adhoc

completed
2026-09-23T22:16:42.823687+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-5.6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
204.8 s
total steps
380
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 yellow object is clearly visible in the right wrist camera, left of the jaw column and somewhat ahead of the fingertips. I am moving the right gripper forward and toward its left to bring that object under the jaws while staying safely above it.
move_to
right_x0.3700right_y0.0700right_z0.1500right_gripper1.0000
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, -0.3916, -0.0193, -0.0341, 0.9993, -0.0212, 0.7944, 0.6052, -0.4038, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1778 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2917 right_y=0.0009 right_z=0.1755 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.5675, -1.3744, 10.3726, 1.9658, -0.0806, 0.1441, -0.0757, -0.3487, -1.5385, 9.9077, 2.0781, -0.0366, 0.0317, -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":0.37,"right_y":0.07,"right_z":0.15,"right_gripper":1.0},"note":"The yellow object is clearly visible in the right wrist camera, left of the jaw column and somewhat ahead of the fingertips. I am moving the right gripper forward and toward its left to bring that object under the jaws while staying safely above it."})
tool
executing move_to over 7 steps (0.7s)
step 7
top_cam
camera top_cam step 7
left_cam
camera left_cam step 7
right_cam
camera right_cam step 7
assistant
agent noteThe yellow object moved closer in the wrist view but remains left of the jaw column; the arm also sagged lower than commanded. I am shifting farther left and slightly forward, with extra commanded height, to center it without contacting it.
move_to
right_x0.3900right_y0.1200right_z0.1700right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4065, -0.0193, -0.0383, 0.9993, 0.2775, 1.2274, 0.6659, -0.1722, 0.1921, 0.1177, 0.9996] state[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.175 left_yaw=0.0027 left_pitch=-0.016 left_roll=-0.0032 left_gripper=0.9993 right_x=0.3462 right_y=0.0673 right_z=0.118 right_yaw=0.0449 right_pitch=-0.1248 right_roll=-0.0361 right_gripper=0.9996 state[joint_eff]: [-0.3214, -1.5248, 6.9675, 1.8339, -0.0806, -0.0269, -0.0171, 0.1983, -4.9299, 9.4427, 2.0342, 0.2125, 0.2466, -0.0513] camera 'top_cam' (step 7): [image omitted: streamed camera frame] camera 'left_cam' (step 7): [image omitted: streamed camera frame] camera 'right_cam' (step 7): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.12,"right_z":0.17,"right_gripper":1.0},"note":"The yellow object moved closer in the wrist view but remains left of the jaw column; the arm also sagged lower than commanded. I am shifting farther left and slightly forward, with extra commanded height, to center it without contacting it."})
tool
executing move_to over 5 steps (0.5s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteThe yellow object is now near the jaws but still slightly left and forward of the grasp point. I am making one small diagonal adjustment to place its center on the jaw column before descending.
move_to
right_x0.4050right_y0.1450right_z0.1700right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4122, -0.0193, -0.0383, 0.9993, 0.408, 1.4078, 0.9749, -0.3477, 0.2604, 0.1776, 0.9996] state[eef_state]: left_x=0.291 left_y=0.0015 left_z=0.1733 left_yaw=0.0027 left_pitch=-0.0236 left_roll=-0.003 left_gripper=0.9993 right_x=0.38 right_y=0.1186 right_z=0.1549 right_yaw=0.0837 right_pitch=-0.1557 right_roll=-0.0497 right_gripper=0.9996 state[joint_eff]: [-0.0342, -1.2786, 7.2274, 1.7998, -0.0708, -0.0611, -0.0122, 0.3487, -5.4906, 8.8137, 1.6825, 0.3053, 0.1929, -0.0562] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.145,"right_z":0.17,"right_gripper":1.0},"note":"The yellow object is now near the jaws but still slightly left and forward of the grasp point. I am making one small diagonal adjustment to place its center on the jaw column before descending."})
tool
executing move_to over 3 steps (0.3s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe last lateral command did not track, but the yellow object is now within roughly a couple of centimetres of the jaw center and well inside the open gripper span. I am descending vertically to its mid-height while keeping the jaws open.
move_to
right_z0.0250right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4183, -0.0189, -0.0383, 0.9993, 0.4179, 1.4273, 1.0065, -0.384, 0.2768, 0.1959, 0.9996] state[eef_state]: left_x=0.2902 left_y=0.0014 left_z=0.1719 left_yaw=0.0024 left_pitch=-0.0305 left_roll=-0.0031 left_gripper=0.9993 right_x=0.3808 right_y=0.1202 right_z=0.1552 right_yaw=0.0686 right_pitch=-0.1741 right_roll=-0.0554 right_gripper=0.9996 state[joint_eff]: [-0.0205, -1.2786, 7.159, 1.8144, -0.0513, -0.0366, -0.0171, -0.294, -6.2017, 8.9231, 1.7118, 0.232, 0.149, -0.0562] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.025,"right_gripper":1.0},"note":"The last lateral command did not track, but the yellow object is now within roughly a couple of centimetres of the jaw center and well inside the open gripper span. I am descending vertically to its mid-height while keeping the jaws open."})
tool
executing move_to over 9 steps (0.9s)
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 descent stopped well above the numeric table height and the shoulder effort flipped positive, indicating the fingers have contacted the upright yellow object or nearby surface. The object remains centered between the visible fingers, so I am closing now rather than pressing farther.
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, 0.8009, 0.6067, -0.4282, -0.0193, -0.0383, 0.9993, 0.4179, 1.4952, 0.9314, -0.2462, 0.2764, 0.1932, 0.9996] state[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1695 left_yaw=0.0027 left_pitch=-0.0419 left_roll=-0.0026 left_gripper=0.9993 right_x=0.388 right_y=0.1235 right_z=0.1213 right_yaw=0.0701 right_pitch=-0.1793 right_roll=-0.059 right_gripper=0.9996 state[joint_eff]: [-0.1162, -1.347, 7.0085, 1.7949, -0.0464, -0.0464, -0.0122, -0.1162, 0.4308, 2.4137, 0.6471, 0.4127, 0.022, -0.0562] approver: 1 step(s) modified (delta_clamped). 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_gripper":0.0},"note":"The descent stopped well above the numeric table height and the shoulder effort flipped positive, indicating the fingers have contacted the upright yellow object or nearby surface. The object remains centered between the visible fingers, so I am closing now rather than pressing farther."})
tool
executing move_to over 10 steps (1.0s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe gripper settled at 0.014, confirming an empty close, and the yellow object remains on the table just left of the jaw center. I am reopening, lifting out of contact, and shifting slightly left while restoring the neutral tool orientation for a cleaner second approach.
move_to
right_z0.1800right_y0.1450right_gripper1.0000right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4355, -0.0193, -0.0387, 0.9993, 0.4179, 1.4971, 0.9245, -0.2691, 0.2691, 0.1844, 0.0139] state[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1674 left_yaw=0.0029 left_pitch=-0.0515 left_roll=-0.0027 left_gripper=0.9993 right_x=0.3824 right_y=0.1224 right_z=0.1138 right_yaw=0.0789 right_pitch=-0.2112 right_roll=-0.071 right_gripper=0.0139 state[joint_eff]: [-0.0752, -1.4427, 6.9949, 1.7705, -0.0464, -0.0513, -0.0122, -0.253, -6.735, 7.0769, 1.7216, 0.149, 0.105, 1.2088] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.18,"right_y":0.145,"right_gripper":1.0,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0},"note":"The gripper settled at 0.014, confirming an empty close, and the yellow object remains on the table just left of the jaw center. I am reopening, lifting out of contact, and shifting slightly left while restoring the neutral tool orientation for a cleaner second approach."})
tool
executing move_to over 10 steps (1.0s)
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 noteThe yellow object is now precisely on the jaw column, with clear space below it in the wrist view, which means it is still a few centimetres short of the fingertips. I am advancing radially by about 2.5 cm at clearance height before the second descent.
move_to
right_x0.3950right_z0.1800right_gripper1.0000right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.453, -0.0189, -0.0387, 0.9993, 0.5335, 1.42, 0.9245, -0.2741, 0.4007, 0.2867, 0.9948] state[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.164 left_yaw=0.0026 left_pitch=-0.069 left_roll=-0.0026 left_gripper=0.9993 right_x=0.3704 right_y=0.1429 right_z=0.1475 right_yaw=0.0362 right_pitch=-0.1035 right_roll=-0.0535 right_gripper=0.9948 state[joint_eff]: [-0.212, -1.2239, 6.9949, 1.8584, -0.0806, -0.0513, -0.0171, 0.1162, -7.5966, 9.3607, 2.0098, 0.3004, 0.149, -0.1685] approver: 9 step(s) modified (delta_clamped ×9). 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":0.395,"right_z":0.18,"right_gripper":1.0,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0},"note":"The yellow object is now precisely on the jaw column, with clear space below it in the wrist view, which means it is still a few centimetres short of the fingertips. I am advancing radially by about 2.5 cm at clearance height before the second descent."})
tool
executing move_to over 4 steps (0.4s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteAfter the radial advance, the yellow object has moved down the wrist view and remains centered between the open jaws, indicating the fingertips are now over it. I am descending toward the object's mid-height for the second grasp attempt.
move_to
right_z0.0550right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4583, -0.0189, -0.0383, 0.9993, 0.5129, 1.433, 0.9382, -0.2707, 0.4042, 0.289, 0.9991] state[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1629 left_yaw=0.0024 left_pitch=-0.0744 left_roll=-0.0021 left_gripper=0.9993 right_x=0.377 right_y=0.1367 right_z=0.149 right_yaw=0.0119 right_pitch=-0.0986 right_roll=-0.0518 right_gripper=0.9991 state[joint_eff]: [-0.1846, -1.2513, 7.159, 1.7265, -0.0757, -0.0024, -0.0122, -0.6632, -5.6547, 10.3453, 2.1709, 0.2564, 0.0269, -0.1099] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.055,"right_gripper":1.0},"note":"After the radial advance, the yellow object has moved down the wrist view and remains centered between the open jaws, indicating the fingertips are now over it. I am descending toward the object's mid-height for the second grasp attempt."})
tool
executing move_to over 7 steps (0.7s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe object is still centered and the arm stopped descending without the positive effort signature of table contact, so this appears to be an awkward reach configuration rather than a collision. I am tipping the tool modestly forward while maintaining the grasp point, which should let the arm reach the required lower height.
move_to
right_z0.0600right_pitch0.2000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4732, -0.0193, -0.0387, 0.9993, 0.5179, 1.4296, 0.8917, -0.2447, 0.4076, 0.2802, 0.9991] state[eef_state]: left_x=0.2823 left_y=0.0017 left_z=0.1598 left_yaw=0.003 left_pitch=-0.09 left_roll=-0.0019 left_gripper=0.9993 right_x=0.3707 right_y=0.1347 right_z=0.1358 right_yaw=0.0182 right_pitch=-0.1128 right_roll=-0.069 right_gripper=0.9991 state[joint_eff]: [-0.1299, -1.306, 7.0359, 1.7851, -0.0806, -0.0317, -0.0122, 0.0479, -6.8855, 7.0359, 1.873, 0.2711, -0.0708, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.06,"right_pitch":0.2,"right_gripper":1.0},"note":"The object is still centered and the arm stopped descending without the positive effort signature of table contact, so this appears to be an awkward reach configuration rather than a collision. I am tipping the tool modestly forward while maintaining the grasp point, which should let the arm reach the required lower height."})
tool
executing move_to over 11 steps (1.1s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe pitch adjustment succeeded: the grasp point is now at 3.8 cm above the table, and the yellow object is centered between the fingers in both overhead and wrist views. I am closing the gripper for the second grasp.
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, 0.6067, -0.4805, -0.0189, -0.0387, 0.9993, 0.572, 1.6775, 0.4564, 0.6178, 0.5133, 0.1848, 0.9991] state[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1584 left_yaw=0.0027 left_pitch=-0.0972 left_roll=-0.0019 left_gripper=0.9993 right_x=0.3586 right_y=0.132 right_z=0.038 right_yaw=0.0446 right_pitch=0.0718 right_roll=-0.1179 right_gripper=0.9991 state[joint_eff]: [-0.1573, -1.2239, 7.0085, 1.6728, -0.0464, -0.0611, -0.0122, 0.0752, -5.9829, 4.3145, 1.9072, 0.4469, -0.0171, -0.1148] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The pitch adjustment succeeded: the grasp point is now at 3.8 cm above the table, and the yellow object is centered between the fingers in both overhead and wrist views. I am closing the gripper for the second grasp."})
tool
executing move_to over 10 steps (1.0s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe second close is also empty at 0.013; the pitched wrist view now makes the error clear—the yellow object is centered laterally but still several centimetres beyond the fingertips because the arm drifted inward during descent. I am reopening and advancing the low grasp point outward while keeping the reach-friendly forward pitch.
move_to
right_gripper1.0000right_x0.4000right_z0.0550right_pitch0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4957, -0.0189, -0.0387, 0.9993, 0.5739, 1.6939, 0.4393, 0.5995, 0.5079, 0.1761, 0.0133] state[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.1555 left_yaw=0.0027 left_pitch=-0.1125 left_roll=-0.0016 left_gripper=0.9993 right_x=0.3501 right_y=0.1283 right_z=0.0232 right_yaw=0.0568 right_pitch=0.0246 right_roll=-0.1486 right_gripper=0.0133 state[joint_eff]: [-0.3624, -1.1829, 7.1316, 1.8193, -0.0611, -0.0708, -0.0171, -0.5128, -7.5145, 5.7504, 1.7705, 0.2418, 0.0562, 1.2088] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0,"right_x":0.4,"right_z":0.055,"right_pitch":0.25},"note":"The second close is also empty at 0.013; the pitched wrist view now makes the error clear—the yellow object is centered laterally but still several centimetres beyond the fingertips because the arm drifted inward during descent. I am reopening and advancing the low grasp point outward while keeping the reach-friendly forward pitch."})
tool
executing move_to over 10 steps (1.0s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe outward move tracked to x=0.388 m, and the yellow object now sits low in the wrist image directly between both visible fingertips rather than beyond them. I am closing at this corrected position.
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, 0.8078, 0.6067, -0.5114, -0.0189, -0.0383, 0.9993, 0.5098, 1.832, 0.4717, 0.8875, 0.4961, 0.0441, 0.9944] state[eef_state]: left_x=0.2765 left_y=0.0017 left_z=0.1516 left_yaw=0.0025 left_pitch=-0.132 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3875 right_y=0.1244 right_z=0.0375 right_yaw=0.0674 right_pitch=0.1721 right_roll=-0.1751 right_gripper=0.9944 state[joint_eff]: [-0.1573, -1.5111, 7.1179, 1.7656, -0.0317, -0.0122, -0.0122, -0.6359, -5.9419, 6.106, 2.1661, 0.1343, 0.0415, -0.0659] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The outward move tracked to x=0.388 m, and the yellow object now sits low in the wrist image directly between both visible fingertips rather than beyond them. I am closing at this corrected position."})
tool
executing move_to over 10 steps (1.0s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe gripper still closed empty, and the closed-jaw view shows a small but definite gap between the jaw tip and the near end of the yellow object. I am reopening and advancing another 3 cm radially at the same low, pitched posture to put the fingertip line across the object.
move_to
right_gripper1.0000right_x0.4150right_z0.0550right_pitch0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5182, -0.0193, -0.0383, 0.9993, 0.5091, 1.8389, 0.4713, 0.8703, 0.4965, 0.0372, 0.0135] state[eef_state]: left_x=0.2754 left_y=0.0018 left_z=0.1503 left_yaw=0.0029 left_pitch=-0.1388 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3854 right_y=0.1229 right_z=0.0314 right_yaw=0.0718 right_pitch=0.1494 right_roll=-0.1921 right_gripper=0.0135 state[joint_eff]: [-0.0068, -1.2239, 7.0359, 1.6386, -0.0855, -0.0317, -0.0171, -0.1026, -7.5692, 4.1231, 1.9609, 0.0904, 0.0415, 1.116] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0,"right_x":0.415,"right_z":0.055,"right_pitch":0.25},"note":"The gripper still closed empty, and the closed-jaw view shows a small but definite gap between the jaw tip and the near end of the yellow object. I am reopening and advancing another 3 cm radially at the same low, pitched posture to put the fingertip line across the object."})
tool
executing move_to over 10 steps (1.0s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe yellow object is now visibly between the two open fingertips, with the jaw tips extending past its near edge; this is the first view showing true overlap rather than a gap. I am closing at this position.
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, 0.8089, 0.6067, -0.5285, -0.0193, -0.0383, 0.9993, 0.4713, 1.8706, 0.5156, 0.9199, 0.474, -0.0261, 0.9951] state[eef_state]: left_x=0.2737 left_y=0.0018 left_z=0.1481 left_yaw=0.0029 left_pitch=-0.1503 left_roll=-0.0002 left_gripper=0.9993 right_x=0.405 right_y=0.1199 right_z=0.0422 right_yaw=0.0834 right_pitch=0.1952 right_roll=-0.216 right_gripper=0.9951 state[joint_eff]: [0.0205, -1.2376, 6.9538, 1.6923, -0.0757, -0.0366, -0.0122, -0.5675, -6.2564, 5.9419, 2.2149, 0.0708, 0.0269, -0.2125] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The yellow object is now visibly between the two open fingertips, with the jaw tips extending past its near edge; this is the first view showing true overlap rather than a gap. I am closing at this position."})
tool
executing move_to over 10 steps (1.0s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe radial overlap is finally correct, but the closed-jaw view reveals the object slipped left of the jaw line as the arm drifted laterally during the low move. I am reopening and shifting the grasp point about 3 cm left while preserving the established radial depth.
move_to
right_gripper1.0000right_x0.4050right_y0.1500right_z0.0550right_pitch0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.54, -0.0189, -0.0383, 0.9993, 0.4698, 1.8767, 0.5171, 0.8997, 0.4736, -0.0269, 0.0134] state[eef_state]: left_x=0.2718 left_y=0.0018 left_z=0.1458 left_yaw=0.0026 left_pitch=-0.1625 left_roll=-0.0002 left_gripper=0.9993 right_x=0.4034 right_y=0.1185 right_z=0.0361 right_yaw=0.0844 right_pitch=0.1721 right_roll=-0.226 right_gripper=0.0134 state[joint_eff]: [-0.0752, -1.2786, 6.9128, 1.6972, -0.0708, 0.0171, -0.0122, 0.0068, -7.8427, 3.9179, 1.9951, 0.0952, -0.0562, 1.1258] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0,"right_x":0.405,"right_y":0.15,"right_z":0.055,"right_pitch":0.25},"note":"The radial overlap is finally correct, but the closed-jaw view reveals the object slipped left of the jaw line as the arm drifted laterally during the low move. I am reopening and shifting the grasp point about 3 cm left while preserving the established radial depth."})
tool
executing move_to over 10 steps (1.0s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe lateral correction is now excellent: the yellow object is centered exactly between the jaws. Its near edge still extends just past the fingertip ends, so I am adding a small 1.5 cm outward adjustment before closing.
move_to
right_x0.4150right_y0.1500right_z0.0550right_pitch0.2500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.556, -0.0189, -0.0387, 0.9993, 0.5644, 1.8839, 0.5434, 0.8997, 0.5621, -0.0231, 0.9949] state[eef_state]: left_x=0.2691 left_y=0.0018 left_z=0.1429 left_yaw=0.0029 left_pitch=-0.1785 left_roll=-0.0002 left_gripper=0.9993 right_x=0.3986 right_y=0.1452 right_z=0.0448 right_yaw=0.1024 right_pitch=0.2058 right_roll=-0.2502 right_gripper=0.9949 state[joint_eff]: [-0.1983, -1.2103, 6.8855, 1.7265, -0.0122, -0.0415, -0.0171, 0.5675, -6.5436, 6.106, 2.0391, 0.232, 0.0855, -0.2369] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.15,"right_z":0.055,"right_pitch":0.25,"right_gripper":1.0},"note":"The lateral correction is now excellent: the yellow object is centered exactly between the jaws. Its near edge still extends just past the fingertip ends, so I am adding a small 1.5 cm outward adjustment before closing."})
tool
executing move_to over 2 steps (0.2s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe yellow object remains centered with both fingertips flanking it, and the slight outward adjustment improved the fingertip overlap. I am closing now while the alignment is stable.
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, 0.8097, 0.6067, -0.5625, -0.0189, -0.0387, 0.9993, 0.5602, 1.8988, 0.5598, 0.8993, 0.561, -0.0376, 0.999] state[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.1418 left_yaw=0.0029 left_pitch=-0.185 left_roll=-0.0 left_gripper=0.9993 right_x=0.4027 right_y=0.1459 right_z=0.044 right_yaw=0.107 right_pitch=0.2046 right_roll=-0.2629 right_gripper=0.999 state[joint_eff]: [-0.3214, -1.1692, 6.9402, 1.7167, -0.0269, -0.0171, -0.0122, -0.5402, -6.653, 6.5709, 2.083, 0.1294, -0.0415, -0.1148] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The yellow object remains centered with both fingertips flanking it, and the slight outward adjustment improved the fingertip overlap. I am closing now while the alignment is stable."})
tool
executing move_to over 10 steps (1.0s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe closed-jaw view finally explains the repeated misses: the jaws are only touching the near tip of this long yellow plush object, not crossing its body. I am reopening and moving nearly 5 cm farther outward so the jaw line reaches the object's broad middle.
move_to
right_gripper1.0000right_x0.4500right_y0.1500right_z0.0550right_pitch0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5781, -0.0189, -0.0383, 0.9993, 0.5571, 1.9095, 0.5617, 0.8921, 0.5571, -0.0471, 0.0135] state[eef_state]: left_x=0.2653 left_y=0.0019 left_z=0.139 left_yaw=0.0028 left_pitch=-0.2006 left_roll=0.0006 left_gripper=0.9993 right_x=0.4024 right_y=0.1449 right_z=0.0387 right_yaw=0.1137 right_pitch=0.1881 right_roll=-0.2774 right_gripper=0.0135 state[joint_eff]: [-0.0479, -1.1692, 7.0496, 1.663, -0.0611, -0.0513, -0.0122, 0.1436, -8.4444, 3.9179, 1.8339, 0.1783, 0.0611, 1.2039] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0,"right_x":0.45,"right_y":0.15,"right_z":0.055,"right_pitch":0.25},"note":"The closed-jaw view finally explains the repeated misses: the jaws are only touching the near tip of this long yellow plush object, not crossing its body. I am reopening and moving nearly 5 cm farther outward so the jaw line reaches the object's broad middle."})
tool
executing move_to over 10 steps (1.0s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe 5 cm advance worked: the open fingers now visibly straddle the broad middle of the yellow plush, with substantial overlap on both sides. I am closing on its body.
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, 0.8097, 0.6067, -0.5854, -0.0189, -0.0383, 0.9993, 0.5014, 1.9816, 0.6964, 0.87, 0.5106, -0.1043, 0.9946] state[eef_state]: left_x=0.2641 left_y=0.0019 left_z=0.1377 left_yaw=0.0028 left_pitch=-0.2079 left_roll=0.0008 left_gripper=0.9993 right_x=0.4408 right_y=0.1473 right_z=0.0456 right_yaw=0.1247 right_pitch=0.2084 right_roll=-0.2962 right_gripper=0.9946 state[joint_eff]: [-0.212, -1.1556, 6.8581, 1.5702, -0.0513, -0.0073, -0.0122, -0.6496, -7.6239, 6.4068, 2.0537, 0.1001, 0.0708, -0.0611] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The 5 cm advance worked: the open fingers now visibly straddle the broad middle of the yellow plush, with substantial overlap on both sides. I am closing on its body."})
tool
executing move_to over 10 steps (1.0s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe rounded plush squeezed sideways during the full close and is now standing just to the right of the closed jaw tip. I am reopening, shifting slightly right and outward to recenter on its broad body, and will use a partial close next to avoid ejecting it.
move_to
right_gripper1.0000right_x0.4600right_y0.1250right_z0.0600right_pitch0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5884, -0.0189, -0.0383, 0.9993, 0.5007, 1.9842, 0.6968, 0.8528, 0.5034, -0.1089, 0.0129] state[eef_state]: left_x=0.2635 left_y=0.0019 left_z=0.1372 left_yaw=0.0028 left_pitch=-0.2109 left_roll=0.0008 left_gripper=0.9993 right_x=0.4394 right_y=0.1474 right_z=0.0408 right_yaw=0.1339 right_pitch=0.1885 right_roll=-0.3049 right_gripper=0.0129 state[joint_eff]: [-0.0889, -1.1009, 6.8991, 1.5263, -0.0757, -0.0171, -0.0122, 0.0205, -9.0188, 4.3419, 2.0293, 0.2662, 0.0269, 1.1013] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0,"right_x":0.46,"right_y":0.125,"right_z":0.06,"right_pitch":0.25},"note":"The rounded plush squeezed sideways during the full close and is now standing just to the right of the closed jaw tip. I am reopening, shifting slightly right and outward to recenter on its broad body, and will use a partial close next to avoid ejecting it."})
tool
executing move_to over 10 steps (1.0s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteThe yellow plush is now centered laterally, but the open fingertip line is still several centimetres short of its lower edge in the wrist view. I am advancing another 3.5 cm outward, near but within the verified table-contact reach.
move_to
right_x0.4850right_y0.1250right_z0.0600right_pitch0.2500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5922, -0.0189, -0.0387, 0.9993, 0.4202, 1.9842, 0.6964, 0.8581, 0.4286, -0.1688, 0.9951] state[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1365 left_yaw=0.0031 left_pitch=-0.2147 left_roll=0.0006 left_gripper=0.9993 right_x=0.4503 right_y=0.1247 right_z=0.0393 right_yaw=0.148 right_pitch=0.173 right_roll=-0.3286 right_gripper=0.9951 state[joint_eff]: [-0.0068, -1.1556, 6.8444, 1.5653, -0.0708, -0.0562, -0.0122, -0.5128, -9.5658, 5.6274, 2.293, 0.0464, 0.0073, -0.2173] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.485,"right_y":0.125,"right_z":0.06,"right_pitch":0.25,"right_gripper":1.0},"note":"The yellow plush is now centered laterally, but the open fingertip line is still several centimetres short of its lower edge in the wrist view. I am advancing another 3.5 cm outward, near but within the verified table-contact reach."})
tool
executing move_to over 3 steps (0.3s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteThe advance moved the yellow object down to the fingertip region, but its body center is still just beyond the jaw line. I am making one final 1.5–2 cm outward adjustment so the fingers close around the body rather than its tapered end.
move_to
right_x0.5000right_y0.1250right_z0.0600right_pitch0.2500right_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, 0.6067, -0.593, -0.0189, -0.0383, 0.9993, 0.3935, 2.0254, 0.7753, 0.8478, 0.403, -0.194, 0.999] state[eef_state]: left_x=0.2627 left_y=0.002 left_z=0.1362 left_yaw=0.0029 left_pitch=-0.2162 left_roll=0.001 left_gripper=0.9993 right_x=0.4725 right_y=0.125 right_z=0.0447 right_yaw=0.1551 right_pitch=0.1925 right_roll=-0.3347 right_gripper=0.999 state[joint_eff]: [-0.0752, -1.1966, 6.8581, 1.4921, -0.0513, -0.0366, -0.0122, -0.3897, -8.9504, 5.8325, 2.1465, 0.0708, -0.0366, -0.1148] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.5,"right_y":0.125,"right_z":0.06,"right_pitch":0.25,"right_gripper":1.0},"note":"The advance moved the yellow object down to the fingertip region, but its body center is still just beyond the jaw line. I am making one final 1.5–2 cm outward adjustment so the fingers close around the body rather than its tapered end."})
tool
executing move_to over 3 steps (0.3s)
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 fingers now extend well past the yellow object's near edge and flank its widest section. Because full closes repeatedly squeezed this rounded object away, I am closing only to about 4.3 cm jaw spacing to hold it without ejecting it.
move_to
right_gripper0.4500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8108, 0.6067, -0.5926, -0.0189, -0.0383, 0.9993, 0.3847, 2.0293, 0.7918, 0.8478, 0.3988, -0.207, 0.999] state[eef_state]: left_x=0.2628 left_y=0.002 left_z=0.1362 left_yaw=0.0029 left_pitch=-0.2162 left_roll=0.001 left_gripper=0.9993 right_x=0.4779 right_y=0.1234 right_z=0.0486 right_yaw=0.1563 right_pitch=0.202 right_roll=-0.3423 right_gripper=0.999 state[joint_eff]: [-0.294, -1.1829, 7.0496, 1.5165, -0.0904, -0.0513, -0.0122, -0.4581, -8.6496, 5.9145, 2.1905, 0.0659, 0.0073, -0.1148] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.45},"note":"The fingers now extend well past the yellow object's near edge and flank its widest section. Because full closes repeatedly squeezed this rounded object away, I am closing only to about 4.3 cm jaw spacing to hold it without ejecting it."})
tool
executing move_to over 6 steps (0.6s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteAt partial close, both fingertips are visibly contacting opposite sides of the yellow object and it remains centered rather than being expelled. I am lifting about 8 cm to verify that it comes off the table.
move_to
right_z0.1300right_gripper0.4500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.6102, -0.0189, -0.0387, 0.9993, 0.3851, 2.0293, 0.7929, 0.8474, 0.395, -0.21, 0.4541] state[eef_state]: left_x=0.2598 left_y=0.002 left_z=0.1324 left_yaw=0.0032 left_pitch=-0.2372 left_roll=0.0012 left_gripper=0.9993 right_x=0.4782 right_y=0.1243 right_z=0.0488 right_yaw=0.1615 right_pitch=0.2018 right_roll=-0.3435 right_gripper=0.4541 state[joint_eff]: [-0.0479, -1.4154, 6.8581, 1.6288, -0.0806, -0.0366, -0.0122, -0.4991, -9.0735, 5.8325, 2.2198, 0.149, 0.0757, 0.0757] camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.13,"right_gripper":0.45},"note":"At partial close, both fingertips are visibly contacting opposite sides of the yellow object and it remains centered rather than being expelled. I am lifting about 8 cm to verify that it comes off the table."})
tool
executing move_to over 6 steps (0.6s)
step 186
assistant
agent noteThe yellow object rose with the gripper and is no longer on its original table spot, confirming the partial grasp. I am carrying it high toward the center of the open red safe, approaching from the right with clearance over the rim.
move_to
right_x0.4300right_y0.3000right_z0.2200right_pitch0.1000right_gripper0.4500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.6147, -0.0193, -0.0387, 0.9993, 0.3855, 1.8072, 0.8566, 0.5461, 0.3874, -0.2108, 0.4515] state[eef_state]: left_x=0.259 left_y=0.0021 left_z=0.1312 left_yaw=0.0036 left_pitch=-0.2437 left_roll=0.0016 left_gripper=0.9993 right_x=0.476 right_y=0.125 right_z=0.1124 right_yaw=0.1694 right_pitch=0.1858 right_roll=-0.3448 right_gripper=0.4515 state[joint_eff]: [-0.0615, -1.1556, 6.9265, 1.5995, -0.0611, -0.0415, -0.0122, -0.3897, -10.1265, 7.7333, 1.9707, 0.1538, -0.022, 0.1099] camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.3,"right_z":0.22,"right_pitch":0.1,"right_gripper":0.45},"note":"The yellow object rose with the gripper and is no longer on its original table spot, confirming the partial grasp. I am carrying it high toward the center of the open red safe, approaching from the right with clearance over the rim."})
tool
executing move_to over 15 steps (1.5s)
step 201
assistant
agent noteThe yellow plush slipped from the gentle grasp during transport and is now on the tabletop immediately to the safe's right; the safe is still empty. I am reopening and moving right/forward above the dropped object for a tighter regrasp.
move_to
right_x0.4600right_y0.2400right_z0.1600right_pitch0.2000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.6315, -0.0189, -0.0387, 0.9993, 0.8284, 1.8771, 1.5105, -0.2916, 0.7231, 0.0502, 0.4513] state[eef_state]: left_x=0.2559 left_y=0.0021 left_z=0.1277 left_yaw=0.0033 left_pitch=-0.2632 left_roll=0.0017 left_gripper=0.9993 right_x=0.4284 right_y=0.2993 right_z=0.2082 right_yaw=0.2145 right_pitch=0.0747 right_roll=-0.369 right_gripper=0.4513 state[joint_eff]: [-0.0479, -1.388, 7.0906, 1.5995, -0.0659, -0.0708, -0.0122, 0.1983, -9.9214, 8.5675, 1.7167, 0.4274, 0.188, 0.1148] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.24,"right_z":0.16,"right_pitch":0.2,"right_gripper":1.0},"note":"The yellow plush slipped from the gentle grasp during transport and is now on the tabletop immediately to the safe's right; the safe is still empty. I am reopening and moving right/forward above the dropped object for a tighter regrasp."})
tool
executing move_to over 6 steps (0.6s)
step 207
assistant
agent noteThe dropped yellow plush is close in the wrist view but lies to the right of the jaw center and just ahead of the fingertips. I am shifting right, advancing slightly, and lowering into a centered grasp posture.
move_to
right_x0.4700right_y0.2050right_z0.0800right_pitch0.2500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.6373, -0.0189, -0.0383, 0.9993, 0.6834, 1.8549, 1.1458, 0.1177, 0.6445, -0.0917, 0.9948] state[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1267 left_yaw=0.0032 left_pitch=-0.2693 left_roll=0.0021 left_gripper=0.9993 right_x=0.4482 right_y=0.2328 right_z=0.1338 right_yaw=0.2013 right_pitch=0.0777 right_roll=-0.4181 right_gripper=0.9948 state[joint_eff]: [-0.0752, -0.6222, 6.9675, 1.5751, -0.0855, -0.0269, -0.0122, -0.4855, -10.5094, 7.1179, 2.1856, 0.2271, 0.022, 0.0611] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.205,"right_z":0.08,"right_pitch":0.25,"right_gripper":1.0},"note":"The dropped yellow plush is close in the wrist view but lies to the right of the jaw center and just ahead of the fingertips. I am shifting right, advancing slightly, and lowering into a centered grasp posture."})
tool
executing move_to over 6 steps (0.6s)
step 213
assistant
agent noteThe plush is now at fingertip depth but remains about 3 cm to the right of the jaw column. I am making a purely lateral correction to center its broad section between the open jaws.
move_to
right_y0.1750right_x0.4700right_z0.0700right_pitch0.2500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.6376, -0.0189, -0.0383, 0.9993, 0.6064, 2.0151, 0.9344, 0.5903, 0.6086, -0.1955, 0.999] state[eef_state]: left_x=0.2548 left_y=0.0021 left_z=0.1267 left_yaw=0.0032 left_pitch=-0.2693 left_roll=0.0021 left_gripper=0.9993 right_x=0.4595 right_y=0.2001 right_z=0.0614 right_yaw=0.2016 right_pitch=0.1369 right_roll=-0.4495 right_gripper=0.999 state[joint_eff]: [-0.0889, -1.0872, 6.8034, 1.4286, -0.022, -0.022, -0.0122, -0.3897, -9.1282, 5.559, 1.7851, 0.1197, -0.1001, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.175,"right_x":0.47,"right_z":0.07,"right_pitch":0.25,"right_gripper":1.0},"note":"The plush is now at fingertip depth but remains about 3 cm to the right of the jaw column. I am making a purely lateral correction to center its broad section between the open jaws."})
tool
executing move_to over 4 steps (0.4s)
step 217
assistant
agent noteThe yellow plush is now centered at the fingertip line with both jaws evenly flanking its broad body. I am using a moderately tighter partial close—about 3.3 cm spacing—to compress and retain the plush without the sideways ejection caused by a full close.
move_to
right_gripper0.3500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.638, -0.0189, -0.0387, 0.9993, 0.5472, 2.0293, 0.8604, 0.7811, 0.5667, -0.2493, 0.999] state[eef_state]: left_x=0.2547 left_y=0.0021 left_z=0.1266 left_yaw=0.0034 left_pitch=-0.27 left_roll=0.0019 left_gripper=0.9993 right_x=0.4667 right_y=0.1775 right_z=0.0641 right_yaw=0.1985 right_pitch=0.2129 right_roll=-0.4437 right_gripper=0.999 state[joint_eff]: [-0.0068, -0.6769, 6.9949, 1.4335, -0.0415, -0.0562, -0.0122, -0.4855, -8.9778, 4.9299, 1.8388, 0.1636, -0.149, -0.1197] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.35},"note":"The yellow plush is now centered at the fingertip line with both jaws evenly flanking its broad body. I am using a moderately tighter partial close—about 3.3 cm spacing—to compress and retain the plush without the sideways ejection caused by a full close."})
tool
executing move_to over 7 steps (0.7s)
step 224
assistant
agent noteThe tighter partial close has compressed the plush and the fingertips remain engaged on it without lateral escape. I am lifting 7 cm to verify retention before attempting the short move into the adjacent safe.
move_to
right_z0.1400right_gripper0.3500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.638, -0.0189, -0.0387, 0.9993, 0.5407, 2.0293, 0.8505, 0.8101, 0.5594, -0.281, 0.3543] state[eef_state]: left_x=0.2547 left_y=0.0021 left_z=0.1266 left_yaw=0.0034 left_pitch=-0.27 left_roll=0.0019 left_gripper=0.9993 right_x=0.4675 right_y=0.1755 right_z=0.0662 right_yaw=0.2131 right_pitch=0.2223 right_roll=-0.4644 right_gripper=0.3543 state[joint_eff]: [0.0068, -1.1692, 6.9949, 1.4335, -0.0513, -0.0464, -0.0171, -0.4444, -8.7453, 5.1077, 2.1074, 0.1685, 0.0611, 0.0317] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.14,"right_gripper":0.35},"note":"The tighter partial close has compressed the plush and the fingertips remain engaged on it without lateral escape. I am lifting 7 cm to verify retention before attempting the short move into the adjacent safe."})
tool
executing move_to over 5 steps (0.5s)
step 229
assistant
agent noteThe attempted lift tracked only 1 cm and joint load rose sharply, so the current extended posture is binding even though the object remains compressed. I am moving inward and toward the safe while commanding more height; this simultaneously improves leverage and tests whether the plush is retained.
move_to
right_x0.4300right_y0.2800right_z0.2000right_pitch0.1000right_gripper0.3500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8204, 0.6067, -0.638, -0.0189, -0.0387, 0.9993, 0.5407, 1.9606, 0.8658, 0.6842, 0.5545, -0.2829, 0.3513] state[eef_state]: left_x=0.2548 left_y=0.0021 left_z=0.1263 left_yaw=0.0034 left_pitch=-0.2712 left_roll=0.0019 left_gripper=0.9993 right_x=0.4645 right_y=0.1746 right_z=0.0782 right_yaw=0.221 right_pitch=0.1815 right_roll=-0.478 right_gripper=0.3513 state[joint_eff]: [-0.0615, -0.8684, 6.8444, 1.4432, -0.0171, -0.0708, -0.0122, -0.253, -15.0222, 10.6051, 2.9719, 0.2662, 0.0073, 0.1148] 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":{"right_x":0.43,"right_y":0.28,"right_z":0.2,"right_pitch":0.1,"right_gripper":0.35},"note":"The attempted lift tracked only 1 cm and joint load rose sharply, so the current extended posture is binding even though the object remains compressed. I am moving inward and toward the safe while commanding more height; this simultaneously improves leverage and tests whether the plush is retained."})
tool
executing move_to over 9 steps (0.9s)
step 238
assistant
agent noteThe overhead view confirms the plush was not retained and stayed immediately to the safe's right. Since it is upright and adjacent to the opening, I am switching to a controlled sweep: moving the narrow closed gripper behind its right side at mid-height so I can push it left into the safe.
move_to
right_x0.4800right_y0.1100right_z0.1200right_pitch0.2000right_gripper0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6392, -0.0189, -0.0383, 0.9993, 0.8036, 1.8584, 1.3361, -0.0895, 0.733, -0.1223, 0.3513] state[eef_state]: left_x=0.2546 left_y=0.0021 left_z=0.126 left_yaw=0.0032 left_pitch=-0.2727 left_roll=0.0022 left_gripper=0.9993 right_x=0.431 right_y=0.2819 right_z=0.1795 right_yaw=0.268 right_pitch=0.0769 right_roll=-0.4983 right_gripper=0.3513 state[joint_eff]: [-0.0752, -1.2103, 6.8171, 1.4921, -0.0366, -0.0562, -0.0122, 0.1709, -10.4821, 8.8684, 1.8437, 0.4371, 0.1978, 0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.11,"right_z":0.12,"right_pitch":0.2,"right_gripper":0.1},"note":"The overhead view confirms the plush was not retained and stayed immediately to the safe's right. Since it is upright and adjacent to the opening, I am switching to a controlled sweep: moving the narrow closed gripper behind its right side at mid-height so I can push it left into the safe."})
tool
executing move_to over 15 steps (1.5s)
step 253
assistant
agent noteThe narrow gripper is correctly on the object's right side, with the yellow plush visible to the left in the wrist view, but it is still too high and slightly short. I am lowering to the object's mid-height and advancing a little before the sweep.
move_to
right_x0.4900right_y0.1100right_z0.0500right_pitch0.2500right_gripper0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8246, 0.6067, -0.6533, -0.0189, -0.0387, 0.9993, 0.3473, 1.7878, 0.8223, 0.543, 0.3641, -0.3958, 0.1015] state[eef_state]: left_x=0.252 left_y=0.0022 left_z=0.1229 left_yaw=0.0035 left_pitch=-0.2906 left_roll=0.0024 left_gripper=0.9993 right_x=0.4718 right_y=0.1077 right_z=0.1063 right_yaw=0.247 right_pitch=0.1243 right_roll=-0.5066 right_gripper=0.1015 state[joint_eff]: [-0.0479, -1.5111, 6.8855, 1.5897, -0.0659, -0.0757, -0.0122, -0.1573, -7.1453, 6.0376, 2.3516, 0.0269, -0.022, 0.0611] camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.11,"right_z":0.05,"right_pitch":0.25,"right_gripper":0.1},"note":"The narrow gripper is correctly on the object's right side, with the yellow plush visible to the left in the wrist view, but it is still too high and slightly short. I am lowering to the object's mid-height and advancing a little before the sweep."})
tool
executing move_to over 5 steps (0.5s)
step 258
assistant
agent noteThe gripper is now low at 2.7 cm and immediately against the yellow plush's right side. I am sweeping left across the safe opening to push the upright plush over the low rim and into the red interior.
move_to
right_y0.3200right_x0.4800right_z0.0300right_pitch0.2500right_gripper0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8284, 0.6067, -0.6617, -0.0189, -0.0383, 0.9993, 0.3389, 2.0747, 0.7773, 0.8761, 0.3511, -0.4118, 0.1016] state[eef_state]: left_x=0.2504 left_y=0.0022 left_z=0.1207 left_yaw=0.0034 left_pitch=-0.3028 left_roll=0.0029 left_gripper=0.9993 right_x=0.4782 right_y=0.108 right_z=0.0272 right_yaw=0.2576 right_pitch=0.1206 right_roll=-0.5154 right_gripper=0.1016 state[joint_eff]: [-0.0205, -1.3607, 6.8855, 1.5116, -0.0269, -0.0317, -0.0171, -0.1573, -9.347, 5.4906, 2.2393, 0.0806, -0.0366, 0.1538] camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.32,"right_x":0.48,"right_z":0.03,"right_pitch":0.25,"right_gripper":0.1},"note":"The gripper is now low at 2.7 cm and immediately against the yellow plush's right side. I am sweeping left across the safe opening to push the upright plush over the low rim and into the red interior."})
tool
executing move_to over 18 steps (1.8s)
step 276
assistant
agent noteThe yellow plush rolled forward instead of into the safe, so I am clearing the right arm and using the left arm for the two objects already lined up below the opening. I am positioning a narrow left gripper just behind the cream plush for a diagonal push into the safe.
move_to
left_x0.2400left_y-0.1200left_z0.0450left_gripper0.1000right_x0.3000right_y0.0000right_z0.1800right_gripper1.0000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.6762, -0.0189, -0.0387, 0.9993, 0.7895, 2.3737, 1.2915, 0.6674, 0.7662, -0.2607, 0.1016] state[eef_state]: left_x=0.2476 left_y=0.0022 left_z=0.118 left_yaw=0.0037 left_pitch=-0.3192 left_roll=0.0031 left_gripper=0.9993 right_x=0.4779 right_y=0.3129 right_z=0.0278 right_yaw=0.2807 right_pitch=0.2178 right_roll=-0.5384 right_gripper=0.1016 state[joint_eff]: [-0.0889, -1.306, 6.9538, 1.5263, -0.0562, -0.0562, -0.0171, 0.4581, -10.8376, 6.694, 1.9756, 0.3053, 0.1245, 0.1538] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.24,"left_y":-0.12,"left_z":0.045,"left_gripper":0.1,"right_x":0.3,"right_y":0.0,"right_z":0.18,"right_gripper":1.0,"right_pitch":0.0},"note":"The yellow plush rolled forward instead of into the safe, so I am clearing the right arm and using the left arm for the two objects already lined up below the opening. I am positioning a narrow left gripper just behind the cream plush for a diagonal push into the safe."})
tool
executing move_to over 27 steps (2.7s)
step 303
assistant
agent noteThe left gripper is at the correct depth behind the cream plush but is on its right side; for a push toward the safe it must start below-left. I am shifting the low gripper left of the plush before sweeping diagonally up-right.
move_to
left_y-0.0300left_x0.2350left_z0.0400left_gripper0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7609, 1.1625, 0.4751, -0.395, -0.4259, -0.6533, 0.102, 0.054, 0.7979, 0.4973, -0.2214, 0.141, -0.5529, 0.998] state[eef_state]: left_x=0.2345 left_y=-0.1176 left_z=0.0414 left_yaw=-0.0133 left_pitch=-0.3543 left_roll=0.0171 left_gripper=0.102 right_x=0.3007 right_y=-0.005 right_z=0.1638 right_yaw=0.2236 right_pitch=-0.0147 right_roll=-0.5362 right_gripper=0.998 state[joint_eff]: [-0.3897, -2.8239, 6.1197, 1.3162, -0.5055, -0.1001, -0.0073, -0.1299, -1.5658, 11.0701, 2.0391, -0.0952, -0.0464, -0.0269] camera 'top_cam' (step 303): [image omitted: streamed camera frame] camera 'left_cam' (step 303): [image omitted: streamed camera frame] camera 'right_cam' (step 303): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.03,"left_x":0.235,"left_z":0.04,"left_gripper":0.1},"note":"The left gripper is at the correct depth behind the cream plush but is on its right side; for a push toward the safe it must start below-left. I am shifting the low gripper left of the plush before sweeping diagonally up-right."})
tool
executing move_to over 8 steps (0.8s)
step 311
assistant
agent noteThe cream plush is now directly ahead and to the right of the low left gripper, aligned with the safe's open interior. I am sweeping diagonally forward-right to carry it over the front edge into the red compartment.
