adhoc

completed
2026-09-23T21:46:53.908967+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (76 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
172.2 s
total steps
290
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

overheat

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 noteA gray plush object is directly between the left wrist-camera jaw columns at the bottom of the frame. I’m descending the open left gripper onto its body while keeping the right arm parked.
move_to
left_z0.0700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.8005, 0.617, -0.3798, -0.0216, -0.0261, 0.9994, -0.0154, 0.7986, 0.6106, -0.3737, -0.0128, -0.0158, 0.9993] state[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1842 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2967 right_y=0.0013 right_z=0.183 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.5812, -1.7162, 9.2786, 1.7558, -0.0122, 0.0659, -0.0806, -1.0325, -1.4564, 9.7846, 1.7021, -0.1294, -0.0073, -0.0855] 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_z":0.07},"note":"A gray plush object is directly between the left wrist-camera jaw columns at the bottom of the frame. I’m descending the open left gripper onto its body while keeping the right arm parked."})
tool
executing move_to over 8 steps (0.8s)
step 8
top_cam
camera top_cam step 8
left_cam
camera left_cam step 8
right_cam
camera right_cam step 8
assistant
agent noteThe left gripper is now down around the gray plush’s torso, which fills the space between the jaws. I’m closing to secure this gray object for the left basket.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.9726, 0.207, 0.1822, -0.0227, -0.0257, 0.9994, -0.0154, 0.7994, 0.6086, -0.3779, -0.012, -0.0162, 0.9993] state[eef_state]: left_x=0.2956 left_y=0.002 left_z=0.0679 left_yaw=0.0011 left_pitch=-0.0202 left_roll=0.0013 left_gripper=0.9994 right_x=0.296 right_y=0.0011 right_z=0.1811 right_yaw=-0.0004 right_pitch=-0.0069 right_roll=-0.0006 right_gripper=0.9993 state[joint_eff]: [-0.253, -1.5795, 5.7915, 1.6532, -0.0513, -0.0171, -0.0269, -0.2393, -1.1692, 7.4051, 1.746, -0.0611, -0.0464, -0.0171] camera 'top_cam' (step 8): [image omitted: streamed camera frame] camera 'left_cam' (step 8): [image omitted: streamed camera frame] camera 'right_cam' (step 8): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left gripper is now down around the gray plush’s torso, which fills the space between the jaws. I’m closing to secure this gray object for the left basket."})
tool
executing move_to over 10 steps (1.0s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe gripper reading is nearly fully closed, so the grasp may be only on fur or empty. I’m making the required short lift to see whether the gray plush actually follows before deciding whether to retry.
move_to
left_z0.1300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0174, 0.9726, 0.2062, 0.2028, -0.0288, -0.0269, 0.013, -0.0154, 0.7994, 0.6086, -0.3779, -0.012, -0.0162, 0.9993] state[eef_state]: left_x=0.2982 left_y=0.0035 left_z=0.0719 left_yaw=0.0084 left_pitch=-0.0003 left_roll=0.0032 left_gripper=0.013 right_x=0.296 right_y=0.0011 right_z=0.1811 right_yaw=-0.0004 right_pitch=-0.0069 right_roll=-0.0006 right_gripper=0.9993 state[joint_eff]: [-0.3077, -1.8803, 6.5709, 1.5507, -0.0024, -0.022, 0.9158, -0.3897, -0.9915, 7.0359, 1.7216, -0.0366, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.13},"note":"The gripper reading is nearly fully closed, so the grasp may be only on fur or empty. I’m making the required short lift to see whether the gray plush actually follows before deciding whether to retry."})
tool
executing move_to over 4 steps (0.4s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe gray plush rose with the left gripper despite its soft body compressing to a near-closed reading, confirming the grasp. I’m carrying it high to the center of the left basket, reserving that basket for gray objects.
move_to
left_x0.4600left_y-0.1900left_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]: [-0.017, 0.8368, 0.3779, -0.1555, -0.0288, -0.0269, 0.0145, -0.0151, 0.8024, 0.6083, -0.3847, -0.012, -0.0162, 0.9993] state[eef_state]: left_x=0.2912 left_y=0.0037 left_z=0.1113 left_yaw=0.0089 left_pitch=-0.051 left_roll=0.0045 left_gripper=0.0145 right_x=0.2952 right_y=0.0013 right_z=0.1786 right_yaw=-0.0001 right_pitch=-0.0172 right_roll=-0.0005 right_gripper=0.9993 state[joint_eff]: [-0.0889, -2.0991, 9.6479, 1.7949, -0.0611, -0.0611, 1.033, -0.3897, -1.4838, 7.0496, 1.8193, -0.0366, -0.0513, -0.0171] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.19,"left_z":0.22},"note":"The gray plush rose with the left gripper despite its soft body compressing to a near-closed reading, confirming the grasp. I’m carrying it high to the center of the left basket, reserving that basket for gray objects."})
tool
executing move_to over 18 steps (1.8s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe left gripper and gray plush are centered over the open left basket. I’m lowering the plush below the rim before release so it stays in the basket.
move_to
left_z0.1100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.556, 1.7451, 1.4326, -0.4786, -0.4492, -0.3859, 0.0145, -0.0147, 0.8078, 0.6075, -0.3851, -0.012, -0.0162, 0.9993] state[eef_state]: left_x=0.4489 left_y=-0.1844 left_z=0.191 left_yaw=0.0169 left_pitch=-0.1326 left_roll=0.0305 left_gripper=0.0145 right_x=0.2954 right_y=0.0014 right_z=0.1767 right_yaw=0.0003 right_pitch=-0.0237 right_roll=-0.0004 right_gripper=0.9993 state[joint_eff]: [-0.335, -9.7573, 10.2085, 1.917, -0.2955, 0.1734, 1.0281, -0.1709, -1.7299, 7.0769, 1.6972, -0.0513, -0.0806, -0.0122] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.11},"note":"The left gripper and gray plush are centered over the open left basket. I’m lowering the plush below the rim before release so it stays in the basket."})
tool
executing move_to over 6 steps (0.6s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe wrist view shows the plush at the near lip rather than deep over the basket floor. I’m shifting a few centimeters forward and slightly inward while staying low, to put the release point safely inside the basket.
move_to
left_x0.4700left_y-0.1900
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]: [-0.5549, 1.8118, 1.1969, -0.2481, -0.4454, -0.3904, 0.0145, -0.0147, 0.8082, 0.6075, -0.3851, -0.012, -0.0162, 0.9993] state[eef_state]: left_x=0.4389 left_y=-0.1783 left_z=0.1018 left_yaw=0.0241 left_pitch=-0.1945 left_roll=0.0644 left_gripper=0.0145 right_x=0.2954 right_y=0.0014 right_z=0.1766 right_yaw=0.0003 right_pitch=-0.024 right_roll=-0.0004 right_gripper=0.9993 state[joint_eff]: [-0.0889, -9.0188, 6.8855, 1.663, -0.2222, 0.0024, 1.0281, -0.294, -1.3333, 7.2547, 1.6972, -0.0464, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.19},"note":"The wrist view shows the plush at the near lip rather than deep over the basket floor. I’m shifting a few centimeters forward and slightly inward while staying low, to put the release point safely inside the basket."})
tool
executing move_to over 3 steps (0.3s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe gray plush is now low at the basket’s inner near edge with the basket floor directly ahead, and the grasp point matches the basket center region. I’m opening the jaws to deposit it into the left basket.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5423, 1.9163, 1.2964, -0.271, -0.4419, -0.3981, 0.0145, -0.0147, 0.8101, 0.6075, -0.3851, -0.012, -0.0162, 0.9993] state[eef_state]: left_x=0.459 left_y=-0.1842 left_z=0.0884 left_yaw=0.0413 left_pitch=-0.2189 left_roll=0.0722 left_gripper=0.0145 right_x=0.2956 right_y=0.0014 right_z=0.1761 right_yaw=0.0003 right_pitch=-0.0259 right_roll=-0.0003 right_gripper=0.9993 state[joint_eff]: [0.253, -10.7692, 9.4974, 1.4872, -0.1294, 0.1636, 1.0281, -0.3761, -1.0872, 6.9949, 1.7411, -0.0317, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The gray plush is now low at the basket’s inner near edge with the basket floor directly ahead, and the grasp point matches the basket center region. I’m opening the jaws to deposit it into the left basket."})
tool
executing move_to over 10 steps (1.0s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteAfter release, the overhead view still shows the gray plush just in front of the basket rather than inside it. It remains between the open jaws, so I’m re-grasping it to move the drop point farther forward.
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]: [-0.54, 1.9373, 1.301, -0.2832, -0.4484, -0.4095, 0.9952, -0.0147, 0.8101, 0.6075, -0.3851, -0.012, -0.0158, 0.9993] state[eef_state]: left_x=0.4583 left_y=-0.1813 left_z=0.0789 left_yaw=0.0586 left_pitch=-0.2392 left_roll=0.0847 left_gripper=0.9952 right_x=0.2956 right_y=0.0014 right_z=0.1761 right_yaw=0.0001 right_pitch=-0.0259 right_roll=-0.0 right_gripper=0.9993 state[joint_eff]: [-0.4308, -12.0274, 5.9692, 1.4774, -0.188, 0.0708, -0.1343, -0.3214, -1.347, 7.4188, 1.7118, -0.0366, -0.0366, -0.0122] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"After release, the overhead view still shows the gray plush just in front of the basket rather than inside it. It remains between the open jaws, so I’m re-grasping it to move the drop point farther forward."})
tool
executing move_to over 10 steps (1.0s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe gray plush is secured again at the basket’s front edge. I’m lifting it clear and carrying it roughly six centimeters farther forward, toward the visual center of the basket rather than its near lip.
move_to
left_x0.5200left_z0.1700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.54, 1.9377, 1.3006, -0.2905, -0.4458, -0.4198, 0.0136, -0.0147, 0.8101, 0.6075, -0.3851, -0.012, -0.0162, 0.9993] state[eef_state]: left_x=0.457 left_y=-0.1809 left_z=0.0774 left_yaw=0.0633 left_pitch=-0.2465 left_roll=0.0802 left_gripper=0.0136 right_x=0.2956 right_y=0.0014 right_z=0.1761 right_yaw=0.0003 right_pitch=-0.0259 right_roll=-0.0003 right_gripper=0.9993 state[joint_eff]: [-0.2393, -10.3863, 6.3795, 1.3846, -0.2271, 0.1099, 0.6227, -0.2256, -1.1692, 7.3504, 1.7363, -0.0513, -0.0757, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.52,"left_z":0.17},"note":"The gray plush is secured again at the basket’s front edge. I’m lifting it clear and carrying it roughly six centimeters farther forward, toward the visual center of the basket rather than its near lip."})
tool
executing move_to over 6 steps (0.6s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe overhead and wrist views now place the gray plush clearly over the left basket floor, centered front-to-back. I’m lowering it inside the rim for a controlled release.
move_to
left_z0.1100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4675, 2.0644, 1.8137, -0.6506, -0.4183, -0.4122, 0.0144, -0.0147, 0.8146, 0.6067, -0.3866, -0.012, -0.0162, 0.9993] state[eef_state]: left_x=0.5169 left_y=-0.1766 left_z=0.1605 left_yaw=0.1068 left_pitch=-0.2371 left_roll=0.0519 left_gripper=0.0144 right_x=0.2955 right_y=0.0014 right_z=0.1742 right_yaw=0.0003 right_pitch=-0.0328 right_roll=-0.0002 right_gripper=0.9993 state[joint_eff]: [0.0205, -11.3299, 8.5675, 1.3944, -0.0611, 0.4957, 1.0281, -0.0889, -1.4427, 7.241, 1.7314, -0.0317, -0.0317, -0.0122] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.11},"note":"The overhead and wrist views now place the gray plush clearly over the left basket floor, centered front-to-back. I’m lowering it inside the rim for a controlled release."})
tool
executing move_to over 4 steps (0.4s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe gray object is now held low over the basket floor with all basket walls surrounding the drop point. I’m releasing it into the left basket.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4641, 2.088, 1.6585, -0.5411, -0.4114, -0.4053, 0.0144, -0.0143, 0.8165, 0.6067, -0.3855, -0.012, -0.0162, 0.9993] state[eef_state]: left_x=0.5065 left_y=-0.1705 left_z=0.1027 left_yaw=0.1114 left_pitch=-0.2986 left_roll=0.091 left_gripper=0.0144 right_x=0.2958 right_y=0.0015 right_z=0.1739 right_yaw=0.0007 right_pitch=-0.0336 right_roll=-0.0002 right_gripper=0.9993 state[joint_eff]: [-0.5949, -11.7538, 6.9538, 1.619, -0.2906, -0.0562, 1.0281, -0.0752, -1.5248, 7.1043, 1.707, -0.0513, -0.0659, -0.0171] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The gray object is now held low over the basket floor with all basket walls surrounding the drop point. I’m releasing it into the left basket."})
tool
executing move_to over 10 steps (1.0s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe release is complete, but the working arm occludes the basket in the overhead view and the wrist camera cannot see directly beneath its fingertips. I’m retracting the left arm to its outer home area so I can verify whether the gray plush stayed in the basket.
move_to
left_x0.3000left_y0.0000left_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]: [-0.4641, 2.0899, 1.6436, -0.5274, -0.4122, -0.416, 0.9952, -0.0147, 0.8165, 0.6067, -0.3851, -0.012, -0.0162, 0.9993] state[eef_state]: left_x=0.5057 left_y=-0.17 left_z=0.0979 left_yaw=0.1185 left_pitch=-0.3003 left_roll=0.0861 left_gripper=0.9952 right_x=0.2959 right_y=0.0014 right_z=0.174 right_yaw=0.0003 right_pitch=-0.0332 right_roll=-0.0002 right_gripper=0.9993 state[joint_eff]: [-0.1162, -12.0137, 7.7607, 1.1697, -0.1978, 0.1245, 0.022, -0.3077, -1.388, 7.0496, 1.7216, -0.0171, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0.0,"left_z":0.2},"note":"The release is complete, but the working arm occludes the basket in the overhead view and the wrist camera cannot see directly beneath its fingertips. I’m retracting the left arm to its outer home area so I can verify whether the gray plush stayed in the basket."})
tool
executing move_to over 16 steps (1.6s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteWith the arm retracted, the left basket is empty and the gray plush remains among the gray cluster just below it. I’m moving the open left gripper above the top gray object; the revised basket center is farther forward and inward than the earlier drop point.
move_to
left_x0.3700left_y-0.2800left_z0.1800
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]: [-0.1558, 1.111, 1.0225, -0.7658, -0.2462, -0.1883, 0.9965, -0.0147, 0.8211, 0.6067, -0.3912, -0.012, -0.0166, 0.9993] state[eef_state]: left_x=0.3143 left_y=-0.0022 left_z=0.2048 left_yaw=0.1496 left_pitch=-0.2594 left_roll=0.0669 left_gripper=0.9965 right_x=0.2953 right_y=0.0014 right_z=0.1714 right_yaw=0.0005 right_pitch=-0.0439 right_roll=-0.0004 right_gripper=0.9993 state[joint_eff]: [0.1846, -3.3846, 6.2427, 1.4335, -0.0659, 0.1978, 0.1294, -0.2393, -1.4154, 7.241, 1.8535, -0.0171, -0.0757, -0.0171] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.28,"left_z":0.18},"note":"With the arm retracted, the left basket is empty and the gray plush remains among the gray cluster just below it. I’m moving the open left gripper above the top gray object; the revised basket center is farther forward and inward than the earlier drop point."})
tool
executing move_to over 25 steps (2.5s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe left wrist view is centered over a gray plush torso, with the jaws straddling it and no brown object in the closing path. I’m descending to grasp the gray plush around its body.
move_to
left_z0.0700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8818, 1.9312, 1.7203, -0.9794, -0.622, -0.8806, 0.9966, -0.0143, 0.8249, 0.6067, -0.3927, -0.012, -0.0162, 0.9993] state[eef_state]: left_x=0.3648 left_y=-0.2754 left_z=0.1682 left_yaw=0.1483 left_pitch=-0.2943 left_roll=0.0674 left_gripper=0.9966 right_x=0.2953 right_y=0.0015 right_z=0.1701 right_yaw=0.0007 right_pitch=-0.0492 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.3624, -10.1812, 8.8274, 0.735, -0.4615, 0.2076, 0.0024, -0.0615, -1.7162, 7.0085, 1.7314, -0.0171, -0.022, -0.0122] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.07},"note":"The left wrist view is centered over a gray plush torso, with the jaws straddling it and no brown object in the closing path. I’m descending to grasp the gray plush around its body."})
tool
executing move_to over 7 steps (0.7s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteAt the lowered pose the gray plush body lies squarely between the fingers, above the brown plush below it. I’m closing the left gripper to secure only the gray type.
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]: [-0.8852, 1.9732, 1.4227, -0.667, -0.6216, -0.8879, 0.9966, -0.0147, 0.8249, 0.6067, -0.3923, -0.012, -0.0162, 0.9993] state[eef_state]: left_x=0.3594 left_y=-0.2712 left_z=0.0776 left_yaw=0.1559 left_pitch=-0.3081 left_roll=0.0867 left_gripper=0.9966 right_x=0.2954 right_y=0.0014 right_z=0.1702 right_yaw=0.0003 right_pitch=-0.0488 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [0.3761, -9.2513, 6.1607, 0.9304, -0.3492, 0.0415, -0.0122, -0.1846, -1.4427, 7.0359, 1.7363, -0.0122, -0.0269, -0.0171] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"At the lowered pose the gray plush body lies squarely between the fingers, above the brown plush below it. I’m closing the left gripper to secure only the gray type."})
tool
executing move_to over 10 steps (1.0s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteThe settled gripper width confirms a substantial gray-plush grasp. I’m lifting and carrying it toward the corrected left-basket center at a high clearance pose.
move_to
left_x0.5400left_y-0.2200left_z0.2100
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]: [-0.8852, 1.9945, 1.4082, -0.6613, -0.6212, -0.8909, 0.128, -0.0147, 0.8249, 0.6067, -0.3927, -0.012, -0.0162, 0.9993] state[eef_state]: left_x=0.3569 left_y=-0.2683 left_z=0.0646 left_yaw=0.166 left_pitch=-0.3233 left_roll=0.1119 left_gripper=0.128 right_x=0.2953 right_y=0.0014 right_z=0.1701 right_yaw=0.0003 right_pitch=-0.0492 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.1436, -12.0957, 7.1179, 0.7302, -0.398, -0.022, 0.8181, -0.1846, -1.4154, 7.2547, 1.7265, -0.0415, -0.0269, -0.0171] camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.54,"left_y":-0.22,"left_z":0.21},"note":"The settled gripper width confirms a substantial gray-plush grasp. I’m lifting and carrying it toward the corrected left-basket center at a high clearance pose."})
tool
executing move_to over 15 steps (1.5s)
step 162
top_cam
camera top_cam step 162
left_cam
camera left_cam step 162
right_cam
camera right_cam step 162
assistant
agent noteThe basket now fills the wrist view, but the plush is still at the near edge of the basket floor. I’m advancing a few centimeters and lowering so the gray object will be released well inside the walls.
move_to
left_x0.5700left_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]: [-0.5377, 2.6251, 2.8632, -1.3777, -0.4831, -0.5846, 0.1301, -0.0147, 0.8295, 0.6067, -0.395, -0.012, -0.0162, 0.9993] state[eef_state]: left_x=0.5318 left_y=-0.2174 left_z=0.1528 left_yaw=0.229 left_pitch=-0.3807 left_roll=0.1365 left_gripper=0.1301 right_x=0.2952 right_y=0.0014 right_z=0.1684 right_yaw=0.0003 right_pitch=-0.0561 right_roll=0.0001 right_gripper=0.9993 state[joint_eff]: [0.4855, -16.0752, 7.7333, 0.9255, -0.2466, 0.4908, 0.4127, -0.3077, -1.7709, 7.0359, 1.707, -0.0415, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.57,"left_z":0.12},"note":"The basket now fills the wrist view, but the plush is still at the near edge of the basket floor. I’m advancing a few centimeters and lowering so the gray object will be released well inside the walls."})
tool
executing move_to over 3 steps (0.3s)
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 arm stopped short of the forward target because the uncommanded tool tilt folded backward near maximum reach. I’m explicitly pitching the tool forward, which this rig uses to reach the basket interior without dragging the plush over the rim.
move_to
left_x0.5700left_z0.1400left_pitch0.5000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5236, 2.6781, 2.9475, -1.4467, -0.4709, -0.5606, 0.1315, -0.0147, 0.8307, 0.6067, -0.3958, -0.012, -0.0162, 0.9993] state[eef_state]: left_x=0.5299 left_y=-0.2092 left_z=0.1431 left_yaw=0.2321 left_pitch=-0.4178 left_roll=0.1709 left_gripper=0.1315 right_x=0.2952 right_y=0.0014 right_z=0.1679 right_yaw=0.0003 right_pitch=-0.058 right_roll=0.0001 right_gripper=0.9993 state[joint_eff]: [0.9915, -10.3043, 5.6684, 1.0183, -0.2515, 0.0562, 0.7302, -0.1026, -1.5248, 7.0085, 1.7705, -0.0317, -0.022, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). 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":0.57,"left_z":0.14,"left_pitch":0.5},"note":"The arm stopped short of the forward target because the uncommanded tool tilt folded backward near maximum reach. I’m explicitly pitching the tool forward, which this rig uses to reach the basket interior without dragging the plush over the rim."})
tool
executing move_to over 31 steps (3.1s)
step 196
top_cam
camera top_cam step 196
left_cam
camera left_cam step 196
right_cam
camera right_cam step 196
assistant
agent noteForward pitch provided ample reach but also swung the grasp point past the left basket and toward the gap between baskets. I’m correcting inward-left and slightly back while keeping the forward pitch, using the overhead view to center the plush over the left basket.
move_to
left_x0.5200left_y-0.1700left_z0.1400left_pitch0.5000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6113, 3.0966, 3.1355, -0.1574, -0.9878, -0.0292, 0.1322, -0.0147, 0.8364, 0.6037, -0.4076, -0.0116, -0.0162, 0.9993] state[eef_state]: left_x=0.6539 left_y=-0.2738 left_z=0.1738 left_yaw=0.3227 left_pitch=0.4954 left_roll=0.0968 left_gripper=0.1322 right_x=0.2933 right_y=0.0013 right_z=0.1626 right_yaw=0.0 right_pitch=-0.0786 right_roll=0.0002 right_gripper=0.9993 state[joint_eff]: [1.4838, -13.5043, 7.2, 1.2674, 0.4762, 0.3297, 0.3394, -0.1299, -1.4154, 7.3368, 1.8779, -0.022, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.52,"left_y":-0.17,"left_z":0.14,"left_pitch":0.5},"note":"Forward pitch provided ample reach but also swung the grasp point past the left basket and toward the gap between baskets. I’m correcting inward-left and slightly back while keeping the forward pitch, using the overhead view to center the plush over the left basket."})
tool
executing move_to over 11 steps (1.1s)
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 arm remained in a stretched singular pose and barely followed the small lateral correction. The plush is level with the baskets but right of the left-basket center, so I’m commanding a larger safe leftward shift while maintaining height and forward pitch.
move_to
left_x0.5800left_y0.0000left_z0.1800left_pitch0.5000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6033, 3.1195, 3.1352, -0.1555, -1.0065, -0.0414, 0.1347, -0.0147, 0.8364, 0.6003, -0.4084, -0.0116, -0.0196, 0.9993] state[eef_state]: left_x=0.6559 left_y=-0.2663 left_z=0.159 left_yaw=0.3467 left_pitch=0.4855 left_roll=0.1042 left_gripper=0.1347 right_x=0.2927 right_y=0.0013 right_z=0.1609 right_yaw=0.0019 right_pitch=-0.0828 right_roll=-0.0025 right_gripper=0.9993 state[joint_eff]: [0.3487, -17.1009, 7.159, 1.4969, -0.0366, -0.0659, 0.2369, -0.1299, -1.4974, 7.2821, 1.7265, -0.0317, 0.0171, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.58,"left_y":0.0,"left_z":0.18,"left_pitch":0.5},"note":"The arm remained in a stretched singular pose and barely followed the small lateral correction. The plush is level with the baskets but right of the left-basket center, so I’m commanding a larger safe leftward shift while maintaining height and forward pitch."})
tool
executing move_to over 24 steps (2.4s)
step 231
top_cam
camera top_cam step 231
left_cam
camera left_cam step 231
right_cam
camera right_cam step 231
assistant
agent noteThe large lateral command moved the arm to the outer side of the left basket, but the forward-pitched chain is now badly overextended. I’m retracting and restoring neutral pitch at a high pose to recover normal Cartesian control while retaining the gray plush.
move_to
left_x0.4500left_y0.0300left_z0.2200left_pitch0.0000
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]: [-0.1902, 3.1004, 3.1352, -0.2226, -0.6788, -0.033, 0.1376, -0.0147, 0.8364, 0.6003, -0.408, -0.012, -0.02, 0.9993] state[eef_state]: left_x=0.7392 left_y=-0.0257 left_z=0.1528 left_yaw=0.4333 left_pitch=0.4138 left_roll=0.109 left_gripper=0.1376 right_x=0.2928 right_y=0.0014 right_z=0.161 right_yaw=0.0024 right_pitch=-0.0824 right_roll=-0.0026 right_gripper=0.9993 state[joint_eff]: [0.2803, -24.294, 7.2821, 1.7607, 0.4127, 0.5348, 0.2906, -0.1436, -1.4701, 7.0222, 1.663, -0.0122, -0.0513, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":0.03,"left_z":0.22,"left_pitch":0.0},"note":"The large lateral command moved the arm to the outer side of the left basket, but the forward-pitched chain is now badly overextended. I’m retracting and restoring neutral pitch at a high pose to recover normal Cartesian control while retaining the gray plush."})
tool
executing move_to over 23 steps (2.3s)
step 254
top_cam
camera top_cam step 254
left_cam
camera left_cam step 254
right_cam
camera right_cam step 254
assistant
agent noteNeutral pitch restored normal control, and the left wrist now shows the left basket directly ahead and slightly to the arm’s left, with the held plush at the jaws. I’m moving to the reachable outer-forward corner and lowering, which should put the grasp point over the basket floor.
move_to
left_x0.6000left_y0.0500left_z0.1500left_pitch0.0000
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]: [-0.1806, 2.5519, 3.1325, -1.3411, -0.5743, -0.3153, 0.1397, -0.0147, 0.8364, 0.6003, -0.4084, -0.0116, -0.02, 0.9993] state[eef_state]: left_x=0.5783 left_y=-0.0044 left_z=0.293 left_yaw=0.4493 left_pitch=-0.0615 left_roll=0.1418 left_gripper=0.1397 right_x=0.2927 right_y=0.0013 right_z=0.1609 right_yaw=0.0021 right_pitch=-0.0828 right_roll=-0.0028 right_gripper=0.9993 state[joint_eff]: [0.3761, -17.4564, 5.7641, 1.619, -0.1685, -0.0366, 0.2173, -0.0342, -1.265, 7.0359, 1.7216, -0.0366, -0.0464, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.6,"left_y":0.05,"left_z":0.15,"left_pitch":0.0},"note":"Neutral pitch restored normal control, and the left wrist now shows the left basket directly ahead and slightly to the arm’s left, with the held plush at the jaws. I’m moving to the reachable outer-forward corner and lowering, which should put the grasp point over the basket floor."})
tool
executing move_to over 10 steps (1.0s)
step 264
top_cam
camera top_cam step 264
left_cam
camera left_cam step 264
right_cam
camera right_cam step 264
assistant
agent noteThe basket now fills the wrist view and the held plush lies within its left-right walls at the near interior edge. I’m lowering the object beneath the rim before release.
move_to
left_z0.1000
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]: [-0.0822, 2.8105, 3.1294, -1.0687, -0.5373, -0.2607, 0.1419, -0.0147, 0.8371, 0.6003, -0.4084, -0.0116, -0.02, 0.9992] state[eef_state]: left_x=0.6515 left_y=0.0406 left_z=0.1806 left_yaw=0.4902 left_pitch=-0.0717 left_roll=0.159 left_gripper=0.1419 right_x=0.2928 right_y=0.0013 right_z=0.1607 right_yaw=0.0021 right_pitch=-0.0835 right_roll=-0.0028 right_gripper=0.9992 state[joint_eff]: [0.841, -12.8615, 7.2274, 1.9756, -0.0659, 0.4371, 0.2076, -0.335, -1.5385, 6.9949, 1.707, -0.0122, -0.0513, -0.0171] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.1},"note":"The basket now fills the wrist view and the held plush lies within its left-right walls at the near interior edge. I’m lowering the object beneath the rim before release."})
tool
executing move_to over 6 steps (0.6s)
step 270
top_cam
camera top_cam step 270
left_cam
camera left_cam step 270
right_cam
camera right_cam step 270
assistant
agent noteThe object is positioned between the basket walls and as low as this stretched pose will track. I’m opening the gripper so it drops onto the left basket floor.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0959, 2.8674, 3.1397, -0.9993, -0.5682, -0.2909, 0.1433, -0.0147, 0.8379, 0.6003, -0.4084, -0.012, -0.02, 0.9993] state[eef_state]: left_x=0.6641 left_y=0.0352 left_z=0.1618 left_yaw=0.5155 left_pitch=-0.0385 left_roll=0.1388 left_gripper=0.1433 right_x=0.2928 right_y=0.0014 right_z=0.1605 right_yaw=0.0024 right_pitch=-0.0843 right_roll=-0.0025 right_gripper=0.9993 state[joint_eff]: [-0.4718, -10.9197, 6.3111, 1.4872, -0.0904, 0.0757, 0.1294, -0.1162, -1.5795, 7.2, 1.7118, -0.0366, -0.0415, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The object is positioned between the basket walls and as low as this stretched pose will track. I’m opening the gripper so it drops onto the left basket floor."})
tool
executing move_to over 9 steps (0.9s)
step 279
top_cam
camera top_cam step 279
left_cam
camera left_cam step 279
right_cam
camera right_cam step 279
assistant
agent noteThe released object is tan rather than gray—its color was hidden by the gray plush beneath it—so I will reserve the left basket for tan objects. It caught on the basket’s right rim and remains between the jaws, so I’m re-grasping it for a small leftward correction.
