adhoc

completed
2026-09-23T22:28:27.301056+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-5.6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
210.9 s
total steps
438
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 open safe is near the center-left, with a yellow object to its right and two plush objects below it. I’ll move the right gripper above the isolated yellow object first, keeping the left arm parked.
move_to
right_x0.4200right_y0.1700right_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, 0.7918, 0.6022, -0.3943, -0.0193, -0.0341, 0.9997, -0.0212, 0.7933, 0.6067, -0.3962, -0.0185, -0.0124, 0.9996] state[eef_state]: left_x=0.2925 left_y=0.0014 left_z=0.1768 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2929 right_y=0.0007 right_z=0.1781 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.6496, -1.3333, 10.359, 2.0293, -0.0952, 0.1783, -0.0415, -0.3761, -1.4291, 9.6752, 1.9121, -0.0415, -0.0659, -0.0513] 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":0.42,"right_y":0.17,"right_z":0.15,"right_gripper":1.0},"note":"The open safe is near the center-left, with a yellow object to its right and two plush objects below it. I’ll move the right gripper above the isolated yellow object first, keeping the left arm parked."})
tool
executing move_to over 15 steps (1.5s)
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 yellow object is visible just right of the jaw column and still a few centimetres beyond the fingertips. I’ll advance outward and slightly right to center the grasp before descending.
move_to
right_x0.4450right_y0.1450right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7963, 0.6064, -0.4068, -0.0193, -0.0349, 0.9997, 0.5404, 1.5864, 0.9737, -0.112, 0.4149, 0.2916, 0.9996] state[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.1749 left_yaw=0.0008 left_pitch=-0.013 left_roll=-0.0004 left_gripper=0.9997 right_x=0.4058 right_y=0.1646 right_z=0.1307 right_yaw=0.0357 right_pitch=-0.0697 right_roll=-0.0406 right_gripper=0.9996 state[joint_eff]: [-0.3077, -1.6068, 6.8581, 1.8144, -0.0611, -0.0171, -0.0171, 0.2256, -7.5556, 8.5675, 1.8877, 0.3248, 0.1587, -0.0513] 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_x":0.445,"right_y":0.145,"right_z":0.14},"note":"The yellow object is visible just right of the jaw column and still a few centimetres beyond the fingertips. I’ll advance outward and slightly right to center the grasp before descending."})
tool
executing move_to over 4 steps (0.4s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe yellow object is now centered between the projected jaws. I’ll descend to about its mid-height while keeping the gripper fully open.
move_to
right_x0.4450right_y0.1450right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8001, 0.6064, -0.4141, -0.0193, -0.0383, 0.9997, 0.4351, 1.6569, 1.0439, -0.1463, 0.3531, 0.2337, 0.9996] state[eef_state]: left_x=0.2908 left_y=0.0015 left_z=0.1724 left_yaw=0.0027 left_pitch=-0.024 left_roll=-0.003 left_gripper=0.9997 right_x=0.4312 right_y=0.137 right_z=0.1209 right_yaw=0.0101 right_pitch=-0.1211 right_roll=-0.0641 right_gripper=0.9996 state[joint_eff]: [-0.212, -1.1419, 6.9949, 1.7802, -0.0562, -0.0415, -0.0122, 0.3077, -7.6923, 9.6479, 1.8242, 0.1197, -0.1148, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.145,"right_z":0.035},"note":"The yellow object is now centered between the projected jaws. I’ll descend to about its mid-height while keeping the gripper fully open."})
tool
executing move_to over 6 steps (0.6s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe first descent stalled near 12 cm rather than tracking, indicating an awkward long-reach posture rather than contact. I’ll retract slightly and add a modest forward wrist pitch while descending in a smaller step.
move_to
right_x0.4300right_y0.1450right_z0.0700right_pitch0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8024, 0.6064, -0.4278, -0.0193, -0.0383, 0.9997, 0.4305, 1.6646, 1.0622, -0.1432, 0.3241, 0.2161, 0.9996] state[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.169 left_yaw=0.0027 left_pitch=-0.04 left_roll=-0.0026 left_gripper=0.9997 right_x=0.4356 right_y=0.1421 right_z=0.1245 right_yaw=0.0392 right_pitch=-0.1169 right_roll=-0.0538 right_gripper=0.9996 state[joint_eff]: [-0.0752, -1.1145, 6.9949, 1.8193, -0.0806, -0.0757, -0.0122, -0.3624, -8.1846, 8.7726, 1.8144, 0.1441, -0.0904, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.145,"right_z":0.07,"right_pitch":0.15},"note":"The first descent stalled near 12 cm rather than tracking, indicating an awkward long-reach posture rather than contact. I’ll retract slightly and add a modest forward wrist pitch while descending in a smaller step."})
tool
executing move_to over 9 steps (0.9s)
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 arm successfully reached table height after changing posture, but it retracted about 3–4 cm and the yellow object is now just beyond the fingertips. I’ll slide outward at the same low height to bring the grasp point around the object.
move_to
right_x0.4250right_y0.1300right_z0.0200right_pitch0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4355, -0.0193, -0.0383, 0.9997, 0.4747, 1.805, 0.6792, 0.3717, 0.3958, 0.16, 0.9996] state[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1673 left_yaw=0.0027 left_pitch=-0.0484 left_roll=-0.0025 left_gripper=0.9997 right_x=0.3949 right_y=0.1304 right_z=0.0141 right_yaw=0.0564 right_pitch=-0.1084 right_roll=-0.1457 right_gripper=0.9996 state[joint_eff]: [-0.2803, -1.1282, 6.9812, 1.8144, -0.0464, -0.0464, -0.0122, 0.1026, -8.3624, 6.2564, 2.381, 0.3053, 0.0269, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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_x":0.425,"right_y":0.13,"right_z":0.02,"right_pitch":0.15},"note":"The arm successfully reached table height after changing posture, but it retracted about 3–4 cm and the yellow object is now just beyond the fingertips. I’ll slide outward at the same low height to bring the grasp point around the object."})
tool
executing move_to over 9 steps (0.9s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe yellow object is centered laterally but still has clear space below it in the wrist view, so it remains slightly beyond the fingertip line. I’ll advance another two centimetres at table height before closing.
move_to
right_x0.4400right_y0.1300right_z0.0200right_pitch0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4534, -0.0189, -0.0383, 0.9997, 0.4671, 1.969, 0.6205, 0.7967, 0.4194, 0.0719, 0.9996] state[eef_state]: left_x=0.2852 left_y=0.0015 left_z=0.1637 left_yaw=0.0024 left_pitch=-0.0664 left_roll=-0.0023 left_gripper=0.9997 right_x=0.4166 right_y=0.1336 right_z=0.0085 right_yaw=0.0792 right_pitch=0.0762 right_roll=-0.1525 right_gripper=0.9996 state[joint_eff]: [-0.1983, -1.2376, 6.9812, 1.8242, -0.0708, -0.0366, -0.0122, -0.8684, -7.2821, 3.7128, 2.1856, 0.2711, -0.0611, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.13,"right_z":0.02,"right_pitch":0.15},"note":"The yellow object is centered laterally but still has clear space below it in the wrist view, so it remains slightly beyond the fingertip line. I’ll advance another two centimetres at table height before closing."})
tool
executing move_to over 3 steps (0.3s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe yellow object now fills the jaw opening and reaches the fingertip line, with its narrow width centered between the jaws. I’ll close the right gripper to secure it.
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, 0.8032, 0.6064, -0.458, -0.0189, -0.0387, 0.9997, 0.4393, 2.0018, 0.6353, 0.8482, 0.4026, 0.0338, 0.9995] state[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.1628 left_yaw=0.0026 left_pitch=-0.0709 left_roll=-0.0025 left_gripper=0.9997 right_x=0.427 right_y=0.1281 right_z=0.0091 right_yaw=0.0848 right_pitch=0.1011 right_roll=-0.166 right_gripper=0.9995 state[joint_eff]: [-0.2803, -1.2103, 7.0222, 1.6777, -0.0513, -0.0366, -0.0122, -0.4855, -7.6923, 6.3932, 2.1758, 0.0562, -0.0024, -0.0171] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The yellow object now fills the jaw opening and reaches the fingertip line, with its narrow width centered between the jaws. I’ll close the right gripper to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe gripper settled at 0.013, confirming the first close was empty; the yellow object remained just beyond the fingertips. I’ll reopen and advance about two centimetres for the single corrected retry.
move_to
right_x0.4550right_y0.1300right_z0.0200right_gripper1.0000right_pitch0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4652, -0.0193, -0.0383, 0.9997, 0.4305, 2.0075, 0.6434, 0.8516, 0.3965, 0.0257, 0.013] state[eef_state]: left_x=0.2835 left_y=0.0016 left_z=0.1614 left_yaw=0.0028 left_pitch=-0.0782 left_roll=-0.0018 left_gripper=0.9997 right_x=0.4304 right_y=0.1265 right_z=0.0097 right_yaw=0.0852 right_pitch=0.1047 right_roll=-0.1683 right_gripper=0.013 state[joint_eff]: [-0.0889, -1.2513, 7.1316, 1.79, -0.0659, -0.0464, -0.0122, -0.4034, -7.5556, 5.8051, 2.0879, 0.2027, -0.0171, 1.1453] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.455,"right_y":0.13,"right_z":0.02,"right_gripper":1.0,"right_pitch":0.15},"note":"The gripper settled at 0.013, confirming the first close was empty; the yellow object remained just beyond the fingertips. I’ll reopen and advance about two centimetres for the single corrected retry."})
tool
executing move_to over 10 steps (1.0s)
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 noteAfter the correction, the yellow object now extends into the fingertip line rather than sitting beyond it. I’ll close for the corrected grasp and check the settled jaw width.
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, 0.8032, 0.6064, -0.477, -0.0193, -0.0383, 0.9997, 0.4149, 2.0338, 0.6991, 0.8406, 0.3828, -0.0013, 0.9944] state[eef_state]: left_x=0.2816 left_y=0.0017 left_z=0.1591 left_yaw=0.0028 left_pitch=-0.09 left_roll=-0.0016 left_gripper=0.9997 right_x=0.4458 right_y=0.1282 right_z=0.0132 right_yaw=0.095 right_pitch=0.1173 right_roll=-0.1803 right_gripper=0.9944 state[joint_eff]: [-0.1162, -1.2376, 6.9949, 1.7558, -0.0855, -0.0171, -0.0122, -0.4855, -7.5009, 6.4205, 2.0342, 0.1587, -0.0122, -0.0317] approver: 10 step(s) modified (delta_clamped ×10). 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":"After the correction, the yellow object now extends into the fingertip line rather than sitting beyond it. I’ll close for the corrected grasp and check the settled jaw width."})
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, and the overhead view shows the wrist still below the yellow object while the wrist view keeps it directly ahead; lateral alignment is good but the radial distance was underestimated. I’ll reopen and move near the measured outer table-contact reach for a re-measured grasp.
move_to
right_x0.4850right_y0.1300right_z0.0200right_gripper1.0000right_pitch0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4812, -0.0189, -0.0387, 0.9997, 0.4152, 2.0396, 0.6991, 0.8257, 0.3767, -0.004, 0.0127] state[eef_state]: left_x=0.281 left_y=0.0016 left_z=0.1583 left_yaw=0.0027 left_pitch=-0.0942 left_roll=-0.002 left_gripper=0.9997 right_x=0.4436 right_y=0.1285 right_z=0.0075 right_yaw=0.1026 right_pitch=0.0965 right_roll=-0.1863 right_gripper=0.0127 state[joint_eff]: [-0.0068, -1.1966, 6.9812, 1.6972, -0.0317, -0.0513, -0.0122, -0.3897, -9.4564, 4.4376, 1.9365, 0.2759, 0.0122, 0.8669] 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_x":0.485,"right_y":0.13,"right_z":0.02,"right_gripper":1.0,"right_pitch":0.15},"note":"The second close is also empty, and the overhead view shows the wrist still below the yellow object while the wrist view keeps it directly ahead; lateral alignment is good but the radial distance was underestimated. I’ll reopen and move near the measured outer table-contact reach for a re-measured grasp."})
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 noteAt the re-measured outer reach, the yellow object is now between the open fingertips and fills the lower center of the wrist image. I’ll close and verify that the jaw width remains above the empty threshold.
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, 0.8032, 0.6064, -0.4957, -0.0189, -0.0387, 0.9997, 0.3779, 2.0953, 0.8165, 0.7937, 0.3473, -0.0422, 0.9944] state[eef_state]: left_x=0.2787 left_y=0.0017 left_z=0.1555 left_yaw=0.0027 left_pitch=-0.1087 left_roll=-0.0017 left_gripper=0.9997 right_x=0.4757 right_y=0.128 right_z=0.0132 right_yaw=0.1093 right_pitch=0.117 right_roll=-0.1982 right_gripper=0.9944 state[joint_eff]: [-0.1709, -1.0462, 7.1043, 1.7705, -0.022, -0.0659, -0.0122, -0.5949, -8.2393, 6.4068, 1.9902, 0.149, 0.1099, 0.0269] approver: 10 step(s) modified (delta_clamped ×10). 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":"At the re-measured outer reach, the yellow object is now between the open fingertips and fills the lower center of the wrist image. I’ll close and verify that the jaw width remains above the empty threshold."})
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 jaw reading is 0.424, confirming a solid grasp on the yellow object. I’ll lift it vertically clear of the table and safe rim before transporting it.
move_to
right_x0.4750right_y0.1300right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.5106, -0.0193, -0.0383, 0.9997, 0.3782, 2.1002, 0.8181, 0.7795, 0.3431, -0.0452, 0.4236] state[eef_state]: left_x=0.2764 left_y=0.0018 left_z=0.1527 left_yaw=0.0029 left_pitch=-0.1236 left_roll=-0.0008 left_gripper=0.9997 right_x=0.4741 right_y=0.1283 right_z=0.0084 right_yaw=0.1154 right_pitch=0.0992 right_roll=-0.2036 right_gripper=0.4236 state[joint_eff]: [-0.1573, -1.2103, 7.1179, 1.7851, -0.0611, -0.0611, -0.0122, -0.1436, -10.1675, 4.2735, 1.873, 0.0952, 0.0073, 1.0281] 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_x":0.475,"right_y":0.13,"right_z":0.14},"note":"The jaw reading is 0.424, confirming a solid grasp on the yellow object. I’ll lift it vertically clear of the table and safe rim before transporting it."})
tool
executing move_to over 9 steps (0.9s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe yellow object lifted with the gripper, confirming the grasp. I’ll carry it high over the center of the open safe, leaving room toward the near side for the two plush objects.
move_to
right_x0.4000right_y0.3200right_z0.1800right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6064, -0.5213, -0.0193, -0.0383, 0.9997, 0.3801, 1.7592, 0.9508, 0.2607, 0.3393, -0.0528, 0.4236] state[eef_state]: left_x=0.2747 left_y=0.0018 left_z=0.1505 left_yaw=0.0029 left_pitch=-0.135 left_roll=-0.0006 left_gripper=0.9997 right_x=0.4702 right_y=0.1284 right_z=0.1126 right_yaw=0.1254 right_pitch=0.0543 right_roll=-0.22 right_gripper=0.4236 state[joint_eff]: [0.0068, -1.2376, 6.8991, 1.7167, -0.0659, -0.0415, -0.0122, -0.1299, -10.1949, 8.9094, 2.0537, 0.149, 0.0171, 1.0379] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.40,"right_y":0.32,"right_z":0.18,"right_pitch":0.0},"note":"The yellow object lifted with the gripper, confirming the grasp. I’ll carry it high over the center of the open safe, leaving room toward the near side for the two plush objects."})
tool
executing move_to over 16 steps (1.6s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe right gripper is over the safe opening, with the yellow object fitting within the visible red interior. I’ll lower it into the safe until the object is supported near the bottom.
move_to
right_x0.4000right_y0.3200right_z0.0600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6064, -0.5377, -0.0193, -0.0383, 0.9997, 0.8921, 1.9064, 1.494, -0.4046, 0.6941, 0.2993, 0.4273] state[eef_state]: left_x=0.272 left_y=0.0019 left_z=0.1475 left_yaw=0.0029 left_pitch=-0.1514 left_roll=-0.0002 left_gripper=0.9997 right_x=0.3968 right_y=0.3177 right_z=0.1681 right_yaw=0.1713 right_pitch=-0.0322 right_roll=-0.2463 right_gripper=0.4273 state[joint_eff]: [-0.0752, -1.1692, 6.8855, 1.7265, -0.0659, -0.0513, -0.0122, 0.2667, -9.7709, 9.0598, 1.5604, 0.5006, 0.232, 0.7937] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.32,"right_z":0.06},"note":"The right gripper is over the safe opening, with the yellow object fitting within the visible red interior. I’ll lower it into the safe until the object is supported near the bottom."})
tool
executing move_to over 7 steps (0.7s)
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 is now low and centered within the safe, with the red floor surrounding it. I’ll open the gripper to release it in the back half of the safe.
move_to
right_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, 0.6064, -0.5499, -0.0189, -0.0383, 0.9997, 0.8928, 2.0449, 1.2758, -0.1024, 0.6838, 0.2962, 0.4277] state[eef_state]: left_x=0.2699 left_y=0.0018 left_z=0.1453 left_yaw=0.0027 left_pitch=-0.1636 left_roll=-0.0002 left_gripper=0.9997 right_x=0.3925 right_y=0.3151 right_z=0.0613 right_yaw=0.1788 right_pitch=-0.0788 right_roll=-0.2789 right_gripper=0.4277 state[joint_eff]: [-0.0615, -0.8547, 7.1316, 1.6972, -0.0757, -0.0269, -0.0122, -0.2803, -9.8393, 6.0513, 1.5409, 0.2857, -0.0122, 0.4762] 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":1.0},"note":"The yellow object is now low and centered within the safe, with the red floor surrounding it. I’ll open the gripper to release it in the back half of the safe."})
tool
executing move_to over 6 steps (0.6s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe yellow object has been released inside the safe. I’ll retract the right arm and restore both arms to their parked height so the remaining plush objects and safe opening are visible.
move_to
right_x0.2930right_y0.0000right_z0.1800right_gripper1.0000right_pitch0.0000left_x0.2930left_y0.0000left_z0.1800left_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, 0.6064, -0.5629, -0.0193, -0.0383, 0.9997, 0.8928, 2.0628, 1.2583, -0.0986, 0.6838, 0.2886, 0.9945] state[eef_state]: left_x=0.2677 left_y=0.0019 left_z=0.1429 left_yaw=0.003 left_pitch=-0.1766 left_roll=0.0004 left_gripper=0.9997 right_x=0.389 right_y=0.3108 right_z=0.0473 right_yaw=0.181 right_pitch=-0.1039 right_roll=-0.3057 right_gripper=0.9945 state[joint_eff]: [-0.0205, -1.1829, 6.9812, 1.707, -0.0513, -0.0317, -0.0171, -0.0889, -12.2462, 7.4735, 1.2821, 0.2515, 0.0952, 0.1392] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.293,"right_y":0.0,"right_z":0.18,"right_gripper":1.0,"right_pitch":0.0,"left_x":0.293,"left_y":0.0,"left_z":0.18,"left_gripper":1.0},"note":"The yellow object has been released inside the safe. I’ll retract the right arm and restore both arms to their parked height so the remaining plush objects and safe opening are visible."})
tool
executing move_to over 26 steps (2.6s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteWith the arms retracted, the yellow object is clearly inside the safe and the two remaining objects are the white plush on the left and brown plush on the right. I’ll bring the left gripper above the white plush, which is closest to that arm’s cross-over workspace.
move_to
left_x0.3400left_y-0.2300left_z0.1600left_gripper1.0000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.9348, 0.7536, -0.6506, -0.0193, -0.054, 0.9997, 0.0158, 0.7876, 0.5663, -0.3557, 0.0799, -0.3134, 0.999] state[eef_state]: left_x=0.2813 left_y=-0.0003 left_z=0.157 left_yaw=0.0054 left_pitch=-0.2479 left_roll=-0.0089 left_gripper=0.9997 right_x=0.2925 right_y=-0.0059 right_z=0.1697 right_yaw=0.1174 right_pitch=-0.0225 right_roll=-0.3044 right_gripper=0.999 state[joint_eff]: [-0.3624, -1.7299, 10.359, 1.8535, -0.105, 0.0513, -0.0415, -0.0889, -1.4701, 8.6222, 1.9512, -0.1978, -0.0708, -0.1197] camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.23,"left_z":0.16,"left_gripper":1.0,"left_pitch":0.0},"note":"With the arms retracted, the yellow object is clearly inside the safe and the two remaining objects are the white plush on the left and brown plush on the right. I’ll bring the left gripper above the white plush, which is closest to that arm’s cross-over workspace."})
tool
executing move_to over 21 steps (2.1s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent noteThe white plush is at the fingertip line and nearly centered, slightly left of the jaw column. I’ll make a small lateral correction and descend to grasp its soft torso near table height.
move_to
left_x0.3350left_y-0.2100left_z0.0300left_pitch0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8776, 1.5166, 0.9741, -0.3393, -0.6659, -0.6273, 0.9997, 0.0139, 0.791, 0.5663, -0.387, 0.0708, -0.329, 0.999] state[eef_state]: left_x=0.3291 left_y=-0.2198 left_z=0.1393 left_yaw=-0.0118 left_pitch=-0.069 left_roll=0.0297 left_gripper=0.9997 right_x=0.2884 right_y=-0.0049 right_z=0.1624 right_yaw=0.1317 right_pitch=-0.059 right_roll=-0.3082 right_gripper=0.999 state[joint_eff]: [-0.294, -6.6393, 9.4154, 1.5067, -0.569, 0.0073, -0.0415, 0.0752, -1.4838, 7.0222, 2.0049, 0.0659, 0.0904, -0.0171] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.335,"left_y":-0.21,"left_z":0.03,"left_pitch":0.1},"note":"The white plush is at the fingertip line and nearly centered, slightly left of the jaw column. I’ll make a small lateral correction and descend to grasp its soft torso near table height."})
tool
executing move_to over 8 steps (0.8s)
step 189
top_cam
camera top_cam step 189
left_cam
camera left_cam step 189
right_cam
camera right_cam step 189
assistant
agent noteAt table height the white plush’s torso is centered between the open jaws, clear of the safe rim. I’ll close the left gripper and verify the retained width.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8833, 1.7962, 0.6033, 0.3786, -0.7364, -0.5323, 0.9997, 0.0139, 0.791, 0.5663, -0.4103, 0.0708, -0.3328, 0.9989] state[eef_state]: left_x=0.3249 left_y=-0.2031 left_z=0.0178 left_yaw=-0.0236 left_pitch=0.0117 left_roll=0.0906 left_gripper=0.9997 right_x=0.2851 right_y=-0.0049 right_z=0.1577 right_yaw=0.1339 right_pitch=-0.0827 right_roll=-0.3085 right_gripper=0.9989 state[joint_eff]: [-0.1983, -7.7333, 4.465, 1.7216, -0.442, -0.0269, -0.0171, -0.1709, -1.1556, 7.0632, 1.8779, 0.0073, -0.0269, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At table height the white plush’s torso is centered between the open jaws, clear of the safe rim. I’ll close the left gripper and verify the retained width."})
tool
executing move_to over 10 steps (1.0s)
step 199
top_cam
camera top_cam step 199
left_cam
camera left_cam step 199
right_cam
camera right_cam step 199
assistant
agent noteThe left gripper settled at 0.019, so the close was empty; the overhead view shows the fingertips just short of the plush body. I’ll reopen, advance about three centimetres, and nudge left for the corrected grasp.
move_to
left_x0.3600left_y-0.1900left_z0.0250left_gripper1.0000left_pitch0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8829, 1.8194, 0.59, 0.3801, -0.7452, -0.535, 0.0185, 0.0139, 0.791, 0.5663, -0.4332, 0.0704, -0.3328, 0.9989] state[eef_state]: left_x=0.3211 left_y=-0.1964 left_z=0.0071 left_yaw=-0.0159 left_pitch=-0.006 left_roll=0.1192 left_gripper=0.0185 right_x=0.2817 right_y=-0.0049 right_z=0.1532 right_yaw=0.1344 right_pitch=-0.1054 right_roll=-0.3055 right_gripper=0.9989 state[joint_eff]: [-0.0205, -9.1145, 5.3675, 1.3309, -0.2222, -0.022, 0.7106, -0.1846, -1.0872, 6.9812, 1.9267, 0.0024, -0.0122, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.19,"left_z":0.025,"left_gripper":1.0,"left_pitch":0.1},"note":"The left gripper settled at 0.019, so the close was empty; the overhead view shows the fingertips just short of the plush body. I’ll reopen, advance about three centimetres, and nudge left for the corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 209
top_cam
camera top_cam step 209
left_cam
camera left_cam step 209
right_cam
camera right_cam step 209
assistant
agent noteAfter advancing, the white plush’s body now lies deep between the open fingertips rather than beyond them. I’ll close for the corrected grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7952, 1.861, 0.5896, 0.5407, -0.741, -0.4015, 0.9953, 0.0139, 0.791, 0.5663, -0.4549, 0.0704, -0.3328, 0.9989] state[eef_state]: left_x=0.3499 left_y=-0.1814 left_z=0.0149 left_yaw=-0.0016 left_pitch=0.0619 left_roll=0.1431 left_gripper=0.9953 right_x=0.2784 right_y=-0.005 right_z=0.149 right_yaw=0.1347 right_pitch=-0.127 right_roll=-0.3029 right_gripper=0.9989 state[joint_eff]: [0.4855, -6.7487, 6.1744, 1.7411, -0.2027, 0.1685, -0.0952, -0.0342, -1.1692, 7.1726, 1.8193, -0.0073, -0.0171, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"After advancing, the white plush’s body now lies deep between the open fingertips rather than beyond them. I’ll close for the corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 219
top_cam
camera top_cam step 219
left_cam
camera left_cam step 219
right_cam
camera right_cam step 219
assistant
agent noteThe retained width is only 0.035, borderline for an empty close, but the fingers visibly converge into the plush fur. I’ll perform the required short lift and use the overhead view to determine whether the soft object is actually held.
move_to
left_x0.3500left_y-0.1800left_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7933, 1.8637, 0.5896, 0.5404, -0.7452, -0.4046, 0.0345, 0.0139, 0.7914, 0.5663, -0.4774, 0.0704, -0.3332, 0.999] state[eef_state]: left_x=0.3501 left_y=-0.1798 left_z=0.0143 left_yaw=0.0048 left_pitch=0.062 left_roll=0.1446 left_gripper=0.0345 right_x=0.2748 right_y=-0.005 right_z=0.1446 right_yaw=0.1353 right_pitch=-0.1498 right_roll=-0.3004 right_gripper=0.999 state[joint_eff]: [-0.3077, -7.747, 4.1504, 1.3846, -0.2369, 0.0757, 1.116, -0.0615, -0.8547, 7.0769, 1.8193, 0.022, -0.0317, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.18,"left_z":0.09},"note":"The retained width is only 0.035, borderline for an empty close, but the fingers visibly converge into the plush fur. I’ll perform the required short lift and use the overhead view to determine whether the soft object is actually held."})
tool
executing move_to over 5 steps (0.5s)
step 224
top_cam
camera top_cam step 224
left_cam
camera left_cam step 224
right_cam
camera right_cam step 224
assistant
agent noteThe white plush rose with the gripper, so the narrow jaw reading is a valid soft-fur grasp. I’ll carry it high over the safe, aiming beside the yellow object.
move_to
left_x0.4000left_y-0.3200left_z0.2000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7933, 1.6253, 0.6621, 0.2302, -0.7456, -0.4164, 0.0378, 0.0139, 0.7959, 0.5663, -0.4999, 0.07, -0.3332, 0.9989] state[eef_state]: left_x=0.349 left_y=-0.1786 left_z=0.0751 left_yaw=0.0116 left_pitch=0.0637 left_roll=0.1339 left_gripper=0.0378 right_x=0.2713 right_y=-0.005 right_z=0.1393 right_yaw=0.1362 right_pitch=-0.1766 right_roll=-0.2968 right_gripper=0.9989 state[joint_eff]: [-0.1573, -7.9658, 8.0889, 1.5165, -0.3346, 0.0952, 0.7839, -0.2256, -0.9368, 6.9128, 1.7949, 0.0122, -0.0171, -0.0171] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.32,"left_z":0.2,"left_pitch":0.0},"note":"The white plush rose with the gripper, so the narrow jaw reading is a valid soft-fur grasp. I’ll carry it high over the safe, aiming beside the yellow object."})
tool
executing move_to over 13 steps (1.3s)
step 237
top_cam
camera top_cam step 237
left_cam
camera left_cam step 237
right_cam
camera right_cam step 237
assistant
agent noteThe white plush is directly over the red interior, with the safe walls visible around it. I’ll lower it into the open space next to and partly over the yellow object.
move_to
left_x0.4000left_y-0.3200left_z0.0750
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9272, 1.9587, 1.6527, -0.5907, -0.7837, -0.6083, 0.0391, 0.0139, 0.7994, 0.5663, -0.5232, 0.07, -0.3332, 0.999] state[eef_state]: left_x=0.3987 left_y=-0.3177 left_z=0.1874 left_yaw=0.0051 left_pitch=-0.0074 left_roll=0.1138 left_gripper=0.0391 right_x=0.2675 right_y=-0.005 right_z=0.1342 right_yaw=0.1368 right_pitch=-0.2031 right_roll=-0.2935 right_gripper=0.999 state[joint_eff]: [-0.4308, -10.8239, 8.7043, 0.9988, -0.5299, -0.0024, 0.7497, -0.0752, -1.3744, 7.0632, 1.7607, 0.0024, -0.0415, -0.0073] camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.32,"left_z":0.075},"note":"The white plush is directly over the red interior, with the safe walls visible around it. I’ll lower it into the open space next to and partly over the yellow object."})
tool
executing move_to over 8 steps (0.8s)
step 245
top_cam
camera top_cam step 245
assistant
agent noteThe white plush is resting inside the safe and the yellow object remains beneath it. I’ll release the plush, allowing the soft body to settle within the walls.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9287, 2.0674, 1.3827, -0.26, -0.7757, -0.6136, 0.0417, 0.0139, 0.8005, 0.5663, -0.5457, 0.0708, -0.3332, 0.999] state[eef_state]: left_x=0.3945 left_y=-0.315 left_z=0.0768 left_yaw=0.0024 left_pitch=-0.0408 left_roll=0.1442 left_gripper=0.0417 right_x=0.2637 right_y=-0.0052 right_z=0.1299 right_yaw=0.1368 right_pitch=-0.2267 right_roll=-0.2911 right_gripper=0.999 state[joint_eff]: [0.0205, -10.2632, 6.2974, 1.5018, -0.4567, 0.0122, 0.5104, -0.0889, -1.2239, 7.0632, 1.7607, -0.0024, -0.0366, -0.0171] camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The white plush is resting inside the safe and the yellow object remains beneath it. I’ll release the plush, allowing the soft body to settle within the walls."})
tool
executing move_to over 10 steps (1.0s)
step 255
assistant
agent noteBoth the yellow and white objects are settled inside the safe; only the brown plush remains outside. I’ll retract the left arm and restore both arms to a clear parked pose before the final pickup.
move_to
left_x0.2930left_y0.0000left_z0.1800left_gripper1.0000left_pitch0.0000right_x0.2930right_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]: [-0.9291, 2.08, 1.3731, -0.2695, -0.7753, -0.6178, 0.9953, 0.0139, 0.8032, 0.5625, -0.5682, 0.0704, -0.3328, 0.999] state[eef_state]: left_x=0.3915 left_y=-0.3115 left_z=0.0666 left_yaw=0.0054 left_pitch=-0.0595 left_roll=0.1661 left_gripper=0.9953 right_x=0.2591 right_y=-0.0052 right_z=0.1238 right_yaw=0.1378 right_pitch=-0.2554 right_roll=-0.2868 right_gripper=0.999 state[joint_eff]: [-0.1709, -12.2735, 6.7761, 1.2821, -0.4029, 0.0171, -0.1099, -0.0615, -1.1556, 7.1726, 1.6923, 0.0024, -0.0171, -0.0171] camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.293,"left_y":0.0,"left_z":0.18,"left_gripper":1.0,"left_pitch":0.0,"right_x":0.293,"right_y":0.0,"right_z":0.18,"right_gripper":1.0,"right_pitch":0.0},"note":"Both the yellow and white objects are settled inside the safe; only the brown plush remains outside. I’ll retract the left arm and restore both arms to a clear parked pose before the final pickup."})
tool
executing move_to over 28 steps (2.8s)
step 283
assistant
agent noteThe two placed objects remain inside the safe, and the brown teddy is isolated just right of center at about the same radial distance as the parked gripper. I’ll move the right gripper above its torso.
move_to
right_x0.3000right_y0.2400right_z0.1600right_gripper1.0000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1719, 0.82, 0.6128, -0.3882, -0.284, -0.0231, 0.9984, 0.0189, 0.7834, 0.5625, -0.4213, 0.0631, -0.3252, 0.999] state[eef_state]: left_x=0.2954 left_y=0.0026 left_z=0.1791 left_yaw=0.0613 left_pitch=0.0067 left_roll=0.1564 left_gripper=0.9984 right_x=0.2826 right_y=-0.0022 right_z=0.1557 right_yaw=0.1414 right_pitch=-0.0881 right_roll=-0.2971 right_gripper=0.999 state[joint_eff]: [0.1026, -1.6342, 7.2684, 1.9463, -0.0269, 0.1343, -0.1783, 0.0342, -1.6479, 9.1009, 2.2491, -0.0757, 0.1832, -0.1148] camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.24,"right_z":0.16,"right_gripper":1.0,"right_pitch":0.0},"note":"The two placed objects remain inside the safe, and the brown teddy is isolated just right of center at about the same radial distance as the parked gripper. I’ll move the right gripper above its torso."})
tool
executing move_to over 21 steps (2.1s)
step 304
assistant
agent noteThe teddy’s torso is near the fingertip line but sits left of the jaw column. I’ll shift the gripper left, advance slightly, and descend to table height over the torso.
move_to
right_x0.3100right_y0.2750right_z0.0350right_pitch0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1696, 0.8246, 0.6128, -0.4118, -0.2779, -0.0235, 0.9982, 1.0039, 1.486, 0.9539, -0.4011, 0.7975, 0.3618, 0.999] state[eef_state]: left_x=0.2925 left_y=0.0027 left_z=0.1731 left_yaw=0.0588 left_pitch=-0.0215 left_roll=0.1592 left_gripper=0.9982 right_x=0.2939 right_y=0.233 right_z=0.1471 right_yaw=0.1778 right_pitch=-0.0501 right_roll=-0.3336 right_gripper=0.999 state[joint_eff]: [-0.2393, -1.7436, 7.2684, 1.8926, -0.188, -0.0317, -0.0366, 0.2393, -5.9692, 8.5675, 1.3016, 0.7302, 0.2418, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 304): [image omitted: streamed camera frame] camera 'left_cam' (step 304): [image omitted: streamed camera frame] camera 'right_cam' (step 304): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.31,"right_y":0.275,"right_z":0.035,"right_pitch":0.1},"note":"The teddy’s torso is near the fingertip line but sits left of the jaw column. I’ll shift the gripper left, advance slightly, and descend to table height over the torso."})
tool
executing move_to over 8 steps (0.8s)
step 312
assistant
agent noteThe teddy’s thick torso now fills the space between the open fingertips at table height. I’ll close the right gripper around the torso and check the retained width.
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]: [-0.1696, 0.8265, 0.6128, -0.4278, -0.2779, -0.0238, 0.9979, 1.0588, 1.8786, 0.7963, 0.2367, 0.91, 0.3405, 0.9989] state[eef_state]: left_x=0.2904 left_y=0.0031 left_z=0.1695 left_yaw=0.0591 left_pitch=-0.0389 left_roll=0.1629 left_gripper=0.9979 right_x=0.3078 right_y=0.2703 right_z=0.042 right_yaw=0.1728 right_pitch=0.0695 right_roll=-0.3426 right_gripper=0.9989 state[joint_eff]: [-0.3624, -1.4154, 7.1726, 1.8193, -0.149, -0.0708, -0.0415, 0.3077, -6.5846, 4.2872, 0.8571, 0.2369, -0.2369, -0.0171] camera 'top_cam' (step 312): [image omitted: streamed camera frame] camera 'left_cam' (step 312): [image omitted: streamed camera frame] camera 'right_cam' (step 312): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The teddy’s thick torso now fills the space between the open fingertips at table height. I’ll close the right gripper around the torso and check the retained width."})
tool
executing move_to over 10 steps (1.0s)
step 322
assistant
agent noteThe close was empty; the wrist view shows the jaws caught beyond the teddy’s long torso near an outstretched limb, while the body lies closer to the base. I’ll reopen, retract about four centimetres, and shift left to center the thick body for the corrected grasp.
move_to
right_x0.2650right_y0.2900right_z0.0350right_gripper1.0000right_pitch0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1696, 0.8299, 0.6125, -0.4355, -0.2779, -0.0235, 0.9978, 1.0592, 1.8961, 0.7925, 0.2409, 0.9012, 0.3332, 0.0133] state[eef_state]: left_x=0.2894 left_y=0.0033 left_z=0.1669 left_yaw=0.059 left_pitch=-0.0501 left_roll=0.1658 left_gripper=0.9978 right_x=0.3062 right_y=0.2698 right_z=0.0341 right_yaw=0.1833 right_pitch=0.0521 right_roll=-0.358 right_gripper=0.0133 state[joint_eff]: [-0.1573, -1.7026, 7.2274, 1.7265, -0.1734, -0.0366, -0.022, -0.1026, -9.8803, 5.3265, 1.243, 0.3834, 0.0317, 0.7106] camera 'top_cam' (step 322): [image omitted: streamed camera frame] camera 'left_cam' (step 322): [image omitted: streamed camera frame] camera 'right_cam' (step 322): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.265,"right_y":0.29,"right_z":0.035,"right_gripper":1.0,"right_pitch":0.1},"note":"The close was empty; the wrist view shows the jaws caught beyond the teddy’s long torso near an outstretched limb, while the body lies closer to the base. I’ll reopen, retract about four centimetres, and shift left to center the thick body for the corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 332
assistant
agent noteThe retracted position places the teddy’s thick torso squarely between the open jaws, with both fingertips flanking it. I’ll close for the corrected 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]: [-0.1696, 0.8322, 0.6128, -0.4507, -0.2779, -0.0238, 0.9978, 1.2037, 1.8965, 0.8005, 0.1555, 1.0271, 0.4847, 0.9949] state[eef_state]: left_x=0.2874 left_y=0.0036 left_z=0.1636 left_yaw=0.0595 left_pitch=-0.0668 left_roll=0.1694 left_gripper=0.9978 right_x=0.2688 right_y=0.2877 right_z=0.0414 right_yaw=0.1812 right_pitch=0.1158 right_roll=-0.346 right_gripper=0.9949 state[joint_eff]: [0.0068, -1.0598, 6.9402, 1.8339, -0.1538, -0.0513, -0.0171, 0.5675, -6.6393, 6.1607, 0.9597, 0.3101, 0.1245, -0.2466] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 332): [image omitted: streamed camera frame] camera 'left_cam' (step 332): [image omitted: streamed camera frame] camera 'right_cam' (step 332): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The retracted position places the teddy’s thick torso squarely between the open jaws, with both fingertips flanking it. I’ll close for the corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 342
assistant
agent noteThe second close is still empty despite correct overhead alignment; the readback remained at 4 cm, above this flat plush’s compressed torso. I’ll reopen and descend at the same measured body position to near table contact before trying again.
move_to
right_x0.2670right_y0.2890right_z0.0050right_gripper1.0000right_pitch0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1696, 0.8322, 0.6125, -0.458, -0.2779, -0.0242, 0.9977, 1.2068, 1.8965, 0.8028, 0.1471, 1.0199, 0.4793, 0.0136] state[eef_state]: left_x=0.2862 left_y=0.0038 left_z=0.1621 left_yaw=0.0598 left_pitch=-0.0742 left_roll=0.1708 left_gripper=0.9977 right_x=0.2673 right_y=0.2891 right_z=0.0403 right_yaw=0.1915 right_pitch=0.1066 right_roll=-0.3529 right_gripper=0.0136 state[joint_eff]: [-0.0752, -1.1829, 6.9812, 1.663, -0.1783, -0.0513, -0.0171, -0.3897, -8.1709, 4.5333, 1.2723, 0.4225, 0.0317, 1.0769] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 342): [image omitted: streamed camera frame] camera 'left_cam' (step 342): [image omitted: streamed camera frame] camera 'right_cam' (step 342): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.267,"right_y":0.289,"right_z":0.005,"right_gripper":1.0,"right_pitch":0.1},"note":"The second close is still empty despite correct overhead alignment; the readback remained at 4 cm, above this flat plush’s compressed torso. I’ll reopen and descend at the same measured body position to near table contact before trying again."})
tool
executing move_to over 10 steps (1.0s)
step 352
assistant
agent noteThe descent stopped at 3.1 cm with the teddy’s body filling the jaw opening, indicating contact with the plush rather than free-space sag. I’ll close at this contacted height.