move_to
left_x0.3600left_y-0.2200left_z0.0400left_gripper0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2905, 0.8986, 0.342, -0.4046, -0.2111, -0.292, 0.1012, 0.0532, 0.8032, 0.5007, -0.268, 0.1352, -0.572, 0.9989] state[eef_state]: left_x=0.2362 left_y=-0.0282 left_z=0.0412 left_yaw=0.0514 left_pitch=-0.3498 left_roll=0.012 left_gripper=0.1012 right_x=0.2955 right_y=-0.0045 right_z=0.154 right_yaw=0.2374 right_pitch=-0.0673 right_roll=-0.5402 right_gripper=0.9989 state[joint_eff]: [-0.0205, -1.5248, 6.188, 1.3602, 0.1099, 0.1636, 0.1148, -0.0889, -1.6342, 6.9128, 2.21, 0.0464, 0.1636, 0.0757] camera 'top_cam' (step 311): [image omitted: streamed camera frame] camera 'left_cam' (step 311): [image omitted: streamed camera frame] camera 'right_cam' (step 311): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.22,"left_z":0.04,"left_gripper":0.1},"note":"The cream plush is now directly ahead and to the right of the low left gripper, aligned with the safe's open interior. I am sweeping diagonally forward-right to carry it over the front edge into the red compartment."})
tool
executing move_to over 18 steps (1.8s)
step 329
assistant
agent noteThe cream plush reached the safe's front-left corner but was deflected outside by the rim. I am repositioning the low gripper directly to its left for a short horizontal push through the open side of the compartment.
move_to
left_x0.3200left_y0.0200left_z0.0400left_gripper0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7322, 1.8168, 1.0374, -0.3592, -0.429, -0.6975, 0.1013, 0.0528, 0.8093, 0.5007, -0.2977, 0.1375, -0.5758, 0.9989] state[eef_state]: left_x=0.347 left_y=-0.2083 left_z=0.0292 left_yaw=0.0587 left_pitch=-0.3919 left_roll=0.0336 left_gripper=0.1013 right_x=0.2917 right_y=-0.0052 right_z=0.1463 right_yaw=0.2374 right_pitch=-0.1039 right_roll=-0.5379 right_gripper=0.9989 state[joint_eff]: [-0.4308, -8.4171, 7.8154, 1.1306, -0.3687, 0.0073, 0.1197, -0.1573, -1.7846, 7.1179, 1.9609, -0.0171, 0.0122, -0.0073] camera 'top_cam' (step 329): [image omitted: streamed camera frame] camera 'left_cam' (step 329): [image omitted: streamed camera frame] camera 'right_cam' (step 329): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":0.02,"left_z":0.04,"left_gripper":0.1},"note":"The cream plush reached the safe's front-left corner but was deflected outside by the rim. I am repositioning the low gripper directly to its left for a short horizontal push through the open side of the compartment."})
tool
executing move_to over 21 steps (2.1s)
step 350
assistant
agent noteThe left gripper is now directly left of the cream plush, which sits beside the safe's open compartment. I am making the short horizontal sweep right to slide it inside.
move_to
left_x0.3200left_y-0.2000left_z0.0400left_gripper0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [0.0105, 1.3739, 0.5995, -0.2214, -0.0761, -0.0761, 0.1013, 0.0532, 0.8116, 0.5007, -0.321, 0.1375, -0.5762, 0.999] state[eef_state]: left_x=0.3191 left_y=0.0204 left_z=0.036 left_yaw=0.1085 left_pitch=-0.4119 left_roll=0.0355 left_gripper=0.1013 right_x=0.2884 right_y=-0.0053 right_z=0.1411 right_yaw=0.2385 right_pitch=-0.1291 right_roll=-0.5334 right_gripper=0.999 state[joint_eff]: [0.2256, -6.2701, 5.1761, 1.3504, 0.1197, 0.1636, 0.1148, -0.0205, -1.4154, 7.3094, 1.9072, -0.0269, -0.0269, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 350): [image omitted: streamed camera frame] camera 'left_cam' (step 350): [image omitted: streamed camera frame] camera 'right_cam' (step 350): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.2,"left_z":0.04,"left_gripper":0.1},"note":"The left gripper is now directly left of the cream plush, which sits beside the safe's open compartment. I am making the short horizontal sweep right to slide it inside."})
tool
executing move_to over 20 steps (2.0s)
step 370
assistant
agent noteThe cream plush is now pressed against the safe's front-left opening, while the brown plush is centered directly below the compartment. I am retracting the low left gripper behind the brown plush to sweep it straight forward into the safe, which may also carry the cream piece inward at the rim.
move_to
left_x0.2000left_y-0.2500left_z0.0450left_gripper0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7616, 1.7187, 0.9569, -0.4618, -0.4248, -0.7746, 0.1013, 0.0532, 0.8116, 0.5003, -0.3428, 0.1375, -0.5766, 0.999] state[eef_state]: left_x=0.3105 left_y=-0.1905 left_z=0.0303 left_yaw=0.1009 left_pitch=-0.4503 left_roll=0.0538 left_gripper=0.1013 right_x=0.2852 right_y=-0.0055 right_z=0.1366 right_yaw=0.2393 right_pitch=-0.1509 right_roll=-0.5296 right_gripper=0.999 state[joint_eff]: [-0.4444, -7.159, 8.1709, 0.8864, -0.5153, 0.0317, 0.1197, -0.212, -1.3197, 7.0085, 1.8437, -0.0269, -0.0659, -0.0171] camera 'top_cam' (step 370): [image omitted: streamed camera frame] camera 'left_cam' (step 370): [image omitted: streamed camera frame] camera 'right_cam' (step 370): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.2,"left_y":-0.25,"left_z":0.045,"left_gripper":0.1},"note":"The cream plush is now pressed against the safe's front-left opening, while the brown plush is centered directly below the compartment. I am retracting the low left gripper behind the brown plush to sweep it straight forward into the safe, which may also carry the cream piece inward at the rim."})
tool
executing move_to over 9 steps (0.9s)
step 379
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1671, 1.7035, 0.9699, -0.7086, -0.503, -1.1694, 0.1013, 0.0532, 0.8154, 0.5007, -0.3649, 0.1375, -0.5766, 0.9989] state[eef_state]: left_x=0.2017 left_y=-0.2463 left_z=0.0314 left_yaw=0.0715 left_pitch=-0.477 left_roll=0.0873 left_gripper=0.1013 right_x=0.282 right_y=-0.0056 right_z=0.1315 right_yaw=0.2401 right_pitch=-0.1761 right_roll=-0.5248 right_gripper=0.9989 state[joint_eff]: [-0.212, -8.3214, 7.6513, 0.5397, -0.5299, -0.1343, 0.1197, -0.0342, -1.2923, 7.0632, 1.9316, -0.0269, -0.0513, -0.0171] camera 'top_cam' (step 379): [image omitted: streamed camera frame] camera 'left_cam' (step 379): [image omitted: streamed camera frame] camera 'right_cam' (step 379): [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 · 9.264 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: 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, -0.3916, -0.0193, -0.0341, 0.9993, -0.0212, 0.7944, 0.6052, -0.4038, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1778 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2917 right_y=0.0009 right_z=0.1755 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -1.3744, 10.3726, 1.9658, -0.0806, 0.1441, -0.0757, -0.3487, -1.5385, 9.9077, 2.0781, -0.0366, 0.0317, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9aa555c42cff0c47d11a22578dc0ea0988a27889be791d837fc20ec43f8f76e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be71db7d8a3bc51f4d90428bb159b43dfc9eefdcb2c2f31b3f1b1c6f0fdd21a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fee7165ea7b86bce5cb0657cd18c5373014fee086ee3c1a979fb6a11dcded7d5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
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  "role": "user"
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[blob elided: media budget]
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call 1 attempt 0 · /responses · status 200 · 2.751 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_07e7cfd5b0c08642016ab44fd3e94487d0a975dae7d840a0b5",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtE_cgl-WANjx2TehzYqZitPgMHW2i0ZlZzxtcqX-PAQLMbovVrSsbygyBDIf_xsNWR6ubhtyUk3rj_qLmygfv8voJrtLz_wkfMtBfnIf-n84RCvmaVVtJBT2ijvWOmuMEqG8o6ZskLNJcXikKJwhW8J4ZNwNGv1HoHFiOVuTTlTeeA_pho2iCw_KnRVkZmTzFyMRDIOHIlWcWVyLcW5d2kcFHA2tuG18ihD1Vv8-VnuE3hMnoREud4VseVNueXoG6hDWKCoz50WWDpWY-O95RWUpodor3Wt2bZgLnodZoAFTJPyYeFJoQ1QiYku-UcxaMHN-D7l8TM8-LW5T4EAJQuf1Tivce8N37o8Ym_B2k_E5WJsr_N3W7DdMkRHVoUQNv7-jQQC83V4Ykra6U45vU-cbLNrkGu64-_DlAz-QuaUnPpwzn65ck6Ul5MrugVCbCWv990GHuRPhdcOEHI7rOZt042xyXURRlYLUmy28Ho8S1VzZRkg-zJNcczzSmu6OUK6-d_cZIEGXFraXHrBbp_RLx3DuVmCsOfHF-HH83Go2Jtp6YeYko8L_tGWkF66q9eS3sIx5bZaa3sVB_k4IsNtxYTzX6q-rXQoiOv23_aU1mlGgFDQHnhADjCFLlWifPG3SukYwnwpHGoCzqzuSkkfe6Ht9hTzV2J2UpXqoseYCVraSC8CC4x9G7P_Onb1EuzBs0g23ctZRkvcArsnBccysUFRwngMKyby1R692jWdMC6fjUCOB2e9tNReOIuQVD13oabI3vXhqYweEH7ndeDUjW1mG3XArn24bRVBXlgIvzVhWChNuE3_Js2PRz9ynS5Gnk53t5GnOgt3Yia-l6KowDj0gajXEy2P1FbfuRYx8x_aJR4NCE11yvQX2stIQoU4mMmATZo4on5Kl-Trtof1QiT3jEM5i9TK4xXVNhX93wMHHoZeMd9Ks6Wv5SpPS2sEkRZUNEtVzdkOgqye3j5QEMN28eRrc2qn9YtbrGeuHxrqJgLWE6yieWHzEJMBuRwWFBarPE9a3jGQiqEo-sfnALHXtgrREq4-sEMZYaOukBSs9PutVvwJf5cwMZYj-_o4Pos78eBtGMau0eipGWU6mUEAtWSM4inhUfPE0xJGAUpJOtZycPD47EA2rrxIoB9EFmRzvDuEP9NS2UnYk18kjxsQLl_QTKptiP5RvMzETddSbtAFHHp8hVEOJa18IkBw7eo4dpS1eNvZk38qZw4kuxoY94wrl0dmJpozic9sabu_pCN1uH6xAC8JU_-lW3MxJ7h4R5GvKp89kreZ8JniiNWVKg8LlufdBrsX0zZ_dlb6bgvqWiUh8uYh4CkyyrXV_CGC3bH7JS2xfCGB9G5n3w1Gr5l5-PX3SdDBuheg9Q5wyNTOsfLhnAkgQbGiWQkFOqgTwNSdB2VfB2sI-CVoGRSYoERzvp9awmCkwOVaTZUIjY1SUb8uPJXOgqhdgguBpr63vHNtskeDF4H3_6ukAhSvvOecvlFQ6lh_lYzit8vvAg38mGzN9LRRcqmKhMqhidDMm0_pRcaUF-l099H500aXPcvb_FQdejAz7rYvPyQazogHYH6E0OT-kebRc9aVF8uDTem93leX8ccMZLrLL1tEigWodzortzYDDkZvUQ5gKDJBLn3GHkFaYb3KFO5Mln41Kp_fKjMBb3ZTqnI_aUqE1RqLX05KAYP-N_hwjz4QWUh2nzhwciFOySX89_-1dzBb8UTfj97UxqmtFCyEbfPAqDWGEI0GGpOlu6HK3UzbBFIv_jfZJ8reRislb5Sc1nyvOlFlPYRWaIa9IaTM19RI1EfcqfWX2CP32lmV5dT1CdlWfhtIpSvZIMbyJ6fVoi_hykmbDBTZOubeL1MdclXFIkQXRgvd0NlPukIz4hUpkltwQRpViZXLpYJIg9jYMsIJ-crxjvC1_AHmxoBt7e6BY-z3ou-ez8V4wm_Ee8Cw=",
  "id": "rs_07e7cfd5b0c08642016ab44fd94bd887d083898e3f31573e92",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.07,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"The yellow object is clearly visible in the right wrist camera, left of the jaw column and somewhat ahead of the fingertips. I am moving the right gripper forward and toward its left to bring that object under the jaws while staying safely above it.\"}",
  "call_id": "call_FHrbpFageSjWMbKSc0m3eAh6",
  "id": "fc_07e7cfd5b0c08642016ab44fdb0ee487d09d687328c62a7c3b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FHrbpFageSjWMbKSc0m3eAh6",
  "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, 0.7967, 0.6067, -0.4065, -0.0193, -0.0383, 0.9993, 0.2775, 1.2274, 0.6659, -0.1722, 0.1921, 0.1177, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.175 left_yaw=0.0027 left_pitch=-0.016 left_roll=-0.0032 left_gripper=0.9993 right_x=0.3462 right_y=0.0673 right_z=0.118 right_yaw=0.0449 right_pitch=-0.1248 right_roll=-0.0361 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.5248, 6.9675, 1.8339, -0.0806, -0.0269, -0.0171, 0.1983, -4.9299, 9.4427, 2.0342, 0.2125, 0.2466, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0fd99f2af6d3f0937e5a13ccfbdfc89a86feffe6bf3960993a3637b574294d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac419f685dc392c197a488546ee9c2cade19447419fe90af381b1b32773b77f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42b4067a6fe3ec97940e1527f260d87bff731062c1bb5ec3e9760c7fd4ec50b3",
      "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 · 2.445 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6037, -0.3916, -0.0193, -0.0341, 0.9993, -0.0212, 0.7944, 0.6052, -0.4038, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1778 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2917 right_y=0.0009 right_z=0.1755 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -1.3744, 10.3726, 1.9658, -0.0806, 0.1441, -0.0757, -0.3487, -1.5385, 9.9077, 2.0781, -0.0366, 0.0317, -0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4065, -0.0193, -0.0383, 0.9993, 0.2775, 1.2274, 0.6659, -0.1722, 0.1921, 0.1177, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.175 left_yaw=0.0027 left_pitch=-0.016 left_roll=-0.0032 left_gripper=0.9993 right_x=0.3462 right_y=0.0673 right_z=0.118 right_yaw=0.0449 right_pitch=-0.1248 right_roll=-0.0361 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.5248, 6.9675, 1.8339, -0.0806, -0.0269, -0.0171, 0.1983, -4.9299, 9.4427, 2.0342, 0.2125, 0.2466, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0fd99f2af6d3f0937e5a13ccfbdfc89a86feffe6bf3960993a3637b574294d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac419f685dc392c197a488546ee9c2cade19447419fe90af381b1b32773b77f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42b4067a6fe3ec97940e1527f260d87bff731062c1bb5ec3e9760c7fd4ec50b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE_fazjY_0G9Wkw9_IkDRAsMvW8WUP9KxPAv0X4n81inhLjAIfW9sh4RbIRyqwQnF8sihpxST-wgoxxMz_-V8Iz0QyXstc7s2j0eZZOloxuMvqArpY0lXbFJP0yn1S7Z60nUzNxP22b_ufhc4yiDa5R1VvCJ8oQItrpDW-CLLyb-udhVjN3idpjIOxcyeiCXBJQyum3N8ZJEqcrnO_nRXNYgB9PrVnsmss8AG78oCCKi01j1nT42-6BkP93OVDbcMJGWwlASrprQy2ySUBKq2K1xJV3B5pSy_OBHwg7rLFxBiyXmbVcycYSiwLdLWd1GjWHzPhzECtXy9LSm-f8HdWUWN1KV7NqLkatoyDh6T9qKVDu49Mwqm2q_v5aFSk-zlzRW7L2E7lm0PMgdl0HLYcasMrn-f_bxlJFnSr0cQn15cM9YQH6nOhlsEHJFmZrltZgpIYC_O-R0NWzyLRlE_O6JZTc-DUppqXXh23oX7kh2bTuq3RfIZY-5ASs-h-4oJ1KuSomkOrxB3kGILv6_85MHZ6sQn391iIPHA7yjk_NweJWVauAb_GZvB4xZIGHX8Lyg8WG8_uE-wadiAhaOmDVTTybBBt-Lzxxko6kx081-dAqKrfBi66Ohh7ZODKdYfUwEsmpamARb1XRfgzgZzDe6i71iDpJhAfQMm2JMouvKAaMg5U4Md1i93TcUQ5rSlDZ9CqK9Y2qXhko6CXjL_vv1cA12iR58XRHcuIch0SuHF21MdxCXA2s87n0Mwp6Nhn08zUbJp1Y0NdGfdlyXAeCIWfRVltKOaYD34_mQFCojioFR7YwdKYHUSV9g463RRCdPTqcfO5aBpAMBDccu37_TChLXgulyg4DXO0foyi47lYjMXcskkDtKAn2Yz7p9zh80a7pfR56beHHO8hEtAPQBhlkLAHgc6FT53DGwGVENkH6fEE1v-246O0qSi_mmJvaa07T8NYSHyzmoGMtYJYCVuzfCDfmi6RlIVoFhCeFqvfuDWpOgdZb4r2dq15jbXIljIrme4aH7XSRVTn3h-N8EA41I6F6ecEGctq5Cr9_rUZ5XZ34E2K1OgFoz_WQkka1cdFI-NQIFJZrIP4HH59UWyh0I4f9s1f829J0XMTQIUWkCkvvjFIyu3SyjDBGdzHf8R87LDRR5lp7IkWawMa6vA7MOXNS5owW5oVu_IGWCp8Mo88_Sv6DJViRn_3ucPezNAzqsVUhgYauagOvRoiSNWjHj9X6dXWciSQcnuJdwLF04-z7fu7Mljxxa-6i2W3k694mX_dO-K7QP3-fausc8Gbof4V6nkCsBooBueICBJqwzN2CLaCn_ybm9QzvLB7hreLQQoHhID1Kldg2-sEe624O6sIy1jyzMel5rzbtSW9F9jR_ULORzVSLDslbP1NZVjh6LIFRLGOMFLei_91KShWSFZsWTPGsRWo_cfhuq0xxAKcPCJuK14vi7pV_gllw0jl9va8Ntr2vWB3jwc8TfmdChzAfbn3DFIuy7UPjqInNJBqrhCfn35C3n52MWE50ANjiHzTDB1kT7ujX_ZaHehLXP37PXSnsuQ4ShjC-e_CI=",
  "id": "rs_07e7cfd5b0c08642016ab44fddc10087d09dc041b9506fb960",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.12,\"right_z\":0.17,\"right_gripper\":1.0},\"note\":\"The yellow object moved closer in the wrist view but remains left of the jaw column; the arm also sagged lower than commanded. I am shifting farther left and slightly forward, with extra commanded height, to center it without contacting it.\"}",
  "call_id": "call_F4NvTWOFzRK6jq6Ti0nDtCmG",
  "id": "fc_07e7cfd5b0c08642016ab44fde9e6c87d0b5b2af3bf8abeaaf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F4NvTWOFzRK6jq6Ti0nDtCmG",
  "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, 0.7986, 0.6067, -0.4122, -0.0193, -0.0383, 0.9993, 0.408, 1.4078, 0.9749, -0.3477, 0.2604, 0.1776, 0.9996]\nstate[eef_state]: left_x=0.291 left_y=0.0015 left_z=0.1733 left_yaw=0.0027 left_pitch=-0.0236 left_roll=-0.003 left_gripper=0.9993 right_x=0.38 right_y=0.1186 right_z=0.1549 right_yaw=0.0837 right_pitch=-0.1557 right_roll=-0.0497 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.2786, 7.2274, 1.7998, -0.0708, -0.0611, -0.0122, 0.3487, -5.4906, 8.8137, 1.6825, 0.3053, 0.1929, -0.0562]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dc43e5f466585a6ff2134ba5b7eb7b19830dcbde9ee819b5293def514ed47d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:078c1a1bb02cd62d40ab0f967624d69b54f641ed23f77191a17379233f51e817",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d31adcb9eb528f63c0543079d537ab947dfa75ac26f6693042db9ab1b0ca8ea3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 5.235 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4065, -0.0193, -0.0383, 0.9993, 0.2775, 1.2274, 0.6659, -0.1722, 0.1921, 0.1177, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.175 left_yaw=0.0027 left_pitch=-0.016 left_roll=-0.0032 left_gripper=0.9993 right_x=0.3462 right_y=0.0673 right_z=0.118 right_yaw=0.0449 right_pitch=-0.1248 right_roll=-0.0361 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.5248, 6.9675, 1.8339, -0.0806, -0.0269, -0.0171, 0.1983, -4.9299, 9.4427, 2.0342, 0.2125, 0.2466, -0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4122, -0.0193, -0.0383, 0.9993, 0.408, 1.4078, 0.9749, -0.3477, 0.2604, 0.1776, 0.9996]\nstate[eef_state]: left_x=0.291 left_y=0.0015 left_z=0.1733 left_yaw=0.0027 left_pitch=-0.0236 left_roll=-0.003 left_gripper=0.9993 right_x=0.38 right_y=0.1186 right_z=0.1549 right_yaw=0.0837 right_pitch=-0.1557 right_roll=-0.0497 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.2786, 7.2274, 1.7998, -0.0708, -0.0611, -0.0122, 0.3487, -5.4906, 8.8137, 1.6825, 0.3053, 0.1929, -0.0562]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dc43e5f466585a6ff2134ba5b7eb7b19830dcbde9ee819b5293def514ed47d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:078c1a1bb02cd62d40ab0f967624d69b54f641ed23f77191a17379233f51e817",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d31adcb9eb528f63c0543079d537ab947dfa75ac26f6693042db9ab1b0ca8ea3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE_i8G9LITeQfzZp7hw7ZlHZSE8-In7arGYMxbWMAyDCnlJE3qBoQBZHtpj2jho7SmX3RfuJwLY2o8p5faoGA1yXQ16lfSCQBuQP2Q1CbYsH1mWHQOnTbUC-1iUR84k88qjerAn8-zNs915TuXt-cZcMJMD-S21FBf3BqHEBchVyVehktNx2BnRkfwV23l44pC-SyHkZhnq0cc-XJ1SxEcMjgK8jwxKoT_SP-dtyiojbAJIsf7IShKdrkm5-gHeAHfpyXDsop3LLCH2hfhUKB9feQQu9XxqdVl70whYbcp35G8UFK-w_lkeliG2w2Ny5y7n1mr6APpoob5Ecm4RQGxaXpGdLvOc3lzPz768znVjzhtgzUWzm6JpRv4CRMBY26yNSGGCEPhQ_wjj_wJbcGotfnhMYKU1T2LrZcKCrF3EaE9VxnUk9njdMkUuM0ywQMaozeeoIg1zger1SAoQcwkJu6iGQJV4I-9UbLvfGtjbCt39gGHcBg97bDJO4yMc14n3Kl3-94fKIn7PYDkkp1M6Mzrcjk5SUurssoNRby-DXCM7na3bq0fixwLZhLDRNTNgj-Kp121BMkuOqS-rcliONKe46z5UPxdpZcDsxeRYUJ40BnmLxwJTPRHq5T5JDDdx6yf_AakqSOxChG6lpZW6CAUmT3uVZQp88hH7Gc_f9R-bRY5Q-f3m9hhPQ27Q0m5dlPeakKqdAzG1bnRjyZxn2U2XFVNZbqrVMr158DEjhXTKfmJdfR0t0jWVnvjfVa-m51wJChkAY7BXdWq9GpYdBAHqkjw35Qs7jAuneab90m2kH8Y-SvucVpaCvzbEDF8xTWRKa4KzmKu40-DiAhgqQ7dQLqYbNy4e8X5zVtpWhm7NoCNDg8dY7DjyEgr1_fZ9jHg9s7w8mhJyUad_am73weUshEe09TLbbBG3617_-IEtvgI5PIyDZGviSXQMgbzkDhgq9EgJFlA2ur7vAd3IxPF936EjwAPh1O-SGG0ZYZG3hWQ7eqiivYzfN3cmmmvc7b1JaN4h57I4CcECE1wM-zrgCFxhn65SYZ22NyYAi6-Io1HR7qpKB29gFxGbTOvYNaZCfsuaN6FFSxnTtxrRZ4RCwvV8icvtVMZtcPE8Z9A7RRxFk0nklvfWVUIqQpu8NXiEYkdg7TS1aVwIEvo0ecNqBRTro7Dr1PSRPxwXqGKTBxXlHIO1EThdO8MdrKFQVC0saOcbZKIi87YvQ9CSWq2XSDMb9N0WWMJydmb_PMGY7joE7tLh6OQa6uD3sGdBf8yntC8lkogITmQ_UOfmO8V2ZX7mrJK46ZCqzDl1zeVYcsJ8tZIirNPfqf9GYatqoF_qoH6uLTvVJGvwjZNS8Vi7GPa_PxS_UBh8SiOF2slk=",
  "id": "rs_07e7cfd5b0c08642016ab44fe11d6c87d08e676f8ecdf0a9a5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.145,\"right_z\":0.17,\"right_gripper\":1.0},\"note\":\"The yellow object is now near the jaws but still slightly left and forward of the grasp point. I am making one small diagonal adjustment to place its center on the jaw column before descending.\"}",
  "call_id": "call_tBn7MsHHAHjWhF4Oj0wl3Oqm",
  "id": "fc_07e7cfd5b0c08642016ab44fe19b2487d0922211d9381e7bfc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tBn7MsHHAHjWhF4Oj0wl3Oqm",
  "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, 0.7994, 0.6067, -0.4183, -0.0189, -0.0383, 0.9993, 0.4179, 1.4273, 1.0065, -0.384, 0.2768, 0.1959, 0.9996]\nstate[eef_state]: left_x=0.2902 left_y=0.0014 left_z=0.1719 left_yaw=0.0024 left_pitch=-0.0305 left_roll=-0.0031 left_gripper=0.9993 right_x=0.3808 right_y=0.1202 right_z=0.1552 right_yaw=0.0686 right_pitch=-0.1741 right_roll=-0.0554 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.2786, 7.159, 1.8144, -0.0513, -0.0366, -0.0171, -0.294, -6.2017, 8.9231, 1.7118, 0.232, 0.149, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d1c428fde7048588e30426060b11b66b31ac8182b1a77a588f3f30bdc5ef8b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fd9eeb6eada4374533c3116880a87e7d498ea1e8f9088cf78f8fc36a23cc18a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:300f62bdddec4e4a9ec332fd75d2a2125337b9c529cbef59b2d47fddbbe0560e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 5.082 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6037, -0.3916, -0.0193, -0.0341, 0.9993, -0.0212, 0.7944, 0.6052, -0.4038, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1778 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2917 right_y=0.0009 right_z=0.1755 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -1.3744, 10.3726, 1.9658, -0.0806, 0.1441, -0.0757, -0.3487, -1.5385, 9.9077, 2.0781, -0.0366, 0.0317, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4122, -0.0193, -0.0383, 0.9993, 0.408, 1.4078, 0.9749, -0.3477, 0.2604, 0.1776, 0.9996]\nstate[eef_state]: left_x=0.291 left_y=0.0015 left_z=0.1733 left_yaw=0.0027 left_pitch=-0.0236 left_roll=-0.003 left_gripper=0.9993 right_x=0.38 right_y=0.1186 right_z=0.1549 right_yaw=0.0837 right_pitch=-0.1557 right_roll=-0.0497 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.2786, 7.2274, 1.7998, -0.0708, -0.0611, -0.0122, 0.3487, -5.4906, 8.8137, 1.6825, 0.3053, 0.1929, -0.0562]\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 15 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, 0.7994, 0.6067, -0.4183, -0.0189, -0.0383, 0.9993, 0.4179, 1.4273, 1.0065, -0.384, 0.2768, 0.1959, 0.9996]\nstate[eef_state]: left_x=0.2902 left_y=0.0014 left_z=0.1719 left_yaw=0.0024 left_pitch=-0.0305 left_roll=-0.0031 left_gripper=0.9993 right_x=0.3808 right_y=0.1202 right_z=0.1552 right_yaw=0.0686 right_pitch=-0.1741 right_roll=-0.0554 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.2786, 7.159, 1.8144, -0.0513, -0.0366, -0.0171, -0.294, -6.2017, 8.9231, 1.7118, 0.232, 0.149, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d1c428fde7048588e30426060b11b66b31ac8182b1a77a588f3f30bdc5ef8b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fd9eeb6eada4374533c3116880a87e7d498ea1e8f9088cf78f8fc36a23cc18a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:300f62bdddec4e4a9ec332fd75d2a2125337b9c529cbef59b2d47fddbbe0560e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE_n34GWLzHEm5XwjiS21w63D2oKzQXLV5Pnwx4PskMu3zKo3xi7zd9BwMLRzBo4E5dYvI_xGwk_UiUWT0EGf2AtCmrSDRXs-QpyM6ryt3MA62woaWM0Que6iTLa-DhhBktZkPy0WhHsga3SYAGtl5ZWkmMdRmTdv5KfGYIyu_bLahm21fvsypiudRuDlbSI3oXmMrsjkYKniOzKKeiJp_XKh54piClC8ufeVj5RGiSnrUpUQHOzmCaowBQDs-3F2Td2JHl97js0xFTU0FFFbzwDhHqVc5NrUeq39m57xIYCaBbxaINV6hW-wQGjfXp9f3zjxI5l5nyN61JLDVIIBAYJmz3FBCsyzA1SGiTnqkTla70XpgWJRjXrIUq6g3NhUZOaRlmJV9QdrC9vLTBphabdOvE_Z7ymzsShfZT4yuQ04Ia0m_cPtXKx3V49SZ8OanVIiUiKIHQawrVb1pczulDSwAOLOoorhyzRIUB5MOlbwFBU_kmg7e3ei0GBq7F9MnafLQ99Uqc0-5b2p3i9Bsu62BqtnFKxr7QdilbeiuOrlJAnIb1A67YDjYRfdjn0KEnr9-u6qDlpva_MOKne0p54S-y_W9KjQINEBBrPqUXHXyAe9nOcpcbXXjOS9t16cOWE9yujAgqpSoRVsjTIB2iNtE5_YKS3qWceu6ldpKc316NVltEDgpjXt6mLouCXezIfrX4hzynj2Hf5AxxH2YCEksSK0JoPbL5XsQJbFSpViil4kNeXrtvskHweZ_k6wFr6jqWsjjV1FE1BMq1KzXxvWRVXasvtHmysJvJ-YETqy-QssGjeaqDJaaDorHkzTBfhJ_4tBf-uzr2ICGmN1X4HszYy3gL84mcsbTIQRHO7o2i2CcnJ7vfFPkbu1itlDXMoyRA4UKi7wDOY1s9bgJ5IDRAKQRDK88aCKIf1iUrBEzymZZR-G90AjLwfocQcljPZjq0fOE2k104IoK0ela8ZrlDnKufyJIWAR7CBNcVVRGLJH3c3cQSWr-zfdYxZF5xebEBuOJ5mxfCwoMHiF-zYkgqhHmEAahi1ZVAp2qVXP4iLGBKrxotMrLiEAhpOp-Db_Uv-wD6BVMthz9SBqraz0cStBqMvL73RgElRmXkaFPzP4WQ3fZJWWS51VQCUR_y4iQCm3pJrTTcOPd9maMqCuBTBUjrBzAk8uVMeIOIxGTw6Ss6l7u41_xjMrGGr0efgVz3B7yC4RcLqev1X2dUVyuKqM_s1DBdBGMKjM8pRF2klKTUqGWClN8zeJB0KRl_ozbMS3mE1NrXE7TiBISNZ7ygrn2kq4HbccT_TiflsT0bF2pnQb-APzslXZHOgrEMr5F8XpMVUIypagvecFIpTEJZGOy4A_ZiWpJdO4ik18DFpMWpG3Zh-QeeTFr7_mM1QjJIJk6Up8vJtWK58z0B8kK4W5AoCmPCzLlTU_ySWZbUuTIq-L6YnufWfr8upJJ4gU2-P2WVzIBiy7Uiod5JBG3_73trGa7hWKlhYfNjdR7NxVsvl36BZpAgZPOPFt4AkkAubA9uHXLGbwZBsPVRLDKPNaiVgL__x76h65ht_9eRWXA8iDj-wkf7GGt_xzJWliR41Ed5ld0h1yMZjUbNACEJTTdJPY2t170D9lTwG9S6OyqYXnmYnBuv3IFNCfDb5yX8TqroUdwTtyAhHVLxRUNRVh6cPKuF-UCdorhA-Kq_Bu0-mYehOCbK4JpFfctrI6hpqW1YrRX-UmDlebGZL7gsNT0__TvhDw7D5zjr70U7vFNKZAOonixQZwnQj9ojY_SUAbgsXA7WH68rfB2mLI65QDTR6ILNIQwCZ2-LBxOgvOPxpeqOwmR2ILDo1-AlxBGScUx0KbUhj_cOtcdoxrk21bJlc0Eork969yFdZDmoGh_tlpSsOx7u1cHhA-Ag2g3mLR1wzBJdsqmx1EFrKPSbFRbYFj5tJZrxomogwbH9hEf2kopy4FxJ0r0LVIZ3e1OmdR8qpIIlGQMyLIIMij6nVuaVt0zsn10gC-tUI7Fst2yLHWVftko8HBI2lh-PkZB7yygqd9OUERP9-YfbudIuRDsH_5R3xNU07YdU8lYhBD4nyT0QbMYHlZlfgTzIV3QZKwoQsplpVAzUySEhN4jeDDQ04lKd3x4uhwqUd-ZsEsiyJaPc6k2gZZ03DMB5t-AxEdaEMC5JQO26WCyfH91zTkdShVn6ni0JM30JBkHyhcfWa4ie_ZIqIo2kR7yPVKh8LJT_CY0tmBc1KNImgNDn72efIve_1S6wVR64zh6nL8x4LOrPStIoVSPkuBDuVpKmdyIO-kXZx7ZOly4YgSRNi1KoLZC5bXsaE_4bybPnRag8ZpHa-Jp8MVEt2o-4GKeDKMGyJbI_V9U-SG8L2gocErQAcCcrEs2TqKL54OdpMAW-pgeG8xIPquHAIyHsiRtvRsUi4OgD6TWOJFb4HWquKcMFk1zH6J33iXIxJZLu2g766GLQ2HG2GXyG9W7OZk48wPkGkN3agidzOHwklC-289FC2hyselWgZ129S5w0IgLZFWYhhrgqtGrEOIdz0iql-fzHfCuM9vKZKVFGZzA==",
  "id": "rs_07e7cfd5b0c08642016ab44fe3e68c87d0808876dcf9fdb26d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.025,\"right_gripper\":1.0},\"note\":\"The last lateral command did not track, but the yellow object is now within roughly a couple of centimetres of the jaw center and well inside the open gripper span. I am descending vertically to its mid-height while keeping the jaws open.\"}",
  "call_id": "call_YjUMYypxwtX33bNTOBXGZJsj",
  "id": "fc_07e7cfd5b0c08642016ab44fe6694087d0a29fe18cfc5f90ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YjUMYypxwtX33bNTOBXGZJsj",
  "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, 0.8009, 0.6067, -0.4282, -0.0193, -0.0383, 0.9993, 0.4179, 1.4952, 0.9314, -0.2462, 0.2764, 0.1932, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1695 left_yaw=0.0027 left_pitch=-0.0419 left_roll=-0.0026 left_gripper=0.9993 right_x=0.388 right_y=0.1235 right_z=0.1213 right_yaw=0.0701 right_pitch=-0.1793 right_roll=-0.059 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.347, 7.0085, 1.7949, -0.0464, -0.0464, -0.0122, -0.1162, 0.4308, 2.4137, 0.6471, 0.4127, 0.022, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a6e9c9d02dd450a0f7d5896db20d384a8badfc9964eed31c74500fc168d1f13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9295e32245b4f14c3cd589b703c2de86711a00e49b7f9d2db92555ccbd880a07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03c366f5632d9e02b44a15b87c974eea1308a177e2fb379840fe727c96db57d2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /responses · status 200 · 4.372 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4065, -0.0193, -0.0383, 0.9993, 0.2775, 1.2274, 0.6659, -0.1722, 0.1921, 0.1177, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.175 left_yaw=0.0027 left_pitch=-0.016 left_roll=-0.0032 left_gripper=0.9993 right_x=0.3462 right_y=0.0673 right_z=0.118 right_yaw=0.0449 right_pitch=-0.1248 right_roll=-0.0361 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.5248, 6.9675, 1.8339, -0.0806, -0.0269, -0.0171, 0.1983, -4.9299, 9.4427, 2.0342, 0.2125, 0.2466, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4183, -0.0189, -0.0383, 0.9993, 0.4179, 1.4273, 1.0065, -0.384, 0.2768, 0.1959, 0.9996]\nstate[eef_state]: left_x=0.2902 left_y=0.0014 left_z=0.1719 left_yaw=0.0024 left_pitch=-0.0305 left_roll=-0.0031 left_gripper=0.9993 right_x=0.3808 right_y=0.1202 right_z=0.1552 right_yaw=0.0686 right_pitch=-0.1741 right_roll=-0.0554 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.2786, 7.159, 1.8144, -0.0513, -0.0366, -0.0171, -0.294, -6.2017, 8.9231, 1.7118, 0.232, 0.149, -0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8009, 0.6067, -0.4282, -0.0193, -0.0383, 0.9993, 0.4179, 1.4952, 0.9314, -0.2462, 0.2764, 0.1932, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1695 left_yaw=0.0027 left_pitch=-0.0419 left_roll=-0.0026 left_gripper=0.9993 right_x=0.388 right_y=0.1235 right_z=0.1213 right_yaw=0.0701 right_pitch=-0.1793 right_roll=-0.059 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.347, 7.0085, 1.7949, -0.0464, -0.0464, -0.0122, -0.1162, 0.4308, 2.4137, 0.6471, 0.4127, 0.022, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a6e9c9d02dd450a0f7d5896db20d384a8badfc9964eed31c74500fc168d1f13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9295e32245b4f14c3cd589b703c2de86711a00e49b7f9d2db92555ccbd880a07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03c366f5632d9e02b44a15b87c974eea1308a177e2fb379840fe727c96db57d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE_t7zoIOo9MHl06MwwVJBLh1qzi2sQ_VbO4gKsYiHcoe7vjKw-PEVaAlaQehx9k8A_mBIUx2LyonI_tGcdIbjPJOl8OaU1UE-7k4mQLlt7H0wgwAdpKO28VZoqDe0Ty3ydDDoCjufiJXHouU6Oo2AjHrZbemHvxCjVXx_PlXv28Jhvpd9xBhJHKtS3SlCpZP0GV3wyW-hhI1whLTAklP2PqRhuHGOl8CtRzVI2lUIEO9CAlJQ7_g5dWEaRBrEPWc317bW6l52n1hl51XlQjmirV-00buYq_EwRajYXpTdKmnhHeEOnwQ8HmfDcl6MZPJxDUP49wuUmE4-na7DCkPRNfK7F1bStkZdeWTP-78Wq0oyJLWKIAFnmT25YuY7P4joQW2KWHJ_CSpXdnIX1wZykipwHQfoGJv7C9PCz-s7XtEzwp15-gBwFFNBYoI3GyvjpRs-JJMS9JF8wCRcvtPohaXec5xaFi9SE4z9-ncloctj3YzWvYPoL83rfEceb40JwXDOMqVbswhl86rv0eRdYWXc84CNHlBqUHfS8ml_b6S6ji2jgW1PfCJDLmLpqQCSF-7LjK6Ze4JGnpTvPbxjtG19JmYQbIuKPk3DJE4iKepc_3P8xrgIz-6oeEapfdzFf6wDBKKZ9PaZ_zoyijLdrwOwMSGFD3Qty5z-Ta9sOtbWxLpHikOc2wkofDvMpSaIcognGEHSqAUr2u1S3sN9lp7oqiutxL4hdiDuPABrStQ4HXWOVvabr8n1xW4kb6Bn_YLmmNfywsdr4ax3wYbL8Jpkys6aNaoW7Lrgutm_w_MaOp6pGyzaYVzeFWRsA_12v7gHD8HMS7hfOAS6iEvYVFp4NTmndXFKEcOMegnRDHjLRZt1Rdnkcs-k4dmJnxYPakHaDyLkczmr4qIpgqdvOI_ModSzIFfLWxxmgfQXegzG-9wtqVg06W7TxvP6TxBs3GtqV-0ejUwoChb4XYdSyU0GAhvkdvKQ8NLK7YTBK6hS6G9Iovb5wfCMTMq5Y4Xiobx-TmNnRtNSKbxknEyEHgt-8mOJBLijJoxus9aKXy9mIfcWYnyYkB5rm9NvRd3qxiDXgew7iFp8uSMkvp9dtHglXJWP2TlFrauk9gd452IaH8S5zBu_zQoxHLsFdd-Yai4TCKaiViQWGmqwqU5zXTEEU_Lzy626EPkCF1v5EZ1SMxftU-gINhuwzPCCLdWNoQCwtlVfDyklAUu3OYbxkc96DsRSI8rglDth2PCrHZZdFc3u-nELsi3_kqh4TUw3LW0CoPrzUtKjt-pTJpZNbZLayvdBjPldbS5wCtXvMoQ2hTfFgl38l4dzqedHkfmDw5XBEcPCsJalWbGpP-m6SLNaVk7AgIGvYgRnVJTMVAR7ih0e-Fyqhtvp-A9Al-ayzKoqw7YxsyJQZBhi9YrfGejc5RvYfOBmO9gVDWxYL8OMWT-m1Z3k4MDKmaHVkNN0qU20xQRt6cYqLhBKNW1F9javrcsf6oJPtKEYAZjD4SFH1nQ3hzhcyXBJ9Ti_jL23ViukcXcZodoUNR_ye451ButRcHwJd7XoY_VtQGw5Z7xFpwucPFMjF1qJlcZt3-UE9zOmpQDWqsf3NwpZNaUljpdwXwU2IEgpOjg6i6d5iV5cspBEALqkW0ctf90v91sheYRFr9_KRm-aD_SQdKOlckhhqyo6D7r6aMqejBXwrwae-MMQzVOI2fESjt74Z5WSA6j57T8kMxGD6jvW570IR2utxczQD6IjQ0C3sYVGWfH1dcw8mQNS-6WeiOc2Y5n1Vgu0-HzrE73PdOt3zCoW38SYTwOc_Cj5ON0R-FeVM22-hXZpfWVeXpDdNm37J33NdTVnhAG5Q_0aLp2uP3ma6NgX_4wxZ_RkZYGJeRyMlGoItgXtfmeBL1Cmg6Kx1oANQBf1S1TmksUVvc_ngpfUGcojJK4IMCFpO8W3NZ4XXp3alR-CfsDTZyxSwjf9wcW5Tf5puxz4mNq5myq22_1aNsvc5Y65xI_aajN4_VXrSC0dzaR5iR4lNN3PgPJhhWRpjqaBr2Xk6tuJsnDmbNTXs-22LzXrP9aA9DAt793E5aad4J7BfPIoa_IzXVwp6lKo82xOf77VPyw3s6UYpOnBxoznOldVy1ttk2NTa-7yVT_MCrkf0WDmqASg0vTWa__y1GI73kNfyw2oH7Y18eZMXdLV3Nu4HLVW3FWO4UosOqG6PfFa1eCkXguP2RHlWZhiLUDVd_AInY3rNBNK95LzcPvlinveGZ7U2Uvlhq7vPBT76j_wB8SeCRvxL8-W4A1eXkPgSCyJlVpwHfJ-rYLXYItE0pBb4ASgqs73O2tvBiMTuXG0Vf0NrSeNiC5hJPBFodJeEZyaRh3thi8hELROD7nSXd3AeRoRf6W8Wyeh4QiADz1rgOtVb3UvTIjvHQ_Da_UoGc-rDoRNWpXr4wvNlcMBb91HfpVTKY26puwFjtXRA-AVf1HtBJWvyWpkdv1zPiW5hkcOojPNmfWRS6BQOt5rwFfp5StQcZuSIT4wP505jPwVLV5EWQAQJ93SpC7NVGUEkhYQR4hsM-60TKEjKjFGkFJ5W_E2WOXhtI4ZIU3WLi7rEecNOkd8RgjXS3KSl07bF5MDrDwz4AsfdbEKfvvLLacl4GWkaItCr2d2WBpyZqDAKr8EgKo_tPNab9PB4tAVcX633JPOdwOSKQCffBV4J7_6CwPxXKW19Hpg-veNGTJy5H50Vhjn3IW5ghUU9lf2zwtgCycpNOU1uROjo3flY7uVyOL1uZ9x5qNPHZo5grafEJcAAxQEt-LT3gmDEQQEhwMoU5JKfpYUQB5G0wJF7JuXTOL65g-YP8n8jTjCUkQJ7Nh1JfE-7BQemQwUXa8XYwiM5_A0ZVSA2dvUwV-W_fZqduzOQLBj1k7gpA4NMvwhRrFoG77OZF2mjrL3D3-aTWBD03wCIMvxPfXtdyyxFwDbrVnmzSchEs5Is95ojXVeErQhYLw8oVDnimfbld",
