adhoc

completed
2026-09-23T22:22:39.026241+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 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
221 s
total steps
389
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 contains two visually distinct plush-like groups: elongated dark/gray animals on the left and round cream-and-brown spotted animals in the center, with an empty basket for each class. I’ll first approach the isolated elongated brown object with the left arm and use the wrist view to refine the grasp.
move_to
left_x0.3200left_y-0.1400left_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]: [-0.0193, 0.8001, 0.617, -0.379, -0.0216, -0.0257, 0.9993, -0.0154, 0.7986, 0.6106, -0.374, -0.0132, -0.0162, 0.9998] state[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1845 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2967 right_y=0.0013 right_z=0.1829 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4718, -1.5932, 9.2786, 1.8388, -0.0122, 0.1197, -0.0904, -0.7043, -1.6342, 9.7846, 1.7021, -0.1099, -0.0366, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.14,"left_z":0.16,"left_gripper":1.0},"note":"The table contains two visually distinct plush-like groups: elongated dark/gray animals on the left and round cream-and-brown spotted animals in the center, with an empty basket for each class. I’ll first approach the isolated elongated brown object with the left arm and use the wrist view to refine the grasp."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteIn the left wrist view the elongated brown-and-white animal is very close but sits about 3 cm to the gripper’s left, while its depth is already near the jaw line. I’ll shift the left gripper laterally left to center it without descending yet.
move_to
left_x0.3200left_y-0.1100left_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7078, 1.1919, 0.6868, -0.2379, -0.5663, -0.4377, 0.9993, -0.0147, 0.7986, 0.6086, -0.3843, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3126 left_y=-0.1381 left_z=0.1431 left_yaw=-0.0191 left_pitch=-0.046 left_roll=0.0262 left_gripper=0.9993 right_x=0.2951 right_y=0.0014 right_z=0.1799 right_yaw=-0.0002 right_pitch=-0.0122 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [0.253, -3.8632, 9.4427, 1.6825, -0.4322, -0.0611, -0.0904, -0.3077, -1.1829, 7.3915, 1.8046, -0.0855, -0.0464, -0.0122] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.11,"left_z":0.15},"note":"In the left wrist view the elongated brown-and-white animal is very close but sits about 3 cm to the gripper’s left, while its depth is already near the jaw line. I’ll shift the left gripper laterally left to center it without descending yet."})
tool
executing move_to over 3 steps (0.3s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe lateral correction brought the animal close to the jaw column, though it remains roughly 2 cm left; it is now at the bottom edge where an object under the fingertips should appear. I’ll make the final small left shift while descending to grasp height.
move_to
left_x0.3200left_y-0.0870left_z0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5835, 1.1484, 0.672, -0.242, -0.4927, -0.3698, 0.9992, -0.0147, 0.7986, 0.6086, -0.3847, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.3209 left_y=-0.1074 left_z=0.1453 left_yaw=0.0114 left_pitch=-0.0572 left_roll=0.0278 left_gripper=0.9992 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=-0.0005 right_pitch=-0.0126 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.4034, -4.9573, 6.4342, 1.619, 0.0024, 0.1392, -0.022, -0.2667, -0.9231, 7.0359, 1.7753, -0.0317, -0.0708, -0.0122] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.087,"left_z":0.05},"note":"The lateral correction brought the animal close to the jaw column, though it remains roughly 2 cm left; it is now at the bottom edge where an object under the fingertips should appear. I’ll make the final small left shift while descending to grasp height."})
tool
executing move_to over 7 steps (0.7s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe descent stopped about 8 cm above the requested height, indicating the open jaws have contacted the tall plush animal; it is visibly between the finger rails despite the slight left offset. I’ll close now rather than press farther down.
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]: [-0.5774, 1.1595, 0.622, -0.1928, -0.4717, -0.3595, 0.9992, -0.0147, 0.7986, 0.6086, -0.3847, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3182 left_y=-0.1072 left_z=0.1285 left_yaw=-0.0041 left_pitch=-0.0749 left_roll=0.0311 left_gripper=0.9992 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=-0.0002 right_pitch=-0.0126 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [0.3214, -3.6444, 6.5436, 1.7509, -0.3297, -0.0269, -0.0122, 0.0068, -1.2923, 7.0359, 1.7118, -0.0415, -0.0757, -0.0122] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The descent stopped about 8 cm above the requested height, indicating the open jaws have contacted the tall plush animal; it is visibly between the finger rails despite the slight left offset. I’ll close now rather than press farther down."})
tool
executing move_to over 10 steps (1.0s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe gripper settled at 0.01, so the first close was empty; the animal remained just short of the fingertip grasp point despite appearing low in the wrist image. I’ll reopen, lift slightly, and advance 3 cm outward as prescribed for this wrist-camera geometry.
move_to
left_x0.3500left_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]: [-0.5781, 1.1595, 0.622, -0.1936, -0.4706, -0.3668, 0.01, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.318 left_y=-0.1076 left_z=0.1283 left_yaw=-0.0018 left_pitch=-0.0758 left_roll=0.025 left_gripper=0.01 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=-0.0002 right_pitch=-0.013 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.0752, -3.5761, 6.8718, 1.5556, -0.2466, 0.0513, 0.7741, -0.335, -0.9915, 7.0632, 1.7411, -0.0317, -0.0415, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_z":0.15,"left_gripper":1.0},"note":"The gripper settled at 0.01, so the first close was empty; the animal remained just short of the fingertip grasp point despite appearing low in the wrist image. I’ll reopen, lift slightly, and advance 3 cm outward as prescribed for this wrist-camera geometry."})
tool
executing move_to over 10 steps (1.0s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteAfter advancing, the elongated animal is centered directly between the two visible fingers at the bottom of the wrist frame. I’ll close at this height to capture its upright body without pushing it over.
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]: [-0.5053, 1.2549, 0.7315, -0.2199, -0.4183, -0.3286, 0.9986, -0.0147, 0.8013, 0.6086, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3433 left_y=-0.1038 left_z=0.1359 left_yaw=0.0098 left_pitch=-0.1053 left_roll=0.0316 left_gripper=0.9986 right_x=0.2951 right_y=0.0014 right_z=0.179 right_yaw=-0.0002 right_pitch=-0.0156 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.0068, -4.3692, 9.3607, 1.5604, -0.1978, 0.1001, -0.1636, -0.253, -1.5248, 7.0496, 1.7509, -0.0122, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"After advancing, the elongated animal is centered directly between the two visible fingers at the bottom of the wrist frame. I’ll close at this height to capture its upright body without pushing it over."})
tool
executing move_to over 10 steps (1.0s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe second close also read empty, so radial alignment is now good but the fingers are still above the animal’s graspable body. I’ll reopen and descend vertically to 6 cm while holding the current x-y alignment.
move_to
left_z0.0600left_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]: [-0.5053, 1.2549, 0.7311, -0.2199, -0.4183, -0.3328, 0.0101, -0.0147, 0.8013, 0.6086, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3433 left_y=-0.1038 left_z=0.1358 left_yaw=0.0121 left_pitch=-0.1055 left_roll=0.0285 left_gripper=0.0101 right_x=0.2951 right_y=0.0014 right_z=0.179 right_yaw=-0.0002 right_pitch=-0.0156 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.1162, -4.1915, 6.8855, 1.5458, -0.2418, 0.0415, 0.7839, -0.2667, -1.1145, 7.1043, 1.7021, -0.0611, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.06,"left_gripper":1.0},"note":"The second close also read empty, so radial alignment is now good but the fingers are still above the animal’s graspable body. I’ll reopen and descend vertically to 6 cm while holding the current x-y alignment."})
tool
executing move_to over 10 steps (1.0s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteAt 6 cm the brown animal’s body is now clearly enclosed between the open fingers, unlike the two high closes. I’ll close for the actual 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]: [-0.5053, 1.43, 0.5224, 0.1379, -0.4179, -0.3359, 0.9986, -0.0147, 0.8024, 0.6086, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3404 left_y=-0.1023 left_z=0.0563 left_yaw=0.0149 left_pitch=-0.1281 left_roll=0.0388 left_gripper=0.9986 right_x=0.2952 right_y=0.0014 right_z=0.1787 right_yaw=-0.0002 right_pitch=-0.0168 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.0479, -5.0256, 5.4632, 1.7558, -0.1783, 0.0122, -0.1636, -0.2393, -1.3607, 7.0769, 1.7411, -0.0171, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At 6 cm the brown animal’s body is now clearly enclosed between the open fingers, unlike the two high closes. I’ll close for the actual grasp."})
tool
executing move_to over 10 steps (1.0s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteThe close remained empty at 6 cm, showing this plush lies flatter than it looked and the jaws are still passing above its body. I’ll reopen and descend to tabletop grasp height while keeping the now-centered x-y pose.
move_to
left_z0.0000left_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]: [-0.5053, 1.4311, 0.5213, 0.1436, -0.4179, -0.3397, 0.0103, -0.0147, 0.8024, 0.6086, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3409 left_y=-0.1025 left_z=0.0565 left_yaw=0.0167 left_pitch=-0.125 left_roll=0.0342 left_gripper=0.0103 right_x=0.2952 right_y=0.0014 right_z=0.1787 right_yaw=-0.0002 right_pitch=-0.0168 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.0205, -5.2718, 5.9692, 1.5018, -0.2125, -0.0024, 0.7546, -0.3761, -1.306, 7.0359, 1.7265, -0.0171, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.0,"left_gripper":1.0},"note":"The close remained empty at 6 cm, showing this plush lies flatter than it looked and the jaws are still passing above its body. I’ll reopen and descend to tabletop grasp height while keeping the now-centered x-y pose."})
tool
executing move_to over 10 steps (1.0s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe cleared overhead view now makes the classes unambiguous: three gray plush animals form the left pile, while four cream-and-brown spotted animals form the center pile. My first estimate was too far inward and merely pushed the edge of the gray pile, so I’ll lift and approach the outer gray animal at the left table edge.
move_to
left_x0.3700left_y0.0300left_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]: [-0.5091, 1.6466, 0.4465, 0.5632, -0.4412, -0.3218, 0.9986, -0.0147, 0.8024, 0.6086, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3612 left_y=-0.1111 left_z=0.0321 left_yaw=0.0177 left_pitch=-0.0058 left_roll=-0.0031 left_gripper=0.9986 right_x=0.2952 right_y=0.0014 right_z=0.1787 right_yaw=-0.0002 right_pitch=-0.0168 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.0342, -3.7128, 2.7145, 0.8718, 0.0464, -0.2369, -0.1685, -0.1709, -1.0872, 7.0359, 1.7411, -0.0513, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":0.03,"left_z":0.14,"left_gripper":1.0},"note":"The cleared overhead view now makes the classes unambiguous: three gray plush animals form the left pile, while four cream-and-brown spotted animals form the center pile. My first estimate was too far inward and merely pushed the edge of the gray pile, so I’ll lift and approach the outer gray animal at the left table edge."})
tool
executing move_to over 13 steps (1.3s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe arm failed to track the diagonal move and remains low in the pile, likely because the long sideways path was blocked by nearby plush toys. I’ll first extract straight back and high into free space before making a fresh approach.
move_to
left_x0.2500left_y-0.0500left_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4229, 1.5509, 0.4427, 0.4904, -0.3805, -0.2836, 0.9985, -0.0147, 0.8043, 0.6086, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3646 left_y=-0.0882 left_z=0.048 left_yaw=0.0343 left_pitch=-0.0059 left_roll=-0.0113 left_gripper=0.9985 right_x=0.2953 right_y=0.0014 right_z=0.1782 right_yaw=-0.0002 right_pitch=-0.0187 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.2803, -6.5436, 4.6564, 1.6435, -0.105, 0.0904, -0.1685, -0.2667, -1.0872, 7.0359, 1.7363, -0.0171, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_y":-0.05,"left_z":0.22},"note":"The arm failed to track the diagonal move and remains low in the pile, likely because the long sideways path was blocked by nearby plush toys. I’ll first extract straight back and high into free space before making a fresh approach."})
tool
executing move_to over 12 steps (1.2s)
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 noteFrom the extracted wrist view, the three gray rabbits are clearly on the left and the cream/brown dogs are on the right. The nearest rabbit is about 5 cm left of the jaw column and at nearly the correct radial depth, so I’ll shift left and descend above it.
move_to
left_x0.2700left_y0.0000left_z0.1200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5278, 0.7006, 0.7361, -0.6781, -0.4503, -0.3531, 0.998, -0.0147, 0.8089, 0.6075, -0.392, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.2517 left_y=-0.0536 left_z=0.2137 left_yaw=0.0231 left_pitch=-0.0079 left_roll=-0.0219 left_gripper=0.998 right_x=0.2945 right_y=0.0014 right_z=0.175 right_yaw=0.0 right_pitch=-0.0313 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.212, -0.1709, 9.265, 1.4628, -0.3297, -0.0708, -0.0659, -0.1573, -1.7162, 7.159, 1.8291, -0.0317, -0.0611, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). 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":0.27,"left_y":0.0,"left_z":0.12},"note":"From the extracted wrist view, the three gray rabbits are clearly on the left and the cream/brown dogs are on the right. The nearest rabbit is about 5 cm left of the jaw column and at nearly the correct radial depth, so I’ll shift left and descend above it."})
tool
executing move_to over 7 steps (0.7s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe move confirms the target is a gray rabbit, but its broad torso is still left of the jaw column; there is room to move another 4 cm toward the outer edge. I’ll make that lateral correction and descend to the rabbit’s low body height.
move_to
left_y0.0450left_z0.0300
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]: [-0.049, 0.6609, 0.3363, -0.281, -0.0666, -0.0853, 0.9979, -0.0147, 0.8101, 0.6075, -0.3927, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.266 left_y=0.0023 left_z=0.1127 left_yaw=0.0401 left_pitch=-0.0421 left_roll=-0.0226 left_gripper=0.9979 right_x=0.2945 right_y=0.0014 right_z=0.1745 right_yaw=-0.0002 right_pitch=-0.0332 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.0205, -0.7043, 7.2, 1.8877, 0.022, 0.0904, -0.0269, -0.0752, -1.4291, 7.0222, 1.7314, -0.0415, -0.0708, -0.0122] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":0.045,"left_z":0.03},"note":"The move confirms the target is a gray rabbit, but its broad torso is still left of the jaw column; there is room to move another 4 cm toward the outer edge. I’ll make that lateral correction and descend to the rabbit’s low body height."})
tool
executing move_to over 6 steps (0.6s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe rabbit’s torso now fills the space between the fingers, and the descent stopped at 5.5 cm from contact with the plush. I’ll close around its body.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.2962, 0.9932, 0.083, 0.3889, 0.1841, 0.12, 0.9978, -0.0143, 0.8127, 0.6067, -0.3927, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2811 left_y=0.0557 left_z=0.0553 left_yaw=0.0639 left_pitch=0.05 left_roll=0.0243 left_gripper=0.9978 right_x=0.2946 right_y=0.0015 right_z=0.1734 right_yaw=0.0002 right_pitch=-0.0366 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.2803, -0.6222, 3.9179, 1.1502, 0.3248, -0.1392, -0.0171, -0.1299, -1.5932, 7.4051, 1.7363, -0.0317, -0.0464, -0.0171] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The rabbit’s torso now fills the space between the fingers, and the descent stopped at 5.5 cm from contact with the plush. I’ll close around its body."})
tool
executing move_to over 10 steps (1.0s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteThe rabbit slipped out and the gripper closed nearly empty at 0.017; the jaw line is on its broad rear fur rather than a narrow body section. I’ll reopen and advance 3 cm toward the rabbit’s narrower shoulders while staying low.
move_to
left_x0.3200left_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]: [0.2527, 0.9733, 0.0933, 0.4252, 0.1425, 0.0971, 0.017, -0.0147, 0.8127, 0.6067, -0.3923, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.2901 left_y=0.0527 left_z=0.0722 left_yaw=0.0667 left_pitch=0.1114 left_roll=0.0369 left_gripper=0.017 right_x=0.2946 right_y=0.0013 right_z=0.1735 right_yaw=-0.0005 right_pitch=-0.0362 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [0.1162, -1.1556, 4.8889, 1.3895, 0.0464, 0.0171, 1.033, -0.1983, -1.2786, 7.0359, 1.7363, -0.0366, -0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_z":0.08,"left_gripper":1.0},"note":"The rabbit slipped out and the gripper closed nearly empty at 0.017; the jaw line is on its broad rear fur rather than a narrow body section. I’ll reopen and advance 3 cm toward the rabbit’s narrower shoulders while staying low."})
tool
executing move_to over 10 steps (1.0s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteThe advance has placed the rabbit’s narrower shoulder/neck section squarely between the open fingers. I’ll close here and check the settled jaw spacing.
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]: [0.1936, 1.14, 0.1726, 0.5087, 0.091, 0.0696, 0.9951, -0.0147, 0.8146, 0.6067, -0.3931, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3154 left_y=0.0491 left_z=0.0754 left_yaw=0.0662 left_pitch=0.1047 left_roll=0.034 left_gripper=0.9951 right_x=0.2946 right_y=0.0014 right_z=0.1728 right_yaw=-0.0002 right_pitch=-0.0389 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.4855, -2.0308, 7.6103, 1.6874, -0.0171, 0.022, 0.0269, -0.1846, -1.388, 7.2274, 1.6874, -0.0269, -0.0171, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The advance has placed the rabbit’s narrower shoulder/neck section squarely between the open fingers. I’ll close here and check the settled jaw spacing."})
tool
executing move_to over 10 steps (1.0s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteThe rabbit again squeezed sideways and the jaws closed empty, so its broad torso is not a stable pinch point. Its head/neck lies farther outward near the basket; I’ll reopen, advance 4 cm to that narrower section, and descend to table-level grasp height.
move_to
left_x0.3600left_y0.0400left_z0.0300left_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]: [0.1947, 1.1446, 0.1757, 0.5182, 0.0822, 0.0673, 0.0113, -0.0147, 0.8146, 0.6067, -0.3923, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3168 left_y=0.0514 left_z=0.0774 left_yaw=0.0759 left_pitch=0.1123 left_roll=0.0368 left_gripper=0.0113 right_x=0.2947 right_y=0.0014 right_z=0.173 right_yaw=-0.0002 right_pitch=-0.0382 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.1846, -3.0427, 5.6821, 1.7656, 0.0659, -0.0269, 0.9402, -0.1709, -1.1692, 7.1863, 1.7607, -0.0611, -0.022, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":0.04,"left_z":0.03,"left_gripper":1.0},"note":"The rabbit again squeezed sideways and the jaws closed empty, so its broad torso is not a stable pinch point. Its head/neck lies farther outward near the basket; I’ll reopen, advance 4 cm to that narrower section, and descend to table-level grasp height."})
tool
executing move_to over 10 steps (1.0s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteTwo rabbits are now visible: the foreground one presents an over-wide torso, while the upright rabbit beside the basket has a narrower head and shoulders to the right of the jaw column. I’ll shift right and slightly outward to center that narrower rabbit instead.
move_to
left_x0.3900left_y0.0000left_z0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1009, 1.6562, 0.2352, 1.0821, -0.0139, 0.0475, 0.9951, -0.0147, 0.8185, 0.6067, -0.4007, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3688 left_y=0.0434 left_z=0.0599 left_yaw=0.0741 left_pitch=0.2216 left_roll=0.0638 left_gripper=0.9951 right_x=0.2938 right_y=0.0014 right_z=0.1702 right_yaw=-0.0002 right_pitch=-0.0504 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-0.253, -3.412, 3.7675, 0.7888, 0.1587, -0.2613, -0.149, -0.0752, -1.6205, 7.0359, 1.7607, -0.0464, -0.0611, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":0.0,"left_z":0.05},"note":"Two rabbits are now visible: the foreground one presents an over-wide torso, while the upright rabbit beside the basket has a narrower head and shoulders to the right of the jaw column. I’ll shift right and slightly outward to center that narrower rabbit instead."})
tool
executing move_to over 4 steps (0.4s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteThe upright rabbit’s white head is now on the jaw column, but there is still visible floor below it, meaning it is just short of the fingertips. I’ll advance 2.5 cm and lower to table level to place the fingers around its neck/shoulders.
move_to
left_x0.4150left_z0.0200
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]: [-0.0811, 1.7542, 0.2974, 1.1713, -0.1795, 0.0139, 0.9964, -0.0147, 0.8192, 0.6067, -0.408, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3914 left_y=0.0034 left_z=0.0665 left_yaw=0.0559 left_pitch=0.279 left_roll=0.0802 left_gripper=0.9964 right_x=0.2928 right_y=0.0014 right_z=0.1686 right_yaw=-0.0002 right_pitch=-0.0584 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.3487, -4.4239, 4.3829, 1.3895, 0.2711, -0.2271, 0.1197, -0.1299, -1.4154, 7.2, 1.7265, -0.0366, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_z":0.02},"note":"The upright rabbit’s white head is now on the jaw column, but there is still visible floor below it, meaning it is just short of the fingertips. I’ll advance 2.5 cm and lower to table level to place the fingers around its neck/shoulders."})
tool
executing move_to over 4 steps (0.4s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteThe descent stopped on contact at 5.8 cm, with the upright rabbit’s head and shoulders centered between the fingers and braced by the neighboring rabbit and basket. I’ll close now; the bracing should prevent another sideways escape.
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]: [-0.0708, 2.0407, 0.3908, 1.4815, -0.2214, 0.0395, 0.9965, -0.0143, 0.82, 0.6048, -0.4099, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4212 left_y=0.0126 left_z=0.058 left_yaw=0.0957 left_pitch=0.3948 left_roll=0.0977 left_gripper=0.9965 right_x=0.2923 right_y=0.0015 right_z=0.1671 right_yaw=0.0002 right_pitch=-0.0629 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [-0.5402, -4.8615, 2.0581, 0.4713, 0.4176, -0.3394, -0.0024, -0.0342, -1.3333, 7.2274, 1.7118, -0.0317, -0.0269, -0.0122] camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The descent stopped on contact at 5.8 cm, with the upright rabbit’s head and shoulders centered between the fingers and braced by the neighboring rabbit and basket. I’ll close now; the bracing should prevent another sideways escape."})
tool
executing move_to over 10 steps (1.0s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent noteThe rabbits’ very wide, soft bodies keep slipping and the left gripper is closing empty, so I’ll pause that pile rather than repeat the same failed pinch. I’ll park the left arm and approach the isolated cream-and-brown dog pile with the right arm, whose smaller upright bodies should provide a reliable grasp.
move_to
left_x0.2500left_y-0.0500left_z0.2200left_gripper1.0000right_x0.3500right_y0.3300right_z0.1500right_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]: [-0.0685, 2.0438, 0.3973, 1.5341, -0.2363, 0.0418, 0.0105, -0.0147, 0.8234, 0.6022, -0.4095, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4242 left_y=0.016 left_z=0.0713 left_yaw=0.1149 left_pitch=0.4503 left_roll=0.0918 left_gripper=0.0105 right_x=0.2922 right_y=0.0014 right_z=0.1651 right_yaw=-0.0002 right_pitch=-0.0687 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [-0.3487, -7.6786, 2.0855, 1.3358, 0.1636, -0.0806, 0.8718, -0.1983, -1.6479, 7.6239, 1.7021, -0.0269, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_y":-0.05,"left_z":0.22,"left_gripper":1.0,"right_x":0.35,"right_y":0.33,"right_z":0.15,"right_gripper":1.0},"note":"The rabbits’ very wide, soft bodies keep slipping and the left gripper is closing empty, so I’ll pause that pile rather than repeat the same failed pinch. I’ll park the left arm and approach the isolated cream-and-brown dog pile with the right arm, whose smaller upright bodies should provide a reliable grasp."})
tool
executing move_to over 28 steps (2.8s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
right_cam
camera right_cam step 207
assistant
agent noteThe right wrist view shows a cream-and-brown dog centered directly between the open fingers, with its upright neck at the jaw line. I’ll close at this height to capture it without pressing down.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8154, 0.5205, 0.2794, 0.0624, -0.9249, -0.0849, 0.9983, 0.9913, 1.8683, 1.3846, -0.4637, 0.7147, 0.7052, 0.9998] state[eef_state]: left_x=0.2541 left_y=-0.0589 left_z=0.212 left_yaw=0.0685 left_pitch=0.4528 left_roll=0.0811 left_gripper=0.9983 right_x=0.3463 right_y=0.3243 right_z=0.1385 right_yaw=0.0265 right_pitch=-0.0982 right_roll=-0.0207 right_gripper=0.9998 state[joint_eff]: [-0.1162, 0.3624, 9.8803, 1.5018, -0.4322, -0.0464, 0.0415, 0.4581, -9.7436, 8.9094, 1.0525, 0.525, 0.1783, -0.0366] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The right wrist view shows a cream-and-brown dog centered directly between the open fingers, with its upright neck at the jaw line. I’ll close at this height to capture it without pressing down."})
tool
executing move_to over 10 steps (1.0s)
step 217
top_cam
camera top_cam step 217
left_cam
camera left_cam step 217
right_cam
camera right_cam step 217
assistant
agent noteThe close was empty at 13 cm; the camera’s foreshortening made the dog look enclosed while the fingers were actually above it. I’ll reopen and descend vertically to 5 cm at the same x-y alignment.
move_to
right_z0.0500right_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]: [-0.8169, 0.5236, 0.2848, 0.046, -0.9386, -0.0975, 0.998, 0.9936, 1.8832, 1.3865, -0.4599, 0.7025, 0.6998, 0.0118] state[eef_state]: left_x=0.2537 left_y=-0.0568 left_z=0.2112 left_yaw=0.0818 left_pitch=0.4465 left_roll=0.0812 left_gripper=0.998 right_x=0.3454 right_y=0.3278 right_z=0.1319 right_yaw=0.0386 right_pitch=-0.1117 right_roll=-0.0267 right_gripper=0.0118 state[joint_eff]: [-0.0752, 0.1846, 6.5162, 1.8242, -0.0073, 0.1148, -0.0513, -0.3487, -11.2205, 6.4342, 1.2527, 0.4127, 0.0708, 1.0379] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.05,"right_gripper":1.0},"note":"The close was empty at 13 cm; the camera’s foreshortening made the dog look enclosed while the fingers were actually above it. I’ll reopen and descend vertically to 5 cm at the same x-y alignment."})
tool
executing move_to over 10 steps (1.0s)
step 227
top_cam
camera top_cam step 227
left_cam
camera left_cam step 227
right_cam
camera right_cam step 227
assistant
agent noteAt 7 cm the dog has moved mostly below the wrist camera, which is expected when it is actually under the fingertip grasp point. I’ll close around its body now.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8165, 0.5236, 0.2844, 0.0383, -0.9394, -0.0986, 0.9979, 0.9932, 1.9743, 1.2263, -0.1719, 0.7158, 0.6998, 0.9944] state[eef_state]: left_x=0.2536 left_y=-0.0564 left_z=0.2097 left_yaw=0.0806 left_pitch=0.4417 left_roll=0.0869 left_gripper=0.9979 right_x=0.3493 right_y=0.3301 right_z=0.0705 right_yaw=0.0326 right_pitch=-0.0818 right_roll=-0.0028 right_gripper=0.9944 state[joint_eff]: [-0.0889, 0.4444, 6.9949, 1.7558, -0.1245, -0.0317, -0.0269, -0.294, -7.6103, 4.8342, 1.0134, 0.0904, -0.0073, -0.1343] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At 7 cm the dog has moved mostly below the wrist camera, which is expected when it is actually under the fingertip grasp point. I’ll close around its body now."})
tool
executing move_to over 10 steps (1.0s)
step 237
top_cam
camera top_cam step 237
assistant
agent noteThe low close still missed because the dog slipped to the lower-left of the right wrist image, revealing a lateral rather than height error. I’ll reopen and shift the right gripper about 6 cm left so the dog moves onto the jaw centerline.
move_to
right_y0.3900right_z0.0700right_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]: [-0.8165, 0.5236, 0.2844, 0.038, -0.9394, -0.0986, 0.9979, 0.9928, 1.977, 1.219, -0.1631, 0.7181, 0.693, 0.0124] state[eef_state]: left_x=0.2535 left_y=-0.0564 left_z=0.2096 left_yaw=0.0805 left_pitch=0.4414 left_roll=0.0873 left_gripper=0.9979 right_x=0.3492 right_y=0.3291 right_z=0.0681 right_yaw=0.0343 right_pitch=-0.081 right_roll=-0.0103 right_gripper=0.0124 state[joint_eff]: [-0.0479, 0.3624, 7.1316, 1.6239, -0.149, -0.0269, -0.0122, -0.335, -10.4, 6.8171, 1.2234, 0.232, 0.0317, 1.0134] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.39,"right_z":0.07,"right_gripper":1.0},"note":"The low close still missed because the dog slipped to the lower-left of the right wrist image, revealing a lateral rather than height error. I’ll reopen and shift the right gripper about 6 cm left so the dog moves onto the jaw centerline."})
tool
executing move_to over 10 steps (1.0s)
step 247
assistant
agent noteThe dog was pushed toward the lower-left and is now outside the right arm’s practical cross-table reach, but it is isolated and comfortably reachable by the left arm. I’ll park the right arm and bring the left gripper above this separated dog using the overhead position.
move_to
right_x0.2500right_y0.0000right_z0.2200right_gripper1.0000left_x0.2400left_y-0.1900left_z0.1200left_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]: [-0.8165, 0.5236, 0.2844, 0.0376, -0.9394, -0.0986, 0.9979, 1.0561, 2.1395, 1.4857, -0.3157, 0.7441, 0.7574, 0.9945] state[eef_state]: left_x=0.2535 left_y=-0.0564 left_z=0.2096 left_yaw=0.0803 left_pitch=0.4412 left_roll=0.0876 left_gripper=0.9979 right_x=0.3503 right_y=0.3836 right_z=0.0682 right_yaw=0.0435 right_pitch=-0.0899 right_roll=-0.0109 right_gripper=0.9945 state[joint_eff]: [-0.0752, 0.4171, 6.9265, 1.6142, -0.1636, -0.0122, -0.0122, 0.7863, -10.4, 8.6359, 0.9792, 0.4615, 0.0611, -0.1538] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.25,"right_y":0.0,"right_z":0.22,"right_gripper":1.0,"left_x":0.24,"left_y":-0.19,"left_z":0.12,"left_gripper":1.0},"note":"The dog was pushed toward the lower-left and is now outside the right arm’s practical cross-table reach, but it is isolated and comfortably reachable by the left arm. I’ll park the right arm and bring the left gripper above this separated dog using the overhead position."})
tool
executing move_to over 32 steps (3.2s)
step 279
assistant
agent noteThe isolated cream-and-brown dog is now upright and centered between the left fingers, with its body extending below the wrist frame. I’ll descend vertically to 5 cm so the jaws engage its torso rather than closing above it.
move_to
left_z0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.2808, 1.4986, 0.382, 0.4389, -1.3624, -0.564, 0.9985, -0.0399, 0.7074, 0.7738, -0.7433, 0.0021, -0.0216, 0.9987] state[eef_state]: left_x=0.2393 left_y=-0.1849 left_z=0.1148 left_yaw=0.0526 left_pitch=0.4273 left_roll=0.1284 left_gripper=0.9985 right_x=0.2522 right_y=-0.0068 right_z=0.2053 right_yaw=-0.0344 right_pitch=-0.1149 right_roll=-0.012 right_gripper=0.9987 state[joint_eff]: [-0.5675, -4.3966, 6.5846, 1.2283, -0.5201, -0.1294, -0.1734, -0.1573, -0.7453, 9.5521, 1.6288, -0.1441, -0.0317, -0.1538] camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.05},"note":"The isolated cream-and-brown dog is now upright and centered between the left fingers, with its body extending below the wrist frame. I’ll descend vertically to 5 cm so the jaws engage its torso rather than closing above it."})
tool
executing move_to over 5 steps (0.5s)
step 284
assistant
agent noteAt 6 cm the dog’s torso clearly occupies the space between both fingers, with neighboring toys bracing it from either side. I’ll close around the torso now.
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]: [-1.2842, 1.8481, 0.3298, 0.8204, -1.3911, -0.5823, 0.9979, -0.0429, 0.712, 0.7769, -0.7666, -0.0082, -0.0406, 0.9985] state[eef_state]: left_x=0.2389 left_y=-0.183 left_z=0.0592 left_yaw=0.0709 left_pitch=0.4418 left_roll=0.1347 left_gripper=0.9979 right_x=0.2493 right_y=-0.0057 right_z=0.2011 right_yaw=-0.0184 right_pitch=-0.1398 right_roll=-0.0199 right_gripper=0.9985 state[joint_eff]: [0.1573, -4.7385, 2.3316, 0.7692, 0.0171, 0.2222, -0.0708, 0.1162, -0.6222, 6.3932, 1.8339, 0.0855, 0.1441, -0.0366] camera 'top_cam' (step 284): [image omitted: streamed camera frame] camera 'left_cam' (step 284): [image omitted: streamed camera frame] camera 'right_cam' (step 284): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At 6 cm the dog’s torso clearly occupies the space between both fingers, with neighboring toys bracing it from either side. I’ll close around the torso now."})
tool
executing move_to over 10 steps (1.0s)
step 294
assistant
agent noteThe settled spacing is only 0.0295, borderline and normally considered empty, but the dog may be pinched by a compressed ear or fur. I’ll perform the required 7 cm lift and verify whether the dog moves with the gripper.
move_to
left_z0.1300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.2842, 1.8568, 0.3252, 0.8272, -1.3911, -0.5846, 0.0295, -0.0429, 0.7124, 0.7769, -0.7673, -0.0086, -0.0418, 0.9984] state[eef_state]: left_x=0.2384 left_y=-0.1816 left_z=0.0571 left_yaw=0.0692 left_pitch=0.4406 left_roll=0.1392 left_gripper=0.0295 right_x=0.2492 right_y=-0.0056 right_z=0.2009 right_yaw=-0.0175 right_pitch=-0.1409 right_roll=-0.0205 right_gripper=0.9984 state[joint_eff]: [0.0205, -6.612, 2.947, 1.1404, -0.3834, 0.0073, 0.6227, -0.0068, -0.253, 6.612, 1.6337, -0.0415, -0.0073, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 294): [image omitted: streamed camera frame] camera 'left_cam' (step 294): [image omitted: streamed camera frame] camera 'right_cam' (step 294): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.13},"note":"The settled spacing is only 0.0295, borderline and normally considered empty, but the dog may be pinched by a compressed ear or fur. I’ll perform the required 7 cm lift and verify whether the dog moves with the gripper."})
tool
executing move_to over 5 steps (0.5s)
step 299
assistant
agent noteThe borderline pinch did not lift the dog; its broad side again slipped through. I’ll rotate the gripper 90 degrees and shift slightly right so the jaws close along the dog’s shorter neck dimension rather than across its wide torso.
move_to
left_y-0.2400left_z0.1000left_yaw1.5700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.2842, 1.478, 0.3813, 0.4351, -1.3838, -0.5846, 0.0324, -0.0429, 0.7136, 0.7769, -0.7692, -0.0082, -0.0452, 0.9984] state[eef_state]: left_x=0.2384 left_y=-0.1821 left_z=0.1212 left_yaw=0.0839 left_pitch=0.445 left_roll=0.0918 left_gripper=0.0324 right_x=0.249 right_y=-0.0056 right_z=0.2003 right_yaw=-0.0159 right_pitch=-0.144 right_roll=-0.0233 right_gripper=0.9984 state[joint_eff]: [-0.2393, -4.9846, 7.2274, 1.2381, -0.4078, -0.0611, 0.3248, -0.0479, -0.1983, 6.612, 1.6093, -0.0317, -0.022, -0.0073] camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.24,"left_z":0.1,"left_yaw":1.57,"left_gripper":1.0},"note":"The borderline pinch did not lift the dog; its broad side again slipped through. I’ll rotate the gripper 90 degrees and shift slightly right so the jaws close along the dog’s shorter neck dimension rather than across its wide torso."})
tool
executing move_to over 10 steps (1.0s)
step 309
assistant
agent noteThe large yaw rotation swept the left basket onto its side, but its opening remains accessible; the rotated gripper is now directly over a gray rabbit. I’ll lower carefully at the current position and try the shorter-dimension pinch without any further lateral sweep.
move_to
left_z0.0200
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]: [-0.2478, 2.0705, 1.2327, -1.1484, -1.3464, -2.0453, 0.9951, -0.0452, 0.7185, 0.7765, -0.7742, -0.009, -0.0456, 0.9985] state[eef_state]: left_x=0.3442 left_y=0.0943 left_z=0.102 left_yaw=1.4296 left_pitch=0.3568 left_roll=-0.0369 left_gripper=0.9951 right_x=0.2486 right_y=-0.0061 right_z=0.198 right_yaw=-0.0173 right_pitch=-0.1543 right_roll=-0.0228 right_gripper=0.9985 state[joint_eff]: [-0.2256, -8.3624, 3.2752, -0.8571, -0.6325, -0.1343, 0.0073, 0.0615, -0.3077, 6.6256, 1.6532, -0.0269, -0.0415, -0.0122] camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.02},"note":"The large yaw rotation swept the left basket onto its side, but its opening remains accessible; the rotated gripper is now directly over a gray rabbit. I’ll lower carefully at the current position and try the shorter-dimension pinch without any further lateral sweep."})
tool
executing move_to over 6 steps (0.6s)
step 315
assistant
agent noteAt the lowered rotated pose, a gray rabbit is centered lengthwise between the jaws, with a dog just in front but outside the intended pinch. I’ll close on the rabbit’s narrower body axis.
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]: [-0.3424, 2.3726, 1.5387, -1.1797, -1.3315, -2.0499, 0.9963, -0.0448, 0.7246, 0.7761, -0.7757, -0.0093, -0.046, 0.9985] state[eef_state]: left_x=0.4078 left_y=0.0406 left_z=0.0536 left_yaw=1.3332 left_pitch=0.3462 left_roll=-0.011 left_gripper=0.9963 right_x=0.2488 right_y=-0.0059 right_z=0.1962 right_yaw=-0.0164 right_pitch=-0.1623 right_roll=-0.0226 right_gripper=0.9985 state[joint_eff]: [0.1573, -7.5692, 1.6342, 0.2125, -0.0952, -0.525, 0.1099, -0.0342, -0.2803, 6.6393, 1.6337, -0.0464, -0.0073, -0.0171] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 315): [image omitted: streamed camera frame] camera 'left_cam' (step 315): [image omitted: streamed camera frame] camera 'right_cam' (step 315): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At the lowered rotated pose, a gray rabbit is centered lengthwise between the jaws, with a dog just in front but outside the intended pinch. I’ll close on the rabbit’s narrower body axis."})
tool
executing move_to over 10 steps (1.0s)
step 325
assistant
agent noteThe rotated grasp succeeded: the gripper settled at 0.073, clearly above the empty threshold and consistent with a compressed rabbit held between the jaws. I’ll lift it straight up before translating toward the tipped left basket.
move_to
left_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4046, 2.3772, 1.5974, -1.2675, -1.3228, -2.0499, 0.0729, -0.0452, 0.7277, 0.7761, -0.775, -0.009, -0.046, 0.9984] state[eef_state]: left_x=0.4132 left_y=0.0133 left_z=0.0646 left_yaw=1.2627 left_pitch=0.3417 left_roll=0.0253 left_gripper=0.0729 right_x=0.2492 right_y=-0.0061 right_z=0.1956 right_yaw=-0.0171 right_pitch=-0.1646 right_roll=-0.0228 right_gripper=0.9984 state[joint_eff]: [-0.3897, -9.6342, 4.5607, -0.3394, -0.3004, -0.5153, 2.6935, -0.1709, -0.3214, 6.612, 1.5604, -0.0708, -0.0415, -0.0171] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 325): [image omitted: streamed camera frame] camera 'left_cam' (step 325): [image omitted: streamed camera frame] camera 'right_cam' (step 325): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.2},"note":"The rotated grasp succeeded: the gripper settled at 0.073, clearly above the empty threshold and consistent with a compressed rabbit held between the jaws. I’ll lift it straight up before translating toward the tipped left basket."})
tool
executing move_to over 9 steps (0.9s)
step 334
assistant
agent noteThe jaw spacing increased to 0.109 during the lift, confirming the rabbit is still held and its weight is loading the grasp. I’ll carry it high over the visible opening of the tipped left basket near the far-left corner.
move_to
left_x0.4800left_y-0.0800left_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3866, 2.2154, 1.7649, -1.5253, -1.3079, -1.99, 0.1092, -0.0452, 0.7277, 0.7761, -0.775, -0.009, -0.046, 0.9984] state[eef_state]: left_x=0.417 left_y=0.0183 left_z=0.164 left_yaw=1.2772 left_pitch=0.3207 left_roll=0.0132 left_gripper=0.1092 right_x=0.2492 right_y=-0.0061 right_z=0.1956 right_yaw=-0.0171 right_pitch=-0.1646 right_roll=-0.0228 right_gripper=0.9984 state[joint_eff]: [0.3624, -14.5846, 7.3368, -0.6374, -0.7985, 0.1636, 1.033, -0.1026, -0.3897, 6.612, 1.5995, -0.0366, -0.0269, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 334): [image omitted: streamed camera frame] camera 'left_cam' (step 334): [image omitted: streamed camera frame] camera 'right_cam' (step 334): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.08,"left_z":0.22},"note":"The jaw spacing increased to 0.109 during the lift, confirming the rabbit is still held and its weight is loading the grasp. I’ll carry it high over the visible opening of the tipped left basket near the far-left corner."})
tool
executing move_to over 9 steps (0.9s)
step 343
assistant
agent noteThe arm is directly above the tipped basket’s upward-facing cavity; lateral y could not track farther because of reach, but the overhead alignment is centered over the opening. I’ll lower toward the cavity and release the gray rabbit.
move_to
left_x0.4900left_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]: [-0.3752, 2.3886, 2.1643, -1.5524, -1.2934, -1.8294, 0.1092, -0.0452, 0.7311, 0.7761, -0.7753, -0.009, -0.0463, 0.9984] state[eef_state]: left_x=0.4733 left_y=0.0 left_z=0.1808 left_yaw=1.2654 left_pitch=0.2905 left_roll=-0.0308 left_gripper=0.1092 right_x=0.2494 right_y=-0.0061 right_z=0.1948 right_yaw=-0.0168 right_pitch=-0.1684 right_roll=-0.023 right_gripper=0.9984 state[joint_eff]: [-0.0752, -12.3829, 7.788, -0.3346, -0.8425, 0.1978, 1.0379, -0.0889, -0.6359, 6.6256, 1.5702, -0.0024, -0.0611, -0.0073] camera 'top_cam' (step 343): [image omitted: streamed camera frame] camera 'left_cam' (step 343): [image omitted: streamed camera frame] camera 'right_cam' (step 343): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_z":0.1,"left_gripper":1.0},"note":"The arm is directly above the tipped basket’s upward-facing cavity; lateral y could not track farther because of reach, but the overhead alignment is centered over the opening. I’ll lower toward the cavity and release the gray rabbit."})
tool
executing move_to over 9 steps (0.9s)
step 352
assistant
agent noteThe gray rabbit has been released into the left basket. Using the successful rotated-gripper technique, I’ll park the left arm and bring the right gripper low over the cream-and-brown dog pile with a 90-degree jaw orientation.
move_to
left_x0.2500left_y-0.0500left_z0.2200right_x0.3500right_y0.3300right_z0.0500right_yaw1.5700right_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]: [-0.3637, 2.4523, 2.0533, -1.3567, -1.335, -1.7863, 0.9953, -0.0452, 0.7315, 0.7761, -0.7753, -0.0093, -0.0463, 0.9985] state[eef_state]: left_x=0.4849 left_y=0.003 left_z=0.1308 left_yaw=1.2521 left_pitch=0.3303 left_roll=-0.0115 left_gripper=0.9953 right_x=0.2494 right_y=-0.006 right_z=0.1947 right_yaw=-0.0165 right_pitch=-0.1688 right_roll=-0.0227 right_gripper=0.9985 state[joint_eff]: [0.212, -9.5385, 4.9162, 0.6569, -0.1929, -0.0659, -0.1392, -0.1846, -0.212, 6.6256, 1.5604, -0.0562, -0.0464, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 352): [image omitted: streamed camera frame] camera 'left_cam' (step 352): [image omitted: streamed camera frame] camera 'right_cam' (step 352): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_y":-0.05,"left_z":0.22,"right_x":0.35,"right_y":0.33,"right_z":0.05,"right_yaw":1.57,"right_gripper":1.0},"note":"The gray rabbit has been released into the left basket. Using the successful rotated-gripper technique, I’ll park the left arm and bring the right gripper low over the cream-and-brown dog pile with a 90-degree jaw orientation."})
tool
executing move_to over 29 steps (2.9s)
step 381
assistant
agent noteThe right wrist view is empty because the dog pile lies farther left than the initial cross-table estimate; the overhead view shows it just left of the gripper. I’ll move to the right arm’s maximum leftward reach while keeping the low, rotated grasp pose.
move_to
right_y0.4000right_z0.0450
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]: [-0.4736, 1.7325, 1.2324, -1.5528, -1.2926, -2.0499, 0.9964, 0.5014, 2.0289, 1.2808, -0.2878, -0.6601, -0.8379, 0.9986] state[eef_state]: left_x=0.3024 left_y=0.0399 left_z=0.203 left_yaw=1.2046 left_pitch=0.3157 left_roll=0.0342 left_gripper=0.9964 right_x=0.3531 right_y=0.3212 right_z=0.0459 right_yaw=1.506 right_pitch=-0.1853 right_roll=-0.0205 right_gripper=0.9986 state[joint_eff]: [-0.5402, -8.7453, 5.012, -0.5983, -0.5104, -0.4957, 0.1001, 0.3214, -10.4137, 7.4872, 0.9353, -0.5348, -0.1294, -0.1538] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 381): [image omitted: streamed camera frame] camera 'left_cam' (step 381): [image omitted: streamed camera frame] camera 'right_cam' (step 381): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.4,"right_z":0.045},"note":"The right wrist view is empty because the dog pile lies farther left than the initial cross-table estimate; the overhead view shows it just left of the gripper. I’ll move to the right arm’s maximum leftward reach while keeping the low, rotated grasp pose."})
tool
executing move_to over 7 steps (0.7s)
step 388
assistant
agent noteI could reliably distinguish the two classes (gray rabbits versus cream-and-brown dogs), and placed one gray rabbit into the left basket, but repeated standard-orientation grasps slipped because the plush bodies are broad and compressible. A 90-degree yaw grasp worked, but the left basket was tipped during that discovery and the remaining call budget is insufficient to transfer all remaining objects safely.
give_up
hindsightThese plush toys should be approached from the start at about 5–6 cm grasp-point height with the gripper yawed roughly 90 degrees; yaw 0 closes across their broad torso and they squeeze out, while the rotated grasp produced a stable settled opening around 0.07–0.11. Perform large yaw changes only high in free space—the long wrist/fingers can sweep into and tip a nearby basket. The classes were three gray rabbits on the left and four cream/brown dogs in the center.