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]: [-0.1184, 2.8704, 3.1371, -1.0828, -0.5758, -0.3267, 0.9953, -0.0147, 0.8379, 0.6003, -0.4084, -0.012, -0.0204, 0.9993] state[eef_state]: left_x=0.6517 left_y=0.0229 left_z=0.1463 left_yaw=0.5215 left_pitch=-0.1047 left_roll=0.1666 left_gripper=0.9953 right_x=0.2928 right_y=0.0014 right_z=0.1605 right_yaw=0.0026 right_pitch=-0.0843 right_roll=-0.0028 right_gripper=0.9993 state[joint_eff]: [0.0479, -20.2462, 6.2974, 1.4774, -0.359, 0.0513, 0.0073, -0.1846, -1.1145, 7.241, 1.6435, -0.0366, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). 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_gripper":0},"note":"The released object is tan rather than gray—its color was hidden by the gray plush beneath it—so I will reserve the left basket for tan objects. It caught on the basket’s right rim and remains between the jaws, so I’m re-grasping it for a small leftward correction."})
tool
executing move_to over 10 steps (1.0s)
step 289
top_cam
camera top_cam step 289
assistant
agent noteThe close was empty because the tan plush is standing just outside the left basket, so I’m leaving it for a later clean pickup. I’m retracting the left arm while moving the open right gripper over the central gray cluster to begin filling the right basket with gray objects.
move_to
left_x0.3000left_y0.0000left_z0.2000left_pitch0.0000left_gripper1.0000right_x0.3800right_y0.3500right_z0.1800
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]: [-0.1398, 2.8704, 3.1371, -1.1439, -0.5793, -0.3599, 0.013, -0.0143, 0.8379, 0.6003, -0.4084, -0.012, -0.0204, 0.9993] state[eef_state]: left_x=0.642 left_y=0.0109 left_z=0.1377 left_yaw=0.5249 left_pitch=-0.1484 left_roll=0.1802 left_gripper=0.013 right_x=0.2928 right_y=0.0015 right_z=0.1605 right_yaw=0.003 right_pitch=-0.0843 right_roll=-0.0028 right_gripper=0.9993 state[joint_eff]: [0.1709, -18.8376, 6.2427, 1.3065, -0.3687, 0.0415, 1.2137, -0.0752, -1.347, 7.1726, 1.6923, -0.022, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0.0,"left_z":0.2,"left_pitch":0.0,"left_gripper":1,"right_x":0.38,"right_y":0.35,"right_z":0.18},"note":"The close was empty because the tan plush is standing just outside the left basket, so I’m leaving it for a later clean pickup. I’m retracting the left arm while moving the open right gripper over the central gray cluster to begin filling the right basket with gray objects."})
tool
executing move_to over 30 steps (3.0s)
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 · 12.32 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.",
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  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
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  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8005, 0.617, -0.3798, -0.0216, -0.0261, 0.9994, -0.0154, 0.7986, 0.6106, -0.3737, -0.0128, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1842 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2967 right_y=0.0013 right_z=0.183 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.5812, -1.7162, 9.2786, 1.7558, -0.0122, 0.0659, -0.0806, -1.0325, -1.4564, 9.7846, 1.7021, -0.1294, -0.0073, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b476fb028d9d11b475dbd1f68fcdf3177cefeda79ea3b57b00cdabb998d313af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f13d69b7954333166718d55afe142e51188e54dd64d31e76bcd5585c28655cf5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d62d73c900b479d1023f4bff65894702c1e1c28131c62df6d56023d08e57ec5d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "text": "",
      "type": "input_text"
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call 1 attempt 0 · /responses · status 200 · 1.937 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEjoNJXXFo_koDV_0QyTvL-re5Ef-09nyZn9aOAN8lOSdUgfwK5myx25XZcCqLExO37NnKgvNma_UE99SvQNaY-lyqLhheab3026RLrZIsV3HW2fqwH5VCK6vGBm6y00A_fE9qK4oPO2zs8vERQw-9FqgSOEcHv5tauCWWc26DqPR777B9xyk-63Kxt-UuP7k0NxN0ZUFtPkQz9nQVCCaHRk3P_KO1dVV34flQWqOZr1PXZBqof9isnVGxNYjEpbePOW2a5flJkcIBt1gGNaIvnXh1L2X4q0-cijd2d9QA-0ShoBR3-uqPcACLufRNz2RSvOjl8-L_CsgnhP7UZlhsQ68HV6TmVyuE5EY2GrSVPWvJYdeOJnZY_IYi64NSiC4vTKSTTrz4MCh2RK9iMm96FQvOLQkHi_rpcP7PJPTPvpqjGsCa9lOtnZ1knXV5y_dP2J0CiYJUxDlZmTvPICHeybrc0nphc9S0UP9ZArwHiJt39pAHdA6vLDE8mEBFaTU9Yw6TQgZ3uxzRsWxUaeZtprVlhxYz4UsyfO9cLCL_KeR9i_xLjlI9T-ZSa5oH0LJ9hsFurH6Ejmo6As6bRLSnbwnnWd239bM88Yus7BDZe1MUSPrcwkUF_BguK1r9CMqOtCiP9PjvVseVVz2_2_IkIY9V2OqyU5-j707PE7VrnmpdAwtrx9pMlnJwPB8749AOWyAIOw0TgBiCUgPgYK30XRTDmumGpwSj_uqDHUnChphjBIHmvcWl2zG89yvmnIcL3CAfDmyDj4dpkOntKe3yNDOImdfne_wMffn3tQAFg183-hiKghWXazOWZ_YrKvfCAA9iPpyNHuSopDkxEJaW2XSvOiEx69LFPcRkQeDNt5MTh1lPfOyRsaDkht9IpnkGlsEG7G73OX87XJPGSMo7Ez1UOaH9WYIrSR9oBjTO6OGzYyw3l1EfV5FinzuOhP2cd0TKYGwFB3SYslfOaNuq5h5nLgAoiKGJWesm_CZYsl0GWaLwkKRCnFxk1Zw0SxT91-lUxTNTc6UgONUXBaV2XpWYT3eyEzt07cFBTbBjauN0s3VVVYjy-EgxI0rkS6ocfHYufU7pd-o86d35KnmYlqTyCva2JcFk7wDsMPnRXd416kdyA9m7ZueOt2xLwHhIcWW7PP-GolQ192lbmlY93BGj5-woOB-DU55EEl2Hi43NAmwiKMsCiQn9sQk-wFMOTojSy8XwJXj03DVERtEbKC5SoK8Y-qsS8BLLdrbtRcnS4wx_CTlIARISkN9Sl5fvW_Q0V56-CkTgseVDQEY1ClypIypXujXb6j4ifT7Tb_xjEvIQe8tG_YpwjRjCpd401XhUt0q_hRR-OBygjDanGEWvA1zLgv165AuG9-va3XpjREdkeaW-OsvjCkTl3u8bzMDHpFS_VsmI2f6hI1h2kzc5XQQ6JBq-qkcn3AM-i0UhgmAOn2ytlne1HV1THX57jMsvJq5BBrvR8RWMYQGbI3249_fp4dZItL2F81i1Cyy9o5hwurXxK26Uz4MsnWBKoEN-yFd6wxJFH9YUY2voB1q4zjloF6ol81s51ITG8W3AFfp0ix7Zg8D62IHFsqWpuc7rjfNQUqBV2soQQrtGDZ51AdzGZQg5Kxnxft0dUTQvS6w_KgjY89jxDwE2Bn4f6zz2fQmPKAVI8t7l94arQ0J-4M2kcPiwpRN8FIDRJK_2AbDo_CmkxAr_D8riyJK2sxS1CRP61C4OitxMoTSW-xRC3847Thc4tRQpIIekAa1I4hDWdzNxKFv8mXSODn4mR6dTlY74kBRWSwBO78eHMC2_9yGCFxpVkt34txzgPLI_oJcntWZGUo0RfmqOH3MXDFE8KId2F_uWE4rLu7g7glojOk_cq7GIrr7lFwt02JQvG9OeqRIlQUpeA4twR0hke3VIf2siypt5Eir1EdEagxXMOhFwI_t8UhVVmoSTKyAHAb3zxaY-u3J942Nc6f-iNkAiAy8dU2JRU_fjbTH_KmJNCAyt-pxNAsANwVM8U4Xd-Ac2wOLZBui33n_9KfuS16Dtz9SE6qzN_gWrZaL6XKwfo45mncSIp-unXUcfYiOr32JYK5K7rrvIe_p8bAYqIlqP9UgavuHhVkzbACEPncdyF_OdyzHniT3rMjBssUFLWIw-DY2jIG1JHIt7KLn4XBwpBUsi96QT6XicgATYMAuGI2PvP5ZxTY5gxhMjjZ_9cTUnMUQ4dMx6eaY_cd9tQcAW7Ug2ZJo3U8BUI0-f2xqXu2e7kWL1tXRs0FQNL_fNNEp2XsyGAVYuPSV_H16VVyTxYJDqr05hks68n-Dh_JEr137UxIfaKWo4k1a8SCZsaKaactm0bHSZZbfbDFI4LEjrvjeiASrPTfFyk-O2gKbDzxYTxWQ8o1xwwIKIFz8hp_1pBTzuMMQzeX6bBdE0mZd-33tlqxpX2E1QyNOdD6v3NjHwa3as2FKgbSNd9SYAJo2V17OAeumJBF2CBI5DABEhEpMU0Est2ipwypn8bjKXlQVjPxjTuUXyoTsbyzQdf2s08HaZ9RFBxL-TMP_qGD8WIQrA3f8S-T6jDevKEW_AXnNb8alO7rA142Im0BOZI_HBDupFs-fhdHtzza_adL5y3Kp_3Qb9FHVwJdCbYdxMeZKr3vw2kmvHLhkV5WofyXAckixS3MddpbN-vdcVZFW9N5FTFgYzL3cP4ZPaSSqZHTbCUKiuK4h74zw0zrjnhtnDUrhlK9JVuCXp9qrkXAimvABjJAkRRM7NiWSX07BEZDeujEcX11p3OyHb_ubriVBOuVoThpBiHbNxlEGxHg8_dQkzo3UyiDF5TmkjZSriW1htlvhXirQMo8FsvP3V7IzUpFlHVZiIOryIIRcWSx0uODb3_96OMD7ONJYpDVBWl5rhAVyJ2FYMYgSYx8y7KnvJ-Xvj0sQA1fr7n00DbYyx8wKod4h_Bf1eLIPmpEr0PTt7RoDu6Qjsmqi5FWt57KrxQMSBqF2kV8s9KYRQySAKPkhNU3Tnb9PX-I975N6F7j9RYQpJTQw_dxbBPPwl11DG3OQ2IWgmrh4W95egEDZMVhQCB53AHbuULxxbfuh2Pf2fYsHFWdYe4JKbIh-LHL6dLp6sTmfItmJreF6xRI6y60VvLM9YSjI0yLmM0NXw13DQNyfesx7Gs5dbeWzD-NyCTUlrhTvv4wJNxFWM9IjvMiawBauLAJAj2EwTGYJDUNkFZI6K-oGIYPdhWUbn5shuQTwkbzr214ixK6XLNghdtsDaM952WgkB_GOMe-0A7ZvK2hSltnmi4V9h-2uKYXkIumjTYublVNh1W9HdH_4_lxa7mOOfUZ-TFaFE2L0qC89WX2G1dLnGbka6q09Wfey26T2AoV9VKRklArK1Q-C2jLoZOkoWla9MDUpB8MEnb0wX6dNOrrVdlwFfyz0CiBIhfnaRd11na1cYJP64mBI2X9f5b8rsB8QpzY2v6AFjoHFPzuycS0f41N_YADZegPcvMn4kQzmQ-5wddSKzQvoYb9HQr32Rks0GWLmru0iE7rQuIZZMWvsSDk5hGb5BlXPLBl51sw-4jpqOLfUuFcjQMxUtDTWHC8N6J-Mrq26E-r1EaoOKUx976DB4SmHiEcwYbQiTUyhJw5hQO5pAT97l4QB2-fW_SsOiIdMRJPnCl_cysrsHgOPw9Myi04ojeP6Q8QPv0t0mvM2tuNSvQodhscLTSVTxaQQ0xyeCdZAbov14j3NYdMTofYKhf7AJzoMBOP2Bc5YlNmbanwsAF-sQ7F6MlyAblKUktLCeLZ__Uy3y9UNjVwBbnSmXnl4CxRyntaHcfujKhLZ3MPd1KY",
  "id": "rs_0d465e8d9623297c016ab448e2a2a887d0a8540097f4d09bee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.07},\"note\":\"A gray plush object is directly between the left wrist-camera jaw columns at the bottom of the frame. I’m descending the open left gripper onto its body while keeping the right arm parked.\"}",
  "call_id": "call_oyQCuoyKVkrSaFrIN5nMTYwo",
  "id": "fc_0d465e8d9623297c016ab448e744fc87d0ba51426ab05e9cc5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oyQCuoyKVkrSaFrIN5nMTYwo",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.9726, 0.207, 0.1822, -0.0227, -0.0257, 0.9994, -0.0154, 0.7994, 0.6086, -0.3779, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2956 left_y=0.002 left_z=0.0679 left_yaw=0.0011 left_pitch=-0.0202 left_roll=0.0013 left_gripper=0.9994 right_x=0.296 right_y=0.0011 right_z=0.1811 right_yaw=-0.0004 right_pitch=-0.0069 right_roll=-0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -1.5795, 5.7915, 1.6532, -0.0513, -0.0171, -0.0269, -0.2393, -1.1692, 7.4051, 1.746, -0.0611, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41bb072e6db9cee7530c1b1aa772960e6bd4e8b637ea476831a97f5eac633659",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd501e0260708f30f6133d8523adc0addb8d3cf40a7d9bce4d0cf8a171dc934a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd8df43664e2acb624bcc4233110a2fb04a4723e3b29917ddceb9721e077e683",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 2.42 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8005, 0.617, -0.3798, -0.0216, -0.0261, 0.9994, -0.0154, 0.7986, 0.6106, -0.3737, -0.0128, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1842 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2967 right_y=0.0013 right_z=0.183 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.5812, -1.7162, 9.2786, 1.7558, -0.0122, 0.0659, -0.0806, -1.0325, -1.4564, 9.7846, 1.7021, -0.1294, -0.0073, -0.0855]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.9726, 0.207, 0.1822, -0.0227, -0.0257, 0.9994, -0.0154, 0.7994, 0.6086, -0.3779, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2956 left_y=0.002 left_z=0.0679 left_yaw=0.0011 left_pitch=-0.0202 left_roll=0.0013 left_gripper=0.9994 right_x=0.296 right_y=0.0011 right_z=0.1811 right_yaw=-0.0004 right_pitch=-0.0069 right_roll=-0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -1.5795, 5.7915, 1.6532, -0.0513, -0.0171, -0.0269, -0.2393, -1.1692, 7.4051, 1.746, -0.0611, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41bb072e6db9cee7530c1b1aa772960e6bd4e8b637ea476831a97f5eac633659",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd501e0260708f30f6133d8523adc0addb8d3cf40a7d9bce4d0cf8a171dc934a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd8df43664e2acb624bcc4233110a2fb04a4723e3b29917ddceb9721e077e683",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEjsmaS8EXaDfGPIxrQ8BHwttNCdvhHji3eu3gZtI9V5JoYxzsxfeO_nD2A5BGFw6J1eIjdvLtj9-ukZVHVQDvd2uuY8R3IAPH4rugyYtR0kCZq2e5qMkL06a6dfLV471yOj1FkT9ap236YfQXMiU3Kby_2gr_kZuNRZd9yPFIpySBUOh9QuKAeZF8SUvqI7e7iAseB9gx-iByWd6er3ZEtoBtt4rqRTqWz91Ln9DzRqr_6EzF1KXCv02piChn5U9-ku1Q25ZS5ooCoqPZEVqfKdubC2I_0kyZ-8xk9vQhQt4Fcppy5qFlCj9kRGAlXjn5vv-N6UTyFTsT_8JG_LXRk_C-IcybaQJo8C-Ej6SR7mHIOdZ7g105HQhTRnWBv9vWIZpHzy_wxAbqsjysTn5mdsdAXAy045Ao-qY560kWniTLJRKaAhma7DCXE5L0WxpebUGjECe45jE274dYnCTzEyh--Sz6ZB7YXIa--3YNQzf-lTga28RMjR8zlcURR22Hhf4e01ug_4FbT-0v3EJGPeZLuVEMiXF_IqARhdtd3q5Olme6vvXgWV-hArYw4uSu-fPDy_cwbtJTR0LaMEye0FevJeBG_ikkowhcaMLkUeGBoHaVkDSK2QSmwhohDWd4FzWYDlcot2V0WpgqSts3GdFsWbZ1X4clByPmT8kTYHyKVBNT3-xHtKUSVlw0XxCeHQAqcLjatAw39Bv6m38lnUzafUvbB5lnoVosNRLcaNlvUf4PH0BQtDlv-kcYRyOKVBAbg-TaCo2w_yZI7ovHKBSxtWLnMRmqkjiOucBx5Tzy_EEGNE5JPaiqqbF6Yr8X1QMbhWCIfwsMCpPkXHAodDhRjcK6poBogLPJGv-lnPYfqdAO-kCUgt2Zr7nvVEUU4upCVGkCgPJW0v-0NdKTXiSkzxBTUwTOw_RM2IrEpnWRIEQeZCpP-cBWxVfMNMFOEjrYEpls1VpPv4GS96rsFS3oKaABaPZv_yPMkVTYp4RZaS0ZwyDNcWF6eJdkyHFAiiJH8M6PqGEC03b8Geoz3OPwRnMAFQPrm62_QMZwUh6tpD2Wd-dstn3FvcVBuJvcTdGPFOmHdCzGvUeWduRCI61E3Cl3pDxRSoT0Xc8y1K9pzHG0ZOIM-rZfWhrVoNMLo_AppzNA-emGiI2m6-9B3b2dOpMx7BQnOPjnyxXt373xQ=",
  "id": "rs_0d465e8d9623297c016ab448eb6d7487d0aad907d90a6c27e4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left gripper is now down around the gray plush’s torso, which fills the space between the jaws. I’m closing to secure this gray object for the left basket.\"}",
  "call_id": "call_9Dt36olFS8C03bDs2lkadKro",
  "id": "fc_0d465e8d9623297c016ab448eb8e8c87d0bd18c7d449fdcb1b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9Dt36olFS8C03bDs2lkadKro",
  "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]: [-0.0174, 0.9726, 0.2062, 0.2028, -0.0288, -0.0269, 0.013, -0.0154, 0.7994, 0.6086, -0.3779, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2982 left_y=0.0035 left_z=0.0719 left_yaw=0.0084 left_pitch=-0.0003 left_roll=0.0032 left_gripper=0.013 right_x=0.296 right_y=0.0011 right_z=0.1811 right_yaw=-0.0004 right_pitch=-0.0069 right_roll=-0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -1.8803, 6.5709, 1.5507, -0.0024, -0.022, 0.9158, -0.3897, -0.9915, 7.0359, 1.7216, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc6a1fcaf1d27d8a199578fd66bc2bff3ae1a97d8f00653275dc7712b1ad6742",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f165f09926e66bfb1281de6fda5b6c91e9e3b7496a6d30a5b8323d8ff57dcaca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e64416baa651248a8ad7644eeba34440309e13fa0788093a6e9519069bded518",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 3.944 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.9726, 0.207, 0.1822, -0.0227, -0.0257, 0.9994, -0.0154, 0.7994, 0.6086, -0.3779, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2956 left_y=0.002 left_z=0.0679 left_yaw=0.0011 left_pitch=-0.0202 left_roll=0.0013 left_gripper=0.9994 right_x=0.296 right_y=0.0011 right_z=0.1811 right_yaw=-0.0004 right_pitch=-0.0069 right_roll=-0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -1.5795, 5.7915, 1.6532, -0.0513, -0.0171, -0.0269, -0.2393, -1.1692, 7.4051, 1.746, -0.0611, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0174, 0.9726, 0.2062, 0.2028, -0.0288, -0.0269, 0.013, -0.0154, 0.7994, 0.6086, -0.3779, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2982 left_y=0.0035 left_z=0.0719 left_yaw=0.0084 left_pitch=-0.0003 left_roll=0.0032 left_gripper=0.013 right_x=0.296 right_y=0.0011 right_z=0.1811 right_yaw=-0.0004 right_pitch=-0.0069 right_roll=-0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -1.8803, 6.5709, 1.5507, -0.0024, -0.022, 0.9158, -0.3897, -0.9915, 7.0359, 1.7216, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc6a1fcaf1d27d8a199578fd66bc2bff3ae1a97d8f00653275dc7712b1ad6742",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f165f09926e66bfb1281de6fda5b6c91e9e3b7496a6d30a5b8323d8ff57dcaca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e64416baa651248a8ad7644eeba34440309e13fa0788093a6e9519069bded518",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEjvMZTA6f06f0TuBobgvSS9_2KuLt-LnfcMjYaS93S2MEGxKLCivmo7jOf4DqLHQKJSP3aFbipTeEifBYRRCtgkBbjnhvHnuKy1CcNK-RKuj66VELLSTppLvpeCmCiWGmwlHhXjebUktZ1qUVzZLUC-0BGM-2AXaeQy0V0A_-dINLHzpJlK9WgWjHfsNbrVWjR1Pg-bqXt4yl_rzwGkfuklCB9WtHy2Q47fbk4g-8YAz-aaQh4XoYTCnmGApu9FubNzI37QGFXiNtVV1X4GUr5qMf7kPpM1jbx4yFToSiqQfLdwGc_eAaqMaM9hKRVDAtTOyZi6TkS1f3LV9G74ZAgGqdvMTx7g1GF9uBAoGVO4fxegf-XW903w7j5Ay4O47tt0PLCd0BaXNbaUkdFK5l9ZhARV1nHD25xzERhNFG7bAsVCXBQC9Zr441Vq8-cyZfhpIVn-c_LnVriU0NgS0D2-spbvfdVEuXfp6SfgTlKO0ZPbzkfQYUgGARMC38y_WPtI9tYnXMdtviyoo7RcGlabtIKsAw3xFlv_6eRRAGZ258EgXzw1wykd3JwBXaiqEtmbeERrGiNHh9N4lMAtCA51Sy-DMDcUSZmCsY6JRvpSFY6c2ytCICmLVmq64WGBczu50h5Q8Uuhjqg_hR-9DQBZ-2wN-ZovNfiBDrup10ODFIt9GHasZ8LJ-XneAvFc6zVHidsL7FtA_XzAg9LUB0mjOXV380OBs0cFPyOxUpiCnPhzJhbSb-OrN5cmZm6MlOd5FWnPxr6Vgh4Q5tA_fdfGSrFb_3ZcXjfl0Iq05t7POrC3o8Grq21808Hx6YzUfVDFn4c-j5theP1IewUnWvgx8Y6CbFA5f3v0VL93v0JqdsUvJc9bOiB9fAonrgIQMpLeW8PL6LIwOpkw8NSjodJ8Pph9heq5pb1h4lwL1AGX11_2gFNv6MJr3Aq6TdRtJFzsGHj7bC9sNLiyVZL3B35Mt57QXibJFq47w_yjd3XNdk6abSBMGBoGtPJTUHA78FMOc1tgL06FhT9UfzfUTyquTvbNtoiQoeX6EiWmnCHVyZYXvIJzwY5W_d6qnhu_qEwahqa2_YSXAEHxxffQzLOgO89Pd3tz2g_t1gWRg3J8Gf8HI9qC1RSomMX8laNG3Wwx-w16ynYHoBpHXKXU1-o2gnjkkpDXJd57h9KKr_OIpNYKdjzDYjUmAoOai9k6O_Ihlsm5MJbsMkvhrSnt00Hmicx-hy2AnCAgBgJC4onvTlTbMlSvXTgmT35-K5FivbBhOByJoWFRzze_V6Zw45yC1o427Da4YSgkrczPQGn1IYqKt0l_YImzO0aVrsIcfheIIELEt3MdpTNh4lmZ1hFTIk5398DvkJJw5AgdSjuMWb8USTNuW36timCXj_rhhItceN32YgWTkVMkLLqOYLy-KDxcK1oAgAFGqivMuRqhuefsd5LY4M0yGoytTsvdT_C5",
  "id": "rs_0d465e8d9623297c016ab448ee4c4487d0b1e5d1894e05c472",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.13},\"note\":\"The gripper reading is nearly fully closed, so the grasp may be only on fur or empty. I’m making the required short lift to see whether the gray plush actually follows before deciding whether to retry.\"}",
  "call_id": "call_ANUfq46V7sh148Vgg0nkZ3tS",
  "id": "fc_0d465e8d9623297c016ab448eeeb3c87d08f5b21002f3f3cc7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ANUfq46V7sh148Vgg0nkZ3tS",
  "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]: [-0.017, 0.8368, 0.3779, -0.1555, -0.0288, -0.0269, 0.0145, -0.0151, 0.8024, 0.6083, -0.3847, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2912 left_y=0.0037 left_z=0.1113 left_yaw=0.0089 left_pitch=-0.051 left_roll=0.0045 left_gripper=0.0145 right_x=0.2952 right_y=0.0013 right_z=0.1786 right_yaw=-0.0001 right_pitch=-0.0172 right_roll=-0.0005 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -2.0991, 9.6479, 1.7949, -0.0611, -0.0611, 1.033, -0.3897, -1.4838, 7.0496, 1.8193, -0.0366, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b55051c13330a7acc683b01f904de1b3a13d37ad1129a9a59f297232aeed9c72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a36fa29c38de865a09262d3b319efaa842ad02f6baf6908e5d1e16d0da3c488",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94880f773da5e765968f2f5edc008279c43e5ca6654c05770df1ea8448ffcc3e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 3.128 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8005, 0.617, -0.3798, -0.0216, -0.0261, 0.9994, -0.0154, 0.7986, 0.6106, -0.3737, -0.0128, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1842 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2967 right_y=0.0013 right_z=0.183 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.5812, -1.7162, 9.2786, 1.7558, -0.0122, 0.0659, -0.0806, -1.0325, -1.4564, 9.7846, 1.7021, -0.1294, -0.0073, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0174, 0.9726, 0.2062, 0.2028, -0.0288, -0.0269, 0.013, -0.0154, 0.7994, 0.6086, -0.3779, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2982 left_y=0.0035 left_z=0.0719 left_yaw=0.0084 left_pitch=-0.0003 left_roll=0.0032 left_gripper=0.013 right_x=0.296 right_y=0.0011 right_z=0.1811 right_yaw=-0.0004 right_pitch=-0.0069 right_roll=-0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -1.8803, 6.5709, 1.5507, -0.0024, -0.022, 0.9158, -0.3897, -0.9915, 7.0359, 1.7216, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.017, 0.8368, 0.3779, -0.1555, -0.0288, -0.0269, 0.0145, -0.0151, 0.8024, 0.6083, -0.3847, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2912 left_y=0.0037 left_z=0.1113 left_yaw=0.0089 left_pitch=-0.051 left_roll=0.0045 left_gripper=0.0145 right_x=0.2952 right_y=0.0013 right_z=0.1786 right_yaw=-0.0001 right_pitch=-0.0172 right_roll=-0.0005 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -2.0991, 9.6479, 1.7949, -0.0611, -0.0611, 1.033, -0.3897, -1.4838, 7.0496, 1.8193, -0.0366, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b55051c13330a7acc683b01f904de1b3a13d37ad1129a9a59f297232aeed9c72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a36fa29c38de865a09262d3b319efaa842ad02f6baf6908e5d1e16d0da3c488",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94880f773da5e765968f2f5edc008279c43e5ca6654c05770df1ea8448ffcc3e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEj1MLkZkh-CdlaUbC3iTQfnohXQtdj9_FlngYjaAi5B5Rf5h6enW0twdDmkzlyRCGwByyIs82vsQN3YyHcR1fC7eqOot5e0H7Eya9ayZY-01VK_ovNxUyqbGmgauGWulof4MHFseay9auBjGNlj8goNBx3SudBkeEBX4QhWN75NYYi31C1cW9MkZsxPEgffbSrcVM6NEH2jPUt9tZ7Nsdvag_nUJGIPp6lKo0ZQAT0I-ybausJUzfhVPXGuXL1aB1DReDjo0r9np2aNjL75RXPBl23Yvn3ajPf047aauzmQio4kSKJjLuIdib0Cx9I74CgPLaTopmOLKXFQ8nwu1q7cH3A9pmJeGSCsxUdzSKIpSYPLpuCVwO7uu72Sp4eb-X9g0GQJazvsELezfxRa0xWyfJVnglFexDB9MW_ZF4TaLI3UiHAAOxKEriqg3yQu8DLz2uwRDmb2mt9Yfgv_lXwS9CrMnXfJpekHG2p8sUSMD1LeTk1lxiP5g30BhqzQGPMkWjXRpJRjvt2PBXiuW725BFgeivvScwDpuCuLtBj0T--AnLZaHhUUMNzNHLBHl7bk6FaC_P8HWXMMwQeYOxoJ6dVwzTp3xxRQ2ukGxpam-BiaYwTCbfeCXXIHVZCT3Blg8llD9e8pn5QFsQ8A-_91UbnUjErLGFshEmTY7b3xL0JVlPpfzFWgrMSAkYDrNzTNjrJfH2pLWa_C4ALJ0uum_w07APqZGj2rvpshedguLCk4VpZKsasBR1m25SMykbFhCjstpy2wSnLy7vADlWlNmLhcnXnlIGuG1syEptVqhjb61JmDXm7ffGnfOVeN7AsGSkw6NCbxmqHbRqdIkkzLMcBpkgl160ZuZfmWKvoHYnPyQ5n_8n2i8e79ynHdhDyyMqZ8soIMD47FxR8GmeoRFKGItq-ULtYDLVKP5W7ZB6L2B8hPcYJM8YEJ9iFgEdhXYNRBCkHgnjzSctALsUk0lb4koJahN07iKM4YfbPGBYfftH9lVBPYCaTiGYGP4sOadUBEUSoqeSC9lhs10YoJcvqm5-0bAXwW2s4nIffaWn6YRjrd7BElTbw41Db5g2-kejvAo8Q5YPyiMl0TlyNRj1mn3Gfy2UzYEbr6PH1FhbeFsJzimjit9NaOW0h07iMPgVNdW7DxM9fNTaau_AGyT5xG7BqFdyOyhlUYFe7-tbm2AFE1KeO8-hFeGWAhOX8kjZfzvYPT_PWDKqGvMmsuhCr50iVt7H5fx-lWT_mCKNzoBPt_L0EQmwYr8mv3uDyV7gIqMeBrcHJVuB3rN7d40P1JYqmYaY1EWPKil-5Eh7Axvc_5ontIUzAPoLEaSUE4D70Kl2M9ua9PibLBrjhf4S9o-P8Ba-pyCGmRWclrQXqWOlCZlNKYFRT3CE9Cl9evp4_-FsXCAEpdXTKVlaTKb3HmLjO1eGi_Vw0tI9924rA0ra6Sj0nsyyJXbx9QhFKQo0Yo7KRL75WW8DFoQKyA4LkWEmo6sxnWoq3B6zwFee-ZJB1p65CO7EeBTLuKj9QMus8EKxt7eUPAbvvCXR8UC2ME0SXzz0Gz7SX9eJDSWCa8qjCXoiurv7YYxjrTwlJsWNABbDrAw-78aq2kYY_-wJ61wNyhRzosTQISBmRFwt8ZD_TwwEQMPSBB8Fh7jvhyzkHV-ZCIGFwyhDuGOGDgUbA5tK46k32JhX5ACzpnEWYI4x_I8D9T7U55fUiq8Ufsi34Nx82QpGMOiFl83bzuHpFwaBscxxBOkTKvyyQBnSGB-wJzf9qNiYjUR9Ab_nnuorh4F7Kk-uE3bkFhX_MfvmjrouYVsZ-hB19tfKm5urg1a8a-H1b3-a_D6thJp8BwqbgYfIMl2HQ5Cg-VY_dS1U45TegRRSe-6g9VHFPotcRhMcxIJIO64HJ6GP41Ut7pZPgP0GCiJBVrr0QrAy40veeCP7aHyzxysEomS3K7vj4=",