  "id": "rs_07e7cfd5b0c08642016ab44fe9e90c87d09a26f167f354fc32",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The descent stopped well above the numeric table height and the shoulder effort flipped positive, indicating the fingers have contacted the upright yellow object or nearby surface. The object remains centered between the visible fingers, so I am closing now rather than pressing farther.\"}",
  "call_id": "call_fkxuIi6nG0jJZXdP96LLMe5S",
  "id": "fc_07e7cfd5b0c08642016ab44fecf31c87d0b2f51d92bd4364d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fkxuIi6nG0jJZXdP96LLMe5S",
  "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, 0.8032, 0.6067, -0.4355, -0.0193, -0.0387, 0.9993, 0.4179, 1.4971, 0.9245, -0.2691, 0.2691, 0.1844, 0.0139]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1674 left_yaw=0.0029 left_pitch=-0.0515 left_roll=-0.0027 left_gripper=0.9993 right_x=0.3824 right_y=0.1224 right_z=0.1138 right_yaw=0.0789 right_pitch=-0.2112 right_roll=-0.071 right_gripper=0.0139\nstate[joint_eff]: [-0.0752, -1.4427, 6.9949, 1.7705, -0.0464, -0.0513, -0.0122, -0.253, -6.735, 7.0769, 1.7216, 0.149, 0.105, 1.2088]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:104ebe58f0f8763690fc961e0d03d0a63e164479e43a26cd90cbed41dbc2c92d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e60d24ff6bcb48879d1cd3dc8e43073b986c480543fc14d3728dbd5b44212bbc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed6c71e07b62879e54b2e3df8500fac74b4f611c0105ce4a3eeee722c93b8ed0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 3.12 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4122, -0.0193, -0.0383, 0.9993, 0.408, 1.4078, 0.9749, -0.3477, 0.2604, 0.1776, 0.9996]\nstate[eef_state]: left_x=0.291 left_y=0.0015 left_z=0.1733 left_yaw=0.0027 left_pitch=-0.0236 left_roll=-0.003 left_gripper=0.9993 right_x=0.38 right_y=0.1186 right_z=0.1549 right_yaw=0.0837 right_pitch=-0.1557 right_roll=-0.0497 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.2786, 7.2274, 1.7998, -0.0708, -0.0611, -0.0122, 0.3487, -5.4906, 8.8137, 1.6825, 0.3053, 0.1929, -0.0562]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8009, 0.6067, -0.4282, -0.0193, -0.0383, 0.9993, 0.4179, 1.4952, 0.9314, -0.2462, 0.2764, 0.1932, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1695 left_yaw=0.0027 left_pitch=-0.0419 left_roll=-0.0026 left_gripper=0.9993 right_x=0.388 right_y=0.1235 right_z=0.1213 right_yaw=0.0701 right_pitch=-0.1793 right_roll=-0.059 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.347, 7.0085, 1.7949, -0.0464, -0.0464, -0.0122, -0.1162, 0.4308, 2.4137, 0.6471, 0.4127, 0.022, -0.0562]\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 23 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, 0.8032, 0.6067, -0.4355, -0.0193, -0.0387, 0.9993, 0.4179, 1.4971, 0.9245, -0.2691, 0.2691, 0.1844, 0.0139]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1674 left_yaw=0.0029 left_pitch=-0.0515 left_roll=-0.0027 left_gripper=0.9993 right_x=0.3824 right_y=0.1224 right_z=0.1138 right_yaw=0.0789 right_pitch=-0.2112 right_roll=-0.071 right_gripper=0.0139\nstate[joint_eff]: [-0.0752, -1.4427, 6.9949, 1.7705, -0.0464, -0.0513, -0.0122, -0.253, -6.735, 7.0769, 1.7216, 0.149, 0.105, 1.2088]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:104ebe58f0f8763690fc961e0d03d0a63e164479e43a26cd90cbed41dbc2c92d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e60d24ff6bcb48879d1cd3dc8e43073b986c480543fc14d3728dbd5b44212bbc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed6c71e07b62879e54b2e3df8500fac74b4f611c0105ce4a3eeee722c93b8ed0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE_zvny6KQP5mmHQAcLMMPa4XI8S8D5jE1bG6FUpOf3ICcE8BiJZvDd7R7Zon-D5GsGNytHGyptHgEVg1X05fbVlUKcmJobntlNA-KjL2UniqkfwOgEOCWYmHqN3iuS7ibN-uLmOiE53Ll2snIszRkRKmhn5WFs3SYSPxu6kPbAcCWfymqOZtGORwj72aGwK5AIFmusbE3h93vaakJl6vevDBfh-aao39NhSO0slKCYlJ14msD23iPVVV_JQ1_PiI15Mz9HHfh1A2KgSKvtIEVzbIRHK_9eE-q3G2tpN249sRsgkw3L0j3R7vJhLJs7jL3hPtsX_99cTGDOS5eGIswbXMSRFUy66uPaSz4Xq9Om-BMAfbeqf-lGawfztbUDhWZsPtRaGa_Ko1t8W8gVXqGn0gLfyhPvZRRqsnY803Z7Sasb3dBAjNhwcglmqMdjVlkqsfV58EOrQf-gVtUBo1NQgjXrrUF1YX-nCVX-B2MwQTqm0XC_OYUXcZqWT26lVHH6Vni4J5uhV5e6a14m0rnf68zvZKn1U5S_TsaEDz_u3EH0wJ3SZIgvKUWLKMlsWrwBttsbZg2xoTm2O2kXqUZc7Vj2ailIeuteV8CcERQn0Blp27hvespmj7mEtqAsNA8sfS0SL74GL4RaO0WmDrAvGnrYohVYQ_bCgVSVdbZg1yqLHFKMFm0cifL4zgc7ZCPmYnCQ0zMRFnMc9VA1TjBD4avzzYDz1eo_R68OyakXfUBBokaD8_J-zJJcIegw5IF9y1FTlVR3pDZxjOaW7DSYpO4iulBYVCZ5kO7cgPsg26vDX0nXn3tgl4AlVAUlBNipKi3gFTuCwOwGD09I4uHL6yG2kMHn5BV0VF-3KI9JGH_AaIp1eJaKfaxYa5ync68EOBTkxUIqq4IiXEZWTXcw2qiQd3IGHKPBQ6wPD4lC9SxQX4Qev4m6RNfVuO4vwNAPG9Expmii6x-jDFApU-7c9pK-kleD9fypRTZPpFYig_AiEQxsMSq4o8xWec-zTYIxP0Fb1Cgyq_Kuh20PICQNoKjIiaGlD4a0JdaXE8Xu5PHJc9qFhorIo-5FAklR9hjihNHx26uL29BZ2hXd4Tc3v7pPQDyOckrSrkiKXelJbEFozHJEDG_mxLdufhpXQrjbsRVPpy2F6ugxSfzYWCTnCIjELTP4jwKdOLMlyvQ37dOzGTSJd-iWq2WZoLxBsW6hTgA7x7mQ8iVZeR2PavnS1e9cVtENxgvm4n_yOAfTrGq_Bbm9SaAxt6NFFzEtLkzF0izY5IMo_fDhm9hzVK_YDayqGxJpG2gfUJber77IHr6aXnRU9nwgmZQDzTa45urKOQLdMlxfFcbsOCogxBJmE2gPONSM4go2vGZgIF8H4u_Q3ADOzXC8XejJFcDp-06TF8GTI48UScTlHQCQCPques2S8Gn8Z7GXjhlVd8MtwsUfjYRy-TPnrqB8zaZ5Trubs0Nk2gao1cL9njF31WF9t8HRolA7eH67PExAwxsaKKF-9WOzZj8BaN7Ne6o_SQaqj3aHc2xJ31jNk9eRu0e-n0tbleo3GsI6p34axAyiXzu1WDpDo5kRMTEnTdbymqOsFQ_t-tcz99yHsYe3xBjIyHxY_LLQeV-_W_mJD30_rVnXjHaZys65uXxsVQN0bfJYm2Vwunk-yYKcBAfOx578zZs8RtVL7UTIpVzpgDxQRnQj4cV6yu75vX9KtFSPIKWUmGqVcm6CrWkDEmXWT1IOQK4EFdTexhOA0_ydZ76ighAZSMgbM5MnuwCH6BH-Mvlj2ny8SWmq--ljt7k7srFN47e3M7gVlY6yCtNiiFoSh-DPB-uC-b_7fVXStiu6o54iBiT2Al4fA8hZpXlFLRjww2Vu7rHibicQe5e3ykwC2sxqADXf63jqluH5oxteQD6Zrntu47fTesDvA_n89yh6EpOEYJiwdSZ-M29Idy9tVmcj5xtQaCtKYM-rheQjKv6cBRX9BOjxLZULEqzb-UL2ejXmbnhZyqbKchsk3TL_4EFy1AZzL69lWel8IBia1CEuxQpZTL-cFJZalYLlkBVs388K9oPRXlF8ymDyg9B4FOg8idzhIKa1JLPsEH9TAj8lpBttZ-KnB3Vl7o0_O7x2mbtoOZF627SniR76ei7-610e2Jt81M3zrKqZ7NzhaxYEz",
  "id": "rs_07e7cfd5b0c08642016ab44fefc6cc87d0a9cbbb9eaf09cee3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.18,\"right_y\":0.145,\"right_gripper\":1.0,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0},\"note\":\"The gripper settled at 0.014, confirming an empty close, and the yellow object remains on the table just left of the jaw center. I am reopening, lifting out of contact, and shifting slightly left while restoring the neutral tool orientation for a cleaner second approach.\"}",
  "call_id": "call_NmH08g8QxuiiS4Uaau2hesfB",
  "id": "fc_07e7cfd5b0c08642016ab44ff2045887d09926621baee043d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NmH08g8QxuiiS4Uaau2hesfB",
  "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, 0.8032, 0.6067, -0.453, -0.0189, -0.0387, 0.9993, 0.5335, 1.42, 0.9245, -0.2741, 0.4007, 0.2867, 0.9948]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.164 left_yaw=0.0026 left_pitch=-0.069 left_roll=-0.0026 left_gripper=0.9993 right_x=0.3704 right_y=0.1429 right_z=0.1475 right_yaw=0.0362 right_pitch=-0.1035 right_roll=-0.0535 right_gripper=0.9948\nstate[joint_eff]: [-0.212, -1.2239, 6.9949, 1.8584, -0.0806, -0.0513, -0.0171, 0.1162, -7.5966, 9.3607, 2.0098, 0.3004, 0.149, -0.1685]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e25ff464a615b892a86c20dd4ba834cc0f4588ad9df111cc7125e9d71a7b7d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:888fe339f83a1f092929a241d7a76bd0c984af5e6daa4f6a3ca91531f717030f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b26ac7fd85e5d8232c10d18099897f2ae71810735b837b66eab7943efdab6999",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 3.351 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4183, -0.0189, -0.0383, 0.9993, 0.4179, 1.4273, 1.0065, -0.384, 0.2768, 0.1959, 0.9996]\nstate[eef_state]: left_x=0.2902 left_y=0.0014 left_z=0.1719 left_yaw=0.0024 left_pitch=-0.0305 left_roll=-0.0031 left_gripper=0.9993 right_x=0.3808 right_y=0.1202 right_z=0.1552 right_yaw=0.0686 right_pitch=-0.1741 right_roll=-0.0554 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.2786, 7.159, 1.8144, -0.0513, -0.0366, -0.0171, -0.294, -6.2017, 8.9231, 1.7118, 0.232, 0.149, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4355, -0.0193, -0.0387, 0.9993, 0.4179, 1.4971, 0.9245, -0.2691, 0.2691, 0.1844, 0.0139]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1674 left_yaw=0.0029 left_pitch=-0.0515 left_roll=-0.0027 left_gripper=0.9993 right_x=0.3824 right_y=0.1224 right_z=0.1138 right_yaw=0.0789 right_pitch=-0.2112 right_roll=-0.071 right_gripper=0.0139\nstate[joint_eff]: [-0.0752, -1.4427, 6.9949, 1.7705, -0.0464, -0.0513, -0.0122, -0.253, -6.735, 7.0769, 1.7216, 0.149, 0.105, 1.2088]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.453, -0.0189, -0.0387, 0.9993, 0.5335, 1.42, 0.9245, -0.2741, 0.4007, 0.2867, 0.9948]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.164 left_yaw=0.0026 left_pitch=-0.069 left_roll=-0.0026 left_gripper=0.9993 right_x=0.3704 right_y=0.1429 right_z=0.1475 right_yaw=0.0362 right_pitch=-0.1035 right_roll=-0.0535 right_gripper=0.9948\nstate[joint_eff]: [-0.212, -1.2239, 6.9949, 1.8584, -0.0806, -0.0513, -0.0171, 0.1162, -7.5966, 9.3607, 2.0098, 0.3004, 0.149, -0.1685]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e25ff464a615b892a86c20dd4ba834cc0f4588ad9df111cc7125e9d71a7b7d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:888fe339f83a1f092929a241d7a76bd0c984af5e6daa4f6a3ca91531f717030f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b26ac7fd85e5d8232c10d18099897f2ae71810735b837b66eab7943efdab6999",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE_3V4LetBpRd5DVdWcyfCT9h172h2xjJdX0Q5YryFdtlzKpEU8OtG3XUY2_0t37cjjBU0LZtpVOYYTo12X-jPfUYypu1QUUqcSpdenCQZe7ntc5ab23pOXeFHDp-Mto82DgZCej5qBXyG0Ofh9ogRCfZ780H3VZOT2aVPU-sIuIwvza9KmJj-bqqgoSHVQ6TztlmlwGIUprGmiO9gHnxpG-v_NXfKasauDG1rwOCmpzohCuiJJ77XXR2AIilT6BIgp4yCP-VSBaZ4e9fAKx_Q55geuOklh9cpuixMeIeqCiMRPV5O6bePr2xzv7H67MeuT0J8FGHoCNeHJxcKpQifCpZvsI5CK0381s0Yopv0C7al84raMcMqrwVum0AgYAqTmYlc7FRmcN8_zUs4hfOReuiaP62YR69siR5GLy6L5lx6zT48-8cBxQLQS87iUEeDQ6kHYaS7F_CfCNJJPVaam3KsE8MNvBB9SieyCnuY7LoN6BgcjOwoVc8Z3eVJhdvtISxkJaK7NmizThouPrsChbx9sYXAFoA4tPKr6wwqgW1wODBt7pzMU29dXWfl8b28intinzOkzhhL-8NnpCAb6SeCVFYckY9FjlZNuQN1XbvImfW_k-29og-oUrZaPGWdoqGPaS9U8z6KWzx7NmctbSlEuvo5l_3u5V-mRa9WPn_FGmxYHKxKROVYHybym4WKOdGK6QtwJvuyGHy9q6ckd48dQ3Gh2aUs3eZXGxF1fGrI7pWpNOe8ZHxVlIQHTLjmq0I0R46nhR5TSpKFZKTwVvv6PhBydodk80QZu4jZjWpamdGLhNd6KlqDzqYMSj0yOnGsSQ5cO2hqA4EiK7T6i_G745KFtuvFJO031uBZ6wK-9jBMhBXKp6Tz5EKKIcBrIluBsc9AFtZQKEPU9zFZlG5Ma1dGeb3vFAMJpi4uaO_3VXdXv5evL5p0snoYXjzBcCI4qI5B3nuu0y7K0R0n38Wo4-_KSuMY_UEA55H4ceo5ZcQxadZdM7kjOOS5_14NckyiS0Dn3lbAspQwM6AeywDz3zwxFr-DgTYuQbrxYKlLVn8shGtzdkDfbz2qZg6jwXxHFIBCQ81tfSrUvMOImNMk4X8A0Yic8T1WUV3IjVxTxHHu2r-pcwuT2dYVBYpYzUhDxfnmIzHDoLV-Ar7VaQdJoVeqnoIau8ulrQIXq6Csjjzkl0nqL62rN3TKQX6jjNsaP4N41wsySHwpqqAemGxczod3lVESEtNumarrwIrI7DQTvh7NJW-mcVlTQq73m38f1VS3BACCyXwl7d4GvYVCHgAgwSzDdHBi0RwPbj__8Oeyp-CS18HVUk-EwTkrF9KKJ8M6vWLEYND10nGAjKbGty2u5S08PRNqiDp5eMsU22u0MrLwiq-lZriUphhj775KA51ENtn27zc5i0wuMo9r0c1ZQ6r4rZNPYtampAQ3bWZxb-F5kERmdJOQt67KImw_to9hHsZcRdDo-LtAcUfQ==",
  "id": "rs_07e7cfd5b0c08642016ab44ff4fcc487d0b21a7c4d97059827",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_z\":0.18,\"right_gripper\":1.0,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0},\"note\":\"The yellow object is now precisely on the jaw column, with clear space below it in the wrist view, which means it is still a few centimetres short of the fingertips. I am advancing radially by about 2.5 cm at clearance height before the second descent.\"}",
  "call_id": "call_zZb2ivtKbGaJ74Ta7wLdboUZ",
  "id": "fc_07e7cfd5b0c08642016ab44ff5a7d087d0b3a8c4660c97cf7f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zZb2ivtKbGaJ74Ta7wLdboUZ",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "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]: [-0.0189, 0.8032, 0.6067, -0.4583, -0.0189, -0.0383, 0.9993, 0.5129, 1.433, 0.9382, -0.2707, 0.4042, 0.289, 0.9991]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1629 left_yaw=0.0024 left_pitch=-0.0744 left_roll=-0.0021 left_gripper=0.9993 right_x=0.377 right_y=0.1367 right_z=0.149 right_yaw=0.0119 right_pitch=-0.0986 right_roll=-0.0518 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.2513, 7.159, 1.7265, -0.0757, -0.0024, -0.0122, -0.6632, -5.6547, 10.3453, 2.1709, 0.2564, 0.0269, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fc562a45586dc3a880795e50a77eb41c1da350f5acbae4548eb3781e04123cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:221aa5f4e13f7dbbfc0aa60d8ac75db75e41a7a071f0dfb7088dc0c9ce6635eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27c26b85fb769b74990b5d26ce3e0670e401c81c8d6a7c2115f7e8f329e31867",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 5.082 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8009, 0.6067, -0.4282, -0.0193, -0.0383, 0.9993, 0.4179, 1.4952, 0.9314, -0.2462, 0.2764, 0.1932, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1695 left_yaw=0.0027 left_pitch=-0.0419 left_roll=-0.0026 left_gripper=0.9993 right_x=0.388 right_y=0.1235 right_z=0.1213 right_yaw=0.0701 right_pitch=-0.1793 right_roll=-0.059 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.347, 7.0085, 1.7949, -0.0464, -0.0464, -0.0122, -0.1162, 0.4308, 2.4137, 0.6471, 0.4127, 0.022, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.453, -0.0189, -0.0387, 0.9993, 0.5335, 1.42, 0.9245, -0.2741, 0.4007, 0.2867, 0.9948]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.164 left_yaw=0.0026 left_pitch=-0.069 left_roll=-0.0026 left_gripper=0.9993 right_x=0.3704 right_y=0.1429 right_z=0.1475 right_yaw=0.0362 right_pitch=-0.1035 right_roll=-0.0535 right_gripper=0.9948\nstate[joint_eff]: [-0.212, -1.2239, 6.9949, 1.8584, -0.0806, -0.0513, -0.0171, 0.1162, -7.5966, 9.3607, 2.0098, 0.3004, 0.149, -0.1685]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 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, 0.8032, 0.6067, -0.4583, -0.0189, -0.0383, 0.9993, 0.5129, 1.433, 0.9382, -0.2707, 0.4042, 0.289, 0.9991]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1629 left_yaw=0.0024 left_pitch=-0.0744 left_roll=-0.0021 left_gripper=0.9993 right_x=0.377 right_y=0.1367 right_z=0.149 right_yaw=0.0119 right_pitch=-0.0986 right_roll=-0.0518 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.2513, 7.159, 1.7265, -0.0757, -0.0024, -0.0122, -0.6632, -5.6547, 10.3453, 2.1709, 0.2564, 0.0269, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fc562a45586dc3a880795e50a77eb41c1da350f5acbae4548eb3781e04123cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:221aa5f4e13f7dbbfc0aa60d8ac75db75e41a7a071f0dfb7088dc0c9ce6635eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27c26b85fb769b74990b5d26ce3e0670e401c81c8d6a7c2115f7e8f329e31867",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE_6nqmJ822_PmKSGWIa4BSlPuJ639v2d4ElUeieE1Fizw4aVOdiGpCgWbK6lX4WbwGhvedroYpSMuL6KAn4W79DSHAmIZzJx7TNAlImaHmfU-P0hWCOzIS5J7sGzn9uRDapyNxWm8UqmSdiEUtA6VpKn3fOkwYg7nH9lC5OdRuJsYd5rp6lDNTJTGyE-FLfOuUCPzSIdf_R20eB9Op3pvVUcLuBx8hSnT9nvLG9N7OPP_RUEFNVnF6QWFdOz3RRFVrRyeKjddm8HNy9_SAgGxoMpsGi6D8Qqu8EUPHN4si3xYrMwX3BxaiZ_x6WBDwIVGyaNKSmHcwhEYVQNuzfZUIoGboH9ViFkKH_zUFmSP8iF4voVwdo3_7Rqi5EeH0pEm8l_OYUjFcwrLcowDICQhmAlUAkSUMt09Xb6KR4mFcwQMZfiSTe6M6I-U8e9QT3iqI30o58THta2UgOOdMg35qMYcBTMAAl9q7k_F8pChGXXo9tu0frsa7hOOmR3g1pDXuiuK_3dEw0rOnBHY-WLMouik332LPj9OUwWRtwip5lAsjV6l2y4KE6cXptXBPQrTY3BeftzYzyXi9NTkrLf3uHf_UwpAG-yuNdi_s6zvHeloopaPEWKLYfWbzP-m03SJHEsU7xmIaTu_WE9t88VsyRgTXzIRKQjCV72eRbyIzFspGkQv_35uIDEUbEGbNhnKJLxbdVVu5zqgg7Qs-YsA8bMMxnaTteHTvqx5ApYikFAP_vGRpm8aoC9I9Dj-8TnAsjd2l_s4988WP6qp31dUT9qT1As6k_gXAmq9_BWKXdE5580BqYToBYc4vUnZp4JlJIDe691YH7zI7z7zKvUF3g1iTRMjxuDIp5QzrRo8ClFnIB4dApTsMuuJrMrRjFZsBQx_C0kqM1uHoe9sL_37AdufZtchgxBXBxMPxxKRb2j7TF2siyd7op8z7-4a_9fC_z_sWVcGej7731QF0TlGts0l4UJ6xMYZxIH67sY7w8WUa2mzm-uaRO9GGyJND0maTIswe4k5ucBPukqDk3nzDY4mu4QE24WSIQdDPW5U1M0qSDhn-JpdG7jIRwY3BGGXT77OMQWOPRH4FVS1denHTZlKI9smT0UrWsw-XcbMEQ5kPMvNoP2uV8KRMxeUC4aVjO3SELa1yizEL7MTYUxd0lL5Tj9r2vznRsD1X1hYlb8WoeC-sfSGHW4bv8Y3kyCUAlmlQVlFVPWu7zNCZ-YPAuLGUJ4EkDf3nZlWFMWrOgYNYv5vI4ApVOzEcmy49WkZ7c_UL58PBIig5XLrWTvIOPKZkm7FooIAXAScSizR9QHAK08yKda5cqkx05NHYv3o4TCmGzQuvSeec5fWqaT3gIG8_81OEwbgbTTT2I3MN39065IFWH90xPcgUosozZznDE0hRjWJg_aKC8oslF5U4-dp3w4b8QDap7-40kLfVk1gQ-Vo-E2c_-I2kyYTRqbJ82D-AVw6y_v_Zt4-lI55EP7toxMzZRNYNKPe0dyZ3KKjs=",
  "id": "rs_07e7cfd5b0c08642016ab44ff9227087d0afa7582baa58cd17",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.055,\"right_gripper\":1.0},\"note\":\"After the radial advance, the yellow object has moved down the wrist view and remains centered between the open jaws, indicating the fingertips are now over it. I am descending toward the object's mid-height for the second grasp attempt.\"}",
  "call_id": "call_hiEeNpumQ377eaKByABM6q7p",
  "id": "fc_07e7cfd5b0c08642016ab44ff9b72887d0a640ab53c123e8e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hiEeNpumQ377eaKByABM6q7p",
  "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, 0.804, 0.6067, -0.4732, -0.0193, -0.0387, 0.9993, 0.5179, 1.4296, 0.8917, -0.2447, 0.4076, 0.2802, 0.9991]\nstate[eef_state]: left_x=0.2823 left_y=0.0017 left_z=0.1598 left_yaw=0.003 left_pitch=-0.09 left_roll=-0.0019 left_gripper=0.9993 right_x=0.3707 right_y=0.1347 right_z=0.1358 right_yaw=0.0182 right_pitch=-0.1128 right_roll=-0.069 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -1.306, 7.0359, 1.7851, -0.0806, -0.0317, -0.0122, 0.0479, -6.8855, 7.0359, 1.873, 0.2711, -0.0708, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f50941589d65c1657630579e02e6c872310bb61a48138810f47ddaa0af43328",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f3c863a53d555baa746054d01ca61fb8f895a1dea7d406b9fd4b1f814d81d90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee0b1b3e99f6844554f67468e0d8e222a8f7759c1ead6fda628a31c829bb1b7d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 3.289 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4355, -0.0193, -0.0387, 0.9993, 0.4179, 1.4971, 0.9245, -0.2691, 0.2691, 0.1844, 0.0139]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1674 left_yaw=0.0029 left_pitch=-0.0515 left_roll=-0.0027 left_gripper=0.9993 right_x=0.3824 right_y=0.1224 right_z=0.1138 right_yaw=0.0789 right_pitch=-0.2112 right_roll=-0.071 right_gripper=0.0139\nstate[joint_eff]: [-0.0752, -1.4427, 6.9949, 1.7705, -0.0464, -0.0513, -0.0122, -0.253, -6.735, 7.0769, 1.7216, 0.149, 0.105, 1.2088]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4583, -0.0189, -0.0383, 0.9993, 0.5129, 1.433, 0.9382, -0.2707, 0.4042, 0.289, 0.9991]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1629 left_yaw=0.0024 left_pitch=-0.0744 left_roll=-0.0021 left_gripper=0.9993 right_x=0.377 right_y=0.1367 right_z=0.149 right_yaw=0.0119 right_pitch=-0.0986 right_roll=-0.0518 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.2513, 7.159, 1.7265, -0.0757, -0.0024, -0.0122, -0.6632, -5.6547, 10.3453, 2.1709, 0.2564, 0.0269, -0.1099]\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 35 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, 0.6067, -0.4732, -0.0193, -0.0387, 0.9993, 0.5179, 1.4296, 0.8917, -0.2447, 0.4076, 0.2802, 0.9991]\nstate[eef_state]: left_x=0.2823 left_y=0.0017 left_z=0.1598 left_yaw=0.003 left_pitch=-0.09 left_roll=-0.0019 left_gripper=0.9993 right_x=0.3707 right_y=0.1347 right_z=0.1358 right_yaw=0.0182 right_pitch=-0.1128 right_roll=-0.069 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -1.306, 7.0359, 1.7851, -0.0806, -0.0317, -0.0122, 0.0479, -6.8855, 7.0359, 1.873, 0.2711, -0.0708, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f50941589d65c1657630579e02e6c872310bb61a48138810f47ddaa0af43328",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f3c863a53d555baa746054d01ca61fb8f895a1dea7d406b9fd4b1f814d81d90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee0b1b3e99f6844554f67468e0d8e222a8f7759c1ead6fda628a31c829bb1b7d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFAAPfgBRq75hGR-YEMYdecEaLkoH5DAzx5rMHciFf72T1OZD0K2Iph0Dg2qbfXoAfylKJWsYer9gVHZB8CDElpUGbq9KwVCWKnTC8CH38nMaN255543DZi80qGvBdb_fClI8iRv1t2OcvsjuW03HGTKmkhXpzfFa7Fen90y7He5-l832cGV6U_6D7DYg5ESaIW-uWbyxHVKgVufVPFMXluWJ9PkBvehxD1L3D-xkp9Zx2-eT7YAEEiS9XhiyRHPSWuk_v-HtjM--ty0Gch8zU38CC0mCRKgq0F4fbVLtXEtFWP0WQcr0QabfVl2Ya4Q0c_6-XFCRtQRzxiQOXwdp4kHAM_xcyDFLccsRbNz6WcYpoX4NIqaoVIP3TYHCj3GTwVKcVJ0YrkrHZBDO8tv8hlt2U9sg99N4Qck5bIaGsfed82f2419LfRPv8NtCqxwTFjiFjsezyO7jO5ZPTq8-yso_qnNfIk60rF7mfYBZA4Z9LRM3DN5wlo83n7EWoqka1h5rpxMpV6dKtchyaDRSrpq_PNIjMIj6HLnOoOywtRHzKUEwuoK7dLK0drGyDk2Woyg7JxyH5uscyLQQkf-Cjp2S0SYyTt-DGOGYOQEsjHxaYph0azJY-p7gqPUU7xvoSDG0NU_Yr_uJxBq26JC6ZrikQD54Djni-yVothGMdxWg4E2S9GwnVc3q-J8fpWhNEPsEqwrwN9u36v7CCBhI8yxYhi82OmUn-WMV_oGxjFt_I1IUSgbhCqNvMze0SeNv5EB-ArTudaMBys0tRqqyRgKFz23_5uXXAojh_-BYQrcRQFo4b22uN_vI8jJo7c6wy3lzhpwWBUbVucb05KU547CWATOavclym4FtcyREQG-tdDXLUbljyFDaXkoMPgquiVsTieTU77a99m7EJ-KpwdcLnklDhEKbOuVrzZdy70SlipO1vFp_LFjTwxNw2kRFYNm2YjKUV2mK3fMTKLuFd5pkZcVkPvbdU6zy6fVQuPQuYC8tSII5fn5Q4cWim__1H6ihEQvmzZCLTrKLQr2uA2BqF3R2bTMwe005S5PqndM_q1Uc4E3TujnC2LyjCXqWgDZ9aBOUPTVyDLwJKwV7wtEJyxTqg08QVWt2a6JkO_I1dsda_Pww1DdZlmUUt-Rmy-nOE5dLzE7wCAtlZEGHGq0Y0H2hQYf0cQeM9LpKtXHSlnzXo_lhJaXj6g4jsnbB6iIWoiTDh_cIT0atJXry-GHVHiPjT2bVhuAEsFG9zseFiZhrkeQ1UqDIRdazQk5Ty2RxzoHF6pTo6Ywr33DADySl2MeLF7_LFFn9hyqEwJjWDd9GxB4JSgRne4mUC90NdLlR9hG0QWcUe82T7uGLnD9QflLAR7CRQcT_vPqunFiNn6IETsDh0-uCOGMgqpHub_ZZvulxrriq1koqDFsuLTowef9ElovmpVZ61R5kegX_KIBecHIBeMQdAJ3Ydr9Qg_fXUjdgcxnVDs8R-jfF9bug0uteXFgpMnoZFWbdNj6VBFSQ9QaC6VEVDZY8xoc93rl9DDYWPELJ_ZrdB0SrMOLGI8VQdxCguVn4R-H1yuYQ2JpxINu5MfrkTmgjSQArd7DlBNkI_77F0Ru6aFM-wmM63rEy6_HmxfVaDCAs801X-r7gt_gY39w3Xhbw4JgTDRw1XABCrJBw9jJOk9ox_uHvloOSIAzh-dTUyCKJcomCi_J1liGfzl13oBjiKkk-ApxH7VpKE9mdN6KJ5OYuLY2FPYfvbgtfyqIf3RoowDyOsNoVGC5laREEt9KonrwIZIzWTBAxmkpT3kqvlOlg6LHtmCFpCASWJ1OWE7Avi0OehY4fSHXuTbfLcobbNGYhdlmUXW81cxsLQ0ZLYf7wI4bFUiEMJkqPfCK2mS6vTmclFZS38X2wQnw5FY5tE8zgXEtrqchDpb57zASzEjVsUzlDOTBbegA5LBcsO4IJzjyEWmXbpc9qUuzUbHdVmmc04h5AFdtYzXGT66S1_Hh2IdGjihemei3IBnce4vK5FHvVk6JoHQRKONOs9EnJt9X7EVImT89TtuVgg3uieH5wBkMvqEWy2H8AiW2J42zpnosYmvfLK29eIYp4gcW7mxbbv5h6Ei6ABufzc5h6tbf6mPInMV3cj2p4-zF1MoW9fHbkWB3-z2cwUhvhw4nEVnAhAc6OWlwrXidQE7o6xFWltOlC6OxQ0DKkOO6ERXAH-BKibcK7IkAfvq7A0KdR06W5-m6woWQzllvBc2YjqXTOyht-B-BD7yuhMiYPvmIJyEHub6svg833Tb1JFZ5u4Eo8X9n9NyAXr8rTmqSs8fU4g1UTRD0vZV2Y77EqrrpGl7wlPY3RFTNm8QPbZ18m2U21T8Tgb1_hBfV3B8J1hZ_hkLQw_OjzVsTq10c2VO8FzsnzSyiBC3nPnKW6QUylrN3Fd0yZgxp0rDQWsNGhhuzujfCrfvITOt48BfBYYDvmiHwBaWjOxwvobPppPlgUoKaU3Lxt_h4-k8Urx1bqtveGJ2KKeltUJAL0Gn-F6feYFysfNEuBWFh_khDTBWkdaxRa6LSiFM6G258t59OI-ybOjSj7Za5bwI3EUPbA-Rzut1ZrmZsZoIzaeWXeUXL7rp9pPb5N38CJX_6Siz2u3pq3oTJpJsTFS2lbjQqNYhbZ3XJck71Xhn2GjRXPCjwHLAcs8_0_sLISZk6oj_qeHaUqAIgaw_gYpnDVCgzu7UZTc3A3qH3wq4hphHB2dqNTollj6hfpJrVnA6WSkru0hqFgRltBw==",
  "id": "rs_07e7cfd5b0c08642016ab44ffc6a5887d0b1ce927a14d82dc7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.06,\"right_pitch\":0.2,\"right_gripper\":1.0},\"note\":\"The object is still centered and the arm stopped descending without the positive effort signature of table contact, so this appears to be an awkward reach configuration rather than a collision. I am tipping the tool modestly forward while maintaining the grasp point, which should let the arm reach the required lower height.\"}",
  "call_id": "call_8Md7zCwyXwW7oqE2ui2Wthq6",
  "id": "fc_07e7cfd5b0c08642016ab44fff118887d08c4a88339e93bc98",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8Md7zCwyXwW7oqE2ui2Wthq6",
  "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]: [-0.0189, 0.804, 0.6067, -0.4805, -0.0189, -0.0387, 0.9993, 0.572, 1.6775, 0.4564, 0.6178, 0.5133, 0.1848, 0.9991]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1584 left_yaw=0.0027 left_pitch=-0.0972 left_roll=-0.0019 left_gripper=0.9993 right_x=0.3586 right_y=0.132 right_z=0.038 right_yaw=0.0446 right_pitch=0.0718 right_roll=-0.1179 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.2239, 7.0085, 1.6728, -0.0464, -0.0611, -0.0122, 0.0752, -5.9829, 4.3145, 1.9072, 0.4469, -0.0171, -0.1148]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29c77f2bdf42989d5ed43a55891e1d1518b0a167f1b70eabb558f716dda39467",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77cfd7fdd554ef0b41cf246b2af39b3cd8073c6a08fdc2f5779fae32e4cb46f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12106dd5412cdde3712e6a4028aeaca1a10cd6c21441d53bc38145cebbb7a417",
      "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 · 3.833 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.453, -0.0189, -0.0387, 0.9993, 0.5335, 1.42, 0.9245, -0.2741, 0.4007, 0.2867, 0.9948]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.164 left_yaw=0.0026 left_pitch=-0.069 left_roll=-0.0026 left_gripper=0.9993 right_x=0.3704 right_y=0.1429 right_z=0.1475 right_yaw=0.0362 right_pitch=-0.1035 right_roll=-0.0535 right_gripper=0.9948\nstate[joint_eff]: [-0.212, -1.2239, 6.9949, 1.8584, -0.0806, -0.0513, -0.0171, 0.1162, -7.5966, 9.3607, 2.0098, 0.3004, 0.149, -0.1685]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4732, -0.0193, -0.0387, 0.9993, 0.5179, 1.4296, 0.8917, -0.2447, 0.4076, 0.2802, 0.9991]\nstate[eef_state]: left_x=0.2823 left_y=0.0017 left_z=0.1598 left_yaw=0.003 left_pitch=-0.09 left_roll=-0.0019 left_gripper=0.9993 right_x=0.3707 right_y=0.1347 right_z=0.1358 right_yaw=0.0182 right_pitch=-0.1128 right_roll=-0.069 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -1.306, 7.0359, 1.7851, -0.0806, -0.0317, -0.0122, 0.0479, -6.8855, 7.0359, 1.873, 0.2711, -0.0708, -0.1148]\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 39 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, 0.6067, -0.4805, -0.0189, -0.0387, 0.9993, 0.572, 1.6775, 0.4564, 0.6178, 0.5133, 0.1848, 0.9991]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1584 left_yaw=0.0027 left_pitch=-0.0972 left_roll=-0.0019 left_gripper=0.9993 right_x=0.3586 right_y=0.132 right_z=0.038 right_yaw=0.0446 right_pitch=0.0718 right_roll=-0.1179 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.2239, 7.0085, 1.6728, -0.0464, -0.0611, -0.0122, 0.0752, -5.9829, 4.3145, 1.9072, 0.4469, -0.0171, -0.1148]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29c77f2bdf42989d5ed43a55891e1d1518b0a167f1b70eabb558f716dda39467",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77cfd7fdd554ef0b41cf246b2af39b3cd8073c6a08fdc2f5779fae32e4cb46f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12106dd5412cdde3712e6a4028aeaca1a10cd6c21441d53bc38145cebbb7a417",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFAExz-MQ-Pv6Ji_VvGeQfyHN26dNTnyAINhgfJdgGSus5-tyzCP4ddvIf7_tGWeg8jOusMyHnILloRyVRxplXKSA3e5r1EvXRlIJsUsbY_w2PqWdtMiDpxwY1yijcvaKDJKL1Mk4k5T-z_ApeXCpxrnutKJJDyHN1gXYYNr9SD6r-XbjYQrbrWNvA6ZscxDG0uusZ9cOqB2iR5t5rhrquD3KUA9gcVJjlIHPoknlA9VJuKiEtQlfJ8dD0M5GzRKaYBrHDklGL3e0dfYvUrOcQ0LWHwCwRzRORupyFGrdR30gJT_PCc52gSbNnyNbh68KbKSX7RiPteqykOOnbPuKuEQn-qI8bxkqI7JjJ2oNeHOiT_s16ngAUjHSm_ZIJbpFEcTGbi5qUq8Mav1sDwZ2Vh9M0wiEaR9diIIIvi0980SEn37lS_U8gNfMDTBdtj2Uzjz3j3DmTPYRIWIS_AbTNtuO1IZHjbSz4pgyFHv0ewordENzxkfBAFocMXL1LMM9zQZb9bdDiIcSrxxjfvs2An1vNBd-Do0t4FXoo7vXGO9JEcbU2lH4GOdDTlKHVwQfjU_ASc83fW2Xml98TSi1gE8xRJmYdd6eCppeempoYqoHj0x7SXRW4kvJnKCiIRkry6FjITyEubH6OlExMs3geeOCUQih__-iZbh3yHWhIuRQAgA-JESg6rV_nirq5qWVql1ZriTNO-cQhbdnLjORf38_PhqixxLw9o-Hbu3TgqyoMMltJje-6g37yLI66yp7Xs6PgPRM6ZecrcRo6NxWCW-umGER4RCKvhQTJ-dzg7T2bUplQmyb0FoJaQgv7-GdSZErKWw6JK0Z8Gl33uBwaoiK9zXK-M1ZsjSugd4NucU967_qISET5ME-1PcfE2eCXPByyFWCGmItYPedMhKZS7504XAVAPq0i4J95LqWs0mEJZZK_nrAHOtvFjN0H71_2bETpy3WIWlPrKQjXVxpXsQOuceRm0ZDt6joH_npR0txeQ11zrcFjJ0482A6yZpjbqq3g2hJlwdBHaaI5T1cXdMb_7HyHDyWWFHQj4hYjfurSkgTneztVfrcG2xILuoANlxuYMyI1vBzqaKiSSfUvH-sMA1izEDGEwsZapx-UV00JKhnFWExo2G4FalNVP4IRzKqUUOjBppDbgbaSWKFC4m4EngBUgpmsLCPxh3FenpESlY35bYvDOSslsh4yYsi_mLA8-6RVTaDXHDSRHoxksliaY-YT2VfxaeJDZELeeDc_pgZHpRmZ6CK9BSzAA1b66r3Bpl_eDCoHvNebjaBI6mZP7XqFE8xV7AcaKoDWVIufx4fC1Ze3jo0KdZ8sb04o3ZjnrGRzxUPsXt-wpedKMmIXQrkd7VOJuOrw7AHjI-HyoC_CjjbgX8vb-H1XBrzOMlj7Z9tx7Ma7yWeCl7bMnJPz38b4EWDEltUMRqZ_KQ9YQc-mSb0p5Qqp1FxDArRdCz",
  "id": "rs_07e7cfd5b0c08642016ab450030cf487d095b08f1a0b519956",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The pitch adjustment succeeded: the grasp point is now at 3.8 cm above the table, and the yellow object is centered between the fingers in both overhead and wrist views. I am closing the gripper for the second grasp.\"}",
  "call_id": "call_wwy4NwU8s6utkrHexQH7l9s1",
  "id": "fc_07e7cfd5b0c08642016ab45003c9b487d0bc4de85494fe3b6d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wwy4NwU8s6utkrHexQH7l9s1",
  "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, 0.6067, -0.4957, -0.0189, -0.0387, 0.9993, 0.5739, 1.6939, 0.4393, 0.5995, 0.5079, 0.1761, 0.0133]\nstate[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.1555 left_yaw=0.0027 left_pitch=-0.1125 left_roll=-0.0016 left_gripper=0.9993 right_x=0.3501 right_y=0.1283 right_z=0.0232 right_yaw=0.0568 right_pitch=0.0246 right_roll=-0.1486 right_gripper=0.0133\nstate[joint_eff]: [-0.3624, -1.1829, 7.1316, 1.8193, -0.0611, -0.0708, -0.0171, -0.5128, -7.5145, 5.7504, 1.7705, 0.2418, 0.0562, 1.2088]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:535161c0e3518575fa90922a5b52ff9ad6f46f9cdb9803ecb3343a0bae3ddea0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5de08a02f8664a6c67b02cc661d573c4fdda745c4b4a31b13d2808aa46499a99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50f1fe80c585d146e584f19063fa76caaf61959c9e95fbbd08ed7192f2ac2e06",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 2.388 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4583, -0.0189, -0.0383, 0.9993, 0.5129, 1.433, 0.9382, -0.2707, 0.4042, 0.289, 0.9991]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1629 left_yaw=0.0024 left_pitch=-0.0744 left_roll=-0.0021 left_gripper=0.9993 right_x=0.377 right_y=0.1367 right_z=0.149 right_yaw=0.0119 right_pitch=-0.0986 right_roll=-0.0518 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.2513, 7.159, 1.7265, -0.0757, -0.0024, -0.0122, -0.6632, -5.6547, 10.3453, 2.1709, 0.2564, 0.0269, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4805, -0.0189, -0.0387, 0.9993, 0.572, 1.6775, 0.4564, 0.6178, 0.5133, 0.1848, 0.9991]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1584 left_yaw=0.0027 left_pitch=-0.0972 left_roll=-0.0019 left_gripper=0.9993 right_x=0.3586 right_y=0.132 right_z=0.038 right_yaw=0.0446 right_pitch=0.0718 right_roll=-0.1179 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.2239, 7.0085, 1.6728, -0.0464, -0.0611, -0.0122, 0.0752, -5.9829, 4.3145, 1.9072, 0.4469, -0.0171, -0.1148]\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 43 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, 0.6067, -0.4957, -0.0189, -0.0387, 0.9993, 0.5739, 1.6939, 0.4393, 0.5995, 0.5079, 0.1761, 0.0133]\nstate[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.1555 left_yaw=0.0027 left_pitch=-0.1125 left_roll=-0.0016 left_gripper=0.9993 right_x=0.3501 right_y=0.1283 right_z=0.0232 right_yaw=0.0568 right_pitch=0.0246 right_roll=-0.1486 right_gripper=0.0133\nstate[joint_eff]: [-0.3624, -1.1829, 7.1316, 1.8193, -0.0611, -0.0708, -0.0171, -0.5128, -7.5145, 5.7504, 1.7705, 0.2418, 0.0562, 1.2088]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:535161c0e3518575fa90922a5b52ff9ad6f46f9cdb9803ecb3343a0bae3ddea0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5de08a02f8664a6c67b02cc661d573c4fdda745c4b4a31b13d2808aa46499a99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50f1fe80c585d146e584f19063fa76caaf61959c9e95fbbd08ed7192f2ac2e06",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFAJVDPwAiHMewOFNUcqQtJyWfNl78wcNR3iwO9OzANCPjlDZlqiO5O1iSVhvO0JAomjp-ZXjFt7_Jwiuec-Yc09ReUJEqnCpdTWGVktgdw6wRXvEzNzdvwF544trys4zeEMeOu_VDf6C_mGpVcMdheuoaUV8iJyd8paj70WFPdbRLqM8H9OwSIbSWZQ2lzWxWLzuvdAtDeF2gfgcuwaxZpeKyXkruaCC5Ces3TbJS7WUr5SSh45Yw-NAl33IYOEOdOudZEIwlLUUW1VUzwV2Y2jupCCbZbFULqEZspgjMq-Jt4SVnsBhkQNrqV0AmWq44c_OHJuE_J9hrUsJnELabkhhzR__ItCjBZKpzEsHpSxSQtJUQtDMxmKAQcOHIpJRu0sBZdmRbXtkxFGj4UG5CCQrU-HrR3gECTKRL_RleJvPtoa0o7QtcteEzLiGA35iWLJVIWuUGnYdj1XwHG-Gp1GutWL3iEzOOEyv12JgLYFEs2x1ZiagkrTcEUlocmGIq5ajjqAYu2JTgTmAl7DESoLRiT_D3sY-BMcwUNTSryeKDQ8tKoPzs-Dc8uT7ya887SkvchbGgWhoWDSRYrLS9fhPqSppqQ2rBVt611B_Co4nNB3rpni7vzpgujm_Z5dZT9IYss9jyiASFN_zO8qejxUQN7CUHHGaE9gbt9A8VUmJgEfcNxO-ocA-_vGhtP6NHgkBSp85OrNqNB0jSwcHU9irpUPHXTXNMiCCcmX7YD2Oqbidprco7OPk-T2x9Y7aBOYeRN68LAT8YxgbbNdOHSqsz5bJeGJtGgubDAXWmjaGg9jwSlDmzwKLH6cbONKjM_27nIFZp493wiHp8vZLDeSxv3dNBTpurUfnruK2nX1i8CIGO5bUaR8DBazPCgT9spIKN_zDsEILcOrX2MYRPYu_tRZosRNJGnYBn4UgOQObt9Ic3ETWgBZygYdan-_SJMT1Fj_3AIxQ4bMcx5KLaLA5f5IWgIS7GzKxnY1vPZ_3yMK0faoH9NJR4F67YlZd8cgJ93zszGGdqia7Iq6u8LPPeKEy8tAv9kchVfJWtbXoiguvZ0Hxa9aPiqWoa83T8wCZuEN7khrdpgIU_6d33Xn4o7GvKFKt6eCLMvDVdjzP2k8KO06DTfyXY9zcs9z-CYAKUQ1ORQexbYNzTknzGSY6Wcgkf7F1hE6K7GY2CtzDvX0w-eFzCKZqL2yRtYuBuSUpaDTlHyaxpBZwAwqMDjjXAXk-3Xr6mLs72fOBWDZRWK0NP7NSDgCjiae7EeLGHk2Izb-W1kU6CAm7jaQO3TTnygfW50bsjx4C3Qr2la2lYyZ0DV2IXFkg1lCiTjBPwp903M_XQ9LyHWOUzgzWoMoGRwXALZK1KmOongczInFEccNIjFTBE6bqfny_8yWkdjV0zUfJ5ZrhOjsKyga6c7QbeBPljVXh4zJ_GmCKvQ3YB2obqFefFpYEDjQjhWOiKGI9GhYiATiiLoREAIvgFiYLDC7wnquZB8hVWmOuofKt-JgoMR1xgOvXtq4NPWnB_DiuYtN5OqZtf1ZIHdNOA56OcI0siEBusWoi_PRpct1I563WMDWXZ-h50U6s8sa2qINPVg0FSD8VTIBDiv4AlTItAm86kjpPUrKq6i9aEjtRljd9rJNU088FxZI5sj_tOh042RbxpvDHbN7HLzIyViJ4JVzEoZg0M4P0x6ViWYbQMV2I_qPOm_-_dCghtRnu9_uB_J3VrigGBp_CqqlaG99m61QxnUMwt8Wr4ode9QzgiyegvMQ8JtLFaSmWDkUBq4bRYi5AlKjsInT_0QLZsLRgjsQ5cAz5argd-PtIaCWxvPzMMU5cDXPPT9DkoDt_ikpiWT70MGyjzDjTmPfVHP9_huOWYR9XcoQIn45G58lC26ZhFUGwGMI_L7B2CZ8QQulSogCKDXVIQKTqYaCbkrjwWaen_eLBtra3peLaBxUZxuOJotlIWWQYmB9lqjegpR2XBPS69Bk9maDmtoybECGOV17VQ9Witwwf1QM1rLBcq34ZUzgfQf4vmSToVjRt7Zs82FM02Koay4USKDfqcOhaSHT1q-oY5qGIkwLYIW2dpNCA_3I5M9JLTJNyw7MgnJmSfDHk2FZlvGruciw5-ApJP4RxzuKpW4QsSGkMGeV27TCP8eVyS_olcF2g7aaowjPNrtEhPekdhJQtPytc2WbqZ1CdV7dkIUbpjEljUQFBIQ=",