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]: [-0.1696, 0.8322, 0.6128, -0.458, -0.2779, -0.0277, 0.9977, 1.2072, 1.9762, 0.7971, 0.3038, 1.058, 0.4911, 0.9944] state[eef_state]: left_x=0.2863 left_y=0.0038 left_z=0.1622 left_yaw=0.0617 left_pitch=-0.0735 left_roll=0.168 left_gripper=0.9977 right_x=0.2734 right_y=0.2957 right_z=0.0309 right_yaw=0.1558 right_pitch=0.1711 right_roll=-0.2959 right_gripper=0.9944 state[joint_eff]: [-0.0752, -1.4154, 6.9265, 1.6044, -0.1197, -0.0415, -0.0122, -0.2256, -5.3812, 3.0154, 0.7204, -0.0806, -0.0952, -0.1636] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 352): [image omitted: streamed camera frame] camera 'left_cam' (step 352): [image omitted: streamed camera frame] camera 'right_cam' (step 352): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The descent stopped at 3.1 cm with the teddy’s body filling the jaw opening, indicating contact with the plush rather than free-space sag. I’ll close at this contacted height."})
tool
executing move_to over 10 steps (1.0s)
step 362
assistant
agent noteThe contacted torso still closes empty because its limbs and body leave a gap at the jaw line. The teddy’s round head is clearly visible to the gripper’s right at the same radial distance, so I’ll reopen and shift onto that solid target.
move_to
right_x0.2800right_y0.2150right_z0.0150right_gripper1.0000right_pitch0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1696, 0.8322, 0.6125, -0.4728, -0.2779, -0.0303, 0.9977, 1.2079, 1.9804, 0.7982, 0.3199, 1.0584, 0.49, 0.0173] state[eef_state]: left_x=0.284 left_y=0.0042 left_z=0.1593 left_yaw=0.0634 left_pitch=-0.0881 left_roll=0.1694 left_gripper=0.9977 right_x=0.2739 right_y=0.2977 right_z=0.0313 right_yaw=0.155 right_pitch=0.1776 right_roll=-0.2857 right_gripper=0.0173 state[joint_eff]: [-0.0068, -1.4017, 6.9402, 1.7753, -0.1734, -0.0171, -0.0122, -0.0479, -9.1145, 4.4239, 1.1209, 0.4127, -0.0415, 0.7106] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 362): [image omitted: streamed camera frame] camera 'left_cam' (step 362): [image omitted: streamed camera frame] camera 'right_cam' (step 362): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.28,"right_y":0.215,"right_z":0.015,"right_gripper":1.0,"right_pitch":0.1},"note":"The contacted torso still closes empty because its limbs and body leave a gap at the jaw line. The teddy’s round head is clearly visible to the gripper’s right at the same radial distance, so I’ll reopen and shift onto that solid target."})
tool
executing move_to over 10 steps (1.0s)
step 372
assistant
agent noteThe teddy’s dense head is now centered deep between the open fingertips, unlike the gapped torso. I’ll close around the head and verify the 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]: [-0.1696, 0.8322, 0.6125, -0.4801, -0.2779, -0.0303, 0.9977, 1.0576, 1.8217, 0.5091, 0.5743, 0.9379, 0.3923, 0.9944] state[eef_state]: left_x=0.2829 left_y=0.0044 left_z=0.158 left_yaw=0.0635 left_pitch=-0.0952 left_roll=0.1711 left_gripper=0.9977 right_x=0.2856 right_y=0.224 right_z=0.0288 right_yaw=0.1161 right_pitch=0.1586 right_roll=-0.2229 right_gripper=0.9944 state[joint_eff]: [-0.0889, -0.9231, 6.8991, 1.6728, -0.1538, -0.0122, -0.0073, -0.3897, -6.2427, 2.8103, 0.8083, 0.0952, -0.3394, -0.0269] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 372): [image omitted: streamed camera frame] camera 'left_cam' (step 372): [image omitted: streamed camera frame] camera 'right_cam' (step 372): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The teddy’s dense head is now centered deep between the open fingertips, unlike the gapped torso. I’ll close around the head and verify the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 382
assistant
agent noteThe empty close confirms the jaws were still on the narrow neck; the overhead view shows the large round head farther right of the gripper than the wrist perspective suggested. I’ll reopen and shift another eight centimetres right onto the center of that round head.
move_to
right_x0.2900right_y0.1400right_z0.0150right_gripper1.0000right_pitch0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1696, 0.8322, 0.6125, -0.4808, -0.2779, -0.0307, 0.9978, 1.055, 1.8168, 0.503, 0.5854, 0.9272, 0.3923, 0.0138] state[eef_state]: left_x=0.2828 left_y=0.0044 left_z=0.1578 left_yaw=0.0638 left_pitch=-0.0959 left_roll=0.171 left_gripper=0.9978 right_x=0.2856 right_y=0.2244 right_z=0.0293 right_yaw=0.1194 right_pitch=0.1587 right_roll=-0.2106 right_gripper=0.0138 state[joint_eff]: [-0.335, -1.388, 6.9265, 1.6288, -0.1783, -0.0171, -0.0073, 0.1299, -6.3385, 4.4923, 1.2674, 0.4274, -0.0269, 0.9255] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 382): [image omitted: streamed camera frame] camera 'left_cam' (step 382): [image omitted: streamed camera frame] camera 'right_cam' (step 382): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0.14,"right_z":0.015,"right_gripper":1.0,"right_pitch":0.1},"note":"The empty close confirms the jaws were still on the narrow neck; the overhead view shows the large round head farther right of the gripper than the wrist perspective suggested. I’ll reopen and shift another eight centimetres right onto the center of that round head."})
tool
executing move_to over 10 steps (1.0s)
step 392
assistant
agent noteThe round, dense portion of the brown plush now fills the jaw opening, with both fingertips on opposite sides of fur rather than a limb gap. I’ll close 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]: [-0.1696, 0.8322, 0.6125, -0.4961, -0.2779, -0.0311, 0.9977, 0.815, 1.6951, 0.2474, 0.8558, 0.7353, 0.247, 0.9944] state[eef_state]: left_x=0.2804 left_y=0.0048 left_z=0.155 left_yaw=0.0643 left_pitch=-0.1107 left_roll=0.1742 left_gripper=0.9977 right_x=0.2958 right_y=0.1463 right_z=0.0262 right_yaw=0.0835 right_pitch=0.1483 right_roll=-0.1621 right_gripper=0.9944 state[joint_eff]: [-0.0205, -1.1829, 6.9128, 1.7558, -0.1538, -0.0122, -0.0171, -0.3214, -4.7932, 2.5915, 1.0672, 0.149, -0.2515, 0.1148] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 392): [image omitted: streamed camera frame] camera 'left_cam' (step 392): [image omitted: streamed camera frame] camera 'right_cam' (step 392): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The round, dense portion of the brown plush now fills the jaw opening, with both fingertips on opposite sides of fur rather than a limb gap. I’ll close at this position."})
tool
executing move_to over 10 steps (1.0s)
step 402
assistant
agent noteThe jaw reading is narrow, but this is very compressible fur like the white plush, and the fingers visibly closed into the dense body. I’ll lift and carry directly over the safe; the overhead view will confirm whether the brown plush travels with the gripper.
move_to
right_x0.3900right_y0.3100right_z0.1200right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1696, 0.8322, 0.6125, -0.511, -0.2775, -0.0311, 0.9977, 0.8124, 1.6913, 0.2436, 0.87, 0.7216, 0.2428, 0.0143] state[eef_state]: left_x=0.2781 left_y=0.0051 left_z=0.1524 left_yaw=0.0644 left_pitch=-0.1252 left_roll=0.1775 left_gripper=0.9977 right_x=0.2962 right_y=0.1482 right_z=0.0278 right_yaw=0.0923 right_pitch=0.1535 right_roll=-0.1508 right_gripper=0.0143 state[joint_eff]: [-0.0342, -1.3333, 6.9128, 1.7411, -0.1148, -0.0317, -0.0073, 0.1436, -4.9299, 3.6855, 1.4237, 0.2955, -0.0269, 0.6276] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 402): [image omitted: streamed camera frame] camera 'left_cam' (step 402): [image omitted: streamed camera frame] camera 'right_cam' (step 402): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.31,"right_z":0.12,"right_pitch":0.0},"note":"The jaw reading is narrow, but this is very compressible fur like the white plush, and the fingers visibly closed into the dense body. I’ll lift and carry directly over the safe; the overhead view will confirm whether the brown plush travels with the gripper."})
tool
executing move_to over 14 steps (1.4s)
step 416
assistant
agent noteThe brown plush lifted and traveled with the gripper, confirming the soft-fur grasp, and it is now centered over the safe. I’ll release it to settle onto the other soft objects while moving the open gripper to the raised lid’s far edge for closing.
move_to
right_x0.4800right_y0.3600right_z0.1800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1696, 0.8356, 0.6102, -0.5255, -0.2779, -0.0311, 0.9977, 0.8978, 1.9083, 1.2465, -0.1562, 0.7101, 0.3973, 0.0172] state[eef_state]: left_x=0.2755 left_y=0.0056 left_z=0.1479 left_yaw=0.0654 left_pitch=-0.1448 left_roll=0.1825 left_gripper=0.9977 right_x=0.3846 right_y=0.3035 right_z=0.1091 right_yaw=0.1131 right_pitch=-0.0138 right_roll=-0.175 right_gripper=0.0172 state[joint_eff]: [-0.1436, -1.6205, 7.0906, 1.707, -0.1197, -0.0464, -0.0073, 0.1846, -9.8803, 8.253, 1.4481, 0.4811, 0.1685, 1.0281] camera 'top_cam' (step 416): [image omitted: streamed camera frame] camera 'left_cam' (step 416): [image omitted: streamed camera frame] camera 'right_cam' (step 416): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.36,"right_z":0.18,"right_gripper":1.0},"note":"The brown plush lifted and traveled with the gripper, confirming the soft-fur grasp, and it is now centered over the safe. I’ll release it to settle onto the other soft objects while moving the open gripper to the raised lid’s far edge for closing."})
tool
executing move_to over 10 steps (1.0s)
step 426
assistant
agent noteThe released brown plush has settled at the safe’s front lip rather than fully outside the footprint, and the right gripper is positioned against the raised lid’s far edge. I’ll sweep the lid down toward the front edge; this should fold the soft plush inward as the safe closes.
move_to
right_x0.3400right_y0.3200right_z0.0200right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1696, 0.8379, 0.6083, -0.5404, -0.2779, -0.0311, 0.9977, 0.8253, 2.2383, 2.0022, -0.5568, 0.6491, 0.3176, 0.9947] state[eef_state]: left_x=0.2729 left_y=0.0061 left_z=0.144 left_yaw=0.0661 left_pitch=-0.1633 left_roll=0.187 left_gripper=0.9977 right_x=0.4717 right_y=0.3589 right_z=0.1703 right_yaw=0.1272 right_pitch=-0.0329 right_roll=-0.1911 right_gripper=0.9947 state[joint_eff]: [-0.1026, -1.2513, 7.0769, 1.7314, -0.1294, -0.0562, -0.0073, -0.5675, -12.5607, 8.5538, 1.4432, 0.2564, 0.0464, -0.0611] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 426): [image omitted: streamed camera frame] camera 'left_cam' (step 426): [image omitted: streamed camera frame] camera 'right_cam' (step 426): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.32,"right_z":0.02,"right_gripper":0.0},"note":"The released brown plush has settled at the safe’s front lip rather than fully outside the footprint, and the right gripper is positioned against the raised lid’s far edge. I’ll sweep the lid down toward the front edge; this should fold the soft plush inward as the safe closes."})
tool
executing move_to over 11 steps (1.1s)
step 437
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1696, 0.8425, 0.6083, -0.556, -0.2779, -0.0311, 0.9977, 1.0088, 2.0441, 1.1313, 0.0639, 0.7826, 0.4694, 0.0389] state[eef_state]: left_x=0.2704 left_y=0.0065 left_z=0.1402 left_yaw=0.0669 left_pitch=-0.183 left_roll=0.1918 left_gripper=0.9977 right_x=0.3511 right_y=0.3305 right_z=0.0433 right_yaw=0.1362 right_pitch=0.0117 right_roll=-0.1738 right_gripper=0.0389 state[joint_eff]: [-0.1162, -1.7436, 7.1179, 1.6435, -0.1587, -0.0366, -0.0122, -0.1026, -9.1009, 3.9453, 0.7937, -0.0073, 0.0952, 0.7937] camera 'top_cam' (step 437): [image omitted: streamed camera frame] camera 'left_cam' (step 437): [image omitted: streamed camera frame] camera 'right_cam' (step 437): [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 · 11.62 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
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  "content": [
    {
      "text": "Goal: Place all the objects into the safe, then close the safe.",
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  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7918, 0.6022, -0.3943, -0.0193, -0.0341, 0.9997, -0.0212, 0.7933, 0.6067, -0.3962, -0.0185, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2925 left_y=0.0014 left_z=0.1768 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2929 right_y=0.0007 right_z=0.1781 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6496, -1.3333, 10.359, 2.0293, -0.0952, 0.1783, -0.0415, -0.3761, -1.4291, 9.6752, 1.9121, -0.0415, -0.0659, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e949d6d1e4423c9eb7f83e99772e11000bcde7b2dfb4be9f4869ef22ecbbaae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be19327ab8ce73943a67f59cecb41d91a43d3c756d7eb40eed59649fb39fb393",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e858959460b6ad9b9a8a68e085935c7bf22da2bd4ad9d1f948ec2c93b580d4f",
      "type": "input_image"
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    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "text": "",
      "type": "input_text"
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call 1 attempt 0 · /responses · status 200 · 4.53 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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{
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  "encrypted_content": "gAAAAABqtFKe0Q-9-SP3LcfBA8-L05iQxBHmMxMplupP9mhnVduFYpdrP20Q1mILOYnO-N_orzgcKKHmwqPy08dJxkqwM5FqVwg0PW4MKbg1Tdgj9df86YZZa7mtO2XrTqdLR4kjiiGzLsF7pdnTGH4XvTOVFeUrqaXFmXMnyO5IBjhZXub9Z7HakuZabAVqL1wpsiClJgeGAesfMzyLcSC9nRKsTeQ5DqX7L8GirDeyxk7NbAO2HnP4TsQEAI2aFyOCPzfJdGYqkPTAsUg_JO-6ANZ4NSSMsO1L619eGMaBZsDqQXM7iQfevsuVprHozYVUSMv6Q5UI00JMkGYM_4ToRufn98l2p_gyBDUanAbVQMP52ffWnL486ZEKtJlAaLLTuRxzvUoWw1ICPpQbcPFLZmNRpiSgD7xd77l1NFhO2hzuqTLstiMVcYOlqn8UMZjH-iZxZ-eFDLbmzhufEwOi_Tdnx2tj-0f2WbwDLIH-k84KrlEYPYdI75aa6yicx59dxU1NTXCOa2o-34J_-QLvkbA62iQE--h_H1LnqT1Hb63rylpFJPyAkwMhMz0TBfD3C0T7eYS6LfwpHFvs_uU1FxPAsczPuEEPmqdH5FJfNqkl7YWCUkMsIg8AAt5kM_q8042-I7G8AEHT_hlurPJgtKH4TsDblJ6gdHor7pgdP1ANAYpGpEcz0XguvnNotvKoE-zEmBGqvWoCDSyClY1tNvU_ZkXzH-MDC98Ezp-39fr1kn7cJHgznC1iRxUW6VvHu-vGIe2rVX3BQn2Txe7n6chRkHZ7qiX6wtK5QFuoWs0GaDV8WYn7dvTLvPWIv76xlZ1ip0vs7cN4QGAKj4mzlzNFWXoXQAo3RQumHABTnsTpMGWoCrChiJGOOH5bt-UalgIs5hrm9NHM51vQ1CPWKRMfkb7LDfZTk5r-E-T0LV_fasl_4GjSYKWlScTb9_dkk2qzTB5sOMYgFl-xiClV6gVtqoKsXiSXQdkDBmvCpM0qGHbvkiOesfeR4w2cIPvyjF6KnPxD8ly7k1d554DfGP7NhET75OIOolr55a33a7k8wdAfHuxNefDhRETYhhCP0M7NiTTZrwz-VKL_l-rrUFbqmFFuvA12_Oiz4l6BIeg7JTMGzgEOJewkaT8qsgQFnbpXMZNEABI3G3Larvgq9OieRanOYrbwyq__FMbvsx-V1jLIo98KIGVOG1PCFvhZOL1_zyk3LiwiRLEnqvUt5Lp7Bgmw8kEqBdL0IwakQ3NeOBmJq6nljrYpFdaWX1-Wl4ZYn9tntuQCbS_Zrsdn4s2ft7uQfaeZOmJt8SErX8QM6g6VpYkmEN5KupejRxAHcHOmlil9TR0TTS8v0OSfsndu4fKzPwYswQQASwCxRhkZR5Giz94oFGr5qXIrf3qPz_VUPZynCBkeR1upcfOdawaCfdYh--TrxgdGDDmyNPLYG8gxzJg9-Y5CAhw-Pa5EHZ-Qon-McN13XOWHpcR10ZmuiEbppmYYpu3i3ozjPX26UoyRUuSsINn2FRAFewjEZTCTGkpFT9R5bJ_lejPvX0bQwIwkZQ92n6y_KSVCsQoWah-brGiVyVsCRb9ISRDrGMi5njw07D7te_W0RXAQjtE_M7XhutPy17yy2J47RY7fmJe-iH2TdaHPS2-KBJJcMoCAR-2lPY6dpvMfVUnq-vgV4GC7gJ2aMlUpSInVknwog7kU7DBJig54-Y9G57WVgI5jHDTmdA1C7jYI6E16JpECCwuDBfY4h-Q36jKkAW8H6ic1wwPx5JEsbX1xYj7HiaMMBG0dYUPD18A41SlrBNtIr0jKoHY4ssI_j872eAvsIN9YHoudPFVMng7e3RGuGoNHnN22wy7s_DX97eDDd6Wm1HV4ASzjCL0xjrRD2xoHNLNcMN09a-G2oC9I1zC0SGskP3I0ZQ3d-DhiSm0Wr6nlAXncCAyrruJ8xGxLwX1eMMM-c0M2Izvr2DeYjF4xvEkTFpyy3nk11ohr_7X15ehUjDHPXjXndR6FkgYc-toF5g4g8kPfZM-uowc04Sbuuh5GrAYUtdyxf25LUFLWLRxN7i2oVU1sTpcfDOwzPsrdFvJxvVrgg6epijB5LSFUDbs9Q5GKJOMgyJHHsaUMztTr1GexxjJ1o7Lq_j1CJAc1GapFajZgeI6lhurJznzLnmstPmQNlHhm1rxG6_MbQ6AIGAqwPLuctGrxp1bQT3cEjStsQhEAA4o3HJr9aykI_WkLO-DbvIONJ01rU_sz--hTmA9_nlrJ_k26-t3yyi31FMJwOagAvG-SA-y-iIl3LhvAYj-5RlkE6klD2N-78K9bNiqu7XcTvEADUVoTDj5XG3Z2O2V4DLstZj6LR872ve7m4lzUrSMxKbsu-HgDu8Cxf-DbsFfM6eZz6nbMkHExLVg-awcsXONDYp2i72UiK0pA4LfW15xofIyauhbm6ypba9MwGuWWA3cOE8WRZUMxMOQ2Y8h0_x8IqWMWiZEcI38nRjkCblcT85FxTb99nPXlDS5M5o-4Mn7T-2IBr7LXrQV7imh3oPcjmMbfaRCxVvQ_JvttynxcijDthBxgC8royls64vtW6e7BsctNNnMLIJaN3xmja_ZHAGO1phoskpzmJMKiRYGVa5L46vUMfX1y3HQN8LBBE8ALA6scCCVMiunZ6Gz5jPjL6E9Y9w8HQTJMpfBjiDLBvVkypWovFIZi82xNbG7x-InH2bqUUFoqfBLYMboOFPh3YlaudiNu1GgISyrh0M4zf88jzarZBW9RXx8GLruGRLSJeJ-zBswAwSbori-lpGKL66U1Dwr-JgVUNv1Ha0vCbn35SexRqVbLR4xkFIIrWJcsIrbp_X80raowCjll4UF99JgNToSi8AnbkGNaiyALI9rXDykF5zri_whzmgbJWYJxeTMCwlbbRC02JJE0fpu02xLwf_KyT8Kh5jpevxrzZL0LSX2S9M9nxdxq7i78UhUrG8WPMmi1oXMSLavdw3gzcFtJbSBAHOzCBqT5vqBrV3_Ofj-pUyuxax5JQn-j3TwRKQO7RYAB1hYO64t9B_4mdfWCB2VTtzBYNRvWqtjegKun2VnSDGUp1TwqoxU8wiG5odlhZ8Y_SvYx3Kd2-IMROChBsqr3yD9YRTXPJpscZeWHa7ajUU2Mn_A_NhPxk03w-uEpJ5MgEIcFMlwbnza0zk2bWfyErl_QWCoVAaJt-JM16UI46G5ph6tYycDXs3voFVVXiS31wp_XQkAwzeO149cobASj5oxF7B4J_Gf4FNy0yYpKVgr-Q6MMUc-S2poFqlLMUQEYvEPmQDFa9kw4QMqUxiUo0ZcboPa1r5txUawy-suHh66FXNQO4oXyIwOZnZssVgNxq68969vc_H5cEdBO46s50ncV_J2NCUttIavC0ol6v4X_OHSGOmLji576YCy1ZfsfOIUof91uWXSYzpDrjrSf-HYSAA_umde5kp9ZO560c7qeWc_anKXmtlqI6gm75Rnct4vfjgZkTuCW8Co8uV49wjcW48fmPlPgOCoq12z01_LBMZoNWmJKJcziDjuctv8SIobpbjQ8VYsxUw6ukTkkCajxXWol8j9Y4u36JHo8dmpvf4z7O7yCUkS3gi3_EledIuTs0iA9swjBEOhZ8gpDYgVAGed3NnRTuyOXiIi4RO1WI-Wg0NU9KOYhW8WPg99Zh9E-JEoTIc9FTQ9aRjJ9MfbTXF0bx9XM_qpt8S7C1aUqohjnm9CuXj_nOUjXcq5ppt41zGQ=",
  "id": "rs_0a06bda72ecea66f016ab45299579887d0a12f261a289ee41b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.17,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"The open safe is near the center-left, with a yellow object to its right and two plush objects below it. I’ll move the right gripper above the isolated yellow object first, keeping the left arm parked.\"}",
  "call_id": "call_D4EW8yYYWcTCXUyJ3u1tfSey",
  "id": "fc_0a06bda72ecea66f016ab4529e06f487d096aab4f94d7a1c6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_D4EW8yYYWcTCXUyJ3u1tfSey",
  "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, 0.7963, 0.6064, -0.4068, -0.0193, -0.0349, 0.9997, 0.5404, 1.5864, 0.9737, -0.112, 0.4149, 0.2916, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.1749 left_yaw=0.0008 left_pitch=-0.013 left_roll=-0.0004 left_gripper=0.9997 right_x=0.4058 right_y=0.1646 right_z=0.1307 right_yaw=0.0357 right_pitch=-0.0697 right_roll=-0.0406 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -1.6068, 6.8581, 1.8144, -0.0611, -0.0171, -0.0171, 0.2256, -7.5556, 8.5675, 1.8877, 0.3248, 0.1587, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cbb1729e8e42d229270ef671992c8c81b31dad7da55b3c8bcc9bd77d55c8c3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5556d4fa91d0bb2322c4995a5589709c42f63dd61bf5e0237340f0bf8c04b49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e33b353e4ef51bf7fb7e40e9d05ad6ff6c4e68e63faab2b4bc39c5103cc1d977",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 3.167 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, 0.7918, 0.6022, -0.3943, -0.0193, -0.0341, 0.9997, -0.0212, 0.7933, 0.6067, -0.3962, -0.0185, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2925 left_y=0.0014 left_z=0.1768 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2929 right_y=0.0007 right_z=0.1781 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6496, -1.3333, 10.359, 2.0293, -0.0952, 0.1783, -0.0415, -0.3761, -1.4291, 9.6752, 1.9121, -0.0415, -0.0659, -0.0513]",
      "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, 0.7963, 0.6064, -0.4068, -0.0193, -0.0349, 0.9997, 0.5404, 1.5864, 0.9737, -0.112, 0.4149, 0.2916, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.1749 left_yaw=0.0008 left_pitch=-0.013 left_roll=-0.0004 left_gripper=0.9997 right_x=0.4058 right_y=0.1646 right_z=0.1307 right_yaw=0.0357 right_pitch=-0.0697 right_roll=-0.0406 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -1.6068, 6.8581, 1.8144, -0.0611, -0.0171, -0.0171, 0.2256, -7.5556, 8.5675, 1.8877, 0.3248, 0.1587, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cbb1729e8e42d229270ef671992c8c81b31dad7da55b3c8bcc9bd77d55c8c3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5556d4fa91d0bb2322c4995a5589709c42f63dd61bf5e0237340f0bf8c04b49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e33b353e4ef51bf7fb7e40e9d05ad6ff6c4e68e63faab2b4bc39c5103cc1d977",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFKkbD6KoEliAtgiCcrbSbtaL9s0V4710psZJAJ8FMvNx0oa2aNL32p92sl27AvKR6w-Wr83cez6jP-sfh0OmBxELZaYse7sp7kS0bKVHK8jHQT7W-FIO9LI-nKyx3-OVCDGYZweA9p3271halIxTh3FSkWCIrDUZvun4VH7jnFxnNLzLbBVJf0sUyZcYkBztrpqqYf0Nxc7EQQytIml7lpmSjswoeZQzbCP7Z6B20FzE-P-NSN7o76e6MaHuqmLwcC1jnM6OPQRKOXR_KTS2WCKFLWjVXp_r-D7rofmPooN0oEfgYYXW4x3RFR6ZWFBKjVnBY1ioazo1MrYbODJnD4mZ7xrOkQGosfmEBwKeG31jhr_Oh7LH0mGttN_0YJObaf5vrF6pgjhXD6SBN6iCgCdFwgIFBoFh50E9WRFXes27k6EwvrBWb1h24dHh4KRdzclWax9DWV-hPzIfs-9p0gUzunylXuGYiShi_M-HV8axjKZfisyheCGSjnnKNNY-VPf4LGA3G08dA4MQRNG6yDsFSn_ggO1kDjiTUugCitwXiw8eh1uzZG0gQ15xA9r2RIhH4LSerd02luG5qETJRLB72m61FPG1FoacghvDiQARbIPgmSfqaBOxmAjsQl8JUqLyQjcxOkVIbw_swqFAOXNfydvYil8qGa5osuPmuwpQjGhHRDmaUwrY4v2IGy7BfR2lPGZ5BAFc1SLgHLQbOoyH_uQEP0S7nxFKX-q__hn5xzPG9RTTsPGCe2SVnenkJ9zt-nFrDmc1nd1rYBvHcNfGVZTHATLHgLI4Lj_YrEyfsm_gS_5C6ah2gTHMcmLzR5TnN2mmKO4pWXYTe45yPh1zQcNTbksoazXX48bopXRhQt6kKgfoCfJV1rrdOPjILjd6UOdQ_MqIdZH6HM3tcxjFI1u9iUYAwhgs0txUQxaX0N6ixPQLicOwGHR4xl6urQrTjKs6YBWu2ET_vlQgLQtyqKiAA-KU6LE-lbeEIa8Ai1IKp62rAb3dYx_3L7oLN7O3RTrFjMDo7rHzvNTyt3_RiRil0bAAhwBz4XmKVSrlFuSEfu-2zPJYFmPhsP51TUPdwPky8ADDBjozVJytpUrV65qsBT-paRRR7PHS0wLCxqc_D_h02FRr39gpe47UBINcX7KrK4iDNldkXNvXNktl8U87QpWceNIscUdJYkhXsofkUdj6sNnlVx-CwDj1tdPvRiuIxJ4BFvc5WSz0YynPHLDIQsv50ZWnCu1daBNSJ9UDDk3chAc-s112NVYkg1TVPXC6TQ-iSIPdL9WlyhVUF9x6sLdqYc6p9v3QMf8TPXpaaJqcOnP6Ya74t9IkfqTG1w-U-iZXfHgLnmwxp8Tch62xgi96Scb8zLldczhLnyEYkw74Nc-fTwbwJ4Hvpm_tGlfZlps0e0HiRVk41dEPZOGzaheIh5rHXVzJmOdbW5Bdj5ms3IPrBzTAK_R2qxQvMhm-fdyC7GFC2JytNnGb26HlukRBHbDO5dTbb-MmF9yHiXC1gLPkRlNYBnDA1HYkcza8S0Chm9nm6sfB-dzdfxDVVKFk-Pj3xS3KPQJrXubJh6y4GPj7c2AGtNlbIO-7ec6I9X77ShILr00w-CecNJAvvFpa3Nsjx9rrGVtzzBtiaNt25M6Tv2RkUlP09x36M8tECkCT58VabGiZGJfawjW535KAHn8HzY9RXKkSn8WE21ENiwV5QphxU6fkXsQEIjz1rQAXuZMh2iH9ec712sGkvwnPIS5MzWqv2kU8znSJLKpCbsElyWIgZOEQ0GfPxImlAjjSmZ6_9Rfsp5oJOA7Yf3wc11Ndi0Zo5GDcpVZAJ7kLTDLp4_HClGB0g7YHheXcQx0g_Nf4pbQuD4Hpz0sYJwA_PjYSNHbpC6EniVyEv229K5DhB10Re2AFc_5_mRO21qtOEh-KeWSwJBU3OSYMHT8siz_rZ4hi5RAuavVq082AxXvW3xxJ1n3HFWsSRWfpaa9scIRwHNdHvHW_p3PetahXZf9gD9kXso4i-QNQ98mKNz9LU9oXNuncSjTWxD3wczLPwTmjmbHHvfsG5NkOm-JNFnNSR8EA5NiGvo2iXK_pNelmPqtK9B6wtOn",
  "id": "rs_0a06bda72ecea66f016ab452a2345c87d09fa8000dd5536e25",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.145,\"right_z\":0.14},\"note\":\"The yellow object is visible just right of the jaw column and still a few centimetres beyond the fingertips. I’ll advance outward and slightly right to center the grasp before descending.\"}",
  "call_id": "call_8fqBiIugwA20rzaxXCiaXtQX",
  "id": "fc_0a06bda72ecea66f016ab452a4095087d0bb61714522941893",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8fqBiIugwA20rzaxXCiaXtQX",
  "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, 0.8001, 0.6064, -0.4141, -0.0193, -0.0383, 0.9997, 0.4351, 1.6569, 1.0439, -0.1463, 0.3531, 0.2337, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0015 left_z=0.1724 left_yaw=0.0027 left_pitch=-0.024 left_roll=-0.003 left_gripper=0.9997 right_x=0.4312 right_y=0.137 right_z=0.1209 right_yaw=0.0101 right_pitch=-0.1211 right_roll=-0.0641 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.1419, 6.9949, 1.7802, -0.0562, -0.0415, -0.0122, 0.3077, -7.6923, 9.6479, 1.8242, 0.1197, -0.1148, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc385d57aeb557e4ee2e6ffb69a643b6394325ccd8f29e1b3d38547eed724bb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70a8e2f7eb90327d4ccd04743d3c97e1b3881657a08095401b0c656b5e504180",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81615776e452d3e11b2b3cc47ffae385f1aedc9f57b16f2348fe8311a1e2c836",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 5.791 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, 0.7963, 0.6064, -0.4068, -0.0193, -0.0349, 0.9997, 0.5404, 1.5864, 0.9737, -0.112, 0.4149, 0.2916, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.1749 left_yaw=0.0008 left_pitch=-0.013 left_roll=-0.0004 left_gripper=0.9997 right_x=0.4058 right_y=0.1646 right_z=0.1307 right_yaw=0.0357 right_pitch=-0.0697 right_roll=-0.0406 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -1.6068, 6.8581, 1.8144, -0.0611, -0.0171, -0.0171, 0.2256, -7.5556, 8.5675, 1.8877, 0.3248, 0.1587, -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, 0.8001, 0.6064, -0.4141, -0.0193, -0.0383, 0.9997, 0.4351, 1.6569, 1.0439, -0.1463, 0.3531, 0.2337, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0015 left_z=0.1724 left_yaw=0.0027 left_pitch=-0.024 left_roll=-0.003 left_gripper=0.9997 right_x=0.4312 right_y=0.137 right_z=0.1209 right_yaw=0.0101 right_pitch=-0.1211 right_roll=-0.0641 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.1419, 6.9949, 1.7802, -0.0562, -0.0415, -0.0122, 0.3077, -7.6923, 9.6479, 1.8242, 0.1197, -0.1148, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc385d57aeb557e4ee2e6ffb69a643b6394325ccd8f29e1b3d38547eed724bb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70a8e2f7eb90327d4ccd04743d3c97e1b3881657a08095401b0c656b5e504180",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81615776e452d3e11b2b3cc47ffae385f1aedc9f57b16f2348fe8311a1e2c836",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFKo3Wyx7u5b-Rl-XeecHW79I1_dQRIa4DNLbYg9XwP7CtRB89Qnp0SY6-gFdNddxf0yqp3-MEUjE854ZeXYwO_RWjpD4BVlmfFT0CPCZRjBDiqlWPshmluTxAC13glTOgSe2aCRefedVuJzsovnTVX6FOorNbiHap1g5afO4R1Hru2HaQl6lnNnQf1ZivoAsnb6_zzwETQxkwprFUPGZ5lJcy1pZTUkUaDG6SwHxYGduFhUjkpLMK3aICSRvUbMCeZQFHsStu5Gqf6HM1Kf2ZrMur60aHaSM9KY44G0SnwBRi5-9BDPfmx68hDl82E8MZO8cvvlPeSonXyhkM5COUVcf4GuP4i6GORrMNchmIzlUi1VTPIvjbc-7RdJMqnFfOAsU5o-1vxEUBkeTAKpzT91V00FkEiK-XMpv_RqLVaIkHAaoXSos-lZKCObpLvQN75Msh3p-f47kSnEUSq9IQQXW5icS6xI3zwY5rOOQa5yu1u6Oj1LknZyn6_0JfV1PLt3e3jqqUawUOSD70W-_7Unq-8CPSEWxb_BBfX4vlxAPjwHB4YNajVQyU4hFis0hqeSDWUFRyPynUOiCiGXlTRxPR5DWZOzPSljJd66ag6Rmvttow4L7maKQp7LFnjWlm7atMALe-5YIwf8vM1JVExRb8tWck46LaVZt-jjKp4HdTnWP9NIgzo9OaEpsxH4YQtV9ZYE1VlEv0trAs1nXQHpISQX9JJLfuG-JmjAi1UkIrz8Io3iHxNam_nkCe1hCbXaVKVrkr6Uf0kzRmtHXfatDm1D2xP0PpzZGdx8ncM-LigDdzYJDVKm7VvM1xWfc9qoo3y-H1l23-D4FQRAr0sgHZZ7oh9JVCgnpiPGtK99eg8eyr3rEm_3Uwso12PNQoBJfjxKJel3jXyKK-Ix0pu3g6am0QpsXwFQp3OrKHzAPq9oGmEA-rZlsFA4CrsX1ESxq9ggwyPnlqVlcIwjtTRovs5nG_1pUzIDPQsQ5o8HIGpsQhG_sLjNM4vBWXsA-C7DNwd40A9v7lfEPw8bf-FftV3vlUIdfjCsLQ1YyLBVYJ16D0TCJE_1tjBMzSGHNde3yxxBGv15QkqxWh1hYgt8XlJKZAzx0YM3Z5YDgs0xVmZu4lXP84E8ZjOEnv1BoAD1KVHdDpjE-UCO4-jd0CQCXQ3QNUB3QGiFt6JhOGhWiUQWUQhb0Y9VTxBb84TIXhR3OJYffzCkLIbOHU0VI4wvGWZEisHpa8iZAE8ss4rrKO0chogekPk9IBEm12-Zrc1OS9VZ6-WsGQ474v6a1vXWY0yleg37Ft5YVGFZQk7ypcPVLzTUhGjadvZgNa4IiWxbgWs44MqHTy6g0oKQxLylxaP2Epy_6C2MmQPNbZFUzd5wtJMhWOgdmSpkLQvfvlUf9edenNkd65KrGa3NzmHEaUOmB_zAtL3ZHMbubLePev48obt7OJ2Po30Mvfz_19zrZ2l8qbkQ-MOH0aY23JlXW99IRI72Qph38JXQt2JfMbPsss2rO47gekMREQhpQhaMWr6meNQm8M5LYXfoU67Suz1dSjPOFWtk-C4GL6EUY_uNPJEmTq2zfCIO1cqRKhOxp3cqjpqpm_M0gE99Da7AilSkEoxJ8lte-v7PBWb9vW8WG1XGeBBXtQzgkcqksTcXzih3P0zUq8rAuI9BCXhqISWV4L8wFpGhoxnK7cXIFS-Xt8RiH54r-_6rm9xuHmrSsVZEG0JNM1Q28Eq4stmepoeLMYpEqFPuwRe_yjqmFlfM-C7HEB-HceefuJUytkuayXzbhbRYkpwXxJzmXfCIQQAGA9C0VWwAHxrULvnLoLE=",
  "id": "rs_0a06bda72ecea66f016ab452a631c487d0ae04b870de92caf2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.145,\"right_z\":0.035},\"note\":\"The yellow object is now centered between the projected jaws. I’ll descend to about its mid-height while keeping the gripper fully open.\"}",
  "call_id": "call_I9NVYuhEIQLfUBx2IKPpPU7Z",
  "id": "fc_0a06bda72ecea66f016ab452a7959887d0b186b3f7a4693c21",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_I9NVYuhEIQLfUBx2IKPpPU7Z",
  "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, 0.8024, 0.6064, -0.4278, -0.0193, -0.0383, 0.9997, 0.4305, 1.6646, 1.0622, -0.1432, 0.3241, 0.2161, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.169 left_yaw=0.0027 left_pitch=-0.04 left_roll=-0.0026 left_gripper=0.9997 right_x=0.4356 right_y=0.1421 right_z=0.1245 right_yaw=0.0392 right_pitch=-0.1169 right_roll=-0.0538 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.1145, 6.9949, 1.8193, -0.0806, -0.0757, -0.0122, -0.3624, -8.1846, 8.7726, 1.8144, 0.1441, -0.0904, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:630a48a1810b919385684bee61a1b5621e63bb66b63e3deeeefa5a57bc9810c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d04c8e6ec32721e9a7e80a7328f026ca579aef2d07affbc1849e02de2bbd3ab9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8636ebb04e4bf6fdfb194fbead32882059218490501c96e8a2ded537b40ebbd",
      "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 · 3.446 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, 0.7918, 0.6022, -0.3943, -0.0193, -0.0341, 0.9997, -0.0212, 0.7933, 0.6067, -0.3962, -0.0185, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2925 left_y=0.0014 left_z=0.1768 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2929 right_y=0.0007 right_z=0.1781 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6496, -1.3333, 10.359, 2.0293, -0.0952, 0.1783, -0.0415, -0.3761, -1.4291, 9.6752, 1.9121, -0.0415, -0.0659, -0.0513]",