  "id": "rs_0d465e8d9623297c016ab448f27c1087d0baf2daa64cf65a74",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.19,\"left_z\":0.22},\"note\":\"The gray plush rose with the left gripper despite its soft body compressing to a near-closed reading, confirming the grasp. I’m carrying it high to the center of the left basket, reserving that basket for gray objects.\"}",
  "call_id": "call_isSLVWQlakqcYtGU4GoRzKVs",
  "id": "fc_0d465e8d9623297c016ab448f42ac087d0817ac81a6b7c295c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_isSLVWQlakqcYtGU4GoRzKVs",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.556, 1.7451, 1.4326, -0.4786, -0.4492, -0.3859, 0.0145, -0.0147, 0.8078, 0.6075, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.4489 left_y=-0.1844 left_z=0.191 left_yaw=0.0169 left_pitch=-0.1326 left_roll=0.0305 left_gripper=0.0145 right_x=0.2954 right_y=0.0014 right_z=0.1767 right_yaw=0.0003 right_pitch=-0.0237 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -9.7573, 10.2085, 1.917, -0.2955, 0.1734, 1.0281, -0.1709, -1.7299, 7.0769, 1.6972, -0.0513, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f34d1c5c0bb1dafa03db92a7e7e3f0ca4fac75f50124c828e58f1b740bf1966",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1228e352ed0221d8f80490963f29593dc29b130cd7294cfd08c05813944c3be5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47edebe8051a3e2d4fa757ea26e98d5b1848a8c7863a3b2991cf404a18d517b7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /responses · status 200 · 3.495 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.9726, 0.207, 0.1822, -0.0227, -0.0257, 0.9994, -0.0154, 0.7994, 0.6086, -0.3779, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2956 left_y=0.002 left_z=0.0679 left_yaw=0.0011 left_pitch=-0.0202 left_roll=0.0013 left_gripper=0.9994 right_x=0.296 right_y=0.0011 right_z=0.1811 right_yaw=-0.0004 right_pitch=-0.0069 right_roll=-0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -1.5795, 5.7915, 1.6532, -0.0513, -0.0171, -0.0269, -0.2393, -1.1692, 7.4051, 1.746, -0.0611, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.017, 0.8368, 0.3779, -0.1555, -0.0288, -0.0269, 0.0145, -0.0151, 0.8024, 0.6083, -0.3847, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2912 left_y=0.0037 left_z=0.1113 left_yaw=0.0089 left_pitch=-0.051 left_roll=0.0045 left_gripper=0.0145 right_x=0.2952 right_y=0.0013 right_z=0.1786 right_yaw=-0.0001 right_pitch=-0.0172 right_roll=-0.0005 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -2.0991, 9.6479, 1.7949, -0.0611, -0.0611, 1.033, -0.3897, -1.4838, 7.0496, 1.8193, -0.0366, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.556, 1.7451, 1.4326, -0.4786, -0.4492, -0.3859, 0.0145, -0.0147, 0.8078, 0.6075, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.4489 left_y=-0.1844 left_z=0.191 left_yaw=0.0169 left_pitch=-0.1326 left_roll=0.0305 left_gripper=0.0145 right_x=0.2954 right_y=0.0014 right_z=0.1767 right_yaw=0.0003 right_pitch=-0.0237 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -9.7573, 10.2085, 1.917, -0.2955, 0.1734, 1.0281, -0.1709, -1.7299, 7.0769, 1.6972, -0.0513, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f34d1c5c0bb1dafa03db92a7e7e3f0ca4fac75f50124c828e58f1b740bf1966",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1228e352ed0221d8f80490963f29593dc29b130cd7294cfd08c05813944c3be5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47edebe8051a3e2d4fa757ea26e98d5b1848a8c7863a3b2991cf404a18d517b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEkK9dileXZCtjX1VFKBvBaTgDBSTSacdZnb4BkMxLXfQIO07w5yrpc1HqV_7qKF9JNhCb4pkhISTBPnV6xV-Y9Gobqzy2moCKaHqooh0fK_LVf6FWkcbF3rn0AqDnTgU55VAhjkTsYFmNaE5hJK85szi8xpmYkxCfgg4uiXUVUmRuXrf6dR1YBHH6YOc-3zfZN4sZgGgHECZV6TzwZUfRlAJJUaMlP_jlg5LKYBY-OqFabnIDTVHBSqR0WLozMC8y5m7mHe3Qqn9lNUnYgzDjYHS7cDU5lX8XJ8JcBASoNGzTz6M64j03iEabmRmYt2nukXcvFETtTZvFDwp33nT-TIAaff71WlW7EQgUxVxfwAgQ0kOFp6aheKKnQL0yt6ggxuTzat1DSc_9YfwwVl8R9xLyxBjgG3rZk9lXxlEnOPPFTkkLfN0jp8IJ58A9UokwVJ88gLj7Kupvc7sJHyQ5UEfdIPrlg1Owu29I7ROSiesHiLKtMp4LU9diidKLm193XI6HHlQjvtoiuYhojBW4gQNkEksWj5JoICAm3LuDCMdVt27JZfMw5vs7KbyUCYfauxUJOgA5HYKHU8UaVTk-j2zY1-0PofECRHqrhsZ9xOy16dWTC9Kkcmcr1evsbUH1WFRu07Fyb7KjPn7A6U5YZ1hOiCWX39Cxh8uOk0CBiXmNa3ZNw64ikj_zwyVHVnnO05R-AfCJvfZWVIdezqyLQZ-6IFQU02ufjQ3YDxOt_Ev7eqhox1ZgccO17W6uwzeQTootUGqOoZGmNGKZoXqsCiRg67S_08uDEmJFtaz_gglqQIQJS0po8Bwo_8TBae1o5km0tTyiAZjA3NfdDfRpa4weLyXRdjvOvsl8pzN7l10gZTYqjNNau0-YoDq6WFeVItVXATFgqhkOw6RAWWcdnGzsbY0yqJGEDvOiPZsNUw4JpmyS1R6FWDfc0lTd808ewVZfZS6z8TNzvPw5-kN70whx3vC2TBdbUjfWCK0TjM4Atf0V9N2eW4_pMKzqGql4LBHWrjvtsyZojDssm-EwoHIHaPe3s1jcbXLlOO53RNH8ZksqS3Up9kGTGFIFCjGfxJ1gZ5wKiFnOE0mo82i1-maKFAJ8ehOo8D11r27eZYrr7jndCd126Odj7Z7N752fquRkri4ym1pvJ5JiSHbwP3q8UEYeVLKaS-t8MzBvBPL3DTVMu5BYqXRMnufvqeiIPB6y0HF-0XRzQTI_nCX3oBF6oT63SyxIV8dcF8iCMX84kjG76kaJi5kt5eO38nxE8WssG3P2xTRug6UADmtxupx63obF0XWmtfpqzE785UstNpYW9Ax5gHP2Sc2H8844V_4592gqGw5LCb0Ixzu5_qrFUHtzoBh-Q4YeXbWMqdtzKF-_vYXBUc3zmkEzkPygpxCy2s7sntu4AhBBHps7CqiJDd4Gw4WYlHk__Fmn8NbvlAxRRyuKN-LzXsl24bYlSc3hxJcBCtL1B23rJkfF1ghg==",
  "id": "rs_0d465e8d9623297c016ab44909496487d0b33b16a517962050",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.11},\"note\":\"The left gripper and gray plush are centered over the open left basket. I’m lowering the plush below the rim before release so it stays in the basket.\"}",
  "call_id": "call_ci2bPoeHfspGJ5U71MdCFGDt",
  "id": "fc_0d465e8d9623297c016ab44909ef7487d08e0eab2c373dcfb1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ci2bPoeHfspGJ5U71MdCFGDt",
  "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]: [-0.5549, 1.8118, 1.1969, -0.2481, -0.4454, -0.3904, 0.0145, -0.0147, 0.8082, 0.6075, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.4389 left_y=-0.1783 left_z=0.1018 left_yaw=0.0241 left_pitch=-0.1945 left_roll=0.0644 left_gripper=0.0145 right_x=0.2954 right_y=0.0014 right_z=0.1766 right_yaw=0.0003 right_pitch=-0.024 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -9.0188, 6.8855, 1.663, -0.2222, 0.0024, 1.0281, -0.294, -1.3333, 7.2547, 1.6972, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36c0be87a64707a4ca8f5ef8cbcc10bb2fcaf857ca364fbacd45e64be46911ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d171628483a88d60e9f30b9e69bdc8a23402e85ecdc54e6845b8b34a913a3484",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:631a25187d6efc5164b17e6bb74c67a05fdbf76a925d566d14088e4eb8ea5fc1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 2.098 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0174, 0.9726, 0.2062, 0.2028, -0.0288, -0.0269, 0.013, -0.0154, 0.7994, 0.6086, -0.3779, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2982 left_y=0.0035 left_z=0.0719 left_yaw=0.0084 left_pitch=-0.0003 left_roll=0.0032 left_gripper=0.013 right_x=0.296 right_y=0.0011 right_z=0.1811 right_yaw=-0.0004 right_pitch=-0.0069 right_roll=-0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -1.8803, 6.5709, 1.5507, -0.0024, -0.022, 0.9158, -0.3897, -0.9915, 7.0359, 1.7216, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.556, 1.7451, 1.4326, -0.4786, -0.4492, -0.3859, 0.0145, -0.0147, 0.8078, 0.6075, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.4489 left_y=-0.1844 left_z=0.191 left_yaw=0.0169 left_pitch=-0.1326 left_roll=0.0305 left_gripper=0.0145 right_x=0.2954 right_y=0.0014 right_z=0.1767 right_yaw=0.0003 right_pitch=-0.0237 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -9.7573, 10.2085, 1.917, -0.2955, 0.1734, 1.0281, -0.1709, -1.7299, 7.0769, 1.6972, -0.0513, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5549, 1.8118, 1.1969, -0.2481, -0.4454, -0.3904, 0.0145, -0.0147, 0.8082, 0.6075, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.4389 left_y=-0.1783 left_z=0.1018 left_yaw=0.0241 left_pitch=-0.1945 left_roll=0.0644 left_gripper=0.0145 right_x=0.2954 right_y=0.0014 right_z=0.1766 right_yaw=0.0003 right_pitch=-0.024 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -9.0188, 6.8855, 1.663, -0.2222, 0.0024, 1.0281, -0.294, -1.3333, 7.2547, 1.6972, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36c0be87a64707a4ca8f5ef8cbcc10bb2fcaf857ca364fbacd45e64be46911ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d171628483a88d60e9f30b9e69bdc8a23402e85ecdc54e6845b8b34a913a3484",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:631a25187d6efc5164b17e6bb74c67a05fdbf76a925d566d14088e4eb8ea5fc1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEkOZZjW2etIZ2Fp6idxUBfU3FpANb4Ewz-90kuZgxRU4vyHYjuqiX_eJ0qqbQ-jGP7fr6yyuYOTVCigwj8q-abKb4nBf67uobmxsBTOM5kc-QQ0ZxAfvNuk6P_u-1IyW3blHGEAFV89Y0IL9twnY1_Nrp7ELLfruO__5ZKmXbKO2faymTw0ePHN96QG7kq9wSxPbJ2ZbhD4l57eiDgBlw8Mb_GjZeTh4aLyWWPieSEqEBoPFMlGObbrYy-1TnTGkQI8oXl4RBWJybKf9uFFVxtyEoFkj7O-v6nsus2-CYwDTAZ_xToSqNl1Jq7sGxANi3HyQ030S1vKQ-FDHHPpC7n7XvWJP1bP4m2z55BG5lGBWGlHNpaKDm5D8c6QfH7k2sdatv6L6h0Psa0kB3HREDGsUYbYOW7OmpAFliGRi5HxAX8UzPni0Z-le-mKbkqD4irZU_IUIU7vTsobUxT4KhupTvsCwrnnVOtUoT-eTMTRTn0t5HHh1dJ0QZI2wbgLIScutXXdSsfW-CnvZ1OrUn7KTQqEHop1m51hkji6zt95iIiKFl_fmFsw18vyghz5O6goOCKSyQJX7Dj5OSkjSHWni5Yxvf-815vE7Qyml337fIlLwUrdjs385Z177boh9YTSXkieadKELjF41prmWBpgwBrt19jJ-Z0q917i0rQGHi5LrDu9K6krgXytvroBZKqEKNRXSTqWK16kvjs0Ixs_KO2NU0CFez-uTtXZjArmTPRSUrU5NWT_BSPaFKmHa_W7HXofZmuFvs6AYTenA71S8c70LTHU420JppH-Cb5sxdJCDxVprDZoDJXujwTu-X_itJYLyAIgdH47O1egJbGG-7yve6UyD007vTAZkGj0XEoiUAa92n85PQf3eDsvqpRtWNFWFljKjImHp37ucB4j5trLtr71ha9_1olHIcUE2IYrxiAPp2PyIPE-EVoYh_bwrIfRxOUHccLphkNvPpST3wBrw3-NO4GZ1XBtgc2w_0GKEuOG8Z2gzLWY_AKpadVqneqAqFSduzRmGD-f8w6R7pzFjrzu5QNM1ko8jXQn0uBglRmAHt_7_zDes2tEPtXjQcyIriwgQ6MdFStmITTp-5z4bUfOpHYy3ayUFmWGjV3ToCIBjj-f0DLMXBuq7O6br34OTvGqjm_otO7ImWaje_s4RjFCukJNe3XuUQpmS1IE6Epvir0EmUd2GN5cu3hoRMDH2WEWw1445kIIq316ZD-r8o8xB9WHSqbRgWjjrn8_H1apBfkwD8Z72rthzhrn5za5xQxVA8ypLaWpvdGFg1R7G4HrFC8gJ0Xt2W0wsi9lwWiYRY6wPxqTzIW-bA3j8ghPR_yDeNmFy0YLdVNkK5WjSY7gAhCymNlGh3l896vVC9WY52QB8EAN7102TpcXDZ8PjWLX-QJhb5J25CFlJcGpcC1_UMTJ8Lmkf5XAlG6Le9wsIteWO0CAE3cXnM2NqjkpElkh6lV1mzQABGmLkQFsE1FiGl8GChb8exnWM4Su20clj7HYRGgUjqh2X9FITMoSwuKmIsQBcSfa9wuaaKaF-FR5rO3g2J-CqhxF4Z5-qtnzFDxXXq5oHqup_FiGDKzsUk_xLiQ5GMj0b9ThgOSmk07GzMt7bydCbGerhjPCvLrNC-0H2TIsyXpZWBca4EL3frv8KI-vlrVhrq2cgcGJP8a7N62bIvcO2MVMkaNmKfkD1RolVTxqhey2_eM30UWz-eVuMlLXfouepwzf87DiuDphiQUTUM_CAr5mdXutrDBzN_U_kHgmOVARkGVBRJBk2tVYwYrGwGeaaiPMtIA4A4KcJJkagJof6ioQ6IhBkFU5IhFK6uItw9ryWqTGg20IQeVTsAjt1VpZcOqN5gkXpH66oJiDtf1YjHWw4jq-m1MDCDbOiHzJ7E6BqOnn",
  "id": "rs_0d465e8d9623297c016ab4490c4e3087d0a98d77c494206b39",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.19},\"note\":\"The wrist view shows the plush at the near lip rather than deep over the basket floor. I’m shifting a few centimeters forward and slightly inward while staying low, to put the release point safely inside the basket.\"}",
  "call_id": "call_v03rpNVioKEb4xqIXjCliwIU",
  "id": "fc_0d465e8d9623297c016ab4490dd0b887d0888fdfa997e9eeee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_v03rpNVioKEb4xqIXjCliwIU",
  "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]: [-0.5423, 1.9163, 1.2964, -0.271, -0.4419, -0.3981, 0.0145, -0.0147, 0.8101, 0.6075, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.459 left_y=-0.1842 left_z=0.0884 left_yaw=0.0413 left_pitch=-0.2189 left_roll=0.0722 left_gripper=0.0145 right_x=0.2956 right_y=0.0014 right_z=0.1761 right_yaw=0.0003 right_pitch=-0.0259 right_roll=-0.0003 right_gripper=0.9993\nstate[joint_eff]: [0.253, -10.7692, 9.4974, 1.4872, -0.1294, 0.1636, 1.0281, -0.3761, -1.0872, 6.9949, 1.7411, -0.0317, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32b4046dbcf52a7632bb8729ad4597d5f5713f17b0e0da2171e0054ddda33302",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:672b4d852c4f119ce4ab2a7b91b4e5132a4a082799abbec2aee8eeaefbcec101",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df100529e667adf15b83e472bcc3dfc23e2df1af0788e2fd40a0c0c53bc01adc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 3.833 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.017, 0.8368, 0.3779, -0.1555, -0.0288, -0.0269, 0.0145, -0.0151, 0.8024, 0.6083, -0.3847, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2912 left_y=0.0037 left_z=0.1113 left_yaw=0.0089 left_pitch=-0.051 left_roll=0.0045 left_gripper=0.0145 right_x=0.2952 right_y=0.0013 right_z=0.1786 right_yaw=-0.0001 right_pitch=-0.0172 right_roll=-0.0005 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -2.0991, 9.6479, 1.7949, -0.0611, -0.0611, 1.033, -0.3897, -1.4838, 7.0496, 1.8193, -0.0366, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5549, 1.8118, 1.1969, -0.2481, -0.4454, -0.3904, 0.0145, -0.0147, 0.8082, 0.6075, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.4389 left_y=-0.1783 left_z=0.1018 left_yaw=0.0241 left_pitch=-0.1945 left_roll=0.0644 left_gripper=0.0145 right_x=0.2954 right_y=0.0014 right_z=0.1766 right_yaw=0.0003 right_pitch=-0.024 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -9.0188, 6.8855, 1.663, -0.2222, 0.0024, 1.0281, -0.294, -1.3333, 7.2547, 1.6972, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5423, 1.9163, 1.2964, -0.271, -0.4419, -0.3981, 0.0145, -0.0147, 0.8101, 0.6075, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.459 left_y=-0.1842 left_z=0.0884 left_yaw=0.0413 left_pitch=-0.2189 left_roll=0.0722 left_gripper=0.0145 right_x=0.2956 right_y=0.0014 right_z=0.1761 right_yaw=0.0003 right_pitch=-0.0259 right_roll=-0.0003 right_gripper=0.9993\nstate[joint_eff]: [0.253, -10.7692, 9.4974, 1.4872, -0.1294, 0.1636, 1.0281, -0.3761, -1.0872, 6.9949, 1.7411, -0.0317, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32b4046dbcf52a7632bb8729ad4597d5f5713f17b0e0da2171e0054ddda33302",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:672b4d852c4f119ce4ab2a7b91b4e5132a4a082799abbec2aee8eeaefbcec101",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df100529e667adf15b83e472bcc3dfc23e2df1af0788e2fd40a0c0c53bc01adc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEkR5RTV5S17ZNqwaX9i-viK-4vtvcz5ujrj1Vza1ECloIupBuCKWVmImyRDSDNsH_L6KDoPJGpv5EQST3OcriKUhOVdH2KctIi9AE8ADqAHJI2Ci4qZ_0F91hffWS0ehIX_0FcX_HIRswXARrm0ETmEGpb-vyZINPOgpI2UnanRlwbFpZ7Vo8T6Kn0UGrdUlULOIXFWgOLRVWQt0MEFaJuzr32flpLqdNuPJbSbsVabIUQ_x4oA7dAKJCh55X07yVBT40YtRgsnTR27wAz0udp5bv5S_bhsZDa9PllLQEMwWzf2JXPt-EjQ4L-i4Z7Cq5Fd7GakGDvRqphcCsGLFkslHLGqT0zd-waPMfDzj-5u9iIwyAIwA1ELLuYGN5t_bxxSZ8m8P4IX-ti1mb80OR9noJ__BUcj1-2cQ2h0T6H76-xrOxqf41tVXytSIZbuDyMfeI02pboth5Hp8mUdQht9TlLcRLSBR6mUY8oAy9mGq9qiAbVSBOZrt9fyyCawYJDy733l_KqCgjBkePyxH9OAxykS4-4muF9Z6oe9TROmzOqNQLaBYgyQPBOjw7cngLo0SngDAqqwCzje9JkFKX2eyDgCIBzZLfftLhixYoLFHwzm1lxAosuGLZj903r5H3l2oS6o-cIJLDu8hxuI2hUAuWy6mRlIkuGobT81YSdohzS6s1F_9C5c77IYzi1hiMuEkzEEhXHibwbWfBkJBnRyjnYnFiLsSglRH3UB8KYPj1HFSMF5miFBSUM1kck9_Jh_3FrCyr_m--UodPpOSiDV6GYFSx1dLJyGAiheUqGF4EMS97Y3W8Wkzv2YDl3GyDYTiR8ANSZedKE_j2Am7WVZ1ojzmdu0afvbpza3hcsQxfAJuxCKAQThW--EHZoODQDMgvM0rGQP-9i_3nuYoQc7JzzHb7zRKWWLaGAp3dWF2XoRW2MeuXfw4-BO50TZGcJHInrN6cvNCM-lqxEOczcwI4GuONewsS23dC8NW4NWT01bV9LexOck6iYjAp4bHQn2iKQU11Dwp7tVEk6_WKb5dyPxlYDx1vXDaKVSGLHLyxT7TiCbed9-Sx0xdt4nG-N48vHE8AGr8TSQEhr4fyh34iq4Yt9OXfSnRDpygB1kBDZW6XAfq3TTKQ2L_Lh4z84Rx91AlZwO6mCSawP82_BvE_IP_opE8jvmUELb9dJKOjsFuDwG2IFIigviZ2QAlCyrDXS2oD1R0It4s7mwE5ykExHJ7vmkPqK49IQKaR670tXz4cSyQxvS1qjenN_8XufxBuAvNV2nFcylc0MuOFtRSeFsnHtyEgdPFYx96xsCRVna-XglerORXCOAU_FLwAu1L5cmjgedXwnn2PLeEi_QnnYq0wR05yu9qQBIZhwSdtYQiN4pIAYKKkHTUXmxO6wrwQZ2wWzdMii4r-c3bK7_JA==",
  "id": "rs_0d465e8d9623297c016ab4490fef1887d0a33c8d7ea2d62b8e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The gray plush is now low at the basket’s inner near edge with the basket floor directly ahead, and the grasp point matches the basket center region. I’m opening the jaws to deposit it into the left basket.\"}",
  "call_id": "call_ylmmDOCthCXV4l0Rfxrr1ahF",
  "id": "fc_0d465e8d9623297c016ab44910501887d0a777a1593562319f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ylmmDOCthCXV4l0Rfxrr1ahF",