  "id": "rs_07e7cfd5b0c08642016ab45006b21087d0806f74f9635ebb74",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_x\":0.4,\"right_z\":0.055,\"right_pitch\":0.25},\"note\":\"The second close is also empty at 0.013; the pitched wrist view now makes the error clear—the yellow object is centered laterally but still several centimetres beyond the fingertips because the arm drifted inward during descent. I am reopening and advancing the low grasp point outward while keeping the reach-friendly forward pitch.\"}",
  "call_id": "call_nVcxOK36tMmga2CuVdTj8Fcu",
  "id": "fc_07e7cfd5b0c08642016ab45008964887d09042e9635e99130c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nVcxOK36tMmga2CuVdTj8Fcu",
  "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, 0.8078, 0.6067, -0.5114, -0.0189, -0.0383, 0.9993, 0.5098, 1.832, 0.4717, 0.8875, 0.4961, 0.0441, 0.9944]\nstate[eef_state]: left_x=0.2765 left_y=0.0017 left_z=0.1516 left_yaw=0.0025 left_pitch=-0.132 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3875 right_y=0.1244 right_z=0.0375 right_yaw=0.0674 right_pitch=0.1721 right_roll=-0.1751 right_gripper=0.9944\nstate[joint_eff]: [-0.1573, -1.5111, 7.1179, 1.7656, -0.0317, -0.0122, -0.0122, -0.6359, -5.9419, 6.106, 2.1661, 0.1343, 0.0415, -0.0659]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14ea084fa25021d335b8de89f5902fbb5ba27d9119bc89b4a645b43c4a4628b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c4290e01a326515263b9ad192673def4978d14c326b6895b303e2b3df9679dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c4303c2b8dc76ab55d7ce858e88d68561f85a03cd63001cf58c8d4e79347a7f",
      "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 12 attempt 0 · /responses · status 200 · 3.154 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4732, -0.0193, -0.0387, 0.9993, 0.5179, 1.4296, 0.8917, -0.2447, 0.4076, 0.2802, 0.9991]\nstate[eef_state]: left_x=0.2823 left_y=0.0017 left_z=0.1598 left_yaw=0.003 left_pitch=-0.09 left_roll=-0.0019 left_gripper=0.9993 right_x=0.3707 right_y=0.1347 right_z=0.1358 right_yaw=0.0182 right_pitch=-0.1128 right_roll=-0.069 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -1.306, 7.0359, 1.7851, -0.0806, -0.0317, -0.0122, 0.0479, -6.8855, 7.0359, 1.873, 0.2711, -0.0708, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4957, -0.0189, -0.0387, 0.9993, 0.5739, 1.6939, 0.4393, 0.5995, 0.5079, 0.1761, 0.0133]\nstate[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.1555 left_yaw=0.0027 left_pitch=-0.1125 left_roll=-0.0016 left_gripper=0.9993 right_x=0.3501 right_y=0.1283 right_z=0.0232 right_yaw=0.0568 right_pitch=0.0246 right_roll=-0.1486 right_gripper=0.0133\nstate[joint_eff]: [-0.3624, -1.1829, 7.1316, 1.8193, -0.0611, -0.0708, -0.0171, -0.5128, -7.5145, 5.7504, 1.7705, 0.2418, 0.0562, 1.2088]\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 47 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, 0.6067, -0.5114, -0.0189, -0.0383, 0.9993, 0.5098, 1.832, 0.4717, 0.8875, 0.4961, 0.0441, 0.9944]\nstate[eef_state]: left_x=0.2765 left_y=0.0017 left_z=0.1516 left_yaw=0.0025 left_pitch=-0.132 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3875 right_y=0.1244 right_z=0.0375 right_yaw=0.0674 right_pitch=0.1721 right_roll=-0.1751 right_gripper=0.9944\nstate[joint_eff]: [-0.1573, -1.5111, 7.1179, 1.7656, -0.0317, -0.0122, -0.0122, -0.6359, -5.9419, 6.106, 2.1661, 0.1343, 0.0415, -0.0659]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14ea084fa25021d335b8de89f5902fbb5ba27d9119bc89b4a645b43c4a4628b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c4290e01a326515263b9ad192673def4978d14c326b6895b303e2b3df9679dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c4303c2b8dc76ab55d7ce858e88d68561f85a03cd63001cf58c8d4e79347a7f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFAM2QzSd2HHa22tXwBbAX-q4wpaVLT1thTPM2nIITljRO4EtyPUaTTEB--iTs7FMfXh00xs6cX4I-nE-MJ-gtU_7Jqknus0Zp4xCXELE0-3pV0CexemqYAXrbiGf8HCTi3IKVOdETtST6ahd6WJiwVWUQIxV5TKcD7S8rgpC8522zZoXTfvjrEoU2Y6RDO3Mp_90tztca9Wrh7DpxoPU8jlFXCVJz3bc_Jm8HS44wrHZOe-gKiF9dKS55nc7_jWji0UlOd_aK1CaBeXrDnu2YQc7VLhcbj_FPXWLcyQwE599Wld7E6Y9S9fNzrQmUGLP7AH-R5YiXtgZ-0hgcrT9fH0BwVH35JrWqCwJLvZm_jN8V8wr6gb1r5sjfYeorjzhgU8L_Ms8aXGhU-gkZVWhK1CMep-fIlwzbD0fMYuuGLA8SvtLqEnPinAfBzbf5fQGMEnwKt7uZC77N0hRijPRHMagWpHeV9OpsnebAn8N7RMjEM-q5EjeNdkhW2_LKYQqqdVZru1diisyTsQqm6V19M7KcZmIGaKhjAzcKOLTllbaaBANdEnH8B7Gi2rcoNCWZ6Wf1aC8VpY5hITrIgdAPB8liCOMbfunH_2golY-Q--NVqevOBCPeteiwzrrb9kXSia-goWGhJ1hHFr7UTViZGlN4co1JN-KqTwwJz1nqm5iBYHEJQrEwyNnIeLaxavdK6nlxGmU99TpmA_626GdFhVIIUETSNlU6uKgQsehm4WgrY0vOoM1bAnijlsbOWTeYsQX9JyL-gzPfgThWNoFauU7Abw6ujG1T4lmqjcTeHxBRpvT7DH_OdQY8otyJ89S-6mnKZ3j-0tpAJo225SPDE_C0xsBXKO_88JnVWFXDIFTQ2G6-RJmhBmst2Py77-01B5MYnT_k9PHS4oYlyb-jBtiTLLEDY-pSD1Rnmf-RbD3H9yLugKtaXuKUx1nPLtW0Qwm9jsz3YqVCS6aH3FPBosUjDoCI0NPp1PkLMqwVkoS7M5jDKt3WU3MX4AdpA0y6QVYECW7F9c37hZG-soS_795T-SHUpgtn-qsltj97fQfVq4_rDdCEYA-Jq7hDqg3g7l9nTs8BieCxCBl2-BDzNB33xbZhyYloKwsjj453x6cRHP8ZFyJtUpLRHBpFsP5A-xwrBT0aVXN6_uYxYvS8C1jBB8aApym9uZ6h2X-HiQSBSFrvA2wq9CGQBetZehBUQvU_4mp_djBhw08aF0lcvptHzfpmp691Wqx8TCy3g3M3g_FIDANlqMNTi2-NDPgKyCPXrmJWONDZ1N72fO4zf2QkfPdF0aWgmv_nwMR38JfcY=",
  "id": "rs_07e7cfd5b0c08642016ab4500b8a1887d0bd2619de0f145b78",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The outward move tracked to x=0.388 m, and the yellow object now sits low in the wrist image directly between both visible fingertips rather than beyond them. I am closing at this corrected position.\"}",
  "call_id": "call_vwZAgZnOIv1oVWPuyWuaHb5Y",
  "id": "fc_07e7cfd5b0c08642016ab4500bd3fc87d09385f5ac57794a1f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vwZAgZnOIv1oVWPuyWuaHb5Y",
  "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, 0.8078, 0.6067, -0.5182, -0.0193, -0.0383, 0.9993, 0.5091, 1.8389, 0.4713, 0.8703, 0.4965, 0.0372, 0.0135]\nstate[eef_state]: left_x=0.2754 left_y=0.0018 left_z=0.1503 left_yaw=0.0029 left_pitch=-0.1388 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3854 right_y=0.1229 right_z=0.0314 right_yaw=0.0718 right_pitch=0.1494 right_roll=-0.1921 right_gripper=0.0135\nstate[joint_eff]: [-0.0068, -1.2239, 7.0359, 1.6386, -0.0855, -0.0317, -0.0171, -0.1026, -7.5692, 4.1231, 1.9609, 0.0904, 0.0415, 1.116]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f96057a7c82f0c38b963a2148583b3f83d19f06bf5e9dd75dedcba2265a2542",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8439ae64b306b44a8e4eb9285efb728faca1094524ec6999e5612e0192bdfe6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ecc7db4c9b5f0d842cf3e83d4f97c5693c5228b11b468d322aaf9591a035e29",
      "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 · 2.865 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4805, -0.0189, -0.0387, 0.9993, 0.572, 1.6775, 0.4564, 0.6178, 0.5133, 0.1848, 0.9991]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1584 left_yaw=0.0027 left_pitch=-0.0972 left_roll=-0.0019 left_gripper=0.9993 right_x=0.3586 right_y=0.132 right_z=0.038 right_yaw=0.0446 right_pitch=0.0718 right_roll=-0.1179 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.2239, 7.0085, 1.6728, -0.0464, -0.0611, -0.0122, 0.0752, -5.9829, 4.3145, 1.9072, 0.4469, -0.0171, -0.1148]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5114, -0.0189, -0.0383, 0.9993, 0.5098, 1.832, 0.4717, 0.8875, 0.4961, 0.0441, 0.9944]\nstate[eef_state]: left_x=0.2765 left_y=0.0017 left_z=0.1516 left_yaw=0.0025 left_pitch=-0.132 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3875 right_y=0.1244 right_z=0.0375 right_yaw=0.0674 right_pitch=0.1721 right_roll=-0.1751 right_gripper=0.9944\nstate[joint_eff]: [-0.1573, -1.5111, 7.1179, 1.7656, -0.0317, -0.0122, -0.0122, -0.6359, -5.9419, 6.106, 2.1661, 0.1343, 0.0415, -0.0659]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 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, 0.6067, -0.5182, -0.0193, -0.0383, 0.9993, 0.5091, 1.8389, 0.4713, 0.8703, 0.4965, 0.0372, 0.0135]\nstate[eef_state]: left_x=0.2754 left_y=0.0018 left_z=0.1503 left_yaw=0.0029 left_pitch=-0.1388 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3854 right_y=0.1229 right_z=0.0314 right_yaw=0.0718 right_pitch=0.1494 right_roll=-0.1921 right_gripper=0.0135\nstate[joint_eff]: [-0.0068, -1.2239, 7.0359, 1.6386, -0.0855, -0.0317, -0.0171, -0.1026, -7.5692, 4.1231, 1.9609, 0.0904, 0.0415, 1.116]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f96057a7c82f0c38b963a2148583b3f83d19f06bf5e9dd75dedcba2265a2542",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8439ae64b306b44a8e4eb9285efb728faca1094524ec6999e5612e0192bdfe6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ecc7db4c9b5f0d842cf3e83d4f97c5693c5228b11b468d322aaf9591a035e29",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFAQkC9kWTLaR1fxMRuuNaWy93zZljJZINrxlz0sIcBGEC4zPGjXnPnrkPJCB_CxgYzT9CJn_tdU6fDz_sTXVc5Dr2pT8r4e7ghWOKgYJs-hCsX0vMB3jwq3mXlIbpmzUwyiD6Tf4yVxuDLiZJwkBRd_U649rMBu1EE_0wcOEcHZ6zk8rALQYKLWqnj10Svp4mDP5iCW0FCACbYbObXygo1iitnVlXP3JR1At8tCOyCdvK9xnev2zSeZ8tBe-5Fs1oLHEZzJHHUbZifheznwHljzpgi9kHEy3uR9of6xZkmATwtbki1s6GKLEUgfzfKy6UKi8U40jVHD4dYFXmbNIg1oCBFpQuQiM87Dwp22zTGwZWjkVxKPS41finmkH1vsCg2zobDSe2WaCYh5AZecShZj6Usjn2iiCpG5YnthSYPNv7v-hQCUxk0epYxITSXHqi8g6tx-vAceQK6FS-Zm6yLQ-hr3vRZ-WuTUa8RliTqwBdttlxkIbWxZ62UUDaS9dVHNuIWw0kIGPo0kl7bZ1yv3SouBEfC0kOG-eYBp09QU5R2PpAlO3jpCqwd3uFSecdPZ8EdQ00oaKMEDFhzIm3AO689nsynB7FQnuvd6dzP_59tx-5MoS4rEACq0X8hMxsyzC9HdQ9ev6IVyhLZzBrjsUmDiPPTNCpmCHHiT7tvFQ5bLO1eTE0_bPLo43pWAz1Cla5e7-wEV0WwoGOedwx6TfZ6cQIfbZb9V5HIo14N084tOspWaILeFzULBl7KqXmWSP2lF4wXI4q1qqSEVsBoG5wKtNQhFCojYmdJETQ5kvWVUGP9ZV-Nfxgk8FGjLKgLscRyImICBmBTMjed8VB8-xNmb6h8iILjFhvQyHowWRVTJptfbEgW_JZjTGEp0OJZ6RsyeFHsLi_BKWd-H80WDFHarbEgkqwRwm-AT73A4R-OSLmai4Ncp8Ar7_-wGMDVnvpkC4y66Uu8D2bNt1Y9kC0sjh-6orOtYOZY7e8LutEYKiuP9XjcP9-Rg3KxGcyl5iSiINie9EGdO8K_jseqqfF7ZOZl7ssNiGpF7viObLuJqY6n1OQR0rWVG8ZoPEEWwXM3WEUoQ-Qh_Rg_NaZTygGQAitsYyjLhWuvHA9xf2iwTBKQUqcAxfX4Gfg5VHNp0Q9C5HZ2h9RQhkuS2cQtPnqfhYH70OaLcGqxBuNAtEBSDRXe7iaPK4o_IkyqdX-qANWOHWUP2YyBeSQrxLHMRFIk8IauDhNdLqAUgKmL0qO1QHhkiwuvveLHd9BpKuflYuaCTR78m-E8TCtOvN8fs2XaeXp_Zwpju81MQu56IbQGx9-xor_CV8ADTkZ7UQiec9hvfE2YzRXBeFO88FSyHtbiAr8CwrU29b338-xYqmjSm4iB1pMvqMrnLCZoGqOuqfSxJGnUBXcSKEqMTQVs1a_KB6jF7U3hhozdxXhmCHvDaH-esJzxcN8IwvY5E779nGqQCZGJqQP2TB77TMHCDwIVYJJx51xosxdUjd3vkXxbGgM0OVMnMRf6ndxGnBHrJwQGFYDqKlpZ0LgzTh2_CGN7BDO1X-ps83mKP5_3t5AWMtUiPafirjlyEKoMrrBKjiWpJD6XZWgrRxaTRh60sPU1_KuktuJfMJdqAWVbAIgyMy7AF1g75YZ_u-KVhHXT3z3iEvsPvORu246r0U3yl2yvp5y_VmoL6OIscJvui1yTM9wBJaKunTRswXiEiSpQ0zL5o2cQeN105HVvozn5WdlGkbQj1erVgmeiGVCf037k3rBLrxXM8ZR_dQF9PbNrT",
  "id": "rs_07e7cfd5b0c08642016ab4500eba4487d09c1fb6a592ad9911",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_x\":0.415,\"right_z\":0.055,\"right_pitch\":0.25},\"note\":\"The gripper still closed empty, and the closed-jaw view shows a small but definite gap between the jaw tip and the near end of the yellow object. I am reopening and advancing another 3 cm radially at the same low, pitched posture to put the fingertip line across the object.\"}",
  "call_id": "call_HaX3wllUP8nqZw421TrFORFI",
  "id": "fc_07e7cfd5b0c08642016ab4500fc9f887d08d10c5a456f6f92b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HaX3wllUP8nqZw421TrFORFI",
  "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, 0.8089, 0.6067, -0.5285, -0.0193, -0.0383, 0.9993, 0.4713, 1.8706, 0.5156, 0.9199, 0.474, -0.0261, 0.9951]\nstate[eef_state]: left_x=0.2737 left_y=0.0018 left_z=0.1481 left_yaw=0.0029 left_pitch=-0.1503 left_roll=-0.0002 left_gripper=0.9993 right_x=0.405 right_y=0.1199 right_z=0.0422 right_yaw=0.0834 right_pitch=0.1952 right_roll=-0.216 right_gripper=0.9951\nstate[joint_eff]: [0.0205, -1.2376, 6.9538, 1.6923, -0.0757, -0.0366, -0.0122, -0.5675, -6.2564, 5.9419, 2.2149, 0.0708, 0.0269, -0.2125]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaa3c86948b184a4f4ac236a47ba193c4b93a67ec6b722206fc659d840df74a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:226fe734fe7d8cf48788a91f7eadf9c1e3ec0c9c4253384d26ab1aeb3254acc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b835a8450b1bb722b87369320c0a40ae097bae2aabe413c6d88a44e0b15e29e7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 3.585 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4957, -0.0189, -0.0387, 0.9993, 0.5739, 1.6939, 0.4393, 0.5995, 0.5079, 0.1761, 0.0133]\nstate[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.1555 left_yaw=0.0027 left_pitch=-0.1125 left_roll=-0.0016 left_gripper=0.9993 right_x=0.3501 right_y=0.1283 right_z=0.0232 right_yaw=0.0568 right_pitch=0.0246 right_roll=-0.1486 right_gripper=0.0133\nstate[joint_eff]: [-0.3624, -1.1829, 7.1316, 1.8193, -0.0611, -0.0708, -0.0171, -0.5128, -7.5145, 5.7504, 1.7705, 0.2418, 0.0562, 1.2088]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5182, -0.0193, -0.0383, 0.9993, 0.5091, 1.8389, 0.4713, 0.8703, 0.4965, 0.0372, 0.0135]\nstate[eef_state]: left_x=0.2754 left_y=0.0018 left_z=0.1503 left_yaw=0.0029 left_pitch=-0.1388 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3854 right_y=0.1229 right_z=0.0314 right_yaw=0.0718 right_pitch=0.1494 right_roll=-0.1921 right_gripper=0.0135\nstate[joint_eff]: [-0.0068, -1.2239, 7.0359, 1.6386, -0.0855, -0.0317, -0.0171, -0.1026, -7.5692, 4.1231, 1.9609, 0.0904, 0.0415, 1.116]\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 55 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, 0.8089, 0.6067, -0.5285, -0.0193, -0.0383, 0.9993, 0.4713, 1.8706, 0.5156, 0.9199, 0.474, -0.0261, 0.9951]\nstate[eef_state]: left_x=0.2737 left_y=0.0018 left_z=0.1481 left_yaw=0.0029 left_pitch=-0.1503 left_roll=-0.0002 left_gripper=0.9993 right_x=0.405 right_y=0.1199 right_z=0.0422 right_yaw=0.0834 right_pitch=0.1952 right_roll=-0.216 right_gripper=0.9951\nstate[joint_eff]: [0.0205, -1.2376, 6.9538, 1.6923, -0.0757, -0.0366, -0.0122, -0.5675, -6.2564, 5.9419, 2.2149, 0.0708, 0.0269, -0.2125]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaa3c86948b184a4f4ac236a47ba193c4b93a67ec6b722206fc659d840df74a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:226fe734fe7d8cf48788a91f7eadf9c1e3ec0c9c4253384d26ab1aeb3254acc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b835a8450b1bb722b87369320c0a40ae097bae2aabe413c6d88a44e0b15e29e7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFAUDl12r900nkPUNJMAROeQUDidAxdfYGtCBCR3UgRQINemT5THoj1AY_u8ckpmda_ogBUKu7ZqWIlo2r0_7i8LHGne8gQG1ICWLwS5KBEnkwX-B4b1UyfnrVFKDvW9ltHAjqwYIyk3Bfn_6ZzDScc-8Mi3KL2tIPowjzZrrPXblJAW-KlfTqMoVMZQMUHx-BSgaC4buLNWHGLwXaaT7u-1va7bdkSH-8mM1-heGDPuepCQjgvP1Hg3jKigarO4fBatNOBe5nIARTPen9ZHSPAtGjvUjlxO4oWPT8ZvQZhuo28bcf37a6nDpWb56raIXssnNQmwqfl6TSbIU5oVZut64DuiOgABn22zCQ6iixZP48nugpMaY43QxPJYgQv-CmJpPteql-hF9DI_eJJ4WeqSnJPMCctCmNOwOrwfK9kYwXzmWL0sgn-bhLP9L-JlPIHBtPm1wyQf1yi9d1xYQfpOVgjnPlj5KXBqvVwHgfN5VBRbjpc63dS7uJ7G1UhgV33mS7_TtXXQ89t944HgOvNTexRzP710y0tzjpkN37GNvSuj5Zv8xTyjHcM3HtdNBHam32Dwxc3fAFeFDLxfyRyDQ9ylkUjoPFt4DxyPgeiu3sGGlcA2VfCJRSUcxb_rP8-IZGiQFEeZAArDZtAkVS8eVqKG9s-s00AmtdvIjMiUqQGXG8x2UeIhmC5_7CHJqWnYUcHtK8qUdaWNwJ7k7_BJzbLUupyj7Y3mo0b98adBNP4XcuGr1htfzCKI6cPpeG0P8a5CX_vlIFPtyOMai15WLmcDa_mRiG7oUDmf9HUodnZ8HaU04OgSys1J97J_Ox3aCEYdA-T1FEXglTd1pn0s_jPUC27ymHB1R4Ssuosc7eJg3d8VGLiybkkgxSBn08bU7KzFSP5251PyxAbcYYjEtOvichj5r4dDgCwRXA4ODsG49LCaPVpnbNHqm80B287Vkj8MsCFz3AHK9wMGtH3JlVn9rQWmCEqrk4qmatd1dyGK9z-yttTjLNiIpyTFi1zATTvXPAGvfdQlIuNP2fQI6CIXtw5UFR27WzdTY4jY3pRcUnJ3MV-JQuiXPebZJJOwCHnJiRAlwSd02UPrGN7pCxJ5mtpcxSuh2DGkj80_dyWo8NnNJnWSmqGvJBbLnemOk_Z4OYhGifA-odZ13sc6wRJ-9nmES1x8ELW6hznqlIRpnJmyO8-VZ4h9EdJtXiSqny6P0XW7BmvlvXgSZmu3eJ4M0SLFhQqrxooIurhA9UUkfhuhWB9Va_RzhKQ-mBSajtigO-Nl1BzYK9bwgFV-uhjd9ug8YBs3vi6QHhlx4SPFOmnTd7gpcHmqiQ26t7qz",
  "id": "rs_07e7cfd5b0c08642016ab4501396b487d0bb2a1b2ffd511aab",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The yellow object is now visibly between the two open fingertips, with the jaw tips extending past its near edge; this is the first view showing true overlap rather than a gap. I am closing at this position.\"}",
  "call_id": "call_GfOYOelRpPvCaFkCEk0aH6dD",
  "id": "fc_07e7cfd5b0c08642016ab45013e4f887d0b4edd07f4a284d9a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GfOYOelRpPvCaFkCEk0aH6dD",
  "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, 0.8097, 0.6067, -0.54, -0.0189, -0.0383, 0.9993, 0.4698, 1.8767, 0.5171, 0.8997, 0.4736, -0.0269, 0.0134]\nstate[eef_state]: left_x=0.2718 left_y=0.0018 left_z=0.1458 left_yaw=0.0026 left_pitch=-0.1625 left_roll=-0.0002 left_gripper=0.9993 right_x=0.4034 right_y=0.1185 right_z=0.0361 right_yaw=0.0844 right_pitch=0.1721 right_roll=-0.226 right_gripper=0.0134\nstate[joint_eff]: [-0.0752, -1.2786, 6.9128, 1.6972, -0.0708, 0.0171, -0.0122, 0.0068, -7.8427, 3.9179, 1.9951, 0.0952, -0.0562, 1.1258]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d66e1f5b7fc7e312de3e92f3f72f4dbbd53e1409087aef8404e50571fd25423",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93781862d05e483c5266db8c78cab87c7799be2f85e54a004d8ae426f6a6ea01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b47cde9197025694acb184d900c426a2891d13745c45f08e413e2b210a8b4ac",
      "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 · 3.356 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5114, -0.0189, -0.0383, 0.9993, 0.5098, 1.832, 0.4717, 0.8875, 0.4961, 0.0441, 0.9944]\nstate[eef_state]: left_x=0.2765 left_y=0.0017 left_z=0.1516 left_yaw=0.0025 left_pitch=-0.132 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3875 right_y=0.1244 right_z=0.0375 right_yaw=0.0674 right_pitch=0.1721 right_roll=-0.1751 right_gripper=0.9944\nstate[joint_eff]: [-0.1573, -1.5111, 7.1179, 1.7656, -0.0317, -0.0122, -0.0122, -0.6359, -5.9419, 6.106, 2.1661, 0.1343, 0.0415, -0.0659]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8089, 0.6067, -0.5285, -0.0193, -0.0383, 0.9993, 0.4713, 1.8706, 0.5156, 0.9199, 0.474, -0.0261, 0.9951]\nstate[eef_state]: left_x=0.2737 left_y=0.0018 left_z=0.1481 left_yaw=0.0029 left_pitch=-0.1503 left_roll=-0.0002 left_gripper=0.9993 right_x=0.405 right_y=0.1199 right_z=0.0422 right_yaw=0.0834 right_pitch=0.1952 right_roll=-0.216 right_gripper=0.9951\nstate[joint_eff]: [0.0205, -1.2376, 6.9538, 1.6923, -0.0757, -0.0366, -0.0122, -0.5675, -6.2564, 5.9419, 2.2149, 0.0708, 0.0269, -0.2125]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 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, 0.8097, 0.6067, -0.54, -0.0189, -0.0383, 0.9993, 0.4698, 1.8767, 0.5171, 0.8997, 0.4736, -0.0269, 0.0134]\nstate[eef_state]: left_x=0.2718 left_y=0.0018 left_z=0.1458 left_yaw=0.0026 left_pitch=-0.1625 left_roll=-0.0002 left_gripper=0.9993 right_x=0.4034 right_y=0.1185 right_z=0.0361 right_yaw=0.0844 right_pitch=0.1721 right_roll=-0.226 right_gripper=0.0134\nstate[joint_eff]: [-0.0752, -1.2786, 6.9128, 1.6972, -0.0708, 0.0171, -0.0122, 0.0068, -7.8427, 3.9179, 1.9951, 0.0952, -0.0562, 1.1258]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d66e1f5b7fc7e312de3e92f3f72f4dbbd53e1409087aef8404e50571fd25423",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93781862d05e483c5266db8c78cab87c7799be2f85e54a004d8ae426f6a6ea01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b47cde9197025694acb184d900c426a2891d13745c45f08e413e2b210a8b4ac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFAZ4bOIxQwrOiPFI56RZUfwfBev0B8YJa61zXYRaiB3v8uWQD-M5JoR9Pd3jPO6UikLjiGKlXDTXt8XSirM3mgaHgK0om2MK_qf7k4F6ZXqnvd-eBAEJA21Hv9ABINmRyuU5nlAZU3rS9ngKoikmsXa8wxSdZ0uKeMHO-ygDOh9GWCs6SOAaKet_y-8DJI9Nx74TrynPg1VGsfxVN21a5lyLqFldqF5rNvXALKOd147RGG8v8XZM7a9Icl5u_dzV_awiCwA26oa5QEEkUIkpFfQF3w5dGGQrl1xXcDI-rKtO2f1QaOyE8L3w4WvVK7XflS5mfb4qvr2zfrji2UEzbdHY4dNg_XCH3de4yz5u1-H3AIGMTxJRqtHa3jEroqWSYHwHJhh4vo-cT7b-hbG7fIF5Ko3xRHatzL9PEQ0ObyXmXj8M1T5x6xkvzhCVGKo8rQgFIH8t0TbKdanJBFDhNRIKmX9CO1bnFFtSPIVCkk9MjfQJMP5ohcVTYFBFHq9aL-Yg7r2KH0kDuKGl5TcHLyMG-IZDW9nnwk3-OtxnN9_5lbGzfp3u2vDiuSn7WjAKZLRDnJgz74qcsEMpJtRTk0XXxMawTfoAR7Xr6czHCGltDSIBn-9kGoNnC7QfcHBpa3mQLgf_xxSfEJg-HKEZYJC09WB1jrpvbRMWGH8ITv_MFonb2cCOCgfRODPU6lz5wgKiti6HFcuKUPT2d2SB6HnESJ4ljIX80lLg2xYF_f3EYDPdTqwBuPXob0UyYA5Zl1khwv5i3YbQ8Lsowf4RV68M6SLjYZxr2l4r4jRhTJ7BviGxscnkOecggvPknh_MFhPnZrihajYXB871HPnFjsr7QO9QbXAViZpPoSLSw4VIbB3J8k7cQi9JyNO-tXttxAJYoOvaXofSL6rE7r-Zq388vIyPuw7tlyQKK2eoW6QXpZpk4qfeWLE4Z9W0hRVG6Go48qkWyl2I1UvTm45gEdL0SjuaV13wXBEpjibinCObC_FE9o9bAozqeI7WizLjBlvZitOWqKaRVC8ggDB1fiW6FF1mzn8Wz7avHQfosi7THEJwOjhPChdPstXHsA6eQKymspYZQ2l4IRsn26Lf4LnyyTuzZvx0Ny6TeHYZohzOQMT2CJFR1RItB4BKzD3nASnyB2BccK0smBWcP49HWh5Oveo7-iVU-JpaQc4Reo27uPxZDJy-MtTuCnEWq4AvIET5-R87nSFzQBuXcV2sAJbiN67m-PX3qCqbSAX7Gzkb4kqjfd2E5vv7ZCP739UKJwnza0Kl1sc4Z8zCPTzXRv19xTZmUitBteql7RLR6m6zFUBppMhIpoEelMKAwyg_LVSPZOmfTU7PcVPS5QSzG4aXf7_4JZZ_ByInT5TNKrYZ5cbF_txDMrJqtzKVxWubSgjb_VcNFA5xPH4xgsenR71jRoZb52-hSiLGQwCTPinSHAYZWCooBLtWrbzht0AXMRYu9pBxtbrZbAqzbVAJ98qciGCQOVf2DLCWts3crXX2cL3AoB5LFv2vP3SiQbErMmkkWk6DAQClAQ4TO2k9BD0xR4NIy6KFAA-dvXaZ1lvvilKrSaPZH3cj9FGpluQQhKsx_fp1dxOYuAlAjwLHPoyBKwPm1sS1VyEElUId8semPrTtSfPUD6sDH_llaNL7QRid5ZOI17j5DkL5pfVWYm7SKk6vtyFjmCvatqtZ2ZWOaJEZxNHa8PpRGE1Jl4E9lqNtmKL_FCopIuFMzSXXX245qngqviIsr19TpwWRO6JhobZNNbkXtSFPEKXM2mYTKxleUWMvAvCwyPUCw6vrCz7xTK8esCHaKA7-8I2tkva1nKAL5B43C_-zfatvDr4gg1hSGt_b9LSPxcHn2beeE8P3TXP6AUinG4O0vgAQwOyD6o=",
  "id": "rs_07e7cfd5b0c08642016ab45016aee087d0a80115706312ae17",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_x\":0.405,\"right_y\":0.15,\"right_z\":0.055,\"right_pitch\":0.25},\"note\":\"The radial overlap is finally correct, but the closed-jaw view reveals the object slipped left of the jaw line as the arm drifted laterally during the low move. I am reopening and shifting the grasp point about 3 cm left while preserving the established radial depth.\"}",
  "call_id": "call_1rIXA1oXaPJSGSNZg2J5ftsZ",
  "id": "fc_07e7cfd5b0c08642016ab450185e9887d0b0df836158ddbaf0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1rIXA1oXaPJSGSNZg2J5ftsZ",
  "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, 0.8097, 0.6067, -0.556, -0.0189, -0.0387, 0.9993, 0.5644, 1.8839, 0.5434, 0.8997, 0.5621, -0.0231, 0.9949]\nstate[eef_state]: left_x=0.2691 left_y=0.0018 left_z=0.1429 left_yaw=0.0029 left_pitch=-0.1785 left_roll=-0.0002 left_gripper=0.9993 right_x=0.3986 right_y=0.1452 right_z=0.0448 right_yaw=0.1024 right_pitch=0.2058 right_roll=-0.2502 right_gripper=0.9949\nstate[joint_eff]: [-0.1983, -1.2103, 6.8855, 1.7265, -0.0122, -0.0415, -0.0171, 0.5675, -6.5436, 6.106, 2.0391, 0.232, 0.0855, -0.2369]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3ec5c53b20739e5ee2b0d9539b30f92f3e1d53b7ca6d2fd8719c856d043d3ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ddc505d14a069a3e43ee65e7164b8316596f0bb81b1f4d1f8cdacb9c76f4e40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76c2e9a633a8f7b3fe3df5fc0941209cbc925e6de8f336410d8ccd412d18b2de",
      "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 · 8.407 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5182, -0.0193, -0.0383, 0.9993, 0.5091, 1.8389, 0.4713, 0.8703, 0.4965, 0.0372, 0.0135]\nstate[eef_state]: left_x=0.2754 left_y=0.0018 left_z=0.1503 left_yaw=0.0029 left_pitch=-0.1388 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3854 right_y=0.1229 right_z=0.0314 right_yaw=0.0718 right_pitch=0.1494 right_roll=-0.1921 right_gripper=0.0135\nstate[joint_eff]: [-0.0068, -1.2239, 7.0359, 1.6386, -0.0855, -0.0317, -0.0171, -0.1026, -7.5692, 4.1231, 1.9609, 0.0904, 0.0415, 1.116]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.54, -0.0189, -0.0383, 0.9993, 0.4698, 1.8767, 0.5171, 0.8997, 0.4736, -0.0269, 0.0134]\nstate[eef_state]: left_x=0.2718 left_y=0.0018 left_z=0.1458 left_yaw=0.0026 left_pitch=-0.1625 left_roll=-0.0002 left_gripper=0.9993 right_x=0.4034 right_y=0.1185 right_z=0.0361 right_yaw=0.0844 right_pitch=0.1721 right_roll=-0.226 right_gripper=0.0134\nstate[joint_eff]: [-0.0752, -1.2786, 6.9128, 1.6972, -0.0708, 0.0171, -0.0122, 0.0068, -7.8427, 3.9179, 1.9951, 0.0952, -0.0562, 1.1258]\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 63 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, 0.8097, 0.6067, -0.556, -0.0189, -0.0387, 0.9993, 0.5644, 1.8839, 0.5434, 0.8997, 0.5621, -0.0231, 0.9949]\nstate[eef_state]: left_x=0.2691 left_y=0.0018 left_z=0.1429 left_yaw=0.0029 left_pitch=-0.1785 left_roll=-0.0002 left_gripper=0.9993 right_x=0.3986 right_y=0.1452 right_z=0.0448 right_yaw=0.1024 right_pitch=0.2058 right_roll=-0.2502 right_gripper=0.9949\nstate[joint_eff]: [-0.1983, -1.2103, 6.8855, 1.7265, -0.0122, -0.0415, -0.0171, 0.5675, -6.5436, 6.106, 2.0391, 0.232, 0.0855, -0.2369]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3ec5c53b20739e5ee2b0d9539b30f92f3e1d53b7ca6d2fd8719c856d043d3ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ddc505d14a069a3e43ee65e7164b8316596f0bb81b1f4d1f8cdacb9c76f4e40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76c2e9a633a8f7b3fe3df5fc0941209cbc925e6de8f336410d8ccd412d18b2de",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFAd5VJVCT7xo2YViiRz7ExzIN9ham06uAOKwFF-kflqHRtuf1RQP9fTxB9sNknqTYh9bRBS-f8TM8OuoFMhoEFtgjXpgUgxwuW3tZZRA4ufyjpvVm4yF7J771Mo0zfCLkaJLpWfRRE3aYVy51VAITpQApnoINEalh-k8Mh8A4hw1lCb3Jae_-omvfrtGp-Q-h9hr74PUW3YB99Epw9gwRdlvS-Xs0yKmvYsV6KVJEvmx4V5Szh5EDuyIURcioKjTHZt86m76OnSMHfF1udj7pd4VkLWXw0XArLmRMntHj3k_Pbc_RodsMVY5gtG2MXG3TQ-LIf2qooslBHRdS5tJhZGQMz9tKFMzvoPU3SVl182O5RVJJoP7srtmbrQ3_DvuMdkD7o7fqfLxMiwA98TPFA-_3SHLBYPD4lY9ZmgJ1X7hmnsRilJTKjYNzxjlNPe6PWX0gXrAPEUSwcnRwYhlKwPMBoEpfFBoy8IYzeUIIlHARdl9wZt6PfA4K3EdQG5R3_fOqwztL7Als6ARPhShjSmHIXUFRrqW06oY4jVk-hmUvD5qXKH_KOHSh-_HzqhnLh07FPBQ--bxTXNL0LhcMPvTHLBrgm0AnVhKcfTG-To0Bs87hS8RFUHKbQfEfTUqeIxbuDwranXbU5p_vQgnfiicCIofMEv_rbjgVai91dw3TdYb2mPMFPv1dMZ-dGHsX3QB27TyCOkBLVvVdfjAXkhxKKBG2kWybKR_B-oL8T_FmuJIj94J4vkiZlWQoz1ypaTpIfHrnREa3pWFvPfLYV1KpVKy-Fk3PlaHJC8AbrI0LyJkeQfRfYDJBNzSdGyKNxAOlcVZabeog5PAqJbVcsIEzaHFq7fqcRkAdC62vvzhabNoD22qLnc0_M1NMMynkyTG8F1Ml2yv6RJg54d3VvLoCQ7WxpJYEwbAFVZtfz1QEeEBVkzFS2aR2rv0lSV6JfN_4tzQb4nxrNAMqdBGZ93PJn50X9WWWMGlukBD-uHGNPPT4FdKZIwL8KlBKJo9DTtb-PtlJOKCJFajkfQHxFLeNP53XiXjDoe4pjKsUC7RMv4zus7pi-yJR_mn2mwaaZJ89ot6nw9vulSBfvPHlhN5YUGpmeDfspb0pm_P51PT7CgF4J5sKLFwxSRhf9P71RJzydbeunLZ_98Io4pdDZa6QB_riDndS2nQLjR7S1111zQl1wrd9YtIDEf1x7_DrgxUgDmHKZXVBIGwrO_O71doi09UlkKeBMWEOOo2W3tMZqqmBpJVe7WXGt9Yrk6AAdaweV9dnWUP0cYWMSQtF8OSOkIToAcXq56CJyTQDyN-XZ2tSTxv1lSe3NYekG5IdiqEh5_PHY1YGFbsbX44FrU9A0qmIWEcR2MIuXM98VyB0Gsl_geJ5MpCMAPWZoPDwyQJQrAmjykyRw5LhVKTYy-n3NB_8Jq4gRN1oTpjSody-mvWaMgxp8KZuIEgOiIhKQzi5GLbdzyS2m9LrsQ6QYFxghvgNUGVJCZlo_CJuIQYVAsSi-KU2SAJ__N3eoTypeT9yor_DjoHGSLJhuGkaMtJQ6-gIV4UVtpgMEvv3Q60_NYZzie-T6OPh7sO1FWzXflTHGISiir9pf8S8QgoQZtQmOZOR5euOzSRQ-CApPYO4dDUoR4I_HzbVoIqBfBs99o",
  "id": "rs_07e7cfd5b0c08642016ab4501b629087d09fff5b33df61644f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.15,\"right_z\":0.055,\"right_pitch\":0.25,\"right_gripper\":1.0},\"note\":\"The lateral correction is now excellent: the yellow object is centered exactly between the jaws. Its near edge still extends just past the fingertip ends, so I am adding a small 1.5 cm outward adjustment before closing.\"}",
  "call_id": "call_3eJGs8lxuu1HfV1aMH4OE2WG",
  "id": "fc_07e7cfd5b0c08642016ab4501c605887d0bd5840208ab7a5fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3eJGs8lxuu1HfV1aMH4OE2WG",
  "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, 0.8097, 0.6067, -0.5625, -0.0189, -0.0387, 0.9993, 0.5602, 1.8988, 0.5598, 0.8993, 0.561, -0.0376, 0.999]\nstate[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.1418 left_yaw=0.0029 left_pitch=-0.185 left_roll=-0.0 left_gripper=0.9993 right_x=0.4027 right_y=0.1459 right_z=0.044 right_yaw=0.107 right_pitch=0.2046 right_roll=-0.2629 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -1.1692, 6.9402, 1.7167, -0.0269, -0.0171, -0.0122, -0.5402, -6.653, 6.5709, 2.083, 0.1294, -0.0415, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e6862b231b9308724f3104036ecde7eb197926e65337dd192def9d6f62b6553",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ce74455594e467beb91064a4877894dd4a9ce99ad906ae132935231eb9f2511",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5cebc0fe60548185e4faa6733d13d46b4578b650a0b0fa706fd0c63138bb6ac",
