 left_yaw=0.0097 left_pitch=-0.0049 left_roll=0.0078 left_gripper=0.0326 right_x=0.2935 right_y=0.001 right_z=0.1503 right_yaw=0.0021 right_pitch=-0.1212 right_roll=0.0059 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -1.7436, 6.8034, 1.0867, 0.1294, 0.0024, 0.9206, -0.0889, -2.1675, 6.9812, 1.619, -0.0415, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c5a9477f25a54ae58d7a7bf88bd7269a246d5224612e5508ec76a4eb229c390",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:424312bc326cc23ebf684ac5559bea12711cfd459128189cd035bd87a0031870",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fc74c442dee62d2c31e997a7ed45466c1aad20c23d5309489d29063b518f24e",
      "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 · 4.079 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 140 changed as sent

message 149 changed as sent

message 153 changed as sent

message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.429, 0.6807, 0.1333, -0.038, 0.3416, 0.2173, 0.0102, -0.0196, 0.8604, 0.5972, -0.408, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2528 left_y=0.0545 left_z=0.0714 left_yaw=0.0179 left_pitch=0.0151 left_roll=0.0152 left_gripper=0.0102 right_x=0.2934 right_y=0.0012 right_z=0.1531 right_yaw=0.0023 right_pitch=-0.1105 right_roll=0.006 right_gripper=0.9992\nstate[joint_eff]: [0.1709, 0.2256, 5.9419, 1.6093, 0.2369, 0.0513, 0.7546, -0.0615, -1.7026, 7.1453, 1.7216, -0.0464, -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 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]: [0.3344, 1.0004, 0.1646, 0.1867, 0.2787, 0.1684, 0.9988, -0.02, 0.8639, 0.5972, -0.4095, -0.0185, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.2769 left_y=0.0486 left_z=0.0478 left_yaw=0.001 left_pitch=-0.0575 left_roll=-0.0147 left_gripper=0.9988 right_x=0.2933 right_y=0.001 right_z=0.1518 right_yaw=0.0018 right_pitch=-0.1155 right_roll=0.0055 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -0.9368, 4.3009, 1.0232, 0.2173, -0.1197, -0.1441, -0.1983, -1.6479, 7.1043, 1.6142, -0.0415, -0.0611, -0.0122]",
      "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]: [0.3351, 0.9993, 0.157, 0.2504, 0.2703, 0.1677, 0.0326, -0.02, 0.8696, 0.5972, -0.4095, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.2832 left_y=0.0525 left_z=0.0573 left_yaw=0.0097 left_pitch=-0.0049 left_roll=0.0078 left_gripper=0.0326 right_x=0.2935 right_y=0.001 right_z=0.1503 right_yaw=0.0021 right_pitch=-0.1212 right_roll=0.0059 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -1.7436, 6.8034, 1.0867, 0.1294, 0.0024, 0.9206, -0.0889, -2.1675, 6.9812, 