  "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]: [-0.54, 1.9373, 1.301, -0.2832, -0.4484, -0.4095, 0.9952, -0.0147, 0.8101, 0.6075, -0.3851, -0.012, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.4583 left_y=-0.1813 left_z=0.0789 left_yaw=0.0586 left_pitch=-0.2392 left_roll=0.0847 left_gripper=0.9952 right_x=0.2956 right_y=0.0014 right_z=0.1761 right_yaw=0.0001 right_pitch=-0.0259 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, -12.0274, 5.9692, 1.4774, -0.188, 0.0708, -0.1343, -0.3214, -1.347, 7.4188, 1.7118, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e767053ca207909fe4d03ce35d68e332d59cab3b2a3853179d60b80cbcd7d0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5498f8fb92c4d9aebcd5d0d3ae67720c89c07720a66466c03e8424c87f862ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5050641ad5fdebf4e3ab67800ea8ec295c0276de8f201e1f299a9749aaa60337",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 2.917 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.556, 1.7451, 1.4326, -0.4786, -0.4492, -0.3859, 0.0145, -0.0147, 0.8078, 0.6075, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.4489 left_y=-0.1844 left_z=0.191 left_yaw=0.0169 left_pitch=-0.1326 left_roll=0.0305 left_gripper=0.0145 right_x=0.2954 right_y=0.0014 right_z=0.1767 right_yaw=0.0003 right_pitch=-0.0237 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -9.7573, 10.2085, 1.917, -0.2955, 0.1734, 1.0281, -0.1709, -1.7299, 7.0769, 1.6972, -0.0513, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5423, 1.9163, 1.2964, -0.271, -0.4419, -0.3981, 0.0145, -0.0147, 0.8101, 0.6075, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.459 left_y=-0.1842 left_z=0.0884 left_yaw=0.0413 left_pitch=-0.2189 left_roll=0.0722 left_gripper=0.0145 right_x=0.2956 right_y=0.0014 right_z=0.1761 right_yaw=0.0003 right_pitch=-0.0259 right_roll=-0.0003 right_gripper=0.9993\nstate[joint_eff]: [0.253, -10.7692, 9.4974, 1.4872, -0.1294, 0.1636, 1.0281, -0.3761, -1.0872, 6.9949, 1.7411, -0.0317, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.54, 1.9373, 1.301, -0.2832, -0.4484, -0.4095, 0.9952, -0.0147, 0.8101, 0.6075, -0.3851, -0.012, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.4583 left_y=-0.1813 left_z=0.0789 left_yaw=0.0586 left_pitch=-0.2392 left_roll=0.0847 left_gripper=0.9952 right_x=0.2956 right_y=0.0014 right_z=0.1761 right_yaw=0.0001 right_pitch=-0.0259 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, -12.0274, 5.9692, 1.4774, -0.188, 0.0708, -0.1343, -0.3214, -1.347, 7.4188, 1.7118, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e767053ca207909fe4d03ce35d68e332d59cab3b2a3853179d60b80cbcd7d0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5498f8fb92c4d9aebcd5d0d3ae67720c89c07720a66466c03e8424c87f862ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5050641ad5fdebf4e3ab67800ea8ec295c0276de8f201e1f299a9749aaa60337",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEkVlxmxXJ8o-5ggM5cAh72GVdfJq05o7c7L4EDM2Iit-nbAQyG6AGDWcB_GOBYFw5ibR9Aw-Nlb7zgc_RPtzwRzlqRF7vEBMP6fnJeCR1WYXM5YOW8xrhlvyIv0n2nm-w3CAL2_FOgJXmKE6F2WnTt5OJfX2E2zu3gyYiXH9gmAvxzzHlZ7Hv1x_VomKFvrbXSDv7_Us0ddq0tTlMP-iGJdoSpFoo4quN_gRUPuiZjpVwJ9V0wEEwFZ7pgZZAJWOlkYriI9KLsLOHVsMxS-SCYmVP8QVdp4q6a3Di2ANP-abA86qeFuELmNEW3s24Et17yUnm2NytqnDL-Xp5OdZu72nXi4OlWwqSToO8pZk-TUqpCi6e7zKy7dOPdvNOSKXKxsThbhdBclA_kc3OspFy6OkSklE1HiXhpJudNYOyzlnDFkea6WdpgWbDjvJOj-ZgW-JefOVzTpPQqrj4AN6-0Hn9u4SHmYKXn1gl-rkYxRwlMcE3X4Eui0_F0E2Y8f2DKV5w_UBhq8yK_IA0fOONxJi0agWEzWyDgCJr-NAphgdg0j9PuEwK0aXud0f7tL9Tm31nRYsu7KX6XMPxj-fc-Ap6hyP8kwoyiemBV2A2sgZVksyLJ8ff_1vJ9Clot6Pt9GveuD_Wlga4CzrttJpAMhd4-7ahV2hxvqCwWAvsbjOoaW31t4yTs67R6XhyZAe0FShqcdZ4GTSUg9g4mVcTfBWXNOsjEOrrsM_zH8Ix43RNTKck-eorgZft7vYgzhM9hh0La6u6BvWV2QfEYbEZ5806z0Ibw8a-m2BpOOtsCvOD8OuLj70wL8tyX9RhF_aYHZSDm5jgPeJXocpkTKxOZXjUsTOe1jpwe13g7ftsWmrzyp5L5-VVYVehbQuk1ytoWEX5bmmU30e-nCqeveA51Cae0kt7waCvkE0jSPeNyy2cGRCGHWCxzExqLNY0_sb_7UW-Jvcf0VzwbvnGIaPscTFOhdG6qtKUmmaLDvnhHLqs7-rsz_iFLZrIdsSggtzEonK9_MAqxyMXbrNHi97G1B2CM0-xl2Y7k_lWxyxVeHfNCb4GDxvksOVb3RcO5Xp5g58x-x5tyNDQ2MMM-BD65tn86EeLRurf6mh22Yn90YV6T63H_2gh4v1qgwnVXdPo3TRJCBPpUl7Vkum9Wp_BU7izI9l08nwHJls6_lvlmAMXz8sP1m9Kd41ea7asIrJ_fJd9uQwJ3h4LhgC1FOOkuglj_uQzyRFPINHNVG8wDErl2SEEVe05AE4p18GRRkzX89oWE0C6DWVl14cjd7Kf5DPdffbZ1KQggqVzBr00LbYGqMhCeewe-PwbWhFd4xTfEGuhZc4SOb_ya1Z6f71U2LvhyS3xt673fc0UZvW8btpQT9LQy2qDflvaP-OpDJHy-wlB8lL2R7_WAnXzLk4BYNSKQgAB24Xp89qhVUMblxBVnZJ2urZd7TaxSi59lwa9fCYKolRdwdrsTAO0929EfFxSYEd8FWZyf8a4leSpuTO48ANEzR_DGd1aSAmH4bNi7CfCqTALQro4f7UrQKm3GKee1VHoLFV55vx4UV8JtOAuhWxzOmYmxkb4ppUZdwVF3GKqt4ctFMgkcQCHNn4y7zR_BIci28UmP14hBUG1edgXeIjCQ0HC2qvq3mQ7f28RNyoxgDZdW3Vrgc5hprQe17Euzz-Nv0bVhXN0_ZzPncBv9TjSGxpjAefTPk4gj-RXWrTp9K98YYPO3CdafgDKMvVZRWtRadATa4cMcmHFAcm2eueP2LzdMMyqUQC1t5oVHFHrkgc7jODm9Yc5yMlHjSdeQ_3gtR2-DUg5EmJp5UXUakGoVh_ZHmBgYob5lh670F3Ep4ZlCMaiX5JlOvzSHpidfyqkoaW49k4IsF06zpLGEUq5d8UfcfR3igF0ZfS9Ewbv0MJ-U7UPkUeD0Kj-s8AgOck-VN-4RWAspkEplClHxVT_hsbMbtUQ53jjZOGNWQ",
  "id": "rs_0d465e8d9623297c016ab44913a1ec87d098c80988b5541e62",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"After release, the overhead view still shows the gray plush just in front of the basket rather than inside it. It remains between the open jaws, so I’m re-grasping it to move the drop point farther forward.\"}",
  "call_id": "call_wiKvAawfwDpqMRcX587pvmOi",
  "id": "fc_0d465e8d9623297c016ab44914e44487d08238e2675c8e6c70",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wiKvAawfwDpqMRcX587pvmOi",
  "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]: [-0.54, 1.9377, 1.3006, -0.2905, -0.4458, -0.4198, 0.0136, -0.0147, 0.8101, 0.6075, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.457 left_y=-0.1809 left_z=0.0774 left_yaw=0.0633 left_pitch=-0.2465 left_roll=0.0802 left_gripper=0.0136 right_x=0.2956 right_y=0.0014 right_z=0.1761 right_yaw=0.0003 right_pitch=-0.0259 right_roll=-0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -10.3863, 6.3795, 1.3846, -0.2271, 0.1099, 0.6227, -0.2256, -1.1692, 7.3504, 1.7363, -0.0513, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:911ca14450d70fba9f332d575d0e1f6a1afdca53b2e52b11adb8438757e92e6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ff0424b1fde57132ef18fe6701d72066da125682f92eb9beebeb17ddb1b76d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aafe4ddcbb0d03c719850fe97b9603cf67e29aedec45e4be72befcec5242519",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 3.631 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5549, 1.8118, 1.1969, -0.2481, -0.4454, -0.3904, 0.0145, -0.0147, 0.8082, 0.6075, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.4389 left_y=-0.1783 left_z=0.1018 left_yaw=0.0241 left_pitch=-0.1945 left_roll=0.0644 left_gripper=0.0145 right_x=0.2954 right_y=0.0014 right_z=0.1766 right_yaw=0.0003 right_pitch=-0.024 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -9.0188, 6.8855, 1.663, -0.2222, 0.0024, 1.0281, -0.294, -1.3333, 7.2547, 1.6972, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.54, 1.9373, 1.301, -0.2832, -0.4484, -0.4095, 0.9952, -0.0147, 0.8101, 0.6075, -0.3851, -0.012, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.4583 left_y=-0.1813 left_z=0.0789 left_yaw=0.0586 left_pitch=-0.2392 left_roll=0.0847 left_gripper=0.9952 right_x=0.2956 right_y=0.0014 right_z=0.1761 right_yaw=0.0001 right_pitch=-0.0259 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, -12.0274, 5.9692, 1.4774, -0.188, 0.0708, -0.1343, -0.3214, -1.347, 7.4188, 1.7118, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.54, 1.9377, 1.3006, -0.2905, -0.4458, -0.4198, 0.0136, -0.0147, 0.8101, 0.6075, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.457 left_y=-0.1809 left_z=0.0774 left_yaw=0.0633 left_pitch=-0.2465 left_roll=0.0802 left_gripper=0.0136 right_x=0.2956 right_y=0.0014 right_z=0.1761 right_yaw=0.0003 right_pitch=-0.0259 right_roll=-0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -10.3863, 6.3795, 1.3846, -0.2271, 0.1099, 0.6227, -0.2256, -1.1692, 7.3504, 1.7363, -0.0513, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:911ca14450d70fba9f332d575d0e1f6a1afdca53b2e52b11adb8438757e92e6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ff0424b1fde57132ef18fe6701d72066da125682f92eb9beebeb17ddb1b76d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aafe4ddcbb0d03c719850fe97b9603cf67e29aedec45e4be72befcec5242519",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEkZvLSQy9eo3O3poiKppJisO4KczsYcwuC5EtKJgdcSn3inq_35VHQIlmoztre38EUZQmYgH-EJgmbJ3gmRGyPaVEzwmIZeWWmOpsxAb5_Lrbu33ijl_HWF7WFBubOC5nOnpoYeY9_mpZ-tJk0knbLcCzD8PeDj_85rtYdpyW61qXKBjEp_a_vAhOz9oGU-Dq_BPqqKbZjc3Ufo-zAd1zTdpjpUD2z46FvV3KaJHvcq6abUGvw_WKmDnGuBNPYAV-9Fp4kMwxk16dcv86JCScMiYMQCUFfA4iakq6SVZcsWtMLKYAEnqtw2tOqs-2PrSBs_hDGtNB0m8ZVb3GY6rntFi7Pq-SseS88cupFVNphl4z3O6pW6msMP0Z25sjjrKQXAVZravs2qrajxmH50xboiQ5UowKo7mcHZ3hDLf-w3XVwdDUxlNEreZHumhXLg5Xl24E4XsvAJtyHnMHnXlSuYZDr_VuOaSMYKJQ9wasgPwrFhzmpb2kkghoVTsG6Fo0Yeg2dztJfWi67i8kco0-AAlGGaLQc6RABbovJrhe7AJIB-0fCws1FTqJsTBjOw-Z_24S0N9he7usGZl0v_-kNGz4PalvPIWIUXAnivZvrQHNXZgC7jPtxPbmjeIwT6wiOQ6bHV9NvtUC_EBmHf7eM5Syd3dYztr3ZOP3wti5ttcvNxEmiIEBkcJN9mDIJVdX0Eit4UFqefEF0qRMbzXuKURHmgCJlK8NQ6vl74SaZTIeOmCj0UR7hW1DMD8B8vHjO9hrA5q7syj4fUzw7Ghk8_HYdyj8qkuF3XGPNuUbmYBy9SS-yYmaMpx-AIeZpGw6tjEQHRLJNs3k7cqDUEYMBN3saxrSsJUge2zSAURISk8qRqkGsVsRvENzmmjfU4QvhNRbqNyyDhWq8zw8J-4yFL9roL9Rug2zwjzS8N03gkWDZKeFmfNYw8bZp-R7n0Y7Av5r27fIolspTQCMnBld3sYTH14I4iyI54AG4UM6CfUNjTLwC9T_wZJJ3-lBOhkoHtHWWj1nEOpk9AdOXS-kMdbDw9aOoK-oI0rEor3gg_hclwrbSX0mIPGy93VByvWrtN1l7foUZwrTRHPDzuu6jSEVH_HL5P90D60HtpqlMPyu_ljVSknEkk-EfzIUHI9lkezUslLUoYrEkdAqhvQYEvFhGKoomPD9cXypaE1dMOrdv5rDexWwrfvV9a66_U679fSM7vKHfYk5dtPGQMqoKZFg-OewoRPUVgJViQ9aZDkw0vk3QPFIpzD31ki_5tU87CFibub-z9RU_bSoRWM64w3PGUlxWIO2GF-bD1Mgu7l11buBQvD2fGlzb67LVWdBUS-v129YCO4pgl5NbgjiX1dw==",
  "id": "rs_0d465e8d9623297c016ab44917bb4087d085b34658acb249fd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.52,\"left_z\":0.17},\"note\":\"The gray plush is secured again at the basket’s front edge. I’m lifting it clear and carrying it roughly six centimeters farther forward, toward the visual center of the basket rather than its near lip.\"}",
  "call_id": "call_p8m0NbOC9tHdAP3Cx3KeD7fQ",
  "id": "fc_0d465e8d9623297c016ab449183c5087d0a132f673a10f13ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_p8m0NbOC9tHdAP3Cx3KeD7fQ",
  "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]: [-0.4675, 2.0644, 1.8137, -0.6506, -0.4183, -0.4122, 0.0144, -0.0147, 0.8146, 0.6067, -0.3866, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.5169 left_y=-0.1766 left_z=0.1605 left_yaw=0.1068 left_pitch=-0.2371 left_roll=0.0519 left_gripper=0.0144 right_x=0.2955 right_y=0.0014 right_z=0.1742 right_yaw=0.0003 right_pitch=-0.0328 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [0.0205, -11.3299, 8.5675, 1.3944, -0.0611, 0.4957, 1.0281, -0.0889, -1.4427, 7.241, 1.7314, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f830ce7eb2fd32d00643b751ccad7576615872684da808f692c0c52ebc3410f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a58f0869d28d0b0f8f70025f63474b424f80414948127b7dbf9ee3804f362df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ec049cef480c0f7e73b502ea24d7a19e9ff842d48e874b357fc5790a410b404",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 2.081 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5423, 1.9163, 1.2964, -0.271, -0.4419, -0.3981, 0.0145, -0.0147, 0.8101, 0.6075, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.459 left_y=-0.1842 left_z=0.0884 left_yaw=0.0413 left_pitch=-0.2189 left_roll=0.0722 left_gripper=0.0145 right_x=0.2956 right_y=0.0014 right_z=0.1761 right_yaw=0.0003 right_pitch=-0.0259 right_roll=-0.0003 right_gripper=0.9993\nstate[joint_eff]: [0.253, -10.7692, 9.4974, 1.4872, -0.1294, 0.1636, 1.0281, -0.3761, -1.0872, 6.9949, 1.7411, -0.0317, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.54, 1.9377, 1.3006, -0.2905, -0.4458, -0.4198, 0.0136, -0.0147, 0.8101, 0.6075, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.457 left_y=-0.1809 left_z=0.0774 left_yaw=0.0633 left_pitch=-0.2465 left_roll=0.0802 left_gripper=0.0136 right_x=0.2956 right_y=0.0014 right_z=0.1761 right_yaw=0.0003 right_pitch=-0.0259 right_roll=-0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -10.3863, 6.3795, 1.3846, -0.2271, 0.1099, 0.6227, -0.2256, -1.1692, 7.3504, 1.7363, -0.0513, -0.0757, -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 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4675, 2.0644, 1.8137, -0.6506, -0.4183, -0.4122, 0.0144, -0.0147, 0.8146, 0.6067, -0.3866, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.5169 left_y=-0.1766 left_z=0.1605 left_yaw=0.1068 left_pitch=-0.2371 left_roll=0.0519 left_gripper=0.0144 right_x=0.2955 right_y=0.0014 right_z=0.1742 right_yaw=0.0003 right_pitch=-0.0328 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [0.0205, -11.3299, 8.5675, 1.3944, -0.0611, 0.4957, 1.0281, -0.0889, -1.4427, 7.241, 1.7314, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f830ce7eb2fd32d00643b751ccad7576615872684da808f692c0c52ebc3410f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a58f0869d28d0b0f8f70025f63474b424f80414948127b7dbf9ee3804f362df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ec049cef480c0f7e73b502ea24d7a19e9ff842d48e874b357fc5790a410b404",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEkd0JtvXQsjAzeG15sHTTZn6klFDHYEcHiUCEWCnI7mKfDBLZfv-ldBNtz5RVwl0lgsk7EMxWNhK9Oc7hX0WKws9244NyXQBA0s8P2gvmOObpK-5Ij29V66BJnrlMf0YQkUObUiAZxamMoEEw7nKDptolbYAi3b2JZJuP53Hr5dXjU_M_YMBsCEIhWQ-ub35eOLa0OvVLDz9OUCpfsYp8xSRJ0NPD-v8L10hc29HDDmMPg-TZmMZUUS9b0XshTbWirdT5FmAAjpaWOXVhw5YiKL5emxiAB1fNzhW7kaN7IqeNn44sDCickkplCQVGSoXI8bmHifxJbR92YLUBlxaKsKpykgD0pbqbHITP3rKVU3QhiHf3mzgOhY9AptaJi7WxHSO1GLhEFc8blX7fSy6sK5hGJtBpt7okTsea9YvJ__txIkP9-W0tzP5vk7LU4sUB5sqhHxRoj-pURlLa2zMK70cIRbaHIMUPlTY2JC_YADv72NpXr-SJcKbpf-Pz2SlEi4AWzjaXXko1w5aIr5km6q6VS5TqgD41QgYWR8rxI6BOC8qHF6rb0EH0FdAyOLRWWDEgSRjwaejDrdBsKChJ-tkfgiXJ7-6BokcUTrdOCuyL9qvlJOzB0cnnWL0y56FYTZDVZKSu7Pm9TxZs2o-InQnvdo1IbitY6u_O1l5e0BWhx9wnAS8qsK90e2ZNv1V5ek9yGcvT68GfjOux5vclDoWx5NcCqygoMyNH_iRHIHO5_Q0oT9LqL_a8uEbNkpzO5wynK9icsa0_BoUMsA71MI2ZkStU0rkaWFPeRB5GLjPpWS3AfRWAD3aqBWD1z0GoksF9lDV8Z3LNMRJBQZtOVI-qF5fgulWsV4NToJKdK0adtDgGchAf-2J9bnHxjZdy0ePhtkY5FVPinnf2d0wqUXbhDZWLu9dn3JAspYBXoSRvHgsE5ZdhNnIB1haNAju5ciOtm8DumiHPArEgZZyByC-4-ajCs0wKp4vPRofpW7RjaUF8DBptHVm7jpC-EOTF5sNfyH6nDsGsngzL8r3W1XzxWZH5y5zXh9cs99tfH5cKRTsypbMG4oXuvS7bhzhg7kDzD50XbWhH60XfamGUWp_PIOUJYFSTRLMoT1hoSKFooaVz5yUXzSjEIkJBZ3bVInU53s7IHz9hKdnJSGY9VCAuG09gm0iMukQNcNGXJTLQ-p4UJi7C4LKMove9rFcVRCzkSavIveqanRZNZ7aJX5KpMdOgdXHJ5mUnG6tIX83Kc=",
  "id": "rs_0d465e8d9623297c016ab4491cb02087d0ba037f54b7cbb835",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.11},\"note\":\"The overhead and wrist views now place the gray plush clearly over the left basket floor, centered front-to-back. I’m lowering it inside the rim for a controlled release.\"}",
  "call_id": "call_9MsONUxUJFo9Xxdwm0T7c7in",
  "id": "fc_0d465e8d9623297c016ab4491ce1ec87d09169b8c512497ba3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9MsONUxUJFo9Xxdwm0T7c7in",
  "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]: [-0.4641, 2.088, 1.6585, -0.5411, -0.4114, -0.4053, 0.0144, -0.0143, 0.8165, 0.6067, -0.3855, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.5065 left_y=-0.1705 left_z=0.1027 left_yaw=0.1114 left_pitch=-0.2986 left_roll=0.091 left_gripper=0.0144 right_x=0.2958 right_y=0.0015 right_z=0.1739 right_yaw=0.0007 right_pitch=-0.0336 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.5949, -11.7538, 6.9538, 1.619, -0.2906, -0.0562, 1.0281, -0.0752, -1.5248, 7.1043, 1.707, -0.0513, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8be8a510f67f21cd7a516847953f108c0043844a55f62013f4e6fd0800714d53",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08104de787a6d95257708abebcfd7920b24dd396655e532114d87951a67acf11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aef4199931c3644008d7a3bc96ff1241f0dd4854802be808109fe5c485ea4300",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 7.797 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.54, 1.9373, 1.301, -0.2832, -0.4484, -0.4095, 0.9952, -0.0147, 0.8101, 0.6075, -0.3851, -0.012, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.4583 left_y=-0.1813 left_z=0.0789 left_yaw=0.0586 left_pitch=-0.2392 left_roll=0.0847 left_gripper=0.9952 right_x=0.2956 right_y=0.0014 right_z=0.1761 right_yaw=0.0001 right_pitch=-0.0259 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, -12.0274, 5.9692, 1.4774, -0.188, 0.0708, -0.1343, -0.3214, -1.347, 7.4188, 1.7118, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4675, 2.0644, 1.8137, -0.6506, -0.4183, -0.4122, 0.0144, -0.0147, 0.8146, 0.6067, -0.3866, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.5169 left_y=-0.1766 left_z=0.1605 left_yaw=0.1068 left_pitch=-0.2371 left_roll=0.0519 left_gripper=0.0144 right_x=0.2955 right_y=0.0014 right_z=0.1742 right_yaw=0.0003 right_pitch=-0.0328 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [0.0205, -11.3299, 8.5675, 1.3944, -0.0611, 0.4957, 1.0281, -0.0889, -1.4427, 7.241, 1.7314, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4641, 2.088, 1.6585, -0.5411, -0.4114, -0.4053, 0.0144, -0.0143, 0.8165, 0.6067, -0.3855, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.5065 left_y=-0.1705 left_z=0.1027 left_yaw=0.1114 left_pitch=-0.2986 left_roll=0.091 left_gripper=0.0144 right_x=0.2958 right_y=0.0015 right_z=0.1739 right_yaw=0.0007 right_pitch=-0.0336 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.5949, -11.7538, 6.9538, 1.619, -0.2906, -0.0562, 1.0281, -0.0752, -1.5248, 7.1043, 1.707, -0.0513, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8be8a510f67f21cd7a516847953f108c0043844a55f62013f4e6fd0800714d53",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08104de787a6d95257708abebcfd7920b24dd396655e532114d87951a67acf11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aef4199931c3644008d7a3bc96ff1241f0dd4854802be808109fe5c485ea4300",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEkg_nYVjXYempkeIvcelekRN0urFRPwu4IJIcLK6Tj5iYXISAPuZnjAf0KVdzgOBy1Q_9Bp6pJ_AT8JISLO8hFj_hgOxHMyFRrK4SvkinlIx2twdh2jTxQxUIlKuWZeW1w5IlwDfvc1Q4IRzw8_h31wMjioUHjpUG8zYuGWgmgNVV1KQgz1CyXEYlr-fLtomHOFBaNIf1ZEA9dy-NTpNakVQpqaUnRC-CwdjKK1SVhZPEn11UOwGkby83i14zRhfbD4Kh2J_CAk-vi30FqMvB_AaO55mRMjKAqvDZNdwZkqZ-4MnZATWdpgFZNX07jGptl3HTAVUP9OwXCGZfLQhGGGhifMTsG2ArPJcTgD8awNcExpLLSOXt--DyogXcWpsk94HvpPXivl7tOzCrpF-8GfV8WJcbjd8PSPjrD7orccouPKwtl-zRZnvdkJbHmbrZ78G0l5fTstcnzLjlK1_0vYNG8H7zV3GuKWpyeQ4rqQ_ikF-bg_ifclN2AK-WiJoFCVp1isiqTJjXNvj1Ft1m4W7AL3q3P33iI8xbDk6ap_0ZiHDX-SLYUsmafLBat-4Q-mROTBsMx21ciP4g-iyrLs7MXs_LKtYwGusZbsu4LWXJktVcZtmyEctBO6D7zPU8ZH886NsddCh-1Q6pR6q53G6K9X4HFi2iTTjRyC-bm4X66osJpISnc04YaT-6041bpoBiHEneE-nu4uiUYVy9WT1o1h0xfe9lVWnSXctRcZWr5jkMMrwNZxchJ8IN1XuRtINvSX0EI68jQE4R9A0LQ9_CIqZpCHYsWf4tew4RWS6wXXwiSkEBbUXX1qmXapsyaitDY0eErLgRfe8NC21zVAHkCfLyZb4gcYxdGMfbvOV833x7P0Gjesh-mALBS5_GPGgt0ZHB8N054G5zciPJ9F1Jqd0XA2TtJ3n_keLrVSbWwgmW44Fb59V9nshlMn4CycRtcvYCJ8iEmicqKFvatMapEbXuAcB_4KAggC2VKiWban_IqugvY-a9pL2v6FAhUPFsIoP4d8K89ph1OIDhVW8xAzRrXlBQxauKyQkVvyEQ47bYcQMLkAANgPHLgtbLxM4IJMIOvx3v4lSBWvjWqE6v-G_HUZtyD4iHBr2DrcTkgxiSCFskeC1uXded8ogYI4uAAtbkmyaooZjgfQsmFfobeOXls_oYBeHUM_4Hzs5QM=",
  "id": "rs_0d465e8d9623297c016ab4491f7bec87d0b9b46f343562e391",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The gray object is now held low over the basket floor with all basket walls surrounding the drop point. I’m releasing it into the left basket.\"}",
  "call_id": "call_lwsh6SUEZ4KHoB54dry3NCIU",
  "id": "fc_0d465e8d9623297c016ab4491f801487d0864d0c4c262a3da7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lwsh6SUEZ4KHoB54dry3NCIU",