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]: [-0.4732, 1.7519, 1.2423, -1.544, -1.2797, -2.0491, 0.9965, 0.6491, 2.1525, 1.4403, -0.26, -0.5831, -0.7147, 0.9985] state[eef_state]: left_x=0.3051 left_y=0.0379 left_z=0.1979 left_yaw=1.21 left_pitch=0.3044 left_roll=0.0371 left_gripper=0.9965 right_x=0.3472 right_y=0.39 right_z=0.0383 right_yaw=1.5278 right_pitch=-0.1991 right_roll=-0.0204 right_gripper=0.9985 state[joint_eff]: [-0.3077, -8.8821, 4.1504, -0.4615, -0.6813, -0.0659, -0.0024, 0.5949, -10.9744, 8.3487, 1.3065, -0.2125, 0.1978, -0.0269] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 388): [image omitted: streamed camera frame] camera 'left_cam' (step 388): [image omitted: streamed camera frame] camera 'right_cam' (step 388): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could reliably distinguish the two classes (gray rabbits versus cream-and-brown dogs), and placed one gray rabbit into the left basket, but repeated standard-orientation grasps slipped because the plush bodies are broad and compressible. A 90-degree yaw grasp worked, but the left basket was tipped during that discovery and the remaining call budget is insufficient to transfer all remaining objects safely.","hindsight":"These plush toys should be approached from the start at about 5–6 cm grasp-point height with the gripper yawed roughly 90 degrees; yaw 0 closes across their broad torso and they squeeze out, while the rotated grasp produced a stable settled opening around 0.07–0.11. Perform large yaw changes only high in free space—the long wrist/fingers can sweep into and tip a nearby basket. The classes were three gray rabbits on the left and four cream/brown dogs in the center."})
tool
give_up: I could reliably distinguish the two classes (gray rabbits versus cream-and-brown dogs), and placed one gray rabbit into the left basket, but repeated standard-orientation grasps slipped because the plush bodies are broad and compressible. A 90-degree yaw grasp worked, but the left basket was tipped during that discovery and the remaining call budget is insufficient to transfer all remaining objects safely.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 13.21 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8001, 0.617, -0.379, -0.0216, -0.0257, 0.9993, -0.0154, 0.7986, 0.6106, -0.374, -0.0132, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1845 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2967 right_y=0.0013 right_z=0.1829 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -1.5932, 9.2786, 1.8388, -0.0122, 0.1197, -0.0904, -0.7043, -1.6342, 9.7846, 1.7021, -0.1099, -0.0366, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c7c9d98b6964d8b55940fe77d9cd3d9d784bb20a9fd619253484b37841f609e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c093d2c1b3deaa4cebdb8eb6d432d28f6fdcedaf225e05a43d76c7e2ee61e01b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a11c042217b128161eee0ec195063297d738194b3789768284a8e4e6582a282b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /responses · status 200 · 3.786 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtFFKyNEiZCyG-1eSfVrwXhkD78u7TZSkFUztgDq5HQkfxo7YwWyO88VIR6Zrys1MlSBPX5wIIC0U__HJRdl_Y81d7t8PIuVs_uNwv3NJkxofbimfSfvSBmKN0kg_2HwTakYFTz82qEEr23dDrBAlzw88s8V92RnPnPy7SZdX3H8nZ59fbwFThEPsPHky-8QlADwY2usvcJsfZg9gYPoXaaQmQXewuaJ2YXZ0pvH9a0brkyQRaZ_e6UmjGiHP98Ichzzc7f6lQObrn7hvg1XYGKWst1JQ2DcR4yiyKsiTsAnAt8dGBwdrdYaQcWXTWyMtUuRjbdapBUUZ-hfRXvS2Pl-WrgWaPcOsPMn0lYsk3ABgKMtFgYurlZenjrnbQKp0JaOBKprokLv0px-s2G_RaqZLoi6IXLRf69BY4TzkVrTQch69ARu-veMzZbpvuVQV-H5PmTgE8Bc4psBq5InWT2CKf9Wple1f92Fey1NxaqkUybuaCW1Z90RPZhxELtnXV2wPJxMrInel4xuQLPDy99HmuwauwzwWzLQIZ_teuWIsOcFTr0139Xc2J1f4sJZVhJXHVGWzK1n0WFiCrus47487Od2vgJjF4APEjS9wYDUhnUPgfIN6Uakr0pQvlKkaIpjIOCfzMyf9nvRqfvdPm4niGrjW3g9SMDK8XzundwshdF6Oe3wDcC8D18qPYbp6zGJH39y0PjV68HoHwcw0LB77JDtihWyuC6R7TgvOeEechK1jRQaj99EiygwDIywO5OoIV1umLOe7Tn4asqeDaMRWEOsOQ6QnmBZCjZxKN28s1-wLCVEcKGhUg8Jq1oJ0Yl4eyi0Qu1JOj7DsrPjwRrpONh4X6_zJRkgDlXDji0sZqU0NK7n77XmgaFIP2oer9GFNoIxIKAONx5SqhgNZaGBHokrDarD4Yf5yN1DOB4q4acqj7nPh7ZiHvEDrzHhdIK6oeWhBR7BAZYHfY89RlQwesZsC6hKrCEQw4myOgcwWSUTwc027oEpzDFjMiadBnPLl0Me2V0pVwptV2L4kKpcuQ1kbaZg8hhJxOJLrqxyuyy8_7mFEMqXxIHYOZ3Vk9c0xWDOb4XipxkWYlw7hqGP-bVswTHI3WQMJcThnztcNYMxZWokiLgU2NaX6Uu2PVS0FNhEH59mJPvLr7IXciJfz7L7SlWxkyzNLpSydJcuAiZL2IlBukhcD8mPri_LrMB47WoZIqwGLAd5vwG34zJPItIwx8q1lo2JQO0PsdBjQ-XHFD2-tb6ioIkNe3u99_0ptT2ICWijAP2tZt6Ljk18C8d6SAY1aoeEmpj5--FOf86TWnDjsJatyERG98sjuiq9bIXYgu5pco7zTlsu_FOrm6zM0pEk-k4_zL2WxVKq62J3aLLV8r_eRfG-1HkSRrVGu0dJsbtz7-DvYH3qMwyFeG6LUveznP5E-F8vMy0X6V_01565X_up1fDvh7hIyU_O4Cz7WTGOx4sp9l5PYMuhMdk1NtD26vFjirx2zaEYGW6pHyicTqdLhx4FLvJAMHtAQ0Khdtk41X2NyU2ABrgeAw9XJivVJkOo50tSCjIVpPzYXnkqBVt6PmMS2F5rGJtW48uN1BecEHFQndYKHqbreLMP9z6jAlg-KYESwLGR1fuvMIwgcIgORjLDiDQg0MDDxJh9o4CXgh0De_jM4kelMJ6Rv7gswM-TTWRQRwuU0Kme-5UuXfs9RLFwrvSu_1WeXNJYg8NUqFQrxovBr2gNHPnZ4tsbkDB8X90JYT14ceKHxi5kPkv9oA-cDbdcK_TnvoWhqX1Lp-P8AW3SqN5FtHLHSpztviGNAHlXydq9ZHmYfHTzJa7CQSNiZsbDJMGvIlp2hyRN96vMOpTMYAURtM5C8lofJpgTopXG3GDFvdhLI81WEHsd_sFxcIzhHQbx4lgHFQCk7nBVxzIzDmQJOw5PNAJgguGjgZvXxGk4Y7JrlPWLJhjgvS_dIYOBYjiWQF3zPyfJIT2BClorVU1b-O5X2MllNifgO34wJm10gfM9zXJle-aIQMe68smRilqbKUeoZ0WEuzlo4sftMdXALx3BECYVtC3Wt8aC9HLUJ2C4XuQnJPEp6BqE530xeXA9eeLnc9mUG4rxDag3q_Lef8-9OWf9j1cUrPjAjQBrq_ut8LCCs-IWAjEUIhGL3FYA_9LpOTNVM8b-vUrAzbxTzKsmKWQl3j_L_714azUHtNHi6H6tW1ojO5OmgS7UhHkrc0s-Fk1Xt3n2hZLxkMYWvQoFknnjg2pfJAa0gCOqKiRGn9xw0MMLZXkz_uGZ22kjz-gevQEATF4VE6tIoRmCDeBbsq1VnpdpqX1rBJR9GgqqmSYPHD90eusOnjLWgR9eJrX9ccs2R1RtObkD2icr16CPWevU4u_geyn-oBRICjAy8ov1ZqDuh3vWQd9UnTtjRk6Gq4bm5uuUDWkdWmw0OAF-Hm_Efl19TPlqCgCS7-m5hq23PdXhUwXxRIBaxhjzRtf6_NsLIgz_jR3RjSwbgc63nD5IyTjJm8RikxWandzzoOhP45KpjyarpUP5LZ-SiOLpoxfqgJZ3KfMt-SKY3eLgTqKYC3inm_E9g7CWbU1Zjxw55ulpBzu_WT67wy-v1JI4pX39XSs8zAc6yruaVsgOGngTyoFaBeT-okMaDc-uVVkBeY1Uj5s6Fs5L5X8LMirWGQIdukSAYxuwzVzDqdiwDJHUBKaOoGbvBBz5r2vnHUkz1dvc5jUduwmIDfPgVAUAhS5kLp1E5nI-DvrkwvO1B3b1mYNzGkw6i2NVVknjI1yJ9V7Wxi8sHhbc2bkUv-zJUrSSYht8jj-h14GDo9FXIWeYuuu7grry0ZDtvjejrT-YDBjw4H5cpYdjhhLs0quxGBARrA2dM5RZAgvbVUhzVzGpiEE08vOac9jMK0KuqUdtYT6tXWRv1YCXTKfR_y5pM6rX3D-UVsxHgmZ08O9HUZRPLBOVDLpynvP-shZPJu_hcx5QICiCk9XIQL9AfwfJtke8ugxuCbFuJdzBL1P0xaAnc8vqtkd6_qw3kF3hV6vbC3VKNZFgM73j_E7B-pFwugSduJQvjg-9WPQJmLsHt443kmBISjvxfZZK0r1y0KKB5rBSswftFb-SdSsiEQCLhSskRRWgDNK438HnRTdzMa9b0QySvjC8puHAde8WdenxbLoXptJDc3eptk_inUToL7_h1IMH9szrn_JpFVLf2ApR8B_Vu6Rk9chDPtGAn16PdtiyGJEYUcyEFqSYRWYLoOyBzhhTzrcKjB4NESwsgR882IYJM4gvzHod6ndCh1NFektzf74dGEcimUvUMh-oT7wAoV3I0Amr3No_VQUVyevcilf6saSXYYvhP3sbFKpJKr3a_cp--LU_HISlchre_h-IYfiFbRClNJOpeyWuMM5lz3dp1NY_AH3oKYpBMHGAVRCJPz3QPu7UDRmaVWJtpMp3ywnPVZaLXLO9JW4yksKGDzBJ7_RzoSlcUI2fNxXFG6rBqaBemzmwnnB4E0F1-ed5uk5tOSJfcnMQTqdPpj601j-6hX4kBnB3QiNoyt-NpMyEodKlu3aJmubv7ingR62vST6hcMUDEl1C5u7DzNHT2w3Z6wfInv3THiTU8PlLg8tc9fCnXZ6M6rQjbBtE7_RE-7FWc4hoGBpA5aWV-2pcy68Fkbvlx6pFDz8xLbWR2biJ6ftqdYGcNSNV4xhnnmek4Som9t6Wfpos6jAuzTxMuGoXUKO2fpY2q-FSm_wnUDFWdoKOdpYxBx4cLPPavQF8FQHb-PShNp3W3CtQZ6HLkZrt3Pciuh553PsjOeqZ5w-YmR50DsfVCag75JUhxOClsgbcYLQ9Tl_oAST6DvqBhILkNYUjPGqej1TAN4MVx1BRRbMLXtSVOgif6Y8yo_ffUJ5iPNOIOx9YbvzndzR2aTQprKTh5hLy-KGRgLbAa0GrIdTC7EUS9EtjuQBMuKJdT4RK9r4RMGxQN0V0uX8AsyegQiKOJ6O9L2DGtcuRJi_jkNBk5cY8ITxBRKHxRBBNi44-CAQPTmPF8ruyQpW6nKC0fcKA4X6cD8JPYrmxfVIODHBdIPvL07wQSCf3jOclz5uGNQheOHL5YZQ==",
  "id": "rs_02830c7bf8f36af4016ab4513de60087d0b15f183273d3db42",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFFKuMJt0M-fmwMHL3q9pKmhI280KK-5LmBqFlKBsNJ_SXKkQbVtePgNIigFRCunUKTv9zkj7BTwwUvu2wWZwS5uqIhRBnTBFGtUSVnrUqbgskEY7iToL7-57RpeQCGFskgU3j5igiTHdGV5aPa1cqYwVIk1FhB_IgUcmXQBGl8Iw5nJ3eDoE-KiJXz3gevr2g5rVzXgzGVLYnWomoe6O0ZqZBzvsjN0YHorR_e3UxE8YQWWDiFg1_mmcN9Ml9XJ3AThDoBqDs1E3iSssprJYwER3s4cgwIf_dQvPIDqR_bYLHYuDAuAuFjmWLtH-_w8rYQlSsTZ10i4o-SuaDUcQIhd8kC4p2K_KMt-VsVNoMQIutCwzpccJdRd1cEPEnsLJ-HHpp7KjscziAZGHgCF45-lCQj0xSGCT9q_7BAf6BRbJYpeR0g-yy91BUP0nuwuayyyIWX7Srmn54DLR3RQoRYUfxG4czMLv6b4WInA4lwsxcTViVosReP2n3E0VhNbFK4KTow9s1hHTcjGvTPb0NDALR29yAevy8c8OVF54VJo7mGJBO8Oo1885dVvjsNTBWmb0tUkHAtFRUzfo5Pa7arBmE8TNQxF6RB71RJm3zJLNUrVLYsHwgWUnuIZstay8MSXZiNApMiKNQ8fwmlf2M9ZQXSGdGF28XGMaxa6x2L0gnX9mKxuFUCvNV0dyDnkS2b9b6jIBfX2JqZdvlW3UhdJaI9gUc3pqJ43P4XtYJyij93Bi-e6nmjo5GbsXzFHxSABZbolG4Lk0EMkcO66lAMXM3IuaAkWnHHccS4HpDFHsvR1vk1ufGqrV4s9kirZ-Kv59J7b8YHNHRZZivJyVP0TvSlmDovsUT_sHBeWU1XAAshPAjDnuM39dBwpgKSTNCM0_zbuYgcJXC0EQw9YEzqQSJacgM-6b_kZcw1nL_PV3ZGVxvmNRWsEW5gjIqdNA2kEXoBPXkFhCZhEpIs8dHR5BwYMoSd6PueeGyRNEhIdv8XS9VublY4R95Y6wdq951H9LlAs_AhPL_uNS-gf4jDbvjBk30KPI2my9GofRf6A6TEtCCxyDtC-68OHVxwr40pnPSUerbaxHPY2QU4_BIpPcp8Ew65uv_mNt0mg0BMDQU9mBDLZC8Zvd3D0T2LKZgbSW3hFYmjL2_ywiBQSuKg-XocqVFzO9ug1foakSChUwyn4DMXAGQis65uMmMowy2hffMnuLLfP0HZU1wC08bHFIOHEPTCoaOqmxuzbx5Q7lv-9x9jF18yPaXbCowlJgy5PN_h5X4YZGwZeR9X-cnyKn8R2ro_0yjhfVQdf-_QJp-tKuQ11b815iIJG7bUZQU5nU8RL-I4jSdHjQ_t2FHXdl3bIr5jXvSt_jPUIhtBTLwb1eBum17Dm8JlMTnQSjg1cZxGNXJkgs-FYZy6aHPRHvG6wxk2trou1amrV27FIfkTA7-AIVWwXd17ROO7QLkM5DBrfFNM2m2d2wRoAJkDs6qGY4nDFaMPyx4CNpJpge8NySqtYpTMhUpDYR3QXNkfacddESkuehrbszW6ircY-uVtAtKAApm6m4PfsSiZEewBQ8Uag59e5fib6sWscOZRhP7NiLXcpxEBL30oasazoTNynqCWchw_HS4jYSB3ZGO0Y8BG4e1kyAe2DUmMU7mW68w_ofryrW4zbCgbmnAXCA3Vs-z-n7uAVk_QqBHQtO7-kfRwlWM4CNw1mdy0nG632tVikpf54DuGbF9H3a2ZNqiMjVk4jfCj-ofq2XsTvurtEH0q1Z6-JeFJvnO7GeWm582Qwb9HQ3xOIW24XJ6hVGFnfDFrUsIrBuLkA3oKeUUbpN4-KWFvRgIs4ALI6NdQvR1GzIK8cTgRvM6soNBhRFnHlyMKFMjLvBcmktPXprN4p8mOhNlA7BzhNlAeW7HaxYaYWzUZnwVklKbif2XrFj0l-BHbSnWzzvTvg_ogg9JAaOli2nqVCugN6j0YNbmkhdFG_9VbTBHgORvbF3bxQCu_xg6QFaIOSJd9qVvUFLBPwn8Pg9NIEGVN37il2FE897sbEUS0JL7vacqJDrmWE3Ean4-YGzlgdsXKy2NoYs07_z2QXWAjy1eDfq2P_HJ5C3J9-piAmoNeZHjOlDlIDw3VtauFr6m7g9CtWEkj2VoNVUNeNkJCjoNLc3GjeGB5GOlfLG7meUSB2vPtgCX1pLOR9tbbhRA4GSENHFgsjTpjlTDFzvpIHG3hfX9lvD4DOKw_aYsUalFQgxBUMnBAYiD66WYd84WQDlL4pn7aAU7dKCyda1jYG0dIBZLG2SsHbcD037V6YBIobfqPn5hWglZvSo55Kcj1xNkrMRiVLof1BPaJgRiTuDvLUPIL3eSP2gIfbcr-QzjaOpZbPYfGAYGcIHmxBVApIgLD7ZHmy4L3kWBFO36IVUSfJslQXd91unV-wQfrH2MrocS9CUTjTwPkswbxyilNRQ82zuPJ0159sGjfRkOByua0lACPuzZmDngVpwyJxVBkr-BSXjxxVjQU4d6WYsGA4sWHqmIrcuSyPZVF_ywF2cwxDO7SJoOuBc_dbVA3yycjyLtZxEAvL18rgNru3Pq-eK2Zeso-D3FmLcxyfqh1ckGlRoSN3GSF9h3JuZK1S8xG4fnxgluBtX-Q1pCIr11U0PUKtNVmtjUhxX39wpa-YeOKM9hb-bA2T2062Los2BPbcQ3wk_vYzkqq-XUzb4htvAV5afrmVhLxOoGHLHSr7aMeQTUPPAEejHtHvfN3ZVmmoSjLYq3DiLNMHz6RTtJObqiZGp1cgFBWjY304FCc-bwVULIhRz2vMwsPaWGRyhlF3P409CurqMg5j8zS64Hq2DM7C2oC3_E9iUKMvve10Immd5trqo_Vc7ZOWj07tdpsO-nKGxrwoBX7ZuZ3O1R78AKrJ900zCsml1eyV8JwNUzlA9pOEylVezYQ5ahLJMzjUNeL90FfkSkiatPGLdOWu9QewEifhSy7mgQdKPQeRVxe9TST-aOgz8cMX1azfPD_uapQu6ioKij0rBukk-tCF6RyKVPo7Dg7tVaURN_HMgwnLK7Mi1e1czzGdOorEUWXpCQ1d3SpsshG4PJpoHFWxNpJ70TzawcltYOOd01Ea1UA72zLn20He7HrO9FK17WKcaMFxMrekRiweIX6rcAY6KgmKsTXJyIjbXxkAAslysgSXUhErJ3-V3cRHHUwFm_RxL-EUePlsoHpV3RrZKY9_gYIPBlxda18E2mJ1WQZNXUVHZUqM_rYcb0JTU6r8Kg5nh4IMEwwUVbtyoaJunNz4rljCLqie2kkHZHsYHTW2TbtwwDFFgfr7I6A_n58BRKGNbetiuMEcqzIrgd5ReOXzlBcKOvi4verFsqGozphW_rE3HoTK0GncdUC9GMHLoFAo3cs31_FY0PlTy4sNnRdbSJ-PksFYn2DIUlXcSld2UDjQmPmvkIjkKgaX8y5YlB3UdU_lQcKn6QnD2ouMNdmJlvqppUDni9mQowXc62w_jbH7a7xBd9JPIXkh1vQO5WX7dx2qE8w3Gh72Z50yuUMY_J0zdezFbENS56HvZFJrF5xbfdvJwF40",
  "id": "rs_02830c7bf8f36af4016ab45143fb7c87d08fcd3c60e1744fbd",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFFKA97Ar_0CgaE3nwjaEsAeom5gFRZYMK9FIUwRAz7MIhyU5l5qBA5SFNW4VmDeWUuN15g-TPK5GaOkf0b9AV4W3e0suiwCgSiyg1cW80wt84EK2kUEy4lee86TwVChmtrfoMs8ymtVx4qlYodDuqtQ1EpKgR59hqSQfDauZh2l3DCBvEWzldGG82gs6_mqBjxEKsUwF0oQhPOvzNClxOwiG2Sj391Ylg4QOfDFtRctG-C9Z8lv_-NVcp5VTv8nvJUeKON9_F0u8PY5VgNJn7Vqsin3Sqyv2OV3rHD4laiulVC8t5ySYMwGq__OH2vPXzIisZY7UDjA-iqf6JQqf2Or11w6AebW0bNzNMp3qMYvrrVTZLJUGIrRqBQJHAEmH1KQ5sx8xgbI8h82f6q9XD0lQHGuKxHqslQFo44-zRICT1OmwDCZ_kyaE29gOzZOdTUE2gbUYiqgESTQwXEsJRfh-Qm3S_4kxDvzeZPVCd0SFP9ksXMN-wQfNeZyV94lhPbZ77zQk7uY2ldJZPSqzlXCy8xHQZgG-t-kfoe_71qxlNZdmes6GMm0wSxb3_SnB2bWZie2fCP6WEgNWgUbCcCg7dEz1BbKxdfSM3zrc7CysvhtSvwiNNfbW1xpXNNqw4AwExk7uVwPbMsn7qvFiuXfu-vn0Ke4C1gai9Sm0-0MYd5lHKZfIBrmAGGc5AuJjKrtN_qH7XdoS_0dfG8CBz5N4FR06mLj4sAH6qGHckEq0L_USpWgo2PG9vaVIyjX_iFFUmBhJLxASPdejhf_J4Y7CexW9zBzIH3hLTRyseCPKvbH2Daqi8VwaPCWFRZd3LydW53jsXwJgR3pWkSbqMghNxXiMVJgDIZn30Ff2A1XR6W0aGojCF4zsv33u2lJjnJcnX06AVvyRbK0KzT9BKYLyZgZXVqkVXC1QYpqY_UIEnA-uUWjCd2UaFsWakm6Bnr3TWPbZNRRChzw0Iim8cCaE5NVgzH2gkgmiF_jH7S-YhNPbkZ5CrYxosOuYD98XecFIdfN6vrgNVYTnaeLdnPtWn1putxkyL7ASfp6ofvCGXZqnwFSrcBmRnxezo1Bjn1XU5I-NLuERMY4s4Ysi-J9rX2882FEEWQdTIfYmd_Z8WFH-ndtjXkNOZCeQymUXfajeaY0yr727BIfr9fg-mdzSVX0fWoVXo_OAijmgtfBtdk2OrYRxW-an9HiSjLenw22ELe79K5dDDUS5gsK9XcZevnmAJjwaPPiRuLaPC_rifARVTwGadhEOJ7cUwAn_pzWapOOg_9HR6PIwazxcumZGn1fX43zawi78jyCUTtHnxT1vz2dr5GA2CKzp_aZfUhsS6YRApi_uV-14phdL1a6lQe7U-QMVTfR-jfekR8n0qdV557jqxNi8n6BZ3knaMs0K2x2xla-2nHllL64KD1eeuT_2c7lqY085w4wlZNndatQjiM0UHDclIbb9Ka_FjZRoqk22tYcLITvzIQlHkxs7fKM1VBlr1KyXlrIhX8QFE5D5PVKcSftfIdCp_vD21NMhbhyFq8DnYZT4y9BZmq0FQ==",
  "id": "rs_02830c7bf8f36af4016ab451486eac87d0a2663d219bb851e8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.14,\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"The table contains two visually distinct plush-like groups: elongated dark/gray animals on the left and round cream-and-brown spotted animals in the center, with an empty basket for each class. I’ll first approach the isolated elongated brown object with the left arm and use the wrist view to refine the grasp.\"}",
  "call_id": "call_Sat11ovZUgvyYj3jhWcvn03f",
  "id": "fc_02830c7bf8f36af4016ab45149218487d0b0f7cb8ba0cee021",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Sat11ovZUgvyYj3jhWcvn03f",
  "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]: [-0.7078, 1.1919, 0.6868, -0.2379, -0.5663, -0.4377, 0.9993, -0.0147, 0.7986, 0.6086, -0.3843, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3126 left_y=-0.1381 left_z=0.1431 left_yaw=-0.0191 left_pitch=-0.046 left_roll=0.0262 left_gripper=0.9993 right_x=0.2951 right_y=0.0014 right_z=0.1799 right_yaw=-0.0002 right_pitch=-0.0122 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.253, -3.8632, 9.4427, 1.6825, -0.4322, -0.0611, -0.0904, -0.3077, -1.1829, 7.3915, 1.8046, -0.0855, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea21773863388490182e544ff2d40d8cd937ccc93ce288d4866c3284102743d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60cd980d247a0ff7a75b8ecfa1f40fe0fe8027fe3c9c369e9869f03ec84449e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66e554ed916d356c8610c6d43600d9fd98c75f3689f14ad03ebf9874e6f4b724",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 3.414 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]: [-0.0193, 0.8001, 0.617, -0.379, -0.0216, -0.0257, 0.9993, -0.0154, 0.7986, 0.6106, -0.374, -0.0132, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1845 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2967 right_y=0.0013 right_z=0.1829 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -1.5932, 9.2786, 1.8388, -0.0122, 0.1197, -0.0904, -0.7043, -1.6342, 9.7846, 1.7021, -0.1099, -0.0366, -0.0366]",
      "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]: [-0.7078, 1.1919, 0.6868, -0.2379, -0.5663, -0.4377, 0.9993, -0.0147, 0.7986, 0.6086, -0.3843, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3126 left_y=-0.1381 left_z=0.1431 left_yaw=-0.0191 left_pitch=-0.046 left_roll=0.0262 left_gripper=0.9993 right_x=0.2951 right_y=0.0014 right_z=0.1799 right_yaw=-0.0002 right_pitch=-0.0122 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.253, -3.8632, 9.4427, 1.6825, -0.4322, -0.0611, -0.0904, -0.3077, -1.1829, 7.3915, 1.8046, -0.0855, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea21773863388490182e544ff2d40d8cd937ccc93ce288d4866c3284102743d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60cd980d247a0ff7a75b8ecfa1f40fe0fe8027fe3c9c369e9869f03ec84449e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66e554ed916d356c8610c6d43600d9fd98c75f3689f14ad03ebf9874e6f4b724",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFFSUp4sGzBlpbwsjyqRUtJelRe7C6B8wbJz8v3YBdC9uP89drFHSne-VbNDQPzj0nDGoyTTVYAd4SeTaSAtidoiYkf4Kso8RO5qySf4ABQfCt2bcHJuL2Wr8Ant7ZeU4wa5xGPerQgcMle0E1chlAhVGsCtrAxVh5i5UN8FZOAt-rDmLMQF06Zl-ObXaNIcOZkxvekr43CtU61i-Kr1eNmZnPYOCM8wyfJVCJN6hSdXlz9hFsut6DSV09QQJlX6GIdLtERfiRYIuLyEHWC_RM1ylVfZIFAXzyL_Qp7jtUp5erUzmeBiYRT1E4LgAu2JV04Dg4ozosqJ-u8kP_NNKPuz8xNglEjzBh1pjr414zIf0V79sMmTz095irpbGZNQ-af7Oog0FXynezojLkweuDD_oFKmhRVbdClvuvtMWOYlz4is4kAqXcgjPMUXRRH8MJZQqwIym11lXk7QAzwltq0O8Dkgn7c_mgWJp1A0sIalT9QAFSuNJ04zLKkgGg0MsPm_FW9mvM3hX5doFgDGlyAKsVc_JKFX1v5HLqCE_dsL43uE8Z5hWJO4kE3EGFot4JgqxUWz_ZY2uT1bSOLxYU9wgObgiwsAQ40SJ8Oan8DPcJUF9PcWUogEkxW2LhWCrlyZDADzBeFqEFESLdci5N32g4XNHs5SuTteE84W87cZMtPkVuhffAqfD7A_o7wXIl0-jUPI14SXYKO1-V3dDZ7B-6-3K8c-AQahbUuDs6rvB_VxOFqo4YBQ2YMUWn5c1RcchhbBvMGSKlQJvqhszsPWLkcMleulAK3ZW_7y3IoPTpyNcfbHr4d6AMbAwwjiqh-LySfL7Rl01eN-EKIwTFLBKSzuWi0kiS2S0_Il902okYNfBPL_i6b-yedTxqr56F3oSq-vDeiX_lc9EJn9-aVyok3BDHCITzVuQrhvGOq7uk9yeSf3oCibI1jx1jZUbNJHZ4jXl1_qLOBq7x3IrcxDTJJm937_mGldo63z7hpib05BWlQS-Bfh8Ti3JCQbcVnka_TCinOKPj4AzWjFyMy3Zf19Uo3ImbMfVxRuVySD2KFawXR21v8YNAWdDUf6XeUYnhiEPJW-UFa65P1vhECgKvcJfuMz0U4Y_9BX8DXt5AIFHCXYKS8g2PXz77QIFpOLc5tHFTiKBy4zxUdabqlJ9X4fXuXX7bNbG4doeavGSqQKtTSGG8wKw907_G9mVlGP3MSH04XyAePO3mEltqTuLxaiiEQrLEY67CAdo8OE38k2QoSQon6e_6-mwKqL2v5nyMH3R7vYU9MKx19K6tgvYsJGb8Su9zPhxXvXE2cjELx_fb41vvcOBjvabhgyMBgqTiY7oZAuzhVFmptos8otQTeQnVXFMDAY5jXrBOeLv1nB4BhfqhnqGTLLnwYrDyTok5r_znz7JA1D-9Q9QLJPUwBDoNVvFVg2jN3mOyXpOzRZhV5Z6nDBWgc09guWaD3qTRzpOxYX-tBUpkAu50xxq-YBqB8zHdA68-4HztgEe6sP96uLrvRLFfYb7T2EGjgn6RzPLWMSnG1T_1z4_HE4AerPlKhQSAA2FBt4sLAbb2zIqNClgkp3TBZ5XMKBhHV4JlJGzXt_wETLb4YJwsM-zIMQjm-SzbJ7s0V8lqrKr2CYNjE84Lmxx_9SFkA9QzH9UKgJP-JZwF8lb1dpEofyB4VugXXlhTZyPfkmyS2HitjoAb8Zg7rE11h75eWs-ULzJfMF7Urp5ziy12-g7ZPW3nA63XQ6BHln8st4Vommv0PldVaoKzYC3jM57jjBNPsmBjc1SG_XG8isZmvNL6TwWpLH3FISiB-MZ-YTCwd5NrDxutTWrNnolkRk1SDHkmHqk_dritxypbHtGbcwlsrGSeAus4IuiTRnZTBojHggUoEqtaDck1T4NXvZ2TWHvkVILBZT0S4jnQPMVj5eR9rMvw==",
  "id": "rs_02830c7bf8f36af4016ab4514f3e3887d0b035f19523fee152",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.11,\"left_z\":0.15},\"note\":\"In the left wrist view the elongated brown-and-white animal is very close but sits about 3 cm to the gripper’s left, while its depth is already near the jaw line. I’ll shift the left gripper laterally left to center it without descending yet.\"}",
  "call_id": "call_3raBIHBUGUIJn1n9t0NkBXDk",
  "id": "fc_02830c7bf8f36af4016ab45150d99c87d0a98101baa864db77",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3raBIHBUGUIJn1n9t0NkBXDk",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5835, 1.1484, 0.672, -0.242, -0.4927, -0.3698, 0.9992, -0.0147, 0.7986, 0.6086, -0.3847, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3209 left_y=-0.1074 left_z=0.1453 left_yaw=0.0114 left_pitch=-0.0572 left_roll=0.0278 left_gripper=0.9992 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=-0.0005 right_pitch=-0.0126 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -4.9573, 6.4342, 1.619, 0.0024, 0.1392, -0.022, -0.2667, -0.9231, 7.0359, 1.7753, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7510d83243e7735375ac5a3510913a028a3cadc6e7878d42ff2057b15cd2035",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cf004cb40db632b818e1e940757b5acf091c04e9c9af42bacd64721cf924d49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30a52adcc3cb061fe33381e25aa098c08ed889254eb6784583a3afdec0554064",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 3.483 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]: [-0.7078, 1.1919, 0.6868, -0.2379, -0.5663, -0.4377, 0.9993, -0.0147, 0.7986, 0.6086, -0.3843, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3126 left_y=-0.1381 left_z=0.1431 left_yaw=-0.0191 left_pitch=-0.046 left_roll=0.0262 left_gripper=0.9993 right_x=0.2951 right_y=0.0014 right_z=0.1799 right_yaw=-0.0002 right_pitch=-0.0122 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.253, -3.8632, 9.4427, 1.6825, -0.4322, -0.0611, -0.0904, -0.3077, -1.1829, 7.3915, 1.8046, -0.0855, -0.0464, -0.0122]",
      "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]: [-0.5835, 1.1484, 0.672, -0.242, -0.4927, -0.3698, 0.9992, -0.0147, 0.7986, 0.6086, -0.3847, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3209 left_y=-0.1074 left_z=0.1453 left_yaw=0.0114 left_pitch=-0.0572 left_roll=0.0278 left_gripper=0.9992 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=-0.0005 right_pitch=-0.0126 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -4.9573, 6.4342, 1.619, 0.0024, 0.1392, -0.022, -0.2667, -0.9231, 7.0359, 1.7753, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7510d83243e7735375ac5a3510913a028a3cadc6e7878d42ff2057b15cd2035",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cf004cb40db632b818e1e940757b5acf091c04e9c9af42bacd64721cf924d49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30a52adcc3cb061fe33381e25aa098c08ed889254eb6784583a3afdec0554064",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFFVMxQgqHR_hqJ0jW3lRFRJ0k6TlgJ-NnOgjWe48hQgQ7oWevqg-NmHfWFCpsoBqe5thkmEjwijC7lajQJjblgwOhNilwpU_pxWc2wM_jYp4nzeQ8Spl_nZdFwmw52WMUNaWEI9Nfid4XmqPYwQQrbkqRQdsr7WaPNhD03z7jMNON4YIYQhgBgdzs3j87uHLScSULTjccsmr0pLQWzur8auuvlnAOfsWlgWM9xn8EgChSPAF_q-5gZ4XLnSJ9GzCVEFJz0dsawz8Slq3OXok9jSGxcgYuzuCtbZY_qld-znD1aoIOe2hvqNoy2J6TvKMqkOgB-qLv9XDKZlxyK_d5LiQm2hqACBik2m2pLtzxmtKl5Ls-lZO10mXGg_R8B2kCXGZo7n-nBGWIt4h7cc4S8GhhEYTI82h0MmJfHAuNF6YTH-V5oLnpF5j9EjlCYJt6SfRQ1UFQ18yhB2g9rUjWrSgfjAfLu6obdX-PDAeKzvkXYZoSKCxUTPBAwgVd-51zoAWriWCNlK8AA0ujM-EcXeeva-lywBVJa9RRKVjOa8DXkGUzVeL7az-3wTaIzV0HruA1vhu8UYBz_DTh_C0srsZ2KKv2mrpOr76fmT-mhVl2A2geUxoE-FP75lqnhFOMTu1JmjwMlhB2qT0fvUzvP8uJ_tLp3_J1Mc6OcROj-gVcZRK0C3NklLqN2Iy3KBzOAymsDI4N61iFCsPQUUajZDo2iwIZHiOjLq9MTz3wLwS5PlMlfO1O7xM-5xh8yJ2XSTuLdRlHNLqziVYjtpARwVLraWF-Y94ZX72PAuEuw_zAtaxeEpi9CC2G9eBNr5RIm47W-Cl62L8FSzavnN5KJlEB4S6T2uMOZgB0ETUUDPrWsP__miMP-pe9OoLXEGN5npJGzHcXtCM-pHVKTyKvpbLTq43V9TlVoGeSoa198X9Hz92gQ0Hn2zceY78tGdUINZREh-Q3Psoe6C728UjfVM0T2eH3PEnCoNOC-sgDd3i1FySWiN0fkveb9EBbzD_0DHnxFbQqGM9jvVAFgcDZsC9COf4EdUvDAgfvYBQarjHLGRYcxTVbMrLMBIchSNDpmfvLF3pU2WjZDOVT3y8lMEPmJsp0Bz4VzVnxHhoPtv1NooAkltx7PEvTHh31MnhE9t2zHW9SsGwS1RJzNBFlWnms_1L4sDt5BOwzVM80XGIHbuySSUTUYEOroDGQXVbUSRaO5ePpKctDkiVB4MUKTMRsJNdlvXX2c34pMRwHj8DfKSs181gHihQJicIOsWdMCkVAEYO1fdQgIxI9M-lpNYWUBd-OC0Tk4uXkkBH2151TDDla9ucId8byv_iKEsnnxRH6ruXvd_cnt4Oc_rJ4vQnLrrq3N-_UBJw_r6NB_3UsVFY9n9EkZ0KGIwutX0-swCW60oBx4Vk2eSzdmu6lzBOFJOQc0NjGoOz26v6aq7sE5Xy5oQ9bnPBn4OTosMKPliXKGEsa-hmfuOr7pyvVqpk8-qfq3zU68SepAM5NRD6HOEawAu6bGTLksuXGY4IyCrLCXLKlcuUWxLseHtjpc8r8MsTeiyad7rqUku0ZSxl2sXpWWzdglzmyhq-8WM_L4k77cxYnjvmOij0JVKww5k48jRk4A9ysybYoLJChu7ye7nOAfPdK1M1YRBfP9HzqzZteagKmhYaY86DitU-tQHbGIXFjbCNw2d8y5NPIEC4AoK0p8OS9oEorRhfxHrGiPr8gQLGu7KwoJKKkkqQvLAcAGBfPvkAewjGcv2INW5d3bAETHWk2QaxYwev4xRZALxAZN44XdeUzqoPvarLlOspztIDewArW2vbDjUe5mTWVq5cvwn5AyQwZSAAZUdXaTL7f6s0USwTe9QZv8HB1kqjZW49pQEJDoEURcphaNp9LX9xLkGSlGjUolBQ-hYWXy0",
  "id": "rs_02830c7bf8f36af4016ab45153798487d0bf6e587474717bac",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.087,\"left_z\":0.05},\"note\":\"The lateral correction brought the animal close to the jaw column, though it remains roughly 2 cm left; it is now at the bottom edge where an object under the fingertips should appear. I’ll make the final small left shift while descending to grasp height.\"}",
  "call_id": "call_3Z44rB6gC5fjTCs0ooxvB2jC",
  "id": "fc_02830c7bf8f36af4016ab45154eadc87d0bcbcda94ee4cea26",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3Z44rB6gC5fjTCs0ooxvB2jC",
  "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]: [-0.5774, 1.1595, 0.622, -0.1928, -0.4717, -0.3595, 0.9992, -0.0147, 0.7986, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3182 left_y=-0.1072 left_z=0.1285 left_yaw=-0.0041 left_pitch=-0.0749 left_roll=0.0311 left_gripper=0.9992 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=-0.0002 right_pitch=-0.0126 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -3.6444, 6.5436, 1.7509, -0.3297, -0.0269, -0.0122, 0.0068, -1.2923, 7.0359, 1.7118, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4a096fc89afdbb56167e8446ea16cef85e6e3b8fae51419041239f4d0741b5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d18bb9fa99331bb387aa6f43bb8ec789fe5f650ef789e15f74f1a52887816221",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ffb802cd7b4cacf56e25c94166e6ce40d250ed6ccc6dc6080d6682fb208b0ba",
      "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 · 4.447 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]: [-0.0193, 0.8001, 0.617, -0.379, -0.0216, -0.0257, 0.9993, -0.0154, 0.7986, 0.6106, -0.374, -0.0132, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1845 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2967 right_y=0.0013 right_z=0.1829 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -1.5932, 9.2786, 1.8388, -0.0122, 0.1197, -0.0904, -0.7043, -1.6342, 9.7846, 1.7021, -0.1099, -0.0366, -0.0366]",
      "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]: [-0.5835, 1.1484, 0.672, -0.242, -0.4927, -0.3698, 0.9992, -0.0147, 0.7986, 0.6086, -0.3847, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3209 left_y=-0.1074 left_z=0.1453 left_yaw=0.0114 left_pitch=-0.0572 left_roll=0.0278 left_gripper=0.9992 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=-0.0005 right_pitch=-0.0126 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -4.9573, 6.4342, 1.619, 0.0024, 0.1392, -0.022, -0.2667, -0.9231, 7.0359, 1.7753, -0.0317, -0.0708, -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]: [-0.5774, 1.1595, 0.622, -0.1928, -0.4717, -0.3595, 0.9992, -0.0147, 0.7986, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3182 left_y=-0.1072 left_z=0.1285 left_yaw=-0.0041 left_pitch=-0.0749 left_roll=0.0311 left_gripper=0.9992 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=-0.0002 right_pitch=-0.0126 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -3.6444, 6.5436, 1.7509, -0.3297, -0.0269, -0.0122, 0.0068, -1.2923, 7.0359, 1.7118, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4a096fc89afdbb56167e8446ea16cef85e6e3b8fae51419041239f4d0741b5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d18bb9fa99331bb387aa6f43bb8ec789fe5f650ef789e15f74f1a52887816221",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ffb802cd7b4cacf56e25c94166e6ce40d250ed6ccc6dc6080d6682fb208b0ba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFFaVQo9oCskjPh0F11GMbtY-wgp8iDgT_bSCN1ykyMcNMidvCBc5Eksws0D86TrljelEsNDC0rNbzHyxFjPy2ZgG-YtTnWPlT92kfSaEDhhdMAwpfmd8Q7AK5NzDkcZmg9dLPCtFnS8oqphmHJ8hILhjrFQ4xgyKndcImOTT4AOCM208TvNGJjX8XsvUvT9rcrXmplzcvFTFnYkjJn0_JGeNxNLgWyinC_ETEPzsispFGPn10NOeL9TeLLUoStHSaT7f3koUUAr9cPttCl_zGyRVfoIK2G2Dh6ZVqWCuk2cYYXxdhfKYQopowA8uXrUOQhDDiF4FMA97GVovAXW0ExaUjtelI4Ckm6v1JV1SoZCU453LzFk2xh3JF6rKt-hgayspc-O_bXNfiszwIJ3t5Pp_0RAwADmI8hSJrpDgXrElDPdoPGYy4hJrIdBLvJ7SMrSKCBHtWzrDcl7TbejAesWpLaDrEZFutrU9F8zcVhojyYS7KDnCNjpl38Vk5t6uhbkM41C5MFxQCLcapDPFLlLeGYIkOk2DRfkwmpxp5wGfm0v3pw_Ka1yUD-Psv0_hAMg2yY9UP6dWMuvl5cOow4YMLYkJF7LRxb8mGl3SiUJEKfYbANQ8fLfCYK-bHkh36HydNyaQSyoaIJdUwebW0o25dI_m6yF_LspmQ0Ts785k3Jj6ixMHZB2DXOBRPxsIK3bHkgM7hRcr9hCHhHXILJtP8eH1NE2Ww2zn7AOuLwTIfnRUeniD3F3gZswX_Dj8D4XQ3tCPai-cyOJJW2xZ9uUnibSIWDYgIjYdepeXBGHGdiYbG3hqMI72jKHbzYLDYSKIWW_l4nUYeLQ4Fh1ZeF1vNQOur4jpW3Qh6ecYjv8pSAP9UMqgUrSKAD0yHb2znQ4JQWifSpxMjuTOFZHNp9yb8zgDOFCSdOUpWK-QnZliFVvbiyKrw334HrRrjdeYoptGIJpjE74neXzBgi8Ea_vU2fPisbkdMQUDhabxjf3bR7fm-tfPbNJZXzBXpHPBxmj5IN86rSfCzeDzrgHceZfxnZcjWD9nYbuP_OPJPWYaroWjbCoBeoA3jqRNvc_rODOctnuqZfK8djBnRK0w0h0M9voyotdCKL4L42n4jACv7qD1GsutcU4wH-1ym0-9UBLXkVGM1kc8DagANKLqg9y2CwAzV7y5rI93qp1oSSdVVeXB_HXrLmsnhYUF9IiBOOSS1tS7V9gG7EfGSok5do9PbgZiNM42tfGgNErs4PHfYaefT7SrS1oQCyPS6rbJUHxWXqpRmx-Dh_vNBGCwdufiYlFDRR5rbDH7pSjVi4Q5RfJnhWZe4vuUh8T2FxFocN5I4r76hDHcZTsfaH7TeZh7cyYW-u_6im4LXim1Tljg9mPMr7tlW1T2O-xwADGYEj8CkSkT4QsKRfpfi4-DJ0-MLudp4dJ3gQhRs-T2FfC7Iq9HxWbNjTpoT94N_4ZX3ydpER9clw67pQoXNCjpq1QSPXUoy_r1iDrqubiZV8J8TSOBm-e3Aq2PJ3Gc27c5aDFMdsJmj3Xc-zzhooNmrUMeXW67l5up0a3fS5m6BmYP2_uwUobxXTsNWmt1V261vhJglW6ZCH67JNlYJAJSAiUJEwjaHU9oY265VIUmj0sKyS77KafKIY7_dEmm5Ryys1hzh70Kl2Lj_Bt19eQhyOJ6yb8TjvpFuEAqBQDjnOqmzWfDv9Sa3O596Y8uQuQhc5Ljj9c3Xp-oz5Cm_GKp5YlYvYOd8t9IYT_-3KHuOJVMN3Kddrkz7f0acfAfkUT7aITYKGawNA_4E2u0iRdBbvJEQSb91oJzW9gq8FhlS9U9ZRHA8TQLV-HOJ4QtAkJYHfdupTTffpJW7yu_cFVE-Xmtw==",
  "id": "rs_02830c7bf8f36af4016ab45157b38087d098d5e5f579b5ef1a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The descent stopped about 8 cm above the requested height, indicating the open jaws have contacted the tall plush animal; it is visibly between the finger rails despite the slight left offset. I’ll close now rather than press farther down.\"}",
  "call_id": "call_IEp7skbnMlu6kMMWn59r2gDX",
  "id": "fc_02830c7bf8f36af4016ab45159357487d0a96491b07cca9b6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IEp7skbnMlu6kMMWn59r2gDX",
  "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]: [-0.5781, 1.1595, 0.622, -0.1936, -0.4706, -0.3668, 0.01, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.318 left_y=-0.1076 left_z=0.1283 left_yaw=-0.0018 left_pitch=-0.0758 left_roll=0.025 left_gripper=0.01 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=-0.0002 right_pitch=-0.013 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -3.5761, 6.8718, 1.5556, -0.2466, 0.0513, 0.7741, -0.335, -0.9915, 7.0632, 1.7411, -0.0317, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da703e9cc6a1eaab41e853ba31f520e737692970f7d4ed24505593af5eca72f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5461813d2d20e1351f7013bf2a77cd042f5a4bfe466698c4d57878e98a8a6240",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92ca4419a91fa1b47afd504e3255c1b7948d0f5a255d94d26ac67e7701414b4a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 2.397 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]: [-0.7078, 1.1919, 0.6868, -0.2379, -0.5663, -0.4377, 0.9993, -0.0147, 0.7986, 0.6086, -0.3843, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3126 left_y=-0.1381 left_z=0.1431 left_yaw=-0.0191 left_pitch=-0.046 left_roll=0.0262 left_gripper=0.9993 right_x=0.2951 right_y=0.0014 right_z=0.1799 right_yaw=-0.0002 right_pitch=-0.0122 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.253, -3.8632, 9.4427, 1.6825, -0.4322, -0.0611, -0.0904, -0.3077, -1.1829, 7.3915, 1.8046, -0.0855, -0.0464, -0.0122]",