1.619, -0.0415, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c5a9477f25a54ae58d7a7bf88bd7269a246d5224612e5508ec76a4eb229c390",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:424312bc326cc23ebf684ac5559bea12711cfd459128189cd035bd87a0031870",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fc74c442dee62d2c31e997a7ed45466c1aad20c23d5309489d29063b518f24e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEXK7j31X-7Wm4L2Ka5isV-VfiU0_n5vmdxvF7Zba0mosgMPoxNbG4ucQ7QOEtKdlB-JzLRGVrKFC4QcKUstWtNNEmnYMg_TGK-3DGBYFkwATGhTszLppa1FWJa7aKCiUcvleFxHvmPKs1rfnl_F6Si11YoIQN-P_-QnDnDncWVNk48MoF14yETQZpkNO5vouFH_jgo5tITwcAaZfTvtMEr2lqhJiVP6V85sOA38jxje_-nntpVCH2BMC3BA2w3ASgfRLbNUIGZay7LsknDqB8dyoo1Jxw_V64YLEGps0xUH9cwTbNh0l9M6I8RHlHKIVYmEP4_x8fBOXUMng5UNo7g_osvD5dDjDkr9zqjXWwQJ6h5E54z_skThX_HAw8w3vtCDRX5mHj-TJGKyRxaQef7H0OgY2QoV_xEwEaQ4ZVbEzdbgheUTJgqY7cINXeeA47owGCTaYInMuu4M1Tj32Ngi3xOebNZ-JRKLTk6HgWVsj2n6kGmwksNJppTiASXfD_3EsBT-nXt0bsO4DWFvQyevt4N9w3KM3JK1vX_k_YIwUHLmoRQEcI9C09IuTlbQSR1tpcX6fuOhfxuMBaSrLSOnWkT9mRwXhU9TcOgi3yig0rvw96ZHlu9qR8ctKhNj6o5A09N2jeSqWCarN0rFiP13n1HJxIBkaVz6fKW4Qq8hMGq0Bg2j8Yqb43A6z0FatuEdaV6A7SSh16iq2OVM-kKcvzKsI_mvsI1JdfDYhFfsxXyP4ei7VAybaONzF0LcUS-B3dXdtafw55uJoc-jpKNdtsv2RN-XcUvJWu3_BPWFNGSyG714w7RUmbqq-bUDvNMfgor5wSALKNjox_kAuQaPSLDbqMGi_V2eR7sVOT1j0CCexGfrIoao2M2GyTn9A6EZSJOS1eogfENWM40MYAuAEIXR8ldJHT-j2oyxvoO-nIp21tp1ByXfxvjtfofm2gANl_QznElj2DRdU7c5j-y9z6ksA7lkJ9jW9dSQv3vJuURYUthj7Vo1aHKulVd6M3h4Tfwg-A2geU0d-kVaa5GhK8cFrvHqB78L1TxuBL9hjgTXQNUszrxDue3vWRM2H6mY_-gK3zgB9pLlbm6Eszr2R_aJWHhFdyytv0Z43lOXP5PuwaV7Sw1ce2pridmr3nucle_2EHK6FzN6HU52xf9eNFjrpkd99lmyLVoDclBRzQBrUA36n0lhWJL7JjNg-DmLo_qIYRDiIZSyeIn-ibekZ6QvM7mxhDN_U7XYJleXP3CSxmOul1acVYyEfajjWQRuG_0t3xJF-bzTI_bkLZi4mT0FYl80HqvQHau8Lik5a49BqRpnIfpyEXvnCq2WFs4z4bOw-JzkqvWfKx7WFkxrCG-Lt_C75ZFmQKK6EnNuv9GajAncJ3QuD65v3wa3uXasz_m0ObMwAq_Pwe2LjDAGMKhCoc9s1mZfxZjg0xcESGs87J3KydiYRsoIPPDL8xY5-rV-qYv8a5SiARcExuJE1u9kHEgZ98umAu9pSXnkDwlYRM4PQFzuiKzM7BeoT0Lg1kfYvNmhrf6dpuI6fPnK9QegagYWaC5krjmVB79tGEWQFbYv9V41HEGyEGI7_2edy4cGEnASSY1NNALUalSX6Y93Bt-mtyCjmahabEzVauI4tkZjha_UOiqDb5KzKObQw7_MkM2J4b9M6n4_IleeFmyMK_cjfzy6oPcerLg_h2F3DjzphboGT5tf6lR5Sp3e",
  "id": "rs_006d44f07b7fc7ad016ab445c87e0487d0aa3c4d72946b4fc0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.39,\"left_z\":0.22,\"left_gripper\":0},\"note\":\"The close settled at 0.033, borderline for a very soft toy, and the gray plush appears pinched between the jaws. I am lifting and carrying toward the reachable left side of the right basket; the overhead view will confirm whether it travels with the arm.\"}",
  "call_id": "call_SJGDa2hagwtLjoeLvBzalajw",
  "id": "fc_006d44f07b7fc7ad016ab445c9862c87d08e8e273e03e965f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SJGDa2hagwtLjoeLvBzalajw",
  "output": [
    {
      "text": "executing move_to over 40 steps (4.0s)",
      "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]: [-0.9138, 2.3146, 2.2639, -0.7929, -0.738, -0.6746, 0.0323, -0.02, 0.8707, 0.5972, -0.4107, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4512 left_y=-0.3845 left_z=0.2039 left_yaw=0.0318 left_pitch=-0.0229 left_roll=-0.0067 left_gripper=0.0323 right_x=0.2934 right_y=0.001 right_z=0.1497 right_yaw=0.0021 right_pitch=-0.1235 right_roll=0.0059 right_gripper=0.9992\nstate[joint_eff]: [-0.8274, -14.4889, 8.6222, 1.16, -0.4274, 0.2759, 1.033, -0.212, -1.6205, 7.0085, 1.619, -0.0611, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0f53940c28be2a4c008febce2e2681ab3335d7bab971ca71a3d771dab1ce433",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe8c191765ecd104ea39b0a17e271ce63c500c1b5bce2dcacfe0712df7ab19f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf5ac0d92404332818dd791aed7568fb70a1cce2e276925f0c5e4f1c051ad900",