  "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]: [-0.4641, 2.0899, 1.6436, -0.5274, -0.4122, -0.416, 0.9952, -0.0147, 0.8165, 0.6067, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.5057 left_y=-0.17 left_z=0.0979 left_yaw=0.1185 left_pitch=-0.3003 left_roll=0.0861 left_gripper=0.9952 right_x=0.2959 right_y=0.0014 right_z=0.174 right_yaw=0.0003 right_pitch=-0.0332 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.1162, -12.0137, 7.7607, 1.1697, -0.1978, 0.1245, 0.022, -0.3077, -1.388, 7.0496, 1.7216, -0.0171, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6867f68ee5cdccc9d13f7ca192fbe962709964b7c3f87140e8d09789a5dfa7f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59dbce02c859f4de01b5a590826cf7dda4d07b6e39baa58342022ad2ca3cc105",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae9a264569f12bc99e0771acbbea0e706de78ed46c87be4a69c876dcaf4eca35",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 5.731 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.54, 1.9377, 1.3006, -0.2905, -0.4458, -0.4198, 0.0136, -0.0147, 0.8101, 0.6075, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.457 left_y=-0.1809 left_z=0.0774 left_yaw=0.0633 left_pitch=-0.2465 left_roll=0.0802 left_gripper=0.0136 right_x=0.2956 right_y=0.0014 right_z=0.1761 right_yaw=0.0003 right_pitch=-0.0259 right_roll=-0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -10.3863, 6.3795, 1.3846, -0.2271, 0.1099, 0.6227, -0.2256, -1.1692, 7.3504, 1.7363, -0.0513, -0.0757, -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 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4641, 2.088, 1.6585, -0.5411, -0.4114, -0.4053, 0.0144, -0.0143, 0.8165, 0.6067, -0.3855, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.5065 left_y=-0.1705 left_z=0.1027 left_yaw=0.1114 left_pitch=-0.2986 left_roll=0.091 left_gripper=0.0144 right_x=0.2958 right_y=0.0015 right_z=0.1739 right_yaw=0.0007 right_pitch=-0.0336 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.5949, -11.7538, 6.9538, 1.619, -0.2906, -0.0562, 1.0281, -0.0752, -1.5248, 7.1043, 1.707, -0.0513, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4641, 2.0899, 1.6436, -0.5274, -0.4122, -0.416, 0.9952, -0.0147, 0.8165, 0.6067, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.5057 left_y=-0.17 left_z=0.0979 left_yaw=0.1185 left_pitch=-0.3003 left_roll=0.0861 left_gripper=0.9952 right_x=0.2959 right_y=0.0014 right_z=0.174 right_yaw=0.0003 right_pitch=-0.0332 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.1162, -12.0137, 7.7607, 1.1697, -0.1978, 0.1245, 0.022, -0.3077, -1.388, 7.0496, 1.7216, -0.0171, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6867f68ee5cdccc9d13f7ca192fbe962709964b7c3f87140e8d09789a5dfa7f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59dbce02c859f4de01b5a590826cf7dda4d07b6e39baa58342022ad2ca3cc105",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae9a264569f12bc99e0771acbbea0e706de78ed46c87be4a69c876dcaf4eca35",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0d465e8d9623297c016ab44922aef087d0ad3e101e65478221",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.2},\"note\":\"The release is complete, but the working arm occludes the basket in the overhead view and the wrist camera cannot see directly beneath its fingertips. I’m retracting the left arm to its outer home area so I can verify whether the gray plush stayed in the basket.\"}",
  "call_id": "call_A6g7BdHUJ26SUrxVDE9kVk1X",
  "id": "fc_0d465e8d9623297c016ab4492838b487d08d5440f1eabdffe5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_A6g7BdHUJ26SUrxVDE9kVk1X",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1558, 1.111, 1.0225, -0.7658, -0.2462, -0.1883, 0.9965, -0.0147, 0.8211, 0.6067, -0.3912, -0.012, -0.0166, 0.9993]\nstate[eef_state]: left_x=0.3143 left_y=-0.0022 left_z=0.2048 left_yaw=0.1496 left_pitch=-0.2594 left_roll=0.0669 left_gripper=0.9965 right_x=0.2953 right_y=0.0014 right_z=0.1714 right_yaw=0.0005 right_pitch=-0.0439 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [0.1846, -3.3846, 6.2427, 1.4335, -0.0659, 0.1978, 0.1294, -0.2393, -1.4154, 7.241, 1.8535, -0.0171, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1110cee2bbb69b11cf087e9df320cc9f0714520d57275cd1bd774dd964bdfffc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c01385599d0a55db0dac5d897b3a22a94ee59556b6771119c21b5fda068dd320",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b52707d1a340fb4fc4480b06d952f4b8211b6a359873c754f5c321d3557854f2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 2.673 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4675, 2.0644, 1.8137, -0.6506, -0.4183, -0.4122, 0.0144, -0.0147, 0.8146, 0.6067, -0.3866, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.5169 left_y=-0.1766 left_z=0.1605 left_yaw=0.1068 left_pitch=-0.2371 left_roll=0.0519 left_gripper=0.0144 right_x=0.2955 right_y=0.0014 right_z=0.1742 right_yaw=0.0003 right_pitch=-0.0328 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [0.0205, -11.3299, 8.5675, 1.3944, -0.0611, 0.4957, 1.0281, -0.0889, -1.4427, 7.241, 1.7314, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4641, 2.0899, 1.6436, -0.5274, -0.4122, -0.416, 0.9952, -0.0147, 0.8165, 0.6067, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.5057 left_y=-0.17 left_z=0.0979 left_yaw=0.1185 left_pitch=-0.3003 left_roll=0.0861 left_gripper=0.9952 right_x=0.2959 right_y=0.0014 right_z=0.174 right_yaw=0.0003 right_pitch=-0.0332 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.1162, -12.0137, 7.7607, 1.1697, -0.1978, 0.1245, 0.022, -0.3077, -1.388, 7.0496, 1.7216, -0.0171, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1558, 1.111, 1.0225, -0.7658, -0.2462, -0.1883, 0.9965, -0.0147, 0.8211, 0.6067, -0.3912, -0.012, -0.0166, 0.9993]\nstate[eef_state]: left_x=0.3143 left_y=-0.0022 left_z=0.2048 left_yaw=0.1496 left_pitch=-0.2594 left_roll=0.0669 left_gripper=0.9965 right_x=0.2953 right_y=0.0014 right_z=0.1714 right_yaw=0.0005 right_pitch=-0.0439 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [0.1846, -3.3846, 6.2427, 1.4335, -0.0659, 0.1978, 0.1294, -0.2393, -1.4154, 7.241, 1.8535, -0.0171, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1110cee2bbb69b11cf087e9df320cc9f0714520d57275cd1bd774dd964bdfffc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c01385599d0a55db0dac5d897b3a22a94ee59556b6771119c21b5fda068dd320",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b52707d1a340fb4fc4480b06d952f4b8211b6a359873c754f5c321d3557854f2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEkwfE39P5sidY0jm1b96C_g0LVhalQhKK7d2YRytrzQUMngfLV3nb_hKn7zy4N6NDUb3_DeXjm8vrZ6wsQSVnd454-cYAgHJbumGs6OgOteUwmjCpnUIlPmYH6N2W6L50Oxo9ZTumKS3s5fa-o7EwbHu6AkdnF_q3Tf_iJehk8wsDKQbzCAUcMuL_stx6AumIPrZKQVZth2_0WpYD4p8erccuTix1BU1sI0LtlMsHXCMgmuPI7hvZBOB5FQ983C9d38UzTb_7p-gcE-XgkszRba1jjVc1b8mtxeP7NP2FDMiix5JGPx5XEJxQ3A329HyaXcs3EJ6kdesqrsoBvnT7ayX0fv-kuLvPgJJR8uS4rAXTxIKTsquYI9I3OD9fuy0FvkldfpL2JPK3XXGPbyzJBg9UHBMB-d6VmKkWwLuz1SzwXPlnYX_03limjKydtWyB7ccSCsp2qCv3392KNeIG6eCJ94AJ75D8RR85vqCFxFjaQKkIhhlpXZi_ISsFzjRaAUuN3shD3dgICus4U04OhK5fxUQ_DMskzfl5F7FLjuYLtcR9f2DKFL17wZoyqtcaOapGdBtGSkXAPFX56QUSr74qLnHJBqWvlun0DsbFjAVgn15pXLCs9a7sV3S_b0evgNEiDxuFSa6x0MOERVUMYUqfBINtx7kQZkmnwRzf4vWdwhqduPjAjAXFWs4ke6ZmR9SOgjCOki7LmZAQ_1fdp8BboMm9CZbJKoqJL5TqClTqokN1QVYu9uDbLOP3avrL10KWXyElIYdjMIM4tSoDH5mQ4buZOREi76YmC6OLjiy5PtGqivQjPn4TVIH9aFt68M8ps7pm0G4GZMX7V27Y0IoBYOh6FYIaP9bfPYVXMlu9NNkrkVfo-5GVMylQIvNTq1fFyEQSM8ok_6jxVODWHtXV974UPjqBoNUMj4SoXE-3mcwzD8aj04Koc8UhIemWb7vIjhwgzE2Fn-l0d92LY-FIiWPTYh5cEKwvUmkit4vgmlpoQ-l6G4kDeDCTSPVvMP1DnWWv_cI-tQmkQw6tHwzAgfaGbHQIsdGQMt9VopTSvVRNQmXNjn8NOAw8_n-yeLlQ3X1AyYLRxzTmiLARlkmmj1H7mzaVMQqAVHueE1zmzsky5gMZPGRZfeoywSScRyZ43n8__l5sv_nfPmKtq_0zqD-wr2CY90FhQa9ixmmvdhHt4qldigdlEkBDDuVDkf2bweYmixf6E_aIqv_T-5qBYWp5TE7w0U3qbRVHJqe7UUDcElgiVBd4AyckaCxqX0AummIKBIvVH7hqYnJg38RuRGN9c5hrti-kUxNIi5VNLJfkKrGkmz-dLODfZSWb4Oy3LY2On5ZnIB6L5Qq9VHurrgZ2M6QWvJyV1CGawaooSOyGq3wQGsAD8Nqompq_6J5vvlq4CjCldlOPwipGLjPLfGBG84BUsJ3gCXa0-3bRP3wJm778vJNCXws2CB8ARPzAxcPBln5-rRRKZ1Gk2pdl_5aq44mtGd6S3g8fmj2ciNwK8xJCeFl1T-xkzEhvvPgTO8JRQ40MzqrTZAeJaDk8h2fJZ2ekmG4_pZQ5S5cBNbon1Qs04cB-eFvXbtsufJG9SwU0sx5PRw52lKmoE-5F4q2shGHgzsalTDp5z1UWEkH_qPRAVJWW4Agqga8wcWABDEnVfbJED0VfpInZgRvMbNsUxdu-HjwgqmOcCslTABUmJm6PZe74k5KksBLwE6C3XHXvo-uhbbX_qjCbHrh_gKPovAIi93Hkb4SKJESACYKfHIhIcvsREgheWPgNNwnow0iMx2d0u0AZpCitq_XVxQLiKP34uKV6Q3YWALSvgHgRJ0opI6VFYdYCltR_ID8bELpEuNrCpBjCjJXbIgM6QtxjHg8IR50ErzM0qPTSfzJ4gLB2ykrt8Hh6051DADO0oMdEnTM2XGX6JqbBHfn2L6535mAKaTkWS4CLkayhlh0h4XZfJfE2a55dM6e9azAA7l0WWcmZEAqFNNxmo_FQrTjLERQalc7-lkPMpqhQjpOy-Qrv6xhOAtFQD02gCpVyoVWDVL3RnP2xSzBNdl87Qh89WNV2VQviEs9Z3o6B_P2le-Po9gsVRaJI-3JX7Ffg8qdUTJvLaK0OWNUDpApgq6-_fGJWSzib__pBghvwCv_2uAr5B0NMYm-jQvCHUE4PlckV4wyAa316E2Uq6wwbOsPWBhpIZR8DoeSkD038Ph8alMf_V9KZ4zfLP1EwAf17BCd1Os-uP0N2JUCjutE8Y1cKziNU8-yRQeEf68X3cE17hLc10UzsxeRDg8pVbs_s8EhTtHebHg7ZULCCpq8wmToBw7YQe3n9vD6TVfheR8yJDPK4uLAx-oTYMtU39YXilaXSw94qQtl2b9g5y0Jw0Kca9t0dhjaz_tjaUYDNKX4h4fIshsJ07nN28kR31frwofnjmmkgfOSf9-76HFLX1_fLRJhwzNNtxW_gj2lr9n08ZdNYn0n9msgnPbczjSBgr_Bypu4QFzcR30Oc33oaZWAXxIaSKram2yzU3pEY0DT11SEu9GV3QfwJQvFiBbi5cpUCaHS9-3w66y2jP2-i5I1uA9XC4DeIWrKyDc_hYpin65QtTje0LDtghiEdUacRYvtGf2ky7J4GO_UkDoAp5VUZm2xlocITB1JQl9wRTLMeptfDLM0DKM5elw3d_YYgRqaxNbWHPa_3AGx6LVJwWbD10qdinY17Zd4YKov6hYxrXn_h7XAtgxtig_Xp5kEchajgrb5-YaVnNZTrldIJZ-mcebsYRXnHeCcLvzBIrjwnQsKQ2BC6VqSQ57yNAneLMPItg4GZq40QpUSgJgFlhUnaBkdmKhTn03ZuuyTjSqmRgSb3t1LqDH8IyEZfvt",
  "id": "rs_0d465e8d9623297c016ab4492b7ae087d09f8c3f3b3f383302",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.28,\"left_z\":0.18},\"note\":\"With the arm retracted, the left basket is empty and the gray plush remains among the gray cluster just below it. I’m moving the open left gripper above the top gray object; the revised basket center is farther forward and inward than the earlier drop point.\"}",
  "call_id": "call_GWiMjvZUOC5si9GF0JnF65r2",
  "id": "fc_0d465e8d9623297c016ab4492ef89087d0a13e92166f46268f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GWiMjvZUOC5si9GF0JnF65r2",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8818, 1.9312, 1.7203, -0.9794, -0.622, -0.8806, 0.9966, -0.0143, 0.8249, 0.6067, -0.3927, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3648 left_y=-0.2754 left_z=0.1682 left_yaw=0.1483 left_pitch=-0.2943 left_roll=0.0674 left_gripper=0.9966 right_x=0.2953 right_y=0.0015 right_z=0.1701 right_yaw=0.0007 right_pitch=-0.0492 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -10.1812, 8.8274, 0.735, -0.4615, 0.2076, 0.0024, -0.0615, -1.7162, 7.0085, 1.7314, -0.0171, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2fa3b8c134a7a88acb99c26f16a4d29edf7d5f624a8fa1518a58ac6f5f36de4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a345dc04ce1e37dd1836db98c3c86354eb8cf74764fada3bd7356047303eb9c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d1a098c10dd9f261820ceed35cd79168ecc608fc75fed2bb22390c097cd6d7b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 2.717 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4641, 2.088, 1.6585, -0.5411, -0.4114, -0.4053, 0.0144, -0.0143, 0.8165, 0.6067, -0.3855, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.5065 left_y=-0.1705 left_z=0.1027 left_yaw=0.1114 left_pitch=-0.2986 left_roll=0.091 left_gripper=0.0144 right_x=0.2958 right_y=0.0015 right_z=0.1739 right_yaw=0.0007 right_pitch=-0.0336 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.5949, -11.7538, 6.9538, 1.619, -0.2906, -0.0562, 1.0281, -0.0752, -1.5248, 7.1043, 1.707, -0.0513, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1558, 1.111, 1.0225, -0.7658, -0.2462, -0.1883, 0.9965, -0.0147, 0.8211, 0.6067, -0.3912, -0.012, -0.0166, 0.9993]\nstate[eef_state]: left_x=0.3143 left_y=-0.0022 left_z=0.2048 left_yaw=0.1496 left_pitch=-0.2594 left_roll=0.0669 left_gripper=0.9965 right_x=0.2953 right_y=0.0014 right_z=0.1714 right_yaw=0.0005 right_pitch=-0.0439 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [0.1846, -3.3846, 6.2427, 1.4335, -0.0659, 0.1978, 0.1294, -0.2393, -1.4154, 7.241, 1.8535, -0.0171, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8818, 1.9312, 1.7203, -0.9794, -0.622, -0.8806, 0.9966, -0.0143, 0.8249, 0.6067, -0.3927, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3648 left_y=-0.2754 left_z=0.1682 left_yaw=0.1483 left_pitch=-0.2943 left_roll=0.0674 left_gripper=0.9966 right_x=0.2953 right_y=0.0015 right_z=0.1701 right_yaw=0.0007 right_pitch=-0.0492 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -10.1812, 8.8274, 0.735, -0.4615, 0.2076, 0.0024, -0.0615, -1.7162, 7.0085, 1.7314, -0.0171, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2fa3b8c134a7a88acb99c26f16a4d29edf7d5f624a8fa1518a58ac6f5f36de4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a345dc04ce1e37dd1836db98c3c86354eb8cf74764fada3bd7356047303eb9c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d1a098c10dd9f261820ceed35cd79168ecc608fc75fed2bb22390c097cd6d7b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEk1FUyTsl8qY5NY1yHJNOMyEBf3OjSxPqn6Ir7hWt-SJBbwAhuqGBV57gje9dV0__JWDzk8p5afXackp-ZpYLPF-f0bVTjWSHJFUMsXvM2zootGSgg5plKabVKCsPQEx6-1HCChAXHp6pGX8yv1akJgqWNt2TodvBc_mBGDomA468GO0ugS4UxQ5jKtPkWki80VetglwQmW3W6-nJdJuFy935MWUfogUJD8iVYvesNmyS1uBoLwvHg14GS4DhOF-iBjE_Sw4gpyWCqqGpDOJdAY3JIa7irN2wVg02xINWBtJN5_WR3lHfUzq-r0bw9h_B1MQVIVBYblh1ElX-52h_0Lg3KxW-T_xtYT6HTJCCRT2fU1bymWabagPIe_ld43KnpLEkS8LmMfvrDyhonO31yKHlc58YqDDUz-ql0mcnrl-dgZheo4fAVKO6TJ-WKiE5RsMSjchZ4g-fi_VmJ1a6Ayr5-wmdSEWzcg-EXj1r5gmWowfdF7lobDaH8Cms1GMmZ33YZOV3jiqG08SMD_Ea19qiMpMCkDIJdHwGsqzw1-LRgMIDPcZBH2yp_l7s7UpR-I0YlxcbKYF7ru-aIw6Sl27QjXZTh6q5Yjt1jucGmlDA0xf0fZlgTySD9rYEFLzgmrokSmOR-XZSwb-9DWgjP0ASJwytiaoGfg8jKFCCHr17vjlsP0ugG4cvY3CDzdiP3endc39Ppqml4oT_hhgfBauE9VxVzBwhMts8VbChbX3HzB_W8Xz75jHVPvSLzizGCAgNINGbfOlmPkodhmYZh_A0U_hKcOPHb30BDlpXqn2caBZR9O-Yerr41Gcem5w9SEZFsdvUUrz58djV51XC2n37UUvlkNDeo3g4Dz6O2nHjAk7umfHi-5N5OPD-ZrJAmj1TXkkcZVbFuZGdf4TNxg6Vu8qdBgJvwgYIASy7I0UvlZ7xf33xmXlIfmXWFSIyTtOVvzdtergYgeh9-msF7Uh9OR2_r--BWFBS4yJgJDOu8vNdNcTKEUkDoNofhpTShh6QTVT70ZJHI6urZ2CvhR5XF4wXA50qqQoq25P-xmES2vUWlcYetEGlLmQod3aIwY5TUTLpu5N6dq6aBQgA4tU2PwBfBFWrRxd5muqORm57bjSX3q5PcZruRrC8zljcTzp4z4hZWOtaFWDor3r38CNqlEuaLb8d2AqME0Z85Njn1F0aL7mqMbYFEgNVM3f0mX2Y-HmCuvoSBHCS71VuBmcob5pIdVdrr6hECa94tSUQwa_EZiktDsMSzfvExtPkZV0LSLpFOamrlK77P5njuhpVKbldRXlEK2EAvoRjogz5Z7VTRucJftYBUgiBnisEOeikhq_vqesiw3OltgyS2rfF7GT_lhcAxcV_HcqT5iDfoPtX4zgkW_o0ZxAEFpFLSDCmG3yAZLzXsuWb0tUQI0Ary6yPdC_mNFhlp0tKA1J3k=",
  "id": "rs_0d465e8d9623297c016ab44933c07087d0b3d1bf312e35ea1a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.07},\"note\":\"The left wrist view is centered over a gray plush torso, with the jaws straddling it and no brown object in the closing path. I’m descending to grasp the gray plush around its body.\"}",
  "call_id": "call_AE9sAO9O1AEnllXctlpET6eq",
  "id": "fc_0d465e8d9623297c016ab44934673087d0a8498d8f598f8f81",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AE9sAO9O1AEnllXctlpET6eq",
  "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]: [-0.8852, 1.9732, 1.4227, -0.667, -0.6216, -0.8879, 0.9966, -0.0147, 0.8249, 0.6067, -0.3923, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3594 left_y=-0.2712 left_z=0.0776 left_yaw=0.1559 left_pitch=-0.3081 left_roll=0.0867 left_gripper=0.9966 right_x=0.2954 right_y=0.0014 right_z=0.1702 right_yaw=0.0003 right_pitch=-0.0488 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [0.3761, -9.2513, 6.1607, 0.9304, -0.3492, 0.0415, -0.0122, -0.1846, -1.4427, 7.0359, 1.7363, -0.0122, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a2a44047bc311717177bfdbc8278aa4e4f01eff006c812b2c3cf3deccf126ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2d7ae987f5c0a8afa6937d6a354e77f93a3c9bc774c96328690e787ac7934cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5965ec99b044bfef8d522ab3937a6ceb5fea019a33a272b9ee820614952538e2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 3.041 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4641, 2.0899, 1.6436, -0.5274, -0.4122, -0.416, 0.9952, -0.0147, 0.8165, 0.6067, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.5057 left_y=-0.17 left_z=0.0979 left_yaw=0.1185 left_pitch=-0.3003 left_roll=0.0861 left_gripper=0.9952 right_x=0.2959 right_y=0.0014 right_z=0.174 right_yaw=0.0003 right_pitch=-0.0332 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.1162, -12.0137, 7.7607, 1.1697, -0.1978, 0.1245, 0.022, -0.3077, -1.388, 7.0496, 1.7216, -0.0171, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8818, 1.9312, 1.7203, -0.9794, -0.622, -0.8806, 0.9966, -0.0143, 0.8249, 0.6067, -0.3927, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3648 left_y=-0.2754 left_z=0.1682 left_yaw=0.1483 left_pitch=-0.2943 left_roll=0.0674 left_gripper=0.9966 right_x=0.2953 right_y=0.0015 right_z=0.1701 right_yaw=0.0007 right_pitch=-0.0492 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -10.1812, 8.8274, 0.735, -0.4615, 0.2076, 0.0024, -0.0615, -1.7162, 7.0085, 1.7314, -0.0171, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8852, 1.9732, 1.4227, -0.667, -0.6216, -0.8879, 0.9966, -0.0147, 0.8249, 0.6067, -0.3923, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3594 left_y=-0.2712 left_z=0.0776 left_yaw=0.1559 left_pitch=-0.3081 left_roll=0.0867 left_gripper=0.9966 right_x=0.2954 right_y=0.0014 right_z=0.1702 right_yaw=0.0003 right_pitch=-0.0488 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [0.3761, -9.2513, 6.1607, 0.9304, -0.3492, 0.0415, -0.0122, -0.1846, -1.4427, 7.0359, 1.7363, -0.0122, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a2a44047bc311717177bfdbc8278aa4e4f01eff006c812b2c3cf3deccf126ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2d7ae987f5c0a8afa6937d6a354e77f93a3c9bc774c96328690e787ac7934cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5965ec99b044bfef8d522ab3937a6ceb5fea019a33a272b9ee820614952538e2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEk4SZ7_DYHs-rWhdgcznd8RRz2RQ6RJ1tEABMto7HnmMviJsh-8j7NoOLCm-2E0_f4N628XGLURA67FstyS7yDL31-gvhIhq8683PwJ1Zo_vp2eZmgi6_cEUmSKB4VZj1TgsBAA2d4AfuA5vJOH0N6o-Q3yTGER2tEOrIpA6WFjwR4jtZC4mNqNTfKd7WgbxPAQ_tmzvfoKdHMw6cbCC3iuvhXIS1WATSxaKxQIWF0KEkQ851t2bsRTC5Uh_tH2ey6BzflDWBgE7Uf1AkZWbXR9Zy92aK7G-SFTR0f6D_CL4rW8QFLuacXaz8K0XKKvv234TqGVGgXgDlo1cTmSAFnrL-FN3Pe7UAdZ7V3hzX7T1AT5iM1kI_ctB9Szcv0rhTHJ8YC9XMT1LwWlkKKmH2wVjQ4sstJF2H2RtQci1_dSHujSwnan40u0TwCepwsk9eYRMLWs6822EBYXycUqkxw2pAi_4VphtA06QYo2MavQu007JEn21WA2N-ojLHFFkhQqdmgewDpFiCLCUWSbuBdXtI_LR3CDW0wHxRPuRYfAATRJiM0L6M5AMk-D3lftwIwCDBVSKlCuLUs6q80zxHFApVPVMqRy3h4evfi_JKBc6zFN8J5123sJdnYhLWkRvdl4N3cfciDeHGh-Ke-sP4_IaBAONB9AWe2QAKz4bvV7TGdT98GRy1EVLAmsbg5sx6Z1TZ4aXbqqwqgf76ozlYhS1tphGPLHKSa-ZOzuKzNWm9qjxSO9wwmIy6eziiDWEglCw27Zrr0hDxdFiVwVnoA-kdPBK95yF_YDur7Rk4hdDcencBH5lEyP_7skvBfoHpk9krCb0iXfxFHs1qDuspDYGWI_DHcKGqL1qpWEY5Vukl_pSkwJotOpJGLKFzwj1bvsuwUhFZM-Vm4Y0muVa9UbCvXfS1VAX1QbX4DlM-hZSMrfuCpidSajr9unGt2FNnx6wcj0xNumPjcap41DOxfzaVFeRL702IZ77ADD_B4sh50831kfW6El7R4rxLxm0Wcvc4O71B0Z3TDhQFcYa4UhiuOSgSlIlmnbkwKNYplK5CLA3c0TyG8j9Xr_wJuWSWEFWf9Lnekzx8ViQ5FB2wCChRVqCoqj52dOumkqFYxNNYZhWVyfHUCJqI7NVhub3sZFsHFAygkSD-ia_odyt-nyFHWkc8JAs2jAxaeWXpJMyEw=",
  "id": "rs_0d465e8d9623297c016ab44937ca4c87d0921e0910ec7d4e08",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"At the lowered pose the gray plush body lies squarely between the fingers, above the brown plush below it. I’m closing the left gripper to secure only the gray type.\"}",
  "call_id": "call_DK9WzJ8itwyhllwSDGB0Y6Z7",
  "id": "fc_0d465e8d9623297c016ab44937d4d887d0bdc63fdf015a102e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DK9WzJ8itwyhllwSDGB0Y6Z7",