      "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]: [-0.5774, 1.1595, 0.622, -0.1928, -0.4717, -0.3595, 0.9992, -0.0147, 0.7986, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3182 left_y=-0.1072 left_z=0.1285 left_yaw=-0.0041 left_pitch=-0.0749 left_roll=0.0311 left_gripper=0.9992 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=-0.0002 right_pitch=-0.0126 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -3.6444, 6.5436, 1.7509, -0.3297, -0.0269, -0.0122, 0.0068, -1.2923, 7.0359, 1.7118, -0.0415, -0.0757, -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]: [-0.5781, 1.1595, 0.622, -0.1936, -0.4706, -0.3668, 0.01, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.318 left_y=-0.1076 left_z=0.1283 left_yaw=-0.0018 left_pitch=-0.0758 left_roll=0.025 left_gripper=0.01 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=-0.0002 right_pitch=-0.013 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -3.5761, 6.8718, 1.5556, -0.2466, 0.0513, 0.7741, -0.335, -0.9915, 7.0632, 1.7411, -0.0317, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da703e9cc6a1eaab41e853ba31f520e737692970f7d4ed24505593af5eca72f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5461813d2d20e1351f7013bf2a77cd042f5a4bfe466698c4d57878e98a8a6240",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92ca4419a91fa1b47afd504e3255c1b7948d0f5a255d94d26ac67e7701414b4a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFFfoiRAjCa2-rerJxyEg69cuTgEE0_FxVSduPCNDarp6mH2MfGoo9IxBnJwJOmK7urzCvZwP6OEeHGKYCZoS6aytovw-2ZHPO1dnsOMuGQl_s0JeEZZF3TI7GYhFu7VejMzfqCOvxQ6KOPv0sZfCUGlVQA9J1hEGUElvAHhDvHeHUFy3BSKslKUDkkBrymgVqbcqHcGdwXIDXWcG6WGVSKDOQfqObk_XSUYhsb9pyY5n6NCpXnw5RrwatyRZtRDe3L0bQKKTzPdeBiOy8P_axVLqy7Zi9K3QJQ-fHnCApMqP_ZBOJK6d1Fp1UHJtiiVpzVqEVYEUpo7jzy4tRog_G8q7NN89DHiFMj6CVgBYqv3RaTbQCipp6_x-UWqnHgS1tVOPeMzt6-w1owLtti-6M-TE2rYGuJ5P6tEXqOL9sJI1A3kHKhvSjV-bee4LcwpMb0mABsOmd--Sd0SEKegjqACc7xyj7gHmxvXblHmcf9fHFl8gVmDFmH0JuYnvCQt1XsdZmNvq5zXjn0Fm69PX-Icm8KKDqPqsxU2iwZwrZU_M6vh0k3F6MlZSmg9F-mNP5x6Fdg2s8qaS0wk7IzRJDTBIayR0_ACwN6v64R_AjiGQs3Os04qpS9xejIC90hKUQba4Y_FayQ84-kn1wgUMCQzxqOzM1HjbxQQ4dMHoiP90JtHrGNP72MTPWjphKrqLLKueu7kkgtGiALXaS3Qh9g6v7c5dH6WjXzQ7KBH3m86ugMqu2StRqO-Org1dTyA6WxqwnVfG2AhqVXje-_tkGfS2WdwUI_n0DFKawzuT8ocW0OOoygAtN1zyn18_TfeuRqiW3sZ_PiQ0T2bW-WOjzfkjSgvdP2g8to8Q8_N2xv9TKZ7Pngf3wjFMuBJgl6YKA8xINcIanuLnJl0X-F5tvdAEVRCiKBhj73oW3Q4V7ht2U0BbmtoZBVNWsVduxEZIX54M1czY8D4K9kYSPB3HT-e3fTzABwdDxHsC7tJWTalY__Fc9DAdTvcNvrjur1eFl0AJjYRsfHp_tR4QnzgR2M54tpixa359cAMBIfGVu-d2XtAeyr-j_qeK47H9sP1_zutGZKOHqN-cFOSvW4fKNHcL7Ly1L3THRhOlN6DnouMqWjpPI1ED48kK2xf3wKi2HpGFhHy22HqRZxHCfNCBCvzRhYV1UZyMrDDTlv6UTHVOchntv55_dX1OFnziWtOP0lx_jWIMeSccpdprn8ipYhEq5MuW6Tbu48Gt7xSmLkkMIsV_sn8n69OpqMUI1WYw4qAZJqGZR0zXKb8qLvlmRsUoJ3YEEbxOc-4DMdznuf_smAdoCqLw8D5eN6RRQcXabkOK5mHXxfw5ApScGfhNpGxitUb_HFU6Vee9Yls786ZHxvZD0NB50LQT-TeIif4s5bvVZ3JO_PNxcqIoPeK5y2PmdSWMJojUkhK_qsO2LIdDQ6czGsNkDAy7XNbtLjPh_xSZQtU0g1N9aLNIw6zM2Pk6LzHOrQ8fFjoCVRVD8zL-5ovkIeZRIUDeFWZ-bezhJsoUs0nUiukTwcy0RqmHisD2wPQaashCHL6A5otNg3EJPUgvwhgaRZUmMAzZcXIfOcq90_46Kt2PWG8B7Bh5-ORLbnsaP9J4Sat21jOJtau4FZJxNrGXyZlkRPtM_RZE31DkfjA2sywxtFq_jIf9j2qw01KeTukyEjYneqXVGdfbU5YMZOulupWmgCTkjn8599b_GbPz7d3b2QRVrjc0szC84vtmb6yf8A1IAwUmGmJVowpD1V0BQGcs2gTmvaUNmpMRBHOWNdLbpm2mW8ABKJ_WpSXLmEC-XLnb3uqftB0KV_k0l7dSqE25kuhsd_3Ap7_pzBzmpWHIHeHHlszf_ywo6b3q91WXUZk5Msex5SPpNBV1ixojR90N0N_H3TTveL4bd1cC_r17AtymZim3HH5H2JnEDFoin79lCZfoS5yHtriIGoMAU0r9dzOc74B1t8iI_ub6vRA0vU57NA737vt8eDK71WhKeI6cjrsRtJB8XGmWihMdA2n92jLEGA5Uvhy1qZiq_ALi2ackVRYaH9zjGsVX2RGq9tHfvrQNyzAdf15CU3L9w-KnkmsZG4wsts5rtJb1DgjLTO8L5OFwc_-lAya-EZ38YgR-YrNRx4fR-zM01GyLRVgtP22uyaekHlty6LWCKNjCI0pLtEhMMhTHutO-14yzcWNihhnT3ojVWcCB2ZU8z9BIxwe1dJZjHm1eUEs5_UNWZK_92IKqL-vw55RERLQzvfBZ5rHGPfNcymrllCCMWIRIgVsbPQxpoUJSj-odjOJQzMZELrrvm0EdF2OTiGPgiFVjxI4kwXt_Am2zm48b1HsmI_hUpNZSkbzjE1NXSONViOumU5drVVYtbOj-_YFzsl0wuXJvlKTOmoZRfI1VZ0ce60k8UlffeeFpGZwHlPSuhdzQzV52aY-VaXgSAAtKAVzbmOIWHOWBJP1O70Gt29Eq_LBP3VXOofIXzwLUYt_ArQiiryitahNLg==",
  "id": "rs_02830c7bf8f36af4016ab4515c5b3c87d082c09572bb77efb2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_z\":0.15,\"left_gripper\":1.0},\"note\":\"The gripper settled at 0.01, so the first close was empty; the animal remained just short of the fingertip grasp point despite appearing low in the wrist image. I’ll reopen, lift slightly, and advance 3 cm outward as prescribed for this wrist-camera geometry.\"}",
  "call_id": "call_VmeO16MZmckXqDs4pIvKiIar",
  "id": "fc_02830c7bf8f36af4016ab4515e9bf487d087f802cd97435cd1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VmeO16MZmckXqDs4pIvKiIar",
  "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]: [-0.5053, 1.2549, 0.7315, -0.2199, -0.4183, -0.3286, 0.9986, -0.0147, 0.8013, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3433 left_y=-0.1038 left_z=0.1359 left_yaw=0.0098 left_pitch=-0.1053 left_roll=0.0316 left_gripper=0.9986 right_x=0.2951 right_y=0.0014 right_z=0.179 right_yaw=-0.0002 right_pitch=-0.0156 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -4.3692, 9.3607, 1.5604, -0.1978, 0.1001, -0.1636, -0.253, -1.5248, 7.0496, 1.7509, -0.0122, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46da5b3e0f44933479656c6554409cf3bb49ee268a3400b24a024a074dd6db94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbdeac45b0788d4fdeff0c55933d3074c55cefd37e8dd9cccab9742886173cce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27780c8df8e0efc0a3178f031d6f5942e57d58e78d7a14b025004e0c0f008675",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 3.071 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]: [-0.5835, 1.1484, 0.672, -0.242, -0.4927, -0.3698, 0.9992, -0.0147, 0.7986, 0.6086, -0.3847, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3209 left_y=-0.1074 left_z=0.1453 left_yaw=0.0114 left_pitch=-0.0572 left_roll=0.0278 left_gripper=0.9992 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=-0.0005 right_pitch=-0.0126 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -4.9573, 6.4342, 1.619, 0.0024, 0.1392, -0.022, -0.2667, -0.9231, 7.0359, 1.7753, -0.0317, -0.0708, -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]: [-0.5781, 1.1595, 0.622, -0.1936, -0.4706, -0.3668, 0.01, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.318 left_y=-0.1076 left_z=0.1283 left_yaw=-0.0018 left_pitch=-0.0758 left_roll=0.025 left_gripper=0.01 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=-0.0002 right_pitch=-0.013 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -3.5761, 6.8718, 1.5556, -0.2466, 0.0513, 0.7741, -0.335, -0.9915, 7.0632, 1.7411, -0.0317, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5053, 1.2549, 0.7315, -0.2199, -0.4183, -0.3286, 0.9986, -0.0147, 0.8013, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3433 left_y=-0.1038 left_z=0.1359 left_yaw=0.0098 left_pitch=-0.1053 left_roll=0.0316 left_gripper=0.9986 right_x=0.2951 right_y=0.0014 right_z=0.179 right_yaw=-0.0002 right_pitch=-0.0156 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -4.3692, 9.3607, 1.5604, -0.1978, 0.1001, -0.1636, -0.253, -1.5248, 7.0496, 1.7509, -0.0122, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46da5b3e0f44933479656c6554409cf3bb49ee268a3400b24a024a074dd6db94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbdeac45b0788d4fdeff0c55933d3074c55cefd37e8dd9cccab9742886173cce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27780c8df8e0efc0a3178f031d6f5942e57d58e78d7a14b025004e0c0f008675",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFFn_YofCHj4V6VpIWFDKLvnieykUJVh6YfnLQPtrBmis_JLbw1Nbg2c9tiXP1D5Mri1oENjxZFcJoZtfdFx6ZsgQfMdoQNO2UQfCCwemEBkuiTeyEWruFPeIu5vZFQoyye4FWkJPZuzzn1FTaE3ZcrWXnCHEJRxn00qX7mSfhLj7YvQb32qgocWSfCw1xhwlwkvAi_ynpFjMxMQh0UdK1I9mmLEaH3KS7qfULhhXab2WWjpbHBwFXDQh7fGeneEckc5nqzcZUaOweVHE1mhoehXTOkFbw5bYu643mTDjZN4Mlc_smFmlyuiw7HXTYSaAyyZDK6MZQn4p_xCEC_wE42fyX9v2P-0e4oQUQB5uWL4_mpp_C8YZ9bsqAG0T4RSZU9vgIzza9wVJx3sFJaMeGtgHPjO4rZvpzB0OStjkuQwGUZEKQr15makgd8ZIhO3QQOqkLHtSupHCwugmPeVhIr5NPLTRfn89Lyydm1KGjF4PTYxWQiDH-h8w5S7qkD9DHNYAQzHVK-HmVE1RQ_WZscwkoo2tXJksVvfT0-qtOOtozXd0_6FqxmEG1fnkvOtiO9cXrd8i-iafIBnbt6XiNpEj5cVHxUxYECk-n1lcu2ca2um-xMPPMfS66UQJfzxlfw9wkbiMRcYKTYBkKOczCrMPaOlfpCII7QHYG1kx2cIr004Ny8BPshQEG-AnW1c2ugvjZmebFzJm2V1_51wuWcM-AGoyx4jHh8Vak4xTOWlo4VMfTijurlY377RLGbYMWvCAEqV4Oc99huQYyxemBq5c-Xv5Vi8zfK4XlC-TzbVoPtHa0ZubqEhUZqiCSNItEXwdWqEiQDI7UimIKJrH--vwEGqzTl9UyKCYCYdoSnPmT6rFMFP2A9D819Ar2wMDoSKLs-Hjhi-Y9cYaMKOK8eNxuKBK_-BClOSl7Oi82Vi1Ba5ZBBaEUMoEzoIT22Igh-xIKo0oCNb2qlkJMFhwf4KD0BwfX-mSKz2UIoiz2QVND7vYtECo_yuU8KsqUkLrNHGXcUCWKSm00tzsn3piX9MEWTK0oJy_BLzuthKECYxDP0A8a7FHbDJotUKxP4VmD1ZjmyZfPjSymaj2GdHyoltt_kPf7FYyhuxhBqo2TwUDkK_cSyNPLvW4vI5eOCLRay8hrqSmFwvlFkGXw-YhWHLai1l54ndihfmAc2MuBHJ8u9_pt8pDGW3fyb6kIGCO_pNJrgA5DiMyqJ9XejN9VEL7oXt8TvP7k5RnbnaEOQIaikIQO4mxLCA8Mgei7u19eKk5ONs4LBGO3czLazh_qLLDq7EfG2I-_BkzqP4_syyoiyFs5rosNlZpNIRNNIOj3iYhPjCulaLeC1dB2Bxqf-zhKWYbZMtqJ5kxqkgn9wx8gfYVzsplt55aP8xi04mLXGtAK67bJ_bRopdu5CixgXKVgOOPysMjfCl7AIsGTVrQYcPrN-4esj-UGfJ-BzxtUWW",
  "id": "rs_02830c7bf8f36af4016ab451663d6c87d0833cbb7cb6b6f631",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"After advancing, the elongated animal is centered directly between the two visible fingers at the bottom of the wrist frame. I’ll close at this height to capture its upright body without pushing it over.\"}",
  "call_id": "call_UXZa0jACwQA9dCPSYwvqFl64",
  "id": "fc_02830c7bf8f36af4016ab45166c23887d0a6bc414692a99862",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UXZa0jACwQA9dCPSYwvqFl64",
  "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]: [-0.5053, 1.2549, 0.7311, -0.2199, -0.4183, -0.3328, 0.0101, -0.0147, 0.8013, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3433 left_y=-0.1038 left_z=0.1358 left_yaw=0.0121 left_pitch=-0.1055 left_roll=0.0285 left_gripper=0.0101 right_x=0.2951 right_y=0.0014 right_z=0.179 right_yaw=-0.0002 right_pitch=-0.0156 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -4.1915, 6.8855, 1.5458, -0.2418, 0.0415, 0.7839, -0.2667, -1.1145, 7.1043, 1.7021, -0.0611, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08d44e75f73e7533d23c179c3f998365835399c822320e87cb1b304b757bb8f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cc448678adb1495b8e1112d6fec93dffabf9f4e5446b7adb36ef309a3935c19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db2b27add153b95d04da1b5ca24dab3df5e8a87d50fb7f9408e88dac5ddc35ed",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 1.919 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]: [-0.5774, 1.1595, 0.622, -0.1928, -0.4717, -0.3595, 0.9992, -0.0147, 0.7986, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3182 left_y=-0.1072 left_z=0.1285 left_yaw=-0.0041 left_pitch=-0.0749 left_roll=0.0311 left_gripper=0.9992 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=-0.0002 right_pitch=-0.0126 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -3.6444, 6.5436, 1.7509, -0.3297, -0.0269, -0.0122, 0.0068, -1.2923, 7.0359, 1.7118, -0.0415, -0.0757, -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]: [-0.5053, 1.2549, 0.7315, -0.2199, -0.4183, -0.3286, 0.9986, -0.0147, 0.8013, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3433 left_y=-0.1038 left_z=0.1359 left_yaw=0.0098 left_pitch=-0.1053 left_roll=0.0316 left_gripper=0.9986 right_x=0.2951 right_y=0.0014 right_z=0.179 right_yaw=-0.0002 right_pitch=-0.0156 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -4.3692, 9.3607, 1.5604, -0.1978, 0.1001, -0.1636, -0.253, -1.5248, 7.0496, 1.7509, -0.0122, -0.0415, -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 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]: [-0.5053, 1.2549, 0.7311, -0.2199, -0.4183, -0.3328, 0.0101, -0.0147, 0.8013, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3433 left_y=-0.1038 left_z=0.1358 left_yaw=0.0121 left_pitch=-0.1055 left_roll=0.0285 left_gripper=0.0101 right_x=0.2951 right_y=0.0014 right_z=0.179 right_yaw=-0.0002 right_pitch=-0.0156 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -4.1915, 6.8855, 1.5458, -0.2418, 0.0415, 0.7839, -0.2667, -1.1145, 7.1043, 1.7021, -0.0611, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08d44e75f73e7533d23c179c3f998365835399c822320e87cb1b304b757bb8f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cc448678adb1495b8e1112d6fec93dffabf9f4e5446b7adb36ef309a3935c19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db2b27add153b95d04da1b5ca24dab3df5e8a87d50fb7f9408e88dac5ddc35ed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFFrtCIgCL0D7V3W5ijiX5BqnuG9F2irmUVFrTmobG3HqgA8QYNg_Pym4-JHqfThZSZz235TiXJ-mOuyk4GbgXn3NG6Myfc5LbDt8j7VOjoqlbRciHNQgsDEHcXE1PIaGmnHesTRWfQa6naZp6RaWQL6JxgC_brmmKC9ecBv4YZMSYMDth49ewjyvFWSgLqDrF9iTjOfsgx2nVPlfXTI0zDZzKg_ZmB9K_y0EzGHVU89s7BZksWk2FhURX95XzAsqnOtVWmck7toO3gVyh87oIway_v-nvhEuepjEPYxJfFTt6aU0f6yladyZQ-4cdxwgL60b5WEWR-dEeQNobR8Tk2HaaLMdJubo8tdz8SaIXlOuAHEm5igh7jG9hcJ2bcupt7u3x7csSUOPOD2G0ot-2FvoeM9Hc_HRCl6rD5pZssWBxk1SGDiT_jCOupUyyUbuiYk26HxE47E97OOTAaQ3WstfUGzMYIlqo9yt8nbG_Ziq9FEiUDs6KqgsLX50s99GlB4ieYqgi81ycMKiEDvL8BtHV-j_dH5P4WQPRZ2qGyMFjI_4GY1fwHmBj5jlAKqP_rEeYPzf3ldduR9zIU4nrEKquqF2oKBB7kKS3Pw9L73TpHBtJRG7A7EPdMSqdSYsv2UhdMRugLc_UoM21_o5oRZDzRJYkggef9UgRxyej_msO7g3yTfmyNzLrkWt5WUzEUkFiyBm6Y7aa-Hg1HqkuIu6d9rgbmOfvsOJvXom8Cl6Tnfm7ygPhipbR_uh-P6hJVP3UTU6b_EuhI4Y86ZXNepM9ah7RrPPd0nnIHZCSAjTXNSUTJ9yQwSwb6dXXPAJJPpQFIPcPm0TqN8LqX4UbYy1Cvavb5a-GGSZAhGVl2TS201v65LtYsiIMx8jdnU8WFckfFDX5_6qVH8ILwSsuL6Du6Sfe3LN7YLh2Do3MkCusPkACj-NrAM3xulD4eCEfQ7CEv0EDQbb3uliXy-NpKlX3EwLLZ5GfMO_DN9eBb95u6wukjvDl2aOt2e_stlG6O_HdCLDjpJvS03rPDtdDI5hTE1bgmeT2gjodKylYMoOk0jp8XrGk4isQdnyy3pq78VIVKDh3S8dySnNgDPDywSsged56f5GSgXBEBe1Aux6ocUFAKW4yAAMl6JeVTMN0ZhnhfEvggPv5-lvYf2UqsMEryMCPvDYZlB_p9IOGXreRW7PksNK81N44Dvru-z4AxTvvrwm1pq8V9fDSjb14HNGaYXSRi_NS_nfl2GODPw1vgjUOyDJo1UXEdbFGDN1L93y1snUn7sgGdYfdhmgDnF8c4hyI_alKLJVuiRSL5q5iswc0LlMBITzdkUtBdp_f2fblAPtg8YptlhDri-MOuF-s_2YRCAsK-MaH7kso68y5jomp3KqnzIScj9ROekR4DtG1WKDzAuCEPNlTxIUs3FBL0GuH2a9HXd_6RtjumeGDmRmSAmHG4DTU-GQ-FFWiEjOwQwHuNSkgTRzJXqmpwvlxngZy1ti9GBYOHj-QZ_i5jIh4Q3vDdU6gQvIbsFHNfEZDmIpXIYAk4t0kpZhKhrXURe562vKQy8d1yKKMzTMA_UuaUlBW6XHMPdbuTJXfNRigddkO0pKS71va4wCZhaId91iDqKVVOLTl6wuaaZ7e9zGMMlLqRZui-QTyQMqq-e_Wt7pPBlXwTM0B-H-DTcmLZfP2m1aIExQYZrX-v7lr8Y1DDuVhH5SBxBFSkdgnW-QFURVLL6qEANwe9vovjg7gMpAbkEEOdOGfBjEBKioMbe3TyRMUr1FcCHp5cJPY7I_6eRmU2HUlD5TTxZkzvAmkyKaL9VSsic5xoJUDk5_3hykrJCPkcY4d3oRoY66cFvV9w-rD2aEUqtV4mUbNvVGe8L-wF1wT6fyyVwGU1Ys9B7V1iVHCbV93l526MHPQ7U",
  "id": "rs_02830c7bf8f36af4016ab45169985087d0a15d5244d3c176b1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.06,\"left_gripper\":1.0},\"note\":\"The second close also read empty, so radial alignment is now good but the fingers are still above the animal’s graspable body. I’ll reopen and descend vertically to 6 cm while holding the current x-y alignment.\"}",
  "call_id": "call_UZtEfwLMRfMBLmlqbJGSE2cc",
  "id": "fc_02830c7bf8f36af4016ab4516b011887d085648d7e00915147",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UZtEfwLMRfMBLmlqbJGSE2cc",
  "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]: [-0.5053, 1.43, 0.5224, 0.1379, -0.4179, -0.3359, 0.9986, -0.0147, 0.8024, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3404 left_y=-0.1023 left_z=0.0563 left_yaw=0.0149 left_pitch=-0.1281 left_roll=0.0388 left_gripper=0.9986 right_x=0.2952 right_y=0.0014 right_z=0.1787 right_yaw=-0.0002 right_pitch=-0.0168 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -5.0256, 5.4632, 1.7558, -0.1783, 0.0122, -0.1636, -0.2393, -1.3607, 7.0769, 1.7411, -0.0171, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:812e17e8bec27205d05f29eefd69c208385140c36aeacbe7353fd8484f1b06fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a928dfe1ce270bb37cd3cd421723719883d29153944ea1684a33ec95ff9cc1b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca8445d2225c59696dfb5c857d06db7d7e925c0300e0d86b722cc60809a469d2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 3.069 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]: [-0.5781, 1.1595, 0.622, -0.1936, -0.4706, -0.3668, 0.01, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.318 left_y=-0.1076 left_z=0.1283 left_yaw=-0.0018 left_pitch=-0.0758 left_roll=0.025 left_gripper=0.01 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=-0.0002 right_pitch=-0.013 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -3.5761, 6.8718, 1.5556, -0.2466, 0.0513, 0.7741, -0.335, -0.9915, 7.0632, 1.7411, -0.0317, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5053, 1.2549, 0.7311, -0.2199, -0.4183, -0.3328, 0.0101, -0.0147, 0.8013, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3433 left_y=-0.1038 left_z=0.1358 left_yaw=0.0121 left_pitch=-0.1055 left_roll=0.0285 left_gripper=0.0101 right_x=0.2951 right_y=0.0014 right_z=0.179 right_yaw=-0.0002 right_pitch=-0.0156 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -4.1915, 6.8855, 1.5458, -0.2418, 0.0415, 0.7839, -0.2667, -1.1145, 7.1043, 1.7021, -0.0611, -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 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]: [-0.5053, 1.43, 0.5224, 0.1379, -0.4179, -0.3359, 0.9986, -0.0147, 0.8024, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3404 left_y=-0.1023 left_z=0.0563 left_yaw=0.0149 left_pitch=-0.1281 left_roll=0.0388 left_gripper=0.9986 right_x=0.2952 right_y=0.0014 right_z=0.1787 right_yaw=-0.0002 right_pitch=-0.0168 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -5.0256, 5.4632, 1.7558, -0.1783, 0.0122, -0.1636, -0.2393, -1.3607, 7.0769, 1.7411, -0.0171, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:812e17e8bec27205d05f29eefd69c208385140c36aeacbe7353fd8484f1b06fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a928dfe1ce270bb37cd3cd421723719883d29153944ea1684a33ec95ff9cc1b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca8445d2225c59696dfb5c857d06db7d7e925c0300e0d86b722cc60809a469d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFFvs_GlXKAw5xrUT_cGEoYyLNLDrvW0Tgz9C4XBgg0Y0pYVPUtoErC3z1ldrbOSoeDxEO5bslIsMQYlvRLiNe0v-uDu_Tmf06zKreGz2I5iHvaqZ8FmSdW03hgbxusrTADLSngc3GJqMydQe4yOEpmTmDhhVlifikeGUlEiMiZnKITxD78pg4gl1UBqcHL1Rx_P4uJWeAlaskhdOrsN10iI46l1zRUsaAddqTeDPstvqF2OwwAgdp_MkTk7mngcBKqSW1NZlEK-1XDzm58DH9eegKfu824QWzE0FvRRK0RwJjELcb0B0JcyjCNZEzw8rAr1MDOt1yj4i2eomrlNj6EdEh8vUio4p_DcCuXk16f9KHN7sHMaTAip7foNzhoJK-ewseiRl7NM83QKq6wn6LXSB2tAWtvXqVeLCNgx1PDQOmM1zyj8jh3kHA2flVuWbmPIIoQ8DxPcdpEdzHbggaZOihFlxPsQBoMT0PnzrQpNqpmPwNqAKcvNPfHPauEpYM4QDJE-8eAm_VQaebFFm3w-wsy3W6ennSW_BJZ6cnPo6X3uyTeSczlmvP_J-uCP8rZW-WXWxw-zIFbIRbyUZd0FK7Zu4pT5CtOF_NYz5z-ut1ou6Nq6gZ1kHuFDlNGsyIjxdRiOwe2LI15C4cY0K5UyW51slGRcIDJbQiubVLgI3N_06AUIA62Y6aPkbAM7wTuJ1q8HEw1p90zU0mZJ25eLAyLklipr6-CeuGZtkwkPJ5PpD69jeMrHfZQKpESWUEAi7Y2ORIGVPrNq0je1t7PQCIqu7J3ADcFMgUZqSvvsray3zyi4THd4Nkal5RVsRFfno5Flc9gAdruoPU94V85nyTm8GsS8ra4zgCguTwUTIm0UKX3DgqFqvKx0ssocSwJyngmg2wPtmvGWZCtbEECUtdExbQVcXpkS3P1-s1lf9Zox_ACP7gQRN2fQBuYofTOL2pe0ItLyCWtO26hGOl9XkLzCEeIPHLbW4w95bqztPgL55magbIwPV4Ae07n2Tp083kI9VGO3DSdayIpvPMQIOKaG5guX-2j1kXOIUe22xFTkbUpiY4cUAZu8MN7uJG288shO1FfRg1ERpeiQ8sD_tK5jYEkSrSWAdSuDVQT6d8s59ncAoBB0e864tJlXz1B_4ZoFRo_PX6UTqobwEZU5TFhCiaKAvcGvwxUKG63gAexD1qyLwgV2qy6WUs3e9OVF17QaFHtUxQr1UpJv9RZkGib5YyzHojaUdPowByJ92Uk=",
  "id": "rs_02830c7bf8f36af4016ab4516e899c87d0ae29c170355987a7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At 6 cm the brown animal’s body is now clearly enclosed between the open fingers, unlike the two high closes. I’ll close for the actual grasp.\"}",
  "call_id": "call_UkQlaUyVbgRySOe6UqNsJOhl",
  "id": "fc_02830c7bf8f36af4016ab4516eaa4487d0932480a4d130f114",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UkQlaUyVbgRySOe6UqNsJOhl",
  "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]: [-0.5053, 1.4311, 0.5213, 0.1436, -0.4179, -0.3397, 0.0103, -0.0147, 0.8024, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3409 left_y=-0.1025 left_z=0.0565 left_yaw=0.0167 left_pitch=-0.125 left_roll=0.0342 left_gripper=0.0103 right_x=0.2952 right_y=0.0014 right_z=0.1787 right_yaw=-0.0002 right_pitch=-0.0168 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -5.2718, 5.9692, 1.5018, -0.2125, -0.0024, 0.7546, -0.3761, -1.306, 7.0359, 1.7265, -0.0171, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7f5c982b7e3824fc8175ee9df85f3260f72fadc62929bb37fdd75b08d4731c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d07b2daa9585d42a53ad01b4c7200afdd145ead018d243cd75ed9bdcb41f3c68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e1a601d9b309c1295cf0a6c546b50c9215b6cf2edf115be8031a284f1cdac5c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 6.312 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]: [-0.5053, 1.2549, 0.7315, -0.2199, -0.4183, -0.3286, 0.9986, -0.0147, 0.8013, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3433 left_y=-0.1038 left_z=0.1359 left_yaw=0.0098 left_pitch=-0.1053 left_roll=0.0316 left_gripper=0.9986 right_x=0.2951 right_y=0.0014 right_z=0.179 right_yaw=-0.0002 right_pitch=-0.0156 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -4.3692, 9.3607, 1.5604, -0.1978, 0.1001, -0.1636, -0.253, -1.5248, 7.0496, 1.7509, -0.0122, -0.0415, -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 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]: [-0.5053, 1.43, 0.5224, 0.1379, -0.4179, -0.3359, 0.9986, -0.0147, 0.8024, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3404 left_y=-0.1023 left_z=0.0563 left_yaw=0.0149 left_pitch=-0.1281 left_roll=0.0388 left_gripper=0.9986 right_x=0.2952 right_y=0.0014 right_z=0.1787 right_yaw=-0.0002 right_pitch=-0.0168 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -5.0256, 5.4632, 1.7558, -0.1783, 0.0122, -0.1636, -0.2393, -1.3607, 7.0769, 1.7411, -0.0171, -0.0659, -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]: [-0.5053, 1.4311, 0.5213, 0.1436, -0.4179, -0.3397, 0.0103, -0.0147, 0.8024, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3409 left_y=-0.1025 left_z=0.0565 left_yaw=0.0167 left_pitch=-0.125 left_roll=0.0342 left_gripper=0.0103 right_x=0.2952 right_y=0.0014 right_z=0.1787 right_yaw=-0.0002 right_pitch=-0.0168 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -5.2718, 5.9692, 1.5018, -0.2125, -0.0024, 0.7546, -0.3761, -1.306, 7.0359, 1.7265, -0.0171, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7f5c982b7e3824fc8175ee9df85f3260f72fadc62929bb37fdd75b08d4731c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d07b2daa9585d42a53ad01b4c7200afdd145ead018d243cd75ed9bdcb41f3c68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e1a601d9b309c1295cf0a6c546b50c9215b6cf2edf115be8031a284f1cdac5c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFFzBN6U1WJHxWBT9cpmeIc50aZasLezP_OPXazYch1J4HWidVGLMWYo2pidXnHBXCIPmlXH-xQmmRCGxbWqflVLiGSQz23tQsb1L6cVxJuuBn7mQcOUJWw2_jZQZmxte-FhClKVzeH9PF9kad0hABSRCoLX71ZxzD8FAlOV8MtRK1LhBm7pxj87S743HYGG6JxwKxbzjHlGEg4x6HkPAMpQJX8lF1zrCgCJ2GnZnWuYydNdj1C4YMoD5i9_ET5n2wi1cmPG75ktIrt2mO-Lnyo7yuyyKxIpPcMks7fXhprJt983WqKHlCzZm9G3DGD1OCkVtleOYo1E0wm2X6O6gyA7RjIch8YfIEMXc1oBV4O_R-AWFN1gc3mlF5RAcI2lm3Mn06gXGLM1Yp2izx8jaB3w3KLh9C5riRxP9lYx-YgqpHqS877rIjWClbwQ5enpGYVEafQFTSkaJLEC0JcViF3a65-blvvUYMCjvShb7omlo_3iJ598HW-AevkKJzIZfYlYG9v4B61ttsBXmFcKX4F8cQm6U_F5FBuf5Ph_HyQxJl2EfBwmAyOztbP3tU7gbJQzTUgHBTGloAxPZfsdTx4xjenRzFz5lCP1bBqPXyPajM88rS5Yegz_IWXsmx6WoAYgsH5gvqKvo7eZLlZr6UqqFljjSycRlLMmf7FxN14k9o-AoJUNaGF6srXiAKo4ZGXSgtXir4IxhcYW-zXvOD5FX3OlPnbcZ4Qqy1MNryJWOCMpPVB_kmBfMiik5vm0p4Zd8wHQG9FiQdrl7M2c2OwrcvQ4aPy8nnSKQKBjSZ7XsP1h7L9W2HZBtall_zYK4rxre4oPBMipW-T2o6ewT17g2_ifrQJTHz6q9L4QUqrs7uO_GK1zLcIKoLU3yWBBnDpetG14npoH0ckZY_fvTtSgd-nDcl7Xy4d2Ob3Xp-VAs14nIPVZrPpXtLKTRQ2eph7hh1YifaS97n8M9zMoDWBT0tWW4Vwk0Ih_Ga4yYjm0aMaQYuhj6MPpX5YOIelePrhDsKee8a1JkocLb40x8XdpSJSqEr8mqOm6wIMjsL73AfHNXnb9iLOSNkJFKgcz0PVoC_83eUcGyfmTExyVleyJM7PplRUJ6wcSoDzFp3kA9F4UJUK_O0dlrCPJHfmp5HgP-Uk5JAG2_fAiXCF3m0oOpmZHdcGRjsiCoC-W81D3BVUFVWXj_9vQHBe1-OSd1fvDdBeJMdMZ6Fu-KvTGTsd8oQrteVDM90z594KTPd2Pj1azd0GQq476E47ftd_wQF9gNxUHYFbWrQKxu2ak6ffAqufZqrY2iM4eSeYPBRJVr0GLKf-4X_AoZoFCNk7Z1XfOpWpEDtKzmZfxoTAbsRHw6tZ0JR-uTjiDCvIATsEvUUgD0cePg4cBnHnOX6Ox3Wrm_N03zhB1lfrQziclxzoNFcm9NC-rog_OjbQMkGnjYqXWBsjps76Csw1VSAnr9orXEWkcGKuQwkHSk_j8sPSqtuTKm4bgaI2S4At6-XsG62o3xzAS9RUYpYChcVncNAJpGAD4Uur_SJxdmeeEgdHI0Lenb8X5MOhrrOLVw-IG3QgTzNui3fEt9vv_Fq4R1FAtE7pTqBBjlZEV5GECKqytnNcIvUNuB-vgxvo8nyU3LGuXynGVoFI2D7VpYmmpyZjwcyMuGz5YlKupUJpB0ymHib2cwIQ21_YqQxewR3n-Gu7fsbnCVYx4gS7bAeeHkIfzIh7gnQpMv9MkBlF7W8yOEsURrTDkAzGPsqWyBrWP1UeJIlxClxclfi5LZOGyfTGQ1T48HsXeJZ1eVfUKCojdOhpZ0uLbNxu_6UaCT1QWLEuAJRBRNVvyJ8d3IBiI3pSLOT6R8dkk8uW_Aj_bjdtuDkpyF90UCcTHTb4zKl7Oi4E=",
  "id": "rs_02830c7bf8f36af4016ab451715ac087d0b6b4f85d9ead1d9a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.0,\"left_gripper\":1.0},\"note\":\"The close remained empty at 6 cm, showing this plush lies flatter than it looked and the jaws are still passing above its body. I’ll reopen and descend to tabletop grasp height while keeping the now-centered x-y pose.\"}",
  "call_id": "call_TxBiYfXIXSNAxU8ZZUVLobjY",
  "id": "fc_02830c7bf8f36af4016ab4517296a887d0b156103274d9786c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TxBiYfXIXSNAxU8ZZUVLobjY",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5091, 1.6466, 0.4465, 0.5632, -0.4412, -0.3218, 0.9986, -0.0147, 0.8024, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3612 left_y=-0.1111 left_z=0.0321 left_yaw=0.0177 left_pitch=-0.0058 left_roll=-0.0031 left_gripper=0.9986 right_x=0.2952 right_y=0.0014 right_z=0.1787 right_yaw=-0.0002 right_pitch=-0.0168 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -3.7128, 2.7145, 0.8718, 0.0464, -0.2369, -0.1685, -0.1709, -1.0872, 7.0359, 1.7411, -0.0513, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5c56d8ecb59cc80ab76af0e530c4c2e1132aee41f46d4a634d90378e4b11914",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ef32c852cba4ba2e2785e0005766cecb02134fcea0c56cafdaaa1971fce87e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f14b676ad890c7a00fc6b3f2bbb5528571cd7574ee5b26915c5eb1a2625291d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 3.2 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]: [-0.5053, 1.2549, 0.7311, -0.2199, -0.4183, -0.3328, 0.0101, -0.0147, 0.8013, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3433 left_y=-0.1038 left_z=0.1358 left_yaw=0.0121 left_pitch=-0.1055 left_roll=0.0285 left_gripper=0.0101 right_x=0.2951 right_y=0.0014 right_z=0.179 right_yaw=-0.0002 right_pitch=-0.0156 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -4.1915, 6.8855, 1.5458, -0.2418, 0.0415, 0.7839, -0.2667, -1.1145, 7.1043, 1.7021, -0.0611, -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 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]: [-0.5053, 1.4311, 0.5213, 0.1436, -0.4179, -0.3397, 0.0103, -0.0147, 0.8024, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3409 left_y=-0.1025 left_z=0.0565 left_yaw=0.0167 left_pitch=-0.125 left_roll=0.0342 left_gripper=0.0103 right_x=0.2952 right_y=0.0014 right_z=0.1787 right_yaw=-0.0002 right_pitch=-0.0168 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -5.2718, 5.9692, 1.5018, -0.2125, -0.0024, 0.7546, -0.3761, -1.306, 7.0359, 1.7265, -0.0171, -0.0659, -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 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]: [-0.5091, 1.6466, 0.4465, 0.5632, -0.4412, -0.3218, 0.9986, -0.0147, 0.8024, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3612 left_y=-0.1111 left_z=0.0321 left_yaw=0.0177 left_pitch=-0.0058 left_roll=-0.0031 left_gripper=0.9986 right_x=0.2952 right_y=0.0014 right_z=0.1787 right_yaw=-0.0002 right_pitch=-0.0168 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -3.7128, 2.7145, 0.8718, 0.0464, -0.2369, -0.1685, -0.1709, -1.0872, 7.0359, 1.7411, -0.0513, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5c56d8ecb59cc80ab76af0e530c4c2e1132aee41f46d4a634d90378e4b11914",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ef32c852cba4ba2e2785e0005766cecb02134fcea0c56cafdaaa1971fce87e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f14b676ad890c7a00fc6b3f2bbb5528571cd7574ee5b26915c5eb1a2625291d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFF8dPckeQX1BcurpqSBCyL1ReUPj5oG3-f3RAIP1U37pC62fkymGXuaUcVmLohxtDNRUvExoxpqVHr6u3mr6_SSHQSJNA5ibNyaWeWn3vPAlQe3d9v4ITi8fhlZGBzEdx9pVveuKmb00SbIkuFvmv4aq190KR4VrOCoTDx3XdD-RzuoasIiZs-rwnjbNVXM643tprxJJplMjsHmip1Aui5uXaO7oDjIIaLDHIAkK3_7lXRPagTqdkx4MKAMFnGooTI5ZPwTyAu0UbSn7w-J8u85AWvpzvRemN7ahGJSkYcTRoKJxpQUksJacHYZNHONaKSmld9cbMiQJTZiJaqveMERCQrVgVEQ7X0PM-ptHBhv4i9o6_qfP85YTcGmjziyEsy3DQ-hjWtrqbA5i55OAjguqsgast_t5K36S91dsYszWrRu_g-d5E9FblgCNkOPZoK2wPH-T7q0_OMjHVWVXkSob1A82_GBqhQLgHSjlxKA5bKriJeXxlNUdLWkPTFQBTjiIy9d07nuJ6qKBf8bZsn7mrYQcakhPmiPGETqfPlLiaiJbPbnJDHO-NJR5Jbc8ffXhgRhNdlCYscGXBH8zvTwLtnPvkyDy-23hQaKOcNo3Rauh9hUcF5fnMoF6efK15t8aQIE3xCIPaVynNEyEcrritTu_eR-A0DAJ60nMWcQKdF9-hP1cceN11xE5OcgAQrQ_7H7-wxxUu2ooCawifoa4ynziMG_kkWEWEbDed_b0z83CNiSybOtS6HBPymxuZmM_X9RsdsoxQNAp3RJNDvujB2t_Cf1Zhmmy434g9OApoQND6AFzBCiCgjgt7KKnsuU_F0KOrXQq1e0n1CRdGpFS8QN_iewGmaeAU7fC6_J5IJKT7ubIeDQavujRsneJYU0Vb2rRog0jBkNvhIzDmC2vQTJf3ATMJ9oVGUYzhywCfdNnzKknENrp0FZ32NgjESatCooVQaSbV-Guk1VHKbATbHyEb9cewC17ZM2NTP5LdcKwWFYYiW0sPjm4mx678y9dmTozZpX-0_Xzk3r7spanhhdb12Bjmcy4TSY6IBOJIaa-QauNJvfqFNLshMLygW_CCX3FlHwYSl-WBn62O90_yXktN6C-idsodH4j6qqSJ6TMdqInkMWfvkHXaJXZ53iWDOdvrg9LbRbzxW0UQ_JCiPvqqMxgBtQluhoLjq0jR8drTO4J9NatoOFlmpJuUCISxv_VGOnUiFI6FHVzMde5JO04jwxs8XYkBxIjda_WazqhMxHFBRG66Dx9LMV28ot3PmVXgf_yCeQVjIk3oRTnoAv25dy2IHuQwlFGZNyVlbjOgA8JagGnxq7zgPxu4IbjDi8AQIOUxGvnNMHZPhNDrXjVx8IO2EFtD7a_zDM4Ro0F28xysDz2qlXOLl9LpnLWEeYoXIiX5_CIibLxRoUnE_vkOtS2OFoE78BSi1C2WdN4XvjyJ6Q0bA7g_iSNtejhLruQEnxw5pb7p0a3sfN0h-nE_1CpSpGNRCgN73t22TAI2fAXqfVyisg5hwitQtkCXqoFUT3dYIENoBZijhr-fJcyuI66Axrg3NoRSOCNBwPdi3kQQEnyWwFI7R8zYde39GTnZY9mIQk47x0gYXhnTKMTtFU_D-112iUTh00uRAq-mLrLeTOkyrcpaXnEN0si2bKrqExwOEYHNpkhA9TYMcDeWisWp-nAZ1yzDXWFZ_hyrSar8EV7SW3_skjBBYtLO7nDLDmMtP39KUk3KE-x0gPJco3TNw43MszkiylhJ4E2zUg5KySeNlRdz4RlwObn2BPkgUUfaQFnbYncJsba3b-edC9CG_MnRMJDdsq_7HBLVlb2CQLid5riv458KAUVqQkjGfPBUTY0VlXBtPiV5CquNMMmVnRDDlg8pgyy5WXNgLoVnsqrNE-lwsX5k57BABC1nJEC5I4vJ1hJBC7phMKXdsNvp8h4AwGYTJqKZ_swMJtPo4luQ3LHFAO5kFTQ3p5W4qwlAZw9PxlNQrD6RqLjiUPgfbbZFxUk-U9QbrDqLfMGkdoaWR-DlEaD8dKXdNlAARr7c6a1IReI-dQ5Fw0NsgA-MFXrzcIzJgKhAhkxOdq1_bZpjcIdDuEH9XKTq0_B7bsgQnfhpO6pPFk0ChJBHFNcubY8TBkPAPq39dRTJ5lnhJWIzjjkI-oxRdlB2Cl-HPQLPJ1Zq5bb0_9tu5XX0DLnUtmDIR6MpTpNT8Z45Xx03jaNRbOIoUYkwSTTMXz_raZIZoj17DWfnooLUKjI8GLwWq8vudcb9OdwxMVyAWs7x36Suwxt_DCdhwm4AbHj7xAlIMV-9-UQjUD36131VTZiSW_2eiRWYAOroXltbgLx_IWiOnzUF6RFasYAAW7t9ORwSZZ72TVpyUBNIVRkVCkXLIzuhluGGb9ehAakNDkru2p0pSHdKmbF9NrrYcAGp2jIrkM02yeSpW37QajDSU7JWvxKqsF8dSyeBr0uNNr_hB-SZzTqJnRlF7URdZGAbDWPdStNemNt0IDl7RzBRMgEm35wx2jMI-qEP320Fn1xaG0GQJYzGjmSUB0RcWF-uDce4vmeID3gOU_-zwhg12pebjYd37vOc0f-AyY9WQBWtBEZNZz57UcKI13e3k0gs4fKTOZidfLRQ_vmUH49TAnOBSTbBmGAqCtysMkLJAqH82Y-JmR5D9MZUwur2WwwXYN7nuGtRLHUhY-P262vr-4gw6qlX9rg239DNEDnRmriCoKxlUyJGvz_we_dJACjRP8IrPyuOnAglOnQdG_IU3hrAo1yL_Vi5GpTQo-_3x7a1FCuJMsJXaCalskJ61s-XckrDy5xrdMuF2AqqVEXjp508UgKYtTDCS2ERPLvENfCLRWjbswfjPMgbWV_quYbBW1jO3hxejSFARwml5g2a1KHnLYgkzhO4BOKQqs3FQ2QOhn8bDMUDkMI8J1CTa95LkA0NgtNxUuQlBJdksPUNLynT79bc0hBjOwdvMkN3BCwQdebA5T0ac8a7LUH9InWFT4ARLjIVgcNA2gxgnizcjov9dxfrihsiMi_L873dn51FsSsYydNy5neSAyfF69ukEULYSQUmdH_WP6LCXB2POMZxPsewC_HrWoayMoyo31L4i5lSaGgSq0iwH3LbuytNbudJjmMUomp4AcfZFH9ixF5aL9R2UOfxrS1Ua2PutLa-zZCnib7LqOkUDc_KM_2WPDUKAFsi_keTGu6NCz1PBeuPZSod22rtLTEp6CmWAmGJfFBEkqfDVUZ8H_Xoz2H8cq05Fy3WbEUYAiWRWV0hA7Ma38rnvM5G7sZCbJ0TGPVj5GQEGfLUKeyvfvy9KmuLpe9dpPqpMn8HUUFUb7ZJRJkxl8VSNu2oT-Nmx5JQUgL11tCjwmDH_ZJQA2KEcfLOxd-SbEKUfjwDRMXawFQu_cRRHcBN7DGBa7RRQ_nvt9gwvdG9efBUN5aWJMjUe-ogOggDl-Zx2AhMLx81lBzX_VEjnwK2iPUvgIG0OUobHVi0brJ_3xcAis8akGTwCi7AOv_Aj9aJ35g7vpc6KQf2YPPmBt96qKFTi7FN-49XA_Ni5Ri3PZ6Tz0wWg6",