      "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, 0.8001, 0.6064, -0.4141, -0.0193, -0.0383, 0.9997, 0.4351, 1.6569, 1.0439, -0.1463, 0.3531, 0.2337, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0015 left_z=0.1724 left_yaw=0.0027 left_pitch=-0.024 left_roll=-0.003 left_gripper=0.9997 right_x=0.4312 right_y=0.137 right_z=0.1209 right_yaw=0.0101 right_pitch=-0.1211 right_roll=-0.0641 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.1419, 6.9949, 1.7802, -0.0562, -0.0415, -0.0122, 0.3077, -7.6923, 9.6479, 1.8242, 0.1197, -0.1148, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.8024, 0.6064, -0.4278, -0.0193, -0.0383, 0.9997, 0.4305, 1.6646, 1.0622, -0.1432, 0.3241, 0.2161, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.169 left_yaw=0.0027 left_pitch=-0.04 left_roll=-0.0026 left_gripper=0.9997 right_x=0.4356 right_y=0.1421 right_z=0.1245 right_yaw=0.0392 right_pitch=-0.1169 right_roll=-0.0538 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.1145, 6.9949, 1.8193, -0.0806, -0.0757, -0.0122, -0.3624, -8.1846, 8.7726, 1.8144, 0.1441, -0.0904, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:630a48a1810b919385684bee61a1b5621e63bb66b63e3deeeefa5a57bc9810c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d04c8e6ec32721e9a7e80a7328f026ca579aef2d07affbc1849e02de2bbd3ab9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8636ebb04e4bf6fdfb194fbead32882059218490501c96e8a2ded537b40ebbd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFKuwI451HKuIlQxIo20wJ_TLU8KzfSODcnebzs42sortk4UG2t5mTbyZTfJU39PMrYZDXMLTmG-UP8eDPisQPtDpFK5plHu_UBEPqkdG5NKSiQ9Wga5-0UItVRzI1fCXjHaT0iHZ660yy5dDSlIfZZMB-1OI9GXmL6zMmc0QJXqn6SkWzT5KK3purdK1NWXnXfzLHGRuUcByBZyStszReOiYnIGMEXK1wsX_5Sb1RK_ovcfXY0pvQEUSa3VKLPyhue-I1rCtwzCGrCPyMv1kj0y6dEqJhGSZEIuGhcaNMpA7GPqCPVosUgNHj0bEN9f4nIzVPvin64EYijR8YizuGAjjKZdYtn-X5YV98RwISKyXBiwLxwwbK_Vgrxe77wGcSMT1XksMNIMjij4fNV7evcJBDuAuBpqTesZ590LsZqhMFSk7k8J_ELpa3OxYHX4_UcG1hxAuwGTEpShqtNBGR5FKB3sgEhwBrumifYVCtd1X8P4itpHvbW6ADhD2GhqjYvW4xnHGrpZePobbgLfMfhjCQ_JYXnDi7KzviQt8Oh_wo0-KMXtRVaU-mdLsvtR7C_z7WgYcR-c6IXWWBPHnHFiJuQt_iiVweSdQU4sD4GvKiUhd5DBVHz6kXLRw4FsFt5RO7ubE8JxpFG4m1p3NsFa5gmEWbsgTMlTEqeE_rx48pJ00qKoa0a5km6-h5zQtfdJi2rtGDn30bapL1hYKjJYiSgaJ8yuxiJtGeMXt_qf3v3wxAwA_zJ8c09hGHCejWXoSvnu-NMAMmm04HHxP_GjN_UOxdOjFNypV2mcGOHXcbJe3xBmIMHJySTfuzbpsJ0AKDBzL4ZFGtI37SNzGmb9PGB7SjiAPkykVtbVtosC5vWHKPY7hgLGHnl4Erwm2o7VZfgIEDgNLG6MwgmDYoBjoGlXpEsccMYDj_Lzlyuz5cbEaL756f7ihU6uWLOZenupj_KYUOVkug0Ls5SItooOVDuwus3uLZjDx4OiqtYqSnChQ2Fgl2OpNWmUgQX8eHksd8xkd6sIEtSODT_SpPmFE-qqdx9Aim8ZtqeDxAc9mf3TiVtJlfCeaJ2eCfJ7E-lTRYIqXSKPAaFEMJ5qTx4SFNTjDaexOYXTTLMvZq64fEg3_rCVXC_kF2HfdDKXB88ffDQuPiABr1vCSBthFGJko0FBlOPjehD1WW4NVMpGuETYfE2Qh3zzW8p8Jw5So_r64lMIzpyluWy2dQ_V2YFRPiIu2Gd7IlVmytX5_smDZfH0D2d7OkhgaK-NfzBpOyLQ0AVMgVHOErczoMXm5WFUcf86GL0Wrs40DcnE4ZzMnKji2-5ggVoFB0GBiI_mQkOqfvESdAblg3YFwCZHU6JLmP7n7aRuEag_YnnRlKcTXwC0YA2bkNpPtrhbR5tBSHz97Xi5fZxkOI1DVuBjkyBwaCcoFzZrIESHiOVwt8-VPXQYNkcROdQZskAGKE-VZZEBAxAwKUi1dUmdAalQTYhTKkOfYygeQKlXR1w96bfX5hWRdZiKNWYW2dJOqwjWKItd-Y6Gcw9Q0g5HtIRPHgVPo-EYliESACf5ksgzfTlIZcDgqo85AWkjChcen8o89XjE1it2zaRe3D8L0U6KmBdkzfFWFPOkAZPFsjxhW2KMA6De0Aq2vUNc7AIiKwwphmZYYq-ssETc87r7bAG4PIqE-WvKTw6RKEz0NfMZfdYyMEcKPuogsoWoy5clCqy3S67lbZj9vex46Il45HQtLnJTIU5of2CJlix0vCkwhLgAvqiGK2qcXSMS-DDQL3OfMJieKQGUGwAh-_btunV_iIWMV6wHKtd4yYDf1rhIp7j10ou_yieQyvqC4yz8vcI-BYrziitg2it0xtMb82mLBxmxO-7i6ssASpGc1jVkpxoknfgkS0Nqa6ksnla5Db27wuMzIpZoYFZx9E8VIQzsKnr9dZ5AWBoJtE5PBo5yGep3QC4oQ_FJMPVL6ki0YswYLCspISK1SeHVc5sac35oAp-HTKdVIESpeolP9Yyd5HidYEU7nXz4MncDtvd9THiygiltgZtYh1kiQRUbX8n8YHF7hiVDevvoOjKr5c1jwc7MT4-oMCH-TzbZUGh5wHF8lTM1qN9IQDMh0wkPns9SObPiCJ9zOEY8MDZW_5ypCe2DdUvltctswpiBYnvae2TLhRZ4Qe6dO8nfAlqQHjEmNNlV9qJq-S768jI4Wc_syzZ_ERpyn8rL6G_jAJZganpK7yrMNWKZvGUDoni9MEFSRoSxfmwLAmj2hLPdV8tVJDyivD-zPXAAsXyxwW0VUqWYpWZqLFGrJWHLl5POhBuZPeXV3Zl1MQNg01y1wdQZqDLgbBEfBy24NcA7ZzGzUEp2DxbtMg3u9h6C5Mq07Itn_UEbszEiPLppRH8GnalWsRW8omPKCGdTU_feFOwvWZLzQuJA0vz4k6f9B3fzOv5FbN1szdlxTUpA9e0ts7s8biVcAqiMSa5gUTAwJo7_VWOYE8fZohq1JNn0TfxDuE15U2QpqRTU2fQn-Nh2BZN8BhtVlUhXtU2eLbLhNcbwi59rVuY0Gtb4u9k9hRT7UnOiM_Cn0NSFOIb5Cx2H1MFFtaipf5xlk19lIWI745bVCUX8-c0f",
  "id": "rs_0a06bda72ecea66f016ab452aaf03c87d0adf0f09d5d284c59",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.145,\"right_z\":0.07,\"right_pitch\":0.15},\"note\":\"The first descent stalled near 12 cm rather than tracking, indicating an awkward long-reach posture rather than contact. I’ll retract slightly and add a modest forward wrist pitch while descending in a smaller step.\"}",
  "call_id": "call_COU4NOtmpgSl3vynI40cTFEU",
  "id": "fc_0a06bda72ecea66f016ab452ada0a487d0bfdd7d2855cbfa14",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_COU4NOtmpgSl3vynI40cTFEU",
  "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, 0.8032, 0.6064, -0.4355, -0.0193, -0.0383, 0.9997, 0.4747, 1.805, 0.6792, 0.3717, 0.3958, 0.16, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1673 left_yaw=0.0027 left_pitch=-0.0484 left_roll=-0.0025 left_gripper=0.9997 right_x=0.3949 right_y=0.1304 right_z=0.0141 right_yaw=0.0564 right_pitch=-0.1084 right_roll=-0.1457 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -1.1282, 6.9812, 1.8144, -0.0464, -0.0464, -0.0122, 0.1026, -8.3624, 6.2564, 2.381, 0.3053, 0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e489e7590f8970920bc75883a7c7070b2ce1b139fcad58f5af621b6ccc358673",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8c4f151debb45b8ee927c36ac4c2cc077d84dffbc3d729d1b40cc97d022fc22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aaadc86095fd9b32c93b402f7373909222373a2869045ce4d9849272464ccfb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 3.399 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, 0.7963, 0.6064, -0.4068, -0.0193, -0.0349, 0.9997, 0.5404, 1.5864, 0.9737, -0.112, 0.4149, 0.2916, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.1749 left_yaw=0.0008 left_pitch=-0.013 left_roll=-0.0004 left_gripper=0.9997 right_x=0.4058 right_y=0.1646 right_z=0.1307 right_yaw=0.0357 right_pitch=-0.0697 right_roll=-0.0406 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -1.6068, 6.8581, 1.8144, -0.0611, -0.0171, -0.0171, 0.2256, -7.5556, 8.5675, 1.8877, 0.3248, 0.1587, -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, 0.8024, 0.6064, -0.4278, -0.0193, -0.0383, 0.9997, 0.4305, 1.6646, 1.0622, -0.1432, 0.3241, 0.2161, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.169 left_yaw=0.0027 left_pitch=-0.04 left_roll=-0.0026 left_gripper=0.9997 right_x=0.4356 right_y=0.1421 right_z=0.1245 right_yaw=0.0392 right_pitch=-0.1169 right_roll=-0.0538 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.1145, 6.9949, 1.8193, -0.0806, -0.0757, -0.0122, -0.3624, -8.1846, 8.7726, 1.8144, 0.1441, -0.0904, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.8032, 0.6064, -0.4355, -0.0193, -0.0383, 0.9997, 0.4747, 1.805, 0.6792, 0.3717, 0.3958, 0.16, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1673 left_yaw=0.0027 left_pitch=-0.0484 left_roll=-0.0025 left_gripper=0.9997 right_x=0.3949 right_y=0.1304 right_z=0.0141 right_yaw=0.0564 right_pitch=-0.1084 right_roll=-0.1457 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -1.1282, 6.9812, 1.8144, -0.0464, -0.0464, -0.0122, 0.1026, -8.3624, 6.2564, 2.381, 0.3053, 0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e489e7590f8970920bc75883a7c7070b2ce1b139fcad58f5af621b6ccc358673",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8c4f151debb45b8ee927c36ac4c2cc077d84dffbc3d729d1b40cc97d022fc22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aaadc86095fd9b32c93b402f7373909222373a2869045ce4d9849272464ccfb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFKyQ1aE9hLieX9K1IFmPvvfh-PzhqZ6p8zs3-KAn0ILHwEVWjAjAtu9NgnCUZlVAzi_5K3cpCaTe5cj6skVidQZPq88cVcLWeChDVkwJtZ1EeNRGcWhXASXyJYw7m_f6QPkj8PT56uVYfHk8WmoVABVm_kMKJeKSk1dNpToupIdsvjR_8zM0weLyS_vCCuMZKgwk-ZVeOXBX8FxiInEBhxPRorWgQcmfrSg4wSHr-HqJgDXNEd0rlinBHls4UpIVfzA_ZnerH9UxNB0jq9qLYt8wkUvd3y_xotzbrQKGEoB9q5lQA9sxW1CyESddizpD7OE68yDslxCc1LV638txMMNAdJKHwY58QkaOO6E1v4xThBGvr2z4mCQd8geRZ9bQ96jxMUE1z2TduMjUIocf1Qcp7BT509_KUSbgDA1szXmzjL7Uci-s9Ohg2wX0RKOmvAJJISYClSl_NJzBcrLw6hVIorrpTIb_88GLRv7kYjsrBUy8__hIuzGCDft8AzCMB3tsEfjsbsbmEM1TN9s_IpdUuJ2IvLo7Q5QoXgmStyL5-HJ2itxZ792JUkcvh1k61XHM4b_ND4JQlMkvhJ139CBvozCOXaf7uSc46ZdqMgQLlFGVBtCBrqTpSy3h0RjvgnP5u7OrEkShnQaeCk2DIpFxyydMM1cOm39WZWSu4s0jaAsy6mZ_QuHGRj9cCUTqUzl_i4pke82r6UZjoXPsBWp2VwuCmtvafhpPrRTrU9Kf8-AnOBuyR_N_s27xOFpA63Zpxgsg3B_o_DQRvGayobIOmdeJNvctyW4WKmL9MqkrXaPmEgNWrforyee-HNK7JKbkYOQQGchksa-xmkM2r7xteWD-Y0CMuHw1KnmGsePlZGXPqi8ED1XdGYpTvW0FS5verTLL2eYtRGFLkYJ607QEt8WVQXNxmvToFAYWvIALc1njS67T_9ty2hiFpIgezPU57pwARuDZOomZZHU1CcHs6z_KBOQMMbDFZ5_9ENsiXCZ6Yl9RsoE3hp41EUkMPUaECX69MAtypGBf3qG8KIPDzNMmVu_aPi-AdH1mT5gtWNYo5vQYLf-0BYVujj5qiaUG3BGD21-Q5PMzAo2xa2V80yLcvyKf4_7jubfmr9bNtx2hiPayOCC_L5ebonXW1JKzJmg2XN_3jTXsNU5Iqzjf_KYWkfgrgYTw3JeoBztcd-oj2-UFijtwLpcgwXfRioiq3OCBf1JQnAPqRN7BVs_WOCBhXtfC4011zIeTZir2x5g44vN-U3q4L7Ge5m6tKMzrS3s0EnyOamUIe9_SGkoncIT_Y7tlEQDObVCDIJ4zya7zC5UNyZXzJaiW63aT3n77d76meBQyVI6B-TSqYR4qD5e6xQSLbvNxt4Wljvpj1ABABTBAXidjRY15eggKdLSJt8ODeMuq2xb0iywx7jsYPJUCzNkifUGSmxEThb17WQE4ElTYzRrFW5wZodrCtZKP3eolQMa6tLvcZitgIDyc3KumrTqA9H9AyfS2dlqcYZkn3G69sAKXbLWwXuSUOE9-if0Pg87fAJas4amZOiaIUfDMeiS3c4L_unSiE1YLuQ7dq1-6TfOX3SkmFOemwp68etP5VykFmLzNsqfFDc7IppK3nP1tLDkCs5OTzqLr3J18HCK_NKLxfH9XpYOR8iZ-0lJ2wDFR3tvX_9VWagooLFk_hqJ5hGwl1eInGiPDl48cT84tPNha1NDKhnoOwJ7gJz3h12Hj3SbWWK-B8__VPhaPJBbqE3FdqOmyrWamvwIvIodmxWziZMuivEKMZiAe3UnkqHFfJiQtQpXvTUPXqoXvsVo9Elrre-Q-BXVCR_lUtzWc2cs4ZbqN1NJWqxe",
  "id": "rs_0a06bda72ecea66f016ab452b070d087d097686dc832f500fd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.13,\"right_z\":0.02,\"right_pitch\":0.15},\"note\":\"The arm successfully reached table height after changing posture, but it retracted about 3–4 cm and the yellow object is now just beyond the fingertips. I’ll slide outward at the same low height to bring the grasp point around the object.\"}",
  "call_id": "call_JEmnlwX59yEboByDNrW9rsn5",
  "id": "fc_0a06bda72ecea66f016ab452b1d8ec87d0954beacde56ceb7c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JEmnlwX59yEboByDNrW9rsn5",
  "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, 0.8032, 0.6064, -0.4534, -0.0189, -0.0383, 0.9997, 0.4671, 1.969, 0.6205, 0.7967, 0.4194, 0.0719, 0.9996]\nstate[eef_state]: left_x=0.2852 left_y=0.0015 left_z=0.1637 left_yaw=0.0024 left_pitch=-0.0664 left_roll=-0.0023 left_gripper=0.9997 right_x=0.4166 right_y=0.1336 right_z=0.0085 right_yaw=0.0792 right_pitch=0.0762 right_roll=-0.1525 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.2376, 6.9812, 1.8242, -0.0708, -0.0366, -0.0122, -0.8684, -7.2821, 3.7128, 2.1856, 0.2711, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75ecc537dfd966d628c3ec2b6ac8b03a9bf3b7bb2341cbf5fc3041e3e835f152",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85cb3f6a04f2ab8e21d89a145a60ba520581c132aa956c1ddcd0ef3c1c841190",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c41d4ccb2e5859556b79d516a292fe0203204a9a97d1d7c4bc658ced2691e07",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 2.084 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, 0.8001, 0.6064, -0.4141, -0.0193, -0.0383, 0.9997, 0.4351, 1.6569, 1.0439, -0.1463, 0.3531, 0.2337, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0015 left_z=0.1724 left_yaw=0.0027 left_pitch=-0.024 left_roll=-0.003 left_gripper=0.9997 right_x=0.4312 right_y=0.137 right_z=0.1209 right_yaw=0.0101 right_pitch=-0.1211 right_roll=-0.0641 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.1419, 6.9949, 1.7802, -0.0562, -0.0415, -0.0122, 0.3077, -7.6923, 9.6479, 1.8242, 0.1197, -0.1148, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4355, -0.0193, -0.0383, 0.9997, 0.4747, 1.805, 0.6792, 0.3717, 0.3958, 0.16, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1673 left_yaw=0.0027 left_pitch=-0.0484 left_roll=-0.0025 left_gripper=0.9997 right_x=0.3949 right_y=0.1304 right_z=0.0141 right_yaw=0.0564 right_pitch=-0.1084 right_roll=-0.1457 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -1.1282, 6.9812, 1.8144, -0.0464, -0.0464, -0.0122, 0.1026, -8.3624, 6.2564, 2.381, 0.3053, 0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.6064, -0.4534, -0.0189, -0.0383, 0.9997, 0.4671, 1.969, 0.6205, 0.7967, 0.4194, 0.0719, 0.9996]\nstate[eef_state]: left_x=0.2852 left_y=0.0015 left_z=0.1637 left_yaw=0.0024 left_pitch=-0.0664 left_roll=-0.0023 left_gripper=0.9997 right_x=0.4166 right_y=0.1336 right_z=0.0085 right_yaw=0.0792 right_pitch=0.0762 right_roll=-0.1525 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.2376, 6.9812, 1.8242, -0.0708, -0.0366, -0.0122, -0.8684, -7.2821, 3.7128, 2.1856, 0.2711, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75ecc537dfd966d628c3ec2b6ac8b03a9bf3b7bb2341cbf5fc3041e3e835f152",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85cb3f6a04f2ab8e21d89a145a60ba520581c132aa956c1ddcd0ef3c1c841190",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c41d4ccb2e5859556b79d516a292fe0203204a9a97d1d7c4bc658ced2691e07",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFK3jBy8fYKIuCwA8nwJ_UzIF7sugzf5xYmf4VbJxyY0qqKcv-lnDCcgu6L1xeEt52mfhb1_0f00eLWkY0LzfvJOxfUYDocDkjl3wDlpq_9-DevM68RhXN2w-r-DgGaPKutLH4XDBzzoK7wdnfied2Dna2EdS4hM8EBpjPZVFRaN3b4KHvwDRacKp8jGFAhlXCjvrY6wtUTNY8OfdMf61ejHEH44cgCSEijABQYCFx-L2byXF99NY_L_C-8St1PE2cY85iIWGEbN7Pget1e4p7VkfNfFdeSBBM2NYJrUHMIlcKOb396aSnv2lVl9SYyai0sLszTR3I1FOkCHEQ5d-5fMYQwfPLhgat7gjsMPaQb0F5TYt9lznCZn5jaDlvcK_D-qu4Ltkixn_FY8LBi9fPegCrtnvvuOFdo7ecIDqlE7vROQkGzeX70RK4cmWSZgvTd7hqUpvG3dfTOQIswnbZPKX_rvKDudvQCHMYsxmJ7rAmg7YSToetODqyMTB3xDL664cTnA_KQSGJ7yNcpCOLOZJ2TXY3WGZpjqXRK3uasb1yth8nJDglKrloVPs0ogOIcMw5xssvoYZluxDEZK8tKd60oBib3Bp5lolcOl2DeuYvF7a54T4Lh1QBWAcDHceAYghH-FZqwd8pYOB_aw8uRtzOlykxR3tpQ3ugaTyZy_ySvkkrGQCTGX7smWQps03HLefBjwH9aQBkUG2q9GxGQEnNuR5SL5vEawSJAzPGMiShgcS2epHmtInxu4FeD8bfyqE24QVaERHSmZ7kfti2315aVW7cD4XnPmd3vc9TT7d8O-rcf_PeQjuS3cntfFQKHPcEtd-7E7Gi_Dp7a7mGBsEe2q-TLEX140rb-9HrxIKI1ROb6iu48P-_4Ywl4lwg-wcgiLsXR8m2k9ivdzJgB-0fc5bR39xk0_Kf9W_e1EjZH_7suRtAz-BdPIP669Eg7DEuCGygwIcUG-5_GcwAiQ9EwXD0FmcBTW8cJLwrguMt37n3RKGB482g5yhwLp9BrfJ0CbBFqh63rCp-4ISIypSzgi5LgCBkr51ODpE5Y7GRkqNOiiObyZZqXm-8LeqXsNSA4QlmfmSm02cDY-Mclk2Pk4FHHt8uCnKAe99LFKpLRkBFB2GpzI8iZeyr7QISme7VUMsGB5ZyxNzAZIN7GxYvbfNSqUpMxdd9mIz7ouMbvgnH_vAncF0nZcsKky5xYRwLrlTAN6CEDKtqg0TePGtFo5YwJgcdSLepDcj_ZSDca5AkR08CLNJTbAUopgWFK1YaWoMsiMtN0DnKJOFuA3WuS6je6MPjyWgAOqeXjYQzchrf6-zcZhi4flxk_nRLu7OQxLV3szVIbprL9fd23UEHjnYSPWUsjHO-TzfivPL-V5AJ5_OE6w9FqSGSYsNl0bIj3XMLvlkDyN1IV9xnTexTHx9saH2h1uwagPamQA_fN2VHF83roiWlmBdTYqvqopB5fahBwh0mGrog_cJVWvN4UeyjorJwjGgBOTtl1UzZrPorXx4Yfb77D0-OAwfsBkM3rZOStHK0ptFkQ2yVEqYxY3HJpqIOaB-5XCIsp93VQXbHKzZDim8K6iJ_inOQVoJHqC3NyxdpjQMxSy9ucMrfTP6JDEtZmur9g0roNCk65QkpVLpRA5CYUNBLyDBV9lkg_Ba6yBNqp3N74apFihF9Nqhv-pcAhc-hBem-Q1PLC1NaH5EzsyUivl05DZI1vfUEb2Gf8xZejR3cPqYml2SLq2SaGOE9zEs7iEJH-HpCtIdQJhfLpT2Yl5k6MZPZyzRj8NMSDRDnN0EmZiWhbCvw==",
  "id": "rs_0a06bda72ecea66f016ab452b5276c87d090a74a5e3ffbee52",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.13,\"right_z\":0.02,\"right_pitch\":0.15},\"note\":\"The yellow object is centered laterally but still has clear space below it in the wrist view, so it remains slightly beyond the fingertip line. I’ll advance another two centimetres at table height before closing.\"}",
  "call_id": "call_ByVJn2uS5ncEK9x8TKRxkQ6K",
  "id": "fc_0a06bda72ecea66f016ab452b65f7887d09fdb960836862298",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ByVJn2uS5ncEK9x8TKRxkQ6K",
  "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, 0.8032, 0.6064, -0.458, -0.0189, -0.0387, 0.9997, 0.4393, 2.0018, 0.6353, 0.8482, 0.4026, 0.0338, 0.9995]\nstate[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.1628 left_yaw=0.0026 left_pitch=-0.0709 left_roll=-0.0025 left_gripper=0.9997 right_x=0.427 right_y=0.1281 right_z=0.0091 right_yaw=0.0848 right_pitch=0.1011 right_roll=-0.166 right_gripper=0.9995\nstate[joint_eff]: [-0.2803, -1.2103, 7.0222, 1.6777, -0.0513, -0.0366, -0.0122, -0.4855, -7.6923, 6.3932, 2.1758, 0.0562, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d43ed0013738d493994dff5d21dd311084de4e64d9afd18c4b61c3b831bcd69d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db61351aeec9c1b8e66502bffe64ef2399d59df248cd3d7c81a8c2fb09a5fbf9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c360142604da72a1c0bbde137a7900a2f0a37f6cc7a750832ee375873b550d38",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 3.35 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, 0.8024, 0.6064, -0.4278, -0.0193, -0.0383, 0.9997, 0.4305, 1.6646, 1.0622, -0.1432, 0.3241, 0.2161, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.169 left_yaw=0.0027 left_pitch=-0.04 left_roll=-0.0026 left_gripper=0.9997 right_x=0.4356 right_y=0.1421 right_z=0.1245 right_yaw=0.0392 right_pitch=-0.1169 right_roll=-0.0538 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.1145, 6.9949, 1.8193, -0.0806, -0.0757, -0.0122, -0.3624, -8.1846, 8.7726, 1.8144, 0.1441, -0.0904, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.6064, -0.4534, -0.0189, -0.0383, 0.9997, 0.4671, 1.969, 0.6205, 0.7967, 0.4194, 0.0719, 0.9996]\nstate[eef_state]: left_x=0.2852 left_y=0.0015 left_z=0.1637 left_yaw=0.0024 left_pitch=-0.0664 left_roll=-0.0023 left_gripper=0.9997 right_x=0.4166 right_y=0.1336 right_z=0.0085 right_yaw=0.0792 right_pitch=0.0762 right_roll=-0.1525 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.2376, 6.9812, 1.8242, -0.0708, -0.0366, -0.0122, -0.8684, -7.2821, 3.7128, 2.1856, 0.2711, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.6064, -0.458, -0.0189, -0.0387, 0.9997, 0.4393, 2.0018, 0.6353, 0.8482, 0.4026, 0.0338, 0.9995]\nstate[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.1628 left_yaw=0.0026 left_pitch=-0.0709 left_roll=-0.0025 left_gripper=0.9997 right_x=0.427 right_y=0.1281 right_z=0.0091 right_yaw=0.0848 right_pitch=0.1011 right_roll=-0.166 right_gripper=0.9995\nstate[joint_eff]: [-0.2803, -1.2103, 7.0222, 1.6777, -0.0513, -0.0366, -0.0122, -0.4855, -7.6923, 6.3932, 2.1758, 0.0562, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d43ed0013738d493994dff5d21dd311084de4e64d9afd18c4b61c3b831bcd69d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db61351aeec9c1b8e66502bffe64ef2399d59df248cd3d7c81a8c2fb09a5fbf9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c360142604da72a1c0bbde137a7900a2f0a37f6cc7a750832ee375873b550d38",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFK5gYtZgdzb8vgqHr5kkniYyJNz-PzKcMqn8dIJLNHURGFWswrPN5toOtwROo6joDYs47bOgNlr606ass1KDMSZ7Y-yujN242dUn1MXV7Ho_uI-Bb9V1eMTLMuQt3swQ8Gb2Tf14saxOvmFMGD88m9NuTbwYUhXiUum8VbBgu7kjMfPmb3aqc75Pq_Z97zFJo-n0f99zecgYhCf9g1p7dSH78GHKUdxyTYLmf7KYURbqQ7FPMMNZP56Efq0LrKyhYmbUww1lmcR3h6y_lX0BNC3hTN_Q1LADRVWntquEG92i_Cdbwd53LD3kQ4V2BL-G64-dqE-Cr7on_Vbm5cUKes5MfB-G4GE7v8YQanPzmQW63ez8yGL6Az0gA4LCjfjxVdO08UE2UpEU_3188ZgTZHhONayp-EHPZQJkDQLgw6CnT30r1Q9w36kvexsq4bu2SKQS73qHOBOBM3Naav-OYyR_3hsFv_zrGtYG0r1V5aj6wdpNJsspzNp4hR7Ss4gH9M04sv3CYV1xpAL8w0sTEEtjLIcMDVV2Sy2sfLKbJcwhXUKAW_w-jOQEfuuzHjdTFwXx-cY65uZBw6KTBgpS1CjoCik6ugOqaQm0pELDvoyiBYI3XnE61d_zcDuviG2jJGIMyOmkZLxtJx2qRh_mt7TdZTK-ByaYzPpp8GWJDQ2ynxDQDqzLjaiC04SU41nkNkM05uM3C2fPJJ819CYYsvgv3gC0Hyqh7W0TwM4jgo0m0Bp-1VZd-bcfbWoMhUVgoamp09C1ISmkS6haQPtBKoYGm9oRG_50o-s4thXJBl_2Wt5hi4Whr-3A8CwxbvFaOqAg5UOGzts2mK7SkGttkYYMLGBQN57Wg72CWGTEFcps6QVGbCrVsS-kliBT41HR7V2PCoPzsbriC4mvIPx6gM_GzKv5_33VylraHNFZWv641mUs_BonwJfkVUlt17-md9eCtmjJx6deH_C11tpJRmNZ4aADbRMa-Gla6vpw9y0jffoIekYamKJJo0Cx5_lcr0mEvlO2TyuMX5WfIJULl41m5t1yqIuP2HyKFvuX3dSZhLlPcj9oTopAEz2_BTIfworXdfQZcnN5ZD8fRD0eHbidzhO2qNS0i-SocyXWLo75hzB0O0CTrZQAEJFbaqSEf5kj5PKZ6-LJZ0TyFFtqKhvPqRzwsj6fM6LdkP995MI0nPGG8OcIP-DhNbt33n3FltkYpJEf93oQ5BAY5rW_MlHVcBNnYhDvc70BGXGWTy1ueXmM2Fbh19qkLmW5NMbWgAzfiItTl8lYTjc2chiZG-yWXe3aXxhShJHg0Sq6OOiO00zG5BeZ6cQKjQIAh41kXF8",
  "id": "rs_0a06bda72ecea66f016ab452b852f087d09c3b75fc8c4bb851",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The yellow object now fills the jaw opening and reaches the fingertip line, with its narrow width centered between the jaws. I’ll close the right gripper to secure it.\"}",
  "call_id": "call_qimd2PlFDotpf0lYJqpyR959",
  "id": "fc_0a06bda72ecea66f016ab452b909d487d080dc10f9fa95858c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qimd2PlFDotpf0lYJqpyR959",
  "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, 0.6064, -0.4652, -0.0193, -0.0383, 0.9997, 0.4305, 2.0075, 0.6434, 0.8516, 0.3965, 0.0257, 0.013]\nstate[eef_state]: left_x=0.2835 left_y=0.0016 left_z=0.1614 left_yaw=0.0028 left_pitch=-0.0782 left_roll=-0.0018 left_gripper=0.9997 right_x=0.4304 right_y=0.1265 right_z=0.0097 right_yaw=0.0852 right_pitch=0.1047 right_roll=-0.1683 right_gripper=0.013\nstate[joint_eff]: [-0.0889, -1.2513, 7.1316, 1.79, -0.0659, -0.0464, -0.0122, -0.4034, -7.5556, 5.8051, 2.0879, 0.2027, -0.0171, 1.1453]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c37b595b53e7304cc2ff885a3bce3138ee638f6f63de5631f8df4bf013acb22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d53e7de42fad79999fead90fd937a125310861dcd7fa3bbb2b773b62a974b6bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:735582ee290cbab48609693d0f7984e2301f713d9343f43ffcf962f923f52485",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 2.449 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, 0.8032, 0.6064, -0.4355, -0.0193, -0.0383, 0.9997, 0.4747, 1.805, 0.6792, 0.3717, 0.3958, 0.16, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1673 left_yaw=0.0027 left_pitch=-0.0484 left_roll=-0.0025 left_gripper=0.9997 right_x=0.3949 right_y=0.1304 right_z=0.0141 right_yaw=0.0564 right_pitch=-0.1084 right_roll=-0.1457 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -1.1282, 6.9812, 1.8144, -0.0464, -0.0464, -0.0122, 0.1026, -8.3624, 6.2564, 2.381, 0.3053, 0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.6064, -0.458, -0.0189, -0.0387, 0.9997, 0.4393, 2.0018, 0.6353, 0.8482, 0.4026, 0.0338, 0.9995]\nstate[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.1628 left_yaw=0.0026 left_pitch=-0.0709 left_roll=-0.0025 left_gripper=0.9997 right_x=0.427 right_y=0.1281 right_z=0.0091 right_yaw=0.0848 right_pitch=0.1011 right_roll=-0.166 right_gripper=0.9995\nstate[joint_eff]: [-0.2803, -1.2103, 7.0222, 1.6777, -0.0513, -0.0366, -0.0122, -0.4855, -7.6923, 6.3932, 2.1758, 0.0562, -0.0024, -0.0171]",
      "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, 0.6064, -0.4652, -0.0193, -0.0383, 0.9997, 0.4305, 2.0075, 0.6434, 0.8516, 0.3965, 0.0257, 0.013]\nstate[eef_state]: left_x=0.2835 left_y=0.0016 left_z=0.1614 left_yaw=0.0028 left_pitch=-0.0782 left_roll=-0.0018 left_gripper=0.9997 right_x=0.4304 right_y=0.1265 right_z=0.0097 right_yaw=0.0852 right_pitch=0.1047 right_roll=-0.1683 right_gripper=0.013\nstate[joint_eff]: [-0.0889, -1.2513, 7.1316, 1.79, -0.0659, -0.0464, -0.0122, -0.4034, -7.5556, 5.8051, 2.0879, 0.2027, -0.0171, 1.1453]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c37b595b53e7304cc2ff885a3bce3138ee638f6f63de5631f8df4bf013acb22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d53e7de42fad79999fead90fd937a125310861dcd7fa3bbb2b773b62a974b6bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:735582ee290cbab48609693d0f7984e2301f713d9343f43ffcf962f923f52485",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFK90cW5UNPJXcPvA1HhH4m4sxEYohhC2lDg-XCIsnYklgbqi0EaiR4W4VI_33fPdVBnbW4OGnb3Fu0c1Z-GzL26wFjnWt7uJqwpHnHyszueiBd7YFsSW7L2eIwCLxAVNfBlVaY8GTjpLGKcT4LCCnAndm3im6VCh-HSl-JHIm07lLRhpmRlNnUNnP16RnRqgKnKvij00BBbv_JPUo1drkgwzipgPpmj91cMGFT_FeQ204sL_JxWeMEM2OFyDW2iTPFhlxds1SlawkJ8sJ-YiE2rNlGI5UtySzl320Oyy0AhrVJ1nSni9UjLDHxNx5JCEZyxoH3-mdw3JHJ3oDdRg4uGJPE3B5mJrZ81-K4tFF29T4M_1LOSVhHxnBE_ehzg1MGWtBierzStoqXjrGKk3AoQZ-5qkfYEgojEOJT7cnh2N05dmdakEmzHv_43InpJxlQxkN5iLch34V2gwu5rPxwe-UmxrhAA4ip2Z_MP6QSrnovY5dHOXyn_TiAEt2WHk_SeiX2EOMwIowxWtPuXlXrxrCNLUoQGCdYGNc5Cq5zNNsIql4FQaSRSJt5F3Qqv6sh5e5Pdka_2jmVG2tyTUNLmDzEMxlAulHqkDvgLavFnFd4HnTJNSnuXCexz6XHfZVTqds38-gphYToJsKxmFuXxQ7WUXt6tI8r8m7bSD71eT4RB1ngozeNs7eF7Ie1kUmJxGAtWdq49OmuAlTDpCO9pIFseL9O3ld88gASCUPcfIx_VTOTbUF_eBX9sOSTpSHekLi3O0oNYhR-m-vbZA8GgXv7XzdZJoGRM26SQbRLIkrSF8kD7A1JUPZ7woOala0q4NOAklT9cK48ubFEWyXMsRZLx-ilnmxsEyM0HEpFqeLVeLL7xBCuNYiWx1mav9UTfXFEjMiDsEc8RiTi1EcxhdEn9BvBGkKEWkVk-9hs-48HURjv_gUTXBA5uRu63z_MbYJSyeAKB7vQx5P7V7OwhfEQgZzHjT9XLq_EoVF57odN8P8Wf83395g6EDdXixsLxL--mxFm9yN4hmFgAyJRVvASVVGUH4ycNJ2jVs3t9x8VffZUUODSE9-zDtHoQ5rIbXfMmmWwI31zZOBeA6tZJIY9lXWKYy8FiTQIGYV3_0sAAt494CT5JF9hotSzoGS3LYFTxSxwVjQNI3cMmkZ9EIcFoOpZBHMf852htq6R9BlQXb5_6ICFl0k1v-0Lqje94o6bPumfjRfEj9VZj36b18WuaXcz1-ruGlMSly5kNNEuJErgQ0ZyMTr5oSqIfcoqetYfIetzSiCTckryc30ImUV65FSAoTw2g7Bzgnvs1BYz3_OEIKOjVLJRjKtSNcQNC1U1S23pa6b6wJTfzu7qLPNoeT1Ip76Y648tlJjW28uF32vybO60f5xpGH34gwuiMUGl0WXEfzu_DaKgyNibB3Bc8Y_EcchsPTUk6Ym08H4y_bFTrTU7AwNndc5CkbrlwaC2ekB53tO3ydU0hDn9DEY-Yyza90kzWWjVhke4RRpcosm2AN_tkPhmkExLN6RHU2uPAXqHZFnyc8WBIZExRNGGYv0urM7s6dyk9KFIQoS4WOohUBs_pQX85Ne-lRcl9DNBCXZ2I6zcZPnYIWlhaaJWQWF6W6JaYbInnMluWBEl0O9BgyxV0jMk0SpBm20WB_TIHNU55R-qYCIj1UIHeQcSP9-Eid3nZvrf6taCljwh3ntUmxSI7M_R28lwQQmW6y7FZsH--uwB3DtN3jkIfPSR3voiWYZojGwZN56J9NN3vUImom717KBNXy6oB25Z4lIZZBaIxGmmmIK-GsYxN4w==",
  "id": "rs_0a06bda72ecea66f016ab452bb7a5087d0ac3ac4d9c13c6085",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.13,\"right_z\":0.02,\"right_gripper\":1.0,\"right_pitch\":0.15},\"note\":\"The gripper settled at 0.013, confirming the first close was empty; the yellow object remained just beyond the fingertips. I’ll reopen and advance about two centimetres for the single corrected retry.\"}",
  "call_id": "call_pNkIcULdV4yPIjxgCuaw52qK",
  "id": "fc_0a06bda72ecea66f016ab452bcd88c87d09c1a9970b0ada10e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pNkIcULdV4yPIjxgCuaw52qK",
  "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, 0.6064, -0.477, -0.0193, -0.0383, 0.9997, 0.4149, 2.0338, 0.6991, 0.8406, 0.3828, -0.0013, 0.9944]\nstate[eef_state]: left_x=0.2816 left_y=0.0017 left_z=0.1591 left_yaw=0.0028 left_pitch=-0.09 left_roll=-0.0016 left_gripper=0.9997 right_x=0.4458 right_y=0.1282 right_z=0.0132 right_yaw=0.095 right_pitch=0.1173 right_roll=-0.1803 right_gripper=0.9944\nstate[joint_eff]: [-0.1162, -1.2376, 6.9949, 1.7558, -0.0855, -0.0171, -0.0122, -0.4855, -7.5009, 6.4205, 2.0342, 0.1587, -0.0122, -0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe75006bb78689672094ed0c11009f542310dd85be0f46aae47ad0e4484c24f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:710c2ea85bd78a2dacf65969704f809feeff7524b58439f9d6050c6ccafa3037",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8be826be34e97d0f299a42bf664fdcc9a7864866f0d63da3104ebda0645e4a2d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 4.47 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, 0.6064, -0.4534, -0.0189, -0.0383, 0.9997, 0.4671, 1.969, 0.6205, 0.7967, 0.4194, 0.0719, 0.9996]\nstate[eef_state]: left_x=0.2852 left_y=0.0015 left_z=0.1637 left_yaw=0.0024 left_pitch=-0.0664 left_roll=-0.0023 left_gripper=0.9997 right_x=0.4166 right_y=0.1336 right_z=0.0085 right_yaw=0.0792 right_pitch=0.0762 right_roll=-0.1525 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.2376, 6.9812, 1.8242, -0.0708, -0.0366, -0.0122, -0.8684, -7.2821, 3.7128, 2.1856, 0.2711, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.6064, -0.4652, -0.0193, -0.0383, 0.9997, 0.4305, 2.0075, 0.6434, 0.8516, 0.3965, 0.0257, 0.013]\nstate[eef_state]: left_x=0.2835 left_y=0.0016 left_z=0.1614 left_yaw=0.0028 left_pitch=-0.0782 left_roll=-0.0018 left_gripper=0.9997 right_x=0.4304 right_y=0.1265 right_z=0.0097 right_yaw=0.0852 right_pitch=0.1047 right_roll=-0.1683 right_gripper=0.013\nstate[joint_eff]: [-0.0889, -1.2513, 7.1316, 1.79, -0.0659, -0.0464, -0.0122, -0.4034, -7.5556, 5.8051, 2.0879, 0.2027, -0.0171, 1.1453]\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, 0.8032, 0.6064, -0.477, -0.0193, -0.0383, 0.9997, 0.4149, 2.0338, 0.6991, 0.8406, 0.3828, -0.0013, 0.9944]\nstate[eef_state]: left_x=0.2816 left_y=0.0017 left_z=0.1591 left_yaw=0.0028 left_pitch=-0.09 left_roll=-0.0016 left_gripper=0.9997 right_x=0.4458 right_y=0.1282 right_z=0.0132 right_yaw=0.095 right_pitch=0.1173 right_roll=-0.1803 right_gripper=0.9944\nstate[joint_eff]: [-0.1162, -1.2376, 6.9949, 1.7558, -0.0855, -0.0171, -0.0122, -0.4855, -7.5009, 6.4205, 2.0342, 0.1587, -0.0122, -0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe75006bb78689672094ed0c11009f542310dd85be0f46aae47ad0e4484c24f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:710c2ea85bd78a2dacf65969704f809feeff7524b58439f9d6050c6ccafa3037",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8be826be34e97d0f299a42bf664fdcc9a7864866f0d63da3104ebda0645e4a2d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFLBaPDQdRFmKK69MauT7HhDWWpI6GG1N-PbUwt5RsbNFI6vLOsyKIhxZ48qrhRbXWvAtnZM097cszTM6w-u82xJlBT_YZl7lUUKpksqQVU48YexJRmHUaMwmFrAa2W3wl-gleD8ADMX5Elju5hL1yfoHAy4jRKZvgK_7xi68sfqi2UmatUVhsbAgQUPYBhmnN1Nz7aMjpqn4micIbuZrA1MoDs7aV3WyNzL8JfGsj-PCews5c7wgMLFj7vmktIyN77A0BZNnMDVY65jSPAuXyMuxvH15mqfSoXXBvtMnZpq-EvSMzUp21ny4xwjP31tMuHf5g6-5Feb28j5csd02rRRyk3PForYRRYOQd0_DEIbph8mRTAfSMxxXuU_DUbyqzIhpva9z9vdZNUaNkSFmZvgMt3kTvLvXLWX-gfT9BA62U6k3g7rD18DyGLlqxTy2Oq6caKntEtm6onucQ68jp0YVrrk0UYnC0zqp1JTC3InT8U5K93-MrrxMVUwyu7b4O8cGPj6wjwglwjhG-XcANMk-hrJlTJoZylz1cQtZJJcUen_Mmf7Ts-mSslouQGWpFHkRglTybn5BcbXdWP7kkV5Idf10UgNJIhEF-ql0Hs246_PzSCmIRhKUn0oeksdmdruiKXXCy18h5OiGw3xiQhnbs-JLL0Pj7g8ITxXzXGXxzb5Q1TR2Kpvf_rgwxWGlFOo4v7L-7lVjb1F8dhPSS7Y9YIAomSDeNmk3bDu7-OuEY96i0iTkLyoAtnNAT4QJrKr1f6hvi4J31OcGbKEVrS-zVtV5ygliZ69fKXcHFRKSE1WleIo3hWSSL0wHnBwqO8Sjp8faqwPL_aq6YU5Uq_Hcot9wyvZOebEtr9dC9uu0QN6235ovOYwMDoDn4sM2tcSJ_pKd646u_elfVtZ4QaIZ6qhx4nlb2tztO7H48zAbUdNtzT6XLw83cjmJMLkWSV7vb_ueIgSOjJ3OAEtLatMcyCmDYSLJhcHJvmgi5r_VM6ZF_RVKGRlEv5u2IEgL27fMwxXgVjZck63zjNC-zA3y2XijIvVvor78xSXKXw13nnstnfP3gPoeRD05K0UL4NPK68FLe_rImZYDWmyPmO6eGzREQ5W3l4LXi7B1rtz66-TyF3voEBDyLZ6N6CA2si-Ej7ZhDpAtFsEQWHhIpT2caUt9dkkN29CjPYDbB3fzxCf4zJKfUt9woKlKuEjNSnbDR2j1tYDZXFAIIWIpTAll5xUgWWDonyg4uMUkFkzN29cljr18y9mA16NXgPijh5i1vO6o_rrLQRTFf7esvvZGA==",