      "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 · 14.07 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]: [0.3344, 0.8169, 0.3344, -0.1368, 0.2848, 0.1593, 0.9952, -0.02, 0.8639, 0.5972, -0.4091, -0.0189, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.279 left_y=0.0482 left_z=0.105 left_yaw=0.0012 left_pitch=-0.0283 left_roll=-0.0159 left_gripper=0.9952 right_x=0.2933 right_y=0.001 right_z=0.1519 right_yaw=0.0019 right_pitch=-0.1151 right_roll=0.0061 right_gripper=0.9992\nstate[joint_eff]: [-0.4855, -1.2513, 9.265, 1.6288, 0.0269, 0.1148, 0.0415, -0.0889, -1.9624, 6.9675, 1.6337, -0.0464, -0.0317, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [0.3351, 0.9993, 0.157, 0.2504, 0.2703, 0.1677, 0.0326, -0.02, 0.8696, 0.5972, -0.4095, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.2832 left_y=0.0525 left_z=0.0573 left_yaw=0.0097 left_pitch=-0.0049 left_roll=0.0078 left_gripper=0.0326 right_x=0.2935 right_y=0.001 right_z=0.1503 right_yaw=0.0021 right_pitch=-0.1212 right_roll=0.0059 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -1.7436, 6.8034, 1.0867, 0.1294, 0.0024, 0.9206, -0.0889, -2.1675, 6.9812, 1.619, -0.0415, -0.0611, -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 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]: [-0.9138, 2.3146, 2.2639, -0.7929, -0.738, -0.6746, 0.0323, -0.02, 0.8707, 0.5972, -0.4107, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4512 left_y=-0.3845 left_z=0.2039 left_yaw=0.0318 left_pitch=-0.0229 left_roll=-0.0067 left_gripper=0.0323 right_x=0.2934 right_y=0.001 right_z=0.1497 right_yaw=0.0021 right_pitch=-0.1235 right_roll=0.0059 right_gripper=0.9992\nstate[joint_eff]: [-0.8274, -14.4889, 8.6222, 1.16, -0.4274, 0.2759, 1.033, -0.212, -1.6205, 7.0085, 1.619, -0.0611, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0f53940c28be2a4c008febce2e2681ab3335d7bab971ca71a3d771dab1ce433",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe8c191765ecd104ea39b0a17e271ce63c500c1b5bce2dcacfe0712df7ab19f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf5ac0d92404332818dd791aed7568fb70a1cce2e276925f0c5e4f1c051ad900",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEXSkhT5UsmO77yj6tFVKL-qXWDXiwsztBPFH5-jikjYn71FZZaT6Jh6ZVq5dgY86DRMb7CjQLftWZ74QQIGYPudzdq-F8Pv4Sp-E1mZrOGxCsKv3oWCPtEQViwU1x3nNl1Zpz-BPg95EYEYSyNaFuXoEH1BvAWpWm2h4IJZP1yvIe6cqKcK54S_SZPcMCzbBZCLdTtq1kd-KE7te_61fBkZPDTiRp2On-1Hqs5Mq8FNvBA0lMMmJaj4uUoD8ULr3BdiedcfYQWNWKBCq1H_sP5-yMMocppXbwhmnNMVDLa4ndKatEbN1jPe_EDqOl_C7ndECCYwPmSXQ9Tkk5Uxx2pTdpdzg03Of3u15sonCF8nFlnlxjsIrd71elIUAnTTJpRWFK4gO6Y0obUkOCoh8rwA2-QXFsbmtOtIuzfd1ZaapS9kOUY9QcYkJMuXOwZBYJmzrqI_QRRoHfpLabF99kQ4dUVGpuOhpN-kOa0dR_SXsTIgtElsJxp6iYKe3znvR6AmL-vQ-_Ci_II2VhjtszBUWyfujFv4Z7aEgWWjcq10co17TsQ1FKOSql9yFTnmFzW0LoaKNCz0vPq3iLS4mV07A