  "id": "rs_02830c7bf8f36af4016ab45177389487d095984bf0f30d79d0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":0.03,\"left_z\":0.14,\"left_gripper\":1.0},\"note\":\"The cleared overhead view now makes the classes unambiguous: three gray plush animals form the left pile, while four cream-and-brown spotted animals form the center pile. My first estimate was too far inward and merely pushed the edge of the gray pile, so I’ll lift and approach the outer gray animal at the left table edge.\"}",
  "call_id": "call_cLS2elj9QvTIjcmDOXqFycc0",
  "id": "fc_02830c7bf8f36af4016ab4517b941487d0b1ed00c80df9872a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cLS2elj9QvTIjcmDOXqFycc0",
  "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]: [-0.4229, 1.5509, 0.4427, 0.4904, -0.3805, -0.2836, 0.9985, -0.0147, 0.8043, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3646 left_y=-0.0882 left_z=0.048 left_yaw=0.0343 left_pitch=-0.0059 left_roll=-0.0113 left_gripper=0.9985 right_x=0.2953 right_y=0.0014 right_z=0.1782 right_yaw=-0.0002 right_pitch=-0.0187 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -6.5436, 4.6564, 1.6435, -0.105, 0.0904, -0.1685, -0.2667, -1.0872, 7.0359, 1.7363, -0.0171, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:175ca729d79ad6546f269e479fcd4936513bedc34a29fc13896b822d51d4338c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfe0f87a20c191e38445d6fb99f2693e49f0f7222a002ffec6a47f1b1507ee28",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6015b63f7b9c073702e656d5dea001f83ac0e0735e75192f783a60f64cf5744",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 3.982 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]: [-0.5053, 1.43, 0.5224, 0.1379, -0.4179, -0.3359, 0.9986, -0.0147, 0.8024, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3404 left_y=-0.1023 left_z=0.0563 left_yaw=0.0149 left_pitch=-0.1281 left_roll=0.0388 left_gripper=0.9986 right_x=0.2952 right_y=0.0014 right_z=0.1787 right_yaw=-0.0002 right_pitch=-0.0168 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -5.0256, 5.4632, 1.7558, -0.1783, 0.0122, -0.1636, -0.2393, -1.3607, 7.0769, 1.7411, -0.0171, -0.0659, -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]: [-0.5091, 1.6466, 0.4465, 0.5632, -0.4412, -0.3218, 0.9986, -0.0147, 0.8024, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3612 left_y=-0.1111 left_z=0.0321 left_yaw=0.0177 left_pitch=-0.0058 left_roll=-0.0031 left_gripper=0.9986 right_x=0.2952 right_y=0.0014 right_z=0.1787 right_yaw=-0.0002 right_pitch=-0.0168 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -3.7128, 2.7145, 0.8718, 0.0464, -0.2369, -0.1685, -0.1709, -1.0872, 7.0359, 1.7411, -0.0513, -0.0659, -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 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]: [-0.4229, 1.5509, 0.4427, 0.4904, -0.3805, -0.2836, 0.9985, -0.0147, 0.8043, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3646 left_y=-0.0882 left_z=0.048 left_yaw=0.0343 left_pitch=-0.0059 left_roll=-0.0113 left_gripper=0.9985 right_x=0.2953 right_y=0.0014 right_z=0.1782 right_yaw=-0.0002 right_pitch=-0.0187 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -6.5436, 4.6564, 1.6435, -0.105, 0.0904, -0.1685, -0.2667, -1.0872, 7.0359, 1.7363, -0.0171, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:175ca729d79ad6546f269e479fcd4936513bedc34a29fc13896b822d51d4338c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfe0f87a20c191e38445d6fb99f2693e49f0f7222a002ffec6a47f1b1507ee28",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6015b63f7b9c073702e656d5dea001f83ac0e0735e75192f783a60f64cf5744",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFGB-FL6Rk8x0l_z8IjLh9NoKYP5YVgfqlKLC7bvQGrA1cT5qC0boX3v5B_mvqrJ2ICp5vYE0m6ZNmQYSUcOOpxzEEPjpxkSKaypFa6nU7hDdwktZs-jgUAO8o6lp5MnlJsfMi_NawxIdIlty2ys0MlAgF_IesKXTj15tB7vGkQ_OGtHf8Rzcbye60W7rCgd8TfPs9YWNPjiwhpcgP5mPYXaG-MN8-b83IEzR-t2_zWAVmKmXHfk5jLr9ApXGVfgaS-FKpJwFlBJ6wgf8EM232iumHzyR1ACQgi1SqhgEftI7S-HiVAYns2lNCRTa17MjrlCx5hFcnjkv81_F6ry1clZxZbZFTteoXqdgK0VAe-Ctu8IWBL78JoY7lk3niu09aildFA5zRMZeg0KlOtTfEMeYGW1qOvlVVKZaDNkzhcSSQiROjicpmzSY2cakZPfdrIYYWfcF2Co-KXWwSSDaETFbuQNvVtpAQo2HXcILOLQEN0AP8WIfuqcGUthcUlnx5JT3xfYa8DsI0I8xCrHzyVe5bKCf7QeZeggUnUcOcMNmb0igCQLfMSRe9nWJ6q5hNh9RhlpIKaWOqm8RnJCSpvulyzK1OMj7V8Ak9h2NyC6bP5KxIGxOMf8t-NJ_IzZDb7DaJLiKOxFRmuR4MKO7BWLI3IwqcRagBo2eOD8ymX0PExSz_ZekB5t8ihfqAX2PbwSO46SBQzf9fFP0uhnZtQ00O1stFf8VfpAARUC1wl6sfU0MQ2Cknx0-9mTT_1Fz5nfvPADny-c9e3Kfvlq6QoWKEB7IiJucqUS41FcZPIWsMGAoiqsv_lAQYIbQcbou3FawyxrKtIXnToJVYmT4aelYTBSWcRuHqncHIKcYI2ZqHZ_PQW87nYxWO2HpEYmQ9XNVQgd4XMjgeGk6DqOMHaOq7rEZzwJoAccx0ksgcE_Pou5219HzCc-FqV2KsqTXlxbCPKMHzHiv8t1bAWMx5c-hdXbhDGLAg4zM0WD4eulqK6149oTrTzPjOUsdKrmaZILMvfTVrJjH8jcPdfW7PbgNhcfyY3rqFSpGtMPVXKbTBghSl3c9YYh7NNpOoNc0nfL-_PuqHMwjVgNhCGm5nMBYz3em-HYybqOlJHo2tUGGIT-4hoz-rheOJNDwi2KoHVfyED1FU1AehPmRixYfB7_5CQ_ERZBCRVe32PGZVcKvLQ1AefvvZ9TComMXWhCVlCFnTlLWr2GehuMMfJM4EGkIulPB0n9GPKLcVIV2yero0-Ftdq76hT3lrBskXClfRldUZ24V7quwNn0m-3lxkL0J83I46qEO1s3s7flRzyoquSxvQPuLdzQEbQN2WJTfN645j4IigHxdrgGw5-1jAeYgWDvYhCS3w_qB3LCIwdxJmGdavhqmoNuudpVcx4bcki8chCuyWi4se3aMd7seCEJyarlzgrNATzIJyEytX99LrWBVWZS8ywzUtXTu7v2k6w9-yzoXUsdvTV9GPYZkuwxVgzD9b55sXJWSf_dPjeRwQCvCDafAhfnVq4jocfHf5Jds4Y1v9_8-IR5_d9iG1_eyTzc156XZE7xRYA6qSwYlDTOGkYsw9Z1vnHJR6Kbp1bJj8DEvLf4p1Z1qiVSvxLflrS5feIQdqJLKgesUobIfZPq5MykCfH9eIQnSEmbS1h197AmgfLAaE1JE3FOVN5wCg==",
  "id": "rs_02830c7bf8f36af4016ab4517fe9ac87d0854c4c6546a7db56",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.05,\"left_z\":0.22},\"note\":\"The arm failed to track the diagonal move and remains low in the pile, likely because the long sideways path was blocked by nearby plush toys. I’ll first extract straight back and high into free space before making a fresh approach.\"}",
  "call_id": "call_Qpx4qu3awFd9zjeqtz4Zn3HK",
  "id": "fc_02830c7bf8f36af4016ab45181012887d0b5817943ebf182a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Qpx4qu3awFd9zjeqtz4Zn3HK",
  "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]: [-0.5278, 0.7006, 0.7361, -0.6781, -0.4503, -0.3531, 0.998, -0.0147, 0.8089, 0.6075, -0.392, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2517 left_y=-0.0536 left_z=0.2137 left_yaw=0.0231 left_pitch=-0.0079 left_roll=-0.0219 left_gripper=0.998 right_x=0.2945 right_y=0.0014 right_z=0.175 right_yaw=0.0 right_pitch=-0.0313 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -0.1709, 9.265, 1.4628, -0.3297, -0.0708, -0.0659, -0.1573, -1.7162, 7.159, 1.8291, -0.0317, -0.0611, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba01d0ff9e73b15a45046455ee09429f49fe947a1a137532aa2e18f06ec3c750",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:245081a7d571d32226e72dd7d0137164bfda95c22297a0b33b906820c6813625",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21458ded66485232109238180f8878436cbef01a206724b7abf428ba82422dd6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 3.964 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]: [-0.5053, 1.4311, 0.5213, 0.1436, -0.4179, -0.3397, 0.0103, -0.0147, 0.8024, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3409 left_y=-0.1025 left_z=0.0565 left_yaw=0.0167 left_pitch=-0.125 left_roll=0.0342 left_gripper=0.0103 right_x=0.2952 right_y=0.0014 right_z=0.1787 right_yaw=-0.0002 right_pitch=-0.0168 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -5.2718, 5.9692, 1.5018, -0.2125, -0.0024, 0.7546, -0.3761, -1.306, 7.0359, 1.7265, -0.0171, -0.0659, -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 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]: [-0.4229, 1.5509, 0.4427, 0.4904, -0.3805, -0.2836, 0.9985, -0.0147, 0.8043, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3646 left_y=-0.0882 left_z=0.048 left_yaw=0.0343 left_pitch=-0.0059 left_roll=-0.0113 left_gripper=0.9985 right_x=0.2953 right_y=0.0014 right_z=0.1782 right_yaw=-0.0002 right_pitch=-0.0187 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -6.5436, 4.6564, 1.6435, -0.105, 0.0904, -0.1685, -0.2667, -1.0872, 7.0359, 1.7363, -0.0171, -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 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]: [-0.5278, 0.7006, 0.7361, -0.6781, -0.4503, -0.3531, 0.998, -0.0147, 0.8089, 0.6075, -0.392, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2517 left_y=-0.0536 left_z=0.2137 left_yaw=0.0231 left_pitch=-0.0079 left_roll=-0.0219 left_gripper=0.998 right_x=0.2945 right_y=0.0014 right_z=0.175 right_yaw=0.0 right_pitch=-0.0313 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -0.1709, 9.265, 1.4628, -0.3297, -0.0708, -0.0659, -0.1573, -1.7162, 7.159, 1.8291, -0.0317, -0.0611, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba01d0ff9e73b15a45046455ee09429f49fe947a1a137532aa2e18f06ec3c750",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:245081a7d571d32226e72dd7d0137164bfda95c22297a0b33b906820c6813625",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21458ded66485232109238180f8878436cbef01a206724b7abf428ba82422dd6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFGJVHGlalkGt_D3ihwIwTacjb16eXpP08fBr9uJjyKZPUiQA2SAlgDOixH-5wZyVFtmiCbBedpH-pDnaSC5LOuQtmleKfEr3_JcOmTTtcMncm49wP7V8n7Dyramm0K9KNMvZs2xCEirhjmG3nzSN1wjgPnZkoF_wH6jHQNCf7WsESw03vBWO1Hrcg19HP8xJbw5HuC_KF5a0PZuPQOtKUPvY2LYDj55A92txsuTFASRj7nReDuI03pEozYn0hSUkg_ul9SjErQ_sha4R0G11oIi2B09Js_8az9sKZD2P9iiG6bazS5T5osdgbgQ68OqSmD-rX4Fe8qecgGCWVyni5cSa8EG4PK2b_D1Z7nmcOg_qN_38FvizEKJqnXnIhmuiNVABOF_ydfXHYsySePYetM2UK52w-nztHiz7ivU1oiOiAOR2TtsuBwaKZs9VgGsnEFBNrtYZIQGDhibpGMOMdzxSJuvaitf_fCvILJF_nDWkvIxPHayBg_0GdkVzpN1iefw4BC8pCuP0eRiwzOa5ySh305_VCicUvLrp8cheilkLQmqyWT2ALbZG0zIIuD6fsxW9Sh6inUOVp3rGZX5EMJGUodI8iy79EK6JfHbw9qaJCJlbTBrMc-weDiwIYz5-XmqggnY8MOG0iBcMFZeXbsHKBfEd_IRpCzkMpUHKK4Yap3CkQOdtabX1HyMheZs1SJsDLBYvrKt8G3tfhkgJ_GnmSyNeOTH_T8cCmc6uekIE9nyTBifRy8tSU_HUCdp2opja5-BwMUrUfMvGgEiSX5RQCNRNBCOiVLI6v7jTKwjecEAPOmqOzXR8NV3RS2AiYKWJMXwE-UtQJJeK9Sw-wpf_L3dSAz_vVBu-CB-ZQiqF1q2y9wonFuEk8aajOsHcIJt1MZHwqKsuDC20G7_KZh_bgVUW8sW5hxSW2_BpNA5YH8_4pQjp6q8WS67NGQd8A2OqggHq0bGISFQfu5uzsZusjYoruJMk92qArvkErXmiiICy41yfmTJmIKC9NEA5LiMqT0CjCgnIikQhiOJsNu4VF1uqOJNyg38NbI2vkRQIN1ZGDCvwPKEtF2XuIdxaZDxtpAmGq2F8Mf8A_Fp-nt3cB_TJbFP3lfVCP9gpfmfWjAJamIjSJAmla0t0IugB7Up2CGnk3sx5EjgSLMWpztkypaDOm6ejQxpaFMGkR7xsjutDIJpuN5t2aJPtqr4Vb5a32BRSWb7Q_cSd_hVgvg_GVCRR8hMf2q76ITEWjnnDp1P5cTizPJP6GxEUcdXi03b3i-2cO28VldCguGxlO7Io2_9i5XLgwHzB6QwbiYQfYlzeMfJtOKLl0l4hiCTam2gVdQQNvEXqEtjUSD5qoHXM-VxHBfpPavTk_CxhCJ9fy2s3O9estMVF3j2Z3sLGOCt2gISYABTNstW7svpB_Jwsxd1hEp8exL-ujZBl5IANvwwCkY4Bt3vax_EWhTW_1YachuZefsM3bWYRxHLfVONRk0cYKU67jSgtQEGQ_--1fVV_lK0rlmVJ3ck9pqWLFSSIMLEBSKkmZPQAip5QDmmcRNgiIKkP9yPGB7uLKBFK-_ko_XGKtHUT4VMSLvL66ugrWFKLmBCJZIfyvDw3zIeG5tECNhICH7C-9C4u5a9ziomo7YieQX_UPX8F2I9lI2sIDdNPoROfcOLMMH0ojmO5Irgoo5ZdoSpafOcmSk_XdLvl-hzRy6k3qkMNzFSPhlKx-KMzdAY2woWuYcSlgxJ-zjt5BHEMNrkZH0X9XwlFziPjPRD_pPGb-HbU826xNp3nvTId1UPFrtYc6m6jZ1YBWUA1QyuJL2iV3opqf3Fum0VcsX5VGFSfaP20cgsVqfY64vdzKCzGBohqxYuc9cDVF1Z_cB319Xw8KyC1CuMfkaM8lZKlroeLKOfvaFOhpqEeYoF3yXscy2OCnzdoY38HSnML0uD58dcYcBnEPS56giKi-CpC6hUmrLh7Js3IPl3WRESaOQfc4zTAFADAdXWphYAZoOCttfZ4-znYWcPqWexsfEIGJfUoBN47sGkioe3SQjA_JPdNolzA9AVBR45CcxeMv86yuL-xPL-ynE1fH4=",
  "id": "rs_02830c7bf8f36af4016ab45186829887d093ca140b98575b7f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":0.0,\"left_z\":0.12},\"note\":\"From the extracted wrist view, the three gray rabbits are clearly on the left and the cream/brown dogs are on the right. The nearest rabbit is about 5 cm left of the jaw column and at nearly the correct radial depth, so I’ll shift left and descend above it.\"}",
  "call_id": "call_lfzgzm0y4bpjtZ05SKxAYiPW",
  "id": "fc_02830c7bf8f36af4016ab451883de087d0abce7627fe77e2b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lfzgzm0y4bpjtZ05SKxAYiPW",
  "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]: [-0.049, 0.6609, 0.3363, -0.281, -0.0666, -0.0853, 0.9979, -0.0147, 0.8101, 0.6075, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.266 left_y=0.0023 left_z=0.1127 left_yaw=0.0401 left_pitch=-0.0421 left_roll=-0.0226 left_gripper=0.9979 right_x=0.2945 right_y=0.0014 right_z=0.1745 right_yaw=-0.0002 right_pitch=-0.0332 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -0.7043, 7.2, 1.8877, 0.022, 0.0904, -0.0269, -0.0752, -1.4291, 7.0222, 1.7314, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9faf4c9bcaf68eca615fe5eb53ccb5e2a9c5ce733c22d7738eea91a30c821f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:548644f9d1f6fd9502706a8218de1e9a2f3a5fa5989bf382a1f8eb75309ea4cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0b86cce627c233a243c6cd4f45a8c7eff986f71cf718e6ecf838a1ef882f1a2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 2.648 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]: [-0.5091, 1.6466, 0.4465, 0.5632, -0.4412, -0.3218, 0.9986, -0.0147, 0.8024, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3612 left_y=-0.1111 left_z=0.0321 left_yaw=0.0177 left_pitch=-0.0058 left_roll=-0.0031 left_gripper=0.9986 right_x=0.2952 right_y=0.0014 right_z=0.1787 right_yaw=-0.0002 right_pitch=-0.0168 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -3.7128, 2.7145, 0.8718, 0.0464, -0.2369, -0.1685, -0.1709, -1.0872, 7.0359, 1.7411, -0.0513, -0.0659, -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 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]: [-0.5278, 0.7006, 0.7361, -0.6781, -0.4503, -0.3531, 0.998, -0.0147, 0.8089, 0.6075, -0.392, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2517 left_y=-0.0536 left_z=0.2137 left_yaw=0.0231 left_pitch=-0.0079 left_roll=-0.0219 left_gripper=0.998 right_x=0.2945 right_y=0.0014 right_z=0.175 right_yaw=0.0 right_pitch=-0.0313 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -0.1709, 9.265, 1.4628, -0.3297, -0.0708, -0.0659, -0.1573, -1.7162, 7.159, 1.8291, -0.0317, -0.0611, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.049, 0.6609, 0.3363, -0.281, -0.0666, -0.0853, 0.9979, -0.0147, 0.8101, 0.6075, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.266 left_y=0.0023 left_z=0.1127 left_yaw=0.0401 left_pitch=-0.0421 left_roll=-0.0226 left_gripper=0.9979 right_x=0.2945 right_y=0.0014 right_z=0.1745 right_yaw=-0.0002 right_pitch=-0.0332 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -0.7043, 7.2, 1.8877, 0.022, 0.0904, -0.0269, -0.0752, -1.4291, 7.0222, 1.7314, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9faf4c9bcaf68eca615fe5eb53ccb5e2a9c5ce733c22d7738eea91a30c821f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:548644f9d1f6fd9502706a8218de1e9a2f3a5fa5989bf382a1f8eb75309ea4cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0b86cce627c233a243c6cd4f45a8c7eff986f71cf718e6ecf838a1ef882f1a2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFGPncnX-NWIC9BR8LTwkUXvwcdvM0rSx8075f7AAbgwbDOiOCoIxpjqU0sxSTJ5CY-T9IEnHxQC2xWeZ5SeZQNqfuVE8eQzjsLNc9IfCLtgm6j26B4XXdFPWZE_nh8_hY76xde6dLT9X8MPupLM9EyKP2C7koJ2KxiO4vk8X8ufBw7bWg1ad9Ck88HTHR-YMOqUPPGIgZv6uBuO7cq8lMLILjhxHSfIzs_gcqRWjK82_5zQmidjL3h20f1Fo1_A6ryyYRGgC9hzkPk-FZt_bGmCaR85qNoDY9ZrEkEAupF5Ujudh0p9wTkYT7CupcH7QxNW8sfnZVk17_W0o3FFXKVhY3oTD8Ci4lxVY8hJLuWnUckc-6Hymty1b-cNTLzSAaVY5MV4HYgc_87PppIOSRFvDL1CcQLxfNqeogJlhoZSvlEjmBNj03r0v6C11fgSMpeB3kgExlP2dFCqW5nHJUvB6pXkX0diUS5-S2DKb44Oc4D5Yeqy4vUvy2lfhAkFEPivEwjJq6uDXT_xvPd4AzDSx3AHIUGMA7SZAwl5nekuyuWuWEsFd0BJZBuyMAe3lbs46czoZRoFSj6f8D91bNc4ggYQwy1QNXPl-URzck-O9wJaRyNFL_QaGlJ0kRAEVnOIRDEdnW76FuoW64GvDDXt5EtWFcMAUjzmDzTk8Y3SnmQvANSlF0oILx8fXRhvc5oVNIAmc65zgdG_dO1GXbWMrCY_XzBuHw55Yn45TRsBMe3Bjnq_WSBbTy541uzL3zzf-zM-lHT8W2QN09VwCo02lC8wFna89kN3Vb5wy_OYZGuFxCvTUxiItqg46jRbri3BtD81mIn5q9XqRNSwOk5veiOGEud7Rnyro2MnWg4ioC8ttg904zhrc_i1TVRtO_mYttzpNjmlOdvH-LqHF2oeoge8oGkG2oENFTQC5uIm2dehuf5DpPe-TCA2LhmDGAhRHgKYLoOCIiiyzKDROVOw_F3i4ssocb3lGFyXUnr2ais3IGi9o6nCQL2sVYq3jVn9cYQ-HequzoQkutnqCMW7HiSgRlouwTVV32HBMxH5_wQ5qNeNQn1-T3ITXzNkFafVdO_WT6MuPJ11cyLC5NFBn7gCRX8_9_gxrkkX8zbrIS5Qa-IDLYg8xmZNrBxcIxZ1S9i0NTj94FCcNEsF3GTMKhGB--mpRoCENa5MEpZ3vyum2UWqOKK2WJleAMlhKHzgVpeC0cUyyqMCD7h_CFKR9QezvZGFTUGHs45R3D9vwK-krCZDRFhb-eDq0CYEVEdz9MTqBG-tkdCEDCofdicXvH7mYnXUPwRvPo6dK7zLPFn4lW65sslpBkAiHbymyNudqbfNm3hn0zM6fBg4G-7HlPDGcb3aE-Y-ERwr08l3qqxLJAcgLSgtc7f-wKsZVlMla3y0vwUj56kOPULhCNfaag6bG3lBUmolFE2lub10SHecwOH7dX-aLaGFjAmudXRs4IwshIVjS0I1EF38Li4QwzOs9sSXG19QtT-LF4rh2c0wCitXDzI9JUf2AKrrLekQtqLJlF3yT1sZfD3WwBbMuBKrgnRXN6vJ-MWFZ0O8s5UVD_IQB_uCemyEePD4mS2JFDRz8cUFREaMZctzgOUm0zeK51F6Wa7iatQCRWOIInJEgnlcAuBzEAIpPj3gKd8ndCBUXfHIYjPs17l8pS__JQZZ_XZQaZlsUOFNNiZ9zV-uIj27Lt8fqE0YwCN1wV11BWoYBudAMlZBswR8xxt501RNoeLqAOnZP3ryz_NbEVtEtFhdWyAh2Y2C5shyQiSUTTbT3GTGBSYTxUI-xNbHta0PgjgBqyS1ngp_Zo-vMzLizlef_geCZdw6TBgsSrgUTmgLUS5NEVoI5aI1M0c-XxhOYEeRg50dDZgN5KpAPKY=",
  "id": "rs_02830c7bf8f36af4016ab4518ce19887d09bfe88ab254a8439",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":0.045,\"left_z\":0.03},\"note\":\"The move confirms the target is a gray rabbit, but its broad torso is still left of the jaw column; there is room to move another 4 cm toward the outer edge. I’ll make that lateral correction and descend to the rabbit’s low body height.\"}",
  "call_id": "call_UVbimZBBB9HoCke8aMAun29W",
  "id": "fc_02830c7bf8f36af4016ab4518e5b1487d0b5d76422ff6e8548",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UVbimZBBB9HoCke8aMAun29W",
  "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]: [0.2962, 0.9932, 0.083, 0.3889, 0.1841, 0.12, 0.9978, -0.0143, 0.8127, 0.6067, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2811 left_y=0.0557 left_z=0.0553 left_yaw=0.0639 left_pitch=0.05 left_roll=0.0243 left_gripper=0.9978 right_x=0.2946 right_y=0.0015 right_z=0.1734 right_yaw=0.0002 right_pitch=-0.0366 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -0.6222, 3.9179, 1.1502, 0.3248, -0.1392, -0.0171, -0.1299, -1.5932, 7.4051, 1.7363, -0.0317, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f7b40592e8b968e55e6afd53e237e6f016bdabd6c96c426e7fe79d0d01233a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38287b928cf1f2e157e9fbd63a19a2a72e139122f09829aaf58c3bd1f95d4824",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1c36b37953266fa67c9ac5eb62f605e5c49ec75727b0b80ba98f5a27e405468",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 4.862 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]: [-0.4229, 1.5509, 0.4427, 0.4904, -0.3805, -0.2836, 0.9985, -0.0147, 0.8043, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3646 left_y=-0.0882 left_z=0.048 left_yaw=0.0343 left_pitch=-0.0059 left_roll=-0.0113 left_gripper=0.9985 right_x=0.2953 right_y=0.0014 right_z=0.1782 right_yaw=-0.0002 right_pitch=-0.0187 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -6.5436, 4.6564, 1.6435, -0.105, 0.0904, -0.1685, -0.2667, -1.0872, 7.0359, 1.7363, -0.0171, -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 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]: [-0.049, 0.6609, 0.3363, -0.281, -0.0666, -0.0853, 0.9979, -0.0147, 0.8101, 0.6075, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.266 left_y=0.0023 left_z=0.1127 left_yaw=0.0401 left_pitch=-0.0421 left_roll=-0.0226 left_gripper=0.9979 right_x=0.2945 right_y=0.0014 right_z=0.1745 right_yaw=-0.0002 right_pitch=-0.0332 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -0.7043, 7.2, 1.8877, 0.022, 0.0904, -0.0269, -0.0752, -1.4291, 7.0222, 1.7314, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2962, 0.9932, 0.083, 0.3889, 0.1841, 0.12, 0.9978, -0.0143, 0.8127, 0.6067, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2811 left_y=0.0557 left_z=0.0553 left_yaw=0.0639 left_pitch=0.05 left_roll=0.0243 left_gripper=0.9978 right_x=0.2946 right_y=0.0015 right_z=0.1734 right_yaw=0.0002 right_pitch=-0.0366 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -0.6222, 3.9179, 1.1502, 0.3248, -0.1392, -0.0171, -0.1299, -1.5932, 7.4051, 1.7363, -0.0317, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f7b40592e8b968e55e6afd53e237e6f016bdabd6c96c426e7fe79d0d01233a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38287b928cf1f2e157e9fbd63a19a2a72e139122f09829aaf58c3bd1f95d4824",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1c36b37953266fa67c9ac5eb62f605e5c49ec75727b0b80ba98f5a27e405468",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFGU0gGLGPET-EhvApus5Q3yRvcZTWO1TiWs-YxfWN9VRrmt4Vav_7FiUf2Pt6PAYHX15khhhbfUzb7hSazSfU0Uxxe1HbR2iVhVVpD58saMFb5Eb2NQZdL3V2iUiyE0mWJkKX_IYmIL_XS3iqrVS3onAI882QnqX6KXFSftAzrMK_k1g1Fo_4HH5wXH7Cq5d6F_VQBCmfrr4FPZsLOvF7fi3dv2nTdVi0VsY8Q8v-Q3GOS_175RVaJO27PIZIFihKX3qkzKGba_p8Ab7pMg7Y--IiBxfNTNoHkUiSb3RRNrRSL1ZKCShpmkVaL8hb1yJb1ThZGdMOrtcfKMfF5VKYWN0Nu0iQOf7euQa_57aYmVWDjIRswZmkDaXX5c3nQBvYJzFO2LRokYHbEFbbCfCM6R6WBjtTlmiRgF_G_J-JleRwG4uCsXuUWA1WxyMsm5c5o8MWRUyJRKd3VzIhZZeduHiZVTlbcF_gQ2VQO3nipoCp-SAkFRWWoG26XIvi4YMA_lRv_P6bc4jcIjY2RROFzGlpKVH0Li4mQKhWFYS8V3OeaE_h1KvWbUG-yVTA7bhfKT4UAAZ_Gwb1VvonPR1jfVR_7yrKmhlepOAgXW_ho5Crk750FK2N8K9lTxr-pGTz55REPNKiDGsfiVwlciu0oRz6EutwHzrGFleKtvecWSwvyduhD37kNdGMeQqoVZZpsf2_bA8v799UlovEelL9KZego4u3UTfsdYrUcEoSm-j5nKk-9M8KkbGjyKL-MFOQjDTa0i46dXpZ8JP_Gspcap9zQ6woyLggyg-kVElHIrNwlsyEp8MG_mT98QgtVnVKLwpfZHp8CNOA2xekoCpVNHxpdCUnTbPRw83ZEqmUT1chFRjWqxCwSWkaXkqkZ2O-gzHBplfbEZd0CZjP9ZjB28jxLwJZygtM7TR9f30xPB6_earqx2QuXAjr4ajXqA5PayCjOaGHBs2R1jOyriHzWwuaRbu8vauL68S4JQaqpUW1FMUYtrRD2KPWyK3Z_9QtH41OfbN59MXNWfADg1P4Mkp0oZrcO33qYJMXHRO-XRaokWhKSAI3U8lXfuEEfdWjoDB7ilAu3A7-MSdbm6JB9fzjLm9BB_10qIdd27Xzpe3MldAuRyJl1SuL_u8cN0e3PrAELhOLIuqS11OuH9noQYjJB6XfMbkfq2zm0Ew56k8v0SPRjgVKtNP-T4SpVNX7YZ3mu3Uo_jo6JxjPqLGcDpmY4z-jZxBP7IWUmycrPYAcjO2a1zr0bl6GhJu6yqPaKD9K5U5wQmxyXY4CCYp1IDqD0-0NeaGdnGAT3PYd9jggdX2wiz303JTRVucaPjN5lRIQO5e5PnwSAcHoTKvQKeh2S8lTeds3As4yEb75HU8gEFs8MphPZN4x2VvzO7zLCmaLAdVAfZFLTg8dxSOfAOiIw8xIMlPNoDwhUOb1DfG8_-SBN-NaPLhkdwen0mevNJIfny1PkJvrh5rAZuEb03kXNn4ViJbk8LYE8rxydJ0_MQyHMz1UmneOjAZfYfNaMR",
  "id": "rs_02830c7bf8f36af4016ab451932a3887d08b15b0ae990fa876",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The rabbit’s torso now fills the space between the fingers, and the descent stopped at 5.5 cm from contact with the plush. I’ll close around its body.\"}",
  "call_id": "call_qpztpqNCAMggu7P0xaz2RaoK",
  "id": "fc_02830c7bf8f36af4016ab4519408f087d0978d12523c20f108",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qpztpqNCAMggu7P0xaz2RaoK",
  "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]: [0.2527, 0.9733, 0.0933, 0.4252, 0.1425, 0.0971, 0.017, -0.0147, 0.8127, 0.6067, -0.3923, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2901 left_y=0.0527 left_z=0.0722 left_yaw=0.0667 left_pitch=0.1114 left_roll=0.0369 left_gripper=0.017 right_x=0.2946 right_y=0.0013 right_z=0.1735 right_yaw=-0.0005 right_pitch=-0.0362 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -1.1556, 4.8889, 1.3895, 0.0464, 0.0171, 1.033, -0.1983, -1.2786, 7.0359, 1.7363, -0.0366, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70118c19f074f1a58d86695c7c698f9149213b25e8a60bfd9635490309df396c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c78ec9839af2e40d231a739dd233220e5e1f48c1b71645f6c5cceaa2b7ba2e5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ed242855e5c8c2e6fe4d0846a9ad7a2ec0320c728dce53318b1d62da2cd1459",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 2.241 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]: [-0.5278, 0.7006, 0.7361, -0.6781, -0.4503, -0.3531, 0.998, -0.0147, 0.8089, 0.6075, -0.392, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2517 left_y=-0.0536 left_z=0.2137 left_yaw=0.0231 left_pitch=-0.0079 left_roll=-0.0219 left_gripper=0.998 right_x=0.2945 right_y=0.0014 right_z=0.175 right_yaw=0.0 right_pitch=-0.0313 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -0.1709, 9.265, 1.4628, -0.3297, -0.0708, -0.0659, -0.1573, -1.7162, 7.159, 1.8291, -0.0317, -0.0611, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [0.2962, 0.9932, 0.083, 0.3889, 0.1841, 0.12, 0.9978, -0.0143, 0.8127, 0.6067, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2811 left_y=0.0557 left_z=0.0553 left_yaw=0.0639 left_pitch=0.05 left_roll=0.0243 left_gripper=0.9978 right_x=0.2946 right_y=0.0015 right_z=0.1734 right_yaw=0.0002 right_pitch=-0.0366 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -0.6222, 3.9179, 1.1502, 0.3248, -0.1392, -0.0171, -0.1299, -1.5932, 7.4051, 1.7363, -0.0317, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2527, 0.9733, 0.0933, 0.4252, 0.1425, 0.0971, 0.017, -0.0147, 0.8127, 0.6067, -0.3923, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2901 left_y=0.0527 left_z=0.0722 left_yaw=0.0667 left_pitch=0.1114 left_roll=0.0369 left_gripper=0.017 right_x=0.2946 right_y=0.0013 right_z=0.1735 right_yaw=-0.0005 right_pitch=-0.0362 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -1.1556, 4.8889, 1.3895, 0.0464, 0.0171, 1.033, -0.1983, -1.2786, 7.0359, 1.7363, -0.0366, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70118c19f074f1a58d86695c7c698f9149213b25e8a60bfd9635490309df396c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c78ec9839af2e40d231a739dd233220e5e1f48c1b71645f6c5cceaa2b7ba2e5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ed242855e5c8c2e6fe4d0846a9ad7a2ec0320c728dce53318b1d62da2cd1459",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFGeS_bxvFkWfJ4DsoxFUtOXlbRMBQB2Avp7VHrZ1YkbiIm4lKqypKIiCPB4nfyIshAjNZYwxFK87f3WLpEtVsK1lsY-J9SH7bJJoxqyo-f5uK3SzoIB-liuxgDNbDvF3cXTztU4BnBbaowSjHD_Fw1HkNOWKWxHtyml8Vap24UQxEuPvVBTGXW659wip-02M-JurzNdgDrYG3IyaS51bVSaOsRMpDCFTOCh4cFGF2RL6li2gBzS_4RLIr3jltnisExzTJLHevOs8GNpHPaCk8FymhFvlcVpLnQceF599r3HA-MmAslzXpoxD6ZoSvfj2g1Iwaua5HOZkmkFvUkugFgVXi_V0ZlTBOZ21lw_J4DO43SgYnFS6GnjlS9Fe_3PWB5GwubSZ6bKkce0MXfkzevQhILXeB3SzCBkqJj-2OmDykI4giPpxxGqU4FZ6dM4Ebwjkqfl1vJEFw4sO6UT59f2rT08uuMOA6AsEpZ1nhdQkEPWQqt_JWMM4msYsjwaj6FEc2cmpGbB41aCS4AO-IKn1YL0WE_lTOzjp297mrR2jfhg6draDD6lv_Do5XRLWQ_Wtt9i_Y9FXEw0NvKk_I8uVzEMFM6uoU8FzXdpukWl1Qb8qbNprxELSDK0z_79QqeGIQiiwPEnkIwpMvbo8w3ZCZ6YxESGqOBJ_5pFXpaCRfO0zbDAUJhqEicADFsjmf9u3pUrExRczWmxGzkhZVrkQhNXaR-ppHN1EYqNbe4UlXWF6W2_H_k59xsNMVjJ__VdZbYk6GTTImYsZZcej0RjG45qBVWPQeVwZ0_bA_77U9MEFpeRCxnWstya-6Bq3wIiadaSwrEvdik4ffpyo0NGogCArBfVaU1Yf99pKVjTJTFCr2LLMtd8tkvz2L_oJK6AwL3Fgs9cP0cS8G-r2VgcgfCGar5Txa2HvkY2zdOd_0bt0R0G2vpo-dmKUQPfNCNOJeQitLFRUnYTpo3wPtpL7Bnxrv8IQ9b7Wuh4hQs0IfJYAxEvksN_JK7ceo1yeyrMYQWg3vq1EW7MX-a-LL7mTD8pAzVS5IqdbKSfT3g50s727H3jJ5RNzuAJE7Tm2jXFrdYD4NUEcssJNbIWj1fF_gn9X0tuXn2T-KBKQ_Q0Dsfpmj1pTqku8KWhZ_pxBrMgr-PBsIjBnAASGjdEOf_7R5bzK7v8T_NPKun8TaWf3FAUFvZ4fvnhFhLptBeN08VuB-htR7-uG7xM7Vj5mi__2ioWqMJqJAGN620vSUyHFarG2Dshi_xZUGVkCn3NMkSPUB9xH9m9Ji-3Sa-0J2ULQimELN1i89GoPFIaumgaAk0XtSNwvz8t-Ptz2Nkg5Fon5kXICEBxQ6nmzPTMVDMBUf5XxMz0WNBF493O5V7dXV-WwYsyh_t63dR2p2o9JK_exSOFU0BFtDHt4IN77eYoDoW6GqNs02LVlQ7yicEGT2c4w6G7PBK0zW8DkalQaN1sN8Re4sSKo3PNBQL2BguC-cKazCuaUwv6KnD_91cmAd0KgCJiIMqNyHnYbPWdTzF4BmsJ6qm9k0xNYFvkJFbskjt5j9Co7pagQbqo0RDL-bz7WZXP7ymo2Gm-mIupKWnD8lyRTr6wb57tD5gSK-KncQvit6MFHyhfYdickB1XKznV2Qzi5E6c1o0-7u1NfCk_hmsILIQIKCoPOs3DQo0klPLgwSM9zknKDTiDLfr-C0RnmGj72PXGnXlGJ7Bc1CtHTv2Jej_jciPbK6tNp4xJza-1ngxywuURw6l_ILlV8VlK5Z_FgEofHMuCrMTiK6kFRzclwS2EcsMjkt8cFDMRjjo0l4-ODqn1zfOLgSMqg3SH2R0wmh8TZOwPwG-bzMFne6NEkMdLEKi8nsXnMzloXyRXL66MU_3pcSwBpdGFkDObZm4jZOWatbxJT_82OSiwMTaT3NBmXjtgWhkLT-weg_6r1ck9oh261dh4PhwZJfutuzbTfDTpW4fVUCp9SUiIOtQGy44mYNYB4o3LortIvDfnLX5ubiqJTKun6aivV_7ltlCruxHdioJ6rLPnjuaGmOPG4lc0Yr5Ao3v0STAbd548Z3rLyvK5guS-Eb-pmVowYpcwMWOkh97zWkQLG0VazL9PhQzFS2bllbXOHp1rkjLGW074HwG9mmLkzhul0lJ5s69uDm0470KmFnxMJLyQSI_upeTiUYIPbcUyDfbXlSTFga7WrW3qHUe-hmePCB3BlGDg1cicPYujMh0iX8fa3lx_hdEXSZAPZdIBnvBdxwY5V_xMrkGZ_-GB4-NOL591BDVkCh92NP4KOU6XaAd0YeWnPe84sHOUvwX76n21QohrVPM6QS4W85xXJLCf0Wf-32XGsYLi9fBmmQzZJ2vQjX8Qh-ZsiknUuTihANXBcKmVCGxFTGya7LXEi90eCcfBFMT02lxTeKbdINAUQ-vlfn-bRrV7hYLQVqB0GJGvTrK2I7nZVpURAGu2xsINbLB5qnCqcdYhHuLfQ--iSxwYuGjrtR9vOe0MDqRVCtk3PvrtWsBdWqIHtssQzRyUzzDV-g8lZVkLK8o5xM0mzLMrSger4DwZvar0XekasuiCpOoPxWqAncD8Yt-HSSnKCItAzi0LooD32EtuLiAKHQ9q",
  "id": "rs_02830c7bf8f36af4016ab4519a7ad887d0adda8083814f9c5a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_z\":0.08,\"left_gripper\":1.0},\"note\":\"The rabbit slipped out and the gripper closed nearly empty at 0.017; the jaw line is on its broad rear fur rather than a narrow body section. I’ll reopen and advance 3 cm toward the rabbit’s narrower shoulders while staying low.\"}",
  "call_id": "call_eMdP6DoNct6AK3IhCyqQGQMH",
  "id": "fc_02830c7bf8f36af4016ab4519d44c887d083ea9b3c4b1bc0c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eMdP6DoNct6AK3IhCyqQGQMH",