  "id": "rs_0a06bda72ecea66f016ab452c05ec887d09d47a41fc7290a08",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"After the correction, the yellow object now extends into the fingertip line rather than sitting beyond it. I’ll close for the corrected grasp and check the settled jaw width.\"}",
  "call_id": "call_O8AsFOQ4TWcCX3GOsTtAvxv7",
  "id": "fc_0a06bda72ecea66f016ab452c09ea087d09d67da4fa96471b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_O8AsFOQ4TWcCX3GOsTtAvxv7",
  "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, 0.6064, -0.4812, -0.0189, -0.0387, 0.9997, 0.4152, 2.0396, 0.6991, 0.8257, 0.3767, -0.004, 0.0127]\nstate[eef_state]: left_x=0.281 left_y=0.0016 left_z=0.1583 left_yaw=0.0027 left_pitch=-0.0942 left_roll=-0.002 left_gripper=0.9997 right_x=0.4436 right_y=0.1285 right_z=0.0075 right_yaw=0.1026 right_pitch=0.0965 right_roll=-0.1863 right_gripper=0.0127\nstate[joint_eff]: [-0.0068, -1.1966, 6.9812, 1.6972, -0.0317, -0.0513, -0.0122, -0.3897, -9.4564, 4.4376, 1.9365, 0.2759, 0.0122, 0.8669]\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:83f0504b6dda5b21b298db65e554fa2920b9f6506d9f84362ccb1ff2036765df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85600d6d2e25e0eea9e6687b7c68dacb22e9df96da550ce92c955084ddec26fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2266930bd6dd85af96ad96eefd2e6ec49567a1a3a842732cdaa51185a239a056",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 2.135 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, 0.6064, -0.458, -0.0189, -0.0387, 0.9997, 0.4393, 2.0018, 0.6353, 0.8482, 0.4026, 0.0338, 0.9995]\nstate[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.1628 left_yaw=0.0026 left_pitch=-0.0709 left_roll=-0.0025 left_gripper=0.9997 right_x=0.427 right_y=0.1281 right_z=0.0091 right_yaw=0.0848 right_pitch=0.1011 right_roll=-0.166 right_gripper=0.9995\nstate[joint_eff]: [-0.2803, -1.2103, 7.0222, 1.6777, -0.0513, -0.0366, -0.0122, -0.4855, -7.6923, 6.3932, 2.1758, 0.0562, -0.0024, -0.0171]",
      "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, 0.8032, 0.6064, -0.477, -0.0193, -0.0383, 0.9997, 0.4149, 2.0338, 0.6991, 0.8406, 0.3828, -0.0013, 0.9944]\nstate[eef_state]: left_x=0.2816 left_y=0.0017 left_z=0.1591 left_yaw=0.0028 left_pitch=-0.09 left_roll=-0.0016 left_gripper=0.9997 right_x=0.4458 right_y=0.1282 right_z=0.0132 right_yaw=0.095 right_pitch=0.1173 right_roll=-0.1803 right_gripper=0.9944\nstate[joint_eff]: [-0.1162, -1.2376, 6.9949, 1.7558, -0.0855, -0.0171, -0.0122, -0.4855, -7.5009, 6.4205, 2.0342, 0.1587, -0.0122, -0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4812, -0.0189, -0.0387, 0.9997, 0.4152, 2.0396, 0.6991, 0.8257, 0.3767, -0.004, 0.0127]\nstate[eef_state]: left_x=0.281 left_y=0.0016 left_z=0.1583 left_yaw=0.0027 left_pitch=-0.0942 left_roll=-0.002 left_gripper=0.9997 right_x=0.4436 right_y=0.1285 right_z=0.0075 right_yaw=0.1026 right_pitch=0.0965 right_roll=-0.1863 right_gripper=0.0127\nstate[joint_eff]: [-0.0068, -1.1966, 6.9812, 1.6972, -0.0317, -0.0513, -0.0122, -0.3897, -9.4564, 4.4376, 1.9365, 0.2759, 0.0122, 0.8669]\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,$blob:83f0504b6dda5b21b298db65e554fa2920b9f6506d9f84362ccb1ff2036765df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85600d6d2e25e0eea9e6687b7c68dacb22e9df96da550ce92c955084ddec26fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2266930bd6dd85af96ad96eefd2e6ec49567a1a3a842732cdaa51185a239a056",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFLGv3kg0sfbysJcUxfztQ0PCFpXTlPeeR0qcBayG2UQwuI__KgBoxnmTYf03BI6Cqswmrvf9lg5bb9CHZGMdoa9sAyDTD4z4Caco6bDN7dCGb54MOes_9mN-j8-tEGGt8C3XKukysMfw_jyz2m6WWO56Ysa5pQ_JZCr5ZeZDWEQ521wJB4ekKBEuJd7uEW3FlSjUIqvqdVEX55yRZxlBPnPTyWG0Bi5s45bB0JeCfIbB_jmhOV3OENVp-jc6mIQP-OaoIjHtgo4dyKrzhtHbhV40HifMj0StB3CQfZZiBtiZGNxnQv-cMFmBtmKDzYddqL9Nairi_mX-BrS8lQaJcIVbZ-YbKtFFXcBp4mNP7mWYttpZ0x3xf-UBCwGOQYc18PQcg_9j_dshKgBBOVSQJtFM_8QZTIFGP0hpQ4pdQrp1WfPQ9vTNTRXqzTHn5hzz6TIFDdrmiYoSPbE3r46Fvyp92zWCmBcMnJAsW41HieZVY1Y9UUmmDc9BzFQJwHlqndBUB-rCiiknOT7knjLHyHe1mAqOo6yZ7_2YUrBTsZGxB-swOVP4Ih0tVbXP7YZLK74gqg4OGkl-rhkD6wImP7gE3tAAnRjJ1yOaxlqVOYnNPTmV65mLtxOKNzDfpFxGJV1Y0cG5RqTRvR7k48lIlWTxUGPHflF0GJGbrcLaNpU591wPKu0N_uYrnsxQkJi5tAeKOxekl-034THJoNMl-72dqcO_r8wFZxB4n77gFk1MLNfptbDwU1cK_cMZZeOfp9yZCZSRWpSVRllU-envTOpRdxALaVXFtsbFxFvqZn6hi5OXUm38b5Yt8OaOPWLJ0NoGgBT9XJ3G8rzL9ExY2FjjHcWsi_d4yCikzADWO8ILZ4BzWutn4f4CXeAFSDPO3a-N1i4gMGN9w14pSJ3UTR4NJmTWQumgDuNtMU7Hxb0RIU4hcUxKXttecXzZ29LQUgBAL8Bus1YBr8hDKFrZp81pwBJ8X7oWyBN4wK1JFNeveBKEIjy-DwAXMAb7KdzPBDeBJQKPkFxhR606C6ojWzg6wobVR37bmvV8Whfwv3eNLLe1n0sMx_RP-8XWPykf4YFU_PFuZHJjZ6HREIMYVrqPuiY6djvKYgVBjYckWgJjbvruKRgl-KyC41sjlcF9OLFrpREyIFgM8Lb6AgZZJXilRNDUu6K0dgcAGUBk0HQdMH0rcd7jO9f567Mupz0XjABR0PDXaJ2ho1Ke9JwAwdPI5OCEzRaeZIq52D0YRzjTAHVPrSMMKamxKpQtR9q3mjREFbfqM5SWeeFC7CyIb1v2f_MqOzQRFZs0DoCDXuDdu89XE9M_VR-2IOPINPYJHSNOspON3_kr9tVY3HjkvU2gX3WHTjQaYmtx3Hm8LXEycOcuJwpXaQNkUc6MDazcQm0JmvgtMSUD5cAk_hT7VwrmtoLneQb3zgeWCcLGlVk2T36JDBr5crF0RxOdvULvYJGrj_gATf0A3VZF804A3TkFjL0g8DylSYAPuXezMb2uG-mfnIGqG2KNyEa1FiZ1z69I_W_FZPotBzM-tJIGWvADNoTBsBZoVvPVy7UyemJrqVYjQku2azE2TSkXPDzb7B8ExuLf4rrtwwKzX_WPQleLd_hY6PVuu78wqP_m75I3SdTX7wO8-4iyqfXmGUwvRkjU09k5rzRUoxbWvnAfbqp8YiAFwgtP-d1hOfjRK7PwoBftr7W8OpLfSUsRs9Hy-jGM0Olds2Fjjo_nPRseKd5KX1P8Pm5B5b68f807SA9mzMumEh25DJQIAVqiPWYa0LoE09xXg2q7rnrQMufI5U81gP5OWk9dnS_NMPg5CclNegiIJgtjQDP3K0mXfitX1rjn05bG0ux4ny6OIdjwR6JBmSxPwt93HHnC86vXzuLWDaRVU2_VPZVJZ5mwhcp4wg4sjDa5ICY7qdxcjC_HECdBkTy_OlFpdrGOc-5--CRKmQ0n_ZZggAhDYSZpgskwBlDZBF03g1Yjjy69TGsW09yEZtAxTRPsDUICRsZwE0hkyvFQzItZ4utaMU5ph-zCaZYF9fUWDSIYVDxiCsYKr7tEKIG3hB-i3AAIBwAznfI4H_1YB9XrNPFAilHcw02Mcf-S-flm4sa57CU_MD9OvT5Ms07JBMUpB8yg-ghhEIiT8iCbDOJiAqhqhAfxP3na2zzATjV-BkdsUSuzUXKErQua_5LKPHr3sHem3a5mlSAhrOc9hBENNLymYMwfM8BjdakL37HV_5-w3jJq7fuhyhg3BQuoMCoVNpmVypEdd2qPLc=",
  "id": "rs_0a06bda72ecea66f016ab452c3538c87d0b8ca0c50fc1b8cd2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.13,\"right_z\":0.02,\"right_gripper\":1.0,\"right_pitch\":0.15},\"note\":\"The second close is also empty, and the overhead view shows the wrist still below the yellow object while the wrist view keeps it directly ahead; lateral alignment is good but the radial distance was underestimated. I’ll reopen and move near the measured outer table-contact reach for a re-measured grasp.\"}",
  "call_id": "call_yMxX55MpibCMXYbKDaao5y7l",
  "id": "fc_0a06bda72ecea66f016ab452c56af887d09f87b3eecf1bcbee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yMxX55MpibCMXYbKDaao5y7l",
  "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, 0.6064, -0.4957, -0.0189, -0.0387, 0.9997, 0.3779, 2.0953, 0.8165, 0.7937, 0.3473, -0.0422, 0.9944]\nstate[eef_state]: left_x=0.2787 left_y=0.0017 left_z=0.1555 left_yaw=0.0027 left_pitch=-0.1087 left_roll=-0.0017 left_gripper=0.9997 right_x=0.4757 right_y=0.128 right_z=0.0132 right_yaw=0.1093 right_pitch=0.117 right_roll=-0.1982 right_gripper=0.9944\nstate[joint_eff]: [-0.1709, -1.0462, 7.1043, 1.7705, -0.022, -0.0659, -0.0122, -0.5949, -8.2393, 6.4068, 1.9902, 0.149, 0.1099, 0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a98d30f7a1c8911ea2f88e27eba43ecc0896b87780804aec60b7e489de1b3709",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6f213dffb91bbac147f4f5b6f306b0bf54c874d122478fb8be749c3319e5c6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f08e0ff1072b60e8d1f8f4386f21dc5aa81d180a04818a5f4883f04758438df0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 2.365 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, 0.6064, -0.4652, -0.0193, -0.0383, 0.9997, 0.4305, 2.0075, 0.6434, 0.8516, 0.3965, 0.0257, 0.013]\nstate[eef_state]: left_x=0.2835 left_y=0.0016 left_z=0.1614 left_yaw=0.0028 left_pitch=-0.0782 left_roll=-0.0018 left_gripper=0.9997 right_x=0.4304 right_y=0.1265 right_z=0.0097 right_yaw=0.0852 right_pitch=0.1047 right_roll=-0.1683 right_gripper=0.013\nstate[joint_eff]: [-0.0889, -1.2513, 7.1316, 1.79, -0.0659, -0.0464, -0.0122, -0.4034, -7.5556, 5.8051, 2.0879, 0.2027, -0.0171, 1.1453]\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, 0.8032, 0.6064, -0.4812, -0.0189, -0.0387, 0.9997, 0.4152, 2.0396, 0.6991, 0.8257, 0.3767, -0.004, 0.0127]\nstate[eef_state]: left_x=0.281 left_y=0.0016 left_z=0.1583 left_yaw=0.0027 left_pitch=-0.0942 left_roll=-0.002 left_gripper=0.9997 right_x=0.4436 right_y=0.1285 right_z=0.0075 right_yaw=0.1026 right_pitch=0.0965 right_roll=-0.1863 right_gripper=0.0127\nstate[joint_eff]: [-0.0068, -1.1966, 6.9812, 1.6972, -0.0317, -0.0513, -0.0122, -0.3897, -9.4564, 4.4376, 1.9365, 0.2759, 0.0122, 0.8669]\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 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, 0.8032, 0.6064, -0.4957, -0.0189, -0.0387, 0.9997, 0.3779, 2.0953, 0.8165, 0.7937, 0.3473, -0.0422, 0.9944]\nstate[eef_state]: left_x=0.2787 left_y=0.0017 left_z=0.1555 left_yaw=0.0027 left_pitch=-0.1087 left_roll=-0.0017 left_gripper=0.9997 right_x=0.4757 right_y=0.128 right_z=0.0132 right_yaw=0.1093 right_pitch=0.117 right_roll=-0.1982 right_gripper=0.9944\nstate[joint_eff]: [-0.1709, -1.0462, 7.1043, 1.7705, -0.022, -0.0659, -0.0122, -0.5949, -8.2393, 6.4068, 1.9902, 0.149, 0.1099, 0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a98d30f7a1c8911ea2f88e27eba43ecc0896b87780804aec60b7e489de1b3709",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6f213dffb91bbac147f4f5b6f306b0bf54c874d122478fb8be749c3319e5c6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f08e0ff1072b60e8d1f8f4386f21dc5aa81d180a04818a5f4883f04758438df0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFLJlxoXI_VqAsHSeGiAAtGdg-j0fx3uhjZXhHYRMG5gWPevLqbPknlH05aih79S7DDaA-HM8ZR07qZpW--rVGQo1t8SJhiex1YZOX8QDw7hG2l3AhwHJiWLjLcpEuu0yyM8fUmRS8KTG8whp38AxhWnRmvNisQVQ80EV6o3-jsMI-uEfRSNCgujkTgyx0DH9v5YOXKDpNhEAULU1LFlHB9cmPWiWC0P0UWoihPixdSETjw6l2fIct6tQBz2viD9TQPch7AKYbx6IKpt_06Nc83-Fy1GtNJi26yjf_O1Qq0K5hB8wvq61Lf_1SIxNxcxTZErp2SQY_5LNdSE-JL2zb29q7gVhrhI_xX0ibQcNk64AFvDPOopScJzEBZgV0EJ8Ezza2sbQGgDYta5GhWf7mr04KhAjTaWFFWhxzR_OpR6U2l8HBtPyMkEwdvRp8uRT0MBABFI7vvs6DbW8Lal799_EoQl6Ntb9j36BWwvrsBVL8_q6GIlry68f9QG3skIY-uDioKIx93NCngLA1YGaL1nPDLPBLpDfz4d8CPsjXTOUHOt_y8Ru_SvYPWnKZPoHG90UFT9aLRm7ivfexnuRIANT7gvnk_PvslUYoMsJSFIQz41k2w8l33e6WOUR3pATLOsvLAEnuQvXHsdwRWyemkgEsmmXkrzANFLKv6wh_hnSkwC_ilpuNQ_uzX8N83zLLA5l62U-Jwb9TzYTbJ_H_H_a9aWwTKAZB6Y-cIHBS_9tXQNoOovOSGrBkyhu9RwFDFt5FBHeKwByDwvxyFvwb6uY_L5k2RGYpXixckziCN562fmVzHFGhbcjvy-DW9YpEON1dLnDHLuBwkKpL7sM2cPtz4Gflkipot40tOsQe7xQpI48-7S9ScQ_arD8LgL04PGXroyDYuLNFG8D6ZVQHIE2xcNSK7NzMbLNeHwdNHxF-udjqJXgOsuIE87ZYQWF4rMBwXWiTp-CkKnj5rFeduc_hmpyzVfYnfAzGBHnQ3r_ZcKRZGBCtbaLXwCObULak2Gf1zfBUJlN50-jp1Ppp2cyCfntBGBqGrL62VAiZk7-XZqCfhxXmbzuB4HkvA80CL9mRsB6cYB8XZwBwYpwS87vWpT55jOIWcJw18N68YMe_TYHMwXOyT5c3xWVLut2Bp5q3Rer7q00oySNjgTeSsDdKSa9e5QwzEu7uqiWXOjhMeIdy78_Z78XBMfYYE1gmc7oy8AbGordEZMyETvv-IJVL-OEhyEWhKltChhjXWR-KY=",
  "id": "rs_0a06bda72ecea66f016ab452c88be487d0b10e5ff50873f064",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At the re-measured outer reach, the yellow object is now between the open fingertips and fills the lower center of the wrist image. I’ll close and verify that the jaw width remains above the empty threshold.\"}",
  "call_id": "call_EkoaEDv6H4vIs1sqjUgh029L",
  "id": "fc_0a06bda72ecea66f016ab452c8b73087d0bc45f97dae0e0852",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EkoaEDv6H4vIs1sqjUgh029L",
  "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, 0.6064, -0.5106, -0.0193, -0.0383, 0.9997, 0.3782, 2.1002, 0.8181, 0.7795, 0.3431, -0.0452, 0.4236]\nstate[eef_state]: left_x=0.2764 left_y=0.0018 left_z=0.1527 left_yaw=0.0029 left_pitch=-0.1236 left_roll=-0.0008 left_gripper=0.9997 right_x=0.4741 right_y=0.1283 right_z=0.0084 right_yaw=0.1154 right_pitch=0.0992 right_roll=-0.2036 right_gripper=0.4236\nstate[joint_eff]: [-0.1573, -1.2103, 7.1179, 1.7851, -0.0611, -0.0611, -0.0122, -0.1436, -10.1675, 4.2735, 1.873, 0.0952, 0.0073, 1.0281]\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:a871a4220026d4951c213a3b99d8eec316f07b493d273e47e4dfe4a5877b8802",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0b8c7fe7bc33dff9a591fa0f628fc90568fb546aac7c1b5b813a1eecf9fa4f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aee98faf33d1429ea569414f69d2f150638445b647e1c5194bd6c921b25eb65c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 4.349 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, 0.8032, 0.6064, -0.477, -0.0193, -0.0383, 0.9997, 0.4149, 2.0338, 0.6991, 0.8406, 0.3828, -0.0013, 0.9944]\nstate[eef_state]: left_x=0.2816 left_y=0.0017 left_z=0.1591 left_yaw=0.0028 left_pitch=-0.09 left_roll=-0.0016 left_gripper=0.9997 right_x=0.4458 right_y=0.1282 right_z=0.0132 right_yaw=0.095 right_pitch=0.1173 right_roll=-0.1803 right_gripper=0.9944\nstate[joint_eff]: [-0.1162, -1.2376, 6.9949, 1.7558, -0.0855, -0.0171, -0.0122, -0.4855, -7.5009, 6.4205, 2.0342, 0.1587, -0.0122, -0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4957, -0.0189, -0.0387, 0.9997, 0.3779, 2.0953, 0.8165, 0.7937, 0.3473, -0.0422, 0.9944]\nstate[eef_state]: left_x=0.2787 left_y=0.0017 left_z=0.1555 left_yaw=0.0027 left_pitch=-0.1087 left_roll=-0.0017 left_gripper=0.9997 right_x=0.4757 right_y=0.128 right_z=0.0132 right_yaw=0.1093 right_pitch=0.117 right_roll=-0.1982 right_gripper=0.9944\nstate[joint_eff]: [-0.1709, -1.0462, 7.1043, 1.7705, -0.022, -0.0659, -0.0122, -0.5949, -8.2393, 6.4068, 1.9902, 0.149, 0.1099, 0.0269]\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, 0.8032, 0.6064, -0.5106, -0.0193, -0.0383, 0.9997, 0.3782, 2.1002, 0.8181, 0.7795, 0.3431, -0.0452, 0.4236]\nstate[eef_state]: left_x=0.2764 left_y=0.0018 left_z=0.1527 left_yaw=0.0029 left_pitch=-0.1236 left_roll=-0.0008 left_gripper=0.9997 right_x=0.4741 right_y=0.1283 right_z=0.0084 right_yaw=0.1154 right_pitch=0.0992 right_roll=-0.2036 right_gripper=0.4236\nstate[joint_eff]: [-0.1573, -1.2103, 7.1179, 1.7851, -0.0611, -0.0611, -0.0122, -0.1436, -10.1675, 4.2735, 1.873, 0.0952, 0.0073, 1.0281]\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,$blob:a871a4220026d4951c213a3b99d8eec316f07b493d273e47e4dfe4a5877b8802",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0b8c7fe7bc33dff9a591fa0f628fc90568fb546aac7c1b5b813a1eecf9fa4f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aee98faf33d1429ea569414f69d2f150638445b647e1c5194bd6c921b25eb65c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFLM9EKzTZ-qD3yTu9m21bCQaliNOt0EVSKDxnGsAhdI0VWAB2kZjbPWkcxNYxtUpbXaOg8v2H6yrWy4LoMNAfpXIVc88fha4yuy6HgJsS5qSgEbFcBAdrJxW6jJUxzB427iimgw5KV7mIFxfzSs-R_u3Fk-EsI4glL-eUe9_nxnkqDKWIL4RP-yIwkz7GzL8bqdpIDvMJZ33dC6f_vljVuq22H6g5TF-d9n8LZr_C8a4n8Aldxt6KU9D2CVq5Il9cM_qp-P7aGh_89D9dKsDxZiSCkOBh75iNk7gVZE4OEZTkzwOErOKnS3c2n_eJHMXD8Xh-nscT5NSgn6xkrlKHHhePZySXdVP4M9LjtEjtBElaDMaMV81r5CcqNrnc1Z-z4bqxC2icVLy7R_pklFixqD3qCClxVCtIh9LHv18sfrzOlWFC-UEBoJpid0R-qyEO_4IXejRbpJ31KeZz84bGlqLtX6GoUusYYLhL-xQqTFjAmtpCL7_H8rWBE4-4p9msOasyPXicvka7DCvqARHl3vIO0XA11bDEt0s1M7TcC6YNClx4tnGbtFTBYxUOnZQgNK_32WtgehrrpDxUGsrN53fFR0sp8PV_zcTZzUuz_Cl0etsPE2EtjKlfuj5oF2lEJ7xOKKESYA6yFy_PhO4WRQghkhrKYrYQOENqnH_4vr_zHXOFfJokslL5k3b3t484bEdUzCh9t5tKtCWVtY2q8O6nIjng-h93uL_sWxmld9z2cxQFNS9gbVH7muT-0H5dnfS6p4hctn_Q415bjnlHd1wZ4j1kEJaILYarxl-IDhcJWjPoEvxAp_8Fux5ckYrutLCcXqzoYvNKuKIUngXpnO9RWzOCLzVQf-0l66sV4YsYLA12QavJWYPHB52arRd8wZM2osvlVUc8jZ9ZO2-BGbNWBtm7xNC-ji7xKLFyHBX23HcN2l-L9NcpV3s7IzJrWWXc8wdtZ6GzuSxHyCqcY3bjvmyTwtZkbmSXs-aiyoAjaaWyPWmt46RFL6_3y3rqkaI2S1ZwR5PVSi4WPuE1OHWqnOAAkEfAoKZEc5OgRKcUDKx9IPEtE9hu3Y2yAUF20P54kkRZNOyUuxhjE8O-AuUr35gCabj2scJGzRf9pk3NYA4vk-CFtTqYCIYGqL6teIYPf5vp-olwUTDYheK85yJoF5d6xkgAMqRfsxYJXDl-3QJR5wM5du8fZQuX7EnO1cwXSSWaPu_Yb6hQBuSI25E7nZ41UAuVZQwMh9iBsjZcQEWOZRjaxOP6jwZ-PyVIfnm9BPq7o4UtMn-BuRCv7imwQKvm8uOfRfkIvGAZ96P4oO6aX8tC05xK_5q8-1I89QDqmDc458k6P-3503EWlDAXoe68fffdqXMh76cDXgpuerkO82_R-2HbvpuJ0qKs45F7BFfkgLxms4qQLvylw7SIvxg80g0QSMV5gygymsx80=",
  "id": "rs_0a06bda72ecea66f016ab452cb8ab087d0a8235843f7fd1eb2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.13,\"right_z\":0.14},\"note\":\"The jaw reading is 0.424, confirming a solid grasp on the yellow object. I’ll lift it vertically clear of the table and safe rim before transporting it.\"}",
  "call_id": "call_QfuLFP9hHFoW2WpWK9aBu9X0",
  "id": "fc_0a06bda72ecea66f016ab452cc3e4087d0bbecd85419222e51",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QfuLFP9hHFoW2WpWK9aBu9X0",
  "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, 0.804, 0.6064, -0.5213, -0.0193, -0.0383, 0.9997, 0.3801, 1.7592, 0.9508, 0.2607, 0.3393, -0.0528, 0.4236]\nstate[eef_state]: left_x=0.2747 left_y=0.0018 left_z=0.1505 left_yaw=0.0029 left_pitch=-0.135 left_roll=-0.0006 left_gripper=0.9997 right_x=0.4702 right_y=0.1284 right_z=0.1126 right_yaw=0.1254 right_pitch=0.0543 right_roll=-0.22 right_gripper=0.4236\nstate[joint_eff]: [0.0068, -1.2376, 6.8991, 1.7167, -0.0659, -0.0415, -0.0122, -0.1299, -10.1949, 8.9094, 2.0537, 0.149, 0.0171, 1.0379]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a379197078f7f6aa99705ce204ae362e60791284fa92a86ef49dda41f3288795",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55f875dfbaeec3f34a644e76523e6cc7b6dee8cdf3e93f449d744bddc4c2be7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28cd9b28b93aa233b0988c4d69ab976bbe7498636894dca1a5a5f7856cba00f8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 5.872 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, 0.8032, 0.6064, -0.4812, -0.0189, -0.0387, 0.9997, 0.4152, 2.0396, 0.6991, 0.8257, 0.3767, -0.004, 0.0127]\nstate[eef_state]: left_x=0.281 left_y=0.0016 left_z=0.1583 left_yaw=0.0027 left_pitch=-0.0942 left_roll=-0.002 left_gripper=0.9997 right_x=0.4436 right_y=0.1285 right_z=0.0075 right_yaw=0.1026 right_pitch=0.0965 right_roll=-0.1863 right_gripper=0.0127\nstate[joint_eff]: [-0.0068, -1.1966, 6.9812, 1.6972, -0.0317, -0.0513, -0.0122, -0.3897, -9.4564, 4.4376, 1.9365, 0.2759, 0.0122, 0.8669]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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, 0.8032, 0.6064, -0.5106, -0.0193, -0.0383, 0.9997, 0.3782, 2.1002, 0.8181, 0.7795, 0.3431, -0.0452, 0.4236]\nstate[eef_state]: left_x=0.2764 left_y=0.0018 left_z=0.1527 left_yaw=0.0029 left_pitch=-0.1236 left_roll=-0.0008 left_gripper=0.9997 right_x=0.4741 right_y=0.1283 right_z=0.0084 right_yaw=0.1154 right_pitch=0.0992 right_roll=-0.2036 right_gripper=0.4236\nstate[joint_eff]: [-0.1573, -1.2103, 7.1179, 1.7851, -0.0611, -0.0611, -0.0122, -0.1436, -10.1675, 4.2735, 1.873, 0.0952, 0.0073, 1.0281]\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 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, 0.804, 0.6064, -0.5213, -0.0193, -0.0383, 0.9997, 0.3801, 1.7592, 0.9508, 0.2607, 0.3393, -0.0528, 0.4236]\nstate[eef_state]: left_x=0.2747 left_y=0.0018 left_z=0.1505 left_yaw=0.0029 left_pitch=-0.135 left_roll=-0.0006 left_gripper=0.9997 right_x=0.4702 right_y=0.1284 right_z=0.1126 right_yaw=0.1254 right_pitch=0.0543 right_roll=-0.22 right_gripper=0.4236\nstate[joint_eff]: [0.0068, -1.2376, 6.8991, 1.7167, -0.0659, -0.0415, -0.0122, -0.1299, -10.1949, 8.9094, 2.0537, 0.149, 0.0171, 1.0379]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a379197078f7f6aa99705ce204ae362e60791284fa92a86ef49dda41f3288795",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55f875dfbaeec3f34a644e76523e6cc7b6dee8cdf3e93f449d744bddc4c2be7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28cd9b28b93aa233b0988c4d69ab976bbe7498636894dca1a5a5f7856cba00f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFLS9w1jMmlY99C1AyP0msTZTcCn2gIjEwd1sqj7Qno7tTf91zdr8rIoZaxH8CWtKjzYyAxk472LrVpqOURo6SmiF_H-CmVgMZB7xspQ1d7M3HawQeFEUkCezirVqPgwfmp7wNI0XSgqT-WYnZC-HzXkGFAILllihKFwVJxFX06wuE5g_-Jl2W3J22SX1TYYpzSX9rhy0yaxuC8ujDS3RryHRwmaNTak40G0D5a9DpMVH6YVx4YJ7-efC_rjiyZMBPs0RCbb0sLXKQYtjLNanDmQD-mpXsYp_kRAnHU9WJsK3pd-QqIZ3KtQogPa2EVqJDE6EZbgmmeGV_n8R7ukpSnLmh2sVUueW-aB092Fl3G2Ox1jMb-UUmfbRxvuLEYtz93fo0jsRpP8WiBdoD3Dhg0frBbuDd4TN8DZm1MbYhvAHUxKqJv2KbuL-G9G1wi9e2pNaWg3h4PXDaLmE4rWmjMxpKwQ-5VRws-vTy1oCQLGVKJpxjsqr8fXl2WRquAbqF3W4N9gASYRRxt_zIqCQ9h2nbexNiAvGqZyaihnFh-PyXSLUSRdVQzsVfzeUno8fpvkvJYgAZ-i_JAOH4YR72UVn4vD2IFIfL0oqPAjjbkaXUU0Au-Fa04ncu_ltxrYFxIV-q5UrA09SVZaX31k2g0qFLYGCTlPNDOWFdfQ0GznJFv-QREwdcpYoi7arcQpKQ1OfT0h5DLF5m1rRaxVhmPahaDrc6_zN2-syrOiJSh7LGP3BmVS5ZJORj0HfsHXLQvDkxzq9UFfEvm6FGKWYjNq_THcOyb3Jjb8gstZIr2pjqyJPCPI3r4-PUVxgCCDqZ560Agrkgiu9NgtegoojSK9hdgpRP1DIaB_u69YSWn4aq4x4Coq3xq4Ilpwx255lw50dpy4Iv5mYQeIV30feVo74-2Oh12dfbCEHfXNkIMabjQvQa_AlbZxOR2bDwYVmMpDF_PGO42Rv5bszoNknfi8MHqNVqUUDm6-UnExV_HWaxT0SWSdhbHDhhlgW_VDBWl9-CjNdhUTUpBdMLpO_k0DIel031bErw3ah9ZIL_YlNqqv8Ns9S5-BKmahePHv2g2WrrZBY5XXmtJMkXcg8OlhRZJh0M5qu5TU2CGTQPI33lzKxgkvWKkI_k841Nj6Db0yi7n5EXelLXl7Y3-0s1rk_YYbl8xiSlQ2MFuK0da3GnA-P2AiOLyxZ-mecHwoH0tndzbTVfZlYrBqU6yx7mhBF8_IhTgL4DldN8q_tYueMOtTDkAZq5jnJBBV-NmrDTkaOjlich5NWuT0gPT2x9gFQSHIC9Fm8Q8nXQrhhecPeBdvK3Xa0hFYalPlfs5w2gSLRx0ApPvnEi-IF-iedlQQepPoKpRkZ0INiMw4Fpxbd8F18hTr7jIN3-eow77j47czmmUdqHbcAHuJVeYSpawMuuXNI0iTtIbVpRr68vlzWGwhjumUrbSzeXMvay59RWQ4o5py_UgU44Bbj9WZ28dMcaGNhv9qggqwUa2EoN_tY8-A1jbcLfuY2BfihQwF8jR_jOm8AbBfm8ZTQSIf1qB0gL0oH0djX5O5CfhCzUwL_gRHvEms31U4Sh2IQmAn7xBY2IhGuiivSrpo5CMAO1KUkwz0uiOHf1TKKE59JlIhXNEmmvl4Q5EwQX3j_0vq4sHLbVEmRPz6Zdw2FXHVs1jjt74oiHdHGKB5iFaLw53qnLHhGVyMJ1FM2uNciPTypftzQTos70-oFABbam5U2blBErJQg3cKeVNOTOCyr2USnjKUs-H_DJuBS9ubnHXgwGKL3Wg8FulnuUEy8xvU1EsgKLorZ0D8yw2_VS3CeZn1ehKn4XQJf2jXHxzQPutBrs3IoU4v-WmgON8z2pKXS2hgjbhGTBgxTnfrJA_yEneZz6Y4Wgd8j9zFjzvAZHuqyHWBVWxwtccMizNYPOr9Ol4AHnAItpz-ZXdEMZr0KpA3m7WXKO0h2hgb-xBTtEnNYJEiN3SUunOAgvAtSXc7SOU2guWmBz3uYZJJL11GyijdV6MpYC_JNRm7HrXHdcgJkBEJTZW2hVmzeRG_-baIcL2EmD-aNW8rdIsN8o60f23-edOMauBo3-HJ7nFBpFxENH47yd67dWcjqiLoRo1-qTxChU9FKB2pn886BNKfyp0U-d76GL_r89RtQ5DMJVRs_jc8gY74T9cDPmEe4I_5N1f3_rR4u2IBEBkeUqv193yKdIZck51fJsXEV2FB-Qh6Ck-kv-v9U7IM9ciRpuZzA4a3rtKTo45Imoo42aUwhIII5umjTaWDm6B_3FWaCYKEBEF-IIXwUP_Pglk_L2Qr2bf8rKpRLXlqKGKvZth6nfzohoCcXob-4OIudoaiSRBW4arR",
  "id": "rs_0a06bda72ecea66f016ab452cf118487d08711b66aa50eae8d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.40,\"right_y\":0.32,\"right_z\":0.18,\"right_pitch\":0.0},\"note\":\"The yellow object lifted with the gripper, confirming the grasp. I’ll carry it high over the center of the open safe, leaving room toward the near side for the two plush objects.\"}",
  "call_id": "call_vYi7dESTuydvE9jPxScVvnGq",
  "id": "fc_0a06bda72ecea66f016ab452d14a3087d0858fdcaccf88384f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vYi7dESTuydvE9jPxScVvnGq",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.5377, -0.0193, -0.0383, 0.9997, 0.8921, 1.9064, 1.494, -0.4046, 0.6941, 0.2993, 0.4273]\nstate[eef_state]: left_x=0.272 left_y=0.0019 left_z=0.1475 left_yaw=0.0029 left_pitch=-0.1514 left_roll=-0.0002 left_gripper=0.9997 right_x=0.3968 right_y=0.3177 right_z=0.1681 right_yaw=0.1713 right_pitch=-0.0322 right_roll=-0.2463 right_gripper=0.4273\nstate[joint_eff]: [-0.0752, -1.1692, 6.8855, 1.7265, -0.0659, -0.0513, -0.0122, 0.2667, -9.7709, 9.0598, 1.5604, 0.5006, 0.232, 0.7937]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68eadeb8cc20b48bcea15110667433050940d1f05e568faab5011fe31fad2055",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:425f1ac79e7f9597691762c442e35e79b30ff7e16edbd10c3493e72546486d58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80d8db6f7b45a723e56be696fcfce060485a4f7bf0828e0e774e78fbd5eda755",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 2.199 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, 0.8032, 0.6064, -0.4957, -0.0189, -0.0387, 0.9997, 0.3779, 2.0953, 0.8165, 0.7937, 0.3473, -0.0422, 0.9944]\nstate[eef_state]: left_x=0.2787 left_y=0.0017 left_z=0.1555 left_yaw=0.0027 left_pitch=-0.1087 left_roll=-0.0017 left_gripper=0.9997 right_x=0.4757 right_y=0.128 right_z=0.0132 right_yaw=0.1093 right_pitch=0.117 right_roll=-0.1982 right_gripper=0.9944\nstate[joint_eff]: [-0.1709, -1.0462, 7.1043, 1.7705, -0.022, -0.0659, -0.0122, -0.5949, -8.2393, 6.4068, 1.9902, 0.149, 0.1099, 0.0269]\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, 0.804, 0.6064, -0.5213, -0.0193, -0.0383, 0.9997, 0.3801, 1.7592, 0.9508, 0.2607, 0.3393, -0.0528, 0.4236]\nstate[eef_state]: left_x=0.2747 left_y=0.0018 left_z=0.1505 left_yaw=0.0029 left_pitch=-0.135 left_roll=-0.0006 left_gripper=0.9997 right_x=0.4702 right_y=0.1284 right_z=0.1126 right_yaw=0.1254 right_pitch=0.0543 right_roll=-0.22 right_gripper=0.4236\nstate[joint_eff]: [0.0068, -1.2376, 6.8991, 1.7167, -0.0659, -0.0415, -0.0122, -0.1299, -10.1949, 8.9094, 2.0537, 0.149, 0.0171, 1.0379]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.804, 0.6064, -0.5377, -0.0193, -0.0383, 0.9997, 0.8921, 1.9064, 1.494, -0.4046, 0.6941, 0.2993, 0.4273]\nstate[eef_state]: left_x=0.272 left_y=0.0019 left_z=0.1475 left_yaw=0.0029 left_pitch=-0.1514 left_roll=-0.0002 left_gripper=0.9997 right_x=0.3968 right_y=0.3177 right_z=0.1681 right_yaw=0.1713 right_pitch=-0.0322 right_roll=-0.2463 right_gripper=0.4273\nstate[joint_eff]: [-0.0752, -1.1692, 6.8855, 1.7265, -0.0659, -0.0513, -0.0122, 0.2667, -9.7709, 9.0598, 1.5604, 0.5006, 0.232, 0.7937]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68eadeb8cc20b48bcea15110667433050940d1f05e568faab5011fe31fad2055",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:425f1ac79e7f9597691762c442e35e79b30ff7e16edbd10c3493e72546486d58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80d8db6f7b45a723e56be696fcfce060485a4f7bf0828e0e774e78fbd5eda755",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFLZaAx7ZiJxbhCvynyKKZkYQwFVi4qJUap5tni3gHLY3aUiGJ4oEedXll81LV8FBx0APtJ5O6weIYRCsJZ7uaAMGS34_4Lj8ypIV5H8FQnWkKp7UmkwuGEedESVog7ovNfWgB05mZOJjuokbgL8-QvSrsUnX_qYTU_fRmD36LvWZrQvVDNJxgaAI1eGUXXorOdD3fhNpUMuMTJE8UFkPNcncBmunATlhtVlwyvG9G1diOQAkftdAIGVA9BUIVCzH9wm22T3flP5MJwB9XzETAQroOVHMfZFcicsGVMLm-GVl5A3QlOw5-YKjC_8yPMGFqV0LOMOx_HnMFCWeROWrNBNIVPDXNVDS6m60oVN7o6OuYRpXh0KBHSmrWk7X5qlfjhfvWcGrCW2UCQyB42FVTug581s5HMWL3cTT-RYHrzEcKk_rY2EMchQzgQwd0AQaW38F240sozkoEYMf8_eLqMdSMW7e2qujpzcq7eUb6Lx74huDm5gfzqgA44x-l5VzFWZacA5bWGS4a6ch_GPnq1a7-nKXNaXJWQUOoAji90RnYaPJuOLzhFaxov9qR0_7Hgn5cWKHkDZJ_tkeKh8cdDih17yKsc5kEdTQxZfBuf6xzs_LrYAyZYC7ggJHGokAFgpnWgBrLu3w3347RjtLY4K7m2kBOsxXn0hkQ_g0uIuk2WLBAAYo4hFtbpmJdsj2_Rr72vaUjuGBKzVIIr5RDGEPF_nrN62Bnj2jzrsYAe5jPDh4mjGJclB5_N4DoOwC3Iyq3-bX6HNogmfuzSnybCG4KYS4SV2LyFfRcDmE-nMgq4R-KQZI1PxzNcxenIIH_LzeHzu-SWLHgPBQzqNEI1XoxsctNMTifmtF052hGiJu_2bWUWi6LjQS9ZXJuLu7pnJnsVYlUhd0APHdykrcK4a4HhPLOViU5Fp_IYN7ym7FQpxEXrnt2DrP7e9lxMpc1t1bzgKjXqLwXAoi7FRx1jVtYOYBKPX64exy1DjFNZPB-ELfJa8a43OHNsOsOupVgSBGDzrc0a2H2KOmTKBZkc7CU7Seplvr7xDiZP-zdkHno09p_zywPlt4sPbxy8f_U-iu4Rzu4NcDs3a5KdztLADXsApHStR2Ot01fGNmZ0n24Kdle5pqZT_wFS1bnEsTzj0KGm1wl1XyRYTxDSt8YZPaM1dgZCl1o-hTcszPoDvR-QTvmbtxiXtFxjf-ULpArAf4UtKVNpqAOUSLTjXNi0lU08jcgcVC64kgpYRhF_08UR-56m8FoVZxx8_yYuS80xcYGRDDRASkB1VZSFxlDP_1NjgmPj7W0sK7My7R3iwgysAQpMOso403Ifs0-IZ6YBVhpvTPtWrvVCA1flFBiQBXjFpDO4qXBYKK6sFAy43s5okkeRe9PtQokxH0-6qeYOZMPgO8rQ9K_e8vy3jfCOFCkuuccAWLaI3LXbWfNxSyW7NMFml4qq8q-Fax_j4l9PLWHFC89YGhGmdiVJJd4lCYTP9HhlWcNMQLEVnAvrzbRJhet_WiJcDq2qUvu8OB6zR0XEsXg8B3SqUoa2b9QVBeFkFJUmW6281VTTDZv6rF2vF4zHTZ6fAXknSY-Cm-MutRjPbUtblrbA7BmxW3uo9a324WOCGWzKQzKpbPsdpGOiUPXTKlDENxSvj6ddOMrYh_-pyGG0LGIjBJfAzXdn3LlEiHckJPPaKdi06JLH3QTfQFhOhSf3TC1wiP865Qi5PFFOsReQQqmIuXyMhM24RncwOI2q3MzPDn3Gs95POvRsYKBeZCcLbiAKIYge0cGCcgR7diB_XAGhw6ihW1-P4XeaHrQqtDZ8FI_o4dB_O3ReT3-de6XiTsPjdpd0v3KDSA9WCl_CFYO1qu3CQqwqsOWd_LorHYVdlOvduvm1h3Q5vCUwEZuPUeYkUO8221k0ymOFLc3SnIXf-b1_a_dpMt5sn54C5ECcsGomsE_LE4oRdE9kkqUXQdXkjGG64rbVWGzVOiAo-IxoZDD5HZIIaXz0uPgAht5viIk-J2KEpVp349BFI7SfWLSD0AOc5SGnVXWVHoKd03-uP8nhQCJ_99XEjdddpiVA0m7Fg_bLRAX8YWXDzn0CHOqICOyhApPAf3XcrzmNB9_nWeM21wVhCu1hpND9-2pXewkD2ycDL0tiXlvTA4mj6T42YH0OkKzVxHsxxiBaDrp1LDIeaySJMALYooqbmY5CEwEyE_vOxWMPAY9gDvJro1q2MkYAUQtgozvA8Qi6QFtrBywEPU5V9G8exrPASqmW7rRNgnqoBrqXSZDBhlozMIgyfQGwCVb4GaSxIlKjaxNn1K7ASVfxOeQ2giWhzYFoxanUp1zg5NnBkTw3TxAVlNuedzYmG-2aLfrLL5LOmQ8Vn_mcThduQS_HMrLnRy9qS0J_rbPG9yeODlYX_Qkmq6aSriYXsYJMCoqRR6H_EXQgf2630pziAhmT1QhC_x7DlapKhULoUsq2PocPcs4Tiza9GU3VXU6jNv8BDceqHTIxM0Q7cVeHccWshZ80keVdBR6DvHrne6EWy1f_GRr_LtMevdlJ7K4WpJl9Hvrbq22MGbrinaX5qj9Q2zzYnh8sLMwKFAfqt_FB60vvs-xxdFfsbC2b8rQgw417aD15W5c0eIgy6Ik9S_yohFsazXStYL3tyNz8wFrN3d8a1DzfsfkKCu4hd3cRUeSqzoyqZyL9_LZK2pNsnMmSzkgOsV2o6zqsytTilvBwCgCiKbbatj_wGhjWcvvU3PwmUE4gLipNRozaA2QQOeRIJ3qvyV19dKw28mGsoPKe3JPMHprvBG3QGaDZGWiqLTc2ThdILEmuvqa9E89RKNA==",