      "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 · 3.158 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8089, 0.6067, -0.5285, -0.0193, -0.0383, 0.9993, 0.4713, 1.8706, 0.5156, 0.9199, 0.474, -0.0261, 0.9951]\nstate[eef_state]: left_x=0.2737 left_y=0.0018 left_z=0.1481 left_yaw=0.0029 left_pitch=-0.1503 left_roll=-0.0002 left_gripper=0.9993 right_x=0.405 right_y=0.1199 right_z=0.0422 right_yaw=0.0834 right_pitch=0.1952 right_roll=-0.216 right_gripper=0.9951\nstate[joint_eff]: [0.0205, -1.2376, 6.9538, 1.6923, -0.0757, -0.0366, -0.0122, -0.5675, -6.2564, 5.9419, 2.2149, 0.0708, 0.0269, -0.2125]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.556, -0.0189, -0.0387, 0.9993, 0.5644, 1.8839, 0.5434, 0.8997, 0.5621, -0.0231, 0.9949]\nstate[eef_state]: left_x=0.2691 left_y=0.0018 left_z=0.1429 left_yaw=0.0029 left_pitch=-0.1785 left_roll=-0.0002 left_gripper=0.9993 right_x=0.3986 right_y=0.1452 right_z=0.0448 right_yaw=0.1024 right_pitch=0.2058 right_roll=-0.2502 right_gripper=0.9949\nstate[joint_eff]: [-0.1983, -1.2103, 6.8855, 1.7265, -0.0122, -0.0415, -0.0171, 0.5675, -6.5436, 6.106, 2.0391, 0.232, 0.0855, -0.2369]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 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, 0.8097, 0.6067, -0.5625, -0.0189, -0.0387, 0.9993, 0.5602, 1.8988, 0.5598, 0.8993, 0.561, -0.0376, 0.999]\nstate[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.1418 left_yaw=0.0029 left_pitch=-0.185 left_roll=-0.0 left_gripper=0.9993 right_x=0.4027 right_y=0.1459 right_z=0.044 right_yaw=0.107 right_pitch=0.2046 right_roll=-0.2629 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -1.1692, 6.9402, 1.7167, -0.0269, -0.0171, -0.0122, -0.5402, -6.653, 6.5709, 2.083, 0.1294, -0.0415, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e6862b231b9308724f3104036ecde7eb197926e65337dd192def9d6f62b6553",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ce74455594e467beb91064a4877894dd4a9ce99ad906ae132935231eb9f2511",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5cebc0fe60548185e4faa6733d13d46b4578b650a0b0fa706fd0c63138bb6ac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFAmbzWH3OZlq391p03lbsvAO0roXbnKuXrsUrCQ4-oKljpqkwiwPgov1vsTfW_qQZsnUYFrqDkz8hn6BTzhFO51dObAAOuhDTD6k1hcdZE07OYmQcdokmsLgosh0tCSN8TifPPIWVb6sISSg1Bz9gXtBEU60tvxYwlK-VuaevbzP1TP7BuKWNproYN27JFrmmBkn_24zqnLmiayepxBF5Q_iLUsPgUCX9_-sL-S0Ev1cOB5Mj9iEoSt625JxbgO3rNWSvBXXfaQHN04Phee7W-dCcOg9zyLKJak6i25L5qVw5siP10IM0vt6X_DqI2BhFJvoLJk-vkpF9MD_TrqWw1eYIJucR1C8jd-f3ONEz-2D47ppUH1arq3lf6lrMreyxTsDda2BURJdaNwITmuZ6gsQosTeyXOElgu92I1CgGisyVYTrUsKq6P9IhpKgWbXlVGY-anK1NmcOleL0cVfvgVJyG2B31-IKACHH2B2pMrWklarKKL4qDQjozM1EOxmZ4_P8xPK1S5yMtVUrEz0UBg5wMVnzlzM2aNYgihlJnjlj2R7iJBAAu-A790dLfIy3nRtRr3G57wm0TzjRG-HXWjD34y8L8ZfhOJ11d4HSs4-F4P44PL5RdNsG4JfHuzgwlfoYiyOIL9vPdokdoc5dI0hGj9XhOwR2g0r4werZosVwYHptoJCjju0aO0_v_d8p3mOYoy-Lg3DiMSZHEwRsDaeWncgxh4QGZzuJKZkZ1JOEgEt9GH8_Hvy3N-lEFldgRcf8j13CPXYgtS8xmWvmiiMXBC8TwNlXkq9KBCEmDYyeMLxKdHjtvbKCb6M_KJ-rsoJWH1mfeRaQgTTv10qH4SqE04-gbOqzqBalhN2n2ebEwjEP0MeTz97IA4l_gZuiyMBDMDWOpQMznGWib4dxCPyDbwneA_teR7cZa5ZPtZah9NfuEYoYRmcw81O4IGMB9SUrAmApFAzobPxDDOzPxTOIQPrPXLIffkPmHgb6rClpInw5ziTZrsK7yWR0nsdMgZM3mmUVzelYly_R9jPKE18qd1DnNpHakPWw8HxtcKtcihDDAZGrla4AuJ2l1K39wbojyw0JvMlGS3gamFz5P9_9FAK1B6532YT5A53Vm43r1xotmIhL6WQCPsYXMyO1Yc1gEGVTuRMjMqylVu5I2TWJdnHhDnEjR_tKnQ2oMK_oAB65f7dSGLvVHW6xEf9KfIPnt1ODbXqEWGI3lj_bXDxuh-0Tk8OpZtzzsE3vJ3aiY=",
  "id": "rs_07e7cfd5b0c08642016ab45020d6e887d0817bf39adbe1542a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The yellow object remains centered with both fingertips flanking it, and the slight outward adjustment improved the fingertip overlap. I am closing now while the alignment is stable.\"}",
  "call_id": "call_jbpiSe4t5FkdYteW9Nc7oLDi",
  "id": "fc_07e7cfd5b0c08642016ab45020f35487d08fbc16d1d89f24d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jbpiSe4t5FkdYteW9Nc7oLDi",
  "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, 0.8097, 0.6067, -0.5781, -0.0189, -0.0383, 0.9993, 0.5571, 1.9095, 0.5617, 0.8921, 0.5571, -0.0471, 0.0135]\nstate[eef_state]: left_x=0.2653 left_y=0.0019 left_z=0.139 left_yaw=0.0028 left_pitch=-0.2006 left_roll=0.0006 left_gripper=0.9993 right_x=0.4024 right_y=0.1449 right_z=0.0387 right_yaw=0.1137 right_pitch=0.1881 right_roll=-0.2774 right_gripper=0.0135\nstate[joint_eff]: [-0.0479, -1.1692, 7.0496, 1.663, -0.0611, -0.0513, -0.0122, 0.1436, -8.4444, 3.9179, 1.8339, 0.1783, 0.0611, 1.2039]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:858c62f703583df653adb7324bf8bf91fb77316e6144f6e0a35d912afbc7da15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feb2b23e58848824da9f025803e300d022cd43525473faf778fb16b2a8149a5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46b89798c0c84cf7235c4b1d8cf5aa8e7969da19e6c1c0e8d79ef343a059aec4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 1.885 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.54, -0.0189, -0.0383, 0.9993, 0.4698, 1.8767, 0.5171, 0.8997, 0.4736, -0.0269, 0.0134]\nstate[eef_state]: left_x=0.2718 left_y=0.0018 left_z=0.1458 left_yaw=0.0026 left_pitch=-0.1625 left_roll=-0.0002 left_gripper=0.9993 right_x=0.4034 right_y=0.1185 right_z=0.0361 right_yaw=0.0844 right_pitch=0.1721 right_roll=-0.226 right_gripper=0.0134\nstate[joint_eff]: [-0.0752, -1.2786, 6.9128, 1.6972, -0.0708, 0.0171, -0.0122, 0.0068, -7.8427, 3.9179, 1.9951, 0.0952, -0.0562, 1.1258]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5625, -0.0189, -0.0387, 0.9993, 0.5602, 1.8988, 0.5598, 0.8993, 0.561, -0.0376, 0.999]\nstate[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.1418 left_yaw=0.0029 left_pitch=-0.185 left_roll=-0.0 left_gripper=0.9993 right_x=0.4027 right_y=0.1459 right_z=0.044 right_yaw=0.107 right_pitch=0.2046 right_roll=-0.2629 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -1.1692, 6.9402, 1.7167, -0.0269, -0.0171, -0.0122, -0.5402, -6.653, 6.5709, 2.083, 0.1294, -0.0415, -0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5781, -0.0189, -0.0383, 0.9993, 0.5571, 1.9095, 0.5617, 0.8921, 0.5571, -0.0471, 0.0135]\nstate[eef_state]: left_x=0.2653 left_y=0.0019 left_z=0.139 left_yaw=0.0028 left_pitch=-0.2006 left_roll=0.0006 left_gripper=0.9993 right_x=0.4024 right_y=0.1449 right_z=0.0387 right_yaw=0.1137 right_pitch=0.1881 right_roll=-0.2774 right_gripper=0.0135\nstate[joint_eff]: [-0.0479, -1.1692, 7.0496, 1.663, -0.0611, -0.0513, -0.0122, 0.1436, -8.4444, 3.9179, 1.8339, 0.1783, 0.0611, 1.2039]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:858c62f703583df653adb7324bf8bf91fb77316e6144f6e0a35d912afbc7da15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feb2b23e58848824da9f025803e300d022cd43525473faf778fb16b2a8149a5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46b89798c0c84cf7235c4b1d8cf5aa8e7969da19e6c1c0e8d79ef343a059aec4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFAq5866fYIx96oUkCd5yJu9vD4PDnF6nbebiB0b3ruiYhEyLjz_UwXQhBxl1se-6WKxXNc05uon654QWrZA7n3vJycZzopz86_WehDNeydYOZ4IqUu1AiDfJiGs3VzbBSsCJhcN0CaiqKE9n-NqeJtToUs5KEYWCvWwxLYiHcJUeePC4Fi81erEZbDg2y5rt1NqEaRPaUAbStTB_hcM0W0dqCi76W_kTM2Zv5cT1qgWIFRVUht3-cY581shv_3hAV0aHhqUHV1wAEkelUj24bazo66wTHLNTXs9ZDCwChdgt4O17ziYKx_ZbI9bUCseIHpJjumwrzaPMKDl0NXEBtiHHHnVZWILqDJd6dk1cE8ZK8zdGNUJ3J7cuKM8iFRbQUCYwSffHX1Omwkbc6_PGTJAPp87PvDg96fkiZfYSm6rKdecnrtVNg1RW-n5yN-h3vqdC4dWFUqqC0hVTYhNzJS38lxRBJpDd8zrJ-yywKY1XlX3BXY0yhS3KP2ru_ZgvwE6R8cC9I1iMK5RLqIxAytJtCAOnBh40z2OrEtCLtA5QgcUYwietRtba_mdfYSmG9US4qdQKQWmUNb4TPexAPUbEfn90zbjBZNTQcLLR2waXC9Wx-zO8zhAyQdrNv3P9AiR_Dbc2Ovhcd9yBqOJz0iF7v3nTNNUg4rSEkFhIzhiq-obGvXq-sflnwOJ2vwYFpix8Bd5_sxWr0PIE8FW3HiRe691EAOEWfTECe07UKh9JAMzuM8ujr2F2QyIzi1X2HhL9yL6biKuP3qtHEpV9KxDywrNBhbsHfyKe7iXI9Yw3PrHGBoRBQSLvQIsU3kddr3AdIFMjCDiVmX3l6Iypo9nmFHYdcxlUpaYC6oGJM9aJSnQFzqONOdyj5M94Hcuej1PJgtFMDkMyYb2jU3fGHSy3ceXEMzZtGSIR8RvTbIBgSbzyQSe_DKzwSUiaDU_BJF1MYHU8BQd4bGPksekNQiIscxQpTq4Q8FUQT_X66F_3uEfrFsk2mJQLwHKWMXIMwLBz3iI-cbMkGai1UHe1elbEoPAEBuDmkgHJs4pcF0Y-vAQds1AyNXlNl7vjPqcLsRmWuc1Z9v91iLfm2gUlvbKx65gTHT_-4A1Qzc7ipDts2myijaj0qCya7Ti4qJQRCNUxXEmU1V07Nii9l6m-li8g6DSq83QCl-3nTe9hkb2F5pqk9qlpy29bQyR4X_k2DLnDOLoL6AaGYzbb0X-lJmrWcWcKMXgMXKIjx_heZbzX9O7x45K846Re8ycNVOigTahFebAqWFotLMkZHjElIi2FyeZX7PV7FhpnZHIVcl9aiynmmmtJx9Vv9_rEPqsrbjobaUbpiuGzRz8et9HkS150c3KegZpfF_Z5mIYNbSr-tg4cGM4-PVbJ4S_oezkCnQSxsL1iwserZraoxktu2VLtq2UsjGzyOda-ivL6A9x5iuRbuk9nZ9MUczsTScFoCLkxf8crd0DmLObsyDrJi3PMjxaZO-ZMm3KxXT1V9VNpwgYuDW2ZmKT-2JOUMTJyUciwvxPi_Hz-vTKPBwqbcSoN9wOK10GmQu0G9I7w02uDpfBhFQYP56R7zRjmXxxBtQcifSKxMezkP0yiLVdjhKgs9D4OicOnjmXxyg8g2ktq5Rk65DnLjaDPmjmHi-yBsRj7qV5r7UetbLP9Wjt_8qx_X_WmsKk7X9RFcxyZB4Dj17PcRhvqA74X7wsBoKzc2w7QJHmtIyPKwitylsxkFEGa4bXTapwg7oSbNJgCbz40QI=",
  "id": "rs_07e7cfd5b0c08642016ab450281d6487d09d2b56466856d686",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_x\":0.45,\"right_y\":0.15,\"right_z\":0.055,\"right_pitch\":0.25},\"note\":\"The closed-jaw view finally explains the repeated misses: the jaws are only touching the near tip of this long yellow plush object, not crossing its body. I am reopening and moving nearly 5 cm farther outward so the jaw line reaches the object's broad middle.\"}",
  "call_id": "call_PRpRUTqgNStKFXfSUypyvUyT",
  "id": "fc_07e7cfd5b0c08642016ab45029125c87d0a013d3ed94cb2f5b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PRpRUTqgNStKFXfSUypyvUyT",
  "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, 0.8097, 0.6067, -0.5854, -0.0189, -0.0383, 0.9993, 0.5014, 1.9816, 0.6964, 0.87, 0.5106, -0.1043, 0.9946]\nstate[eef_state]: left_x=0.2641 left_y=0.0019 left_z=0.1377 left_yaw=0.0028 left_pitch=-0.2079 left_roll=0.0008 left_gripper=0.9993 right_x=0.4408 right_y=0.1473 right_z=0.0456 right_yaw=0.1247 right_pitch=0.2084 right_roll=-0.2962 right_gripper=0.9946\nstate[joint_eff]: [-0.212, -1.1556, 6.8581, 1.5702, -0.0513, -0.0073, -0.0122, -0.6496, -7.6239, 6.4068, 2.0537, 0.1001, 0.0708, -0.0611]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:021ab63997d8c4fa5c315003dc82b3e63c9a0242227006e628892ba2b3254f0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b80a692f0c560f0e4ff1b7b3c6319bc6a3ccfd15d1c01f1a736fc0eeb15df888",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b10fe8dc75155eebe55631ab0f61673aa7c48ad6ddae6d05cb20dfa48b618913",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 4.998 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.556, -0.0189, -0.0387, 0.9993, 0.5644, 1.8839, 0.5434, 0.8997, 0.5621, -0.0231, 0.9949]\nstate[eef_state]: left_x=0.2691 left_y=0.0018 left_z=0.1429 left_yaw=0.0029 left_pitch=-0.1785 left_roll=-0.0002 left_gripper=0.9993 right_x=0.3986 right_y=0.1452 right_z=0.0448 right_yaw=0.1024 right_pitch=0.2058 right_roll=-0.2502 right_gripper=0.9949\nstate[joint_eff]: [-0.1983, -1.2103, 6.8855, 1.7265, -0.0122, -0.0415, -0.0171, 0.5675, -6.5436, 6.106, 2.0391, 0.232, 0.0855, -0.2369]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5781, -0.0189, -0.0383, 0.9993, 0.5571, 1.9095, 0.5617, 0.8921, 0.5571, -0.0471, 0.0135]\nstate[eef_state]: left_x=0.2653 left_y=0.0019 left_z=0.139 left_yaw=0.0028 left_pitch=-0.2006 left_roll=0.0006 left_gripper=0.9993 right_x=0.4024 right_y=0.1449 right_z=0.0387 right_yaw=0.1137 right_pitch=0.1881 right_roll=-0.2774 right_gripper=0.0135\nstate[joint_eff]: [-0.0479, -1.1692, 7.0496, 1.663, -0.0611, -0.0513, -0.0122, 0.1436, -8.4444, 3.9179, 1.8339, 0.1783, 0.0611, 1.2039]\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 75 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, 0.8097, 0.6067, -0.5854, -0.0189, -0.0383, 0.9993, 0.5014, 1.9816, 0.6964, 0.87, 0.5106, -0.1043, 0.9946]\nstate[eef_state]: left_x=0.2641 left_y=0.0019 left_z=0.1377 left_yaw=0.0028 left_pitch=-0.2079 left_roll=0.0008 left_gripper=0.9993 right_x=0.4408 right_y=0.1473 right_z=0.0456 right_yaw=0.1247 right_pitch=0.2084 right_roll=-0.2962 right_gripper=0.9946\nstate[joint_eff]: [-0.212, -1.1556, 6.8581, 1.5702, -0.0513, -0.0073, -0.0122, -0.6496, -7.6239, 6.4068, 2.0537, 0.1001, 0.0708, -0.0611]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:021ab63997d8c4fa5c315003dc82b3e63c9a0242227006e628892ba2b3254f0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b80a692f0c560f0e4ff1b7b3c6319bc6a3ccfd15d1c01f1a736fc0eeb15df888",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b10fe8dc75155eebe55631ab0f61673aa7c48ad6ddae6d05cb20dfa48b618913",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFAsZgj5UqVZVE6xRHG8uG8ZzyvGUL1P60UG6xnEoHvw8nLWLi2c2di79PvIGjcr4wcCdPyFlFhsDkLBSAGut9G1jmh_exWkIGXO0FenjM2pS9fv-CBm4YyvhVrfLHSbxMaoG1Aw8uB2HX_ltdnGmiiyxuUqXe3iIafwPMrAoqIHYE95vfqjuqjtDOa0Yi913D16FI04vjcXry6cT8hhFtUPr7o5MR5gkvJ0Wy5WO2YGFLWyYe3-L6MjZv2vr_V4QV1KS-mKJgqwjXjMZJI3bcuYN9y34oHufFqLc-VdJ8keRtS17AnIKDXJgzOOIXw_EfhJUyJOOl1F3q098E5mU8kMTLYnSqE35eKo7_rfG0MCgsKanV3YiQqoOAptnTD0f7NXtsfn6e_RQkGr0qawc4h1k_Fd5g11WSQgUoq2TG3pdHik5TU103xqBlYrF44U1alrwVC-LAJjXSWy0MpmM9W30L162En98Bea0pkZX8kfNnVa_L0CSSDqR46bHqPKvzH7QMsmiGfpNWiq7jDvpVkK_YrSt7jbhHAb4wUujyecXYWnUFMTVQYSktKNfhKJZF6dZOXL9ddiVoD4zAPzaZjCCG-MdrdvdMXChHaZjgyioGyCr2oRH12JnZO_ghI257PmpHzoUS1JBppNkYdbChUh56ZS6ScOyg79v7UFmDLOynkNxf3jrzm_f1LhX6dmpxiAMsS7rMXIYDd2NwdImwQlotEJFBJ6LNXXjlylVcc5p-04396abiu-nwH56hcHepoCw3WozpVyIU_5IlanPPD1trtdCkMMM_Zu6ohxm6pe_gDnF9jSABNVb73o2OW6honwuOX9BaYCdi1oRiedF_HI7pUCIIJTWeewnkUP74ZwnCS1NmlZ8zQnalgDb04-Gyty1d0SkFibcPMdDT2t23l_pQwCjxw45TQ8NXdqFPkFQj6RLXrKKroH_CEPjQMMhjkHRzRcdB5XXIjK2PYK_WQ0475TP6Fz4jiLHOB_Tk44yzj86Renk0Q9_Z8Fp-lufV9dsZQY1mX1qvmSXUrdD9gccoiPlFJhDAizDAWoZggFqSbws6rJ5V32E-YHUJ0FG0hzzG-vYMbC8fDT7O7htR6b7QJ3JAeCuRh5nb4W8dcpTBXsiu6RJGbo9BcmjvaOTyvKj6lPIi5hpW1D-emXSDJ5BkhibUaH_5VWH0xwIj5Cj4cLjBBuoPF4TG_peamyFDKD9_SklTlDnVHiM9YRybv2GhTu3gQBi0Y0NelGOFuUvo4=",
  "id": "rs_07e7cfd5b0c08642016ab4502c157087d084183304dabbf227",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The 5 cm advance worked: the open fingers now visibly straddle the broad middle of the yellow plush, with substantial overlap on both sides. I am closing on its body.\"}",
  "call_id": "call_xnuknEIOzhMJ0OCYIRCzqsdn",
  "id": "fc_07e7cfd5b0c08642016ab4502c37f487d0b93042b73c7b5d30",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xnuknEIOzhMJ0OCYIRCzqsdn",
  "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, 0.8097, 0.6067, -0.5884, -0.0189, -0.0383, 0.9993, 0.5007, 1.9842, 0.6968, 0.8528, 0.5034, -0.1089, 0.0129]\nstate[eef_state]: left_x=0.2635 left_y=0.0019 left_z=0.1372 left_yaw=0.0028 left_pitch=-0.2109 left_roll=0.0008 left_gripper=0.9993 right_x=0.4394 right_y=0.1474 right_z=0.0408 right_yaw=0.1339 right_pitch=0.1885 right_roll=-0.3049 right_gripper=0.0129\nstate[joint_eff]: [-0.0889, -1.1009, 6.8991, 1.5263, -0.0757, -0.0171, -0.0122, 0.0205, -9.0188, 4.3419, 2.0293, 0.2662, 0.0269, 1.1013]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18fd7e00540275f66003ebf207d24af85e7da7aca72ac04dba288c62ae5a6447",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff68f4213b23b44a06e5477cbb748423a1768fe8ba91f0de650fb96bc22c6a2b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88e8a840a1c7a07a866aa0b9fe53b34331bdf527dec8691e5160ce3551d8d6cf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 2.888 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5625, -0.0189, -0.0387, 0.9993, 0.5602, 1.8988, 0.5598, 0.8993, 0.561, -0.0376, 0.999]\nstate[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.1418 left_yaw=0.0029 left_pitch=-0.185 left_roll=-0.0 left_gripper=0.9993 right_x=0.4027 right_y=0.1459 right_z=0.044 right_yaw=0.107 right_pitch=0.2046 right_roll=-0.2629 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -1.1692, 6.9402, 1.7167, -0.0269, -0.0171, -0.0122, -0.5402, -6.653, 6.5709, 2.083, 0.1294, -0.0415, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5854, -0.0189, -0.0383, 0.9993, 0.5014, 1.9816, 0.6964, 0.87, 0.5106, -0.1043, 0.9946]\nstate[eef_state]: left_x=0.2641 left_y=0.0019 left_z=0.1377 left_yaw=0.0028 left_pitch=-0.2079 left_roll=0.0008 left_gripper=0.9993 right_x=0.4408 right_y=0.1473 right_z=0.0456 right_yaw=0.1247 right_pitch=0.2084 right_roll=-0.2962 right_gripper=0.9946\nstate[joint_eff]: [-0.212, -1.1556, 6.8581, 1.5702, -0.0513, -0.0073, -0.0122, -0.6496, -7.6239, 6.4068, 2.0537, 0.1001, 0.0708, -0.0611]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 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, 0.8097, 0.6067, -0.5884, -0.0189, -0.0383, 0.9993, 0.5007, 1.9842, 0.6968, 0.8528, 0.5034, -0.1089, 0.0129]\nstate[eef_state]: left_x=0.2635 left_y=0.0019 left_z=0.1372 left_yaw=0.0028 left_pitch=-0.2109 left_roll=0.0008 left_gripper=0.9993 right_x=0.4394 right_y=0.1474 right_z=0.0408 right_yaw=0.1339 right_pitch=0.1885 right_roll=-0.3049 right_gripper=0.0129\nstate[joint_eff]: [-0.0889, -1.1009, 6.8991, 1.5263, -0.0757, -0.0171, -0.0122, 0.0205, -9.0188, 4.3419, 2.0293, 0.2662, 0.0269, 1.1013]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18fd7e00540275f66003ebf207d24af85e7da7aca72ac04dba288c62ae5a6447",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff68f4213b23b44a06e5477cbb748423a1768fe8ba91f0de650fb96bc22c6a2b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88e8a840a1c7a07a866aa0b9fe53b34331bdf527dec8691e5160ce3551d8d6cf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFAy_1EjMuoqtAuTsdG3QDDKa61dvcbk18UgnbH6O7Un5A5bzh82teZLcJMwf8je_GEU-AdQJsIlUjJUAPPZ27kUgenpI9SRQeIJueNUZnDsUVMztJA_335raeKqV8_5S9SA6YTbDrLpH62obdE9dnMB6Qrf_tkZmd7BaN5u-ruy6ZgLS0Bkbg7i2q_hPAWByKfWTOhVWpJITtaDyOehPQPMNWlKSDfVunjTJtmKcJVtABPwVsT_ooUCp09bVEHus1EaSkDAtw9jkU1P3XUilbTTdHVUkcV94C8ughY7uEy0hBE8tiWux6fPN8oxlkqjn3q94Pi7OXjp2Q_IaqDw8JQen-GTab0cmDaH9eeTdk0jPABoLvsb9tRH4wALBnwcLV1GEIzlWGIYy4HNyxN4L04ATvYs61K7o2Tu1s0788BbBgT6rlXrRTTO4pcFHynBwLBEdgiYIMUHVRJkBYjlnsvlZpyCube1fn2iCxvw2duJlhA1tPNVG_8vKHixbXAvF2qCq3yI3tVWaQ5_fuooEhqTsfdQrJHgE_IkJSw-3iqdA6zqZz1wlxVRQ_Rd-hxZjOd3NcixaES_yffakN1wviI4E6QRGJg4Kqs3fhfczt6O7-vN08XWaUNIfh5cJGqse0i4PMSIr8L0hF7j0HnS0sVpZxjx-tjPtwFIL2U02N2DIL72ZcJsO9eweRZMpiqcK3jFYaANuKLRDMJ5ssOPqQFD8bkmoro2pa7qJMacj81x8LF7c1M0UMiN9A2gfBi3APSh-z_N64yEETksjmqsUl3YdDUkOrGUmWhTfHWcaFp-r_4PKsRxnlmdKRgbPEnj3TG54HiyjZ5nTjhxAIDvnkyT35gtDRb0Ss8CTrYtxrk4GMmcyBFLEa5JloPtv4iXgYog0MGcLr73OPzgVrQcZJ5GTp3-O435oTeR3V2PfdKO7sUQA3vj-QCjVaN_UoahAgEJ9ZXABxvG2oMlWtNcOXMWdm53L1SawNh_6hJcIWdQ05exAxFWzAP-NtK5O-EIAyYoRJ8p11xCBf-MhuNj606J47FtuYxGXGHrIDRCH0in7Zyl9sDV1j8eIiKBAWgtiBW2bUgzG2eIedmuyBb4xuI3XtVacK-j1SYNG6cu8qjNA05MimZWsXAX0FV4-5wxDVPJ8HYfMknIwX2jq4Xnmvt-7SVw8tRpd5Z3ETtH_F1nvBa2nPyKcf4GIv06FpmTfKRqMClPMK7Q2QfGyo3HXRkiOLazZynhP-2zNbi1M1sobbEOkS0X9n093__Djrv4JolERqXuVmG8vd3NF9e3MXpTg5jlvJ8k16ikuK0tC6iiToTMTWh_71h8hxdFz0LM9z8YdW0rHDuPVtpCXG1yTLTkwerEsqrvnqthOk39nH2P4Crh4NXN7QCEelyYeV3yqfpjr2KamjLxDM5tFHasP6E6ehCDVeRyFGQuuyLD-9LloXF2BYIzalk-a9FvE3kGabFCZQUicvvdH2mHxMN9ZSw5JUVCdX5Ztddjv7A9cjuCECvhXnGUkVHwYbAFNNasfGjsLbXahLNo9GgLCKYYesktHlffI8R0C9Jm-c2x2jdTz_7bspGlvBKy4JagdmYx29f1-AdLVDQjPTkFszhSKRWST4ZAxnVvTFnVGHNLoq3RVcOYMyepPul9wl4v18XRNEtTIYFLM-I99FJwUhfJD6PEji2G9yHCapqjAMzf8f1SQYdFVI3YmWKkqKV1ymuDGBdf9vKXh32yR04ie56iYT26dalPwDGsS0cJwKzuYaea7XylrIn2U0_kBHWIAhZKJTJLY6W3NnLTun9-amDQLj3w6ubQw7PrKFWwzE3jHTeVR2gloUBma6BXolo2E6dF6tdeOtSuaMIGFaa88NdLrAVnqBqrlEKRtCSPS8A5Rmw7rHBJzV3tcn_aeTbnniETXgLcoDZDIqRKtAbiYq8lARVp2VZGhXHrfOYfI0UkginTDS9E0V8i4NvEg2i_DATQlVNLhYfXg5q3bEnnK6OMrKeTBmV0GA3CtwHBlrdnnoSMjM0729DDNemlhrhCf3WrZdYfEUQfTI93neYdw1w0D0NnmvX3YWIh9z-5bUcBY9gHiBx1TRon4EZQ7Nq20mNu1PMLMWhjIVCtxFacUkF0oRcreksG7AIJgrLzFiYLeYCHzk771qqCwVnyrAWUhpoZgZ9I-Vm2oh3fEBegW9DWfSFcSgmfXEEgOdKFU-f5f03Npsn4O0QvqXcdYMW2J4M5R1HCo11hZZ_zaSo4pkddGZ26ASoG2DBkY0QQYsG9S6lQegHg7_tOm3fzZtBec4BD0fljfcucKsvNcAEJyqSyjhZYJlloE5xv1Ypp2vJ-sLLGymLS3d25x24rCgXKF4VPee_plfBiC34AqZL8E7yikbG1qTb2wlN1XVnTyrC9741R7thfDR_5uezs8gCispPYqe0-D9nIPU94RT8MsV-JVYtamkLqhK7Tb8JTdGuXTDNwjn9S_0zPr31NzS4J43gsx7d64mFjzvtJxBHzXjLGz8cSUg==",
  "id": "rs_07e7cfd5b0c08642016ab4502f062887d0892fd95676402ee2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_x\":0.46,\"right_y\":0.125,\"right_z\":0.06,\"right_pitch\":0.25},\"note\":\"The rounded plush squeezed sideways during the full close and is now standing just to the right of the closed jaw tip. I am reopening, shifting slightly right and outward to recenter on its broad body, and will use a partial close next to avoid ejecting it.\"}",
  "call_id": "call_16W6WMNZur1NJB0yHGlqo8vJ",
  "id": "fc_07e7cfd5b0c08642016ab45031b15c87d0af101b9ec842ee4c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_16W6WMNZur1NJB0yHGlqo8vJ",
  "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, 0.8097, 0.6067, -0.5922, -0.0189, -0.0387, 0.9993, 0.4202, 1.9842, 0.6964, 0.8581, 0.4286, -0.1688, 0.9951]\nstate[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1365 left_yaw=0.0031 left_pitch=-0.2147 left_roll=0.0006 left_gripper=0.9993 right_x=0.4503 right_y=0.1247 right_z=0.0393 right_yaw=0.148 right_pitch=0.173 right_roll=-0.3286 right_gripper=0.9951\nstate[joint_eff]: [-0.0068, -1.1556, 6.8444, 1.5653, -0.0708, -0.0562, -0.0122, -0.5128, -9.5658, 5.6274, 2.293, 0.0464, 0.0073, -0.2173]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8812f5f18b5cdb10def02044a4100142e3e9eca764d179954118c89825369a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88fb6668596e95a714bad79677897a4e485372641f9df74c18c268c4a086bc0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c83a5de0085ad229719b634267978a7ddab19a7e79cd4840c06aee414b61d628",
      "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 · 3.173 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5781, -0.0189, -0.0383, 0.9993, 0.5571, 1.9095, 0.5617, 0.8921, 0.5571, -0.0471, 0.0135]\nstate[eef_state]: left_x=0.2653 left_y=0.0019 left_z=0.139 left_yaw=0.0028 left_pitch=-0.2006 left_roll=0.0006 left_gripper=0.9993 right_x=0.4024 right_y=0.1449 right_z=0.0387 right_yaw=0.1137 right_pitch=0.1881 right_roll=-0.2774 right_gripper=0.0135\nstate[joint_eff]: [-0.0479, -1.1692, 7.0496, 1.663, -0.0611, -0.0513, -0.0122, 0.1436, -8.4444, 3.9179, 1.8339, 0.1783, 0.0611, 1.2039]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5884, -0.0189, -0.0383, 0.9993, 0.5007, 1.9842, 0.6968, 0.8528, 0.5034, -0.1089, 0.0129]\nstate[eef_state]: left_x=0.2635 left_y=0.0019 left_z=0.1372 left_yaw=0.0028 left_pitch=-0.2109 left_roll=0.0008 left_gripper=0.9993 right_x=0.4394 right_y=0.1474 right_z=0.0408 right_yaw=0.1339 right_pitch=0.1885 right_roll=-0.3049 right_gripper=0.0129\nstate[joint_eff]: [-0.0889, -1.1009, 6.8991, 1.5263, -0.0757, -0.0171, -0.0122, 0.0205, -9.0188, 4.3419, 2.0293, 0.2662, 0.0269, 1.1013]\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 83 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, 0.8097, 0.6067, -0.5922, -0.0189, -0.0387, 0.9993, 0.4202, 1.9842, 0.6964, 0.8581, 0.4286, -0.1688, 0.9951]\nstate[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1365 left_yaw=0.0031 left_pitch=-0.2147 left_roll=0.0006 left_gripper=0.9993 right_x=0.4503 right_y=0.1247 right_z=0.0393 right_yaw=0.148 right_pitch=0.173 right_roll=-0.3286 right_gripper=0.9951\nstate[joint_eff]: [-0.0068, -1.1556, 6.8444, 1.5653, -0.0708, -0.0562, -0.0122, -0.5128, -9.5658, 5.6274, 2.293, 0.0464, 0.0073, -0.2173]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8812f5f18b5cdb10def02044a4100142e3e9eca764d179954118c89825369a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88fb6668596e95a714bad79677897a4e485372641f9df74c18c268c4a086bc0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c83a5de0085ad229719b634267978a7ddab19a7e79cd4840c06aee414b61d628",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFA2YLvdzY8682bbtNYhixjwiWoM0nbYF8RL-v9m20Or5gFto4hPhDNs3CrkS0tiGrSfkd8jtoZuOpXWX5Tq8VOxZNA8kcv8uqMS2nojejvlJHpT3jzoHEa78AGaAZ2PS5xs8OSD3dEqMMLgHpu7Rx7w7Mg1rKLt0oOgNFBvmtbPs3TxHIhQUJ6bWBevv0D0u0L0cofZHGJPc9eEMOJJ9Fsi_OGd2y6s7_uwWH1R_Jt0r40Zu9ewa59EwO1GQnRuXRQFmC6uA4N-4vNYWOFL1X_Klm-Jb0jTKzhJJF3BO30goTYn6HTWC4TyrPaaia1ENn0tQVHLODK7pw5SZD8EKl_UrzmyCj3wCxuZ6-fh8CqXnMKW0-BvfgTT8T8JVzEopQVvroVYVebOHnalxFtcVjTiXHS4nIrkbge1oNWFcEbG6Fk07LGrAKKjudpYXO1X_VD_ZyL5j39sFvgLmipWWUyOdaPa6x2VePmsXgsz8_P2eMyMO-xfZHUx81Euj1zzEjio4sFYgH7zX1XgL-9EW4rbaFP0PKPxVnhmkQ4P2S6EgN0esgpkSl0RHFFLbEaM-zhxRko-JGlvXyeZI9s3CfXQPKjMlkZgLWF4HvnRTP5mcVnKxFUeQopo73OCGE4D6iv6JLnQNmmdmu77FYohqzJbrzPmz57W4ECgue19wpY4kJVG7iWMRjbGObm1yh3Vrwyz7_nH4L_bBb16M9JqtzWgcBb01nLk_TvMPRFL5lNMDHG1MUTUJohMyvT8gFiglDn6OUqbPByWTed8qMxvyQZ7NOQmgjPwH0G3Yokbyjkf1FMcMwTNkkh_2Xz959Bz5IPytHjqEghr2l5lHma7Ei8-eCzHOkre5w9cwxjkxxIjXtjTt2IATOWeEP3EibvolYP1xdFxPj_0_6c8bgmFnaBuK7SWgUyCbxa-vrr1_CLnUIwvTe5VTHVEOaPnnmjCB9qQzL98E7Muus5G01NZ0gcW5FCMWRKoig4E9t8RFxf2XoOMu87pJutemjx3CU2YjgXuUEet0nVy1aajSv8Je-tkoctBG7L3Ab2q9Q6R_hclfTaRyo5DpBaXe7z4k9Ep6daksnf45QFWCdlvEtc5WMbe8YJQrJ_qRUcuJYxxU0OZMgMosMDughIf6Z0OwnLYa9GBiwM1VkPGt1FBDjxYL1em38hGou3uNirhCrrEXqsZKq02Wphm66A0ddvfGzqoF0lD_xdEHfxRw65wg8qKCR8S5Az7yZVdKUcvrToT1BefKqRG0uIM6Rju4_EY7Gqcy7crP5cZjnru6YUMZK_BU9dZk2D5fvQeerW_C7MulpZ6lMl9Ct-aeX2DdeXR4TJAz8e5HdthRqRCzgtNMl1dzYv4SG40oA80thY5Z-djcVcWANI_j6IeqQYgZIkLduaoLjap_UJhYdofJ5w_n7gO6m9oxPqLRJRVUHo4vJmjMbA3eEbYz_O_W7oWHCXz-Vlb0HSg",
  "id": "rs_07e7cfd5b0c08642016ab4503506f487d0bf1be9c456bbb836",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.125,\"right_z\":0.06,\"right_pitch\":0.25,\"right_gripper\":1.0},\"note\":\"The yellow plush is now centered laterally, but the open fingertip line is still several centimetres short of its lower edge in the wrist view. I am advancing another 3.5 cm outward, near but within the verified table-contact reach.\"}",
  "call_id": "call_RSWd6kVJF02CPwrdHkB8GbVT",
  "id": "fc_07e7cfd5b0c08642016ab45035c4ac87d0a7d088c1a7779a03",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RSWd6kVJF02CPwrdHkB8GbVT",
  "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, 0.8104, 0.6067, -0.593, -0.0189, -0.0383, 0.9993, 0.3935, 2.0254, 0.7753, 0.8478, 0.403, -0.194, 0.999]\nstate[eef_state]: left_x=0.2627 left_y=0.002 left_z=0.1362 left_yaw=0.0029 left_pitch=-0.2162 left_roll=0.001 left_gripper=0.9993 right_x=0.4725 right_y=0.125 right_z=0.0447 right_yaw=0.1551 right_pitch=0.1925 right_roll=-0.3347 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -1.1966, 6.8581, 1.4921, -0.0513, -0.0366, -0.0122, -0.3897, -8.9504, 5.8325, 2.1465, 0.0708, -0.0366, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1005e0c950ba607abc13a4e93ee896f0895c0d5ddefaf150f19861ab84e95c8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a6c02a857519a16be9d7fc6d392c171755dd33a24727a67bbb4cac8d183155e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6684c98a2e7623bf29419bbfe1389ef75779e78a4aac0035cfa8b9e71c2deec6",
      "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 · 3.921 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5854, -0.0189, -0.0383, 0.9993, 0.5014, 1.9816, 0.6964, 0.87, 0.5106, -0.1043, 0.9946]\nstate[eef_state]: left_x=0.2641 left_y=0.0019 left_z=0.1377 left_yaw=0.0028 left_pitch=-0.2079 left_roll=0.0008 left_gripper=0.9993 right_x=0.4408 right_y=0.1473 right_z=0.0456 right_yaw=0.1247 right_pitch=0.2084 right_roll=-0.2962 right_gripper=0.9946\nstate[joint_eff]: [-0.212, -1.1556, 6.8581, 1.5702, -0.0513, -0.0073, -0.0122, -0.6496, -7.6239, 6.4068, 2.0537, 0.1001, 0.0708, -0.0611]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5922, -0.0189, -0.0387, 0.9993, 0.4202, 1.9842, 0.6964, 0.8581, 0.4286, -0.1688, 0.9951]\nstate[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1365 left_yaw=0.0031 left_pitch=-0.2147 left_roll=0.0006 left_gripper=0.9993 right_x=0.4503 right_y=0.1247 right_z=0.0393 right_yaw=0.148 right_pitch=0.173 right_roll=-0.3286 right_gripper=0.9951\nstate[joint_eff]: [-0.0068, -1.1556, 6.8444, 1.5653, -0.0708, -0.0562, -0.0122, -0.5128, -9.5658, 5.6274, 2.293, 0.0464, 0.0073, -0.2173]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 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, 0.6067, -0.593, -0.0189, -0.0383, 0.9993, 0.3935, 2.0254, 0.7753, 0.8478, 0.403, -0.194, 0.999]\nstate[eef_state]: left_x=0.2627 left_y=0.002 left_z=0.1362 left_yaw=0.0029 left_pitch=-0.2162 left_roll=0.001 left_gripper=0.9993 right_x=0.4725 right_y=0.125 right_z=0.0447 right_yaw=0.1551 right_pitch=0.1925 right_roll=-0.3347 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -1.1966, 6.8581, 1.4921, -0.0513, -0.0366, -0.0122, -0.3897, -8.9504, 5.8325, 2.1465, 0.0708, -0.0366, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1005e0c950ba607abc13a4e93ee896f0895c0d5ddefaf150f19861ab84e95c8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a6c02a857519a16be9d7fc6d392c171755dd33a24727a67bbb4cac8d183155e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6684c98a2e7623bf29419bbfe1389ef75779e78a4aac0035cfa8b9e71c2deec6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFA6Hjyqb004BN8t7Lfy-AzVfrl8LM2DaSip23J2tuJcM6OTZIVbNi0CyZauB0nudirmOCEGMEk8nMZY7F_XIqzqSvswk7Ycj0HDehAx-2QWCElslF9Pg_xtXpFLjxkb3gG2ZdyrWLoctqMlGC07XjeDOzrOmlz1LbhHxlmG2UFGvEtROIvwAq0xKuBy-onYRRl38J2R25fyOOmKWg_HCErlWCryeJeYa1-OaJAk45AFLumX_EtsTWEqhabDHXYSqPBt0oESnbMCtDXJSOXkBtt8qjJXgC_N2Tlf1vnro_GQggxj4ekqAJHN0wngQjk-Xc4NMoIvJwq-kwMxGVTzNnsMJqWp0d4rZLYlOq7CS_LSLm-p4atgWxXQOXS_XbZvKDwdOAuoApMvrlssCmNBs70X117isaQtuRQAw4jod4hv4AqIzWcdZDpB92XlRpRdGDqViPy_t5Qw4djONHtjPYT5mA6WINAV3--U2vq5is_6c0qLNNcVu_-GQist9diwKUwj3IQGOsgO63Dobp1HOdxnFWUk0OxCwvkzRhyVfuM2YeDdyAv_gnscFcjQYhu7MlvF4eu3gFVYhHSjQxjN1QdInuzm_QduMD-hlLwarcbeOIdOHP665fvfGYPWlTLRTmlM0JIS2gGQT_e5QdSDt106-9BpwevFO7rlCZIbMisqr9cQLk1-95AMtDLS7-QMvrS4b9GE2-H4uKR13XreD1ZB86YxPu4qRQ7dK8AvSPki2y_p0pJP7EzgGbxRgypwH-lnv0W45cETojfl1JYl2hOr7I7tsh2CgnXlO74AZy3nCrwaXjHrdlZVEC97EikaaG1ypM77qugR2UdQ84AeVjVtPjEqYM3cpiwRgbwjkUADWb20TgONq56FACW2IDF62_OOH9nP651atsK760hpL2G-_WwQ1zzGiSCnAZhNvbh9XYwSEt4eMqlvK0LCuhpL5ngYkqNJzBkbG8F-ByGOm6_IOlX51IvElBdrYj6EZIvTI31L8KYssroZVqABuVsVIgckCTcgn0fArFAzThkdoMfHuNLa-2F6GX4vcmhtz5dhdVh_FkA6gz2QpwUtnq1-gFP9ASnFxnx9Is6iTiz99NDM6suMbBzXwjliuv5J_Hi7dsavItiIMZP9I5P6H9imnedjL8MY60tTMk8sWSn1i045oE8D70UGRgUl9r91v4ysfZQkDebW8ZvsHnio-3DP5eMZpo6D44wfF2BSfnSwsiU_PVKUudrspBrMF-JcicUpnhvcQ_A9P9_-5CSmqgKgxIqpnT9R3SM1xO8R7nwpJ_FjkGPmqI2x75tlglZ0UPnp7U9nB7_9N9t1CTdtEc3CT4ukxI9bLgXrT47G3gmPAyhsVQar05HLipQXxdKI0V9s3hQ1LcBZI-rf_GaUYkd9oo6q",
  "id": "rs_07e7cfd5b0c08642016ab450386a4087d0a0c8af7430a1a6ee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.125,\"right_z\":0.06,\"right_pitch\":0.25,\"right_gripper\":1.0},\"note\":\"The advance moved the yellow object down to the fingertip region, but its body center is still just beyond the jaw line. I am making one final 1.5–2 cm outward adjustment so the fingers close around the body rather than its tapered end.\"}",
  "call_id": "call_BhMDnu1LEgTVPXQ3D36RwvwT",
  "id": "fc_07e7cfd5b0c08642016ab45038f55087d08c1c450c362c25b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BhMDnu1LEgTVPXQ3D36RwvwT",
  "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, 0.8108, 0.6067, -0.5926, -0.0189, -0.0383, 0.9993, 0.3847, 2.0293, 0.7918, 0.8478, 0.3988, -0.207, 0.999]\nstate[eef_state]: left_x=0.2628 left_y=0.002 left_z=0.1362 left_yaw=0.0029 left_pitch=-0.2162 left_roll=0.001 left_gripper=0.9993 right_x=0.4779 right_y=0.1234 right_z=0.0486 right_yaw=0.1563 right_pitch=0.202 right_roll=-0.3423 right_gripper=0.999\nstate[joint_eff]: [-0.294, -1.1829, 7.0496, 1.5165, -0.0904, -0.0513, -0.0122, -0.4581, -8.6496, 5.9145, 2.1905, 0.0659, 0.0073, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd11cc1aedbe3b44d3d1e24f2a0b088aefd12f0bf6f6a3774b11465260f4c9f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06e08b6f7d5898f7ce441b3e704aff6a50f4f11cd0c4a0cd7fa3f3ca57eb749b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f3aeda5356aa28efbcc0efe85bf6d5d77137e60be073397bf1a2419dbdbcb60",