  "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]: [-0.8852, 1.9945, 1.4082, -0.6613, -0.6212, -0.8909, 0.128, -0.0147, 0.8249, 0.6067, -0.3927, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3569 left_y=-0.2683 left_z=0.0646 left_yaw=0.166 left_pitch=-0.3233 left_roll=0.1119 left_gripper=0.128 right_x=0.2953 right_y=0.0014 right_z=0.1701 right_yaw=0.0003 right_pitch=-0.0492 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -12.0957, 7.1179, 0.7302, -0.398, -0.022, 0.8181, -0.1846, -1.4154, 7.2547, 1.7265, -0.0415, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaa85e488d9cb652b0611f73c0a83d268f86d182dd2e0c868a95df156a18b84f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e753f3af5fe97ce7f18727f6cfa905e45aa058c24331f12e89a243fad8016509",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19f54915294f43383f1593f10e8f1141115afef034336ae29bf8de24e9a7a04f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 4.736 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1558, 1.111, 1.0225, -0.7658, -0.2462, -0.1883, 0.9965, -0.0147, 0.8211, 0.6067, -0.3912, -0.012, -0.0166, 0.9993]\nstate[eef_state]: left_x=0.3143 left_y=-0.0022 left_z=0.2048 left_yaw=0.1496 left_pitch=-0.2594 left_roll=0.0669 left_gripper=0.9965 right_x=0.2953 right_y=0.0014 right_z=0.1714 right_yaw=0.0005 right_pitch=-0.0439 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [0.1846, -3.3846, 6.2427, 1.4335, -0.0659, 0.1978, 0.1294, -0.2393, -1.4154, 7.241, 1.8535, -0.0171, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8852, 1.9732, 1.4227, -0.667, -0.6216, -0.8879, 0.9966, -0.0147, 0.8249, 0.6067, -0.3923, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3594 left_y=-0.2712 left_z=0.0776 left_yaw=0.1559 left_pitch=-0.3081 left_roll=0.0867 left_gripper=0.9966 right_x=0.2954 right_y=0.0014 right_z=0.1702 right_yaw=0.0003 right_pitch=-0.0488 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [0.3761, -9.2513, 6.1607, 0.9304, -0.3492, 0.0415, -0.0122, -0.1846, -1.4427, 7.0359, 1.7363, -0.0122, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8852, 1.9945, 1.4082, -0.6613, -0.6212, -0.8909, 0.128, -0.0147, 0.8249, 0.6067, -0.3927, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3569 left_y=-0.2683 left_z=0.0646 left_yaw=0.166 left_pitch=-0.3233 left_roll=0.1119 left_gripper=0.128 right_x=0.2953 right_y=0.0014 right_z=0.1701 right_yaw=0.0003 right_pitch=-0.0492 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -12.0957, 7.1179, 0.7302, -0.398, -0.022, 0.8181, -0.1846, -1.4154, 7.2547, 1.7265, -0.0415, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaa85e488d9cb652b0611f73c0a83d268f86d182dd2e0c868a95df156a18b84f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e753f3af5fe97ce7f18727f6cfa905e45aa058c24331f12e89a243fad8016509",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19f54915294f43383f1593f10e8f1141115afef034336ae29bf8de24e9a7a04f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEk8e9QP5tlWBe5-wV_MJOlZJ0rqx4YyU2GX_vOCAPDmYgT0zwtC_PhNOjkDXq6I6JLGlTbOIAVSc4VOI21K-Ygrd_AL_deaELK05KWVYNSY7PJ9oB6rUU4HeRSxYTpztuAfaKAbx1RTPE2ZabjjdwgqFLRFlivye3uXT_azu34T6MBSWREtS-A3QwLdZ1y2tLuTwkDn0Lg-I5grNkMfnaSwbO6SDNxvBSuAGBUWha5AHOK04BumXqFHs56RUuRUOZqJUZYl1Ngx5K9FmOb3QiNuzP7ezEeZWzZkw4LUcYHebE9NJheOZH0WRGB8E-i--UWdnxcXxj-UO1efFyhYL3JFtC_97DHcKfc1RbD2nm4IggDqX4CSM01cNeWly-iSxvh0ELHod5OgRUeININhNuJ45Dx8GlXksghESPu2bywBGt8hqg9S5NMn8E-gqBy8cVJzdBiIXFUSPWVPH5UzpWkq7EcdTY0wRNa1Bo9U9YGBsgvawIJikhkpHJOu8zJnBS8ElUbSFRLxnvf_R4wB15OJBHVEDuOiFk9Fj6sZU0WAqALROqCvTnOww19p-LLxh8BaVYyOZKtBpYTNbhf69Ebq29uLhiCoNE5I2ouj4FUwFEFbu4oGTk7v9ZEKH0aURYoDZ3sTjUVaQRzEeD8BkbmmLgNa9y3jO19wzTZM0_uudIosBFatgXUdcPENdrM0oNM0RkaEKzpLfh4WoYCibOnZvfQ3xjC2h6nzpKd12tkbCD4Kp8NMqvZ1QC0_Aq15dPNDQuAs5raDISgXJ_wiDt3ULqz9Y8w7Oiw6nel83k9DXdIuPSc_RnKZkq2zHU-q1-cvlZ7CE2lyXYbW25KmH0zuogGvAMHxJdhvi2BJAECPm0stJLSWz0ebj5XljQnxr9IbQPVU5WFmJcL_zUsj8laf0DXWFmaQ4wPfxtdX3Tfd_3pN3goay99ZpZu7XW25sVMDV1OvX39UkXf-HVfij3eNAvmUEVUEJfgUEwUE6raivo1xwaDUn9UvoqxKSW0xCZHuy-f5EpTrzyl8qewI5SF2MWJHA7ELMqPiCRo0yFBNRlWBjPReNcGKPh0kg_8o1lQ7ZOXkFcEp40-ajpAsmnFCSL93u3zzy1dElfb7jalskFxKPyZPMqmVae8W96TUD54KMaonZ4W6GAC3xVBS-Bk8YSSrL2m3vo5IjcFCm_AEIUp-zrNT00FYNG0M43AZdx1Vkra7LoQj327Cjwb16kT7EH_14Wupln0T5W5Si8rUVKQApkCTWG2h-qWYwaS5tJtKxkoG7Zse3LP5hL9fOWtekD1J8el5r9K8RpeH0_T4OzOPQwkbkQGdvcL76ElpI3XKv7aXR8jHPqcyQWffBXRF8OgwTqTwawQp85n6tjRg39ojhEedRWChWGalBzmJzdyPXuueQ6MFjcHCJXJJmPUPaE4Ukvg8orq4tHqs4qN0I_B6D_SXWaWNVTa4KbTbAi0MM6TwHXWWxVfgTXrLxiAkRisrwobQX-fYSHmCeO1yQrAm9F0NvD7kdzqiZ3t7ijqUJiV4AVsoZqiF26n_5YRLzQ6zPNQMNDMrkWHzgldjWrYKgnQ40bDS4GC2tPL3VPu8XJvP2-OfSDbTigi0iVFT6Tu5SuSCHBTucRkn7ZlC60X23gL_5x_3AXxH73vh4S4P",
  "id": "rs_0d465e8d9623297c016ab4493a887487d0bf2e7f74526582b3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.54,\"left_y\":-0.22,\"left_z\":0.21},\"note\":\"The settled gripper width confirms a substantial gray-plush grasp. I’m lifting and carrying it toward the corrected left-basket center at a high clearance pose.\"}",
  "call_id": "call_a93XiY4Umm5ixUnLE5bdzk60",
  "id": "fc_0d465e8d9623297c016ab4493bbd9887d0bbddb2f154de0830",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_a93XiY4Umm5ixUnLE5bdzk60",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5377, 2.6251, 2.8632, -1.3777, -0.4831, -0.5846, 0.1301, -0.0147, 0.8295, 0.6067, -0.395, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.5318 left_y=-0.2174 left_z=0.1528 left_yaw=0.229 left_pitch=-0.3807 left_roll=0.1365 left_gripper=0.1301 right_x=0.2952 right_y=0.0014 right_z=0.1684 right_yaw=0.0003 right_pitch=-0.0561 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [0.4855, -16.0752, 7.7333, 0.9255, -0.2466, 0.4908, 0.4127, -0.3077, -1.7709, 7.0359, 1.707, -0.0415, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e11df8ce0b0bb4db57dd4f1ec08f77447fe241ac1c19c647926b4a012ef17a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54bb4b580c8a354ab4ee074f974275ac35cbb2540a4dbc6d8199c57bf8030894",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1414d31d799152456d5c483ccd7aaa5e8b047cc00ca6ed142bd70e2a9cd2060",
      "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 · 5.447 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8818, 1.9312, 1.7203, -0.9794, -0.622, -0.8806, 0.9966, -0.0143, 0.8249, 0.6067, -0.3927, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3648 left_y=-0.2754 left_z=0.1682 left_yaw=0.1483 left_pitch=-0.2943 left_roll=0.0674 left_gripper=0.9966 right_x=0.2953 right_y=0.0015 right_z=0.1701 right_yaw=0.0007 right_pitch=-0.0492 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -10.1812, 8.8274, 0.735, -0.4615, 0.2076, 0.0024, -0.0615, -1.7162, 7.0085, 1.7314, -0.0171, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8852, 1.9945, 1.4082, -0.6613, -0.6212, -0.8909, 0.128, -0.0147, 0.8249, 0.6067, -0.3927, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3569 left_y=-0.2683 left_z=0.0646 left_yaw=0.166 left_pitch=-0.3233 left_roll=0.1119 left_gripper=0.128 right_x=0.2953 right_y=0.0014 right_z=0.1701 right_yaw=0.0003 right_pitch=-0.0492 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -12.0957, 7.1179, 0.7302, -0.398, -0.022, 0.8181, -0.1846, -1.4154, 7.2547, 1.7265, -0.0415, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5377, 2.6251, 2.8632, -1.3777, -0.4831, -0.5846, 0.1301, -0.0147, 0.8295, 0.6067, -0.395, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.5318 left_y=-0.2174 left_z=0.1528 left_yaw=0.229 left_pitch=-0.3807 left_roll=0.1365 left_gripper=0.1301 right_x=0.2952 right_y=0.0014 right_z=0.1684 right_yaw=0.0003 right_pitch=-0.0561 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [0.4855, -16.0752, 7.7333, 0.9255, -0.2466, 0.4908, 0.4127, -0.3077, -1.7709, 7.0359, 1.707, -0.0415, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e11df8ce0b0bb4db57dd4f1ec08f77447fe241ac1c19c647926b4a012ef17a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54bb4b580c8a354ab4ee074f974275ac35cbb2540a4dbc6d8199c57bf8030894",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1414d31d799152456d5c483ccd7aaa5e8b047cc00ca6ed142bd70e2a9cd2060",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtElCe6lRF4Bkr6umTMVhazYmpu6Tgk_FQqQSfLmWlf_ZGIQq__qmkkibdFODu1iFk1uKYKpd7ADfSzd08IMGYEHRM5RVU0Zt389wPrRDzAr3xLPPfbVNxNtUvL9KeQ4QDlmcORlfUrN6VYz2YDZoiB3Wh_-y5fWr4FDbESldh1SDrlEOXw5cumsrdzCP45mJo1GK_Zs9WFldozkrurCTODLRObBXk26W8y3MtLuUtz_Pk6y2Pw9bJR2F1OoqqS7NFu7yZQ2QBa32-or38UW8KzyVo6dInpYREn1QzhMc92RPOtiDYUjvgL87Aeofs6PkdmTRn5fNISy2NvrVzpjj-ZyF6NnM7omc4lxqy09jL29j4HyHBzIYFYAPRb7CWGaPwLctmnApMw1LbYuZuHF3vtpuwATFERcSZAmuOqcwnV5BvXAzMJj6TOM2b1NIAN0412hs5g-mtg1QcsQbttOrzKyK9FuhKZeBzx4s4InmOmLktmahRqR1ve-xc_lSmOIRzmEhd1MLmelKNSdLO1GSfBN5dbbRdUc6pV6tok3tnj7mQLYgtm_48CbmRFtwquqbY1Eb-js5WXNCyvsg2guEO5Ni_nJOiYQg00FcusHBWs-fmw0dMIoc78d5TBngTILQp_XLc866GxlhLwM7kaukHVsIkpEGPMvL3jy8dBc7hua-erNDRo2ZjpJSnjt0fy0N_AH93tRLSZnj36ojC8EJB0-GNAJtxLvh-a8oddcEu1YOrHflcjrHFJU5yljXRpWWZlcVQsa6WZyYTjbwLL3KqRBboyLW93IXymBCzN_7_zy5RYZQNGehtBFCU7gfak0KS1BSMYwLBzkMnDogNaaj8sTZJnzAGOmoxYatcQ5gWQAIkRqOyH31XQ8Twqy3cWziOWktIWM3eUbDBbltu4b14r27__y2YYATRa5eGTTP8nVUF6Kwiz4QjjuaTN17h0AzVKhFg60RHnuOKC1RIq6hjjVLDfOUt3PIbwBPF867dsTCSWAg-ZGrBtNhLd36ekyBdqJ9K8kTxRuybp_YSaN7YCCimBkifn1LQW69vxEWfvR4Nl7tSt3C5Aix3_r_-dMyuFAV01QuHTksJdetYw3JZNDJAZNAlo45Dte8qqFx6ih95eBy0lthBVJnx-R24Z432biEEelUSPtibHTDtp1V4kECEjwLvhzPanPRzax7sS7NXbd7DEk-3EOxDoagRZSgngk50Ti0JPXPaome20GXLN7pBgE5ir0K-Z6RVH0Ufzawzu88xcZ8hxDPtCX5_zgAUr5WE0E2mCEK-Vb5p2k3M1U-PkePJpAtCwXMRqos1HCT-2RWHIIJ2-wLCsdQ70fLGT8qlZAXch0hNHTtDcHLj-ybX5E2T5JH7yY-yYjpeIZZ0k8W-RwYlVTuzo5zy1kx_axUPi1sGrXknLtr1JbmMdWfLUMu0cx_bmU8CWTYYLSNHZHXjzuTsPezSFid7oGFk8Dy6KSRjwF9u331lTpGTloApo4nD7JDDYSlIC9nc6uSg1z5yBo0YtI1VIwXRZ0JrpI_rAD2jqgaEFX4SYYPG4CYNNgziy1sogRRi4mby54UT_pUQUmK8S54kDayPq-i8n9CvGScaTY-52HOrqDCu_0xm6QePXz1qXAN2FBvjnyXo5rI5EuCvWATbLvZiwxgm1Eyw3I375VledNjq9w0ycumkyNYvMv8kzbMYaSUgU7D3R1AuCw7q_6x1-knp_E0L3XaV1T4vzaOx47dEp-60XEaLutBwyNnL2A060zxX-GhHPdkYarB3Bjdj1gflhR2eF58LHu1thU18F4mNGv3t3HyqCDfCh6LxKpNIgxNZTtOxvKhbPM_KfXfvrFf-UkRC3vYAQw-KixbqdDn7FLQjV60Kg==",
  "id": "rs_0d465e8d9623297c016ab449409e0487d0b36360f797856c4b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.57,\"left_z\":0.12},\"note\":\"The basket now fills the wrist view, but the plush is still at the near edge of the basket floor. I’m advancing a few centimeters and lowering so the gray object will be released well inside the walls.\"}",
  "call_id": "call_KcE2XlVjRe0lcoJpH8aDIrNP",
  "id": "fc_0d465e8d9623297c016ab44941def087d0bedb5a11933262ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KcE2XlVjRe0lcoJpH8aDIrNP",
  "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]: [-0.5236, 2.6781, 2.9475, -1.4467, -0.4709, -0.5606, 0.1315, -0.0147, 0.8307, 0.6067, -0.3958, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.5299 left_y=-0.2092 left_z=0.1431 left_yaw=0.2321 left_pitch=-0.4178 left_roll=0.1709 left_gripper=0.1315 right_x=0.2952 right_y=0.0014 right_z=0.1679 right_yaw=0.0003 right_pitch=-0.058 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [0.9915, -10.3043, 5.6684, 1.0183, -0.2515, 0.0562, 0.7302, -0.1026, -1.5248, 7.0085, 1.7705, -0.0317, -0.022, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0dec680236a629f2c5f87565d33a8a902f28781f86f4f59fdd9e6fb62a6b7ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:537b7d058b374c46fee6769629de4218c91a96eb434c8f74f2b2729641229875",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9acac676b126319e2bc8a4a2a864cd7a42583fc5826de72f24d9794d8620c6d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 3.92 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8852, 1.9732, 1.4227, -0.667, -0.6216, -0.8879, 0.9966, -0.0147, 0.8249, 0.6067, -0.3923, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3594 left_y=-0.2712 left_z=0.0776 left_yaw=0.1559 left_pitch=-0.3081 left_roll=0.0867 left_gripper=0.9966 right_x=0.2954 right_y=0.0014 right_z=0.1702 right_yaw=0.0003 right_pitch=-0.0488 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [0.3761, -9.2513, 6.1607, 0.9304, -0.3492, 0.0415, -0.0122, -0.1846, -1.4427, 7.0359, 1.7363, -0.0122, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5377, 2.6251, 2.8632, -1.3777, -0.4831, -0.5846, 0.1301, -0.0147, 0.8295, 0.6067, -0.395, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.5318 left_y=-0.2174 left_z=0.1528 left_yaw=0.229 left_pitch=-0.3807 left_roll=0.1365 left_gripper=0.1301 right_x=0.2952 right_y=0.0014 right_z=0.1684 right_yaw=0.0003 right_pitch=-0.0561 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [0.4855, -16.0752, 7.7333, 0.9255, -0.2466, 0.4908, 0.4127, -0.3077, -1.7709, 7.0359, 1.707, -0.0415, -0.0122, -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 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5236, 2.6781, 2.9475, -1.4467, -0.4709, -0.5606, 0.1315, -0.0147, 0.8307, 0.6067, -0.3958, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.5299 left_y=-0.2092 left_z=0.1431 left_yaw=0.2321 left_pitch=-0.4178 left_roll=0.1709 left_gripper=0.1315 right_x=0.2952 right_y=0.0014 right_z=0.1679 right_yaw=0.0003 right_pitch=-0.058 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [0.9915, -10.3043, 5.6684, 1.0183, -0.2515, 0.0562, 0.7302, -0.1026, -1.5248, 7.0085, 1.7705, -0.0317, -0.022, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0dec680236a629f2c5f87565d33a8a902f28781f86f4f59fdd9e6fb62a6b7ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:537b7d058b374c46fee6769629de4218c91a96eb434c8f74f2b2729641229875",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9acac676b126319e2bc8a4a2a864cd7a42583fc5826de72f24d9794d8620c6d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtElIzkZ30a1tPUB7XdSLW9eGqXEF0QzM0lsY3BfV14C9AnfR1zbj05k-mwdblpfRvMRdBfOOR06hiz3QODIXaJYWsqgFOuOUjjZGfHcegH9oWuzm_v0A970gvnTolFoSqx6wmHBw1ObcOVuL4ZX2XjcJY_rW4OFBIRnuwv2dcY_RGtYVNhPWxsWy5ZwetTjcAUF-JKrmpI9TTqOS_HLfuk9sTPHCOXaRbX0y66zzpB5KH0v4HvRQxUk_iNsZz-rSrCKFH_sHTwoiSke7qo6A4RW5RJQSRgKC9PfLPFF6x5W5eRKZBDk1dd5kxOF8BxxaE6PXdB1YRN1EoQ2ygUwkiN8cVEEWDm04hXL_cr_wrQdFjDftENLemooj-W0b-F6d3c9nJPu2eBBIznnnTF1cwHV2y3H3UP8gMad_pPV5KFc904sqTcfREQh7F5uIQtZbegTentuWAAFs6_VUmVm8Or7Xnj2jF9yD5pRaorCDK8r992d-apVoNPeWeVFXub5U_WRz_3gIfTXPYuZsr3-TDdJEeu9ptuDNQJHlfGx42gialysB_-XyuLeaf89pB83gG--KxMq-P9ZAadXBWSxJDPo6E2DGmC9bXvYDEwWrWnLhvTrtw8J2cVibWOVO23qoRn4Z8IjcEWLLRVXG6okqb6j2Wu5N2Uwf6pe-xpUVlzACB0_LwpHIXgMyBhdNfV1JpFS5baAx9FkClUAZUQfLTeZz-fKPSFx_X6mJMyl8yVYnrXmS1n3QAHi4bvChRlz6C8UH6S_q3WicQO0_dRo8qjwmaeQHe-PAt3d_WkbgUyp48585uHOsjePwLsriAZbbbHWZtAMy1XsUwBnpGUanS4nEudDoHQ0fxhw2tGykh0CWc1R87BWFkn-gMoOmsPCNG7pLkpB5E-XEl9dNqd0OsexE7lT5lZlhht73w_KJ334WYu0kD924CPOHNguW7qDJRfFVls056AweGTgJ8xmisDIyvq3LVY9inG5RcNwlPNdcN_1KekJTqPT7Ay6p62E36xhgjbba1IGFu8n6GC8CEnuT1pRjiFVA3ZeKFSUOSvCe_tAbnw7zd634RmRm7rf0EbdGY5gVAOiJzTN2Bjc4O_CA4sQAKzGOrrX2Ku4qPjv2cSuvD0OrJ8rlkWN2Q6A0fAqVCyaTpJAV8UKTHXt9inIS67LsNT-7bz04rshMs0rBoCXI_NJUaEqAeq7Bd4amsYorppOa_M6JzsjhgVPZgMm1s-VYWqiSnI8pGOmAS_GhhdJPSGv9uIagG_Ho628lCB3pRSf5avmS6ObCDo0KhBuYQh6ArgQPp33aIn6AfQ-gKIp_FV0VTPazN0JCTM4sbCj6kE8dZAlM3MbypFDeqruP_wRyUoRdukWAUC4hm-_j_yGzUyJsZTNLrH_go3S0M-At_WKGkpi_0psqoMNQm46kaib3G4GDrKMqQcAjsmbrHuFzFTWgZiE0yQJqXYctULNVFy7PbKnbY9HNkk6L0PseLLnIXVDkryJW15xTBnAYAIJX1wncF92xcse4dZScXbSR3gabOTMtqbBas3yu7roMuNxw3aioO27AsTB0VFLXPs0CYftgjDrcrxlwVNDTuSfyqR7PCG6qoV5gv5qOLcDFyp_PV4pmOEpDVp_CNWTd3LYlYLck_UvqcGbrv3x8dxf7598Ul4tnvEyJcLvwSAOOF9xC2uq_3WfQWlH5tryiwYq5MsEc5UNP2DdkcWegdXLnKzHxcw9Fzol_f-AujOxomHbFL1_zIvQ47smGVpEXA__NQaME3BaXIeUIgRviurTmJn9SSP4v9akGLziL0d5caB-Q-dVoJEqb8HMPdslroy-8ktRlSzqFxGoevOdR9bVG9RvFGBo_pc_FB97CkI7dHpKKcrJza_QzYbxyFJi3KV8Z4wWu8V47BnSn2A7uN-jDMSkyw-9DHOgibaHIrogJBSTRupAjSbzVW2ol-HnHJYKR2cfDL1uzXEeBXSFq5VALsXvxfmzJYk5FMEVJxvOCz-2-Fcz_D_EYuz9mg9vDd2qjNk1RajCZlgJJtY2w4VFs9DbmHk9it7ysVBoTd3JLma_h2rMhOaIcXbHZKeaUSwRkJJdXG7YcxWD0I6OxBtbJTVx6n9Why_fuTQyFxrXLNHad3aFXNXw0l3CIxJxzuDwsvDYN3AADg9U_Pmh-LBYdDWSv3RnkRvaYtcGn9pAFWFwf_7C8FfLJk36adup8NwQJ-w1K4apK_m4Yw_V22cleuOMrUF-qGA75D9TXpbb7A3HU2oTQnjmB5Q1rP3c2yKwffj7HorhTNA_VuKRutphQ4CjeI_GEjbKeNeQdaRwBKXonoHSUvIuiS7iO-QeodB1C5ljK-OspuYGKnVLMJYslvcs7CzBCJUHwC4LCm9oooV88pIR661nmSo8BwkcVcmwlZUj5CR_vET6nC105ZfS5JqvDzb8eMTRMgw-B0U6agSi313M8CW8KHivYnmE2faf1qiEtGsMa4qTHDheWwpzZewTbxlPyg2whN9J0FWpaqxRIb4-yPcxJ2996uvYbkC1u_nM3jeiQKjBjMqM_zr1Yt7qLyTMKNelW_oT2FPp978pHdpOk_YTf5E7q5nbfXqu8Ow1C-86QbSieZj3E1YrOtEXOdplS_N78rh3Wcj9ozG1VmPFy6gNmpFXW9XOYgTqnW1LE25ZuDqdg7M4uweL-",
  "id": "rs_0d465e8d9623297c016ab44944075c87d0a68b90b4c5b869ca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.57,\"left_z\":0.14,\"left_pitch\":0.5},\"note\":\"The arm stopped short of the forward target because the uncommanded tool tilt folded backward near maximum reach. I’m explicitly pitching the tool forward, which this rig uses to reach the basket interior without dragging the plush over the rim.\"}",
  "call_id": "call_gKdmqUWDXT4eD4YxR6k9J4Wf",
  "id": "fc_0d465e8d9623297c016ab449472b0887d08f5b3575d17b339c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gKdmqUWDXT4eD4YxR6k9J4Wf",
  "output": [
    {
      "text": "executing move_to over 31 steps (3.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6113, 3.0966, 3.1355, -0.1574, -0.9878, -0.0292, 0.1322, -0.0147, 0.8364, 0.6037, -0.4076, -0.0116, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.6539 left_y=-0.2738 left_z=0.1738 left_yaw=0.3227 left_pitch=0.4954 left_roll=0.0968 left_gripper=0.1322 right_x=0.2933 right_y=0.0013 right_z=0.1626 right_yaw=0.0 right_pitch=-0.0786 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [1.4838, -13.5043, 7.2, 1.2674, 0.4762, 0.3297, 0.3394, -0.1299, -1.4154, 7.3368, 1.8779, -0.022, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2260fd1c26e96258ce2061d99c22a6c8baa50addb22d6e7ec301e862be596d5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:228f42c54c7a618387763187fe0d8745e1ae0750903e148b298347cf245ff048",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03ef37fadb42cde877d7df7e4dd101b917ffe33baa667e3627a959dacfd5bb56",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 4.409 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8852, 1.9945, 1.4082, -0.6613, -0.6212, -0.8909, 0.128, -0.0147, 0.8249, 0.6067, -0.3927, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3569 left_y=-0.2683 left_z=0.0646 left_yaw=0.166 left_pitch=-0.3233 left_roll=0.1119 left_gripper=0.128 right_x=0.2953 right_y=0.0014 right_z=0.1701 right_yaw=0.0003 right_pitch=-0.0492 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -12.0957, 7.1179, 0.7302, -0.398, -0.022, 0.8181, -0.1846, -1.4154, 7.2547, 1.7265, -0.0415, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5236, 2.6781, 2.9475, -1.4467, -0.4709, -0.5606, 0.1315, -0.0147, 0.8307, 0.6067, -0.3958, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.5299 left_y=-0.2092 left_z=0.1431 left_yaw=0.2321 left_pitch=-0.4178 left_roll=0.1709 left_gripper=0.1315 right_x=0.2952 right_y=0.0014 right_z=0.1679 right_yaw=0.0003 right_pitch=-0.058 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [0.9915, -10.3043, 5.6684, 1.0183, -0.2515, 0.0562, 0.7302, -0.1026, -1.5248, 7.0085, 1.7705, -0.0317, -0.022, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6113, 3.0966, 3.1355, -0.1574, -0.9878, -0.0292, 0.1322, -0.0147, 0.8364, 0.6037, -0.4076, -0.0116, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.6539 left_y=-0.2738 left_z=0.1738 left_yaw=0.3227 left_pitch=0.4954 left_roll=0.0968 left_gripper=0.1322 right_x=0.2933 right_y=0.0013 right_z=0.1626 right_yaw=0.0 right_pitch=-0.0786 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [1.4838, -13.5043, 7.2, 1.2674, 0.4762, 0.3297, 0.3394, -0.1299, -1.4154, 7.3368, 1.8779, -0.022, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2260fd1c26e96258ce2061d99c22a6c8baa50addb22d6e7ec301e862be596d5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:228f42c54c7a618387763187fe0d8745e1ae0750903e148b298347cf245ff048",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03ef37fadb42cde877d7df7e4dd101b917ffe33baa667e3627a959dacfd5bb56",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtElPdKqhlsZMmHVUuk66XLE46ky3r8jKjXzomCekJkp2cPtrQds06hv51Zk8eVcBw0kDZONlWJ754dX8Fl0i2gEg-LNqWDNvQ9XnNxbnQEQ5brrQw8TgB8p7XWY2IOZC6P3qk8_1LrSU7yq2M3qb1xa9IuAm4GGrFhSfu8zxc65McMfTb0nQbbWinif1ISFw1p-Xwrd7f-urlgvhbqvcnw630HyyeaXq3LhpF3dfzUBCI-cWCRaSF7PFzlDmcU7Nr1iA2ZI2iEua2pPyMZPgYrJZrU8c7v_FeqaCZWRznucakbBs5nLAUWK7x9tXhwr_tcHenjAWJH-SZqnBCSj4Z4vqxCRH5pXnHL0M4ZuHZR2LXqEPcm6woGiXvJxLQpodZ2pvza4Oom65VYNfaiUcMhVM-De2Gzo0SfwWT0c-dKfH0ALiOZFh81N84KkSilI9jzGkJ_fFDvDPX_GkkG6w7y78jbL8VbAuELHkxzDkzNkT5YVwJSRN4Yzn7B6Zcc80_c0DdhkN1q1GEJIrG4kfEm3fzzWpPQ298xZmAgnTR-cNpAuXAjOy7uEnx7dsr0dXGJVJYxn_iwFS1rQfWcluzqen2NZoLfbNnEDit813ZsgKHUmUKk00ka8Tt2FHXjIbPdesb5Xe0AgRw9buCWkv3ZEbB99T2zVaYQ0Yn2ZFCvo6mbvxpTCP4IqYHJdK8CbOuYRWFJa_vHPczNR7iKmb72_sm4QaOg-J-L4rE4CPmrgE6vTwDU5gBvoVq_5tykd2_Su0RdvKdBxNSg4SFLfRZu4iJPj4oPyIjrAEENmxjXecTBCvR3dOCA15YuJPzAKhDIEsGgSvBeU99xFH9nv6KtK9gt0Eqj_tlMhfomTxht3cAUgPJHjZPEP6n0G-gjvNqDUW2mvdYiGCO53gGThw32_68EJQUPJKNoNGtzJPkKsEMQeRymFmAqRVu8UAR8mrCn5L7E696kUX7uwnpQj4-Xt1DqUZZZr4M72C3tZNYWqyn7zBEeYAxILlohCaVg4m5Jo2uTmBUeFQbSqD5tKtQ92_TdVuIBj611fSzBlDgX8tdS-3M91JuLFlAawogrkfLNJYPgYgy6oAQ0WFymn0BsiwA4cXKZIvfjcgpyOMr6vPelf0gXtXh4nh5szXjmphW240P5iShh1ZqYZ8t81IcCqhe-hLPjA7B2aJaoeowCnH6YXXxZpJIE5YLaPejbyNvlAAWQUs4-byJnIV-utUOp7EVmVO9b4MTRItrVKya_aFeJENuJpVH932FaQNw_tC5LRsxHdKEytFvtFQeBtYC_VD4a-YimD4GyCoprJgRMyexz77dYbXHx-cNXkcf2c1vNFDTsJHlQFBEuEh1PqiycwkNvdDS7wb6i4FVm02Rmn-auTczdJnewTrFclx7DVXns5VclI9uTA9JHYjMhpDSs8QtT8gn2j7i9uf1saAAZSz7WiJ8_FHH_UOpw9P7cYnk8Jm3sqQAYPd1n8ZP_q6gU3XMpllknFNg4ULqP37r5pnsGEy1STisb02EEOdIjqE2uWxet475kBT0C3lIMBmAgeHfbses4bIB45rG4u_nvA8KR8lu21IbBmivExjJSSW2uB10yNJ7L6fkdsV3eWOGQjk4Riz11eqfphP1h9skVNguZhgdRwF67eU0ej4s0xGW26YQlr1uZrhj7NhgAcqk75ISWo3bY5-Put7lkjU22oF45_DhzogrYDKnXR5qu6-qwx7Rj3FRe2Uok37guVlJYwYnxjaljlh3HIQt4eugbXrAM4QW0uAJ16oql8BIeX5P8M_NB6rDaCt-WgNFbbVgK9spyFBww5-JXe0BDmC5ZTVmpzavp4b-iWpJa_G1qG1Okzx_TZ82-NPUtiLLcmW9bo45BkXPjpQ2igTr_aAFLvJoZVhL6ZkEbnDS3mMSRZ0c3McEjMYmwm2s-pWLdSVwZvV2WHrmXWWYn2p8YR4w9QZuC_grhy7ibSZbyv3H-IyHOxhAd_wip4jpzw80KCoGWC2nt31J7nRHGIo21G0Gc252O06bsLm6i44DmqWv_gDa5V7DIbqFgv5jTxCdSUxjt3S_IsKK_RwmUX6PfiZmjFJVSY6q_UYgLBW5plbOcF2ORd-",