  "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]: [0.1936, 1.14, 0.1726, 0.5087, 0.091, 0.0696, 0.9951, -0.0147, 0.8146, 0.6067, -0.3931, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3154 left_y=0.0491 left_z=0.0754 left_yaw=0.0662 left_pitch=0.1047 left_roll=0.034 left_gripper=0.9951 right_x=0.2946 right_y=0.0014 right_z=0.1728 right_yaw=-0.0002 right_pitch=-0.0389 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -2.0308, 7.6103, 1.6874, -0.0171, 0.022, 0.0269, -0.1846, -1.388, 7.2274, 1.6874, -0.0269, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95859decc02be44fd8450b1019cef47129a68ad9a11465957ce7cc08ee655421",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8f2074344ea8a4b8bb4650f33054c343fc6a37d08806d8838908f3ff885bb90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23bb90e132eb467ce6cbe260a167d2619dfcb8736be142a95475876900826592",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 7.458 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]: [-0.049, 0.6609, 0.3363, -0.281, -0.0666, -0.0853, 0.9979, -0.0147, 0.8101, 0.6075, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.266 left_y=0.0023 left_z=0.1127 left_yaw=0.0401 left_pitch=-0.0421 left_roll=-0.0226 left_gripper=0.9979 right_x=0.2945 right_y=0.0014 right_z=0.1745 right_yaw=-0.0002 right_pitch=-0.0332 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -0.7043, 7.2, 1.8877, 0.022, 0.0904, -0.0269, -0.0752, -1.4291, 7.0222, 1.7314, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2527, 0.9733, 0.0933, 0.4252, 0.1425, 0.0971, 0.017, -0.0147, 0.8127, 0.6067, -0.3923, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2901 left_y=0.0527 left_z=0.0722 left_yaw=0.0667 left_pitch=0.1114 left_roll=0.0369 left_gripper=0.017 right_x=0.2946 right_y=0.0013 right_z=0.1735 right_yaw=-0.0005 right_pitch=-0.0362 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -1.1556, 4.8889, 1.3895, 0.0464, 0.0171, 1.033, -0.1983, -1.2786, 7.0359, 1.7363, -0.0366, -0.0415, -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 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]: [0.1936, 1.14, 0.1726, 0.5087, 0.091, 0.0696, 0.9951, -0.0147, 0.8146, 0.6067, -0.3931, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3154 left_y=0.0491 left_z=0.0754 left_yaw=0.0662 left_pitch=0.1047 left_roll=0.034 left_gripper=0.9951 right_x=0.2946 right_y=0.0014 right_z=0.1728 right_yaw=-0.0002 right_pitch=-0.0389 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -2.0308, 7.6103, 1.6874, -0.0171, 0.022, 0.0269, -0.1846, -1.388, 7.2274, 1.6874, -0.0269, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95859decc02be44fd8450b1019cef47129a68ad9a11465957ce7cc08ee655421",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8f2074344ea8a4b8bb4650f33054c343fc6a37d08806d8838908f3ff885bb90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23bb90e132eb467ce6cbe260a167d2619dfcb8736be142a95475876900826592",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFGhl_CinMY34hPhKxBsBJPXlXB3KBJPbVC072W030L9OOheAqATgNQIegBUvK0Q2YDynyCNUhpz8fHgCIzLW0VuaDszm01x_8ireyZ7JntdJyp-VmufkN5fUK8y22jLCTO_PszCC_mY085ExKd3edQ9dXMeJ5SofznGDVZKD-d5G_v_5zofcdMytIUiXX4RbXW2ifY0lIN7tj1ALsr3f1n2Q3JWyKZpeJQjzaYwrtGV4ZFMmTl48Zwo-zKi7xfFx3D8jZ--II7Xy1yJqWCrq5iuLv-JJcFjabAD9OUGaOEAlyvQy7blPWtpXCZRSzx5JhGBCy65D0poM6YukWSUtf_MiwkfbOhLpKQtnzWWxcUUoM8EhxE0hJkydSRcDvgc8y3xsf3nRLzxv8GVmnR-Cd-EnT3FknfnHQ0x8ETl3hy6UFQzlEz_DfJrcw0qhRX3-T_V8538B4POXVdO9s5yyNAlkBox6k2RvhHZ7LII-z8jQdRxzAiFKNCGI8PC1EMDusOXl1uoHZ60G4_P0yyaEdNuuG7mSAQCJB0k2ocYe75Cz-b-CtvOX6wjJMc4kmqgrcIAETqh1HXHYUJz3nDwFAwcep5C0V8Zj1Qbr0PvgWsw0YAI1edsC8czHSPGzW2tyxztwwx7wJ4cmnvYbrFildh5BXmbpgqpVYJiwHvlKzf6A6YYS3EHTW_tQcuxe2rWDXmFvSVNlEFt69vPkhZzDBHwakI1-jZQ3uO5_mkZ4mFyWITBv_HmMpU-Tg8_L7HW0iOYJBea7H1KfvihzyAj-bf0qZ3xdKzSGMa2qADXvyMSn1XK_kaxeJNcoTiqaPpTnawZgNLri2bW9xJcqbyaXlZc9-eOMLByUmBMgP3DHoNOr0pFHez9TMKSgTcWHIJqiv2ywh3C8hxO0u2dE6h-7gJukn9CmU8YVaMOSNTDiaWOgAV-NzvOHPHelvnkCuQ02qs5rjRiHYToi2aGMugW1Nqkfyij8OOlEjgVr-XwJicfEr9IEIa3TgIVReHut5hptarBz4py7P_YQ8_-p0siCATf6XNv0Umu1f2GQJO-OUYwlIo_oF5ez-EQHyLNJ-OLCdCxs1j2Rb1W1jPB6AlmxjTr4yHypvRl-dnikc3PJhjfPy6d2KbOVQfG0k1kXPRbOdB9yUZlXHkUP73AwxZS0r8d-_FGlb0jEFFCFYwEYofGyv0SoEroD3TnzYamDgaqNW69_LfRkJB6YDU1naUTfuKZ5bS5HGxOj4f0_Gis1NsXNcJSiR1c7scnJUrIm4FZ2Xt-a8Wj2veEJu72UcBGY8BoGonBjCsH_1ArR48rzH2ir4WmoeU7GIcwM6rQqcof3AXXdKXGs6cwaXEZtGcoWQtgJuqmYzN_NMYPeLrbW-5Lwq9dtkw8jsBq6aEqphXU7zc-f8QGP9Yuy2Sh6EfZ5psGS28T6N-rlKUk0tg58KezRqI=",
  "id": "rs_02830c7bf8f36af4016ab451a0661487d0a6b1bd57f1272416",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The advance has placed the rabbit’s narrower shoulder/neck section squarely between the open fingers. I’ll close here and check the settled jaw spacing.\"}",
  "call_id": "call_qRhsQpwRfaywmEImxsTPrtU2",
  "id": "fc_02830c7bf8f36af4016ab451a0dc6887d0b82e16033b0eb252",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qRhsQpwRfaywmEImxsTPrtU2",
  "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]: [0.1947, 1.1446, 0.1757, 0.5182, 0.0822, 0.0673, 0.0113, -0.0147, 0.8146, 0.6067, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3168 left_y=0.0514 left_z=0.0774 left_yaw=0.0759 left_pitch=0.1123 left_roll=0.0368 left_gripper=0.0113 right_x=0.2947 right_y=0.0014 right_z=0.173 right_yaw=-0.0002 right_pitch=-0.0382 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -3.0427, 5.6821, 1.7656, 0.0659, -0.0269, 0.9402, -0.1709, -1.1692, 7.1863, 1.7607, -0.0611, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f7e682c5df22d8075cd233cd49fccfb83f9e588a349bbcbff9b5125d6dddadc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:052905759a9ae044ecc062da42349aba1f01bd4a97a02681f9bf0bcda03e2045",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:332c972f4b55d814e3270835c448efc116aa4699f563c08d702a4f22965bea5a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 4.021 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]: [0.2962, 0.9932, 0.083, 0.3889, 0.1841, 0.12, 0.9978, -0.0143, 0.8127, 0.6067, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2811 left_y=0.0557 left_z=0.0553 left_yaw=0.0639 left_pitch=0.05 left_roll=0.0243 left_gripper=0.9978 right_x=0.2946 right_y=0.0015 right_z=0.1734 right_yaw=0.0002 right_pitch=-0.0366 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -0.6222, 3.9179, 1.1502, 0.3248, -0.1392, -0.0171, -0.1299, -1.5932, 7.4051, 1.7363, -0.0317, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1936, 1.14, 0.1726, 0.5087, 0.091, 0.0696, 0.9951, -0.0147, 0.8146, 0.6067, -0.3931, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3154 left_y=0.0491 left_z=0.0754 left_yaw=0.0662 left_pitch=0.1047 left_roll=0.034 left_gripper=0.9951 right_x=0.2946 right_y=0.0014 right_z=0.1728 right_yaw=-0.0002 right_pitch=-0.0389 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -2.0308, 7.6103, 1.6874, -0.0171, 0.022, 0.0269, -0.1846, -1.388, 7.2274, 1.6874, -0.0269, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [0.1947, 1.1446, 0.1757, 0.5182, 0.0822, 0.0673, 0.0113, -0.0147, 0.8146, 0.6067, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3168 left_y=0.0514 left_z=0.0774 left_yaw=0.0759 left_pitch=0.1123 left_roll=0.0368 left_gripper=0.0113 right_x=0.2947 right_y=0.0014 right_z=0.173 right_yaw=-0.0002 right_pitch=-0.0382 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -3.0427, 5.6821, 1.7656, 0.0659, -0.0269, 0.9402, -0.1709, -1.1692, 7.1863, 1.7607, -0.0611, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f7e682c5df22d8075cd233cd49fccfb83f9e588a349bbcbff9b5125d6dddadc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:052905759a9ae044ecc062da42349aba1f01bd4a97a02681f9bf0bcda03e2045",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:332c972f4b55d814e3270835c448efc116aa4699f563c08d702a4f22965bea5a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFGp5MPaUgtMAvzXwD3mNm0Zp4nSB8NQRbACewJe-IZ6INTJrEadeQjME0pu5uMkynOkOyS_32y556GtC1dnwYwbvUjlSBguotT6DgKr78xWFRuKjqeEpzqBj8ePH1IIfw9mipTfEvCqzCigqd7AUqEp7oWArhGfWyPCmo9MrcnL_cF0cDHbH3peatYq9Fff2hkDvt2MleRYmK0uBPIBAaWOTrBB7ZwXLDj0RyMyURZUJTH1w1wloFHW27qHM4s2dHNGOxqQqkOH_TNHAsbjaPALqqma-xLdFwnUhQeCQ0059pJdlTst4VdsWgVNeV994W7IQZrYs8IQ4-40ImM0Sk0iIUCN4x3qj8fJBJOJMIalJfpL3ZTaqLRutS5bYo4c4APV9GUFk6Mdssxl2ZDrhcemjArq4aA8CuVUgwnFktE63jUKuw5oUCrlibs_BXwc2_AQPCAhdfKFStYhwBIPtsJyVesK785n_jNrbNVnm-r72LNrTYjlXbnlXqG5cXljxS_jbuPSIiRGdIA66QI_CiUsQc2Bie6pNeAKSzTZnBCEt7guBIt_yAXRBZg7JsRutUqExpPWk9hWSoDGntcz0L2LMW_k8bvDa4c5aqrz6o7ifRdjO_EyEwnabiVDhqW7e_ei9IgAg1wQCI6drzzn_n4_edlz2HBhbM27on3t8tlqzYKPlRNTLQzY6jHRJIF_ovCuDmPGPqvg4N-TE2UuMBW8St4BiT976t8x67tC-gawTLaw_B-iDsGBQPVlnrZO_pCJmJ-iVQmlPcVtAVGrDEQd_FTQrFNJsu3sj1haD3aCpXRK1jPvxa1Qg9kMvQEheEeIze4QVI4hRAanKFGLr4pqRfPC37rzXn5p0dm3Sapcqqi5zKveZ8p37JECvE1ugDuTWWv6526oLGLbjOcZYUgKnhvarkJ5lU6OxwGYbnSyjnfQI_Zr6eyBNpCH4jujGsY2N6KRaO2vW7NNC2K47DDFtrki42SnGj3QkNXhA7nCyhyXoapd2KsuRIv5-R8W2noJhJjFdAmn6m9CEOPd6zixbjlmxYULyJU5B21ySbeJmcH49g5SckiYW3a2bYtP-rz75xyN4GGrAq2zvIQJGB9JCagcvaEkG7DlJNrYNLu_Hh-iVmv_SpPAzqaHz5LHahUsuG4LYbUwSMAiudmtjkzHAm1GiReYvv8MGDqXihg6lpe9nfy03L-jE3h6QMXrkAGvUMXnyYq2acqYO2HqXhFxVQsihdOswbmTuXMFfqcAsmeEJL8HcAfFfdZ5kul86LWqi67-uBmt9tjXkaYKpeIDBBRz33EYRlocvvzVxUdxEET3eg9lxoUCoemgdLO3U0nhKwxmrQmriAyN8drPz7lUGAJ9dQQjqusrVqmkMtAlPMKlGcbdATU9GiSJbT93i4mFgiqIN0J2s015BxqpXsemjzALzNqF3S39fDJO_atx5rFaNZyqjIy6yQMrA6mFbO4jiBbTCRy3R8ONBQp4fQ-j5tXZQwm83UTKVwpD6KQza2PDJlZ6wCAeAtUsWM3SWVUVCSxNqrHO8X_x8GzJbZrrEp5-fple7YFBfCh1qxub_4f4vDNWqEJ9lRhTXDjdYd2hWb-U9QBzwdLRiZztpzIJ-Aph-PwVX3fJ70t7wuUGR8ZDKNO75iBoyGbBp3UqyShfD6S53mJhrFH_E_F0ZMhqa7h5yIfg0hApBbJz7NL338w5075Fyj0ILD89JeyNun6ggtg1G-SsLJMXMroWoB0Vo1lupfDNwE-e4hVwcK5EEhqanPmvzijFl9DrPGmCvG1nXg3TaL_KIoDc9LJfBAWJax_MyWXhllXvVAC22Q3KubitrkVaiVSSJRcmV0II-V1u1tZd37u33MTzibilF_aUGtU5HC9Ugkbr4y7vHiGE9odEWT5USGaHpmc3Wh2BZ1s2snSdQJYUtk1Zw-8Vn-ETjAvqQfTlJTDJgStgxETB8ZdHTZn1KkImEKB-CyeuFyGKu5XUiPI649-Tw-xJEYcc1YXirCB7gD68lIDUx_rQ0WqXEsZO_51I-gOe0bMX_0JPJ1UTH-Zqxb-_TRJKg49lapZ25KEGNKzWFiX_RhtjjBbHD2_lS7cuWcq3OB2rVLZdrhTJFm13TtmcTGV3gr9hFRuT9Hd6i8bLJ8b8o-ATb1uqgQaFJ0oLRd_eJwiBkLMHS54yCoQQO4Gi40CEQVtdoUgxUDwQ3IuQ2Xw8ajf8Oi8c-TpHdIw9nkXH3nS0-K0q3hkNSRbOUuZUWXCAYYkzRBnPjoH-Cc0eTdl2P67eqF2ovk5HAAgsh6v1JRtNdD6TbkvUdVZCxtKYpurF3bhAQijCk9G9E3FAI2IbBG3sP8idHnk8fqZe5yAr7OBHR_VQaMFE0itBQdjs4UsjmPQlc385J0CEMQU_mFrGs_ePLmHOYwbE9Jiw8TXQUDtfuYQm8PsAA9Yx8gHk9Ldthu9txpu5WRricFHiCZ6ijSoW4295wcxwuDmW2utSlc0BTVXbJYWb7pGBo0ymG1lxBHUoGXEDpa2LVI48wYfbFWq6YFo_i8TB4tskcFIVEFpytgF4z7tqiquh21XVOjUxXDy__6L7oYSp-W3hOgWdjj247mn2IHXZuupxHy7Wuyjqvye6K-85hTOVFbQVKnm-TAm9IwpKREbYTEg_U4OKQ8A6vpxXYX_bsk2a6ZEFjaWVR9xRDZhuzXDVTgaXg8gQNbB3OHZPV1vgXf6erIt4faZVXA1V7o7sEil_32w5A1_xg6ahU0eRDTNA8Bq6NIXJ15u9lAxZgiaRdkai239HURtG8hvbEQs6ig1vv9RkDgyJHvosnQcHxXfcHJNtvU1OvsesSRbINPYv2_r4g6vK1s1sUrkhx97zMTFR7zBNZywEOgg1CjaRLjsgmZN_DYm30G6lG9EGopXXe5YpEtmHtl9tEBPATud6FMFpr4jYRpnvNTFUhM9m2kCSClPJrHoTA7-iPMHgwbp8wUng6NhOJefz93Uu5QJRPkM01vQGM_fhQDa-Z-___4o1kufm94AQ63XhxVFBcgkP8WtdcwQj7LsYxsOkPV7Xfwu3fHsLk6RDuPeFIO26TK6obefYC7e-gbhOjfGHJ4Vt4SA-JTXR6SDHvufzoSUoKo7q1yoY3L_VM-7fd5Q2Sojko0MvKQ6pRPmZ2C1inX5-Zj8AfZGhhgDjy0DZe1lBNVwJLeZJXjSfnq5syxyyhGsOJHxr2Co50WX8xTSN69cvBXJ5notVoNpCxIOebS2wWPYvTnYhB_gJo5e1mM9pbVGqiu_tXfAFpNvm-ggywein59YMdWpLc1Gwxv8W8pps7g_p12ePFLvOIBWxm1giU_6_aVFLjLGn4trv69uBqlU8nHRla-kFHFHPjtOWvIsT0jfiJ9o3v04NKEXzgjgyzlqDLbpYeUBMkATUH_GR-WTQuCw08x59dUR3zXRWz9W41NS0suyb3UwD1wcJ",
  "id": "rs_02830c7bf8f36af4016ab451a45cd487d09ca7acc2dd9bb6bb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":0.04,\"left_z\":0.03,\"left_gripper\":1.0},\"note\":\"The rabbit again squeezed sideways and the jaws closed empty, so its broad torso is not a stable pinch point. Its head/neck lies farther outward near the basket; I’ll reopen, advance 4 cm to that narrower section, and descend to table-level grasp height.\"}",
  "call_id": "call_DXMRTL9OWBCVmzywpzeFBDlM",
  "id": "fc_02830c7bf8f36af4016ab451a860fc87d0b351ea19272e4707",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DXMRTL9OWBCVmzywpzeFBDlM",
  "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]: [0.1009, 1.6562, 0.2352, 1.0821, -0.0139, 0.0475, 0.9951, -0.0147, 0.8185, 0.6067, -0.4007, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3688 left_y=0.0434 left_z=0.0599 left_yaw=0.0741 left_pitch=0.2216 left_roll=0.0638 left_gripper=0.9951 right_x=0.2938 right_y=0.0014 right_z=0.1702 right_yaw=-0.0002 right_pitch=-0.0504 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -3.412, 3.7675, 0.7888, 0.1587, -0.2613, -0.149, -0.0752, -1.6205, 7.0359, 1.7607, -0.0464, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dd6cd7586c02d046b38202c98b69e692d6c6f34e01167ae96fce716fed26278",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5406c1779d3b1046965f342c95e95e1f0a539ff9a7f4666fd8e9ea0947457a9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48ab5b9221547b5ecb1b449980fa88c64cb71ceacf63ba53af18339587e86e03",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 3.431 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]: [0.2527, 0.9733, 0.0933, 0.4252, 0.1425, 0.0971, 0.017, -0.0147, 0.8127, 0.6067, -0.3923, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2901 left_y=0.0527 left_z=0.0722 left_yaw=0.0667 left_pitch=0.1114 left_roll=0.0369 left_gripper=0.017 right_x=0.2946 right_y=0.0013 right_z=0.1735 right_yaw=-0.0005 right_pitch=-0.0362 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -1.1556, 4.8889, 1.3895, 0.0464, 0.0171, 1.033, -0.1983, -1.2786, 7.0359, 1.7363, -0.0366, -0.0415, -0.0171]\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]: [0.1947, 1.1446, 0.1757, 0.5182, 0.0822, 0.0673, 0.0113, -0.0147, 0.8146, 0.6067, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3168 left_y=0.0514 left_z=0.0774 left_yaw=0.0759 left_pitch=0.1123 left_roll=0.0368 left_gripper=0.0113 right_x=0.2947 right_y=0.0014 right_z=0.173 right_yaw=-0.0002 right_pitch=-0.0382 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -3.0427, 5.6821, 1.7656, 0.0659, -0.0269, 0.9402, -0.1709, -1.1692, 7.1863, 1.7607, -0.0611, -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 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]: [0.1009, 1.6562, 0.2352, 1.0821, -0.0139, 0.0475, 0.9951, -0.0147, 0.8185, 0.6067, -0.4007, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3688 left_y=0.0434 left_z=0.0599 left_yaw=0.0741 left_pitch=0.2216 left_roll=0.0638 left_gripper=0.9951 right_x=0.2938 right_y=0.0014 right_z=0.1702 right_yaw=-0.0002 right_pitch=-0.0504 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -3.412, 3.7675, 0.7888, 0.1587, -0.2613, -0.149, -0.0752, -1.6205, 7.0359, 1.7607, -0.0464, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dd6cd7586c02d046b38202c98b69e692d6c6f34e01167ae96fce716fed26278",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5406c1779d3b1046965f342c95e95e1f0a539ff9a7f4666fd8e9ea0947457a9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48ab5b9221547b5ecb1b449980fa88c64cb71ceacf63ba53af18339587e86e03",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFGx2AwOS0JrP3-jgZqy3Y7uNXuR1z4-PtojpsbekwnjR55F3eDJZKSubeYSegBCJ5zw8pS7rcajgGMPrCYrjg0WLuXRg6aoPlu1jTJQz2UV3XdlnHWb3tmP5LdqYfUxkoh6vsY5yv4NnwkQhr-oQQgO7PqmwRjGsAemn-jo4UCQTFnZnawiDsWs4SpIdMglqGt-2tjrmPaB6qZipUqQNdJLbHohppg1PClBJWM0VzNelHmMr5-7M_kR6T_FbP3mURDGWps21MHoWRJa-u5Yt2Fj9rQvArHmfber7Bwmh_gYjqub6gR0nK9IoLjZTHAz9XnskZD7OxNH-j13P4rzS819cKPsPQqitZ0ODNct6LTAWfXof1dv0yFNdoBXOl8I38a6XvWSwTKn41zd81VL-s9kjWJxfk31qhlkVaLpVqXrTuenpfScA7LMOIii-c1p2OxHKgVjka4emv-eGo6IUDb8RP40mENXBd-6c-4G9WzG-k-v_YZK7oUXzgwchNdx3P0Ht101uiCZPyMqmGS6SdSw709UpNbsJYUJ2yG_W1ZZLpzMNGfKnVhq6-oqld5dQD2B80cn3mCiOmTE3j5hTmsdDwg3JfLImnVHQaARaXbAvsaw3o0H-i_gZfLEWyufzK02yCyV1E7DriZ92qB0kIbLB2-LzuXXhz_tUoJdv7L265cW2ewfn4paPBbzy4yeaHamqtVp2Z9NiWbCx_ERWUC0prTqI1PBPJChe67ANFSLRIskYQ8R1gLquP6ZxDBJ6mYI1p-y9Z5fsmUmExG0uzVabR3_QyakGjCqB9oTJ6ST4pjdyliDgSs2A1ByXHQ8dsIU5AhcQpkX9DzdJsF0VGC8R6IDTBPxtWmLWGEU3pSFP4tzKe2R7ut0Z9anZmMchah7h0izTyib-r3vJ2X2HWKHt1b6-gzo13Tlt7hT2Iu2JyMZh5IZtBMybozWpJFYLEFS_tfGTm_Kv-twHr1P_y3fnTwb-fT0XTD3ueKIosViICmUAHOA8EkuS9wNeVK5QzpVHGUHx2Z_pTgVd1N4kMkJOCk9VZHv6Wx-tillnFvsRhVZ_xTPKGyC2mxXsDMRiQPd7bELzt6t9_t0q9gUWew1IhCebCUMF8V8f6s2SU9maDCeAvFla9t-JvreGY_gNCzkyEE-igBVA-lCvRE_Wq2jbgEkwNteFrpLcFCiMZHur5dBvKDimCBJ0Yxywd1loBphOI_PEJhokZUV4DPyagPBMArltmS_PE9QukcJd5-z92LpQbODx7FGJDvX5_ZXBLBrvaN35kViSHuzzEwshRI2moU3SUXnC7STiS0F2fvaJPefu4FGdpzpylbsuHmocMYOh27jO-Q9aYPBvcT2Yi8DoGk1cPngtrGYmLFwdHbp-1VM7oKATnTDuMDeFrVYECLj_FFLAdcnUUx2PXyers8JddRXpfU7GUDDekNc8wghweRAW8HjYws3CpucaQO6VI-_xZvb-W2SuiuOsFxiTTxXBQODtN59UzLKtnaAC0UHMBxQjkulrGs2ebGILNy4v1ulhTGB0-SnsmYi_Jc3omGwqZkB8W-lrA9j-On_iy9VNGK6ZVVGrl8GGtEzZJYsdIm6a63sYyfq3CIn3XZ5S0yRxpJzVSrAGb2OiXkJDxaLZbo6rbWctWoO7LYWvq9S-TR48w9ycyP58nARWU8isvoYSpg26Teh2hV3Ag9WhQKJDCaZZLoQXmRslYUJb8hRAyshO7qVmoWKlVjHSnTD5sHBO7SyC-0gPOGAZdY9Sir6nGnnpXH6kaoYXynCVB7AfHLLzpi5dgji3IJxWAck6WzeTcAvifWNfrwB7bgWWwqGtEOviKGWDr1ZmK2dE_ndGMl6xp3gcs1s2lS1oKkpoFf3TML9p_XFz830rklKr_Jhy4jAO7pClr6HqXWSrCpCtfJYwI96-hYGUtp7ITVvAo2yFD79OajVaiLG2NkbfrseqzZgQwDi40aA0cym9ZVDcJE9r4ERQHu35MCEumU9ark0kQdSb4FkTdzFYUt0EbaQM2XF8Ylhxe5psAEH8nJAcPsfHeGB0brHlsIK6NHYNac5qU3lfU0UPFzopvDoq8h9LfG_KNGdtzGe7KjhT8TpwLiBUWONExZ2X-Uxg_irQK1fg7F8y7yOLbEAVx3tMijwb-MUIqlK4za1MQbCOzadHJrmq_m7af3tauAp5Plrwg1MAz_yx9optvjQcysqHla82M3Fzjzxgn76-itFSTUgQXivfIP7MC44DYmwBkhlk7LRpYuWZkhy-_M0kjmGwcZKUiz2qhj-bU0OYaZLtqZqONXW_SllK8cEJhba0zBFN1DowHfLvFIZoCY1zM8Ly6APyufzvMpXCtpqEO3xQhHmgBNxry2ypA8Mo1A038hCSlis7w==",
  "id": "rs_02830c7bf8f36af4016ab451aee69c87d09a27ecdc6225446f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":0.0,\"left_z\":0.05},\"note\":\"Two rabbits are now visible: the foreground one presents an over-wide torso, while the upright rabbit beside the basket has a narrower head and shoulders to the right of the jaw column. I’ll shift right and slightly outward to center that narrower rabbit instead.\"}",
  "call_id": "call_UyQM9CaYV6Q3AtmFEkIpZojb",
  "id": "fc_02830c7bf8f36af4016ab451b097f887d0876f3fcb0851baf7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UyQM9CaYV6Q3AtmFEkIpZojb",
  "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]: [-0.0811, 1.7542, 0.2974, 1.1713, -0.1795, 0.0139, 0.9964, -0.0147, 0.8192, 0.6067, -0.408, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3914 left_y=0.0034 left_z=0.0665 left_yaw=0.0559 left_pitch=0.279 left_roll=0.0802 left_gripper=0.9964 right_x=0.2928 right_y=0.0014 right_z=0.1686 right_yaw=-0.0002 right_pitch=-0.0584 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -4.4239, 4.3829, 1.3895, 0.2711, -0.2271, 0.1197, -0.1299, -1.4154, 7.2, 1.7265, -0.0366, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c44b698fa72def7b68007f09c6917c831f3bf60bafa3a72bcc48b5178ea47a8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9ca3fe958a00a889e591ea5e185e9831199108faf8aa2725e7b82922b3bbcdd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7885d3016b99f5bf7652259598c1a6273756d95811a7b12fe1cab6aafe5fa2c4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 4.967 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]: [0.1936, 1.14, 0.1726, 0.5087, 0.091, 0.0696, 0.9951, -0.0147, 0.8146, 0.6067, -0.3931, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3154 left_y=0.0491 left_z=0.0754 left_yaw=0.0662 left_pitch=0.1047 left_roll=0.034 left_gripper=0.9951 right_x=0.2946 right_y=0.0014 right_z=0.1728 right_yaw=-0.0002 right_pitch=-0.0389 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -2.0308, 7.6103, 1.6874, -0.0171, 0.022, 0.0269, -0.1846, -1.388, 7.2274, 1.6874, -0.0269, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [0.1009, 1.6562, 0.2352, 1.0821, -0.0139, 0.0475, 0.9951, -0.0147, 0.8185, 0.6067, -0.4007, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3688 left_y=0.0434 left_z=0.0599 left_yaw=0.0741 left_pitch=0.2216 left_roll=0.0638 left_gripper=0.9951 right_x=0.2938 right_y=0.0014 right_z=0.1702 right_yaw=-0.0002 right_pitch=-0.0504 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -3.412, 3.7675, 0.7888, 0.1587, -0.2613, -0.149, -0.0752, -1.6205, 7.0359, 1.7607, -0.0464, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0811, 1.7542, 0.2974, 1.1713, -0.1795, 0.0139, 0.9964, -0.0147, 0.8192, 0.6067, -0.408, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3914 left_y=0.0034 left_z=0.0665 left_yaw=0.0559 left_pitch=0.279 left_roll=0.0802 left_gripper=0.9964 right_x=0.2928 right_y=0.0014 right_z=0.1686 right_yaw=-0.0002 right_pitch=-0.0584 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -4.4239, 4.3829, 1.3895, 0.2711, -0.2271, 0.1197, -0.1299, -1.4154, 7.2, 1.7265, -0.0366, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c44b698fa72def7b68007f09c6917c831f3bf60bafa3a72bcc48b5178ea47a8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9ca3fe958a00a889e591ea5e185e9831199108faf8aa2725e7b82922b3bbcdd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7885d3016b99f5bf7652259598c1a6273756d95811a7b12fe1cab6aafe5fa2c4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFG1YW4D5wN5FgTKGGM0eiyZvWdoNe1IbGKHtjJOsNlIwTCIHsgSk0htJJi4drU4jIphOFzWVTAeGeOpPLfzOoQo97sDb9MjlxpVIgGE9ll4bgdQBKV4raqmUR3ryTa8a4x8gzDD0z_yU1QcVDwxfOm9JdEGNoAeVQ-uHJR03MY_KXpk47Vnmz45O4DgA2mgHEEcPCvKem2P8hnmxxMOGq-5Aoff59J-_uzev2zCx0nA_BZvSah3Lacynwnp1TC31FesP3ZCubtEgqQTnCGpsV451vrkd5afwJsgPQ5ShuqgqLas3q-GS4-Lg_URMJW3O76yZZeiYQv7X8Xsry8mI603cFN9TP5SqUAPkixB54zK1XnRuVqT8pdHTiBEtZkqdeyKUeA8oYqrUSRinXpbPQ9L7xqWAZCY-8s6_VSR2AzwPRaZWGIsEw6jFUvk9lmlzN0_I7ie5bu-KhLJ2i6MMv6ombk1lTrc39XJqTtlcRLxmWEe06RAtFKSHzEJtqoIfahpf-WloNozjqYHLJ90jyayN4kuYfQ6CLiKE8SY4EggPiZyQzfH-YkDOtn91v3nppr7bJhwxB_pJc_ps9Kh1rNIocPEeAmrljsmMHxQvztmBKe2WQfihV9OYecX9Wsfo7hdf8Vnd_AU77IXI_5YDNDPJxGleM-El1hSghgGcFTQlmHTcDINKVCUxLxu5jI_sAMxEdL9Z08xILHpyCBjK3HQvlBOZtldDT9uaZcBxUtFpHSkIosCPEl9QbuGqpQVa13JO5yEVHmZX2hPyDsdn3Fy4-rWb8zFkmO1QZHs3cCWyP0Rtd41FAyM7L5m7C5aTl1tVnwSIPcXym600gS24R-inFz08oxqzWtgsaz8EdcGUcs2ZALDPaB1n0StK6Le1K7JBShvr2ac4sFfIfDKpOE3jBkZkMK7vuOmfrmkChXLQi88fM33pMTyyBnhWy2pJTM9IMZKB6sLFCwqbhsu128s3rWkXAjB7h5BqWEqg_3kQL5rsdz4v1JcFFbwqsC-CEa2-Umk45sVMVP2Ph6wtFtAeEjceW8CokQdD4RrvKOST4H78ysJoWg9Y_PwbOlASpt0Pnm8TzXiOgNviOpvVYqNI4dIGqCGhlaf8dKtPQdWFty7wxwVjkdHPc3duQhc3qNT3iTBkh6lB4-dGEmWQDH7JYWxeZ1cMWaAKcZ_l3bEIwVQofo2nuBMAVDObhSeIhE7YiQ8p7zgLti2fycEb8mjsHTt81kmgl1pKOodN8TAiWc66olDFGQQK6lLLOTToyFY1dT61J-XbieRj9lYGyoPIlxQ1nfiXMCaQEp0-u78t-detbehQOsxDaaqYuk36Ah_1sAqKC8AEPMbKc7Grx516Y5U7H2oJx2VOZvWVNpvxwqCN4D2IH6MRT7dF98b6ZnXaAKVb18m5_TiUyLa8NDKej3SJrEVKx7zJGDYIdNBsJD1qIMWaY04NEDt-hGE9TPxVlVDRFn6h7JOFH3hOi-dskvl3MeUImiDtLJRsqgiQyO2xpAXqEoqRWwwvoMoXUK3sRyyo7Jdl2JGfZLQO7bt29EUhnBbcxqi6AF_DOWEwCo3hv0Ps1wh-BoV6IgItoC7QQVn9sC6gNNIjT681ephOc0nm_Tvm3WOMCdrQ7y_5mhslzHKBC9cGhwqofDZv2cXk12HXJ_R_F2gdtes648ifvkOrc1_Mv6Rsv_7uHy5Yrz5-Bx9uWc_Hh7HoGb55ig6",
  "id": "rs_02830c7bf8f36af4016ab451b342c487d0811944daa877049a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_z\":0.02},\"note\":\"The upright rabbit’s white head is now on the jaw column, but there is still visible floor below it, meaning it is just short of the fingertips. I’ll advance 2.5 cm and lower to table level to place the fingers around its neck/shoulders.\"}",
  "call_id": "call_F8u8ZkS6d1giT983lkSNURh9",
  "id": "fc_02830c7bf8f36af4016ab451b45d1087d0ad1bc809cc3b9415",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F8u8ZkS6d1giT983lkSNURh9",
  "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]: [-0.0708, 2.0407, 0.3908, 1.4815, -0.2214, 0.0395, 0.9965, -0.0143, 0.82, 0.6048, -0.4099, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4212 left_y=0.0126 left_z=0.058 left_yaw=0.0957 left_pitch=0.3948 left_roll=0.0977 left_gripper=0.9965 right_x=0.2923 right_y=0.0015 right_z=0.1671 right_yaw=0.0002 right_pitch=-0.0629 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -4.8615, 2.0581, 0.4713, 0.4176, -0.3394, -0.0024, -0.0342, -1.3333, 7.2274, 1.7118, -0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:521a6515b28c14834a79aec7e921522ec5d23f0150604ccd56013c87ee584231",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:245c76dc8753f72fb7973ce522e736dca06b22025eece81f9eee9947897ede8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17b9a930d9087225b7f8419dc3a11d74daeaa9d8f76771ca325cf17f5210860b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 4.524 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]: [0.1947, 1.1446, 0.1757, 0.5182, 0.0822, 0.0673, 0.0113, -0.0147, 0.8146, 0.6067, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3168 left_y=0.0514 left_z=0.0774 left_yaw=0.0759 left_pitch=0.1123 left_roll=0.0368 left_gripper=0.0113 right_x=0.2947 right_y=0.0014 right_z=0.173 right_yaw=-0.0002 right_pitch=-0.0382 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -3.0427, 5.6821, 1.7656, 0.0659, -0.0269, 0.9402, -0.1709, -1.1692, 7.1863, 1.7607, -0.0611, -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 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]: [-0.0811, 1.7542, 0.2974, 1.1713, -0.1795, 0.0139, 0.9964, -0.0147, 0.8192, 0.6067, -0.408, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3914 left_y=0.0034 left_z=0.0665 left_yaw=0.0559 left_pitch=0.279 left_roll=0.0802 left_gripper=0.9964 right_x=0.2928 right_y=0.0014 right_z=0.1686 right_yaw=-0.0002 right_pitch=-0.0584 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -4.4239, 4.3829, 1.3895, 0.2711, -0.2271, 0.1197, -0.1299, -1.4154, 7.2, 1.7265, -0.0366, -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 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]: [-0.0708, 2.0407, 0.3908, 1.4815, -0.2214, 0.0395, 0.9965, -0.0143, 0.82, 0.6048, -0.4099, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4212 left_y=0.0126 left_z=0.058 left_yaw=0.0957 left_pitch=0.3948 left_roll=0.0977 left_gripper=0.9965 right_x=0.2923 right_y=0.0015 right_z=0.1671 right_yaw=0.0002 right_pitch=-0.0629 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -4.8615, 2.0581, 0.4713, 0.4176, -0.3394, -0.0024, -0.0342, -1.3333, 7.2274, 1.7118, -0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:521a6515b28c14834a79aec7e921522ec5d23f0150604ccd56013c87ee584231",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:245c76dc8753f72fb7973ce522e736dca06b22025eece81f9eee9947897ede8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17b9a930d9087225b7f8419dc3a11d74daeaa9d8f76771ca325cf17f5210860b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFG6f86NpChbw-CX54z03dHHv3gafrymT-UwOiK26SJJvX-wLq_KofE_AQ51Rv4TksEQ0VEwhr6sq8GOrnux3wssHotA_jodh2mqAuH4rkMqkrcRAO_FBIjxjmUtRkvDkdJQanTrmz_2Z1Zrxe3gdz3KSISYKJU-xvls2HYPxvpJBAh5BpnMh8Qa2-Oa3y8GtQiJi9i_VGDiF3JoSAUP4J3afKIeVhRKSNgTWsd54OUh_XXgmS_R8CQ2TrQLPx0oJ353Ini-AgPtctcB-wSp-eZwcON1EraUpAB6d0aNuW1ugaoI_b_j6heuZLF83DalBiO6SclrRKt6WMsxPxJ-1UCIQFUfAqXfI9PvKqjnB2CzpLIQ-7kcOD-d4078MW0hi97tV9GLmx07WiDUZL3Z82c0DB5mRBj9WXD2X97ZEdndcRzbBSvzw-ZLGJPG4r7FYdkUufW3so3nnByYEXAQC9ZhLfBeYQMJtzICfOhsrmrmUgzg-OUAPzXLW-zBnJKwmh4UiIdtL6VfxSijNxp7fPFCjP3KrwbBfKItE1ykIg0071czMgtAjM_OhY-lScmAjeVzwZK9ylVlocmjoFVdzuPhW8V9GDbUX_5sLjbSS7JyA8VkS74pMk9ulAFSMp8S6YURupkfJi2_LvRfgKOosvASbWEKXV1VvWekAJGHh8HOJFkvRi-4SDkWlMG5OPvSNOkXDRJcBHQkt7ND6OVZ9zjByEdl_7Vm0idc7X8HNMEO20yKa9ByCx8wW_3gE5nStcOGIaj9mCFPNALZmhm_lXCUO8sn6jPrmuvLU1wYHrLRCN6-mznMwaScird11TnU8LQBcLKv5NJghAN6hT7giFZyaxVlYHmmx0yayegFDrcftwbMt4GUBIzaY-jvbTOhriz4OxpjF9nCYgBWGhh02oiRr-jF-yMvfB2qRoEc3BJwFI_liOAUMNS31Y32HgzP1wsP6pk8vkwxVhvkYkhhl6u_Cto2-wbDeipdKe6mhwHJ0i6Bp58We24jMgHDWeVGSPMTcect-fFSJE4PlbsJozFvRnB_HgDJYZwElRes_e9ndixvrWK4egdf1IjXYoZjdeEypxH-yftPEEhdwDksHOiTAcDCoX4rLj-wECvmdaR_REmJJBcVfioqVNKsJIZSJzaH1hLYI1I4TeCmlA2XcpnlIUSJNfVIxbqIctspKjdB-GwaDXP03gQ3cjWLHk72w-JtSCScWeYNI07ATcs3buykiZsc2-Yuj-GKrfSZvo318k73EB_24u7BzgYfDjTWurQ77VWfrd-X8Kb9RyVmGgxbsaGon-hWPGhf_jOUxPGQ5efJBcMvkzkq-9WlgrG-EtJoEzAl_F_0GuvJZ85RAgID1kO0EW2rZpRFRSubedPlOiGzuyHdpMTpJU6WS38drw764Wi_BRfV5JpMz-iMP7wFGAQC2iEBOQhOGmM6oVBeByBgkJ_e7lpcAvfOHZZp09UDCC615Jg5-vZKGq0ZO9MqURAf_ZeyjFMTRhGo5NpJ8vNphZZUxZhefaVyZz5oO49zNBpRtwh3L4f94_cV_IHscfbAxZBVMPvuAgP7pvdl9MCZSBRWApa1ua0kfaR4EEJSEx3917oSOJRNDORaeKzuHh6S0xe3kmWdEffIhiBuwVtZfXkV7qrkAMiwFqecNtt_-fINrKV4yT4mPjg86aL50_AwdhfxzmlsIT-1jEHpezYgAFPhtvKn616wKtAYxPhSnrnsJyuoyTeIqdpRxBzCCWo3Km4jiMb29NHubPemtnwjiSwyCrEPG74Epa6TYotfe7eJh4ujwIU4KX9YAuMvixJUPC6NEGNism0jCZUrzCAAAGKX8Pm0EMOd4iAzV-a6Q3nE-H4hyAxTvGdL-kZpPmwCJ1cDe4GuuCyrmOSSZ9f1zvp3WbUWXrGePL-osG4As4q9TezWxQEbkh-HkisTv7srsUy_CEjkKP0_EyredapIIGhRMyzDkLf7MxKS4y1lMUwujyGPuVBUn79gEpHFkgHWztPQ8vL5a9iJHhAD4n47G54B2r2NG9aCB6JayimGjMJRfHuTBOwDmB9ZfD5V1YDljub7qJk_L2nG4Vp5EwR86urqBkKQEofBOYaYzMky-pZA57ygzHJGd6dgMFuMUiOcej7iiQ0-URCzarJyln6Gm8NlxdKwUtopFVPICKRhrR1Hn_X2sjGPv5CLxTmYSf6p21C28A61dCPF-_t_O6i0IyXWPMSGH2BfvHUpQbDwlcU4CbXGNemLjuN3EAak28Yak2VUuaLKeA5EV3YMRBZy9d-DSVU2Mp5F_tbA5frO4JEqdFXVx2BZTTjs9OYoqK6RL5O3I7Ty-qA3nCw8aP3eg4qXm4eilLDKsmQ8DnTlcFszLE0HO1L9Zr3ZFXXxRzv7BvvVFJpq38UscpzoHAPnNQRiqZ4Zgz0uCbBi-O6FIqmv1LGgIRksnNjGeRvzYTXeU-NDzNifjbUhnLrNJeo5wBbUqdUztMArgIWO98RdSv-8T2JhyR0hKIRoREKur2822scPnckmzCNJ-n_lLLO66CGAD69oYCt81ntThFpdJsgPOhMTkKRxSC79uROKoSqPpyUKIXJDkkZnkDGgUeyrXPqHSE0U7PHutnmC6erFeyII8qdjX1LeD5Clz_j-fgp3qAsM-Gq8Mqr6NI9aAHXUdgBBplNassNTtnglU0lZ8D47fvNkv4ZSK1akptkavzu3TEVCQmps3JXNJlBSSS_jn7--pi-ipBHetjK6Efl-KIeeBMt266Q7oQ_x5zzXKj8uV0RNh0KBjUyapS29FPTqCkiycmRsL2SdOE3CCPv53V_oxa_tRE61fxiTyAWTgWn54c0m4D3-VsnXV3aFv1aOIzoE4MRorb0M7kowSckyNPsRuxdJh1ItYebM6p9EmndEUxSAkI2oxX7h2DSC3okGXyE7ji54VES2yVMZVwnQyuwgooSQ5NVu5AB2X98svKsUc37RUGv1V-WsWddozgomHeXNVJI0i6UPCl1NLG8-ORjf_R49mauuO-0AHAlixumY_2UVYGk_8BCkMtonr_Q=",
  "id": "rs_02830c7bf8f36af4016ab451b6f09887d0ad35c54a7b16a147",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The descent stopped on contact at 5.8 cm, with the upright rabbit’s head and shoulders centered between the fingers and braced by the neighboring rabbit and basket. I’ll close now; the bracing should prevent another sideways escape.\"}",
  "call_id": "call_T3819HiBTdDRkKPKnBV9Gyd9",
  "id": "fc_02830c7bf8f36af4016ab451ba0a9887d0877e12f03cca7f77",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_T3819HiBTdDRkKPKnBV9Gyd9",
  "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]: [-0.0685, 2.0438, 0.3973, 1.5341, -0.2363, 0.0418, 0.0105, -0.0147, 0.8234, 0.6022, -0.4095, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4242 left_y=0.016 left_z=0.0713 left_yaw=0.1149 left_pitch=0.4503 left_roll=0.0918 left_gripper=0.0105 right_x=0.2922 right_y=0.0014 right_z=0.1651 right_yaw=-0.0002 right_pitch=-0.0687 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -7.6786, 2.0855, 1.3358, 0.1636, -0.0806, 0.8718, -0.1983, -1.6479, 7.6239, 1.7021, -0.0269, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:493ef42fefd13812b23e779d955e9d229df281ee15d6c4cd8b4746e3dcc51ba3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61a449e683d223860f01288b96e0e011c92ef82fc4fff368d08940a463e80d6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97ed6c6127e2c92572b55302a64f7e6f28f15d2f0a9a96dfd69788838984aa13",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 2.35 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]: [0.1009, 1.6562, 0.2352, 1.0821, -0.0139, 0.0475, 0.9951, -0.0147, 0.8185, 0.6067, -0.4007, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3688 left_y=0.0434 left_z=0.0599 left_yaw=0.0741 left_pitch=0.2216 left_roll=0.0638 left_gripper=0.9951 right_x=0.2938 right_y=0.0014 right_z=0.1702 right_yaw=-0.0002 right_pitch=-0.0504 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -3.412, 3.7675, 0.7888, 0.1587, -0.2613, -0.149, -0.0752, -1.6205, 7.0359, 1.7607, -0.0464, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0708, 2.0407, 0.3908, 1.4815, -0.2214, 0.0395, 0.9965, -0.0143, 0.82, 0.6048, -0.4099, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4212 left_y=0.0126 left_z=0.058 left_yaw=0.0957 left_pitch=0.3948 left_roll=0.0977 left_gripper=0.9965 right_x=0.2923 right_y=0.0015 right_z=0.1671 right_yaw=0.0002 right_pitch=-0.0629 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -4.8615, 2.0581, 0.4713, 0.4176, -0.3394, -0.0024, -0.0342, -1.3333, 7.2274, 1.7118, -0.0317, -0.0269, -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]: [-0.0685, 2.0438, 0.3973, 1.5341, -0.2363, 0.0418, 0.0105, -0.0147, 0.8234, 0.6022, -0.4095, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4242 left_y=0.016 left_z=0.0713 left_yaw=0.1149 left_pitch=0.4503 left_roll=0.0918 left_gripper=0.0105 right_x=0.2922 right_y=0.0014 right_z=0.1651 right_yaw=-0.0002 right_pitch=-0.0687 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -7.6786, 2.0855, 1.3358, 0.1636, -0.0806, 0.8718, -0.1983, -1.6479, 7.6239, 1.7021, -0.0269, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:493ef42fefd13812b23e779d955e9d229df281ee15d6c4cd8b4746e3dcc51ba3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61a449e683d223860f01288b96e0e011c92ef82fc4fff368d08940a463e80d6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97ed6c6127e2c92572b55302a64f7e6f28f15d2f0a9a96dfd69788838984aa13",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFHAAGI8Fatb238FEwBBXI0Vfj8FuqJVdyob8TzfVJDkzlSGTj3bdPfjMZGy6AL28YQYjVR-F1dFMn8i4D2hhRNt8qRuslsGrDJbkwtMggvN0Nr6UjwpgoNrtTQGyjWd2fKKUIHchU_hihxu5USHz6edpUlcCLuJCjsTy_zr0aYGyF0DkecRpVi81bmKecza47EGxxfzjaVnndSvNb0vUt2mPxGbLPqRRjrt1voRbmetZYIeFOuYIkvh_P7b2tzhEInTZL1wk1o5o1pcmq2E-XwbKNWqjdz8aNNa7ekLLD7zA4uY39cF0JxWyGVkcfn_xUDH7i9Iso18-G3vJ7YTaZIzq6OvSuE53no_8DlgZr7g3C1TZUlJWIGZ6r7gXEOCyS3cT1VXBDJk3OWMcOvsVF7yyJvelLNBWQMKHPaB55vT_xfHDRgVchXnAxcd15Bf3u-JQXQhgjELHiyqimcPMMXC8R0m_gW4O1190jk6mnnnYBzqpGrX4Cc18tgWFtSrFaAJNqrZugY3JAgjF2Czbgdsz00Gl47VPdw03wQfdBR0NqOibreYwg_rsVHiz70LJgwIjMiWQV958ZtVLIpSDvYlqIR5yCaVK2i6NjNkUu7VxSF6EAkHL_dcusQRa_FMxVQ2fovm6i6H9gW37peLY5kMcCysUSopwm7BJGpK7lh03losRC8UIpBsYjXsiGuq3KHUpO11c-HSHXQqnkeKlsydAXNizyRTDI9hbbACFKUTNbLM35dZJn5lQTThDhHAIEjbPJoY6X7vhpon6A8uPh7UyQsCuApX9ckcFuG7w5OkT3JO-RmuldJBm7mutvzSb1cLMP7IoPi8tuyYx3W_MoxRXloRB8coOdK5CObBonm5A0eVA8ns2BTiC_zSh0SHN7Jk-YMIAkf0Dib9u7svPoLKQqM0jLPgtrYZuxze4VvQVuLvyQ7jxhdGt1Y-QkxY7LAOgFKeKjKqCw3IzCeXXEw17bSoQQ8kWPXJW0nGl6QWsQPwEFBwO3RFgq718HfvP8CwcQAqWYSRslOnu_EkbLTU6FVZIpGgakmCyazQM7nNdh-JXbAaDCHZsKc38Zqg4bs3GsKxwKny3MasjE19zpByYO2Z5C3T6l99FogSEPMDMvws5LKHMJn_rqrMMIdWSad7diV9tUUlq889pGPVOflTOtTIJHYkNtT0yfS9VOfqWVE-K-ChwcQ3_76g5WvYG_tKeziJiFrnjLbCW34ZrBDebl_EbNqn_LK-Jt3968oX_GVaPSpGcA9R4GEZzzJYRs4g2A4sqCG6-7EwkTviQY0l9ckSaXkcJsmC4kVZ9HBgf0u71z2fg4D9V6qTjVpCUJEC4lqviBQI-jAJvSRatiL0OFhbQa6naYVGjweFSwXlcJy6ZMrulC_Hawh9dsYwGGHrOoGeOuzOrYzCmUNDXInsvlR0xcMyrR3u0K0uy8mWhPqXMdB-dblyw_rxcZFVURJwrfMvwPE7IP1xNOi6sOIOjfzIEtHeUY-YV5ykqFDJ3VZhcLZARPNuYrQVFrhhADo9BmEdOieCE6IWVkXmKKxxyeGCtH-O8YBjREWhXz-fb1GwK_j4RGxnXNVxfI_7A9wmSWPZAVke8lFnwjlVSxRy9ojkTcJKrLXuIgNHqiW4rBByMKpb4x9L0QkJ-nYOtCUmsL4BLZ5qC2h9G52rGoTWr13OvIBgVnHu0fur4wzkI_nx3bsLgbX4NQbmUSDaWO-DnAvC9-Q12-em0QGUss57CUUbzqGRpyK01uAHsM3OXub2X_S8HoB-adZcEpJJF97PM2herCFo2PSYoXM26JFw3_mMVH_ERnBp7eB8Cx3DXmgvLPpH2h9Emq6AmyjaxjlUh6WsqWJV5UeNzISna4Ng7A4C6V_dk9I1gK--T3NbhvCO0AcvzLrap2stm6MGsV4E8IanT0TEbFURKofkphMhzbtHeMsep5Lk6wCqkksoTfXym2lsMBE1Rd1-N3fY81gCDritmOBjfJcTX-ld-1-iaNOgHQZJvgcUwfs2gaxTwuV8GGWZSF_p9O0dp1LJSiXr7-EWp_i_pyTglxEnQqBa9fRizeDt_8LMxydq8Bh2Lfywskt2Ojz7JeATmChdNvlK1Emq1hIeV4jIf3H3j1tIAPos8REUwoCw-Xtz3mFPJ2csBOi-yaU-ReUVr4XTL-6OssDrLJoJd3P5x-cvViKb654eePSZmFcPiPPYde0uJxOmUZU7Iuzt5gGOXTWp1kAJVhnmKg8R3gGWR6SD6LqAeZBP6VGAdTGGOO-kP0Ru4czbUxTAJu94bslRu3OUFfcXhF4BTf82MdJdmyVrtwUNRQ1vXX_LnEy3u6s347tkRuRQZjtwy_kRWhvaaQecA40qSYZ5a420gkEPgeS7j_-t2hqxyDGRFONl0zFsXK_f2xvJaNfEh9BT4X4rezQAAJlT",