      "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 · 3.223 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5884, -0.0189, -0.0383, 0.9993, 0.5007, 1.9842, 0.6968, 0.8528, 0.5034, -0.1089, 0.0129]\nstate[eef_state]: left_x=0.2635 left_y=0.0019 left_z=0.1372 left_yaw=0.0028 left_pitch=-0.2109 left_roll=0.0008 left_gripper=0.9993 right_x=0.4394 right_y=0.1474 right_z=0.0408 right_yaw=0.1339 right_pitch=0.1885 right_roll=-0.3049 right_gripper=0.0129\nstate[joint_eff]: [-0.0889, -1.1009, 6.8991, 1.5263, -0.0757, -0.0171, -0.0122, 0.0205, -9.0188, 4.3419, 2.0293, 0.2662, 0.0269, 1.1013]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8104, 0.6067, -0.593, -0.0189, -0.0383, 0.9993, 0.3935, 2.0254, 0.7753, 0.8478, 0.403, -0.194, 0.999]\nstate[eef_state]: left_x=0.2627 left_y=0.002 left_z=0.1362 left_yaw=0.0029 left_pitch=-0.2162 left_roll=0.001 left_gripper=0.9993 right_x=0.4725 right_y=0.125 right_z=0.0447 right_yaw=0.1551 right_pitch=0.1925 right_roll=-0.3347 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -1.1966, 6.8581, 1.4921, -0.0513, -0.0366, -0.0122, -0.3897, -8.9504, 5.8325, 2.1465, 0.0708, -0.0366, -0.1148]",
      "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]: [-0.0189, 0.8108, 0.6067, -0.5926, -0.0189, -0.0383, 0.9993, 0.3847, 2.0293, 0.7918, 0.8478, 0.3988, -0.207, 0.999]\nstate[eef_state]: left_x=0.2628 left_y=0.002 left_z=0.1362 left_yaw=0.0029 left_pitch=-0.2162 left_roll=0.001 left_gripper=0.9993 right_x=0.4779 right_y=0.1234 right_z=0.0486 right_yaw=0.1563 right_pitch=0.202 right_roll=-0.3423 right_gripper=0.999\nstate[joint_eff]: [-0.294, -1.1829, 7.0496, 1.5165, -0.0904, -0.0513, -0.0122, -0.4581, -8.6496, 5.9145, 2.1905, 0.0659, 0.0073, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd11cc1aedbe3b44d3d1e24f2a0b088aefd12f0bf6f6a3774b11465260f4c9f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06e08b6f7d5898f7ce441b3e704aff6a50f4f11cd0c4a0cd7fa3f3ca57eb749b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f3aeda5356aa28efbcc0efe85bf6d5d77137e60be073397bf1a2419dbdbcb60",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFA-7DcLkUNhyqLpXZ3YgZS0pSiaaMNZElqX_sMz5gmKRiYMWKhHOHa9RJeKRgP77qXDAz11WYx7S3cI6quDMXs7MYaksx_IYhDCCD8K6C__PlP9HysBdEEsj_mdSyv_NfbXbMNv__W6NaYlYvBuEkcpFB2CI2lRMAhRLscVgWpaLogvPnu4cwhY9WFz9-P8fvUcA4A-oGS7R86ETBTf18gDG7NSYwRl20jn7Z_Qrn3LUa51rFqYMk7E1hRP5bKznWKskN0OBtAaV0ZJypUecL6JzMulU-stWI_BGjDCjXgEe8ZxbuNUXev3mOvplUK_4XpVKstfQ0cq13vCs2akQKpvBAsgq7duONoXYEfj_v9IeC1lrnwS85puBF-tyaLOPlVgRbSPBoqAiQkO2DMEkn-aku-5DL-5FVAoVOq1vWLpIOhbMM9p0leElEgDMl3NpwbIW94saMv8p2I--50Cc9zbyGtupmL9CfJoGA41Igf3CfACR14FPhSCPYGQ5xVMu9yacX0tXHmyFmcPQlA4f9hlZP22uz7H4kSD4nw0yn-xyi_FTl_p3_jo5fq5GiLV25wYU4Un7vxi099ehE5vFET8M_LifY_R1OMFbvJUh-Vj6Na9Klv_4FWrAkYZHIL244ksjDsVZo8X2HL7-x1V9T4qOW-G_NAaBNa2tPMHpy0Me1--srGTzxXF3o7deZ6ByYu6ERquFERj1kKNU9ivkZY_31HHgvX8PAJKyHo6jlAqYMB5e3aJf8-SMLG8Actxo66KAf3CnfOyqYdPMRbIU50zSolQ1IInV5JYcX1KQVCbHQLpcG9mpYlr12JyyTiU8KrbC4rG-tT3a34KL27gbB3Hsl5irxnKhSkRSeev-_SbaRXKsVi4yQEAiethpn7kOr8hD6gQa0hvV6wtpTel8DvVYZcRlV52-BntGef5Di6p3RzAAvu3JiKxAB0jdZ_ClelHfSuNClhkVdb9XtR2v2sUB6fG4bRl5biLPw9UMi64zcnZfbGTW8s5zZAtJDLC_QVxkCqDF969QfV2qT9EvsKoRd1zqXgjrs3I99ZO10Y0Z6aVy3xV3nBKvKO2jpnhQzS-VtHFZ_Oq34B0f6Y6CkaDfc4pZBgR8hlRsESaY9QMXVDA7Hm04Npp7L0dOyqfX8KfjlbqELuoAjJoYithohfX2XNkRvOqLVPqoG4ry6JaouYJ1bsskeRyKddE1-sfaFeGY5iYB7w61O70AL0GJAw47KUU4-k--U3S0wutsmyHfB1ZHpwB-gRMz-lMR-d4KksuxKPg9CqWbYDV7hIGRktt6qamXL1zxOXgTuqOBoPf94jpvTJXRHJMF5SrYfvF6Gi1fZeyaau84VA-hZ1rjhb2VSqG8_LohAwMmt9xTSpr67EEcBcR39tOE9Itr_B_Dt07szykdOZ8qNTmaa0CionbqMzNokkAtiXVUSo7nJFyqSSorXSEY4KNYFYMB-jWhbp3Rxvu5qFv6mQ1oPER6Bs5yA==",
  "id": "rs_07e7cfd5b0c08642016ab4503c24b487d0a5088f3bb85bed04",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.45},\"note\":\"The fingers now extend well past the yellow object's near edge and flank its widest section. Because full closes repeatedly squeezed this rounded object away, I am closing only to about 4.3 cm jaw spacing to hold it without ejecting it.\"}",
  "call_id": "call_zMaefkX1L0TJu2h4QR8pqsZs",
  "id": "fc_07e7cfd5b0c08642016ab4503d012887d081d4b36a7ebd12e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zMaefkX1L0TJu2h4QR8pqsZs",
  "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, 0.8143, 0.6067, -0.6102, -0.0189, -0.0387, 0.9993, 0.3851, 2.0293, 0.7929, 0.8474, 0.395, -0.21, 0.4541]\nstate[eef_state]: left_x=0.2598 left_y=0.002 left_z=0.1324 left_yaw=0.0032 left_pitch=-0.2372 left_roll=0.0012 left_gripper=0.9993 right_x=0.4782 right_y=0.1243 right_z=0.0488 right_yaw=0.1615 right_pitch=0.2018 right_roll=-0.3435 right_gripper=0.4541\nstate[joint_eff]: [-0.0479, -1.4154, 6.8581, 1.6288, -0.0806, -0.0366, -0.0122, -0.4991, -9.0735, 5.8325, 2.2198, 0.149, 0.0757, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdfa006f0bd95616a4c829ca14174cec99cc2fa897f0693092d3edcb78baef2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e52647d804c06e7a77e1d9b0f7631bab63db41403716c18f16128e0fcdb37c22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fe53c6310dafc10792d6d9804b47f8f89ba07f74535cbc3033ac007de495bcd",
      "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 · 5.659 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5922, -0.0189, -0.0387, 0.9993, 0.4202, 1.9842, 0.6964, 0.8581, 0.4286, -0.1688, 0.9951]\nstate[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1365 left_yaw=0.0031 left_pitch=-0.2147 left_roll=0.0006 left_gripper=0.9993 right_x=0.4503 right_y=0.1247 right_z=0.0393 right_yaw=0.148 right_pitch=0.173 right_roll=-0.3286 right_gripper=0.9951\nstate[joint_eff]: [-0.0068, -1.1556, 6.8444, 1.5653, -0.0708, -0.0562, -0.0122, -0.5128, -9.5658, 5.6274, 2.293, 0.0464, 0.0073, -0.2173]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.0189, 0.8108, 0.6067, -0.5926, -0.0189, -0.0383, 0.9993, 0.3847, 2.0293, 0.7918, 0.8478, 0.3988, -0.207, 0.999]\nstate[eef_state]: left_x=0.2628 left_y=0.002 left_z=0.1362 left_yaw=0.0029 left_pitch=-0.2162 left_roll=0.001 left_gripper=0.9993 right_x=0.4779 right_y=0.1234 right_z=0.0486 right_yaw=0.1563 right_pitch=0.202 right_roll=-0.3423 right_gripper=0.999\nstate[joint_eff]: [-0.294, -1.1829, 7.0496, 1.5165, -0.0904, -0.0513, -0.0122, -0.4581, -8.6496, 5.9145, 2.1905, 0.0659, 0.0073, -0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.6102, -0.0189, -0.0387, 0.9993, 0.3851, 2.0293, 0.7929, 0.8474, 0.395, -0.21, 0.4541]\nstate[eef_state]: left_x=0.2598 left_y=0.002 left_z=0.1324 left_yaw=0.0032 left_pitch=-0.2372 left_roll=0.0012 left_gripper=0.9993 right_x=0.4782 right_y=0.1243 right_z=0.0488 right_yaw=0.1615 right_pitch=0.2018 right_roll=-0.3435 right_gripper=0.4541\nstate[joint_eff]: [-0.0479, -1.4154, 6.8581, 1.6288, -0.0806, -0.0366, -0.0122, -0.4991, -9.0735, 5.8325, 2.2198, 0.149, 0.0757, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdfa006f0bd95616a4c829ca14174cec99cc2fa897f0693092d3edcb78baef2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e52647d804c06e7a77e1d9b0f7631bab63db41403716c18f16128e0fcdb37c22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fe53c6310dafc10792d6d9804b47f8f89ba07f74535cbc3033ac007de495bcd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFBBEownuc8rExwVicrFvqQC7C3SDgwrTbfDIrf1mU_WD_9f1ibbKqMFqApltoaEbrSognChDUUAgdpl_g-zUlBAVPR9gkAgnPzE5Gyt_yW2p_3Vt95LT7DIocqa86-MPDjc4VVkZQB1YN-5yU8-eeY_XR2MvLKZpzSsNw5ncwEMYsV5rVq8-bulFET1aZhVaM3GoupNjcSq3IornzzQeiDJS-OPPIzmDuxlqIOtzayI-VLg7xSv5qU_zxkYA5mzZZvfEcv_GetiyLx97jbAqXGh_O1ws8ICae5AGuH_Eu-yslSDQxkNh_TWJS8c5t2DdwZD-mMeXn5I_nj9EhJLSg5xu0LW-vG4Y-MocLf_x2cj-dh_ktgiGMPbl9B1-VEELTQBN0PPNw0AvPhd__VV8HQU3MassIEqcYObEpvjCw5ZE_pgR7Wq3jMNZHmaJkTROCKgZ3ODfCtxB0trYWrQ8r_tDu3nGsFzC6b8IFVzPEkhJfsx2fnAeB7vvnBstWImwm55Z30VZmTW8gnnyZptv4LUPyeattdVhHv9jXJFIq41diRoNVJckz4FTK7bPz6pJ7NInWy802YO2OVLLSKf_vzDjZuVLAhdl4p5pynwMvSrgUfGfLIUq4p_gz0-6XHbx9cVzL-mNuRw4EwCJpFdQCFAf6LIVP6OFnTXgORCT2mWVLeE90hmwZsQ52SV2aP5CULjMwgCvcwnozLI9xrzIT1FEei5zNbuDcC3eiiLhD5j80ydpJ__B9y0c5AEmUkLV66A5_ICaJKAT3NCxceOOMC2MwQv0YDqpgHvB1HoS50qxYetKAfEK-Wwu_IthDInwEUP3K_lq-jayEKRWkiIOktDzoL8u7uQkqqpfZtX96IcBvgqOTB6ZnbNm9CuUQ2b0WUy4CVUD4ato9IuK-c3zTM_d3SXh2vDiN9PD0vv64NARCBNGbrg88tzivF6Ap3ME8KlNV_m4NS7FlMEZaWez2O9I2VN1CYEckGeIF22-VdBoZaGjmu-W9xG7xdPMvCVhLZGbiWHaCR8tRJ2r6Oz39SnuT0CxO9vkmev3mHG4DSmAteJrFtUgvnFhzJkDsyPWTjfbNarOqkQheR2oHPFqPAu2eFZso7oYczWNqNHsMQuSqsUBHR8vEdJm7F_ioPW3Ge0G4HOzrk586CJtkxPLY3n2O09E6ZTYn-lpdESqYz8_slJiCXeg4tz7brEwk1wxu9_-eiaJVlgeb8zO9vfczZG9Qlt8B2OTYql28OgGBp6Yoyp-gK-H-Z8KshQLJw2-wJ_tTle3HrdBDw_SG9KmZ3ZShfnd7yQzn3ppXtxenftWHHoMAve6To-bWD9YCi3EOPWGphGiyp5C9bXbEaDrr-d54d-nMWfpN_Hd7NtXJG2Z_PQ03WFOHta-n6JIm42zRm9AIhe6gsahzxKJ_d9-c4Rzw==",
  "id": "rs_07e7cfd5b0c08642016ab4503fe07087d0b06f3561560f332f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.13,\"right_gripper\":0.45},\"note\":\"At partial close, both fingertips are visibly contacting opposite sides of the yellow object and it remains centered rather than being expelled. I am lifting about 8 cm to verify that it comes off the table.\"}",
  "call_id": "call_ckhLmL8pmmpZcdG2QrE2orqy",
  "id": "fc_07e7cfd5b0c08642016ab450411abc87d087440ea63761125d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ckhLmL8pmmpZcdG2QrE2orqy",
  "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, 0.8162, 0.6067, -0.6147, -0.0193, -0.0387, 0.9993, 0.3855, 1.8072, 0.8566, 0.5461, 0.3874, -0.2108, 0.4515]\nstate[eef_state]: left_x=0.259 left_y=0.0021 left_z=0.1312 left_yaw=0.0036 left_pitch=-0.2437 left_roll=0.0016 left_gripper=0.9993 right_x=0.476 right_y=0.125 right_z=0.1124 right_yaw=0.1694 right_pitch=0.1858 right_roll=-0.3448 right_gripper=0.4515\nstate[joint_eff]: [-0.0615, -1.1556, 6.9265, 1.5995, -0.0611, -0.0415, -0.0122, -0.3897, -10.1265, 7.7333, 1.9707, 0.1538, -0.022, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc69bff56f3b8f75259221e0915439ea61a064ccb1a879819ece49e50bd08c74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:752e4f64f11b7c6fb80a4a0de489b246c01b57a13d727c52d566af45e9105c7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:124849224e4632e79a381aa43e8fc2d9d32251d6d6c0341e04268effb3c9483e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 6.307 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8104, 0.6067, -0.593, -0.0189, -0.0383, 0.9993, 0.3935, 2.0254, 0.7753, 0.8478, 0.403, -0.194, 0.999]\nstate[eef_state]: left_x=0.2627 left_y=0.002 left_z=0.1362 left_yaw=0.0029 left_pitch=-0.2162 left_roll=0.001 left_gripper=0.9993 right_x=0.4725 right_y=0.125 right_z=0.0447 right_yaw=0.1551 right_pitch=0.1925 right_roll=-0.3347 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -1.1966, 6.8581, 1.4921, -0.0513, -0.0366, -0.0122, -0.3897, -8.9504, 5.8325, 2.1465, 0.0708, -0.0366, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.6102, -0.0189, -0.0387, 0.9993, 0.3851, 2.0293, 0.7929, 0.8474, 0.395, -0.21, 0.4541]\nstate[eef_state]: left_x=0.2598 left_y=0.002 left_z=0.1324 left_yaw=0.0032 left_pitch=-0.2372 left_roll=0.0012 left_gripper=0.9993 right_x=0.4782 right_y=0.1243 right_z=0.0488 right_yaw=0.1615 right_pitch=0.2018 right_roll=-0.3435 right_gripper=0.4541\nstate[joint_eff]: [-0.0479, -1.4154, 6.8581, 1.6288, -0.0806, -0.0366, -0.0122, -0.4991, -9.0735, 5.8325, 2.2198, 0.149, 0.0757, 0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.6147, -0.0193, -0.0387, 0.9993, 0.3855, 1.8072, 0.8566, 0.5461, 0.3874, -0.2108, 0.4515]\nstate[eef_state]: left_x=0.259 left_y=0.0021 left_z=0.1312 left_yaw=0.0036 left_pitch=-0.2437 left_roll=0.0016 left_gripper=0.9993 right_x=0.476 right_y=0.125 right_z=0.1124 right_yaw=0.1694 right_pitch=0.1858 right_roll=-0.3448 right_gripper=0.4515\nstate[joint_eff]: [-0.0615, -1.1556, 6.9265, 1.5995, -0.0611, -0.0415, -0.0122, -0.3897, -10.1265, 7.7333, 1.9707, 0.1538, -0.022, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc69bff56f3b8f75259221e0915439ea61a064ccb1a879819ece49e50bd08c74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:752e4f64f11b7c6fb80a4a0de489b246c01b57a13d727c52d566af45e9105c7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:124849224e4632e79a381aa43e8fc2d9d32251d6d6c0341e04268effb3c9483e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFBImnKvcroekyo3-Z8mH8Vu7FvfBsNSaYNolP8r0HZ6ekBHT4XfIKebQEdWEf9amuY3Uzkk04bHmM4qE_N06bfF2WH6BhZaMpyOaWS9gNR1UnpyIcsyqQEoHRJVzdAJeUWwfZWV9VNcNMfuKWb0v3UpcoFCLIGx5kWPFbJGs0WM-Gy5Hi0txki0ZKviCNBeIbFm940DGxmnom6aoF7KWLo0GqlMr9Bq9b3fGAFuqlPderSWGr3d5uwIiTtRiGvb_aFV3Jzh8bfxJ3S_JkX0A8dXnebkGXOdorY6Fg69g24SR6WWc0-KUuQQe_B0aKP2CwjF0Xmy50KN5CVWLEt-n1kIdyVZyTQN2gy3Mv-pJVXwGAFZ3wwtpsX0yaNy4v7nj61k-Hh-ZAVe4q-aFdslEiyhcClPxIMvjGs3BThdKMBDXicSVvx1WZg0KdsuSLI4BRNN5AcEHUlv_uw1AupUFfDb0JuElhbNYbCZzeBFeZkJkQIKdCz0eWnRNlSWVU3o4TZFt8GOKG2zQrgHuyXh3JHF3x9P9SA58PjiEDPJksrN034743Jj6nYiQ0IeiBWvU1Uf92hRWVIX1LbFXzFLt7Zppp5CuDIPZlW64AB_QmMfnLhhXsEK-VqLOSbFpRSDabtFytmSXuhUJdJD7wquTu43xmHy_UAUxuHSiOQhraYMLOrVZMEo6DK45Rodoi0WMuDtHPh69xeEJqwKOzZkNoUDIeCHYD6AOXhb6JQ_0rEXb0keGJylAcHw4CC0h5PJboi3cy8ND2KaakBgM_A0mKDTtyp7YrykDqlKmD0_78kxBxSibWfqch3-xnqggurLos3iUAVFRJARv8HM4viREsBVtEbXuXm1D9Rf_MIEptAJbeLswNy_e9PhbJ78tIXCAqf7G-njmHtx2cLbr59ZvXLfe8DZ3Qbw-4yDnj625bYEviQhSCDqPKahv0-38FS0mmQJLQ4kjREoLPXl5cxSOXcBbfLIPjfMzZKBqOAqdt_QTAEk4hsYkCem4zG69kaP7-a81ZnxfMtCRpG4Gqz0llpmA1ksehvOsGNAQmMa-uVEweaU73SzKH3StQbEyWH43filXsx6-XUWalb56wwSJdSiNDhCn8o9CXMSu67QaDg3RPvf4hB1U6UZ3BhBdWjheOq7uEDduG0SXTcx8GF_dfqTigGWIeNByIKcbes896RuOKusBQirq_qfYTxCPPEMDyu6401ubhtF9FHk_obN5TQtY9xuwG9M9nvCNbbBez3GnU6c5hZ4xed3sYu6XYxrvjUMJROTKzIKDDwBRcYKdP4XUHs4KOWylJLDfL9LmtfKWvZ3POixX5VOssz072eZj1GhOgoZS_JGEHPUJ70aMWsbtXy6Mp79h1bf4lGqTjMskeIGYiEAIdsoyjyyjJO_oGAb8y55B7NhPjRYpa9GLVPyZMFamOrNih4lgsuL1P-KxjQgp2PCwVyj4QtGFr6j4jVbWdp5muKYlN-2S8nWh9mMWdeCpEGCoZJECwn2tDf7EnrqRVzP4gV6qMjPVIM_sHWoNnywQLIhcVYddj2opj0dcekiSo8-vdO5SdTNAPEb75w32jc6B1irNcuVTn0QdjCxrmFYdUTm0KP5fGplOQETiP8pk3D-9y8MS7Tt9nCunOQ3OpfMpoXWYibWErXJhyd2CEr4zoYDlXh1EiDDBWHsvcfCu7yrFkie7ljdmCjzaOk1fvphW_PQlW2ThIPoMlEOksfGhxd5-f5KUswT8dUYQcmB0KrMS4Cgjfrp98AOgyS6_Jw2mALq95o6fFk9JXCD48RSJap4mx8-EcxUERR4aNjzgfJGZrM59YOHfJONZxOCafb3uvVus5X_nkoBH2yUxK6WdqWlK5VFiAWSmCA1378DsaUrL62i3gCR8abqMwNN4YTm6AJvmmi5Ey7KuecabEePefYmlbrCbiPDmA86xtx4zzTad9i5vzCc9kOLG8gFuZYIXCzfJnEA7veMjzMDoaBY6d-JS3P8sJFjBXw2EfYy0p7hDivqmb19YfRaGFBCpo_dQinpsAJaIz5R0u8btdXW_sVE8fT2TlY9sqe3A2Q4M8EPcrq5lGL_TVINQZtT0YBDgZYIjgMO7pr8Dm_9SpDfRTJ6OjsqRgIqE0UPT_hK0UH5DgkUVGw5MIwZEka700FoFsOOMau8LQnUAL9nJYH7QF_58AO-MAYTnh92U1-LJjEkAxdDyELdOm6jbgCUB4XKDVOuTT9joZ-fVJSdMM2doZI-hE0YV6Yv_hkJgZWKGPRZDrN38f2g0rgoMsTcAzvszF6eT-BP0UZ-a-LJVGTlXY7hg7j7ZFPZ8sJYzlT_gp5Lkxbjn2g6TNhqFlqXT01uTRsXNEQPVSPLYTTgO9lV_MXcpOzReHt3zvOZHYjd0-JpW1Tk78MgZg2qVOi1nnVRk9xXGjfMJSa7VGq3bsPSfzVOPBhpgCRhoX0JJiMnPR-Dk2LWRLuC5pkVG3G7sIJOabY_GOGhL8a7o6nVRjkcyq4fu5vdnBEVXa01RsRhEfG8AEn7nFQq4w-Rzs8=",
  "id": "rs_07e7cfd5b0c08642016ab45043b8cc87d087e0aa42ea0e7303",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.3,\"right_z\":0.22,\"right_pitch\":0.1,\"right_gripper\":0.45},\"note\":\"The yellow object rose with the gripper and is no longer on its original table spot, confirming the partial grasp. I am carrying it high toward the center of the open red safe, approaching from the right with clearance over the rim.\"}",
  "call_id": "call_MhiUCdYdXQS58nWhFVwdSZWE",
  "id": "fc_07e7cfd5b0c08642016ab45046956c87d09ba3ac0b87e2621c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MhiUCdYdXQS58nWhFVwdSZWE",
  "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, 0.8188, 0.6067, -0.6315, -0.0189, -0.0387, 0.9993, 0.8284, 1.8771, 1.5105, -0.2916, 0.7231, 0.0502, 0.4513]\nstate[eef_state]: left_x=0.2559 left_y=0.0021 left_z=0.1277 left_yaw=0.0033 left_pitch=-0.2632 left_roll=0.0017 left_gripper=0.9993 right_x=0.4284 right_y=0.2993 right_z=0.2082 right_yaw=0.2145 right_pitch=0.0747 right_roll=-0.369 right_gripper=0.4513\nstate[joint_eff]: [-0.0479, -1.388, 7.0906, 1.5995, -0.0659, -0.0708, -0.0122, 0.1983, -9.9214, 8.5675, 1.7167, 0.4274, 0.188, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab4d7f3a8dbebbb8ed88096db5544a6b2ae68d73ce169203e1013c9e3b1b0099",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fbb9b8b151a268e9ecdcf0edd7b6f7980362df4d68da3c185de73c924a4f0a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ba3d2bceb6b029d6e98a8687e52ba16d72f4c4860bbfb791bdf4533b8272fa9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 2.948 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 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]: [-0.0189, 0.8108, 0.6067, -0.5926, -0.0189, -0.0383, 0.9993, 0.3847, 2.0293, 0.7918, 0.8478, 0.3988, -0.207, 0.999]\nstate[eef_state]: left_x=0.2628 left_y=0.002 left_z=0.1362 left_yaw=0.0029 left_pitch=-0.2162 left_roll=0.001 left_gripper=0.9993 right_x=0.4779 right_y=0.1234 right_z=0.0486 right_yaw=0.1563 right_pitch=0.202 right_roll=-0.3423 right_gripper=0.999\nstate[joint_eff]: [-0.294, -1.1829, 7.0496, 1.5165, -0.0904, -0.0513, -0.0122, -0.4581, -8.6496, 5.9145, 2.1905, 0.0659, 0.0073, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 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, 0.8162, 0.6067, -0.6147, -0.0193, -0.0387, 0.9993, 0.3855, 1.8072, 0.8566, 0.5461, 0.3874, -0.2108, 0.4515]\nstate[eef_state]: left_x=0.259 left_y=0.0021 left_z=0.1312 left_yaw=0.0036 left_pitch=-0.2437 left_roll=0.0016 left_gripper=0.9993 right_x=0.476 right_y=0.125 right_z=0.1124 right_yaw=0.1694 right_pitch=0.1858 right_roll=-0.3448 right_gripper=0.4515\nstate[joint_eff]: [-0.0615, -1.1556, 6.9265, 1.5995, -0.0611, -0.0415, -0.0122, -0.3897, -10.1265, 7.7333, 1.9707, 0.1538, -0.022, 0.1099]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 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, 0.8188, 0.6067, -0.6315, -0.0189, -0.0387, 0.9993, 0.8284, 1.8771, 1.5105, -0.2916, 0.7231, 0.0502, 0.4513]\nstate[eef_state]: left_x=0.2559 left_y=0.0021 left_z=0.1277 left_yaw=0.0033 left_pitch=-0.2632 left_roll=0.0017 left_gripper=0.9993 right_x=0.4284 right_y=0.2993 right_z=0.2082 right_yaw=0.2145 right_pitch=0.0747 right_roll=-0.369 right_gripper=0.4513\nstate[joint_eff]: [-0.0479, -1.388, 7.0906, 1.5995, -0.0659, -0.0708, -0.0122, 0.1983, -9.9214, 8.5675, 1.7167, 0.4274, 0.188, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab4d7f3a8dbebbb8ed88096db5544a6b2ae68d73ce169203e1013c9e3b1b0099",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fbb9b8b151a268e9ecdcf0edd7b6f7980362df4d68da3c185de73c924a4f0a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ba3d2bceb6b029d6e98a8687e52ba16d72f4c4860bbfb791bdf4533b8272fa9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFBPjn0yhpxPBQY-f25ifSRDYL-3wCY3SOTtwBP7OpS4jwBatDzufUTbyrL0iH4ARQKXQ-7h6PGU1ZhB0w60zd4_sAYioSaqPSMOdTHRsNZrHM45b7QdxQod0iQGPCtof65hmTZsIrPVkgMLA1JAmEAs04Td240GQwx9O1w-ajPTJGZyv2JvjQcZC7_0jOGw2pORtiJYPedRsiwUSJGbl0ConrErE1TFUI4y9F6GLCQ52rkLYybNnwoCnWVv2o8lf7Q7xXzDFVZRbVrzZ7RAjugpU9TmjXbZpQLACwWZdHR6b_Stw2zMKeWPE0fTgmQVo-L4KMx4z_Jy7OBhkCoSsr9gwOiGd34WhaW0K2QoE9rE3sa-OiPqSkiCxyZ4dEyWyjDdyVvB7ROaRnzdQ1I2E9ie8yOyu1DLpK43Ujd1YfbnpxzkETvee37M-xfs0M9ITq-LP_NwMHRKwmLD3kszGNsvFTTRtcmV2SBrjZZVnacwjFiuShlSPa6ZbC_EiKF1vnRHxg3OEfgcEHshoweV6djJzokoIh2VITkaTNYmifd312Gx5IG4iRSCg7dBMCy6vnODtOSa8MCQjtlpW7Sb60_fLRovBaMTOesvLoZd7l8ya46PGKQaDMWkTBEMRc6BbLcAi28E5HnO2N1DJhjFSF39LMwkLgLzENrx1NON_mhBKk7uHlRmfjFyMhm4PIZcv2OHqi_iWc_Wflq0dGePSPTu7nxi2DgRU668aC1EJbDTOINLhFx1OigdiW-2LvxVTJXg4VNqlc_3Z9zsIFD5QZEmnT-Ef1uJtmuM0SbvsK3aSXrxLrXBUX17tvUbbJQkAfQEFSyMNbtwjBwKx3HKbcD0WbmbfF_GOIoBRjC3YlKQuaxl_HHXLmdMEOi9r1q0bqSseYDziAMBzexsk1qKwXj8vFJ4HhPEaGfEsj3EuTe-1oIzPRgE9_nGdDdHsyC7jmlhcJMb1jyD-v6RenuJbhCasNO7TdJLR173OXxwShH8jtS97uJ5dMwcopotI7c0B8tEYjp-aRIPuMZFjZWTbbGel1dvNwmlfervMcbMFSxcgyfM_qYQyeDVHZkkX9neucHDaZl-yso4JP_Tnpu_WY_kr9rY_TqZwKXnDexNjbzSrXcwVkubz8Gvy5tJITrp3X5Z_UD8Pi8iLCjIxhms1EaN38jppCg-kQ3Xe27flsnQ0zhHYeht69FMbTDbnqqubTf14Al6Dc1n9YmPqZW0mxHKCbOBf-kWiQC3hUVyKTUhPJDGJFuWXqQ6t_Om5Lc3wGOSoNt_dPPNHxnqh2V6m2IJ8bbaxeDhUosLdMdbpJOhaH9AlS2whSq7-6LBH8K6XcRCZtTx_cJXD9xIFZ06OL3e0gvQqFTE-J4dHpJhEebcEc2XxTTNu4AYGUoGC_Gy5Pa9GhHc8PWoN2FvL_-wiD9tYgTIxR2xwpbbk8A-ZBw3mqXjdbMEiee2mwE1GIFViyEOyMivGh-6cHbIAMy7sPfCqvb6zMiNRAnEvqlANB912FR9siKF-N1wl3UkDcoVvHEa5xZ5beeyOhbPV-Vkzo9zagCXIZGkz6CqfdG8PwIK3Q5hmFNVM1cZRmzt7Vaibz3mZwYntLmMmntV69D7pQh9GlduCWjRXO1aQUiWLkIvMxga_OsorR21r3z9xcTs8YREcOMPIw4OR1GcKE-nV_Pn_3ImPT3f1lTYTL_shvoIfGDvU4N7_DiW6cqpExGqGjLRsjBg41XWPsdYD3-qOrGwe3q8_rTbMJB4Ora4vpn6kwW5HTcPRptgHsnyriE5zEqs67ZiEocI-yrhwV-UyXPQTxx84Hl_4RGttpIJoAVRlsR5Eg3VFR9qhL0wJQWtIG0vvMZoMhbSwdGXCfGV8SewaEDCK7ifymXLTki1tYGRiAQbYon3QuJW8rgKGO61E0SqAzItdKcPZSbD_tzIhZVK2F5lAAoGsf89czJYfTEVucKBctvTHcCnRZ9MbNvPAcDmmseWa2b6Wm0NXaVx_HZclupqR9NTnkwJ3A-AJYwnRtzS0bmUQifphSv-qYbSi109LQKYqJk5o36rF_fGfzMGyIQZenfRHdxBTq_QCPEVnlmw67uLhufqfLrbQtNCTSkHLw-Qs5GIukLRX5FjJ5CLifphcgv71ZEqAg1QwvtGNhY9R32G-tGixkpWm93pcUAY8Wq6yZgARpugQSQScoM1aQzbsKbyIrqV4m142xVLTROg1rtmUAfasQyrsjtCmclGJ--P8z3McSpd_bfe1376UWmImKa4UOdBpxwABSLO_NVVLL61ZxxdmD6vErqXtYQo4OkZGit1DlbUnNGYW_N5zJTXxDsAS56BNzzdK13H4AOG3sM-UCHQSOygynXfOGefsSUCqc9EWOfHqYOcZCz7yTtHm92hYJbHrHgxeOZInLrJ6ddNJzt_nwsvJEWYV0Ao9VqtcX9gdy8Uo81qMMrBPSvKnms30Ehjmv42444BRyC-d8Rk6Wkv40KEyDOmoto_J5bBorLnM3peXTA-Ps3lCMeq5qJnurhngVrXOTHk1MFM4sBp9R3s4aE9hBZLr1QQz5r_AyZWUqg6RC5dObE4ibKySmx2Lp9qcZ4PSn1AM6PyLIztlCGMuhBwQ9ek1gPVshkkvI5-bEoEeslog_aSZpD_Qt32b5cgSf3885wWytbtx0jlHKM-OllhHQ18-XpJ5vGzsoTAqj5rfPB3QiUWLKVuCB-Qa-Nytin2xJK1pOqCVk3Nouyta0Uphhq2BzeiiPiS2Mv6GLHdhlmgto0hfbwqeue4gWH3ga-lV-KV74n1knwQJ4t3cW7UREhjS05lAeEUwyTgAjqMyX9ggzfP5fFd0PEs8drJ1eAtsqrLlIeB4Kv3pfKuYLkb-VnO3EFR",
  "id": "rs_07e7cfd5b0c08642016ab4504aff4487d0bffa2694fc6429aa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.24,\"right_z\":0.16,\"right_pitch\":0.2,\"right_gripper\":1.0},\"note\":\"The yellow plush slipped from the gentle grasp during transport and is now on the tabletop immediately to the safe's right; the safe is still empty. I am reopening and moving right/forward above the dropped object for a tighter regrasp.\"}",
  "call_id": "call_PVzbPW3hDEcCnn3s8ROk2A7z",
  "id": "fc_07e7cfd5b0c08642016ab4504e0d8c87d0bcd1c2b247fb4b4d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PVzbPW3hDEcCnn3s8ROk2A7z",
  "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, 0.8192, 0.6067, -0.6373, -0.0189, -0.0383, 0.9993, 0.6834, 1.8549, 1.1458, 0.1177, 0.6445, -0.0917, 0.9948]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1267 left_yaw=0.0032 left_pitch=-0.2693 left_roll=0.0021 left_gripper=0.9993 right_x=0.4482 right_y=0.2328 right_z=0.1338 right_yaw=0.2013 right_pitch=0.0777 right_roll=-0.4181 right_gripper=0.9948\nstate[joint_eff]: [-0.0752, -0.6222, 6.9675, 1.5751, -0.0855, -0.0269, -0.0122, -0.4855, -10.5094, 7.1179, 2.1856, 0.2271, 0.022, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aac0584a75dac81be8845cda97228637cd8ab93f7abeac8475852de69a527aae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e174c561a76ae6156e58d9427098d6d271fabef3a90352d94b6cb37980aa1baf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29ee7c195515ef8400e9c7158e9c7c10eda5c4ac3e737694bf4b0807aab15dbb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 2.447 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 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, 0.8143, 0.6067, -0.6102, -0.0189, -0.0387, 0.9993, 0.3851, 2.0293, 0.7929, 0.8474, 0.395, -0.21, 0.4541]\nstate[eef_state]: left_x=0.2598 left_y=0.002 left_z=0.1324 left_yaw=0.0032 left_pitch=-0.2372 left_roll=0.0012 left_gripper=0.9993 right_x=0.4782 right_y=0.1243 right_z=0.0488 right_yaw=0.1615 right_pitch=0.2018 right_roll=-0.3435 right_gripper=0.4541\nstate[joint_eff]: [-0.0479, -1.4154, 6.8581, 1.6288, -0.0806, -0.0366, -0.0122, -0.4991, -9.0735, 5.8325, 2.2198, 0.149, 0.0757, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 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, 0.8188, 0.6067, -0.6315, -0.0189, -0.0387, 0.9993, 0.8284, 1.8771, 1.5105, -0.2916, 0.7231, 0.0502, 0.4513]\nstate[eef_state]: left_x=0.2559 left_y=0.0021 left_z=0.1277 left_yaw=0.0033 left_pitch=-0.2632 left_roll=0.0017 left_gripper=0.9993 right_x=0.4284 right_y=0.2993 right_z=0.2082 right_yaw=0.2145 right_pitch=0.0747 right_roll=-0.369 right_gripper=0.4513\nstate[joint_eff]: [-0.0479, -1.388, 7.0906, 1.5995, -0.0659, -0.0708, -0.0122, 0.1983, -9.9214, 8.5675, 1.7167, 0.4274, 0.188, 0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 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, 0.8192, 0.6067, -0.6373, -0.0189, -0.0383, 0.9993, 0.6834, 1.8549, 1.1458, 0.1177, 0.6445, -0.0917, 0.9948]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1267 left_yaw=0.0032 left_pitch=-0.2693 left_roll=0.0021 left_gripper=0.9993 right_x=0.4482 right_y=0.2328 right_z=0.1338 right_yaw=0.2013 right_pitch=0.0777 right_roll=-0.4181 right_gripper=0.9948\nstate[joint_eff]: [-0.0752, -0.6222, 6.9675, 1.5751, -0.0855, -0.0269, -0.0122, -0.4855, -10.5094, 7.1179, 2.1856, 0.2271, 0.022, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aac0584a75dac81be8845cda97228637cd8ab93f7abeac8475852de69a527aae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e174c561a76ae6156e58d9427098d6d271fabef3a90352d94b6cb37980aa1baf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29ee7c195515ef8400e9c7158e9c7c10eda5c4ac3e737694bf4b0807aab15dbb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFBTjLoUqPGQ9P-f8hTuPFoCaQEMVDG3mf6mJa4yog3NKPrFltspkKnpvhW-E2W9bQOBhMpGt2WnjTgXEqpczty3Wei7N5nxikL34VT-y4p4VvjP2yQF3WQwE_r_43cSs2Y7fmuyrGb3BD1XLWMWpi_d-v7BDjydq7GVUDIMUhullCAkY5vSP1bUp1Iu8TP90XeWeQYAhHp9F2Zon-1Xjd4uUiq3-qkFh_sWoyI7fevTQWdDlnETucdF5Lr4jUZRNczU7P3nv6teIQO-jTyaCd_6okzSuE0U-TZOpHSJvgI52nou9QwdMViTA7mXJ7YgeoIcYf24qg7Mtk4I6kCdk-u4tFtUiam7zzQeDxCkGYL_4qegZ1MrVEpwK_5hXWhYHoESYQI0mahlzapI2MrARpmbv82mylrVzP6ZJpYYl-3no7dQB0FTQs7uA-BWT5IZtWtUJwJoLzO4fKSGdBaSXqrnF1jKZBOVjPeOzN6-Ia_WLgLWqsyrOenxG9v1RCXq09ziJP8a2VcZOLyo71v1hCSxsGr-UgA7BDDNOPxn_MKkeys89oZjERXhtWuCWH3mQPVnYmheoh5ZyWv1-oN-PZBdlHxM0LBpHAwBUCSGKoXQYwJosoTgS_yOi031crw4XwfkBqa7hX4raAF3puDiRPeJFV0TG0F8S0ptJ1s3uYlJGFHJSXYIrmGfWYFqhAmFxCjbxqGfeKAYurBCKcnhk9loafiYOcWT96gcl9EehJo2JHBpzbUl7c9anTGudKw3oMDKkmrorxbkArFeZ2MflGdjfGf0EgSBCo0Xfpk1vLRmZJZsQ6eYkh9etLtBbBCvGyRqtqeWluml2D1LknxUbdOC750hW06qfxJs_Bj7Kj-x75LN8w4iwArQrBauEIb3h2dbXJptgISCht_vHxXD7cRafdwy9HMfoVK2D3bL17z0v5LFed1l2RObNwr0mfpXuEOBYPMx2iK-kC7YI4jQivcY1Te3bw3kARFgsxL1fkN0OgGKj2E1SVIu7reJdAebMJrnRnv49Og3SNfWnp609PyFHu-DMxHVZpTfodRY4bswPlZGJ1lGTUYlTv5otJE1zqgVbGHAhuKmQq4cPYbRA2NKJgptXjhYGGFAOr-Efime6r154IMv9352nCsXcKYoBIt9MeDxvb-b4vQs8Sh1kLDPd2BSFNeIJ54QvDq_JFlFBISsDa235ZOAD0MlQWD5QlEjptOqp9EvAXKIQZk23HnQSAtC49_ohw_iJUEgaPjeuyAT9J0rA39YBMsKrRGQ9bjuqV6nf8d4Jt8UiqCdMED1Z0DpCURa-2FzO9UqcITamz2xVRC1quu9oxBWy0htVPgCpT1NJLjMeF3q7jN9ph7INFhhry-7rvgu5ilixLsPHHaGlMxyknCT0OvBlYhx_ai5hR-kgcpj0tVHKBZ0o8T7eJzTEcPTUKP9HTg1MJ34DlZ56aejcBxTSCltfRYlR3Cg6vWZ34ybLEY3Xqujm9nSsw==",
  "id": "rs_07e7cfd5b0c08642016ab45051820c87d09a56778899457f3d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.205,\"right_z\":0.08,\"right_pitch\":0.25,\"right_gripper\":1.0},\"note\":\"The dropped yellow plush is close in the wrist view but lies to the right of the jaw center and just ahead of the fingertips. I am shifting right, advancing slightly, and lowering into a centered grasp posture.\"}",
  "call_id": "call_F6LQ2faS8Nx1iANwkUFUv3HU",
  "id": "fc_07e7cfd5b0c08642016ab45052227887d09f7b0ccba2c1e2cd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F6LQ2faS8Nx1iANwkUFUv3HU",
  "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, 0.8188, 0.6067, -0.6376, -0.0189, -0.0383, 0.9993, 0.6064, 2.0151, 0.9344, 0.5903, 0.6086, -0.1955, 0.999]\nstate[eef_state]: left_x=0.2548 left_y=0.0021 left_z=0.1267 left_yaw=0.0032 left_pitch=-0.2693 left_roll=0.0021 left_gripper=0.9993 right_x=0.4595 right_y=0.2001 right_z=0.0614 right_yaw=0.2016 right_pitch=0.1369 right_roll=-0.4495 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.0872, 6.8034, 1.4286, -0.022, -0.022, -0.0122, -0.3897, -9.1282, 5.559, 1.7851, 0.1197, -0.1001, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:854482bd6869bc6296b4b6b372e6b336fadf5696b6adbef2b1acf1c175c6dc3d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfcb663c8ef14b8548efdf2b7d084ec1809052ac9b04022e429e857282031fb0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6064cf3af23336dfd6913932b3f50c28de7623fc4de39100b05002d25e81dfb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 2.788 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 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, 0.8162, 0.6067, -0.6147, -0.0193, -0.0387, 0.9993, 0.3855, 1.8072, 0.8566, 0.5461, 0.3874, -0.2108, 0.4515]\nstate[eef_state]: left_x=0.259 left_y=0.0021 left_z=0.1312 left_yaw=0.0036 left_pitch=-0.2437 left_roll=0.0016 left_gripper=0.9993 right_x=0.476 right_y=0.125 right_z=0.1124 right_yaw=0.1694 right_pitch=0.1858 right_roll=-0.3448 right_gripper=0.4515\nstate[joint_eff]: [-0.0615, -1.1556, 6.9265, 1.5995, -0.0611, -0.0415, -0.0122, -0.3897, -10.1265, 7.7333, 1.9707, 0.1538, -0.022, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 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, 0.8192, 0.6067, -0.6373, -0.0189, -0.0383, 0.9993, 0.6834, 1.8549, 1.1458, 0.1177, 0.6445, -0.0917, 0.9948]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1267 left_yaw=0.0032 left_pitch=-0.2693 left_roll=0.0021 left_gripper=0.9993 right_x=0.4482 right_y=0.2328 right_z=0.1338 right_yaw=0.2013 right_pitch=0.0777 right_roll=-0.4181 right_gripper=0.9948\nstate[joint_eff]: [-0.0752, -0.6222, 6.9675, 1.5751, -0.0855, -0.0269, -0.0122, -0.4855, -10.5094, 7.1179, 2.1856, 0.2271, 0.022, 0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 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, 0.8188, 0.6067, -0.6376, -0.0189, -0.0383, 0.9993, 0.6064, 2.0151, 0.9344, 0.5903, 0.6086, -0.1955, 0.999]\nstate[eef_state]: left_x=0.2548 left_y=0.0021 left_z=0.1267 left_yaw=0.0032 left_pitch=-0.2693 left_roll=0.0021 left_gripper=0.9993 right_x=0.4595 right_y=0.2001 right_z=0.0614 right_yaw=0.2016 right_pitch=0.1369 right_roll=-0.4495 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.0872, 6.8034, 1.4286, -0.022, -0.022, -0.0122, -0.3897, -9.1282, 5.559, 1.7851, 0.1197, -0.1001, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:854482bd6869bc6296b4b6b372e6b336fadf5696b6adbef2b1acf1c175c6dc3d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfcb663c8ef14b8548efdf2b7d084ec1809052ac9b04022e429e857282031fb0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6064cf3af23336dfd6913932b3f50c28de7623fc4de39100b05002d25e81dfb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFBWVhDTIxVPlLFmloHNHiwufqFgMXLH-aOZnrJ0auB45R7Bj8K1xkfhVa4Mg14PQpY0y6PwDu9I1Bm5RyOPqK2kj1uwZ1dRIxmyNapfYpaACh2fzyqUB33DlqKCU_ofoi_97mWpE5SToWU-Yih_IscWVbksZAoN-TsnxLKZwXCoeFUoCNR8iMm2zwoz8FoXM1RBwRwyNTrWltoKwuIcwQYcBsshUkaQ6xrZwQMW4EHF_aMzaLprxXWqUA-hPu_y1BT-U5rBhwsyrXxMGDRI5nb5e_ZZ9_LJ0vkPY886xu1BbOQ9TFayGUxZflWD6feWwJCPVIu-tTPKBijK7muu14ad79TXcH1QMidbq0SMWVklkAAviQ8cF0GZ3ZdBT-IFabvqEdg8YsUJAMx0NHxs1dC7ii9wPyZ-wa_zKYjMTGVspsRqfk9jJf2hgbaJ8xUmSCpZUyi1K3gj2vkxnhF-vWIB0_qtpudfmxKqidADW3uMwsOxU5wvoQdjcNDOo7jQGxJtkYvsfgZvoGEqgFihE6feFko9mKiMYAaAaV7APJUx_ox1WywpF1EmDy8vflrW4BJh3pWiGFo2mFLgPz-cJJc0KZvfeqGyJ5i3zX4kKHVXfIeNwhZkUtObIkidK03J3z-5cfWORgNchzRnlszkkioYS34iZItLNFQ9MrJ11a7hsOQqJFzyME7aXomPed1W_vLFs0Qc5XfaXx04k-qIjsbJ3qNFCQuZXHQX-grzr1qAqfHaLJrZIf3UD3_eYCOf4OKahT3bN05N0yRgCGhaTLea-SG1_mUtWTmzgwU2n1AwGVuf9L8XU0erf9dlDMPak5mnpHujC0KG7jOmFViGC2LApH3gbVbqKKRp8YAZBv-Nap5IALayv5rmdZKTYXjeOJR-zQQ5if0rrhG0BA4YWVfH5rAqTAr5YtUA-1G8Wq68H7N8Zqu5EDOiqkFQi3n2aIbSAUBmeqZejY7tFb3HMnk58AkAnKhiLruwHJ1EDd-xVXK9G_54CBkMgyuvMzND87C20VJuo11UsvRBZNyRBEhLbaL4mkA_Tcv4zRWJFA-S3lNcMz9wxRLLlcCLhZrg3V-cY1DBmfOyFh3RnvLUhjscaQmkCrJ2efEoqYbSVMc3iWeMRxX3KXW6kxVLZzBtuITDdKhL-Cjjcp0DHpgwosw06U_TVtyRDR8Jpy-E47FRDCwV1h12QVrwHkMWfk6rziJEMvDQi5VYjm6pLyV8TIspkYV5jHJXYSxYQZYcrPhIDMbSh8aycpszEd3vnF07itQoJcqfEfaLzUMppiLSoaG2bABOiYQWHeaWh_LHbhTx-WJner-HZbLFj4GkbyFOQQ1dosQodReUGZgSN3xe-OjpwajQFzCvalJ7oUvrOF0DYaf1sZz9BNl4WsMsifzRLjuUpC8fj0JFb3OtLZDtIR8sQkOP5RvIPOgmlkeQbXRPpqc=",