  "id": "rs_0d465e8d9623297c016ab4494c7e1c87d0bac0d8c5305b9a77",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.52,\"left_y\":-0.17,\"left_z\":0.14,\"left_pitch\":0.5},\"note\":\"Forward pitch provided ample reach but also swung the grasp point past the left basket and toward the gap between baskets. I’m correcting inward-left and slightly back while keeping the forward pitch, using the overhead view to center the plush over the left basket.\"}",
  "call_id": "call_7wsdNkR5ZnAaIfiWmOKcJwA5",
  "id": "fc_0d465e8d9623297c016ab4494e5c5487d09cf39d4902277a54",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7wsdNkR5ZnAaIfiWmOKcJwA5",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6033, 3.1195, 3.1352, -0.1555, -1.0065, -0.0414, 0.1347, -0.0147, 0.8364, 0.6003, -0.4084, -0.0116, -0.0196, 0.9993]\nstate[eef_state]: left_x=0.6559 left_y=-0.2663 left_z=0.159 left_yaw=0.3467 left_pitch=0.4855 left_roll=0.1042 left_gripper=0.1347 right_x=0.2927 right_y=0.0013 right_z=0.1609 right_yaw=0.0019 right_pitch=-0.0828 right_roll=-0.0025 right_gripper=0.9993\nstate[joint_eff]: [0.3487, -17.1009, 7.159, 1.4969, -0.0366, -0.0659, 0.2369, -0.1299, -1.4974, 7.2821, 1.7265, -0.0317, 0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67e496fe6529a16c2a12d266644be06d9236b250acd05f642d9e7eeb80ad530a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c719f3780fcc7efe12a2aaf831865177993e0d2138244c56611aa2f3069969c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5787cabe8dc3dc5fce39c652baaa3d2d314c6655ef843ca7705a23e09e0199da",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 5.004 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5377, 2.6251, 2.8632, -1.3777, -0.4831, -0.5846, 0.1301, -0.0147, 0.8295, 0.6067, -0.395, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.5318 left_y=-0.2174 left_z=0.1528 left_yaw=0.229 left_pitch=-0.3807 left_roll=0.1365 left_gripper=0.1301 right_x=0.2952 right_y=0.0014 right_z=0.1684 right_yaw=0.0003 right_pitch=-0.0561 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [0.4855, -16.0752, 7.7333, 0.9255, -0.2466, 0.4908, 0.4127, -0.3077, -1.7709, 7.0359, 1.707, -0.0415, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6113, 3.0966, 3.1355, -0.1574, -0.9878, -0.0292, 0.1322, -0.0147, 0.8364, 0.6037, -0.4076, -0.0116, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.6539 left_y=-0.2738 left_z=0.1738 left_yaw=0.3227 left_pitch=0.4954 left_roll=0.0968 left_gripper=0.1322 right_x=0.2933 right_y=0.0013 right_z=0.1626 right_yaw=0.0 right_pitch=-0.0786 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [1.4838, -13.5043, 7.2, 1.2674, 0.4762, 0.3297, 0.3394, -0.1299, -1.4154, 7.3368, 1.8779, -0.022, -0.0415, -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 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6033, 3.1195, 3.1352, -0.1555, -1.0065, -0.0414, 0.1347, -0.0147, 0.8364, 0.6003, -0.4084, -0.0116, -0.0196, 0.9993]\nstate[eef_state]: left_x=0.6559 left_y=-0.2663 left_z=0.159 left_yaw=0.3467 left_pitch=0.4855 left_roll=0.1042 left_gripper=0.1347 right_x=0.2927 right_y=0.0013 right_z=0.1609 right_yaw=0.0019 right_pitch=-0.0828 right_roll=-0.0025 right_gripper=0.9993\nstate[joint_eff]: [0.3487, -17.1009, 7.159, 1.4969, -0.0366, -0.0659, 0.2369, -0.1299, -1.4974, 7.2821, 1.7265, -0.0317, 0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67e496fe6529a16c2a12d266644be06d9236b250acd05f642d9e7eeb80ad530a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c719f3780fcc7efe12a2aaf831865177993e0d2138244c56611aa2f3069969c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5787cabe8dc3dc5fce39c652baaa3d2d314c6655ef843ca7705a23e09e0199da",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtElUhKfE5EAjmfZ0uQzkxumQ0M4fcT1yLrngXiHuPALRa-73yLyVCUGBr4KZ0JKjBaZS5QgSeg2nO9C2fzMaON-jwIOhpHloJuQ5_HQTyW7HnxMLr9KeqSrkia8AB9xiYSrC4wjGYX4jM1zXiBt0bqrBRj4EUZCIqtDUZRp5qqX1YmZ7k6BnmhEoIs6tL47XzcIOSP_p-v_1XtLO3r1wxOxUrsVprap7q6ZNBkvMPDbHnW4RaAtoFTU4GZlAThkfQbWUo8peQvsVhx2OIfv8EQ0ZDsbUzqmAsx64YYjIqdDTE_oEmBX7yJGbiY0lJiSD_jrfhk3lBVUp60PEkXWjDJ1Du2JGAQZwmk79zyuRYyGLqVsa5wHo3hqIV5-LhJv8hJzaQ1r25DmpdvuqLJza-7lV5cQs29-YniwichvuC3rNiEd-4dyMrVdEYMqgqQSqsmZJiHS5y6Wb9lNTnf3Nj2vUk7rIEWQkNL8eY2Su2C8gjNfPiAx85l5uCiGv4EJUMbGSZQFoIL83tm6xUKOpDGQM36L6ZciyQQvEUoW5GZm3YJdB7Yho9jXRIJ4epNqDiIsn8gwYC276Nz-BLTYvld1V9q2tRa7VJXTk0i5uJPotMHYhFLcvE53x25bLcvZxBaRn9Wjd-F3yOgnk8HW9HwF1SODFZQLTGPo7S_clb2M_ciZokXCE9XwbmPUp8NJqOBOERkudmR_alLnPpYSVTkvKGQgUbAaxDXKD3hFZB7N9fIF39jGNrDQazGA5ZP-M6hqwC6_Kr2iXMfuB9zx2sj_ZuatJN9uixRG9zkr7cmYyE8_wRRNFRnmlf-gUTc0OdiquJ4eWAryOtufMG0o0XROosSQLy8pNt8_bKHGpOZUHklkRdsPetid734WWkoLSFhpVlzXB6izZ0TwrE1wNYutJAt5LS639e8BfzW4JJ0O4F6poldcB9UzX5RjSLhIMxbPPlkysofCNl3EVOlE6ueMhf9DDJETUePA9noNCIZpOY0EUYTHrgvafQl_r6Gu1SWQ3LEK0QScQjoe5Pu0hTWyONp0qTDXFo3XQkaVE6NpindY2UrZFKUwXT8T9-bc6_byRHe24F3ZZNlA-K0he2WaYayugOfrMWrtga1FQppiw0C8HX38bFCGPxar5IP4_AXwUDh2GKAXt52bhDGqaVkelTuOc3G3UagTLOKMt0JYk-HtW0DRrsnlvNeYUNaIpdRMGKJIR-Or1zxf3CkrYNTF6qedGYZRXxH1f_b5IAV_BovHxbl2jCrLMJ67qBLN6YDaP1WgFa7D_9TTGCyCPJjdzgL7kGz6CUcWKEsPMuXsPmEcI0u4WqlsGgvBhOpfuW9APsybhe6S-khvjR8YCxx7usCIOYVXWzkfnsWWVnYcuHfIrddRv_RztRfPuxRqBEazDwe6tqys_huTKEU_FUiCCj9n0yph8LBgoDqlthovqBIjnbXmMKt9YE3ZGqIFXNuPx7Hzy6kEC5BTdy2scjGeehGI87zNs2ABdPX1dP19cKXfvxZuzhe958mz2htGfsr2bZIiBzTVs_lFQNp-qsNjXx4wuhJHJSey1WkxWfPNBu4IgLFddOqNuWAY5X1BvgSHGhdagpoqBz5Z2YzA4oQFgsmLy9it661wAurzgqC13cMgfnHdoeXow8mhkpoKfzKplqEws8SZ1v5vMP6zJb62glYsDhQhgu29uOsknT281Bkk8Z36NuihPAHenhVrMbkMAzIRvbUZXpt0ywjHRKTall17zGaV58cRI80qnuGULRH8n6TRIb5oepEeg7Gu6yvDuIEaGgjlD9xGj3CYVK0CnXoeqNj8D2cIhVbfT0cgotsuTwSQlGVBXU9lEIn9HBK8UrT-z0ULh8wjGRtwZnmbGlD0Mu534hbSJjpZS9t9ZzKbhaeT6I8dTBn8wXlfxftj5V1AYSEy-2AOjL2PfE9vhDeYsLE063bJQ2-tBlSHQWjms3PAi0r-mhNCDZXzYStvk4KHryvfpXPutZyIRWNLO0jjXF0sVqvM7K_scz1sda4-Nw5HJhjF9U6UhCwMw6Yr9UIAZElm4glH8KNTYJ_jNUr3rBFCWcgPFjBJVoKFjsfnkf3EwUSqVflODtxv0-L-lNSnt74JlTNOM5AxtswK-pUNgeMfZzDjaVz6-7YYR-wv43WPbfYJiMavQXjTNtyA0JsBG_Hq8wmFA0S8bFU_uJv6_oTNVz2a_-0dXGExfv1sTqV7dQACxOw-7vdc88DcyR4RObg7cYsKgtbqZP-svD4KUEfRiWhFfgzMWjWas6WdU-0LvtUDnaKTK0A_TNNvfXnxYEuEKpqLunDIfY9eyw53hRn0ge0HErElxvGNZlzlcnkyqBIsW2TaCFib3lJJybLkOVLE2Mbh-BlcLtecx3jMOz0fAZ7ye5iXmepEQOvGYlWHbbNIfhjvFJ1PUtlLd",
  "id": "rs_0d465e8d9623297c016ab44951927c87d0867964e15a574903",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.58,\"left_y\":0.0,\"left_z\":0.18,\"left_pitch\":0.5},\"note\":\"The arm remained in a stretched singular pose and barely followed the small lateral correction. The plush is level with the baskets but right of the left-basket center, so I’m commanding a larger safe leftward shift while maintaining height and forward pitch.\"}",
  "call_id": "call_G7R6JbmGx6ePMaTqlPQexPyW",
  "id": "fc_0d465e8d9623297c016ab44953daf887d0939d358ca6844211",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_G7R6JbmGx6ePMaTqlPQexPyW",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1902, 3.1004, 3.1352, -0.2226, -0.6788, -0.033, 0.1376, -0.0147, 0.8364, 0.6003, -0.408, -0.012, -0.02, 0.9993]\nstate[eef_state]: left_x=0.7392 left_y=-0.0257 left_z=0.1528 left_yaw=0.4333 left_pitch=0.4138 left_roll=0.109 left_gripper=0.1376 right_x=0.2928 right_y=0.0014 right_z=0.161 right_yaw=0.0024 right_pitch=-0.0824 right_roll=-0.0026 right_gripper=0.9993\nstate[joint_eff]: [0.2803, -24.294, 7.2821, 1.7607, 0.4127, 0.5348, 0.2906, -0.1436, -1.4701, 7.0222, 1.663, -0.0122, -0.0513, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49d1a822477d2bb6ab03e73624f7752bb415fa4dbe37139e4a725a30890d9732",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b272944285f6deadfe852a2c00c5b502e4b76ad2e32e63bf17a9b7266193b63b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e32dee2045009c8670c515d655e4fadef70c14786bc56659189c03463c0cc9af",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 5.116 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5236, 2.6781, 2.9475, -1.4467, -0.4709, -0.5606, 0.1315, -0.0147, 0.8307, 0.6067, -0.3958, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.5299 left_y=-0.2092 left_z=0.1431 left_yaw=0.2321 left_pitch=-0.4178 left_roll=0.1709 left_gripper=0.1315 right_x=0.2952 right_y=0.0014 right_z=0.1679 right_yaw=0.0003 right_pitch=-0.058 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [0.9915, -10.3043, 5.6684, 1.0183, -0.2515, 0.0562, 0.7302, -0.1026, -1.5248, 7.0085, 1.7705, -0.0317, -0.022, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6033, 3.1195, 3.1352, -0.1555, -1.0065, -0.0414, 0.1347, -0.0147, 0.8364, 0.6003, -0.4084, -0.0116, -0.0196, 0.9993]\nstate[eef_state]: left_x=0.6559 left_y=-0.2663 left_z=0.159 left_yaw=0.3467 left_pitch=0.4855 left_roll=0.1042 left_gripper=0.1347 right_x=0.2927 right_y=0.0013 right_z=0.1609 right_yaw=0.0019 right_pitch=-0.0828 right_roll=-0.0025 right_gripper=0.9993\nstate[joint_eff]: [0.3487, -17.1009, 7.159, 1.4969, -0.0366, -0.0659, 0.2369, -0.1299, -1.4974, 7.2821, 1.7265, -0.0317, 0.0171, -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 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1902, 3.1004, 3.1352, -0.2226, -0.6788, -0.033, 0.1376, -0.0147, 0.8364, 0.6003, -0.408, -0.012, -0.02, 0.9993]\nstate[eef_state]: left_x=0.7392 left_y=-0.0257 left_z=0.1528 left_yaw=0.4333 left_pitch=0.4138 left_roll=0.109 left_gripper=0.1376 right_x=0.2928 right_y=0.0014 right_z=0.161 right_yaw=0.0024 right_pitch=-0.0824 right_roll=-0.0026 right_gripper=0.9993\nstate[joint_eff]: [0.2803, -24.294, 7.2821, 1.7607, 0.4127, 0.5348, 0.2906, -0.1436, -1.4701, 7.0222, 1.663, -0.0122, -0.0513, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49d1a822477d2bb6ab03e73624f7752bb415fa4dbe37139e4a725a30890d9732",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b272944285f6deadfe852a2c00c5b502e4b76ad2e32e63bf17a9b7266193b63b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e32dee2045009c8670c515d655e4fadef70c14786bc56659189c03463c0cc9af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtElcnj4DJcpxN13cHLUhGywR-k3YSnA_vBmKQyDuuGc31aKcXTV5RKTI0_spF2SqlSQr74idZ5FTJ96v_E_7NUSxKkh9FhZ53Sq9P-nmZniu4_WtoTzWDA1mw_rJAB-crBmhVjeGwlIem__jwdGB0hY9xolQGj5RQIhlgkO5QWqziL8KUecK3pLaejcVNwpz_4_n320OYdAXydPT6ouUfENOSLewzPeGjvsUPGQYARlCTO0jJ9ItRa0qeEtAckcuH8M3jRIKZXyJDT5l3HhJdgtVqo1ftGjhh981Unwzosrkt3L__tlq4U3lekbg-Uhvw7JUWIOZoO2f-xIxyHoZcC7jo1y1_Axb96vFvPMX1J6T3KB_7KL8lh5fCn9JK5qUQIOUFrTTSLI1lB9RtM6kvH_iunYIe8jJHeUviwPiqXS_mIRM56dRedwI0w6QQw-QsFmEswxSJ78whIvi0Y5tcOpfgydyO5_UWhR8aG4Bmx2uzQLod9k-9xvOYuIdWYNU30KDTfJ5lBNflLJ5mPuX6TvHg43Q5gp08TratGs1SxMwl1IwAVxUNW8BZ8iDSdAm0OBbymsB-Ud9paJul5z1O9FokkIa2tf5hnzimcSogaFQ-LmLRsmKaMiQZaCgSKhXOrZThsb75tc9JNSNMoqUa301grxBQ42W84Z__-vkTsjq95SHdbXuI1NHs2h6d0PJNb2aT3eaUYXVOqeopvFsPrPk8ivPcpSMxZD0WprB7xilqaPrKXyZXgqMDBZSC0YtXrXmCXnFxPRLvz887t2IAOoDyl_5J-nvYvNlTtttKUHnRv52LNXq1rx54ZJTwvKc7tzQRcoBi0989CiCh2Sy5S_UKVj8AGQSjbEroJiLO6VTWDA_BGXBHEVLhxalT-p3H91OLMYbzcZJ5Oo_C8QA2WyL1OtW7uAbKNCQOb2Zl1mELLcXYXYQk7NKBMqqCMdGRt73mMgQ06OgLRczrSqP4BlptFMUbtByo5Lf8pkjxcJGyZOBv_CJQOMOr9VFo_nF_VjJGcW1zj8wYC-7w5jcL3S_USi0XZIol53WbR9nsTePBN8FSFFE2abAVAErTqztiaqZPA2Bz60z57HDE3BuCrDhiTKh7RkXSZX1iW6HBbYphCoxcZ6M31F9v4OUzD1WaUGpyQaTxnQ7B_8H3mBvjqAc144pSd8OI_R4MnWuWBDTy8CdbCBslm-4aMuHjvhEai3wxv_poovs3lRU-PmEagRsC99DxjnKLWI8_i4cSOSWTyInTFq9ERea1iCJEM1Ycsj59hFkhPa_FLDEoyKBXnJPgDnsY9fe0_Ibw5Lg5U_4SNqmPDBn7dqW_EdRG12O9b7ys6b-CVVee-jsqSiuY-Qf3ELIZVtSdJ0J23Hw0jbzPXuIxtIa7cFl5beonwCwLGjwT42USETNuVq_qvsDXHpHP1_r57Bme8hIPfd88wLteJAfRCYakzxkedhu101Avk7xjW-3W9Kt2oM2Ev08Bdabtqc3hoXOLSigNc2VDNIHIDByw-S3EosWw36Fi5B4B0Yln0FzwYZ89gisN6-tTFgALMm8uG5O5QeEiGNsM1BMAlUuAdh4Tdg4UwSdEl63mXfsqW0TGeo91fnZ1N54Cqv6TbzkEpBJieKK6FYSqeFBwFxJP7OnWeIWkAKHlAUb3rR9lNLB_7H3H3GDkHma9HIhbrpKUE-J4vlYKE4a4jO73sPrpsgw343yLmOYuWi6A-BaZdSWTEB57nvSrT0Po4cDFK4IJ30u4HwyEhWkNc7UYHhhZ0K9ueRCjvTKsuTmxYrvko-JM-DBiHNT-ixvJFRaPwOHa7CUfP3JUtQQncpC0Sj-TT6vds8C2MxSeg-FDuwWktjMzb7RWo1BBG9L7-GTCzTExU2N1LX_L8qrEKw3F2NCQ_OQ4RdSSbJFZsvDoMHOZkUVyqWq8cZm-kvpdMhR8adYVsXaxdTF87_LrXScj_hpzFNPEGB8iCmeBP_8oVKjn5q4gN_N90Oy2PisZJvHUQUnEG77p7j-H6ZIBBskcL36l8vflNTU2csZbixGInhB29dSI9lIHs12OMFU_HyHaCCEO30z9kcPvnHAmm_vJyjAOabVge83SqGompeiiBYZs53CyaK-uM-twopqC0CWRc-TcN48s2mSbm87FxXTJyjr3G9TfkAFym-EgoOkh0DuQvDNPgt3w3P-YeIUdx8ITg==",
  "id": "rs_0d465e8d9623297c016ab44958dff487d0ab0cf6b5911383b8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":0.03,\"left_z\":0.22,\"left_pitch\":0.0},\"note\":\"The large lateral command moved the arm to the outer side of the left basket, but the forward-pitched chain is now badly overextended. I’m retracting and restoring neutral pitch at a high pose to recover normal Cartesian control while retaining the gray plush.\"}",
  "call_id": "call_0WN1bFuuYOoJtkczuh7Zp12h",
  "id": "fc_0d465e8d9623297c016ab4495ae0f487d0acb827877383da24",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0WN1bFuuYOoJtkczuh7Zp12h",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "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]: [-0.1806, 2.5519, 3.1325, -1.3411, -0.5743, -0.3153, 0.1397, -0.0147, 0.8364, 0.6003, -0.4084, -0.0116, -0.02, 0.9993]\nstate[eef_state]: left_x=0.5783 left_y=-0.0044 left_z=0.293 left_yaw=0.4493 left_pitch=-0.0615 left_roll=0.1418 left_gripper=0.1397 right_x=0.2927 right_y=0.0013 right_z=0.1609 right_yaw=0.0021 right_pitch=-0.0828 right_roll=-0.0028 right_gripper=0.9993\nstate[joint_eff]: [0.3761, -17.4564, 5.7641, 1.619, -0.1685, -0.0366, 0.2173, -0.0342, -1.265, 7.0359, 1.7216, -0.0366, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a0c8e288018082109408d3a8c93807a8f4db3909dadd4b4ea30c02c63484e01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b5a971faa470b9bb3f88905aba3b825e88da9e968fce41da88cd9b6bc133a5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7a691791a1e432629cdd5d03ed250f9207753d1eaa73fad1f0190cc72f34685",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 3.364 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6113, 3.0966, 3.1355, -0.1574, -0.9878, -0.0292, 0.1322, -0.0147, 0.8364, 0.6037, -0.4076, -0.0116, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.6539 left_y=-0.2738 left_z=0.1738 left_yaw=0.3227 left_pitch=0.4954 left_roll=0.0968 left_gripper=0.1322 right_x=0.2933 right_y=0.0013 right_z=0.1626 right_yaw=0.0 right_pitch=-0.0786 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [1.4838, -13.5043, 7.2, 1.2674, 0.4762, 0.3297, 0.3394, -0.1299, -1.4154, 7.3368, 1.8779, -0.022, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1902, 3.1004, 3.1352, -0.2226, -0.6788, -0.033, 0.1376, -0.0147, 0.8364, 0.6003, -0.408, -0.012, -0.02, 0.9993]\nstate[eef_state]: left_x=0.7392 left_y=-0.0257 left_z=0.1528 left_yaw=0.4333 left_pitch=0.4138 left_roll=0.109 left_gripper=0.1376 right_x=0.2928 right_y=0.0014 right_z=0.161 right_yaw=0.0024 right_pitch=-0.0824 right_roll=-0.0026 right_gripper=0.9993\nstate[joint_eff]: [0.2803, -24.294, 7.2821, 1.7607, 0.4127, 0.5348, 0.2906, -0.1436, -1.4701, 7.0222, 1.663, -0.0122, -0.0513, -0.0171]\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 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1806, 2.5519, 3.1325, -1.3411, -0.5743, -0.3153, 0.1397, -0.0147, 0.8364, 0.6003, -0.4084, -0.0116, -0.02, 0.9993]\nstate[eef_state]: left_x=0.5783 left_y=-0.0044 left_z=0.293 left_yaw=0.4493 left_pitch=-0.0615 left_roll=0.1418 left_gripper=0.1397 right_x=0.2927 right_y=0.0013 right_z=0.1609 right_yaw=0.0021 right_pitch=-0.0828 right_roll=-0.0028 right_gripper=0.9993\nstate[joint_eff]: [0.3761, -17.4564, 5.7641, 1.619, -0.1685, -0.0366, 0.2173, -0.0342, -1.265, 7.0359, 1.7216, -0.0366, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a0c8e288018082109408d3a8c93807a8f4db3909dadd4b4ea30c02c63484e01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b5a971faa470b9bb3f88905aba3b825e88da9e968fce41da88cd9b6bc133a5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7a691791a1e432629cdd5d03ed250f9207753d1eaa73fad1f0190cc72f34685",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtElj7FV1u0XXLZWDbMbE4iXhgRpS1Kbr1be1LLR2G0oLo-GCq045tvmBadF4tlgtNOKz2pH9eLEyYZb1CFulQAtQQ-BBEaNqsbogx8_RMz4xV2BD7_jdYDiB9OCFrmGadjZTDNcWKZ_Tjg5_eUzDbI6brNVyQbSQJKlB2j9rOaTG8XlbYuO8KpkVmtqrf64D9aycTTj1z4Jt7xqosAf3G5vOnqyny19vuX7pv3NJjP_rCzKyfveyQyg8qmMKalzdz8LTksA6awhdM89fTeNCGy-zYDUHYbxI2O45iT0yvN293beEYnolqSNCze5Q2sAPF-lz2YfGQ5mDXquQwVA1cyO6757U2AKQzlHxiwtWw6RhPm9FRPNvE9lICVPvslE-C7N1WFdtTfVg_lvtW6zD_-qqnOywNRKBSI5DSCb00zCyQcjKNFFijEjecT7qDI_WvQpyD-Ecyho8gHiyCvEahlnAWZRaNxkTfmauzNMMPQ43VNjrKCc95Zl_LO1Wr7_WvjIjGryPTqMqVbEoLF7baDugm_y4liIbT8g8BfIYdDVp6s24iw5ZfYuI9JUHpW9QaDNYWAsGDJWMtQ4FE3ypD4k4rbffaQrGfiyFs9BAcP2dtHXkbW6fY2vokVh4yAsETezV4S7ilcCboHQba9Xxg7A6l-jCBQVuJ3PY1NnvZPlMKUm2RJ6TOQYYg0EdT1n9UgEe6ybH5L89nMoM2lTPMxHcMbtli8A_llopC3b_GkaAPAju4np17w4ewuxVVu5klkeeskXhh0PouQfFcaO_SFyoPQbtXV6dvRUAq6B3rL9JhUESjHqs8FsEPHT4tbn-3ZkEiqNxDNaiMvBQquU9mFEwvDSVrz7T40jbBm2fLhriSP7c6qAwtIyKHv6G4V96Ar8v_YtKeHTbLobW9SvL2vo9WDpzoYbn_0aSKuHgswBup7mg4HbaI3__F1fIXFRMKvg53c31wHJngWZa2JyLvAKN3Cp4tIwXbtvslWAMmit1lxZyw0HrqhKIdqK3LfY8IAeDma2nCVYfOg3hAJnVR_Gwvl9ND6xh1H7R8YO1cVy4CJ3yxx8egJTTMzTbY-8lQrqS1SFoJh0r7dXUaqJvbTTcPxNF3hGRdAKqQ8djvKBEn_WAbbWvR_w5-FEEWonlpzcPCvPsvBjith90cSPoMw2yyJJlZBwq70sBwoFW5yjTOgrzLQf3nZ_IziEnOUHlnl09dV6Eh-iJwPDDDhIzmGa7jCkBotz_YvJtjcPnv1UPA3aRhdavnpFsOjoiwO1pcZgm9OyTzJlhC7gC1sxdbo2trx71468b3yyaDnb-TdjCeETwo0iF7um0eBGvgp_ADe15jgcidqz3ASQPMXwY5ZC1tgew3zdV6iJYcbBjuICz0zFk-reEynojag7JOrX711LhNaJty_tVCaOIUXKlgGIizVOSK6NHzO7xEgUfikeI_TF-umzT0uwWgdgmaM2QutI07VPz3KxjtmA72o_yyHpHE3PbX8UQukd6Gn0qSWbaWTKqCFXP8j8lPdZCaVkCYWMcwxbwf0QzZfPckqF5IrzitIO_2ce97hLPduMr1818xz-ajCrwJdEZ1A8jgMq2pk5J2mvS6fGe3KCJAtfaLlHexdUdkGvlYF8MzPRq29VyHf_Z7aUbmwwsMEzAeDDg8wHA1GySgZU2kSO1OhWqz2fbyqikSFphEJy7FA4tC1-84RyQkTewVTeh2anJB--lp7cbHJQmYDVF1RGn3uRgWFVSPj1LF5-02SU8eTiP-TtE0haJG6FiHNpjnlnXVj2xs691ll4lG0mUs1O7Qunimv5JciLPSbJhtsD1BtySvFPECYyrqPN9wEUFdJhtSuo0sX-oSuVL9iPM_b9-9KrVFYnjBsUugSdN1STxs5-7AxuU1uJPTNkErKA69wQ1b87PhLam8P0nxbZ-D63bgJFS9SnoS1SJ8Kcz78qk32EzEgNd0Anf081G2Gm7QypXVfwBIBtrchP2SXFviauj0nFeCIRxD8W0Dq-6nDh47Vxq5nwR_Ytb6wSaOW8fiqvp6ZbTgk0WnaInz4EQ8l6B3HizMUuOHoLydNlnsrjmb2FgqX7Vh6SDu8afyKW9_V7cdOW0DehrVOdLNcvCsjxUMKqfCBYJI6HOThrYNEhGRirLi3FSWi5ctM_-OLhbToHKFqwf0vozE3WesPS9MWvg9CN2ddvcW78l1skv5X5zFzlnnwZBOtbGt7l1zoFWTbchdSY0cToA_MsM2havXd9ec_tipeuWVIQveQC6M2vtN81eVy_TFS0o7-PPRjoCAxcSzggS5V_7h-2WXuvxVakx6T7B-yUPoNFHpAYEh4pIk9LsvlT3ec1Y0XkRpWjYN8l26asHkDDkY0-vL-shxyJIFenNSRtn2fIc5NuCK760DDNzXUZv8hRJ51NUQZzmwLuqyAGLr7wEHHtzeSG8vrPUCo8TmN-3zS1IS_AmjVMkGk9Ajg2oPu1X0ThHItpl9aQNkcxGXm3bAT12Jf7r8PG8KErVoRENtO6rY-s-X4g0uMXPp9PImpOKuOGDvyaNc2QSDuEHDbD8-nkrOzBM7Xy1PHcHWHTnzYYnEGiDoCB-2BNgU58J_LjeI_d29TC7hndekn-k8lEWcA_yGLHs1BVRomlkBSwEm4-MRpZCPtrkkAeaocHWUl7UoFsNnBSvTQGTgJB8GL7nJjak6zVwTJKZRm-nzhTVDK7b7VVkJjN7f1TxWvQPzoLmiBDOL-yKxvkaNhocMSrxy7gSE1JNOGZU47dLNqPRAKPg0YARa14M-zvcI3Er2aPWqAcYwbCmjGZYOGfch9qLT-0xpjb3-yjfGUiooeJSbNfKVbnQ2d-4AdHssv745bjPyWnXui2TPIIS5wuIfvq1",