  "id": "rs_0a06bda72ecea66f016ab452d4fce887d0907c6109b9b9b28e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.32,\"right_z\":0.06},\"note\":\"The right gripper is over the safe opening, with the yellow object fitting within the visible red interior. I’ll lower it into the safe until the object is supported near the bottom.\"}",
  "call_id": "call_znZAMkRwS7nmk9WVX3p1c8fu",
  "id": "fc_0a06bda72ecea66f016ab452d89a4087d0a8ebc483216ccc52",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_znZAMkRwS7nmk9WVX3p1c8fu",
  "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, 0.6064, -0.5499, -0.0189, -0.0383, 0.9997, 0.8928, 2.0449, 1.2758, -0.1024, 0.6838, 0.2962, 0.4277]\nstate[eef_state]: left_x=0.2699 left_y=0.0018 left_z=0.1453 left_yaw=0.0027 left_pitch=-0.1636 left_roll=-0.0002 left_gripper=0.9997 right_x=0.3925 right_y=0.3151 right_z=0.0613 right_yaw=0.1788 right_pitch=-0.0788 right_roll=-0.2789 right_gripper=0.4277\nstate[joint_eff]: [-0.0615, -0.8547, 7.1316, 1.6972, -0.0757, -0.0269, -0.0122, -0.2803, -9.8393, 6.0513, 1.5409, 0.2857, -0.0122, 0.4762]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:408bde8fafc97ed14cbbb4e166a456c6d4440d3e925dd822c8618d0a2342cb45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:331178bdb28acfa11dd5b1276fbd3288275e26a1c9b0e429bbb6ab3d853063d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1caf3c20876cf322a12391cabf37c7ec9e30ae5788923a043d2d8a380993927",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 3.318 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, 0.8032, 0.6064, -0.5106, -0.0193, -0.0383, 0.9997, 0.3782, 2.1002, 0.8181, 0.7795, 0.3431, -0.0452, 0.4236]\nstate[eef_state]: left_x=0.2764 left_y=0.0018 left_z=0.1527 left_yaw=0.0029 left_pitch=-0.1236 left_roll=-0.0008 left_gripper=0.9997 right_x=0.4741 right_y=0.1283 right_z=0.0084 right_yaw=0.1154 right_pitch=0.0992 right_roll=-0.2036 right_gripper=0.4236\nstate[joint_eff]: [-0.1573, -1.2103, 7.1179, 1.7851, -0.0611, -0.0611, -0.0122, -0.1436, -10.1675, 4.2735, 1.873, 0.0952, 0.0073, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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, 0.804, 0.6064, -0.5377, -0.0193, -0.0383, 0.9997, 0.8921, 1.9064, 1.494, -0.4046, 0.6941, 0.2993, 0.4273]\nstate[eef_state]: left_x=0.272 left_y=0.0019 left_z=0.1475 left_yaw=0.0029 left_pitch=-0.1514 left_roll=-0.0002 left_gripper=0.9997 right_x=0.3968 right_y=0.3177 right_z=0.1681 right_yaw=0.1713 right_pitch=-0.0322 right_roll=-0.2463 right_gripper=0.4273\nstate[joint_eff]: [-0.0752, -1.1692, 6.8855, 1.7265, -0.0659, -0.0513, -0.0122, 0.2667, -9.7709, 9.0598, 1.5604, 0.5006, 0.232, 0.7937]",
      "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, 0.804, 0.6064, -0.5499, -0.0189, -0.0383, 0.9997, 0.8928, 2.0449, 1.2758, -0.1024, 0.6838, 0.2962, 0.4277]\nstate[eef_state]: left_x=0.2699 left_y=0.0018 left_z=0.1453 left_yaw=0.0027 left_pitch=-0.1636 left_roll=-0.0002 left_gripper=0.9997 right_x=0.3925 right_y=0.3151 right_z=0.0613 right_yaw=0.1788 right_pitch=-0.0788 right_roll=-0.2789 right_gripper=0.4277\nstate[joint_eff]: [-0.0615, -0.8547, 7.1316, 1.6972, -0.0757, -0.0269, -0.0122, -0.2803, -9.8393, 6.0513, 1.5409, 0.2857, -0.0122, 0.4762]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:408bde8fafc97ed14cbbb4e166a456c6d4440d3e925dd822c8618d0a2342cb45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:331178bdb28acfa11dd5b1276fbd3288275e26a1c9b0e429bbb6ab3d853063d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1caf3c20876cf322a12391cabf37c7ec9e30ae5788923a043d2d8a380993927",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFLcGk2cpxdVazXY7bfFZbEgdFCFId80-KmXoXa6SBeOMDtN1BHHhKLTl5TzKKkpovyoKizQP5EV5fc-SuiVrIqpWpuHaOL-0-zMYLzWqU_I1ZUepl-Eb4dfgxJyg4HeUoIre5g3vjJ5ofw0F2xSwAeTCz5NG_4NBdKqvjSZpkwUTXIL8vn_byOh1xra6UIQG7d2k2c6AMXchnHc2T12aNQC2H9xwQ_tAvzN75-CPtmMSfuvcfDYv21ScmsjdetMwSPkiLHutQRhzEOl-uzwne1rTbfrvXVRkRkt40hjqLDW2_dWjGvqxGZ_EZ1onOtrJbZsUwU6iREmq_fqg2uvwmEC2MgxSpsaXAHHWAMq26x6tIklBJaeLv_ss71ABbJuYi7YV0d2flYz9eVA9mfWPPyDYJ4SVQHewTD53XuTj_NzsYveRrRFt9hsLVt4AQpGOA9Zz098ETIhns14VmPN9RGjXCfqEIkmNGCPe77wd1qzycbd8mruvLpKcS6K8J2VPwG68vTdWzYj9GyRI92NZxtU-_Qz2qYLo98P6Qpl7Nhuv5ohSEPthBvkG5IBm9JjJ3YhKW1BSCEPVyPnTAPPx0g_qzTbk6vQe7e4EkAJiaKE0iaNYFvsxv67D_2h7ZE_K9UuleHTI3fZkgdTY3uebU_3PWYv_Hbxuf2wg5B572CNQnEljJ0kY-XHC6XkSTC0kMLGfceibftHilT4OqgiRw859yYp-3EHPNVkfuwOwtj2197aRsmbkLx0YWEGqKeuDlsTh-u-sD3hLncb-U8BqWb-Ex3M2PfwyxBOReroqtUAYS2Hyy6rHGvjoW57hZvudu6TAKfrtaws4VV9suoUuUHXGlHGODVOANue9ZCGtnV9fBqE82Xup2L0DiFNDusUSBBe3_S0Wo8TfSf3nSeRBy8ELprfXlvzZ_2dEB9b_HbINUTugFtEOXIgEgiT4vH8N8LJSGiWTiZmvVy-xN8iA8kTPpYr4qjs2R4bHaACGF1it7ef-vQIqYBkufOnRcovhup5LclM8vasyC5ZlFooqiLjwI7ng22n5zqYMNCHWGQK8HhtfAUqEs4BJ3OfAsffTH1zs4cHGP1q_JSu54ujzS9ZFeTmogfxXwXfKDlmwqv841Oswj_RMtRkIvbbH6WhEB2yrd0Yr8FVHespGBt6C5MSt2SVNoewlMF0F-vUYXZq1yXw2exWnjuGZSKzmGHxajFXo7GGHHXul9Ild4N8I0XyDlZgxNetZvQX85yjs_dummc=",
  "id": "rs_0a06bda72ecea66f016ab452db1a5c87d0b3af6f3d14e8627a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The yellow object is now low and centered within the safe, with the red floor surrounding it. I’ll open the gripper to release it in the back half of the safe.\"}",
  "call_id": "call_kBVBk9YZeaUVcg5rYvd7x20v",
  "id": "fc_0a06bda72ecea66f016ab452db66a487d0952774225d29489b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kBVBk9YZeaUVcg5rYvd7x20v",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.5629, -0.0193, -0.0383, 0.9997, 0.8928, 2.0628, 1.2583, -0.0986, 0.6838, 0.2886, 0.9945]\nstate[eef_state]: left_x=0.2677 left_y=0.0019 left_z=0.1429 left_yaw=0.003 left_pitch=-0.1766 left_roll=0.0004 left_gripper=0.9997 right_x=0.389 right_y=0.3108 right_z=0.0473 right_yaw=0.181 right_pitch=-0.1039 right_roll=-0.3057 right_gripper=0.9945\nstate[joint_eff]: [-0.0205, -1.1829, 6.9812, 1.707, -0.0513, -0.0317, -0.0171, -0.0889, -12.2462, 7.4735, 1.2821, 0.2515, 0.0952, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a97f4a9dc808684263132f8847691c96e9798703ee20ead98e1392467131422",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:787236e13dbf58b45b78cb03e4b4b3d79d201ad4f9669e5e78701cd21ed4b117",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbf29529f2f481e5f4a87bfba77c66bc686835ac8b6e04eeb615bc53579ba602",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 3.379 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, 0.804, 0.6064, -0.5213, -0.0193, -0.0383, 0.9997, 0.3801, 1.7592, 0.9508, 0.2607, 0.3393, -0.0528, 0.4236]\nstate[eef_state]: left_x=0.2747 left_y=0.0018 left_z=0.1505 left_yaw=0.0029 left_pitch=-0.135 left_roll=-0.0006 left_gripper=0.9997 right_x=0.4702 right_y=0.1284 right_z=0.1126 right_yaw=0.1254 right_pitch=0.0543 right_roll=-0.22 right_gripper=0.4236\nstate[joint_eff]: [0.0068, -1.2376, 6.8991, 1.7167, -0.0659, -0.0415, -0.0122, -0.1299, -10.1949, 8.9094, 2.0537, 0.149, 0.0171, 1.0379]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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, 0.804, 0.6064, -0.5499, -0.0189, -0.0383, 0.9997, 0.8928, 2.0449, 1.2758, -0.1024, 0.6838, 0.2962, 0.4277]\nstate[eef_state]: left_x=0.2699 left_y=0.0018 left_z=0.1453 left_yaw=0.0027 left_pitch=-0.1636 left_roll=-0.0002 left_gripper=0.9997 right_x=0.3925 right_y=0.3151 right_z=0.0613 right_yaw=0.1788 right_pitch=-0.0788 right_roll=-0.2789 right_gripper=0.4277\nstate[joint_eff]: [-0.0615, -0.8547, 7.1316, 1.6972, -0.0757, -0.0269, -0.0122, -0.2803, -9.8393, 6.0513, 1.5409, 0.2857, -0.0122, 0.4762]",
      "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, 0.804, 0.6064, -0.5629, -0.0193, -0.0383, 0.9997, 0.8928, 2.0628, 1.2583, -0.0986, 0.6838, 0.2886, 0.9945]\nstate[eef_state]: left_x=0.2677 left_y=0.0019 left_z=0.1429 left_yaw=0.003 left_pitch=-0.1766 left_roll=0.0004 left_gripper=0.9997 right_x=0.389 right_y=0.3108 right_z=0.0473 right_yaw=0.181 right_pitch=-0.1039 right_roll=-0.3057 right_gripper=0.9945\nstate[joint_eff]: [-0.0205, -1.1829, 6.9812, 1.707, -0.0513, -0.0317, -0.0171, -0.0889, -12.2462, 7.4735, 1.2821, 0.2515, 0.0952, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a97f4a9dc808684263132f8847691c96e9798703ee20ead98e1392467131422",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:787236e13dbf58b45b78cb03e4b4b3d79d201ad4f9669e5e78701cd21ed4b117",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbf29529f2f481e5f4a87bfba77c66bc686835ac8b6e04eeb615bc53579ba602",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFLgMwntsAbPVWbGngGO9aJ1_ypjWrmWtE3GUjLDQpEens5jvSVAyLOBzSilOmq-KQDqrecJ4fj4ktVqt_EImYF7cHwZSiW3zYLZ8XVvFswUyD2l5-1UgoNuGU4IZGIzY_DMuJZMItauuMSOkExHc_xjf9bSdGmH0uoon1KzjZ2voHO17pICGyHr0FMVd5KqKeu_UxMLvBvPLmW4cpyZTmwivWO9TVyI8M7rm6_cv18fxbpREhOkrHr19vBEPAWsHt7cJ54p65LCTctl_YE_q5vB4BUF5g7t2D7Ucp7nAScz7LhIvf6nIdfZCZ1Z1BsQxJ_sedHd08G0NE-MKxDMFykCNSBkuJhMKnGYqTPYJeaUEirK-kvh5LNJ5YgQueJMmvqXTjUxtRMSKD_PLMSkA3gSL2cdurVYGPruAVIhLE5csTri02G4j2fwIcEEG3NVb5Bp040hXOgz-SnIsLgBq9S-jTPS9-KN_oBOp86_CXUZSFyhM7yPOdL_tZzbczegv2MdSJmeobomBCerh256bGjA_GMplo8Md5wTFa7pAYPsEsJ4MB_mdJCv5Jx3tCGG1PW-Jg3gAHTXC7bzW7f5ZLPtA9QQokkQKfmC5PIvNCxiYXvKzgOV_ZquxbUU2LdKcuMqzaKiMuhZ9TitTPIDKsbn3xIn9TAFoKE-A_vZkoTY9E58PtQE2eiKApC_Y69Jd7FSGt4WFi_rQ_gu8p-8eZ0qwiW031ZpE_D8yAqdQ9U9lurdl0Ww0H78bdRbeMBq0B2xd72nM5s8OsFBf1rO092R4dCSPBRbKKFhcYcxZoEzfEwQ56mMd26vbvEsvmnlpOPS_0_E2rTp5b_2lIMi00lLnPvirr-v7ui_cqjURBrTDfTPKNl8uV7QAdEBLXUL4boLycknJvpid4JpF3z77v9px0pvX7aqCjr6RNkafI04qh4oL2Mllz_aWTRZ1HMy_HN1p1wZFqJXSN3mQzsYsHfKGTY9IYcsEgTgBWqYH2NzbYFDTJw1Fk8_VY08J3OWe2Y_XbXNA9RW7OzumvSAA5TM1l2w9u1yy9-G4eoCZZD84aNAn1uCopbpAR4vhArlGZYgmxDycV9UIITsUaSa-df-veqhQobjeJDTxknk8JHfEuGrraLHmzyq4EiRxEI7YNqo6aS2Ck47pYp_qTG1VsOd4qaxPMnw4wl80rijwk8-nWB7cj17gnBSF2CAqe40KPxB5oZMxio-M2uwLsHc85iyf0WVvEcHKFvkYtndrKiivtu9B9PyuV5Bje4ThUIrdV22JNFK0-dXUA92MG389lpRFmgq58cBvOGH2g-UNfBbCLQJOc52MR2-G3qlxQZq9EIE2D55vXMPU5RajDfuLxW25Fk9SimRjRPFlVyiTJh9dlLrTjlQ3XiVTKNc-HiHF-gYDSQLZ0B1LAkhVyaaOIcrPj9CxGVflTremaEIQEwOrQDx_YAhUPFtit1_ztcegshkOz1XY3iEw3JmAuU6IeC5tqhCRwmkaBPGpPhUoxmnr_WxB-teQYrEMoskjJStxhB0cUetreB4lpmqZYpMexAS2dJcfz1WwQxNINCu3vsTxQsqP_nz3ZVTeM_9A3aqhbzOawG34uTVVIhroR-h2iy6C-AAD65zFb8B8aLwY3B52BOzkW2BHgghKHe94OEholSlCIRfEus2133qW53QnK_FPZvZUvY7zXvfboo4eM750tHOCgSrD3kqUi-QQHiX0yOcCWw_-q2YBSi5OUHAxyqX0e_E0adl3tjm1ePQ2GhBkaS4NCP_-ZsaZY2rBDR62v1jJ4CyAipZUpVZf71mxM1KBT6tYxI0DIux5Ow0VygKbNDltqboh7ZBvXLntiItdjhzjwclGX3GN4xSafRmNWKfwuKqFFSL_qzOOWKcjqe5gP_rbgCJip-_coBTpbEc_OZC",
  "id": "rs_0a06bda72ecea66f016ab452ddcf5487d0899a55ce840bfde6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.293,\"right_y\":0.0,\"right_z\":0.18,\"right_gripper\":1.0,\"right_pitch\":0.0,\"left_x\":0.293,\"left_y\":0.0,\"left_z\":0.18,\"left_gripper\":1.0},\"note\":\"The yellow object has been released inside the safe. I’ll retract the right arm and restore both arms to their parked height so the remaining plush objects and safe opening are visible.\"}",
  "call_id": "call_lfosCq6aTRWDrIbT74NsefEf",
  "id": "fc_0a06bda72ecea66f016ab452df28cc87d08adc852b8e7bfb60",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lfosCq6aTRWDrIbT74NsefEf",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "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]: [-0.0257, 0.9348, 0.7536, -0.6506, -0.0193, -0.054, 0.9997, 0.0158, 0.7876, 0.5663, -0.3557, 0.0799, -0.3134, 0.999]\nstate[eef_state]: left_x=0.2813 left_y=-0.0003 left_z=0.157 left_yaw=0.0054 left_pitch=-0.2479 left_roll=-0.0089 left_gripper=0.9997 right_x=0.2925 right_y=-0.0059 right_z=0.1697 right_yaw=0.1174 right_pitch=-0.0225 right_roll=-0.3044 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.7299, 10.359, 1.8535, -0.105, 0.0513, -0.0415, -0.0889, -1.4701, 8.6222, 1.9512, -0.1978, -0.0708, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:731154098654de8f918ede6ff82a3d2eac895f6f177eca11a7204332990aef2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8291e8db2c4a74433f16b788cb7fadd26ef57a5a90c6310c54f692cc3d8f41c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95ada9f79de9e0a60bb20f4ead914439cf68701d7595aff31baa2b9df539fad0",
      "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 · 3.557 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, 0.804, 0.6064, -0.5377, -0.0193, -0.0383, 0.9997, 0.8921, 1.9064, 1.494, -0.4046, 0.6941, 0.2993, 0.4273]\nstate[eef_state]: left_x=0.272 left_y=0.0019 left_z=0.1475 left_yaw=0.0029 left_pitch=-0.1514 left_roll=-0.0002 left_gripper=0.9997 right_x=0.3968 right_y=0.3177 right_z=0.1681 right_yaw=0.1713 right_pitch=-0.0322 right_roll=-0.2463 right_gripper=0.4273\nstate[joint_eff]: [-0.0752, -1.1692, 6.8855, 1.7265, -0.0659, -0.0513, -0.0122, 0.2667, -9.7709, 9.0598, 1.5604, 0.5006, 0.232, 0.7937]",
      "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, 0.804, 0.6064, -0.5629, -0.0193, -0.0383, 0.9997, 0.8928, 2.0628, 1.2583, -0.0986, 0.6838, 0.2886, 0.9945]\nstate[eef_state]: left_x=0.2677 left_y=0.0019 left_z=0.1429 left_yaw=0.003 left_pitch=-0.1766 left_roll=0.0004 left_gripper=0.9997 right_x=0.389 right_y=0.3108 right_z=0.0473 right_yaw=0.181 right_pitch=-0.1039 right_roll=-0.3057 right_gripper=0.9945\nstate[joint_eff]: [-0.0205, -1.1829, 6.9812, 1.707, -0.0513, -0.0317, -0.0171, -0.0889, -12.2462, 7.4735, 1.2821, 0.2515, 0.0952, 0.1392]",
      "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]: [-0.0257, 0.9348, 0.7536, -0.6506, -0.0193, -0.054, 0.9997, 0.0158, 0.7876, 0.5663, -0.3557, 0.0799, -0.3134, 0.999]\nstate[eef_state]: left_x=0.2813 left_y=-0.0003 left_z=0.157 left_yaw=0.0054 left_pitch=-0.2479 left_roll=-0.0089 left_gripper=0.9997 right_x=0.2925 right_y=-0.0059 right_z=0.1697 right_yaw=0.1174 right_pitch=-0.0225 right_roll=-0.3044 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.7299, 10.359, 1.8535, -0.105, 0.0513, -0.0415, -0.0889, -1.4701, 8.6222, 1.9512, -0.1978, -0.0708, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:731154098654de8f918ede6ff82a3d2eac895f6f177eca11a7204332990aef2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8291e8db2c4a74433f16b788cb7fadd26ef57a5a90c6310c54f692cc3d8f41c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95ada9f79de9e0a60bb20f4ead914439cf68701d7595aff31baa2b9df539fad0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFLl-ngOzFxdycJOkxMiwv8UgPKc5hN920hFTlsuzl8Z_K_DLta9ZrRhwqeDiOVJLfcvTJ35QpjHo6FkrRSAJl5POE8k8GagoDz1tUJULVbDdQGCIZyR3Izu8EdXRdDSyNzLwhMr_m3VA9miuWtOCE5p7dKSFDXkx5Wh8aC5Ihr1f3v0N9SeQgcWZn3whSRHt-dZtiTAjYyXGcaozF4t2bsE98okgkjxfWBtzOXSDyj0vu-6thX8wsFrMZTLb3MH5fxBmOEpUo16qDTZkgJy7wsItCd_0CvInWLeNgIIB6PGkMERBNMsNoU3Qp26IUUoPE-dqGYpwRnQ7qsSIkSd7YcasPg8mLpJV0es0CP9BxQolOiSsT0xfmVFkPvyiEpJmVCexiRY6rsxbeaDfRbwLsDyvid0ItWs-Kr4aLfhHu6gs8AlEZhs-TKMxNIEYBPBzbZtGgVbQWp-6UypEeivAKqDAJAbBypSJeTXrBuwC3jNTKf1CRITD9zQmsD2rT1fOEOCxk8Hll4iH0G-GE26PRElfRHElHto9pDUqAKDGidf8lrWSK1He0xaPtplf4GfaZD7tRmamSZ8hwxNVw2vri51quaTdcHpIB5xbk2chIk2CEVfxjdZL3VARQpDwdOkH-IgZJg6mXIUXw8MEsOdGBw8knJOgwLix8ILfhIQUfkFLrmucl_VXSKjrUPcmatid9vfYG35jEAV_O6atbZorUkOlBdJ8ArGx16ydJc3xIPRrhIw-k0yk5BeYZI4O_BrwS3pQU8E4mFMpmuRBQ5g_v-7-Y-WN6oyTe9T2V3AZ2Tie7dgVZ15CGFIw-mcpRduCw0ZDTkPnQqNYCl-HlR10FwwwPOQxwm7xqVbSOQeom-sC9a59wzIU1penKk6KEbdnRsd-sKn0hZYaKweTa27udN5u213Y_YD-VRxRYQpY2kK0VHrtNC2xHLz37W2Eqtb2yoxY5vaYRtjk23-Urr5eSOo6iLt0lEfjNT96H11ZlL7qJCUDL7sIoCgIRZW_CInzgGqiYHu0kHhBrlhPmW4CaNtW7rejohLlM2_V_jDBb-96Am9A5n3qPe46zLklQiPkAAf71Hi1_O92JhUk-2dVMx0MqJCg1QD2EJPYJ9dxnd75RitsSnDG_xl_EkIQPAZLoBs6jqMK439xR_-arCuLVzxy2R44ZE98sI9z6RAQ_dL1LKoEqwOL0sXE3w7IBcw5Xun21vFwkoOrfxIYoE9-SG8QZS9-wq3lLsE9QVWYaKuWb0J5Rqt-B9wGQs4IhlBpSyMtccFVUfNXa0eaXdOpGGiVBn-fhstzQuGG0f3TOJgOiUs6N5iuS7OTEb3-m6zdloW2xBmn9aZcXX-81tvlMMfC3psbHV5Q6Gdq6h-AXYMAvA8V6eTCsL-umhQ9yNS0PEmpzmn5QlkbFOpqtyxlzSUKFqM5FN4EdETpSNP-f3BM0L08-x1HRt3NzBmOC_jDKFmyjwSv_N_fVhBASmL9cPw-c-kvFyCIYF7OFjR31y_hQhpOjYZdOauk8Ye7jrdPhFY1txrc6cYz-KhF9CiICeC4YJCxfS5HCLYnNzm81DufEsm41EBlg5qzhB6cXoVG592WCpzwgH0IGFz4wrth_v8o3049ehKjy6QRI8Gm3Zc9pX8nde6SzbkXZp7t1xQBUiFAuQAw23lpGwiE80-wImQgF6iaq6oTSAdFBuCTxuzK667Sk9b0wwwAme0-4GmLaegsSm_RFSVW2Sjj_JiXAQLYRYdx5r8D80eB1GeP1d8mf0GFHmtBmazGib9jNbBsDy6xodtcvCCvHtnG_n6Ka9ZDaPQ58XCuJunoPjZlpAO648h1gVcXzfAPkSMxfpAfymJamyyqdamxtM0g3C8zvhP4ZpwVDpfsUMvZQR72qTWwlOh9Wqw4pQ_5N45qof1M06_vbkkinFB6uSRKzlrKZ8YUOISx_yV6ExlMC-t7mjMcemSMZ3EGiMDqzepS5-4rLivTS0MGaYlk-CnoN0rIQMvpwWThwbWxhfnsQMJyvMg70o=",
  "id": "rs_0a06bda72ecea66f016ab452e3c14087d0a7e27d59fc20eda7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.23,\"left_z\":0.16,\"left_gripper\":1.0,\"left_pitch\":0.0},\"note\":\"With the arms retracted, the yellow object is clearly inside the safe and the two remaining objects are the white plush on the left and brown plush on the right. I’ll bring the left gripper above the white plush, which is closest to that arm’s cross-over workspace.\"}",
  "call_id": "call_ygZggK5PP6yfGT0S7x7NzCGs",
  "id": "fc_0a06bda72ecea66f016ab452e500e087d09e77b43813d93a63",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ygZggK5PP6yfGT0S7x7NzCGs",
  "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]: [-0.8776, 1.5166, 0.9741, -0.3393, -0.6659, -0.6273, 0.9997, 0.0139, 0.791, 0.5663, -0.387, 0.0708, -0.329, 0.999]\nstate[eef_state]: left_x=0.3291 left_y=-0.2198 left_z=0.1393 left_yaw=-0.0118 left_pitch=-0.069 left_roll=0.0297 left_gripper=0.9997 right_x=0.2884 right_y=-0.0049 right_z=0.1624 right_yaw=0.1317 right_pitch=-0.059 right_roll=-0.3082 right_gripper=0.999\nstate[joint_eff]: [-0.294, -6.6393, 9.4154, 1.5067, -0.569, 0.0073, -0.0415, 0.0752, -1.4838, 7.0222, 2.0049, 0.0659, 0.0904, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7824720ac55137841c729dde7ac2eb25b92e85861673f03acf18c60d43e7f0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c12372e720c6996f29cc81c2fccc4b12950142af871d8b1c7239c3ceaa296e0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0236ab0db51004ab86d07ef570ce6de4babf488c66af6329dc6b04508c36f0b9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 2.306 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, 0.804, 0.6064, -0.5499, -0.0189, -0.0383, 0.9997, 0.8928, 2.0449, 1.2758, -0.1024, 0.6838, 0.2962, 0.4277]\nstate[eef_state]: left_x=0.2699 left_y=0.0018 left_z=0.1453 left_yaw=0.0027 left_pitch=-0.1636 left_roll=-0.0002 left_gripper=0.9997 right_x=0.3925 right_y=0.3151 right_z=0.0613 right_yaw=0.1788 right_pitch=-0.0788 right_roll=-0.2789 right_gripper=0.4277\nstate[joint_eff]: [-0.0615, -0.8547, 7.1316, 1.6972, -0.0757, -0.0269, -0.0122, -0.2803, -9.8393, 6.0513, 1.5409, 0.2857, -0.0122, 0.4762]",
      "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]: [-0.0257, 0.9348, 0.7536, -0.6506, -0.0193, -0.054, 0.9997, 0.0158, 0.7876, 0.5663, -0.3557, 0.0799, -0.3134, 0.999]\nstate[eef_state]: left_x=0.2813 left_y=-0.0003 left_z=0.157 left_yaw=0.0054 left_pitch=-0.2479 left_roll=-0.0089 left_gripper=0.9997 right_x=0.2925 right_y=-0.0059 right_z=0.1697 right_yaw=0.1174 right_pitch=-0.0225 right_roll=-0.3044 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.7299, 10.359, 1.8535, -0.105, 0.0513, -0.0415, -0.0889, -1.4701, 8.6222, 1.9512, -0.1978, -0.0708, -0.1197]",
      "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]: [-0.8776, 1.5166, 0.9741, -0.3393, -0.6659, -0.6273, 0.9997, 0.0139, 0.791, 0.5663, -0.387, 0.0708, -0.329, 0.999]\nstate[eef_state]: left_x=0.3291 left_y=-0.2198 left_z=0.1393 left_yaw=-0.0118 left_pitch=-0.069 left_roll=0.0297 left_gripper=0.9997 right_x=0.2884 right_y=-0.0049 right_z=0.1624 right_yaw=0.1317 right_pitch=-0.059 right_roll=-0.3082 right_gripper=0.999\nstate[joint_eff]: [-0.294, -6.6393, 9.4154, 1.5067, -0.569, 0.0073, -0.0415, 0.0752, -1.4838, 7.0222, 2.0049, 0.0659, 0.0904, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7824720ac55137841c729dde7ac2eb25b92e85861673f03acf18c60d43e7f0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c12372e720c6996f29cc81c2fccc4b12950142af871d8b1c7239c3ceaa296e0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0236ab0db51004ab86d07ef570ce6de4babf488c66af6329dc6b04508c36f0b9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFLrQb8iQ9H0gpk3RRrrq3GX6TTHMUKHarD1draa1DJ9jfOVsyb3JMPb1Vl4WG8Zlqry7tIhDH9lkZX32iCwDd3U81ku7K3zEHqGCCzmaYi30lOw_nj4mXNztlEIgWse81A1oU8Kzyx98jE6fjjpOrw9LbCblhvU60oAvOZavUv63_a00rzynImeizhrdkWIx71gFmIRBc3NeDRi5orIgsa117QuBB39nTeVoSWdou-8rnfIHTwoRAIKGYQdURetazxSmybur7V2dzQ-58x3JsHlg_73PYMLVbt15Xktwu1whLUrCu5wCnU1KyqIHfqQUe1e6_vMBBLXzotHPTbgQcsDJPPPhApe2I_USXpCGkjAIGBOwpt9asp76YPY4Me5MkN-9GIefx3DxUMBKNnwqRXvWdO5PODhnTAZ4BBIIqgxKqL_U26pgJRWRiZg6VtwU7Gp1juPe2vVTiPFdTzkaYDT65SaJ2yRDplZ67VrL6F2j0Cn5ErJfVoiYURdWTKbSt6CPb9fWtzBk4umAl-Ref77LiKqTEwf5m5vWm78J9pN9IMRAm8hcisqAm0NLAxMPtSLHFoQmBAK3hv8DtCL3C7X0k1dnzO3u1K-R6pp0wuFNHqaeY4cB-oW-uHU_PQ1ylz7HsUwxxWRqcT1tdh02z1SteVIb6kSNI6amHDIh-Kfwsszays4IKjcoYDB5HuSf63Cewj3wEXnxjvwv5KfzlIugH2DDT-h8vx7pWIvLeWAUKVi4_MR9DBs9YN_l1NBsrIyB3M51GaXhveqgmJjjVTQ3oUT_Xh5FzSn5u2HJbJkoaHowTykJBwbWjY3qvTkspPkKS9P4qKxD4VSVg5wWR7Stkr1tgviHzxbVeWyR6D388_f3ZPASUB2tJsylhTO76uJZFHlUrgVxrbgGKe8qXaLGurUoYbHEej3QvQYJo8FsVUBqg3V26zxG2mbo66KOi7yTnda3dXHo5qrC588XeESQzikPB0GOL7O9vX5-V7RzexjyE54ZH4GePRgp9-6WSZcfdog0TfPWnU4D5bGdXh-iWKb1qDdoPxpZTm3Psh7I2nU4zonth36vPFbb2fM1ItVPxfZuINKiy_1t4xpH2CW7yQJNUf6TVje4cE7IsXCTWLDYzfMBTEcQttV-re8IYh2FIfkHkVRIosoRIfeJz5rObCUtD7EpftoK3dvBTOPoOrPN0iQFeLVDYUecs1fwqRqod0e5u9aPgCLywXEAMGjdUvlywZXMX7wiT-YsoklS6eTUQpcUEx_PiWNlKGF8290lGOMMi4jAcsIDkejz5Ajc_rGfGsxOs-3_sVBC__wfVuoy4PM5FnL9yc0ovrfvjjWzJic6K_2wumQS2CDLBgyITdd935Mez8dyVkrLb9Pp3m-IYAlopTisdIhAkBBeTkbc8Us53cNdScjS5J6fRbHt6pRlBgNaTLmZ4QYpRUKORdUgUS3xCcCkVisdVyuWSzphp1y2lmzqHt5Yj99RBsXb98oiKk4Lp6NsQkzPJtPeIV8-dXpkti2PfwsxYXb-lr659rrfGUVFX25un5oVX0p07FJRpTvZNFA6xYC6nu5jSad_As0Ni1TyCidQVMcOTH3vLbDM4x36KHbjGJxMRhg_xDeWQ2h4rAdauqJkJ_y-2CEIJJuUS9Tjdg4GZSXgf1_HsDJE3_k1RhfiWrYLu38lNqRqdbYv3LR3uVDFYIO3cYBXlinqAp77S-UsGuKVRNA8NZo31kVAOG7WVNulA98aQxS3C2ouYYPwL-NcntvNYfHMB0eQ_bTGJhcA6VzW6x-egszeD_RM6gU-acM6xNKEUc1qi-mHRjipUrkYbeY33pw1ZC5ODRyiLmPZwMKQAkeJLsoYvx_Ul-DckIBefrgaI900K0yCRl1u0fAqWxTMkISOl_FQLeN_zvm29BoWdQ_eKHcdQiEfBW0GctqXIgwP87jQQEj4gLr6yVQYTd1Xxah_r9myg4T2jHzeFz7ShzG5sjvHW4B3hVABMebclP6AVNfh0aYL9hOzf7R7hDpUF8tYh62vGBosmlnRfOV_hdu7CtFHOIQEELu-kqF27lUSiVTGWozJMhoVcq2O7NkEn3XJfEV1eW838Y_T6IZxO1ulTfVH7jQiWKBfFx8HhqdpQvJliWlavRWnqZUmoJNn3g=",
  "id": "rs_0a06bda72ecea66f016ab452e918c087d0936d1c65862b7613",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.21,\"left_z\":0.03,\"left_pitch\":0.1},\"note\":\"The white plush is at the fingertip line and nearly centered, slightly left of the jaw column. I’ll make a small lateral correction and descend to grasp its soft torso near table height.\"}",
  "call_id": "call_t9xhbUXFEJc9IRC3tnIFLaCt",
  "id": "fc_0a06bda72ecea66f016ab452ead33887d08b456c82dc958afa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_t9xhbUXFEJc9IRC3tnIFLaCt",
  "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]: [-0.8833, 1.7962, 0.6033, 0.3786, -0.7364, -0.5323, 0.9997, 0.0139, 0.791, 0.5663, -0.4103, 0.0708, -0.3328, 0.9989]\nstate[eef_state]: left_x=0.3249 left_y=-0.2031 left_z=0.0178 left_yaw=-0.0236 left_pitch=0.0117 left_roll=0.0906 left_gripper=0.9997 right_x=0.2851 right_y=-0.0049 right_z=0.1577 right_yaw=0.1339 right_pitch=-0.0827 right_roll=-0.3085 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -7.7333, 4.465, 1.7216, -0.442, -0.0269, -0.0171, -0.1709, -1.1556, 7.0632, 1.8779, 0.0073, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b08eb5f90e7af83823ad6f0b2c5528df55120e3ba19587a13148d1a85f79e098",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89b7f228329aec18138e726d3b3ceafd5921be986200a84ff0aa2ed3988c679c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6817d4f75e074587bf961b42f9ba16cfe93f22b195443abb58faf0273bc4b4ea",
      "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 · 5.413 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, 0.804, 0.6064, -0.5629, -0.0193, -0.0383, 0.9997, 0.8928, 2.0628, 1.2583, -0.0986, 0.6838, 0.2886, 0.9945]\nstate[eef_state]: left_x=0.2677 left_y=0.0019 left_z=0.1429 left_yaw=0.003 left_pitch=-0.1766 left_roll=0.0004 left_gripper=0.9997 right_x=0.389 right_y=0.3108 right_z=0.0473 right_yaw=0.181 right_pitch=-0.1039 right_roll=-0.3057 right_gripper=0.9945\nstate[joint_eff]: [-0.0205, -1.1829, 6.9812, 1.707, -0.0513, -0.0317, -0.0171, -0.0889, -12.2462, 7.4735, 1.2821, 0.2515, 0.0952, 0.1392]",
      "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]: [-0.8776, 1.5166, 0.9741, -0.3393, -0.6659, -0.6273, 0.9997, 0.0139, 0.791, 0.5663, -0.387, 0.0708, -0.329, 0.999]\nstate[eef_state]: left_x=0.3291 left_y=-0.2198 left_z=0.1393 left_yaw=-0.0118 left_pitch=-0.069 left_roll=0.0297 left_gripper=0.9997 right_x=0.2884 right_y=-0.0049 right_z=0.1624 right_yaw=0.1317 right_pitch=-0.059 right_roll=-0.3082 right_gripper=0.999\nstate[joint_eff]: [-0.294, -6.6393, 9.4154, 1.5067, -0.569, 0.0073, -0.0415, 0.0752, -1.4838, 7.0222, 2.0049, 0.0659, 0.0904, -0.0171]",
      "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]: [-0.8833, 1.7962, 0.6033, 0.3786, -0.7364, -0.5323, 0.9997, 0.0139, 0.791, 0.5663, -0.4103, 0.0708, -0.3328, 0.9989]\nstate[eef_state]: left_x=0.3249 left_y=-0.2031 left_z=0.0178 left_yaw=-0.0236 left_pitch=0.0117 left_roll=0.0906 left_gripper=0.9997 right_x=0.2851 right_y=-0.0049 right_z=0.1577 right_yaw=0.1339 right_pitch=-0.0827 right_roll=-0.3085 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -7.7333, 4.465, 1.7216, -0.442, -0.0269, -0.0171, -0.1709, -1.1556, 7.0632, 1.8779, 0.0073, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b08eb5f90e7af83823ad6f0b2c5528df55120e3ba19587a13148d1a85f79e098",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89b7f228329aec18138e726d3b3ceafd5921be986200a84ff0aa2ed3988c679c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6817d4f75e074587bf961b42f9ba16cfe93f22b195443abb58faf0273bc4b4ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFLu1PJYNUYQgoFRZk88q-207_C8GuevfVTK4hNDOjpMZjslr2dtmkhdFgS5Lu9daQNa_-VmnV8UyR7ExdYmmLmkXhkYJl8bE4QycL_iB2agRbaNjpQ6vzJ3EBcjT3Nqlta00VGtgHS-bbYDKr3eE3UCWiBYUSA0i_kVwnJxvRdt5C3n-jGf0y-5fIyCMz2JqQmqLdVnsBMc0_lLFuXPZNWplT2gD84ZrkA1ck7bXgxKDjx-bcqcbbHhh4U0DeD0GF-ENWsQ-Zoli__cscF7grqBsdC4ch_hNgjk6CADf1gSPDV6eKVTgc6Bq701P7py362q_VpRQO8FGCKllorx-qQL0qYTRnn8NFBK-dwXeago46nOrfZDbaOuZMtfRWS9MUGnIK87c92O15uNbStbNpMlGS0kTSbzfHMi_3XtDK1A6RmNyEYgNrxshiP_dkWFWOnEhLB0bbm6CfDwLRWhvGgq6bIlKdJe5Suioi8zUV9f_N_Uj0kB8tjKKzUnCu0U1oWb4BHk4cdDV9LW5QfhAFMNcNlyInUMdNVbBVp9SGp9GUQ5mm-YrTbXTPOylQP1ST7HLKNeJBUjh-3c6c9irjNp3gpaxTxmMYG5PYRppJTftFjf_O4xhrzmeXzt8_rfhxywdGiLYDULKDOklQoHmB3KW13VqeaDy1SVddo5SDMN9GO2wnSQhokZzg8-SJPTZPeYQendS-kxaWFngJxBmfEuEQrvQjjsojZYnp288RsosDTe4hzZBtfRhpfld57zVhmm5hvTWlF6J4NuiK7Hc3YyEBkQhoFFV3FhW861PtC_8qswlydBAv2Z4CCkV04zKgpgFl4pfZuypcXwEUQrBl1hl-lhaSZ1OlVuF-oJu-oFy436ufiTN9irSCiPWHsNrMefxUp8D4fBnl4pgp_Il6AA0cFwjQnqU3EQK9s054LwmMxZyt7r4pb0-aug9v-kM3kszkdu1OJCZ0fLJkV3XDPzfNwLuPTc31P-Yx-DAHZGNTfAaL0yRbA7MkECgodLLhg4ZKU-zqxEram7keTKLk1LcOay6DOUQQForxx4khcaJ_2eANoET3CTIWGKXa5ZJNMUEKyCsTPLLsTU71UJ_8dE7YeZXBzrAj52Z9Qyr04oMFlBTVaQSFlo9UduZmkJIiU8qUIHvJatSqJNx1kVDECjv8IPuGy7C0u_PkO4x79UGmUg1kMiyQT8JdBMWcAfP_KnucuS-d4OHFoMfTYM4Op1wnPhGLB6AoTBhaoufiO5C_gBCi6SBRf3yD4YyerXTZ2K8rWmOCIndDaVYVqbcgzH6V15EgnDotjgDHwNr0kA9A6pTf3hTuVuam9inUSwn8tMpnDOqQce9wN7k6DkCu9Xqr2E_JpaqlwNBNZ_hv5iWgA=",
  "id": "rs_0a06bda72ecea66f016ab452ed73f487d088f3453a7cbb9db3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At table height the white plush’s torso is centered between the open jaws, clear of the safe rim. I’ll close the left gripper and verify the retained width.\"}",
  "call_id": "call_7cpQvfb0Av0ikNDBuKwtoOVJ",
  "id": "fc_0a06bda72ecea66f016ab452ee021887d0b27c2e58dac3838e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7cpQvfb0Av0ikNDBuKwtoOVJ",