  "id": "rs_07e7cfd5b0c08642016ab45055297487d0a4a7a5ed7ba2fcb1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.175,\"right_x\":0.47,\"right_z\":0.07,\"right_pitch\":0.25,\"right_gripper\":1.0},\"note\":\"The plush is now at fingertip depth but remains about 3 cm to the right of the jaw column. I am making a purely lateral correction to center its broad section between the open jaws.\"}",
  "call_id": "call_1bVOq9eNA4xcqoy7MkXwjdie",
  "id": "fc_07e7cfd5b0c08642016ab4505588c887d08aab07e3f4bff90d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1bVOq9eNA4xcqoy7MkXwjdie",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "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]: [-0.0189, 0.8192, 0.6067, -0.638, -0.0189, -0.0387, 0.9993, 0.5472, 2.0293, 0.8604, 0.7811, 0.5667, -0.2493, 0.999]\nstate[eef_state]: left_x=0.2547 left_y=0.0021 left_z=0.1266 left_yaw=0.0034 left_pitch=-0.27 left_roll=0.0019 left_gripper=0.9993 right_x=0.4667 right_y=0.1775 right_z=0.0641 right_yaw=0.1985 right_pitch=0.2129 right_roll=-0.4437 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -0.6769, 6.9949, 1.4335, -0.0415, -0.0562, -0.0122, -0.4855, -8.9778, 4.9299, 1.8388, 0.1636, -0.149, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5a750b1d7415c526807e7fd5a6c92d48a4ba239d13b8e017802a9d1dbb4c6e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7809dd75986910cbf11be105189777106cd37ed0477bdd21a56db5994bf2ea6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9068a4eb4e40f1affd76be5a42387e63e162b943ca34308c0178cb55d24bc891",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 2.658 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 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, 0.8188, 0.6067, -0.6315, -0.0189, -0.0387, 0.9993, 0.8284, 1.8771, 1.5105, -0.2916, 0.7231, 0.0502, 0.4513]\nstate[eef_state]: left_x=0.2559 left_y=0.0021 left_z=0.1277 left_yaw=0.0033 left_pitch=-0.2632 left_roll=0.0017 left_gripper=0.9993 right_x=0.4284 right_y=0.2993 right_z=0.2082 right_yaw=0.2145 right_pitch=0.0747 right_roll=-0.369 right_gripper=0.4513\nstate[joint_eff]: [-0.0479, -1.388, 7.0906, 1.5995, -0.0659, -0.0708, -0.0122, 0.1983, -9.9214, 8.5675, 1.7167, 0.4274, 0.188, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 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, 0.8188, 0.6067, -0.6376, -0.0189, -0.0383, 0.9993, 0.6064, 2.0151, 0.9344, 0.5903, 0.6086, -0.1955, 0.999]\nstate[eef_state]: left_x=0.2548 left_y=0.0021 left_z=0.1267 left_yaw=0.0032 left_pitch=-0.2693 left_roll=0.0021 left_gripper=0.9993 right_x=0.4595 right_y=0.2001 right_z=0.0614 right_yaw=0.2016 right_pitch=0.1369 right_roll=-0.4495 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.0872, 6.8034, 1.4286, -0.022, -0.022, -0.0122, -0.3897, -9.1282, 5.559, 1.7851, 0.1197, -0.1001, -0.1148]\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 115 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, 0.8192, 0.6067, -0.638, -0.0189, -0.0387, 0.9993, 0.5472, 2.0293, 0.8604, 0.7811, 0.5667, -0.2493, 0.999]\nstate[eef_state]: left_x=0.2547 left_y=0.0021 left_z=0.1266 left_yaw=0.0034 left_pitch=-0.27 left_roll=0.0019 left_gripper=0.9993 right_x=0.4667 right_y=0.1775 right_z=0.0641 right_yaw=0.1985 right_pitch=0.2129 right_roll=-0.4437 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -0.6769, 6.9949, 1.4335, -0.0415, -0.0562, -0.0122, -0.4855, -8.9778, 4.9299, 1.8388, 0.1636, -0.149, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5a750b1d7415c526807e7fd5a6c92d48a4ba239d13b8e017802a9d1dbb4c6e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7809dd75986910cbf11be105189777106cd37ed0477bdd21a56db5994bf2ea6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9068a4eb4e40f1affd76be5a42387e63e162b943ca34308c0178cb55d24bc891",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFBZXvDFZ713UU8uWvAjnEEiCbQZPe1AMZJnI-vluTwPWrLw9d6AjjLnm9cmklHCe-eYln5FCpHpYfmoMdmMgmUPBuXAHGibVhhubp0eas44qwtm9OGLQQrf9GgdAFYNEEFoL3x_cmyoytA2ZC-IqMFcHBh8L3CDFTB9hmfdBn1WGpEiWm8nc3s5SN1vyuaIL8n0pBdggXfeesHesTRND3KXoZ-XNDmr98dCYDu3UstdcKEpeQ6AWhTm-C94rS18wuofGhAghqJKKzvDxAn13cXKcKrWJWATnWeGxsckcw0vr_vmwtzOjhDitcvhQag6YACqObMBKJT-jYuUXGN3p3W5IbdpwV6JRWm3xt_I1OiNnEr_LrjZLqIJ0X4Af5lrGaEttUVk27-d6H4ANx0X9XCiB1wuEF8TiWdFxUTPM9HW8cfzeI30nj8KMVwl20RDe7S5cYpS94vPnD2Y9JoELnYRV1vTXizu0IdP8i3owTElKEzvp-ohcvN-CH288QUow6IQymf_cdZhG46puQZaO4hRCbrlBp25PMXxCcSNzEGgkiNRF8iSNW4h-MK9lBqGbnv1MTnOx0DmP5J0sCv738h9SPMLdcHW_e-bSlgoPvZJ6OlY8zCxqx4Ltzmqxjyewye_gAQ1q1DVGIyzupjv6flam_18YfJyI9UfufGllivBx-D_Nky8qOGW5OJDHEh-YZrnXGfj5xGJkQDE5cSh7tObSG1JYCdq0wQ_2UAvTPGYDZgxYApDVGB0R1riAkqtOAaHW-WHliI3ld5Z0HmzfwYY0q7uqoC9jxkaijRKljIKius1e804jRvQw8cCA08-Un6kKG3xO-DYAe4NOiHhCeFHZ4EdFixUjRxZ8g_tc2_UeW29azB0hWG3xsw83xI8sSY0TCJ0MIFQWX_LQrpnVQGZfADwpzzMNz5IueG9JcjQ0exf1pb65e-T9vb3Y6PhQ-1DWumBRAWCaXnNNabc8g7ljJgPlpi_UfvPMx2raNG_gg6OiJ-ICLBU45nOYGaQl6S0hjpORShfeMqi77JMVZpHeRBj_emiL92QEn5mewFQrJhTmlzvgcUPesAIt5_KPgzCyC1w8v580wRC3BYu4RYh3iwu1R-8qmPwyU4SQL0JvL4rgjD7qysFSXHkVUC7hCp2l79dtdPLe2_CcAwjHjhxrPznZaQDChNXEYkQ10atAgbbEti_ITMbOU5JJ5e2JEXY6M2ykRoU9I7_QpiMl8ODLnNasO4N_rtGEno8venFJ9jr3ZwoCnQ38nE0HFPPvjgs2IIT1bj7rCvYxV7UbcNd9o9IXbH2joXq51OaRBBLN80oDftDlmg62xXyP3-j9BykSlRO4dZ8vqQ04a4i5AQlBXNJPa0JVbMGBGOoxrI2LtT8yUnuFooDeoVqkKYuZf7a_UbdRxnIeE90tCkljdqCsefIrfe74NUJ0aYj9FDOEL0oydZNmZ0ioCj5JxL8yVGC",
  "id": "rs_07e7cfd5b0c08642016ab45057edd487d0a83df6ef60820150",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.35},\"note\":\"The yellow plush is now centered at the fingertip line with both jaws evenly flanking its broad body. I am using a moderately tighter partial close—about 3.3 cm spacing—to compress and retain the plush without the sideways ejection caused by a full close.\"}",
  "call_id": "call_tPI3OKIloXezOsMmw3NDT21h",
  "id": "fc_07e7cfd5b0c08642016ab4505864f887d0b35182a446a4a4f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tPI3OKIloXezOsMmw3NDT21h",
  "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, 0.8192, 0.6067, -0.638, -0.0189, -0.0387, 0.9993, 0.5407, 2.0293, 0.8505, 0.8101, 0.5594, -0.281, 0.3543]\nstate[eef_state]: left_x=0.2547 left_y=0.0021 left_z=0.1266 left_yaw=0.0034 left_pitch=-0.27 left_roll=0.0019 left_gripper=0.9993 right_x=0.4675 right_y=0.1755 right_z=0.0662 right_yaw=0.2131 right_pitch=0.2223 right_roll=-0.4644 right_gripper=0.3543\nstate[joint_eff]: [0.0068, -1.1692, 6.9949, 1.4335, -0.0513, -0.0464, -0.0171, -0.4444, -8.7453, 5.1077, 2.1074, 0.1685, 0.0611, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faa684b2c8450abac868841970b419bf6faa92a39edc1272ea687db8820e112c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea6f6ad61c90625369fb9be46d036a92f29986830b60ffd1211d033957155d8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b01d4a60cecdc7e452af1cee46a9042d30053351c9fdb8a3de067cf04f9fd24",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 3.529 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 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, 0.8192, 0.6067, -0.6373, -0.0189, -0.0383, 0.9993, 0.6834, 1.8549, 1.1458, 0.1177, 0.6445, -0.0917, 0.9948]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1267 left_yaw=0.0032 left_pitch=-0.2693 left_roll=0.0021 left_gripper=0.9993 right_x=0.4482 right_y=0.2328 right_z=0.1338 right_yaw=0.2013 right_pitch=0.0777 right_roll=-0.4181 right_gripper=0.9948\nstate[joint_eff]: [-0.0752, -0.6222, 6.9675, 1.5751, -0.0855, -0.0269, -0.0122, -0.4855, -10.5094, 7.1179, 2.1856, 0.2271, 0.022, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 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, 0.8192, 0.6067, -0.638, -0.0189, -0.0387, 0.9993, 0.5472, 2.0293, 0.8604, 0.7811, 0.5667, -0.2493, 0.999]\nstate[eef_state]: left_x=0.2547 left_y=0.0021 left_z=0.1266 left_yaw=0.0034 left_pitch=-0.27 left_roll=0.0019 left_gripper=0.9993 right_x=0.4667 right_y=0.1775 right_z=0.0641 right_yaw=0.1985 right_pitch=0.2129 right_roll=-0.4437 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -0.6769, 6.9949, 1.4335, -0.0415, -0.0562, -0.0122, -0.4855, -8.9778, 4.9299, 1.8388, 0.1636, -0.149, -0.1197]\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 119 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, 0.8192, 0.6067, -0.638, -0.0189, -0.0387, 0.9993, 0.5407, 2.0293, 0.8505, 0.8101, 0.5594, -0.281, 0.3543]\nstate[eef_state]: left_x=0.2547 left_y=0.0021 left_z=0.1266 left_yaw=0.0034 left_pitch=-0.27 left_roll=0.0019 left_gripper=0.9993 right_x=0.4675 right_y=0.1755 right_z=0.0662 right_yaw=0.2131 right_pitch=0.2223 right_roll=-0.4644 right_gripper=0.3543\nstate[joint_eff]: [0.0068, -1.1692, 6.9949, 1.4335, -0.0513, -0.0464, -0.0171, -0.4444, -8.7453, 5.1077, 2.1074, 0.1685, 0.0611, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faa684b2c8450abac868841970b419bf6faa92a39edc1272ea687db8820e112c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea6f6ad61c90625369fb9be46d036a92f29986830b60ffd1211d033957155d8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b01d4a60cecdc7e452af1cee46a9042d30053351c9fdb8a3de067cf04f9fd24",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFBc76DTKLrfyc2pDy7p47NgEXqvmKPRZ6Q1cT8WeVsvQrCbC53wDmBQOTy9h_8cZcU85L2rBUv3_VdKz59L2t1h_fOMQqB82JP6fFUkNRu2TQQ_yK8xmgF-PrcolXdoTUxWBn1QP-_9LkNuAADaWeocL4IFr-ixgxUPjwAlkS-m5VsDWcMArHWg7_ufuPNLKAD_t6Q812UKXHAm30EY8g99SVXgT9-b37uUBOLs7ZpnHIFD7TjG4PAxVsM8IVwketgPXV_-WZTcPeU76BmBHjpC0zzgWDa9CV5COfrjaAAp3QHGafSpo4I8TIIZOCqebqErIoN1z_EHVwLTJBOqFJC_ccpTfDrHsWqyyXD1gVswfZDPD7yGkGkK20HFakDh_QsjYE0oDXLZR-VTbMnjZVqIk2h3KoUw1w-ImBpXHjtM-dWAdJaTvZwHbbhh6b-by9ccb-dmop9wk2hbZgd0z1bqCka5l_SPyUUBVnxBLaRcHtbTdz6K24gi1GRAu0dcJMBy7L-njEcZeOZOjTu9j-c048UE1h3xSjmf0mIclHmfAV8BWOMoSz3IMTqtgBSC07vlRs4Ymney0RB7csi2rU02BnDUVuK9oxqHy0M03wVYcvZ7GVCiYGSzyFxZco9mCiFSIMf49XHAUWon-Cc1k6oJRQmuXa44Y_rULv2vmexUdGqCH3MEA3wrB4j-LuQhKcNQG1Ht_-OQGzWeoqsvgiR_Khco_myt5rDn008ocYD-BkhcGp0LHGFeqeqzYz9h2inbIegKsiYOONXgaIwtrbqMmMi2DJ-icuP7gydSlTjbtEm1UvnuYnmdWrhCiU1tAxnbclcFIYYRNEqfx_eFTi-IEdagxWY6yXIFSGZTC8y3GP5pamBckHAl5Parl0iykjoPHAb6nSr74WKQkLaA3K3GfmvKJp9thvzyPvw3srxFPytsJG2tBZyL0bPLKe745OcS4yK5p07WdluECnpN89Sb7E46yXVgnBo7tOHSgpVqk7Lmo8pewwwBA14XEwZqDYzPHlU-LInSJ_k-aIAfVI2D2goqF3mOVZ_pLVklN-LfAEG3qz_mIAsurzbJW4HTUUX8BSC_lkv5Ya66FSsHwsuZ-W4MRhetNWYH8s1A7JUSxHDCU7I1BHsn8OelQ7bPBU-mDGYx5pN6gh8gCTW7KHWYhc41vdIOAbsXt3cY5kAXAF-5eGF4L-k_trblyscXa8voUse6g4UkVYPG-rlZzLvP3LJRVa2uJ1jedZfc-ytTDm4VtC8cWfXkC7Kpf3HZR8Lgu2OTGAPdoLSB6gHzKE4ptI-eMh1J84b8SRjD6XT0Jn52OTHQBNc2DK8Ptm8lN4uAP-Pfr6PP5J9zd8SxdTagZBqqxbFoEQpHnVYw2xdx87u0tM2ADFIqDi9Ug7KHUuSZ",
  "id": "rs_07e7cfd5b0c08642016ab4505b63f087d08d5263d0e6f6f10b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.14,\"right_gripper\":0.35},\"note\":\"The tighter partial close has compressed the plush and the fingertips remain engaged on it without lateral escape. I am lifting 7 cm to verify retention before attempting the short move into the adjacent safe.\"}",
  "call_id": "call_GyogxBSui3Yia3moKy5shAlp",
  "id": "fc_07e7cfd5b0c08642016ab4505bd14887d099b34487acb2c5dc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GyogxBSui3Yia3moKy5shAlp",
  "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, 0.8204, 0.6067, -0.638, -0.0189, -0.0387, 0.9993, 0.5407, 1.9606, 0.8658, 0.6842, 0.5545, -0.2829, 0.3513]\nstate[eef_state]: left_x=0.2548 left_y=0.0021 left_z=0.1263 left_yaw=0.0034 left_pitch=-0.2712 left_roll=0.0019 left_gripper=0.9993 right_x=0.4645 right_y=0.1746 right_z=0.0782 right_yaw=0.221 right_pitch=0.1815 right_roll=-0.478 right_gripper=0.3513\nstate[joint_eff]: [-0.0615, -0.8684, 6.8444, 1.4432, -0.0171, -0.0708, -0.0122, -0.253, -15.0222, 10.6051, 2.9719, 0.2662, 0.0073, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3de0e77315245b4bc1b33e5deae4def6540303d43a694d8ba2ff624e60cd76a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:577f8c5e3777ea65a7a19136c7635a653d998f530b15b2f2bed8e20f75a1c1ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7a97cebe88f847506f52c1f3741df96a023e21149f80621c0a42c53f0a6c989",
      "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 · 4.951 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 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, 0.8188, 0.6067, -0.6376, -0.0189, -0.0383, 0.9993, 0.6064, 2.0151, 0.9344, 0.5903, 0.6086, -0.1955, 0.999]\nstate[eef_state]: left_x=0.2548 left_y=0.0021 left_z=0.1267 left_yaw=0.0032 left_pitch=-0.2693 left_roll=0.0021 left_gripper=0.9993 right_x=0.4595 right_y=0.2001 right_z=0.0614 right_yaw=0.2016 right_pitch=0.1369 right_roll=-0.4495 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.0872, 6.8034, 1.4286, -0.022, -0.022, -0.0122, -0.3897, -9.1282, 5.559, 1.7851, 0.1197, -0.1001, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 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, 0.8192, 0.6067, -0.638, -0.0189, -0.0387, 0.9993, 0.5407, 2.0293, 0.8505, 0.8101, 0.5594, -0.281, 0.3543]\nstate[eef_state]: left_x=0.2547 left_y=0.0021 left_z=0.1266 left_yaw=0.0034 left_pitch=-0.27 left_roll=0.0019 left_gripper=0.9993 right_x=0.4675 right_y=0.1755 right_z=0.0662 right_yaw=0.2131 right_pitch=0.2223 right_roll=-0.4644 right_gripper=0.3543\nstate[joint_eff]: [0.0068, -1.1692, 6.9949, 1.4335, -0.0513, -0.0464, -0.0171, -0.4444, -8.7453, 5.1077, 2.1074, 0.1685, 0.0611, 0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 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, 0.8204, 0.6067, -0.638, -0.0189, -0.0387, 0.9993, 0.5407, 1.9606, 0.8658, 0.6842, 0.5545, -0.2829, 0.3513]\nstate[eef_state]: left_x=0.2548 left_y=0.0021 left_z=0.1263 left_yaw=0.0034 left_pitch=-0.2712 left_roll=0.0019 left_gripper=0.9993 right_x=0.4645 right_y=0.1746 right_z=0.0782 right_yaw=0.221 right_pitch=0.1815 right_roll=-0.478 right_gripper=0.3513\nstate[joint_eff]: [-0.0615, -0.8684, 6.8444, 1.4432, -0.0171, -0.0708, -0.0122, -0.253, -15.0222, 10.6051, 2.9719, 0.2662, 0.0073, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3de0e77315245b4bc1b33e5deae4def6540303d43a694d8ba2ff624e60cd76a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:577f8c5e3777ea65a7a19136c7635a653d998f530b15b2f2bed8e20f75a1c1ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7a97cebe88f847506f52c1f3741df96a023e21149f80621c0a42c53f0a6c989",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFBgisx6x5XabhySixigJxcZU72bX00nTM7AvhVux_eE4G-ImhTfAtNXwDJXOaGMFZ0O5SzDn9sgc9jxQcf5g8Thy6yHOeNzLVbMm1bhhwrb496JSHC3dgNM09Gx8b6Vlq_GGLTOOhZZFnWLLomFCCu7XxshRo5Ov-KFi_Brwq7vk03bkpzWecGSHAUwJ1mknfZO0Lge8V6sN3mMeGSO8DU9OiiX0PpwxD2bJZ7LQ5PJroVNyhfg-UFe_S6hNRyUFc3YbnyriYcGpkvRvNW1GX_-K4wdbBq8vA2jNsD_qnrUWCR_i7taGFgLf4mLbHOwyc5VQMK9dEmbm1hF26ZxAHST28OgupQkjPQrJAeMvS3SxGC78FjNAOWCausytWtxiI5GPbEh67QE1JDo1nre5ftProreQRaXHitDP4fvaEc3BzzPE0J9JesVPrLWG0pX01CsFQonBk9DkynCpH5QKoyO6LMvyRoR_yJotW68WD30WcmJRaM1quQWzpPEN9jLjzN_k9-5za8HWx8EAo8hPbMhTDk-lzOtJMvHhApqK4J6NlzZZWzu_fscSHkIhrKJDg8EUG2YoOQyAEw211dQ5MTb-lGYgxF2KqfQSy0y7aakwq7NDD1fCyx24q23sunGVp31rXCksMFA2Ahh6bA5NR_vnvLZo-fkRB0iSVJymfTha2PubkwPm09LUjFmiGRgw3EkdlU1oufNfAXjOFxAY5jenJTG2AYkaDD-7ruFL9dt8H2EPNt_2BIJ-o1cwo1uNTqpqqFyUOw7saGxsZKhZUQ8Reeq30Qhka3g6JSZXB3k36byXYjd4jb46yd6F7SDTAHvjY_zrwXGts0nvl0GQrvpJY9Qf5WWE3FpvylenFN-gYXin5HFbFbS4ncd2YKjfZEe5dya33ewMh0K2fC4elFLQByEirin321NT0bJ5vtcYEim5qywQof6bILsdbMTAmhCN0f2RXi0MGpvwjeSzsm8PNvJqSyFyvBNHkFFEI53OqgVFf7OAt_XIeFa3yfJxsqbxVaMm3VxzhUZPwKAGXEXyUDxipgjYkLqJK-uJK4yRJqasvKYkJHiE9_bzUfoqrxFOROoy2oe6lgWuj-uOmn8g5Wu8RxtzlnAB0r525S8DeGQve16oy_GE-UO65hPgvniS8BVZH4_9HXdTX3tnyTU1S9y8fbExwJ2GQEGwgiqRvcyL3DB3ABwv6L4TFgb4R1J-m0xDzk7WGXeWLaR7OdJsAW67wffXunA96YGWBWjCTn9DovhPyAeHGJRxiPWyWIv19g6HoQTB-43ywRnWdMrrMfB3gYS6r6JFdyXMvdlv7GNS-GDepRPxv1ZBkt59kAh8fSfK9qbp5br2OtNNYQLb96L4lMsN2L9lwVExebNlNIKUYnH651WOu7dh3BtS9fW7DvP2YpaxrWPSQutwiPF2O1CK0gQtFpUhLAqrBxZw-_XxD_eQ-v1jFcCYlwywsEzXhbbHQsRldppDzGcfkCPHO23tfaAN3BQgwE2oac2ER1B3uue7Al18Dc1BSH3iNIUR0zGXVKFPr_9wIRIQ3eSUMuP6PO2oZcKIJ-susPBqyO5jvjIditg9ZJUIb1FvezNzeR0XOf-nbenqnVvKaV-ZFpwlJXxN6I9jWxwPOpU7PTr4Pte5cDnh_NVjmQ36wqoMx9hgrfoygXQErmi-anPAj4hpJEdhiT-Ngj8ynm42CnbHwQOlUk1MhQLygIZFQwVCWkxGtwrEZjUngudsmix4bGHGZDc4W35USL1r-onjoWK4P9Dr1CleE1Mcl3h4id8NgVPDew3nxxWh0-mx-02SGgvP_WsQ2T4C6zhe4J8i8P8Ht0m4kaBrxjdl-G2IWe2",
  "id": "rs_07e7cfd5b0c08642016ab4505e550487d0b19f7f3d35158fc5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.28,\"right_z\":0.2,\"right_pitch\":0.1,\"right_gripper\":0.35},\"note\":\"The attempted lift tracked only 1 cm and joint load rose sharply, so the current extended posture is binding even though the object remains compressed. I am moving inward and toward the safe while commanding more height; this simultaneously improves leverage and tests whether the plush is retained.\"}",
  "call_id": "call_6NtuTkiEno9QcEIAYjpfAEzF",
  "id": "fc_07e7cfd5b0c08642016ab4505f83d087d0b410d22473c2ee63",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6NtuTkiEno9QcEIAYjpfAEzF",
  "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, 0.8207, 0.6067, -0.6392, -0.0189, -0.0383, 0.9993, 0.8036, 1.8584, 1.3361, -0.0895, 0.733, -0.1223, 0.3513]\nstate[eef_state]: left_x=0.2546 left_y=0.0021 left_z=0.126 left_yaw=0.0032 left_pitch=-0.2727 left_roll=0.0022 left_gripper=0.9993 right_x=0.431 right_y=0.2819 right_z=0.1795 right_yaw=0.268 right_pitch=0.0769 right_roll=-0.4983 right_gripper=0.3513\nstate[joint_eff]: [-0.0752, -1.2103, 6.8171, 1.4921, -0.0366, -0.0562, -0.0122, 0.1709, -10.4821, 8.8684, 1.8437, 0.4371, 0.1978, 0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aebb9ac066241de3b2efde0d3e909b6926dccb9d010162c9d13df74d2cda3156",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89d42ab87e3b8ac509f62702bdd87f7e89c721be5f306e2bbaa4f27517e1b00a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f03e903fd8f2a87b9845bfdb3cceafccbc2f2f1210c2097331f85a52a256b8d3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /responses · status 200 · 6.261 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 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, 0.8192, 0.6067, -0.638, -0.0189, -0.0387, 0.9993, 0.5472, 2.0293, 0.8604, 0.7811, 0.5667, -0.2493, 0.999]\nstate[eef_state]: left_x=0.2547 left_y=0.0021 left_z=0.1266 left_yaw=0.0034 left_pitch=-0.27 left_roll=0.0019 left_gripper=0.9993 right_x=0.4667 right_y=0.1775 right_z=0.0641 right_yaw=0.1985 right_pitch=0.2129 right_roll=-0.4437 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -0.6769, 6.9949, 1.4335, -0.0415, -0.0562, -0.0122, -0.4855, -8.9778, 4.9299, 1.8388, 0.1636, -0.149, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 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, 0.8204, 0.6067, -0.638, -0.0189, -0.0387, 0.9993, 0.5407, 1.9606, 0.8658, 0.6842, 0.5545, -0.2829, 0.3513]\nstate[eef_state]: left_x=0.2548 left_y=0.0021 left_z=0.1263 left_yaw=0.0034 left_pitch=-0.2712 left_roll=0.0019 left_gripper=0.9993 right_x=0.4645 right_y=0.1746 right_z=0.0782 right_yaw=0.221 right_pitch=0.1815 right_roll=-0.478 right_gripper=0.3513\nstate[joint_eff]: [-0.0615, -0.8684, 6.8444, 1.4432, -0.0171, -0.0708, -0.0122, -0.253, -15.0222, 10.6051, 2.9719, 0.2662, 0.0073, 0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 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, 0.8207, 0.6067, -0.6392, -0.0189, -0.0383, 0.9993, 0.8036, 1.8584, 1.3361, -0.0895, 0.733, -0.1223, 0.3513]\nstate[eef_state]: left_x=0.2546 left_y=0.0021 left_z=0.126 left_yaw=0.0032 left_pitch=-0.2727 left_roll=0.0022 left_gripper=0.9993 right_x=0.431 right_y=0.2819 right_z=0.1795 right_yaw=0.268 right_pitch=0.0769 right_roll=-0.4983 right_gripper=0.3513\nstate[joint_eff]: [-0.0752, -1.2103, 6.8171, 1.4921, -0.0366, -0.0562, -0.0122, 0.1709, -10.4821, 8.8684, 1.8437, 0.4371, 0.1978, 0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aebb9ac066241de3b2efde0d3e909b6926dccb9d010162c9d13df74d2cda3156",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89d42ab87e3b8ac509f62702bdd87f7e89c721be5f306e2bbaa4f27517e1b00a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f03e903fd8f2a87b9845bfdb3cceafccbc2f2f1210c2097331f85a52a256b8d3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFBmlb-roxlw7TVDkA8ZIF_GqI5e8WeXyTNwhl8nVT5ZyCGcTwINHb9LVKLzwpu9hagmO2oYGekEwpHMcgX5_rrJAhXxH70hchoBnXw8JsVJRxyWoCrTa_9fTM1hxsIqDBY83uvDvwSeLFI3L_XUKRuJU3RjhPtVcnzWNjIOiWhf1OqYftGeMKqtwPR4hdYicCrhsNZPiASgZ9d7nZY5isbmd_Ry1M9VWwVOzMhFRtxEFeqfU5_OMunD_iDpt3klyOGpXR57RuvPELnI0MY_hBsBKscUBT0Aruw4sKD2KhdUQBHDtn8JFv-VossQUMA-yoBlfs2qTfkM1JQhlOem3IRn3iIFiWAIPUmSpD3672dMtsBuBILkNscwo6EGM-iYRofh7z5rlgo8sVWv1-V4uheJN5LBwNKVD3gb9Ajf13SMU8EyEiSmfLpiYLkE7ZBHI3xuQMUWdhiN3Jdrvw-yG66cyP8N9gseNzNbJ65YwPQLOU4N9nugDEAiiWU5wYhiaA1afYWmzOGnwDBh2KhIC-b-8XbYaAA1B8gbwf0atyp9lo2vFm3LkUXOaaQkinlFhzr3YCpl963jN8vgNnxCSeE8cuvpDU4qjzWISs1gkts0e9rot94EyUa50ohMTeM9yq4iZ0GKfLoSsvn8O7p_UGQwpmQjfsZQAi-UzrgUm6PdImoR4WtMUz7oTkqWvwvoIdS4luJ_4nOiaEasEb1FMD55X9m7MRa2s9FBoAUOm_cQJTCRmdimfr4cD55SwEUaMTMfmVUBgYo2pCK3LXuuYn2AoG2droPeWJ5tYH8CLpPYKKR3Ht2fRVdU26pCJhb_jBPBkRD3VRsW8qk1YZOPlRPFH9g7T5PWJxmSINdfDV5wEOdEPG9f5RyVeDv7LQLlacrLs9V2jWB-4sg92vEtP6z7uhKTSixfXzaWuWrzSu5YXKf7M0i1Sv2weSWThTKfFAYLT4N46wQR23KNz693hw8gk4_Gt4K8vWaFFKbd5s-RhxJ8zYHea4R7QlwlaenDHoitiqov9JdrJ0GQtuCDCEaKVO0Qva5MyKl5YxMUtRrfZ6Z6LH84n9PlcBFgf7KT5qYNMIKVRDenRqsd0nIiLODwTWkz4QcLw90k2LogkVXHGy9EGtb8IWiyGHaBGRRblmuo9kElimv7K-HG99CkSNMlwJj6v7XGIcNm9vFtR9ilANqd9APCpF2cysBTHY3thA_HyBrR0WrHgssoDN_ZbE6a999GKAMaHTuNckxkF8gYtZIoy2kXeVmOFR2XCV451w-FSqpJScsNb_me0PO7W8Zb__KNl9pQL1IBEBMvLzrWqA-lkvW8_pNewWU1Wtmj4j-rAap49ZeXDgr_1ygs1ufsz38Lwtj7SlkS0vyBvVfdbSOpEiOav1Jbsdd43hlTodHR_uYD22CPgMZhr9vGbe9x7vfWntYAME4iCHithW97VHNhMqF_Rz_lX6u4a__jtatnNXYOONx4Nyuwt7xR5TGbkk2stxl2VaU91PMeY0Z55JB55Wbx1V5wdsEaeDDtviW7xoQv38YmnqrQcRLSC1H4PWF8EXDuIs5rxKEWPonLT3UO-mzIsk27SMzaiwF5CjGIBiT_4VT0PnUQ2Nm00erltYAohYQmg4n80k67g1Z70PoLlKS4BDelagQmJihpVs_edLKe27F4lCQ2Ba3cHDRcnBXDJER5pKjomiEwXTWfTfewgnZLhDpQd6mJUaZaFLXf9iIAvdbZ_PZibKrvhJtXYp6ztPyD8u-_Zi27ppNd3Cp0Z62VtRBEHpUMQJTzRz0-Ixwm-T-wL4G4nrqLfFb4lhUlusqGMMwg5m5VLpODi8QBfh0oVEQe98XWQor8ABv-dfq4SANoOrpQZDnTWe05UN2V0KQt3BfLOi3lY6tFuF0hrhfZA2jexJN68JIdsBS-wvqXQWFpZgtKWTTQutGftbGsF7zAs1dlD7R3J9Sue-gezbHjV4I-0oNHSmu3S_P5KreOVA7vksMxw3cLUIcdrEG-dOw2Va5OB1-FxLvABtPb7Lormgi1xqARsDdnMRibmWmDmV3_bxenrAEjdzjwhbdLSJnixwVzW2_q9IYeUyqSo8D7rxhK78XwFAedxF_ufJqKIGaaNJRsIPTQu_yVmmCMOxJZpSjFmOEc_-_09qMdk0XYmlCjuwcd-Usx2vIwMYfmmVcgsVY4uOm3Wo-6EOaBrLO_Oboac7O9keWpu59D8cWfZCve70CvoVQjWz3z1p6Fo2rW9HIAvZ0JGwT-nE98K3qMoO0TTycL_EhPI1L2PervmllASrptREHmtng_hlCdZ6iVjYSzE6ASTesCcVdA6vYKekH6tyw4MOxaxa8yujjndSP2nYWPKoHRa3N0AE4hO6C7HvwFNsnyaNOdOTtZ7mcedC22xK_DtBPog9R3GK5KM9zhEvB8txADpO0i",
  "id": "rs_07e7cfd5b0c08642016ab45062a0fc87d0abef8868d7a4a84a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.11,\"right_z\":0.12,\"right_pitch\":0.2,\"right_gripper\":0.1},\"note\":\"The overhead view confirms the plush was not retained and stayed immediately to the safe's right. Since it is upright and adjacent to the opening, I am switching to a controlled sweep: moving the narrow closed gripper behind its right side at mid-height so I can push it left into the safe.\"}",
  "call_id": "call_it90TDfkEKbcSDYgJwzJWhMs",
  "id": "fc_07e7cfd5b0c08642016ab45065634087d0a315629b5e2ef3f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_it90TDfkEKbcSDYgJwzJWhMs",
  "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, 0.8246, 0.6067, -0.6533, -0.0189, -0.0387, 0.9993, 0.3473, 1.7878, 0.8223, 0.543, 0.3641, -0.3958, 0.1015]\nstate[eef_state]: left_x=0.252 left_y=0.0022 left_z=0.1229 left_yaw=0.0035 left_pitch=-0.2906 left_roll=0.0024 left_gripper=0.9993 right_x=0.4718 right_y=0.1077 right_z=0.1063 right_yaw=0.247 right_pitch=0.1243 right_roll=-0.5066 right_gripper=0.1015\nstate[joint_eff]: [-0.0479, -1.5111, 6.8855, 1.5897, -0.0659, -0.0757, -0.0122, -0.1573, -7.1453, 6.0376, 2.3516, 0.0269, -0.022, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7e6ab1891bac318cf9f66b99f58e7f5b6cedf24d26f8ed7dfb3422bd9fb097b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39d1601072adc0bcb1baec168bd94ca33e5d4643aff3c78c184fa3e2d809db67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7fa86fda8789b40a15c63be852e602317d313dc4e317c784d8f1a2b275b23df",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 33 attempt 0 · /responses · status 200 · 3.515 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 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, 0.8192, 0.6067, -0.638, -0.0189, -0.0387, 0.9993, 0.5407, 2.0293, 0.8505, 0.8101, 0.5594, -0.281, 0.3543]\nstate[eef_state]: left_x=0.2547 left_y=0.0021 left_z=0.1266 left_yaw=0.0034 left_pitch=-0.27 left_roll=0.0019 left_gripper=0.9993 right_x=0.4675 right_y=0.1755 right_z=0.0662 right_yaw=0.2131 right_pitch=0.2223 right_roll=-0.4644 right_gripper=0.3543\nstate[joint_eff]: [0.0068, -1.1692, 6.9949, 1.4335, -0.0513, -0.0464, -0.0171, -0.4444, -8.7453, 5.1077, 2.1074, 0.1685, 0.0611, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 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, 0.8207, 0.6067, -0.6392, -0.0189, -0.0383, 0.9993, 0.8036, 1.8584, 1.3361, -0.0895, 0.733, -0.1223, 0.3513]\nstate[eef_state]: left_x=0.2546 left_y=0.0021 left_z=0.126 left_yaw=0.0032 left_pitch=-0.2727 left_roll=0.0022 left_gripper=0.9993 right_x=0.431 right_y=0.2819 right_z=0.1795 right_yaw=0.268 right_pitch=0.0769 right_roll=-0.4983 right_gripper=0.3513\nstate[joint_eff]: [-0.0752, -1.2103, 6.8171, 1.4921, -0.0366, -0.0562, -0.0122, 0.1709, -10.4821, 8.8684, 1.8437, 0.4371, 0.1978, 0.1148]\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 131 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, 0.8246, 0.6067, -0.6533, -0.0189, -0.0387, 0.9993, 0.3473, 1.7878, 0.8223, 0.543, 0.3641, -0.3958, 0.1015]\nstate[eef_state]: left_x=0.252 left_y=0.0022 left_z=0.1229 left_yaw=0.0035 left_pitch=-0.2906 left_roll=0.0024 left_gripper=0.9993 right_x=0.4718 right_y=0.1077 right_z=0.1063 right_yaw=0.247 right_pitch=0.1243 right_roll=-0.5066 right_gripper=0.1015\nstate[joint_eff]: [-0.0479, -1.5111, 6.8855, 1.5897, -0.0659, -0.0757, -0.0122, -0.1573, -7.1453, 6.0376, 2.3516, 0.0269, -0.022, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7e6ab1891bac318cf9f66b99f58e7f5b6cedf24d26f8ed7dfb3422bd9fb097b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39d1601072adc0bcb1baec168bd94ca33e5d4643aff3c78c184fa3e2d809db67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7fa86fda8789b40a15c63be852e602317d313dc4e317c784d8f1a2b275b23df",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFBuia_fMVOYB2hyYPTSyTIZQh-iQrWIp4sZWlAWYG0-HmCyosNWUpEAcqkzJvlhT8tgMIfvh3kgGdZaR1jERZAwThM0zpu8iOs2PLdrDQWnOFS_lia9ko6d6GNWi9Im2pgwFoJ86_QMevumsNkJPT2LeYPlICnLIunt0kOJZroT7A3kKSn-4C-5L-FatVcV-NxYRsf_SUZPuZAfpPPZZkryz20c3dvsR70YJVBfLPvlixZnAR1Xyn11NQOC-AnZ5hFaVsm0n9Io61XUCcfk3jgajqZv-SYPmFFLXyhZZOYuLiggv9b_DdDYFcPlTzkLg5ol5xk8OJcnB0ItSkDhmSwRICZd8ONGMco0cPjJT9CDIKVUXqljUkan6cqkxZjpq4hCd0KOeUHZl1hCkCIg7WbSXHSLwsApf22vlaeYs4nIdzm_jA0yOIRcQ3yxkx14RnoQu_QuIig_GbHChcxqSefA8oupdf8dVQ3Z_mcjx07Ryph92ZMR3l8dp_UGm6HRW3P18ea8az8kmuw5Hx6OeqYkiZFge0ps1Y5YNGfJGlktNrtI5DrNNvXHo4z8NHiNglBAj3y28ueuJmHYygoRcVoBZvKZmhkgXgvpjl0BidE2qcrrckv60ls-kIS6nzgBArl5jU1IcibUnTYfBW54H9U10Q_8922JMtlpA5DOK2YXXA6U1dBm70tJ6b4KOb-XKyJUvRvWk2muUz70X4qyLFIQrl12J79KqKDjpVNzUQ5LSh77lH532_1-Ydi8ebLeku8jzMV1hDmEmqsUIjBGx2qnOWUCmK3XpsoJST6GXaoD4TMsoyC4YLk_SqTG6NojohQFvaM7QHm-l70ZhK9Iy7av5Lu63iAR5h59VgE8EDVC5rOzCToMCkxpsqMCLfZm1cPtc14IXqBu6RhmOyyX4ZOPQa_yYAYqcj4vz2-RKhepuLLCnA1-BvwHmEDJ7XrTssQlfz_81ydkHWLumhn5hlKHmHWCh6li5ZFdztKTZl0RtlMAZMZLTssI5xD7j0AEDpSnEmWNw1askmUHTRfh-Mlv_ZSFr5CZdLDtQQPaQciTuix0eSLQnDD-CcmvsJIkuKuAF2yxTMIPkzMC6jt2tbh1E6lv04_Gw05sUI2-UIzmu01xqrSf5yLfgGk0XErf_mdgqX8VuCBObS2WgXD13s2RyE5bLm3EoXUA2WNd2RNjWnR3mlht8kMX69NdRITyAx7seZoRrhLCkRvv4rG851HfevqFod_YmiAdCB3_MNktzmlH1PMsnAZuqfS8DHxNTyXfdp6zH2KynU-CmZn3qDyUuOMIR2BSUwjhdyebP4JlVeBig7-GHQmgBD9pXRzfxolpFBjWkXT6PEMDvQJOCjbwuZx3ujAE2gf6vgfndYFDvys1-I_EecGhcSIl3dqlAtXimBk2Xv02yHTFzmeLugwybHovuIXIzZ-ObhDvFpIUx5FjbTzwVnt6Esi0d7bmMGWom60QCFh0opYsKo60egnMVtKOvftYbcsgp9LNzGOcA4GGYZ2XKEVDyxlCqLtBbCy9VQRBFWPG9-gyqSakA-JW-vJTI7AuaL-faXnEDoO9M4wKyTHOi9Nm2Kl9jSCb1P7J2jsQLYEve-Ecs8rFVBX3wYCdPSDRdyHy5I8IzBMp_YyPTYTbmrwEpUZ0cUna-w9-IvLD3svNXF2IcV_-NaQUiikuOEPqVAqYRSdUyFMxtuvLh_9U6lmKUG1objQ05-xlubPXoBNmAE8Z7SCJeBs8jsLHjP2Uv_L0A5jRJLPlOwZRFuDh53W9Db9WXLmQmQmckgQvYbHO_Qr4PSqu4qsMohls-r6v3qKY9pxa9XUVrMIPH2Ii8gFBLSXuDbxThwykJGD9S4QmDHaCAV3qs6cOs1PGS2LyA_ji8s_O9i_2Ilvk7EJWr5AIGehs9LykeA7zsH-ZiFCwrVQ571XcdcWBZR-Qn4PWcqLSsgMf1CRnsMaCcsj9CzwOrbyFFT8BBFd0btfhzfu7gIG6CpRnWTkXvA==",
  "id": "rs_07e7cfd5b0c08642016ab4506b970887d0a4bc7d475da447a2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.11,\"right_z\":0.05,\"right_pitch\":0.25,\"right_gripper\":0.1},\"note\":\"The narrow gripper is correctly on the object's right side, with the yellow plush visible to the left in the wrist view, but it is still too high and slightly short. I am lowering to the object's mid-height and advancing a little before the sweep.\"}",
  "call_id": "call_YkNFSetkhW5mGSe8MYMCgWQi",
  "id": "fc_07e7cfd5b0c08642016ab4506d906887d08d0c7d4ab423542e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YkNFSetkhW5mGSe8MYMCgWQi",
