adhoc

completed
2026-09-23T20:04:37.176625+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-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
200.4 s
total steps
450
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Place all the objects into the safe, then close the safe.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
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: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe safe is open near the center-left, with a yellow object to its right and two soft objects below it. I’ll position the right gripper above the yellow object first.
move_to
right_x0.4250right_y0.2500right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7925, 0.6037, -0.392, -0.0193, -0.0341, 0.9993, -0.0212, 0.7944, 0.6079, -0.4026, -0.0196, -0.0124, 0.9996] state[eef_state]: left_x=0.293 left_y=0.0013 left_z=0.1778 left_yaw=0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2922 right_y=0.0009 right_z=0.177 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996 state[joint_eff]: [-0.5675, -1.388, 10.2769, 1.9756, -0.0855, 0.1783, -0.0904, -0.335, -1.5385, 9.6479, 2.0928, -0.0317, 0.0073, -0.0562] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.25,"right_z":0.15},"note":"The safe is open near the center-left, with a yellow object to its right and two soft objects below it. I’ll position the right gripper above the yellow object first."})
tool
executing move_to over 21 steps (2.1s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe yellow object appears just to the right of the right gripper’s jaw column and still ahead of the fingertips. I’ll advance and shift slightly right while lowering toward its middle.
move_to
right_x0.4510right_y0.2220right_z0.1050
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4065, -0.0193, -0.0383, 0.9992, 0.7162, 1.7813, 1.2186, -0.205, 0.5503, 0.4252, 0.9996] state[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.1749 left_yaw=0.0029 left_pitch=-0.0164 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4153 right_y=0.2437 right_z=0.1371 right_yaw=0.0313 right_pitch=-0.0448 right_roll=-0.035 right_gripper=0.9996 state[joint_eff]: [-0.3214, -1.5111, 6.9265, 1.8193, -0.0806, -0.0317, -0.022, 0.294, -8.9641, 8.4034, 1.6435, 0.4811, 0.2027, -0.022] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.451,"right_y":0.222,"right_z":0.105},"note":"The yellow object appears just to the right of the right gripper’s jaw column and still ahead of the fingertips. I’ll advance and shift slightly right while lowering toward its middle."})
tool
executing move_to over 3 steps (0.3s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe yellow object is now nearer the jaw column in the wrist view. I’ll lower the open gripper to grasping height and make a small final alignment adjustment.
move_to
right_x0.4590right_y0.2090right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7975, 0.6064, -0.4088, -0.0189, -0.0383, 0.9992, 0.6323, 1.8484, 1.1999, -0.1226, 0.4965, 0.3733, 0.9996] state[eef_state]: left_x=0.2914 left_y=0.0014 left_z=0.1742 left_yaw=0.0026 left_pitch=-0.0194 left_roll=-0.0036 left_gripper=0.9992 right_x=0.4393 right_y=0.222 right_z=0.1088 right_yaw=0.0165 right_pitch=-0.0712 right_roll=-0.0488 right_gripper=0.9996 state[joint_eff]: [-0.0479, -1.2513, 7.2821, 1.7216, -0.0806, -0.0708, -0.0122, -0.0889, -8.9778, 6.4205, 1.8681, 0.1734, 0.0171, -0.0073] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.459,"right_y":0.209,"right_z":0.035},"note":"The yellow object is now nearer the jaw column in the wrist view. I’ll lower the open gripper to grasping height and make a small final alignment adjustment."})
tool
executing move_to over 5 steps (0.5s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe gripper stopped several centimetres above the requested height, so it has not reached the yellow object yet. I’ll pitch the tool forward to improve its reach and try the descent again.
move_to
right_x0.4520right_y0.2070right_z0.0340right_pitch0.3500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7975, 0.6064, -0.4095, -0.0189, -0.0383, 0.9992, 0.6167, 1.8835, 1.1748, -0.0753, 0.4744, 0.3485, 0.9996] state[eef_state]: left_x=0.2913 left_y=0.0014 left_z=0.174 left_yaw=0.0026 left_pitch=-0.0202 left_roll=-0.0036 left_gripper=0.9992 right_x=0.4421 right_y=0.2189 right_z=0.0889 right_yaw=0.0309 right_pitch=-0.0914 right_roll=-0.0628 right_gripper=0.9996 state[joint_eff]: [-0.212, -1.2786, 7.0906, 1.7411, -0.0562, -0.0415, -0.0073, 0.1846, -10.2906, 6.1744, 1.619, 0.2857, 0.1001, -0.0073] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.452,"right_y":0.207,"right_z":0.034,"right_pitch":0.35},"note":"The gripper stopped several centimetres above the requested height, so it has not reached the yellow object yet. I’ll pitch the tool forward to improve its reach and try the descent again."})
tool
executing move_to over 15 steps (1.5s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteWith the forward pitch, the gripper reached close to table height, but the yellow object still sits ahead of the fingertips. I’ll advance about 2.5 cm before closing.
move_to
right_x0.4790right_y0.2070right_z0.0280right_pitch0.3500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8024, 0.6064, -0.4282, -0.0193, -0.0391, 0.9992, 0.6273, 2.1586, 0.8383, 1.0199, 0.5915, 0.1501, 0.9995] state[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1689 left_yaw=0.0033 left_pitch=-0.0438 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4544 right_y=0.2123 right_z=0.0453 right_yaw=0.0243 right_pitch=0.3408 right_roll=-0.0215 right_gripper=0.9995 state[joint_eff]: [-0.1162, -1.6752, 7.2, 1.8828, -0.0757, -0.0464, -0.0073, -0.1026, -7.2547, 3.1658, 1.2039, 0.2222, -0.3101, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.479,"right_y":0.207,"right_z":0.028,"right_pitch":0.35},"note":"With the forward pitch, the gripper reached close to table height, but the yellow object still sits ahead of the fingertips. I’ll advance about 2.5 cm before closing."})
tool
executing move_to over 2 steps (0.2s)
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 yellow object is now close to the jaw opening, but the grasp point remains nearly 5 cm above the tabletop. I’ll lower the pitched gripper further so its jaws can surround the object.
move_to
right_x0.4690right_y0.2110right_z0.0080right_pitch0.5500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8028, 0.6064, -0.4316, -0.0189, -0.0391, 0.9992, 0.6056, 2.2166, 0.8856, 1.0939, 0.5648, 0.1158, 0.9995] state[eef_state]: left_x=0.2884 left_y=0.0015 left_z=0.1681 left_yaw=0.003 left_pitch=-0.0477 left_roll=-0.0036 left_gripper=0.9992 right_x=0.4701 right_y=0.2148 right_z=0.0478 right_yaw=0.0331 right_pitch=0.3893 right_roll=-0.0134 right_gripper=0.9995 state[joint_eff]: [-0.0752, -1.2923, 6.9949, 1.7167, -0.0415, -0.0415, -0.0122, -1.1692, -8.4444, 4.2462, 1.5507, 0.149, 0.0464, -0.0122] 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":{"right_x":0.469,"right_y":0.211,"right_z":0.008,"right_pitch":0.55},"note":"The yellow object is now close to the jaw opening, but the grasp point remains nearly 5 cm above the tabletop. I’ll lower the pitched gripper further so its jaws can surround the object."})
tool
executing move_to over 6 steps (0.6s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe yellow object now fills the bottom of the right wrist view, directly between the open jaws. The arm cannot descend much farther at this reach, so I’ll close gently here and check whether it is held.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4507, -0.0193, -0.0391, 0.9992, 0.5953, 2.4516, 0.9295, 1.5448, 0.5648, 0.0395, 0.9995] state[eef_state]: left_x=0.2857 left_y=0.0016 left_z=0.164 left_yaw=0.0034 left_pitch=-0.0679 left_roll=-0.003 left_gripper=0.9992 right_x=0.4774 right_y=0.2135 right_z=0.0436 right_yaw=-0.0074 right_pitch=0.6072 right_roll=0.0637 right_gripper=0.9995 state[joint_eff]: [-0.1983, -1.347, 7.159, 1.8144, -0.0464, -0.0562, -0.0122, 0.4034, -7.2, 2.8239, 1.3114, 0.0708, -0.2515, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow object now fills the bottom of the right wrist view, directly between the open jaws. The arm cannot descend much farther at this reach, so I’ll close gently here and check whether it is held."})
tool
executing move_to over 10 steps (1.0s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe closed gripper still reads about half open, which suggests it may be gripping the yellow object. I’ll lift a few centimetres and verify that the object rises with it.
move_to
right_x0.4620right_z0.1400right_pitch0.3500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6064, -0.458, -0.0193, -0.0391, 0.9992, 0.5972, 2.4573, 0.9283, 1.5455, 0.5453, 0.0414, 0.5158] state[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.1626 left_yaw=0.0034 left_pitch=-0.0751 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4763 right_y=0.2174 right_z=0.0406 right_yaw=0.0152 right_pitch=0.6023 right_roll=0.0615 right_gripper=0.5158 state[joint_eff]: [-0.0615, -1.2103, 6.9402, 1.707, -0.0855, -0.0464, -0.0122, -0.2803, -12.0684, 3.0291, 1.6093, 0.1685, -0.0024, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.462,"right_z":0.14,"right_pitch":0.35},"note":"The closed gripper still reads about half open, which suggests it may be gripping the yellow object. I’ll lift a few centimetres and verify that the object rises with it."})
tool
executing move_to over 9 steps (0.9s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteThe yellow object still appears in the wrist view after the first lift, so the grasp is uncertain. I’ll move farther back and up to see whether it actually travels with the gripper.
move_to
right_x0.4140right_z0.1900right_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.807, 0.6064, -0.4728, -0.0189, -0.0387, 0.9992, 0.6094, 1.9366, 0.868, 0.6704, 0.5385, 0.1432, 0.5158] state[eef_state]: left_x=0.2825 left_y=0.0016 left_z=0.1589 left_yaw=0.0029 left_pitch=-0.0931 left_roll=-0.0023 left_gripper=0.9992 right_x=0.4512 right_y=0.2089 right_z=0.0869 right_yaw=0.0716 right_pitch=0.2487 right_roll=-0.0675 right_gripper=0.5158 state[joint_eff]: [-0.0205, -1.388, 6.9538, 1.7949, -0.0659, -0.0464, -0.0122, -0.0342, -12.5744, 9.6479, 3.2112, 0.1929, 0.6129, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.414,"right_z":0.19,"right_pitch":0.2},"note":"The yellow object still appears in the wrist view after the first lift, so the grasp is uncertain. I’ll move farther back and up to see whether it actually travels with the gripper."})
tool
executing move_to over 7 steps (0.7s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe yellow object stayed on the tabletop when the right arm withdrew, so that grasp failed. I’ll open and park that arm, then approach the more accessible white object with the left arm.
move_to
right_gripper1.0000right_x0.2950right_y0.0000right_z0.1900right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8078, 0.6064, -0.4801, -0.0193, -0.0387, 0.9992, 0.6674, 1.6527, 0.9245, 0.0826, 0.5682, 0.149, 0.5158] state[eef_state]: left_x=0.2814 left_y=0.0017 left_z=0.1573 left_yaw=0.0032 left_pitch=-0.1011 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4017 right_y=0.2001 right_z=0.1252 right_yaw=0.1212 right_pitch=0.0443 right_roll=-0.204 right_gripper=0.5158 state[joint_eff]: [-0.1162, -1.1692, 7.1043, 1.7314, -0.0757, -0.0513, -0.0073, 0.1573, -11.8906, 10.9744, 3.2503, 0.2711, 0.4664, 1.0476] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.295,"right_y":0,"right_z":0.19,"right_pitch":0},"note":"The yellow object stayed on the tabletop when the right arm withdrew, so that grasp failed. I’ll open and park that arm, then approach the more accessible white object with the left arm."})
tool
executing move_to over 17 steps (1.7s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThe right arm has cleared the work area, though it appears to have shifted the safe; the white object remains in front of the left arm. I’ll center the left gripper above the white object before descending.
move_to
left_x0.3200left_y-0.1050left_z0.1100left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8104, 0.6064, -0.5014, -0.0185, -0.0387, 0.9992, 0.0734, 0.9863, 0.627, -0.3359, 0.1459, -0.1539, 0.9983] state[eef_state]: left_x=0.2781 left_y=0.0016 left_z=0.1526 left_yaw=0.0026 left_pitch=-0.1251 left_roll=-0.0019 left_gripper=0.9992 right_x=0.3137 right_y=0.0009 right_z=0.1455 right_yaw=0.0342 right_pitch=-0.113 right_roll=-0.2138 right_gripper=0.9983 state[joint_eff]: [-0.2803, -1.1419, 7.1043, 1.8486, -0.0659, -0.0171, -0.0122, 1.9214, -1.4564, 8.8, 1.8877, -0.105, -0.1245, -0.0269] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.105,"left_z":0.11,"left_gripper":1},"note":"The right arm has cleared the work area, though it appears to have shifted the safe; the white object remains in front of the left arm. I’ll center the left gripper above the white object before descending."})
tool
executing move_to over 10 steps (1.0s)
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 noteThe white object is centered between the left jaws in the wrist view, but the gripper is still above it. I’ll lower to about mid-height with a slight forward pitch.
move_to
left_x0.3180left_y-0.1020left_z0.0450left_pitch0.1900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5217, 1.1954, 0.5903, -0.2611, -0.3618, -0.3695, 0.9993, 0.0746, 0.9966, 0.6212, -0.374, 0.1356, -0.1719, 0.9989] state[eef_state]: left_x=0.3028 left_y=-0.0978 left_z=0.0885 left_yaw=-0.0226 left_pitch=-0.2133 left_roll=0.0323 left_gripper=0.9993 right_x=0.3067 right_y=0.0026 right_z=0.1328 right_yaw=0.0537 right_pitch=-0.1695 right_roll=-0.2221 right_gripper=0.9989 state[joint_eff]: [-0.212, -4.1778, 9.6342, 1.7021, -0.3492, 0.0415, -0.0855, -0.4581, -3.3846, 7.5009, 1.9951, 0.1197, 0.1587, 0.0464] approver: 1 step(s) modified (delta_clamped). 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":0.318,"left_y":-0.102,"left_z":0.045,"left_pitch":0.19},"note":"The white object is centered between the left jaws in the wrist view, but the gripper is still above it. I’ll lower to about mid-height with a slight forward pitch."})
tool
executing move_to over 14 steps (1.4s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe left jaws are low and flank the white plush in the wrist view. I’ll close them now and check the settled opening for a grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5976, 1.565, 0.1879, 0.7879, -0.5297, -0.2626, 0.9992, 0.0746, 0.997, 0.6205, -0.387, 0.1349, -0.1761, 0.9989] state[eef_state]: left_x=0.3082 left_y=-0.0975 left_z=0.0236 left_yaw=-0.034 left_pitch=0.0782 left_roll=0.0744 left_gripper=0.9992 right_x=0.3044 right_y=0.0025 right_z=0.1301 right_yaw=0.0566 right_pitch=-0.1841 right_roll=-0.2249 right_gripper=0.9989 state[joint_eff]: [-0.759, -4.9983, 3.535, 2.0244, -0.3492, 0.0611, -0.022, -0.1709, -2.5368, 6.8991, 1.6532, 0.0171, -0.022, -0.0073] camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left jaws are low and flank the white plush in the wrist view. I’ll close them now and check the settled opening for a grasp."})
tool
executing move_to over 10 steps (1.0s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteThe gripper closed almost completely, so it missed the white plush; the wrist view shows the plush just ahead and slightly left of the jaws. I’ll reopen and advance about 3 cm with a small leftward correction.
move_to
left_gripper1.0000left_x0.3370left_y-0.0830left_z0.0260left_pitch0.1400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5972, 1.5745, 0.1783, 0.8001, -0.5396, -0.2665, 0.0172, 0.0746, 0.997, 0.6205, -0.3874, 0.1349, -0.1761, 0.9989] state[eef_state]: left_x=0.3062 left_y=-0.0942 left_z=0.0209 left_yaw=-0.024 left_pitch=0.0755 left_roll=0.0794 left_gripper=0.0172 right_x=0.3043 right_y=0.0025 right_z=0.13 right_yaw=0.0566 right_pitch=-0.1845 right_roll=-0.2249 right_gripper=0.9989 state[joint_eff]: [-0.1846, -5.2034, 4.6017, 1.4921, -0.0611, 0.0073, 0.7399, -0.1846, -2.3726, 6.8444, 1.5311, -0.0024, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.337,"left_y":-0.083,"left_z":0.026,"left_pitch":0.14},"note":"The gripper closed almost completely, so it missed the white plush; the wrist view shows the plush just ahead and slightly left of the jaws. I’ll reopen and advance about 3 cm with a small leftward correction."})
tool
executing move_to over 10 steps (1.0s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe second approach brings the plush body between the open jaws near the fingertips. I’ll close again and confirm whether the gripper stops on it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4828, 1.6997, 0.1993, 0.9611, -0.4721, -0.1867, 0.9955, 0.0746, 1.0008, 0.6167, -0.4099, 0.1349, -0.1764, 0.9989] state[eef_state]: left_x=0.328 left_y=-0.0772 left_z=0.017 left_yaw=-0.0049 left_pitch=0.1025 left_roll=0.0898 left_gripper=0.9955 right_x=0.2997 right_y=0.0022 right_z=0.1234 right_yaw=0.0567 right_pitch=-0.2147 right_roll=-0.2258 right_gripper=0.9989 state[joint_eff]: [0.3077, -4.3966, 5.0393, 1.8584, -0.1148, 0.149, -0.149, -0.0479, -2.8376, 7.1179, 1.746, 0.0073, -0.0366, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The second approach brings the plush body between the open jaws near the fingertips. I’ll close again and confirm whether the gripper stops on it."})
tool
executing move_to over 10 steps (1.0s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteThe gripper stopped slightly open, consistent with catching a small part of the plush, but that alone is not proof. I’ll lift it clear of the table and check the overhead view.
move_to
left_x0.3250left_z0.1300left_pitch0.1400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4835, 1.7027, 0.2012, 0.9646, -0.4759, -0.1909, 0.0888, 0.0746, 1.0008, 0.6167, -0.4294, 0.1349, -0.1761, 0.9989] state[eef_state]: left_x=0.3287 left_y=-0.0771 left_z=0.0175 left_yaw=-0.0001 left_pitch=0.1057 left_roll=0.0867 left_gripper=0.0888 right_x=0.2963 right_y=0.0019 right_z=0.1201 right_yaw=0.0564 right_pitch=-0.2341 right_roll=-0.2259 right_gripper=0.9989 state[joint_eff]: [0.0205, -5.3949, 3.0838, 1.6874, -0.1001, -0.1197, 1.2234, 0.0205, -2.5094, 6.8034, 1.6923, 0.0073, -0.0122, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.325,"left_z":0.13,"left_pitch":0.14},"note":"The gripper stopped slightly open, consistent with catching a small part of the plush, but that alone is not proof. I’ll lift it clear of the table and check the overhead view."})
tool
executing move_to over 8 steps (0.8s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteThe white plush stayed on the table, so the last close caught only an edge or the tabletop. I’ll reopen and approach farther forward, toward its visible body rather than its near edge.
move_to
left_gripper1.0000left_x0.3730left_y-0.0860left_z0.0750left_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4965, 1.1099, 0.3626, 0.247, -0.4911, -0.1947, 0.0906, 0.0746, 1.0035, 0.6167, -0.4404, 0.1349, -0.1761, 0.9989] state[eef_state]: left_x=0.324 left_y=-0.0767 left_z=0.1178 left_yaw=0.0036 left_pitch=0.1417 left_roll=0.0726 left_gripper=0.0906 right_x=0.2943 right_y=0.0018 right_z=0.1175 right_yaw=0.0563 right_pitch=-0.2478 right_roll=-0.2261 right_gripper=0.9989 state[joint_eff]: [-0.4034, -3.412, 8.9641, 1.8242, -0.2369, 0.0904, 0.1685, -0.2393, -2.359, 7.1316, 1.6239, 0.0317, -0.022, -0.0122] camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.373,"left_y":-0.086,"left_z":0.075,"left_pitch":0.2},"note":"The white plush stayed on the table, so the last close caught only an edge or the tabletop. I’ll reopen and approach farther forward, toward its visible body rather than its near edge."})
tool
executing move_to over 10 steps (1.0s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
right_cam
camera right_cam step 167
assistant
agent noteThe white plush and its small loop are now immediately below the left gripper’s wrist view, indicating the jaws are over its near end. I’ll lower carefully to table-level grasp height.
move_to
left_x0.3550left_y-0.0810left_z0.0050left_pitch0.2600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.445, 1.5585, 0.3508, 0.6918, -0.461, -0.157, 0.9954, 0.0746, 1.0065, 0.6163, -0.4557, 0.1349, -0.1764, 0.9989] state[eef_state]: left_x=0.359 left_y=-0.0802 left_z=0.0558 left_yaw=0.0087 left_pitch=0.1192 left_roll=0.101 left_gripper=0.9954 right_x=0.2915 right_y=0.0016 right_z=0.114 right_yaw=0.0565 right_pitch=-0.2666 right_roll=-0.2267 right_gripper=0.9989 state[joint_eff]: [0.6222, -5.1487, 7.0222, 2.1465, -0.0904, 0.1441, -0.0708, -0.1299, -2.5368, 6.8171, 1.6288, 0.0366, -0.0562, -0.0122] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.355,"left_y":-0.081,"left_z":0.005,"left_pitch":0.26},"note":"The white plush and its small loop are now immediately below the left gripper’s wrist view, indicating the jaws are over its near end. I’ll lower carefully to table-level grasp height."})
tool
executing move_to over 5 steps (0.5s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteAt table height the plush body is below the wrist image, meaning the gripper has advanced past its center; only its metal loop is visible ahead. I’ll back up about 2 cm and shift slightly left to put the jaws around the plush body.
move_to
left_x0.3350left_y-0.0680left_z0.0130left_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4755, 2.0571, 0.2672, 1.375, -0.5274, -0.1078, 0.9963, 0.0746, 1.008, 0.6159, -0.4664, 0.1349, -0.1761, 0.999] state[eef_state]: left_x=0.3559 left_y=-0.0793 left_z=0.0036 left_yaw=0.0137 left_pitch=0.2195 left_roll=0.1271 left_gripper=0.9963 right_x=0.2894 right_y=0.0014 right_z=0.1117 right_yaw=0.0562 right_pitch=-0.2791 right_roll=-0.2267 right_gripper=0.999 state[joint_eff]: [-0.0752, -5.4359, 1.1145, 0.8816, 0.2222, -0.1929, 0.0904, -0.1026, -2.5368, 6.7487, 1.6142, 0.0024, -0.0366, -0.0122] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.335,"left_y":-0.068,"left_z":0.013,"left_pitch":0.2},"note":"At table height the plush body is below the wrist image, meaning the gripper has advanced past its center; only its metal loop is visible ahead. I’ll back up about 2 cm and shift slightly left to put the jaws around the plush body."})
tool
executing move_to over 2 steps (0.2s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe white plush is now centered at the base of the left wrist view between the jaws, with the metal loop just beyond it. I’ll close around the soft body.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4751, 2.0029, 0.2104, 1.4269, -0.5243, -0.107, 0.9965, 0.0746, 1.0096, 0.6159, -0.477, 0.1349, -0.1764, 0.999] state[eef_state]: left_x=0.3477 left_y=-0.0754 left_z=0.02 left_yaw=0.0168 left_pitch=0.2623 left_roll=0.1029 left_gripper=0.9965 right_x=0.2874 right_y=0.0013 right_z=0.1096 right_yaw=0.0563 right_pitch=-0.2914 right_roll=-0.2272 right_gripper=0.999 state[joint_eff]: [0.6496, -5.5863, 2.4, 1.5849, -0.0171, -0.0708, 0.0024, -0.1983, -2.3043, 6.8444, 1.5653, 0.0024, -0.0757, -0.0171] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The white plush is now centered at the base of the left wrist view between the jaws, with the metal loop just beyond it. I’ll close around the soft body."})
tool
executing move_to over 10 steps (1.0s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteThe jaws stopped around 2 cm apart on the white plush. I’ll lift it high enough to see whether it leaves the tabletop before carrying it to the safe.
move_to
left_x0.3450left_z0.1700left_pitch0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4767, 1.9923, 0.2039, 1.43, -0.5289, -0.1081, 0.2058, 0.0746, 1.0111, 0.6159, -0.4961, 0.1349, -0.1764, 0.9989] state[eef_state]: left_x=0.3467 left_y=-0.0747 left_z=0.0229 left_yaw=0.0207 left_pitch=0.2695 left_roll=0.0997 left_gripper=0.2058 right_x=0.2838 right_y=0.001 right_z=0.1062 right_yaw=0.0562 right_pitch=-0.312 right_roll=-0.2276 right_gripper=0.9989 state[joint_eff]: [-0.1162, -5.3538, 2.4137, 1.7363, -0.1099, -0.0073, 0.779, -0.1026, -2.6325, 6.694, 1.6386, 0.0317, -0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.345,"left_z":0.17,"left_pitch":0.15},"note":"The jaws stopped around 2 cm apart on the white plush. I’ll lift it high enough to see whether it leaves the tabletop before carrying it to the safe."})
tool
executing move_to over 10 steps (1.0s)
step 194
top_cam
camera top_cam step 194
left_cam
camera left_cam step 194
right_cam
camera right_cam step 194
assistant
agent noteThe white plush rose with the left gripper, confirming the grasp. The safe has shifted beyond the left arm’s lateral limit, so I’ll carry the plush high to the center for a handoff to the right arm.
move_to
left_x0.3570left_y-0.3120left_z0.2300left_pitch0.1300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4641, 1.1248, 0.5232, 0.141, -0.5087, -0.1654, 0.2095, 0.0746, 1.0138, 0.6159, -0.5068, 0.1349, -0.1764, 0.9989] state[eef_state]: left_x=0.347 left_y=-0.0735 left_z=0.1614 left_yaw=0.0372 left_pitch=0.179 left_roll=0.0877 left_gripper=0.2095 right_x=0.2818 right_y=0.0008 right_z=0.1039 right_yaw=0.0561 right_pitch=-0.3253 right_roll=-0.2278 right_gripper=0.9989 state[joint_eff]: [0.2803, -4.3282, 9.2786, 1.8095, 0.0269, 0.0659, 0.3687, -0.0752, -2.7282, 6.8034, 1.5018, 0.0415, -0.0464, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.357,"left_y":-0.312,"left_z":0.23,"left_pitch":0.13},"note":"The white plush rose with the left gripper, confirming the grasp. The safe has shifted beyond the left arm’s lateral limit, so I’ll carry the plush high to the center for a handoff to the right arm."})
tool
executing move_to over 22 steps (2.2s)
step 216
top_cam
camera top_cam step 216
left_cam
camera left_cam step 216
right_cam
camera right_cam step 216
assistant
agent noteThe plush is held securely near the table’s center. Rather than bring the two grippers together, I’ll set it down at a reachable handoff point and let the right arm pick it up safely.
move_to
left_x0.3050left_y-0.2850left_z0.0210left_pitch0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.026, 1.8, 1.4822, -0.5335, -0.923, -0.6582, 0.2117, 0.0746, 1.0138, 0.6159, -0.5224, 0.1352, -0.1764, 0.9989] state[eef_state]: left_x=0.3557 left_y=-0.3082 left_z=0.2168 left_yaw=0.0227 left_pitch=0.1063 left_roll=0.0911 left_gripper=0.2117 right_x=0.2787 right_y=0.0005 right_z=0.1016 right_yaw=0.0557 right_pitch=-0.3409 right_roll=-0.2285 right_gripper=0.9989 state[joint_eff]: [-0.3761, -9.1829, 9.0051, 1.199, -0.7009, 0.0855, 0.2125, -0.0752, -2.4957, 6.653, 1.4823, 0.0415, -0.0611, -0.0073] camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.305,"left_y":-0.285,"left_z":0.021,"left_pitch":0.18},"note":"The plush is held securely near the table’s center. Rather than bring the two grippers together, I’ll set it down at a reachable handoff point and let the right arm pick it up safely."})
tool
executing move_to over 13 steps (1.3s)
step 229
top_cam
camera top_cam step 229
left_cam
camera left_cam step 229
right_cam
camera right_cam step 229
assistant
agent noteThe plush is at table height at the central handoff spot, away from the safe and the brown object. I’ll release it before withdrawing the left arm.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1286, 2.009, 0.8673, 0.2211, -1.0225, -0.7193, 0.2151, 0.0746, 1.0138, 0.6159, -0.5449, 0.1349, -0.1764, 0.9989] state[eef_state]: left_x=0.305 left_y=-0.2834 left_z=0.0243 left_yaw=0.0043 left_pitch=0.1467 left_roll=0.1337 left_gripper=0.2151 right_x=0.2743 right_y=0.0003 right_z=0.0983 right_yaw=0.0559 right_pitch=-0.3634 right_roll=-0.2286 right_gripper=0.9989 state[joint_eff]: [-0.5402, -8.0205, 3.8359, 1.2674, -0.5885, -0.105, 0.3394, -0.0889, -2.4547, 6.8308, 1.5214, 0.0122, -0.0659, -0.0073] camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The plush is at table height at the central handoff spot, away from the safe and the brown object. I’ll release it before withdrawing the left arm."})
tool
executing move_to over 8 steps (0.8s)
step 237
top_cam
camera top_cam step 237
left_cam
camera left_cam step 237
assistant
agent noteThe left jaws are open and the white plush remains at the handoff point. I’ll clear the left arm so the right arm can approach without a collision.
move_to
left_x0.2500left_y-0.0140left_z0.2000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1316, 2.0289, 0.857, 0.2226, -1.0256, -0.7227, 0.9953, 0.0746, 1.0138, 0.6159, -0.5617, 0.1349, -0.1764, 0.999] state[eef_state]: left_x=0.3021 left_y=-0.2794 left_z=0.015 left_yaw=0.0011 left_pitch=0.1371 left_roll=0.1578 left_gripper=0.9953 right_x=0.271 right_y=0.0 right_z=0.0959 right_yaw=0.0558 right_pitch=-0.3802 right_roll=-0.2289 right_gripper=0.999 state[joint_eff]: [0.1709, -10.7966, 5.1624, 1.1697, -0.3639, 0.0024, -0.105, -0.0752, -2.1128, 6.8034, 1.4432, 0.0464, -0.0806, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_y":-0.014,"left_z":0.2,"left_pitch":0},"note":"The left jaws are open and the white plush remains at the handoff point. I’ll clear the left arm so the right arm can approach without a collision."})
tool
executing move_to over 24 steps (2.4s)
step 261
assistant
agent noteThe white plush is unobstructed near image center, but the shifted safe lies directly between it and the right arm. I’ll route the right gripper high over the safe before descending onto the plush.
move_to
right_x0.3090right_y0.3460right_z0.2600right_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3481, 0.6388, 0.6231, -0.6254, -0.437, -0.1474, 0.9963, 0.0746, 1.0138, 0.6159, -0.5873, 0.1349, -0.1764, 0.9989] state[eef_state]: left_x=0.2509 left_y=-0.0077 left_z=0.1881 left_yaw=0.0778 left_pitch=-0.0003 left_roll=0.1507 left_gripper=0.9963 right_x=0.2658 right_y=-0.0004 right_z=0.0923 right_yaw=0.0556 right_pitch=-0.4058 right_roll=-0.2295 right_gripper=0.9989 state[joint_eff]: [-0.7316, -0.1573, 9.4154, 1.8339, 0.2076, 0.1685, 0.1001, -0.3624, -2.1675, 6.5983, 1.5311, 0.022, -0.0708, -0.0171] camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.309,"right_y":0.346,"right_z":0.26,"right_pitch":0.2},"note":"The white plush is unobstructed near image center, but the shifted safe lies directly between it and the right arm. I’ll route the right gripper high over the safe before descending onto the plush."})
tool
executing move_to over 29 steps (2.9s)
step 290
assistant
agent noteThe right gripper is above the white plush, which appears near the bottom of its wrist image. I’ll descend vertically beside the safe to surround the plush.
move_to
right_x0.3090right_y0.3560right_z0.0360right_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3466, 0.6441, 0.6262, -0.6525, -0.4236, -0.1471, 0.9965, 1.1725, 1.829, 1.6142, -0.7425, 1.0355, 0.5808, 0.999] state[eef_state]: left_x=0.248 left_y=-0.0085 left_z=0.1827 left_yaw=0.0686 left_pitch=-0.0305 left_roll=0.1556 left_gripper=0.9965 right_x=0.3042 right_y=0.3404 right_z=0.2428 right_yaw=0.097 right_pitch=0.1361 right_roll=-0.2787 right_gripper=0.999 state[joint_eff]: [-0.1983, -0.3077, 6.4889, 1.8437, -0.2906, -0.022, -0.0024, 0.253, -9.1009, 8.4718, 1.326, 0.7399, 0.188, -0.0073] camera 'top_cam' (step 290): [image omitted: streamed camera frame] camera 'left_cam' (step 290): [image omitted: streamed camera frame] camera 'right_cam' (step 290): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.309,"right_y":0.356,"right_z":0.036,"right_pitch":0.2},"note":"The right gripper is above the white plush, which appears near the bottom of its wrist image. I’ll descend vertically beside the safe to surround the plush."})
tool
executing move_to over 14 steps (1.4s)
step 304
assistant
agent noteAt grasp height the white plush is centered between the right fingertips in the wrist view. I’ll close around it and check whether the jaws stop on the fabric.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3466, 0.646, 0.6262, -0.6682, -0.4232, -0.1471, 0.9965, 1.1793, 2.146, 1.1645, 0.0383, 1.0641, 0.5381, 0.9989] state[eef_state]: left_x=0.246 left_y=-0.0079 left_z=0.1794 left_yaw=0.0685 left_pitch=-0.0467 left_roll=0.1624 left_gripper=0.9965 right_x=0.3078 right_y=0.3502 right_z=0.0372 right_yaw=0.11 right_pitch=0.1564 right_roll=-0.3163 right_gripper=0.9989 state[joint_eff]: [-0.1436, -0.0479, 6.8444, 1.7411, -0.1929, -0.0708, -0.0122, 0.5812, -9.9897, 5.0667, 1.4383, 0.6276, -0.0757, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 304): [image omitted: streamed camera frame] camera 'left_cam' (step 304): [image omitted: streamed camera frame] camera 'right_cam' (step 304): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"At grasp height the white plush is centered between the right fingertips in the wrist view. I’ll close around it and check whether the jaws stop on the fabric."})
tool
executing move_to over 10 steps (1.0s)
step 314
assistant
agent noteThe jaws stopped about a centimetre apart on the plush. I’ll lift it above the safe rim and confirm that the plush moves with the right arm.
move_to
right_x0.3040right_z0.2100right_pitch0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3462, 0.646, 0.6262, -0.6827, -0.4232, -0.1467, 0.9965, 1.1809, 2.1635, 1.1564, 0.0391, 1.0615, 0.5316, 0.1148] state[eef_state]: left_x=0.2439 left_y=-0.007 left_z=0.1769 left_yaw=0.069 left_pitch=-0.06 left_roll=0.1686 left_gripper=0.9965 right_x=0.3057 right_y=0.3476 right_z=0.0274 right_yaw=0.1197 right_pitch=0.1413 right_roll=-0.343 right_gripper=0.1148 state[joint_eff]: [-0.0479, 0.1026, 6.7077, 1.7167, -0.1636, -0.0317, -0.0073, -0.1709, -12.3282, 5.7368, 1.0769, 0.3785, 0.0171, 0.8962] camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.304,"right_z":0.21,"right_pitch":0.18},"note":"The jaws stopped about a centimetre apart on the plush. I’ll lift it above the safe rim and confirm that the plush moves with the right arm."})
tool
executing move_to over 12 steps (1.2s)
step 326
assistant
agent noteThe gripper is carrying a tuft of white fabric, and the safe’s open tray is on the right. I’ll move high over the tray’s front half before lowering to place the plush.
move_to
right_x0.2690right_y0.1040right_z0.2350right_pitch0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3466, 0.646, 0.6262, -0.6937, -0.4232, -0.1467, 0.9966, 1.1858, 1.8996, 1.4418, -0.5156, 1.0626, 0.5041, 0.1165] state[eef_state]: left_x=0.2424 left_y=-0.0066 left_z=0.1749 left_yaw=0.0689 left_pitch=-0.0701 left_roll=0.1731 left_gripper=0.9966 right_x=0.3047 right_y=0.3505 right_z=0.1785 right_yaw=0.1391 right_pitch=0.1342 right_roll=-0.373 right_gripper=0.1165 state[joint_eff]: [-0.1299, 0.2393, 6.7214, 1.6825, -0.1978, -0.0073, -0.0122, 0.3214, -13.0803, 8.3214, 1.2234, 0.696, 0.0024, 0.4176] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 326): [image omitted: streamed camera frame] camera 'left_cam' (step 326): [image omitted: streamed camera frame] camera 'right_cam' (step 326): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.269,"right_y":0.104,"right_z":0.235,"right_pitch":0.18},"note":"The gripper is carrying a tuft of white fabric, and the safe’s open tray is on the right. I’ll move high over the tray’s front half before lowering to place the plush."})
tool
executing move_to over 21 steps (2.1s)
step 347
assistant
agent noteThe white plush is clearly visible beneath the right gripper, above the safe’s red interior. I’ll lower it into the open tray, keeping the jaws closed until it reaches the bottom.
move_to
right_x0.2700right_y0.1150right_z0.0640right_pitch0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3466, 0.6468, 0.6262, -0.7048, -0.4232, -0.1471, 0.9966, 0.8291, 0.8757, 0.7101, -0.424, 0.8391, 0.0635, 0.1195] state[eef_state]: left_x=0.2408 left_y=-0.006 left_z=0.1728 left_yaw=0.0695 left_pitch=-0.0809 left_roll=0.1776 left_gripper=0.9966 right_x=0.2692 right_y=0.1046 right_z=0.2291 right_yaw=0.1176 right_pitch=0.1682 right_roll=-0.3743 right_gripper=0.1195 state[joint_eff]: [-0.0752, 0.2256, 6.735, 1.707, -0.2076, -0.0757, -0.0122, -0.1709, -1.4291, 7.0769, 1.9463, 0.2027, -0.0269, 0.3004] camera 'top_cam' (step 347): [image omitted: streamed camera frame] camera 'left_cam' (step 347): [image omitted: streamed camera frame] camera 'right_cam' (step 347): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.27,"right_y":0.115,"right_z":0.064,"right_pitch":0.18},"note":"The white plush is clearly visible beneath the right gripper, above the safe’s red interior. I’ll lower it into the open tray, keeping the jaws closed until it reaches the bottom."})
tool
executing move_to over 11 steps (1.1s)
step 358
assistant
agent noteAt the lowered pose, the plush hangs beyond the tray’s near-right edge rather than inside it. I’ll lift clear of the rim so I can realign above the center of the opening.
move_to
right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3466, 0.6468, 0.6262, -0.7204, -0.4225, -0.1471, 0.9966, 0.8646, 1.3083, 0.1844, 0.3954, 0.86, 0.0788, 0.1212] state[eef_state]: left_x=0.2385 left_y=-0.0053 left_z=0.1701 left_yaw=0.0695 left_pitch=-0.0954 left_roll=0.1834 left_gripper=0.9966 right_x=0.2613 right_y=0.1056 right_z=0.0487 right_yaw=0.141 right_pitch=0.0754 right_roll=-0.4623 right_gripper=0.1212 state[joint_eff]: [-0.0752, 0.0615, 6.6803, 1.6825, -0.1587, -0.0513, -0.0024, 0.4034, -4.5744, 5.2034, 2.0977, 0.5104, 0.1245, 0.1587] camera 'top_cam' (step 358): [image omitted: streamed camera frame] camera 'left_cam' (step 358): [image omitted: streamed camera frame] camera 'right_cam' (step 358): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.16},"note":"At the lowered pose, the plush hangs beyond the tray’s near-right edge rather than inside it. I’ll lift clear of the rim so I can realign above the center of the opening."})
tool
executing move_to over 8 steps (0.8s)
step 366
assistant
agent noteThe plush rose with the gripper again. I’ll shift it left and slightly forward so it hangs over the center of the tray instead of beyond the right edge.
move_to
right_x0.2970right_y0.1830right_z0.1650right_pitch0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3466, 0.6468, 0.6262, -0.7277, -0.4229, -0.1467, 0.9969, 0.8646, 0.9474, 0.4889, -0.2699, 0.8486, 0.078, 0.123] state[eef_state]: left_x=0.2375 left_y=-0.0049 left_z=0.1689 left_yaw=0.0698 left_pitch=-0.1019 left_roll=0.1869 left_gripper=0.9969 right_x=0.2614 right_y=0.1078 right_z=0.1475 right_yaw=0.1495 right_pitch=0.0702 right_roll=-0.4573 right_gripper=0.123 state[joint_eff]: [-0.0889, 0.1162, 6.6667, 1.5604, -0.1929, -0.0122, 0.022, -0.1299, -2.5094, 8.4308, 1.5458, 0.4225, -0.0513, 0.1832] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 366): [image omitted: streamed camera frame] camera 'left_cam' (step 366): [image omitted: streamed camera frame] camera 'right_cam' (step 366): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.297,"right_y":0.183,"right_z":0.165,"right_pitch":0.12},"note":"The plush rose with the gripper again. I’ll shift it left and slightly forward so it hangs over the center of the tray instead of beyond the right edge."})
tool
executing move_to over 7 steps (0.7s)
step 373
assistant
agent noteThe gripper and plush are now aligned above the open red tray. I’ll descend to set the plush down inside, then release only once it is low.
move_to
right_x0.2980right_y0.1930right_z0.0510right_pitch0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3462, 0.6468, 0.6262, -0.7422, -0.4225, -0.1471, 0.997, 0.9592, 1.3071, 0.6991, -0.2054, 0.9085, 0.1211, 0.1247] state[eef_state]: left_x=0.2353 left_y=-0.0041 left_z=0.1664 left_yaw=0.0708 left_pitch=-0.1153 left_roll=0.1923 left_gripper=0.997 right_x=0.2888 right_y=0.1754 right_z=0.1464 right_yaw=0.185 right_pitch=0.0469 right_roll=-0.5086 right_gripper=0.1247 state[joint_eff]: [0.0342, 0.2803, 7.0222, 1.6337, -0.1734, -0.0366, -0.0024, 0.2256, -4.9709, 8.2803, 1.4383, 0.6325, 0.1783, 0.1587] camera 'top_cam' (step 373): [image omitted: streamed camera frame] camera 'left_cam' (step 373): [image omitted: streamed camera frame] camera 'right_cam' (step 373): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.298,"right_y":0.193,"right_z":0.051,"right_pitch":0.12},"note":"The gripper and plush are now aligned above the open red tray. I’ll descend to set the plush down inside, then release only once it is low."})
tool
executing move_to over 7 steps (0.7s)
step 380
assistant
agent noteThe plush is still at the tray’s near-left edge rather than clearly inside. I’ll lift it slightly and move it forward-right toward the visible red floor before releasing it.
move_to
right_x0.3500right_y0.0600right_z0.1100right_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3462, 0.6468, 0.6262, -0.749, -0.4229, -0.1471, 0.9971, 0.981, 1.6791, 0.5068, 0.3298, 0.9386, 0.0933, 0.1263] state[eef_state]: left_x=0.2343 left_y=-0.0036 left_z=0.1653 left_yaw=0.0714 left_pitch=-0.1214 left_roll=0.1953 left_gripper=0.9971 right_x=0.2907 right_y=0.1846 right_z=0.0419 right_yaw=0.2011 right_pitch=0.034 right_roll=-0.5685 right_gripper=0.1263 state[joint_eff]: [-0.0615, 0.3077, 6.694, 1.5458, -0.1685, -0.0415, -0.0122, 0.2667, -6.5162, 4.4239, 1.5067, 0.5739, -0.0317, 0.149] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 380): [image omitted: streamed camera frame] camera 'left_cam' (step 380): [image omitted: streamed camera frame] camera 'right_cam' (step 380): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.06,"right_z":0.11,"right_pitch":0.2},"note":"The plush is still at the tray’s near-left edge rather than clearly inside. I’ll lift it slightly and move it forward-right toward the visible red floor before releasing it."})
tool
executing move_to over 11 steps (1.1s)
step 391
assistant
agent noteThe plush now appears over the safe’s open red base. I’ll lower a little more and open the jaws to leave it there.
move_to
right_z0.0350right_x0.3590right_y0.0590right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3462, 0.6468, 0.6262, -0.7498, -0.4232, -0.1471, 0.997, 0.4152, 1.3621, 0.2855, 0.6498, 0.5293, -0.3882, 0.1277] state[eef_state]: left_x=0.2342 left_y=-0.0035 left_z=0.1652 left_yaw=0.0717 left_pitch=-0.122 left_roll=0.1959 left_gripper=0.997 right_x=0.343 right_y=0.0577 right_z=0.0911 right_yaw=0.1706 right_pitch=0.1288 right_roll=-0.5738 right_gripper=0.1277 state[joint_eff]: [-0.0342, 0.3214, 6.7761, 1.5214, -0.2418, -0.0659, -0.0171, -0.1162, -5.0667, 5.2034, 2.3663, 0.105, 0.0269, 0.1343] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 391): [image omitted: streamed camera frame] camera 'left_cam' (step 391): [image omitted: streamed camera frame] camera 'right_cam' (step 391): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.035,"right_x":0.359,"right_y":0.059,"right_gripper":1},"note":"The plush now appears over the safe’s open red base. I’ll lower a little more and open the jaws to leave it there."})
tool
executing move_to over 9 steps (0.9s)
step 400
assistant
agent noteThe white plush has been released beside the safe’s red floor, though the arm still blocks a clear placement check. I’ll withdraw the right arm and bring the left gripper above the yellow object.
move_to
right_x0.2900right_y0.0000right_z0.2000right_pitch0.0000left_x0.4200left_y-0.3000left_z0.1100left_pitch0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3466, 0.6468, 0.6262, -0.757, -0.4229, -0.1471, 0.9971, 0.3988, 1.7699, 0.2657, 1.066, 0.4988, -0.4038, 0.9946] state[eef_state]: left_x=0.2331 left_y=-0.0033 left_z=0.164 left_yaw=0.0714 left_pitch=-0.1287 left_roll=0.1986 left_gripper=0.9971 right_x=0.3563 right_y=0.0623 right_z=0.035 right_yaw=0.1881 right_pitch=0.1101 right_roll=-0.5778 right_gripper=0.9946 state[joint_eff]: [-0.2803, 0.0889, 6.6393, 1.58, -0.2271, -0.0562, -0.0073, -0.9778, -4.6427, 3.6991, 1.4335, 0.1929, -0.0464, -0.1929] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 400): [image omitted: streamed camera frame] camera 'left_cam' (step 400): [image omitted: streamed camera frame] camera 'right_cam' (step 400): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0,"right_z":0.2,"right_pitch":0,"left_x":0.42,"left_y":-0.3,"left_z":0.11,"left_pitch":0.25},"note":"The white plush has been released beside the safe’s red floor, though the arm still blocks a clear placement check. I’ll withdraw the right arm and bring the left gripper above the yellow object."})
tool
executing move_to over 27 steps (2.7s)
step 427
assistant
agent noteThe yellow object is clearly ahead and to the right of the left gripper in its wrist view. I’ll move forward-right and lower around it for a table-level grasp.
move_to
left_x0.4530left_y-0.3670left_z0.0250left_pitch0.3600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9173, 2.0621, 1.2316, 0.1204, -0.9993, -0.4194, 0.9971, 0.1604, 0.7555, 0.5659, -0.3561, 0.2897, -0.5091, 0.9953] state[eef_state]: left_x=0.4125 left_y=-0.2884 left_z=0.0965 left_yaw=0.0692 left_pitch=0.2055 left_roll=0.2184 left_gripper=0.9971 right_x=0.2883 right_y=-0.0008 right_z=0.1817 right_yaw=0.1804 right_pitch=-0.0378 right_roll=-0.5791 right_gripper=0.9953 state[joint_eff]: [-0.6906, -10.7419, 7.9795, 1.6825, -0.4957, 0.2808, -0.0171, -0.3624, -1.4564, 9.9214, 1.9219, 0.0317, -0.0659, 0.0611] camera 'top_cam' (step 427): [image omitted: streamed camera frame] camera 'left_cam' (step 427): [image omitted: streamed camera frame] camera 'right_cam' (step 427): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.453,"left_y":-0.367,"left_z":0.025,"left_pitch":0.36},"note":"The yellow object is clearly ahead and to the right of the left gripper in its wrist view. I’ll move forward-right and lower around it for a table-level grasp."})
tool
executing move_to over 7 steps (0.7s)
step 434
assistant
agent noteThe yellow object is still just ahead and right of the open jaws at table height. I’ll make one short final approach, staying within the left arm’s lateral limit.
move_to
left_x0.4900left_y-0.3960left_z0.0220left_pitch0.4800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9554, 2.5072, 1.5463, 0.4171, -1.0996, -0.3107, 0.9971, 0.1577, 0.7589, 0.5663, -0.387, 0.2867, -0.5163, 0.9954] state[eef_state]: left_x=0.4495 left_y=-0.3569 left_z=0.0244 left_yaw=0.0823 left_pitch=0.3306 left_roll=0.2116 left_gripper=0.9971 right_x=0.2847 right_y=-0.0017 right_z=0.1746 right_yaw=0.1838 right_pitch=-0.0739 right_roll=-0.5825 right_gripper=0.9954 state[joint_eff]: [-0.6632, -12.3282, 6.3795, 1.0965, -0.3639, 0.4176, -0.0122, 0.0068, -1.2786, 7.0906, 1.9853, 0.0464, 0.022, -0.0073] camera 'top_cam' (step 434): [image omitted: streamed camera frame] camera 'left_cam' (step 434): [image omitted: streamed camera frame] camera 'right_cam' (step 434): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.396,"left_z":0.022,"left_pitch":0.48},"note":"The yellow object is still just ahead and right of the open jaws at table height. I’ll make one short final approach, staying within the left arm’s lateral limit."})
tool
executing move_to over 5 steps (0.5s)
step 439
assistant
agent noteThe yellow object is now centered between the left fingertips in the wrist image. I’ll close the jaws and see whether they hold it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9466, 2.7335, 1.8423, 0.6468, -1.1534, -0.1272, 0.9971, 0.1577, 0.7628, 0.5663, -0.4076, 0.2867, -0.5171, 0.9953] state[eef_state]: left_x=0.485 left_y=-0.391 left_z=0.0299 left_yaw=0.1409 left_pitch=0.4773 left_roll=0.1342 left_gripper=0.9971 right_x=0.2822 right_y=-0.0021 right_z=0.1695 right_yaw=0.1842 right_pitch=-0.0985 right_roll=-0.5824 right_gripper=0.9953 state[joint_eff]: [0.1573, -13.135, 6.5436, 1.0427, 0.0171, 0.4567, -0.0122, -0.0615, -1.2786, 7.1179, 1.9512, 0.0317, -0.0659, -0.0171] camera 'top_cam' (step 439): [image omitted: streamed camera frame] camera 'left_cam' (step 439): [image omitted: streamed camera frame] camera 'right_cam' (step 439): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The yellow object is now centered between the left fingertips in the wrist image. I’ll close the jaws and see whether they hold it."})
tool
executing move_to over 10 steps (1.0s)
step 449
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9466, 2.7605, 1.8618, 0.693, -1.1534, -0.0399, 0.0099, 0.1577, 0.7631, 0.5663, -0.4328, 0.2867, -0.5171, 0.9954] state[eef_state]: left_x=0.4866 left_y=-0.3933 left_z=0.0271 left_yaw=0.1053 left_pitch=0.4877 left_roll=0.1939 left_gripper=0.0099 right_x=0.2788 right_y=-0.0026 right_z=0.1645 right_yaw=0.1843 right_pitch=-0.124 right_roll=-0.5818 right_gripper=0.9954 state[joint_eff]: [0.1709, -13.6, 7.4188, 1.4042, 0.0366, 0.0757, 0.8132, -0.0889, -1.0051, 7.1043, 1.8974, 0.0611, -0.0415, -0.0073] camera 'top_cam' (step 449): [image omitted: streamed camera frame] camera 'left_cam' (step 449): [image omitted: streamed camera frame] camera 'right_cam' (step 449): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 4.805 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Place all the objects into the safe, then close the safe.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6037, -0.392, -0.0193, -0.0341, 0.9993, -0.0212, 0.7944, 0.6079, -0.4026, -0.0196, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.293 left_y=0.0013 left_z=0.1778 left_yaw=0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2922 right_y=0.0009 right_z=0.177 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -1.388, 10.2769, 1.9756, -0.0855, 0.1783, -0.0904, -0.335, -1.5385, 9.6479, 2.0928, -0.0317, 0.0073, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3e867b1559caf6e28246cc9af86107e59894aae4224813433b9e821c40f1d29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99fcd30fa4dbea87df265ce2f3705001fbe86ced7631e808f79c7fdf8a185feb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f7118d30151b09abbe02d1b3ddbcfa88708b4b587505c4439637c8099239364",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 3.806 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtDDi9QQQIEVKbqFIODZFfZ0bd4bu_98eR8sh3fCk8zaYR2R2OBM-4t-Nx2MNlsemBl9xCaPB9HynDZbfBjw7bgunDOj_QX8bwBKb-JGtUadaJ6EdJroGplkCerXYlfKTkqjJR43rBmrYl6CaH7uZMUvrq9F6t3JyXSrwp30OwkoldSsSSCj-vnfN13eZ121voR01A7PY39OTMamJJOsNILjpSt4WkUeKWgMeFvOscrIHZrjQIZ-8TSMpIbA9NQ7W1z_7lvqnwOktx-U2q7ZJ6qKczhhVMAVaGILnJzIII7n3nsIyvhhwDMVhLlw6hni8LIPHChxu8Aa0NZmVPhP1M7L8ZSLUdBjT_IYLCnUe7dkoKb4jtFLC1lBfygQlN99Qb1zeOKcv7UOBLYpSfh12rwQtt-1dx_aiKVKiZ_lPDvz6Yngqb4OZkLTQWG9oI7XUpWEzNdmR_itegrIpUofxLMD3g48rQBImU_f4I6HrN6wzI6Wcg3jBUyE3OBbyLDEtAXXyWomGjK4CGp0LJXG632FhoUd8NDLNwX_fFZLmdg7lRsGXY640lsIJKasPuZdscKKRvoETFq2K97mp7Ph7tSyhTPem9h3m-m1qbuRDAbPq4XhSbz5kNEdhrWn7ZBPq3r-5EbZOE54PDWyEnC8dTMMWIjYE_7RkDD3Ly0Z-AbXA8dzGbmWVMDJwbO17p8isjp73hGE4J-7Xm292flqtSP051kNMUiJIf41afcDTeRQ4Vm-g9tlQz778YuHoAzwiTFp9OAmqBprFFIwgeDMQCw46wQ-0dlQPl7eZLOex5c_MRE2pleM2K5Bf1qqomOg50F7lpofd9OdSwiM_QeFu-Ylx-TS6dIgV2kXlHxMdkTO1yqpT9gAX_SN80lsIvcL54IhYNEu0wsOgZ6YKo4d3MIa-BxAgf9g9WeWTKXxMS_Mnmzsh8J5usndE2nJbLH_6mYJrd_3qslZ2EATaaI7OUtoQsBHc_wQ9UPkScm6uIADHBkDq2Qtap4lZS3H_iytemBiB_rggrk3UFxQL5ykbmCt0YzrHcIo1b09KlXCW9FpGKJt6ShRxgZepHikNBnR0kuv7LZAzfFd8U9ZIvB-lSF9PElAh-UjIy47IFpWU2_AWg3WosAc7zBhROPXgP6K38g8crV0eyuXRoA-JSuYgZzN0cizOfXyP7g8FPsKP1Ds01V-b8Fq7ZTSm04wUgVOPNomzR44Jhgd8BO7Z6ob4nUdnalsdXFug4xwPsnegHU9q4N0PBaGSQzeWGarShc2vDlj8C_GWfBQ-NlSgmWpKZt0TnA5LdQfESJ28z7uMd3Hl1e1I9NX2vTnxj2GbKedZRjQkE3ZELfz9Dp1hy94kXK-zXKe_vkXQTWt8y8apo6jg5BVSxl3_Wg_fuRSQwU49dENLa_swn6JFzZ6vzR5l19fcTJM5zV6iVPI6r4H3JZtcoMlESy6VTXOyzcdR9nxx6hhVS972JKFWDN4NeRpcRiwGhYxdX8uJwvkYU1ggpILZnPlD6JhKFqLX77xJnWsLjl0LJLFUtBi4yyRpC_8BMX1Ezx5-mb7WSegQbT4afynvVdOIfUiPVU-i7aij0rEj-5N42S1Pfj69wh1oOujq1Dsadl3BTPP2zcc4FVsCd5O9vExBDWLExWlurVmJy4t0QuN7echWJ2Pe96zciXAmb9Vo7wXIQ4rw5q8lK8uaIZErTfiLyf8oxBVlcdIvdvGFuIugxXdG7lEyrPzinN16DOEBL7HG4U_HyPKjqQ0P5o9rTE2qwCkagEfPDrP6X7rBF3fkvmPNjr6yIsIE6_K3YEykEb_M41-S3KE0iI6LCk7r5vnlGOrHV-QGoaDFuGEiFw8QKiUBbUXs4OKkhoNU4aIa6TLpIS-AraRqyDNLflTBznbSOHNmKvoLlFLkeRwe0QFSBzHVFXjD6yKbs_mh3-Mnb-gQJQR5tCNYfDkVKrwZdVnwOnocLuOOosEi8FaCG2N-oWbSLml511FmHDj9gnOZUYUGHx3kYjblkAaR0osqcmqBmARwUarZ731jhStUNe3IoEBQ08uinNuxyqWuPXzUf30HIecv84CjxLDX5STeeLKMXH8MZzWpUCrioVESFzyrPsgDdpIm94H8irKtMuj4_TjytmL9KgyXV6-gjHOhSzV6tcU9rK3PNByIxOT6d3DDcRQ66DcpEC1_YQa8bxbNiusRLwmbWZVUDaSMxIbTfnxhBFT_RbQs6G3-racmN1rxkB14bhcdoy5NJBU1FSMwCq4QnTkGAY6SFX_c2h1X89ZJuERWNLJCby2NtcIrnEbjPayiT2FBW7VEWMb6mLNY4T27QkD41XBl0Zzds-Dlc1jfGhqSOEIXYQKYZjyhUslPRFk4aowQ29eAW8CB5oBnH7bSO9bncxK7693FCGUFHMs_CevlfCn6mioyATrMxwesN6SYP-a_cMR93eoFhD0I7Ik8hgQOhyEENp00M3jFi66Lc1LyrkXAZudp0u7lB54TbjBLuYxrqE1KRbNBwfqGRA7spGyVK9QC9E9Vgsqixq-wFVhZvLkSVPmZXQ3seiVTst0q0lM1EJ_WYmmM4ppkfJjrnyenFvrPLcnbHGpVD9OTPhTygfBboGyLo_ncYboK9WDC4r9UGq1m-RQagn8IDh4HMiP9oU0DdMkIMMJ_G0EtLVA_5FhCIBPwLyIFoUUlBOfJIfhSdIJ2X9uKJzyqPIbLPbsanRKALHB1gT5VtrESo21Bv0eyXlSefHq_c3pxDicfH0wEBIw8g02OlWAVLACvg3fsEaSJT41U2oh2Nrg=",
  "id": "rs_0f8f606677433d67016ab430de3b5087d0855e22c99861c7e7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.25,\"right_z\":0.15},\"note\":\"The safe is open near the center-left, with a yellow object to its right and two soft objects below it. I’ll position the right gripper above the yellow object first.\"}",
  "call_id": "call_GHJDzkwVPARJQy73yE89U7Yj",
  "id": "fc_0f8f606677433d67016ab430e1587487d09df7c3de900ea96e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GHJDzkwVPARJQy73yE89U7Yj",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4065, -0.0193, -0.0383, 0.9992, 0.7162, 1.7813, 1.2186, -0.205, 0.5503, 0.4252, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.1749 left_yaw=0.0029 left_pitch=-0.0164 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4153 right_y=0.2437 right_z=0.1371 right_yaw=0.0313 right_pitch=-0.0448 right_roll=-0.035 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.5111, 6.9265, 1.8193, -0.0806, -0.0317, -0.022, 0.294, -8.9641, 8.4034, 1.6435, 0.4811, 0.2027, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8397d7ba7380bae196d79825ea2dff3cd3ced26b59cf131b83e6ff7b031a07c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed8e8ca4b00f4f8cefe76a661a156ec7dfe6a3e9b0a60fc716a5901e40dc6247",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fbe919f7c507d87d9906ab8fd06a1405ca904ef545f6cd287e23b2818bac75f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 2.394 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6037, -0.392, -0.0193, -0.0341, 0.9993, -0.0212, 0.7944, 0.6079, -0.4026, -0.0196, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.293 left_y=0.0013 left_z=0.1778 left_yaw=0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2922 right_y=0.0009 right_z=0.177 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -1.388, 10.2769, 1.9756, -0.0855, 0.1783, -0.0904, -0.335, -1.5385, 9.6479, 2.0928, -0.0317, 0.0073, -0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4065, -0.0193, -0.0383, 0.9992, 0.7162, 1.7813, 1.2186, -0.205, 0.5503, 0.4252, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.1749 left_yaw=0.0029 left_pitch=-0.0164 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4153 right_y=0.2437 right_z=0.1371 right_yaw=0.0313 right_pitch=-0.0448 right_roll=-0.035 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.5111, 6.9265, 1.8193, -0.0806, -0.0317, -0.022, 0.294, -8.9641, 8.4034, 1.6435, 0.4811, 0.2027, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8397d7ba7380bae196d79825ea2dff3cd3ced26b59cf131b83e6ff7b031a07c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed8e8ca4b00f4f8cefe76a661a156ec7dfe6a3e9b0a60fc716a5901e40dc6247",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fbe919f7c507d87d9906ab8fd06a1405ca904ef545f6cd287e23b2818bac75f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDDnvMPr1CFEf9tlIYHOSl4oVe-Wb7nWzzvjRCM49vbqmJgJlWXluSG6UeTfOEMW_vu_pj4wayfnt67RAVrzpJYGSR0hgCEFVlTrp2jCGVfD95Q67FwuHeMqg9Dr6qFZJAkzp2WNmn2mX4-StwwTzIsAoeebJbT8RDKGGHAbIaY3APh1dvLWRnjrMewJUMf03hx6XxjOJA3v4FgUkN2CTbtQrI4nQBMuXt0jsmsyIyvgQPuRJL2EGEr4JNMq9FUnlLo9rg_Fy7O5f1gFsr0kwIRQWc8GNkxNnJW6ivW4xUndKcCHsKrn8vebCcpu3CGglJfojslv_iJDQ-8xLeSeARoDI9iAOIcIxE_BBJYAs8P9BfhUq_JMzTvyBBYSuZEjFdHV-IHDtwhMethUnx15tEzYaRnOjZd2pYwBGnCWkbph0n2DSN0Sx6O5HLXqBtTwRjCDcQPwMfCTUz5o05bwQpKqp-HvXn-Ss3yX2Y254nITOtlpC0yBYgM6S76jMXNEUSWEeGgMncdVoaQf2FT5CeOofGQVdd-R98WnZsEiwN4bL4Uz6w0HxPFNV9W5Y4OCCWxR_ZUv8BQTXuY-pdInVB6s0CB2yiSXuGUXFmz7yj4SUXqINdNQtGHRSbQfWOilIgN6Afsk2SU7V_R8YRHK7iryhGBEI-1aFutH_Wpl-e0OAK6nJaEMWwt6VFxK6P57s60xHZcBN8suU5-tXD3uN3vNng5sKO5oqrL8Ni_sMo-UAaVyNTTCZ0x7kgVR_mu4agPliiCRln7g49AlhBTWPxwOKvrfi7T6tQF7xJU5M2uEYSFg_ZeyMrBKyveR5Nk1d-5cutxn5ncBbRNCylhXzsSZeonhNIR5DOK3miY2FrWdFmDYu0rOlbjRxxcympogLOyDRCqVxNe0fqdQlQhfAqRzUu_VsbffVDJ9LFrvQZ8bLYx89r_-LGxEqbtjDeRjVpPduKcnkMsKgkYDWZ_DjLqGub4BnCKLvpK0tttIrrfb6ZCldZBtUZq_cFLs3Z6I5G9_X8PUB8Pa2GWt1KwQoyDMvjhfNpzmB7f_a8dGUjeH1Bppj7FnKoj6tcVk0B6wS9egSOXCVcuRX8vK_GHzoL0MMWavNlcgPHEviEejmLmq_8AymkNK4sVu3adz35yu-1Z0eqssyws6HEkV9KpNk5XIWn0w9mG3vc4bvEYUzuInEDUkM1-40JEe4gj8kxLgtRkFaelQ6j3_HYAVyokV3RBe29hqxo_p4FnkF5HYWqDfTGz3Xz-xRKzHIyuqyCb1QdopWdGVeSrGIhxwj-7ZkvBNJZb8CERdGkfm7nLUjdQnL3LgzH7FaA8AudQt4SRpSUBoVTbtLu1pyG5EGdiPetRa_sLGT6zQRd2N2g7birER20-z6UWI8fY3NupogUTAyPEabW9PtrvMsgmeBXdJp9IiZlvZ8jpNjjC0lhZCNZlX_APmqfEeWCZaSOxUZjOkVVWI3Jli1xft3zW9mIyEB9Vzo2_6KzHFrTVPDm4TX_BGbkBr4Mj3WxDKw5_k8In3b0-j_VQh_G8wDAkBgdeXZbUgqhTXmiXZwVPf1brmKG9DcFen7XPv6x3mS5ZWZpf7ilrF1Xq3dSt_jtsc8oMyTVZcKShZ27Jlg_-Zxc8Qed2EumQ8MnAcpjCpm3b66DQFkk0rdFX678gFbdYA_trrUhe93JiuR1aHw_-yup2-T-ETWzKS8BrkhKSAog49-ZQgen7QzrMnuwGRBvhCNV-8J2YBSAjZ6mmDMEHNSA4DfX55hbjbzmWPjDoi0pxp5GWbYWsl_tUlAjQaBX81RukgkjBiXWK5GhQC46IBiv473PMtgHxuB-Kl2JCSa9MH0MwfN-v2bREyJV_o_9J_85ucpz5uKCeo9iyDdunZ6uRzhqzFTg6KAVO8fUQNme5LOzvg-O4ACrpXFf3dTPb676L_cJcRgUwq7L_QK9wjmY3F3K45zDh0g7mECF-ffM3Eyv8Of42V_-owbRp6q817lRdjPIEXkH0xP8U1NSHX7R8ODx0iGCQ=",