  "id": "rs_0d465e8d9623297c016ab4495f732c87d0aab39b1a6c086a8d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.6,\"left_y\":0.05,\"left_z\":0.15,\"left_pitch\":0.0},\"note\":\"Neutral pitch restored normal control, and the left wrist now shows the left basket directly ahead and slightly to the arm’s left, with the held plush at the jaws. I’m moving to the reachable outer-forward corner and lowering, which should put the grasp point over the basket floor.\"}",
  "call_id": "call_rOpza6UNjqD8komvLJOh6GAB",
  "id": "fc_0d465e8d9623297c016ab449628bc887d08f317e0ca1753b86",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rOpza6UNjqD8komvLJOh6GAB",
  "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]: [-0.0822, 2.8105, 3.1294, -1.0687, -0.5373, -0.2607, 0.1419, -0.0147, 0.8371, 0.6003, -0.4084, -0.0116, -0.02, 0.9992]\nstate[eef_state]: left_x=0.6515 left_y=0.0406 left_z=0.1806 left_yaw=0.4902 left_pitch=-0.0717 left_roll=0.159 left_gripper=0.1419 right_x=0.2928 right_y=0.0013 right_z=0.1607 right_yaw=0.0021 right_pitch=-0.0835 right_roll=-0.0028 right_gripper=0.9992\nstate[joint_eff]: [0.841, -12.8615, 7.2274, 1.9756, -0.0659, 0.4371, 0.2076, -0.335, -1.5385, 6.9949, 1.707, -0.0122, -0.0513, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3110429cf9277a939f0d86801f470a56004ad85e38bb184c4a9a7ac922647774",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:059841e337f190b3cf180b4d3d5c5c36f9230e39b96291620b5e79f074167923",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c16313c534d337123677b2c98b597856db7e30e0e741e1769a8ee7755f495753",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 2.524 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6033, 3.1195, 3.1352, -0.1555, -1.0065, -0.0414, 0.1347, -0.0147, 0.8364, 0.6003, -0.4084, -0.0116, -0.0196, 0.9993]\nstate[eef_state]: left_x=0.6559 left_y=-0.2663 left_z=0.159 left_yaw=0.3467 left_pitch=0.4855 left_roll=0.1042 left_gripper=0.1347 right_x=0.2927 right_y=0.0013 right_z=0.1609 right_yaw=0.0019 right_pitch=-0.0828 right_roll=-0.0025 right_gripper=0.9993\nstate[joint_eff]: [0.3487, -17.1009, 7.159, 1.4969, -0.0366, -0.0659, 0.2369, -0.1299, -1.4974, 7.2821, 1.7265, -0.0317, 0.0171, -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 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1806, 2.5519, 3.1325, -1.3411, -0.5743, -0.3153, 0.1397, -0.0147, 0.8364, 0.6003, -0.4084, -0.0116, -0.02, 0.9993]\nstate[eef_state]: left_x=0.5783 left_y=-0.0044 left_z=0.293 left_yaw=0.4493 left_pitch=-0.0615 left_roll=0.1418 left_gripper=0.1397 right_x=0.2927 right_y=0.0013 right_z=0.1609 right_yaw=0.0021 right_pitch=-0.0828 right_roll=-0.0028 right_gripper=0.9993\nstate[joint_eff]: [0.3761, -17.4564, 5.7641, 1.619, -0.1685, -0.0366, 0.2173, -0.0342, -1.265, 7.0359, 1.7216, -0.0366, -0.0464, -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 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0822, 2.8105, 3.1294, -1.0687, -0.5373, -0.2607, 0.1419, -0.0147, 0.8371, 0.6003, -0.4084, -0.0116, -0.02, 0.9992]\nstate[eef_state]: left_x=0.6515 left_y=0.0406 left_z=0.1806 left_yaw=0.4902 left_pitch=-0.0717 left_roll=0.159 left_gripper=0.1419 right_x=0.2928 right_y=0.0013 right_z=0.1607 right_yaw=0.0021 right_pitch=-0.0835 right_roll=-0.0028 right_gripper=0.9992\nstate[joint_eff]: [0.841, -12.8615, 7.2274, 1.9756, -0.0659, 0.4371, 0.2076, -0.335, -1.5385, 6.9949, 1.707, -0.0122, -0.0513, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3110429cf9277a939f0d86801f470a56004ad85e38bb184c4a9a7ac922647774",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:059841e337f190b3cf180b4d3d5c5c36f9230e39b96291620b5e79f074167923",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c16313c534d337123677b2c98b597856db7e30e0e741e1769a8ee7755f495753",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtElngLflX3dY3FS844e1Z_6tr4EN2WQ6HLIDFTSgUFvN_kmeM9cc7gxNYD_fSwRVVxi8YWMZQANlmW9tNsZNn96bkcoRB9BaGvGZ5GijdeKckvLS7xtWyvyU4vEVMs_qotZ9AD9-jRZ3Mg99Wdo2dWEOES8nEKkk-LGYg3NxrN284TYdJhnvoyBePmnoM3c5sIOCxjzhNGRkXwI6naNb7uHyRufc8V-DmJq7_ly20hzKdwupRuDJgY4jT_0ZtCQvVgGqe_KeY4BqKcMgSv22Qk02SWpoDk8ijmlGZoKPyJm8i7KdK_hoSK0pLwFx47TeSWdLq0lGQ2pVUzEfw3lAQGuwIPYZJZK6h3NiqSUrvlDmIiWtuFTlsmQipkIDKOR3Mjztws-P2UnVyYQ6lWwDGXH2DvS874BQS5gxPQUlOtvzrZhwBo2j27h0p0VULQvJuajVI2xjUKJBWMiWpV2Yqk2Gg00eVAZPTO7xnBQXIaxUm3R9ZDIAuozzER-BgInpCA5bI0qgiC63cgBzboAC6y2IhYVMOz_rt7MowP_x2d1gnavQN1DJ3RDtzHo_9UJxn8wfvvmwEBEYiZZBgJNC9X7vRWqlFJ0r1dHqfPvqHBkshw2r5BiGJ-t19DthCzoyxlLDTw7UjqwgtxbyZVa2by7ar1Euxpe5nhsEhP7Ri_c9fJ4NMaEHnB9U5dyexypGaPTLBukRv6aP69q-5L3GvO2NmOyi_2WdjpHfzPnSuH9GUl2CgAZsKHdWEDGuCdJgSViD8GZDmjF9n-eOYfZ79H1_rpE_ZlGP2haPekrx5ItcY_pvwlRrSdehizXJKp27lHWG2NwRrWGo__do7Sp-QAYjITt3xLxqM9sZAn9SlkHKRuD_yOuyfz2_LoZur-sQeXCRIJsFwBL0okaxRhmwND2CxUWQmt2MiN7qTB3rY3E5SA8ybYNowE5KZRToC34JGrHMHX1XaF-BQ6_1UpiZMPeMCxrX--pq67wDQI4uJXGSwuY1zFmmMnpstK0xO3zIhFkCAiPzK7G3EenGGzb1pBlbgJBYYYQ8vPzcHZMMK2B9IQ9-2EtGKwkNgo3x6wtbxSEgYrGdL8dH_p633C97zq2HxCknCsxlVzGU1HruTVq8nAm3JImWwMuA00X4tHlVPP36plOTVrrENr1KTjBLGrJcWRPv3bSKHObsq7G---qQcTMpNzGC05KM7x_Kmd2ST3I7TlVv3aO0kk3HvM6KdLM6zmdhypHkj867J_lieUaHrCrk2u9JlULLSa--kgzS_9bvlQUfe9zxVxFiEzX_RQjcl_iOgoHD9kfF-A1n0VHdDVvAAf20oM1F-dgN9gTOOIEldjixNlWOSl8tPsgHs6aPvPLB22vQ1fkMItm7YJVK23T9iP44dXUY3MgVsNJfSuluKw8LJLOHSu1L0T3i-6f1JWXjW__ZTRYiNbMq3dEKdScoxvPnUba-7HV_uXlZ80w7STiLawzvrSscjAHLVSZ-CyHaop43ORExIt4dQwJr32SixCHLZrtW0JbQgtalNIJCemCSgL4vNb3dBV5dlNVSkzgq5w9-_NBVp12mK2qB72EpKu7a2_w8f74hB8bBknHBc70cE2wElOqlyAwxiQar4lGvRSaPHrY_q5vdTat9oXU3HIQyvjaipmA5jKZXHpdBiLv8O8ej0Jc4t-GlOMe9DE3xTU9ARuH_GgnFhuAh9tk6JKAotS4_AFL57s5Sr6Zc6daQt8kOCGScXshCHLYb5exXJbqqc2iRjRb7_yA61Jh4PVa8ESvUF71lGqh6fvAAuHRdQhR58AX0g_JO0BmeKzr5paHryeBtWOkeZmrT8_ch8DDGQJ1Gbkr0GlGI2SomgPQ9wgrvlG8lyVzD_qnCEheqKieqZQcl7aShJQwDiUk=",
  "id": "rs_0d465e8d9623297c016ab44965c24487d0863275da7fe6f078",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.1},\"note\":\"The basket now fills the wrist view and the held plush lies within its left-right walls at the near interior edge. I’m lowering the object beneath the rim before release.\"}",
  "call_id": "call_Te4f2yv99FB6deX0k7kLW2jU",
  "id": "fc_0d465e8d9623297c016ab449670aa487d0b16be07d3040803d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Te4f2yv99FB6deX0k7kLW2jU",
  "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]: [-0.0959, 2.8674, 3.1397, -0.9993, -0.5682, -0.2909, 0.1433, -0.0147, 0.8379, 0.6003, -0.4084, -0.012, -0.02, 0.9993]\nstate[eef_state]: left_x=0.6641 left_y=0.0352 left_z=0.1618 left_yaw=0.5155 left_pitch=-0.0385 left_roll=0.1388 left_gripper=0.1433 right_x=0.2928 right_y=0.0014 right_z=0.1605 right_yaw=0.0024 right_pitch=-0.0843 right_roll=-0.0025 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -10.9197, 6.3111, 1.4872, -0.0904, 0.0757, 0.1294, -0.1162, -1.5795, 7.2, 1.7118, -0.0366, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ce011b2dc8f6353d70b87f7ece3c6d7f6f58fc6b1d9811c1fda8666d7bdf1c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dac42a836a1fee4fddf2aa30f294979a36a397bd7f7348a1fe1f811ecd097c77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdfabd8bd83ba218c7e021b11a93564df4455cceefeebc508b09ce816cf6d50d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 6.192 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1902, 3.1004, 3.1352, -0.2226, -0.6788, -0.033, 0.1376, -0.0147, 0.8364, 0.6003, -0.408, -0.012, -0.02, 0.9993]\nstate[eef_state]: left_x=0.7392 left_y=-0.0257 left_z=0.1528 left_yaw=0.4333 left_pitch=0.4138 left_roll=0.109 left_gripper=0.1376 right_x=0.2928 right_y=0.0014 right_z=0.161 right_yaw=0.0024 right_pitch=-0.0824 right_roll=-0.0026 right_gripper=0.9993\nstate[joint_eff]: [0.2803, -24.294, 7.2821, 1.7607, 0.4127, 0.5348, 0.2906, -0.1436, -1.4701, 7.0222, 1.663, -0.0122, -0.0513, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0822, 2.8105, 3.1294, -1.0687, -0.5373, -0.2607, 0.1419, -0.0147, 0.8371, 0.6003, -0.4084, -0.0116, -0.02, 0.9992]\nstate[eef_state]: left_x=0.6515 left_y=0.0406 left_z=0.1806 left_yaw=0.4902 left_pitch=-0.0717 left_roll=0.159 left_gripper=0.1419 right_x=0.2928 right_y=0.0013 right_z=0.1607 right_yaw=0.0021 right_pitch=-0.0835 right_roll=-0.0028 right_gripper=0.9992\nstate[joint_eff]: [0.841, -12.8615, 7.2274, 1.9756, -0.0659, 0.4371, 0.2076, -0.335, -1.5385, 6.9949, 1.707, -0.0122, -0.0513, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0959, 2.8674, 3.1397, -0.9993, -0.5682, -0.2909, 0.1433, -0.0147, 0.8379, 0.6003, -0.4084, -0.012, -0.02, 0.9993]\nstate[eef_state]: left_x=0.6641 left_y=0.0352 left_z=0.1618 left_yaw=0.5155 left_pitch=-0.0385 left_roll=0.1388 left_gripper=0.1433 right_x=0.2928 right_y=0.0014 right_z=0.1605 right_yaw=0.0024 right_pitch=-0.0843 right_roll=-0.0025 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -10.9197, 6.3111, 1.4872, -0.0904, 0.0757, 0.1294, -0.1162, -1.5795, 7.2, 1.7118, -0.0366, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ce011b2dc8f6353d70b87f7ece3c6d7f6f58fc6b1d9811c1fda8666d7bdf1c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dac42a836a1fee4fddf2aa30f294979a36a397bd7f7348a1fe1f811ecd097c77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdfabd8bd83ba218c7e021b11a93564df4455cceefeebc508b09ce816cf6d50d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtElqydl0qgo5hM5-2lPRdgF2NLOk_opgahfKZvMKQJNoin54g4n_UgYqYWghD9OxpdEJUCDPPQxJYdNTt6g9qU6u_5ZqeN8Ix3xLNkwOvfImmwHzy9GerHarKZXZPa5mVjAtCcPPm78Qea0NlnKmPZY9mXeV3w5guSg2nTrr8Z8wvULFlOXWAZqFllfPRZvKKj2CLk5Zb04yN0ZB61T7ABK74gwEqJ-fEODB9i90KSAY-J1vdoNjpovNxCq3lhwgQt22FY6avbgAS2F8_VBFyoG4PZEfKInd-ilh4vUYf6OqspuNUeQuQRcbTpuITZo2H-jK3IA62UNKoX72Yvot_e-KyvBJQHjjf8tTMF4hEhz-KjYujpdvk2N_1rBJ8Cw8WKJEfEFKxMIg0Yr11kytLIBqrD1lZAVm2W4I0u6hpRktk5jYOCBDdxzem2-aZjJGM1ARqMKg-Wxm0qMvh1u87XLspccJrbuMfmNlOR43K9cuL2audVDbsvxGctEYadOA4O9fY2urIgum__tUdnT2stZzIrTEvv9Sy-Zh-jAsbM7oQOq3GobatBrC7EwWydIV_N6Qzuq7BoPwyI8tcVf0A7QdSojiJXKzGWueBHUdgTQu-DL0QjPfLDkMfFpmkgSMol4Ce8oxQo0qYnYm4BRMrnkVeGjDGG0cMIv3mJ07ENEds9fXF_M24MmYrSjWj45zKo3jI5lgEh9fopuQtS4nRtv3pcOw6oiwKUhDMRlmApNYtDg5uUfEhyOM7a88MjmxbXZHaOej9dniaVaqVh2L-wHQ15m1qg7bhpX2_ZCgOmhEzHnshOIwGSVfMBb9EERQHZc230tmIoTiULIEPr71IU4s8qmiVmBs2X0J3PIsm8n7uqU1RBuF1pcMiU2yE0l-jTyjjFkGCf0mGm6eGk6mXs4ZkCcPqTH5TDcMY4JSXhkzfDjE0ODZWraHkkMFPXiDTRJZiWvbAdXCaSgT1EPSWLG-2ZCfYBpIhbA2avFiX0Ln6wTNAx2zMP1erZSJr2RNAukcrUGjhGlZgUVFhwtKrOfsH0QbKobiSxPZ39C10tyzbxV3vWIaLbGY7jtC98btVahFSUZgUL8GJiDJL7ricW8DJ5dk4gHzx9xFeAK0My8dJJBCFZul4q1tiHYxLuTzLUlmEVBeN3H7I1kbKyXRe7yOdfnsR0_jwLH7Zx_g6YeNqwRzDQtCEZUXxKudfyM8n318Bi9kf3u6LaHbNgp-X03K-yxGxC8KtlPT_H0zE953zvh59zw6H4qNBRXoHv7d1c1u",
  "id": "rs_0d465e8d9623297c016ab44969b1e887d0b57ff6d7b19b9787",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The object is positioned between the basket walls and as low as this stretched pose will track. I’m opening the gripper so it drops onto the left basket floor.\"}",
  "call_id": "call_6PD9EjdaryL1lr4mOcjjyIJF",
  "id": "fc_0d465e8d9623297c016ab44969dbf487d0bb11e368c2f7dc5f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6PD9EjdaryL1lr4mOcjjyIJF",
  "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]: [-0.1184, 2.8704, 3.1371, -1.0828, -0.5758, -0.3267, 0.9953, -0.0147, 0.8379, 0.6003, -0.4084, -0.012, -0.0204, 0.9993]\nstate[eef_state]: left_x=0.6517 left_y=0.0229 left_z=0.1463 left_yaw=0.5215 left_pitch=-0.1047 left_roll=0.1666 left_gripper=0.9953 right_x=0.2928 right_y=0.0014 right_z=0.1605 right_yaw=0.0026 right_pitch=-0.0843 right_roll=-0.0028 right_gripper=0.9993\nstate[joint_eff]: [0.0479, -20.2462, 6.2974, 1.4774, -0.359, 0.0513, 0.0073, -0.1846, -1.1145, 7.241, 1.6435, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48bc60d28b3567daa41797453cb520b9e9f4655476fdcab20532971505bfe47b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6667fdd188b3c1a47ade1142e096a370339933a95acdf7be0d5dc45f7438491e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3582d8d36add68bf9b812c7fc9ea1d2aa25bd950cf7a973f114c3c7dbef9a52",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 9.1 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1806, 2.5519, 3.1325, -1.3411, -0.5743, -0.3153, 0.1397, -0.0147, 0.8364, 0.6003, -0.4084, -0.0116, -0.02, 0.9993]\nstate[eef_state]: left_x=0.5783 left_y=-0.0044 left_z=0.293 left_yaw=0.4493 left_pitch=-0.0615 left_roll=0.1418 left_gripper=0.1397 right_x=0.2927 right_y=0.0013 right_z=0.1609 right_yaw=0.0021 right_pitch=-0.0828 right_roll=-0.0028 right_gripper=0.9993\nstate[joint_eff]: [0.3761, -17.4564, 5.7641, 1.619, -0.1685, -0.0366, 0.2173, -0.0342, -1.265, 7.0359, 1.7216, -0.0366, -0.0464, -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 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0959, 2.8674, 3.1397, -0.9993, -0.5682, -0.2909, 0.1433, -0.0147, 0.8379, 0.6003, -0.4084, -0.012, -0.02, 0.9993]\nstate[eef_state]: left_x=0.6641 left_y=0.0352 left_z=0.1618 left_yaw=0.5155 left_pitch=-0.0385 left_roll=0.1388 left_gripper=0.1433 right_x=0.2928 right_y=0.0014 right_z=0.1605 right_yaw=0.0024 right_pitch=-0.0843 right_roll=-0.0025 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -10.9197, 6.3111, 1.4872, -0.0904, 0.0757, 0.1294, -0.1162, -1.5795, 7.2, 1.7118, -0.0366, -0.0415, -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 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1184, 2.8704, 3.1371, -1.0828, -0.5758, -0.3267, 0.9953, -0.0147, 0.8379, 0.6003, -0.4084, -0.012, -0.0204, 0.9993]\nstate[eef_state]: left_x=0.6517 left_y=0.0229 left_z=0.1463 left_yaw=0.5215 left_pitch=-0.1047 left_roll=0.1666 left_gripper=0.9953 right_x=0.2928 right_y=0.0014 right_z=0.1605 right_yaw=0.0026 right_pitch=-0.0843 right_roll=-0.0028 right_gripper=0.9993\nstate[joint_eff]: [0.0479, -20.2462, 6.2974, 1.4774, -0.359, 0.0513, 0.0073, -0.1846, -1.1145, 7.241, 1.6435, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48bc60d28b3567daa41797453cb520b9e9f4655476fdcab20532971505bfe47b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6667fdd188b3c1a47ade1142e096a370339933a95acdf7be0d5dc45f7438491e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3582d8d36add68bf9b812c7fc9ea1d2aa25bd950cf7a973f114c3c7dbef9a52",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtElxJ_CSZ913JdFCbwzCLIZL6B-VRaShrp8OF3egW8ZQgRiMuou1d1zCIibU_PQ6p6yOqL6am5TwV0O84vCmdl7iYrR7qG3YEpmEpozzJ4-PTLcJaZYMIeHLRUCfQa-uRXpLk8l4GCf8Ucu-BbtMMq4jSBMCI1spwHRrvV5f6deK2eg5imdPW2FSybmJRTls16cHSxBNMP9o1h737E71IayPoQ2c13H2Qt7N3B103O9_UhZQny2yMz8Ymgmfiy2GYcysF3_0IWmX69IOcMcQqXP5NgKEtbWryHifnGfsZEu3H7G14MOW9kNijC62-gYqB5harITrSH8P-3zq-U2D8oIFUwZvc8GjUsJ_lbYp6ZnFBIq8Wds_s6O9zYD5NsUPid44tRfQW-I85enDTi0gKI6jlyef4O2U6KuxwnRnOidfuiravgK1JgjDr9ZSWp58Y28ikwk853-qvVWEPHPdU1f2QdgrmGulyzeiNSu3KmBE1rPXV-OHd4a8-Hdw4tLAxfTRmLB1pUr_Fk7GYsGb10j36BJVyYwhA6n1LJ4A5CKIZ0dvY9OVULrf790ReyvIKcyhZXBlpgkEWWEphfY6FwZRBV-z4Io8kFjZBV4P7vpz90A1pxs4KSHpUeQAeX60ttl6mRfOhVDaywAscX6m9hY1N434TSOENp0gGln0MfCVI_BKdyszf4BRZJPWp_2LA2v3ePRHYgda_Y8GJdvNoK86Tleea4icKw_v9_fLRp4Bzmn5Dym8w7yC-uWBj9n0XyjEo09saT5hoQzj5iPSCAxtEqHW9N8PFnNjQT5WvbuQ7JGYpITlTZxBazOqZvXQLxjkAzv2jHWWYLegwM4ekQ8wZDlbZzaTSARtjFpK4ZIzmp5PJuYHAzEF4WNCFBWiw5njsoCrUz28yODUWQeufqX3uDgxUrC2D7w4LnXuvpfV9605p_VyZ4A-cCHdnig52PhD70dlh3SuXgE3-mBI5Xt1nz0TGRp4nEZgPdU8Flqox7Tz_SfWOKHf9rqVsBBN3OB9ULDlIP3DDhgkV80lwkQOnMWSiwpHFjJWhlJSycmrFZXxX5Gp2q-nc1LG65B9sd-6bnIsVwHjVxiT3r847eOnx3gECsaJbAYF5Bhi-1jAUSuJfTUdv7cK0C7EwlhNxSG311eFwYgsrABWuQTSyeY4G8L7U2n7_c-Q1Nnp7nlP0SDPA97WkmxhcvpcYcAiVKQmb3uv6imNo04zex2DbeLdz39nfWkDUbUyj-PO0HkDfS-aCktYzSGiPebOF48vPKl8ZcFvWdHnYH8e50fbmQm_LXTMH7JBqLiAtlE4wvtipAVBfTS54JdnG6U9-xnsdJUVWRKkbUtbJR8GpLxhL1gBbBa9E7ThRyGNAG3kYc8AMmMGgdzpibXqxcJ371ONbMtxj_v808gkpviKtVUv-7P0gq4BhzCBly0hfEhOXshHA4cmnPXpoqrMMbAfDzeRCE0zsP4HO-_YaCqJgPv6Wr_lNiFt4OGgT6kbDUCwUfQz5jfCei8-Kr8ob-4m4lOO5MIhdooTskd3nJLBmMAMBeopjTK8Qrd-ZesQ0t4VgbBjSUD4_kCxfK9D-0hPSBneB5eudbfpV0Z9SxTE_JMfLCZbKER1_ATsNJVjZ-0wyPgdDLLmOTzJSvaJmseYpXElhpDwRs-RgdqUAA22fWEL9rPoZ7apnBKb3BtT0ke2ismdKl5nNZjLXfRDd8lb2fMaslV4ZE_Z3kGUGurzG0_rdZClEmNOwDTSg0tGrkWpEXnUPsrlxPS-BtmHXtPBwvWGD2h4gt6b88VGBNMffsMvuAWzOgrW4de6DJ5clUll41IQauJNRbpO2vd96Tz3DltmaN6FlcG1y5tAabjNw9fSpHB31D67e7K4rQxjCDUIxyPRQ-2ox-jwyPRjgVIw3YkJGU2wje_SiGihyhgEa43pzNagnMaaZ86acz769dCSArgEs7LEAROI-gv_yOT7uzEWeliBdjfK5EYNTzGCp46ynC4mqNpjQEgrN-SQl-_cgdzFkN9Uzj7wPTl1boD9FDj6NtLegju2kiyqrWAYR8vzaavS9mOlpD1ZLW6cXeWwtc9WO5kD6M0yqtAJ5fSfbtuYM1HcPhuCp66DjbDSwMO2Ez72XBhZPuv8vxcxG0LAfwyIm3N3PA5LxUjeNUsYhf7UvfTG9kgqdodjILqQh6nJbQQW-y6iM0bbrgoh-7NsJIkI2ZuGogqc-QNQmeqgrLnikfh-Mv0CqziblSIzTQrH7zA49vtAQWmBLMUbh-kWPTZoXsRYTlmXKiFpsVGtXUnD8JC5NElK05U5UyLSoVUqILA4G78TQytBKmwFhWyWCiUUlhv0IYZFc_1MR19X8uFYhvrpWUa6OghJU9m_GjDThsjgj40IS5wZp7I9jRoVp9qmrn2zAqMhyh9_kqalGK5VzjGdplM-aH9AGQyB8qZFaDv1ffCSTe_4jKGV836dx2yWXB6VbyyJcW5KWo2vqtMxqg7V2I9_W-ft0rbD_HoWUMkW2Dh2AhPDYJeT0y_DuKyannhO15KZMKA8wE8RXL7vh_aY8Z96SQBxMseISegYTYznzCB0q2iwp3GYXMyxVcUH5xNf2FMt-pvL4ZjedYBlDzaiPX0-pG50f58px_N-HAPqI8e-iV9fC0kDTUwmqMmWVpSbRlC7fVNMNDzMzU8yzQISdh6_n7l0FS8IQQg4U7d0YQzwALhwFteaXOnch7w-9D0dVOykXNuA_NoxtA4o5k4GlJWgoTsXxN_zkeO19j-CF9XrP0SGRt4BABfgHGDavQjmXOfgnBlmDU51v5bwgQSkRccDd9xLviimS5_BWkhuh_K6VNqVGj9ZC_yLAjZjXNGVUI_MwTYVl4QjhK8JYYALYQ-TYars5JoPtx-B6-aA7m2z9kDolD30ushoOjpvoAqwuEOywg8zAiEcL57zKn5AfiMCF91g5MYOvxxTf4UKVpto4EQ6Fa0LiqTFsbE7_AgAshW5oB5Q3sHC0p7Fiz27E4gboVj1fQiRdKNEfTeZAAbvq7fUNcci_Y6ygg_w_FF_r9OKiDrYLFOuSNQkUaiSeanELjsF3hzXGSHqAgU8q3umyB4IMY6DQRf7pH_V2ttJdkGCbR5vEYpMej7uQC1WiEgsdZ4V_wKYS6EMPvMOJTYFWpvzFCjm5JgPFX6DqYwFN-FKc1oSA42UsVAZwqUQju9xsiHFqkpEj2Qt3AQKdOIMwh9nfQR_1f_8moWMrQT8BsnbDg23NqP9K9A76YSD1rxwqq3HzuIKzt_UaUGo0u7xaNeSCl2D4jZ2vScdfSU-6Xy_dLd-nquXIIbQmzGa",
  "id": "rs_0d465e8d9623297c016ab4496d3c9c87d0aebc1061daa180e2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The released object is tan rather than gray—its color was hidden by the gray plush beneath it—so I will reserve the left basket for tan objects. It caught on the basket’s right rim and remains between the jaws, so I’m re-grasping it for a small leftward correction.\"}",
  "call_id": "call_jWWpYG6b69PBZ6HDYpwRPDP0",
  "id": "fc_0d465e8d9623297c016ab44970fe0487d0990d0fbf8f712771",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jWWpYG6b69PBZ6HDYpwRPDP0",
  "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]: [-0.1398, 2.8704, 3.1371, -1.1439, -0.5793, -0.3599, 0.013, -0.0143, 0.8379, 0.6003, -0.4084, -0.012, -0.0204, 0.9993]\nstate[eef_state]: left_x=0.642 left_y=0.0109 left_z=0.1377 left_yaw=0.5249 left_pitch=-0.1484 left_roll=0.1802 left_gripper=0.013 right_x=0.2928 right_y=0.0015 right_z=0.1605 right_yaw=0.003 right_pitch=-0.0843 right_roll=-0.0028 right_gripper=0.9993\nstate[joint_eff]: [0.1709, -18.8376, 6.2427, 1.3065, -0.3687, 0.0415, 1.2137, -0.0752, -1.347, 7.1726, 1.6923, -0.022, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b0fc24f63515e081f00cfbed5bc40344c094e3e9695296bdd81e46d6e451251",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1a19ea080110fc0f10f81fba6c094c66011dccc1b91f0fa797bd7a9e9ecd46b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea5df7d11d85116b0620408f05ab393220c936e76e883f4e45019c23f662ada8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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