  "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]: [-0.8829, 1.8194, 0.59, 0.3801, -0.7452, -0.535, 0.0185, 0.0139, 0.791, 0.5663, -0.4332, 0.0704, -0.3328, 0.9989]\nstate[eef_state]: left_x=0.3211 left_y=-0.1964 left_z=0.0071 left_yaw=-0.0159 left_pitch=-0.006 left_roll=0.1192 left_gripper=0.0185 right_x=0.2817 right_y=-0.0049 right_z=0.1532 right_yaw=0.1344 right_pitch=-0.1054 right_roll=-0.3055 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -9.1145, 5.3675, 1.3309, -0.2222, -0.022, 0.7106, -0.1846, -1.0872, 6.9812, 1.9267, 0.0024, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a469567e3a56cb5c35fcd4992f4570007bbcb478fd056620b22362e68fd68c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd38060561b25c8cb8ff71c0a6242351d114467319a975162357faabaca5c6cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85fe8ca74614a791cc250ca79f2d2301102615d00cff991b884732cea50002a0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 2.649 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]: [-0.0257, 0.9348, 0.7536, -0.6506, -0.0193, -0.054, 0.9997, 0.0158, 0.7876, 0.5663, -0.3557, 0.0799, -0.3134, 0.999]\nstate[eef_state]: left_x=0.2813 left_y=-0.0003 left_z=0.157 left_yaw=0.0054 left_pitch=-0.2479 left_roll=-0.0089 left_gripper=0.9997 right_x=0.2925 right_y=-0.0059 right_z=0.1697 right_yaw=0.1174 right_pitch=-0.0225 right_roll=-0.3044 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.7299, 10.359, 1.8535, -0.105, 0.0513, -0.0415, -0.0889, -1.4701, 8.6222, 1.9512, -0.1978, -0.0708, -0.1197]",
      "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]: [-0.8833, 1.7962, 0.6033, 0.3786, -0.7364, -0.5323, 0.9997, 0.0139, 0.791, 0.5663, -0.4103, 0.0708, -0.3328, 0.9989]\nstate[eef_state]: left_x=0.3249 left_y=-0.2031 left_z=0.0178 left_yaw=-0.0236 left_pitch=0.0117 left_roll=0.0906 left_gripper=0.9997 right_x=0.2851 right_y=-0.0049 right_z=0.1577 right_yaw=0.1339 right_pitch=-0.0827 right_roll=-0.3085 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -7.7333, 4.465, 1.7216, -0.442, -0.0269, -0.0171, -0.1709, -1.1556, 7.0632, 1.8779, 0.0073, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8829, 1.8194, 0.59, 0.3801, -0.7452, -0.535, 0.0185, 0.0139, 0.791, 0.5663, -0.4332, 0.0704, -0.3328, 0.9989]\nstate[eef_state]: left_x=0.3211 left_y=-0.1964 left_z=0.0071 left_yaw=-0.0159 left_pitch=-0.006 left_roll=0.1192 left_gripper=0.0185 right_x=0.2817 right_y=-0.0049 right_z=0.1532 right_yaw=0.1344 right_pitch=-0.1054 right_roll=-0.3055 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -9.1145, 5.3675, 1.3309, -0.2222, -0.022, 0.7106, -0.1846, -1.0872, 6.9812, 1.9267, 0.0024, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a469567e3a56cb5c35fcd4992f4570007bbcb478fd056620b22362e68fd68c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd38060561b25c8cb8ff71c0a6242351d114467319a975162357faabaca5c6cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85fe8ca74614a791cc250ca79f2d2301102615d00cff991b884732cea50002a0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFL0ghR7Jj_7GJ8-NJvjSSTD7TelIc2XDAZqwRJda68IYmH8tXPx_g2Ng3wOnMjI4uT8Yz_KkWFJlzg_iyzbhAto0Is0b58lLKy-WgLQNBLrvN4wWLj8fBprTw_l9COYxYtWvmXCaHHsOuLwUkOmJ5sn-RzRb8Pfmlj0dHNS4RYwfR2-Hn4JkGjCs71OffsC86jkvZ0q2mGu9oa8trPwkFBxOc0XvQWOW0KAky4Rfugvuy3p4TSPepncdss2Yx5_aPnh7x4GtI_WvDtwbQUQFFQKOagK5sWJNA3REq2XyX_e_BzaAM-3GmfRWrGNzQcC7PlXplLCz4BBNmRE0kjmSwGUyMr3BeJopbVnhL0mbUIQyPvTNLXjnnjc3chHA8j9tzXnQGvOjpKkQuhNsdyeXIPc_Yg_CNMQQBZzOc3c1jIGdkWitHeZXT8otJAT4M5ZByjeURheoK0Od0JTr5nEXGNuNkvcwjKBzdyVf-joc9ykMDZXvVVA5FmdLaVOY0hUE-cMIr7n4v8bFB0MeAilo0bp1vQbhHLLmgLUlnKES3O6_OCaDbP-qD2zlX4cqAlE7aaY2wzuHwX34vuL5DRilfruf3ZVV8EcpdXSSscOAFSkAm0kD_DEXCtPTes2XMGfauoRhkPi5uPA0dyzCdj6hVxWAGdYb_8TxCOtdvI0jTaszoWj3IZStclXRBiQh7cAYZlfN-ehfypn3NTEe7GPnB4CetA8r9zwhEbcguJROBD3iUY7lQvNlJd_47suHXpQrYiD-WGX97YmyYS9uADNziwSNpXHGIWJR6Wwe3JDmQb2hLJqDtdyJDietvY_mYtk0Ogn8Vf8QsUdGLEc6Ei3I-J0VyoH0I0UGdyvwoxR4XWSQlkcUqZvLnujBqpT4XGciPfyPmGm7bLrKMfN3_FtSPh9P3KCRauL2kXr7JcM8A7wYP7XDKw8WTMYQavYCWMVtgobkkCDbJJcDEYU4gAOKcbrLtaSNFzpn7bR7g1NL2O8DiWaRDV0MN89SuvKN5kjkKYYAlOk79yQQ8NFeBkojxYQ5xGVcr0ViZQ9cKqv_hWIP8A9A9tqvJZ7F7D5_zn0DwacBk7Oxul4X9z7YlAlfBwDtyWGVf8LZ8tGD3GoR08vZpIHjgNIxwFJAIBOWfiwwmaRORrTQYgGFXtGiG_cE4C7VG3WfKwfl05Ep85zhjnyKgy3YaHY8y6uNLR1xKOU1XgEzFXFSom2xx2xT5WZM6iPMNv_n3BoTTsVSRxAzMpcQS5MxLY3r1Iy68Y5hBxKdBX-izhr-sxIp141c6TWqIvDngkYhA4oy6kFrQSRCmuTf9JtqRDz5AExahJuhYMzMaOJrzVAA8dVjUuHg-QwH31gs5xy4CBPIVg_lvgtBAZnQFaSHC4MpJZCb534HdRbu5lzUMLb32uX0qnf9pkvnjQgHQbnv1SjkgktC6ojkvwUuUTSTJXYk2J10nMlN13yyPLb5hRLaLx91jqATIB5xT3aCCpkePEo91MafPL2VOdChbpwYNu-rqIweGvBCKnFP7Udt8IdyQEiY_CUo62RiDgHf7PaVm7FAHeAr_7v5nlC4mDjIqtGeyhb3xRT65fctT5vj_B4gBc2EPPPuS32okxOjEPKt3qoPKZYovwea61ZEjKsbYFjdg9Nw-Pr-IXaajbLDQ-Dl7Xr6okftL-Q0FfEfrR9vkpXAue0g3zAn0iVWX_eCU0MCQxdq0_qaoesSVDjlkhyyjqGvT2XirE4dR2tsNFVcC8iZjeYctcADYVEnDy1mM6134G4-8BXDB-28wHjG0Rael8gjPEYT7gRqmSAFTnFTA-cs-To6OjIyPKvlJKejhRa1OYX-j3PQsviQUJQy4UUOgjggK4-szxIyejc5Zq_zBqmWGoNNaUTJGnXGDsv5TzJgLdWUyEe3J8Wk4UjjMBEiqrvW_n_8q5QAKG4l478rqTuFnEy4x1eJAtpLodbRoDeBkTItId5Tft1bHAFiApTTnMylDB7k8z-2pdOpw==",
  "id": "rs_0a06bda72ecea66f016ab452f2452487d09d57e0c6a06c2bd2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.19,\"left_z\":0.025,\"left_gripper\":1.0,\"left_pitch\":0.1},\"note\":\"The left gripper settled at 0.019, so the close was empty; the overhead view shows the fingertips just short of the plush body. I’ll reopen, advance about three centimetres, and nudge left for the corrected grasp.\"}",
  "call_id": "call_vA0tnDZ2EuBmXzsxPKX6kCoy",
  "id": "fc_0a06bda72ecea66f016ab452f3d32887d08c823057221f6bda",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vA0tnDZ2EuBmXzsxPKX6kCoy",
  "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]: [-0.7952, 1.861, 0.5896, 0.5407, -0.741, -0.4015, 0.9953, 0.0139, 0.791, 0.5663, -0.4549, 0.0704, -0.3328, 0.9989]\nstate[eef_state]: left_x=0.3499 left_y=-0.1814 left_z=0.0149 left_yaw=-0.0016 left_pitch=0.0619 left_roll=0.1431 left_gripper=0.9953 right_x=0.2784 right_y=-0.005 right_z=0.149 right_yaw=0.1347 right_pitch=-0.127 right_roll=-0.3029 right_gripper=0.9989\nstate[joint_eff]: [0.4855, -6.7487, 6.1744, 1.7411, -0.2027, 0.1685, -0.0952, -0.0342, -1.1692, 7.1726, 1.8193, -0.0073, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23c3364ed4c4d641ea88487312a65ed2c21e021b1817cb3fd9832e692a9c4f70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4a8053ed9bda445ceee351c785fa058c6d44138e9a82b654247ef24fed6a174",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f89a6f46528cda6387b09e2677e44bd84120c1a6d3b30c6cf8fb29d8fa3c6fc0",
      "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 · 2.884 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]: [-0.8776, 1.5166, 0.9741, -0.3393, -0.6659, -0.6273, 0.9997, 0.0139, 0.791, 0.5663, -0.387, 0.0708, -0.329, 0.999]\nstate[eef_state]: left_x=0.3291 left_y=-0.2198 left_z=0.1393 left_yaw=-0.0118 left_pitch=-0.069 left_roll=0.0297 left_gripper=0.9997 right_x=0.2884 right_y=-0.0049 right_z=0.1624 right_yaw=0.1317 right_pitch=-0.059 right_roll=-0.3082 right_gripper=0.999\nstate[joint_eff]: [-0.294, -6.6393, 9.4154, 1.5067, -0.569, 0.0073, -0.0415, 0.0752, -1.4838, 7.0222, 2.0049, 0.0659, 0.0904, -0.0171]",
      "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]: [-0.8829, 1.8194, 0.59, 0.3801, -0.7452, -0.535, 0.0185, 0.0139, 0.791, 0.5663, -0.4332, 0.0704, -0.3328, 0.9989]\nstate[eef_state]: left_x=0.3211 left_y=-0.1964 left_z=0.0071 left_yaw=-0.0159 left_pitch=-0.006 left_roll=0.1192 left_gripper=0.0185 right_x=0.2817 right_y=-0.0049 right_z=0.1532 right_yaw=0.1344 right_pitch=-0.1054 right_roll=-0.3055 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -9.1145, 5.3675, 1.3309, -0.2222, -0.022, 0.7106, -0.1846, -1.0872, 6.9812, 1.9267, 0.0024, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7952, 1.861, 0.5896, 0.5407, -0.741, -0.4015, 0.9953, 0.0139, 0.791, 0.5663, -0.4549, 0.0704, -0.3328, 0.9989]\nstate[eef_state]: left_x=0.3499 left_y=-0.1814 left_z=0.0149 left_yaw=-0.0016 left_pitch=0.0619 left_roll=0.1431 left_gripper=0.9953 right_x=0.2784 right_y=-0.005 right_z=0.149 right_yaw=0.1347 right_pitch=-0.127 right_roll=-0.3029 right_gripper=0.9989\nstate[joint_eff]: [0.4855, -6.7487, 6.1744, 1.7411, -0.2027, 0.1685, -0.0952, -0.0342, -1.1692, 7.1726, 1.8193, -0.0073, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23c3364ed4c4d641ea88487312a65ed2c21e021b1817cb3fd9832e692a9c4f70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4a8053ed9bda445ceee351c785fa058c6d44138e9a82b654247ef24fed6a174",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f89a6f46528cda6387b09e2677e44bd84120c1a6d3b30c6cf8fb29d8fa3c6fc0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFL4ojQNEXPmmnI7BLQKsN9b22KOHtnLznhRpQorgKcZ80ecKoywvsMzqtkKO0WmOtTO6L5wADGhTmGUcOzX9CqBYyc_IAYOcb8RNFQRhcWbN5NVTyOkF-ZFqfnoYAeUiWTM2G1FLs-OZCcE72WrF07EzObjJj7g02t1QqYrRdQt2ZTYgHiR-APUDWt_foDEA-_sETZpzCQ-uMYnMc1QaSoFbY--WnhL26ojtiBuQm06fGHi74sZ3xAzrefP39g-vN4L57beylVG5p6H4-xEBwCIXRcti-m1yG-0YgLdZYB6MhchEJEPUmwSimaDODbB57cIeqr6DQveM7WEld8EYsYSee_4DT6TPHbgrtFrGColvACoew893Zs4YrJyI1WbEKHJOdFm1QMpxyG5VOtu7Qm9jgeuUA5FNhKcn-98gcT9r5TqMezEczXz5n1Fb7twR-kXt83M3zEETW-UVYGtLEV-yOJe1LtxdQnObwE5V4QOThQ_uNGkf6ecncvSW_WV-aCFy27h23wC4jyRubUhBYtuy4pUSZTTb_SOd7ASbrhVJta2XxAbGDyPWp5R1M1kYxNeuG3ycAVGWTIP6jDiU3fp7G99oYbchWFflqS_2TnfvqBDpHwi0X1RUU3mj_OWGF96dfm7x7GYTz4OLLLdbSJ53T1vQloTRVlvGiXZAPFvuYfPo20qDE_i2J2zARzCQagavHKgCvaZE8scVIzg4z5U58WTX4QBRgQoH2iFvpc_0TJDhICSYskqPQ4DgJODPR0q4ieV-rmjkXpGrhBviKobxRdhbcyOPBdmXxu8x_pqhJTo3Xh9jemqILeP0ukpi3vjFaz3fsGF7t45I0I0kdk0ey16_nhMG3ETkDQv0ejBbpIGl_YuUSM362m_BkKbNXVivQU8Tad-sOQ1HADpHGy6Ah2bkZhQl5lL3LAuGMAUf3fsdI1QWbCnY1_Mb86GWX-6SIzk7sGHLTs7lHcyu1T-BtUov3VNjgt87KbfxD0nxSyy3Pl-Fo8EmPg7gY2YLtPasJqIov654DBkE0-uWg8PwCaIiMdRJ_SL-ZJ1bz6WJxQgi7Hc4I7xRCkBxLGJc4Z3iHc644dzQbV3CFDX7sPtP5I5bbM8pkR8FozLDUAsiWNCSvFPXoOOizeg43f1UI_9onLd0vfbEXRX7v6_AaZW86GLnkGkOPjC1OEDZl-6zIyNFGbaz1k46P_6zbd_XwH20PxFpR-pIczJbr_SNIeSL5ji2cWPnBCWtrZHm947a6gIykJvKQ_RbAPBkXHCzfA4iNSJHDwCbSMf4k-BFtZZnA==",
  "id": "rs_0a06bda72ecea66f016ab452f7626487d08550dd02c99d19c1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"After advancing, the white plush’s body now lies deep between the open fingertips rather than beyond them. I’ll close for the corrected grasp.\"}",
  "call_id": "call_pnkA5wHNNZ5KfGiIqfep1XXV",
  "id": "fc_0a06bda72ecea66f016ab452f7b04887d08d41a3afb9f6d8a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pnkA5wHNNZ5KfGiIqfep1XXV",
  "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]: [-0.7933, 1.8637, 0.5896, 0.5404, -0.7452, -0.4046, 0.0345, 0.0139, 0.7914, 0.5663, -0.4774, 0.0704, -0.3332, 0.999]\nstate[eef_state]: left_x=0.3501 left_y=-0.1798 left_z=0.0143 left_yaw=0.0048 left_pitch=0.062 left_roll=0.1446 left_gripper=0.0345 right_x=0.2748 right_y=-0.005 right_z=0.1446 right_yaw=0.1353 right_pitch=-0.1498 right_roll=-0.3004 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -7.747, 4.1504, 1.3846, -0.2369, 0.0757, 1.116, -0.0615, -0.8547, 7.0769, 1.8193, 0.022, -0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cae0cee7edf49fa88aa7cb9d05f80f1c4a0614d6327244675cd2544eb3ce513",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f297142913cb3a89e6b2deff6378220ca9df09a8dc3427851c189b27d20e938d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:786bdd8b84e4b6c330b4fadcba2b3cf4132572509f35e74c899f1a33c0df2529",
      "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 · 2.773 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]: [-0.8833, 1.7962, 0.6033, 0.3786, -0.7364, -0.5323, 0.9997, 0.0139, 0.791, 0.5663, -0.4103, 0.0708, -0.3328, 0.9989]\nstate[eef_state]: left_x=0.3249 left_y=-0.2031 left_z=0.0178 left_yaw=-0.0236 left_pitch=0.0117 left_roll=0.0906 left_gripper=0.9997 right_x=0.2851 right_y=-0.0049 right_z=0.1577 right_yaw=0.1339 right_pitch=-0.0827 right_roll=-0.3085 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -7.7333, 4.465, 1.7216, -0.442, -0.0269, -0.0171, -0.1709, -1.1556, 7.0632, 1.8779, 0.0073, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7952, 1.861, 0.5896, 0.5407, -0.741, -0.4015, 0.9953, 0.0139, 0.791, 0.5663, -0.4549, 0.0704, -0.3328, 0.9989]\nstate[eef_state]: left_x=0.3499 left_y=-0.1814 left_z=0.0149 left_yaw=-0.0016 left_pitch=0.0619 left_roll=0.1431 left_gripper=0.9953 right_x=0.2784 right_y=-0.005 right_z=0.149 right_yaw=0.1347 right_pitch=-0.127 right_roll=-0.3029 right_gripper=0.9989\nstate[joint_eff]: [0.4855, -6.7487, 6.1744, 1.7411, -0.2027, 0.1685, -0.0952, -0.0342, -1.1692, 7.1726, 1.8193, -0.0073, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7933, 1.8637, 0.5896, 0.5404, -0.7452, -0.4046, 0.0345, 0.0139, 0.7914, 0.5663, -0.4774, 0.0704, -0.3332, 0.999]\nstate[eef_state]: left_x=0.3501 left_y=-0.1798 left_z=0.0143 left_yaw=0.0048 left_pitch=0.062 left_roll=0.1446 left_gripper=0.0345 right_x=0.2748 right_y=-0.005 right_z=0.1446 right_yaw=0.1353 right_pitch=-0.1498 right_roll=-0.3004 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -7.747, 4.1504, 1.3846, -0.2369, 0.0757, 1.116, -0.0615, -0.8547, 7.0769, 1.8193, 0.022, -0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cae0cee7edf49fa88aa7cb9d05f80f1c4a0614d6327244675cd2544eb3ce513",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f297142913cb3a89e6b2deff6378220ca9df09a8dc3427851c189b27d20e938d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:786bdd8b84e4b6c330b4fadcba2b3cf4132572509f35e74c899f1a33c0df2529",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFL8dgnJGpC5JZwgza1XH35qDPwY69PSMu8SZc4a_6Dj4xEpeewrRD_pGoJcHRfsSdJu32I2OnPqFhpPe81Zn22xJUPK8r_Q7_YAnyVZnSQbOlFFardXR6B_7FnuKeDzMtjTlpbhIaFSsFjXJn4GSaaX_EbbF6G9j-IYyE6NPuqInN0xxvwoPJuUkH0xcWo36fS4rHDcEhlUTssyUwkpNJ_nQGbU5aXjbKy_kSn2D8CSZRSN_gSeg2Ugk-EOEAUx-a21dUQLT1TJDxiSOxpp9-AnHbj-oEhLu3f89m7vVwtEcqGJJcXWkdwosE1zgDCnSKvApS6HFnsHU5BaRHEjX77Z4PpjpcPrIedwY7PI4ihky6KQQRJ_OOxfMMqRSiiGyRf6i9wMapzMucO9YAgzTOO9y3mzAwXkRORTcVLzehzOqNnqz-N9IXUjesAPz_Rhg3w7z3IvGvm1QpiOTqim1-8NQPi1qsvstU6bq73Q4gZCxfMhYCSupGNFxzq_C45RIc9zlICdcDG6dsny6GO_Rv5nRfSN_xRqZECDfMaLgoTrdWadQx365mUVBOgUJJYumyabCz_8xrrAdy8iXj9Nvz_cVcP15D4o2hpyWIMk4xMv_Ep6OU3rB4gCG41tgXjS9gZ1OcpkqkEc3L9LNLXYaqqQW-cuyYDbwRu3nxgezVT3d-V9Oj1I1S20f_MMEKdHPwbmIH5_plxJec4a6Whp_RmgVXiE9unm1Vxz2gc8ayqbwIG1dP27jEww5V5A-HgopkbdVs__xk-AF4Gc9fPZLBXS0XQtqsuRwMFsD3htx29e0tkhoRoS54YDnUI9w2wjPGut8Y9OuuBxNmjmNZvbMKLxzOilxHk8EC32YwWFPCCD3Qkc_6t6lLkoZxqCf_-eTyvF81ry7TkgB601utSymsxK3IzSKIYDKVmE_SjM1jTu_R1y_wz6TNGVPRBXCjaKNQh-EX6FPTt0pU3ETRpu3Jro5fEGLU_FfERYj13GJf0uwjXi3nVSGBiINsUt4vr7L8xxh5mGIE210fTn_uSiGIN9mCvnMYDY0Fz9wFgv-yxOAI2hX2QChOfcGNKZ-eE274JJOkmhseKKarb39JIyiQqWOhTpcIjvQRBgK2zH48ymSlLe36fYWHBRYYd2ymc8_xzZLxtErPOCXl7rgAz_uRpG23_zN4AqS1Iw9_IItx5n23EEg2a26MjK41NrWzuQQo-5eawOhyz-t3W1wJflQ80oT5mhK5DRKfYXnQ-yiqM9FEOCs-0iAY5l49GOGU4Oc4gt55F_BKdrX1kLrdD4enqDSWCXdAyAqhkGPrbf_vjiTp5FHkFKivOp7v-nllBVd73N6Ej-549gRPS6_y8eUy1O44SzaeqHeJ1sXsYd8CDumnueyew75ovgm2OqK3Lx6Xgm3Hk1geh8XvHpcwumyaFdwZ3QOQhiE5xedJ8hU51jfqORS7B0zuOfjJ7_uecKo3-Zh522h2CJCB6Z0Q2bXrlxLXrnEwQLJswL9js7sWCXdDr1QWovjykDSdA1ESJ5k9kMYAJU9TXjl27k9ZUk2fkI8w==",
  "id": "rs_0a06bda72ecea66f016ab452fa7bbc87d0bd7e79de346782bf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.18,\"left_z\":0.09},\"note\":\"The retained width is only 0.035, borderline for an empty close, but the fingers visibly converge into the plush fur. I’ll perform the required short lift and use the overhead view to determine whether the soft object is actually held.\"}",
  "call_id": "call_hILGyl3JvvjOVWnIF6H8IE1a",
  "id": "fc_0a06bda72ecea66f016ab452fb65fc87d0a9613dc18cdeb7dc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hILGyl3JvvjOVWnIF6H8IE1a",
  "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]: [-0.7933, 1.6253, 0.6621, 0.2302, -0.7456, -0.4164, 0.0378, 0.0139, 0.7959, 0.5663, -0.4999, 0.07, -0.3332, 0.9989]\nstate[eef_state]: left_x=0.349 left_y=-0.1786 left_z=0.0751 left_yaw=0.0116 left_pitch=0.0637 left_roll=0.1339 left_gripper=0.0378 right_x=0.2713 right_y=-0.005 right_z=0.1393 right_yaw=0.1362 right_pitch=-0.1766 right_roll=-0.2968 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -7.9658, 8.0889, 1.5165, -0.3346, 0.0952, 0.7839, -0.2256, -0.9368, 6.9128, 1.7949, 0.0122, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4778245906fb5dfe7a70fe916bd41c86eacd03bf15128ec654b44e3acdacc496",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60c1df4eccd5871222e4d0af9e2b4b3e09fe359d87a8a8360d7d3c5b7d64655c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7203e57eac548618d002328057abb7bd835f7ba5b09f4c2445829c28dfc198b0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 2.793 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]: [-0.8829, 1.8194, 0.59, 0.3801, -0.7452, -0.535, 0.0185, 0.0139, 0.791, 0.5663, -0.4332, 0.0704, -0.3328, 0.9989]\nstate[eef_state]: left_x=0.3211 left_y=-0.1964 left_z=0.0071 left_yaw=-0.0159 left_pitch=-0.006 left_roll=0.1192 left_gripper=0.0185 right_x=0.2817 right_y=-0.0049 right_z=0.1532 right_yaw=0.1344 right_pitch=-0.1054 right_roll=-0.3055 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -9.1145, 5.3675, 1.3309, -0.2222, -0.022, 0.7106, -0.1846, -1.0872, 6.9812, 1.9267, 0.0024, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.7933, 1.8637, 0.5896, 0.5404, -0.7452, -0.4046, 0.0345, 0.0139, 0.7914, 0.5663, -0.4774, 0.0704, -0.3332, 0.999]\nstate[eef_state]: left_x=0.3501 left_y=-0.1798 left_z=0.0143 left_yaw=0.0048 left_pitch=0.062 left_roll=0.1446 left_gripper=0.0345 right_x=0.2748 right_y=-0.005 right_z=0.1446 right_yaw=0.1353 right_pitch=-0.1498 right_roll=-0.3004 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -7.747, 4.1504, 1.3846, -0.2369, 0.0757, 1.116, -0.0615, -0.8547, 7.0769, 1.8193, 0.022, -0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7933, 1.6253, 0.6621, 0.2302, -0.7456, -0.4164, 0.0378, 0.0139, 0.7959, 0.5663, -0.4999, 0.07, -0.3332, 0.9989]\nstate[eef_state]: left_x=0.349 left_y=-0.1786 left_z=0.0751 left_yaw=0.0116 left_pitch=0.0637 left_roll=0.1339 left_gripper=0.0378 right_x=0.2713 right_y=-0.005 right_z=0.1393 right_yaw=0.1362 right_pitch=-0.1766 right_roll=-0.2968 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -7.9658, 8.0889, 1.5165, -0.3346, 0.0952, 0.7839, -0.2256, -0.9368, 6.9128, 1.7949, 0.0122, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4778245906fb5dfe7a70fe916bd41c86eacd03bf15128ec654b44e3acdacc496",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60c1df4eccd5871222e4d0af9e2b4b3e09fe359d87a8a8360d7d3c5b7d64655c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7203e57eac548618d002328057abb7bd835f7ba5b09f4c2445829c28dfc198b0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFL_QGGynJKjH9BYSpY7_7r5yzYj8LC12nz22RdnXpXCFmHFU_Q801ccAeBapci4YIrLe4u9mVKaJhqAF1ti0vTggCmUmb0fXoMJaPqqoeFdPS-tB4oXRDYawEkLPXPevlAzDnrduyzbejQr7dij0A5AooiTVefzFljMoXl9WKJvg8HzycyBvSa2uj3b7At54BeEmi2FppLsUL6yGC6T8s7eiuTw2tqElwgIEkMZDHybH7DQ-e25qVu6eVkdJEF0ITY9yOfxNYW8gnoI5L7Ahyg8z-YuZTaO0bv_7sj0Npl2ZcVO4ffwRTcpTZQhdlSJUccBIVgAqcF8S0fMf9--kKP67SlYtZmv6NlcskWVwXgOQPZTiC29mZ3Ex7h4vVfvOYaHSOf-7VAaCN5aWSkH80fr7tEgMI_6L81HJ_q-qjuWm5oJ4v98yhDynA3uxWrS9Hi3etc1wZTEMwDNjIFdhlQ3yzbupVJtK7iGtgKuS7EKvesc1QkbmzKbyC4p7G0Wk56f1_lmljCPc2tcCyChT4wSVXiV2IIGFIKJ61zTJoVXy5uiXdoXYWLfRWltZGMTu9QvLtzAGywlX662jP4Q_tYgojuO3ntIlwMgqbAA4-sdDcWjvF1jLFlkFDwox1uhla6H8boeelIIgykaxHhUM388MoRHNZVTO_U4tNu9HxieEGYuQoqIyq8a877et20a3LglVAqI0wxMw53ZL5YyZEhn0bbx5aXhDVOQMPDiVUoP_ZUmmqrhtbCVPKSNNr6rOaefLVC53bULJVToogh46VCyFKA_jktMXS58q1WMQLQR5pKeZMDKXjCYUBJAtN0W1QGXmbBYQGWsVt-b_vcFiPr12ZJ6u8SdvRrwLbQJep9R0Ohwv2XeLpZbMTEz_faja0dJCu3rxjrt5_jL3pLTmcUweCXtkc_ZJVzbyAe15gW0fHTC_1borwMTf8gldORv50ssfNdIU6gmcn68G4DYMk-svk-3YNPoFA1x41EmrPrxSgn3_kdfJjzLNZf2sBrCUq1hYmLM_-cw1nTRCPucBjsELrAM76PdjPgdou6wUi2EdB0Cj2PlrKOpDcC9ChaBH6shedkGVEoY4LMcp9SehF3IZEAvn0I940GEmAB3fyS_-rhBs-NxMIyJTAEg2NDPV7XbMGbYvUmVnu6y9f6E2X7EEbf2KxTkPzfTXpVeafqJDJ0XDRxR9Kz8qTrJZ4XvwmvIhUCgdujkf_FKGQpSvJ04kPVAIXKgSCQ1ahJ7aoCLmo9Y7LCEbsougZCblVOYUHP8-JHlCOy6oh5zOqj7eCv9mCXOMXM7Eu2bGzmLPlZU1NDWy64QRGjT1zJoqGB6N7vdhymH-rJufnzbIh9__dGScn2R80lX7HRWBguKMdvbTQF_wlKPAahGHyD2LSygZzrKq1VCjoypd1N151KeG16ORQ-qy0d3P4oFgVn3BJUM-D897vQt55iJh1rxD91Q_GxCF5LTbRekcZ6Bg_eFZh-7Sbq8hWKS8f0hYsOWZaWyzF385kZ9DCQdAfVVTS3qKNKlLIx-dqA9k8IA1fklav29x2gZgsbXwYSq5oEajZfQNUvctZEN9m86KipeWA0w4it3WroooAD92WodwUR7aZOUAN1S6DUhLiwjnHroKN1GhFG_KBZ7dSF_GWQXMks-w19LQIo2wIqQC98TBVlzU4Pzlosh6p56IMAFzViWEukXdkqGgdR0VGmbe8-s----vgiG2rNHPCvXQLfaArr1HTsm5MuKEcVNA_nOr828R-Otw8PtAiG1lmbmPGvzY8kMFqBdgQ-Lvio0hUl1uvCjeB1AnQ==",
  "id": "rs_0a06bda72ecea66f016ab452fdc8c087d087849e91276f78ba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.32,\"left_z\":0.2,\"left_pitch\":0.0},\"note\":\"The white plush rose with the gripper, so the narrow jaw reading is a valid soft-fur grasp. I’ll carry it high over the safe, aiming beside the yellow object.\"}",
  "call_id": "call_AML9Cwy2iN88ifAXW7ixxMAU",
  "id": "fc_0a06bda72ecea66f016ab452feda1c87d0b2fe7f089f83ea66",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AML9Cwy2iN88ifAXW7ixxMAU",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9272, 1.9587, 1.6527, -0.5907, -0.7837, -0.6083, 0.0391, 0.0139, 0.7994, 0.5663, -0.5232, 0.07, -0.3332, 0.999]\nstate[eef_state]: left_x=0.3987 left_y=-0.3177 left_z=0.1874 left_yaw=0.0051 left_pitch=-0.0074 left_roll=0.1138 left_gripper=0.0391 right_x=0.2675 right_y=-0.005 right_z=0.1342 right_yaw=0.1368 right_pitch=-0.2031 right_roll=-0.2935 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -10.8239, 8.7043, 0.9988, -0.5299, -0.0024, 0.7497, -0.0752, -1.3744, 7.0632, 1.7607, 0.0024, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4b46345daa908de60c3bd8acd09381517130b10ef85eabe7a3e3091fa72195a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:515208f7fd1e1b2b7b7ef965f5f80472ca710ee30805173f94a756cddcb5aff8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e5b3819db501d02ad423d72a881d9881be40b3e9401bc0aef1ac3cab7678906",
      "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 · 2.251 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]: [-0.7952, 1.861, 0.5896, 0.5407, -0.741, -0.4015, 0.9953, 0.0139, 0.791, 0.5663, -0.4549, 0.0704, -0.3328, 0.9989]\nstate[eef_state]: left_x=0.3499 left_y=-0.1814 left_z=0.0149 left_yaw=-0.0016 left_pitch=0.0619 left_roll=0.1431 left_gripper=0.9953 right_x=0.2784 right_y=-0.005 right_z=0.149 right_yaw=0.1347 right_pitch=-0.127 right_roll=-0.3029 right_gripper=0.9989\nstate[joint_eff]: [0.4855, -6.7487, 6.1744, 1.7411, -0.2027, 0.1685, -0.0952, -0.0342, -1.1692, 7.1726, 1.8193, -0.0073, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7933, 1.6253, 0.6621, 0.2302, -0.7456, -0.4164, 0.0378, 0.0139, 0.7959, 0.5663, -0.4999, 0.07, -0.3332, 0.9989]\nstate[eef_state]: left_x=0.349 left_y=-0.1786 left_z=0.0751 left_yaw=0.0116 left_pitch=0.0637 left_roll=0.1339 left_gripper=0.0378 right_x=0.2713 right_y=-0.005 right_z=0.1393 right_yaw=0.1362 right_pitch=-0.1766 right_roll=-0.2968 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -7.9658, 8.0889, 1.5165, -0.3346, 0.0952, 0.7839, -0.2256, -0.9368, 6.9128, 1.7949, 0.0122, -0.0171, -0.0171]",
      "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]: [-0.9272, 1.9587, 1.6527, -0.5907, -0.7837, -0.6083, 0.0391, 0.0139, 0.7994, 0.5663, -0.5232, 0.07, -0.3332, 0.999]\nstate[eef_state]: left_x=0.3987 left_y=-0.3177 left_z=0.1874 left_yaw=0.0051 left_pitch=-0.0074 left_roll=0.1138 left_gripper=0.0391 right_x=0.2675 right_y=-0.005 right_z=0.1342 right_yaw=0.1368 right_pitch=-0.2031 right_roll=-0.2935 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -10.8239, 8.7043, 0.9988, -0.5299, -0.0024, 0.7497, -0.0752, -1.3744, 7.0632, 1.7607, 0.0024, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4b46345daa908de60c3bd8acd09381517130b10ef85eabe7a3e3091fa72195a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:515208f7fd1e1b2b7b7ef965f5f80472ca710ee30805173f94a756cddcb5aff8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e5b3819db501d02ad423d72a881d9881be40b3e9401bc0aef1ac3cab7678906",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFMDfVIhhFZexCp5dpoBr0XwRuyU3Lo2QPL9WdRdzJaLgrNpDEQJE2NmOkyJDstQ-Oe8nZ1t2SZkt_NJ2523x8-njHqIMz2F-k36re-S2UvLWJa83drBfW8Xi8RCeJ5Q2PjjBbt1eUbGMI7eB28-A2m8LXDhVghIEeXNkIZ4h_basm-dQcSuensh-pOOUgIpU8ZN9HlJ3ILtRAF266ixgLUxzHzPpKYuY7p6Ny7It0hhig_wi2JxMpLKCsDmgdOJCnzVfWR2_pC3Fb3KhfLv3Yp1MsG2yKuQ_aK2gRaut5nZOdKvxkxLUsxeUoGtrHZCrS0FEFQyhbINsxzPdZsXzfoNYCIeSEmEA7UvNBkKeCgfJoYXoGisAVWhXjUdsL8ZncZTQEXWAlusfaSN4Cg3DAoUc1QEPSP94mDA15mXZi9cOq2U_ABf8PzHUeqbX_EdF59f_uFs1o6cQclbdpng3F3QN1ktVuGMdHGsLVgghBPnVGi_92V520SnpkS8cjm0RL72SgiXQ4GSOXH97DXusX3JeA3NkEsJf7CjkT7qjtqPrCRn8poVin402scDZPf_OUIYRGX8ZJz-OHdKRxlHgQ001QW3982tQLMoFapeZJCJa71zCX93qS3XEWN7qqA_oH3QorPBVGFpTQ7Y0asKwrDTI8-P0A1IDfY_2cBxeCBJjX59yL7CGzPcJkWa_v1yyK1YEei8Q5_PMqb5UVYPr8uwSvES9VvQv5MhiheGVqJTK7hnGHlJC2BH1mUYMarrExJFok52X9qSKPZTDtOQBs1IXokMrZvPZkghu6HWST6a-DHG1YEvnbRydE5OMcVb2ic8lP3sB3XIdj74JhFi8w5SBudZqQ-b4AMC9pIMP55IGbfuNiIYyn2FYx7Gz8lBOZ3zHiJInAq4S-vXRQsHeCmSX51l09s2JfzakulO5tXVg_ML6OOLs-EIRTTru2wSig0rqZQNDG3WfBtPGGB5kBc1_is7eVPHoBOLfXxUZcA5rBK8CSDB5ZRHnrkBxIqaQi6a3X5059roIMMy8N741K44pxMmZnMbMXb1VCspiYnc-z3XeAE-f-FV_ymswyRjtOc3OvRRxR5cZb6d0PuerRaE2IgSMge7bvJhg07w7SvibR8l9ONCilDRvIGYCh71RpQYrHNHVmPkuizP6bZ05pfsthZyeRU88tQa55v6hmaFloge8f9NtJXRsf7OJz5ae_b0JFrSegM93vUm4273U8QHFJ9vgAaSsDHZh09GDJTSLG_2d6j2pP81o3c3CbJFJVQOZCTXn0yTI6eWrrg-OhhLdJl8HO6F2FdozqfNCJhFeKEnvoEfMiAimN7b09-tOrUWT9Kz-GlNq8OQvanbnWjlVI42xUnKXyd9wIHB5xmS-ymn6F21ftrFOT-mFRXj3w633P-IqUI6emyqBMdxEKmfOrTzbDi-ClZBRNMHwc7LeGp6RlJ5FtmyNykoCJL7Fjb-tD_7brvevk_fu02o79dKv8HOIWSx1mfitm7qRMLKzXdXG38vSis3iZQAVEs6ui8GEj-Ed32lyGXkhFao85ftdvBzt6EJcXpgb6749mTYvUI=",
  "id": "rs_0a06bda72ecea66f016ab45301ef3c87d0b655e27ea9e06593",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.32,\"left_z\":0.075},\"note\":\"The white plush is directly over the red interior, with the safe walls visible around it. I’ll lower it into the open space next to and partly over the yellow object.\"}",
  "call_id": "call_4NRto36EsWTvx4zsbXu244bM",
  "id": "fc_0a06bda72ecea66f016ab45302b48087d081f1de6c0556a8cd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4NRto36EsWTvx4zsbXu244bM",
  "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]: [-0.9287, 2.0674, 1.3827, -0.26, -0.7757, -0.6136, 0.0417, 0.0139, 0.8005, 0.5663, -0.5457, 0.0708, -0.3332, 0.999]\nstate[eef_state]: left_x=0.3945 left_y=-0.315 left_z=0.0768 left_yaw=0.0024 left_pitch=-0.0408 left_roll=0.1442 left_gripper=0.0417 right_x=0.2637 right_y=-0.0052 right_z=0.1299 right_yaw=0.1368 right_pitch=-0.2267 right_roll=-0.2911 right_gripper=0.999\nstate[joint_eff]: [0.0205, -10.2632, 6.2974, 1.5018, -0.4567, 0.0122, 0.5104, -0.0889, -1.2239, 7.0632, 1.7607, -0.0024, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e9fd7b102fec590dd8de9fa2bffede26846fd2e140073aa278ca554926f128c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7025fbce67ab9712b1e19e92a564678f659a43e8d9a08ef599f9af7c9d9a180a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:948bf9adcd0767f907accefda9d6fa2d898830e7958b58b269038a914260e12b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 4.611 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]: [-0.7933, 1.8637, 0.5896, 0.5404, -0.7452, -0.4046, 0.0345, 0.0139, 0.7914, 0.5663, -0.4774, 0.0704, -0.3332, 0.999]\nstate[eef_state]: left_x=0.3501 left_y=-0.1798 left_z=0.0143 left_yaw=0.0048 left_pitch=0.062 left_roll=0.1446 left_gripper=0.0345 right_x=0.2748 right_y=-0.005 right_z=0.1446 right_yaw=0.1353 right_pitch=-0.1498 right_roll=-0.3004 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -7.747, 4.1504, 1.3846, -0.2369, 0.0757, 1.116, -0.0615, -0.8547, 7.0769, 1.8193, 0.022, -0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9272, 1.9587, 1.6527, -0.5907, -0.7837, -0.6083, 0.0391, 0.0139, 0.7994, 0.5663, -0.5232, 0.07, -0.3332, 0.999]\nstate[eef_state]: left_x=0.3987 left_y=-0.3177 left_z=0.1874 left_yaw=0.0051 left_pitch=-0.0074 left_roll=0.1138 left_gripper=0.0391 right_x=0.2675 right_y=-0.005 right_z=0.1342 right_yaw=0.1368 right_pitch=-0.2031 right_roll=-0.2935 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -10.8239, 8.7043, 0.9988, -0.5299, -0.0024, 0.7497, -0.0752, -1.3744, 7.0632, 1.7607, 0.0024, -0.0415, -0.0073]",
      "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]: [-0.9287, 2.0674, 1.3827, -0.26, -0.7757, -0.6136, 0.0417, 0.0139, 0.8005, 0.5663, -0.5457, 0.0708, -0.3332, 0.999]\nstate[eef_state]: left_x=0.3945 left_y=-0.315 left_z=0.0768 left_yaw=0.0024 left_pitch=-0.0408 left_roll=0.1442 left_gripper=0.0417 right_x=0.2637 right_y=-0.0052 right_z=0.1299 right_yaw=0.1368 right_pitch=-0.2267 right_roll=-0.2911 right_gripper=0.999\nstate[joint_eff]: [0.0205, -10.2632, 6.2974, 1.5018, -0.4567, 0.0122, 0.5104, -0.0889, -1.2239, 7.0632, 1.7607, -0.0024, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e9fd7b102fec590dd8de9fa2bffede26846fd2e140073aa278ca554926f128c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7025fbce67ab9712b1e19e92a564678f659a43e8d9a08ef599f9af7c9d9a180a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:948bf9adcd0767f907accefda9d6fa2d898830e7958b58b269038a914260e12b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFMGvaW8f9XibPlRBTlaVzPj3iCIVERtqe2ltg286T3ULdUNK9bB3N4d3kX841Csp7qdQG1-_7fOJfyS8AqJNM5KE8cFrBotNaVanRyxOGW2td5isp7Q38Ci9tSpUbFmNVCVLQLTSEUTUMBEK945Ki35q9NvXoD0Bii4amYawB15ePmEVySd7ZZSADdqD5rtnqWx-xgNlxG_ZJ_URG77ZZSS_LSUzlTXwHTHO7Fb5FiWhH9vuklxVE6XrGCvCIhhouThItgLNIsC4g5ymWL4ElJxOJbIQnfZtco4wOZngjzpRCr3HwlRdA-8oyrlsjvUpcFy_NVVdoDJSpYPbBrRl8WwSNwXeQCuP6VioCthn0YhSnRisnT5DwJ1I1R8lajjKsMR92GBLfouABL7P0fvEBDPwsxw-W77jZEWaTK1bKhbLpZV1uyRlaoaa3YCKncWZgwnZQjFw_Tx7OJFE0r0BoQd5qoWGVFA2kArBtuFHaavLVUMbacKoGnmuK5P9Poipmvj_BfYn9xzNFdUaz6IsWerRcO0D58N6pr-y170aHCDVQV97majeBpwkEBG-Flmbl-PLdU42pgiTxu5OcVWcunwRTLSvEj3DO2-CD12tZX5WarS6m5XG2yl51rO0bShngAvcIGXmfRUn5zduMNMhJA2EbemlIsrostjLVqOvpUUlkFfnw-4FopYkBIPdMqlr5vhpHRAcDwa16J3KnYdgIHWIrTE1-TBafSJKYrFXY9K23Ro-C7Fp9xdmbNTFFL_gO7Nc-38ftdAQh2JSjwi6byCid2Nd5R8nMCHD9eNwHD6M4T7K6LqxhlSSmrkwOclcpLJaGnNEV75xRxuW1rGy94W2oenIVsFjXESoxAcaGaJYMG-Os5v0i8Igl2v5N2GzBrTjmqOi9y4L3pm48HrS9ZeRMRpIlIqrV-sjaEEQIbnpJir7hTSbDpCI1C_YXXSRNvlNYgMBzRas80zeDhAyxeknsiZFfPun-7Cw7xvH1jQIZAwx2UUMxKfeyVrGB9czbGC1LqLmIzfmmBJwtOJNj2ib33tAfn4st5i8abnZc6YamagYd8eFtG2bzYqNx5XIUH1bJbOap6Pv6kAF9kzpSQm-YSbrvurPzjhfmbPx6_iRg2hhuDUDfYm0COFjs0VYKVW8W45Jw5sGQ-Tkkj44nq7BxlOlQ0Ayx1D1UeASjvW6y0BqR_PJPXE5p47sjm30LchXi0cMXlzuCCw2OKs7gycSw==",