  "id": "rs_0f8f606677433d67016ab430e56b9887d0b1a386f6af60c7f8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.451,\"right_y\":0.222,\"right_z\":0.105},\"note\":\"The yellow object appears just to the right of the right gripper’s jaw column and still ahead of the fingertips. I’ll advance and shift slightly right while lowering toward its middle.\"}",
  "call_id": "call_anx5NIio7USTGT5adVRt87VC",
  "id": "fc_0f8f606677433d67016ab430e7227887d0a10f8e530032e5cd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_anx5NIio7USTGT5adVRt87VC",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6064, -0.4088, -0.0189, -0.0383, 0.9992, 0.6323, 1.8484, 1.1999, -0.1226, 0.4965, 0.3733, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0014 left_z=0.1742 left_yaw=0.0026 left_pitch=-0.0194 left_roll=-0.0036 left_gripper=0.9992 right_x=0.4393 right_y=0.222 right_z=0.1088 right_yaw=0.0165 right_pitch=-0.0712 right_roll=-0.0488 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.2513, 7.2821, 1.7216, -0.0806, -0.0708, -0.0122, -0.0889, -8.9778, 6.4205, 1.8681, 0.1734, 0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7e3688b3aa202cbe937f94667be8324983eae7925f1a908790ce6a9c2144673",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b2c1f1904c843cb150c1dda6dbba57dcf5d8c4ab5094b07b118af11619ebfae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40a90a1300280f1b0c7da7878766c40c41d382c8d04c2d55f5e87dc105ac24c0",
      "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 · 3.127 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4065, -0.0193, -0.0383, 0.9992, 0.7162, 1.7813, 1.2186, -0.205, 0.5503, 0.4252, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.1749 left_yaw=0.0029 left_pitch=-0.0164 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4153 right_y=0.2437 right_z=0.1371 right_yaw=0.0313 right_pitch=-0.0448 right_roll=-0.035 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.5111, 6.9265, 1.8193, -0.0806, -0.0317, -0.022, 0.294, -8.9641, 8.4034, 1.6435, 0.4811, 0.2027, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6064, -0.4088, -0.0189, -0.0383, 0.9992, 0.6323, 1.8484, 1.1999, -0.1226, 0.4965, 0.3733, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0014 left_z=0.1742 left_yaw=0.0026 left_pitch=-0.0194 left_roll=-0.0036 left_gripper=0.9992 right_x=0.4393 right_y=0.222 right_z=0.1088 right_yaw=0.0165 right_pitch=-0.0712 right_roll=-0.0488 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.2513, 7.2821, 1.7216, -0.0806, -0.0708, -0.0122, -0.0889, -8.9778, 6.4205, 1.8681, 0.1734, 0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7e3688b3aa202cbe937f94667be8324983eae7925f1a908790ce6a9c2144673",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b2c1f1904c843cb150c1dda6dbba57dcf5d8c4ab5094b07b118af11619ebfae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40a90a1300280f1b0c7da7878766c40c41d382c8d04c2d55f5e87dc105ac24c0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDDqmZdwyvn9OCJLccgcyDE2SYTJF-t9KJgonY0x7xhi-u_tix1et-31y_cGJu7lSCWwsQQePDIpWNlgcZPnduy1iMN8mOg9hkikkiZHA6Sls_nXxuuRA5tGOZhmVs0ZOqxSAXaA2DHtubXW62or5O_AmmqaI75T9PU4Wkos1OZtZnzeZPCdtniQhiKWUE5JZz_N4oj5cKDn93qsFbF52pIaGgKb9JEaAkYNFic-cDTBdd39QEP5HzQNhvq98qWKHWDZfca7h1QScEdcesNRCUOOI_RUkShsGCEiwZFJPJvXZ6Vvx8O1-4iG9QC1LJuxQxWVcJ2NBL5w-wYPwWDHS8AvJGkcU0b1hcCmKEvvINNjB6ruaCmknpnWFZN0LPuBvcwHT7b8H6zsZM3936Qwe0PR6WMyuXBlMMK0wuOleL1DbgLjyKS2KNlyaewXbD_3l-cvtSAVsgHl_vFO9LEFVT7TTiqsDZqwK0Mg7RoK-qScx-XWYJD8-kTZBetmRnM_QsTMHvQnwluRxzrO3Q64dRmqMz84P2met8mie_A0vfqu3C1STJL49D-LDA5zQTyTmiCWHCtXO70LvY6JKqkY6oVdzQeAb97r_eiKeQHOzfGNrSZnO2wL7rvEv0FwZDbgmnOdSe1nysf-2OMQoCYXnHbvMB8lF6-6nxdGgEu3rx51VCYDEj1or1zthypWrxoVhL8g6lM5RDIMaFGQv3SAEYzhh3Z03WQB-sSaDgMNNYZJPTddaJXbllDvKcncNfYmSWESm7jdXhIo-RFMLHao0Fx3FXP2urHyPTRzmIKs_UOuxXbxpS9YrBB0TE4LE-tCSWYIHNSfyOdfcddwnC0E_xRq0jVcAdJvshYeBF0SkEzv2wxzOImm-YHYs5Mcje-GI9fb-qqcpwre-p1TfrpjNDjbB-QtE0IpDreIo4V-nLim3SCTpd6DaHVZMtxDPJy_NjM2woTUPfdceJ_VYjfKDQFDL4uNKejiRUxZrEm8CPLz8Ph8GMdy5rBUGx52TiiXMOOy8fv-z1SBdd-maOAvJusZn7m5R9qfF77UQE8UFXHnoZJ4hpXjt6P_sUX9qhZXk-gXXnmQR3DgwprgObkGLmWrABjDPrLSzLqJqiXQl_9W_7jT7zSAi8yaz5YWZcM2ThzNTrSFOATMRO13gwKOjPn_di5Ou7NHjq4FO3j8QvYLkLTiYwFgEz9VYc_2wmjRATxa6tDfYvWTe6SjxpApGb9LQFMQ1QQYta8ZyGdgX3rl2Y-lXBOve3S8YM2_YU315lbjyp9PPHFOcSWEzg0_xJmuFxRly_Bdya1AReSct-6bBLHH1hhzDGExwU6_cD77GYPIi-PZfpj9Ni6Hy-8l2m-azwtBz2GNgS9z15VqYh4mrrlgmA9ERkvL336c5vBvBB4aOB8CTiqg-k1TcujcD3f5gUPYl939fbwxRHlUW5bFjsV46Oha1kyo8kwxweF804bh5S4R_a-VYG7ySTCge-lz60_p4jyptlU7t0MaSjOmw4GSr1vhPY4v1eHucu2Y7rHaGu6gbjdd2gcZPQYpyPfX97tvSV2iETtbazfh_2VwqDxMAhEfO3E7puItQxja36P5f1j0iFhPYJW-LNiVSFrA0Q==",
  "id": "rs_0f8f606677433d67016ab430e8f7b887d097676a6bc3a1f68f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.459,\"right_y\":0.209,\"right_z\":0.035},\"note\":\"The yellow object is now nearer the jaw column in the wrist view. I’ll lower the open gripper to grasping height and make a small final alignment adjustment.\"}",
  "call_id": "call_UpZpk8srFCPR1C4ETAX2Ln5P",
  "id": "fc_0f8f606677433d67016ab430e9df2087d094c397ab66d8611a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UpZpk8srFCPR1C4ETAX2Ln5P",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6064, -0.4095, -0.0189, -0.0383, 0.9992, 0.6167, 1.8835, 1.1748, -0.0753, 0.4744, 0.3485, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0014 left_z=0.174 left_yaw=0.0026 left_pitch=-0.0202 left_roll=-0.0036 left_gripper=0.9992 right_x=0.4421 right_y=0.2189 right_z=0.0889 right_yaw=0.0309 right_pitch=-0.0914 right_roll=-0.0628 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.2786, 7.0906, 1.7411, -0.0562, -0.0415, -0.0073, 0.1846, -10.2906, 6.1744, 1.619, 0.2857, 0.1001, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ad3b381d5bccc08eb59f4540a1adab77750d5ef5c0432aaf48260b585e13d35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19e0baa5beb532dcd344dd34d90749a0af60bff217d0348f206d0aa4ef3b4bf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd06d220359e56653be591105fc63933f3ead37356bd99751ccb402baf7c3197",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 2.791 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6037, -0.392, -0.0193, -0.0341, 0.9993, -0.0212, 0.7944, 0.6079, -0.4026, -0.0196, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.293 left_y=0.0013 left_z=0.1778 left_yaw=0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2922 right_y=0.0009 right_z=0.177 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -1.388, 10.2769, 1.9756, -0.0855, 0.1783, -0.0904, -0.335, -1.5385, 9.6479, 2.0928, -0.0317, 0.0073, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6064, -0.4088, -0.0189, -0.0383, 0.9992, 0.6323, 1.8484, 1.1999, -0.1226, 0.4965, 0.3733, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0014 left_z=0.1742 left_yaw=0.0026 left_pitch=-0.0194 left_roll=-0.0036 left_gripper=0.9992 right_x=0.4393 right_y=0.222 right_z=0.1088 right_yaw=0.0165 right_pitch=-0.0712 right_roll=-0.0488 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.2513, 7.2821, 1.7216, -0.0806, -0.0708, -0.0122, -0.0889, -8.9778, 6.4205, 1.8681, 0.1734, 0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6064, -0.4095, -0.0189, -0.0383, 0.9992, 0.6167, 1.8835, 1.1748, -0.0753, 0.4744, 0.3485, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0014 left_z=0.174 left_yaw=0.0026 left_pitch=-0.0202 left_roll=-0.0036 left_gripper=0.9992 right_x=0.4421 right_y=0.2189 right_z=0.0889 right_yaw=0.0309 right_pitch=-0.0914 right_roll=-0.0628 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.2786, 7.0906, 1.7411, -0.0562, -0.0415, -0.0073, 0.1846, -10.2906, 6.1744, 1.619, 0.2857, 0.1001, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ad3b381d5bccc08eb59f4540a1adab77750d5ef5c0432aaf48260b585e13d35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19e0baa5beb532dcd344dd34d90749a0af60bff217d0348f206d0aa4ef3b4bf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd06d220359e56653be591105fc63933f3ead37356bd99751ccb402baf7c3197",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDDujS_BLW2IIDhpOFPPDvqU0-xmJnJoQqVw3tbcraSGipxhc8UpR0bWNnUfb8Alc8DfUnqwDFMVXdWHooywuUnXJRHZHJvA1VcggAkM2LaM51SSz0RNL47tIIyQ_ATuwxFOIFgoAkkzvBsPzivlc9Bc6No7CjENCawn8iiX4G4j2EYHFXpRs3yxzAMK8ut3Nzm8Z94KoJMIKBYCSi7rCbACQG1a48xN-hBb54T38UozhZW-1f1faTDN4yUNYA1BdDikhHz4ejMiF-ezm24MTsPBbylqfktpZe5EmDttXEWVIjcEz9pJV596hqg972qXK66X9Ygsxke68n1Wt8Q6VrqFUe8WJULtqcIQGqeUY6RyM-ywa8QUPCzVkebB9kTFxcsEBwLudfLYu_lLbqHf2vpTeFSGMFq1NLQGhn0M-gaPvyPAFFnrsreRSYyf_4aqEvQAzBVqbHgpikcYYQjrLgFzowQDDwlKZWqbsTjwtH8wFnmi2L48J74hwy2DYl1WDZfCywP2LHwwcoRQa2SRgGYC8WpxQqZYjUVZFiT5_QWv2GODg_-zXZXB40Ivli_dNbF6zGZAgoN3Xa8N-iDjR5lUo3cIOXzbzf8klBxG95Roinlq_CHtQGKfJzPNSqDbPxsKWkwe9arVmHZGEYJainNBo-ItodTf7hH4DOQvUdIyAZGJ-UoD3E3hwDS14kOVSwlDBWP47tsBXFlVOQNrHOTdkdpmnTloH5SoGPla_WDDTk62d6tpV0a8QmJbEOd2hqqrfcSNsPV8FBzLSWWD3lHp_OpB6hb4nPXDNQGSmVYoLIYoJWfKp15m8UxtS8ukDtlrDSoqxbf9lqKF5S9hU-mYU137o3SJBPisgipNdkLqg1V466eyWk8ZTcsYZHVU_Re_a3SmaL9KRplCGCTUxhm_882FQLyiNTmeE9ByFzg-5n-H0xeveYRFuJZsPLAOLmYqPXf8js83flYb0Xe8tPasGiSZ6eGpCQd5MQCBAWsgjbS4u73J0jzhpUD_hT7Ah2MrJs56W3PDtPdzPKvPleSjAO2Ddvrff4Q4-rZm_UeXy3UePmuzo4wq1ISDhy80tP9VG8GUyRIuGgKBVeNkrehRDU9_623-2ackC50jYXfZ_cXbIcgNjSqxDGGGI1NVSpD2DVzMJJzpoL4TFWT6ErkQey8ofx8ntzufFmxeLlGQigg0OZ2eL7cVgx1fu3-TzX919YRYyZ7Pf0bJSVQ4phiNt3DughTEa8O7QPFyG3Py4ZBJWn6aEdXOOmS6An5FoumH2DpU-aISsaSUh7BFyo6eN_Spcue6-iinSndJgxsq6_rb8HIrGijJ52OT36wMC7pXKPS1wHBJoLk2qrmOak1WkXLljH8NiiQDcgY_sPcViQaNhr-ZJK313UwZJXue384NtSmu4WNTeWyTb1S3SjZbbszwAp3_pCOPBQjhtgxlst9DWouzKpA8Kf9hzQmkpFqL6-kntoZtPVy_qwxPyoAiey0x3dpLk937Ii03TUiegYCw7DghFPB21uxhOahr0gNau1Yl4hOvDxxz13tiTSKaE-JElV7INhST6OSHyKHtLmfBOLLM8E6P1fh7y6HshXrjxu3ru7P4cXAwNYBMaydHnPhYCit2bxRPSoJj_lFAfdDjczP7pNwBwDGkisSVXo0AM4PpPolh-umltA6e1Z4BUVw5teFii_HsJIIstUMMO3toQf44IG7dPVbHgHJFhnCmn-4vBU7t4_yM3AAtXHpnmFKh69dV_OyQVJLVgO1cV5De4ZdCtG1yvYb_ECWPfupUsph_9x1GYIewZPmdKG6eoN47zuXbLrtvLNnNv8EdpEc9yJ_gYN8JM2BgPzKKUG4_guPMa38YYI1O5p2SkbvBq8fYf9zf0WOw5F4BwU5dEqblf2C4fFrC9UnZD6WC4VtNHUw755-ZVTPjg0KWgsV5S0qqj5HbOQjXZH1fuTsJLqgdU-EB_aIlsO2oQzKKhvrnj8eQVZkXqdzBCPeptXNOaA==",
  "id": "rs_0f8f606677433d67016ab430ebca9c87d0b339e78b42637b16",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.452,\"right_y\":0.207,\"right_z\":0.034,\"right_pitch\":0.35},\"note\":\"The gripper stopped several centimetres above the requested height, so it has not reached the yellow object yet. I’ll pitch the tool forward to improve its reach and try the descent again.\"}",
  "call_id": "call_70jHtGoX1dBfdpOaNyhh7cKF",
  "id": "fc_0f8f606677433d67016ab430ed5d1887d0902879df392e9477",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_70jHtGoX1dBfdpOaNyhh7cKF",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6064, -0.4282, -0.0193, -0.0391, 0.9992, 0.6273, 2.1586, 0.8383, 1.0199, 0.5915, 0.1501, 0.9995]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1689 left_yaw=0.0033 left_pitch=-0.0438 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4544 right_y=0.2123 right_z=0.0453 right_yaw=0.0243 right_pitch=0.3408 right_roll=-0.0215 right_gripper=0.9995\nstate[joint_eff]: [-0.1162, -1.6752, 7.2, 1.8828, -0.0757, -0.0464, -0.0073, -0.1026, -7.2547, 3.1658, 1.2039, 0.2222, -0.3101, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2051a6bad78610ed48d3c6a132dffe6f680a82ccfed26dd00a6af06e4237d33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90d69ed9635ccaa3e8d40e6561621a895b088272d190315f12a06240cffe3c7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da5af1952f50f99e82d42692841a4df68604ffed4d4b230d3880b2070e884803",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 3.292 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4065, -0.0193, -0.0383, 0.9992, 0.7162, 1.7813, 1.2186, -0.205, 0.5503, 0.4252, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.1749 left_yaw=0.0029 left_pitch=-0.0164 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4153 right_y=0.2437 right_z=0.1371 right_yaw=0.0313 right_pitch=-0.0448 right_roll=-0.035 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.5111, 6.9265, 1.8193, -0.0806, -0.0317, -0.022, 0.294, -8.9641, 8.4034, 1.6435, 0.4811, 0.2027, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6064, -0.4095, -0.0189, -0.0383, 0.9992, 0.6167, 1.8835, 1.1748, -0.0753, 0.4744, 0.3485, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0014 left_z=0.174 left_yaw=0.0026 left_pitch=-0.0202 left_roll=-0.0036 left_gripper=0.9992 right_x=0.4421 right_y=0.2189 right_z=0.0889 right_yaw=0.0309 right_pitch=-0.0914 right_roll=-0.0628 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.2786, 7.0906, 1.7411, -0.0562, -0.0415, -0.0073, 0.1846, -10.2906, 6.1744, 1.619, 0.2857, 0.1001, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6064, -0.4282, -0.0193, -0.0391, 0.9992, 0.6273, 2.1586, 0.8383, 1.0199, 0.5915, 0.1501, 0.9995]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1689 left_yaw=0.0033 left_pitch=-0.0438 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4544 right_y=0.2123 right_z=0.0453 right_yaw=0.0243 right_pitch=0.3408 right_roll=-0.0215 right_gripper=0.9995\nstate[joint_eff]: [-0.1162, -1.6752, 7.2, 1.8828, -0.0757, -0.0464, -0.0073, -0.1026, -7.2547, 3.1658, 1.2039, 0.2222, -0.3101, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2051a6bad78610ed48d3c6a132dffe6f680a82ccfed26dd00a6af06e4237d33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90d69ed9635ccaa3e8d40e6561621a895b088272d190315f12a06240cffe3c7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da5af1952f50f99e82d42692841a4df68604ffed4d4b230d3880b2070e884803",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDDyKSPTn42qfj-IHgTr9jMkoHNNDAbfMj3mtUkJTAak4gogU08Oe0JnlqVp2czrtzG8IE3o33qLpQytXamEge6PccxMBuqoAm3Tj5NN5GdQ4aH939T4iuiDBSn6XUAGaytxtYCyhRSU03Vr4_SNyziGwGsnH2eDGbA19meDZYfzca8JKEg7dpJJRI1x_uUT7EezuzQMNR5GKddvhY3QLr8WBB9SSgtGSaRrYzN2-HeLdSyGStabtZPU1bXc8mIUKMP9U7pHsrjt3kfoNbCVLUkpeCFQp3AT1G264NqrZH9NuT1epK-EMq4fvcygEYJleQROX48YHUAF5JzSy7kP-W3pc3ih0obtwTM4YahYFUhlqYt6wDn-P21vETWahBQhWwh34a9i8NgxBXlGEh-D-odCCwWfzLrJ40VZS75SVTNBC4jMJWs73epU9pPpD3QmtvqPWq-XotoMlM6Sp8mt791EWM-mVoocWXvGjqyK-y01sIoxoaoFs3xGQmrnl5XE8YqvZfIHaXUbtOtwvWgVochcZMKQqrZ8ZHF8tngQDUI23BwXt8pvui8zaXgQuUta6sZOyRHmAVq2WmEc54UauWQK3b3nGKX946dGURGnyhQ9TSSY4BqO0knqnFauQ2uBOMQbHs1KVf12QRcIr_aOyvexVpAnJlqFpU-C_EwtauLS6lDgHkcUvcr31ifNAI0RpA4St_b9aTSTEfhd-kU7XnXO5hifAyXu40FKsbKZK4OmKZUfbQNmggVJQaa5dgpWai3TxN3Sj9OD8316WNyhhvSSPN2j2hwXKGa_a_R-MfwPIzqQhseax8jGoiKHFCw3rX0n5jxzJ68o7tyEf-p-VO5RfxJSQoyVm0ZBJJPBqVBojHZD7LSQExVaJrUtBwR3jagYlDTUKDJlqDm-ycaR5W-rdywMeCcN-yr06JLi29wT7RQPkLcJLFUkaC7hIu0_-7w5Wv8xlQCitzEB30koVRpDIGMLh5HIIM-BfiXSsL7qyEyTPcIVZTJFd7fuyikea9476hQ6ifk5610tFwuTf6xPJf6fqc0VnrP1eHUYZ6AQGzPDpluQQooIDbEKzZKXsIxjeWYaQgTnqNKklEbRCZsWl7Yguv9H0baHsyRCU2b9InIGR88f3M_3uypRwYBEF5cUEJnol94m_kegNieXQUbkpId4MyblodvaIg9yXcvHXj2UVfiuyiEQY71v0Ve9Ut15JI-h23siVaVtADtl3hQ0fMe4paoC7v4Kfznt1VTKijc_27vU94PPhbodVM9CULDM02onK4kDOnEAw5P04fQExU2oPaUZPbH2SXZSIsVu5zEjRH0SzIHZauhiw78sDmi6uU1esrDdloOI1vKv0G0e0wxYLryDdlN-Lf10tDoSpfMWxp0il_5RuQHf2mL-9sTf-XODJ4VMLsyTmhqlCRTLF-EJet978RB7REis9ov3FaCgaGTronykM8E4Z48QtD1Ne25tiDYd88vwRKXRHpyenoFnY8wbByoDVyPW5UKK6q8fTejwVAmiWvki24NAnw8e1IdkH9Q1QbWjAw1mQvb9VehT1XCyGEV9pZ_IVobPB5yjF6lf74mHBjfJD9mfmFMLuLZ0p_-CBVPeRL8TowE-ZCGBFaufZ8An0lMVK8HwI7MzrouObwKjmoOHtBEtO_oUZYZZ6nYBbTC3dC-qpfqpqqt_yTvsfqSdlIyjqXR3sTIUMdR4lMc7o3mhMSb9cMKSrR5kqRgNw-n05qDrWr5YWBeXaGincqY9hYJyB9ShSEZ3qJSPhIKa4eit0v6S4IoWBmZKpNzEDRgTIoQo_Dr1iB-LWiiQtHBGgqNj2mh7t55Ij5ML5ese7fgLXfTtXJkR",
  "id": "rs_0f8f606677433d67016ab430f06e2487d097c7f30dce3c9b1d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.479,\"right_y\":0.207,\"right_z\":0.028,\"right_pitch\":0.35},\"note\":\"With the forward pitch, the gripper reached close to table height, but the yellow object still sits ahead of the fingertips. I’ll advance about 2.5 cm before closing.\"}",
  "call_id": "call_P1kHeIRO6hw3VzblezcGmAro",
  "id": "fc_0f8f606677433d67016ab430f17ce487d0a834e1c53ace262a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P1kHeIRO6hw3VzblezcGmAro",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8028, 0.6064, -0.4316, -0.0189, -0.0391, 0.9992, 0.6056, 2.2166, 0.8856, 1.0939, 0.5648, 0.1158, 0.9995]\nstate[eef_state]: left_x=0.2884 left_y=0.0015 left_z=0.1681 left_yaw=0.003 left_pitch=-0.0477 left_roll=-0.0036 left_gripper=0.9992 right_x=0.4701 right_y=0.2148 right_z=0.0478 right_yaw=0.0331 right_pitch=0.3893 right_roll=-0.0134 right_gripper=0.9995\nstate[joint_eff]: [-0.0752, -1.2923, 6.9949, 1.7167, -0.0415, -0.0415, -0.0122, -1.1692, -8.4444, 4.2462, 1.5507, 0.149, 0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df9bb5b3687348a240cedb1851907afe8fce9f8af80b928b89e11cb00bf53c46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f93cd4de1422b0ddffb4bea83394ea3e1baed217f73e64d69c7a4f982d88068",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4af330dd9f136ce903080d3b39650b3494d6c004c425c4617b0810302862148",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 3.006 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6064, -0.4088, -0.0189, -0.0383, 0.9992, 0.6323, 1.8484, 1.1999, -0.1226, 0.4965, 0.3733, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0014 left_z=0.1742 left_yaw=0.0026 left_pitch=-0.0194 left_roll=-0.0036 left_gripper=0.9992 right_x=0.4393 right_y=0.222 right_z=0.1088 right_yaw=0.0165 right_pitch=-0.0712 right_roll=-0.0488 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.2513, 7.2821, 1.7216, -0.0806, -0.0708, -0.0122, -0.0889, -8.9778, 6.4205, 1.8681, 0.1734, 0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6064, -0.4282, -0.0193, -0.0391, 0.9992, 0.6273, 2.1586, 0.8383, 1.0199, 0.5915, 0.1501, 0.9995]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1689 left_yaw=0.0033 left_pitch=-0.0438 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4544 right_y=0.2123 right_z=0.0453 right_yaw=0.0243 right_pitch=0.3408 right_roll=-0.0215 right_gripper=0.9995\nstate[joint_eff]: [-0.1162, -1.6752, 7.2, 1.8828, -0.0757, -0.0464, -0.0073, -0.1026, -7.2547, 3.1658, 1.2039, 0.2222, -0.3101, -0.022]\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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8028, 0.6064, -0.4316, -0.0189, -0.0391, 0.9992, 0.6056, 2.2166, 0.8856, 1.0939, 0.5648, 0.1158, 0.9995]\nstate[eef_state]: left_x=0.2884 left_y=0.0015 left_z=0.1681 left_yaw=0.003 left_pitch=-0.0477 left_roll=-0.0036 left_gripper=0.9992 right_x=0.4701 right_y=0.2148 right_z=0.0478 right_yaw=0.0331 right_pitch=0.3893 right_roll=-0.0134 right_gripper=0.9995\nstate[joint_eff]: [-0.0752, -1.2923, 6.9949, 1.7167, -0.0415, -0.0415, -0.0122, -1.1692, -8.4444, 4.2462, 1.5507, 0.149, 0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df9bb5b3687348a240cedb1851907afe8fce9f8af80b928b89e11cb00bf53c46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f93cd4de1422b0ddffb4bea83394ea3e1baed217f73e64d69c7a4f982d88068",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4af330dd9f136ce903080d3b39650b3494d6c004c425c4617b0810302862148",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDD1ShYeWpX4gEdeLpcRiXcSx2y0Zytt_hcJAcmg6tkBH7zmB1rtgOkMejLs72ptz78EJIJvZ4Q20uR3JNo_TTrZcapweenxrM42qD92Nj_9_rnOZCatlH6hw3fc9FHkWI4-OI1nWv_x1He1IngX9CPU0DG4gIDtU3oRcruVtA3BCqGzevJ4NUloBos6UTtM7xgChhrR6vv0p1sVYC5srFvQDW1ucU16KegaMbz80igusxpuezrcR8VzKxBWvDME8B3bd3UsFLzNpuOa92hcKOzRBPVI2u4XwKMKaih5ZPm2H31Mm_9yfie8S4JdNQ_RGso82AiefOrciso5PNswDeJh3dXfbY-Gp5DACPC3j67vpk7C8DcVAkJYXjl3-FOJZtMZ0TnNoHHhBKwAObyLIAKlPDcLeDm3RkwNqXc1sTWdp83v7fMIVIoHnUpEoRg-vYRJ_95UMrV3PQGoDozPqsYTSBEAdeufkiycDWq-SMybsZAzJeJLAXp4-irI8PBFuLBQRpnwtC4HQ3AjVgW6ZhFLl7UlMeCwkdHJTLmbdjaB9cpVa8QabR3vzz8Ql_2NkDVYyVs7XqEu5DjDb8iAvfc_0bK7IgP4AochwBIs_yx7rCt7UY0F3c01mzuoL9qvbxR5dS8G668d7-x0bWXv_jTXnZGsKg_l7r3h5R_nhiiz51eOZcMupH1HIsnAo4miGp2-GTxFVcj9nkAQCRQdH1XLpaOa59wE_JgTZpS6vQEDbbWoaKniV-y0VhJ3yyaMo_kYKVRqPLxumJtw7Py2U1xSV8AmJovHIVuYHIIuLsYWWhlT4iNlffWl39G5ykkKNFAhY40GU8VI9t1uhFxByXdsKRythmE0XhtQjgkOWIhz6lytaX6WPQgUsaDxE-_z1p6v8Rud_m3NpjIKRpqQS7j7nHNGuao9ziUUKPkKFWm8QSJsFW57gudLK5YPWBSqs9vpdEZtnmWT6DXn2zbOHF-utVto10b-AHpmMU10yI2Jb6arDdKIyuKZIJNQrnNVBcF6ECQurHOPYAzvXDvp9fgue6asytawUUhwErGOMfQDzwQnlOjhtfqkwL4IDFfycRHN7ozuUVFx1Uh8esUEI-Bj_3VboG03hT87QLQkJ7speAqkx_NUkJcd26fzkk1CHCgXt9ZFItkPRFK4912-ZAu-nka59Rda38W9wI28HYD50RCKivVwGngqh37_xYPpkOF4Oee8l2oxn-uOHe1TQMewrE9KZVE6XhxWFbeXLq53waQxVU1fuOTymu-7KLoVxzvByZrpxT1mZ77oCKsO8bilbyfVN-KgsSEjqemGMqUNxKOt7hJAjQl3a7YmZf5U4tv0PQ2gZAyhRClRTsKqpfM_zTZw_XM4__gf3vtSFLWmGCH5mnkm8u2qjswMnWiqzq_LuYLUaSgmiWXqoGb-69IlzSqyib83pdPkqZa6hrksKcarTlBhgaDR_6b8cX9-AhQDLE6DMRt9JQeFXl9fkMKao8qVvM2ZeOEjPZ4b8ho_WU0iVDX_amz9lq0DgvIJ92ifCcrReOHD8ebZ2ldeEOpEoawHfGLprMbEL68VDw5c4E5ZKz-EWcWu_a4yXtcwcPbfbVG79jHNHzFH7JRO0cDXBrp7SV1-3tDtjp4iJUamlXwz6sM1xJgvUjq-_5Hpy45FH-LSROzdljQIRUq6WNC9GeGT1gjnlbdgBBfgJZRbx4gRhiiJ5hLv7iS1W3a3rSjdUOlb3gZFvd4jneCIopXTUh5_otGnA8dvne0xT6iGrNY=",
  "id": "rs_0f8f606677433d67016ab430f3e67c87d0a54dfa63e7bf70e2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.469,\"right_y\":0.211,\"right_z\":0.008,\"right_pitch\":0.55},\"note\":\"The yellow object is now close to the jaw opening, but the grasp point remains nearly 5 cm above the tabletop. I’ll lower the pitched gripper further so its jaws can surround the object.\"}",
  "call_id": "call_2DTLoALzYBJLasdFQWAsVOt5",
  "id": "fc_0f8f606677433d67016ab430f4fef087d0859e638a0ad5a6f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2DTLoALzYBJLasdFQWAsVOt5",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4507, -0.0193, -0.0391, 0.9992, 0.5953, 2.4516, 0.9295, 1.5448, 0.5648, 0.0395, 0.9995]\nstate[eef_state]: left_x=0.2857 left_y=0.0016 left_z=0.164 left_yaw=0.0034 left_pitch=-0.0679 left_roll=-0.003 left_gripper=0.9992 right_x=0.4774 right_y=0.2135 right_z=0.0436 right_yaw=-0.0074 right_pitch=0.6072 right_roll=0.0637 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -1.347, 7.159, 1.8144, -0.0464, -0.0562, -0.0122, 0.4034, -7.2, 2.8239, 1.3114, 0.0708, -0.2515, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c90ce8c30489dee3e32a2e087c2298c20fe4044aee678fe8df9f1120c74f1b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:925fa8de249ffd141a28c1e6d7f04e17d2c6e826ba556b781f455d0d2a14d7e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e0d18b6a8522bb0478cbec7ff11f822c0bdb9e84445061744c0fc90a5049436",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 2.195 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6064, -0.4095, -0.0189, -0.0383, 0.9992, 0.6167, 1.8835, 1.1748, -0.0753, 0.4744, 0.3485, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0014 left_z=0.174 left_yaw=0.0026 left_pitch=-0.0202 left_roll=-0.0036 left_gripper=0.9992 right_x=0.4421 right_y=0.2189 right_z=0.0889 right_yaw=0.0309 right_pitch=-0.0914 right_roll=-0.0628 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.2786, 7.0906, 1.7411, -0.0562, -0.0415, -0.0073, 0.1846, -10.2906, 6.1744, 1.619, 0.2857, 0.1001, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8028, 0.6064, -0.4316, -0.0189, -0.0391, 0.9992, 0.6056, 2.2166, 0.8856, 1.0939, 0.5648, 0.1158, 0.9995]\nstate[eef_state]: left_x=0.2884 left_y=0.0015 left_z=0.1681 left_yaw=0.003 left_pitch=-0.0477 left_roll=-0.0036 left_gripper=0.9992 right_x=0.4701 right_y=0.2148 right_z=0.0478 right_yaw=0.0331 right_pitch=0.3893 right_roll=-0.0134 right_gripper=0.9995\nstate[joint_eff]: [-0.0752, -1.2923, 6.9949, 1.7167, -0.0415, -0.0415, -0.0122, -1.1692, -8.4444, 4.2462, 1.5507, 0.149, 0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4507, -0.0193, -0.0391, 0.9992, 0.5953, 2.4516, 0.9295, 1.5448, 0.5648, 0.0395, 0.9995]\nstate[eef_state]: left_x=0.2857 left_y=0.0016 left_z=0.164 left_yaw=0.0034 left_pitch=-0.0679 left_roll=-0.003 left_gripper=0.9992 right_x=0.4774 right_y=0.2135 right_z=0.0436 right_yaw=-0.0074 right_pitch=0.6072 right_roll=0.0637 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -1.347, 7.159, 1.8144, -0.0464, -0.0562, -0.0122, 0.4034, -7.2, 2.8239, 1.3114, 0.0708, -0.2515, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c90ce8c30489dee3e32a2e087c2298c20fe4044aee678fe8df9f1120c74f1b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:925fa8de249ffd141a28c1e6d7f04e17d2c6e826ba556b781f455d0d2a14d7e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e0d18b6a8522bb0478cbec7ff11f822c0bdb9e84445061744c0fc90a5049436",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDD5M20SbuRMLemG4gaRXuiwaxLmG050ABl3Pm9vd6smAz9j_5CV6NPUWynOgOXyX7Tmy-Xnqc1Kon7Hqgi2_IiGiCCf45bFcKLLvnJKphDEMBbxkJ2x_-LYgp3OQb9TAbPt1COwUuyy3ZXFtzMKsQraDBDAZLNlKphfsPughsE3von2Er7jPc3Rgbd0LILT283BmDsQ26pXc4o3JLQt0pt89F_RqqrA5nlzyimCR_P44DSiM-jKxiCiKomCj-Q5CJmcJ-pXBd3-tD84M48R8gEUxIvRTfcpbtPoszzV6O2inl8HT8WhA87DmGBWfNmjGLDzDYpC2JSqMuCpjvsAPKGpuz0q7z9tyzUkWd32euK1olMzsusfW4k2fe5W67vnKLBA0-ii7AG5_r5wDDmuhb0gPHqiEkHsAUid49aIpI5pv4ZdNJ7kORrAlpQyO0OWoM4oy-Gfli3Rdz3PAU9dTbdfyBMMbWtotj3__VDjK4bF0BKqJHYYZUH49707Kw62RuUdlP1ihsmdjdJVyM7dxW62nA31R6I7mFFxc8E1MmT_71I42aR6ugnp7p5FpIrxRjOS8_1_0fip18PWgQSPL1RRbVf4wJCNt6JaDwYqFQgLVDxcQJGJdlvvx0ZL02FLWaxinLtCgDeynkuxR2eyWHpOmAjFUNwCMoZgwUHGVEAUTKbZkhqBL2MSiiq2ViMkW9ZB3HIBftUj1v_Yjb1ySax34bv1UkWJdEeNtxKXSdd7jDq6OBUdtxBZ9XgSjzREcs1IxNjYiXg3kkpUPLZ74LWAb_kJBSIM-7RmpFRyUGbTczurpTaSjZiw7hpRNgctTdcraHMvhxsYrtgXmskOG2eORunhP8QENLhiIeS_hcD-iRglP87l1Fz6H_0ZRpTPSstdz5Hh5lPMj0717XQhgy_2RTwCiX7dCBveZEcq8IaBAm3eLN6ocmfB3FZ4nBrOuIlMz-hL8QqyRsX30BwXR0TfGHqRJqElXQ3iIFOJs7Fukv0wGKkrePKHjIeh4CXbP_P0Y8svxoEKSsbfD9ycB9f1R25hcrdbcpAyCVgC4g6vJ3gRDTcwkYTdN8K9azSEur_nyy_nwc4MKjTQQmJZJsA56461B_zGTxu62qLdk9dyySDrpNAXMgSvYbpeqdpbCCMOqmdHhTGreAGDKLcEfFU6nea-L4wMatEHmm8jwJapd2sXTYiw7ej-Z_JQs2M557BI4Y1uI8Lks-A50Jh_KvLhecRv2WO1ianwIsnakmFeMNCtg-kzlrTSsjGBRRYNFbmQJ-O58bJLdr5skdogayURhx4sZdqHjBQMqRfCYoxWE0HysdsJX49DQZ7WmkcR2JAT5H2HXS8xZZK2sU1n5iBUyZUhBXDiK4EFt9DwWmNft8hS9IQCXp3TG4pyoGr5PDuodRzYsMsES6pjokVMvIjxBAlvLzpexTd8taHABBrpcm8Okg1RnN9s6ssMXAkTfEojJZOceB7BOmToPMXhQYaVIdb8CzLDffBws4MJz-5kui47WxBO6oE_FGxoaa1F_uvqbK7atYR42s73u4hWKncvqrJlq4R8auFGqsLVRvpOxCnUnyozkhp8NcOMK5c6DJXSx029RCegzlEEkH3zZGcs73ANwD52rCIFBvEZoG9m4WRXUVcwrYivJCc-A4qmEs63DG2i54zRDhXAuOhg8erWeVeC9gqUsozhOS-7VLZjVvuF1rJNqDgWhVotH7TGU-Cn",
  "id": "rs_0f8f606677433d67016ab430f73b2c87d0932595ba1ac16adc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object now fills the bottom of the right wrist view, directly between the open jaws. The arm cannot descend much farther at this reach, so I’ll close gently here and check whether it is held.\"}",
  "call_id": "call_qmFKBDCa9MlhDiT0zuIBNRGR",
  "id": "fc_0f8f606677433d67016ab430f86d7487d0b706f34c0f20a308",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qmFKBDCa9MlhDiT0zuIBNRGR",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.458, -0.0193, -0.0391, 0.9992, 0.5972, 2.4573, 0.9283, 1.5455, 0.5453, 0.0414, 0.5158]\nstate[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.1626 left_yaw=0.0034 left_pitch=-0.0751 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4763 right_y=0.2174 right_z=0.0406 right_yaw=0.0152 right_pitch=0.6023 right_roll=0.0615 right_gripper=0.5158\nstate[joint_eff]: [-0.0615, -1.2103, 6.9402, 1.707, -0.0855, -0.0464, -0.0122, -0.2803, -12.0684, 3.0291, 1.6093, 0.1685, -0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:382c1771ff3894c11fe5f81809f191c2391b21f6f4810a4e2c0d4ed134cb298b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72f2568b7db633effffe26a23208264ab32dbdba24cbb048d08f65c815aa7014",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1eb97a186921315caa206cafc1ddc3688d013472be79470d5d79507a215d68d4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 4.666 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6064, -0.4282, -0.0193, -0.0391, 0.9992, 0.6273, 2.1586, 0.8383, 1.0199, 0.5915, 0.1501, 0.9995]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1689 left_yaw=0.0033 left_pitch=-0.0438 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4544 right_y=0.2123 right_z=0.0453 right_yaw=0.0243 right_pitch=0.3408 right_roll=-0.0215 right_gripper=0.9995\nstate[joint_eff]: [-0.1162, -1.6752, 7.2, 1.8828, -0.0757, -0.0464, -0.0073, -0.1026, -7.2547, 3.1658, 1.2039, 0.2222, -0.3101, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4507, -0.0193, -0.0391, 0.9992, 0.5953, 2.4516, 0.9295, 1.5448, 0.5648, 0.0395, 0.9995]\nstate[eef_state]: left_x=0.2857 left_y=0.0016 left_z=0.164 left_yaw=0.0034 left_pitch=-0.0679 left_roll=-0.003 left_gripper=0.9992 right_x=0.4774 right_y=0.2135 right_z=0.0436 right_yaw=-0.0074 right_pitch=0.6072 right_roll=0.0637 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -1.347, 7.159, 1.8144, -0.0464, -0.0562, -0.0122, 0.4034, -7.2, 2.8239, 1.3114, 0.0708, -0.2515, -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 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.458, -0.0193, -0.0391, 0.9992, 0.5972, 2.4573, 0.9283, 1.5455, 0.5453, 0.0414, 0.5158]\nstate[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.1626 left_yaw=0.0034 left_pitch=-0.0751 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4763 right_y=0.2174 right_z=0.0406 right_yaw=0.0152 right_pitch=0.6023 right_roll=0.0615 right_gripper=0.5158\nstate[joint_eff]: [-0.0615, -1.2103, 6.9402, 1.707, -0.0855, -0.0464, -0.0122, -0.2803, -12.0684, 3.0291, 1.6093, 0.1685, -0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:382c1771ff3894c11fe5f81809f191c2391b21f6f4810a4e2c0d4ed134cb298b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72f2568b7db633effffe26a23208264ab32dbdba24cbb048d08f65c815aa7014",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1eb97a186921315caa206cafc1ddc3688d013472be79470d5d79507a215d68d4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDD8zOY8BQ0PdEN8CLUqa8BQwFcVHkDfC9VqGlvobdISoH_pwQhE8nOcs0O8kI0FTvOKEa8k8lyBNWxnyhYOofLx4hQdXw83iZ2F5k2vaRnIgY7aepCPmRTzdxSx7ZL0F4yKS8hF_OTohZ2ffdUIAHXNsfEOr9F3EPUCDc-9FcopkyJVilyJBIs1xeZ0rUUFUmg9Gel18mpsIQr4RcQ5C1gIn6xEswowCz-PVs3qIDXsEpXDTpbmzINeUVqpw4RL2Fj8H4i9pXWBa73LpQBHsndo1ALCnoOlbnZBklqW4A8M77ZEg3JdOwMgvGP220pCV5d1Pin5A-PuYGl-y-RAaISeHfZugNObfEQ2CuYYHVTjrxoRvu-sJCWcjPMAOr4Yi_hfy3ua8nRcZPbUnbmBheruiuikDugEORzUWmkQuBHpbG7nMi1O_nuXgHE0bCVB23l3RimpxWMMB9QwHhbaIj6sOVyf6OzpUka7S_xD9rZP76awg9JHgcFpEtJOhuT97c0ndy2wUoRVRAzauxNKe2n8rr6uQ6lf1b2vvWogv3MEgDdgNoSm2_x2zo5G6YxfZMlKxIt7nB2UHKQ2skg-3H_n400Ko2aHsEQeoeQR5wa44F1vp4DKX16YJ367c-jzhib8_wiuLOWfmg0ZFc35yCtuPbefowHZ8sVOoQRdCN4M-G7Ok3Aya_oseDIr9Tn8_9wAPfXOMS8mRHtYeP71_ymcX2h8mQ5zrbiGzoW0YRAgXVQ5zBs2CR7rCtBSG2UDgbVwlSwODxjuwDQhfYtVp5-5H-g1XT_MbzIuuCloXv2H5qCJ6CTRy6jIR86Siw_qXUbZHtV8YeR8OZHD2kaVbXLH5kCeLG1zoy2hNw2YnjP4X-rZ0_P1EWsLUnCWaLHdf8Wk3wnkydQJ8qBrN53878ilHI_xCWtUoIccFoj2sFovNCGgtNNEK_K3q5R-NDlVssY7kh6AN9DVp-4LvgXOBSP_a21PEt3jUdyJ6udQTWPjCcAk-MhCM80m9tNKFbtZRhCPBvqMZq0XsKQKhP_xBrT5B0r9L4U6lZwua6c4OB4zswiK0fJhP7c8TBHFAqVVUr6HYZvAY5sd1gGfqqKGQtcfKTkhc4j_AXIjtNGXop-kW8Pt_ZFL_6TjNwthFKDmnMv_F4ufTk_CybtCao600uff3SNTxnPGUvkaM4-VjD9XAU-xIqkBX53u8u7W5GDo1HNL9YXs8qQ00XS5q6k_dqeFfEfjSKo_AJtS6CKxtBV_p0wwU6ST925sy2fTLk-WcIHKmtbHWj09KGHIC9whKOHWpAt5E9MncuG9SoWzarr304z0sbmPuV_RzdGaUpimg82vpLE8yyJOIVNlrsYv6B2D0g==",
  "id": "rs_0f8f606677433d67016ab430fb1a5887d0ac656b9b29a75d6a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.462,\"right_z\":0.14,\"right_pitch\":0.35},\"note\":\"The closed gripper still reads about half open, which suggests it may be gripping the yellow object. I’ll lift a few centimetres and verify that the object rises with it.\"}",
  "call_id": "call_PwpVUTX1P8CYSn21kd7DtyoB",
  "id": "fc_0f8f606677433d67016ab430fb8dec87d0b601c9a14c78ea9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PwpVUTX1P8CYSn21kd7DtyoB",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.807, 0.6064, -0.4728, -0.0189, -0.0387, 0.9992, 0.6094, 1.9366, 0.868, 0.6704, 0.5385, 0.1432, 0.5158]\nstate[eef_state]: left_x=0.2825 left_y=0.0016 left_z=0.1589 left_yaw=0.0029 left_pitch=-0.0931 left_roll=-0.0023 left_gripper=0.9992 right_x=0.4512 right_y=0.2089 right_z=0.0869 right_yaw=0.0716 right_pitch=0.2487 right_roll=-0.0675 right_gripper=0.5158\nstate[joint_eff]: [-0.0205, -1.388, 6.9538, 1.7949, -0.0659, -0.0464, -0.0122, -0.0342, -12.5744, 9.6479, 3.2112, 0.1929, 0.6129, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e168ef70805e27f066242bc9c930577e0d6b4ec5311fd10254facdf4d81d0eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fe9cd8a262871750fd19f95d7092b15503631feca1a07b2947b16f635de665a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3067a1dceb1022c043276fe33675cae781106e65de22c16ede8968139bf489b",
      "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 · 5.404 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8028, 0.6064, -0.4316, -0.0189, -0.0391, 0.9992, 0.6056, 2.2166, 0.8856, 1.0939, 0.5648, 0.1158, 0.9995]\nstate[eef_state]: left_x=0.2884 left_y=0.0015 left_z=0.1681 left_yaw=0.003 left_pitch=-0.0477 left_roll=-0.0036 left_gripper=0.9992 right_x=0.4701 right_y=0.2148 right_z=0.0478 right_yaw=0.0331 right_pitch=0.3893 right_roll=-0.0134 right_gripper=0.9995\nstate[joint_eff]: [-0.0752, -1.2923, 6.9949, 1.7167, -0.0415, -0.0415, -0.0122, -1.1692, -8.4444, 4.2462, 1.5507, 0.149, 0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.458, -0.0193, -0.0391, 0.9992, 0.5972, 2.4573, 0.9283, 1.5455, 0.5453, 0.0414, 0.5158]\nstate[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.1626 left_yaw=0.0034 left_pitch=-0.0751 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4763 right_y=0.2174 right_z=0.0406 right_yaw=0.0152 right_pitch=0.6023 right_roll=0.0615 right_gripper=0.5158\nstate[joint_eff]: [-0.0615, -1.2103, 6.9402, 1.707, -0.0855, -0.0464, -0.0122, -0.2803, -12.0684, 3.0291, 1.6093, 0.1685, -0.0024, 1.033]\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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.807, 0.6064, -0.4728, -0.0189, -0.0387, 0.9992, 0.6094, 1.9366, 0.868, 0.6704, 0.5385, 0.1432, 0.5158]\nstate[eef_state]: left_x=0.2825 left_y=0.0016 left_z=0.1589 left_yaw=0.0029 left_pitch=-0.0931 left_roll=-0.0023 left_gripper=0.9992 right_x=0.4512 right_y=0.2089 right_z=0.0869 right_yaw=0.0716 right_pitch=0.2487 right_roll=-0.0675 right_gripper=0.5158\nstate[joint_eff]: [-0.0205, -1.388, 6.9538, 1.7949, -0.0659, -0.0464, -0.0122, -0.0342, -12.5744, 9.6479, 3.2112, 0.1929, 0.6129, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e168ef70805e27f066242bc9c930577e0d6b4ec5311fd10254facdf4d81d0eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fe9cd8a262871750fd19f95d7092b15503631feca1a07b2947b16f635de665a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3067a1dceb1022c043276fe33675cae781106e65de22c16ede8968139bf489b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDEBQspIbU4fr3v4zDrXIf0KOUoiEd8H30N_PBT7TZw5xnfu6d1CbJCRMPKIzrz95k67KJl5vI_SPUY5SLkDhfVCSuKUDfVxdEF40NQDnm9Zhhfxf2cvLmQS-CJjVPe6HNfhtBUmtIz3YvMOAtEcFHuSkhDPHh5YkAAUPf6AxgNinNcd_9gp9PchR3s9Do3DuyqVZ8cWdKAjAuYrEW9FWxm3c8gvoZhWs834Wtr3NCc3GDHcPUvVHMG8n2Cg3pKO1EP6CWJZlOl6juB1aHVlP5XQdrfVQoIvBxqv1TLEY7P57YoDofnTLvvQpdN880tWUk7cJ5KqdxMbus-XVutH2sw-4yRNH-I9If3EB0rCfNPqgZYtQpVE8OKvbEwDqPBlaoYGhfl-JSYbEs67jqX0Y_wYbHiDYozJ9srOA6qbRgku2DZkFBVb8BkkhOkppDmdAcSOkRsTWBWpQn3tPfVvIFy25khSoMJNVigR5iGl3eY1lVNTSYatCzjriqxD_ykGaU7cUPdyybsN-2R9uOQ_e0RU8AZbZcDiZr6XW74-Q_poA3vYJyA72rGh5WeAwmehU02MCBHxUZschWfB-zSVxMUViuZlJ6lomYqdGakANbeaJD7ONQx9atRn7-ckCr0VZw4LU_F2AG4mHo4Q7vHopkVBj-dFkVbjZ7rTLfxQTm1sjuX6QnEEr6eSQWzL8t7FWOvnJos6POTWhAArMijEeU5p7JQMBEmT95M1MXspj0Fxi1-tUy1xqBegSypJyupOoHwDB8KCIKeb5wvpM4Z9cPQd9579BoA9MZfwynpwnSN6B5319qFb0XRtnHd6MpLAJbWXgzd5iZE9FDzT-Sd_aupc5Ft2DToVIQ_04aKQ_NAs8cHkAJ5iCuFcyn3NEJmfYXOJi7RByGLE59vFYdbI569a9Dn4vb7zLFwbTEuqJfqMuza60-5z1TvUZcxf0Xv9Ofwn67KYcIZifb0gRj67EgZHm8trOyt6XA_K5GAe-3qa3Lg1PjsjW6Tir1dplflg9Y6N2WoFSbA_0YYDWcvSaLU79-OLTJnn6mIFqF5OJJugnbFLYQ8KGHZ_vBiwk9kyrOia1sRJ-gaD_d147Oty7kjj3nTD1zPI0MdHOYBAy-Mhb8xolh4mx_ODGFL-_gSn_Qyu21ozTadPuJgwTmebJ2Wf5M0Xizcf40udLqs0DEZ7fJMk1ErVfxc49sFuIZiuLXTci9G8c7cMgLJY3cCvnfHN54WZRquAKnHa9nF7SnHaxnp2in1j23jbrkImmdSyHPMLXi8F39mdqtTy5Iz_VIYJVhaZsbNCULi9Yo_pOPwGIyB_5JSHr70olwjCCdjku6hq_tdpjf8GuZDnlf8GdLJ5P32HvZpHNLs0_Bl4Vn7SjpFBoUzJZNLRBqDTr4EXCPfIHT8AoXV1enURCK_I4IzNpK0TZMC3N0F3FqAHHEGJFdBMQyGqVlLP1SMLpgLtOTKgA6dXr5Pr77os0n7Vk_X3nk2Yfhs4lgs-in79nFd7LmpsUCD5t-iIZoqSqwWuoHzfZPU1ahC2Jk_C9GDYqoDhFXr-0YRpUkcQshnkyLFYL8JjyCgMlW-rbGvjYh0pAXDdwfHnLqVSi8RQu-5Op8GzHa6tGnHn5OQA7wLyHkTvCXNYxH-L4vyI5p2aG8aAKeiM8vOVJFFe2eGLaX6OiNlQ_TXP8Rap151YEVXiz3rWH-iPDsOl7HVYAegC5xakqO6pP8o3JKdCF75g5yNym2fVid8Ic2fAJVka2KPtm91u6vOgXyWl9VM8JdkDKxybVUNNBuxXMnOGx0TLKCa3Kfk_BmRrDpEimkuhSNGY3LdSZaQGHL5PEgWP2pKbNSrS5MHXeG3JYh8aSttPtjnwPrq2zkb1ov9QpI2rnpc0uB3ONZrSrTADvmWGQK8wAHwuCSAsH1TjlO2vHx4DyYtwL6pS8O3fHgmA2TrnMISD23_IH8KAhkx4oFqiKbgdR-iF6jbGYpq3BihtsZiivqEb3eHXabX_6IwmS0veooaTT3eO5sZdnPVNv_yR0yStg5PNxgCZZg8kT_zuvmGaxh1UvwHhBcZsfZMa69xaTh_Z28Ec-fX2gOh1MLWK197lDxqBl8Z6NVxsi4TPiaWGd_9rfCDEAiRG0y4iEcea49gdr1mhRUCW_EKbMOZZJuDQxdkLLmiwQlct_UhByc8JBNk8JQ2_4h2HLCF5BL3fa6U-jauISnXgXdwGECL-I6fTnwdq4c-UiSLoE_gjIal-Jk33g633XdVEyh3l9WL6moZVPKhH-hyAcikg8cz9Jhteo6UP4q3K9kX71zKDh8VK8EYRSLg_b7i8Am6nkd9kusRuljv9SqeCqPQ8XA4kWNCgw92aks-_Xx2xK3VSh_V9bRSkXg-45NqH4QbRFWRpMrNdcaVQ-juyAiHuJq4LZETyPJsLKomxLYWwBy5rrwNH_W6BecN31y0ll-Y5HM4e60yAB_utLEjx9rfhREYstzcjzlBEo5-luuagkQlu24-IfMlD9oUDYqQKYI9gE7Awl7DMPUlm1E-A7J-NP5aorpzdgFcXJcydoU9Jsrb8qkohMqCab8aQn7Gaxi7FKwyVGr7JryZx7WvWD7t9aHMk_EvGlkPe5UlS4J8y4WuNA_ZqtfLFhSxzwGnM-kieUBz3aXRQSgMtOyFzynlKAFnCbEnx1SPx0JdNrIGDKD2e_rswm9Qb5wjWssA5hzTA6SK9n1FvCdz385DUAW7Gvi3Rz7ZslgvRMA7kTj9fzVBC5tGHVCJmOL_7rNFNz_DYsavHIx9OQ0Mb4W91wugqi1Wg_1EOjfhJA4Sv",
  "id": "rs_0f8f606677433d67016ab430fe417087d0b30375395275c9c2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.414,\"right_z\":0.19,\"right_pitch\":0.2},\"note\":\"The yellow object still appears in the wrist view after the first lift, so the grasp is uncertain. I’ll move farther back and up to see whether it actually travels with the gripper.\"}",
  "call_id": "call_ccWFqEFlv5WGLviD8apuDIuk",
  "id": "fc_0f8f606677433d67016ab43101101087d0a7c6b782d612c48c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ccWFqEFlv5WGLviD8apuDIuk",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6064, -0.4801, -0.0193, -0.0387, 0.9992, 0.6674, 1.6527, 0.9245, 0.0826, 0.5682, 0.149, 0.5158]\nstate[eef_state]: left_x=0.2814 left_y=0.0017 left_z=0.1573 left_yaw=0.0032 left_pitch=-0.1011 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4017 right_y=0.2001 right_z=0.1252 right_yaw=0.1212 right_pitch=0.0443 right_roll=-0.204 right_gripper=0.5158\nstate[joint_eff]: [-0.1162, -1.1692, 7.1043, 1.7314, -0.0757, -0.0513, -0.0073, 0.1573, -11.8906, 10.9744, 3.2503, 0.2711, 0.4664, 1.0476]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:713f7a59de472b398336031806152306975a168a518d55d159266b057caeceb9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5ff7fe5a8709aecf6fc7ff408ce0e2c7ae1d33e0f335ad69b4412e072aad362",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aeaf2d15dae9a91ff49d7ce00eaa8d36f7c9395dc37b6ca4628afa790dd0887e",
      "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 · 3.187 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4507, -0.0193, -0.0391, 0.9992, 0.5953, 2.4516, 0.9295, 1.5448, 0.5648, 0.0395, 0.9995]\nstate[eef_state]: left_x=0.2857 left_y=0.0016 left_z=0.164 left_yaw=0.0034 left_pitch=-0.0679 left_roll=-0.003 left_gripper=0.9992 right_x=0.4774 right_y=0.2135 right_z=0.0436 right_yaw=-0.0074 right_pitch=0.6072 right_roll=0.0637 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -1.347, 7.159, 1.8144, -0.0464, -0.0562, -0.0122, 0.4034, -7.2, 2.8239, 1.3114, 0.0708, -0.2515, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.807, 0.6064, -0.4728, -0.0189, -0.0387, 0.9992, 0.6094, 1.9366, 0.868, 0.6704, 0.5385, 0.1432, 0.5158]\nstate[eef_state]: left_x=0.2825 left_y=0.0016 left_z=0.1589 left_yaw=0.0029 left_pitch=-0.0931 left_roll=-0.0023 left_gripper=0.9992 right_x=0.4512 right_y=0.2089 right_z=0.0869 right_yaw=0.0716 right_pitch=0.2487 right_roll=-0.0675 right_gripper=0.5158\nstate[joint_eff]: [-0.0205, -1.388, 6.9538, 1.7949, -0.0659, -0.0464, -0.0122, -0.0342, -12.5744, 9.6479, 3.2112, 0.1929, 0.6129, 1.033]\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 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6064, -0.4801, -0.0193, -0.0387, 0.9992, 0.6674, 1.6527, 0.9245, 0.0826, 0.5682, 0.149, 0.5158]\nstate[eef_state]: left_x=0.2814 left_y=0.0017 left_z=0.1573 left_yaw=0.0032 left_pitch=-0.1011 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4017 right_y=0.2001 right_z=0.1252 right_yaw=0.1212 right_pitch=0.0443 right_roll=-0.204 right_gripper=0.5158\nstate[joint_eff]: [-0.1162, -1.1692, 7.1043, 1.7314, -0.0757, -0.0513, -0.0073, 0.1573, -11.8906, 10.9744, 3.2503, 0.2711, 0.4664, 1.0476]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:713f7a59de472b398336031806152306975a168a518d55d159266b057caeceb9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5ff7fe5a8709aecf6fc7ff408ce0e2c7ae1d33e0f335ad69b4412e072aad362",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aeaf2d15dae9a91ff49d7ce00eaa8d36f7c9395dc37b6ca4628afa790dd0887e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDEHa3vJy2mCDDgF6PSSM5EInUIb7cvcbviP-Swa5EewaZsrZHLTm5eSvYHkgeiJ35hntyuPAqFaSjYBM5VvSkKFiAKuQWOtTdngraBmTClnp8LKdFeIrQZqzOZ_7T_l43f5vVxRzK_QVJyrM36MpgQ2BwKTcig6BF-zMFXdpHoVNiyy1Nc1NCkt71F5rw90P7gIHvhZs6UkXNZYHFqXQ5R8U4vWMlnCqbqIOUoM38Doc-xJOXyRF0g7vc-rWK59BqbIySLhmy4DfmUwzEspeehWl1gENuvG0-iGky3N4RVf8kgJP_ZpbA630hPzBVH0x36m5pz7eby50WCP3nTIwWmPtHOvm6yNkGX9tTvbvY0TbWylegCG62BMOGNIZZKVPWyHKUs_KUF5nTZS_C84Y8tie-dVqUPg0NpedgTeFvMhTkv7dsUnPJHTZgbft-jw4ysZiAbeULqv57QVeQxFm4foebQS6jKH0-c6Aq0UrUeeNkQSJjGx3CdsA1OgLLqZuSL1vXCF8pu0b7DJ__UolA_jWmMtDg3rBC3v4P4kodIv17UK4gewmGYVzgETgHnp-lD1mSK2GuIoZ2owwslU3IquIdAY5O7oQoJ8zFCjYKFT02mDxXadxNWscwjZjUSvmRWqf0DncXWgnXEYo6QijkrDHugeEzMxKgmhpa1y6TRGZZYchQCY12ngDP9RF5h7mwKlY6sIOI6B7lIJz9qiSu3oF3_dWlxudxFBb0hE18Src-R2hkDCmVaRr1EPJVDKkJWJmCt94vh1n76o7c_A1fhOrkNB6d3fkZL3iJZZJ_k9sm4Lnq5-qeeOxPpmQCzVndhB8iPoStMh6-byC_qcYZ8AB-wQTJ3X9Cj18VDZAtc3vpKMp8jcBK1RH78tAjDlmG3Hb5S5MPzoCDlHvOCjVGbIOo65ZcjXYQtCH8EY0rpKcu-9gqovz3M43EWJoTFB3oUtqTGdYjiln2l4rEKro4H-UOCi2meSkCS7AihgbXM5pThPvGE3dr9td9VVnBS86rPfiOpu2GqT8dym09dhEMk9k1fxGpBx8VGV-RhmDYgzdyIzqebqTf16XC_0QnuWZv12fVnugKE0ejbRptWWd_nYTO6Y-WrQGXSz4zXfBJfCTjTH7JJlYkXsjwyPPqu37FL9XpJzpiqcbOAo60AmVNqFx1MFln1d3ic2ja-dzu8Ii72BHX48zyWRavQw3xyRwloXOmlO7B7AuMJrSi32AX_oMEXOBI1fJKPX24oClql_JalZa_ryyIgiwPYvoktGWcvBucb0Gbxrrf-MdBG9pp8vIMmzb6iPCzyPX0DYW0xQZ8EzTnUvNvRU4kBq5q5Cq3vTD8lnjsK-0t159wGX5OHlZwUcou3goODFPA0hHfFU6HJrsu3wCzHAI5Z-pkG_vPzKO58jF03FtovGD3lD5EMIKQbX0Rd1smlWGBnyX50K_MfJCy4JuqmG9Q71lzDfOvfsXJOwpOctcqRNRnLJIgT2Mq6ROjndN9aEyvVy0sPsVuPhR6WLQM2r8viFzhRZMueznOeNClCuPsTzhNDOvTdJb1iEa7r969rto6iO9jVxhxweY7O3hVqLhNyJD1nr0GQbvfKsfRI__sWSmE1I9fM2LwM0V3Jw9_yy1P9JbudBZ0f9mKo9ONxIJ7bq_rYmcKlji-gT06YKYzu9wA2WBZtrYhRGiqeiVERJ5HqhNQq2U02zcwAVnBnLn3pZCbSneNsRwQXAfz8S1PSZm1rhHr39HSeNvGMNAI21iyaJVIAzQCqSIevlsg5St_d0c7rdvr53vDvqlVT1pQOF8mYRLy7vYs8IJEJU9nv39mU5lu4_S2vIQCHliNQGyeTmOxDyCkoC1vV-RgJz77vNdoVbFcR1E9yTcGdwz5RQjZWJvqNuqjKyeUvM5cZqWh7iD5jIWCmU1WIYlTdcdqZv5uENOgWuB3snWfXrhE1aRD-RLkCrTXTDIxLgDfm0DFRjpO_jvkezztOEAX1rB0JdSgsKvKkw4gPNkZbV_uUEdX2uGCiccXSVm6bG4nff9OYFLAVovq3PYRPoPCskNa2A_eMUNgaGVpk0oGmQ2YS1mAHaIcFMfUP3Qk-BTrJ1wDtfGu2HUbgZEEy2HcLWamXJQ_Fi8HO9ycahLBjjwvStp_ClisAWn8iVmR4ekx8ZIdpYPdqSO_caWDtddLhOA-mMqBiSciRvaNFb4NYhQBLP5EKfg59jsdcGhXtJ9mmE_ZcVvMeESYlbftLe4KGDKax3xRMSWhtOAG3c9C9k251Rgh9X0crQH4dPhRgnaIzSqttsehKttNBsqQqElyFx6iKlQhUsHayRn2-oman8ED2-RlHQsaej9w9GWkyCW0TiHmU6Zdmqo9cv9QcXXgwZElLL3OIsgmLBPaKVdpEspB7pRa_8Q2DquyNlOSj2QaEp1G5P2axfRfadjpFvQ82eYjtrKHrf5zruZEC5xxExoiQc4MeuiwQ7B-FJRd_S8YFijIrDmbp0dGe-Vd3RfMx6zd2kMZoLiYIAAASdA3fKEMpu1NFFWy9ek7ifYgmGjK4-TGub_OLEmAFsk_fkHy3J2Zg8f_bxGiXqWH4EUBsI-eJVErPk8EC2eJNPYysTg9ziU_tgqiZovWm91y-_MPERUVeI__KTn0NFFN57akoq7RbjtkM_5y6f_qXK7FIGsXplCtT1M4q7DcH2vg6mH0FGQohSEluluIZQBuYCtZoKbKfjS2pXhVV9Z2ue6zWM2lbuAafWRl8Ov3dQqPUKrAoOAQSnDjStmv3L12P9BYz-qPMjrY0HfOxnYQ-CTaeCfWdhGERwBWY4jDvZE4Br1jt6Ryv_mw0qF6Gbh0oqO5McC_RBo5nT9DSooM8HbMiqxrv1xA7xf2eoNCLNxVJXvgk_SpZGnjIZGcAD8goyPrmEU48H_VTPWc-nJp0dOYLSa-jQDZhyG47eH1CUBIm0dhuntyJt7uHKqUHS779uEujaJuXMnxuWWA1FT5AOWQ453fk1Zq-o6yjjRCYjKWLfhoI8y3JoUkl_172eywD2vNb_2902YdAUkYK8-48=",
  "id": "rs_0f8f606677433d67016ab43103998087d09dbcf5092991b5f6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.19,\"right_pitch\":0},\"note\":\"The yellow object stayed on the tabletop when the right arm withdrew, so that grasp failed. I’ll open and park that arm, then approach the more accessible white object with the left arm.\"}",
  "call_id": "call_PYNVDZZZby0UvJW1JosdCmrj",
  "id": "fc_0f8f606677433d67016ab43106ed9487d0855eeec9c9b95f2f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PYNVDZZZby0UvJW1JosdCmrj",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8104, 0.6064, -0.5014, -0.0185, -0.0387, 0.9992, 0.0734, 0.9863, 0.627, -0.3359, 0.1459, -0.1539, 0.9983]\nstate[eef_state]: left_x=0.2781 left_y=0.0016 left_z=0.1526 left_yaw=0.0026 left_pitch=-0.1251 left_roll=-0.0019 left_gripper=0.9992 right_x=0.3137 right_y=0.0009 right_z=0.1455 right_yaw=0.0342 right_pitch=-0.113 right_roll=-0.2138 right_gripper=0.9983\nstate[joint_eff]: [-0.2803, -1.1419, 7.1043, 1.8486, -0.0659, -0.0171, -0.0122, 1.9214, -1.4564, 8.8, 1.8877, -0.105, -0.1245, -0.0269]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3353ec82c56b1f904196cb31d31d50a360750abafcf37d8d6c5b3d113debf2c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0c5463f0f78a0ec743e57135cf09619929624e34fe193bcf84c216021ea7d17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46abacde6b637ad1beb4a671b457119618d1df85fd61ce5ccfa764695e5b3fe1",
      "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 · 3.298 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.458, -0.0193, -0.0391, 0.9992, 0.5972, 2.4573, 0.9283, 1.5455, 0.5453, 0.0414, 0.5158]\nstate[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.1626 left_yaw=0.0034 left_pitch=-0.0751 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4763 right_y=0.2174 right_z=0.0406 right_yaw=0.0152 right_pitch=0.6023 right_roll=0.0615 right_gripper=0.5158\nstate[joint_eff]: [-0.0615, -1.2103, 6.9402, 1.707, -0.0855, -0.0464, -0.0122, -0.2803, -12.0684, 3.0291, 1.6093, 0.1685, -0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6064, -0.4801, -0.0193, -0.0387, 0.9992, 0.6674, 1.6527, 0.9245, 0.0826, 0.5682, 0.149, 0.5158]\nstate[eef_state]: left_x=0.2814 left_y=0.0017 left_z=0.1573 left_yaw=0.0032 left_pitch=-0.1011 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4017 right_y=0.2001 right_z=0.1252 right_yaw=0.1212 right_pitch=0.0443 right_roll=-0.204 right_gripper=0.5158\nstate[joint_eff]: [-0.1162, -1.1692, 7.1043, 1.7314, -0.0757, -0.0513, -0.0073, 0.1573, -11.8906, 10.9744, 3.2503, 0.2711, 0.4664, 1.0476]\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 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8104, 0.6064, -0.5014, -0.0185, -0.0387, 0.9992, 0.0734, 0.9863, 0.627, -0.3359, 0.1459, -0.1539, 0.9983]\nstate[eef_state]: left_x=0.2781 left_y=0.0016 left_z=0.1526 left_yaw=0.0026 left_pitch=-0.1251 left_roll=-0.0019 left_gripper=0.9992 right_x=0.3137 right_y=0.0009 right_z=0.1455 right_yaw=0.0342 right_pitch=-0.113 right_roll=-0.2138 right_gripper=0.9983\nstate[joint_eff]: [-0.2803, -1.1419, 7.1043, 1.8486, -0.0659, -0.0171, -0.0122, 1.9214, -1.4564, 8.8, 1.8877, -0.105, -0.1245, -0.0269]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3353ec82c56b1f904196cb31d31d50a360750abafcf37d8d6c5b3d113debf2c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0c5463f0f78a0ec743e57135cf09619929624e34fe193bcf84c216021ea7d17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46abacde6b637ad1beb4a671b457119618d1df85fd61ce5ccfa764695e5b3fe1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDEM9eRyn5wCxySC_bahAzcaCC9_KQXEjPjVQHWpwzaOL6vl89u8iPD-dmbay3C4GdUwg-_n3sXBX7Itbjcn7J7sZyRi9CgMEGQR8B68WcB1RHR31GYZbo4DjdvAWjoI6OP3cqgdAJehpzvcVpFzLmIG9wT_1SuD4zknikB8oi1iHcUjHq3rGLOY0UgaBrzYXqVyxt7MrSyyfBV6__r-YTX3GHS-t9QJpidKnACq7DMjK9NLAjw-8mqSNExKtkRwz7BpKjQSfxe9cWdKiq14GN15wpIx81nEBYh9iQDB3pE3Z_jq9Pg2P0w5lONeHjo9bUuwqF4UoT85bmyE9iANE9QC8vw4Wj6tSNxBmsbvFimWvmFEQuWSAuRAwfwfTW2ysrLEMMgueBlIDwem1eApJWyP8yo-x-EdOdefCsZHqnajsMk67HWJ1qahJ9_Xds6NZU_MVZ0Sxnm_8hWvAPeeuQV2NuVgA8rebLV9LbDuhSq4LDlSWVLXsvfyaCUDM33lMq1avBjZQoRtvEiXYx0EU4W4wP-GR4eliumonvQjs2nqTTN6hAbEUuJ-dE9JfErGnRuzscB6SIfqq7HkAs4D9EnwQn4XtCaKLE6Q-lyVXs7siRZ5F6-EcxeqZ7lPu3eACsp7wNJaDSX0C9tFetJwjJt9svMlJdnCfG-WajK3W3ara0cCVhOrVGCXKKcYbnD51kcD7Z5A0UMJlfVbrtjKJ6j2V8OrdRIdAxUqdgKwOd9m-fWspykt0b8cLlhTbN9uhvgWCRgKYoRkaUv_JC58UP7TqPsSRrwpoOUZeAEMu2Q-7y4AA6YC3ehgCnZzscQELnkgV8G9eBrNzQam4yKNDRDfLUwwtsTp5QLUTB02RE9Y2sohIcp83ux3xW9Q8HhvCUKd84AP_Eeat4gWbQx0E7YiA4M9KP6xdv_Vgtsl5JaX8G0d-6UrO3ucV6hi44pmc2srSqHN-4wpOD8muNQhtrWBxxtnM0Ta62KpCC8fVYz7QqLy4jb41jtj66xzrwYDf6GCQfmO3-I4MzllIeP68Hi2YN7ADwN9A5j6Ur89VExTi1pBfHB-Xe63JnNxoaGfOyZ7wkThQ7QQppYQ-1I1T-EccEnxrVFtzAGMPRGwF8jKYXzDpzIqTUHWBuYbwPSVFSRykNTaWnEccsIU4AotNBYxQDsC55bFwWnghMAWYCrxbgrQ8JuBc1b9aIqpq1KEzXJj0cWimRdz4pz6a_7KDMgTFzXjXubmvgQwgQaJ4D1ryh1aGot-aStH1XPjlfRQ_OCef22Y5T6T3OHqZV-rfB_p_t1LZPrDIBKt-rHFp85zgbf0WKVLTpV_bzL8XEz_NqrQRW_no9AK_K4FpQeScbZW3baYmC5kwFAAjoFSnUo7BN4OaZmz3iOIa2t-RrEEKN0M7vFrGDiPDqFILyHoBpZIlBO-_Z4bSlgL53VRZN9utl1llib-enoAoE1kGVwcRiMEut-y8T7yA2avaFWcwYUx0UOEfirKYzc7TUJeyUVd030LZCu3Z7pfc08aYtBudxxsdbCeyDMQ6bymMYqC4GCm3_lOvjVFp_lsaG7OOqWTgs6oIsmzZ1LihXqwi9k0KXTCYm9WPl0Ph02OJYeVukTYq5lMhOPk_MVtJqrc3Vjqr1_XhUyVPi2Lj_SajcfQYUSv6VfuqRNOlr4Gvcwiy6_9mZwEaR1_Eh7UzivNNPHTTJSr6eTgfC7APcAO452b9UKUXFblwJuIRgX1VbVkUqL3ZG6-D3L8BR3khsVrZwm1xeJrFEDHL_Om_WyZfG_zsQzyRmBOrK_-rmKGi1lHOEvM5HaeaJJHozOH9MKWN36LDJPviASi8VCIOuV6OPXwpIu6gFznWmUDUIKto8w6nsup32UGQYBsWuU8zdTZHvCAwN_HJEAwOlWCnt8yNDCxTvRC1Vz5Vcz6lgPiXY1EwVmSv7cKWs_DBGBlRY7AbEvgZLOwc0UTrb2E_osvVcX_mw2Rhh4ADEZNQjlv6Nor38MNYT4W384feXzxiLKbdbDHwytHaC5GPQV1pBWwacu2d8mz",
  "id": "rs_0f8f606677433d67016ab4310a7d9887d09dc58252f383a7e6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.105,\"left_z\":0.11,\"left_gripper\":1},\"note\":\"The right arm has cleared the work area, though it appears to have shifted the safe; the white object remains in front of the left arm. I’ll center the left gripper above the white object before descending.\"}",
  "call_id": "call_mWgxPSE5KzNjaXZK9GOSylU5",
  "id": "fc_0f8f606677433d67016ab4310bdc8887d0bc1313e0520f5bbd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mWgxPSE5KzNjaXZK9GOSylU5",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5217, 1.1954, 0.5903, -0.2611, -0.3618, -0.3695, 0.9993, 0.0746, 0.9966, 0.6212, -0.374, 0.1356, -0.1719, 0.9989]\nstate[eef_state]: left_x=0.3028 left_y=-0.0978 left_z=0.0885 left_yaw=-0.0226 left_pitch=-0.2133 left_roll=0.0323 left_gripper=0.9993 right_x=0.3067 right_y=0.0026 right_z=0.1328 right_yaw=0.0537 right_pitch=-0.1695 right_roll=-0.2221 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -4.1778, 9.6342, 1.7021, -0.3492, 0.0415, -0.0855, -0.4581, -3.3846, 7.5009, 1.9951, 0.1197, 0.1587, 0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f256f45c5befa0fd13c8fcc799a719c0b6949f11ac7e812755308d3419d16b99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eb58bc4cc168892da986b6e6027f2c6dbdb239407899c7acf4a8cd001f81534",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7131f6a8b493da0b01ff3f4d28f60debbf233ba393419348b8f595bc8168451",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 3.659 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.807, 0.6064, -0.4728, -0.0189, -0.0387, 0.9992, 0.6094, 1.9366, 0.868, 0.6704, 0.5385, 0.1432, 0.5158]\nstate[eef_state]: left_x=0.2825 left_y=0.0016 left_z=0.1589 left_yaw=0.0029 left_pitch=-0.0931 left_roll=-0.0023 left_gripper=0.9992 right_x=0.4512 right_y=0.2089 right_z=0.0869 right_yaw=0.0716 right_pitch=0.2487 right_roll=-0.0675 right_gripper=0.5158\nstate[joint_eff]: [-0.0205, -1.388, 6.9538, 1.7949, -0.0659, -0.0464, -0.0122, -0.0342, -12.5744, 9.6479, 3.2112, 0.1929, 0.6129, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8104, 0.6064, -0.5014, -0.0185, -0.0387, 0.9992, 0.0734, 0.9863, 0.627, -0.3359, 0.1459, -0.1539, 0.9983]\nstate[eef_state]: left_x=0.2781 left_y=0.0016 left_z=0.1526 left_yaw=0.0026 left_pitch=-0.1251 left_roll=-0.0019 left_gripper=0.9992 right_x=0.3137 right_y=0.0009 right_z=0.1455 right_yaw=0.0342 right_pitch=-0.113 right_roll=-0.2138 right_gripper=0.9983\nstate[joint_eff]: [-0.2803, -1.1419, 7.1043, 1.8486, -0.0659, -0.0171, -0.0122, 1.9214, -1.4564, 8.8, 1.8877, -0.105, -0.1245, -0.0269]\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 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5217, 1.1954, 0.5903, -0.2611, -0.3618, -0.3695, 0.9993, 0.0746, 0.9966, 0.6212, -0.374, 0.1356, -0.1719, 0.9989]\nstate[eef_state]: left_x=0.3028 left_y=-0.0978 left_z=0.0885 left_yaw=-0.0226 left_pitch=-0.2133 left_roll=0.0323 left_gripper=0.9993 right_x=0.3067 right_y=0.0026 right_z=0.1328 right_yaw=0.0537 right_pitch=-0.1695 right_roll=-0.2221 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -4.1778, 9.6342, 1.7021, -0.3492, 0.0415, -0.0855, -0.4581, -3.3846, 7.5009, 1.9951, 0.1197, 0.1587, 0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f256f45c5befa0fd13c8fcc799a719c0b6949f11ac7e812755308d3419d16b99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eb58bc4cc168892da986b6e6027f2c6dbdb239407899c7acf4a8cd001f81534",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7131f6a8b493da0b01ff3f4d28f60debbf233ba393419348b8f595bc8168451",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDEQ52vW0CvVO-fN2d5_iv8fCynf5mloAq1S7QlA3PWxT5MdkLD2stuZjjgMwJ0q2vPd4DwxVQ0Sy4hJn7EWyZT9x2m5ZlKtBuHI3l_SiNk6OW83YuXR8wjZpQyHgrmnchd6TESvUQPONwdQIXHGQxymNgx523sKv7oEgr1Dp5cSHZ4phXAlZI2sVHn8CRQka1Nekajg5lp0EVxMqPiiz7kmRBtMzSeNE2ENqGm6y243zdcrb7IoiLkEI6qapfB4DpvcXfyugsnx17Dq9f6sO8eIWdRu-ilAzyqa3p1JtAJ9fR_jmurD-kZqrJKuMFbq8kamFdl-KPiwn5Xa_l76c75dv0t5dIadr_GjfJ9MpQltYkrHAj3VDU12hYIxffSU6pr3CzpAGeP3uONbHPlIrzayyM9rNjSJPrvHUKF3OIpWZeHhZEu9X4OqER53A5_uxr7QaR2M5C_tKnIy6SooNSbe29XNN-hmtK8h59JUs-tS12vUtRf0RyazFd_rU_ePFCHXDdhhEpWFUxKa0yXNr4r8Rb5ihjYWkORwKi8lQzx9SHkzcXVjalxVqRMURr0v4g-RxUIsoM7yjKFSubBuG4OdrWrsfrC6PXxy4-5cW1454mLTEa2Mxi4ogNFA8Aq1UXFkcyBfzJcPx9Y0HDvDxT-gUpoPHfnP0DbAaWcXi-U5CKKUTE0LZuR2LR86E_LemBpVzlKHkYcoZXs5Tv4Q83OaTPUW3T6-2IAwTAZa0WNTxWViqP70sTLbnvq6EJHssx6xvsEodPX6Pz0g5hfr-tdzsjw5p_RAVAg0OHYKuAm1MamAMLMKzYffyypZFpqI2fIssFLMELypCSkP_ujpZYnqy1g52kPRyLbDQUTP0QnI4pKSI4Os-ZqTUkO9h4etg9pdCWJqvGqoH5gYG9pwdmcXhEoyBkdTSnaWCctSs4L3WuwM-N3P-cf6OpSkx2DSuum6B3bBxkT4ofJGYrlqNBAJKGtRxiG6aAr2Ky8BufYhw7Vz6mrl6DzDy7U5L1kXSkJxCQCBkV0Kgn7pBdAWd7HuXBnDWpCRacxOQGMFfm5usvgT2YGOz6HC9WkBa1DlOQVVsFmt6YnzpXn7OvXzCwUL6gtDWJT5htmXvc1zma60RG6Py0x3tSIf-6pxckXxa3DSIQz0Tkl3VaJIAALpUqReq0Rmw05aPFqoz28yBNoJhryz9h7Tv4XE01kEu5LcAR2OX082ciZPstB9MiXyopM3RvjQ9vWTxudTiUijlMj4f_DGfSYrLpSOnCJ7q9NNkWRizrpKB-Jt3EouorzEjGFdflUhiQoc_qTy4KMlsfxUQrr10JkZIkMRccRWVsEQLeOHB_lYXtpkQ9jpQfr88bZk8NA7BNlz4WNvfc0V8x-MPvmcckQnUQH3TxrWup-52U-nVeHrTGDRUQXy1jduPbvebUklcyfa0epIiui2H91h-gYhH2OFiobzPPfcrjBKJdk0Q4wRH2PRmASyaeoUe2UoAk3S8xdV0Gq6JFLEFJuj5f2Xy-4RIS7g6YSRy6d0cacuoC2kvRNuzlP3NXJpDslAgh73rS84taMw7gX_0UKphYeoidoLpbAaVCOV_dAdZu2EhxITkfkKdPKM6YF8IonocGUcR61QAX7OiMIdS4DuCSR2RqC4WvfnScSvqVdB2kHT3v24embh09qOPMk8pf69pIsd-pAep03ZbgGHphmfcP_9wYfJA8qLxr7360HEKPdN-dw5nNBZ8LVMW0qJzrfi7U-6n9UIoMmiLm8cTT3iX9IyE8qqgwMf25fb_8OawbUG8rilhN1mTSTWvT9pyS9K3C3vEsFek9SAWKPdKTKxSFzXZRc0-xGbxvYzE8jM-54z8Zd6lZRwvLgj8ZlkYV0se0aF4w9llUYQsAMfrDWFg3Hx5iDtj2-A3XvPSfR6p-o4GHft1aFV8401UNnzSO8k7gQeOTdZMNT6-D3k9duif8cJ7yLwMwDj7mGzFJlx8k3C",
  "id": "rs_0f8f606677433d67016ab4310e9bc087d083c3b92028573b1f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.318,\"left_y\":-0.102,\"left_z\":0.045,\"left_pitch\":0.19},\"note\":\"The white object is centered between the left jaws in the wrist view, but the gripper is still above it. I’ll lower to about mid-height with a slight forward pitch.\"}",
  "call_id": "call_HykUo9k81uQbkNCeh4lcvx5p",