  "id": "rs_02830c7bf8f36af4016ab451bcc8d887d0838fb6810ee835f0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.05,\"left_z\":0.22,\"left_gripper\":1.0,\"right_x\":0.35,\"right_y\":0.33,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"The rabbits’ very wide, soft bodies keep slipping and the left gripper is closing empty, so I’ll pause that pile rather than repeat the same failed pinch. I’ll park the left arm and approach the isolated cream-and-brown dog pile with the right arm, whose smaller upright bodies should provide a reliable grasp.\"}",
  "call_id": "call_Up2aWsEUfzuJTAsIYrX9KHpo",
  "id": "fc_02830c7bf8f36af4016ab451bee12c87d09a80653beadb202f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Up2aWsEUfzuJTAsIYrX9KHpo",
  "output": [
    {
      "text": "executing move_to over 28 steps (2.8s)",
      "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]: [-0.8154, 0.5205, 0.2794, 0.0624, -0.9249, -0.0849, 0.9983, 0.9913, 1.8683, 1.3846, -0.4637, 0.7147, 0.7052, 0.9998]\nstate[eef_state]: left_x=0.2541 left_y=-0.0589 left_z=0.212 left_yaw=0.0685 left_pitch=0.4528 left_roll=0.0811 left_gripper=0.9983 right_x=0.3463 right_y=0.3243 right_z=0.1385 right_yaw=0.0265 right_pitch=-0.0982 right_roll=-0.0207 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, 0.3624, 9.8803, 1.5018, -0.4322, -0.0464, 0.0415, 0.4581, -9.7436, 8.9094, 1.0525, 0.525, 0.1783, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ed6f84b7e504a7b1a8e7437720337a35f36c9305e91aaa72d59c022f38435bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a04629ba8f66c386211b10d51507d18160688788e802600551a77346f2fbe97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10f89ce483c18b539b6a700ea8426d59962b815c3dcc3190795c19dba1e63651",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 2.451 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]: [-0.0811, 1.7542, 0.2974, 1.1713, -0.1795, 0.0139, 0.9964, -0.0147, 0.8192, 0.6067, -0.408, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3914 left_y=0.0034 left_z=0.0665 left_yaw=0.0559 left_pitch=0.279 left_roll=0.0802 left_gripper=0.9964 right_x=0.2928 right_y=0.0014 right_z=0.1686 right_yaw=-0.0002 right_pitch=-0.0584 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -4.4239, 4.3829, 1.3895, 0.2711, -0.2271, 0.1197, -0.1299, -1.4154, 7.2, 1.7265, -0.0366, -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 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]: [-0.0685, 2.0438, 0.3973, 1.5341, -0.2363, 0.0418, 0.0105, -0.0147, 0.8234, 0.6022, -0.4095, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4242 left_y=0.016 left_z=0.0713 left_yaw=0.1149 left_pitch=0.4503 left_roll=0.0918 left_gripper=0.0105 right_x=0.2922 right_y=0.0014 right_z=0.1651 right_yaw=-0.0002 right_pitch=-0.0687 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -7.6786, 2.0855, 1.3358, 0.1636, -0.0806, 0.8718, -0.1983, -1.6479, 7.6239, 1.7021, -0.0269, -0.0171, -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 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]: [-0.8154, 0.5205, 0.2794, 0.0624, -0.9249, -0.0849, 0.9983, 0.9913, 1.8683, 1.3846, -0.4637, 0.7147, 0.7052, 0.9998]\nstate[eef_state]: left_x=0.2541 left_y=-0.0589 left_z=0.212 left_yaw=0.0685 left_pitch=0.4528 left_roll=0.0811 left_gripper=0.9983 right_x=0.3463 right_y=0.3243 right_z=0.1385 right_yaw=0.0265 right_pitch=-0.0982 right_roll=-0.0207 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, 0.3624, 9.8803, 1.5018, -0.4322, -0.0464, 0.0415, 0.4581, -9.7436, 8.9094, 1.0525, 0.525, 0.1783, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ed6f84b7e504a7b1a8e7437720337a35f36c9305e91aaa72d59c022f38435bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a04629ba8f66c386211b10d51507d18160688788e802600551a77346f2fbe97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10f89ce483c18b539b6a700ea8426d59962b815c3dcc3190795c19dba1e63651",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFHFvBFdSWxLwCQDiErxnOVNGgEv-RnOZESbYXqiGGTmD8038Vrr3_8UYdSwBkPzN3E-NKitvbk9CqMSJ0c-C9mnDYZpBP2P9ENttx_tFfs1JJP5wwrGxMNSkan9FA3A45xCJU_RDQG1VmWRE1UeZtz3Gg26J1YDUHSPRgAIoIfj8Fuj3cMIokmlWXDvsmtdGEWTiSQRh6abWFVQuV5TA0XzYUtEqBLRVNVSFV6TBdBtmR4p8aapPp2vI1F2k0I7Edc1WnIr0A2wI6RBSIqeeiaHHwPoPV9Cc_EkVCmFz7isGCRp4r_RJlF5QC34Se-ywZMeYiw46gqFHxqpbM7pM1WYFRDenhNF-pSh5l10oajrW27dZxRvl7qNZ3pD3CAakw923rK8O55RGtMitcSZ0IjsHvsP7LdvZaPSHOilW5AdSzWYzPq_7_BY8p1TPbEja_9bvcdF8KBvSY03WDVMnKan8TLhJZVOsnvE4L_BB2fBhuF_AgRSA12Q19lN5Hl7OX1DQR5lL2CN6GxbGWIWqfn6vs86AlBlkPSA70WJUKlfbei3Yp08zWi99iycN272Wq7la1eF2RkBCJ0OW6QMsxqec2h91BTzebUXpdtwrbPZB0dy8n153CYF2bkmfM6uE5l9nTzgLGdKzqO5sJSFYldStU-DxEk1h_003TcesBkBzL_CFtXTA6_O6BOwBzSN_vQYzvWCO1U7U63bNdELD_kJm3iii3wtqZIbJW981mZvlN3I1xipPluqMawD5cg9dLECzBuFOoZn9qAjO6Vz1gC0rBlHZgxit0rIYsjAUaaOo2KgZ01EL7w2F-F5YjKHqeou7HbNsjteF27T-VdZxWW_IHEEu1KpVbWLA6zXwpTu_9A1vXCdw_jH6k5HzZQXKhbUhFelsFtjRbLzBPsJmb6bGx2XFSFw9iVpDEVSM9q2Gz22b3ObCCOEJ5Veh8vi5RZo3L2kUqUCmwTfB1W7TT_OHLYqULppQo8OYp3y90_l8tLp3yKcJ5u7N9AQt7bJDC2QpT8RuO401xxuwap2MgJQP_RpSZHYXsN99mCXpZcW_yTuWVEg7eUCVYTRfgZfHhEPaIl2ZRfwvuePFvLIf5TEYliPcTZdowPxd_oVrMRCqKyzr-CRqe-W2LsZfO6TGsiILEmCGXpyXfO2g58JioBvWHut3R3LD-R_s1CMjoll9yYsaYiD3wpHqwvqA7zDBvjpXXkgDhkbRdgASZ4r_364ET3Y5w3lMO_A6GXLQN6GDCyzwssDhCh0FnUX84NtWeLCd_AAeIZREc6TCAED5LYx3Uq1Og49mCX6L9yYvB6JXYg8mYg9eKWhVOdG7dstIefL5A-IMzJbshkALnym-tUlbkdX-aWKQCqJpzeQlh6KNxeFy3QLALoTU5pOMKDghMH8",
  "id": "rs_02830c7bf8f36af4016ab451c409e087d09e2af29ec41a8dce",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The right wrist view shows a cream-and-brown dog centered directly between the open fingers, with its upright neck at the jaw line. I’ll close at this height to capture it without pressing down.\"}",
  "call_id": "call_UtYp0mXwG2WMoRgzNYnN3f60",
  "id": "fc_02830c7bf8f36af4016ab451c4786887d0b45460495b604575",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UtYp0mXwG2WMoRgzNYnN3f60",
  "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]: [-0.8169, 0.5236, 0.2848, 0.046, -0.9386, -0.0975, 0.998, 0.9936, 1.8832, 1.3865, -0.4599, 0.7025, 0.6998, 0.0118]\nstate[eef_state]: left_x=0.2537 left_y=-0.0568 left_z=0.2112 left_yaw=0.0818 left_pitch=0.4465 left_roll=0.0812 left_gripper=0.998 right_x=0.3454 right_y=0.3278 right_z=0.1319 right_yaw=0.0386 right_pitch=-0.1117 right_roll=-0.0267 right_gripper=0.0118\nstate[joint_eff]: [-0.0752, 0.1846, 6.5162, 1.8242, -0.0073, 0.1148, -0.0513, -0.3487, -11.2205, 6.4342, 1.2527, 0.4127, 0.0708, 1.0379]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c2263e26da3bbaa5106412d2dcdb6a7fb01b82b2850521da89dd56185cdf220",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:255c83d02c65dd65400cb4bfd1f3dfd03883c955d36c8353e14863396cc98e5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15cfdd0bbc543da15e2ba03e91331d182fddb328aa95eed6bcd55db40674debe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 4.051 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]: [-0.0708, 2.0407, 0.3908, 1.4815, -0.2214, 0.0395, 0.9965, -0.0143, 0.82, 0.6048, -0.4099, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4212 left_y=0.0126 left_z=0.058 left_yaw=0.0957 left_pitch=0.3948 left_roll=0.0977 left_gripper=0.9965 right_x=0.2923 right_y=0.0015 right_z=0.1671 right_yaw=0.0002 right_pitch=-0.0629 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -4.8615, 2.0581, 0.4713, 0.4176, -0.3394, -0.0024, -0.0342, -1.3333, 7.2274, 1.7118, -0.0317, -0.0269, -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]: [-0.8154, 0.5205, 0.2794, 0.0624, -0.9249, -0.0849, 0.9983, 0.9913, 1.8683, 1.3846, -0.4637, 0.7147, 0.7052, 0.9998]\nstate[eef_state]: left_x=0.2541 left_y=-0.0589 left_z=0.212 left_yaw=0.0685 left_pitch=0.4528 left_roll=0.0811 left_gripper=0.9983 right_x=0.3463 right_y=0.3243 right_z=0.1385 right_yaw=0.0265 right_pitch=-0.0982 right_roll=-0.0207 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, 0.3624, 9.8803, 1.5018, -0.4322, -0.0464, 0.0415, 0.4581, -9.7436, 8.9094, 1.0525, 0.525, 0.1783, -0.0366]",
      "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]: [-0.8169, 0.5236, 0.2848, 0.046, -0.9386, -0.0975, 0.998, 0.9936, 1.8832, 1.3865, -0.4599, 0.7025, 0.6998, 0.0118]\nstate[eef_state]: left_x=0.2537 left_y=-0.0568 left_z=0.2112 left_yaw=0.0818 left_pitch=0.4465 left_roll=0.0812 left_gripper=0.998 right_x=0.3454 right_y=0.3278 right_z=0.1319 right_yaw=0.0386 right_pitch=-0.1117 right_roll=-0.0267 right_gripper=0.0118\nstate[joint_eff]: [-0.0752, 0.1846, 6.5162, 1.8242, -0.0073, 0.1148, -0.0513, -0.3487, -11.2205, 6.4342, 1.2527, 0.4127, 0.0708, 1.0379]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c2263e26da3bbaa5106412d2dcdb6a7fb01b82b2850521da89dd56185cdf220",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:255c83d02c65dd65400cb4bfd1f3dfd03883c955d36c8353e14863396cc98e5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15cfdd0bbc543da15e2ba03e91331d182fddb328aa95eed6bcd55db40674debe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFHI_c98XZf0k6HM2njwsFMVuv5ANzPWs8uDafepGfoL3a6LVydmAhsn5CfTxmd99s0KeveSkZQ5HR-fpN4-lcVWhEeoImF7FpbZh_E5KpwT-DF4w3vX79VLpzZpKKb9M7nHH99yH7EqlrDqkXnxJmcnrA-b_Imp4rc9JZ1qvOeBZMJ-QZ3UdAoPwxybXQw6-AO6b9GLmhsc7_vzxZbd9G-aaM9kSLU6WUxr5R0RV13ts8s9ZCQhbXYHRrs2ZZUrn6d2zR6AZgkePv2QtEhZYCKY7QRM3ImdnN9_tQwhj37eEj0j22-QqgVJdhkwvgXVsAdgMq__UrDoXIpOjvTuCSomNxvCzqJire3D9tKznP4CdMb3jH2-e2iCnBIXFna5vUbtlARInT9mZ9wLwdoBTjMSV2Tev_3xJMmm9lna3zRKCu4lC6T5CxopNpMdwn5Zmf33BBCkq2oXc4KiIPBjD2RY83_XxILHITpIHFzC12bmvALqzV8XeMp3nuDmMfKLAN4Add-02ulxW9WwlTEhnKd1y5-ArgVwNtdyKYVVEreo0OA7HJMgZcjS_gsUGoYYQC738ztYLPLR5nZD-zZ8lcXuRtYvXd7FEYoRxVFqDiZsh3G1quyHdBlajNDDdgGbPI19DdtvbDxf44Y8zM1EKKv_mS84fReG21dIbwUnRLwRPLT5AiaVBrWkwr88f8OOZX7Q_yl9XeVfKFywxqH_EnqVjzJI5XUwswulqtOGEa-3ftlcyjBlRJDGAU88eRJp_pXsIZUJsLNLheKBQt1BNd_9ffHciVaPM4akefBnbWBoIMWHbWvqzQThICBw0-zGvZSCqM7ea_ZEEBV27CoP69lXA7B5jDLzIo99_QbqpJf9DPKDZACsLiNeXZ5xaiGPnzk3WctDhWCvOV3kzuFNFV-kxXh6ZoD7zKu7zfmxfw5mTlNgduDbDosRPJyRXXsFhuYgEb5BuFAlxyHuUTUZa0rRwDFCNJy4GvwO3HwmXzPYrSUdJfqj9fxWt7A1orxe5l9agvaG03iee9nURjIsPZROVFVVS4Jno6oNXzQV8EG-wKDqaiWOHW9PP5gPMPckjY8RRXFmVwAWK5MKV4QfXG2boXCsS5UwewMldDEyMWfQVyJyPcLepwvsPVx5AMRYkC_XmYar3TVnVMxKC6IXtUZhf5a75Y9LJAfhzF3HxtLTo7vmVciZ7jFVuz4WAuOCh0WA3ZPEMhZLEdHJRVRVbO5r7Ym0LKGbNMZfLvzVAHOuG2eqXCyXZFUmBDfUKreUYwT8hIvWU9v9iSFqVdAdqBSefsbMiQnXfNcHnF9DQn2uSqZSSmy_vPoSu7RPaqdse1T4u5EWEp4oDqXhJggJsm3b9g7u7tK2kaYcmLSIMDw7THbWH5T2Tc3ybELHnaNW_kpHI1yUIF5hlgS2EGCoPn41tcYfbYYLAj8EvngOHHsedz1PcQaUt6v5U-_dkIJEEjLgLXoE3N1keBY8Er9Y5kb9w7-8vuAo0CO8D4cLhckd4lVulTafWgCYVdP6ikC3Uhx73EcGUSyK3aJ_6Dq3SsIcHQ==",
  "id": "rs_02830c7bf8f36af4016ab451c7454087d0b7f68e4cb2576a94",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.05,\"right_gripper\":1.0},\"note\":\"The close was empty at 13 cm; the camera’s foreshortening made the dog look enclosed while the fingers were actually above it. I’ll reopen and descend vertically to 5 cm at the same x-y alignment.\"}",
  "call_id": "call_4HNVDhcVl7ekGBWZrJaXUU8o",
  "id": "fc_02830c7bf8f36af4016ab451c7e4d487d086f1b8db1ed69263",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4HNVDhcVl7ekGBWZrJaXUU8o",
  "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]: [-0.8165, 0.5236, 0.2844, 0.0383, -0.9394, -0.0986, 0.9979, 0.9932, 1.9743, 1.2263, -0.1719, 0.7158, 0.6998, 0.9944]\nstate[eef_state]: left_x=0.2536 left_y=-0.0564 left_z=0.2097 left_yaw=0.0806 left_pitch=0.4417 left_roll=0.0869 left_gripper=0.9979 right_x=0.3493 right_y=0.3301 right_z=0.0705 right_yaw=0.0326 right_pitch=-0.0818 right_roll=-0.0028 right_gripper=0.9944\nstate[joint_eff]: [-0.0889, 0.4444, 6.9949, 1.7558, -0.1245, -0.0317, -0.0269, -0.294, -7.6103, 4.8342, 1.0134, 0.0904, -0.0073, -0.1343]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d867a71f6ebf28a5beb9fa7eff5d049c08ef5aaee2558a58ba67f40c8364a091",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd44de8c2e087df4ba5c2acadd1694d0cca65558fcfd0f9f56dfc973fb1ebdcc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:579e7ec604dcc164cce3dcc42a65f1ae4453ee27eda849b3fbc85fbb4fcc9a88",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 3.445 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]: [-0.0685, 2.0438, 0.3973, 1.5341, -0.2363, 0.0418, 0.0105, -0.0147, 0.8234, 0.6022, -0.4095, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4242 left_y=0.016 left_z=0.0713 left_yaw=0.1149 left_pitch=0.4503 left_roll=0.0918 left_gripper=0.0105 right_x=0.2922 right_y=0.0014 right_z=0.1651 right_yaw=-0.0002 right_pitch=-0.0687 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -7.6786, 2.0855, 1.3358, 0.1636, -0.0806, 0.8718, -0.1983, -1.6479, 7.6239, 1.7021, -0.0269, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8169, 0.5236, 0.2848, 0.046, -0.9386, -0.0975, 0.998, 0.9936, 1.8832, 1.3865, -0.4599, 0.7025, 0.6998, 0.0118]\nstate[eef_state]: left_x=0.2537 left_y=-0.0568 left_z=0.2112 left_yaw=0.0818 left_pitch=0.4465 left_roll=0.0812 left_gripper=0.998 right_x=0.3454 right_y=0.3278 right_z=0.1319 right_yaw=0.0386 right_pitch=-0.1117 right_roll=-0.0267 right_gripper=0.0118\nstate[joint_eff]: [-0.0752, 0.1846, 6.5162, 1.8242, -0.0073, 0.1148, -0.0513, -0.3487, -11.2205, 6.4342, 1.2527, 0.4127, 0.0708, 1.0379]\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 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]: [-0.8165, 0.5236, 0.2844, 0.0383, -0.9394, -0.0986, 0.9979, 0.9932, 1.9743, 1.2263, -0.1719, 0.7158, 0.6998, 0.9944]\nstate[eef_state]: left_x=0.2536 left_y=-0.0564 left_z=0.2097 left_yaw=0.0806 left_pitch=0.4417 left_roll=0.0869 left_gripper=0.9979 right_x=0.3493 right_y=0.3301 right_z=0.0705 right_yaw=0.0326 right_pitch=-0.0818 right_roll=-0.0028 right_gripper=0.9944\nstate[joint_eff]: [-0.0889, 0.4444, 6.9949, 1.7558, -0.1245, -0.0317, -0.0269, -0.294, -7.6103, 4.8342, 1.0134, 0.0904, -0.0073, -0.1343]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d867a71f6ebf28a5beb9fa7eff5d049c08ef5aaee2558a58ba67f40c8364a091",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd44de8c2e087df4ba5c2acadd1694d0cca65558fcfd0f9f56dfc973fb1ebdcc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:579e7ec604dcc164cce3dcc42a65f1ae4453ee27eda849b3fbc85fbb4fcc9a88",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFHNK9WIcCVRstiel2GMazaFQt0g73Xoyb7fnflS4f5ZoZiyNe_fPNqqqpW-kvVnxglCCBg_MX8nAbsa3aQ9HXOK6tEfWlB-q7T5n5EQqz9M1OHlylOzj3roS8uZuakiKgFT5Lbx8QQATnxwDSE6CYREUtVjauZ4kybqTg97gBvEaMN_abz747QfGMfr4Kw3xPFZ991mkKXERxL1j9st161iaXC-O9owhLaXB6H6NSg5D3uVBIzlIaoEnZTc7rUmsePd0LnoX0o-VQ05L9jKDbygvErNp1hF_o1NeIipG7t1uezlUcq5V21upKMraX5G1P7h3gXo-pFKsfcK28SlXuPnx59w1U7ui4FG3y8JjUz9cvQVOJ8boHR4z8BCSxMYBFvCTQkNCAveFsLbqW3mahTsydy_NMVpjKUgflLgJQubsMDuaEQNjGoTczNhN8F8pVOCAXAlcUqVdPapQVandj2WJ4z1RbGXfKmByFnxjpUNf0KQEbH0cQVfuEENi6Nq3HxV8R0dI1KYEv1pwSosso_cKdI75ZMw42f2QcU094cxie37jC3VAVYjH-8hDJy4NYpY9kATXVGodyFek5aC24E_S2TjcKMb9L9L_MsrJJwszV5djKphfR9T3-Scjv-siH0JF3bJ5bkN6KE_d4anp_nZ91UvevXWKqzvvd_-e6XMGRIXoaHpeViHLa9R5NGk9-jHm0LfFsf4QTUqjwmbE6y344lgoXCVdspRbUbvkkOheatYuPBO7Dlx2o8AohoGsCjPOaoQ9nrX53Jui3JTJf5OWkaqVh5Tiaq26c0yKyscyBfUSCRcC1pqjTIsN2y3iccEi5r6zZsv9uR1rNqYLRHf87qyWf828_oIsCUaINMCgf_cWunb519qhxMM3ZNDLX0ayGZuBhej0N2cqvk6elLjcSAPrGvjUUqGrHuiu4J9oO7a-fYoehT7ulUBw0nYqEpuKJfp49FneZtNS0uqo9fEqDAL6b9IBzA9yavuDrRBishGbTp6y1IMpvlEkLO0UDypiyTjshvFfnCWOSTWONQiMhyp3OD-RQzGWCVmx-3F7a4prQyxD1uhbS7mURu0HOjZ9DZ108I0A7FP5oRBhWJfUO9XWIR3H1wf02tsplKVi9v5dpLjIpWrisYoX6Bmc773hQLCMhT2MfJGVry0xUMQrdiV-kqZ8qW_vQFXTUFm1AGW_H_VYmNTBlgzcRV6lWYlq8fwGkXWRQfWr1NKGoBtafdg9NwSsL6Rh9E3shHIQG3bCPtrYIFCq7zYvZKKy15frWX4nQFtlYaJVJ2NNzb7rl7IpjKjb2B90FwOPM4XVVrC7om63xtNSbl8_IACGfUOPOf5pH9Z-iNqjzepbeSCHniIFkvMDrqp4EcdBkRwJhA=",
  "id": "rs_02830c7bf8f36af4016ab451cc745887d09e70776eeabc56e7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At 7 cm the dog has moved mostly below the wrist camera, which is expected when it is actually under the fingertip grasp point. I’ll close around its body now.\"}",
  "call_id": "call_Ca21UEcrgLA0rtDDf9GMIoHj",
  "id": "fc_02830c7bf8f36af4016ab451ccfc0487d0ab0d6e2085fd13d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ca21UEcrgLA0rtDDf9GMIoHj",
  "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]: [-0.8165, 0.5236, 0.2844, 0.038, -0.9394, -0.0986, 0.9979, 0.9928, 1.977, 1.219, -0.1631, 0.7181, 0.693, 0.0124]\nstate[eef_state]: left_x=0.2535 left_y=-0.0564 left_z=0.2096 left_yaw=0.0805 left_pitch=0.4414 left_roll=0.0873 left_gripper=0.9979 right_x=0.3492 right_y=0.3291 right_z=0.0681 right_yaw=0.0343 right_pitch=-0.081 right_roll=-0.0103 right_gripper=0.0124\nstate[joint_eff]: [-0.0479, 0.3624, 7.1316, 1.6239, -0.149, -0.0269, -0.0122, -0.335, -10.4, 6.8171, 1.2234, 0.232, 0.0317, 1.0134]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cdae235f97f818e7913670cfb3d6f686bf788ea7b744290d018502665cdec93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ac1f63f03d5bbe1975b23105e006f51171d682efb4cb7403b09328a1468e5cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d144bcc7d65d095f3eb2f1714fcc62f2d45ec940967b9762f5c2bf7c61d5977",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 4.554 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]: [-0.8154, 0.5205, 0.2794, 0.0624, -0.9249, -0.0849, 0.9983, 0.9913, 1.8683, 1.3846, -0.4637, 0.7147, 0.7052, 0.9998]\nstate[eef_state]: left_x=0.2541 left_y=-0.0589 left_z=0.212 left_yaw=0.0685 left_pitch=0.4528 left_roll=0.0811 left_gripper=0.9983 right_x=0.3463 right_y=0.3243 right_z=0.1385 right_yaw=0.0265 right_pitch=-0.0982 right_roll=-0.0207 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, 0.3624, 9.8803, 1.5018, -0.4322, -0.0464, 0.0415, 0.4581, -9.7436, 8.9094, 1.0525, 0.525, 0.1783, -0.0366]",
      "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]: [-0.8165, 0.5236, 0.2844, 0.0383, -0.9394, -0.0986, 0.9979, 0.9932, 1.9743, 1.2263, -0.1719, 0.7158, 0.6998, 0.9944]\nstate[eef_state]: left_x=0.2536 left_y=-0.0564 left_z=0.2097 left_yaw=0.0806 left_pitch=0.4417 left_roll=0.0869 left_gripper=0.9979 right_x=0.3493 right_y=0.3301 right_z=0.0705 right_yaw=0.0326 right_pitch=-0.0818 right_roll=-0.0028 right_gripper=0.9944\nstate[joint_eff]: [-0.0889, 0.4444, 6.9949, 1.7558, -0.1245, -0.0317, -0.0269, -0.294, -7.6103, 4.8342, 1.0134, 0.0904, -0.0073, -0.1343]\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 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]: [-0.8165, 0.5236, 0.2844, 0.038, -0.9394, -0.0986, 0.9979, 0.9928, 1.977, 1.219, -0.1631, 0.7181, 0.693, 0.0124]\nstate[eef_state]: left_x=0.2535 left_y=-0.0564 left_z=0.2096 left_yaw=0.0805 left_pitch=0.4414 left_roll=0.0873 left_gripper=0.9979 right_x=0.3492 right_y=0.3291 right_z=0.0681 right_yaw=0.0343 right_pitch=-0.081 right_roll=-0.0103 right_gripper=0.0124\nstate[joint_eff]: [-0.0479, 0.3624, 7.1316, 1.6239, -0.149, -0.0269, -0.0122, -0.335, -10.4, 6.8171, 1.2234, 0.232, 0.0317, 1.0134]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cdae235f97f818e7913670cfb3d6f686bf788ea7b744290d018502665cdec93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ac1f63f03d5bbe1975b23105e006f51171d682efb4cb7403b09328a1468e5cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d144bcc7d65d095f3eb2f1714fcc62f2d45ec940967b9762f5c2bf7c61d5977",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFHSuFDSTxJ055hXtQ3weXLhattaDOOYgyb8CvNOf4zXYZ6jI0XTOMH1NxwG-Khj2nKD662u3E28x4uqN_OtgdQ0JjU2k18AmiNc0AmKPGiRUCPrSwEXM9M5z4TttpRGr3aANSYvUUKgLTC6hPpFYjpIKjIyCbTkQe-STuqlM2V2Jp79crPK7zxkH6w3oLh9boYNUpgWA325gCvjLP-SjGeafs_TAY0U5IEyQJ10w8BRILmLiDe8MVCbbg3X4qlfLFXXuTGyqxtodz69SpcQZ2_oG9UHe_9LuvkR-QGyDYquXmiX_GuG_cNzWVLzXKL6IHZMub-oJFm-xt5sScn-BsvLRwqJw6-Huy8QhaOq0KEj9TnbV20X0AcqeRn4Xx1QdJaRer5nYjPV2pKEqJVUEY0p8d9-IYgcT5qtGjjPbWx-BCYzUuFAX35uhGdOVZXOBQMd3yUBHT2Vm5_SdwmubPKGJQYi2lq-mHgmUGIzdrzmNS-yWb9VAR6PHcMhSf_N7UsZoAxqHRWCqVCSjP0Ck7OwA3s02IDu9lWe56PACqUsgDzMYg_pGq9qeMBKPIg-aCnWBchCyEEyLju2YLJAmrwTR6Kse3DOWfrUoA5LFUuZKzzQeBEf67zrT4JAvN07ANCVk-eH-xz_HYZNI8UdK8_JytcFVpUrz91xSbb6QKcGiGDgfppsNhXIm5TEd9I6cmNFLPBcCU1macMFlNd6JhXliRpIAqoS43nqcQHXoeZLyKfPZHanXM5OqTznK0mlxdBJN3UfujPaDXS35gsZnDnIhiUdq8Dy8wu4-h-71j4EQ1JsX4jhbd9LMnxKMK2eo3ikpm8WcneHalJ4qyZc408Bqbl2NRV32KZdhuH61mfzVUIXHAos_hX8HVd8-UfwJI27rugimFnxYTENGBhL1oetsjOEUvOH5M6qGJ_upzEJ4Vz9_ov66V8iFVAAMqLxg1EAqnpo0ySvkwy2rZVlM_rVk7TjJqeV8KzQsrtDmQcilD5QQdnrPm8N5V53z3fMA_yP2-Pm-ExphCkq1nmXx9sXggMoLQeSwQ0rTwYm9f310_s7O8Hx3hotBQXV9iflVyII0Fb6MSN-QOuGZm6HyD30gYPJyjopFFRuaVl6hUN7lwvYfRfhJDLYgYm48ElOhPbeSKZfT5KxU-vtQaFpTAhOZviaJiw5v6pb1JKZN-RM-4GpsOrkJQm-kHtOK1pLtRfivQ5b7n3HBmqnRf_gVjeDuXrmCAWGaKO8mqXHLWnTUJ0jgjFJSEizM4L2nScKO0k1yd2Z4ENreBt8QxtL-G16BriwW7DrN7lWae_QT2ZrrbVCO_1flZnyXZGMGr7bLD-_FYZriVwjKd1GB0un2pJ10Re3J21OQ601LwCcEaEKZfMUnHaxQKG5tICg3DKmYZa1oGTokAAxuk7gCtGLwNVegsAOVfkh6rEzfBpsMELYAX4yOjckVcOTB54TEbXAPr8U-NetKfo7C6RAXREfcV1OC7EtuO4k7qfwhL4i5oOJHOvUAcfish8E7cJIEFcPwwblJ2EQTVlV2TyYt20m6VIgmUxF4Mgh2BpI-XvYlUNtri42bpHezibgjXiAmz6HZSp0CYlnou0oHGJoRpNyd3MYmuMkD2vJLLhFXWDTFtImr136Usq_nHTGv6ScLauRUN9n81Hvr_oIIqbymH66kJyUhg==",
  "id": "rs_02830c7bf8f36af4016ab451cf906887d082d8b69779be4f7d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.39,\"right_z\":0.07,\"right_gripper\":1.0},\"note\":\"The low close still missed because the dog slipped to the lower-left of the right wrist image, revealing a lateral rather than height error. I’ll reopen and shift the right gripper about 6 cm left so the dog moves onto the jaw centerline.\"}",
  "call_id": "call_o9MEcRqemoDRDh2s1ZYdqTaI",
  "id": "fc_02830c7bf8f36af4016ab451d0c08c87d0bb38fe4f7ea81bc8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_o9MEcRqemoDRDh2s1ZYdqTaI",
  "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]: [-0.8165, 0.5236, 0.2844, 0.0376, -0.9394, -0.0986, 0.9979, 1.0561, 2.1395, 1.4857, -0.3157, 0.7441, 0.7574, 0.9945]\nstate[eef_state]: left_x=0.2535 left_y=-0.0564 left_z=0.2096 left_yaw=0.0803 left_pitch=0.4412 left_roll=0.0876 left_gripper=0.9979 right_x=0.3503 right_y=0.3836 right_z=0.0682 right_yaw=0.0435 right_pitch=-0.0899 right_roll=-0.0109 right_gripper=0.9945\nstate[joint_eff]: [-0.0752, 0.4171, 6.9265, 1.6142, -0.1636, -0.0122, -0.0122, 0.7863, -10.4, 8.6359, 0.9792, 0.4615, 0.0611, -0.1538]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2822188ba607adb8d8097c2c9e05f3fb2c3269ee54e2932c4c30c42f5915ff4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad3c44d1863fc4938747740e8cc20072f1c9d6781122ff3cde87b4e27cf5a38a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27ec8dfaaccf5521c7cd7e5011e2a9dc0dd2b7737a0c7e880b2e6c7912482475",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 2.982 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]: [-0.8169, 0.5236, 0.2848, 0.046, -0.9386, -0.0975, 0.998, 0.9936, 1.8832, 1.3865, -0.4599, 0.7025, 0.6998, 0.0118]\nstate[eef_state]: left_x=0.2537 left_y=-0.0568 left_z=0.2112 left_yaw=0.0818 left_pitch=0.4465 left_roll=0.0812 left_gripper=0.998 right_x=0.3454 right_y=0.3278 right_z=0.1319 right_yaw=0.0386 right_pitch=-0.1117 right_roll=-0.0267 right_gripper=0.0118\nstate[joint_eff]: [-0.0752, 0.1846, 6.5162, 1.8242, -0.0073, 0.1148, -0.0513, -0.3487, -11.2205, 6.4342, 1.2527, 0.4127, 0.0708, 1.0379]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.8165, 0.5236, 0.2844, 0.038, -0.9394, -0.0986, 0.9979, 0.9928, 1.977, 1.219, -0.1631, 0.7181, 0.693, 0.0124]\nstate[eef_state]: left_x=0.2535 left_y=-0.0564 left_z=0.2096 left_yaw=0.0805 left_pitch=0.4414 left_roll=0.0873 left_gripper=0.9979 right_x=0.3492 right_y=0.3291 right_z=0.0681 right_yaw=0.0343 right_pitch=-0.081 right_roll=-0.0103 right_gripper=0.0124\nstate[joint_eff]: [-0.0479, 0.3624, 7.1316, 1.6239, -0.149, -0.0269, -0.0122, -0.335, -10.4, 6.8171, 1.2234, 0.232, 0.0317, 1.0134]\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 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]: [-0.8165, 0.5236, 0.2844, 0.0376, -0.9394, -0.0986, 0.9979, 1.0561, 2.1395, 1.4857, -0.3157, 0.7441, 0.7574, 0.9945]\nstate[eef_state]: left_x=0.2535 left_y=-0.0564 left_z=0.2096 left_yaw=0.0803 left_pitch=0.4412 left_roll=0.0876 left_gripper=0.9979 right_x=0.3503 right_y=0.3836 right_z=0.0682 right_yaw=0.0435 right_pitch=-0.0899 right_roll=-0.0109 right_gripper=0.9945\nstate[joint_eff]: [-0.0752, 0.4171, 6.9265, 1.6142, -0.1636, -0.0122, -0.0122, 0.7863, -10.4, 8.6359, 0.9792, 0.4615, 0.0611, -0.1538]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2822188ba607adb8d8097c2c9e05f3fb2c3269ee54e2932c4c30c42f5915ff4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad3c44d1863fc4938747740e8cc20072f1c9d6781122ff3cde87b4e27cf5a38a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27ec8dfaaccf5521c7cd7e5011e2a9dc0dd2b7737a0c7e880b2e6c7912482475",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFHX6v8fmdho7Ls5ZTuTW_Msvy2vO9nSu5Sq7sYXRVlbcQWXsRSL3FNnwFPBJFqd2gSqQVPn1HyYpneR1DuUxId5dcwYE9rVuCDgs2HuMe8kTMgz22NstTdlvILAPkUw_hvDZ2A5ieeFOs6_L7IaDsEM_VbYcJ6EBjRZfeRSB50fAZu2N3SqE_KtLlk34JxMg0rwbqyijXRZfHn9ajndX2x7j-5PS9LCyAKrFel1TrgKp8LvmWKfxpJ8Ex8DNK4K6nXOwT-nFKklHE6BwB9_qM2gE4_RdpQMHPUiA3I47lavVK3r9YR0TenemeXSFY9btJoqjNUrvtiAkp_IPdKNtUwPlPJWjR8CQ3zMBiZVYICfA-DI9-rOjKz9zdlxhSAnY6xDGdn-HDt9EZ5c_qgjc5m4-azm1kcmY0XFfvA_kevDPbVOhNLcPgx2MBmE8IVX-6gmjcrIEYwn0o2rosgFm6d_Pjwyc6fCNvrPY4XDgcCNnRNV_V6aFGYq2U6TkcelJAZNxjF7TGrLjTdSJfpq5olhJpeOQSL7yD4L-DOfzqlLgtZ7Lf9zrCxH33BGW73swf7KTNAg832eQtCUHbUTC_zyT18uQifZSLcAFvPAkG-R_9On4Qzouw1fk2VRA5zOtFdOk9U7FICRyZvHPSzb5eo1GmOTWfr6ksrXUXw7zRuAiS5VFpvHHW1-mV4wTGukmQ7Xc_NQ2HBsR2zNzD9g6UPqDXZdgbOflQYwJzW3hRCKyvVSdmMEbhiL-C-jr72ztF6kzyIQoR5SsJSibgvzqUsJZnzGOUB5oUluSeNSKi8Ui9wujpBDrfXdpUY3rEzAbnxKUQ0oqUDU0zgvFke-iGUUNm9FJOZfK28XbZ0lbDDFEtIrwmUFwlF6Ex7Vh4uXP1K82LGqnA6P_Ib1j4MgNX7xdN_Ek0hpRRkKwB807YObtJeH_eHFfIwgOT3shlRbpupWyhfVuA1QJH9EoHkwfh0Bg4UwaXnhXjuDzO7c-Hlb4Lj5PA0SGQmAr-sHi1VbO7MrwsYOzz80cKj-ePpWcwD8MNYYp0JOlypJjtMlxdbJUU4tGA7rQOAJIpPHTdDkBbWJsgncKt577bUBraXa4Ou4qZArZmcphSbq5kazLtScw5NwuvuzrxkAFueBoU72_Hujlv02fLvB68egt4zvL4A9zVunXF5oRrIawrVN9nkU5AA563lcvzoy1OMjhNduYqCBcbIKcbvITdwS6UspsIFFbA2sKRYY7Q19mLHIdtaCcAF5D2F8jz5O-r_ewigw730UBKpDXD6Ce_r-EZhqiQPNUvdr11XvMu3DxHB2AsrEZWGICnG-VrCp6LRH3MiNcoqdP_hZwFdYlRfwc8xcMbg4kJHdIgj1x0wiJzyjrLqVJTDv5fSwEHkUHlqDg9adYUfIgLdJvoEXlrl819vHiN2Qezhe_quSN8NMGKTWE1R-8YUzGgEKJqUtOnipZcUQIpSkCxYvHJUKNTh0eOHGS4_8XuIrWLh8D0c5e-MtV90Wt9RCx4Zr4v4KYky2_392NpwJa1XhMmmiccaHnsaYpxISmeVj4qfYsWJzPiwFWhsf1EDAcu8Z5gOhsQ2pCAdsdnE77Fw0sIoKAohn4fcS9BEpYSpdKLvVsFGFPpI5geBSdUooT8xZ3s6BBLN6eZujhgC11qcF4uggO1Bc88Yb5Tn2JDrycM5tJ4WEXG4RJr1EUmsfIo-QKjZrb7HYpHAG6atxmtcZSemL7DpVHTXt7PGHQaC-nzGBUdiclEnsq_xlH02NPTxhnETLBCWBMYC_Qr1dMJ4MOOvErGt83Iszfh8nRxiLKDoloH_M1gmo_sFuCE2oTL_E3rXy933dRoiTFCcxoC9XiWHjMboLg9K2r8bCbNtcUIjLHHG2qK-cGxBA_zDvXoLzbMwh6jSdAzjGvvyuRx5T6pQaP0IwhBg30n669xSWnwRi3eJfxsYkOEfKlR3pbHzBy4b-TNq6J7ryqQSbH_OzfUa3IX99fgyY2PIKAKyp_hIsSaB80Yl0BCY-ZYJL-iXnaJ7FTefnhH0hIj1zwxmput8CgAzhtEyyYZHndKVgpqNg6SYzsTXUvOm92ihFh2jTAaME7-Xsb7XM4Oz8vLF5cmlUO0TElSsaDJ4t1Q5eg4cLrdKN5_9_mEVaQe61o2uczVrCljvThayUig-948loDSP9AH4EzR2EZIhftH-b2GJIN99lc4VlMZCsamJX0zHDvH29RyIYNDBQFe4J9dhcgnGKhSZLH5-S4nu01o7t4RbGSljIVaA6cyPYgqlp2PxV2nCSJbxPBLnithT8w4L5uDTr3N_hCGt2SAeBX_lr3UKQoWpO6F8YA_Nsn94wO_z3XIXyR_CIhSNfI3V3xzXz6xRbF7cNtZOthYxrDxLa7yqiyd0RJrAyrnh3T9L_ZYbZada3ETNXSBJkZQ9fTGx6tdCOrewNFScfbr4cYbSZR6kIWjWfAdKTX7xWqrzzeEoVw6KsdEQk37wIKHPG",
  "id": "rs_02830c7bf8f36af4016ab451d4101087d085be790c35124644",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.25,\"right_y\":0.0,\"right_z\":0.22,\"right_gripper\":1.0,\"left_x\":0.24,\"left_y\":-0.19,\"left_z\":0.12,\"left_gripper\":1.0},\"note\":\"The dog was pushed toward the lower-left and is now outside the right arm’s practical cross-table reach, but it is isolated and comfortably reachable by the left arm. I’ll park the right arm and bring the left gripper above this separated dog using the overhead position.\"}",
  "call_id": "call_ToFRtwgRtFDHKDKO32PExzOR",
  "id": "fc_02830c7bf8f36af4016ab451d6790487d0a170a980aef0fc3e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ToFRtwgRtFDHKDKO32PExzOR",
  "output": [
    {
      "text": "executing move_to over 32 steps (3.2s)",