  "id": "rs_0a06bda72ecea66f016ab45305951487d0aa277f527d74d2e4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The white plush is resting inside the safe and the yellow object remains beneath it. I’ll release the plush, allowing the soft body to settle within the walls.\"}",
  "call_id": "call_qY1l2FGTf3aWaKYqcOA14K8w",
  "id": "fc_0a06bda72ecea66f016ab45305af6487d0810b828bebedbf76",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qY1l2FGTf3aWaKYqcOA14K8w",
  "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]: [-0.9291, 2.08, 1.3731, -0.2695, -0.7753, -0.6178, 0.9953, 0.0139, 0.8032, 0.5625, -0.5682, 0.0704, -0.3328, 0.999]\nstate[eef_state]: left_x=0.3915 left_y=-0.3115 left_z=0.0666 left_yaw=0.0054 left_pitch=-0.0595 left_roll=0.1661 left_gripper=0.9953 right_x=0.2591 right_y=-0.0052 right_z=0.1238 right_yaw=0.1378 right_pitch=-0.2554 right_roll=-0.2868 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -12.2735, 6.7761, 1.2821, -0.4029, 0.0171, -0.1099, -0.0615, -1.1556, 7.1726, 1.6923, 0.0024, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b638080ca42da40d94ae294ff0b1f8efa1b48594a96b1795a75dc0c90ead47b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96c7ce6a31e68ecad8fc2cbbdc10ac22bc1f3d8cfd365bafe795dca98b89d4c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ae678a4cd44b76190b58ce50fa3f34e4c43d13921afead00fb7e8b0343972eb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 3.091 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]: [-0.7933, 1.6253, 0.6621, 0.2302, -0.7456, -0.4164, 0.0378, 0.0139, 0.7959, 0.5663, -0.4999, 0.07, -0.3332, 0.9989]\nstate[eef_state]: left_x=0.349 left_y=-0.1786 left_z=0.0751 left_yaw=0.0116 left_pitch=0.0637 left_roll=0.1339 left_gripper=0.0378 right_x=0.2713 right_y=-0.005 right_z=0.1393 right_yaw=0.1362 right_pitch=-0.1766 right_roll=-0.2968 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -7.9658, 8.0889, 1.5165, -0.3346, 0.0952, 0.7839, -0.2256, -0.9368, 6.9128, 1.7949, 0.0122, -0.0171, -0.0171]",
      "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]: [-0.9287, 2.0674, 1.3827, -0.26, -0.7757, -0.6136, 0.0417, 0.0139, 0.8005, 0.5663, -0.5457, 0.0708, -0.3332, 0.999]\nstate[eef_state]: left_x=0.3945 left_y=-0.315 left_z=0.0768 left_yaw=0.0024 left_pitch=-0.0408 left_roll=0.1442 left_gripper=0.0417 right_x=0.2637 right_y=-0.0052 right_z=0.1299 right_yaw=0.1368 right_pitch=-0.2267 right_roll=-0.2911 right_gripper=0.999\nstate[joint_eff]: [0.0205, -10.2632, 6.2974, 1.5018, -0.4567, 0.0122, 0.5104, -0.0889, -1.2239, 7.0632, 1.7607, -0.0024, -0.0366, -0.0171]",
      "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]: [-0.9291, 2.08, 1.3731, -0.2695, -0.7753, -0.6178, 0.9953, 0.0139, 0.8032, 0.5625, -0.5682, 0.0704, -0.3328, 0.999]\nstate[eef_state]: left_x=0.3915 left_y=-0.3115 left_z=0.0666 left_yaw=0.0054 left_pitch=-0.0595 left_roll=0.1661 left_gripper=0.9953 right_x=0.2591 right_y=-0.0052 right_z=0.1238 right_yaw=0.1378 right_pitch=-0.2554 right_roll=-0.2868 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -12.2735, 6.7761, 1.2821, -0.4029, 0.0171, -0.1099, -0.0615, -1.1556, 7.1726, 1.6923, 0.0024, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b638080ca42da40d94ae294ff0b1f8efa1b48594a96b1795a75dc0c90ead47b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96c7ce6a31e68ecad8fc2cbbdc10ac22bc1f3d8cfd365bafe795dca98b89d4c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ae678a4cd44b76190b58ce50fa3f34e4c43d13921afead00fb7e8b0343972eb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFMMU3PvfwlSbulG6BSzbpYf8AezfsK2L9Wn2-wKLjuM6JcqHb0VQia5KqMif-gdpmt91Xhf1ERWpmdSqZr8ieoxAH4AW65TrK7QRXuAH7Iw0TbUrXuB_AHLi-qO0g1NsC08xbZVT7iUJsNUDdq4QLkmnjwXt932guQD0l_jZE0bJLVcdikzdXn3Hqi8by3Qb61TQ9DVuxk34LlnD2MNWmzjMJRHIVWGYYCYI_Q7Ur8o6gBjcGXDasvijXprtmRl58Gt06kgGCRxYngbx75JqCRJSDD_QC37ONvdqj5lKsnma2w90NSl9bTa0LWiusTPmj1dxD_3i2hUII2HVt2MgF1h_kK7Pc3ByHhgenjbcjjc9Yloaursl-KJpBXAS4qkOw408ElLvbcFsj-0ztn5jQikLVmK8OSt3aayy815HfUTPk-J2zTBTHDTATz-n31kvmraAXLfxCI83x4kc4vakfpfp3F9EsUeLcYTN5d4P0O7hN5nbh9KRUfnvdhUxOGwcjX8o6ZX3qqu2A6XmhSvuVVgoI_u2ZT5oS5hVrcUbrLfwrguRgSgwGpo5eykl4QVAQgjGcTfRr5xrU5Hai5iTdCVjxhGoXIVZhOqQqB0Qru0ZK0NtABHrUD7laG73aTdFoPcefP72Fa7xlqr9Kxy0AXWGaUI6EvHnd8Zp4QVmGLQZca-mk-ydyZsHTJRsOEy3NCfgYm00JTgYWsGglhe0aUe3f41lQHjOoGkKHWmN56rA-nOIwuH-Ywp2l34qtpk5wK31DLNxXn6_PwjgS3GJPe1DM9GQASwwzV7F1icchWB0VH0WUNAlbN0NmtDCKRPsArLlhmoWWtVyE-8rutvys2MbyTyKNmJTs1M_ls-hcUTARdsmuv5WJ7X_2_2ubaJhoRDZ7aGQ_zQ-phpMjNVmvJ2-Mh8KVDEdSUmpQ2JlEQLOIQHqZIOG8RDDzCNkbLV65hZL0ojP3-JrbgiilfFV_M2S3NoBtWzrnXXV3yKX6b0gst-BZzsvZRvflCf_mLQwYTNcrdK6C2TMRAuPKOLIa2ZuHdkA17LJn2OTNvjoRrM6ISceqwstEyXgzJJiEHaVloi7omlsJ_BieTMiOz3x9-FWZ10z7R4TARFGsvc-mF4Vu5Opr0ea3MeDXRHbaq2RRP0GtLnzRsqP0mL_UbmZs4Wfr50dvM6LgeGHgd9tovWtRC_KyUYzJrlm-JGt5iW3rgXFvjG64DOmqzVyhdD5-6BrV_ItOCWiA4ASUEROvD8ta_jBm5yqprAd0IST9DBzdr4-r3vtQo3WBEA6y7JfwhuL39c4tVqTXophYFd4JMzfbTnd2dU6ApqTkMGHdFl3BKcgyS3K_RQHjQR8dolJWMp5EK1Z9LgEVBFZlVKLb-RJbnfbpR3Z_Q-v0xttBIgnIMO-_bRr7Vro97ENyf0F0iyifUk8Czk22Xi_ltjSw8A7U2MaoO7rI8cRWldc2jG-N3YKZE8jfE4T0ryV_9NCUcndtArRH8M4VI-zS4v41rh4Myhl-RZ5Bqg6rWQ04HEiOKKUClzMOUNRC0OazkbT0qhLCjCbfWhfm0Y51ARlz8fFsBohqaYS0Z0kIzpD_mVC-qLEHiwPuyEKDIett7GfqIAE6jljXdNMlBwbq1J-VgAfIvwEYaU9pnihCtaBYOfrpS7vCBHySQjj_UbzrcTIzNfqKK_l4qnUTp6eYUkFFKQ2OsQwcr4ZCfX3woyLZhqIubkmw92sAo41zbeDsoXpCCe1_VC5rbTNEAj8rYld3fe7THpuIi5hISNNftWO_g3_wodGZN468JUMm-HMIuWjT1ZPAZJQi4415Jy1xI30oCull1gRESZP5v7cnBcxoM0NGAwPuIMM_PyUQUYmrB_OBZohyTuNRPAiS6gMX8qXc9UI0xQqTGMTS5dkciKh3jyE7F_Lz_KgB-I87iQROgWlrd0KCxe4LAT77ai6PmdxS5LpCQnqs2LEDUJTaCmN9jDMeEb6MwRg_0LmbiJ1aqJMgb_wxCfS9rqwsEd1I3DE7muTwfsEmNMooeVpBPvABpxcKYA8057FuMZsko-umwu1o42FSCQwfPbOydftJa0Iat0Z1Bcs6E8bzbIG6s80Q7_X_FGFcc_9xVRdHaoGJVfss4neiX7--RJPDh2NCg70J1KcWo0I4dQYYkWnhOcjOI8MiTVCMnjVp7LVioBj1G79bgBJw1WS52mqupsnlQo4pKFzjRc5pchqJCfPBF6xDJtmAbITKcJYIoszTiJq9CxH3_b3o2IZpPUmBg9_KWw2GZBlEEmMX2BS_tv-nZTjVfzizHxVObnWjdemBAULZyXomz_Ct7vYOMExUcHIwfy_ksa-VxuzBvCR2f5VNSVxjkWjR-9DJqkIt6b9yCUduCaAzN7xzBzN-PXSiismUUVJ8r8thlm86ovxGXINKcARi6Y-W-R58aCzRu90YYUeHvnbxJDgnsOXJ1sR3pJNfNXT_oKAMMY_r_2L7jr1T8qRpFuhU9PUf_azIHpF-oV1JRdGxlW69W64aoBMI3ep1hGMvVQCiMwAOOjfEi2xmWkSmfkT6IC",
  "id": "rs_0a06bda72ecea66f016ab45308ab2887d086c72136c1ea7899",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.293,\"left_y\":0.0,\"left_z\":0.18,\"left_gripper\":1.0,\"left_pitch\":0.0,\"right_x\":0.293,\"right_y\":0.0,\"right_z\":0.18,\"right_gripper\":1.0,\"right_pitch\":0.0},\"note\":\"Both the yellow and white objects are settled inside the safe; only the brown plush remains outside. I’ll retract the left arm and restore both arms to a clear parked pose before the final pickup.\"}",
  "call_id": "call_OgQC5drucEXPMjhZrpLGDUo5",
  "id": "fc_0a06bda72ecea66f016ab4530ae91087d0a54fd10c16638025",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OgQC5drucEXPMjhZrpLGDUo5",
  "output": [
    {
      "text": "executing move_to over 28 steps (2.8s)",
      "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]: [-0.1719, 0.82, 0.6128, -0.3882, -0.284, -0.0231, 0.9984, 0.0189, 0.7834, 0.5625, -0.4213, 0.0631, -0.3252, 0.999]\nstate[eef_state]: left_x=0.2954 left_y=0.0026 left_z=0.1791 left_yaw=0.0613 left_pitch=0.0067 left_roll=0.1564 left_gripper=0.9984 right_x=0.2826 right_y=-0.0022 right_z=0.1557 right_yaw=0.1414 right_pitch=-0.0881 right_roll=-0.2971 right_gripper=0.999\nstate[joint_eff]: [0.1026, -1.6342, 7.2684, 1.9463, -0.0269, 0.1343, -0.1783, 0.0342, -1.6479, 9.1009, 2.2491, -0.0757, 0.1832, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7757ab37068f9a73c16ede9ae34e38866f39b0d674e197577b01470fff1a1bef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:524175c9463a36e21f8db53f4540ac630f269af8adc349e5a036008964a201dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98e215c54461127bbd04c7e34f74794782d023c0ca012952beac377d4b02485b",
      "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 · 3.864 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]: [-0.9272, 1.9587, 1.6527, -0.5907, -0.7837, -0.6083, 0.0391, 0.0139, 0.7994, 0.5663, -0.5232, 0.07, -0.3332, 0.999]\nstate[eef_state]: left_x=0.3987 left_y=-0.3177 left_z=0.1874 left_yaw=0.0051 left_pitch=-0.0074 left_roll=0.1138 left_gripper=0.0391 right_x=0.2675 right_y=-0.005 right_z=0.1342 right_yaw=0.1368 right_pitch=-0.2031 right_roll=-0.2935 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -10.8239, 8.7043, 0.9988, -0.5299, -0.0024, 0.7497, -0.0752, -1.3744, 7.0632, 1.7607, 0.0024, -0.0415, -0.0073]",
      "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]: [-0.9291, 2.08, 1.3731, -0.2695, -0.7753, -0.6178, 0.9953, 0.0139, 0.8032, 0.5625, -0.5682, 0.0704, -0.3328, 0.999]\nstate[eef_state]: left_x=0.3915 left_y=-0.3115 left_z=0.0666 left_yaw=0.0054 left_pitch=-0.0595 left_roll=0.1661 left_gripper=0.9953 right_x=0.2591 right_y=-0.0052 right_z=0.1238 right_yaw=0.1378 right_pitch=-0.2554 right_roll=-0.2868 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -12.2735, 6.7761, 1.2821, -0.4029, 0.0171, -0.1099, -0.0615, -1.1556, 7.1726, 1.6923, 0.0024, -0.0171, -0.0171]",
      "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]: [-0.1719, 0.82, 0.6128, -0.3882, -0.284, -0.0231, 0.9984, 0.0189, 0.7834, 0.5625, -0.4213, 0.0631, -0.3252, 0.999]\nstate[eef_state]: left_x=0.2954 left_y=0.0026 left_z=0.1791 left_yaw=0.0613 left_pitch=0.0067 left_roll=0.1564 left_gripper=0.9984 right_x=0.2826 right_y=-0.0022 right_z=0.1557 right_yaw=0.1414 right_pitch=-0.0881 right_roll=-0.2971 right_gripper=0.999\nstate[joint_eff]: [0.1026, -1.6342, 7.2684, 1.9463, -0.0269, 0.1343, -0.1783, 0.0342, -1.6479, 9.1009, 2.2491, -0.0757, 0.1832, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7757ab37068f9a73c16ede9ae34e38866f39b0d674e197577b01470fff1a1bef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:524175c9463a36e21f8db53f4540ac630f269af8adc349e5a036008964a201dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98e215c54461127bbd04c7e34f74794782d023c0ca012952beac377d4b02485b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFMRlCxsjkrw1bOsfl43SJkwjCiSmb9oqCTFG4Gi7f6bIj9QWqcHBpknCtzThdBOjHjoSwggJCR30W8QpwpFyRCM4VIJj327VLMCicmFtxZM6v1LnISeRY8MlVPnB0kdNHw4nkuhqKTfxG1Ts5I5UF_P-x7f00VWePo7uUL27aBVxXuFFpUBt79U-xfPm8lKqwIjIpqP-T-Gj0kvV39zb2hK5GWIGi2nbO-2WAj9bhB8ARH6WIqR4x3Soe_pLHYCANtGvHWH0LvoeqfTvaemDQyIKhQaTxQh_DZdyNqHl_X2knaL700JOEkVA3MAK0wl93bzeEs05uAu3HQTf-Sq37O1o8GmF9mZQ7Mghhwj3Hr09-XClE509Xu-RdN2eu7Bai7uWAfKcujxgsTX_5ICw5AshrJPfd4EqN8xrXVdy3swHurv7yo88PFXsYiRQZU9vBqZJIia8mUrhnLcUi_B9gHDzjTRZcXrYEF66Z7gCixd-vo2N8-nXogVSFg349o8XAwnd4pG70NX0C0zwZa_QnzXh9obv9-SE3XkyDU1fUXx3-xsv4aLGclPjYNsHeEVRIeEWzYqC-MsK55feqQtobmTzflxlfS03csMSUMunBWxuFAEomcLOLNS9ZJSemjOsP38jzE6w9MVdK-wmBTxwqbzqktNqIPAMA6yB62qCRnX0SCrinIT3pIeGb2Lbb6OiAn3WmGyaJdAJb0DN2YVrD6ZO34frBN_wPHOp79NofMrsxBC0BSe-XkMpD-LhzUOxuoEzScvPiRLBQ7c23GyzLccSQQuH0JBUkvyPfDDXEvAS0I_9ZJzhk0dCeJQg5WRvkd3njebH2OIuAPCk3F-vv6eU2Gk3ygcRszpm4uwf5ySKSz6mHYDpLvvDMdcT7o_GpjaiaTeCT-iZ3WXAfWucVGDn6tJsu_rR1dsxIny0h8Zn_8hjCY1VZf3nwqZpMT0UXVoTAAXV2-ERD-m16oYbMiQEzt-BPR3ySYJM7q5P2KyJpZZ2J2vf6y47bhZMVVzRkN3dQvCwRb3NHj6JkJBWsJWEg6FZFVC9ypWxW5TZat3109Dve6H_Bg_eRQrcjaS9mBQjVOeLPnSGJ1H1Q1lAs0Q_3i1BHRCPw7PLgLIMuSseLV_8SYeNG5KFOD3JRI1EJJe8IhYHtFntrpNkYq866Z0euZSqSTqlfNe0nQXjqRyQR-rUi1yXBOX0j2qP7biOziAZaiOF3Ue93GEAHj9whh0yeioWCufFyoW_Cp3a1JIvcFqqkYDHYayWFWEQy17G3AbGVhOEgC42VUDc6dGPgL3mZGM6R9bC13ZWjBVjG6mNY4U7M9zwfFwvKxDuUtS0e5wPW0Xuz-5p4SuX15a5U0rGY4HhAoXfpYWKDIeKh6o9sIT6AAAqypIwl1bK9z9HSf_k9LRb-h4OugLs3unyQOA49I6InTCprQrxXckzoYR_I2LkGCyIH0QDdwik9oXxODpOukaN86YqSmXdj0zs0HloQ==",
  "id": "rs_0a06bda72ecea66f016ab4530ff60087d0ab28e40b81aab1e9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.24,\"right_z\":0.16,\"right_gripper\":1.0,\"right_pitch\":0.0},\"note\":\"The two placed objects remain inside the safe, and the brown teddy is isolated just right of center at about the same radial distance as the parked gripper. I’ll move the right gripper above its torso.\"}",
  "call_id": "call_cLDZ2hiolUo6YPTrXDOBopOm",
  "id": "fc_0a06bda72ecea66f016ab45310d11887d0bf10837e55106c0e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cLDZ2hiolUo6YPTrXDOBopOm",
  "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]: [-0.1696, 0.8246, 0.6128, -0.4118, -0.2779, -0.0235, 0.9982, 1.0039, 1.486, 0.9539, -0.4011, 0.7975, 0.3618, 0.999]\nstate[eef_state]: left_x=0.2925 left_y=0.0027 left_z=0.1731 left_yaw=0.0588 left_pitch=-0.0215 left_roll=0.1592 left_gripper=0.9982 right_x=0.2939 right_y=0.233 right_z=0.1471 right_yaw=0.1778 right_pitch=-0.0501 right_roll=-0.3336 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -1.7436, 7.2684, 1.8926, -0.188, -0.0317, -0.0366, 0.2393, -5.9692, 8.5675, 1.3016, 0.7302, 0.2418, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5cefe67add130ac2f037e21f543dca93bb1ffddda8be4a00912e53082d84d07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caa17c6f36603d3f4876cba597b5a32c4013077ec9279592abd3677bf86d2898",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f54b8f0053204826e721f28a1752451037705c977121cd731ac639becf9cdcba",
      "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 · 3.238 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]: [-0.9287, 2.0674, 1.3827, -0.26, -0.7757, -0.6136, 0.0417, 0.0139, 0.8005, 0.5663, -0.5457, 0.0708, -0.3332, 0.999]\nstate[eef_state]: left_x=0.3945 left_y=-0.315 left_z=0.0768 left_yaw=0.0024 left_pitch=-0.0408 left_roll=0.1442 left_gripper=0.0417 right_x=0.2637 right_y=-0.0052 right_z=0.1299 right_yaw=0.1368 right_pitch=-0.2267 right_roll=-0.2911 right_gripper=0.999\nstate[joint_eff]: [0.0205, -10.2632, 6.2974, 1.5018, -0.4567, 0.0122, 0.5104, -0.0889, -1.2239, 7.0632, 1.7607, -0.0024, -0.0366, -0.0171]",
      "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]: [-0.1719, 0.82, 0.6128, -0.3882, -0.284, -0.0231, 0.9984, 0.0189, 0.7834, 0.5625, -0.4213, 0.0631, -0.3252, 0.999]\nstate[eef_state]: left_x=0.2954 left_y=0.0026 left_z=0.1791 left_yaw=0.0613 left_pitch=0.0067 left_roll=0.1564 left_gripper=0.9984 right_x=0.2826 right_y=-0.0022 right_z=0.1557 right_yaw=0.1414 right_pitch=-0.0881 right_roll=-0.2971 right_gripper=0.999\nstate[joint_eff]: [0.1026, -1.6342, 7.2684, 1.9463, -0.0269, 0.1343, -0.1783, 0.0342, -1.6479, 9.1009, 2.2491, -0.0757, 0.1832, -0.1148]",
      "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]: [-0.1696, 0.8246, 0.6128, -0.4118, -0.2779, -0.0235, 0.9982, 1.0039, 1.486, 0.9539, -0.4011, 0.7975, 0.3618, 0.999]\nstate[eef_state]: left_x=0.2925 left_y=0.0027 left_z=0.1731 left_yaw=0.0588 left_pitch=-0.0215 left_roll=0.1592 left_gripper=0.9982 right_x=0.2939 right_y=0.233 right_z=0.1471 right_yaw=0.1778 right_pitch=-0.0501 right_roll=-0.3336 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -1.7436, 7.2684, 1.8926, -0.188, -0.0317, -0.0366, 0.2393, -5.9692, 8.5675, 1.3016, 0.7302, 0.2418, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5cefe67add130ac2f037e21f543dca93bb1ffddda8be4a00912e53082d84d07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caa17c6f36603d3f4876cba597b5a32c4013077ec9279592abd3677bf86d2898",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f54b8f0053204826e721f28a1752451037705c977121cd731ac639becf9cdcba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFMXwLq3nSLoQa2k5Qw8e24gaAGqnNaKpq1Jr-fd9rLVmyI4tcmIOlbYY7aYkaBgqhu4BDkq30TGkzimTBNQIA05HCsZFXAsQU48-bv3tuSJBnAWzDMh9I_1UULGhs3T5eXR73X9HBoQ6BgZSI_QNj7gth1DBGggnyWRqvdcVxYQCUKWY-ha-BALspHVum-G300IuKvdAXrEF8IaWuH7bYH_T_SXNLHfOvJlI9kGmV_IoyM0UbApvR1ixSnSwZ6qzFf2YkdI9RwzxYyW_fdy3wSRxjW73rMGBxYUbM69TuIbDuAPV2SIW4HPqmLHDrDmSXyOScE9LLzu6B-42PnVZmZhOx7d0J4PGJUG-jSW5te-0qj3ZGsTE7YgZZ7NxJyV8RlmA7DKiRPCmwJgKngXn7-Dr0IpQxiVOXzC9GgINsoHbmeqtNogCcJTFEscOPmFH29Nu2VZGqNpsKUOyUg4wvwOaG6hO6yYOwiEeypJB6GvK6zB8M1dOBZsYnEWygI2pxSBllf0azAOSSZa9w11aunN3J1OcBbZL9xGg6JyKv5Qm7Qxn1RHioZ6NQZ80NVPW0MXxPSxLtiw1t7ikkfYS-kC7wmEYtz7jlwvXK5CVC_My7dx6AnZ5YIbtiJ3am32tql9dQxXl75VA1SHC15WdOFY-U2AvXPmj002orHuSpViX2NsFIbI-CZdH7Z4vyxdHVqbyaxWOAMrr49wSCHJEy19JgLeQrU0c8kzQopYM4qKR_mBiNEurAfOszUqzb6OYvOhYv003N0qDHEQPTAZMHNWAWhRllTWL_bBftz_ooaNhBfab6uDDZZdUCJqjsfy6qOmSB4ujh4mf_rBqjV4rU75AQzOSJ78F-8RpJQKQD0mKvvdBncZbjjbGdVmt3MU-9F910xxPndEEBJyMkKwyGtxgdgpQaFj0bbI1vb-rmwljSIgkAoqI15qZQdB_nD4vQMj9X7XO1aR2oUGp98GsVzRii4BrY17USKGAoBU4N9KBeP4MLYeTWlLmaztbyR6Hnq565AKqM7A762InXRI7HOZ_RXKJcxgKks8WXN9znjhHSXTEp4vek7LhTZ14zNgK7R3k9BD9RYTbvIVrSkBVoRJ6CmD3QAjPdznDD1vHtMgeBvYPSJsZ3n3xv9tlxBXcb0OSpUigGOnNa_XxWgPalYsaPBhWfiTMrsKhP2u-N1Fkbt76QKpT7DIFjONkluUtU0khSaioqC7OcGBgDyBX8pNiaksVizpyxqL6-hFp42drHzbbwgwsPhGIrMsWIZR31qn1SWNz0y0F9T5PXgvJsQL1TWeLgGVneqwIvStqzVBm-4SUbnKfcflfiBCxPMk_6Lig6i7BIA_RVqx4ALbtH3AcqHstxkYgS8xqJYljr1QJUlw2A1rBgHdUCoM4MfYausL62a0IqSTkYCrs8y3mdstfq5n62by76KyE8neBAyNvewtcbCj84SmW17H7MvIbZGPDb_Ka1RsPD3ECJkRG9GEvC7Rk7eLTfS0ECz22DqtXlwDj1Rs816tL6_eMhVnL-9XYjuvp6JjmDOoTXcQjTJpa5bWUMgq8blfWLAImhQnLT4h76HYIR1C8y54VOIDihOpp9eXPwzbJBo-fza7ylLoEKKY5BDkqtOSF0beCDuymZAkqW2PYx771jHEqXaTwgtcB4u-ODWQt5AvdJzbIsTPxwx5MrnvaECQ4terHf98p-8WgovBOqq90p5WcOLlfy3TdlGYK9-nHAGNsKeJIRPNGZmQzYGWRt9v6GrpTaJlwhBm-UL5wwSu-3wXSBGjU1rm324G6w9J0tN4x7ozxrWmaxKjCBYefalF4lgB-T8wGkyfyx5c1VodTZavGn-FcSQChmavnW1Wir-8jewftegt-hSSODQusgr9aDB0-PrvjAS1NWLh-pT1OLgrB1d5EM4wZ8hJZLL4TsnmOLmkK1S_gXYs0O-OxgWQ_tyx3dRRK8aDijh6cXE1SYyWDkF2RzkA04W9_kOCIklavFmm8idSzaGo-k1nMbwP_S-aINx3L7oxo7unaaOMWuu-3kG6QIhVzgzeSTpfH6Q4LpnvyQEB3iS6HuDT82sG93npwa66qGK_gXnVcJ31Xq0-Y3eDUIPjQHdqBjSjqBaUSY3N01S-JW7-mVbvEIxJF1G1qfknLxU=",
  "id": "rs_0a06bda72ecea66f016ab45315076c87d08416fa267d5fad3e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.275,\"right_z\":0.035,\"right_pitch\":0.1},\"note\":\"The teddy’s torso is near the fingertip line but sits left of the jaw column. I’ll shift the gripper left, advance slightly, and descend to table height over the torso.\"}",
  "call_id": "call_K89AejxvWUN8Vdb4B6XMDKnj",
  "id": "fc_0a06bda72ecea66f016ab45316fc0c87d08e33faa256734e86",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_K89AejxvWUN8Vdb4B6XMDKnj",
  "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]: [-0.1696, 0.8265, 0.6128, -0.4278, -0.2779, -0.0238, 0.9979, 1.0588, 1.8786, 0.7963, 0.2367, 0.91, 0.3405, 0.9989]\nstate[eef_state]: left_x=0.2904 left_y=0.0031 left_z=0.1695 left_yaw=0.0591 left_pitch=-0.0389 left_roll=0.1629 left_gripper=0.9979 right_x=0.3078 right_y=0.2703 right_z=0.042 right_yaw=0.1728 right_pitch=0.0695 right_roll=-0.3426 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -1.4154, 7.1726, 1.8193, -0.149, -0.0708, -0.0415, 0.3077, -6.5846, 4.2872, 0.8571, 0.2369, -0.2369, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6eeed9c42eeaf76d168946ca4923ad78c075a83202279e0ed667459c06f20695",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0bb8e9b99fb2052df482bece3b46520ac53861737323034e2dab1b278d63929",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f113ced6c0e87c7e2c15e31939c8dd25aaffb133de139f4d0f0e52eafe684219",
      "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 · 3.637 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]: [-0.9291, 2.08, 1.3731, -0.2695, -0.7753, -0.6178, 0.9953, 0.0139, 0.8032, 0.5625, -0.5682, 0.0704, -0.3328, 0.999]\nstate[eef_state]: left_x=0.3915 left_y=-0.3115 left_z=0.0666 left_yaw=0.0054 left_pitch=-0.0595 left_roll=0.1661 left_gripper=0.9953 right_x=0.2591 right_y=-0.0052 right_z=0.1238 right_yaw=0.1378 right_pitch=-0.2554 right_roll=-0.2868 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -12.2735, 6.7761, 1.2821, -0.4029, 0.0171, -0.1099, -0.0615, -1.1556, 7.1726, 1.6923, 0.0024, -0.0171, -0.0171]",
      "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]: [-0.1696, 0.8246, 0.6128, -0.4118, -0.2779, -0.0235, 0.9982, 1.0039, 1.486, 0.9539, -0.4011, 0.7975, 0.3618, 0.999]\nstate[eef_state]: left_x=0.2925 left_y=0.0027 left_z=0.1731 left_yaw=0.0588 left_pitch=-0.0215 left_roll=0.1592 left_gripper=0.9982 right_x=0.2939 right_y=0.233 right_z=0.1471 right_yaw=0.1778 right_pitch=-0.0501 right_roll=-0.3336 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -1.7436, 7.2684, 1.8926, -0.188, -0.0317, -0.0366, 0.2393, -5.9692, 8.5675, 1.3016, 0.7302, 0.2418, -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]: [-0.1696, 0.8265, 0.6128, -0.4278, -0.2779, -0.0238, 0.9979, 1.0588, 1.8786, 0.7963, 0.2367, 0.91, 0.3405, 0.9989]\nstate[eef_state]: left_x=0.2904 left_y=0.0031 left_z=0.1695 left_yaw=0.0591 left_pitch=-0.0389 left_roll=0.1629 left_gripper=0.9979 right_x=0.3078 right_y=0.2703 right_z=0.042 right_yaw=0.1728 right_pitch=0.0695 right_roll=-0.3426 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -1.4154, 7.1726, 1.8193, -0.149, -0.0708, -0.0415, 0.3077, -6.5846, 4.2872, 0.8571, 0.2369, -0.2369, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6eeed9c42eeaf76d168946ca4923ad78c075a83202279e0ed667459c06f20695",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0bb8e9b99fb2052df482bece3b46520ac53861737323034e2dab1b278d63929",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f113ced6c0e87c7e2c15e31939c8dd25aaffb133de139f4d0f0e52eafe684219",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFMbw-ioIf-MJBBQ43AzIgtsqwWsKFU-ZyPX0QjMwirT2V7EcCwpTf_hR73XjKAPGt_zqlo-vFBpnMEVO5_rrrWlyMW5qnmprDS-7Oz07woKJhV-wb5GPmUwD_3AWEdX3BywB5p_oZPkbtcj1YMFSSJ1e7AZixoJ3qHKRAt4hSOttxauKe6L3La7GRLi0aDkYF55BswMSQLZshdrlxv3TNp8LlWZ2GTNE0M_d4zIr1h9VzvDJaZVke01epJ-ERxkvCeMZcrmuq5Rkt1foCfQwR0xj1IGxS3idOifUyP9_j1iL0tRdq4MVgY94TYfXWM74XGINEVMUVr4J1jTq23kcaJwp7kdjdf22yf26pmEQxCfZmC1bOamNXx9SZRQj96nQG_4e3TN2lQV24n5xW1r3a_8WM3loB_fARNagSs1lhX7AlgmGAGvK7y5vhgzMteaknlDeQvmCRoerQA7GtEPzg1kOozcZUKn5g1_INb2ecfyyp28xENgEq_U1d0BZP0dJanZ2af4pnFpWLrZSNwk8aKttqVG-pSFqMsaSkOGZusCNRIGSVYzY-M9p62L6XTfXveo1n5Snnqf7f8IBrD4jDNfYNilWETUVJerk8x67z9Zsic5q6UaNiZc6wYZpg7Ria2kNOwnbi6l4ojVmyxXBhn9k9lMpWG1Yw5mqWzHrjoZ2vIun_dMmow8-amJYxgqL7H6hXiwu5IG5pE-TXF3so6qOKshRTMC19Pt6yWYCw-Ky_ylLZnsWZFuB_zhBsh63KVZBeUcwPIW4j4Nz7baZqKj3WPj05MBUlGVsx6EViP2Iz5vwlrUcop1_Q8ERvlI_fAAkZSk0wpdtVjC7d3EDFMvzqAIgEe0ZwLk7srhbS0Gh2YM_c9qEMVcd71xdwJLCBgTQ90eY_G-QGjOV8tz6uOnOpyG5SmvgQxvV0ZG6auLjXW4DdwnUtZb_nSROsoPdj9BI36F7T2kpmYUaIg4IvMpN3rumMGuWyLW_Zz35yPrTiBp4aGcouXnH0u4wJYdO9y5cxqIQ1tcbATfVwzXEa9byfSNtPZgnH0dpsiRUzhbyxwPoMg6wMkoSeM5vFKKNy6orhbgmBCkuQ9TwAAhPhSQROzxELdAXv1ZKax8axyA3_3QqEVmsUyDExZ64oFuDeT01vHAuwCTtrpvNaHxIz7yu750m3dJc2ot80ebIAli4l4YTrClWYgaQPNoC2LuO2J6_HkaRa6rlPkC-9vzUVWUKtjHNeyRsUQOelGcQIKYUOXcr_qA06cwlwa63iXn3Jd3L8TDo8YtRtty8Pv_YgUevuQoIrtGsgZQ8Hfu2ZAmYcBcHJLZjudO4qYSxELXEdZikX0GnIAwSbvvwvwyNk8Kj0ZSf2iiZM0MAsli6iqi1-tH6UlQ85cELKebaf9hT0jtHiMjdKyL-wYpu710VCRlvA==",
  "id": "rs_0a06bda72ecea66f016ab4531a3e0887d08fb7ce91b63ea3ed",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The teddy’s thick torso now fills the space between the open fingertips at table height. I’ll close the right gripper around the torso and check the retained width.\"}",
  "call_id": "call_N0hIDLQ5yZAWkKOhIJ4UKBLe",
  "id": "fc_0a06bda72ecea66f016ab4531af6d887d0b5a89a0e9417d7c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_N0hIDLQ5yZAWkKOhIJ4UKBLe",
  "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]: [-0.1696, 0.8299, 0.6125, -0.4355, -0.2779, -0.0235, 0.9978, 1.0592, 1.8961, 0.7925, 0.2409, 0.9012, 0.3332, 0.0133]\nstate[eef_state]: left_x=0.2894 left_y=0.0033 left_z=0.1669 left_yaw=0.059 left_pitch=-0.0501 left_roll=0.1658 left_gripper=0.9978 right_x=0.3062 right_y=0.2698 right_z=0.0341 right_yaw=0.1833 right_pitch=0.0521 right_roll=-0.358 right_gripper=0.0133\nstate[joint_eff]: [-0.1573, -1.7026, 7.2274, 1.7265, -0.1734, -0.0366, -0.022, -0.1026, -9.8803, 5.3265, 1.243, 0.3834, 0.0317, 0.7106]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a0675e65340c8056fbbd17de5da7593001184c7943f4dd3d84629145a804a01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:471d972d6ede37ce241d87aa8fa9bffd169ad5753f58bff212034959bc066dff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c609f5508f21a26aa50e88a506470f95f64a5d8580a73abbc44168d3bb46624",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 2.839 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]: [-0.1719, 0.82, 0.6128, -0.3882, -0.284, -0.0231, 0.9984, 0.0189, 0.7834, 0.5625, -0.4213, 0.0631, -0.3252, 0.999]\nstate[eef_state]: left_x=0.2954 left_y=0.0026 left_z=0.1791 left_yaw=0.0613 left_pitch=0.0067 left_roll=0.1564 left_gripper=0.9984 right_x=0.2826 right_y=-0.0022 right_z=0.1557 right_yaw=0.1414 right_pitch=-0.0881 right_roll=-0.2971 right_gripper=0.999\nstate[joint_eff]: [0.1026, -1.6342, 7.2684, 1.9463, -0.0269, 0.1343, -0.1783, 0.0342, -1.6479, 9.1009, 2.2491, -0.0757, 0.1832, -0.1148]",
      "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]: [-0.1696, 0.8265, 0.6128, -0.4278, -0.2779, -0.0238, 0.9979, 1.0588, 1.8786, 0.7963, 0.2367, 0.91, 0.3405, 0.9989]\nstate[eef_state]: left_x=0.2904 left_y=0.0031 left_z=0.1695 left_yaw=0.0591 left_pitch=-0.0389 left_roll=0.1629 left_gripper=0.9979 right_x=0.3078 right_y=0.2703 right_z=0.042 right_yaw=0.1728 right_pitch=0.0695 right_roll=-0.3426 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -1.4154, 7.1726, 1.8193, -0.149, -0.0708, -0.0415, 0.3077, -6.5846, 4.2872, 0.8571, 0.2369, -0.2369, -0.0171]",
      "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]: [-0.1696, 0.8299, 0.6125, -0.4355, -0.2779, -0.0235, 0.9978, 1.0592, 1.8961, 0.7925, 0.2409, 0.9012, 0.3332, 0.0133]\nstate[eef_state]: left_x=0.2894 left_y=0.0033 left_z=0.1669 left_yaw=0.059 left_pitch=-0.0501 left_roll=0.1658 left_gripper=0.9978 right_x=0.3062 right_y=0.2698 right_z=0.0341 right_yaw=0.1833 right_pitch=0.0521 right_roll=-0.358 right_gripper=0.0133\nstate[joint_eff]: [-0.1573, -1.7026, 7.2274, 1.7265, -0.1734, -0.0366, -0.022, -0.1026, -9.8803, 5.3265, 1.243, 0.3834, 0.0317, 0.7106]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a0675e65340c8056fbbd17de5da7593001184c7943f4dd3d84629145a804a01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:471d972d6ede37ce241d87aa8fa9bffd169ad5753f58bff212034959bc066dff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c609f5508f21a26aa50e88a506470f95f64a5d8580a73abbc44168d3bb46624",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFMgWquKYmx75r_U6Xw-Khif0sSBgubARDQTmbUlCu-QAfVv_9IjIQ213-eKtxBg2VwJnYwiS9xFiskWruS9QMAP_krwSpHA6C5oxshvgiBv--HtwNeBbZLbfOXQg0L-bb-RSg1yQuKTIJ5UxFg8q6KFunRjnBInNVJwktApYtH_44lZ4pFlhRJxOd5j_rvchSveSqwzoHIp7vkYWZkNXTsRfcL1cQ3yXictY0dzfgUCw5pePiiUplOcHRSk_hIvNvHWbnoJ9gCPcHMj5se-kh5H-diMJvT1r7JzveY7r9LQdaFKz68g49o0cdOgHfGsWVp-tjyANYUuAvx5vRz5HYwdAmG57F607hJNNlb-vypOZbu_smJ_5ZzzPUIGuxu6TK6dTrPtO-HFC0k3K9RQEMs4tpzYn2DO_Pzk7Jh88UoXzsJwQXKbdMqTFx0e0O5XCBB2T0KwC0Qib_sBkIZMeltoTETmV7n655a3K7yjvTPiwgMXW6FuDhoZV3HrM_uKJBmq2UCGOXLHnrgEgFIyRZU5nLdMnJFaurm7ZjCKO8s3ZT8ER4RyTB6mHrWKfe8E620tQSOKXj8FT4vaETgYBjdfG8hrgb6nVDXmfqdZP9mgittyf4CJFM0Bil3kWLZ3IH0l0ztKWqtcy7PwQHkS5XSs5pPysMr1QIEOT4xfVXWTtxGY06yhHhqCrKNnCaI_I4HK0qbpjdSVawF-azXrllnLBKsXkHKDE0I76y2uv-_6hRHCHnbABo2Sv1qLdgcQI8EJFB9c3UyX3mXveug6ljC4FFNxJr-nSrY78oy0CRGZ7pXnEuwMKBlc-FPpv1Nita1EIbbUNm1RIgzaZ3owsfMLijWAoET4GaAskYHZObox-Z-JLHQsKh-WGgfMIxO_vyFSwNxGuwND36YB2l54avnJqAFYsLYFNnvcnDbnRykqwPYXvboU06i04mjyzy3mU7vxBxXSAWXN5-bBv7zpMhqd7WcJ2klz8spsOpyopYvhZRppJpVY7yG75xNGt9vFKUZYvy0lqRdYJPTAI87Agj6TQl48xGFSAGdlZNOJ5s_KNM4CaHDn2v3aKG8tV0ynYSaLZrzARyjMqNyT9flriDST8kR3qfNL5B1VPl3u-MwgA7PmduBAXE7DObKpn30qvzfSDt48W48Ibiy3sSykVlIV-TBYaZgz2HmqcceTjTtU3nDq31kcis4WN_RIW5Yauoh8tDVrVPx4ZD7h27VqRsLT0QCVKOaI3sfIdMOeVOXnCqkW-uSrzMEx8P-2QGCV3QfL0twhVoNrbd6QiY35zrikTvL0e_yJ9pwqZe57Dm8AC_cy6arUlZaiyFRhA8lGTiGTUhcKll3PMDea_eeTojgxfXcjrsxml2mLIi8cJxwOgkrWclEiJeg01W7ivF0Z2ye70Tnj_qlIQ51nUnjCUsNFKoR3uR-86ksuPsAXg5NL4x6fLDhqMj2WKqDXiM3gKt2NTUOC_mdAg8SlVaTgFQkmSQPNuG7wHyQ6ldOpY5Y5sCI1oJFr2-BGF-FngscTvsbznM48DVdg_Dn0uPxvMve-bha9qZzRwvv0xtIrm3Is8P9JPOh41LWJ1M0FOKLIIJTQW1uVpMIGdqX0tdb0roNNsnO1eqdh0TaeSho2yxqYUCv8x19JPRbVjAlzOrjDg_wkeLPld7ly2HFgVlWlTQolj8Qw0UIoy8kgR3xiwG7B7HrT23ywojulwRLZRpC8sEnn9_o5_Nmfn-4htCbpQF24cElLnCNcn6Tg2LkdIXSl1_jXIkSQl_7kZoVZhFOg9i7BjkKsd5RFfRjHf10LOUr7bn7rKaaSGkx14bpcgyhCbb0=",