  "id": "fc_0f8f606677433d67016ab431101a9487d09a55361ec309d8d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HykUo9k81uQbkNCeh4lcvx5p",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5976, 1.565, 0.1879, 0.7879, -0.5297, -0.2626, 0.9992, 0.0746, 0.997, 0.6205, -0.387, 0.1349, -0.1761, 0.9989]\nstate[eef_state]: left_x=0.3082 left_y=-0.0975 left_z=0.0236 left_yaw=-0.034 left_pitch=0.0782 left_roll=0.0744 left_gripper=0.9992 right_x=0.3044 right_y=0.0025 right_z=0.1301 right_yaw=0.0566 right_pitch=-0.1841 right_roll=-0.2249 right_gripper=0.9989\nstate[joint_eff]: [-0.759, -4.9983, 3.535, 2.0244, -0.3492, 0.0611, -0.022, -0.1709, -2.5368, 6.8991, 1.6532, 0.0171, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a03f121bf76181678da9809bd6cf2c62579c56205754ca2bc1428ccd6dfa4013",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74a3c90a6df5544fe2cef6d33b07fb9bc9e39aaed84b0338c40bcdaf39c11c5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b56b74fd59b8f515bb6958a6c709fb165053c74de438aea64475fc3444ec2d98",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 2.795 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6064, -0.4801, -0.0193, -0.0387, 0.9992, 0.6674, 1.6527, 0.9245, 0.0826, 0.5682, 0.149, 0.5158]\nstate[eef_state]: left_x=0.2814 left_y=0.0017 left_z=0.1573 left_yaw=0.0032 left_pitch=-0.1011 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4017 right_y=0.2001 right_z=0.1252 right_yaw=0.1212 right_pitch=0.0443 right_roll=-0.204 right_gripper=0.5158\nstate[joint_eff]: [-0.1162, -1.1692, 7.1043, 1.7314, -0.0757, -0.0513, -0.0073, 0.1573, -11.8906, 10.9744, 3.2503, 0.2711, 0.4664, 1.0476]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5217, 1.1954, 0.5903, -0.2611, -0.3618, -0.3695, 0.9993, 0.0746, 0.9966, 0.6212, -0.374, 0.1356, -0.1719, 0.9989]\nstate[eef_state]: left_x=0.3028 left_y=-0.0978 left_z=0.0885 left_yaw=-0.0226 left_pitch=-0.2133 left_roll=0.0323 left_gripper=0.9993 right_x=0.3067 right_y=0.0026 right_z=0.1328 right_yaw=0.0537 right_pitch=-0.1695 right_roll=-0.2221 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -4.1778, 9.6342, 1.7021, -0.3492, 0.0415, -0.0855, -0.4581, -3.3846, 7.5009, 1.9951, 0.1197, 0.1587, 0.0464]\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 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5976, 1.565, 0.1879, 0.7879, -0.5297, -0.2626, 0.9992, 0.0746, 0.997, 0.6205, -0.387, 0.1349, -0.1761, 0.9989]\nstate[eef_state]: left_x=0.3082 left_y=-0.0975 left_z=0.0236 left_yaw=-0.034 left_pitch=0.0782 left_roll=0.0744 left_gripper=0.9992 right_x=0.3044 right_y=0.0025 right_z=0.1301 right_yaw=0.0566 right_pitch=-0.1841 right_roll=-0.2249 right_gripper=0.9989\nstate[joint_eff]: [-0.759, -4.9983, 3.535, 2.0244, -0.3492, 0.0611, -0.022, -0.1709, -2.5368, 6.8991, 1.6532, 0.0171, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a03f121bf76181678da9809bd6cf2c62579c56205754ca2bc1428ccd6dfa4013",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74a3c90a6df5544fe2cef6d33b07fb9bc9e39aaed84b0338c40bcdaf39c11c5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b56b74fd59b8f515bb6958a6c709fb165053c74de438aea64475fc3444ec2d98",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDEV0bCs4b22dcgR8Nb6xMmePh5LGjCtSbYF3Gz82jNf0Qk6Djt6TqjYZQkjZyYDfo1_Zmiko44bq8niDl-uqHBmkJBFuyAWNLVAXY6fPCbYzCWSXUqh99CW0hnBWQzHexo6ajtrolY879qs4FVc6da5FNrt8blCsqrbb9WSadFNzvjQ-FXa7QoFcEXI-jckby4nhpLh3qF9u6vZy2UXiz4KSeqf8HwaO1pp4lwLWSyuHr1_oduMJaxiPnK_RBpyqCtq4KqEV_iPyqRqI8C3GrCr448-WO2LnTgiOoSO1NLeZAJgMknCU9bg6rKvW_RZ_Zjd-R4LIQ6Vb8njzUjE5gkZbLF7OFN12c0ykv5pzN-8RkQSsCmiJBWaQ6__bn3Sma8uzBK7Sd1YqFzDSHFPFenLuviUo74BlVfOre4dZDs61ew8OZr-AxIyyNFeUlzz3fMHpxdJbSHlNBCxMt7JSzute-fcH4fJyM_5PjO6Vr-qnFH9Z5kJDxgxscKqA1cR-Zba85jkELZRFQj8Z4rIFZf0teR4VrAMPWYtZblCKYrpVS38ZkTh4nMlca57s3P27392EJ3ZO8BOqRd7Ap3uSESyvRd5MZXg6ToGisW336Elkni4azLyuPs7Vi6UNbmAfV5OzAR_-D9-uPHz63lCnrhbqZ7h5-K0-OZQHPvNZUpUPgsKaDb3GJ_4rXsjzkxihmcDS7N3H9_8_ket0eUp8kyOqCUggzDiPC2OtpG7qOOBlU40_KcoVKlYaymr7zn6e3ndWKil0yc4R5-RmPVTscMpXR6A0uDfCDMwjd-Nweth-EZDs8zKl7j7-CAFnF9bkwpGB2DBMGCg_WYoMQEdEZGYVblfyj7aobVku0SGk2QNXhVlvrpUgMbWdUoJn_EWgL_q7LM0I7rnoKQXZ3eO2E5sVHsl3n2836_diKo-NojozgPpDbwdTDAmsPe2e3iqYiaQTcPIhPkWZhnEIG6ahkg7X9x7bAO7B1Tkp-TeD8r0K52aUmVuGBfVMe8Y2cnozg0hbLJfoEl0-QqhuBoOlQbnB9lNk5vOWAXlCpvvJUUW4orzPeNs77LTVDMjVmYT3fzO7MBULFILRpbS0wy_TaUOyq4VzZzGlcu22tPrSif96Yjf81nwHfjue7uQYZn8Cqhd6ii3rkW4lH7B1lQXJveGenX-gylev7Q3_TODnEUott-XXJesWwc2RieUHG-YZC9NhtI78uWA0F3y6XCeJZXl-cDtMjlxNpZz_jDUfzz2PQ4P0k-_DhsVm7Sc-mkY5wH7r-bGnMn9qzrfxYvCZnsPxqnMx6AxTovKMqstWyY_GOEsZJb0l6rga1cjjKUxDDyJ9Nixj_VYLymoYWwvXEWmk-cdjhLHFjbbn8q_5_ScdOqoMM4RSpoA59NrAVjSqJOz_2ZbOwz4B0NAcVQoTKHL2OgjQgvr7wZmgES4SbmLxhpsL-JjxNnvyv-k4D85MlgYJWm4hzyR2Uv7b8GoIpGF11TOexzyv7RD-58H0OlYEtoV1lZNGQmF-ik6v89OZw5AYBlF6x9Ns8Kn2CgqkyG6YvS2xNmioWqBMkaeFSjzIQphQc_Ay-qJ-Rqt5GHVqdLTo7budxizjki9n6FMgDOhQkVFJSlUCtI_XMUHz2YNATUHvEQEcIe9o5kfSOe1ylA8jrvBJ3oxTFzX_5DGyUbNq5PtSdM9Ny4w0CBUbqPDHGGHwalxAq4hrOZXxOGO4Z5aV28ZTYvuzahNL17uALpBV4WHm_Dwl4nSzlKjXRqXVbg=",
  "id": "rs_0f8f606677433d67016ab4311381b087d0a47960566bd2d611",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left jaws are low and flank the white plush in the wrist view. I’ll close them now and check the settled opening for a grasp.\"}",
  "call_id": "call_1AhLINzHN0MxuKWtTFpHyrA1",
  "id": "fc_0f8f606677433d67016ab43114cbe087d0b0f0951b8c285da9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1AhLINzHN0MxuKWtTFpHyrA1",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5972, 1.5745, 0.1783, 0.8001, -0.5396, -0.2665, 0.0172, 0.0746, 0.997, 0.6205, -0.3874, 0.1349, -0.1761, 0.9989]\nstate[eef_state]: left_x=0.3062 left_y=-0.0942 left_z=0.0209 left_yaw=-0.024 left_pitch=0.0755 left_roll=0.0794 left_gripper=0.0172 right_x=0.3043 right_y=0.0025 right_z=0.13 right_yaw=0.0566 right_pitch=-0.1845 right_roll=-0.2249 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -5.2034, 4.6017, 1.4921, -0.0611, 0.0073, 0.7399, -0.1846, -2.3726, 6.8444, 1.5311, -0.0024, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16ae45aefae77be7d2bfe3b8eccff2b0ffc126ba47680bbee664d639d962edfe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44a727530881d438e32a4e2254d0e35c77ec50509ed8cad79700d1b1f210019b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b38edb7cdf1251aa354aa2e0585d0a80ec8a80ec83e242d524ec181d68f02c45",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 2.547 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8104, 0.6064, -0.5014, -0.0185, -0.0387, 0.9992, 0.0734, 0.9863, 0.627, -0.3359, 0.1459, -0.1539, 0.9983]\nstate[eef_state]: left_x=0.2781 left_y=0.0016 left_z=0.1526 left_yaw=0.0026 left_pitch=-0.1251 left_roll=-0.0019 left_gripper=0.9992 right_x=0.3137 right_y=0.0009 right_z=0.1455 right_yaw=0.0342 right_pitch=-0.113 right_roll=-0.2138 right_gripper=0.9983\nstate[joint_eff]: [-0.2803, -1.1419, 7.1043, 1.8486, -0.0659, -0.0171, -0.0122, 1.9214, -1.4564, 8.8, 1.8877, -0.105, -0.1245, -0.0269]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5976, 1.565, 0.1879, 0.7879, -0.5297, -0.2626, 0.9992, 0.0746, 0.997, 0.6205, -0.387, 0.1349, -0.1761, 0.9989]\nstate[eef_state]: left_x=0.3082 left_y=-0.0975 left_z=0.0236 left_yaw=-0.034 left_pitch=0.0782 left_roll=0.0744 left_gripper=0.9992 right_x=0.3044 right_y=0.0025 right_z=0.1301 right_yaw=0.0566 right_pitch=-0.1841 right_roll=-0.2249 right_gripper=0.9989\nstate[joint_eff]: [-0.759, -4.9983, 3.535, 2.0244, -0.3492, 0.0611, -0.022, -0.1709, -2.5368, 6.8991, 1.6532, 0.0171, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5972, 1.5745, 0.1783, 0.8001, -0.5396, -0.2665, 0.0172, 0.0746, 0.997, 0.6205, -0.3874, 0.1349, -0.1761, 0.9989]\nstate[eef_state]: left_x=0.3062 left_y=-0.0942 left_z=0.0209 left_yaw=-0.024 left_pitch=0.0755 left_roll=0.0794 left_gripper=0.0172 right_x=0.3043 right_y=0.0025 right_z=0.13 right_yaw=0.0566 right_pitch=-0.1845 right_roll=-0.2249 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -5.2034, 4.6017, 1.4921, -0.0611, 0.0073, 0.7399, -0.1846, -2.3726, 6.8444, 1.5311, -0.0024, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16ae45aefae77be7d2bfe3b8eccff2b0ffc126ba47680bbee664d639d962edfe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44a727530881d438e32a4e2254d0e35c77ec50509ed8cad79700d1b1f210019b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b38edb7cdf1251aa354aa2e0585d0a80ec8a80ec83e242d524ec181d68f02c45",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDEZGT_M21bcrqdrDMl7cv3i-04BGzjWGvSRLliUwRXFBOl1C6IEMxxEgvB37zjXUgOXBu2eWswHS5isg95YsBmyU-AcgXydNfc0aOxff4fB0Yyyq1UWh4QJA1FTne9OvtGLu3ueenTysIJIsq2Z-t-wLrFDw-Cb4YF3sOfAJE-ue9_PAaVF47N06K3xnt3V77_Fcon1QJbzu6IJYDehBJY7zRAPnaFuwATQ7REHP1HEKEk0GnVNoOL-nxOBWtCL_R_nL7QpTeGoCPAkv7SA3YcvVbDl_Tt1VagigsS7e0HlfmqCUgg6csJCwVLLtHQF_NQ1k7zRg1Ly3v6nyrTzYrbnbVD-qN8oqPw7ZFwivZXIV_1WVNJYBAni2z8TFV9fnB3jBUTE9bMUSjd0l1yVltdFxsiiiSBI39uZ4FiAlPAZHFOCnLAH8R8a2Xsms9lcTVMK4m_2dy0qWJ09Lr6qMXg3MTO28v3nz7RIvOM2SeKnl6BgjBOq-0rQZrcntC-dlFKPipB2MbucIGeHZdK31c-5OQeLj_bTQ1kgOGfv07FRz3NBpA1NgfCbUPlzBHOkA3hnCREgw78H9onM78TD9h4ysPzgWD6sCjkEFF35w0zwr8NWMXcmm2UcXMif8k8Nyyr6eJd0pRu9xIUy0_cqJI7AFI-0nCccglqNv0bT1rdimibXfSH8O5dwmyUqLXY9B0EQt5_U07wMFbt013Dv1uuxAuI7j_disPqihxnnU6KoTqDlWeLLVdDgr0sgHoUIS5r4HQNHhx2NXamEIBYlg9RgJSk2-xxmegi6Dc5Q0Yi1ek63lRZXewlUM7pkCPOh_OYFBdXLkuc5e_jxpMFmebLeIV4U39XHCVOJSn_QkCrFAk8JqE5VHDCEMtxG_tBVSG-WJldjvsc3PjVxFoC1zK4pNl7_hmtW_XtsS9QDnOXZJnkx920K_-8VfQJSqAOjqXwgluDRqUMpPNhuaVRK9fpqF5kNUIphC4g6khZLm88juvIzpDF10Hx2adlMAbh1-U8c-jKGmKyNfNIcYx16gVgL8jPD44WdiGd5X037aMAOp188C6ootwXWMbw5FZjBhVCTGhvLpS3JRBg_LSPVPPSybC4wSPqFbeJALNooGQRPB5aJkkouQcZRBsh3sJMP5D9_YemwoZTwPtHeImDY_Eyc_D6pmavamPbCTlBWrSDPZXiNokDctmBNJEJ8YbDBAtIhNG2Mc7owmB8jfu-5IfB97KS4Unk1th2Knsy5-4HSSVSKyoqJJut9XNFfYe29SzUqFYWbv_01Ai4JV5yns0vuFN86ueSRKkP5-RLqM1J3d3rwSKvSVrHiAY9l93FFewCk4i-kF-_4iJxSsMmgga1kCGEjs3hOK9cI4WTPO-369EB2VV1TqZpqkxhPs5l5FU52fCG4zNiARmt6Lt7ZbnF3M8swa633XcOLwhKt0hltOCf5W0tU39xCqm6tlL9xYP2JnPS7pdIucVfFXnHRTAmqK3p5bfs8TvvGWHUjJR6nGonEITBtFA-EJR0Mm3BbHjD77EZD0E1IIO-OwpmSyaOl2ng0bwoFoEDzoHR3NK3yeE74do0Vy461Jhs8hYYTxvKVrHuYkbFesUba5Na6Vyl1c8bJbJkFGf18qwPi_WTgKRRyhSgUBx7pfjI2paef03KD",
  "id": "rs_0f8f606677433d67016ab43117ec9487d096e2f1925461a1bb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.337,\"left_y\":-0.083,\"left_z\":0.026,\"left_pitch\":0.14},\"note\":\"The gripper closed almost completely, so it missed the white plush; the wrist view shows the plush just ahead and slightly left of the jaws. I’ll reopen and advance about 3 cm with a small leftward correction.\"}",
  "call_id": "call_sUngyoVf9XlsdC9ZmgUs7vhK",
  "id": "fc_0f8f606677433d67016ab43118cc9887d08bf397bed6200c47",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sUngyoVf9XlsdC9ZmgUs7vhK",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4828, 1.6997, 0.1993, 0.9611, -0.4721, -0.1867, 0.9955, 0.0746, 1.0008, 0.6167, -0.4099, 0.1349, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.328 left_y=-0.0772 left_z=0.017 left_yaw=-0.0049 left_pitch=0.1025 left_roll=0.0898 left_gripper=0.9955 right_x=0.2997 right_y=0.0022 right_z=0.1234 right_yaw=0.0567 right_pitch=-0.2147 right_roll=-0.2258 right_gripper=0.9989\nstate[joint_eff]: [0.3077, -4.3966, 5.0393, 1.8584, -0.1148, 0.149, -0.149, -0.0479, -2.8376, 7.1179, 1.746, 0.0073, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:608323026afeb47753f7cc0409b8288617582d04e5b890007f18e136f290d5ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b62b8b6c939a0f3a7e4fc37c36906eb16fc2ee5e72e8a54422654475712fa64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7df983d8ddf0183bf4bc7721ecdb2d79975c178dc49f1d853cdee64af3ba452b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 2.225 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5217, 1.1954, 0.5903, -0.2611, -0.3618, -0.3695, 0.9993, 0.0746, 0.9966, 0.6212, -0.374, 0.1356, -0.1719, 0.9989]\nstate[eef_state]: left_x=0.3028 left_y=-0.0978 left_z=0.0885 left_yaw=-0.0226 left_pitch=-0.2133 left_roll=0.0323 left_gripper=0.9993 right_x=0.3067 right_y=0.0026 right_z=0.1328 right_yaw=0.0537 right_pitch=-0.1695 right_roll=-0.2221 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -4.1778, 9.6342, 1.7021, -0.3492, 0.0415, -0.0855, -0.4581, -3.3846, 7.5009, 1.9951, 0.1197, 0.1587, 0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5972, 1.5745, 0.1783, 0.8001, -0.5396, -0.2665, 0.0172, 0.0746, 0.997, 0.6205, -0.3874, 0.1349, -0.1761, 0.9989]\nstate[eef_state]: left_x=0.3062 left_y=-0.0942 left_z=0.0209 left_yaw=-0.024 left_pitch=0.0755 left_roll=0.0794 left_gripper=0.0172 right_x=0.3043 right_y=0.0025 right_z=0.13 right_yaw=0.0566 right_pitch=-0.1845 right_roll=-0.2249 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -5.2034, 4.6017, 1.4921, -0.0611, 0.0073, 0.7399, -0.1846, -2.3726, 6.8444, 1.5311, -0.0024, -0.0708, -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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4828, 1.6997, 0.1993, 0.9611, -0.4721, -0.1867, 0.9955, 0.0746, 1.0008, 0.6167, -0.4099, 0.1349, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.328 left_y=-0.0772 left_z=0.017 left_yaw=-0.0049 left_pitch=0.1025 left_roll=0.0898 left_gripper=0.9955 right_x=0.2997 right_y=0.0022 right_z=0.1234 right_yaw=0.0567 right_pitch=-0.2147 right_roll=-0.2258 right_gripper=0.9989\nstate[joint_eff]: [0.3077, -4.3966, 5.0393, 1.8584, -0.1148, 0.149, -0.149, -0.0479, -2.8376, 7.1179, 1.746, 0.0073, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:608323026afeb47753f7cc0409b8288617582d04e5b890007f18e136f290d5ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b62b8b6c939a0f3a7e4fc37c36906eb16fc2ee5e72e8a54422654475712fa64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7df983d8ddf0183bf4bc7721ecdb2d79975c178dc49f1d853cdee64af3ba452b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDEd14_i0Qn_pxUzGxXrtOrtj8w1S4OV1KNjN_sXPGZL7zO1le5wQOv8B2-0MV7LiT-b-zKMqafuSp39GyOiWBG9ufpYDILqAbaWhwnxRD--sqKDVIJMqTRQvDnylvGtRQc_x0L2dihykBHOoUdv3zuAfyVIUJNFmMPq9AxotUV9AYKuK4KZUuiGPNSOKZz6Rm9DLTr-HwIhLNqtmr4TO_NyQajkP2Io5_IqPwIrIJB4TZZSWKiScLOSEeIy84cCc-oyysUHZxGHasbdKFr45EpnrwTpex4BFiegZNpaZZVU_RcsOf-Ji-hHBcslCwixPDLIvh8FdZ2Ul3ZIj7z8Fh1gPpTDDbyuBfBiwf5o21OgPim-jdCRF3lMh4Tc2WIvAXmxmlf0ggsWgQE0geHIgjtrDeeaz500aZP2Z_ZAeGgJj9jfZD5-IQ4itspt1RriWoKYcFZHcbHNcMASI64k43KRc0WpSqS3ahBsa6law7x3V3FS0JZTe2UbD64VSoNfhBIJ8GV4J8Pjjb63K1W9qc8FJSoT36q2XXEIXScquwZoOFcJunblngmBmR62J6Nsb-goCH0i1oxL0biTPfL87X_TAGYIVLepwGm5KhEc5jxWti2gRFXZ_bYywxNwxwcOMlgCirJAa16cRomcNQK8Nt-IAwVYM6EFze9so_-w-WnX2qkUpcyPw-gJccP6fYLlb_bG9Me9-zynH6Kw82UqjeB6Yn-Nd0XXpilRf5jVq-g6PCXZZTQqhRdZblLYVDcMr5Ci_by9yo6SeYiejoIiDKeYNR5QOgjDg__uWncoOp-SnWByKYSk3uV7LvPh-8Q-AMEC3Sr1OQamixQCjSgVVyUcG1xpHuo4-JeNbOZm4FN5eggGmrk098m-s0MrdTW2WC0j8B7SGHLk1PIaOeKAvW75ehuXhOxwmY_1R99PDX75Q7iCD8_vXsr-PBYvreqBSRgOmeONZOvpfHnDAUfH9MMqdWTg-awBq5h4S3dwF4aww-4MbuiWk4bOo5PZNEEigyYJ50d6GmkiMmVcuqlhmKxgtRXpFucqreremBL49wfypbhN9B_EQk-6ND49II7xxRY5qeebXqj-qOakslh0zXAwELdT9ILRSNgEaS-1XgymhZ7FsIoP_Q91QSOB4VTdbdVWxIy4RjNvZap6IgVkZJ4TaP41ml2qNWgeziT6iLsQFVTwkk3VW76xaFi4ZvLobpe-XtlGrX3JEiTykb433x6fc14DVgX6v-P4bALLExBZ8ZohmCsZSG8mNA81Z6HuwkdWc1in-bKWv4SYJi86L42gNByXQvGECMXXXmtmp2GS7wAJF1GR26FEdAviT0CArsJ_O7Qj8wghDQEuP6Ps2na39Q==",
  "id": "rs_0f8f606677433d67016ab4311bb79887d088204a4e3433b731",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The second approach brings the plush body between the open jaws near the fingertips. I’ll close again and confirm whether the gripper stops on it.\"}",
  "call_id": "call_xMTWp21hGHlHdYLo72TxDR90",
  "id": "fc_0f8f606677433d67016ab4311c225c87d0a01e1b4c30fe47de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xMTWp21hGHlHdYLo72TxDR90",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4835, 1.7027, 0.2012, 0.9646, -0.4759, -0.1909, 0.0888, 0.0746, 1.0008, 0.6167, -0.4294, 0.1349, -0.1761, 0.9989]\nstate[eef_state]: left_x=0.3287 left_y=-0.0771 left_z=0.0175 left_yaw=-0.0001 left_pitch=0.1057 left_roll=0.0867 left_gripper=0.0888 right_x=0.2963 right_y=0.0019 right_z=0.1201 right_yaw=0.0564 right_pitch=-0.2341 right_roll=-0.2259 right_gripper=0.9989\nstate[joint_eff]: [0.0205, -5.3949, 3.0838, 1.6874, -0.1001, -0.1197, 1.2234, 0.0205, -2.5094, 6.8034, 1.6923, 0.0073, -0.0122, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3c3c375a06bb4ba06ffadfec9423b6fa223086eee8455d3bd05eb93f487a933",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4464f5cbab5f94b89f457302e8c291872aff20b6aa9c12bc4c523871c7f059b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffbe2d4d81c1c63259d5c30fa956690fa8625fc15d7ba20cfe827b3f4f0fe381",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 4.786 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5976, 1.565, 0.1879, 0.7879, -0.5297, -0.2626, 0.9992, 0.0746, 0.997, 0.6205, -0.387, 0.1349, -0.1761, 0.9989]\nstate[eef_state]: left_x=0.3082 left_y=-0.0975 left_z=0.0236 left_yaw=-0.034 left_pitch=0.0782 left_roll=0.0744 left_gripper=0.9992 right_x=0.3044 right_y=0.0025 right_z=0.1301 right_yaw=0.0566 right_pitch=-0.1841 right_roll=-0.2249 right_gripper=0.9989\nstate[joint_eff]: [-0.759, -4.9983, 3.535, 2.0244, -0.3492, 0.0611, -0.022, -0.1709, -2.5368, 6.8991, 1.6532, 0.0171, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4828, 1.6997, 0.1993, 0.9611, -0.4721, -0.1867, 0.9955, 0.0746, 1.0008, 0.6167, -0.4099, 0.1349, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.328 left_y=-0.0772 left_z=0.017 left_yaw=-0.0049 left_pitch=0.1025 left_roll=0.0898 left_gripper=0.9955 right_x=0.2997 right_y=0.0022 right_z=0.1234 right_yaw=0.0567 right_pitch=-0.2147 right_roll=-0.2258 right_gripper=0.9989\nstate[joint_eff]: [0.3077, -4.3966, 5.0393, 1.8584, -0.1148, 0.149, -0.149, -0.0479, -2.8376, 7.1179, 1.746, 0.0073, -0.0366, -0.0073]\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 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4835, 1.7027, 0.2012, 0.9646, -0.4759, -0.1909, 0.0888, 0.0746, 1.0008, 0.6167, -0.4294, 0.1349, -0.1761, 0.9989]\nstate[eef_state]: left_x=0.3287 left_y=-0.0771 left_z=0.0175 left_yaw=-0.0001 left_pitch=0.1057 left_roll=0.0867 left_gripper=0.0888 right_x=0.2963 right_y=0.0019 right_z=0.1201 right_yaw=0.0564 right_pitch=-0.2341 right_roll=-0.2259 right_gripper=0.9989\nstate[joint_eff]: [0.0205, -5.3949, 3.0838, 1.6874, -0.1001, -0.1197, 1.2234, 0.0205, -2.5094, 6.8034, 1.6923, 0.0073, -0.0122, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3c3c375a06bb4ba06ffadfec9423b6fa223086eee8455d3bd05eb93f487a933",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4464f5cbab5f94b89f457302e8c291872aff20b6aa9c12bc4c523871c7f059b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffbe2d4d81c1c63259d5c30fa956690fa8625fc15d7ba20cfe827b3f4f0fe381",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDEga0pW10IXaLp90w1RPXFA6OhCOhHwjN6tzYXa6fJexguJ1DWC0iD0dgOCsBt0Q9bw20HlaJa2xafnQnls3D70n_MOGJtl_qP9X97_99_ITQYkISrbuCo2falgelPiaFfCOifOGRIkty_MiqC9tZsuvhmd_ngGiwEkgXeIdOw6ku07Z3GP5_UncgUi9tEyy0q_NShUdHvFrx1cFgVhSEspr6QXBnsnoXZ-bIPxbYhnvTVtjxPtAhxkCEp6s-PUQJC5Uq4Q45OjmA8Mb_bsBNHGOnqneC7YLos0DnzbkPOyK1TfGNYPAkFhv1MHMGbjqIX34_mwUuvWOC0nbHv_2hvHRI1DWgpzKxzGOgoFGbICxnSFJAEs7RdMYjQNTGOHNUKjTOKzHO7kRDXv7QbvOTES6DLeH55IEPdLrUSCnbj1nQm0ZSwvXbwZt9pBs0aaGD40qwERk4jVEGCQm6I1S-_luftLxnsjNQxYUb0lbEVGEeKzZUYpPvu3ALVTTEosOTyEfChKvVaDTX5SE0Hmqs1U0jSkCz2aDiLDxQ3pOuolgt6_yqqrGkMlktXj0usQxecFaVZDxirHM280rqe0QaquXRcCIzLfSDuS4lyfVdRg23M7pKWDzA4RRnAlZpp6TPodOOpCIZrMnofPhjMtrWvuiceLKQ3cffsmPZd2OJH6L233gOTJAd0k080sPuK4bDBqBmJ0gvq0NB21NbL_WuUHy1JSzm4zgsvF2Cmqt-Df9q0JHVU1n7inuuh6Mr1HKdCiRHVhNit2YFdguIUxG8MZZ1quMdoMhBx5x6u0x1Y1jM3RpSAUu0kkDi7pCrNGWbGpNsGy-PdixZ2lunzvcElFJc8_XLRXPxZND_3DjMVZoKhsnjRndsS80lU93o6u_bVr0H8Udq-KZ4cIg8I-fSouxqruyM4prYpGa_hXsYE_rDTZ9ZQi75JnW6nMAh0FqynHBcSP3ALnnYiPK60axdk3Zn2giKINpVjx7yrrIaxS7LnKYUeQW-stss_1CtdZtopOfVvAWWZ0jZF-4JyuoZ5F_b_rScLZpITfjCRT5IwV3EQfKBrYOsSRtn-JRSrSuAWUtP5WPKpUQpTJ7-ALS_ctEQ3cVu5AA4HOl-ZTmuIYmS9zOUgLbHVo0XhcHfhR-Y1QdCHDdF681QITLut0wHaiPnR6FWbwjxNchAmaF3ukq8v4xWdIV41mlLgK_Aws1upsiFQINJyRgMoFXa8xr6xYMfMkLRE-5pdB2EW_g-8fpB58NDVkbcHRiwVtarR09koxaxIafbDMoT5-sw8xqFjDe4BHnCv2dUBshCWZ6GvkNbnU2hmC7Wjcih-52-dtERlrUxBx6iPay0GQhFdda1AgPprqgO4_zIMMph4jmi84GKcQIYsoUXp0WLE7zq1KwfgAFdqH85JKkOQ7dJsSmmn7QQ==",
  "id": "rs_0f8f606677433d67016ab4311eed3887d0bb03e0c9c5b61d75",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_z\":0.13,\"left_pitch\":0.14},\"note\":\"The gripper stopped slightly open, consistent with catching a small part of the plush, but that alone is not proof. I’ll lift it clear of the table and check the overhead view.\"}",
  "call_id": "call_IijPV06XV5Tcj4pMeA481TxR",
  "id": "fc_0f8f606677433d67016ab4311f854487d0a8c5a18d1d44ffff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IijPV06XV5Tcj4pMeA481TxR",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4965, 1.1099, 0.3626, 0.247, -0.4911, -0.1947, 0.0906, 0.0746, 1.0035, 0.6167, -0.4404, 0.1349, -0.1761, 0.9989]\nstate[eef_state]: left_x=0.324 left_y=-0.0767 left_z=0.1178 left_yaw=0.0036 left_pitch=0.1417 left_roll=0.0726 left_gripper=0.0906 right_x=0.2943 right_y=0.0018 right_z=0.1175 right_yaw=0.0563 right_pitch=-0.2478 right_roll=-0.2261 right_gripper=0.9989\nstate[joint_eff]: [-0.4034, -3.412, 8.9641, 1.8242, -0.2369, 0.0904, 0.1685, -0.2393, -2.359, 7.1316, 1.6239, 0.0317, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e9d59db024ce7a2db4f28e46bde7a9734c191bd3932915de2fffef55a595104",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:893c967580d9a60f7fac80e2a0295f48d7e45bb23742f2fbeb22208f8c079bc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67a108ba6d4a830684f12503f45938d1e9554bf4e57e263561908f1ac1ff1956",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 4.879 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5972, 1.5745, 0.1783, 0.8001, -0.5396, -0.2665, 0.0172, 0.0746, 0.997, 0.6205, -0.3874, 0.1349, -0.1761, 0.9989]\nstate[eef_state]: left_x=0.3062 left_y=-0.0942 left_z=0.0209 left_yaw=-0.024 left_pitch=0.0755 left_roll=0.0794 left_gripper=0.0172 right_x=0.3043 right_y=0.0025 right_z=0.13 right_yaw=0.0566 right_pitch=-0.1845 right_roll=-0.2249 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -5.2034, 4.6017, 1.4921, -0.0611, 0.0073, 0.7399, -0.1846, -2.3726, 6.8444, 1.5311, -0.0024, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4835, 1.7027, 0.2012, 0.9646, -0.4759, -0.1909, 0.0888, 0.0746, 1.0008, 0.6167, -0.4294, 0.1349, -0.1761, 0.9989]\nstate[eef_state]: left_x=0.3287 left_y=-0.0771 left_z=0.0175 left_yaw=-0.0001 left_pitch=0.1057 left_roll=0.0867 left_gripper=0.0888 right_x=0.2963 right_y=0.0019 right_z=0.1201 right_yaw=0.0564 right_pitch=-0.2341 right_roll=-0.2259 right_gripper=0.9989\nstate[joint_eff]: [0.0205, -5.3949, 3.0838, 1.6874, -0.1001, -0.1197, 1.2234, 0.0205, -2.5094, 6.8034, 1.6923, 0.0073, -0.0122, -0.0073]\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 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4965, 1.1099, 0.3626, 0.247, -0.4911, -0.1947, 0.0906, 0.0746, 1.0035, 0.6167, -0.4404, 0.1349, -0.1761, 0.9989]\nstate[eef_state]: left_x=0.324 left_y=-0.0767 left_z=0.1178 left_yaw=0.0036 left_pitch=0.1417 left_roll=0.0726 left_gripper=0.0906 right_x=0.2943 right_y=0.0018 right_z=0.1175 right_yaw=0.0563 right_pitch=-0.2478 right_roll=-0.2261 right_gripper=0.9989\nstate[joint_eff]: [-0.4034, -3.412, 8.9641, 1.8242, -0.2369, 0.0904, 0.1685, -0.2393, -2.359, 7.1316, 1.6239, 0.0317, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e9d59db024ce7a2db4f28e46bde7a9734c191bd3932915de2fffef55a595104",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:893c967580d9a60f7fac80e2a0295f48d7e45bb23742f2fbeb22208f8c079bc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67a108ba6d4a830684f12503f45938d1e9554bf4e57e263561908f1ac1ff1956",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDEl24X9fn0Q0aCe2DoJ8hHKr0cyOMIIVnz8YqfL7ZMjtg2qdno_-ucSiAUMSPkl6cECf3KqFUcTAX2iUKtVV-GZS0eftH5_pk2NRaeujPbvFIODWnSN0ooI3OOV1EVdtMNOzQTq30F4XPRhXGpp9GGQ01WO5MFF8BzcKslhuox1aIshV8KYahuuI21_dHaYIpXzTQzg2QbST2uDPQBZ7SBD5aiI1DCvhS8gFpk4Pvr_AjUJY7shY_Z15-AqLstgZH8MNIuxxZc_9DRLetG7rghCoEN3k7LCpU2_MHydAaXezCFdjjgghRfcZyEbyNhMeLfcU7o_7KRAtDqxvndAOKBOvKQX-HAXo_Q6U0RU1FTqZlmEhFk1waysaT74CoeuNRfVSbE8NDCIUe5312Kx_BKU5fHVdOkU8iYKnuKao6RjkjDYux8U2Z5n5I8xPxZamvFNVw0YLdignNP3OmqrO3KYbX76IysLpWV7WQJTf6bR3Twys_O7Ybuse3HyrLxtmd2vIDavsM58Mr8pXYy-8q0Vl3SfM5EeLC3UIt6niVS8zvblET-6RHGbRNP1f_Wk8JT6S1QQGYFQ-st0XjGvImaclh7nZse8uQa3GKp2rQ2oHM0EmDwxBfGou2FkdjQoYnhPEErLS7EDRGXEzg-an4aOpBpuxIia00Hv1UQ5ukuiRRV4Pck8TkRkVSumH1s3JvWiTk1w0yDvZKXZ2DVH6wYX3KO5HuODbfsimc4Rv26Mihx8mTMpp4ApjiX25Lmlsq4g3nd1Ok_CL3MAh9o7lPP2V7hgFARXtj4T2JSUwzUQ2mrPtcN4u2z8LmKiROm5FdS0E7Tll3cG5QPhlVkWvH_O5gb0iB43Hkn1qvjvFkmosU6cnrKKQ-cSxpPOxy5Ls60EdPz3kSEoF1kBaWDGy-EVNcCOki-geDzc8pe60QFD_Cwe80OpJ7m7P-Pl3P3yMTi5_WTz4f7ZAPR-kGxy-Nr2t5DcEqZjkF9nGx6oBz4_gl6R-TorycilkC_ZV7cYvC16ARyrQ2mYTzN0CL4zTN9dIpRRwiIc_9GM2uU_DlbaIzNUtQyoNAtRaRyGE-PMkI0noFo4oiJX36yh5J0E8XtfEVgy-vfeJE0qP14D_G4um_665cwQejUSqXmjJthDvjuBis02V_T-Xuqs0YorVsQMVuL9dyeW0LoPvlQJy6qHWwQkliedSEAptS8CflRga9NPc3NHyH7aAkwOqi0JkczHryUs2PSX16UOG8_elWc_uCEZSQBy8HvePubNbXvl6b0RVttZECDRwPibUYipLYvuw1wXuA2IgMXfxJHCd3vj7y17J6EmA3GFYe9eOuDSn5rb-VGx4Hv9b5R9sgbKrc7nt_eBOHP1Mo53ZAzvl5rAzvL3TyjAAdDtoA6t_Jma9pnpX8DqnL8EAbP53j8rNHDt1SQ6dEvn8RypVaVy4kCUXpZ028TDZBvVkTVpaQlgqDpv3sU2Tae2ufnzoeiZp8IOt1a1qsTxWTW7WQ5W8JumUz_cmag9fEUf1K-9fx9vJqo1Z0jfA2BrRi1B7-zKvR0UTv40ftAWM3hbgU9ALOhVuob3OAaDRlfMHtBujQ7-hxZDwNViX-r6c0qiwcg9sen9ZqLAd6HVn5092_Fn0bxAl1LUJ5Izq08DX0MqIH9HEBQ0u2LJKPGTUp9cLJgRoP4VCshkNKtRRGpjTrhDnjF116EWgP1YY2v04kAny1ihsj04JFNbOv0yqSkFEXegeRh0n5cY5X7nUn7Btn_1FtR1Q9ivZVWquq9ZcKDAOlKaP670DgiTblgDPu9HyQrDAcV-ZnZ4vI36N1Wt2mwIFEKw-6_q48-tk8lMnQ6M6Acp1cuMkEqTvrobosehf4ll0w4BzXaNRujCfcbMKuEdvetY0X5cj6_4PdyTF7orxnEVtp8uhgsbLpF5hC7xNlB-kAvtZgzUL6ueIQZc48xEGVPeYs-91o_C8mvKcOcJIOtrFKlQYc-2OPncjAMbDPC7owwNKQFW9lof8s63r9uhkf0WB0hclRYHPhBLhkhhEGOgxJ7Bc-9Qyqjl9JLoUe4hfq6bxXpUfrnCwnCbOc4VW9qSaRI-O7keTNPiZDgqmA3PA3QfgNwOdpmkDajy1eZO0O4R-Jb3tuEOJqrEev3n6p5cgChGQ8WA5Lau7HHu1F7OZJoVqfzp9yVUM9T234BlUsrBoZdz5xEX7G6RsMwArcE9AYxgJMSwBS0v9-mAVW4JDdSTf9__wS3483m9Cl7fib9TGpmWSl-BJ5z8EcodTOJ32nt0oSS0wKHyO0splX8BWjRtxX2K-7TUXwn9MUSPS5IM9ZtYp2sbC3HTUS2dFkKJmQSV2FYzkFhG1r0fFLElRRLS4bOs1ll20mrga7BFSYmRme3F8RLYQ1OPQz2avD0pb-Jj9hJKGLa9hFZLkHkDqNQVDQWffJ73uQe4WorWYNxrbA==",
  "id": "rs_0f8f606677433d67016ab43121fbcc87d0beba42cdc60e31a7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.373,\"left_y\":-0.086,\"left_z\":0.075,\"left_pitch\":0.2},\"note\":\"The white plush stayed on the table, so the last close caught only an edge or the tabletop. I’ll reopen and approach farther forward, toward its visible body rather than its near edge.\"}",
  "call_id": "call_F3AnLY9th8e0LjVmCCJBoj4f",
  "id": "fc_0f8f606677433d67016ab43124921087d08c80c2947d46f6e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F3AnLY9th8e0LjVmCCJBoj4f",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.445, 1.5585, 0.3508, 0.6918, -0.461, -0.157, 0.9954, 0.0746, 1.0065, 0.6163, -0.4557, 0.1349, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.359 left_y=-0.0802 left_z=0.0558 left_yaw=0.0087 left_pitch=0.1192 left_roll=0.101 left_gripper=0.9954 right_x=0.2915 right_y=0.0016 right_z=0.114 right_yaw=0.0565 right_pitch=-0.2666 right_roll=-0.2267 right_gripper=0.9989\nstate[joint_eff]: [0.6222, -5.1487, 7.0222, 2.1465, -0.0904, 0.1441, -0.0708, -0.1299, -2.5368, 6.8171, 1.6288, 0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:180a6ac229ae2eacc350c04da5ace1de788e2d1c13fff196e41348e31352c39c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d00fa11ca9f82d66359f6d5a7e6e5d51ce9d3eb86e803aefcce49d3119fa01a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02e08c02ee025f2688c65fce0671918647ccec0c3b7bd8d2a3eda76465961a26",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 3.775 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4828, 1.6997, 0.1993, 0.9611, -0.4721, -0.1867, 0.9955, 0.0746, 1.0008, 0.6167, -0.4099, 0.1349, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.328 left_y=-0.0772 left_z=0.017 left_yaw=-0.0049 left_pitch=0.1025 left_roll=0.0898 left_gripper=0.9955 right_x=0.2997 right_y=0.0022 right_z=0.1234 right_yaw=0.0567 right_pitch=-0.2147 right_roll=-0.2258 right_gripper=0.9989\nstate[joint_eff]: [0.3077, -4.3966, 5.0393, 1.8584, -0.1148, 0.149, -0.149, -0.0479, -2.8376, 7.1179, 1.746, 0.0073, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4965, 1.1099, 0.3626, 0.247, -0.4911, -0.1947, 0.0906, 0.0746, 1.0035, 0.6167, -0.4404, 0.1349, -0.1761, 0.9989]\nstate[eef_state]: left_x=0.324 left_y=-0.0767 left_z=0.1178 left_yaw=0.0036 left_pitch=0.1417 left_roll=0.0726 left_gripper=0.0906 right_x=0.2943 right_y=0.0018 right_z=0.1175 right_yaw=0.0563 right_pitch=-0.2478 right_roll=-0.2261 right_gripper=0.9989\nstate[joint_eff]: [-0.4034, -3.412, 8.9641, 1.8242, -0.2369, 0.0904, 0.1685, -0.2393, -2.359, 7.1316, 1.6239, 0.0317, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.445, 1.5585, 0.3508, 0.6918, -0.461, -0.157, 0.9954, 0.0746, 1.0065, 0.6163, -0.4557, 0.1349, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.359 left_y=-0.0802 left_z=0.0558 left_yaw=0.0087 left_pitch=0.1192 left_roll=0.101 left_gripper=0.9954 right_x=0.2915 right_y=0.0016 right_z=0.114 right_yaw=0.0565 right_pitch=-0.2666 right_roll=-0.2267 right_gripper=0.9989\nstate[joint_eff]: [0.6222, -5.1487, 7.0222, 2.1465, -0.0904, 0.1441, -0.0708, -0.1299, -2.5368, 6.8171, 1.6288, 0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:180a6ac229ae2eacc350c04da5ace1de788e2d1c13fff196e41348e31352c39c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d00fa11ca9f82d66359f6d5a7e6e5d51ce9d3eb86e803aefcce49d3119fa01a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02e08c02ee025f2688c65fce0671918647ccec0c3b7bd8d2a3eda76465961a26",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDErhzU5T-HpmkCP50mW0OeO566p8GnD46OhQ5dwPE7ftMTs7uhldB7D5WMs10l6akvy4I2PsTyTqrbkk9grhMlP-xzjy0uF1YZZMV7-iwEa_IjRoUgVVdpuO_V370UkOtvJzwF-vbAdjw0nxdjuW-6pvaIP8Eigx04oZLGmW0G7DycN7wtzzE35rsZdIwu1MTEKt5ri6lky6e1M34fnMOFSCAqhBQjLGsJbXTVXjt-DVSHeBVgCisbUC0BiY06evIHzoNGSzgvilzCr0hfspJJloxig-0Ghs-XTz2gij0gCyTXa0o-bq_AcFZyrprNe6lUEf_8ADtJitGwp5Yh2oDVeAK8qDEsnSXWrz7NFqm_zEytiUuyUfhqc9EkOATswQYbKACrlcYtrb24bl2-VdFgtEZvLoKAlFbKpzMiNjdxGSkuqZAvTquI9E_WacFx3uWPdLtjVozjF0jtiGv7-WlP_td08B3V7VSDCALazCqAlIODNQ95oghM7WLXMEiIvrJI-cMwqNfci8Z771EzQcNcdxAbxAmtl8x2pAPjvxTkhj91pEX8sJghb_n-x3iYsnFVvC_7tiSjgvWkFqseOBG__beNtdMPVSqnhdCxH8lTWKIHBqNcw040eZh0Wp3f3EfIC7XKGicaCmFW6JCXj96ZeZr2oRsxktI2Lb3c9CCecKmGGM5p7GAS_metMt4TxkwakVg7Vp_A0cmlQ0s_Os5BhP0Gzb2arM-u6CUjp55neOMhFHeqrs6627C5EW8n0i6LDeXE6cHOJcISUekke3CvMjqKGCm1Mr7x6lpZRHRM2NajF_99OgL6Ey0MLym6ozAS3QaAjjxd0rqk7hv2J78Eca0gURW0XDOJ-mblmvhtHHNCzt1rv7f3LeuTt-SdPEJ9_GJtKf57OBXDbWUSRCirLjNIEnRxGkWKCqQIPQxIBC5iceXL-cskyZ3UKngLt_blNnt1C04uW3ZBXXY05SFK60__G-FhZHwChven0uvUSDOauUldw7e35igMbb7XJJl30IaYBI6IotrYfcHvdRLVQNnjfCISEJ0Mzj983akD_8Ow-AvbJId7iB0cnHvXfBqr0TpvyJAWzA3Xr6LVKAHJxrYOpwoF9cBeHWwnUIVWz1N3kiwpDqlXU7ndl-9NGe7J39srG3K69A1JylhWmb89YndU31yHtSMLSHhu_kSFBO4BmMFt4kxJKXfEiEJwx3po3L23DLnx72BBmmGydC6UQ_WBqHeI-7XJ5mW2aiSXanBa59Rp5bJNd-WuASZ6m7LY2m-r83dS3YyHEiWE-k2tqtLcHpoEX0-q9zhV6LkaKHeT_NVjC2y5A40xDostO1UQ87Ic8WmSckXeymsDM6QqpuvfZ6KGx8v7aGuQxVcR3g7Kat-oZ2SJaPsVZTOfCRSHB_UOqKEHX2Bh8v1CBV-vMEf01pEoisHDohbD63Z5u8CAdo3ZMo_7Tb9zTceBJHmzUBlCE9lHozBuRzRICpuWgMc07onph_ApyaCrCfavrDQ78z9Ef6wEu5GhxD_-h2ySTRUpshorBNPMVVv9MQxTNfFtaiT39PvPuEdJY0DApCaov8rrS7MA9PXA0N7HxN5nNhjIm0qR3qxOozZ5ArSVCH4c85gF4ZeKbMw0_PYiEaHs1_yK6GDUMGi915tS4cbbn7jY74SLwXZl8CMqiWIgDsinDjxAT5keFGyUG8DjiuB73CxOtHhDYqY-UXbMdyQiaR6ZoLc3L5ZCGxLpl5XjOL1q6pTJa5sL48HwKcevgQNkzPbPNYRjOwDQ_d5THcLmnj9cYIdfJNHLoTZGdYG4eDTYqd71w3zZkNtxOJZ_jJk-HfZiC_6bhak4hIH4fqJW_XnmCkZpLlRrvNrFQHPe03JHeXd-aiEl3Ne6lI817J8yzaG5ONc1jyO49c4KftQtCa1nNup42ikJIG3ULNxeivRPXVCjyj9u806MrkhWhfNjYBNbsNEG2E60tshktRDP6m0TrOZHfISZG_DxHcIhXAZ1rvc5D4Z7SGAxUK1Lelxm4AqqK1gz7gpaND05MZS_qYYCC1-DYzeyLszBJhqPXxkr2Bb-53S4D6ktCPEOppsRAKlZRkzGSrphg-ybu-93tb2bo4N9Y9fSUmrLstkUSD_85zjUY1dkI2k3y3BhliNnhWh9htpyYyIDt2L9ZEoCpp_7EVfpBUvFg3ynVIaPobAqeFZFR4IjaTZ4yBBk7-IWyShN_jOifQr99NFtHJuesEVwrVUbN48qMg841sMpNv0iaXUM9nQO17S-qXzrreExSoduTaDmbxMcULvZm2ecYFSsTJ_X0bl4-HEO58t_QYQ0cbDRqSimUbdRQSHkibRm5eYKCD5HA3s75jUmPSEIzE8Yi0F8pZ30wT0A9C6859oqsXftlKwaZ-vkToQ-pd0TFuvUGdoyFj-gShwfoguQue37-EAK61cDWixwssRh7dNY5JNrSlwy3-6lo8fLTajxRcZFk5rdofUSEOzfXeqRSsUhyD4SKimUQSb-CyxXm6rVlnWq358EoDgPaFApBTXEh9Al3T61pvgeqHbtX7qAvVd1RhhVZPgbZQuSU0MrVg82pyxCoj3sDmVNrzsk6pmrs81iSGohl2oGbjAb13Ykqnsw9f6fyBTPq3J42wYvTqrRlUCsPoEaii-HNTFfo-WRmv3lJSoQ5riKeg7PqwEn94QYbatTp8s1PhRAwMIB6gHarbxQFZHupGwdlaIb4VeXe_iFlV_LBI5vE7isrAjfNMVvxIj8pVsNb1u66fFTujaX4CE8dHEaYhW4riWA3WLciVSxDBGvFJuYI45XqoRbC4tx5E8jMfvB8RBRXBzvt3aqtmxAg4b6ni-skIPh4V4qsx0wLvnpqIfX8IFFXUSfQ",
  "id": "rs_0f8f606677433d67016ab43127e87c87d088c588df817dc1bb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.081,\"left_z\":0.005,\"left_pitch\":0.26},\"note\":\"The white plush and its small loop are now immediately below the left gripper’s wrist view, indicating the jaws are over its near end. I’ll lower carefully to table-level grasp height.\"}",
  "call_id": "call_O6vqm3JFU8MLk3C7BbMMReMP",
  "id": "fc_0f8f606677433d67016ab4312ac41487d0a065cd5cd383be85",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_O6vqm3JFU8MLk3C7BbMMReMP",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4755, 2.0571, 0.2672, 1.375, -0.5274, -0.1078, 0.9963, 0.0746, 1.008, 0.6159, -0.4664, 0.1349, -0.1761, 0.999]\nstate[eef_state]: left_x=0.3559 left_y=-0.0793 left_z=0.0036 left_yaw=0.0137 left_pitch=0.2195 left_roll=0.1271 left_gripper=0.9963 right_x=0.2894 right_y=0.0014 right_z=0.1117 right_yaw=0.0562 right_pitch=-0.2791 right_roll=-0.2267 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -5.4359, 1.1145, 0.8816, 0.2222, -0.1929, 0.0904, -0.1026, -2.5368, 6.7487, 1.6142, 0.0024, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51e62bef5da2a727b1f679028d20ec224f7fdeb01b52cf54bc93d739e0b7e09d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:980a7d38713a9065ac64be08b17e2c3c1ae6c6986ac84528e90f97fed997bb05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fd91bb1d4eced81761b68a75f294519f85198fca934158ac808e5f633a7a10b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 2.392 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4835, 1.7027, 0.2012, 0.9646, -0.4759, -0.1909, 0.0888, 0.0746, 1.0008, 0.6167, -0.4294, 0.1349, -0.1761, 0.9989]\nstate[eef_state]: left_x=0.3287 left_y=-0.0771 left_z=0.0175 left_yaw=-0.0001 left_pitch=0.1057 left_roll=0.0867 left_gripper=0.0888 right_x=0.2963 right_y=0.0019 right_z=0.1201 right_yaw=0.0564 right_pitch=-0.2341 right_roll=-0.2259 right_gripper=0.9989\nstate[joint_eff]: [0.0205, -5.3949, 3.0838, 1.6874, -0.1001, -0.1197, 1.2234, 0.0205, -2.5094, 6.8034, 1.6923, 0.0073, -0.0122, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.445, 1.5585, 0.3508, 0.6918, -0.461, -0.157, 0.9954, 0.0746, 1.0065, 0.6163, -0.4557, 0.1349, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.359 left_y=-0.0802 left_z=0.0558 left_yaw=0.0087 left_pitch=0.1192 left_roll=0.101 left_gripper=0.9954 right_x=0.2915 right_y=0.0016 right_z=0.114 right_yaw=0.0565 right_pitch=-0.2666 right_roll=-0.2267 right_gripper=0.9989\nstate[joint_eff]: [0.6222, -5.1487, 7.0222, 2.1465, -0.0904, 0.1441, -0.0708, -0.1299, -2.5368, 6.8171, 1.6288, 0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4755, 2.0571, 0.2672, 1.375, -0.5274, -0.1078, 0.9963, 0.0746, 1.008, 0.6159, -0.4664, 0.1349, -0.1761, 0.999]\nstate[eef_state]: left_x=0.3559 left_y=-0.0793 left_z=0.0036 left_yaw=0.0137 left_pitch=0.2195 left_roll=0.1271 left_gripper=0.9963 right_x=0.2894 right_y=0.0014 right_z=0.1117 right_yaw=0.0562 right_pitch=-0.2791 right_roll=-0.2267 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -5.4359, 1.1145, 0.8816, 0.2222, -0.1929, 0.0904, -0.1026, -2.5368, 6.7487, 1.6142, 0.0024, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51e62bef5da2a727b1f679028d20ec224f7fdeb01b52cf54bc93d739e0b7e09d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:980a7d38713a9065ac64be08b17e2c3c1ae6c6986ac84528e90f97fed997bb05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fd91bb1d4eced81761b68a75f294519f85198fca934158ac808e5f633a7a10b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDEvpCezisCrHJ95NUNZ66FgRMA0o1PDNDKAhyw1nF_YOcmkIlqAaOnnzvHWudmpuc2YzcnUNddUvvqtJ3-n_Dbr44n92cT8mpD_3D5hIs46KNQrmg8xByjXgNfXWudAEdnAfT36yiRRw0yNGjLYgKPgcQJFWaUJ0DDpLU4e0h9q2WErjhQmrfeDOn1Sj9fqEARVOVljpfLLeBWXka3W9vlmDR0wzRdKylRFjZllqdEKlBUrOz5QnXebZZgghbFIN8ULibjpRiJ5OPfAnBaZJy1vXQmUlM6U2MEHBkfSvVbT4CVhCMiMjKzRQvEg2kyb1TgicRYXlU3oj1pFah2xvkwL_keLSNG5IdpPFmdgVUv71WtqgwaNZY9ufFgESzg4I1OOr4oa1v8RlklHgF7oobwl17JnCh_HR0vjdLwcwjyqWIWhd3hWvDr5hAUuFstSwf4vgjTTiuE4iaDTyZDCrHPPoic5Gpl_49rWCV34syD9v28VhQO3O-Fb5oKAzEw6Nj2ODiRwXs3P4R9z3uiPhpGLJTx4SNLrI7SETWdwiuVy5IVDNukTU82dMbZKSMfZHtTLtCaMifE8Gf8Tiz3drIPc8EdIlwyheekjkRnFm-oYDHbkBYf8ECkC2EHAPT3gpTSHA-XQD7x2qKwFLcuZVgHNy6R9mOqjtyuWfKDu_QcJV0-hGcEaKDaND827qeXI5IHQjMwbusiuBdFXDjMtwGsCZzQl0-GNQgkt3G1q5zu9jyPAZIbdQuYLvagsRncxxQLtMHQlvtB7AuBL10bNhYzoGc6hlcgUNDMNppQbwSRTohhG6ZVH1U8ahIGYVpot-uJsQ8zCEt6lU3_TOHEGT144oQeOsuizlCLvPP6Amdi0Sz75iDqzeLCiixjHUxAMKLaRpVTcU9AFMd5bfda9OUDyUL7r_TL_59KATynH1EzqbY-BVC-6E5qTSu9n9Se5de6yws3sWwJW2xJMtM9Kv5WeRgWQBaZ70ed2UxDBuBhPRdV6bOZPd2IHWS15BUpwaki5LHdZ2U7u0X1H1zwtn0kp_FZR_Oav5bL58U2S5mCU9x2VYP8GhdVwJ0c5zRmQyNcrtuNb3A4i5aYQiaMkAIFYhfD98vyr4h1Y_r-08u0yBaDnQNYuXWmXtaEW1sVnfuSdcZr-nSxqX4-WXoLJgjfc34e_xIzrsfO9ViDZqgIK4PYkeUkSDwrqUqRFzKSuDHg9aeULkYf1M_FGjPoLKGpPMDk3fDmUze5JtoVuufTeUKn2gpk7e2JvElFLGZGNfP_WLSQkPg7RdOt76aZ25wdoTpHR7HK0WeRHktvp3XdODG5eH_UjNbW86AN3EL3vOL1kNpIGjS8_MIObA3tXdob73RbYCaOJdub8jA7k04dWrvcCM1ZFQMINcYwvPaPa_g-HLbps2x3BPc6RGq0ELl_kzGm0XwUDnnRAvkCaizdMcMJwaGkpQSBxTXkJEra4Wc_jwAJFlWplzJS2F7WGHuPYhXAHiWxUw8K2YNGmsnpmh9d2SaC4U0sxvKrVvue1fI_NIDhDOojtc6xygEvlG3Uk_AuG_0bkHcMa3Pii-KIXnb_l4kLD473vWlM3iGuSrS5CNUuzkb2nUA1EnyZa7RkkRDlK83sdntRkQHuLSFck2-fIhYTwjL3cpxOafzOT42RG9A1HpTog3fNlFchUIeyGF0wnwH6GYtf4rNwO04k-B-hixO7BMgowat4S_JP9lDne_OJX_75sCYItp-DWaClc7wfSH3J5YAj-5ZIVqp6d_orzlWdSCTF5B2xMbGrzHMFwmwVu-TVd-DX6v1rNk3yFAThdDx9Z1bz4-HHv_SbJ-cJhhG5julj-i_YoRThfNj-5yp7IUDOSHzQz_BQikP5g0DeqA3vEUjmZNbNnHY-1jRLLnEWUTuTkc0EnHjgu1c2mJO4TgNq3WEBxT1_XgY48HFw_EoRGCx_8ygX_m3B7Yc_L2sG7OQPRTcwovWE6uQrTirYcCh-WF8K1r2oU9Tp_dEnrnmLtDaGsORa-G2W4qXmXXahG6glwgTdjZv1DqhGVDRYNwnohaUaAdaSjpDZ7LL64f3AvFbBfI9sYLkL5LUUjtbUKfM-tA2bI6STfCg2cIdFw7-CLjcDu3xSm5i8tMxaxPR9IL8UTSQEtlyiM5CXbkbFWrRDwyTpb5qLGNqTZN5ciZzPsOHFlHJj5LJCDU7fv5RVenAyc19KZGheJAOXHFPmDNHrtrlNUVs8C91dkKDOnDShwqOQkcWFl3EcMBaZe68TAqQvZM5rhMLyQCgAhWPxoXYf54SuLnmfQJWD0jHP0gfTip_LxsGFj78SaKsAcAOTchtrfcUHuPNHFq_LztjSZS4xX0_6QFyif12LDcFtDoJIW9dp3BgdBPbe42TqjgvhIdMyMVdKGea14BW-lltbWOjq8WV8fZoVkuKKWq1DJ2PlCgam_zLpKlUkjlzvtPB2Wl5T-yl7TXZ9j8MrhciCcS9a2BigoVhgPwA0sawfI0OF_FudRUrZwT8OoYwwb-lJJ4yy6WByNbU1O1desbw4AHH8f-zSIsrMxYdkZiJ1lhPFE5Ri02ZLqA4dZdQ==",
  "id": "rs_0f8f606677433d67016ab4312cfe0c87d0a81e78bcc31c1407",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.068,\"left_z\":0.013,\"left_pitch\":0.2},\"note\":\"At table height the plush body is below the wrist image, meaning the gripper has advanced past its center; only its metal loop is visible ahead. I’ll back up about 2 cm and shift slightly left to put the jaws around the plush body.\"}",
  "call_id": "call_CDUtIG8b3fh1YxsRAMoFDkup",
  "id": "fc_0f8f606677433d67016ab4312f000087d086c353b04315e2aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CDUtIG8b3fh1YxsRAMoFDkup",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4751, 2.0029, 0.2104, 1.4269, -0.5243, -0.107, 0.9965, 0.0746, 1.0096, 0.6159, -0.477, 0.1349, -0.1764, 0.999]\nstate[eef_state]: left_x=0.3477 left_y=-0.0754 left_z=0.02 left_yaw=0.0168 left_pitch=0.2623 left_roll=0.1029 left_gripper=0.9965 right_x=0.2874 right_y=0.0013 right_z=0.1096 right_yaw=0.0563 right_pitch=-0.2914 right_roll=-0.2272 right_gripper=0.999\nstate[joint_eff]: [0.6496, -5.5863, 2.4, 1.5849, -0.0171, -0.0708, 0.0024, -0.1983, -2.3043, 6.8444, 1.5653, 0.0024, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8e48f1c9c00985c1d883f36d65eb230aeeb135d9c53937cc2de5783e8dd1228",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c71ad6655cfe92a599df7d563c5ff77c6da6a4fb674232b4c89a6ab5d1c57b21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc45f5675a202beb95e4716f6f09c106042e6133ee47474aae9a4f116ce01375",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 2.328 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4965, 1.1099, 0.3626, 0.247, -0.4911, -0.1947, 0.0906, 0.0746, 1.0035, 0.6167, -0.4404, 0.1349, -0.1761, 0.9989]\nstate[eef_state]: left_x=0.324 left_y=-0.0767 left_z=0.1178 left_yaw=0.0036 left_pitch=0.1417 left_roll=0.0726 left_gripper=0.0906 right_x=0.2943 right_y=0.0018 right_z=0.1175 right_yaw=0.0563 right_pitch=-0.2478 right_roll=-0.2261 right_gripper=0.9989\nstate[joint_eff]: [-0.4034, -3.412, 8.9641, 1.8242, -0.2369, 0.0904, 0.1685, -0.2393, -2.359, 7.1316, 1.6239, 0.0317, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4755, 2.0571, 0.2672, 1.375, -0.5274, -0.1078, 0.9963, 0.0746, 1.008, 0.6159, -0.4664, 0.1349, -0.1761, 0.999]\nstate[eef_state]: left_x=0.3559 left_y=-0.0793 left_z=0.0036 left_yaw=0.0137 left_pitch=0.2195 left_roll=0.1271 left_gripper=0.9963 right_x=0.2894 right_y=0.0014 right_z=0.1117 right_yaw=0.0562 right_pitch=-0.2791 right_roll=-0.2267 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -5.4359, 1.1145, 0.8816, 0.2222, -0.1929, 0.0904, -0.1026, -2.5368, 6.7487, 1.6142, 0.0024, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4751, 2.0029, 0.2104, 1.4269, -0.5243, -0.107, 0.9965, 0.0746, 1.0096, 0.6159, -0.477, 0.1349, -0.1764, 0.999]\nstate[eef_state]: left_x=0.3477 left_y=-0.0754 left_z=0.02 left_yaw=0.0168 left_pitch=0.2623 left_roll=0.1029 left_gripper=0.9965 right_x=0.2874 right_y=0.0013 right_z=0.1096 right_yaw=0.0563 right_pitch=-0.2914 right_roll=-0.2272 right_gripper=0.999\nstate[joint_eff]: [0.6496, -5.5863, 2.4, 1.5849, -0.0171, -0.0708, 0.0024, -0.1983, -2.3043, 6.8444, 1.5653, 0.0024, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8e48f1c9c00985c1d883f36d65eb230aeeb135d9c53937cc2de5783e8dd1228",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c71ad6655cfe92a599df7d563c5ff77c6da6a4fb674232b4c89a6ab5d1c57b21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc45f5675a202beb95e4716f6f09c106042e6133ee47474aae9a4f116ce01375",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDEyXPja2b19lT1ekN11ExrnejtZsA5Xq3maRJO48ZvsyhABgV0Yk7w8T5FI9fcnWYlbAYVY6n-2FnA0Q1FwBftgZYgLuQbctgJ4kBN1xH8Nzv5-47Buj7Tm59_vEsPh8sxcjfgZSCfBxNV22ul__T2hvws0bSVE1qIFzxWThe2_G3oMMOLdqi75NA18dDL3md0LplaBtHkAzJ9UMlj9EuP3r1zpxjCHEpFGu4uqrRlxlh_cPX85s__0DFr6B1M0-bcrdZVJWNWnAqxSvImkMY5Am9nvCfgBybdISzoTI_KxSqjXE--sBwH1qqCwJDLjdf7DluAnfwlc7Pnn_SZopctfBWoZlylfD1fT4uefIE2zhT6JTZ7qykoaTpvnnWY533qujU5k94w5MuUGgrCTV0cSwjuU0zRUombiIPAiCuhkH1E1UIklF7Co7eQIT4P_drD9XVlGNd0gMhPXxuEB2C-GyFtFpPxmi0k4bIvFuUQi9VfdooJ7V38mKpmUNT-tnm43Jc6LS6l0PlOFzW63KuXYJHVT2HUcYk62EHhk1GPy5D4EB2agR9Tk5KyCDogiBiz1UVuit8WzHVYyfYa1-_LUhYt81B-aAttIT2R5p9yO-p-0yuqA4DiPj72thrPebn2HPihC8l_wOOLsJZYDD9FtjUe_4PDStaRRCZ0wn436VRzw4y8s9EkF5r3pmCWPZaqNz0g9KtRvheqK8k84537NP7M7-3d5Tz1qPPCLgtTYEwhgll3_IKtYIynOtvvwQW5Pwk0XqvQkzqIKnd7bjofJIjuJvNiubuZJIW5nSYD5yFu5DjnWTQynFcbdbkcbxZUACYPBytlupsTIrHhBtpv76kFUojsO4pfKew0zctKwxJebUGpYVxBbXtxbCIH_eydsrqlyhj1two-zjYuE33Mmu3_eHwgLP5Dh7R2kEROlZ9DjbDLDPiMg5lxWtF_HhgaPsFbSkiQFILMgCJs3OJGIl_cpIVcL7tCcPfbV3zSqVpKPmCeyn54wL44pKrU-u0Y04s3cVhqMt-izKsq5PaJaG1rvZ2gVA3UFwbS-WDe3jC2zGKTvdUJlKQsIFuNoPErkXwYQPjOvm7pmmQElYuRnMCUXqVHixDvItDUTQSpun7K-9xE4WnenF1E8le98V3vFf0KldssSXak3yVNVmwgLkjCoeKAwCBe8xMy6vNEPBdGpOxRvzE_wx7XVJkZnxw0GKiVVWCUXY1UUNlQNwSRUbboYiRvDMn8pnaAaoQLDj-1BQ6qu7wVPw6UHawo5DoVTCpuM_QCov-5O6mTnyIoKUA==",
  "id": "rs_0f8f606677433d67016ab43131234487d0b3fceb7cf5689708",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white plush is now centered at the base of the left wrist view between the jaws, with the metal loop just beyond it. I’ll close around the soft body.\"}",
  "call_id": "call_mTtgopGIQRrlvFNB6TqU9USu",
  "id": "fc_0f8f606677433d67016ab43131911487d0b1c937cea90f7160",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mTtgopGIQRrlvFNB6TqU9USu",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4767, 1.9923, 0.2039, 1.43, -0.5289, -0.1081, 0.2058, 0.0746, 1.0111, 0.6159, -0.4961, 0.1349, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.3467 left_y=-0.0747 left_z=0.0229 left_yaw=0.0207 left_pitch=0.2695 left_roll=0.0997 left_gripper=0.2058 right_x=0.2838 right_y=0.001 right_z=0.1062 right_yaw=0.0562 right_pitch=-0.312 right_roll=-0.2276 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -5.3538, 2.4137, 1.7363, -0.1099, -0.0073, 0.779, -0.1026, -2.6325, 6.694, 1.6386, 0.0317, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58e3e38bb9c7345db4388095852aef10596843d5b178531eaf0dcd3e0ec55cdf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b13fef54ff3590c4c58978916d185c6be896d8d23dcec0771b39159472817ebd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21a5bf65329a04189c2f2e0c3d3d031badb4b71e39638f9327be1d67adfbf912",
      "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 · 7.097 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.445, 1.5585, 0.3508, 0.6918, -0.461, -0.157, 0.9954, 0.0746, 1.0065, 0.6163, -0.4557, 0.1349, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.359 left_y=-0.0802 left_z=0.0558 left_yaw=0.0087 left_pitch=0.1192 left_roll=0.101 left_gripper=0.9954 right_x=0.2915 right_y=0.0016 right_z=0.114 right_yaw=0.0565 right_pitch=-0.2666 right_roll=-0.2267 right_gripper=0.9989\nstate[joint_eff]: [0.6222, -5.1487, 7.0222, 2.1465, -0.0904, 0.1441, -0.0708, -0.1299, -2.5368, 6.8171, 1.6288, 0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4751, 2.0029, 0.2104, 1.4269, -0.5243, -0.107, 0.9965, 0.0746, 1.0096, 0.6159, -0.477, 0.1349, -0.1764, 0.999]\nstate[eef_state]: left_x=0.3477 left_y=-0.0754 left_z=0.02 left_yaw=0.0168 left_pitch=0.2623 left_roll=0.1029 left_gripper=0.9965 right_x=0.2874 right_y=0.0013 right_z=0.1096 right_yaw=0.0563 right_pitch=-0.2914 right_roll=-0.2272 right_gripper=0.999\nstate[joint_eff]: [0.6496, -5.5863, 2.4, 1.5849, -0.0171, -0.0708, 0.0024, -0.1983, -2.3043, 6.8444, 1.5653, 0.0024, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4767, 1.9923, 0.2039, 1.43, -0.5289, -0.1081, 0.2058, 0.0746, 1.0111, 0.6159, -0.4961, 0.1349, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.3467 left_y=-0.0747 left_z=0.0229 left_yaw=0.0207 left_pitch=0.2695 left_roll=0.0997 left_gripper=0.2058 right_x=0.2838 right_y=0.001 right_z=0.1062 right_yaw=0.0562 right_pitch=-0.312 right_roll=-0.2276 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -5.3538, 2.4137, 1.7363, -0.1099, -0.0073, 0.779, -0.1026, -2.6325, 6.694, 1.6386, 0.0317, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58e3e38bb9c7345db4388095852aef10596843d5b178531eaf0dcd3e0ec55cdf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b13fef54ff3590c4c58978916d185c6be896d8d23dcec0771b39159472817ebd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21a5bf65329a04189c2f2e0c3d3d031badb4b71e39638f9327be1d67adfbf912",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDE1FaTtHGkcNa9QoXrgfij1JU08-Op0Qr73aO_R9M-VvSFgrjjDbz4HfNGZiubZCt1Qti-jC2NxPexALElRaofVKpAIhW0e_Ea32k80QeyD-qUwrqz0yMNg50vo2KXXEhIsgHJzKwzsSehcZoWetscmyCyIZIUfkTaH6UPUuxdDHctMUyZcihIjRWD_30aBs-N2XAZhCSFzZi677f4Nbft7s5J6-xxFWE3wGKgq_Y4au6VZzWEEfDjQIaru5dBnMInPaGMaS9jQXwoj0it6zvEXIpzNs1E5BAvI61g43FDVyFUxI4up_RwCEj8H-LBVyl2ZCx-L12RQUpyUqooy33laQuehv0_24C2sb9c19aVzZxMxPkvv0Jh_8lM48zbtRbffyOCUnpfCJynS0POz3pNmqL5p2wAc1RKfmq4zfHdlq6J64Ibn2O7MylTNDTw-g8oCwWa3MT6dRcM16glcLHsHbMdY1z95UgJgOqjbbMjfjsRIymOkuefS5x9pg7849GV9EsrE33FTKACNwGQj6VEIQRhF3XwuLsQSHTMHigKGlUD84yVeVb8Gv6bjwqgCjeZi4WlgCiw_J6v9QRKCxrzy9XWz9FLd2PoAlZGl0e2yAosreePHSK_4zjmD4EPABGtT3GbN1Ly-en5GCnzwmfHJhmGXMKppGdIWCSPaXlyRQ9CBY2OG3DIt0HjOJXIXOCKX_ojfPtg-IU4mJDqme0yxBcmBdRQ53fGDTiVstvyf2InHHdjRvQqm1SWE_cOtpspKA_f1ZD4W023p9Z1CMSPmSLrpF5XNsdOwHnsYri-roE5mFKSj7Bb2s4-ZPcvLae22aynpy-nztYcvIVwytCxdkIYlFa6XDAxEP2ZXRiIgCyDYlx9nisRBdxvUdG63V93bby7V6met55Ao1e1RACxR2dE1SSLHobBSMay2ulnW9H8gtnuS_GzXduR6DZ32VU3uFLPzP5ko2VebpfA02aDKEacEj0hmk-eczs4a7ITCZmpJ5sLop6NdhhvJiVi9PtICyLdM3NQ1Ia-P9uU2sb_42JObvrgokemmKd0x22MTBLMBKGIQNSBQJTBTz5jFWFG35DOfQ5hExxdcyXGSu4UlwE2E1BaG6BHhqSrb9TS7GoeScjMqWMvY9DK4MiK5UcDtm9HWYXCyrxuTOkvnXXoPDMIJGL2fmwvA8fGc6k5uzzs1_pxSfTlTMfsWyNXUNroZhuLv4ocNMaXXrSa6O8QVcuO0U2G3zFQTapyOW5sPj9v9ponQrA5MVVWXl9xJH0gWrO2qLfNyH1yZOJUieFjcYXkuev8JFfzT-lJZQrrdLoxC99gEw1BowdEsURPfMtcRcoOegM0pNgaFvKpxWaCbOA==",
  "id": "rs_0f8f606677433d67016ab43134482c87d0a2402704167f933d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_z\":0.17,\"left_pitch\":0.15},\"note\":\"The jaws stopped around 2 cm apart on the white plush. I’ll lift it high enough to see whether it leaves the tabletop before carrying it to the safe.\"}",
  "call_id": "call_EHJDl7wMI6EHVyyHnG2FBip0",
  "id": "fc_0f8f606677433d67016ab431349f7c87d0b9cc5606d89330c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EHJDl7wMI6EHVyyHnG2FBip0",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4641, 1.1248, 0.5232, 0.141, -0.5087, -0.1654, 0.2095, 0.0746, 1.0138, 0.6159, -0.5068, 0.1349, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.347 left_y=-0.0735 left_z=0.1614 left_yaw=0.0372 left_pitch=0.179 left_roll=0.0877 left_gripper=0.2095 right_x=0.2818 right_y=0.0008 right_z=0.1039 right_yaw=0.0561 right_pitch=-0.3253 right_roll=-0.2278 right_gripper=0.9989\nstate[joint_eff]: [0.2803, -4.3282, 9.2786, 1.8095, 0.0269, 0.0659, 0.3687, -0.0752, -2.7282, 6.8034, 1.5018, 0.0415, -0.0464, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2beab9c5b2c806234e7ab2351eb26c72049f5a92b20b51ed9de313424e8d0a9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f56d12261ab9f2ac74c61b2224ab30b9b900c90e940ef66fe9d845fa38e211ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb7eed568528020eef275b9d275d8c84ee6fd745ff8f98291fd249b8a91cfe10",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 7.331 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4755, 2.0571, 0.2672, 1.375, -0.5274, -0.1078, 0.9963, 0.0746, 1.008, 0.6159, -0.4664, 0.1349, -0.1761, 0.999]\nstate[eef_state]: left_x=0.3559 left_y=-0.0793 left_z=0.0036 left_yaw=0.0137 left_pitch=0.2195 left_roll=0.1271 left_gripper=0.9963 right_x=0.2894 right_y=0.0014 right_z=0.1117 right_yaw=0.0562 right_pitch=-0.2791 right_roll=-0.2267 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -5.4359, 1.1145, 0.8816, 0.2222, -0.1929, 0.0904, -0.1026, -2.5368, 6.7487, 1.6142, 0.0024, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4767, 1.9923, 0.2039, 1.43, -0.5289, -0.1081, 0.2058, 0.0746, 1.0111, 0.6159, -0.4961, 0.1349, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.3467 left_y=-0.0747 left_z=0.0229 left_yaw=0.0207 left_pitch=0.2695 left_roll=0.0997 left_gripper=0.2058 right_x=0.2838 right_y=0.001 right_z=0.1062 right_yaw=0.0562 right_pitch=-0.312 right_roll=-0.2276 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -5.3538, 2.4137, 1.7363, -0.1099, -0.0073, 0.779, -0.1026, -2.6325, 6.694, 1.6386, 0.0317, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4641, 1.1248, 0.5232, 0.141, -0.5087, -0.1654, 0.2095, 0.0746, 1.0138, 0.6159, -0.5068, 0.1349, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.347 left_y=-0.0735 left_z=0.1614 left_yaw=0.0372 left_pitch=0.179 left_roll=0.0877 left_gripper=0.2095 right_x=0.2818 right_y=0.0008 right_z=0.1039 right_yaw=0.0561 right_pitch=-0.3253 right_roll=-0.2278 right_gripper=0.9989\nstate[joint_eff]: [0.2803, -4.3282, 9.2786, 1.8095, 0.0269, 0.0659, 0.3687, -0.0752, -2.7282, 6.8034, 1.5018, 0.0415, -0.0464, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2beab9c5b2c806234e7ab2351eb26c72049f5a92b20b51ed9de313424e8d0a9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f56d12261ab9f2ac74c61b2224ab30b9b900c90e940ef66fe9d845fa38e211ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb7eed568528020eef275b9d275d8c84ee6fd745ff8f98291fd249b8a91cfe10",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDE9yHtPKfh0XUSygr2Fi9VCskbmwkOweH0byiZrYDZv-4Q6VCWAZZVFnLekZmtyTnXOXrP9MCnuNH7vr0pajEEyu86J-CudUovds-PV1tDxYU1Mx8d5y4-nuILhrCzN2vjgvm29QEuuVGJltbWSsGxUYp4AbFyk6NYjADd3iQXeX14bTJPBCD3YILZz2o0JFdMGhGcvmSsZiVNO3UX1c7d7YmmawFGINz1KLZnmhFD9w6dPiLq2UL3gtmGfD9mnQ_wSwkc-7JwA-7w9Unn5h9linqhc7XAKEK4SCjvwn42pWtFMPzcYFhh9O9KAQnEykdKKTEnZRLIjIH087n47vlCBnJLHbYEk7WA88PqHzIpvMSoIGoFivZBpMIcdLO-SH64onUqVuu1-rGnorB4-HosJQAPeOjAbVYUbJs5t5aSlsnToxcdC0W1IXBH68t4q00Mwnl6qsFnhHeOn10g04rU0EoF51CP7r24iTi3hlv8t4UiMFaY-Hwgsvn_n3Q0UgkGtqlRDu8yzgal30ewZnOfwfO3pEqiy0zAMOLbadVt-mUk14K559W8U-hHGSpEP4__gT2N0JY4zjyoktSW1EmyskU2kDSiXuQEeIWnF4pB61DWQcBcErHS6HLl4PysdzRco2boS0K8VQABqM58vhokl9X29A_RpppK6rl6UoUskX8utG-1RbsLN68E8ttgjzJabIiGBpY7D4a_8sTiKaHehM14Z7XFtwV2UN64I5FPIwGmty5wko0tKRe_8hmNIlxgPaTAB7FWDG50_d-5tyBBV-WIDMWB85TIjj7_1jNpHrnXv0WCIQcfQTMNwcKKEjue46hWptJFNZXDXXoEQ4F59LcEWr1cCstLpDNKGmpOl2YCSXckr_TcdCrq-U_35gwzB5NSxg45gzaQQKC--IjD0YSgpFohUrQ5gYbDhOK-quAW2heR2clFETC1QuR0qUo3wAAqF-U_YF8BBv5-PdMnqBaEvuk2fSQaA3cvqydRpbnsK5YIHNtRKRXf3KTcIFnSeRyAVuDgfT6lQExI4UF3dtHmU0w88UNEcNCQlTw1xJ1WLNNzgLnsR9QHCwSgD40WUX_k-oK_s5zkFvywido38usiX9dPfCZaCvoieNlHUxEnwu5wiLuxEx-Jeeel-ECRrdj_3GWQDY8cuLmp-nzS1X-UZYegCCZ-wH8FL9jTf1ugEDKnmk_Us2vgXY7862WK4ytLZiViwZMEMuspTctLZtPMY_CvHJFBswwzLF8p27fWp0xr-j7_152XCw8uyDzBctefapeYrwUwSB8hAjf2ElJn1Z_5OuZsbcsddNfuG3x1rK0_-RwBhH9PJwSrYMSHOIs-9lYqdCv9t6puDEMnXCuipzOHZ3kWVUQpSci2lhbr8t7e-J-p_TsvFVxBv72tAIIDhE2p51qLTDAT-FvDzGEATts6bgpta2sEvOoMBnZkXo9ii9HuHr5XKHIRx6PSdgd_Dq2yXVfbcw7Wi8wdJZJg1CTQpJcOqfbhE9xUHhi43FlJaYSmYrfn9fFAUJ3dJRnKASMC9CvyvfIs1gx3vr4lIb76-s3OqNNBST1jq9n4i3t2Q_ALSQVESDHuSwT7yYjyPYemCEsDjEEZ9QAWrqEzTp12rmfhA1pN1o_F3D8taP58nc1ftET60icKvlwbkB_Zf9IW9P_bhUV1ItOJ1Yo9Hsx4H7ofdLaS9n1GhpETmqbLvQPBDD4JCl4e_tFu7Xr8ds6lrnzvTe4bRdctnWucX1Qta_o7OcYIdRvcrHBVo-JqERRJ2Cke_tR_KDtXv4HbfEaRhws12XbsRoRzXOV0-6ihrFMPmS8YdkupVi8vvdier_X_j4RsU1zXNFelZe-YmrHbyFFOSUxY615z9kOIhdU5r7rhaPlJMAQHblQThVb0ipoVJiBE1tCOopnRQU6Z4M521hBSomnVdu2htcSQElPpPl-bXkhUlMSJqyprEynns9-AK8qO2sjNC7CQwuLF4eVHunFgycbAaXlauc9z5b9_SgiADexd4kuF88mjKl257aCjGZ-P2iDO39PCe0QhC7mgxMdlawgIL6w7zBBsJ2HxezjcMSa6gU3r8MXdhMEe3SbEhOIC7F8vy5aKldTxFj1hrkTIr514s-ZG895aU96kQC4aeF6TdBRjpQcuClDYS2oKlghtVoYquKf01G4MK9WUco7kv2ZO3V7TCmEYlJIjPNE8zaW-m2Ebt_jBicc-xCdeIWJbpYZ5KlIsX0zGmsX_iSOE7paJoFb8Y6pwTG_4TPAl1ehUtigbCxaKYgy1xdpdY6JFBvu1-iO953DEyxLQLoYxcK7qdZAz4M5O0kzYzZVzl37puW1oK4eIx2f3S62bO-EOk5dSH3jWwxkF79zJ69rNSlY6XWcKOWGg5A-eXBWrdnRt7kKwkdCvP8gHabusWTkaE51uhyiinXlGjCr9GppObFKuE0xx2SvTUMyBowckjfN4uOVVDHZ9f0yQqnXFuFuT4knvOPjgO8Agd-nwoLTuOc5ztCe3V03JOO0pxu9_-3hMpCl23Ye9y2RCL3CMLeBxkuyuvbne8DlpU--xnX298BGRGXjq5SrYe8zalRKwNe7zUCP9obxYvjYgESGdpp4s-GmjiSZ8sGqWQsOgDUrkdjnHD6VjxCJ30dUMDiLFSIuafWwbx6vHmsEk6eLrAtwsmKhzlm19hcL-PbKoXHdrWxSBIGcriFEfGVz0fxBVe32Zz5uvTZIy-tZVg5Ns4RhUvCkD3P0ndZIkyK0y2w0YAwnSEaaIvxLe5WUMJRaxc2RGIL3sFBv_uRCj6kEz961NNSE0EHQPN1Mmgw3-Svp1D1uAAdFVAnPLYMphYampjhvAnboeBOcXKlgVZMPFf2E1ozMe6fyTKpvYiOTIuQsDhvFFQvzxxItnTec8jXp51AS9uynO23ajHhNFeMuQDHPq1Hmr-htvaLgXOP-Wt4A9NVx15RxEBIN0JdAEhwbLCbDb0p_8R0QfIy0h3Z_OtESIqsNWKZFcByXIhWfZThfv7sEWNzO3UZ7uMWRiHPkD9Ka-dTDdHD3RqHdEgG0V35TlfL4U4sGiY-SuDCseQVRa4G5xtZJfKVIoKvUVEj3ZU3ulvX1otb7p26gdv-c2Xlu6uvwGgZIww3GvpHmDsnxBU2EdIl0oKx_AOW8tf3BlxFkaOoPRbbsNFw91MegkI31yJ82CC9B_Bo8XhPyblaahwgvOAAUUDW3PDLUyJVSBZDYgPx2ouAyj8XH1g6qMnxCHjL-lgHIbWUX2_lsJb407FAKksR7VwtDcT9Ahq6fAV724OBl9RnmSCBBGRpNKCKK7pgZthh6a5XR3iCe1lzJ_ShDCUPMWXbRojCyrlbCRJ4nFzIwmW3sFEFdwDOX3sAHQ9Jxly3SOEAv8jx9JGs-_KW8ThY20GRy9EpB0OxmeMZP045YveRonW3nLnXeWgBmTsfOBCWK1NAf9Ji0IocoLLyY96tdwgq8378JCEPqeu9hWfldz5lPbm1wSKO32h6IUlc6kj732Yp0_NCcTBYZKWoetHZ6yGIYnFYjQFSBIPjWOKPJZsfpcVq6W2QcbgeqzLWwB8344e5bKuFsSrJPrVKQdjTPf6XBiPbrBHb8W-3xrBUhFzijfYIHvdfRmGcqnAwOO2Rgfhj29LwQbO4gLCU8HlsPxwCXYwH-jjFhJyeRN07dhudIwwVyf_wg-I_lC5sNvFd4BIYIkiaGG1yOUA9IUqFM8oG3JnRXiBJ5Yph7rHIyaK_Ws=",
  "id": "rs_0f8f606677433d67016ab431377d6c87d0aef52c6c07258aea",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDE98xhmxm9lf2RG7Wr33-_KdvfON46wAbNboXGZOpU9B3cuiH90aoOkYXafgDhedkplOjD0NBvG1BiQ7Y4aM-YCjBtVhqxIC115Zy0u8nT4oO1qCenhpm6Tzr4ZuaQ9IvVsnM0yys3nKf2DVOemg_Cp1BkHaKk2Gl260yl01-47MB7jTUt7af6FD15klbSGS2OuwNpaU3XVN06hOcwHFLlu8z3q1HsCLyk-hSL8mo8TDjIEQsIIgnxpPZiNOx4twgWhzE1gKm5H61Xi5JZ8iRM1I5e5qmgq05RGelOkR4dKPxfeU_Dgm6iFE4wAXXHpY6hsmXETBd8fKNSmS839rZzNNJH52C5t7RdCMZLPDyoT66laUAeZLBNFhm3ZKcj0hfWy5clsuRKmI8UHQX0XOqWWPfA5ObYhCzjtxc5bF-OvJI-gVeZfH_iZVTKO4CElO6LMIeNls-LuDYb2Vrr-IrwHcpklp5t8YUGoceP76tb-Wi-MaiRgd2lhTxuTfX0aX45Zy_AHtn-WWr5cCwyXitQlPlx5TNpsVdT6XrlVyHo04OHH1-iBDNRalYYsLZOpDz12qw-BUXbdqQMmMa_fIJhMKy660TC_onvXjAgggqcwvg8g5y82pD1xAIvmNIcwOEQdPKDtmx-S4gMuS4olyxS-17brGgpDs2NKg4ZKBCIx0Ekc4P9UegomrvYsZ-UjaE8KQ0DRXjm4Ftn8Ra_xNhhVmsQwF4PhlwkN6CIqkBCxMYzrpVegHlTx1QZ3ATGBGkkx-6LInWuTgnkPoDQLDeYhdd-sBOUxdUeg5hhLvBuA-KDSGPp8Geo1DCJ-IfEP5ddPNkxzqxSTJDr54lU9n97UQMBms-HxxBtZKmm9oojqrxVVon6c6nI8S8FwN_Dxg8i7zvkHOBc_AAVeva-WmKe3YR-g2CX3ve6M0wDZ4FCvn1B7sjpASarainKjsS-R4mlhg_Xfr9JJr6v11wCJwdUY4TqIEsWW-vnfiCI_SaxpEGe1vgRbYzDfEl529Srv--WklCuX7JHhvg7fot_qefJWLhpItYqWCHLxO0n77Qjr8RmD8OlorSvzQLITQoMgDzpjMc2oIS7baDiT9XGMA5_Nz9NPecg_3kgCW0Dg7wt376NZI0gYyYRu9rhqlpFF8wlk_ANhHH1TntlOWhXLUwVQ3YAO4qmptFaEeHr5quADzwhPJhra7O6SfGzwc2aNVPv2yJ7iiaix8EGznMF2d7835STr2CEWxkjlYDgYE9CWbFlwOHPzTcqwscGeRX4ljo3bZRzqVIUlCK7Kap_cKAb9mqa_hHjokSPlNcMOhFikfLYkd0vI-iYS3M3F0srzDSPb8raOl4yWHGqGcxXv7ZGNgXup6PG6_yLqPfxp5nJpCvlXyAY-mWPHrr-lsGxSH2IZzZEadDB2hYgR1fJvEM1la4qEunvTkwCH1sYwTqZC_0rQxKYqHyFTySsGShMPWiyTPnOHdDNNRHisuZsHJAIHQo2MORTtx1AjLh7FALIeNrPazf06xJXKoCaVJCi1RSYAoAHWmRCRbNj6vsxVktBCcUr8x7_BPZ7rnuAMd4Zhet8aTHbwnV4RdbYOwXqGNPan0NWP0d_W-8gmiZJw0G2bH9E8w0o73fLJCpx7O5yoqX894R1Mhw676AgFzjjHa8iJ-J1ErWS8B5qMTn3os2w_hfUFoz66ziGuYupt6nljDxh9E0gFYc9bN0A3yjgiSdIu9CUAkcG7hXm81YaGnAVfZHHtdaHVDsGMRXBLGblxCfdQyZPdwHddNR3zppvaihf8mqlGw3bpJTg53HPfCZNy4m4gEKsYiAgC7D2ZwixvOD8tBZVxBrvhmT-R-0agu3k7z2ruk0GJ_Ui4nSPjOqTZNZJ9CdRRULeXSf09S9y-8X1hZVzsuPHPzjszDaVaIS5XI6qHtptLfBUC4jxsc_KHAA==",
  "id": "rs_0f8f606677433d67016ab4313b646887d0898bbb4ea9a8ffe8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.357,\"left_y\":-0.312,\"left_z\":0.23,\"left_pitch\":0.13},\"note\":\"The white plush rose with the left gripper, confirming the grasp. The safe has shifted beyond the left arm’s lateral limit, so I’ll carry the plush high to the center for a handoff to the right arm.\"}",
  "call_id": "call_tkRLu5XzqXrhyVVgKQbK5wFT",
  "id": "fc_0f8f606677433d67016ab4313cc53c87d0807ec609c785a271",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tkRLu5XzqXrhyVVgKQbK5wFT",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.026, 1.8, 1.4822, -0.5335, -0.923, -0.6582, 0.2117, 0.0746, 1.0138, 0.6159, -0.5224, 0.1352, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.3557 left_y=-0.3082 left_z=0.2168 left_yaw=0.0227 left_pitch=0.1063 left_roll=0.0911 left_gripper=0.2117 right_x=0.2787 right_y=0.0005 right_z=0.1016 right_yaw=0.0557 right_pitch=-0.3409 right_roll=-0.2285 right_gripper=0.9989\nstate[joint_eff]: [-0.3761, -9.1829, 9.0051, 1.199, -0.7009, 0.0855, 0.2125, -0.0752, -2.4957, 6.653, 1.4823, 0.0415, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc0990a67e1b97bcbd410df43fa25aab49639efc8f0a4a3d0fd5597398675c55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cc3f1e0168e44ca0f87917893212f0148418ef3e753904d9009e848af6d4f9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d206fac386053fe99627247f201c7e71f674cff4d736cb640c6b7cb181ffff60",
      "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 · 2.515 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 86 changed as sent