      "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]: [-1.2808, 1.4986, 0.382, 0.4389, -1.3624, -0.564, 0.9985, -0.0399, 0.7074, 0.7738, -0.7433, 0.0021, -0.0216, 0.9987]\nstate[eef_state]: left_x=0.2393 left_y=-0.1849 left_z=0.1148 left_yaw=0.0526 left_pitch=0.4273 left_roll=0.1284 left_gripper=0.9985 right_x=0.2522 right_y=-0.0068 right_z=0.2053 right_yaw=-0.0344 right_pitch=-0.1149 right_roll=-0.012 right_gripper=0.9987\nstate[joint_eff]: [-0.5675, -4.3966, 6.5846, 1.2283, -0.5201, -0.1294, -0.1734, -0.1573, -0.7453, 9.5521, 1.6288, -0.1441, -0.0317, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d5421fe48cac29b966ca3a306f702d62495094ee78954e540b473d559cb95be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dbcccc345b0409f6fa3b8b2ae5704b6b65f3b56161e94d3748f91544314d9d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd7ac73d003612ffdd5cb55975dba639e8965eba103d86dd069bebe8f48d1a7d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 2.004 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]: [-0.8165, 0.5236, 0.2844, 0.0383, -0.9394, -0.0986, 0.9979, 0.9932, 1.9743, 1.2263, -0.1719, 0.7158, 0.6998, 0.9944]\nstate[eef_state]: left_x=0.2536 left_y=-0.0564 left_z=0.2097 left_yaw=0.0806 left_pitch=0.4417 left_roll=0.0869 left_gripper=0.9979 right_x=0.3493 right_y=0.3301 right_z=0.0705 right_yaw=0.0326 right_pitch=-0.0818 right_roll=-0.0028 right_gripper=0.9944\nstate[joint_eff]: [-0.0889, 0.4444, 6.9949, 1.7558, -0.1245, -0.0317, -0.0269, -0.294, -7.6103, 4.8342, 1.0134, 0.0904, -0.0073, -0.1343]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.8165, 0.5236, 0.2844, 0.0376, -0.9394, -0.0986, 0.9979, 1.0561, 2.1395, 1.4857, -0.3157, 0.7441, 0.7574, 0.9945]\nstate[eef_state]: left_x=0.2535 left_y=-0.0564 left_z=0.2096 left_yaw=0.0803 left_pitch=0.4412 left_roll=0.0876 left_gripper=0.9979 right_x=0.3503 right_y=0.3836 right_z=0.0682 right_yaw=0.0435 right_pitch=-0.0899 right_roll=-0.0109 right_gripper=0.9945\nstate[joint_eff]: [-0.0752, 0.4171, 6.9265, 1.6142, -0.1636, -0.0122, -0.0122, 0.7863, -10.4, 8.6359, 0.9792, 0.4615, 0.0611, -0.1538]\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 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]: [-1.2808, 1.4986, 0.382, 0.4389, -1.3624, -0.564, 0.9985, -0.0399, 0.7074, 0.7738, -0.7433, 0.0021, -0.0216, 0.9987]\nstate[eef_state]: left_x=0.2393 left_y=-0.1849 left_z=0.1148 left_yaw=0.0526 left_pitch=0.4273 left_roll=0.1284 left_gripper=0.9985 right_x=0.2522 right_y=-0.0068 right_z=0.2053 right_yaw=-0.0344 right_pitch=-0.1149 right_roll=-0.012 right_gripper=0.9987\nstate[joint_eff]: [-0.5675, -4.3966, 6.5846, 1.2283, -0.5201, -0.1294, -0.1734, -0.1573, -0.7453, 9.5521, 1.6288, -0.1441, -0.0317, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d5421fe48cac29b966ca3a306f702d62495094ee78954e540b473d559cb95be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dbcccc345b0409f6fa3b8b2ae5704b6b65f3b56161e94d3748f91544314d9d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd7ac73d003612ffdd5cb55975dba639e8965eba103d86dd069bebe8f48d1a7d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFHd5vo--KpRlpLF6WAncXUCtiKybT83rYhzfRWekr_NoKNRqLQEX7tOmUAGnTQpdaVCofprIuh_XqNQTwzG6o29dWpTSD7YfeS7Ub-XYGBk245Yncn8qRrHNFRLWTwuSLKKiY9cPFWaN31Qi8_51OfIF__2fTaRrrnVp5UX8DJeN7p2xHIBUMsVC7tE_qLKwFolJu_LBHHyfuhf8sRF0_LP5MunbFnHACV0iE20MB-vC0wT4wu8_mkMW35vdb0hYFJhyJvFDYDY0qYnBlE93NofC5k9x7b3O2ic817SlL9DC-Wp378egrKRwfHJEE97H_lGUwGPyJOtvkuqZbud8JlczAzetemJeWVGXLODUOcMEbsa3XgnHHot4JZnkpVtpLRLfVK6eYJlZgDVOdwbXr1k3eJ0Wo5kO2dwBfyddh2NZKXzijoKYxyCAyrqQrPXiicsQ7Xl7Ae6RePEWHKZXWhTHQzcNXybBcUUKNrOds_XX3uVhGP_9JLLJbX_78-M_p6YEcmIJ3_gzETL1OyUMgtktjNYC9OBfd8MGjTYwUlHvtIe77uYZdNXJ9kiABUb9m7Bc3xYpyWwjoVzb1O7SssklgrGuIBgYbJX5gDQuXA6tDuxccpLNDOpXM_CbPbrN636_PX4MvZBlIB1blbJ5NZeFJu2Lqb7nk4aIx0cPk3H4D9wHu3D3m3zCvNyNf9fixPT9-pVgdan_Lh98J01o0MgLV5-chHoLwluKSAlkbp-nyOT_dPQrL_EepDhQN6Zus-doLldI8vtIFkCUw9yxtUmmlUhsiU3zSJMcLyO9wxJKtA5IS6DZ4n6IqtqNfwvEv2pm2ytvL-_6vJoMTV-rfy6ahCubIpwfKRdWFN1D4tNRjiVYgP2fq1zNr_59wgf7uVRe-tbt6mbYWkpJA2GTJ_pdmcpndiT5xj1lROyp0YmysX8L9hTt2RuZcNgHOzpZA8a8DbTTUGMYUoF023VE9KiNbYzoD6_3EiuKNF5YgUhh5mJoaaoMKq94BfV-AAk6Fc5HPe55HKMHnYpmF598kFKEn7_GeXOqjQtFo3clkzoY20Gzc0L4WKQcrGGLZXpcS2-N9QIlObNdpSUzcZwjxEkCvSyLP0rRCo6wN_5f3KV72sCe_7eh3dMBTii7U1eOexubKUIj8OzpiSEuLn7mFlwC8wXlbhl_k6BeB9gEHBbE5Iedin6NPoqXzpeP9FyELtnlEqDpPsWd-8evm7rHcqJ447B2lkHpg7KMfqixv9Vx4Kxjda5f3iTsJsd0k0DzAe_wT3oNkJz_f33TZoVtu2_sQa5igU-oM5hU4qjbjzsl9Nc0SOH7Fxge8m0haBR5x0SojSo9Q9-FVtwIsaSfGyctrNz8QQUmeTA-sM6TRFYWoSGWzTc8N0lZvRZsDYQG5oO1FOZdUxKE953m3iqoYlIiOBHRqMNyd-NDii0OmbzUivE4e6U-PhSdlClKH3_hpOaNP0r1yN-3XLRoyMnST9ZxRaKQPP1GAGLldRM23YfoDyckLZwXGVzEWpWFR7V7NYg3GLEJTosvIKSUiPvMUN0L8bS6hrFMWsFxhvdvKcimvG4OL1ETOEscAeOhuv8YsRjcDhnVO5t62x_dcF7YEdA2g==",
  "id": "rs_02830c7bf8f36af4016ab451dc9f4487d09bd60bdd06eec84c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.05},\"note\":\"The isolated cream-and-brown dog is now upright and centered between the left fingers, with its body extending below the wrist frame. I’ll descend vertically to 5 cm so the jaws engage its torso rather than closing above it.\"}",
  "call_id": "call_raP5EVX4iX7zuzrWAUSpTl4X",
  "id": "fc_02830c7bf8f36af4016ab451dd028c87d0929c1d076d3ed692",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_raP5EVX4iX7zuzrWAUSpTl4X",
  "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]: [-1.2842, 1.8481, 0.3298, 0.8204, -1.3911, -0.5823, 0.9979, -0.0429, 0.712, 0.7769, -0.7666, -0.0082, -0.0406, 0.9985]\nstate[eef_state]: left_x=0.2389 left_y=-0.183 left_z=0.0592 left_yaw=0.0709 left_pitch=0.4418 left_roll=0.1347 left_gripper=0.9979 right_x=0.2493 right_y=-0.0057 right_z=0.2011 right_yaw=-0.0184 right_pitch=-0.1398 right_roll=-0.0199 right_gripper=0.9985\nstate[joint_eff]: [0.1573, -4.7385, 2.3316, 0.7692, 0.0171, 0.2222, -0.0708, 0.1162, -0.6222, 6.3932, 1.8339, 0.0855, 0.1441, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:140e1cbc0d319de0d50cdf288495c4e5efa17157916f0b875ecfbcd6ba307553",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5cf001c6f290e06738b7c8a1d41e814b22be9ac837e0859f57172e1996e06f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d75718dfe025f1a32fdf9c3c9c423b51065b39fc58edebfe312aa8a9ed61ac2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 2.658 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]: [-0.8165, 0.5236, 0.2844, 0.038, -0.9394, -0.0986, 0.9979, 0.9928, 1.977, 1.219, -0.1631, 0.7181, 0.693, 0.0124]\nstate[eef_state]: left_x=0.2535 left_y=-0.0564 left_z=0.2096 left_yaw=0.0805 left_pitch=0.4414 left_roll=0.0873 left_gripper=0.9979 right_x=0.3492 right_y=0.3291 right_z=0.0681 right_yaw=0.0343 right_pitch=-0.081 right_roll=-0.0103 right_gripper=0.0124\nstate[joint_eff]: [-0.0479, 0.3624, 7.1316, 1.6239, -0.149, -0.0269, -0.0122, -0.335, -10.4, 6.8171, 1.2234, 0.232, 0.0317, 1.0134]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-1.2808, 1.4986, 0.382, 0.4389, -1.3624, -0.564, 0.9985, -0.0399, 0.7074, 0.7738, -0.7433, 0.0021, -0.0216, 0.9987]\nstate[eef_state]: left_x=0.2393 left_y=-0.1849 left_z=0.1148 left_yaw=0.0526 left_pitch=0.4273 left_roll=0.1284 left_gripper=0.9985 right_x=0.2522 right_y=-0.0068 right_z=0.2053 right_yaw=-0.0344 right_pitch=-0.1149 right_roll=-0.012 right_gripper=0.9987\nstate[joint_eff]: [-0.5675, -4.3966, 6.5846, 1.2283, -0.5201, -0.1294, -0.1734, -0.1573, -0.7453, 9.5521, 1.6288, -0.1441, -0.0317, -0.1538]",
      "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]: [-1.2842, 1.8481, 0.3298, 0.8204, -1.3911, -0.5823, 0.9979, -0.0429, 0.712, 0.7769, -0.7666, -0.0082, -0.0406, 0.9985]\nstate[eef_state]: left_x=0.2389 left_y=-0.183 left_z=0.0592 left_yaw=0.0709 left_pitch=0.4418 left_roll=0.1347 left_gripper=0.9979 right_x=0.2493 right_y=-0.0057 right_z=0.2011 right_yaw=-0.0184 right_pitch=-0.1398 right_roll=-0.0199 right_gripper=0.9985\nstate[joint_eff]: [0.1573, -4.7385, 2.3316, 0.7692, 0.0171, 0.2222, -0.0708, 0.1162, -0.6222, 6.3932, 1.8339, 0.0855, 0.1441, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:140e1cbc0d319de0d50cdf288495c4e5efa17157916f0b875ecfbcd6ba307553",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5cf001c6f290e06738b7c8a1d41e814b22be9ac837e0859f57172e1996e06f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d75718dfe025f1a32fdf9c3c9c423b51065b39fc58edebfe312aa8a9ed61ac2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFHglzNCSt1k3Jo_SexIVcVht8Y4pOTiGQQsddzULS7t1aD1ACDNEM9-Eh9v0VV_vsJvpISemAmfNnLOGfpoYBRc_DuUBV7Mze1oa4tURdP2w7NmDH6hQ8TAcVvfRzo1DCxStk-1csIeB2_VUCaRQf5M1r_LsVuR4t_ZQGSHdKpcemf0F7s6r55Co5jU_oZtBvqmwOuS-9AnuIiCBSPtn35fgxDBINLjy0mHZKMFUloQmtCaIZLfaoYMiBLIPb3wjVHXL6uhu-xcVUnzyZ4CYUiwUolSy9M-ItaBc9oueov1RbprN3-jHnQIDLUh7F4X9SuAdmijumcmCJ0h5S2axAAa0eTJk8OnbUnOeMOHm8MoY-V7JGxwG8PtIh5XvgnEfVV7XQ80uB1RixX4OkZgHyjSe0FJjxtomHVKnxHJTpo0t7J_slO-GUOdZpsvHVKwe3pceNftzvwZa8HG8FpOGF0OSFpvKkrpBSIL5JWc0pfWz2d2WUMHsJ0slR7hQJliQ7RfY3NVp-haIy9LU_wPGE7y5OEHg0Jkj3eSP_1VGKitROASxiCMqzbpfkji73gAdYKg13pijNHKnshoSyKrYrP-6dki3YjFB_g-zZZ3sFexkAcJUJFNS4zOhzAPFgxVEypIztieXRUwwNnNZGULA0X3i3HPPE6G1HR2LQ8URNdCYCqoabRMZX9qKRnRj4tztcSs8ZvX0_AZKMZQi2bU-1SzyKJHj3Vixu_smpFaCaGm6gPa7v1P03cf-1uI3nkdapBpYWSewVD96kte4u86W6nWvEd1mwOKhOq8J3BWxvXYHr_KmtiZErngyRg6LLztpt_Bwgl_VxbvfwYyWjS4cR8CknU1azoYe1i-WbBxtiwuoC2S6_yx1KKRBVdDbAIu7BNWoibnmaqbYrYMNGl3-BSN-lfSJ-_CfSDLDxcHrk8Z4U3mofOT30OIjTCgPsX1eI2zVsKhKnqT0CD1wyynBw_D9vQGQTAhkt0cJeAaEeTZ-c3Rosa4Qkey37vErHzC5OSsy_NrAbMZQVZsCt6bH0Xc7gkb3rkjwk3qr9m5kI7oCmFozHizoQAmyqO1qsuHE2wWDchWrl93wsqGTwnyK7yvpLjucOfBGBJ2lcAUH4KLc1SD5DGL34vY6Pb9VdLp_PAQIv3GqtRpeZuhEgfEwNcUDXdDqhNfWYGVUW8jZ4ahwIvluoAhB3pojyX0wUOcrtnHqRVPC5aVCsi3DLofAdKlLw==",
  "id": "rs_02830c7bf8f36af4016ab451df295487d090c709ddfaf62ab9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At 6 cm the dog’s torso clearly occupies the space between both fingers, with neighboring toys bracing it from either side. I’ll close around the torso now.\"}",
  "call_id": "call_WzowMeJZ9nKzb6qxA94QMVVQ",
  "id": "fc_02830c7bf8f36af4016ab451df41c087d087e3533656211057",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WzowMeJZ9nKzb6qxA94QMVVQ",
  "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]: [-1.2842, 1.8568, 0.3252, 0.8272, -1.3911, -0.5846, 0.0295, -0.0429, 0.7124, 0.7769, -0.7673, -0.0086, -0.0418, 0.9984]\nstate[eef_state]: left_x=0.2384 left_y=-0.1816 left_z=0.0571 left_yaw=0.0692 left_pitch=0.4406 left_roll=0.1392 left_gripper=0.0295 right_x=0.2492 right_y=-0.0056 right_z=0.2009 right_yaw=-0.0175 right_pitch=-0.1409 right_roll=-0.0205 right_gripper=0.9984\nstate[joint_eff]: [0.0205, -6.612, 2.947, 1.1404, -0.3834, 0.0073, 0.6227, -0.0068, -0.253, 6.612, 1.6337, -0.0415, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4005b5354c0e617ab8693818ff870d646a4319f23c63c1679ae0393f250d8fe8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f98d8be38624876465630d860cba4d6d9ecadbd0c759d9090c139e6f7bbef6c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b10132bb503f1b3000343a4c3d9b7d371686df76a02179cc32c34643dfbf5b35",
      "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 · 5.499 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]: [-0.8165, 0.5236, 0.2844, 0.0376, -0.9394, -0.0986, 0.9979, 1.0561, 2.1395, 1.4857, -0.3157, 0.7441, 0.7574, 0.9945]\nstate[eef_state]: left_x=0.2535 left_y=-0.0564 left_z=0.2096 left_yaw=0.0803 left_pitch=0.4412 left_roll=0.0876 left_gripper=0.9979 right_x=0.3503 right_y=0.3836 right_z=0.0682 right_yaw=0.0435 right_pitch=-0.0899 right_roll=-0.0109 right_gripper=0.9945\nstate[joint_eff]: [-0.0752, 0.4171, 6.9265, 1.6142, -0.1636, -0.0122, -0.0122, 0.7863, -10.4, 8.6359, 0.9792, 0.4615, 0.0611, -0.1538]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-1.2842, 1.8481, 0.3298, 0.8204, -1.3911, -0.5823, 0.9979, -0.0429, 0.712, 0.7769, -0.7666, -0.0082, -0.0406, 0.9985]\nstate[eef_state]: left_x=0.2389 left_y=-0.183 left_z=0.0592 left_yaw=0.0709 left_pitch=0.4418 left_roll=0.1347 left_gripper=0.9979 right_x=0.2493 right_y=-0.0057 right_z=0.2011 right_yaw=-0.0184 right_pitch=-0.1398 right_roll=-0.0199 right_gripper=0.9985\nstate[joint_eff]: [0.1573, -4.7385, 2.3316, 0.7692, 0.0171, 0.2222, -0.0708, 0.1162, -0.6222, 6.3932, 1.8339, 0.0855, 0.1441, -0.0366]",
      "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]: [-1.2842, 1.8568, 0.3252, 0.8272, -1.3911, -0.5846, 0.0295, -0.0429, 0.7124, 0.7769, -0.7673, -0.0086, -0.0418, 0.9984]\nstate[eef_state]: left_x=0.2384 left_y=-0.1816 left_z=0.0571 left_yaw=0.0692 left_pitch=0.4406 left_roll=0.1392 left_gripper=0.0295 right_x=0.2492 right_y=-0.0056 right_z=0.2009 right_yaw=-0.0175 right_pitch=-0.1409 right_roll=-0.0205 right_gripper=0.9984\nstate[joint_eff]: [0.0205, -6.612, 2.947, 1.1404, -0.3834, 0.0073, 0.6227, -0.0068, -0.253, 6.612, 1.6337, -0.0415, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4005b5354c0e617ab8693818ff870d646a4319f23c63c1679ae0393f250d8fe8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f98d8be38624876465630d860cba4d6d9ecadbd0c759d9090c139e6f7bbef6c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b10132bb503f1b3000343a4c3d9b7d371686df76a02179cc32c34643dfbf5b35",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFHj9omd8usrFg8Ub46HFSWkqA_cuzd71EI83z54TNgj0aQo4fCiRyuA2i11yDzghvXgjws3R1zTvtr-81w35Vp2NKrIg-2Uj2Qw91iVU7k5FFcb-CliXUOWQzW0Bn1y_lAGxvfVUuIB1Gjf7U259s0Ojtf1QWJNZh61xbjj2IvZuJk3YQojE3AeLtiOpZ4b-xEFh4j6onsAMKuZDmWdpjNlGk6PJaHQCa_Fa8ImqlHV5kztEf4E4BwFCK9zrGSD8Vh2fvuKXBaBj6IFnTmrgjJgqSp-wbKbcVGzgWslPf95QnW24FwaYbOzi9ZOjPiZjAt9PjZ7vpWmMrQD3G2nXnF3T25vidRNeJTEiYTzupOiq3DclUpZH93xBzqpg9oVl1t-7H_GioGpNFzXd5JpYRUkuIQ7A1rMkyLBsf1gFdRJ5w4NXoCnPZ_A-fAFIlGEY8oL0G4Yo1_cHoWhCNamYSwRdHdBpOIKa0T-NFj9enQXRmsaiAno1aEV4LaamBM0z_0hT8TGcLasgJhpFJ7Um9KcyY_p6CTuZOHdOVjLi8vSg9YFXRHFluckF1pmsGyMCep0ooz0SiDw303tLvlYJW7IRJnJdaDzKus5ua4imTQH2zzwYMhn1TNdT3dGZ1RuT7K5cedg5h9_vbJRbvk_CT75BnJuDWUsz3tkEswZnjlCg6kffYCQVrKuQJ2_bm8INr6Z54_NZ9LcJKYTloKHv4XJDslEnsiYesgfWdzssIDQtbs1jftIGsvuJ5SesnEWwd9DmmtIHojwBRmKLmmpETZDx_lBqKBJexcifxSPmxjzlfnIS4HVIauo3u-BrjIDSIU-nu-mFAA9YDvixolf_ie2kghKa9epgCNk3aMP6e-TSpLq0QxLRLgWMIksyAAhCFATrJYdWszth-uxtAWBpUr0181fShpHyGudEY6lbW1R3FSHcTRPpfQFkIJb7JOlA2NTQvUyGsLwl614KxFzfeo496QUpsAVFysnPgmpq4xua-uzqAehQVHyTixw4OGP8wIoK6-noDshvBzUsEUnwx9QS5huPsF1HLn7Pn5B2hDsdvOujKVb2Pnn9XpH7-D7iFi3LTPjQEF1-iqH1Rg-mJKbq2ZC7fSCI-1eVDo0TofnQUULDa3ls9dK3WvZNYlHJOHEVhRUMLRBx0Gg6fZmkXeDcEPr61mUgepK2rJIJ3j3Y8ne8Wo7eeV-e3xlB0ElkowQPDQMd5o_F1fDeimDMzjqG8vFUtgvjabxSyIlnznad6uVYcVEb-b7VdbN5Z_nuPG0nEZW_NR_VB1dIV9zE2nZM1nBhGbRh7e9Y5_bnYBPUDtbu83DoPuDrAX8uyxH5bTMEpjTM-ihESgw6tUn1Qppnw==",
  "id": "rs_02830c7bf8f36af4016ab451e221f487d0b9beb4b59d9073ef",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.13},\"note\":\"The settled spacing is only 0.0295, borderline and normally considered empty, but the dog may be pinched by a compressed ear or fur. I’ll perform the required 7 cm lift and verify whether the dog moves with the gripper.\"}",
  "call_id": "call_UEOEFW9R3g9vy2d1Y72J8Qdt",
  "id": "fc_02830c7bf8f36af4016ab451e28bc087d092e5cc0d62df6c96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UEOEFW9R3g9vy2d1Y72J8Qdt",
  "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]: [-1.2842, 1.478, 0.3813, 0.4351, -1.3838, -0.5846, 0.0324, -0.0429, 0.7136, 0.7769, -0.7692, -0.0082, -0.0452, 0.9984]\nstate[eef_state]: left_x=0.2384 left_y=-0.1821 left_z=0.1212 left_yaw=0.0839 left_pitch=0.445 left_roll=0.0918 left_gripper=0.0324 right_x=0.249 right_y=-0.0056 right_z=0.2003 right_yaw=-0.0159 right_pitch=-0.144 right_roll=-0.0233 right_gripper=0.9984\nstate[joint_eff]: [-0.2393, -4.9846, 7.2274, 1.2381, -0.4078, -0.0611, 0.3248, -0.0479, -0.1983, 6.612, 1.6093, -0.0317, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edc11d8c4803bb2a48026068492db5cc5bee052eb039786e30a390110149a9c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fef26c8da9656820baad02463100b51bf86c184f8dd2c1a15da167ac27bc69c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:363ff84f99d154551be46d86fc80ed79bf27063ac2145f076c656b16cf343b0f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 4.411 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]: [-1.2808, 1.4986, 0.382, 0.4389, -1.3624, -0.564, 0.9985, -0.0399, 0.7074, 0.7738, -0.7433, 0.0021, -0.0216, 0.9987]\nstate[eef_state]: left_x=0.2393 left_y=-0.1849 left_z=0.1148 left_yaw=0.0526 left_pitch=0.4273 left_roll=0.1284 left_gripper=0.9985 right_x=0.2522 right_y=-0.0068 right_z=0.2053 right_yaw=-0.0344 right_pitch=-0.1149 right_roll=-0.012 right_gripper=0.9987\nstate[joint_eff]: [-0.5675, -4.3966, 6.5846, 1.2283, -0.5201, -0.1294, -0.1734, -0.1573, -0.7453, 9.5521, 1.6288, -0.1441, -0.0317, -0.1538]",
      "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]: [-1.2842, 1.8568, 0.3252, 0.8272, -1.3911, -0.5846, 0.0295, -0.0429, 0.7124, 0.7769, -0.7673, -0.0086, -0.0418, 0.9984]\nstate[eef_state]: left_x=0.2384 left_y=-0.1816 left_z=0.0571 left_yaw=0.0692 left_pitch=0.4406 left_roll=0.1392 left_gripper=0.0295 right_x=0.2492 right_y=-0.0056 right_z=0.2009 right_yaw=-0.0175 right_pitch=-0.1409 right_roll=-0.0205 right_gripper=0.9984\nstate[joint_eff]: [0.0205, -6.612, 2.947, 1.1404, -0.3834, 0.0073, 0.6227, -0.0068, -0.253, 6.612, 1.6337, -0.0415, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-1.2842, 1.478, 0.3813, 0.4351, -1.3838, -0.5846, 0.0324, -0.0429, 0.7136, 0.7769, -0.7692, -0.0082, -0.0452, 0.9984]\nstate[eef_state]: left_x=0.2384 left_y=-0.1821 left_z=0.1212 left_yaw=0.0839 left_pitch=0.445 left_roll=0.0918 left_gripper=0.0324 right_x=0.249 right_y=-0.0056 right_z=0.2003 right_yaw=-0.0159 right_pitch=-0.144 right_roll=-0.0233 right_gripper=0.9984\nstate[joint_eff]: [-0.2393, -4.9846, 7.2274, 1.2381, -0.4078, -0.0611, 0.3248, -0.0479, -0.1983, 6.612, 1.6093, -0.0317, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edc11d8c4803bb2a48026068492db5cc5bee052eb039786e30a390110149a9c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fef26c8da9656820baad02463100b51bf86c184f8dd2c1a15da167ac27bc69c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:363ff84f99d154551be46d86fc80ed79bf27063ac2145f076c656b16cf343b0f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFHpVuDDjBnAyifmMdkkW9KP6MN5hr13F9VNrHXKGb4GKIf69zvRj2QijEUiftSRYin076tE7AU8nF1qx8zlfdCTUCI_IELlKL6yrUFoPUAvJSlVdktVJPK5q2lI_CShDf81HysBAhgxPHruU4Qq0gBlhTIB1n-66xk4jSBZKm0EuWZKKMWsbok23KWgb5W51MnEFkMHifkENiEKMO9M1wPmIvDuYwKI0qIAZM2_qoW1dqguf1uxs85CWlxjY48yiG2IGfuMgVMoJ28KbFd9MI18ZerbaW_13YC2KUtH5-J5KSeV6kMDq1xWl3O8uOJ0CnhoSvJldYNDxq8ELJImTixzL0eEh2YSfFGsFVYmKVlA2F6-AYOChOJ1qGOF0vKiM1PyrHck-nE_-YtzLUnbIF_qKqE-vE8YTSrBi1BXivg-oMMEWonVYFQLJCxIhAjkCFx8OD8w9sLX2lg-zHLQVRO5ZuU7wwMlCUuT8Rif7hzhs6VIjxWFE9adX4RjfGTYwbcE2Ry8a0sfQMXiQ6tF6JSDVJAdE6RSb-llAgMxgerCT2wj8wR29McAlMIgAihLlnzh61a8Lmb9NHcxXrvh3SDNwREC0BkUVo5frgsGxKlWbRti5cmtVwwsLfuzy0Gef9xuVYXgmd3mxYbgwZwta4G6Nc4OHZOzJFHyz8Cmxr_k2DWHDLLPDS3g7qzA82A6HqujQA40AJQCtBnQKUJ9XZSVlKmbADrAsMFJRkn7JN_kVRIuGFLTexe7A24A1KLgmA4pW5dpQCZ9NhxSbj16Qj9Gm1guDhO6hSq6Q6SF9Zaetr16B1RsCWfqnK1rqIG3LPJ6i3SNg-JSlolXIyWUvI2V1K3rEx4Kqp9VcCq5DSu2ewUsTMFDd2Z4n7xmI_hvCKLv_0nfOThGbsoTi1vDWBCotcd8yv0GATU0BmBKtiD6SnjlnfwX7IdsgMliWDpFEq5QOmuLFqg-Kep5-FwMdMK8QkbT5EYauRGqakpO1A2gwnNIokx89NYHdKIQubSQnLERztl8aT8Y1chIcb_l_TCJ2wvhIOvOtntRIrDdSKScWxp-SZZpK1mhKeFjkvCXJA9p-FZA4afUHwP3qH4v7TPZcStkTuOBLdRigW4ZFIUfYJnyJ8BX1ODMHZ--EzqmRIZrue0It-Pe1vOGAsgtaqc_GRCcCVFEHlTQIIEVJ_aVKICUyib5InjXfA_blxYiuDuG4UbdvfQO81j3jFKQhZuOw3NR7MW7sXk_9vj-6S-P6hw77VjNiGLR3XI8JwG4s8LRulUNcLcfoJO-X-nJBL0OKyXYa51avNwAJu11-p1egyWzbpKj_X4tbMUDTqV2KFzd7XbosS15tYyr77zNNjMOy_Ew8udpwCGmzkd0csd1P8IpDFCNcF-tVj685l1UnEVkehiJ2Z3v4SGCUqjY0rqhFWv2qic-r9M-kHJ1RfgDkPMI1AKGlDxMsJ_zpkA_0PRfhEh4nay549eVg-qZHxYFsaYFWRnFH7X_rAzR6EP7CyXDNmmbFSjTf6TfQVdDnAr-m3ZOSKU6MM58lptWImk9uE32th5kul3uFN4YlevbJJSdB49qiGkMjt4abhVuu_Mg2W9pDqWKP_Rm7pS1GO3_4Q4nRyIIC1niyPp9tRzsTzuJU_B0GqCeEChkf8d6OL3Zw7mi5RS-LnLpMr8lAgj_knd9xJhwRrn18xtW7cp00U_0R9plvTnCI2WjhywNHKDyXGgI0L8lvarbOfheYay-DE0_hAY7kuoTWr3pJuLpRKTO5hwUV7q7RYLb8VuyfgDJsY-voIUqDuNxOZ2v8ql62sJtxAsUdr4LW0kI5GwOAch9KTSLl57Nd_UuXpEzfZ8phttzqkFgcn7MS7EvIZE8souRMwS4Vgc1TDKqT38Y65o5_vLc5ODKDX7mFJXWiNmyRVgFvzG83_ou56b1VM7B9TR1CB0DAirbldI03KIwMrupNBjCNDyqLZqjkcGU98KQgYDtZ21IsHyopzJCo4XZ7sNK7zmzEGNrD4KTIiuRICxr5KYR_ZOOGXJNYKfNb5uArysXBDViTTa4-TYsRzz6g72P1rPtrH5bBOBs-T-OPDL71Ams2VB3emri-7B5QeP5wtfW3DlA2KKGMVpkVaYTGgkCthIqm0OnYbAs35zz8cx-MKROtQz76REZFKiP1KPu3nVXVU6EPETxtg61xD7GMDVEoFQsRnwpeLAwl9UI8Pa0f_HqTizcrsqiPab5iNwGpTPsh2Yw8uVQke74C3ii1iFWChDbtqSgs5dS90MwunvyVs_ZhIlws09OujgxiQN4t1H3LiyQEDOwP_k9MGp3ZcqfdrsrRbsNbGfIO-Q3BTQz-j-SCQM3nk018IvYZ4cnUT1ACsu9zwLFsmJ_htiMGpnyBJ9wBJueoKkQRajvAMkQ7f1E9575Vr4ngtNccpq2eNbiMaDjIXqS0QYJKBlovjom7jYjga9vVOrE0ZGGiHflBeIXKk1yJFNrkvETdke6p-A9zQLvgse8T2m9azGgTjKJE7GE1sVDdFHG3Fb1xoKN8TYVr62zW6fH1Wzg23vJTG8JTRStMz3GNfSvJKxm3mSF_m3TqBHfoNB9-SdoUhrrUHZ6syF8VtVbYvMhlrOr_L4_kg6UYWIX3JnY8Nqx_5VXlGPHrqcdth2C1rq-RVhFWFCtHSeowmCfeaThgtn1P-7v33v2XoAbxq3f8vfCek8BMghTvBGEac-jfJluh1M9Pqz77qYWxJPY8INDjA7Gln_JJJy49dOnzvhCfORZH5X7Mn1y-TnFt1s7FL-N6So=",
  "id": "rs_02830c7bf8f36af4016ab451e57b1887d0885fd262d9e0475c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.24,\"left_z\":0.1,\"left_yaw\":1.57,\"left_gripper\":1.0},\"note\":\"The borderline pinch did not lift the dog; its broad side again slipped through. I’ll rotate the gripper 90 degrees and shift slightly right so the jaws close along the dog’s shorter neck dimension rather than across its wide torso.\"}",
  "call_id": "call_Mw5CMuplGAisFf8Chm7v0K8f",
  "id": "fc_02830c7bf8f36af4016ab451e883b087d0b3862cb9178e591a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Mw5CMuplGAisFf8Chm7v0K8f",
  "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]: [-0.2478, 2.0705, 1.2327, -1.1484, -1.3464, -2.0453, 0.9951, -0.0452, 0.7185, 0.7765, -0.7742, -0.009, -0.0456, 0.9985]\nstate[eef_state]: left_x=0.3442 left_y=0.0943 left_z=0.102 left_yaw=1.4296 left_pitch=0.3568 left_roll=-0.0369 left_gripper=0.9951 right_x=0.2486 right_y=-0.0061 right_z=0.198 right_yaw=-0.0173 right_pitch=-0.1543 right_roll=-0.0228 right_gripper=0.9985\nstate[joint_eff]: [-0.2256, -8.3624, 3.2752, -0.8571, -0.6325, -0.1343, 0.0073, 0.0615, -0.3077, 6.6256, 1.6532, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c161e3811f8253e54f23b3aba6d4f5770668e0635d4c75a3144b5c340df94e58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de574c7dd5f6d03913f6a4a08028c8d5840ada2c046f8a44fcefc974a463d836",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20cdc74bb389ae5cb5c7a38889cc45761067112fdaa5fc27420d806474c609f8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 2.226 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]: [-1.2842, 1.8481, 0.3298, 0.8204, -1.3911, -0.5823, 0.9979, -0.0429, 0.712, 0.7769, -0.7666, -0.0082, -0.0406, 0.9985]\nstate[eef_state]: left_x=0.2389 left_y=-0.183 left_z=0.0592 left_yaw=0.0709 left_pitch=0.4418 left_roll=0.1347 left_gripper=0.9979 right_x=0.2493 right_y=-0.0057 right_z=0.2011 right_yaw=-0.0184 right_pitch=-0.1398 right_roll=-0.0199 right_gripper=0.9985\nstate[joint_eff]: [0.1573, -4.7385, 2.3316, 0.7692, 0.0171, 0.2222, -0.0708, 0.1162, -0.6222, 6.3932, 1.8339, 0.0855, 0.1441, -0.0366]",
      "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]: [-1.2842, 1.478, 0.3813, 0.4351, -1.3838, -0.5846, 0.0324, -0.0429, 0.7136, 0.7769, -0.7692, -0.0082, -0.0452, 0.9984]\nstate[eef_state]: left_x=0.2384 left_y=-0.1821 left_z=0.1212 left_yaw=0.0839 left_pitch=0.445 left_roll=0.0918 left_gripper=0.0324 right_x=0.249 right_y=-0.0056 right_z=0.2003 right_yaw=-0.0159 right_pitch=-0.144 right_roll=-0.0233 right_gripper=0.9984\nstate[joint_eff]: [-0.2393, -4.9846, 7.2274, 1.2381, -0.4078, -0.0611, 0.3248, -0.0479, -0.1983, 6.612, 1.6093, -0.0317, -0.022, -0.0073]",
      "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]: [-0.2478, 2.0705, 1.2327, -1.1484, -1.3464, -2.0453, 0.9951, -0.0452, 0.7185, 0.7765, -0.7742, -0.009, -0.0456, 0.9985]\nstate[eef_state]: left_x=0.3442 left_y=0.0943 left_z=0.102 left_yaw=1.4296 left_pitch=0.3568 left_roll=-0.0369 left_gripper=0.9951 right_x=0.2486 right_y=-0.0061 right_z=0.198 right_yaw=-0.0173 right_pitch=-0.1543 right_roll=-0.0228 right_gripper=0.9985\nstate[joint_eff]: [-0.2256, -8.3624, 3.2752, -0.8571, -0.6325, -0.1343, 0.0073, 0.0615, -0.3077, 6.6256, 1.6532, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c161e3811f8253e54f23b3aba6d4f5770668e0635d4c75a3144b5c340df94e58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de574c7dd5f6d03913f6a4a08028c8d5840ada2c046f8a44fcefc974a463d836",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20cdc74bb389ae5cb5c7a38889cc45761067112fdaa5fc27420d806474c609f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFHugLIRWoRzt6ZZu83EW89ECHV9a4tXjrycUecVxdoNppyg9-oTLRDGIIurPyBanTXSeukimSlVemh7YC5_nqVSexnSCwiS2CjSD6CF3hE_mzptrNUdaeiOeBP5UWZGn6vsFgBK-vgZQAKKsbyFyZJ2busBNpZcN6uVC9s6Ua8pB0ky8ZDtm7C8T8yr5le_pS1KEjn4BLtNiFDWTqZxxwYhmsgaNENyHgExU2a1vt8rPi2SlZvtUx7WVUMgS1jqZtsIiCbOjQh-VEmqhpt_4yKKB3H98dhG31T2ppAECbZLzYAbgIIt4fN3zZ5K1EgluhPCodZipk1uPhLHAa3RK2OVuyxDqGy7zaYSlnOrb0ymZIfseM08twFNU7Kfoy6ezy2ySAFHnoGDLzgvzsDhfDvt2l7Ykv_qS_ugpiF9XBvbtO61zYrCIf7BuDgDe6DqkVfJKz3Da11XRjyrqNkPhFT3iMMGW5HxGHzXvXgwaSsOUCau8aSMVpX1Jb6ZkhVBV5h597k6En_eQba4jGnraImIVCMzyP4srkX9qZ3RWKtihy8r2dDc-2oPCpVsseknN4ZcyyIyxZ9j7ajJo3OZuOL64tJIBuCUoaJoWdzq5eDkdQXe0etsP6GjAwzJfvw3_gWwYrIhCJK6Okb2yRosCBTvsDuMKtvwD3oIqP0HLXhGyywLNAmFR4TqZRm_D9tm_EiQ4WHJht60NJrpcbfuW2WXGMg8xK7q5XPo98EEibXIGbwboGhq9Ni0RZbQUrebnelHr-FGXycnExXqt0FSYhNyUXjgOS_uGTjUf9pQ9CMqXPmnlKZC80Owe1FYUzoQRUSrNzljxmhkLyscuMizpTPcvb7kQ1AmYbdln00-Lutne1LrLUVz2CkPP2U-O73BYZ8MIq4fBNB5UKnujmnK9kDBTmh57uweu1vk0tOzmwl8_-UT189W5nUKozUQU40v_W_aeBhX3kjx-js49iQ76lFQxz6tcoUslP1Sdoy79mZp2R79qSUDRvwfBOyP8tAyiWF0-0wqWvnS7Poxlmeuu4g228oy-wCtUFaDv1TeAP1AcWkM53xxLATmoMVoeWQA0wPTMoafnQse9Bi_OR41lZgk_J93lPuYxtNBFaazgCjYnWeEjP_JrJ1U0JP4Kjrl-2OOrFH7TA6eMOx5-qzkZJRdMDz5v0e0Fe_IaAtus8ejDLh6O21tBlovRqvtJWDHrokoSHQRFkXr0bLn2gO_s_GOFL4o-UdO_zTja4WUUxsQ4PKMYhjjBg9RBjqB4pBIXcCnFKo7hZZIaFuNGeNjtrr1V1e6mGgiSwfaThaPf31hq7fXz9cQzPpk4MjrpdlKnt2fdOD2ScRCX5odrRcobGUdBtLMeIl9GdK-MYVEjKb5b9N_c909YXHiFz6Aqq3EYgrsSVJLm7vr1QDzUtGIVG-CQTlFw-zEe-pnPec5cfrM0Wri4T1ATexr6-i9DnExuFDMlVv9yVJgZZNyoNU61O-Coi3-bCwQ7mxvjNc89ZizrnceN63jIscvJh20v0ot8j_wCzhm5-XUtEEgBQ1g7TkFT9v4uaLHT74QJff5ln7cfdmNSiWaiUYN2GH0a-phve_uWAQ-YGDb8mvMKHmX4W41LK1aDRjmWqQzQ5vtGZCpHdDCsPTzqLqBYPjCz6cbi8fXCKQuBsVcDLYwvJkMVyktloF4NwKEa1dL_FqPk4WKmLZ1UpYGmoxi9ybh_NBxCDqxsfyE_yH5Wn2hBhTSZONIuwCYc0b3om2tM0mdyKepY-JvUXpUldcOTnBkO5thDPt2ebfqawU7GLRMLO6hrk0arZzD6SPID7zIH2vv3D8uiQR77TjLgWZ0uw03rLM2trLaloGxXpkPP9okANnjW9eniAlD02wpabDNLLXE82TqZfcEjkUE5Hy6SIgaoB9bPDl39HC9VLSALfl72x44iHt3JqUO8spKNhVN7Fhl2niizCdPVpRk6w8hn-0anafJmE1zEkhdEh-zprDC0bOLl--B-CyBbmlTAw4IVX269hoJK8trIlqk9AeP2K54iMRxu0kRK1iUqcBMRWXoNzDnEeZmcx2OAn-E5I34G3QC8voRPQOaiBzwy6w-5tX8tJMABvybuMbNZ-5i1yz8-Tm-V5gaW-57CFA4xTeNgqHTC5jDrhrDw58Kmy9qVV6Q6l3HbRP_Kew7MqTQ2FQ8_Ld2euSI2O5IeK4Xvb6Marj-Wb9suehwxrQws68h6KulCvPpLWsACwQrNFP2QnDlVGZnlvOSAtJ7ueS2fCvXcr7ZTpgQVf3VByHv6g8FGecnljW6asK_TjbK6XRKXrbM5w6kp8yJB2iB_9yUsDEsEQP-kB3RGIMNMR9hRBRQhj1aolsQ4uj-Na1_EEfz4EjB1nwfzXhPzA==",
  "id": "rs_02830c7bf8f36af4016ab451ebc12487d0986156431d234740",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.02},\"note\":\"The large yaw rotation swept the left basket onto its side, but its opening remains accessible; the rotated gripper is now directly over a gray rabbit. I’ll lower carefully at the current position and try the shorter-dimension pinch without any further lateral sweep.\"}",
  "call_id": "call_LisFm4voH7CnUP4HmrFQJ5Dd",
  "id": "fc_02830c7bf8f36af4016ab451edd62487d0bfb1fc0405e67296",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LisFm4voH7CnUP4HmrFQJ5Dd",
  "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]: [-0.3424, 2.3726, 1.5387, -1.1797, -1.3315, -2.0499, 0.9963, -0.0448, 0.7246, 0.7761, -0.7757, -0.0093, -0.046, 0.9985]\nstate[eef_state]: left_x=0.4078 left_y=0.0406 left_z=0.0536 left_yaw=1.3332 left_pitch=0.3462 left_roll=-0.011 left_gripper=0.9963 right_x=0.2488 right_y=-0.0059 right_z=0.1962 right_yaw=-0.0164 right_pitch=-0.1623 right_roll=-0.0226 right_gripper=0.9985\nstate[joint_eff]: [0.1573, -7.5692, 1.6342, 0.2125, -0.0952, -0.525, 0.1099, -0.0342, -0.2803, 6.6393, 1.6337, -0.0464, -0.0073, -0.0171]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfa4a3fee2c8f5c70502b80011a681f77e505b875f97f81542880caf3826db12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c7498dedb62b91d95060abedbc42cd40e7d25ae40c66ac714ce222c63493992",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c74c34002794fa3bc61a453f9d4c2878fb4d2ce11796aa695693c82a680c49d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /responses · status 200 · 3.188 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]: [-1.2842, 1.8568, 0.3252, 0.8272, -1.3911, -0.5846, 0.0295, -0.0429, 0.7124, 0.7769, -0.7673, -0.0086, -0.0418, 0.9984]\nstate[eef_state]: left_x=0.2384 left_y=-0.1816 left_z=0.0571 left_yaw=0.0692 left_pitch=0.4406 left_roll=0.1392 left_gripper=0.0295 right_x=0.2492 right_y=-0.0056 right_z=0.2009 right_yaw=-0.0175 right_pitch=-0.1409 right_roll=-0.0205 right_gripper=0.9984\nstate[joint_eff]: [0.0205, -6.612, 2.947, 1.1404, -0.3834, 0.0073, 0.6227, -0.0068, -0.253, 6.612, 1.6337, -0.0415, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.2478, 2.0705, 1.2327, -1.1484, -1.3464, -2.0453, 0.9951, -0.0452, 0.7185, 0.7765, -0.7742, -0.009, -0.0456, 0.9985]\nstate[eef_state]: left_x=0.3442 left_y=0.0943 left_z=0.102 left_yaw=1.4296 left_pitch=0.3568 left_roll=-0.0369 left_gripper=0.9951 right_x=0.2486 right_y=-0.0061 right_z=0.198 right_yaw=-0.0173 right_pitch=-0.1543 right_roll=-0.0228 right_gripper=0.9985\nstate[joint_eff]: [-0.2256, -8.3624, 3.2752, -0.8571, -0.6325, -0.1343, 0.0073, 0.0615, -0.3077, 6.6256, 1.6532, -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 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]: [-0.3424, 2.3726, 1.5387, -1.1797, -1.3315, -2.0499, 0.9963, -0.0448, 0.7246, 0.7761, -0.7757, -0.0093, -0.046, 0.9985]\nstate[eef_state]: left_x=0.4078 left_y=0.0406 left_z=0.0536 left_yaw=1.3332 left_pitch=0.3462 left_roll=-0.011 left_gripper=0.9963 right_x=0.2488 right_y=-0.0059 right_z=0.1962 right_yaw=-0.0164 right_pitch=-0.1623 right_roll=-0.0226 right_gripper=0.9985\nstate[joint_eff]: [0.1573, -7.5692, 1.6342, 0.2125, -0.0952, -0.525, 0.1099, -0.0342, -0.2803, 6.6393, 1.6337, -0.0464, -0.0073, -0.0171]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfa4a3fee2c8f5c70502b80011a681f77e505b875f97f81542880caf3826db12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c7498dedb62b91d95060abedbc42cd40e7d25ae40c66ac714ce222c63493992",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c74c34002794fa3bc61a453f9d4c2878fb4d2ce11796aa695693c82a680c49d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFHxQKpRQt3W3f4SD463-W7de2O0_VO7Fx08mcNcP9zB8zjOF2MSrvv14wcB9_K-z6K2vExxvQu_BIKr7JUdRRegol2J9KFuCmu08OSy4fmHWClUI8As0kdrl024C9BXzk3n8s42NsUqit6A9HjicaGtF-6WmUKCrDvv5POCxWN3HlfyodLL9yhvXFUftrdcqmIsF41qysO7m1s554UuSkNpYFtwm4fJrzqKzgyHkFerGMoe48YpeYFKEIpK1tcGOuSiHmwJS8BrHFxrO1EGxr5NkOocIyZmGaEPu8UbThJsobcPJve756v88eQx0fAFDqVyKHY_M1To-wHT9Hqwe2iifnS_grE49XSPUOGOVJ-WS6yzVQIZ9Nr2kSsXQ06xXt4Q9Xh-mi0mESQdkL1gfV0QCJmSr8Zhng4kl-mcNonRh7ViUuGeVjiDigcYqxL0_iEE7AgEAnPMkYBCVDR_EYZuSmh5XW5iPHZVmom04fjezgdt1OcDJtMa15oTWhnO7nYKvPIkIT1Qs2J826PvS1FCw5ta3t5Upi2tjaIqjp8eHezB3tTvnnzAjN7as8xUMCyNy-gGRcSFb-OzDDo3d-I86pkHKkBoWEekFN2Qhm5xi8WV1VmbsBkLodAdmUvMQ8G9ivS6PanOt_4vnyr4vy9oI3Vux0QxRJpcbl5LGWU2RrauSClIfRlChtdgxbFVa2i9znTmQ56S0HFl9I1uS7s_ToqfWM-Q--ffjeHGRTVnpg-v3Nx2oXLpwpQuYEhjvqOa3d9I529aWD3Bqvf9GftP7fgwXcPl14JZgkcBdGpkwyvq58WpwWJCi92vWqzMo7w9afQcRI9D14JV7O5ZttCKY-wCnojnw-wOcLcZ4QhS0ZowhQQ7Hk0McCBlcfiiqpWOs5UvSdSc_lapCBAT09BmUgJR4LAQEm-TZOL_-xI236r9fRr4afBcMY2wX7RJ6rpglq96dl_tL_oQO1ZfAwBJvqYa8S3Um-toeNSy-iRMEiFe3jEtUmdFPKJBAiyfJ-nqQjkbmdgumqwLn7xkVQRdXRBLhV5JD4hubvPhNA4rmStwzwVLdV_Ktruy0Q_5coth2G4ZZ5j6e8BYkGNmh4GF7eFkLRJ40Jh4mgiv3PbUC7BvgjZ_orU3mTSxmAF4OJvirrvcY1WmNmfMD-h4IlSHoJwqIlW5EmOezct2ppVdPtC0RqhusZhDvp7iDVWaTfT5YNd9JvlzrF2_aFLlRwq-aX6A_B7YlF0ivres-pMILpR74a0erq-1Ri0XZ_m_k5VEnTSsJTfmOmKmfwlbDTJJL4bMb6F37yogik_p4AeD43ItRheXRfBNvXNBy2tJEu9siDzKmYCSvmPmIJnAUxpmPUk7h0ayZNostEZ4zHyo_DWkHnDiK1FRc4kWPBZLvUHzIpFFh5hSnJ8tlO0QSa9yiQ==",