  "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, 0.8284, 0.6067, -0.6617, -0.0189, -0.0383, 0.9993, 0.3389, 2.0747, 0.7773, 0.8761, 0.3511, -0.4118, 0.1016]\nstate[eef_state]: left_x=0.2504 left_y=0.0022 left_z=0.1207 left_yaw=0.0034 left_pitch=-0.3028 left_roll=0.0029 left_gripper=0.9993 right_x=0.4782 right_y=0.108 right_z=0.0272 right_yaw=0.2576 right_pitch=0.1206 right_roll=-0.5154 right_gripper=0.1016\nstate[joint_eff]: [-0.0205, -1.3607, 6.8855, 1.5116, -0.0269, -0.0317, -0.0171, -0.1573, -9.347, 5.4906, 2.2393, 0.0806, -0.0366, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92edf5b33b01b0406501204e5814ae9791763a7a041a9b98cbf85378a11cf967",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2861c9fca8f72f8c72e9fd8afd96a5b8f060b6f8c93abebba740c70ed95adb5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d58423366328de0180a2868459c3f365821db30b2ffab932832d5468401a074",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /responses · status 200 · 7.201 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 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, 0.8204, 0.6067, -0.638, -0.0189, -0.0387, 0.9993, 0.5407, 1.9606, 0.8658, 0.6842, 0.5545, -0.2829, 0.3513]\nstate[eef_state]: left_x=0.2548 left_y=0.0021 left_z=0.1263 left_yaw=0.0034 left_pitch=-0.2712 left_roll=0.0019 left_gripper=0.9993 right_x=0.4645 right_y=0.1746 right_z=0.0782 right_yaw=0.221 right_pitch=0.1815 right_roll=-0.478 right_gripper=0.3513\nstate[joint_eff]: [-0.0615, -0.8684, 6.8444, 1.4432, -0.0171, -0.0708, -0.0122, -0.253, -15.0222, 10.6051, 2.9719, 0.2662, 0.0073, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 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, 0.8246, 0.6067, -0.6533, -0.0189, -0.0387, 0.9993, 0.3473, 1.7878, 0.8223, 0.543, 0.3641, -0.3958, 0.1015]\nstate[eef_state]: left_x=0.252 left_y=0.0022 left_z=0.1229 left_yaw=0.0035 left_pitch=-0.2906 left_roll=0.0024 left_gripper=0.9993 right_x=0.4718 right_y=0.1077 right_z=0.1063 right_yaw=0.247 right_pitch=0.1243 right_roll=-0.5066 right_gripper=0.1015\nstate[joint_eff]: [-0.0479, -1.5111, 6.8855, 1.5897, -0.0659, -0.0757, -0.0122, -0.1573, -7.1453, 6.0376, 2.3516, 0.0269, -0.022, 0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 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, 0.8284, 0.6067, -0.6617, -0.0189, -0.0383, 0.9993, 0.3389, 2.0747, 0.7773, 0.8761, 0.3511, -0.4118, 0.1016]\nstate[eef_state]: left_x=0.2504 left_y=0.0022 left_z=0.1207 left_yaw=0.0034 left_pitch=-0.3028 left_roll=0.0029 left_gripper=0.9993 right_x=0.4782 right_y=0.108 right_z=0.0272 right_yaw=0.2576 right_pitch=0.1206 right_roll=-0.5154 right_gripper=0.1016\nstate[joint_eff]: [-0.0205, -1.3607, 6.8855, 1.5116, -0.0269, -0.0317, -0.0171, -0.1573, -9.347, 5.4906, 2.2393, 0.0806, -0.0366, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92edf5b33b01b0406501204e5814ae9791763a7a041a9b98cbf85378a11cf967",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2861c9fca8f72f8c72e9fd8afd96a5b8f060b6f8c93abebba740c70ed95adb5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d58423366328de0180a2868459c3f365821db30b2ffab932832d5468401a074",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFByqc5MrnY51TovG02zYPYKB2NJs0GHjsxMy_-sPP_jZ7R9vTiY0wMmkTgZcU-LEr3sLAO21lA-CRCA7yrxIK_Q8byojtURHZ7OBPkCX4I795WRcrg-IGdNYTnOFKkFwb-UWv5NCGr8CdpF6rHZv6-MvrmPJAeNqfSRfUXsNMQlS7fweN9giAFfjJVvWQWOUagSJfbryTq9Cbftmj3bVKp4mBhgeQnmvz8TOnbMqzfkT_mFe9wzMAAyGP0mfFoUNIyK7h_0VKZnZaW2UgKkJf3MHiCDffIJpjhuiD0Bgf0Ks0AW8nzkcSoTZuim2hxBJ7S1pfTz5A8qewJ0cFYf8GNrpco_k66yEF29d95A6BkCnw0x5dTQ-BxEYIGZ4NH1fW0OL38nYqHLx2MsH2vypwGj4r0ynUlbMIz5RpvkUy66hxWPaAd7avs_GUS297Fq2fbYMYZsQ2QsLQoYgqiqVcaEC5yGQLIieRQA86Ch42_SKGOLl6XGZguTGPQOO0Koa0Y9gZa4ZqSbGdCSISvFGgHrvqhZpIElhatMAFvzMyrMLQXtn9uFDilCySdICDGNgLyeaOrdEexQYmJ3Q8tGj1RYTHeQpzBL5W89-IPKeJ5hdnRPY5JbdPYeRs0pbXuwXtoOAs-eeCYDjfoMuw3KjEK8TKxWYZ3wXNR1U7saLip3LaFj1gcVRWYQkyQT7Y00JZotv9VqY0an9FFXp8kEq8KxvAFSnXXecmaoxoaVXDQs-urXguPYR-fF5cohVa6nHNFvSGnvnj739VGPO1Dei5asKItfVRmxY6VIHevliOBFZgLOcoo0_4MVNAR7E7V0j4qO1vSt4jrp4cREuJEwStzgTPFajokwIS3LPvgsmiYuiBHuRknaLc9SPnKmpiklR0YI3BSKCSGg3gs4L8CAoGeZZLdI0b5mM0q_66ImKOwogVVT8k1qPg-gO9Gr24Kw6WN5q3nk09E7mfytjgT2l4mJjGmTMkgmneDA1akv63KVdtRt-OcGJDI7R10Z17d4oEg-RbeKX7IRo5QGdRH-U8Zlp1DTtsbyWyilmpncZo3d28yZ20KkVaTD2anojlYDl2L-bSh6QVO6iZIPK0cc8tK-GImULFeBSIY6SiL8SlK5jUSJsHgdZL6SdTYfYSZ8EGfQt1kDqKKhUc3PCP-w1xJBPmW452rezKvYeZGkiIp2J4_6TeTiaV9QeSwnkSDrgvdO-rLMPTHch2lqbUpfrXBf4KWB9cAcUP1TeLkKrwGBhyfkVOO1OKogErzj6rIO7R5cOr6S-K1mXHzWlg6Tal2Awpm4uipJxGcBOAp2_BvQKnX4yAU0WMw2tNjZmXYkKXJCMSCd0as7Z4ru9yF33aezAJlAxo6AwP6DW_9m-JKCGqd_90Xe2NDm0KaNQ1LPaExC2ffO0-fCRXKEe3FNV5hWaCN4fa6JKo0UtK16aWyzW6VMtGBdUSqeEjSKi_Aoqb3Q3hNI0LdmUY3I-gk5AHZBQQ==",
  "id": "rs_07e7cfd5b0c08642016ab45070267487d08e00177117732dd4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.32,\"right_x\":0.48,\"right_z\":0.03,\"right_pitch\":0.25,\"right_gripper\":0.1},\"note\":\"The gripper is now low at 2.7 cm and immediately against the yellow plush's right side. I am sweeping left across the safe opening to push the upright plush over the low rim and into the red interior.\"}",
  "call_id": "call_HXbxyZTeF0hNsSkGvyqbfXdE",
  "id": "fc_07e7cfd5b0c08642016ab45070c6d487d0b5e545169c429a02",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HXbxyZTeF0hNsSkGvyqbfXdE",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "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]: [-0.0189, 0.8303, 0.6067, -0.6762, -0.0189, -0.0387, 0.9993, 0.7895, 2.3737, 1.2915, 0.6674, 0.7662, -0.2607, 0.1016]\nstate[eef_state]: left_x=0.2476 left_y=0.0022 left_z=0.118 left_yaw=0.0037 left_pitch=-0.3192 left_roll=0.0031 left_gripper=0.9993 right_x=0.4779 right_y=0.3129 right_z=0.0278 right_yaw=0.2807 right_pitch=0.2178 right_roll=-0.5384 right_gripper=0.1016\nstate[joint_eff]: [-0.0889, -1.306, 6.9538, 1.5263, -0.0562, -0.0562, -0.0171, 0.4581, -10.8376, 6.694, 1.9756, 0.3053, 0.1245, 0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:977ae5c32b036f7572f81bebcf9ff982ea2e801473f946d1da0f57ac4b3c875a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83af4f92f16d548357e991a7e44845ce9dbff6c500fdf614036aeb36988e7f67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e0d3e493d3f845b278e382029a7ac7f4923bcd6a430aca7425781519f1827e8",
      "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 · 4.331 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 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, 0.8207, 0.6067, -0.6392, -0.0189, -0.0383, 0.9993, 0.8036, 1.8584, 1.3361, -0.0895, 0.733, -0.1223, 0.3513]\nstate[eef_state]: left_x=0.2546 left_y=0.0021 left_z=0.126 left_yaw=0.0032 left_pitch=-0.2727 left_roll=0.0022 left_gripper=0.9993 right_x=0.431 right_y=0.2819 right_z=0.1795 right_yaw=0.268 right_pitch=0.0769 right_roll=-0.4983 right_gripper=0.3513\nstate[joint_eff]: [-0.0752, -1.2103, 6.8171, 1.4921, -0.0366, -0.0562, -0.0122, 0.1709, -10.4821, 8.8684, 1.8437, 0.4371, 0.1978, 0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 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, 0.8284, 0.6067, -0.6617, -0.0189, -0.0383, 0.9993, 0.3389, 2.0747, 0.7773, 0.8761, 0.3511, -0.4118, 0.1016]\nstate[eef_state]: left_x=0.2504 left_y=0.0022 left_z=0.1207 left_yaw=0.0034 left_pitch=-0.3028 left_roll=0.0029 left_gripper=0.9993 right_x=0.4782 right_y=0.108 right_z=0.0272 right_yaw=0.2576 right_pitch=0.1206 right_roll=-0.5154 right_gripper=0.1016\nstate[joint_eff]: [-0.0205, -1.3607, 6.8855, 1.5116, -0.0269, -0.0317, -0.0171, -0.1573, -9.347, 5.4906, 2.2393, 0.0806, -0.0366, 0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 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, 0.8303, 0.6067, -0.6762, -0.0189, -0.0387, 0.9993, 0.7895, 2.3737, 1.2915, 0.6674, 0.7662, -0.2607, 0.1016]\nstate[eef_state]: left_x=0.2476 left_y=0.0022 left_z=0.118 left_yaw=0.0037 left_pitch=-0.3192 left_roll=0.0031 left_gripper=0.9993 right_x=0.4779 right_y=0.3129 right_z=0.0278 right_yaw=0.2807 right_pitch=0.2178 right_roll=-0.5384 right_gripper=0.1016\nstate[joint_eff]: [-0.0889, -1.306, 6.9538, 1.5263, -0.0562, -0.0562, -0.0171, 0.4581, -10.8376, 6.694, 1.9756, 0.3053, 0.1245, 0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:977ae5c32b036f7572f81bebcf9ff982ea2e801473f946d1da0f57ac4b3c875a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83af4f92f16d548357e991a7e44845ce9dbff6c500fdf614036aeb36988e7f67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e0d3e493d3f845b278e382029a7ac7f4923bcd6a430aca7425781519f1827e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_07e7cfd5b0c08642016ab450751e8487d0a04ab6722a2ce8a7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.24,\"left_y\":-0.12,\"left_z\":0.045,\"left_gripper\":0.1,\"right_x\":0.3,\"right_y\":0.0,\"right_z\":0.18,\"right_gripper\":1.0,\"right_pitch\":0.0},\"note\":\"The yellow plush rolled forward instead of into the safe, so I am clearing the right arm and using the left arm for the two objects already lined up below the opening. I am positioning a narrow left gripper just behind the cream plush for a diagonal push into the safe.\"}",
  "call_id": "call_1IY4AkgtkdWRO3IW1iyEVDUN",
  "id": "fc_07e7cfd5b0c08642016ab45079e79487d0a3035c6a43124120",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1IY4AkgtkdWRO3IW1iyEVDUN",
  "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]: [-0.7609, 1.1625, 0.4751, -0.395, -0.4259, -0.6533, 0.102, 0.054, 0.7979, 0.4973, -0.2214, 0.141, -0.5529, 0.998]\nstate[eef_state]: left_x=0.2345 left_y=-0.1176 left_z=0.0414 left_yaw=-0.0133 left_pitch=-0.3543 left_roll=0.0171 left_gripper=0.102 right_x=0.3007 right_y=-0.005 right_z=0.1638 right_yaw=0.2236 right_pitch=-0.0147 right_roll=-0.5362 right_gripper=0.998\nstate[joint_eff]: [-0.3897, -2.8239, 6.1197, 1.3162, -0.5055, -0.1001, -0.0073, -0.1299, -1.5658, 11.0701, 2.0391, -0.0952, -0.0464, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fc8aa7c2a3b162b7700efe5e98a43bc065c6a246aa3d40d9f219b16324e3814",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:784fad002f42bf6aade6fe250384561687079f2b584e165f71da3b5d89ea7ee7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:584e0f56eb74451774e05579562ccc31a3c71d30610baa74d093765bcc6d6126",
      "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 · 3.383 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 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, 0.8246, 0.6067, -0.6533, -0.0189, -0.0387, 0.9993, 0.3473, 1.7878, 0.8223, 0.543, 0.3641, -0.3958, 0.1015]\nstate[eef_state]: left_x=0.252 left_y=0.0022 left_z=0.1229 left_yaw=0.0035 left_pitch=-0.2906 left_roll=0.0024 left_gripper=0.9993 right_x=0.4718 right_y=0.1077 right_z=0.1063 right_yaw=0.247 right_pitch=0.1243 right_roll=-0.5066 right_gripper=0.1015\nstate[joint_eff]: [-0.0479, -1.5111, 6.8855, 1.5897, -0.0659, -0.0757, -0.0122, -0.1573, -7.1453, 6.0376, 2.3516, 0.0269, -0.022, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 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, 0.8303, 0.6067, -0.6762, -0.0189, -0.0387, 0.9993, 0.7895, 2.3737, 1.2915, 0.6674, 0.7662, -0.2607, 0.1016]\nstate[eef_state]: left_x=0.2476 left_y=0.0022 left_z=0.118 left_yaw=0.0037 left_pitch=-0.3192 left_roll=0.0031 left_gripper=0.9993 right_x=0.4779 right_y=0.3129 right_z=0.0278 right_yaw=0.2807 right_pitch=0.2178 right_roll=-0.5384 right_gripper=0.1016\nstate[joint_eff]: [-0.0889, -1.306, 6.9538, 1.5263, -0.0562, -0.0562, -0.0171, 0.4581, -10.8376, 6.694, 1.9756, 0.3053, 0.1245, 0.1538]\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 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7609, 1.1625, 0.4751, -0.395, -0.4259, -0.6533, 0.102, 0.054, 0.7979, 0.4973, -0.2214, 0.141, -0.5529, 0.998]\nstate[eef_state]: left_x=0.2345 left_y=-0.1176 left_z=0.0414 left_yaw=-0.0133 left_pitch=-0.3543 left_roll=0.0171 left_gripper=0.102 right_x=0.3007 right_y=-0.005 right_z=0.1638 right_yaw=0.2236 right_pitch=-0.0147 right_roll=-0.5362 right_gripper=0.998\nstate[joint_eff]: [-0.3897, -2.8239, 6.1197, 1.3162, -0.5055, -0.1001, -0.0073, -0.1299, -1.5658, 11.0701, 2.0391, -0.0952, -0.0464, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fc8aa7c2a3b162b7700efe5e98a43bc065c6a246aa3d40d9f219b16324e3814",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:784fad002f42bf6aade6fe250384561687079f2b584e165f71da3b5d89ea7ee7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:584e0f56eb74451774e05579562ccc31a3c71d30610baa74d093765bcc6d6126",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFCCf0vccSPh-cp7yTXEmuo2P3daiRT6ACCLTPMi4RLmiprMTIAZBfuCRr1k72tURnLK1MFo6KUxDDWbrXP8U7po9xgPN3NQMJrOZ2iNThtRLheNEpnZFFZ08ZdOOSQftLZeKgdJSa0VZ_5nKEr1q3mgoHO49E4nGpVXvasZG-eqlQ2Ed3Qo-oLiLdG946Wv2760ZEHy9ntD3qvKaedwdKG5cSyoHT9YXff4Ze1QOyGMPOQPjfvt3V1HZnfBV12uLwplusFwKVqMKDQsrJBx2Pr1i5FYTeMvRd99KmEcLngpqbe9snjznuuD2APT8ZtpdU2fdyylwEiwEJhiJshZxin3DMMiYY6ZwUrUCfTQJO97aGjmSeENgVFZ4RP9VLAJdKnXX7siekciUdxyyOif23bMINFe5OhM9A_G6PkL-4qLaaRyE2ujxofZj1A4OcNnQgBGWH1EABgGDREO9jWWObKl5BTN6qSsCdzAvkaiADEMfibina2VUpR1Qehu1pA3rEfKkYSW0E3OF9tBjYTCVabnKtfqMFvWpboZLrdLwSGYHOGRCUvYrXINo3rB37Ff9twlI6E_mTTOcbl04wNGuYeAJigRVMyyeDjAgCbVZa9w5rPg4W4EbPT69bgQXjKr7EJzvv3jymOuuVISXQtbDabLpwj5yKBFnoSjd1TUXcdY-cWl59NV162wVHbLfRnufkaTV5-GNHg700E5SPNEHZxlqEs-nhgdxEHKErL-9CFnHjqIYeS4SSRGufrkMaE3k0IVlZKR0hqV9D4lo1xtrow6Fc2fgxZecMtvd5EDBSPxnAOwQFUmy8SIEB_RxcL1FmCn_oWXKjQNlXPXfaOzmhEfZ9QqW8sArr98qHDfon86S964xyBEOBI-vPcrO5ouFxXELY8AfC6wC3YHIqxOAclPOlnJ_SyJfGaCgF-a_1pih0Ghdyrd8pZxWL5zJy_1FOQ-cal_SzQJWYesQVDUOwECA8TRfVzOZAKdd9DtQB52bPdKHcWeoGbmppg-cBoToZTT-MxbpXdEp8rjaZLYHus0XNTlNx9otrcO9-lZISm3Mrgo2wb-gzc0dA-n19FjQ9SBI2MoXArtnJdngbLGzotK_vVE4YN0dFFPNl1rjYpux1V68Oibqfm6tUWxWlt5CVLbLOP8mepIXODNVQLcL4DK69rUuTIytAn7tAcRDQQ9GA78oVAyqCSMgji7Juqp2uFL6zSc79ixPGIsphnYLGdcSoSWcMJNJ8CWLZducR0LfAoGXnxkQVUWe15MAdXiqbymUnfU5G3-ttt28LH7IRUp3y4vj_dMETX89tjA6cZZ0GnaDBCmCXEOEaESTLbmC4eiiY46RWv2JkmwUrFjMRa_au24da8lmdei61DtcCE1uiEZB1Kmrr8dKGswrmfVMZbptp7zuk_bR8c-z2BOEQrGdnB-Cv3yFfJArClFPVlG9GKAb78h3dZreDg0r-1othvY6-EWncRo3l8b2N-jnKNQwxZNvH05-Pq-5Tmb1cbLSiy65k9xO3sWQsh3gUifsHHYxhTLBnyRVuWhacacwpYPAS1Ibg8m7sHEND5iSeIXec4ozBmrBLrUCnt4dLD36Ljn2QlpXv6wLoSY1oDSI8PgcN9WtV94aB--3F_nWiAG7sBYglfP3RabLcOr26q5U3KMHcbMUxH7mGB0pAdMGU3pnRNQ8gUwQNALouKkQM5RcHwefL8cgbg1KoFwirjImgrwV8jJZe4Tqub-pGhWtFBot2oy37bf44rIN33CcyYyzTTNT6ABDsm3VsV1XXAbtoTCYrJyevVZCbTIDmzWSPwIAOEvFTpooETrwi9ZLzmanz5mM4dW47bothTfB4C_MSUI4hdDrWqf0NrP69PgmUKKdLRfOpfASLb0Zp7pp_CIPy0oAHOMXrZLOgRvBgxXMl-B1PXL2TKD4MYqXkPkuMIj_7zRbqm0R0-FRMGzFBkWH_nQJshuJTX5QYy-LNvsee9dnlSaARJp6Da2BamKz_xJWIZsIPA-ae_HP-XC2lXwGqMHwcFa9zge17jKHOe-WwOsYLOJGIHHYYjFZ1_LDgrfaDA9KKNqyguTm9diph4ezobyOV8axou3LS9YJwxdOgRXH3y1p8ryA-1KNpv5ooMLlXGgpKwgZCDysruG4DE8T136zyVe1s6jUh7yn6iYEIafev8C_R5GpdraZd7-Rf2swySdGLQy2BQRnCdRuQ8qGTA=",
  "id": "rs_07e7cfd5b0c08642016ab4507eba0087d09e9e04451dc4670c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.03,\"left_x\":0.235,\"left_z\":0.04,\"left_gripper\":0.1},\"note\":\"The left gripper is at the correct depth behind the cream plush but is on its right side; for a push toward the safe it must start below-left. I am shifting the low gripper left of the plush before sweeping diagonally up-right.\"}",
  "call_id": "call_CwZipSzJDnz0yEgMUJ3NP5Z0",
  "id": "fc_07e7cfd5b0c08642016ab45080e92887d0baee37c774359fb1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CwZipSzJDnz0yEgMUJ3NP5Z0",
  "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]: [-0.2905, 0.8986, 0.342, -0.4046, -0.2111, -0.292, 0.1012, 0.0532, 0.8032, 0.5007, -0.268, 0.1352, -0.572, 0.9989]\nstate[eef_state]: left_x=0.2362 left_y=-0.0282 left_z=0.0412 left_yaw=0.0514 left_pitch=-0.3498 left_roll=0.012 left_gripper=0.1012 right_x=0.2955 right_y=-0.0045 right_z=0.154 right_yaw=0.2374 right_pitch=-0.0673 right_roll=-0.5402 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -1.5248, 6.188, 1.3602, 0.1099, 0.1636, 0.1148, -0.0889, -1.6342, 6.9128, 2.21, 0.0464, 0.1636, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f0594a89b4c3ad9c8e4c1be3bff1c41ef60723e9caa9ddaddda1a0d987744eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bc74e28a064100f4f34d851451e999efab657f93c41f67e56ecccdcf0bc63b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b21f14638461d67dfb2416a21d59faf3c0dc3dd4dbf87770a7993d7bbab83de2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 37 attempt 0 · /responses · status 200 · 4.11 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

message 135 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, 0.8284, 0.6067, -0.6617, -0.0189, -0.0383, 0.9993, 0.3389, 2.0747, 0.7773, 0.8761, 0.3511, -0.4118, 0.1016]\nstate[eef_state]: left_x=0.2504 left_y=0.0022 left_z=0.1207 left_yaw=0.0034 left_pitch=-0.3028 left_roll=0.0029 left_gripper=0.9993 right_x=0.4782 right_y=0.108 right_z=0.0272 right_yaw=0.2576 right_pitch=0.1206 right_roll=-0.5154 right_gripper=0.1016\nstate[joint_eff]: [-0.0205, -1.3607, 6.8855, 1.5116, -0.0269, -0.0317, -0.0171, -0.1573, -9.347, 5.4906, 2.2393, 0.0806, -0.0366, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7609, 1.1625, 0.4751, -0.395, -0.4259, -0.6533, 0.102, 0.054, 0.7979, 0.4973, -0.2214, 0.141, -0.5529, 0.998]\nstate[eef_state]: left_x=0.2345 left_y=-0.1176 left_z=0.0414 left_yaw=-0.0133 left_pitch=-0.3543 left_roll=0.0171 left_gripper=0.102 right_x=0.3007 right_y=-0.005 right_z=0.1638 right_yaw=0.2236 right_pitch=-0.0147 right_roll=-0.5362 right_gripper=0.998\nstate[joint_eff]: [-0.3897, -2.8239, 6.1197, 1.3162, -0.5055, -0.1001, -0.0073, -0.1299, -1.5658, 11.0701, 2.0391, -0.0952, -0.0464, -0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2905, 0.8986, 0.342, -0.4046, -0.2111, -0.292, 0.1012, 0.0532, 0.8032, 0.5007, -0.268, 0.1352, -0.572, 0.9989]\nstate[eef_state]: left_x=0.2362 left_y=-0.0282 left_z=0.0412 left_yaw=0.0514 left_pitch=-0.3498 left_roll=0.012 left_gripper=0.1012 right_x=0.2955 right_y=-0.0045 right_z=0.154 right_yaw=0.2374 right_pitch=-0.0673 right_roll=-0.5402 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -1.5248, 6.188, 1.3602, 0.1099, 0.1636, 0.1148, -0.0889, -1.6342, 6.9128, 2.21, 0.0464, 0.1636, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f0594a89b4c3ad9c8e4c1be3bff1c41ef60723e9caa9ddaddda1a0d987744eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bc74e28a064100f4f34d851451e999efab657f93c41f67e56ecccdcf0bc63b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b21f14638461d67dfb2416a21d59faf3c0dc3dd4dbf87770a7993d7bbab83de2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFCGYUV-eykEhlKfrGz7RRxzCII5OdltueXiDDjI-5uKOhcdqf2naoS0CBUtCr6T3sklnQT3vhjIN9t5ZW8Lz8y4hut8qEmIqR19wDFfqzD2THr9QbZWnggNcYXQBRgzlh1_LafnQQbkZZHpQUelrwBTQEnrN2Xz1_FW0WWJLw4wR9mkQ9U5CnpPrOM7MVwKCe7ZYTTdzGgLMx6YwCTMVTazo2G7KPnGuCejNUgB-RQ6KYDps5AR1ZW7mW_QIjks8Ez6jUEQ8K-j7jnxuBAs8IWuw_8N33lI_nAh0Kj1l_Wh-LsnjmihH6Zkw-DVnwZrhOPAfoN5LgyIR3iwWT6xfXPtzwo81B4AC6SA3dO_6dmKjqklHNUgeBrE7kjbruWnaVyKGLo2PacFdbXc7SjRvuS1p95xnnZSLUI70ck_EYjkeaInp64KeoZFLUN5NfoeKskrKxWS6vqKcuV_DIm8TUsFLVmUXqbeaCnUk5-dWfzeFQwnteqrCnFp01JwR7bml6Ntwf4UKSNN3DzX0i8D8o2c3s2pFT5CsmEi8JKl08HTTw6lpUawdjwTbTC16PROh1JDJwuLiQDJgDxG6Vq0WUdGmHsdc5p3Kt5fFLQOpmz-jbPY7qZ5ckncFKMD758NnuLm3T9QeU4IourHhaAHIHrPHqewd4glKuaEZWd4ZWF8RyV8gFlbOTjjaNOfa6AwS4RswEmbsXNGTBQVLn_wH24cBwUqvVLMDP_zT2v7p5iLQOFWbC-wS-TDmv_5PfbDjg6RKuBjlGqpIfTLfWUeK-jcpkS3l6WqCSCDbyCAHPteW_YcQhj--JYWLMukDueY1eIhEw70HBpiHsdHfb1xciGtfkBlpyP3TZn7SKSJWiHr7cmM3p6P1pFR1ZneWcudKrXNpoq4pOQUAMtH8GQDy16PONyyN2Hhk_lqK8YfC9QIl5S1PDHjAXpM2MOFc6FpxoS_JZiozorrp07vDQn1iYjMnlFuOgHTwtU-jrVktEYvFyAv0GQXI6wA2fCf9uAfzl7LF2fcY7LeOkHO5VdOGtoS01YDiyUmyjFwcNMZh-UMUcnGv7iorET9sZnuPrLmefDsehMak1utvBQpA0YXBsIA8KCXKNkcSJcT-Eivd3Di18nxaGVFBbYEceuAmgKOMiz_dqmVp171ddWiSjXILAUYhq32oTknS3Tu1POZGZrnW6VS6-xoU2ksQ-BOewvpyhQNeVtApCx0EXoWqZCbthNeRvGhJRYxR8UBGhlTgsItzz1mejO8P56BPoGnwYs44sEoNo6DrKveji2x8GRjePpXewMswGUUCf0UsE5ySqsesSFbVsXavxf06N8PGC1zZ55KZJ3exCTp8v8dL3XfYOYc4iqhSzumQb40eCKqBJnOOsZHubBF4-3xzDEUz500twCZ2FeyKSD575CcpJbhMrhtMgvJVqtZJZxnhp3UjzDw6xg=",
  "id": "rs_07e7cfd5b0c08642016ab45084774c87d099f7288d006db656",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.22,\"left_z\":0.04,\"left_gripper\":0.1},\"note\":\"The cream plush is now directly ahead and to the right of the low left gripper, aligned with the safe's open interior. I am sweeping diagonally forward-right to carry it over the front edge into the red compartment.\"}",
  "call_id": "call_DTcvKj6IcagBPQacmqwVBket",
  "id": "fc_07e7cfd5b0c08642016ab450850d3887d0b1d42b3da4be2a54",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DTcvKj6IcagBPQacmqwVBket",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "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]: [-0.7322, 1.8168, 1.0374, -0.3592, -0.429, -0.6975, 0.1013, 0.0528, 0.8093, 0.5007, -0.2977, 0.1375, -0.5758, 0.9989]\nstate[eef_state]: left_x=0.347 left_y=-0.2083 left_z=0.0292 left_yaw=0.0587 left_pitch=-0.3919 left_roll=0.0336 left_gripper=0.1013 right_x=0.2917 right_y=-0.0052 right_z=0.1463 right_yaw=0.2374 right_pitch=-0.1039 right_roll=-0.5379 right_gripper=0.9989\nstate[joint_eff]: [-0.4308, -8.4171, 7.8154, 1.1306, -0.3687, 0.0073, 0.1197, -0.1573, -1.7846, 7.1179, 1.9609, -0.0171, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6f26792c46e5039d2bfd7586b71a694a3eb04fa19a3d8275ede9c61e09b278f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f572287f7909c0f034146c7f9990bb3605e9f347cdf311909feb4fd222ef6fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:573cc1e17aeb0d65f47141a133dec75a9be749123283a5685ea24291c5570d6c",
      "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 38 attempt 0 · /responses · status 200 · 2.52 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

message 139 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, 0.8303, 0.6067, -0.6762, -0.0189, -0.0387, 0.9993, 0.7895, 2.3737, 1.2915, 0.6674, 0.7662, -0.2607, 0.1016]\nstate[eef_state]: left_x=0.2476 left_y=0.0022 left_z=0.118 left_yaw=0.0037 left_pitch=-0.3192 left_roll=0.0031 left_gripper=0.9993 right_x=0.4779 right_y=0.3129 right_z=0.0278 right_yaw=0.2807 right_pitch=0.2178 right_roll=-0.5384 right_gripper=0.1016\nstate[joint_eff]: [-0.0889, -1.306, 6.9538, 1.5263, -0.0562, -0.0562, -0.0171, 0.4581, -10.8376, 6.694, 1.9756, 0.3053, 0.1245, 0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2905, 0.8986, 0.342, -0.4046, -0.2111, -0.292, 0.1012, 0.0532, 0.8032, 0.5007, -0.268, 0.1352, -0.572, 0.9989]\nstate[eef_state]: left_x=0.2362 left_y=-0.0282 left_z=0.0412 left_yaw=0.0514 left_pitch=-0.3498 left_roll=0.012 left_gripper=0.1012 right_x=0.2955 right_y=-0.0045 right_z=0.154 right_yaw=0.2374 right_pitch=-0.0673 right_roll=-0.5402 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -1.5248, 6.188, 1.3602, 0.1099, 0.1636, 0.1148, -0.0889, -1.6342, 6.9128, 2.21, 0.0464, 0.1636, 0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7322, 1.8168, 1.0374, -0.3592, -0.429, -0.6975, 0.1013, 0.0528, 0.8093, 0.5007, -0.2977, 0.1375, -0.5758, 0.9989]\nstate[eef_state]: left_x=0.347 left_y=-0.2083 left_z=0.0292 left_yaw=0.0587 left_pitch=-0.3919 left_roll=0.0336 left_gripper=0.1013 right_x=0.2917 right_y=-0.0052 right_z=0.1463 right_yaw=0.2374 right_pitch=-0.1039 right_roll=-0.5379 right_gripper=0.9989\nstate[joint_eff]: [-0.4308, -8.4171, 7.8154, 1.1306, -0.3687, 0.0073, 0.1197, -0.1573, -1.7846, 7.1179, 1.9609, -0.0171, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6f26792c46e5039d2bfd7586b71a694a3eb04fa19a3d8275ede9c61e09b278f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f572287f7909c0f034146c7f9990bb3605e9f347cdf311909feb4fd222ef6fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:573cc1e17aeb0d65f47141a133dec75a9be749123283a5685ea24291c5570d6c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFCLNRcOKDUzd3irIARbkiqorPlo6tT7YoIncC1LKlt8VQK175A5YBCnWBncKJ5JXj9-m8bEfC1X2mQTLtc4BgCA-7WmWSnUlHK0nw3qrIbOBVna6i42KMZodjiIjRAHGAizXctRezqgO2uSfxNRaI-M7saDfcgFVxCMQKyA_bxtiYQKJOfcqjSQZgL9CHxJm0FA4ED2FIQv5tTy2cLMbXO5agPjx6rU9u56DvUSWCwbOF4jA8dAd0IM3D4_1SaMYpuypI7SeEqx5sNTOFVjGpSz8fTJ4CSyMr13QpPPY5DemZeE5T5SDoigw93xqHmKlul0fNN9BkFdsUQo3VfEYf9VrU-He1O7iHkt0mDlDBao0XM_i-dTD57Bni7NWoXZVyI8ruuAqFS54NCC-j_NLiSmW4idpiOc-ka9wejt5KmTkaNlfxy5eeJgdb1tt-uCtmcsN5KZMnZGYDJcgdOyD7GeO4N4kHxwbNyonb_TI7KOeIbT5nYMr80W9wpw7girO6A-xffGpQ18KnpqUgmW7pkac0KaKTU8BFvd8nivTs5qHX_ovAJb_H_tRYWudTO2H3TfJjscpFUQekJFSGlfqel3cR0uPmgsjyHPu1bGGs9n33pfMrLeLjt-CYm3eSl3kQzoOjPY72YrSHbvgsNX5Ap68E7lnAug7p8mRJRoQY-6yM-xflrT2MHNQ8lcSSD_lJBvr9DlZGa_IAyNXQj61tTVJHDYgth_ErXvUqZeqj36H9WZTprWu7KkGf18Ya7wzc_3ftOLiaHuRLZAh8r7ay3Qwck_7qzN20efd5GKn2--Em7k8A0zJ9eE-QZmMPIRhOZOERe3ZrEiiCFdjnoksfQbvSUBcRFSAiHLsS11221fUTxzjm_L7E_aOt4RGSi7SACE_0Ptk6ewdtfwxLUc6c9iifSNH5cj4uZMrbx2NrXpwGtHQ_nq4Bl0tfCvOPP0t9NrG7MkJECEtSPTto1GJ79vRdTSSC2bUZXwhKqIZECsFENhNiWKYw2QYFp-5m1GmRBrgS-st0bXAIhZ244IXj5tYTKoPqo507yiQdoXSVX3czonO0R2NpujeZlnMBZJYm01dM-FZkFEr4bf55FGyunX9trqUMbF4PGWOtStaqh-x_nw_WGAHpQKuPNAUzb3C94LNqG7t07EdxjcihjbFnwHFGVO--GmqWaqPhBN41uWdRt7jAewHKhs5YOEcUl_AhTLZNNXPaVs2BnqWEbglF1TXsmDPXkz6e8CMoTAHA7XpNc-AOgwyAfO4AHOcqZaWW1C3ewsNlWADu6yPlE6nF3kLsQ8PWCJ1-vjY4PINLkoCap1eU6xTakTXTIFt6ygGIf1soCktbCr_jzdsiSEEz0Ksl67Sdd8Ex6HwCaRlVfCUIcj3Msb31qBFp_anHbJ99XRlYe-T85Q5YHj1ww0C8tGX4Jyl-3YzUSLlc9RpSAKwXalBMZGRzOVq-H4lvk85c2-sgfkQzJCxSsFgEtJxX9vh9EFF3TV-D1lrmw8UV-ZxO3nomfDjwimXSHZMN1kzd5g0WDUyErXjp_HIcxjcwAkAZ81tMX7eKmaXesLchOob43B7IqF2BOIYliwqPWW5NinLRJahN2IDc4OW4ks4MosSR1yBLzfW9r7ypNmEoL8Ob9VDYyTG7poRT01yxl069elhj3pTvnismElh__y_U1Aeb7VMU4NYs8VL_LpSHM8QiNi4cAlc8HH2nENVia-SaMvv78fMNZ6JqfTC-rzwPLof811YWM9jY1gd2ODnMyFcqewloO9gkLVFCks4gecCrrmKL9sNnsKx0FhnEr2RvrSL2H-tLmnY4qXNTUyR5nIcmxhdJ-JypaW4R-eIMbxs1raj6WBig2TpLm5m8V46lKeG2ou8m_yhM4MkgnJXVJeBzLwG4wv3eEtP97UktAN-La8dnzqjCbRY3XW6PfY7fzAaZeh2vX0U833xyLoS7qH-X1BCAbN8In6HTCTMBxS6SS8Bdx5rG-8zPd24o7oHYWkiUTBuAkg7C8_TxUS7fwfkXRrKK2bBiWEQ0Al0egsDEwF32qtyI7P74C7IZwyLkhzFKaCVVJeM43hJ6CktO4y5-YxuYAaIM2pnK7ppJ0ILrC_ABOSz3rEKwDcHi2fK9rB7g==",
  "id": "rs_07e7cfd5b0c08642016ab4508907c887d08cf9dc1b73f361d4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":0.02,\"left_z\":0.04,\"left_gripper\":0.1},\"note\":\"The cream plush reached the safe's front-left corner but was deflected outside by the rim. I am repositioning the low gripper directly to its left for a short horizontal push through the open side of the compartment.\"}",
  "call_id": "call_HSRxu53eX7OqbHXintDjLjeA",
  "id": "fc_07e7cfd5b0c08642016ab4508b008c87d0ad6ba15afe2cc328",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HSRxu53eX7OqbHXintDjLjeA",
  "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]: [0.0105, 1.3739, 0.5995, -0.2214, -0.0761, -0.0761, 0.1013, 0.0532, 0.8116, 0.5007, -0.321, 0.1375, -0.5762, 0.999]\nstate[eef_state]: left_x=0.3191 left_y=0.0204 left_z=0.036 left_yaw=0.1085 left_pitch=-0.4119 left_roll=0.0355 left_gripper=0.1013 right_x=0.2884 right_y=-0.0053 right_z=0.1411 right_yaw=0.2385 right_pitch=-0.1291 right_roll=-0.5334 right_gripper=0.999\nstate[joint_eff]: [0.2256, -6.2701, 5.1761, 1.3504, 0.1197, 0.1636, 0.1148, -0.0205, -1.4154, 7.3094, 1.9072, -0.0269, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a548f9d5dd00d41ece54415316d69e58fea81adeb8692e146e3b97f6c0266fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1466d42b06661d9a2569c8db0bc764810db11ada584994bf2992b60b418d9cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12eb316318bbfc85ddd4b03f387c7a4f704e20917697bfab385f3b99d3adcc61",
      "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 · 4.253 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 143 changed as sent

message 151 changed as sent

message 155 changed as sent

message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7609, 1.1625, 0.4751, -0.395, -0.4259, -0.6533, 0.102, 0.054, 0.7979, 0.4973, -0.2214, 0.141, -0.5529, 0.998]\nstate[eef_state]: left_x=0.2345 left_y=-0.1176 left_z=0.0414 left_yaw=-0.0133 left_pitch=-0.3543 left_roll=0.0171 left_gripper=0.102 right_x=0.3007 right_y=-0.005 right_z=0.1638 right_yaw=0.2236 right_pitch=-0.0147 right_roll=-0.5362 right_gripper=0.998\nstate[joint_eff]: [-0.3897, -2.8239, 6.1197, 1.3162, -0.5055, -0.1001, -0.0073, -0.1299, -1.5658, 11.0701, 2.0391, -0.0952, -0.0464, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7322, 1.8168, 1.0374, -0.3592, -0.429, -0.6975, 0.1013, 0.0528, 0.8093, 0.5007, -0.2977, 0.1375, -0.5758, 0.9989]\nstate[eef_state]: left_x=0.347 left_y=-0.2083 left_z=0.0292 left_yaw=0.0587 left_pitch=-0.3919 left_roll=0.0336 left_gripper=0.1013 right_x=0.2917 right_y=-0.0052 right_z=0.1463 right_yaw=0.2374 right_pitch=-0.1039 right_roll=-0.5379 right_gripper=0.9989\nstate[joint_eff]: [-0.4308, -8.4171, 7.8154, 1.1306, -0.3687, 0.0073, 0.1197, -0.1573, -1.7846, 7.1179, 1.9609, -0.0171, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 155 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0105, 1.3739, 0.5995, -0.2214, -0.0761, -0.0761, 0.1013, 0.0532, 0.8116, 0.5007, -0.321, 0.1375, -0.5762, 0.999]\nstate[eef_state]: left_x=0.3191 left_y=0.0204 left_z=0.036 left_yaw=0.1085 left_pitch=-0.4119 left_roll=0.0355 left_gripper=0.1013 right_x=0.2884 right_y=-0.0053 right_z=0.1411 right_yaw=0.2385 right_pitch=-0.1291 right_roll=-0.5334 right_gripper=0.999\nstate[joint_eff]: [0.2256, -6.2701, 5.1761, 1.3504, 0.1197, 0.1636, 0.1148, -0.0205, -1.4154, 7.3094, 1.9072, -0.0269, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a548f9d5dd00d41ece54415316d69e58fea81adeb8692e146e3b97f6c0266fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1466d42b06661d9a2569c8db0bc764810db11ada584994bf2992b60b418d9cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12eb316318bbfc85ddd4b03f387c7a4f704e20917697bfab385f3b99d3adcc61",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFCQfomRTA09nU73-VqBdN4frmIBh1L4qc5RBlKPPA9eNmrANcGs9_U7iWgAJaEh5epY7o4F7SuATRmBLor1cAVwjs5W_CXtxEhbBLxIcob85H339jYHKibSTBW8Xev5KerC5wsWjEttSKO5dK7jqfTB112o68iG0olYGaS-TVd0IoDec3mHc8Xd0GbRf-xBac2ozT5riubgnh-F35PWvejmtm45H0d0Fd7gSylPSQXmuoXaQzNzV75VU-fjJZqDr6ojLCZ5H1wbPAMoniMnt-NPCVFEOiBle2FUa3tuFgOq22Gybx9Lh3p7Z52Z9m2m0rB9bLYZ3Wq3pY2peUSjpL7tKaJgRMc_UQpr7LgI9cZQRIxwBgmn2lLJE1Sh1pay4Ep_UHJuOoNo0jEEnCDHMKG2pbLB3DwJI161Xo-cN6lxkqZxhx1UQL0eMWWaLXeM2hn-lOtFuTx-KHYPhmZ8mYo-smO5dzw35XkAa5_YZP-lhUaksajFayfd2Eda6p3-rCJ7KynBH8wgLdjQtgHG7drRRhgeFPrER4pzi2iqQ8X1QItrTl_CeMWV9i7tOrNoCM6Sr-wSdul6y8vAe02EDjRHVK7WlmReBOPA4kXLrqCiv0VVRVUd38QYoLkR_5DVCnoqIqJUAbMz_KVxhIgx44tLUq0Puqj8hPRD0MN9z6cHAIrXYLiMULYN19KdyralrawSMGZXzggADuS5gwAFNNgS5DqW-Ffq38mkmRXwv3XWfQ4ruVEyetkDIFelFyEd83uiec4HL1Vzfg3l_oevE2h_FgzU9dMHv-T8neToMSVVaZNkPUUIDa1p1oaKpVlxQBBGBuI_0Bwxmf9lFI1NMxXcQArC50CKPZBQ3Z3GbPQK4A_ydXWB78UuMsEt8bhxDBP1hZ7iiAve7VYl9HsX4VC6WtmrnrWDedeAqwqFVLB7kVsioPFBpxDnjWQ39Q4du8iOPAGvV-kLlC4UbhC40J2fShynXMSFIElIY20h5Pu1JkDdia8G10PAFFZqqhG2Q7kwPX4tdnZxQQ98xM2Kpwev50GfvkTcL86FG3wE2WkH-UpItNsctB2MrIrJ_8O0qOfy57wtZr7lTIpWwZEcxtoZwwbT8YSU6XXwPzD7FQ3Tb80DEsgZRgp-Ah_JQjHu8DUTk0LV7DvIsCeLa_ZaT_RSU17RIm3suw19UvT_Y79lBFpHd7GO1neXwr-er51fbjWk0lbs9k9BOPXu4PUUC-JwZzQsPDrcSjHZL-SHR01jLrT0YLTfPwBkuoFyAEbl4YAwzMWi3oe0aoIKIrbYItBEQdywf1ZeWojx3yJaxP-9HvYnBMr-4DJQ6I9g9PeMo2XmDvvz7ddTFNS7BBwmj2EC7cQnv7YfttMETtjqBS9pBGfTh9szfZZScQWfgcJes46pNvaS7jgokR777deSDHsGOzteP87lzqxfXita7YFPMMRQ6V43h6Hu3FmbDS-Ie4LEqmV6mTRgqJkoZeD7G2y-vg==",
  "id": "rs_07e7cfd5b0c08642016ab4508f11bc87d081b8c5f00394f767",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.2,\"left_z\":0.04,\"left_gripper\":0.1},\"note\":\"The left gripper is now directly left of the cream plush, which sits beside the safe's open compartment. I am making the short horizontal sweep right to slide it inside.\"}",
  "call_id": "call_yd10AkmLbjqUkriYuogA7fxh",
  "id": "fc_07e7cfd5b0c08642016ab4508fb7e087d096cbdae3def00df4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yd10AkmLbjqUkriYuogA7fxh",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "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]: [-0.7616, 1.7187, 0.9569, -0.4618, -0.4248, -0.7746, 0.1013, 0.0532, 0.8116, 0.5003, -0.3428, 0.1375, -0.5766, 0.999]\nstate[eef_state]: left_x=0.3105 left_y=-0.1905 left_z=0.0303 left_yaw=0.1009 left_pitch=-0.4503 left_roll=0.0538 left_gripper=0.1013 right_x=0.2852 right_y=-0.0055 right_z=0.1366 right_yaw=0.2393 right_pitch=-0.1509 right_roll=-0.5296 right_gripper=0.999\nstate[joint_eff]: [-0.4444, -7.159, 8.1709, 0.8864, -0.5153, 0.0317, 0.1197, -0.212, -1.3197, 7.0085, 1.8437, -0.0269, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc22c59ab950d8314d27227c194e7c255e65502ce0ca6060580e1d45e5da8296",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acf1c463433983eb7154d30462fd7638b5c120766f754cb688d08ba4d4145c5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd35b5ba293eded2b21a28213f978a0c463213f95932d848fdd009acd4e16943",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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