message 91 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4751, 2.0029, 0.2104, 1.4269, -0.5243, -0.107, 0.9965, 0.0746, 1.0096, 0.6159, -0.477, 0.1349, -0.1764, 0.999]\nstate[eef_state]: left_x=0.3477 left_y=-0.0754 left_z=0.02 left_yaw=0.0168 left_pitch=0.2623 left_roll=0.1029 left_gripper=0.9965 right_x=0.2874 right_y=0.0013 right_z=0.1096 right_yaw=0.0563 right_pitch=-0.2914 right_roll=-0.2272 right_gripper=0.999\nstate[joint_eff]: [0.6496, -5.5863, 2.4, 1.5849, -0.0171, -0.0708, 0.0024, -0.1983, -2.3043, 6.8444, 1.5653, 0.0024, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4641, 1.1248, 0.5232, 0.141, -0.5087, -0.1654, 0.2095, 0.0746, 1.0138, 0.6159, -0.5068, 0.1349, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.347 left_y=-0.0735 left_z=0.1614 left_yaw=0.0372 left_pitch=0.179 left_roll=0.0877 left_gripper=0.2095 right_x=0.2818 right_y=0.0008 right_z=0.1039 right_yaw=0.0561 right_pitch=-0.3253 right_roll=-0.2278 right_gripper=0.9989\nstate[joint_eff]: [0.2803, -4.3282, 9.2786, 1.8095, 0.0269, 0.0659, 0.3687, -0.0752, -2.7282, 6.8034, 1.5018, 0.0415, -0.0464, -0.0073]\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: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.026, 1.8, 1.4822, -0.5335, -0.923, -0.6582, 0.2117, 0.0746, 1.0138, 0.6159, -0.5224, 0.1352, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.3557 left_y=-0.3082 left_z=0.2168 left_yaw=0.0227 left_pitch=0.1063 left_roll=0.0911 left_gripper=0.2117 right_x=0.2787 right_y=0.0005 right_z=0.1016 right_yaw=0.0557 right_pitch=-0.3409 right_roll=-0.2285 right_gripper=0.9989\nstate[joint_eff]: [-0.3761, -9.1829, 9.0051, 1.199, -0.7009, 0.0855, 0.2125, -0.0752, -2.4957, 6.653, 1.4823, 0.0415, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc0990a67e1b97bcbd410df43fa25aab49639efc8f0a4a3d0fd5597398675c55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cc3f1e0168e44ca0f87917893212f0148418ef3e753904d9009e848af6d4f9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d206fac386053fe99627247f201c7e71f674cff4d736cb640c6b7cb181ffff60",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0f8f606677433d67016ab43140b22087d08bc2f1ff08e74877",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDFGFtcOSR8jmCEuiofefqWwPclLuFQFFz8iICGRkeyztw-KU45Pxdg_NpiJzaOvzJOae8YRgTQIplodc6yXHns_TFYGny3uuSJ-Ci1uhJKrdqhoNGScPp6QA59AWTujYkA_SXDpA8Mir3m3tvGOys_P_5ssay968vjkIvhb_mBuYm0-bup1NOHucmlhgFeZboIvQvlfOWaePpTwfW7xb27kedqcpnMVF1bJqE-8akeDGkl9KfCAgrt8uU9Ztk1qxmmNHTytduIswdIWFoA6WuslTiJfffh0a7d4TbpF6VqE1YA75keXyf8d6GO2nwTAO1asQ6LUsXQwJZPt3fCgzpXbhLhW8jO2OJiRLR9ZJu9JHICICpYgxisGop1t61FLzXmfSTeG_61OrSdggWshQsrembl3kyGZF7O7aqmEByfoJCWfrwMyc9qj9TSLRLly9CMtbjOsk1dMyWmlCiZPqSbn04dFYJIc-QNkGm_tFtD4kxaGf80ksXuNOlFQ_vYLNjxRwcxltYdYVAu7x7nrvM1ZFuVxv7Ygqy77diNdHiMuac7Mk34XG5OB4tz1ZgVJvHe-CidrJnWNzN7E6Dt5evqHWwNLz9_Xb5mOQZiYJUu7rPxjdzL2ObJEEP4Rcn1gYeNURs3sKjt3Whcddh9xqjGMFgXB5TwuYtS0n_oDghZ72SJgRpk7PUhnIZG3BLz4faO-xD2lcXZnAwk36KNFIYTnqsj0_JIr_WfmxGCZ0YPxVnLO9QvqSrBvP7udTCANKrYO-4_AX32h_mnFC_xcYqqYSLDb840sPzvppEC1LqXzFEfio6OdjijOOTT5qjDqLOGSImek7-VWmTUP15Y2bIYNm1OBdOo9BKGooQg9_NgiywHBtW6Cc9clPSWCC_dT_iaMFTkI__Gz5gXnZprrYVHDTaOc1Fj0Rjl_hgCFeXvd6sz5ZOTQrNl8Q_a5a9dpp9z2p2Zb0OHtOZVr4BjjTfWKzSm4Y93Ks1TnNsRLuyQb13s2K2C5doghk1JINXrVMk_weW7ViBxMlHJSJgTvVR1H8RtuBTbB8jZ3V8S6cqk5pde0g91w20jlkJY1FYGofRHK4bAMV_bZj78GfVCNnNsa749TwIHpE6m_7HHBLPmSvEdYt2lvailA5YAO4xa9zbm_II9jr_jEynBPXLwimT-I9TPkrTE0xkx061gCJo_luTBi4XzzUCGWanBPQYotftSnxR-EmsFepP5gCCC8m6B60M2WW9UC9NHrT-g9twTGEo0XQnKgmHVOo1AfZbGpoksAsUqRw8j_8_2Qdj2aOVN2aUDYOixBaah-JNUV7JpgR4mqLk7z_F0AXKK99x_2BRKLc1f8-NCDc6LAy311xhvdzkIyC4D_iPhLFtD4lCWQToTgrLmPkh8Pl_t0JrGy0GrlZpYgqgkdSPsAx3jZexpqm999dRg--1tVq45TdCW8tnYaE6unQxup-i3uL8Ww181G_8xK-V6g5eUIrNDtmn4IPcVlvdLdPTB44bHT40Z8t9DUmCbSrRZq9beonz7dtRIY0nVFdawDDnvYXqgB4-ZK44cCkXQX4z9-JFuT3ok6hMj9bJP0M4iMx4jYiZyMnfRwZdzcx-VfuTXc_RWMQsju6byLpt-luXsLvhYOJFYKDujfB9xXzJ_7l1cvzA-5kmRjzaU_wJS5m8y-YWvk8s1k47XevYTI0FzinB2FDWv4P8u3VTCG5TtCAesPV5uCxl5WKEZXTQi3inPMV77qJWDfCgCi0TDjrRWknqXdtXtqrfyQjnosFSjEJbjAg5sUni4hPgxsjsjnVUWxEbOoA-6icsioBiK14X2maYbtusNeh0E8XYwWFrbXCwvqkokJaUrX77zsRMxXVsrpHYMScyxsiA4GV7lAdq9R505yi6iGW2WcwxYT5oNb9EHfmgF5PJYAbVcuCegjVFj7NtR2ZCwRnVZew2p0Iw2E86hpqeXiwnbYG8HW1kCIrTwDmQw6dRFukX2czSIWCv9swBVzDw_BgJFGO0PoYoqkt-3eLIK6w4vu4ebrPOBww7b8n-hU8eCld0ESNTZntHA_fmVB4NVQk9NDnbN8becRqjbZDuZPqx0=",
  "id": "rs_0f8f606677433d67016ab43144c26c87d0882be7f395f57798",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.305,\"left_y\":-0.285,\"left_z\":0.021,\"left_pitch\":0.18},\"note\":\"The plush is held securely near the table’s center. Rather than bring the two grippers together, I’ll set it down at a reachable handoff point and let the right arm pick it up safely.\"}",
  "call_id": "call_HXTtLbjlvBfqWySiodJGl9rg",
  "id": "fc_0f8f606677433d67016ab431462b5c87d09449dd8c4fbad86a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HXTtLbjlvBfqWySiodJGl9rg",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1286, 2.009, 0.8673, 0.2211, -1.0225, -0.7193, 0.2151, 0.0746, 1.0138, 0.6159, -0.5449, 0.1349, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.305 left_y=-0.2834 left_z=0.0243 left_yaw=0.0043 left_pitch=0.1467 left_roll=0.1337 left_gripper=0.2151 right_x=0.2743 right_y=0.0003 right_z=0.0983 right_yaw=0.0559 right_pitch=-0.3634 right_roll=-0.2286 right_gripper=0.9989\nstate[joint_eff]: [-0.5402, -8.0205, 3.8359, 1.2674, -0.5885, -0.105, 0.3394, -0.0889, -2.4547, 6.8308, 1.5214, 0.0122, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:804e9e9ba27f43e215e7ac60490202549fc21fd3bc471935ac2882fcd1dd34b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f039273e89abcfb5ad14abc6a66b3023c4e03b612849d485a13bbe4b5a3f142",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a56bdea691b7cfac459658271fb18105c4ea54810d01f785bf66ae40a46ae6d3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 3.525 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 91 changed as sent