8O3GDiVmuvZrpNpDrQCYfdYlBcmulUn9eoy1nHE4_iSF_X1DYcI7llSVKAf7LsjB-RqseA_plUxa2Uo0JkTeglzwB0-Blqi57Vk6eNUtna3zb85cIspNDWeDS9Z1J1JF7-XdmXB69xeuw1fL28BUIAEkisJwiDK-e18WxNBavLg77dbZwnHwLjc6lZR8_9YaqTalH84fleS7pJ_GZp_Yd628RoobO81dSUBNhv6eVEooG5QGUZWPVbWFnIdr5xBcda97i2ubIRG6HwAkqxYUsk7O_1L3k3YL26spvcsip-CvtBRRzIuAQ_ZNzvbK6llDKNeagCqk8Mcj2Ku8GMIzYnjBfq4MWzFtr_54DmHt2X3Ex1JPlwZvw6rmxv5_xul9_RCTZnyfJ99pywmGRT9P-HGme3EYdExi3xyEl1IefuhCHdZfq24yU7Ywv27yQfKcCgUKQiePAVX5B7bFD_gO15blFEfj0m_uoT2xO3zrRLFQEqBaIr_n61pHtide1B5Ay5ozCglDNZQowfotXIY59_RSk0T2sUkcSbReLTyrNZw9LMDG5EkRrwsO32TMKbEg7nWD00BFTuvkUwnvFqF7GaOcTae0INIsYrUA1Qsif9tWt6XYQblLMXf7VggM5EhbPcqex-COBvlatUxwwi4X7yYygYXOQI7eVS6pnQNTEmmC3eNQ2sLrYj0tljAsXS1ImCAkDJTmZoahUY2I3Dxc54z07kTkZ-qUrEiMTAYFbmhkaIIx6reeYI0eseJlGjwc5nziXZ5GKqBBCkgvaeRf-5YQplwfQRZJl8Gj32yhoa4Bt7PzU6SbC0sOc4dOND08wmcoFnu9xoVC13COURQPp3ys-v-actjhFIrMQ_to9hixTVfw2rycHBbpnKbgBe0T0l2AEQ0Q7iDwCd9Vi6W0KEly4AOdBmEJ8D8RMjR5un3KdjQ9JEfF5rOMi3mIiJVLNiKhf7iFqZfkt2HdSWRWqveyQuwc99nYoMoyLcjtAUkzVU7-Q5gYjIZwDIVtKgvzcVXVg1soI3KkhNgNPNfMNjhk5XL9t2oOqLmjbB46EeJuk9FhD82wvnp3ID9IRLuQh-7GYox59YsCpo1QmBt2vmuGhKIeM0Ua6D5xFGiBEk9Ho6_JzG8lsZlzbcVk2ALjUUYAkMwrNrYGdzCiEmoEPRVzJVVH9TBkNq90iCyTsEOJbG49Oq8NP6zTj1fFs55OLtvX5iAB6bEMejGBq7SVl8syW_jVn3UcgdEFcpBVzm0zNuCFujZ9uaCCXpe7GLhy_wU6pRUFyuxVvpk9aWN4PY=",
  "id": "rs_006d44f07b7fc7ad016ab445d048d087d08836d70ec0977dce",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.39,\"left_z\":0.1,\"left_gripper\":1},\"note\":\"The gray plush has traveled with the gripper and is now directly over the near side of the empty right basket. I am lowering while opening so it drops gently into that basket.\"}",
  "call_id": "call_o6R30Mz8lsZWgninP3XPeiCF",
  "id": "fc_006d44f07b7fc7ad016ab445d19b8c87d08fae3edd6e515d8a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_o6R30Mz8lsZWgninP3XPeiCF",
  "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]: [-0.9295, 2.3112, 1.9324, -0.3862, -0.7601, -0.6815, 0.9948, -0.02, 0.8707, 0.5972, -0.4099, -0.0189, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4539 left_y=-0.3985 left_z=0.135 left_yaw=0.0355 left_pitch=0.0353 left_roll=-0.0675 left_gripper=0.9948 right_x=0.2935 right_y=0.001 right_z=0.1499 right_yaw=0.0021 right_pitch=-0.1227 right_roll=0.0059 right_gripper=0.9992\nstate[joint_eff]: [0.4308, -11.3299, 4.3282, 0.8767, -0.1685, -0.0611, -0.2076, -0.1436, -1.6752, 6.9675, 1.6288, -0.0269, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 364):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c3123c9265280dd16d30083c4abebf892d249b7f25cca71cc6a73bf0a2926b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 364):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c6aa87d692c61cc50502b60cb44cc6836bcb1648123af60d74e27718d839364",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 364):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:071dd94cf63d5220341d3b55c1105c845533a061abf2404fe79bd6b3c248738f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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