  "id": "rs_02830c7bf8f36af4016ab451f0746c87d0bde61e29d60bf20a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At the lowered rotated pose, a gray rabbit is centered lengthwise between the jaws, with a dog just in front but outside the intended pinch. I’ll close on the rabbit’s narrower body axis.\"}",
  "call_id": "call_cyrAugWSzHHpf0t3hGcold8z",
  "id": "fc_02830c7bf8f36af4016ab451f0d2ac87d0a7258d064443c825",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cyrAugWSzHHpf0t3hGcold8z",
  "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]: [-0.4046, 2.3772, 1.5974, -1.2675, -1.3228, -2.0499, 0.0729, -0.0452, 0.7277, 0.7761, -0.775, -0.009, -0.046, 0.9984]\nstate[eef_state]: left_x=0.4132 left_y=0.0133 left_z=0.0646 left_yaw=1.2627 left_pitch=0.3417 left_roll=0.0253 left_gripper=0.0729 right_x=0.2492 right_y=-0.0061 right_z=0.1956 right_yaw=-0.0171 right_pitch=-0.1646 right_roll=-0.0228 right_gripper=0.9984\nstate[joint_eff]: [-0.3897, -9.6342, 4.5607, -0.3394, -0.3004, -0.5153, 2.6935, -0.1709, -0.3214, 6.612, 1.5604, -0.0708, -0.0415, -0.0171]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d644f1d61426e269933076ee6528d02ee3d49bc9980af7066e5e5f00bc95cb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6733a29b81b7662de5edbaf1ff6e9e91b4129ed663102f572754dd447ecb77a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1eeedd8523417f697e62d7ee432100eaa59cec1b6408052a61c547edc72104f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /responses · status 200 · 3.643 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]: [-1.2842, 1.478, 0.3813, 0.4351, -1.3838, -0.5846, 0.0324, -0.0429, 0.7136, 0.7769, -0.7692, -0.0082, -0.0452, 0.9984]\nstate[eef_state]: left_x=0.2384 left_y=-0.1821 left_z=0.1212 left_yaw=0.0839 left_pitch=0.445 left_roll=0.0918 left_gripper=0.0324 right_x=0.249 right_y=-0.0056 right_z=0.2003 right_yaw=-0.0159 right_pitch=-0.144 right_roll=-0.0233 right_gripper=0.9984\nstate[joint_eff]: [-0.2393, -4.9846, 7.2274, 1.2381, -0.4078, -0.0611, 0.3248, -0.0479, -0.1983, 6.612, 1.6093, -0.0317, -0.022, -0.0073]",
      "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]: [-0.3424, 2.3726, 1.5387, -1.1797, -1.3315, -2.0499, 0.9963, -0.0448, 0.7246, 0.7761, -0.7757, -0.0093, -0.046, 0.9985]\nstate[eef_state]: left_x=0.4078 left_y=0.0406 left_z=0.0536 left_yaw=1.3332 left_pitch=0.3462 left_roll=-0.011 left_gripper=0.9963 right_x=0.2488 right_y=-0.0059 right_z=0.1962 right_yaw=-0.0164 right_pitch=-0.1623 right_roll=-0.0226 right_gripper=0.9985\nstate[joint_eff]: [0.1573, -7.5692, 1.6342, 0.2125, -0.0952, -0.525, 0.1099, -0.0342, -0.2803, 6.6393, 1.6337, -0.0464, -0.0073, -0.0171]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.4046, 2.3772, 1.5974, -1.2675, -1.3228, -2.0499, 0.0729, -0.0452, 0.7277, 0.7761, -0.775, -0.009, -0.046, 0.9984]\nstate[eef_state]: left_x=0.4132 left_y=0.0133 left_z=0.0646 left_yaw=1.2627 left_pitch=0.3417 left_roll=0.0253 left_gripper=0.0729 right_x=0.2492 right_y=-0.0061 right_z=0.1956 right_yaw=-0.0171 right_pitch=-0.1646 right_roll=-0.0228 right_gripper=0.9984\nstate[joint_eff]: [-0.3897, -9.6342, 4.5607, -0.3394, -0.3004, -0.5153, 2.6935, -0.1709, -0.3214, 6.612, 1.5604, -0.0708, -0.0415, -0.0171]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d644f1d61426e269933076ee6528d02ee3d49bc9980af7066e5e5f00bc95cb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6733a29b81b7662de5edbaf1ff6e9e91b4129ed663102f572754dd447ecb77a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1eeedd8523417f697e62d7ee432100eaa59cec1b6408052a61c547edc72104f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFH1ilrlHp-KDKoYyb9jaipVBbXbhOiEV6miw3I50bmdYRTc_LM-KFm_Qd8M_tMJ5KFCj55dwNaH_Vy80TZxCD1XNiFxYHvaHZDUMkZNb_836z4r3CVgIOTaBGPmMuF4o_23v6WHMjXj8UmrtkASxfQYte03gjCrmtijFIApAVxrDJiuNphvq9qZ4lCfC90h2e-3f3dZqoPy3gbeJm1IX0YGBmacsnqekoi_svLKmP7V2DfZzbdXXe9XHm0Cl8S8zI20n_pqWAGKlYXBAfTpldxeveoPetc3GhWRpfvmGAe6t9VlhOft7QFQOjBaI5BhRTh5c35e9c80GKMkRyyYhVZdzS30VwKLw87t6eVxYVVpgIbhF2fs1TkYKhKZjbQAJEdMxYNDGW3J7pWuR_-Lq9CF2wQuf2EEA3LAPCKK3PE_E1VIc5AoGVYYjxKOIWkZ2Rr4cy9GZae5aymYP60H9gLM2Qe0KfVHIVHgdUL967Dfz3de3C_t2deTSjkH8XTod5XO5pSohInsCYZjF5bz07UEEMXbhI6WzAAfvQoPNsIWy22Eu4JgUdNCETZjC6Vk4D1lpW68XUQJLaRZSVWhMrIZ7VLdQs9cSV_aHe2wKR5BnWDbopiRc3Y6OE4mtTPPxzTr43rtDr7VLKisd1cjxME1M1uEGdHetB_Yj3-qeeAQpg7EcuEqra0jfznkf82h_wuQKg_XKT0Q1otx15N82gq8sQ3qfmpl__-JDnmPiWRuFPqQQwZIQ5yn3xQvmfyFMHJkZAfFyTF11n3bOQsXW33TMgEVzSgDVuEHV7iraAO-7OaIVYqCpG8S7QnPMYhtPzHRhAi8IIiFojjmd0rdXOVpXgPavICj41vvFvxLDMbrDzkz25YomgUB6xXD3A-XRu5uEZ8_fJJXbf89G36wdSLTRqgrVgMGbU9lCTnrDNAlIgqMugnLachMu3-f6n_f28MOsNd6Ocpb592uQU2oteV9Bh9xg5CS5Xvwe2gZiMFEwcAameQhVmrBPCzGeepp_he3m9B-cKmBUZekM4zT_mOV6n4kI44nmaKppeEXsdpnxmrttnLFOQz0K2EsycCnL3qbnFG2QNeTfk3DHeK0GHnRyHIeYm2FHfmNcEwUX6EvLSTmHoK0keWDkmxsSNg5wfeP_vdrbiiRmDSSzlskMuodHBUW41gVaXriuA0AynOR8GEVgZCT6AbwZBaAqKeBK3-F8fOaV-5bzNKw0yetqAKfAg41qPtiC5PLuSaJXQ5eUegnSZf_HqybTJ61vkhTdC1UEUsfp8QcZdNI023O2AWxnS_tE7YjsWxfcDPsWrVS9UDpUJqaJKJ5HmdUwQt7LFAaWOg21fsq1zGrekLuVv0fD4O8wsv_im13aoB1U5wFCp368qVyY3Y5cuUxcETdlmrtfXTFKzyoaVccKy1H4oUHIWNAvZV_LBaT3mSfknKVDjJCPVp1A3sB21FBSahZRdRxd57rW8Ca9KtTNUXeMXlSIhMsPrABAKT644p82GjUJpqzo8DKXz95Pn0xsjpGdL7Or3zqJ-dQ_Y6h-A--wpVdPXPjF_4zsJ1lHbfpRnoX7SqLDa39RdTsLzMpN15I4AZEJzFb_RNHIg2hHnVJnwN68kxlgTgLpmCe99lK6a6I0MkwZrTB5yQ-DScdFHMea7WAzkeIv0Nz84CW6PkxDgigDC8pay0ZbSzjkDXRy4GBJo0Qy8Myl40_dRpa-rFaWh279p1NPRcymMr6ln8WE8QfLIVw4dAobB7cskA3Yy0hJGBxYt8Aqbw0lG9AXak3GTK7-HyRN4IsjN0ohTJPPLxShEQ-7QjR8hPwO813VJa22-83wwT_YylbecMwwZX75AbL-DTGM2z4ZjnxRf-ooOxS9g==",
  "id": "rs_02830c7bf8f36af4016ab451f3d85487d08b545a5e4ccc1e87",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.2},\"note\":\"The rotated grasp succeeded: the gripper settled at 0.073, clearly above the empty threshold and consistent with a compressed rabbit held between the jaws. I’ll lift it straight up before translating toward the tipped left basket.\"}",
  "call_id": "call_GbpqOzpjhQZhIInBHrcTWUkZ",
  "id": "fc_02830c7bf8f36af4016ab451f4eba487d08697b58625bf800b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GbpqOzpjhQZhIInBHrcTWUkZ",
  "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]: [-0.3866, 2.2154, 1.7649, -1.5253, -1.3079, -1.99, 0.1092, -0.0452, 0.7277, 0.7761, -0.775, -0.009, -0.046, 0.9984]\nstate[eef_state]: left_x=0.417 left_y=0.0183 left_z=0.164 left_yaw=1.2772 left_pitch=0.3207 left_roll=0.0132 left_gripper=0.1092 right_x=0.2492 right_y=-0.0061 right_z=0.1956 right_yaw=-0.0171 right_pitch=-0.1646 right_roll=-0.0228 right_gripper=0.9984\nstate[joint_eff]: [0.3624, -14.5846, 7.3368, -0.6374, -0.7985, 0.1636, 1.033, -0.1026, -0.3897, 6.612, 1.5995, -0.0366, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56e2d5a79fad5045bc8d635b65e38849db350e50dd176a903de8ee3036f8b6fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2586558e81946e07b377cba5846a746e306ed74364383733f58380d6878c911b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f162a57c2f16a12725ab424a7c0dbf1d4194e98425850876a3435df1d3c34a9b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /responses · status 200 · 3.808 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]: [-0.2478, 2.0705, 1.2327, -1.1484, -1.3464, -2.0453, 0.9951, -0.0452, 0.7185, 0.7765, -0.7742, -0.009, -0.0456, 0.9985]\nstate[eef_state]: left_x=0.3442 left_y=0.0943 left_z=0.102 left_yaw=1.4296 left_pitch=0.3568 left_roll=-0.0369 left_gripper=0.9951 right_x=0.2486 right_y=-0.0061 right_z=0.198 right_yaw=-0.0173 right_pitch=-0.1543 right_roll=-0.0228 right_gripper=0.9985\nstate[joint_eff]: [-0.2256, -8.3624, 3.2752, -0.8571, -0.6325, -0.1343, 0.0073, 0.0615, -0.3077, 6.6256, 1.6532, -0.0269, -0.0415, -0.0122]",
      "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]: [-0.4046, 2.3772, 1.5974, -1.2675, -1.3228, -2.0499, 0.0729, -0.0452, 0.7277, 0.7761, -0.775, -0.009, -0.046, 0.9984]\nstate[eef_state]: left_x=0.4132 left_y=0.0133 left_z=0.0646 left_yaw=1.2627 left_pitch=0.3417 left_roll=0.0253 left_gripper=0.0729 right_x=0.2492 right_y=-0.0061 right_z=0.1956 right_yaw=-0.0171 right_pitch=-0.1646 right_roll=-0.0228 right_gripper=0.9984\nstate[joint_eff]: [-0.3897, -9.6342, 4.5607, -0.3394, -0.3004, -0.5153, 2.6935, -0.1709, -0.3214, 6.612, 1.5604, -0.0708, -0.0415, -0.0171]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.3866, 2.2154, 1.7649, -1.5253, -1.3079, -1.99, 0.1092, -0.0452, 0.7277, 0.7761, -0.775, -0.009, -0.046, 0.9984]\nstate[eef_state]: left_x=0.417 left_y=0.0183 left_z=0.164 left_yaw=1.2772 left_pitch=0.3207 left_roll=0.0132 left_gripper=0.1092 right_x=0.2492 right_y=-0.0061 right_z=0.1956 right_yaw=-0.0171 right_pitch=-0.1646 right_roll=-0.0228 right_gripper=0.9984\nstate[joint_eff]: [0.3624, -14.5846, 7.3368, -0.6374, -0.7985, 0.1636, 1.033, -0.1026, -0.3897, 6.612, 1.5995, -0.0366, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56e2d5a79fad5045bc8d635b65e38849db350e50dd176a903de8ee3036f8b6fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2586558e81946e07b377cba5846a746e306ed74364383733f58380d6878c911b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f162a57c2f16a12725ab424a7c0dbf1d4194e98425850876a3435df1d3c34a9b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFH68ZnMj5mmciqHyo5mQl8EJ01QKGGLBcJH43pCnS9ezNQk_sulhohC25xDVUW-WQhWJ-8AdIaWziH4Wt85nFmLPDOXsB1EDP9RrrOUdjwcy85ewG7251jbPVIRBYWvHGDioQf_iTzVyuKBFC1gEeWznlyQ85CiRIxZhyudo199w50RT2VcLU4NpXtp__pr-I4zBq5yt-ZQORGiPsYiJZArKCvX3KnJjc6vk61WUzJoWeGmElY0FMiZKEnjWm8kc6dFrYo1dTsVa9dkmPvZtagu-L5kvHRydtBIGert8MZVPZo0ZZqytyqIVUbpu3KLEFjyjwtmXn7y4zuMBFCSd0ICI_s8yPYvovSabnO5tTLTgGIW5wCg4s0X4aE7gMBplYBcsRVD5rIBAqKWVNRYQp-x9XB6tjSZAxp4EqVP0kEKQF_K7mXd_IxIFfKtN5KEy9hs8_6QCdysJKnzDYWPlAdPN0S9iep9q_qGOsH_KPZCqvUR5PqonJbFP-W_MvMhDB4VEEObmiaycU1p4nCaXMJFDGz-EKZzAkfDkxfZFsNveLaJZbhDfb3KMgAyo9uEUHr5PUGGoTBaUtgDPRciOZ79VnkkUB5dlSlli8mstBw2XR9svF77T7iq204tXnmozFzBJwsCUf6YmGaWIg0GOPMTJgCIReara3KZLvdc3SUgw1jLDoUTOG_mYLxuQ5A35L6NfvAkd_GFC-KVICvK6GhOoIIgRN923gvp7Jak5y8zYzWlDy3gMz62Er_1FWGEXvtMVk4NRZhpYzMJzq1Kd7vr5Y5hAG-cO4b3L-3oxgcM5Neh2oP_QgEebsxkpBbG8emOB9cjGm4QLRBnK6PrYgJdMDg-8vZG-YGTGJcgrFI2DE4oLu5RDnw2jvwJW7uGOgKJgtXrW1D8fjBeIb-4s3mjGocOVJjAPByN3P-rTL5iNpRUI5owCukZ9Plre9IcUfGUROXDHsXaB-xxZ-sIp8_nWfTVQ-xn5bQH8kZiG2xDMZaebkoMdWZsS9ZAYPfQ0iKFnGkSRvoC7wH1bUTv5ItvePGykywUEXOw5cxVTKkK0XhwVth2_4_eCiU3ItDdzjfa-ir60kZadQP_VVAz47dONcVlobskc5OmP64t034ThQoqEhGZm2uFs3jSIPppvgkackBdeAttPwI-QS4s6HN3u5zD4I5ykGTZo3Xed8t1biitudoR3hfAR6waqBOKuE6VAl_wxuZrwm7gGYqj8GlCjZZhGX5JaeK8WtHju-gAr-OUxA7HKqyw7DMFGBxF4eOGlt7_5bu_6u0uqj2lpU7VuHXMUKClLNknr8GKc0MBaO4RLwB1UWR2HgBIoIN1o87nKQvp5A3g44uIA7flYAiOLu8QvCPdUjx_93rWyOr0W1HoAziWEvaZGQn9IxX-mG_cQmHlGk3KFpBHgt97x1IA-vnWTZ_qo6Tt0DFNBydeiAylVkWs1zrRxEiV3GYHgBOWmGoQssuAMKPvB-7EgwkFR5QAdE5gCRrLnyibQcoAXKrgR_SYoRG0INx4Yt_Cwy10iZwUMYeaE6R4M2KJTITSgpT7h7qF7thmA5S9S14PeO2aHxIjLbLh7bQCmc6gdRUr5wxdc2fngVC_KQt38D0vgYwMWLlVBvzVPuSU_nyBNZCONiFOA5pXy0jwj6APoe4dj7YhuP-tY3D6dzLRfpa01sw2WuECb3IJbW5vKv3ZK-yh7M-Ux1FPXwaUF_jJlImGyOLQRDOQS2WHvq-1hYkGrQ==",
  "id": "rs_02830c7bf8f36af4016ab451f7da5887d0b6ac3060980b0a5b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.08,\"left_z\":0.22},\"note\":\"The jaw spacing increased to 0.109 during the lift, confirming the rabbit is still held and its weight is loading the grasp. I’ll carry it high over the visible opening of the tipped left basket near the far-left corner.\"}",
  "call_id": "call_W2eAmxeaTXAUe6cfWHwdaWiD",
  "id": "fc_02830c7bf8f36af4016ab451f934bc87d0bb251489c082e5c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_W2eAmxeaTXAUe6cfWHwdaWiD",
  "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]: [-0.3752, 2.3886, 2.1643, -1.5524, -1.2934, -1.8294, 0.1092, -0.0452, 0.7311, 0.7761, -0.7753, -0.009, -0.0463, 0.9984]\nstate[eef_state]: left_x=0.4733 left_y=0.0 left_z=0.1808 left_yaw=1.2654 left_pitch=0.2905 left_roll=-0.0308 left_gripper=0.1092 right_x=0.2494 right_y=-0.0061 right_z=0.1948 right_yaw=-0.0168 right_pitch=-0.1684 right_roll=-0.023 right_gripper=0.9984\nstate[joint_eff]: [-0.0752, -12.3829, 7.788, -0.3346, -0.8425, 0.1978, 1.0379, -0.0889, -0.6359, 6.6256, 1.5702, -0.0024, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94f0b114587bc3b1e1ae113108c4410280f7403e565cad8819eba9cb257a3260",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2036bb8ba8131ab12df0a54faaa4c3989640e26b364deb292d8d20381bb83d2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37915f27514754b2c1414af5bf06750e2eae8c0afd99079a3f497ecadc90e2aa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /responses · status 200 · 4.65 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]: [-0.3424, 2.3726, 1.5387, -1.1797, -1.3315, -2.0499, 0.9963, -0.0448, 0.7246, 0.7761, -0.7757, -0.0093, -0.046, 0.9985]\nstate[eef_state]: left_x=0.4078 left_y=0.0406 left_z=0.0536 left_yaw=1.3332 left_pitch=0.3462 left_roll=-0.011 left_gripper=0.9963 right_x=0.2488 right_y=-0.0059 right_z=0.1962 right_yaw=-0.0164 right_pitch=-0.1623 right_roll=-0.0226 right_gripper=0.9985\nstate[joint_eff]: [0.1573, -7.5692, 1.6342, 0.2125, -0.0952, -0.525, 0.1099, -0.0342, -0.2803, 6.6393, 1.6337, -0.0464, -0.0073, -0.0171]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.3866, 2.2154, 1.7649, -1.5253, -1.3079, -1.99, 0.1092, -0.0452, 0.7277, 0.7761, -0.775, -0.009, -0.046, 0.9984]\nstate[eef_state]: left_x=0.417 left_y=0.0183 left_z=0.164 left_yaw=1.2772 left_pitch=0.3207 left_roll=0.0132 left_gripper=0.1092 right_x=0.2492 right_y=-0.0061 right_z=0.1956 right_yaw=-0.0171 right_pitch=-0.1646 right_roll=-0.0228 right_gripper=0.9984\nstate[joint_eff]: [0.3624, -14.5846, 7.3368, -0.6374, -0.7985, 0.1636, 1.033, -0.1026, -0.3897, 6.612, 1.5995, -0.0366, -0.0269, -0.0073]\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 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]: [-0.3752, 2.3886, 2.1643, -1.5524, -1.2934, -1.8294, 0.1092, -0.0452, 0.7311, 0.7761, -0.7753, -0.009, -0.0463, 0.9984]\nstate[eef_state]: left_x=0.4733 left_y=0.0 left_z=0.1808 left_yaw=1.2654 left_pitch=0.2905 left_roll=-0.0308 left_gripper=0.1092 right_x=0.2494 right_y=-0.0061 right_z=0.1948 right_yaw=-0.0168 right_pitch=-0.1684 right_roll=-0.023 right_gripper=0.9984\nstate[joint_eff]: [-0.0752, -12.3829, 7.788, -0.3346, -0.8425, 0.1978, 1.0379, -0.0889, -0.6359, 6.6256, 1.5702, -0.0024, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94f0b114587bc3b1e1ae113108c4410280f7403e565cad8819eba9cb257a3260",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2036bb8ba8131ab12df0a54faaa4c3989640e26b364deb292d8d20381bb83d2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37915f27514754b2c1414af5bf06750e2eae8c0afd99079a3f497ecadc90e2aa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFH-QyfoysWxgucYwzJMGTMz7uD8v0k5OVkp_3QlS2uCq48HMBeNZFjzUuzKrxkixJMcKoFUCefj-i_210NSE84CJ0madzqAugeBzGMYQffW4zbTyeIE4XhdUh0hp4aMVyv7FX_gc0juAXFuXfHZDEQlH_HMCEHPdpMLTOwePCWVNe1BJS8pd00iOIoeGlhtUxJrzXyaJpThdCn_zv59TIDjgCFe4hc_MHhvvflo34CF281C0qoROpEMUiWYS-gDDEXg4RnsEDK93pKWfPZMAJAHPLfevsMR_kwFZcEZYtsbbEXtjthPcpFUU57RKuZu2j8OH95Uo8XBI-GEeT98uhP3IOzgCMnaCciHAvWcpnXgibdUH1FmVRJ3cgUP_Nv1ZJjoO-O3-D_7RYX49K3Eyrj9LWTlkwtfjLdEQ8n04Y-H1lsERly6I_mFOUY1BOu0TNQlGMawW6HaoPVKC5xymt6JNhLde4rVp-UyxswwFDMRp859dJRB9DIYbQjwQl60Gj4bubTROcqhEUV2yFJncqU6EhlZEXCk5eI6A0UZJt4uagHfRkfoJ6aZL23YEogiBm4LAFFiLs4sIrBq-WerqxuY7JlW6GVcryg5wMYTgeqH9gR7mh63wl8LNodWlfgMexlpRIV8cLxRr0kelO78qP99QoXrPfSN0TF5UCI94yDQX_aPkC9WTU1FYASnu1GGLiYH6pjAGZfJ1VfGc8zhox1kNAZwuHixcIrEkZ40GEvaRL6cw6sCS_GqGyAtFHZCaeH-bjb72ixnOcHh1MfcS0HNyYv4HtRyw4Hl_AKAdHf0mUPik9Cf31qLkkmsny7N2GA8C4z_W7iq_WjxPl__hsMULnvKtg-flvQehwz8aG3zhEJdJVrBcXxlXbE1KBkaa5DUFjubr_JuaFLZjKrmEG1oxHXj5zsjgepNnv_fyPeDnwq5LzGziYUvVq2cv2GJmOM-UglLeOgX8kurZJ9ExnlEWnKKJRUd_biinUcMavcX9omudxwmt8A9DIbT_Okamq3YzbgE52xY3vjcgjUWGNzMCJ-gr6Bp7j1nFQKuh2CLcFrLeooJY9n9h1AhfO7GVnt7SKFzlJOr08Iugn8wOuwo6LobH0ZIAS3Fx3TvOYCOqApz_IledWwUsgFyz0mDwcAV2mdp-_80cnp-ilRxTOQDUU6Obe9UBSFSGxlqHz3a285hpwm2-2jasmTqZc11X0DTCm4-9UCFMmO5hJ9RIKPHMr3EvwTfo9vvyXjRc9mjFtYa0vlvFWeFBwbgcTrFSC5srS_hmFK9qlyL5isNlCryA4TFg0EXdE3mlayYyXAo0KuSXX9vjD9D756tgxWwr5ubyT_d3ybWnVjxKeH4-vcY1ryvtiupWL7ccH5PT0kAsRswne8X7FXlbcJdVs0xsP0Kn7QdqxbLRboZHeEd6eP4KYJBUQeOexqcszlMcXA4kk64pQmd6REK3e9PM84uTrFWRjLGS2sJVlnfzmOF1zplY_VMDQEVXUUrweLm0oStkA2pvGJrakvCXmEZnJ-9vl08X0_kZm7zGj0DqcIjQ7xSXabrvvUrnVIdvje12Wx3q16SrYpDQd_0yoZqoOboV-VzLCpYMvRNOATG_GennBP8ZSZw3k4rKlgWvJZYkkFTZLS1C05EK24sszSlBx8I3317KAozvlzAc0TE_Mn6OQWUK37G9bZYyAq4WwBYrcGGccQAMJDB34pqOis0igacNsjEPFXfnkF8ogLbSPqve6UdZhJoArcQIPX9IN2vcep_mCPkZ6RnwCGPVkulw-8SAiqg0ua_cDXIENp9qvpzYHHcZwpnR5tMNu0lgOokmyDhIyETXf4knrSNZAMbTxZk0k2A3tFXduP7o3xik2FaTFwGRg==",
  "id": "rs_02830c7bf8f36af4016ab451fc689c87d08b1018abaec77e4e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_z\":0.1,\"left_gripper\":1.0},\"note\":\"The arm is directly above the tipped basket’s upward-facing cavity; lateral y could not track farther because of reach, but the overhead alignment is centered over the opening. I’ll lower toward the cavity and release the gray rabbit.\"}",
  "call_id": "call_0lEeHqeyGIMNya4jlK8Wr5mK",
  "id": "fc_02830c7bf8f36af4016ab451fdf02487d08e1d7d771def1793",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0lEeHqeyGIMNya4jlK8Wr5mK",
  "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]: [-0.3637, 2.4523, 2.0533, -1.3567, -1.335, -1.7863, 0.9953, -0.0452, 0.7315, 0.7761, -0.7753, -0.0093, -0.0463, 0.9985]\nstate[eef_state]: left_x=0.4849 left_y=0.003 left_z=0.1308 left_yaw=1.2521 left_pitch=0.3303 left_roll=-0.0115 left_gripper=0.9953 right_x=0.2494 right_y=-0.006 right_z=0.1947 right_yaw=-0.0165 right_pitch=-0.1688 right_roll=-0.0227 right_gripper=0.9985\nstate[joint_eff]: [0.212, -9.5385, 4.9162, 0.6569, -0.1929, -0.0659, -0.1392, -0.1846, -0.212, 6.6256, 1.5604, -0.0562, -0.0464, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d70d56580ff280c21012f64b0b42e480e8eab4ae7cb06425c27190002ebe9931",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:206570b6ad87b22c6bef6253526389af4ad298ee5237bad13a8716b27d53e832",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aae737b865ec71c0cca2f19da64bc31b80a149d7fa6d4a5d9ca2985c65671ff",
      "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 · 4.132 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4046, 2.3772, 1.5974, -1.2675, -1.3228, -2.0499, 0.0729, -0.0452, 0.7277, 0.7761, -0.775, -0.009, -0.046, 0.9984]\nstate[eef_state]: left_x=0.4132 left_y=0.0133 left_z=0.0646 left_yaw=1.2627 left_pitch=0.3417 left_roll=0.0253 left_gripper=0.0729 right_x=0.2492 right_y=-0.0061 right_z=0.1956 right_yaw=-0.0171 right_pitch=-0.1646 right_roll=-0.0228 right_gripper=0.9984\nstate[joint_eff]: [-0.3897, -9.6342, 4.5607, -0.3394, -0.3004, -0.5153, 2.6935, -0.1709, -0.3214, 6.612, 1.5604, -0.0708, -0.0415, -0.0171]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.3752, 2.3886, 2.1643, -1.5524, -1.2934, -1.8294, 0.1092, -0.0452, 0.7311, 0.7761, -0.7753, -0.009, -0.0463, 0.9984]\nstate[eef_state]: left_x=0.4733 left_y=0.0 left_z=0.1808 left_yaw=1.2654 left_pitch=0.2905 left_roll=-0.0308 left_gripper=0.1092 right_x=0.2494 right_y=-0.0061 right_z=0.1948 right_yaw=-0.0168 right_pitch=-0.1684 right_roll=-0.023 right_gripper=0.9984\nstate[joint_eff]: [-0.0752, -12.3829, 7.788, -0.3346, -0.8425, 0.1978, 1.0379, -0.0889, -0.6359, 6.6256, 1.5702, -0.0024, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3637, 2.4523, 2.0533, -1.3567, -1.335, -1.7863, 0.9953, -0.0452, 0.7315, 0.7761, -0.7753, -0.0093, -0.0463, 0.9985]\nstate[eef_state]: left_x=0.4849 left_y=0.003 left_z=0.1308 left_yaw=1.2521 left_pitch=0.3303 left_roll=-0.0115 left_gripper=0.9953 right_x=0.2494 right_y=-0.006 right_z=0.1947 right_yaw=-0.0165 right_pitch=-0.1688 right_roll=-0.0227 right_gripper=0.9985\nstate[joint_eff]: [0.212, -9.5385, 4.9162, 0.6569, -0.1929, -0.0659, -0.1392, -0.1846, -0.212, 6.6256, 1.5604, -0.0562, -0.0464, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d70d56580ff280c21012f64b0b42e480e8eab4ae7cb06425c27190002ebe9931",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:206570b6ad87b22c6bef6253526389af4ad298ee5237bad13a8716b27d53e832",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aae737b865ec71c0cca2f19da64bc31b80a149d7fa6d4a5d9ca2985c65671ff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFIEepoNltbZ42LtHsqeShPvzsp5ViQYhbRWQKHruOhCZ_9PTvZQ1eOxmChK-FSU2HmwYqY6gv8YnX7gX71JjYIA29xlv_mJylEO3wfqRnKS1LidmGG3NDm-COYHWTmJKbEKPyUzcrOPou-TA9fxkBz888X2t3o2nk07tw9UYnO2eOeyK6z3EfwyU2YqlfFiFvzoKc_Wi2HhNIImoiHKN59k8sGcamYUosx9Md3Cki2KbnmlMecURap_4kWzEz84sGamX3lgAyFK8AUXBbtwjFLmMvSOTfH43gnAxT7an7-xAkMpbQ2oDSI5-ZNXxyclJRkU858P7tR_ve-LW19W6kO9eoieQKEEzOjdY-0mOHQIVGbDk5oWo5EurWaq1paX8FPg3iorI6NqOkISMhnZVMCnWU-_d8KH7RJgl55pdn5d6ZUKp2iuty1l54sZk9M56Uil1uspFI2qtMcCA6qk4FNUTFOyLToPkjpDmIjK-ygjlWuiJxXAHgxpM8WoaJXQdSKW4XEa4ZuIeMvlFRxGW6o0undxjM2grL1FZX1qu4p8qISSYYZg91RoncBGSjIvhqzml6DKdaTx_ITO0csWCkbSwQFo5NxL9sRXxXCV9T64QHl-gTjXsPf4EjL_BCFqY3e07CBYSTRNt7k2W-ao_YO7yLRLo-jm_exu5NjoFP4ujhDtKuDfBUGIQ55M3BSoGbJhs_xNtXqeVBj7pJ3mlB6mAVXlTNfgn4S58MP-PSk9mO4zKF1p-WlkJ4qoFIlMw_tzPSF3dCO2ivxvLghpez5fmb1BHdffaCA9HF9R1ldnNH2YjVOO_M4eyo2EZEiTlA2fNyJYzkpLc1k70gi-TjFQaDtEGX45Q0RqAPiXusbkhQmWQDdVGRlcHaLAPFFN9ChcfRYMe6FGE2NlRbDywQNZ9nTb5ozxLT_Q5EEOKqnO-jq9ll7H1cgPNgQVabKgvR75LuRAH-I_d7MRWNELFVnEWwSt37KX_fXUBwIW3VGx5bf01v1wmS7C3aF0grJ-9YOUEYw7d65TA_bVWAjB3LD8Po7sTbQ9484Ga8ceOtlyGwf46PRDR9dEdrPgIev3EnjzekL3GH4tdY2zjylELnbUi86XrRuoFqVz4inIXsfaJRwSGw4imBwTOqUy46HUef35Etq7c-ig5vmfn3wKR-nLCL8sI0Shfwbx0sWjg1SPSY_Kf-VA4gMV-qdUV2QBp0KfR9lbHkhYxp_xzkD4mMU5nz_w39Q8v5GunIy3i0WvHg8El9Sy6Q113Xqg93lTcOcnX0o4nZQqigJtNBcJO-FHiKhNOaXD2VLBG13--YI-rbckyNw_Yr6y5nBUGDgG-q1cBGHE_SpEGNJWiCUTMcEyciyUnrZ85nEbEiTb8y_zR9vWw1l_vpN4Lxx6QwnG-K4Vb9CmoKBEQITHBXRuG41uP21KARIjxMNNpGG113LDkMr1MF6Cn9F5zCDtkT5mIy73aTy4kVdyR4li5QG5s5E0qzHmu-gLo5xI1O3iUrAy63UFYrasLs_MPb6_9BrEBZYs14YuPOWaA6WTMH9Uxer5xE-FBT5mUBGczqUFfGs2S4B5_R4xUFy9NttqLOCdFJQk2A5THTWSgaHcHJn8vz5b9qYnnA7tBh0ULO1Uqy0TD-KHS1eR7cWpAMz78dEDn-mlrF5H4bjyS9a58z856e-d2IxCnIgyr8ND1j50ZZ8Lsfb5wDUnv8uNHNEypIQVyg3r241X8_FSOGpdmEF5NuvcCoUwVmpMt2bfkKUh77Yjas3XyJXtzuTbtzyedPQRChF9d1cKBB8PRY2a03uUjhz_tx63E6kWoxllF2WujuqLOHys2icCVx4GwhS2GKeGUKRy1RXsP1N0-FYiAZuUrEGgV1gzZxQTzbZC5U0ttNZ36KQsGFD-uNoREJk87ZGq6E9aVKaKHkgh0WiRbdBFk89JCDvrzmWx6qTgV6vQbsrbMKLNeOlEbM_7UYJiOxtBH_lmLy-JnWx30ubMy9tcnIeuPEa6a8WCEio-_3-uPhJ7SxQ8hDHyf9M_uSIao227Td8Uw3H63CbfPt0PQEASx1w-8890bSZVisc160Uiztujkfa3jKWb4i-7DOGA5_ZExBwWdCpDPoIdkyiOnapNfeEX_s7HiGQkb79D1J0GtjhcZ6fJBMYPKqkGxK5Puy19ausHxPFjMUXG9BaVLRprqfggDMzGxsYUNBRpPtadnWeDrqmyWpa3Dm1BuHlS0EYW2CO3qiI-Z9w7TdKv7P9WZA1BODk7ApoezImtpJ5jgN9I0mNmNHL7DDJsiHVkX4Wk0SPLHA5wqiOQnuTSLg9Lppc4sfyAQZ2AM43tefKIxjMaJZm8fbgbaSGSJjM3lzV7yIdSot3ztYfHR981KKJJ11OICg==",
  "id": "rs_02830c7bf8f36af4016ab4520144a487d09bc31edab0e2cd33",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.05,\"left_z\":0.22,\"right_x\":0.35,\"right_y\":0.33,\"right_z\":0.05,\"right_yaw\":1.57,\"right_gripper\":1.0},\"note\":\"The gray rabbit has been released into the left basket. Using the successful rotated-gripper technique, I’ll park the left arm and bring the right gripper low over the cream-and-brown dog pile with a 90-degree jaw orientation.\"}",
  "call_id": "call_mOBqKi24ijmsBUq4p9ZBLCCb",
  "id": "fc_02830c7bf8f36af4016ab45203657087d0a509cd1a61d90437",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mOBqKi24ijmsBUq4p9ZBLCCb",
  "output": [
    {
      "text": "executing move_to over 29 steps (2.9s)",
      "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]: [-0.4736, 1.7325, 1.2324, -1.5528, -1.2926, -2.0499, 0.9964, 0.5014, 2.0289, 1.2808, -0.2878, -0.6601, -0.8379, 0.9986]\nstate[eef_state]: left_x=0.3024 left_y=0.0399 left_z=0.203 left_yaw=1.2046 left_pitch=0.3157 left_roll=0.0342 left_gripper=0.9964 right_x=0.3531 right_y=0.3212 right_z=0.0459 right_yaw=1.506 right_pitch=-0.1853 right_roll=-0.0205 right_gripper=0.9986\nstate[joint_eff]: [-0.5402, -8.7453, 5.012, -0.5983, -0.5104, -0.4957, 0.1001, 0.3214, -10.4137, 7.4872, 0.9353, -0.5348, -0.1294, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d5d46c735486dbbb32aa327357e07187a4608c4700ec9aa9782e6288af55ff2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d14679d4b9f549dfc3989a783553c54128736815decf56205e682b8b89506674",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:898c1d04a97961c5bb2522a22597a92d02645b7bd327bcabdc596c62cf3fb510",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /responses · status 200 · 5.042 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3866, 2.2154, 1.7649, -1.5253, -1.3079, -1.99, 0.1092, -0.0452, 0.7277, 0.7761, -0.775, -0.009, -0.046, 0.9984]\nstate[eef_state]: left_x=0.417 left_y=0.0183 left_z=0.164 left_yaw=1.2772 left_pitch=0.3207 left_roll=0.0132 left_gripper=0.1092 right_x=0.2492 right_y=-0.0061 right_z=0.1956 right_yaw=-0.0171 right_pitch=-0.1646 right_roll=-0.0228 right_gripper=0.9984\nstate[joint_eff]: [0.3624, -14.5846, 7.3368, -0.6374, -0.7985, 0.1636, 1.033, -0.1026, -0.3897, 6.612, 1.5995, -0.0366, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3637, 2.4523, 2.0533, -1.3567, -1.335, -1.7863, 0.9953, -0.0452, 0.7315, 0.7761, -0.7753, -0.0093, -0.0463, 0.9985]\nstate[eef_state]: left_x=0.4849 left_y=0.003 left_z=0.1308 left_yaw=1.2521 left_pitch=0.3303 left_roll=-0.0115 left_gripper=0.9953 right_x=0.2494 right_y=-0.006 right_z=0.1947 right_yaw=-0.0165 right_pitch=-0.1688 right_roll=-0.0227 right_gripper=0.9985\nstate[joint_eff]: [0.212, -9.5385, 4.9162, 0.6569, -0.1929, -0.0659, -0.1392, -0.1846, -0.212, 6.6256, 1.5604, -0.0562, -0.0464, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4736, 1.7325, 1.2324, -1.5528, -1.2926, -2.0499, 0.9964, 0.5014, 2.0289, 1.2808, -0.2878, -0.6601, -0.8379, 0.9986]\nstate[eef_state]: left_x=0.3024 left_y=0.0399 left_z=0.203 left_yaw=1.2046 left_pitch=0.3157 left_roll=0.0342 left_gripper=0.9964 right_x=0.3531 right_y=0.3212 right_z=0.0459 right_yaw=1.506 right_pitch=-0.1853 right_roll=-0.0205 right_gripper=0.9986\nstate[joint_eff]: [-0.5402, -8.7453, 5.012, -0.5983, -0.5104, -0.4957, 0.1001, 0.3214, -10.4137, 7.4872, 0.9353, -0.5348, -0.1294, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d5d46c735486dbbb32aa327357e07187a4608c4700ec9aa9782e6288af55ff2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d14679d4b9f549dfc3989a783553c54128736815decf56205e682b8b89506674",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:898c1d04a97961c5bb2522a22597a92d02645b7bd327bcabdc596c62cf3fb510",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFILz1oEcN0sp4NQemXs2t0IiCOOrj6AaRdTe0B2BaiRwfoBcXwmLSUv4l01BGEmHJPpdsHLy_q6yI-bmMrYclwOPKo_ieHUYfZMJf2-rFmErCo1boeHqVtYiADd1ovNPoM_8EcRsnE-Q-XjH4WqCtknMTTDpXmhtGSOxJzn52iaHcxfChDk1QcEcuS_3Hc5KEzrhEtf4S3hJ262Fsd5pQ1VpIQuFTy81_R2pLrLXu4TjyYdoW-5c0nDisnmJ15sq2kdgsfQTqSISX6963SWMrO7zn6gDCwIBW3sxKSYLjbi2GD4Cfh9ruK4OJIai93MTgAsiEXaPJKmOyEooO82jxYc8eeekoPL75KXs-8lW5V53nGUH04Rfuw5Ya3boZFajfMmAsPadifa8LdmcV-h2wyoqV8PUgBc0htRwFY1zgRQ-wSV4if1gsjy72qmiS5ts82FZjMB6N1zkQJNDC8LSNNBXSQLhlxrnF4rPf09c7toOrHONWvuSNgiVsA1ZKrcH_5K2lkCZq0ECj8ccMD1arf5KNXYtvKLoTgtFjy5oQsW4ntNcFSmusgNPaum1gyZYOdvKITRa7m9nq7Q8JRxDiLfBPT-KuQW1-tfnMFDlCn6JIGcaqlsPJ6ZF7zEiU9ZPIw7pi06-OzxPOtDOYMg2pbxX_1WW0uLWeOqdSwACdcOiBOdDh9jzgRxR6odH8imcHNenXrT-Enr80BopDTePFfnUcgdNcHZSknhH1pLWlj7rWodPWbVEzfSkkhNBopgn1nrQkZakEMpmILyiGIVN4vq7yXjCiBKxCeqlMwHkKMjGi-x48VTS-Hd2NErah95kOpLHbQqaMCpFLl49snoP4tM_ljQ0-uACafb2M_sRAmBtF6Gxm6fzmAAlD5XzH8d4M-guIMFF8ER8Fbs9k4zN7z4rlcpquOwUSL1bpoqnPHoUHAMlHzMflJSo7oyWNzooiZVqpj-hu2EoNgSn3JwK-ZOqw5AcaBgmYA1-2uPV2yM_870aLU1P8QE9BYz-bhYWBEXUw-a_E-iw_eAF5uipxCqZRRIG5gV3bw2w_x1_XglVo9QolQd_WeFnYDdSHFpVxX1Cl0OwdsfhBHck0ZdskpD8nPO-bwbbr02CIndZPH8OWyx4uNbfdGcmSYM7JJm2JRfGsMlbqqj84CzAklvv4Vw6V7-Ny9QchbL9VJwPY3R9iJ6YSfgkxwBCp3CCbFHUcfz_iG0rtZYU5pXh7G7sd4hEs0-TNo185GK_IBU2McbJqsH3vv4UEDpMwGLFOmTn2eYbGe7K0u-bs5J_EXyGmJlIoQqlqDevi1T5OsC4oJETD0kUspgHOC_DVviC5nNCjQGBqgKXlPxlu4MZKyE7r2w5oL8goten4U8ISEQVwMthLZ4XibxvSS8FJlxHbt3Sq3kF8zp4FmCw9mz7tCbttpfiAgpEJUD2SzBLwtvoUl286ej2QalZR3JAZ4TxtcgwTxGcytIjB2CU39cA8hHuKiUZXBEsoWjZr1c20ce1sc3KE3kmwMgJISSiAE5DfaDRcRgVRJvdirykmirxJKvNDtqRD09OqLol1rib_gz5qOD82XVTuwWddawrVxlsCouWtPgbMxtk6igD6wGyn9WCLSUVmZufPcQEtpthTcJFnlP6lwQdXJOQbnmagOIpCSRWOPPNnTaaUt8WfwpL60Mtxkohk9XB5SpjYIhgImd7EJrsEK8cW4DZ22UDmzx3mozk0cPCw-qW_d3UDhASC7ng3bxl7LYbZt8voJgn5c5eJctPbqjPb6JZY7UldhiVKwyDevm05GFMw0MpPA9b64OPM2d1xhEbTc4w3MQkbVZ8Aqzapc=",
  "id": "rs_02830c7bf8f36af4016ab45208cd2487d083f6f8f2572b6e6d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.4,\"right_z\":0.045},\"note\":\"The right wrist view is empty because the dog pile lies farther left than the initial cross-table estimate; the overhead view shows it just left of the gripper. I’ll move to the right arm’s maximum leftward reach while keeping the low, rotated grasp pose.\"}",
  "call_id": "call_mR98DifcfXoCzEYqwhdeb2PO",
  "id": "fc_02830c7bf8f36af4016ab4520a49f487d0ab59eb3bef6130f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mR98DifcfXoCzEYqwhdeb2PO",
  "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]: [-0.4732, 1.7519, 1.2423, -1.544, -1.2797, -2.0491, 0.9965, 0.6491, 2.1525, 1.4403, -0.26, -0.5831, -0.7147, 0.9985]\nstate[eef_state]: left_x=0.3051 left_y=0.0379 left_z=0.1979 left_yaw=1.21 left_pitch=0.3044 left_roll=0.0371 left_gripper=0.9965 right_x=0.3472 right_y=0.39 right_z=0.0383 right_yaw=1.5278 right_pitch=-0.1991 right_roll=-0.0204 right_gripper=0.9985\nstate[joint_eff]: [-0.3077, -8.8821, 4.1504, -0.4615, -0.6813, -0.0659, -0.0024, 0.5949, -10.9744, 8.3487, 1.3065, -0.2125, 0.1978, -0.0269]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:861fb6e8b27844c8af1261fe8d4eb043ca1f14eb53f85b706f27bce6a747433f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:669bc4cfa881ba80d48e317c0f2d4c84ad53d587522fe0d87209bf90bf88e4be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fc500d3247bc1546164f0209c7c7e61abfb56b0de29489722fe4137358af6d2",
      "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]