message 96 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4767, 1.9923, 0.2039, 1.43, -0.5289, -0.1081, 0.2058, 0.0746, 1.0111, 0.6159, -0.4961, 0.1349, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.3467 left_y=-0.0747 left_z=0.0229 left_yaw=0.0207 left_pitch=0.2695 left_roll=0.0997 left_gripper=0.2058 right_x=0.2838 right_y=0.001 right_z=0.1062 right_yaw=0.0562 right_pitch=-0.312 right_roll=-0.2276 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -5.3538, 2.4137, 1.7363, -0.1099, -0.0073, 0.779, -0.1026, -2.6325, 6.694, 1.6386, 0.0317, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.026, 1.8, 1.4822, -0.5335, -0.923, -0.6582, 0.2117, 0.0746, 1.0138, 0.6159, -0.5224, 0.1352, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.3557 left_y=-0.3082 left_z=0.2168 left_yaw=0.0227 left_pitch=0.1063 left_roll=0.0911 left_gripper=0.2117 right_x=0.2787 right_y=0.0005 right_z=0.1016 right_yaw=0.0557 right_pitch=-0.3409 right_roll=-0.2285 right_gripper=0.9989\nstate[joint_eff]: [-0.3761, -9.1829, 9.0051, 1.199, -0.7009, 0.0855, 0.2125, -0.0752, -2.4957, 6.653, 1.4823, 0.0415, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1286, 2.009, 0.8673, 0.2211, -1.0225, -0.7193, 0.2151, 0.0746, 1.0138, 0.6159, -0.5449, 0.1349, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.305 left_y=-0.2834 left_z=0.0243 left_yaw=0.0043 left_pitch=0.1467 left_roll=0.1337 left_gripper=0.2151 right_x=0.2743 right_y=0.0003 right_z=0.0983 right_yaw=0.0559 right_pitch=-0.3634 right_roll=-0.2286 right_gripper=0.9989\nstate[joint_eff]: [-0.5402, -8.0205, 3.8359, 1.2674, -0.5885, -0.105, 0.3394, -0.0889, -2.4547, 6.8308, 1.5214, 0.0122, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:804e9e9ba27f43e215e7ac60490202549fc21fd3bc471935ac2882fcd1dd34b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f039273e89abcfb5ad14abc6a66b3023c4e03b612849d485a13bbe4b5a3f142",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a56bdea691b7cfac459658271fb18105c4ea54810d01f785bf66ae40a46ae6d3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDFKpVB_rAbfeBQW9EA4IYLF-H9Nl9y9RPlplxGNsHRJEEGtCNgeMIW8xrU2F_b4tD4Hgl53N-afrpS9M_1OjFX38YYENcz3tfDZESXM0mEO6QDkoLdvHNd20fGblobcRTDRZvW6EmLV1WvCiyvVLHMmaD2PFlMIbTrfB6jOUcNdB4X9y7oqv5sHsz0if85CPuGzBWToeBPi1IUYjUHvsGdpSE7INgTZuCLdco1rt0JOgdQM5bS73vNnD0uR_efFs6QFn1MLqLfOpWQFj2eGz95EAMAOm65ArGWUwEahPzadUXveQfhnmrDE2VQPityRzDtpbrRsr8uNk_rfn2zgGl3Yma__Ul1tVc9DwMN4S7H0_32vhaveD7Jm43ayN5Yz_3hbqb4tN2Y_btFgQK8TqDdN9kFGj9GOvj2Eug2u94pzeHaz4yWApGEzmEN-Ln08tJq88FWqvTPKnU1MBaIDo0V3-fOC56OW7oS841bU2vi6YyUwv0KEfY1q7Ee3ddugcQkbzElBW1RUtVftGJVgjZwtw1RBsisuEH1oZgSURXyfTyumq8huY5zOYFqbX_XkuKtIT_SvuZFPa0KE1wJKFCULc9Cljj7ayo_QxsALC-LAI-J9pfBMPMkP1B32FuIVwRe578oLnzYgvqBqfA0C20B0E3tdrYANsh9VTnj1gVdL1yPl7CIarsUNFaeRU0So0XFmK2V5EbNxbu-wzQePbsXxdeLKxcgZ2NGOP2bIpAR66Knwt-dxDRW_1CSytykzT0xC_PtzVCOz9Aqmh8SS90NH9txKW1F_8xo33PM5ftMoKlfk1_BIrIMmcpMMzMqXGWxmGCZ545jziLCuWu8h7fiKJDO4l2FrEYnYo-BxJYvtvNTY8LCu7oZMqsMUAHDJvbnfqr4bO3Wt0iX_4-LhSM2r6NA3jDxZg0YfQ3Xcr_jCY4xHgoZP5jddIecAnfeyhLaCyN_c-esidaGtRhPbRfx3LAgrIk4jchwqL-MLeaZ5W_DfKFJSp4OxxDmWckiRMAGmkGW5OZUCY_FdVDeOIdkO8-5D0ntd0Zs1lA2P0CrlyQxovPO5BenjmXUJRVRjrGdthqvbzJ9YdQqLXBMEaOlgxAX6blh45-G1k0BEVwMoGH70MHdDoIbr0pIKrM1s8NpB33i78VpRfHLdLppOXIZtPQz8wObqdDd-WmFfXp2VoqowDW5vprlLHr8UoJK0dBkaBNL69WxwzeG-DE3tODHttsybkrgrJEWtk2-jGnYwMuhR43ojR_Ft33AV32n65i8_9SORxrFbjL3eNCi9nNhuIU_4DzHB-pPWw79rZl7UrsY2u23RemJysexuOLcfdALgrb41svesZ5MWV6H7nLDThE9FIARfS01J_paYe2f1LdT-Z9rDHwGv_LO9qrqrBex-X1x5Jw3t6srl0hbp2GGgY5g2xl5AREVIoGK9oIX4LeEXPip9HEvIj10IHeTSR3HjwhJzmccTSRgCtmoOAv4VYKtM1_Ec34vNN15N8s5umWA=",
  "id": "rs_0f8f606677433d67016ab43149656087d08cec5f89f58ef96c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The plush is at table height at the central handoff spot, away from the safe and the brown object. I’ll release it before withdrawing the left arm.\"}",
  "call_id": "call_dV6Z1PPYpTZ9G75hYr3oZbEJ",
  "id": "fc_0f8f606677433d67016ab43149e96887d0a030ef1017400ed8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dV6Z1PPYpTZ9G75hYr3oZbEJ",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1316, 2.0289, 0.857, 0.2226, -1.0256, -0.7227, 0.9953, 0.0746, 1.0138, 0.6159, -0.5617, 0.1349, -0.1764, 0.999]\nstate[eef_state]: left_x=0.3021 left_y=-0.2794 left_z=0.015 left_yaw=0.0011 left_pitch=0.1371 left_roll=0.1578 left_gripper=0.9953 right_x=0.271 right_y=0.0 right_z=0.0959 right_yaw=0.0558 right_pitch=-0.3802 right_roll=-0.2289 right_gripper=0.999\nstate[joint_eff]: [0.1709, -10.7966, 5.1624, 1.1697, -0.3639, 0.0024, -0.105, -0.0752, -2.1128, 6.8034, 1.4432, 0.0464, -0.0806, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:121893f28f8b324ecb62fbd88792d92b374993f96576012488d745b05e3d5d1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5ab8022f5eb23197ec5c2fed51b223da7bc8051e55454f027f4329b1ff7c7f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e40f450f196dc53829d7cc4d942d03bf5f7a924bef3ebe625839e4f24024390",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 3.051 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 96 changed as sent

message 100 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4641, 1.1248, 0.5232, 0.141, -0.5087, -0.1654, 0.2095, 0.0746, 1.0138, 0.6159, -0.5068, 0.1349, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.347 left_y=-0.0735 left_z=0.1614 left_yaw=0.0372 left_pitch=0.179 left_roll=0.0877 left_gripper=0.2095 right_x=0.2818 right_y=0.0008 right_z=0.1039 right_yaw=0.0561 right_pitch=-0.3253 right_roll=-0.2278 right_gripper=0.9989\nstate[joint_eff]: [0.2803, -4.3282, 9.2786, 1.8095, 0.0269, 0.0659, 0.3687, -0.0752, -2.7282, 6.8034, 1.5018, 0.0415, -0.0464, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1286, 2.009, 0.8673, 0.2211, -1.0225, -0.7193, 0.2151, 0.0746, 1.0138, 0.6159, -0.5449, 0.1349, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.305 left_y=-0.2834 left_z=0.0243 left_yaw=0.0043 left_pitch=0.1467 left_roll=0.1337 left_gripper=0.2151 right_x=0.2743 right_y=0.0003 right_z=0.0983 right_yaw=0.0559 right_pitch=-0.3634 right_roll=-0.2286 right_gripper=0.9989\nstate[joint_eff]: [-0.5402, -8.0205, 3.8359, 1.2674, -0.5885, -0.105, 0.3394, -0.0889, -2.4547, 6.8308, 1.5214, 0.0122, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1316, 2.0289, 0.857, 0.2226, -1.0256, -0.7227, 0.9953, 0.0746, 1.0138, 0.6159, -0.5617, 0.1349, -0.1764, 0.999]\nstate[eef_state]: left_x=0.3021 left_y=-0.2794 left_z=0.015 left_yaw=0.0011 left_pitch=0.1371 left_roll=0.1578 left_gripper=0.9953 right_x=0.271 right_y=0.0 right_z=0.0959 right_yaw=0.0558 right_pitch=-0.3802 right_roll=-0.2289 right_gripper=0.999\nstate[joint_eff]: [0.1709, -10.7966, 5.1624, 1.1697, -0.3639, 0.0024, -0.105, -0.0752, -2.1128, 6.8034, 1.4432, 0.0464, -0.0806, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:121893f28f8b324ecb62fbd88792d92b374993f96576012488d745b05e3d5d1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5ab8022f5eb23197ec5c2fed51b223da7bc8051e55454f027f4329b1ff7c7f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e40f450f196dc53829d7cc4d942d03bf5f7a924bef3ebe625839e4f24024390",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDFOKeOaeFRhu6XG5RdNoNfnlabAkCIZ-gaNZ1f1053aQzLtYpKkGqByGs-xLrAymgmHvKBwAEAhdycAwmaVZw0Ea9we94GfZrRZQqMB0Kt3yIvzqLbyHujNXbfH4udp2bkoCe2N7JhzhTnvKnvmE1UzrqNF6AJj0_qsdZoi_YN5ROgt579QrMlWZQonBxviy6ngMLk42IiWMfuw2Lm0s3RLBpqZ6cPd8NGcAFg4hIXlqric5ic-zASvqlK7iyJlWF_yg_lswg1lnRaAdd76yk29uwauT70mPh0J4iFgKyqFWNBAfM9QnUlTFjHNBSlc_hcKAz6dDTGXU7toSF1Ue_XkleQXgGGdSWo5433qP6N5m8bxG_abTIg2l0vkNu8n-lEj30XaI573WLAhIDp-De16OHkvkLt5PUoq3z2xonIr3C3I7ZX9Auxk4zUwwMOPRwpRGxmqaC-9n41kOdpZDE3jHOdjiOwEug6GtC1MzTLD9U_V8hBV8numYY01lmf_mzKCZknD7omxgDHxBvsdXFsNmOfgNBEFGpEsRTDgQw5-lIeg2Dr6tNUZr8DgOjFEG5-oZfBxPy-Q8DDv6VJqs-OxbbM7pkxakA2aM4nd0y3Q18MBYQdzXp5rSLnFZ5NbiCB7MbblzVfhe0btb0Bw6KBCX2NmR5OPtMAskGFhxhztdyCSrXf0XZH1z13WvbhYaTCtL4KKCtXNR61jwPQecAZbr_ekJ-PALoAqkSjaS2E8t2q8wuwmj3h8c3KdlLKngwHfpmA3z-v2TekxHt3I0O06sNr260sKf1no-vSy6KfHPlNUBvmNCgSrZI5LdaBW0xfPKN3POA6cE77IJ5QeIX25YXaa_E9a4_RimLDzJWuJzYlE7sVZM2nFMS5Fon49zPjD0NldUw9btlXeZajdVSTSjKW5A27FopslEvg4Xkqe-BL0FTyCgMBGuTDwVVPrWzqQkmCopQpoi6RAJIr-wQwEwe2Klplp6FcAgl5nV1YWECNlsgT85n7Fld6l82oChVswzNg5p6Lz3071_CpgfGARvAQF4hGcvnH1xLIWvg9VgqJH7n3B_oflVoqgnhi02bmtNjyFDIEQIDnoAofTyu1a5KU8K2Jx3LOG_dVY3ZFz7suXq_UC2GMutiG12u3G9vKG-LMXJ9P_nqPz-rwbNBEiFoY7ci8w_FHMHxF9-M2I5NDlq73HhdK4OGrwH7msQPg0TVWdg2S5RRWs9VmICYAXyEg85Di4D4JVQLtFSNS5dDgKff0f21-j7AE_74f-1I54x9RT8Ka3jM2MUwvWuv9RmOeSwtVg2DZM3M_TMqgSnM4QFoKJsWMWbL21QTriO0zhlSC7NT_9Ss4ZnrQDypPq_t9_BibPp0BIHA_-NfhaSGPC4uIDQACUTdauNcwIxEhAI_vzGVCJ37PBnOto10r_6XmX5IyUyzac3_mOLSNiZRaZSUlkxGdDqzQbnhN4rYNSsiRgtjcNN5KjuB4cssEBDE2RL9myoZQafNqko5pONSTIRqa2wq-RitArCtfjLFwTVYs8P7tHNdsgFYj89wHWhRoB-YghWybgFXOc4Jlq3JBfx6xXQ7q8mZKAAqU32LKmqxpNyKw7uSSidEL_w2eY1ZjFI4uVjLa1MlBwx2HIO9Kn6vMcye7A_xIx69kGMJsABypRmkVYMs3ojSTTFdHHFPWlMxs2YfMYFeB5lSEiMoVX4rUPR9UBEWLC6tXYvSJwHnj6ZUvkNQSKYXEBwD6lSspkZCGlc_x-9UOS4G5Si76aceZdfBeEg6JsAtSv0qSq6QhbajVdeerb4u5nJe3M9s5GGfp72CWGnRq6jThDzv8p6Jn0Tbs2j0Sxcx-mXOlhnCkPm5NEoIcja31messmHmpywNLavNUatxq0b6DJof9KpITL5kcuUgpgFNXvHAr2QENFPLfdWj1kt4a-kEW-ZvJf0shrGN8fBL_Rnhlh6X2ADb8Ve6BOcdUaBhexvqEuGazrwYzqr19HjPuMGRI7tWQtsxK8tl6DxHxxzmtYOm9ydJR73hhlN8VFZXl34c_mPQotkXxWLkaFvQnfw4vN260KR_QNpMIG3Pz2FzcdCys=",
  "id": "rs_0f8f606677433d67016ab4314c78bc87d09040b17500122579",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.014,\"left_z\":0.2,\"left_pitch\":0},\"note\":\"The left jaws are open and the white plush remains at the handoff point. I’ll clear the left arm so the right arm can approach without a collision.\"}",
  "call_id": "call_E7EmH060NznfckRr1bGZnnOd",
  "id": "fc_0f8f606677433d67016ab4314e1c8887d09f9606bcf76f9f7f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_E7EmH060NznfckRr1bGZnnOd",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3481, 0.6388, 0.6231, -0.6254, -0.437, -0.1474, 0.9963, 0.0746, 1.0138, 0.6159, -0.5873, 0.1349, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.2509 left_y=-0.0077 left_z=0.1881 left_yaw=0.0778 left_pitch=-0.0003 left_roll=0.1507 left_gripper=0.9963 right_x=0.2658 right_y=-0.0004 right_z=0.0923 right_yaw=0.0556 right_pitch=-0.4058 right_roll=-0.2295 right_gripper=0.9989\nstate[joint_eff]: [-0.7316, -0.1573, 9.4154, 1.8339, 0.2076, 0.1685, 0.1001, -0.3624, -2.1675, 6.5983, 1.5311, 0.022, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92efe2498d9c8cab552b22481b8b845f5f82130dfcc3dde22e80846834cb3547",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5171e2e5e8d7e123e0b8983189e2e681e19eb22700ea9495030e5297db01198",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b605a080823fc81f3031d067d7db2b044c4e2d8b9458e7fb03a7c339e5ab534",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 3.746 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 100 changed as sent

message 104 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.026, 1.8, 1.4822, -0.5335, -0.923, -0.6582, 0.2117, 0.0746, 1.0138, 0.6159, -0.5224, 0.1352, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.3557 left_y=-0.3082 left_z=0.2168 left_yaw=0.0227 left_pitch=0.1063 left_roll=0.0911 left_gripper=0.2117 right_x=0.2787 right_y=0.0005 right_z=0.1016 right_yaw=0.0557 right_pitch=-0.3409 right_roll=-0.2285 right_gripper=0.9989\nstate[joint_eff]: [-0.3761, -9.1829, 9.0051, 1.199, -0.7009, 0.0855, 0.2125, -0.0752, -2.4957, 6.653, 1.4823, 0.0415, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1316, 2.0289, 0.857, 0.2226, -1.0256, -0.7227, 0.9953, 0.0746, 1.0138, 0.6159, -0.5617, 0.1349, -0.1764, 0.999]\nstate[eef_state]: left_x=0.3021 left_y=-0.2794 left_z=0.015 left_yaw=0.0011 left_pitch=0.1371 left_roll=0.1578 left_gripper=0.9953 right_x=0.271 right_y=0.0 right_z=0.0959 right_yaw=0.0558 right_pitch=-0.3802 right_roll=-0.2289 right_gripper=0.999\nstate[joint_eff]: [0.1709, -10.7966, 5.1624, 1.1697, -0.3639, 0.0024, -0.105, -0.0752, -2.1128, 6.8034, 1.4432, 0.0464, -0.0806, -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 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3481, 0.6388, 0.6231, -0.6254, -0.437, -0.1474, 0.9963, 0.0746, 1.0138, 0.6159, -0.5873, 0.1349, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.2509 left_y=-0.0077 left_z=0.1881 left_yaw=0.0778 left_pitch=-0.0003 left_roll=0.1507 left_gripper=0.9963 right_x=0.2658 right_y=-0.0004 right_z=0.0923 right_yaw=0.0556 right_pitch=-0.4058 right_roll=-0.2295 right_gripper=0.9989\nstate[joint_eff]: [-0.7316, -0.1573, 9.4154, 1.8339, 0.2076, 0.1685, 0.1001, -0.3624, -2.1675, 6.5983, 1.5311, 0.022, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92efe2498d9c8cab552b22481b8b845f5f82130dfcc3dde22e80846834cb3547",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5171e2e5e8d7e123e0b8983189e2e681e19eb22700ea9495030e5297db01198",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b605a080823fc81f3031d067d7db2b044c4e2d8b9458e7fb03a7c339e5ab534",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDFUVtKOxkrKVX3quxQwd4jvf1SKoVBBVW4LIlT36cWeuMWQbbYQGjKhXnxrWQ-FNNLjssW273zoPCw_A8MhmAdHpMteFeP0QtmuJplgLPH8K1dhh04n4qEK3iDWvAovMyiu9chLbErlb5S5hAJoYesHX8tnfesxsQLYHJS28Ev-Vy1HqlZkB8fHWLQSB_hQmGuMQzO5T3ckESrRuUgye1AK4PJHGmo408vF6LAbpsKujfioEkpjdN3ZYAm8DjQTQocl4e3pMW-Pk54j-KXkTYJDEzBPHd-0E3NLFZV_cAYIL15VKbikCW0dEtUSMlxJF_5ALrbAe6NfqQ6l3kJVZwQoBB1gYi0ohrXmHHXB4TKR0SwWgzUNptNxreIp6CaGupLUp9o5xrVM1yqbOcBgCeUGuucFbCuUrx0Mcq4z8Velmi9Ly0VTkKdgq5VzjCe65xoBVRhlhBuVv587bVqhBxigE4omhqSGR1EcI4cteZ7v5M4GnQhyrPwln5tIl4c9GuInblnPkMpTKX5UOuma7fi9V4CITJWb7DfedNzK4R2SyD3y8-bjNbx6yrAkCP3qk_EApaHgtwLgCCUVPvC12EH0jVDX-iA1_h-5NCTN9Ns3xLSsjBmQyQa9cYEoaoNwJSW-xH9LOF2XXavx84GQENpF1AP-SlfIOEoT5KrqBpACU2D1XC-KYsLK9J2EfwfVTDR-6bp9LksLelFskMCKt678-C5ifySIqeR7hDgLjFA1TNrocr1I2wghievuxiah6Z8v-MvwuxPiJDv_esF_oJHK4WaXOKS_K76tImfIx2QYspsVrB0BvqYFmjdd6wVpc0gxahvPPnvA7iXujINXIVXswip07qjbpXhY67I5OXKMjVmS76SdX9c2AuNrpzbfndTeIEMq5k-cWS2zfUc7tlYcXb5iV67GdNExf9YNWOgickHWt5_zxI9P61UGEmOYTH3jiN3cZtq1wykjBpg131UD_iHx0ktPuCcGq_0UGQ29BSqTvSM-EINdqh6Zo-5oZChPMKuAGHYYNIDNcpq8wMK_vWTEg2MqljkB3e4x9jm8O9AZCAGljtQuXBRtkXwtpvuvCTPgjgNJWzi6yraIACCoFTKRLRdJaWfrzs6I4Ugw6O2cE6jmvUb1fKHTXj1ZzFe8u__oh1LQeCpFn4Wrb2pnDm82zMYxmy5znUFlYTJOGG5bGxWlsigqhuEervLve7Wrgzn9NBAPo95En7srPE-kbKSUSh3CdKLnMwQbbqKa8kb69R2f-BJvAkB-9LXiTbOhZpMuDWkKWH7YeEkl4JmVvakxc7G0QHx7gSf87L9VNwOneTw8wlqmmjAUMWA-qevb5v0rl8asPdeP_u-V_USS-OfKaMeBXLyfHjJBmazcVn5kA2z5GQ1Tmo8LpVSvyAS-UhuskQ5KcZwiNKV7ZOoKO7edx1j0LbVCVc97GSCyeNq-BHTOOvr6hqfxZ5hQg5JrGswVKZmMWVdhqQFc30ugffamTeiteadAsoI4z8mpGIIVcSJvPVx9WlTKDtylALYKB-yONXQYw91oQQuGY5taQPsTzKjMCYN5IjUPOCn0i2PsautuglKEB41Hle-z75ZZt9MieUZtLb17XiUUlGvxY_p5kmfzo-MM2_V0yrue4clt-w5M5410hzL0z7AV7OkNDwlEWkCfzo7GBdoDZERXjg==",
  "id": "rs_0f8f606677433d67016ab43152806c87d0906e1391cf1b4d70",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.309,\"right_y\":0.346,\"right_z\":0.26,\"right_pitch\":0.2},\"note\":\"The white plush is unobstructed near image center, but the shifted safe lies directly between it and the right arm. I’ll route the right gripper high over the safe before descending onto the plush.\"}",
  "call_id": "call_HuexAcIZR0ENR1YGsvkNdTt9",
  "id": "fc_0f8f606677433d67016ab43153588487d0b233bcb5ec4848e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HuexAcIZR0ENR1YGsvkNdTt9",
  "output": [
    {
      "text": "executing move_to over 29 steps (2.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3466, 0.6441, 0.6262, -0.6525, -0.4236, -0.1471, 0.9965, 1.1725, 1.829, 1.6142, -0.7425, 1.0355, 0.5808, 0.999]\nstate[eef_state]: left_x=0.248 left_y=-0.0085 left_z=0.1827 left_yaw=0.0686 left_pitch=-0.0305 left_roll=0.1556 left_gripper=0.9965 right_x=0.3042 right_y=0.3404 right_z=0.2428 right_yaw=0.097 right_pitch=0.1361 right_roll=-0.2787 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -0.3077, 6.4889, 1.8437, -0.2906, -0.022, -0.0024, 0.253, -9.1009, 8.4718, 1.326, 0.7399, 0.188, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ee7d7cda9fd1a96585e297683e8fbaa172260e079b19a08829b34ee041aa456",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4fc4df2ba44faf5588c03a65163d4d085449b105d252e24afe21863b22daee2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb269923adadc31af7c693e8227bcc26dce3148eae959bc8b3914bc9cabc315b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /responses · status 200 · 2.518 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1286, 2.009, 0.8673, 0.2211, -1.0225, -0.7193, 0.2151, 0.0746, 1.0138, 0.6159, -0.5449, 0.1349, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.305 left_y=-0.2834 left_z=0.0243 left_yaw=0.0043 left_pitch=0.1467 left_roll=0.1337 left_gripper=0.2151 right_x=0.2743 right_y=0.0003 right_z=0.0983 right_yaw=0.0559 right_pitch=-0.3634 right_roll=-0.2286 right_gripper=0.9989\nstate[joint_eff]: [-0.5402, -8.0205, 3.8359, 1.2674, -0.5885, -0.105, 0.3394, -0.0889, -2.4547, 6.8308, 1.5214, 0.0122, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3481, 0.6388, 0.6231, -0.6254, -0.437, -0.1474, 0.9963, 0.0746, 1.0138, 0.6159, -0.5873, 0.1349, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.2509 left_y=-0.0077 left_z=0.1881 left_yaw=0.0778 left_pitch=-0.0003 left_roll=0.1507 left_gripper=0.9963 right_x=0.2658 right_y=-0.0004 right_z=0.0923 right_yaw=0.0556 right_pitch=-0.4058 right_roll=-0.2295 right_gripper=0.9989\nstate[joint_eff]: [-0.7316, -0.1573, 9.4154, 1.8339, 0.2076, 0.1685, 0.1001, -0.3624, -2.1675, 6.5983, 1.5311, 0.022, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3466, 0.6441, 0.6262, -0.6525, -0.4236, -0.1471, 0.9965, 1.1725, 1.829, 1.6142, -0.7425, 1.0355, 0.5808, 0.999]\nstate[eef_state]: left_x=0.248 left_y=-0.0085 left_z=0.1827 left_yaw=0.0686 left_pitch=-0.0305 left_roll=0.1556 left_gripper=0.9965 right_x=0.3042 right_y=0.3404 right_z=0.2428 right_yaw=0.097 right_pitch=0.1361 right_roll=-0.2787 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -0.3077, 6.4889, 1.8437, -0.2906, -0.022, -0.0024, 0.253, -9.1009, 8.4718, 1.326, 0.7399, 0.188, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ee7d7cda9fd1a96585e297683e8fbaa172260e079b19a08829b34ee041aa456",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4fc4df2ba44faf5588c03a65163d4d085449b105d252e24afe21863b22daee2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb269923adadc31af7c693e8227bcc26dce3148eae959bc8b3914bc9cabc315b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDFa5Z-qZ7Pja1mnXN1DoxlkKcR2qaN5apzF_vV7uklcnuCKC3vnb_Z8aFbZ5hepLQJq4OBw6Mk3ckCyvMksLCHkD_7BvOZAFo3C-CfVaiQDvvCdsaMCrokm_m2VNQjJsVxan226EIGBerR1WETEJilrDfqArI7MxSLtHDMhSDG8xgcGc5FopgIeqmBIMAQoWsUjp6WJuEY08rVH5zGc6L4rvBniyEJrYn1acuhaRJGoiQLpT2xNFkrCPOzpk6-Juc2whmbQEAEwRsG5hvHd2MKodO8beHwDF450EizMleeQYehNJuqbvkmhpnPzBGVDx0NqG_iRUZGuGEcAHtVvRikN87Vce6M9Lb-5FMfBY1VJultCBEaBexIdNxfjXgLJAkEWJtZmPfaK-0f1OwDeXOe7KiHdod9TdtJ3IPcy5PHd5kc37puBtDJWi3HjG7s6vcWM2go-lmQpO_2debio9BRFftYFLxDDZWBVw5mLqOfsXtqZ_GzHe9KoFzFgc2OCYdEu9drq_dzp5S3ElngolP-p7YTMKU8xaVi1gaQTIquam2g2XzjXKbzG8nwMWjlv6y8Vn7xR14tQ9qqzcIaCTyn9tdl-xnFdpLTSHRA3leYlAMlXhJKCEUHVJDM1zgVL0rMElPKwWZnrX90s1K7E-vJCBdbtHZv1___kXnMzP3Jmm7BaERi6xlklMppku-s485UF-p5yFQrkFMmZxQW_jxlse7yx75UaDtbeUPxTbgfhy7J3Gv5KJjEyyLIBajbJFZJcLei8hHlW2CQ2t7WcXmq2ugAieO6-1TVaNxNe9ElLUdxwxI8YD4LRjCCQeZ1YiDMpYXSn9_k-TGhS5hP9qzL2PLlEei32dIDLf4Cs_7wRejWXflBcKr9wnFNMdU-_UJpCAHjDuxTKCNLXSgHdHtYBhTYpY41gsIPC3e9aw6e4OQZkLxEeNn6iFT28flq3_T4T2G7Bw-2pj4ZO3Wjb6VVvXhF7FRyD4AStoMRi2caTHy4MkcBGZUg-57mYC9DXiRdPKURY_Fed9EhNoGz1CK_fRXNZWoFZCtSbXwksP3j8Q_03hdJv5nwS-RL8J1Uj8mvVUJzh0CK00kNc4VSMgsF6RHsj4BYoBSL85SbkKK3usSsXky4Jer-rZd2um2W1-toBEEBT7upvKLhEdFSDGhQIDmvO5Jobqz2y5r6saDFW656Hj0yu7QgRPiawF99Inmrg1CXXHxvCWNogSr9VSXfBfjF5Fz5nz6uVN_6ny6SA8JWNSWaaYPNe6FBlJ5PY1PUO6K_UDFzKFXNVsII-BW0SUd4CE0h-U2bClTjIC8bhD2pfbKUr5qbP7I2NtfU7s6XWr7Zk-QXdv4jQMnIvxpTRCJtOxYdppjnVKYBbkFwe8C3dg_2_Gktcjo_eAd36g5i5fwQ00Gq78YEkob8-2WRp6HaI7y4JJiCVxa8EkKVEHy56kPrxX-wmHj_IZzO_43va-aT7L1Oy22BrwxATmMR5iqb2U2fGHTHo7IT64xHPAW0ahQHefWjf4Six-YUoFoB_LeFECWImnW397TmOvFrzHLuibf64xZ-aNT044LYjLX6zTQmG_KgUkUr7D7FXsR-k2YqoPZ3GHQxqtNJLc_V837_MWN5Ir4DfRqAVq6Iv8Qo9IEtCyo-IxUhAWw4_BGs190dn_9a166OleRXG9kGgfJZPp8T8HANVj16MD3CCzP2SZihmctVXTj3XJMp9HkHGt9uahYvrX2wae39FTrNUH3v8GGH9Xabdm2XWddzQbo8SE2-1P6eqA6KstL-Q6ufea99e6c8xeeyKeASQhWPtZU6GsYVkuB62GOSnHPTOnYKXIMzgnzlDPQ-bwM02WQ_8cdMFe0SWPDsQcfNv1cxDEXjUTHTUo1I08WKiIGggIak=",
  "id": "rs_0f8f606677433d67016ab43158d12087d0b19fd56f65650883",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.309,\"right_y\":0.356,\"right_z\":0.036,\"right_pitch\":0.2},\"note\":\"The right gripper is above the white plush, which appears near the bottom of its wrist image. I’ll descend vertically beside the safe to surround the plush.\"}",
  "call_id": "call_7ERl8sjbWiMLXSObLw78uW2a",
  "id": "fc_0f8f606677433d67016ab4315a29a487d0b148bd6e7b5a473e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7ERl8sjbWiMLXSObLw78uW2a",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3466, 0.646, 0.6262, -0.6682, -0.4232, -0.1471, 0.9965, 1.1793, 2.146, 1.1645, 0.0383, 1.0641, 0.5381, 0.9989]\nstate[eef_state]: left_x=0.246 left_y=-0.0079 left_z=0.1794 left_yaw=0.0685 left_pitch=-0.0467 left_roll=0.1624 left_gripper=0.9965 right_x=0.3078 right_y=0.3502 right_z=0.0372 right_yaw=0.11 right_pitch=0.1564 right_roll=-0.3163 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -0.0479, 6.8444, 1.7411, -0.1929, -0.0708, -0.0122, 0.5812, -9.9897, 5.0667, 1.4383, 0.6276, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3c593df5a0ca158fcd9fe35315fbc5686f95d3f2a6672b707144996f8e4de53",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc0251851ccaffb0c087f269a564b7b8757fb1ad1d9a8aff6c2c00e2f05804e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcb4860a99bdb09eec33ac5948575b2446a6f477b99c5357e5f016f1447de3b2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 2.569 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1316, 2.0289, 0.857, 0.2226, -1.0256, -0.7227, 0.9953, 0.0746, 1.0138, 0.6159, -0.5617, 0.1349, -0.1764, 0.999]\nstate[eef_state]: left_x=0.3021 left_y=-0.2794 left_z=0.015 left_yaw=0.0011 left_pitch=0.1371 left_roll=0.1578 left_gripper=0.9953 right_x=0.271 right_y=0.0 right_z=0.0959 right_yaw=0.0558 right_pitch=-0.3802 right_roll=-0.2289 right_gripper=0.999\nstate[joint_eff]: [0.1709, -10.7966, 5.1624, 1.1697, -0.3639, 0.0024, -0.105, -0.0752, -2.1128, 6.8034, 1.4432, 0.0464, -0.0806, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3466, 0.6441, 0.6262, -0.6525, -0.4236, -0.1471, 0.9965, 1.1725, 1.829, 1.6142, -0.7425, 1.0355, 0.5808, 0.999]\nstate[eef_state]: left_x=0.248 left_y=-0.0085 left_z=0.1827 left_yaw=0.0686 left_pitch=-0.0305 left_roll=0.1556 left_gripper=0.9965 right_x=0.3042 right_y=0.3404 right_z=0.2428 right_yaw=0.097 right_pitch=0.1361 right_roll=-0.2787 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -0.3077, 6.4889, 1.8437, -0.2906, -0.022, -0.0024, 0.253, -9.1009, 8.4718, 1.326, 0.7399, 0.188, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3466, 0.646, 0.6262, -0.6682, -0.4232, -0.1471, 0.9965, 1.1793, 2.146, 1.1645, 0.0383, 1.0641, 0.5381, 0.9989]\nstate[eef_state]: left_x=0.246 left_y=-0.0079 left_z=0.1794 left_yaw=0.0685 left_pitch=-0.0467 left_roll=0.1624 left_gripper=0.9965 right_x=0.3078 right_y=0.3502 right_z=0.0372 right_yaw=0.11 right_pitch=0.1564 right_roll=-0.3163 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -0.0479, 6.8444, 1.7411, -0.1929, -0.0708, -0.0122, 0.5812, -9.9897, 5.0667, 1.4383, 0.6276, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3c593df5a0ca158fcd9fe35315fbc5686f95d3f2a6672b707144996f8e4de53",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc0251851ccaffb0c087f269a564b7b8757fb1ad1d9a8aff6c2c00e2f05804e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcb4860a99bdb09eec33ac5948575b2446a6f477b99c5357e5f016f1447de3b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDFeWWwt50Lm3gHPVfr8eGH7DVnxnY3tnLYuJ7Ux5vCBLNVLQCVWiB3P4K-0cXVuaQDTlBdGvtqI62e4iMBT6PK7CqBjzt09E6NFfJJEYWWIHtC5T6IzAWPT4jHdeAtQzmjQrA9Wrk83KJef1bdJImT7dEggp0aaK3zYWVQRuBYTR6S2BwsTlw6ct8IRnfepp1F-fHsdoLz3xrlGQZFhSK2rHKRLYr5UO_mqJqX9rYJA4cl0DsUuVdVxcUwwjfYccYXJsVX-CvyL-bJgg7BrciPPCZ9ZTWFJPAlNC7W0ilYdyaIG2KKdyrKEfPIZJd84KmWZQBWN7oundUTgrSwThRlT7rZ_Ytc6eAo-PwVDS7fjiWJ0e1Ffai-vvUtkvLmnlq3wrhgNI-KtN-0rgt_8xA-M7jopNWWcaZXWNI2QGma79dXErI6ZJJetFec1NLVJIuia8xbSpvjgrb_SeIdsJmy4VOhEUc7-Mf9SU1BdGDuvoulagxp2LQqnl0TOabiBaJct5oEL4ejGk6jpn4vbORNel1PnhxR4jCiCohCeXkA3T4bimhoQIHxOJhl3d2fTQn0s5jisHIBr_diftIlIcovj-EvQay6TirReKem3X2yD535796q7Cp2zwY-BDn6w7UTrnQots-OCETx4-ss-6k8bVV5_51brrfO16WrBta8A46SxuqVifcKf0BbbrHe9cAN5Xd0XjlECO9w_4BhWixYG16Bm4k2Qk2rMS5ciA_6MEKKPnoMnF85DZgnCluqXaIV24J-w7G1ya9q81lTwzc61kVqjzzYQVdCW6G8pP-lqJzgGCJ8H-u1bie8bR8_nIVhwUQKbJeEwqNfNrJFCS1XWxJHX2CRM_yodDomFzgjpMPQtRJ1zgYwJvTNT8rH7wiLUiw2p9nZYXSgVYGSUc48AnnzFSWIMcS6AghIEdskGhz9VyXiwiiEbSeSTS1F4fH0-RqTTIuUrj0FU6KB3pRFEzbhKx26U3RMHT3kwmHPNmcswiFlqhaQrqyB_XGvJQ2CB-kbAPQRb0JJKJWzCTVYCN0NPWeMj00gIOTqGwRYcN7EWFeURdAcgCEz1yINYl22Vd4APtSitJrilnmQdsR-3mQYRQjDKv2L0iTjm3Gkv-Di7aUbuUsMSHczFz5KVPiJqz3YpMrb5GVZEzXk7SlNW4FJg0_EJkL-ocAIoLHLpO_9PICIZZYBPZOdSRGuuDnLgQNYKB2yukw_6fa-CGgZPv0jL7kZp7xaMcpnNzrZ-wHe88bfs6az54fL8PK-imwpK80UUfi_ODYJhM2TakRm8maS7VH9fyW018mvkzx-rV1TriLARF4Z-KCOtlOpeHMu2d3LsHC0Zdaa4Vdy0_n4qPEg_qiUbAsw1EbVF3uUnilDaNG0boKlXwCXW3i0Vltd-HRHybzdswUK264leaxZFUiFVLyXVw8XdoWLW7DMxxms=",
  "id": "rs_0f8f606677433d67016ab4315dbd3c87d08d6ab624805a41e1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At grasp height the white plush is centered between the right fingertips in the wrist view. I’ll close around it and check whether the jaws stop on the fabric.\"}",
  "call_id": "call_XGc28B8ZUBJfXh4Ytm25DPSC",
  "id": "fc_0f8f606677433d67016ab4315e501887d0a66da3f611865d3a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XGc28B8ZUBJfXh4Ytm25DPSC",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3462, 0.646, 0.6262, -0.6827, -0.4232, -0.1467, 0.9965, 1.1809, 2.1635, 1.1564, 0.0391, 1.0615, 0.5316, 0.1148]\nstate[eef_state]: left_x=0.2439 left_y=-0.007 left_z=0.1769 left_yaw=0.069 left_pitch=-0.06 left_roll=0.1686 left_gripper=0.9965 right_x=0.3057 right_y=0.3476 right_z=0.0274 right_yaw=0.1197 right_pitch=0.1413 right_roll=-0.343 right_gripper=0.1148\nstate[joint_eff]: [-0.0479, 0.1026, 6.7077, 1.7167, -0.1636, -0.0317, -0.0073, -0.1709, -12.3282, 5.7368, 1.0769, 0.3785, 0.0171, 0.8962]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:066fae640947ea0c7fa8aeb3f72468589b8a459177bbf2197f0b503c65fe1cfb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61b7ae1ed6bf2ab67790b440bf0d563a0005a1e94555c050dfe77255d3c2fac3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d2b4a2565d97b924c5e1768c2de000a55e50099f3ead3266a505dc43330d162",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 7.785 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3481, 0.6388, 0.6231, -0.6254, -0.437, -0.1474, 0.9963, 0.0746, 1.0138, 0.6159, -0.5873, 0.1349, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.2509 left_y=-0.0077 left_z=0.1881 left_yaw=0.0778 left_pitch=-0.0003 left_roll=0.1507 left_gripper=0.9963 right_x=0.2658 right_y=-0.0004 right_z=0.0923 right_yaw=0.0556 right_pitch=-0.4058 right_roll=-0.2295 right_gripper=0.9989\nstate[joint_eff]: [-0.7316, -0.1573, 9.4154, 1.8339, 0.2076, 0.1685, 0.1001, -0.3624, -2.1675, 6.5983, 1.5311, 0.022, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3466, 0.646, 0.6262, -0.6682, -0.4232, -0.1471, 0.9965, 1.1793, 2.146, 1.1645, 0.0383, 1.0641, 0.5381, 0.9989]\nstate[eef_state]: left_x=0.246 left_y=-0.0079 left_z=0.1794 left_yaw=0.0685 left_pitch=-0.0467 left_roll=0.1624 left_gripper=0.9965 right_x=0.3078 right_y=0.3502 right_z=0.0372 right_yaw=0.11 right_pitch=0.1564 right_roll=-0.3163 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -0.0479, 6.8444, 1.7411, -0.1929, -0.0708, -0.0122, 0.5812, -9.9897, 5.0667, 1.4383, 0.6276, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3462, 0.646, 0.6262, -0.6827, -0.4232, -0.1467, 0.9965, 1.1809, 2.1635, 1.1564, 0.0391, 1.0615, 0.5316, 0.1148]\nstate[eef_state]: left_x=0.2439 left_y=-0.007 left_z=0.1769 left_yaw=0.069 left_pitch=-0.06 left_roll=0.1686 left_gripper=0.9965 right_x=0.3057 right_y=0.3476 right_z=0.0274 right_yaw=0.1197 right_pitch=0.1413 right_roll=-0.343 right_gripper=0.1148\nstate[joint_eff]: [-0.0479, 0.1026, 6.7077, 1.7167, -0.1636, -0.0317, -0.0073, -0.1709, -12.3282, 5.7368, 1.0769, 0.3785, 0.0171, 0.8962]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:066fae640947ea0c7fa8aeb3f72468589b8a459177bbf2197f0b503c65fe1cfb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61b7ae1ed6bf2ab67790b440bf0d563a0005a1e94555c050dfe77255d3c2fac3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d2b4a2565d97b924c5e1768c2de000a55e50099f3ead3266a505dc43330d162",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDFijy47pjAhBuWfRVYaHOru1g7gtWxut5WZ-FLWoaW4BkfD83_4k1XpIsR6pTRS_ZF_vnDaSZBF6O8ReSaZMUTHpoSiIVUyaQLMm1aDXdQOaFaWoMZXcpo3oaxWFvlaPBEnlIuu7D1du_vdyakO7FkXCT8aX6_Rdd-s8GpO-T42rUdCKy9IlvZc--AFwEhZH5mqtxfEXYQfo_k5FE22yN9n8qVExAujHE_U2UaBCeUX_VVP2IeTp0Q9VF8Dvcx9GqOwpxTFoptR3nwdy-raXbhGgvQkJL3U4cvTxVfcqYIX09xYrK15YTT29DUsUcvoC_r5SpJcij5RtJNd3V5ID11T9s7GylQfsvcxp5jk9O8NaIxM3Vp-7VQq0TFQkbmNP_6ToCMJ5UxRTzWXpRgtaJZNK5L3SzULbdjlkLFR5UiOz4QUZ33Bt6BK9yeBeX20ZGOWoLCipbuXcbLip5gDTww6qTlHS5Fz9cMcjs7WWfarHKLyQvAAhuKEZFjzW1NaMW5_VeRCoN9Qs0YkHMhoogROrNDiFVfGIq5f_X6pifZxqHfNumCYVT_1k-SFEjLN5Ypqx7AitP01rp6Q6CLCKzTEBGnxQIKsg8rAntfqHFbWx-nllCWon0jUvERPaD0ur10L782ysaszabnoqOuAyXZ5fY7D8sRxeGjb4b3cEgmXOj7FI222uy4kgQYxe04O7htqF44406xD11IIPCbmjyidnsmCxvCfG2GPsVEv2dIztPybJgt1MY8h_nlnDHZgolYvZAkPc99QVovHutYy8kDaYyRzcQgFevoVS4lUQ7CNTkHhRY1l8rbSzxjVfo7VspXlXnYXCmJ3WI-cTb4wVIaw8hW8OJDSSPNrjPehLvniTpr6dpGAXQ7UJ8y-fCil5dvT_uhzk8rgFOzcyNd9yeDllczwuwkAdhTTgrBplyD9z-1ZpPzCpOoN1bzyidNoV16VHhO-vXORNgkxkIyzZwbzIyL8OMu0PdkAkAH8Yw_w3HvAIkttLHBl7UAvVab1YIdbjzOVFvuR1vBgOy9rfnrGWUDmVkoaWkdurA95BlW_CWVa-xDWRQSjC2-RTLR39eXnb9VUpuc1-jLc5fA15FoJI5poyqfxcnTqOkUS0eIKX1evzNaa35Ilybq0VIyrY_yn06vUQSR2L1AMljKhEqzoMVxyfH40OtYqvudBCDPM9DuOma_lpdSZ_KNmcnLkehyqTI8BtqecZ5gNEkzOU4HGuAOFDiJ5KGp1WHenXJbr8yyLilG2Py5oCQBgezfh1oKLq-7UXNya5DneiS5cmsSV6fQBPOsN01U16S3acM45mZ5KiYTceQrHwzDtX-NpzMOA",
  "id": "rs_0f8f606677433d67016ab43161207087d08917a88e3a08a202",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.304,\"right_z\":0.21,\"right_pitch\":0.18},\"note\":\"The jaws stopped about a centimetre apart on the plush. I’ll lift it above the safe rim and confirm that the plush moves with the right arm.\"}",
  "call_id": "call_wOitt1kEazMNT2WTD1PE1ifb",
  "id": "fc_0f8f606677433d67016ab431616a2087d09d6ae511746167ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wOitt1kEazMNT2WTD1PE1ifb",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3466, 0.646, 0.6262, -0.6937, -0.4232, -0.1467, 0.9966, 1.1858, 1.8996, 1.4418, -0.5156, 1.0626, 0.5041, 0.1165]\nstate[eef_state]: left_x=0.2424 left_y=-0.0066 left_z=0.1749 left_yaw=0.0689 left_pitch=-0.0701 left_roll=0.1731 left_gripper=0.9966 right_x=0.3047 right_y=0.3505 right_z=0.1785 right_yaw=0.1391 right_pitch=0.1342 right_roll=-0.373 right_gripper=0.1165\nstate[joint_eff]: [-0.1299, 0.2393, 6.7214, 1.6825, -0.1978, -0.0073, -0.0122, 0.3214, -13.0803, 8.3214, 1.2234, 0.696, 0.0024, 0.4176]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c8e4e9ed36b9ec0d3c059971bb69f0eadd1847cccb0727b4daa16d0fbaeb59f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ca779462ecb7e4d0384416390449b5092f0fa24820379fa64410b1e47294286",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c56bb127506c72f61afcee8915de5207cb1cf24a99e5bdd8f3d3d2184ae27035",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 2.876 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3466, 0.6441, 0.6262, -0.6525, -0.4236, -0.1471, 0.9965, 1.1725, 1.829, 1.6142, -0.7425, 1.0355, 0.5808, 0.999]\nstate[eef_state]: left_x=0.248 left_y=-0.0085 left_z=0.1827 left_yaw=0.0686 left_pitch=-0.0305 left_roll=0.1556 left_gripper=0.9965 right_x=0.3042 right_y=0.3404 right_z=0.2428 right_yaw=0.097 right_pitch=0.1361 right_roll=-0.2787 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -0.3077, 6.4889, 1.8437, -0.2906, -0.022, -0.0024, 0.253, -9.1009, 8.4718, 1.326, 0.7399, 0.188, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3462, 0.646, 0.6262, -0.6827, -0.4232, -0.1467, 0.9965, 1.1809, 2.1635, 1.1564, 0.0391, 1.0615, 0.5316, 0.1148]\nstate[eef_state]: left_x=0.2439 left_y=-0.007 left_z=0.1769 left_yaw=0.069 left_pitch=-0.06 left_roll=0.1686 left_gripper=0.9965 right_x=0.3057 right_y=0.3476 right_z=0.0274 right_yaw=0.1197 right_pitch=0.1413 right_roll=-0.343 right_gripper=0.1148\nstate[joint_eff]: [-0.0479, 0.1026, 6.7077, 1.7167, -0.1636, -0.0317, -0.0073, -0.1709, -12.3282, 5.7368, 1.0769, 0.3785, 0.0171, 0.8962]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3466, 0.646, 0.6262, -0.6937, -0.4232, -0.1467, 0.9966, 1.1858, 1.8996, 1.4418, -0.5156, 1.0626, 0.5041, 0.1165]\nstate[eef_state]: left_x=0.2424 left_y=-0.0066 left_z=0.1749 left_yaw=0.0689 left_pitch=-0.0701 left_roll=0.1731 left_gripper=0.9966 right_x=0.3047 right_y=0.3505 right_z=0.1785 right_yaw=0.1391 right_pitch=0.1342 right_roll=-0.373 right_gripper=0.1165\nstate[joint_eff]: [-0.1299, 0.2393, 6.7214, 1.6825, -0.1978, -0.0073, -0.0122, 0.3214, -13.0803, 8.3214, 1.2234, 0.696, 0.0024, 0.4176]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c8e4e9ed36b9ec0d3c059971bb69f0eadd1847cccb0727b4daa16d0fbaeb59f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ca779462ecb7e4d0384416390449b5092f0fa24820379fa64410b1e47294286",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c56bb127506c72f61afcee8915de5207cb1cf24a99e5bdd8f3d3d2184ae27035",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0f8f606677433d67016ab43164fdc487d093a312211572709e",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDFrzDxA-DhMJf5q4hiW0HVADyVdcYpj993KQ-A56Tn-RA5aS6m7_G3LB6wfuJgQOLn4Df06oBt0O0Bs8zF7XeLJsxAYSORghtFLtJhiEsqvRQIy4ee9y63dSCpaeK7BED5EsplQVVv1khiQL0RS2amO4p8aE0rbm5-8PTqXpDn-fB5qfCiDsxypCbczNP5Jq4lPj9F_Dic30Hg4JHPxRh5IJTkYP-RBqqATbfyTR7KuwGSuOpNBWQK5KRrKHQQ7lD8Of7-UgyQXD8Li07J4eqvhn-CyYjOHlLgmZYro4Q1K7WqFfQowzCTmYZxfKJiCosWiyMoWlIt6e7lxGL_qqzoZrlIJw-K9fp5tzkNvlmCS4iRTCxdFIR6EZr5xUklahEOoKB-MyA9A78qvVHaw3gh1vBn64_yD-IXW9UIf6xAiYwgGPAATyl8Lz47pnrai-8quvOkTMoIdHpxtAwuVVEvHMMlR_79TGJQpgrP6s4AQ6fdY-MSJY2-IOjm_-bnASyX9X0Bm-FucMt4x3AobgdESOmoZRHZLkoaHBWdCz6BUNu0ETK9IxLkv71PfuHgsBAQjXLTLTZII-8W5hDdEXzburCxl1bi0A0bKBWzacV-3IKFpfWZcfr29ib3wUazMLHDbK1hILtvxAZJLEgJRZ2iz4sSDQ0TG1jgHrJQL_9J81CtyJCqIVeLY66f2cFTOJK1D4vIR4rCTPygYlS8ROUXdYkthoc95KcTMA4PqcD8JrE7EqoMldt0xu7nExfFKHzDB1E6yrgkdr4khQzatwkvIb7JhDc502-J79knOnsydh6T1qz7oBc5zSvjRW68dqTuEwd_LVRp9F9WmUCAw4RA52lqXOMe7hYh_hV4SNaHxWmS_yHTsimrK9KnLlz4FE5ZxfYnhZK2V7J9V5fcJcMqXedZK1a8SpQ4iSpuOGMBIqsitJyiNATsRwj_Eo7ALj9GmOn09z_Y-wtwYyoGKcw8eAeYXhwq15UVYmXVL8hSfhoS6qxgKeyw6Is4DJNslCix8J0aCDPDxYbcy_D14fLD8wDk4pjccC-M0c8qqWfMzz-iF-XoGgXLJo1JfboCGIJAd0rJCkqP8i6pjpAbaY3Swk54C_95rE4pjuHznbRScRA9gj13oTIU3OVIMEU-gkGVbcxl_eAo96U94oJARVf3QSipVbB3coq9APWrqBYNCyXTU1CZngf17DbT2tBqHF8GtVuzl3Hs-ZAYnjKox6GKDfaSEMVJwinJ41TAeGqyIm-SzEevQLrOpLUAtgeHGbweVBsPdFTg9yyW7iQv_JGt07CtNLh11l82je1uABhF-7DC7eaHAVgABItCF3uvEp6zodXcv1eaSdpYf2XC0d52aiYMul2eroJPdgi6MyHJE7hBg1EueBpZTcHl-Q3NOmQbt_N9Se0RPLNo6JIV8359Cw4hg3yldHI05MDRuZxIitFuZBGeZCgZpU7Er8GoXVeBOQnXuP90U9dNSDuPONb17zVy2HyoHisrtP6vkwazr3kY3JBLfkskbnNYI-XaZX-g3AHaaT1RonL60XB6PoxarGjjtFKc85T0Jz5B89BQ5EmfZhY-yqc2Rn3soE0VgfpgDeyJmMPpuVYwA7R3fw2YGPH0y_pdylWPIpixXtjYsSjqf5S17aZZ7c-cLWCNimCJTWXwf1OjoYBD8sSTRVzFn5qv5-jeG0ht14Qn2TozDeXOxGgBD60TJzd5FPhPdxKj4ncqVCWXkjlb4FvPLLlc-Rje_VjGSZlsRZzcrrHrSsvGGYerKUKZ5i4S9K3eSm4sLiwiTrIUFv8JENRPfJF5N4ZCMNWCuz_du4IbC9LzGXmozh8_pWwTpajx41q8McSYN6L-kHS_eRUoIolvnMJT5-M9ovOXeU3_-fWuuvhNmbTHiN_n6jIjaoVFu8UM5X5Uu3-9o3t3lV9lh64Vt9M24aBnj4_67n8VoXAMkZFhJAdYjfouPaS2AvMli7y05tOAhFXWdC5szZnQjtNwQltr5kUWlH_xgc3UEWank-1AgrXvpxVYQK6RB24XWV2vgMjJa6w1EnsuEUl61yc4whO4Krx2Hc_3cRWulPKHWX2OMX0Per740bCzxAX9B0RVyyU09",
  "id": "rs_0f8f606677433d67016ab4316895c887d08437b90f8f799684",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.269,\"right_y\":0.104,\"right_z\":0.235,\"right_pitch\":0.18},\"note\":\"The gripper is carrying a tuft of white fabric, and the safe’s open tray is on the right. I’ll move high over the tray’s front half before lowering to place the plush.\"}",
  "call_id": "call_9B3Gwj7Zf1dGQjO9f8rzXE86",
  "id": "fc_0f8f606677433d67016ab4316a6a9c87d0b625cc2261068a69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9B3Gwj7Zf1dGQjO9f8rzXE86",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3466, 0.6468, 0.6262, -0.7048, -0.4232, -0.1471, 0.9966, 0.8291, 0.8757, 0.7101, -0.424, 0.8391, 0.0635, 0.1195]\nstate[eef_state]: left_x=0.2408 left_y=-0.006 left_z=0.1728 left_yaw=0.0695 left_pitch=-0.0809 left_roll=0.1776 left_gripper=0.9966 right_x=0.2692 right_y=0.1046 right_z=0.2291 right_yaw=0.1176 right_pitch=0.1682 right_roll=-0.3743 right_gripper=0.1195\nstate[joint_eff]: [-0.0752, 0.2256, 6.735, 1.707, -0.2076, -0.0757, -0.0122, -0.1709, -1.4291, 7.0769, 1.9463, 0.2027, -0.0269, 0.3004]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e912f7a73915e7b6c4953d53d24b949ba144ce6e833e7150e1532483c241e29d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:820dc26610602c8dae4058db2b5c435b6fd12ee28ebd31475e89363455bb0990",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd043d2b657b103f2ff741c7a36df9b8602f4405ee25c8c3b96b7cec4ec7da59",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 4.176 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 120 changed as sent

message 125 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3466, 0.646, 0.6262, -0.6682, -0.4232, -0.1471, 0.9965, 1.1793, 2.146, 1.1645, 0.0383, 1.0641, 0.5381, 0.9989]\nstate[eef_state]: left_x=0.246 left_y=-0.0079 left_z=0.1794 left_yaw=0.0685 left_pitch=-0.0467 left_roll=0.1624 left_gripper=0.9965 right_x=0.3078 right_y=0.3502 right_z=0.0372 right_yaw=0.11 right_pitch=0.1564 right_roll=-0.3163 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -0.0479, 6.8444, 1.7411, -0.1929, -0.0708, -0.0122, 0.5812, -9.9897, 5.0667, 1.4383, 0.6276, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3466, 0.646, 0.6262, -0.6937, -0.4232, -0.1467, 0.9966, 1.1858, 1.8996, 1.4418, -0.5156, 1.0626, 0.5041, 0.1165]\nstate[eef_state]: left_x=0.2424 left_y=-0.0066 left_z=0.1749 left_yaw=0.0689 left_pitch=-0.0701 left_roll=0.1731 left_gripper=0.9966 right_x=0.3047 right_y=0.3505 right_z=0.1785 right_yaw=0.1391 right_pitch=0.1342 right_roll=-0.373 right_gripper=0.1165\nstate[joint_eff]: [-0.1299, 0.2393, 6.7214, 1.6825, -0.1978, -0.0073, -0.0122, 0.3214, -13.0803, 8.3214, 1.2234, 0.696, 0.0024, 0.4176]\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 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3466, 0.6468, 0.6262, -0.7048, -0.4232, -0.1471, 0.9966, 0.8291, 0.8757, 0.7101, -0.424, 0.8391, 0.0635, 0.1195]\nstate[eef_state]: left_x=0.2408 left_y=-0.006 left_z=0.1728 left_yaw=0.0695 left_pitch=-0.0809 left_roll=0.1776 left_gripper=0.9966 right_x=0.2692 right_y=0.1046 right_z=0.2291 right_yaw=0.1176 right_pitch=0.1682 right_roll=-0.3743 right_gripper=0.1195\nstate[joint_eff]: [-0.0752, 0.2256, 6.735, 1.707, -0.2076, -0.0757, -0.0122, -0.1709, -1.4291, 7.0769, 1.9463, 0.2027, -0.0269, 0.3004]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e912f7a73915e7b6c4953d53d24b949ba144ce6e833e7150e1532483c241e29d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:820dc26610602c8dae4058db2b5c435b6fd12ee28ebd31475e89363455bb0990",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd043d2b657b103f2ff741c7a36df9b8602f4405ee25c8c3b96b7cec4ec7da59",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDFweWUnBsb8SUp__A6IZxRFAxZtL2bUmKNSLpr2biXd7W3NPE4uq8ZTj62McpnWKZCAUikCfWnsXmum-EI5yxAJq0DQeUvsq3W41CoOCa4pvGTnAh2n-gvzkk-4JnqKjcY1XjtZcnnkJ4xtpzRS7wY6v1tG-QgaRT4FpeaEuKdz0wswKH5jFV4HWflkvNWHLp-_TMxC0-LvPkuJVhzYWjuXPNFRKw7oCkJ6vn8hvXBtKYkx-tziH77-oZRND-b-uyWAEhDLs0Jqo-4h5NqpjUQhs-RS0nOmB0lwR92BF7G3QRRW4iBRJTNhJsTFX9ESz5EI17Epuj67BwgvJcxzIPsE6Ac6VU6JBa-OLQD6tRT6Dr6YEn8OHJ33NMeZTH80Sa_6lRHlRNvk8zuuWYJUNg51BPieW-NV5VHkUG_ZVzZqiyKMu_TuJlKlIlo_l-5OINHY5ZmLn-vwbQrWD3OT9aAB_vc8tPUXa400bUgvIP2cajupJhfVBkRtRDq-DjfrnumCb90h_Dt0CdB-jBusvUlIbF18-bjNamsPJBeZrk5oeEVs7QlK78ukCLle8AJTLgatoxzS0mMrbZ04Ymgr_yqVXL5ubWjpWz51oFI3krcCypkHm0Ot-GFS1EElTMXvDLno0gXIt9DCvH8EkTSTesLEPhR0BlC2l0ah6csROeKmw3xny5aP-p9cisF0_cx69naa2E5TyVEgGA5SWRdTlRWptVNTfIWUN4vCgdF2cNK3i4JrY5IMAafSrHrlDtAJ-lyHvuEHlaPaEP4bIptcQc29ofhz_seSyBCvtl1yJzbgMWSY_hKl0bo2Zdh_2G-xbUgIj8YCqhR5rHyc8TW4t37BwFO1G11ycUJAv2BVwdFFcpW_P9V9QChl3NlUW8yHc-dnrwkxlIMqGNtIOapsUWKfb6VUvY54_RipsVKN_RqpqUQYJE1uJEqpvFJVoiDN9KmginZNHr_C9WBzpWhsPvZ0RZzhdvgxruwA5A7SlZXx0nVJ46j2ML1x1kwJ0VgaZi2HW-q0in8Jk5qb6zONPvhI0XVP-dUVK3jUB5v7ShWJ9BoX8TvMwfvMTDLkckx_i9kUkgnteFu1HWqRkmQgmYzsc4fTAeRUZQp55bbeWM3rpi727uihgB9Urhv7XV0EWf-CVypKNFFfxL1HQlAvc2K1uyZKoho40YvT3iEJbLvzcYrSGf4xactRShG4JzATDSMR_MTTjdPTwBZLkitGJmaeh-IOcvJ15XsNmJJCOCZmqHtfSSOe_xxB2Xgd4EOYxwT9LlMnq8ep0PCVUOhZmcLYOSa5X0z19k5FKxCBNdyVB0znl3kKwzPWLsOmszCk2ApaFmMthe7kASGx-8a1912TMy_TGLRrOsv51C7pOUZlawcvnzxxyS1xzh_WLqSK85Uj8lLB7zTKaHr5pHBm1AVru2Ev8I60784NYOjItYVILREwP2m7nhqsjuzrvRINvFDjdy3FV3sirxvXSP1xEkkPTdbjeYagNvlK8VqhnG8sCZHwqFoRWDnnc68nO2flpBBTJNXLNFOlyeWtDSnj6FEyUyMjA3a5FAtiyoLtEyc8dwx27qlHJxmAHGBqfSSFsT0zG1xyfNUs5OtQO6_bZXm8Ck6lgi87K6jLQeBUn4SAixwVnGF-Nrq-LpmYVmJA83P3oI-4D29F7F6yIkxah0Ha1A==",
  "id": "rs_0f8f606677433d67016ab4316e547487d0b99d13fe6f70e83b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.115,\"right_z\":0.064,\"right_pitch\":0.18},\"note\":\"The white plush is clearly visible beneath the right gripper, above the safe’s red interior. I’ll lower it into the open tray, keeping the jaws closed until it reaches the bottom.\"}",
  "call_id": "call_TtJnhiQ7GQC49FybZ3PQhoM4",
  "id": "fc_0f8f606677433d67016ab4316f30f487d0aaf31354301b97d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TtJnhiQ7GQC49FybZ3PQhoM4",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3466, 0.6468, 0.6262, -0.7204, -0.4225, -0.1471, 0.9966, 0.8646, 1.3083, 0.1844, 0.3954, 0.86, 0.0788, 0.1212]\nstate[eef_state]: left_x=0.2385 left_y=-0.0053 left_z=0.1701 left_yaw=0.0695 left_pitch=-0.0954 left_roll=0.1834 left_gripper=0.9966 right_x=0.2613 right_y=0.1056 right_z=0.0487 right_yaw=0.141 right_pitch=0.0754 right_roll=-0.4623 right_gripper=0.1212\nstate[joint_eff]: [-0.0752, 0.0615, 6.6803, 1.6825, -0.1587, -0.0513, -0.0024, 0.4034, -4.5744, 5.2034, 2.0977, 0.5104, 0.1245, 0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d1757c520097c8de88c17d488db5d7ade019903db986a7c6423a1228d409c5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f489f62eb408636b1025f9fed1d4f21a2811f0763cb83226f22f9e4f91b725b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f63c87a26aa33b8f29b14effbfdab685ff297d46bcc4888e2323334464a558a7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 3.216 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 125 changed as sent

message 129 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3462, 0.646, 0.6262, -0.6827, -0.4232, -0.1467, 0.9965, 1.1809, 2.1635, 1.1564, 0.0391, 1.0615, 0.5316, 0.1148]\nstate[eef_state]: left_x=0.2439 left_y=-0.007 left_z=0.1769 left_yaw=0.069 left_pitch=-0.06 left_roll=0.1686 left_gripper=0.9965 right_x=0.3057 right_y=0.3476 right_z=0.0274 right_yaw=0.1197 right_pitch=0.1413 right_roll=-0.343 right_gripper=0.1148\nstate[joint_eff]: [-0.0479, 0.1026, 6.7077, 1.7167, -0.1636, -0.0317, -0.0073, -0.1709, -12.3282, 5.7368, 1.0769, 0.3785, 0.0171, 0.8962]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3466, 0.6468, 0.6262, -0.7048, -0.4232, -0.1471, 0.9966, 0.8291, 0.8757, 0.7101, -0.424, 0.8391, 0.0635, 0.1195]\nstate[eef_state]: left_x=0.2408 left_y=-0.006 left_z=0.1728 left_yaw=0.0695 left_pitch=-0.0809 left_roll=0.1776 left_gripper=0.9966 right_x=0.2692 right_y=0.1046 right_z=0.2291 right_yaw=0.1176 right_pitch=0.1682 right_roll=-0.3743 right_gripper=0.1195\nstate[joint_eff]: [-0.0752, 0.2256, 6.735, 1.707, -0.2076, -0.0757, -0.0122, -0.1709, -1.4291, 7.0769, 1.9463, 0.2027, -0.0269, 0.3004]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3466, 0.6468, 0.6262, -0.7204, -0.4225, -0.1471, 0.9966, 0.8646, 1.3083, 0.1844, 0.3954, 0.86, 0.0788, 0.1212]\nstate[eef_state]: left_x=0.2385 left_y=-0.0053 left_z=0.1701 left_yaw=0.0695 left_pitch=-0.0954 left_roll=0.1834 left_gripper=0.9966 right_x=0.2613 right_y=0.1056 right_z=0.0487 right_yaw=0.141 right_pitch=0.0754 right_roll=-0.4623 right_gripper=0.1212\nstate[joint_eff]: [-0.0752, 0.0615, 6.6803, 1.6825, -0.1587, -0.0513, -0.0024, 0.4034, -4.5744, 5.2034, 2.0977, 0.5104, 0.1245, 0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d1757c520097c8de88c17d488db5d7ade019903db986a7c6423a1228d409c5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f489f62eb408636b1025f9fed1d4f21a2811f0763cb83226f22f9e4f91b725b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f63c87a26aa33b8f29b14effbfdab685ff297d46bcc4888e2323334464a558a7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDF1pR92aq0zqyCR-rPA6A2eFhYFw-YH-T1_UFpEiL3gb70JbzpezI2iaErT07VWatQ8PstnqbBm_8txvOFB432D5zqjrnNZypmVzyRo8g3FEjM-xhYbMkGw_tQwGrthGau5vZt5e9uXtgHZhG57GyICiQ3UBPs4j_jXNEry_BhLswTapf-B44M5NyMz9A2cOUZNu5csovXdXhReZK2bt4mYxgU6F_SqlGTvVE3u7aAqcPYHKfVDA1lUPfKZjdEFluLPFn1MDyjAkucoLmzzioYoGL4XyeXsK_f76Ml_mrMotAplJXZvgr1mCNL7pEA92V-lLFYlrHw_GKIwbENY7K0244fHk6dcQ9cQbC6ptea5ev0tF5EzD-msSTGA2OUtYBe4F25mk5AwRSoTFsNDItd4NV9b-GZ5Nn0mN7JlZJTX93RpHXNET3UDeTjIaoq7dOXUYVHK9Wabrn3hn9TXCXkmUPxEo1BF2mCk2gRcaXA-c0-jV_zi0qwzCmOpk5ikpy7Mx2JlsvPCO5KdNHO6mAVnCuiu-1dUTVH_6p7ezuyH5m2ybEFpTvgnABWnszZ4f4eP9bG-Shj_kDk3Tsibt7KqMAYrj6o40yxTwbSzeO1r2X6Hx25vv24z_YjiXxtLC3Epwzk-G1mFVczbPyLWJlqdQ_2-AOPcf4sbOFCaCXKW8aMK2tHCmqQwiXnV46-oGstvlRNGMP1NyVcTVKKsxzGcDauC0Yslg2ybo30V-JuDnG8ZxZbVfuO6tySD7-1P90r3YfUK-wJPZt1QU2dt09yKnMWtSNEOj2rFKwsaZHvx8YUPgKVz6izBgL3iZGTiMmsiwvDr41BQGV5QuyEM9qL2d-_Fs2ngZsuxdOm9LfVq48OtD3vPFF9LyfJu6hGh7ep8RyYcNO3gx9IutN1-e-WqZDnxbUbPDoZkZisj7A_trImngzwuQd6Vgwn3qSfru3F5lO9n5U5-Pb4vTYTrI6tq9iwMIK2rdoY_oaeCmWLvYxD5li54_lSKhzr-y1RQ49-T-abQ8alES3thywxP1aDbaG1jgb8zseu3x47PNUYGg2mYkmSq8OF2iJQmS5m-5hoNO2seO87F1vKs2gC-BgYTSsAKOlCZ4zh6nfWRRtmtKtdaaXYZYGHADYFt-qqimFH0yiq62fWsR4SL6DZbKg-8QHmVSHxFVqxD15w1H5K2STY1ls5rfCiise1dWtMG_FpVAj0RbVxgJ-9YjZBBxHe6PfDqq8GUkChRn6rNw3likGM_xJSiYplWwM8GXGrWIlojcd6M3-2KSBZ-vRYiuRph_2DFMl7baMARvy_aCtDN0gzw_1ohlTqvhmKRbHnxXBH8ZjJduJ8br-FQQ8esXqPmAscPEOiN-6qLMkgUUJOUiOp74MS_AJyvs2ejcA-r0qmKyWMkgEji7H_1ZlbpgOY4kPYKI_qGVgmG6NaoXQny5f7IJkGeZCFk9X0cnytDfkyAXEoF7tXbCCFLHTgj6lFQ5HxpiJPVV-vryH4iwbvcXNpZLkRqNi3NqCD1PsBjN_zJ4FadYBL4bg4czPs0A81AohYb8trWZ0xikYB5M86vCMEUzPhPKXlEePH-7epecPYZ2r_RYZ0yuIstbI6G-irmMzsCovS4iKHM0qV0cP0k-zBcXKE5JS6YGUQzbHovAPZSbmsH2OAxlqvueWrlXv9FbjO2NcHMgicekozDpbdmQAqTCt8OPQpASnAghsz08EMllia4JA47g08QDmtNtz67wr4aZRiyY43LtgIUei3N8PeNGExSQijPCjtekkSNYM2x7lBNTUq8TCFftMWst_6OCyG0RrBYyxJ1hoxJqVn0mXfSOQGUTKhdd5jkZUO2Y-3Kl7UDciVev5flSKao5qgWku-SzAn3t7pK43JbufGWOdjD1S2cP0D7APYIvy9WxRn6N_PcX9_YzUMEFPSRxrW-eaWE2Zf5u2sRHVVYw5_-7tCqBjVJ6pIAAdwY19nORLSQNTa5n23AMfUKn_C_EpOx6tfaLgmOTOEsUh2D4cxIxVQ3VTcWFC0dgM7rr_0gvwnUv3ivf9Bt4ip-uuMcJRXKlv_GNv25kdhCVWzj5w-6VgBnzUBPMgnKxIYV5JQdPdAXc8LhyDXb73mDpbElUjKAU8e_LlEKXSY4fXLC-Qa4nAGUDuZ5fIoJLw68sut1ZySbAsdIUmFAw8OuDNf2Vi62WQieWL6urjAbzFmxMRZ5RPuUcUHiVwgqDVKIcViO-oFJKhTStYraxVjVHGhjhRS87USDUfACzslr4qWW4jjoXWh4I5xnuRAjPYOdUwtzpcziIkNhkvSROXpUyKX0BF5Fc48ciENtIkTUtOFcsonkAy2miLLBDUqgrreL5jEb2BdoUJOF1n0xOTQp322WfJ_3pCq3lgyTWHZn3s6LBD5K3Py3L3Zz_3VXo_zT_sKHjusjbwTo_JcWLppQFy6susYtpUlCYljzeGhluO6rwgU9IWo=",
  "id": "rs_0f8f606677433d67016ab43172246087d0b0ed853f70befd16",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.16},\"note\":\"At the lowered pose, the plush hangs beyond the tray’s near-right edge rather than inside it. I’ll lift clear of the rim so I can realign above the center of the opening.\"}",
  "call_id": "call_Ggm65MFKZDo1QqFiWsLOd51V",
  "id": "fc_0f8f606677433d67016ab43174808887d0a9c8752c4e96ac6f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ggm65MFKZDo1QqFiWsLOd51V",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3466, 0.6468, 0.6262, -0.7277, -0.4229, -0.1467, 0.9969, 0.8646, 0.9474, 0.4889, -0.2699, 0.8486, 0.078, 0.123]\nstate[eef_state]: left_x=0.2375 left_y=-0.0049 left_z=0.1689 left_yaw=0.0698 left_pitch=-0.1019 left_roll=0.1869 left_gripper=0.9969 right_x=0.2614 right_y=0.1078 right_z=0.1475 right_yaw=0.1495 right_pitch=0.0702 right_roll=-0.4573 right_gripper=0.123\nstate[joint_eff]: [-0.0889, 0.1162, 6.6667, 1.5604, -0.1929, -0.0122, 0.022, -0.1299, -2.5094, 8.4308, 1.5458, 0.4225, -0.0513, 0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a7ec2edf8baa5346dc3a1c9eea14bb80223e71f4391ec4e15fd526dc013b4f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fce8f2a014a0f7be82ff6cd8e75d3078674c891c9164cf66be5ea4c222a23eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c490a32bb739241baca48b0b2ac791bb426b0bf704e2dbd4224eb25bc2bd63c3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 3.127 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 129 changed as sent

message 133 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3466, 0.646, 0.6262, -0.6937, -0.4232, -0.1467, 0.9966, 1.1858, 1.8996, 1.4418, -0.5156, 1.0626, 0.5041, 0.1165]\nstate[eef_state]: left_x=0.2424 left_y=-0.0066 left_z=0.1749 left_yaw=0.0689 left_pitch=-0.0701 left_roll=0.1731 left_gripper=0.9966 right_x=0.3047 right_y=0.3505 right_z=0.1785 right_yaw=0.1391 right_pitch=0.1342 right_roll=-0.373 right_gripper=0.1165\nstate[joint_eff]: [-0.1299, 0.2393, 6.7214, 1.6825, -0.1978, -0.0073, -0.0122, 0.3214, -13.0803, 8.3214, 1.2234, 0.696, 0.0024, 0.4176]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3466, 0.6468, 0.6262, -0.7204, -0.4225, -0.1471, 0.9966, 0.8646, 1.3083, 0.1844, 0.3954, 0.86, 0.0788, 0.1212]\nstate[eef_state]: left_x=0.2385 left_y=-0.0053 left_z=0.1701 left_yaw=0.0695 left_pitch=-0.0954 left_roll=0.1834 left_gripper=0.9966 right_x=0.2613 right_y=0.1056 right_z=0.0487 right_yaw=0.141 right_pitch=0.0754 right_roll=-0.4623 right_gripper=0.1212\nstate[joint_eff]: [-0.0752, 0.0615, 6.6803, 1.6825, -0.1587, -0.0513, -0.0024, 0.4034, -4.5744, 5.2034, 2.0977, 0.5104, 0.1245, 0.1587]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3466, 0.6468, 0.6262, -0.7277, -0.4229, -0.1467, 0.9969, 0.8646, 0.9474, 0.4889, -0.2699, 0.8486, 0.078, 0.123]\nstate[eef_state]: left_x=0.2375 left_y=-0.0049 left_z=0.1689 left_yaw=0.0698 left_pitch=-0.1019 left_roll=0.1869 left_gripper=0.9969 right_x=0.2614 right_y=0.1078 right_z=0.1475 right_yaw=0.1495 right_pitch=0.0702 right_roll=-0.4573 right_gripper=0.123\nstate[joint_eff]: [-0.0889, 0.1162, 6.6667, 1.5604, -0.1929, -0.0122, 0.022, -0.1299, -2.5094, 8.4308, 1.5458, 0.4225, -0.0513, 0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a7ec2edf8baa5346dc3a1c9eea14bb80223e71f4391ec4e15fd526dc013b4f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fce8f2a014a0f7be82ff6cd8e75d3078674c891c9164cf66be5ea4c222a23eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c490a32bb739241baca48b0b2ac791bb426b0bf704e2dbd4224eb25bc2bd63c3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDF5Gq4dv2SnJX28zPArT9l3oAaUXBDPoh5jrKFmBqCoi2QWOgjmIXMhuYyoe0_SQ2qKuUJgFks1pdGOLAXv9TlgQ5fuct7i4UDUzSR19yIA6TU0NNYy66xKqHTcMOs50ZiD__xR5bK-WbF5r_uOB6J4ypU1WJqXIAwZhUO9zum8H4ETnQetqdRfj5J2NBDGN6UtJqg_Ptb0RJ8JLnnlu_y5spQ1MchRq2xQg_I5vRULMHX4YY3BLgQJVkE8tfB7W-UQ1G3YBFrF01xf3qcghSc9wMH3y5LcmSkqSm-2-oWQFd-yqtFlXkPGNFpm1T4QHEiDxas3XZiKMNp8aY6TDW-gha6rnBg85uAROmz-hwiDs1PPxr_ClkP5mt_eCs0j8DcvBuMmrnqLNKY58csMB0Wd72EtRpBrx7PlabyZPzm56DgXofzPcJpnEDDUJh4u8FG6hasgNKYlPuBBsAoo0LwXzJPolfqD2GaKHaqjfy6VEzTs2HL5Urpo9HpDXTU48p5zNaXv9S7AsY4EPbFFUJoCx-qODI27G8R1KP3pq0ZNtIdsi1M7zQ7w_PlXPJVlcPlgzAJxrm_o4dx1NQ1KisFtcsl1kk0EF4QHaPx2I9NVIJ2OI5KRQ0WgzSwf8wxlzP-HzNFdfWE9MgLKTYMo6FAFXiiD3qSu9ROWwJ78_rOjqqcV5edjqWiovviBtORp5mrP2WO93fOtiMI6gpcpAZ38c4kBh3bxVVQHHOR2vR-zeJ4S0ZjrSHfZIQea_bzfUnb_Y458FgGXb2WWmrM3A-2NaZn49Kj-VUhA9yMOgY-UxkSE_jaE_UJ9Je6FQvCJg7qCgE5kC7WG1j8EblY1iBJX4wptU_jyq9JNztO7y7RVLj4wnNkEhsvQcBedO5HknuLsPp53cYqv1szg8fgkDryMSbgVcBPZ-EvH09RVCLrLgpVdB93EOYX6fPZ4CS6B3dTspVCPR2D8oubYnjWql05IXx9r63aUdr2GeG3kiIxmaX_klceR15ak54-lboZ9gS-bwcN9JCNj8yHJ03RNv8SuanZe3eTFPotPPLDjdsK1aHTaH3_gPOKrEjznyI3ccEBDzgZLrhP-7sGTDdazOmxV9f8hE2E_D1gTFpNvbmToHNhszq6FooYzQ-DnoUpbPF6DugU4s-crOjnBQNRL99-gNr2HBbMbZ9mb8-a0FwkPascYzNbJYbPu2thJvs7cJhN_-pe1J2ZrFR9_2fQTAjFbpnQiCnPMMzjalnhEGn_ov7AEte0ttshMP6EDQ9jzPGFHZHHJ2WP9GvwziHVfupLh-g0YUjEQwi1UOt0L-8X8wjrTAlkmVFMUoOPE95Z57s1ZBOGTDCOdaI8eR-SWfL4DK9EBf8fI51oBPjDxKHthWTTl8q2LPAR0TjNH_1ECZovT6DNYrPmK1Tw3C-7H3PGu28_ps3j6sQV9lzTZHriAifgXxs8HOaVtjwi0e0u2W9r5MbVvEFkwm68impkcHmZYZErT9OVFjeaYv11EBnv1f2rvQ0YeBuW0sxUMseUpMmP2G7r1PFscwRP18RgA3A4Tpg==",
  "id": "rs_0f8f606677433d67016ab431777ee887d0bd5334ab9e536d8f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.297,\"right_y\":0.183,\"right_z\":0.165,\"right_pitch\":0.12},\"note\":\"The plush rose with the gripper again. I’ll shift it left and slightly forward so it hangs over the center of the tray instead of beyond the right edge.\"}",
  "call_id": "call_eJr2mz8H3k5AiiuXcySwwDZF",
  "id": "fc_0f8f606677433d67016ab4317865cc87d0896c93ca74e62fee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eJr2mz8H3k5AiiuXcySwwDZF",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3462, 0.6468, 0.6262, -0.7422, -0.4225, -0.1471, 0.997, 0.9592, 1.3071, 0.6991, -0.2054, 0.9085, 0.1211, 0.1247]\nstate[eef_state]: left_x=0.2353 left_y=-0.0041 left_z=0.1664 left_yaw=0.0708 left_pitch=-0.1153 left_roll=0.1923 left_gripper=0.997 right_x=0.2888 right_y=0.1754 right_z=0.1464 right_yaw=0.185 right_pitch=0.0469 right_roll=-0.5086 right_gripper=0.1247\nstate[joint_eff]: [0.0342, 0.2803, 7.0222, 1.6337, -0.1734, -0.0366, -0.0024, 0.2256, -4.9709, 8.2803, 1.4383, 0.6325, 0.1783, 0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78401dce0b183382df5d3a2a9536d3a2ab52a9629be71d744ffb3a95e0c2d34b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9122b02a57dc3ed3200b34afd60c11f16c25d68f6c7c5eb5f0e1ba6ec14d3fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:008d56bc0a9aedea48125caa0befb9c61bb00ebe8f80fe1020d669cc2ebf661e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 7.368 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3466, 0.6468, 0.6262, -0.7048, -0.4232, -0.1471, 0.9966, 0.8291, 0.8757, 0.7101, -0.424, 0.8391, 0.0635, 0.1195]\nstate[eef_state]: left_x=0.2408 left_y=-0.006 left_z=0.1728 left_yaw=0.0695 left_pitch=-0.0809 left_roll=0.1776 left_gripper=0.9966 right_x=0.2692 right_y=0.1046 right_z=0.2291 right_yaw=0.1176 right_pitch=0.1682 right_roll=-0.3743 right_gripper=0.1195\nstate[joint_eff]: [-0.0752, 0.2256, 6.735, 1.707, -0.2076, -0.0757, -0.0122, -0.1709, -1.4291, 7.0769, 1.9463, 0.2027, -0.0269, 0.3004]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3466, 0.6468, 0.6262, -0.7277, -0.4229, -0.1467, 0.9969, 0.8646, 0.9474, 0.4889, -0.2699, 0.8486, 0.078, 0.123]\nstate[eef_state]: left_x=0.2375 left_y=-0.0049 left_z=0.1689 left_yaw=0.0698 left_pitch=-0.1019 left_roll=0.1869 left_gripper=0.9969 right_x=0.2614 right_y=0.1078 right_z=0.1475 right_yaw=0.1495 right_pitch=0.0702 right_roll=-0.4573 right_gripper=0.123\nstate[joint_eff]: [-0.0889, 0.1162, 6.6667, 1.5604, -0.1929, -0.0122, 0.022, -0.1299, -2.5094, 8.4308, 1.5458, 0.4225, -0.0513, 0.1832]\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 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3462, 0.6468, 0.6262, -0.7422, -0.4225, -0.1471, 0.997, 0.9592, 1.3071, 0.6991, -0.2054, 0.9085, 0.1211, 0.1247]\nstate[eef_state]: left_x=0.2353 left_y=-0.0041 left_z=0.1664 left_yaw=0.0708 left_pitch=-0.1153 left_roll=0.1923 left_gripper=0.997 right_x=0.2888 right_y=0.1754 right_z=0.1464 right_yaw=0.185 right_pitch=0.0469 right_roll=-0.5086 right_gripper=0.1247\nstate[joint_eff]: [0.0342, 0.2803, 7.0222, 1.6337, -0.1734, -0.0366, -0.0024, 0.2256, -4.9709, 8.2803, 1.4383, 0.6325, 0.1783, 0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78401dce0b183382df5d3a2a9536d3a2ab52a9629be71d744ffb3a95e0c2d34b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9122b02a57dc3ed3200b34afd60c11f16c25d68f6c7c5eb5f0e1ba6ec14d3fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:008d56bc0a9aedea48125caa0befb9c61bb00ebe8f80fe1020d669cc2ebf661e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDF8xTGMyBHDNwvU-BnwViurrXRqG4ue4dEfsCV2Rgl0BfqcXtf-7dHcu9-6wIZHfatEHNopevGqdVM8hEcnpzUrs0yVsSO_A7X2acbGH0yi57wIbDtXyOcWvIA7Ano5XrgIvBKctPr6qbdsOzQZaHlzpF41slz-pdHLXxXqAOVeyur5dY2H2IE-RDOdBEiMXRFCHSl8seRwDKuKaEkfrbwgP9tp5KcJypDCPzode0k5kJhTq8ekIIvcMD4WVqQ5n_abGhmfJIY6SjqcrEJHtHQ2wAJzRDT6kC8MijQxQNurwQIZ_YSrDa0yFU0GNIHCxd1hJZY3GF7ZNU0I3umRs3kczI9vTuj69jJo6orgHgJlYlp8mFhKbPXZVWAxR5EDvSWaWkd7bgEZVHResj2WLJ8Iy3H_kgdKuSFx2GbCiis0hYnn_EfC9xM7At_1A7IIlt0oSDxlzyXXkgKS-Zd5dZVK8uNbGXd_vKLbhkMm1wvTgid1EKCv6eLY-1Q3IN39JZWYgMATOx7lZkKh-kSHlWpI__Z8Yf2BE-cnXiTNf8JKgOlhDQdCEGsqkJuGybpt25w9i6FdeVSMKrEiTFNMHSL9VzKsUt2C1u1_anvtPJUBFhCXAmLjkxRBRNbZB5jqXD5OOQh7a4wNV76m-H3nRFPUMzj9u14sCkY7S7MsJvxLusulmtBm8f8VxcqS6jt3BoedvStISI6GIqHLgp6wss-EjgTcvG4lkYG2CIr2QZpSRpOVnRD4W4UGL-uDvLjN8zGTHItKlJMM_uE0IzdoMkFDKeG9X8xvjCi6rV4QQRuVeoIl4rVfol9MuUj1BY5kqyW1G64TpgHcN1Mmz3jm3i5agCFIqfpU8Z1ySdo60JYEz-ocIlFFAPz7rGid48rD3XvgIt9-wWwN2BkIcYJQ2_Km8-3DxTCuLZbLVZJZANIySI4mw5UMHTKgdSSRL0SaCnaJDmAjKoH_KVlFosg4W1CU2sr5TIKqosNuwEb0gP8ZjlBnT5abROA737mXXRWbYTWO7sQyGhK876CnTnDG9PVKh7irOpy7C47dPTzScepPDRmTVzwMvUoKgTodNSsoglxuntjOIWHb9m88eWW55qlVQ1hoaosdL45GrJLwc90NNbRNmFbji3ojM05GCGRS66S771xzEfIBu--uf-9wFS4JxU3WPs3ER09q84UQksPq43JDSb-KRDfDgmXKZ5LNnoRQLdkU8ekadkYo8PrkXcEllt5QneNTigaZ1hsfxPZpinYj3-ss6bK3mWn_DRq_zsnqexGap9GT3flwpGojV8xEbjwC4ro3yXzkRHCcL6_1SYlhaCvp4km3-32uSmhfm-OBPBILP1vjnabcnlzBTe8BnxzWu2zTYCcXgUZesArhrqYuHzs-UlMs9GCQ_VxGk_ZwVgByj3uWS0Q9lz90GRsemzgB5oIFFah_2Uny_8myqQUNeQAvnnE-QwuONbIiGb39AVR4aziMk5KKdVR2apiEk75FpSxmozGIJKMxeZ5oG7609O2y6gWG3T_do58zbrrCjJuq3tfakklzSU8SeIB5JWVNs8KZE5RmUR-ODiuHo2w=",
  "id": "rs_0f8f606677433d67016ab4317b3b4887d086cb6550e158ff75",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.298,\"right_y\":0.193,\"right_z\":0.051,\"right_pitch\":0.12},\"note\":\"The gripper and plush are now aligned above the open red tray. I’ll descend to set the plush down inside, then release only once it is low.\"}",
  "call_id": "call_3n1OQicodeXsWnEOjyjrUgXY",
  "id": "fc_0f8f606677433d67016ab4317c0a3087d098dc7a8dc960f02d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3n1OQicodeXsWnEOjyjrUgXY",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3462, 0.6468, 0.6262, -0.749, -0.4229, -0.1471, 0.9971, 0.981, 1.6791, 0.5068, 0.3298, 0.9386, 0.0933, 0.1263]\nstate[eef_state]: left_x=0.2343 left_y=-0.0036 left_z=0.1653 left_yaw=0.0714 left_pitch=-0.1214 left_roll=0.1953 left_gripper=0.9971 right_x=0.2907 right_y=0.1846 right_z=0.0419 right_yaw=0.2011 right_pitch=0.034 right_roll=-0.5685 right_gripper=0.1263\nstate[joint_eff]: [-0.0615, 0.3077, 6.694, 1.5458, -0.1685, -0.0415, -0.0122, 0.2667, -6.5162, 4.4239, 1.5067, 0.5739, -0.0317, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e2559137c2b8756bff8421e74fcfb4764fca5d36a23fd3e539a2cd231c04a1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d3a267103f8fe64c039588816ebf76bdad02832d494dc65898167cea9471d34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f4cce3d66603323805df3f360fca3334bcd829fd5138879654a47f45d3602e0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /responses · status 200 · 3.226 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 129 changed as sent

message 137 changed as sent

message 141 changed as sent

message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3466, 0.6468, 0.6262, -0.7204, -0.4225, -0.1471, 0.9966, 0.8646, 1.3083, 0.1844, 0.3954, 0.86, 0.0788, 0.1212]\nstate[eef_state]: left_x=0.2385 left_y=-0.0053 left_z=0.1701 left_yaw=0.0695 left_pitch=-0.0954 left_roll=0.1834 left_gripper=0.9966 right_x=0.2613 right_y=0.1056 right_z=0.0487 right_yaw=0.141 right_pitch=0.0754 right_roll=-0.4623 right_gripper=0.1212\nstate[joint_eff]: [-0.0752, 0.0615, 6.6803, 1.6825, -0.1587, -0.0513, -0.0024, 0.4034, -4.5744, 5.2034, 2.0977, 0.5104, 0.1245, 0.1587]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3462, 0.6468, 0.6262, -0.7422, -0.4225, -0.1471, 0.997, 0.9592, 1.3071, 0.6991, -0.2054, 0.9085, 0.1211, 0.1247]\nstate[eef_state]: left_x=0.2353 left_y=-0.0041 left_z=0.1664 left_yaw=0.0708 left_pitch=-0.1153 left_roll=0.1923 left_gripper=0.997 right_x=0.2888 right_y=0.1754 right_z=0.1464 right_yaw=0.185 right_pitch=0.0469 right_roll=-0.5086 right_gripper=0.1247\nstate[joint_eff]: [0.0342, 0.2803, 7.0222, 1.6337, -0.1734, -0.0366, -0.0024, 0.2256, -4.9709, 8.2803, 1.4383, 0.6325, 0.1783, 0.1587]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3462, 0.6468, 0.6262, -0.749, -0.4229, -0.1471, 0.9971, 0.981, 1.6791, 0.5068, 0.3298, 0.9386, 0.0933, 0.1263]\nstate[eef_state]: left_x=0.2343 left_y=-0.0036 left_z=0.1653 left_yaw=0.0714 left_pitch=-0.1214 left_roll=0.1953 left_gripper=0.9971 right_x=0.2907 right_y=0.1846 right_z=0.0419 right_yaw=0.2011 right_pitch=0.034 right_roll=-0.5685 right_gripper=0.1263\nstate[joint_eff]: [-0.0615, 0.3077, 6.694, 1.5458, -0.1685, -0.0415, -0.0122, 0.2667, -6.5162, 4.4239, 1.5067, 0.5739, -0.0317, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e2559137c2b8756bff8421e74fcfb4764fca5d36a23fd3e539a2cd231c04a1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d3a267103f8fe64c039588816ebf76bdad02832d494dc65898167cea9471d34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f4cce3d66603323805df3f360fca3334bcd829fd5138879654a47f45d3602e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
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  "id": "rs_0f8f606677433d67016ab4317ec24887d0a24f87cac17bb072",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDGFZcvLmKmvqbMQATMQrB0XAwhFfCmym8-Al_FuHGvhlgSeJRCHS4GHzk00i08MAuFeqU_ktqpR8RwBcYnl_5-TcZraVS4mzjIBs9gCG4UnFCYznY6PdS-Nfj6DbRZUaeRZjaK67jGaB-UwNLzJrlmnnyz2ml0yV1bHK_tdzJqr8xtnLHVhNrhCy2xMWms5aH9elM4KIGIdcan_iVUXkBOEZMiHj7L0Lnztyjyw78newNWWGXNidWa2VaAolr8d02DaIVJAtZ-f3JsHYpYiWVMD83jTGhPN6QMVkNMfvaPOTqO-rXUy3NNQxpte7dYJgAqNcOW24PnE55cvhKUNKmABhnpzNj4fAyGY8mWPndhH7LdhK9VTEwXqs_y7hoOWW8xVjL80tO2aqmmPIku082yfTCM6jhDP9oV8BO-vEVIQD8dCeJAQY213eYgR02EDEkWW7ziFPOfzr8BJoxKJyFkGVD94bM8ewDm8UGoT6QhNjwvN08pNiD1RQlhQRq3GlRAM-1CJVO1NSSc8p-D6mJc6mlGgyojHelOUDuS37BPN5i7At58QLlgU4DFF4oEGI9Kxq_6fDUDpy2f5-87cuuRcAhr78aebHTQD6yBXlbifNnoZu5ofXNzue9F3YeMt_SLmGMwo7tqlqbELv8KRFxBa8bA7xo1AzrFqRdVNTJrzJqi-FrhHJyB_NWiP-s5IJsPOpdHiTwmsy49by1YuRZ4nD6WlXfzDvwfEOgbgVb1fXspigKyksAOHy3qTNsVgarF96rj0bbAoILzlAYXssRPSGyEnep5j8mYNRWhjKZzfV1nHravyLNK0IuJ_-MuoDK_auRkKxaRCL3kJKLqh_xizqdPqOeAl3aTx7YnA8kvzeRVb5RLfG7UCX3sS33RAvEm32mDZWZzzj_OySKXUZOT71BCSBP8nFae9gmYf1q-XZEsKIwOD7vcwwGHdEIsgsGpwGtQ_GzThJpfGWjwlZwxEx2CNqicsjupWmSJFokbiAA51RpHeRtM-hg84Pa2PUI3ym7lPOAkqR-zOqntqRudZm5VhgOZnesJLxNuNnO75U0oZYuXdfAToll03g5KFYkRSl-5MEpxgkF0finmobnFGUyPAg80zoKZfH8jT0qpZ04UgqNdgxPXw_c6quQpOhiIEKWvdQ5GZtVHdV8EtK7OMPM65kvFsksFxv9MLzB7mV2t05TaWnzenwJhC7Qq7IiRsQb9qIPRRBNJymFoaDh8c-xXd_4XzhNhXBEbqdRHCgZD4FaQs5oWkRNDi41v7oMuzcQ-zmH5jJvvOcZohzaxPYuJ1kdquz_vdKV-59Gm3cM1-UU9FibCSz9-F53cVLOpan_DXjXahOmggiZQTHsXfaHD-j7GhHAV2XaWGDbZmNgsqnHcrvIFWzSIDKTxQ9vTktEqAHfWIoQ3_G8RHkKiKyWoP3B6PSeRshZYuvs1OQaEGXH5-I4Otm7q_sxqdj-eCCM3bg4nMDxs7DbzkG0kcWfB4zsGePZGhfXgc9egTYt6tT6FV3aseREvAptE5bsWPnjw_BBIt1U-WmM7G44eKiQp7ZLQd1RhGs_MAm9BH5LbeeJr-vPnhlULjLZEUpI3t89iluLgf8Z3l1akn2M4YX0K-TRGvdSUzqFeuVZXRAmizx2TFjKtrRenZeF-rC9y7UGS0QsRgTwDECY2JUlT7gykLFVuU2uOCWrgak6Eq7nJB1XUsmdwOn24UcNvUXca9DqKQuZ_RItLJG45N5WyH3KcdDb3TT0xi9htOrhtA9RpKG4rjbHruswmhmPzTTO5A3mNuzIfBnH7_S8JzmHEpv2eLJNAdSCYzqtqmVs98KzsM1WpTCS6JSzUs0darQGIA1Ifo_zeNjHZLmhm0uyWVP0rE0m5NX3HGY-VbFcR8OtZ20ST13GVRLDXLmCSopaTxnINHks1Pa61TeW0PpELkoz8yfKOf8332ZpcyM6--5yHPrtLqBvP0FoudIY48_99d5wGMeFf9u2PgoA8ok8CeFg==",
  "id": "rs_0f8f606677433d67016ab43182740087d086c10d71f64b5ae8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.06,\"right_z\":0.11,\"right_pitch\":0.2},\"note\":\"The plush is still at the tray’s near-left edge rather than clearly inside. I’ll lift it slightly and move it forward-right toward the visible red floor before releasing it.\"}",
  "call_id": "call_PtObnuvOIoQratul6cZtToei",
  "id": "fc_0f8f606677433d67016ab43184231887d089c3d169c5334544",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PtObnuvOIoQratul6cZtToei",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3462, 0.6468, 0.6262, -0.7498, -0.4232, -0.1471, 0.997, 0.4152, 1.3621, 0.2855, 0.6498, 0.5293, -0.3882, 0.1277]\nstate[eef_state]: left_x=0.2342 left_y=-0.0035 left_z=0.1652 left_yaw=0.0717 left_pitch=-0.122 left_roll=0.1959 left_gripper=0.997 right_x=0.343 right_y=0.0577 right_z=0.0911 right_yaw=0.1706 right_pitch=0.1288 right_roll=-0.5738 right_gripper=0.1277\nstate[joint_eff]: [-0.0342, 0.3214, 6.7761, 1.5214, -0.2418, -0.0659, -0.0171, -0.1162, -5.0667, 5.2034, 2.3663, 0.105, 0.0269, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc1c496cee5f7116cf427dcd6f23475187d066cc02fad9279505a207b64aaa31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5217fd2a5bc5b7c3241f415284341dd9de3671045d217a19e918e6a54d8c58fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61656549ad633a3506acba292e7b29dd924e5136f821e7494d00b0cca2e55b20",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 4.355 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 133 changed as sent

message 141 changed as sent

message 146 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3466, 0.6468, 0.6262, -0.7277, -0.4229, -0.1467, 0.9969, 0.8646, 0.9474, 0.4889, -0.2699, 0.8486, 0.078, 0.123]\nstate[eef_state]: left_x=0.2375 left_y=-0.0049 left_z=0.1689 left_yaw=0.0698 left_pitch=-0.1019 left_roll=0.1869 left_gripper=0.9969 right_x=0.2614 right_y=0.1078 right_z=0.1475 right_yaw=0.1495 right_pitch=0.0702 right_roll=-0.4573 right_gripper=0.123\nstate[joint_eff]: [-0.0889, 0.1162, 6.6667, 1.5604, -0.1929, -0.0122, 0.022, -0.1299, -2.5094, 8.4308, 1.5458, 0.4225, -0.0513, 0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3462, 0.6468, 0.6262, -0.749, -0.4229, -0.1471, 0.9971, 0.981, 1.6791, 0.5068, 0.3298, 0.9386, 0.0933, 0.1263]\nstate[eef_state]: left_x=0.2343 left_y=-0.0036 left_z=0.1653 left_yaw=0.0714 left_pitch=-0.1214 left_roll=0.1953 left_gripper=0.9971 right_x=0.2907 right_y=0.1846 right_z=0.0419 right_yaw=0.2011 right_pitch=0.034 right_roll=-0.5685 right_gripper=0.1263\nstate[joint_eff]: [-0.0615, 0.3077, 6.694, 1.5458, -0.1685, -0.0415, -0.0122, 0.2667, -6.5162, 4.4239, 1.5067, 0.5739, -0.0317, 0.149]\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 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3462, 0.6468, 0.6262, -0.7498, -0.4232, -0.1471, 0.997, 0.4152, 1.3621, 0.2855, 0.6498, 0.5293, -0.3882, 0.1277]\nstate[eef_state]: left_x=0.2342 left_y=-0.0035 left_z=0.1652 left_yaw=0.0717 left_pitch=-0.122 left_roll=0.1959 left_gripper=0.997 right_x=0.343 right_y=0.0577 right_z=0.0911 right_yaw=0.1706 right_pitch=0.1288 right_roll=-0.5738 right_gripper=0.1277\nstate[joint_eff]: [-0.0342, 0.3214, 6.7761, 1.5214, -0.2418, -0.0659, -0.0171, -0.1162, -5.0667, 5.2034, 2.3663, 0.105, 0.0269, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc1c496cee5f7116cf427dcd6f23475187d066cc02fad9279505a207b64aaa31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5217fd2a5bc5b7c3241f415284341dd9de3671045d217a19e918e6a54d8c58fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61656549ad633a3506acba292e7b29dd924e5136f821e7494d00b0cca2e55b20",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDGJFhAkkY29OgYoFW2MfD28Vbtcf9G4_4x8Y4jy9Gvs3n-tTqsN4amesThwD8Ch1dd9Y2goh9e6WY7sFjEBdpwJcgxcfGiR7vLkD9qNsup1vKdERVU_-l4ilLDit2jKAtZku-GdQ_KWAA6a9lnrtOc5GsCuUxrjgLU308c3iKMxxiF1PdHTyrz8NO9655B9E1LkykAK3GZ6CxKZ5e4fkCw8oz2canAmLK-MzxpSGpmnedMj-YGX0ono1Gv82vQ4GAF18P5UfHgPfCAnDrhivk_wi-5bBBGKsydCDm0BosMo2iopKl-5bjtBu8f-KS9ObXQdpIhT2wbmqnX9dil0EJBr30wT0JDdJvdNc_a_wLJU-skl2HwoOE6W_OFgo3F0dbSGSgi-XT_zoeOFwZc2sw6vFWlcCaps16Sn_lhVVcr_J4MRLS7MrxGxGq5u3At5AHAbhJwjwz_uI-MTD41Cezf0FkqqOU3lzn4qoC4Pp2qz-FmnufazvvuqsJN9CEyJi6nc4WXu50NoI1GemolYkqeSwW2rMFSw44D54qKculij3Mz-SLn7AF2pIpXxfKHWDLy-nKy3YwXDfM7cAxLrF8yt_HJI0nN8HrLRYBE-19nL6KieJExm247aBc-cle2mAsXE9dIuzWn6QC5Y9_VgVlXwjQ9R-DVlZC_6MBkMe1WdBr6lodSqM57Oas42N9_VId6Oj3PUS2IIIbmtIuj15wep_bp6tjSjBb4eVx7sNrORzgTc_XX-AtluHlEzUraPf9hCyYDxynxwt82Bs2dNgqx-72VU6tFRPbFlAgDaNvuDcdHt5n1022CPKjtyRPvMkQqAxRDzAT6T9JGI8FZHm_7LUWC5n2peqfpIgGrMSSpTVN6zbn2gCR3ZdesxqCmm8XlGrCJ10gGB-NN2E51nGpvFAZF0fBjXXYNJQOSoaqPVhtGPon9VcRzRjaEhZzK0ZMhIOTs3gkLjgvJod5AQLRjP3JTS8et4FOJ0o-0H-WPhRIrOy3lle-Eo_mtbUoFZ1lRPscIsbUsjsfncD7VBFyvs8USlsBUABXBRAtkqBCCR6WeuTohG29kH4TnReSSGpwuGNASMxPU1uJtnlqN3AevU4cHSoZM6agBhER6tbT2smtZze_FN-osjHxYeNvZExMIm8lHFI4_XNNW8UNa7Nh7mnprp7Xh7_NUaDqc84_dVKzgY4hu0F0zrR3Cx2CgWkQro66hJRiSHSqIbFYUfHX-GfbEmsK1NciuDkuJi4CdN4XP0jOUFSF5v7CLF8iRrFSInHYThRD2ZElfR5MC1bWmsd-sVfhRTxb8TECKiLtqYw5fmK53lErlYcZBSIYR08LqjtNtgCpaupxS8PqYYr9YsAPQahZWerzi3JzsGNzPueI9IzT__2c8TPZHUyIQLWloUPpTm2DIhRuihn2ZINKRhbU8NHc9LMqVAyC1l2r5qbLHRnfaCPfoYrCxuax--jqVdh-LbY-nWrpMutBWllchEOnMH3VbHsKPNhFdVlMJqBtz7dhoDUXIvGw83VtvSpi33gW2K2zYctq8Al816m0AecTc8I3RRAxvAsdX1ya6_qUfD6ybUybQ01jskzIyoq96gBa5-vnu-v9qsgW8Ep99jozsYw--pGGBtmqGZXgrWt1mzY48PFSGBo6-3a-2LHYL419PDr9-wrcDOkCqJeYBJSC4BGjda_tKxrQC4dA7bLj94A_Ymsv779TtNy1ZRo5LqKjw0MXMTUY73zNno0V1aoMDkeZa2zqMZMypuY41nGg4-DtD_ZEO9NjOIaFWMKwvA3vHOuhkXdB7q-STaZwDrMrrmFbRrjRLNA6foumMeT5NDYJweCjfEMBmYi3Q3HmGm",
  "id": "rs_0f8f606677433d67016ab4318778dc87d0ae3bf124029ea28f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.035,\"right_x\":0.359,\"right_y\":0.059,\"right_gripper\":1},\"note\":\"The plush now appears over the safe’s open red base. I’ll lower a little more and open the jaws to leave it there.\"}",
  "call_id": "call_Z346RJTTddo2mB8H74C1995X",
  "id": "fc_0f8f606677433d67016ab4318890c087d0aa67ab6fe33518ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Z346RJTTddo2mB8H74C1995X",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3466, 0.6468, 0.6262, -0.757, -0.4229, -0.1471, 0.9971, 0.3988, 1.7699, 0.2657, 1.066, 0.4988, -0.4038, 0.9946]\nstate[eef_state]: left_x=0.2331 left_y=-0.0033 left_z=0.164 left_yaw=0.0714 left_pitch=-0.1287 left_roll=0.1986 left_gripper=0.9971 right_x=0.3563 right_y=0.0623 right_z=0.035 right_yaw=0.1881 right_pitch=0.1101 right_roll=-0.5778 right_gripper=0.9946\nstate[joint_eff]: [-0.2803, 0.0889, 6.6393, 1.58, -0.2271, -0.0562, -0.0073, -0.9778, -4.6427, 3.6991, 1.4335, 0.1929, -0.0464, -0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06b99a5c2074c648e6948ba322c48b67c7160c5414e9f67d4193ead47e4877d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf7fe6009dd8ef21c1a8625a30f5dbf6aeb987f18033c94329035e4f2016f892",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8ba24e63052066500782713d1d6490f8539cc1f63e0a9baeb6e1b1d340d3f15",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 3.99 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 137 changed as sent

message 146 changed as sent

message 150 changed as sent

message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3462, 0.6468, 0.6262, -0.7422, -0.4225, -0.1471, 0.997, 0.9592, 1.3071, 0.6991, -0.2054, 0.9085, 0.1211, 0.1247]\nstate[eef_state]: left_x=0.2353 left_y=-0.0041 left_z=0.1664 left_yaw=0.0708 left_pitch=-0.1153 left_roll=0.1923 left_gripper=0.997 right_x=0.2888 right_y=0.1754 right_z=0.1464 right_yaw=0.185 right_pitch=0.0469 right_roll=-0.5086 right_gripper=0.1247\nstate[joint_eff]: [0.0342, 0.2803, 7.0222, 1.6337, -0.1734, -0.0366, -0.0024, 0.2256, -4.9709, 8.2803, 1.4383, 0.6325, 0.1783, 0.1587]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3462, 0.6468, 0.6262, -0.7498, -0.4232, -0.1471, 0.997, 0.4152, 1.3621, 0.2855, 0.6498, 0.5293, -0.3882, 0.1277]\nstate[eef_state]: left_x=0.2342 left_y=-0.0035 left_z=0.1652 left_yaw=0.0717 left_pitch=-0.122 left_roll=0.1959 left_gripper=0.997 right_x=0.343 right_y=0.0577 right_z=0.0911 right_yaw=0.1706 right_pitch=0.1288 right_roll=-0.5738 right_gripper=0.1277\nstate[joint_eff]: [-0.0342, 0.3214, 6.7761, 1.5214, -0.2418, -0.0659, -0.0171, -0.1162, -5.0667, 5.2034, 2.3663, 0.105, 0.0269, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3466, 0.6468, 0.6262, -0.757, -0.4229, -0.1471, 0.9971, 0.3988, 1.7699, 0.2657, 1.066, 0.4988, -0.4038, 0.9946]\nstate[eef_state]: left_x=0.2331 left_y=-0.0033 left_z=0.164 left_yaw=0.0714 left_pitch=-0.1287 left_roll=0.1986 left_gripper=0.9971 right_x=0.3563 right_y=0.0623 right_z=0.035 right_yaw=0.1881 right_pitch=0.1101 right_roll=-0.5778 right_gripper=0.9946\nstate[joint_eff]: [-0.2803, 0.0889, 6.6393, 1.58, -0.2271, -0.0562, -0.0073, -0.9778, -4.6427, 3.6991, 1.4335, 0.1929, -0.0464, -0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06b99a5c2074c648e6948ba322c48b67c7160c5414e9f67d4193ead47e4877d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf7fe6009dd8ef21c1a8625a30f5dbf6aeb987f18033c94329035e4f2016f892",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8ba24e63052066500782713d1d6490f8539cc1f63e0a9baeb6e1b1d340d3f15",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDGOlIwDyc3F7Pwva23H4b7sCYDu8TMxJohlJ6egCg-N6_JlgAr1g1sq9ROCtlhfQ6g4_JAAI58a-lOhXDr3EgDH5ja5ZxNlpGmDwJZsmORoKtBZoQb7upuEUj21ueMCls_f4mkTkbjQY3koPL0mk40CH_YLwTFh7YmV871oQw3ljvovaRSYBdGFeY-V6XQWb2Pldr3vjI0mM-xkft5M-cSw5Vk7B5EAOl0jr_J8wI8SE5gTAUCNnrMdnodTzpk6lfROUS4IQB0nh899d2LEHRpn7hZQ6h-OwYIQMpmcj45AJHGVZFNNah9GcKIY88PCzkzzZGDp0iAkGGcbFFmM4m7rBw0F3htirFU_8YgoV4jzZFCi92HxLZmb3FGSfysqtkaB38_BoRScm6mzugOIsPbkZu80LjPxPXZoMf-3XZT6kh064AOHWr92tfcNr7BGDbVlblC__XfIekIvv3ojB2dfXapJDpktq8mfQ9sim9o05kO0eEkMZQ2eFbeeBpvZC_RKapHo5xqUK13ptFdUaVPK9Tyxo-2lNn6fdjLxEX-p1ma3xWs5VApdK7XIduJBhsXmiRqmkqpf7venk7HUhSIM4-lr-0uuFOQWAfZFrWlauglzpjuC7lZ7FiWaoTj2WS4CHksn-s2KuzwYY2AMiQJ-M2dTbvFpn6wtBBENQX5zqQOSR_8NHfZMVkR9LjvhhJyhEXQyaGazYBGVmW9S-Sp3z6uHPIEcg9Zv3GO_QdNG-AlAebCyDG4UyEd3k7sZWshrkH-qrMEbWr7bXApCkwDxZDlg-Gv7zmim7iy5GQ6GOm6PNpucmmYKErdRl29O_jhlGJoCySL3EvW5CXZW-tZQ8Y7EpyzmaI5L7tuxFejDdcFns6pVUBDilAhFnSWzOoW1ZKYtLbCn4xMDzo7jJBTLD0webTSgnaraq0MHJ-f-O5bwiyog_2JMZcZXijbjKSfAKPvsprZ91mNr0zktr7WnqaofAkY6U0Ae3nLaFkTvOrsX01tpOKtGvGb0ilhU1zUGRozG05KInDQTFAXGMsbBiByIBm5xbTLxgxuZ8bJm5QfHCTgngGR3qubPD3Oiiwyk6x11p8zDUXeJvTl29ux69CTuCc0sxBsz_3_S9t4obqTob87-yaAGlbNpT-W2ZklGInybvmd0VJ4H51J0mSfOH7aY-WV2P2HMyG_w_LU1D-kHi1nXE8wVI4M2zDCaXUFhRS0lWQySxvunCV9EcC-3RyZdwK4smFDY3n0DwB66xBVNv7c7SyYsQ7E2Kb5cRBNBR591ox8CL0LcI9vWECOf7ut6hlphfGxOFl_EN_JJEhNa3rlMokc6eZHoWgduaQmVGB56kPBt04YvbGzGf7PTgBhbS7cjEKUh7Vu6nohlbkQEwqLOO37QzvbgYMXKkGishRkjjrs-5mmfPiu_w6A4p-lzMRNPIk74JPTiytuT9-S4qKgUtG3qj6FV5ViOsnX-J7ATIYXQZl09sp5VBGtsBNe80IbX4ymVSNjM_yjcxdW8mUDrfaQKzUG6gpo5xOHr3xZD3B55EyXTj0AbZte0FZ-LAuvDPxcvpsTDZ-5JS7p9Q1u8c_bDoVbdfndkKmkn-js5GElp2beMX2pzlztyROERDdZ4PAToyZFEuz96iJZe2Q4isq6pokyOJM9-DUJd3-JS5NMB4sCydw4vH5VN680bCDQd3sv-1r9XcGn09dvYz_Iiu4FUwR2zlxTabH-W6cHXDLPmmPurbgXywS3NVqvjJRf3YkjDJm1Z1XVoaswysdEG3Uix9r1rfw1KWbnYLYBzQMVojhftqfI7-Y5MBa98AllcEcZUy2ewGvAvE5e0tzF95f1GK3547yApT7R3j1VQKc8Mz4gecGY8NzdSk1zBrb2VT6ARVlGy97PNG3SL2IxKfjE8ftSY31E2Di0JlPHjsTxEK0b0fP5hP74HwV2svyxIqxlAv8eTLQ9zkC5tsVLIe9cyec4RXy6qYoeA_CpIX8Ww_dKgzVtz3Z_uEk6EUiOZj0apdOj9R2T1tLHWmhPV6rJ1T9NT6gl269dNA9rJHY-Bh2oJFi8fE8pf2bgOlqMh-a5fs_RFXa9VE8ju7FgJxMyiAtE0DoTtPpIPFWHIz2gNicQgsy-l6znSOoSS_EYu18-lPHxZtTvyGyw8ezioRetY-bHqvk4dI5VZWvx2oggzRAYMXHzOmGD69vJT7GE7V5kumCYRYPgymtqoG7oxqunC6T1lxiJyMr9lYHOWawZKJSpAHlqIy0RXSWilvCIFWruQhhhGk6_zWzrqWKN9bX5Qxp_kZEFsqvy1",
  "id": "rs_0f8f606677433d67016ab4318bc5d887d082b7bd66ce518a65",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0,\"left_x\":0.42,\"left_y\":-0.3,\"left_z\":0.11,\"left_pitch\":0.25},\"note\":\"The white plush has been released beside the safe’s red floor, though the arm still blocks a clear placement check. I’ll withdraw the right arm and bring the left gripper above the yellow object.\"}",
  "call_id": "call_398ABbRgOPPOZcVwIXq0U7tl",
  "id": "fc_0f8f606677433d67016ab4318da4d087d0896e3a8b90a9ee7d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_398ABbRgOPPOZcVwIXq0U7tl",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9173, 2.0621, 1.2316, 0.1204, -0.9993, -0.4194, 0.9971, 0.1604, 0.7555, 0.5659, -0.3561, 0.2897, -0.5091, 0.9953]\nstate[eef_state]: left_x=0.4125 left_y=-0.2884 left_z=0.0965 left_yaw=0.0692 left_pitch=0.2055 left_roll=0.2184 left_gripper=0.9971 right_x=0.2883 right_y=-0.0008 right_z=0.1817 right_yaw=0.1804 right_pitch=-0.0378 right_roll=-0.5791 right_gripper=0.9953\nstate[joint_eff]: [-0.6906, -10.7419, 7.9795, 1.6825, -0.4957, 0.2808, -0.0171, -0.3624, -1.4564, 9.9214, 1.9219, 0.0317, -0.0659, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff841e37db86f11aaa9cba32f812000cc1321706bca6f9c7fe14025cf6ea358c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06fe8d77e941531d46f5eaa3cc26b7468aaffcbfbd636f01222035dd93db3233",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bf79205f251c9cd077db26f34ca8da563eabf48bba17044c62f1959752bafc1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 2.923 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 141 changed as sent

message 150 changed as sent

message 154 changed as sent

message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3462, 0.6468, 0.6262, -0.749, -0.4229, -0.1471, 0.9971, 0.981, 1.6791, 0.5068, 0.3298, 0.9386, 0.0933, 0.1263]\nstate[eef_state]: left_x=0.2343 left_y=-0.0036 left_z=0.1653 left_yaw=0.0714 left_pitch=-0.1214 left_roll=0.1953 left_gripper=0.9971 right_x=0.2907 right_y=0.1846 right_z=0.0419 right_yaw=0.2011 right_pitch=0.034 right_roll=-0.5685 right_gripper=0.1263\nstate[joint_eff]: [-0.0615, 0.3077, 6.694, 1.5458, -0.1685, -0.0415, -0.0122, 0.2667, -6.5162, 4.4239, 1.5067, 0.5739, -0.0317, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3466, 0.6468, 0.6262, -0.757, -0.4229, -0.1471, 0.9971, 0.3988, 1.7699, 0.2657, 1.066, 0.4988, -0.4038, 0.9946]\nstate[eef_state]: left_x=0.2331 left_y=-0.0033 left_z=0.164 left_yaw=0.0714 left_pitch=-0.1287 left_roll=0.1986 left_gripper=0.9971 right_x=0.3563 right_y=0.0623 right_z=0.035 right_yaw=0.1881 right_pitch=0.1101 right_roll=-0.5778 right_gripper=0.9946\nstate[joint_eff]: [-0.2803, 0.0889, 6.6393, 1.58, -0.2271, -0.0562, -0.0073, -0.9778, -4.6427, 3.6991, 1.4335, 0.1929, -0.0464, -0.1929]\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 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9173, 2.0621, 1.2316, 0.1204, -0.9993, -0.4194, 0.9971, 0.1604, 0.7555, 0.5659, -0.3561, 0.2897, -0.5091, 0.9953]\nstate[eef_state]: left_x=0.4125 left_y=-0.2884 left_z=0.0965 left_yaw=0.0692 left_pitch=0.2055 left_roll=0.2184 left_gripper=0.9971 right_x=0.2883 right_y=-0.0008 right_z=0.1817 right_yaw=0.1804 right_pitch=-0.0378 right_roll=-0.5791 right_gripper=0.9953\nstate[joint_eff]: [-0.6906, -10.7419, 7.9795, 1.6825, -0.4957, 0.2808, -0.0171, -0.3624, -1.4564, 9.9214, 1.9219, 0.0317, -0.0659, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff841e37db86f11aaa9cba32f812000cc1321706bca6f9c7fe14025cf6ea358c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06fe8d77e941531d46f5eaa3cc26b7468aaffcbfbd636f01222035dd93db3233",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bf79205f251c9cd077db26f34ca8da563eabf48bba17044c62f1959752bafc1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDGVl1s84M46OO2VLoAwR7z13e0SjacdEvsKYyFNWdLIS3-FNMvEhn6ThuKWkWdcrBqyCr14KJhUnrVP0tsZAGz82DySPXpoFtktL7-OHPCJC21nPZgM76XgYvpSdVVWGKmuOWUT7OlFlQ1918UZSs-a7aIrQKnl-m_4-GvZt2wh44RAdtxSRX8UopzHNmLpQq7g11h68WZmFL15cWi-qi7mgugnu1DX2Ur__rs9gX9F74UkWu57BAXkuDjht2qXHMGVTPMJpssW-LkYiJ0YYuto-W3GBGoehPWZym09jbD8ZT9HL7ZF6MEyHJHQs7_9Nwdum1RNTP6JDMx2wL8E8fjQ9-C9moy2Pd_Oizdjn0wEnvraxbnfvKOCWJzT71UEP5031ejWAk7maNzbkD8wRRhLAmTVvfgSjjozsjKVMQr0VK3BMbQgKg2XS9aTMutDfcL1F9eGmhS2ehVEYG5BkX4KcKlVyd3-RWthn60RjqiAOsBAU1et1qW6OLtfSXEDL6XD-pnJ8NgqLndAaMfKPFMpe7SoJwrp6LJIBOUnXJq8jm0bwvApDnK0SKjPouBT6P2VDGTS4D8I5xZg24RxXxRGo4rGuTE9svIbM3bJMA8FE63bDW6KG8Bhr0C-fFgrttpurUwbYUVldOJP-SQjFUKKnaLq_F_xlhz5XjSYJg8K7ztFDwlefkVy8rnPLMoP1emzrFuGGRNqdDSUaf-gzR4UmGSITYzttzLzg4dsZJKw1JmHGETXCxL5U5y1xDUymUqiqMTfbYn2hpNCWwdLkcD2K7uxKwOOXFmEXBqSVtLkE_Pgmiq6c8KG_WQmgTac41NgLVffBCmtZ-ibBWheQ8zRIVv3h8anc0IL6eoNu1vebSah8mI_xTGKpdep4M8q6XdFXxjF06jSss2wPcvVbhS1dAlH2ZD0wYCm8avMp5IkVAlQycJV1a3kluZ7HQC0OWFxuwXpQ39PCVyu85pXRkaMmqtfzFky-ykwOl21UFLRb5Tcr7O9F_cYZU2_mdoUWei40iCuLiLNlTtl5yWdr7AwUwSWLhaVPuywzBNGDCIn-6uKwhJgQ8pKycGPDx0244SalG_5jNx4cIFqPdzNFQxJZ_uDO0SpNZg9NimHaXkw5MDPryB87NLBdjbpdlDTluUmOAW8pPY4Wti6FT9gCMHZ2bPLb7ZhSCOjR2vjJNytm3yOjDecyp_1SHotPXRfQvBmdP4QHyNTLvuojOgmdbaKW1d8k8CVxyfKFjXP_T2oKysC687Yix0rCLu9Jc0c9kFChYXfaDrQGDAWNIj5i1mni0OvwB-j-ka6YLYqXCNgQTfBBpdB9X4oyHxGfRTQhD8UxOx0O5b_M43Fn6Z4LF7Js6Vx75wOxzIHPDrv2Zu-AfRmjY6fN9avBRRgoInRKufyV14npq7tgbU3qlCiI4SvYINeSy4Yh1z2Xqa0Iv_PhRt-0EFCciIyPMqBha7hCLDDrZOAL0eTAVSaRsV_v97KCjNNe_JLhnI2n-v6ubZHqJm1rbX8oCUjZZRSX0k9GDwPNAMw1M8SoFN3eD-RGBLjZe0FsMlEmWjpNQXJCHpVbgAdCP98GzhSdTOzcho4eM5iTOF6pCke7vYxDuewCrtdEbN25CJjgTAeJ3AKHavrZ4RVd5UidvUA6zgoYTY4SfxwaPsF7twwez1OxmZ-T2fzW98dwzsOHfvaVv51ZtB2AYnZx2nNILl02-QTjGg7Fs9HwCFx9OTrXkuCIVyXFZ2oJzfnAQd_-SHuJfMk8jpmBF2Wr_dlU2WrlXzwFWDfO-_ZI5Bp8wxWhKCcg9n2a1vChdR10YRMROokEuSP9yNsWHlZlwGT3-k1FzZbTOlND1uazzedlQYo6GZPPZK7KIxboGSAtW2yNw5pT-ufuwfq6N3CIryDcvx8igY6V-l-FHkWfirDB08gK2gxPv5OeStpKieZxX8p_JSP7KU0sV0Ygh65G4oaNTAwpkZNIQ0PPmzzefC97nF24M3plrFMHCYEFnB45oqU5kWe21fIEhxAoYRQezWju2kfrzrC5q0pHoS34fwLHsGtgkbcyIjUpac3xsl9vy-ntTBPKXmzH8EHsrXcvyGIIYTBt293NIq3EFg4awq3xX6330I2rNP6YGKlMhfopQ8xfdzPiLVuzkUJLZmWGSf9CXPbI_tKcJtu2QcxgUE_223_gOc9koZeKcSVDnaQju4DCWm08b3nmpAqu3VAzhP9DZ7kMI-gtPvWnEmEFLkXKHyz0GGAvj-hNGRtOg==",
  "id": "rs_0f8f606677433d67016ab43192621887d0b6e839aa8f713589",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.453,\"left_y\":-0.367,\"left_z\":0.025,\"left_pitch\":0.36},\"note\":\"The yellow object is clearly ahead and to the right of the left gripper in its wrist view. I’ll move forward-right and lower around it for a table-level grasp.\"}",
  "call_id": "call_QiW5OmAtJn81GiM8JwOFFcUc",
  "id": "fc_0f8f606677433d67016ab431944a8c87d08440287700fd09f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QiW5OmAtJn81GiM8JwOFFcUc",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9554, 2.5072, 1.5463, 0.4171, -1.0996, -0.3107, 0.9971, 0.1577, 0.7589, 0.5663, -0.387, 0.2867, -0.5163, 0.9954]\nstate[eef_state]: left_x=0.4495 left_y=-0.3569 left_z=0.0244 left_yaw=0.0823 left_pitch=0.3306 left_roll=0.2116 left_gripper=0.9971 right_x=0.2847 right_y=-0.0017 right_z=0.1746 right_yaw=0.1838 right_pitch=-0.0739 right_roll=-0.5825 right_gripper=0.9954\nstate[joint_eff]: [-0.6632, -12.3282, 6.3795, 1.0965, -0.3639, 0.4176, -0.0122, 0.0068, -1.2786, 7.0906, 1.9853, 0.0464, 0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 434):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bc02959c7dec52cbf42dcccc87d64f23b1d9575ad25c046dc7f35978cbcb9fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 434):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ab6b21aeebd41c4db4e8a164e32f7d8a4f79c80fe9806c757850a6ff30bb6c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 434):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:308c1592ad0bc362f8aef9c567f005d7761be500c21b658d8d3819041d5409ea",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 3.472 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 146 changed as sent

message 154 changed as sent

message 158 changed as sent

message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3462, 0.6468, 0.6262, -0.7498, -0.4232, -0.1471, 0.997, 0.4152, 1.3621, 0.2855, 0.6498, 0.5293, -0.3882, 0.1277]\nstate[eef_state]: left_x=0.2342 left_y=-0.0035 left_z=0.1652 left_yaw=0.0717 left_pitch=-0.122 left_roll=0.1959 left_gripper=0.997 right_x=0.343 right_y=0.0577 right_z=0.0911 right_yaw=0.1706 right_pitch=0.1288 right_roll=-0.5738 right_gripper=0.1277\nstate[joint_eff]: [-0.0342, 0.3214, 6.7761, 1.5214, -0.2418, -0.0659, -0.0171, -0.1162, -5.0667, 5.2034, 2.3663, 0.105, 0.0269, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9173, 2.0621, 1.2316, 0.1204, -0.9993, -0.4194, 0.9971, 0.1604, 0.7555, 0.5659, -0.3561, 0.2897, -0.5091, 0.9953]\nstate[eef_state]: left_x=0.4125 left_y=-0.2884 left_z=0.0965 left_yaw=0.0692 left_pitch=0.2055 left_roll=0.2184 left_gripper=0.9971 right_x=0.2883 right_y=-0.0008 right_z=0.1817 right_yaw=0.1804 right_pitch=-0.0378 right_roll=-0.5791 right_gripper=0.9953\nstate[joint_eff]: [-0.6906, -10.7419, 7.9795, 1.6825, -0.4957, 0.2808, -0.0171, -0.3624, -1.4564, 9.9214, 1.9219, 0.0317, -0.0659, 0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 158 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9554, 2.5072, 1.5463, 0.4171, -1.0996, -0.3107, 0.9971, 0.1577, 0.7589, 0.5663, -0.387, 0.2867, -0.5163, 0.9954]\nstate[eef_state]: left_x=0.4495 left_y=-0.3569 left_z=0.0244 left_yaw=0.0823 left_pitch=0.3306 left_roll=0.2116 left_gripper=0.9971 right_x=0.2847 right_y=-0.0017 right_z=0.1746 right_yaw=0.1838 right_pitch=-0.0739 right_roll=-0.5825 right_gripper=0.9954\nstate[joint_eff]: [-0.6632, -12.3282, 6.3795, 1.0965, -0.3639, 0.4176, -0.0122, 0.0068, -1.2786, 7.0906, 1.9853, 0.0464, 0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 434):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bc02959c7dec52cbf42dcccc87d64f23b1d9575ad25c046dc7f35978cbcb9fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 434):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ab6b21aeebd41c4db4e8a164e32f7d8a4f79c80fe9806c757850a6ff30bb6c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 434):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:308c1592ad0bc362f8aef9c567f005d7761be500c21b658d8d3819041d5409ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDGYa_iDLFImblpGtEzuelSVnkIbnjJaPdCECDCDzEhdR3kTAFdJRW1KV73j7mzPHVqCpwBhJ34jtz1bivyFkdPN8G6WHaqtg9CCljOcXAH5JxDUzkPXzXwg953jbFo1XgNV8apB0fkk44trfplB-uZf68e2XcXr2Xnj6qucIQM3abhFL0d0zk8AMh13_-QGLNxSIepU6tZIo0buPYc6OStjnE3dbLwYoaYOtxsW0Xj3oN1yx-9z79teFnJKjhG0KgJUWIPDUUFAjElFWK886CQBbHNuozqnKx4uNuCgKIwX70Y4mvV95NNjHMQ5l-p34YKyWHlXcp9xlrvDf1HY_aMgFuFMczGB3HbVQcVqm5XuPvNYOJwQ0poPMF5U-NogMu1xgUMbKzVjAPXZDY8aohzzg6V4j8CNz8keTA_sSN-umWlTJWieZ89B28mgyQc0_4sirozIj3JqNN6URg0ujuxDB_gK1R1DLRskcYQ6-TlyuUvstsIu0FwT0yjo1GKPuqD0JFnV8Bi1t5OXJU7jXghvUqF3F0XOrweg9CFdvgX_HkScnwm5jWzkimlPXqYS95i7H3tCASU78OHHPlo8Pgk98XLpTRDFCiWas8O7vCISWvwzXhBN4hzgtKuPX-Z_zts4i3IrnEbCqZWR37J7gmTpjg987rET3f2giIU0jw4De6An1eu7rDZ7ykA2ITJEJWaofDXaWTV2RRSeTWojgjbaalfaRSbeYw7RIaqtP4820InrxTiEFUWsB4H0IOlcsRd5yy8xZhn8yDMAidf17JOrPCkCVuNEJYz04yyTPgTqPQV2IIlQbyvr0MpST4v-c-AmWgVu5CegeE-_dja29_tzBKdUmH1drwgqJQKGNWyEssg6q7DRuaC5YXKaIaeBXoI10VyyjMoaLBI7XTJPNAdsunhGifvalCXtoS0w3lkvzq-Ed_znw6Fw45YPJOSwiaOssRaIiZWcsNQLG6NLxW0g77lny766qhIZ8kaltDeB1zp0C6bewE5tv4Madnmx6sUR5Ur1e9hsq2ygQWNanl5ZtiKSz5NvNX9mY7EAXFtgfpJu3QvlkC34Of6GfPruFzJUpBZ19He_jV0MSmbDOvKmwE7Xek0w_asRe5A_YK3iHU4FZvBmmwAvuD3WYBaD6yueEpchp9PM0GMdwo0ksGK_9u35BuGSfc8ctGLNzA4xjeCb-9me5RE0sjvFAPGqZZtNuouDoa9E6Q40Xq1OnlhH4HFQkp5lUuMCQhcryuTkycNwHPQSkyNTk9iIJrhxAIvbkOT4HqlLkgk9GzPAK6Zjm1vmNHVnXP1hznnf2WrbnqXsJaQhzMWrRZipfVtKsuoMgDUIKW0qKpBGPxuAdEZfuLwVybbRskgR6ldmktZlbHfXym_3kNg_7Mi8HIXsIESaU-y2jCuIBk2FyRfv6WP9ICmbyR0cf4frGIKfAsNPDWbcU4651InQIeeSKqs_5ZmEppMyZ6AnjFVO8wOKSnaQgDJwGgAFTMizE6XsEXBt_KzaPD5DytX0lfNz-9yvg1OEmvwl1BmOh16ReEHT6r-K6mmhjitcn32_dm-jBwhQuK_EFmAepiQD59oWt9XeJ9QZilFN4XcGcP_nKzmisOHhSWl0hLgCH86Zt-nJonpuezjD70TbSZil-7yVMbO7UywX8ZVUnvnb3TRgS9sMyhoLYQ==",
  "id": "rs_0f8f606677433d67016ab43196e3b087d0b60101560620b91f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.396,\"left_z\":0.022,\"left_pitch\":0.48},\"note\":\"The yellow object is still just ahead and right of the open jaws at table height. I’ll make one short final approach, staying within the left arm’s lateral limit.\"}",
  "call_id": "call_Ns3KmIFcwZy7cEY3JdoKbrAj",
  "id": "fc_0f8f606677433d67016ab43197d0f487d0bdc9723a1e1d349e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ns3KmIFcwZy7cEY3JdoKbrAj",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9466, 2.7335, 1.8423, 0.6468, -1.1534, -0.1272, 0.9971, 0.1577, 0.7628, 0.5663, -0.4076, 0.2867, -0.5171, 0.9953]\nstate[eef_state]: left_x=0.485 left_y=-0.391 left_z=0.0299 left_yaw=0.1409 left_pitch=0.4773 left_roll=0.1342 left_gripper=0.9971 right_x=0.2822 right_y=-0.0021 right_z=0.1695 right_yaw=0.1842 right_pitch=-0.0985 right_roll=-0.5824 right_gripper=0.9953\nstate[joint_eff]: [0.1573, -13.135, 6.5436, 1.0427, 0.0171, 0.4567, -0.0122, -0.0615, -1.2786, 7.1179, 1.9512, 0.0317, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 439):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9cdb1630d30c297264d70546a19ee7bb1300a36fd6aca35312499eb37d4e1a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 439):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee3ec12024ccf92641462211962f9829ea5632d167b5580408b56de8ef5fccd2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 439):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b80b70fb652fbd22732d417ebc11a1edd24c3cac3624cfaeea7f019e81917e16",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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