  "id": "rs_0a06bda72ecea66f016ab4531de2fc87d08d2c59c8b9b9da68",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.265,\"right_y\":0.29,\"right_z\":0.035,\"right_gripper\":1.0,\"right_pitch\":0.1},\"note\":\"The close was empty; the wrist view shows the jaws caught beyond the teddy’s long torso near an outstretched limb, while the body lies closer to the base. I’ll reopen, retract about four centimetres, and shift left to center the thick body for the corrected grasp.\"}",
  "call_id": "call_G3UtLEXwBOHgBXQp75HSoJFA",
  "id": "fc_0a06bda72ecea66f016ab4531f3fc087d09eef874a8f2dbae1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_G3UtLEXwBOHgBXQp75HSoJFA",
  "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]: [-0.1696, 0.8322, 0.6128, -0.4507, -0.2779, -0.0238, 0.9978, 1.2037, 1.8965, 0.8005, 0.1555, 1.0271, 0.4847, 0.9949]\nstate[eef_state]: left_x=0.2874 left_y=0.0036 left_z=0.1636 left_yaw=0.0595 left_pitch=-0.0668 left_roll=0.1694 left_gripper=0.9978 right_x=0.2688 right_y=0.2877 right_z=0.0414 right_yaw=0.1812 right_pitch=0.1158 right_roll=-0.346 right_gripper=0.9949\nstate[joint_eff]: [0.0068, -1.0598, 6.9402, 1.8339, -0.1538, -0.0513, -0.0171, 0.5675, -6.6393, 6.1607, 0.9597, 0.3101, 0.1245, -0.2466]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b141dc9ffba8ccb20bddd22ffd4e890877839c2db511b62314b4011208fddee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddd7c9bafc7bb9e736e592dd6ad01b5aa424e6944a849f504b09291e5237fc7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deea01f8916da303d15bfb7e6afe87d92fa01da5d58755bd2ac2cd9ab913e8b4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 4.626 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]: [-0.1696, 0.8246, 0.6128, -0.4118, -0.2779, -0.0235, 0.9982, 1.0039, 1.486, 0.9539, -0.4011, 0.7975, 0.3618, 0.999]\nstate[eef_state]: left_x=0.2925 left_y=0.0027 left_z=0.1731 left_yaw=0.0588 left_pitch=-0.0215 left_roll=0.1592 left_gripper=0.9982 right_x=0.2939 right_y=0.233 right_z=0.1471 right_yaw=0.1778 right_pitch=-0.0501 right_roll=-0.3336 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -1.7436, 7.2684, 1.8926, -0.188, -0.0317, -0.0366, 0.2393, -5.9692, 8.5675, 1.3016, 0.7302, 0.2418, -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]: [-0.1696, 0.8299, 0.6125, -0.4355, -0.2779, -0.0235, 0.9978, 1.0592, 1.8961, 0.7925, 0.2409, 0.9012, 0.3332, 0.0133]\nstate[eef_state]: left_x=0.2894 left_y=0.0033 left_z=0.1669 left_yaw=0.059 left_pitch=-0.0501 left_roll=0.1658 left_gripper=0.9978 right_x=0.3062 right_y=0.2698 right_z=0.0341 right_yaw=0.1833 right_pitch=0.0521 right_roll=-0.358 right_gripper=0.0133\nstate[joint_eff]: [-0.1573, -1.7026, 7.2274, 1.7265, -0.1734, -0.0366, -0.022, -0.1026, -9.8803, 5.3265, 1.243, 0.3834, 0.0317, 0.7106]",
      "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]: [-0.1696, 0.8322, 0.6128, -0.4507, -0.2779, -0.0238, 0.9978, 1.2037, 1.8965, 0.8005, 0.1555, 1.0271, 0.4847, 0.9949]\nstate[eef_state]: left_x=0.2874 left_y=0.0036 left_z=0.1636 left_yaw=0.0595 left_pitch=-0.0668 left_roll=0.1694 left_gripper=0.9978 right_x=0.2688 right_y=0.2877 right_z=0.0414 right_yaw=0.1812 right_pitch=0.1158 right_roll=-0.346 right_gripper=0.9949\nstate[joint_eff]: [0.0068, -1.0598, 6.9402, 1.8339, -0.1538, -0.0513, -0.0171, 0.5675, -6.6393, 6.1607, 0.9597, 0.3101, 0.1245, -0.2466]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b141dc9ffba8ccb20bddd22ffd4e890877839c2db511b62314b4011208fddee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddd7c9bafc7bb9e736e592dd6ad01b5aa424e6944a849f504b09291e5237fc7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deea01f8916da303d15bfb7e6afe87d92fa01da5d58755bd2ac2cd9ab913e8b4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFMkf5tBLgABaNL8-FLGwpUs5RZ1qDXRvKkqtaxMaTa2-zjJrtw56iStCU85JiU_HdyImea4A9RjhX0z3vGB1iVwQDthxeqjbE99SdUxv0PzquytM3xew0onpTGK3rt6rixRxo7J4F7GV0aL1EPzWE0M_TH8Vk6n4GvGmLVa2P3s3_dO_WunzDIy2m29xpr5QQZgZAbPbBtTIAoSZqje93QJHUakn6BhLcLm9TchBz_zX_4yHaBUu2G_IMmSydd75WBKyDSkAsSz-dNHjK6mr7LNVHu1OGWB3rlMiJtZ1KTEcYTLDWEecILzC0WTYrJj-YhIgs62aRdZtUKa5jFbjxl5z9u_Qww0i99NXs8ySN_8pBvAGD7Pp6lcV51ey07T2lt1Ncb4G2fxltMLPb7595CJsQ-v04W2oT2uXo0QpGLbuCc4Av9tM2YQ1qcNVRGjX-aT0W3WUJdrPRJ4EeWOqkxJNo7cIGXy_PoU3JxAnXZgcSPy9YFQFt4QpMVoRhRH86UeiUjidxOViV8F98N5pU_iowVUQNkLnNAff10mIEWjjAvoZ2A4Hho02RJJmgv6QCI81-6E_6A1mxS6_JhLqDUitLj1BZI0DzsWwpau2xUp9ktFr_jjogeHZKGK3uHi2IsgW8ZVmuXjobrTiL4912T5ljvpYtPzjFGFlKAI6lrifKMB6h-bicokLTey3lQJEn_V91gGNb5ExOZd1byJ3DrpS6JWvS_3nK-DPAQ5gVK9pZs0S1bkuaE_M8MG0O5OdVXqo_LqXrgf4WWvIHLndqlE_gEmEU9aYL2uTrp0f2TcuHFncddND_eY6xH6ynu55rxYOdkJyGuAUF-D0B2SxqVNjl9HA2FMrZ0XJtKhfj6hV-OWP17fBC_Q11HqVQFidYaQ8rcQWaMg1T4JHSx1d8UbNC2YunEWcb-YF1mDXs9UC1gO622SImb4lrgMwOWT1-lR8Z9_bSPEocFtYz022a93Md-E07ZHqmMYjw1XrLi7cMaKKlN7tme0taJgSqow9N2o8StzXYGz5N-KFk9R4pxrwC0hIGiaXjWtgVansiDaTNrNRcpcf-JnUf6OxudAFrz0o2L1plhhAh2vlBC1En_TwL3uZtbxLOMBkV8s9cVj0hBii-6xpRvDlu-5w0ZT4EQFVxw2uJIQWV7KfLyunkpqsu8GX8KTtWQ0QacETRZy-QQRsWqc5-UYn8ZyJNIMXKrvEwm-aGpBfWXpiR4eotSuDg==",
  "id": "rs_0a06bda72ecea66f016ab45323448c87d0b8e4582d53570196",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The retracted position places the teddy’s thick torso squarely between the open jaws, with both fingertips flanking it. I’ll close for the corrected grasp.\"}",
  "call_id": "call_5YMHfwUUI2QCfoqmLxKopKF6",
  "id": "fc_0a06bda72ecea66f016ab45323647087d0b95ff9304e6cd1ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5YMHfwUUI2QCfoqmLxKopKF6",
  "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]: [-0.1696, 0.8322, 0.6125, -0.458, -0.2779, -0.0242, 0.9977, 1.2068, 1.8965, 0.8028, 0.1471, 1.0199, 0.4793, 0.0136]\nstate[eef_state]: left_x=0.2862 left_y=0.0038 left_z=0.1621 left_yaw=0.0598 left_pitch=-0.0742 left_roll=0.1708 left_gripper=0.9977 right_x=0.2673 right_y=0.2891 right_z=0.0403 right_yaw=0.1915 right_pitch=0.1066 right_roll=-0.3529 right_gripper=0.0136\nstate[joint_eff]: [-0.0752, -1.1829, 6.9812, 1.663, -0.1783, -0.0513, -0.0171, -0.3897, -8.1709, 4.5333, 1.2723, 0.4225, 0.0317, 1.0769]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c3e47c2756bbae06a45fdd4e38cd7f79103c7acc66bd98588f824775fb3e76a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17e119b587376272b3b4704cbcfdff126cafa5caeb40473d4234599e417f080f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd2549424af6ca82b7a17ed6f84f130cb835caf0d173d0095a1d5099431e9ed1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 3.851 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]: [-0.1696, 0.8265, 0.6128, -0.4278, -0.2779, -0.0238, 0.9979, 1.0588, 1.8786, 0.7963, 0.2367, 0.91, 0.3405, 0.9989]\nstate[eef_state]: left_x=0.2904 left_y=0.0031 left_z=0.1695 left_yaw=0.0591 left_pitch=-0.0389 left_roll=0.1629 left_gripper=0.9979 right_x=0.3078 right_y=0.2703 right_z=0.042 right_yaw=0.1728 right_pitch=0.0695 right_roll=-0.3426 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -1.4154, 7.1726, 1.8193, -0.149, -0.0708, -0.0415, 0.3077, -6.5846, 4.2872, 0.8571, 0.2369, -0.2369, -0.0171]",
      "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]: [-0.1696, 0.8322, 0.6128, -0.4507, -0.2779, -0.0238, 0.9978, 1.2037, 1.8965, 0.8005, 0.1555, 1.0271, 0.4847, 0.9949]\nstate[eef_state]: left_x=0.2874 left_y=0.0036 left_z=0.1636 left_yaw=0.0595 left_pitch=-0.0668 left_roll=0.1694 left_gripper=0.9978 right_x=0.2688 right_y=0.2877 right_z=0.0414 right_yaw=0.1812 right_pitch=0.1158 right_roll=-0.346 right_gripper=0.9949\nstate[joint_eff]: [0.0068, -1.0598, 6.9402, 1.8339, -0.1538, -0.0513, -0.0171, 0.5675, -6.6393, 6.1607, 0.9597, 0.3101, 0.1245, -0.2466]\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 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1696, 0.8322, 0.6125, -0.458, -0.2779, -0.0242, 0.9977, 1.2068, 1.8965, 0.8028, 0.1471, 1.0199, 0.4793, 0.0136]\nstate[eef_state]: left_x=0.2862 left_y=0.0038 left_z=0.1621 left_yaw=0.0598 left_pitch=-0.0742 left_roll=0.1708 left_gripper=0.9977 right_x=0.2673 right_y=0.2891 right_z=0.0403 right_yaw=0.1915 right_pitch=0.1066 right_roll=-0.3529 right_gripper=0.0136\nstate[joint_eff]: [-0.0752, -1.1829, 6.9812, 1.663, -0.1783, -0.0513, -0.0171, -0.3897, -8.1709, 4.5333, 1.2723, 0.4225, 0.0317, 1.0769]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c3e47c2756bbae06a45fdd4e38cd7f79103c7acc66bd98588f824775fb3e76a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17e119b587376272b3b4704cbcfdff126cafa5caeb40473d4234599e417f080f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd2549424af6ca82b7a17ed6f84f130cb835caf0d173d0095a1d5099431e9ed1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0a06bda72ecea66f016ab4532622e487d095dcf758ec1b4f63",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.267,\"right_y\":0.289,\"right_z\":0.005,\"right_gripper\":1.0,\"right_pitch\":0.1},\"note\":\"The second close is still empty despite correct overhead alignment; the readback remained at 4 cm, above this flat plush’s compressed torso. I’ll reopen and descend at the same measured body position to near table contact before trying again.\"}",
  "call_id": "call_3Jiorz0eTPouMw481QOtCbeg",
  "id": "fc_0a06bda72ecea66f016ab45328a0d487d08365da647d0920d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3Jiorz0eTPouMw481QOtCbeg",
  "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]: [-0.1696, 0.8322, 0.6128, -0.458, -0.2779, -0.0277, 0.9977, 1.2072, 1.9762, 0.7971, 0.3038, 1.058, 0.4911, 0.9944]\nstate[eef_state]: left_x=0.2863 left_y=0.0038 left_z=0.1622 left_yaw=0.0617 left_pitch=-0.0735 left_roll=0.168 left_gripper=0.9977 right_x=0.2734 right_y=0.2957 right_z=0.0309 right_yaw=0.1558 right_pitch=0.1711 right_roll=-0.2959 right_gripper=0.9944\nstate[joint_eff]: [-0.0752, -1.4154, 6.9265, 1.6044, -0.1197, -0.0415, -0.0122, -0.2256, -5.3812, 3.0154, 0.7204, -0.0806, -0.0952, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d79cc2aa53e7d261c87ee3d0c816e98898306ff92f99868011cc3a12a5cbbddc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7541a5f18331ac99aefedfbe094fcf5017d5e543614ad6f2dffc36a80aff82f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb3f4beca7fbf219736d8b073d10554db67a2f4b1e46ad1ed6dc431e2bb1788a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 7.526 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]: [-0.1696, 0.8299, 0.6125, -0.4355, -0.2779, -0.0235, 0.9978, 1.0592, 1.8961, 0.7925, 0.2409, 0.9012, 0.3332, 0.0133]\nstate[eef_state]: left_x=0.2894 left_y=0.0033 left_z=0.1669 left_yaw=0.059 left_pitch=-0.0501 left_roll=0.1658 left_gripper=0.9978 right_x=0.3062 right_y=0.2698 right_z=0.0341 right_yaw=0.1833 right_pitch=0.0521 right_roll=-0.358 right_gripper=0.0133\nstate[joint_eff]: [-0.1573, -1.7026, 7.2274, 1.7265, -0.1734, -0.0366, -0.022, -0.1026, -9.8803, 5.3265, 1.243, 0.3834, 0.0317, 0.7106]",
      "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]: [-0.1696, 0.8322, 0.6125, -0.458, -0.2779, -0.0242, 0.9977, 1.2068, 1.8965, 0.8028, 0.1471, 1.0199, 0.4793, 0.0136]\nstate[eef_state]: left_x=0.2862 left_y=0.0038 left_z=0.1621 left_yaw=0.0598 left_pitch=-0.0742 left_roll=0.1708 left_gripper=0.9977 right_x=0.2673 right_y=0.2891 right_z=0.0403 right_yaw=0.1915 right_pitch=0.1066 right_roll=-0.3529 right_gripper=0.0136\nstate[joint_eff]: [-0.0752, -1.1829, 6.9812, 1.663, -0.1783, -0.0513, -0.0171, -0.3897, -8.1709, 4.5333, 1.2723, 0.4225, 0.0317, 1.0769]\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 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1696, 0.8322, 0.6128, -0.458, -0.2779, -0.0277, 0.9977, 1.2072, 1.9762, 0.7971, 0.3038, 1.058, 0.4911, 0.9944]\nstate[eef_state]: left_x=0.2863 left_y=0.0038 left_z=0.1622 left_yaw=0.0617 left_pitch=-0.0735 left_roll=0.168 left_gripper=0.9977 right_x=0.2734 right_y=0.2957 right_z=0.0309 right_yaw=0.1558 right_pitch=0.1711 right_roll=-0.2959 right_gripper=0.9944\nstate[joint_eff]: [-0.0752, -1.4154, 6.9265, 1.6044, -0.1197, -0.0415, -0.0122, -0.2256, -5.3812, 3.0154, 0.7204, -0.0806, -0.0952, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d79cc2aa53e7d261c87ee3d0c816e98898306ff92f99868011cc3a12a5cbbddc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7541a5f18331ac99aefedfbe094fcf5017d5e543614ad6f2dffc36a80aff82f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb3f4beca7fbf219736d8b073d10554db67a2f4b1e46ad1ed6dc431e2bb1788a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFMuTKu7I5P0kBi0yAXghAUZ6O38gVmWKteLpnD8b-pSP-7Q5XE3U-ptyL15ZUZVk54KzBsTyApF78AIT2SL83PgyJeWCusqVe6W-A6z2PKco-Qzeu2A4p8fO47kAUFqo-aM4MR6iRtdb9Apd0yiJUD5YbHSykG6vdLXkd0Ybh-gVru5mMYZWZQ6Yl7MDrTWELYMwZRjf8XUJfbE1Lhatn0MbA0lkUr30eQ613Rrsnu99pKj9nPOuMnLt3COOkbl8rKsKkjHGzQobu0SPa8FWnHP2A6d2iWiVG1kxdg0S_UeGNo7iOTxp2WZkee0a7HTWNHDqoIMsBS0LXTzDqzPsV29z_XyMAZq9WXHYakCE2kgxs0eAUZ8z9CUMjhV09d3SIop_IHZnrYKwpHLKvBrHm6S8z9cbOTq6SGP2Buf3U7bqg5HxFQHXQ7Oe1Zfi_1f0kIy8q-FIhtUYK69pwSkgg1Fqzm-NIcg0W0voPSelxgBQd-Gtd5ErKTM2AlvCgb2qm_JxT2PTUUjvyxre-uBA7tQOHGEP3KMdzUQcscQEJXpVFQarI-3ZONtByM2x3SrGFdYC_JDQ5ZOn-OcapOJQFZ-GubjZ2SpKzYSIwdMz7GAiKW0wPDiVNLXeqP91fRMoEKWOpcTGLgFQS7Y-c587395ps6PGGo_tknavm0gv_5YfwZgG_r1ZAjRc3HP_Jp9KwTQTjLdu6syn6as8wMr2DqQvAVeS1ltYbAQgHvl075-7CBTlUeSolQTV26TaFcDyhlPPVIt-lY9kfLbYyJeZIxhgU9ze0avbfOQ1Pe6GKC4yZFJUH38YgKC1Pq0gew-IXX7CIENB_SUJTxZDM6qSz3_YpF9bxuB0aagFjfy9KN_DnC34xuL8uKs_E-RwiQ5iqba_LCZoJ6MQDyM0s_uPEDbLHvYB9gpWzYLDIBS171cZlfuOLF1L5FMFhD2JxYoStTSBXrQrq-o7PFPmkwLeBPf0u4gMOiLYiiP6d7sh49LculRATKEak5L3oRDchnOeA2J662hQ6rBS7iKL9c2sj1UuleiG9-jTf-7NkXnbBniS4OENFc0xxbxK-SUe3K1KDi39M3pYt7-Df-_9Ub9bEFVxA5AG6221IeNpE3AFzPAfwE28KdVCu3hzObEIBu5b3iRg2mctODzgPLlX5f3-iWSpDwGhOBksZkh9oGioQ7CLCjyQmwmelYT9Y2PEEi67jV0osOUes3J291zodrQyGXZjs0RO9pd7mx5FT1cnTLp1FyAdBOcbuztdldXOBOcsQOXvvNA0f3zMoqSky6dvrjap6w2WXuEnm2ydnZVOinLfMBdZQptF7zkuPGNM5fB9N7vroZtZZXseYu2kC5T-yZyKg==",
  "id": "rs_0a06bda72ecea66f016ab4532ca5ac87d0a18b7c7598da4906",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The descent stopped at 3.1 cm with the teddy’s body filling the jaw opening, indicating contact with the plush rather than free-space sag. I’ll close at this contacted height.\"}",
  "call_id": "call_zfjCUBtQyHkoXMxpyTgUxtOr",
  "id": "fc_0a06bda72ecea66f016ab4532d082887d0b211caf42dce7dc6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zfjCUBtQyHkoXMxpyTgUxtOr",
  "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]: [-0.1696, 0.8322, 0.6125, -0.4728, -0.2779, -0.0303, 0.9977, 1.2079, 1.9804, 0.7982, 0.3199, 1.0584, 0.49, 0.0173]\nstate[eef_state]: left_x=0.284 left_y=0.0042 left_z=0.1593 left_yaw=0.0634 left_pitch=-0.0881 left_roll=0.1694 left_gripper=0.9977 right_x=0.2739 right_y=0.2977 right_z=0.0313 right_yaw=0.155 right_pitch=0.1776 right_roll=-0.2857 right_gripper=0.0173\nstate[joint_eff]: [-0.0068, -1.4017, 6.9402, 1.7753, -0.1734, -0.0171, -0.0122, -0.0479, -9.1145, 4.4239, 1.1209, 0.4127, -0.0415, 0.7106]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdb3523d34f8e5cff04019ec56db8bb1edca755b914e87bb34f27127fe0501cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb1e5249b3c91364a0160f7a7e8d5ed368f61077b077566141efaaa8c704ac13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3241d01093eaa19f2cc37126ba948e341d551f9be5bdd95a51a3349e5c870b1",
      "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 34 attempt 0 · /responses · status 200 · 4.012 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]: [-0.1696, 0.8322, 0.6128, -0.4507, -0.2779, -0.0238, 0.9978, 1.2037, 1.8965, 0.8005, 0.1555, 1.0271, 0.4847, 0.9949]\nstate[eef_state]: left_x=0.2874 left_y=0.0036 left_z=0.1636 left_yaw=0.0595 left_pitch=-0.0668 left_roll=0.1694 left_gripper=0.9978 right_x=0.2688 right_y=0.2877 right_z=0.0414 right_yaw=0.1812 right_pitch=0.1158 right_roll=-0.346 right_gripper=0.9949\nstate[joint_eff]: [0.0068, -1.0598, 6.9402, 1.8339, -0.1538, -0.0513, -0.0171, 0.5675, -6.6393, 6.1607, 0.9597, 0.3101, 0.1245, -0.2466]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.1696, 0.8322, 0.6128, -0.458, -0.2779, -0.0277, 0.9977, 1.2072, 1.9762, 0.7971, 0.3038, 1.058, 0.4911, 0.9944]\nstate[eef_state]: left_x=0.2863 left_y=0.0038 left_z=0.1622 left_yaw=0.0617 left_pitch=-0.0735 left_roll=0.168 left_gripper=0.9977 right_x=0.2734 right_y=0.2957 right_z=0.0309 right_yaw=0.1558 right_pitch=0.1711 right_roll=-0.2959 right_gripper=0.9944\nstate[joint_eff]: [-0.0752, -1.4154, 6.9265, 1.6044, -0.1197, -0.0415, -0.0122, -0.2256, -5.3812, 3.0154, 0.7204, -0.0806, -0.0952, -0.1636]\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 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1696, 0.8322, 0.6125, -0.4728, -0.2779, -0.0303, 0.9977, 1.2079, 1.9804, 0.7982, 0.3199, 1.0584, 0.49, 0.0173]\nstate[eef_state]: left_x=0.284 left_y=0.0042 left_z=0.1593 left_yaw=0.0634 left_pitch=-0.0881 left_roll=0.1694 left_gripper=0.9977 right_x=0.2739 right_y=0.2977 right_z=0.0313 right_yaw=0.155 right_pitch=0.1776 right_roll=-0.2857 right_gripper=0.0173\nstate[joint_eff]: [-0.0068, -1.4017, 6.9402, 1.7753, -0.1734, -0.0171, -0.0122, -0.0479, -9.1145, 4.4239, 1.1209, 0.4127, -0.0415, 0.7106]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdb3523d34f8e5cff04019ec56db8bb1edca755b914e87bb34f27127fe0501cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb1e5249b3c91364a0160f7a7e8d5ed368f61077b077566141efaaa8c704ac13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3241d01093eaa19f2cc37126ba948e341d551f9be5bdd95a51a3349e5c870b1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFM2zDonoD4jqql4u6nE8jCkIOq8fd2FzrNQrhkJ2CWJeEhtATRjW0EG-lwVttcvPY0YcKDAkAllbFiMWzuBstz9AumcKbwasKxflcq1pVkejLe_UnHtyIjKFDEzleHm2_wCnkvsweNBqnjXmV9uHtrlI8X2H347ija9_ErPWOEtQ9aotn1AfIPphI4ph9YbqEkHXxT2aF7yrBQDh68_j6A3_ME9fCZXLT_iWAh8eTS_aG3JsYD039VtG3sSGA4HEqmCN-xrdVnZuDwYvF2OGVr0lsKYGeYXo9UZ_7Zqjj278f5n1mWUCrRYAKDr26iV0KDyGX_Sexlex9Ype2AYhd08eRsXQtJEedjwuXDwWeVz6DQnXEAO2vQiuFLe83vxdM1m8NUarIK7EkTx55M1qV6gjXzNiAa4C1wiFWEKW7Iw57O2A693MwCDUJRE5-hlanuePiFmc_dl4nnruIjF72cU1tEpFuKWlrtB5GC8l7is9V6dJTrPBLH8Wwz2zmrPifgUXmYKy0kA1lrAK_x9PJjfE852EwPlTavnb2R_Fj7m-BDhCfxd8zgryT4kWQ5VjqtdZVu1CYaqIHzBeYN0wUyEQZyzf2C7ldFI-ISeoSz9cSEKQMY1WVSiSRTM9sIePHnTWvuBiHtfmk35AumINcEt_orkxBBSTMmWsjFT4xFOc69EQ6OdbrBQlczhBtXPEOjrmHH407WnxkKcgMCUWGxJ7jFjxskGWOu9t-dHDDfuPoegLsTbvxS_1A5Z8ACVPvgd9FmYpA7C7EiegT3YzXYBERodzdovTz_FxKvBM1dZwq8YTbRoFfhSBeD6vAG9AV7RVpwqsquXiMfdzoSu5hwjrTxV-FVeAkYpD-HTETDe0XYMmkAYVXDCVS9hORGIsKxjpADyrrhXnErb64DO3vupGKc-2dq-eC9KPrro5_AAsMD8QCN_uJvwd1dbN_otwEmAlNlzQEdhI0y2h-vHRrqcqDJYyRO11Ie8R-m2NcSz955Xi3ELOcPOiZpbtH7AonSMQDmXGwCBKWZ9MOgiXAAm66U844mt64Q1RJd64W1PM6FsD4aJ0_AmfrVaByqFN3WKo5dTAmkezZRmuQaNiY5gUQeruR5yCiryXHEtnBo1EowgSEjfEDjEvAliaf7DO1tcC3heUFk-nXE7i3Z5WjjPWRl2PfuwYo3c_7G4KaGl2sX_XeBsGwFP4OyAUkiIQ6Rskgfj2UU9qe_0rGZsr3BkHmTjly_1q-sYqWFXCriiFxNm6smruTrvbUAP-iQ01YuOvo6jqntdJMNaOqZpj432Borqf1UetSDpgcfWL5t3chEiCk3BGKFVt3-Z59pOazQFkAS13AGCZGX1Aw92PsTGf5ztKJr9yZKBi7k-aYWLbJdQRZIgwLroK8iXyBk8YsbBt2Pqxx9V4k7OVuQuSKRi0vqE_yXQK7F84eDCuDZGS0WMhDpQvsuymoby9nksAdePBLrVYmh9le7ZbjcPAPIxF_EVh-POV1ui8nkDloaK6ks7D6ERZs-AVvY4N20f_wrNqCaxoyrAOlp-jS2D1jHe2mkeodz0ZrqfcaziYHqqIYzzsgoVr4JkpnmNi7OQsR3ff4fKwuQacoIK3qwvlbpTuBOqNRxfovoZMCzgSppmciiGzEc0E2AJ8pAJLmLjuJZot0mFd4ZySyYj9oP6QYxUI1OsufEthh1n_jtsJAwq_wYyVd6esZllXTrquZ3NdvVsHe6WR62Il6jsfmetUUGOTTthYqrWZtXGstYkEU0Iml1s7CfLQ-ceWlb4DeZNeiyGVB4-FNZ0QN9KNsJH5msr9TH6of0brPcAtuDUBHB25jLuUzfYPLcbV4tnKROAdZyGTeq6-IoYHWz8m_3fUVl5ndcFj2t8MuC8Pco1zNIrTTMc0oS7N8X_4s_dfgntzkeLmFPigsT5fSFXM2_W1g3VqbQQegaTUZCAXcShONcFJpASYHcIN40gsoHLPBURkjxi0jfoxTUw_o2ovThGZ3l1uw2quVSUMsjoevpnA7RY05G4w7IY0AtyREpOT6rhjZBP4qY5XHfrULr-EcjkjWvWZlqBSpIhdCKmdPWcCK0zST6vr0jbw6H-GmMpvJt1fLG_iKf2E7sjZQIPu4-22iltRYzM5bapSLgHXi1dwKJKseDxRQIFtIYJrqFz5ZypDxNPOoYFLrDYQIh6MwAkJ-7iWv1lN91FwhYw8RDCstx1UTjqD5-uZX4T4Qkr057JO7MqxB3pPQ2b4si0MpFkUhh27aFTvLMAlRVsT24izNMrAyBnc8ZznZUV4uOb1SXhldQnqlMQxNta46L2qMQtfCIW6cEUIJASCY2LjftWnQQ4Kii0kbXkOfE7XhA6jJTgSBvL3kbbJUN0DxSiDzLy2mSg3wuN0Cuj5HcaaHc2squ57Px6k6zm8j9hfOem9D-39U6hGy4SZ2HSEFLNrvR4SzwqS4Mkkdi9eIusIoHwmOWYxmXznmcDz__P2iX_9Fm5X46UMZ449qJj0vZ-lG1trMAReGRf3VRhjqqR_fJN1M1G-QFU4YRH6Q8PFWww6TZrVZ0_89yfX0abdyi1FHWwpP7RrhsoGzcfdVf11Uu-gPx-NkZkBo58pxkTbDCwf0fqvFOXcJatRpTiSkFjlyezG-DMcoHYKQntE4BqrhhJf0NCF6-eqAiQhBlZd5iN1EVkEP6COfXytz-dRkcgJbNXkwz8UVTjMYSbaaDS3W7Hg9AFVaQ1tDFPx0EHAqjbdhSgWADN3E70KGkLSuMwbU6NbGYRf4Y3wiI3HkjQqO0ykaJNCZeriWwSjrJedSDkBKGqw0jdXEOeFMg2ca4B6OtOl6VVVADl5kqECfVK8fadehF--PPzfEmvZMVUqlBOuFoMnFpnPwDo3uIdnfkQllFShO76lrEwAUNCeObDPVo5dfpr3nuExNO9TE8G3Xeqjvg1YDmu3eCqas7-YyuECn-j4aAyftupAt4BuHESJ7gNpkf2yGz3dncPWIxJJs9Rn6fhHNj80ttS5x-thmxGF5fKySckaV1rVubZBL-ELuGL96UB2SoUycruxre8Q_i6JIZ-uxToUJ0UWIxz8f9JhvDdhAYRIfs9wzsYhR0pkpuz5sOgH7BH8Xp1FO-lW_4ipqCgNLyvN0ru7uAcLX2lM1qOsmelPjeIlmuxTSkMNtVhPCVYJaAl1ftPNzIQI_nuyr553PfbBbNZQtUbwGGvUulslV88hAAyJBTSMLwJvSa5eBNMKnIczsvhZg2C73Tu1a4dsTjmyWEsjwS_k3ZXWHj9LizoNA2SEa70ExNb_iLXW98apWrD1l9m6M4Xc67nnQn2ZEXIHMNph7TntyV7fLLEwXnFtbmtqE7RlgLTKgOD2BdIiTAWk71mPiNsiGipD2t-0S8yGSFCYpBSLJsDOXoIrLvSTF45UFb3YYkCUb0SxlOnftVKiMnfMdL-6GexsfEgQF_yTOHgIVACvKA_hrrNkAd9VznHQR3814Y06mCSN4WebYlcCcWa3sk2WZuJe4TCKkUuZx4AM3qGJaSGpvKeQ6xzYxTWlBbcyss9-ZgbXqwt7ZP0uhsrBcRjut1q5VSHreyWCpuPKcPXFX_PKjzyFdLmlx3xcL7D__VXE4ljA5m4-_s0iD7AuRT90slfZ0mKBMrmqWo0q_otB_HtbDCDXBnfFHv9K3h1TEsQJSAxMcYpjNHfAlcEEZddUh577A1hGpmD3eRKi1enzw52noPcMyBIyWwZ2eqZS_-fwf0e6hAJtNjbCPJykqOk6vQauPy4Zuf3jxkQianM63L_QS1yJ_rZqjMxKanisOtp0ULgq5cMyk10Omh21YsKh-9frxsX5voyKuCgoqBHsJiXnv1lYSkhzTmFiGdUbt2tUhIrAw4h9_HoHM_vkxj1BEIH6ybEiGoKZYtmTqu2kiElSyB_MFRUKRDtNgeJnWDU88QKq4IEmPY=",
  "id": "rs_0a06bda72ecea66f016ab453309a0487d0b1e53e2634f1c3f5",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFM2_aa3J4FiSbtu6rea4ujRS8uNe3k2fnQMlo08efjOQJwbg5SSSFY0cHhP2CQDhhYnG5TBKN4clyeU4_fAzKWTftAFUJXCvJeVNl3Ea6lPTnuZ-Fd8q0L-60CsyBTTb81X0tMMDDzavwnbVgnYgfkn7uISU_DZpRswkpkMcwBPEkepQxMvE5994w5wdUi6Zj3tguFTWc5uI2QrtYSsnDjnfCCYFREmfnfZnMYlwT6CgbkXE9pMst5AxyA9beOL1zWpRxS784oDk6aMzUzeOTutmKHDHrdZrW2G5MXukUgZ62c-KiM1cweaXh4WfFKi5GZLBxAEo9tyBHR6oY4s_Do4X40cSLZNRWIJmvNASf5OP7bJKY8IiOeLGyFbXpUDZoVbN0yxbux6eMBGWNik2U-2lIvDr1mHPaXDTP4GHfMHRjpfRxypDJcZz7rCqsmAcM3-Cho4HLj1jPoKY4knxYxFlBm0IJyMQNLMwp2CCMHkh6EUEyxKf7AHZJZSUF-BSmcrjCfqbCxEMNXBrVDQVwp3LknPrb36JabFylyK9kal7WvG8i8PoONnH6EoxDrnYIgfQX7oYXcqimSlFtqlpYAaFGMFdApPZBN3Q8EhTNV0xFNgo8xWBgSt3stpfPVuN2JkPkwT09vXYqD6luiwXw4yTIDPrDf8p3XZ7CN9KdhNJMtKMN4MIGbXzwjDAQELlaihyBZOmJc2Zcgo57F1ozsE1sGmGdDY9huymvCrAQ4tDYJJdOHc9G5i1_BBGdX0QFJRPYXf2k_ree1JeSvG_CeWqSFmAugrbrutkMXjwZ6L646rMl7VIefGlEMvhf3gWY6qn3GIoRLclJjQVC9Vf32qAqmlAXPpHhSAle8ioafavGZnrlJfj_i09IrumMVZPONZvrQTiXrD_B-EJBURHT2jEiTx4BuL7z7xIx5To04-jg_hhmMdZN2cCjSzZEU-OTWWIUZjURE2694OxqELQjleFEJGykbTxaATbwFK58jza_fixdc69JEbFr-TMUuuOGeXdaeGKaY9bHLKN8ET-55aLUh0cnO2D9cx819-_6aIIUrKyqCodBZyN9IkcwFjYjToWAX5oIdIi08h1p3e6Tn8stM2ooU-DGljIZJK1lvly9KeBkWlIiqbmq6lVFu3ACoYhl0fFGAgPTw9l8CbDOPeIPS9eokPNpvta5xuCj0v3zV8ek32cFek8ED0MT6h_WkGiZ-Wne1DFBgd0mfbK2jncdW74o5_q_a_03EZbxjn0vJSwKFsppe4fFC9IKaJlNm_LZQ8J4BdVZrans2wxXin5XLZeQQc-ZxvIJqGIcXsGuhlJUJBcN4oDQQv8fn1kauab3BB4cM7GJZw69CjmRGc_Q==",
  "id": "rs_0a06bda72ecea66f016ab45335634887d08f719cdebd658767",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.215,\"right_z\":0.015,\"right_gripper\":1.0,\"right_pitch\":0.1},\"note\":\"The contacted torso still closes empty because its limbs and body leave a gap at the jaw line. The teddy’s round head is clearly visible to the gripper’s right at the same radial distance, so I’ll reopen and shift onto that solid target.\"}",
  "call_id": "call_lg9F8DpVdfZWGzNE829wbyX6",
  "id": "fc_0a06bda72ecea66f016ab45335c11c87d0843706f07bc1c02e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lg9F8DpVdfZWGzNE829wbyX6",
  "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]: [-0.1696, 0.8322, 0.6125, -0.4801, -0.2779, -0.0303, 0.9977, 1.0576, 1.8217, 0.5091, 0.5743, 0.9379, 0.3923, 0.9944]\nstate[eef_state]: left_x=0.2829 left_y=0.0044 left_z=0.158 left_yaw=0.0635 left_pitch=-0.0952 left_roll=0.1711 left_gripper=0.9977 right_x=0.2856 right_y=0.224 right_z=0.0288 right_yaw=0.1161 right_pitch=0.1586 right_roll=-0.2229 right_gripper=0.9944\nstate[joint_eff]: [-0.0889, -0.9231, 6.8991, 1.6728, -0.1538, -0.0122, -0.0073, -0.3897, -6.2427, 2.8103, 0.8083, 0.0952, -0.3394, -0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:554bfcc2bc1729aa9e6bcd02bd52a509fd27bdf7a919b9547fa1c90f05d194f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d72fb8294739bc8098d63995a4ec27999306944555724710af1fc4605126f3a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5ab21d6db72c314cdb8af1c0cdf6d4049d9e81511dedd8dc1a1c3572a378897",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 6.861 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 140 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]: [-0.1696, 0.8322, 0.6125, -0.458, -0.2779, -0.0242, 0.9977, 1.2068, 1.8965, 0.8028, 0.1471, 1.0199, 0.4793, 0.0136]\nstate[eef_state]: left_x=0.2862 left_y=0.0038 left_z=0.1621 left_yaw=0.0598 left_pitch=-0.0742 left_roll=0.1708 left_gripper=0.9977 right_x=0.2673 right_y=0.2891 right_z=0.0403 right_yaw=0.1915 right_pitch=0.1066 right_roll=-0.3529 right_gripper=0.0136\nstate[joint_eff]: [-0.0752, -1.1829, 6.9812, 1.663, -0.1783, -0.0513, -0.0171, -0.3897, -8.1709, 4.5333, 1.2723, 0.4225, 0.0317, 1.0769]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.1696, 0.8322, 0.6125, -0.4728, -0.2779, -0.0303, 0.9977, 1.2079, 1.9804, 0.7982, 0.3199, 1.0584, 0.49, 0.0173]\nstate[eef_state]: left_x=0.284 left_y=0.0042 left_z=0.1593 left_yaw=0.0634 left_pitch=-0.0881 left_roll=0.1694 left_gripper=0.9977 right_x=0.2739 right_y=0.2977 right_z=0.0313 right_yaw=0.155 right_pitch=0.1776 right_roll=-0.2857 right_gripper=0.0173\nstate[joint_eff]: [-0.0068, -1.4017, 6.9402, 1.7753, -0.1734, -0.0171, -0.0122, -0.0479, -9.1145, 4.4239, 1.1209, 0.4127, -0.0415, 0.7106]\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 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1696, 0.8322, 0.6125, -0.4801, -0.2779, -0.0303, 0.9977, 1.0576, 1.8217, 0.5091, 0.5743, 0.9379, 0.3923, 0.9944]\nstate[eef_state]: left_x=0.2829 left_y=0.0044 left_z=0.158 left_yaw=0.0635 left_pitch=-0.0952 left_roll=0.1711 left_gripper=0.9977 right_x=0.2856 right_y=0.224 right_z=0.0288 right_yaw=0.1161 right_pitch=0.1586 right_roll=-0.2229 right_gripper=0.9944\nstate[joint_eff]: [-0.0889, -0.9231, 6.8991, 1.6728, -0.1538, -0.0122, -0.0073, -0.3897, -6.2427, 2.8103, 0.8083, 0.0952, -0.3394, -0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:554bfcc2bc1729aa9e6bcd02bd52a509fd27bdf7a919b9547fa1c90f05d194f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d72fb8294739bc8098d63995a4ec27999306944555724710af1fc4605126f3a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5ab21d6db72c314cdb8af1c0cdf6d4049d9e81511dedd8dc1a1c3572a378897",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFM7fdYuqWOq-6rl0UoxUf2315DWu_0DHBI7LOuWzCXdMzuB3uVjkcEjID4U1U4Xxg_BcGyCk182_UxpnpU6A5F2iotFwLHFaJtae9oonWPXnXqDZtSk0GPh2XjdzhesadQ2g1DQsHPA261gyDb8AyX37PbuOz5q1nCzeTxgIOe8c7e07QqA4evqoxmetKXOkW6B8HDxkI4MyYo6DuoFlIDJcpQYfSVrqFXscLp-li63_T1NLow1SMXjRureVEN2xVtPWXZxQ7vWGUzwuOVvdFYoKwy75O4dcwUy-7KSwIURSXGcBSvi6cY7pfJmwCHIb3BFGYRfjc4kmGorZ5Z_MxmHsm_qPHNuPipiATsjqF2jLo_iTVCl8W0rPJS-wpITzaBZYLRyNClGxYXOS2xg4v4cMVllrtHrE5--MOnnLnllVBHYJAu8B1YDKkuQBrDaTwcYQcHeQ61cNAKobxupDN27t8xXVXiegNaCKVz4nL8eMskgENWpSk55eq3eIc29sMPe47LGOyh9OdFmWw55j_1YtTQ56DWX9EpSApUxb8MKkg7XDMsjWRC0OZ8XUwoxs9gnciMXBZtrOKpeppMuWRyMxn1x_65mBFyY-9pIal29U9yEYbAnBhcUYTlugaayqfQEWNVIJ9fLqov5224sfGlYZGZ30va1n2Whw9rjvp50j8ezKHbMHtAa144JoO5dNiVmKTvZfZJS78Tpr36y3qHtS21NayvqYYUdmTeJQMmAUNzM9Gtoptfx4PVVZtLHo8V2XdL91z3MnxP5BiBFrUIqsR_eNcI-cPXOM5zjUC8f2IQG1fTu7wEgiFAQINjmITYEItJmvcxhfgpjsbCT_TUX0WtAM_8AMAzX8rRLeR1Q-GDczjbkYkMpSMnJL9cDLvpwRo4NuukMTFO0WXn440b_Gnde6Fbwd91IAXIuZHhUbntPlZw2B9y_aWOjoO12SMSnpKAGoSYEHgyc4-WIJ5ChBFjMUyinluMO1KB_2GjxTs3cz_B_OFzKqNHXwHUzI7cLBecFTgPpWzazkuEbN0H7eO68tDtpvbtfDLcL7pOJCojUnHIUXLOc7Ad-I6kbr9KDSmc-4uAVdpT0W2-jOPn6oDgyhAasx6XzK9nqMMBJeCWQGcl-D7d6iL5Tw4jq65L8RGp7CYtftMYUwwylrWQyMwqowxIuKVC1jSQA7yKvbjIpMmd08vzEA52K_bRTOCTO2nZmhmvxGcYQThXfEaufqD5oVQiu757H7l83wHAidh1eWKUC7VmgM08i8raDVj7HNyvuOUqLgye-MmrX6OVnlAKW9UMyZv0sAtggks27asdq2Q1dRIJtwMSmNYvM9Y1MduH9FZEEY5NJxye-BdwLf-B6Ig3porkM-ffMbkxjqKkgBIIDNEcbeVKun7Pjgp29QhzPskm6wroinBzkhUQhr9s0fNLkvVaK6OvYPPTVCyhKHSRSWLqf_zUaR_2ki_NOEhircN14IFYpfEuXDDcOorh5iWKNhYa1wHD6IyfHFEQ=",
  "id": "rs_0a06bda72ecea66f016ab4533a5d8087d0a32fb0f3b7151893",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The teddy’s dense head is now centered deep between the open fingertips, unlike the gapped torso. I’ll close around the head and verify the grasp.\"}",
  "call_id": "call_H6RCVuYVr6Ez0oilNVRKhpcw",
  "id": "fc_0a06bda72ecea66f016ab4533b006c87d08248e7dc7343b218",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_H6RCVuYVr6Ez0oilNVRKhpcw",
  "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]: [-0.1696, 0.8322, 0.6125, -0.4808, -0.2779, -0.0307, 0.9978, 1.055, 1.8168, 0.503, 0.5854, 0.9272, 0.3923, 0.0138]\nstate[eef_state]: left_x=0.2828 left_y=0.0044 left_z=0.1578 left_yaw=0.0638 left_pitch=-0.0959 left_roll=0.171 left_gripper=0.9978 right_x=0.2856 right_y=0.2244 right_z=0.0293 right_yaw=0.1194 right_pitch=0.1587 right_roll=-0.2106 right_gripper=0.0138\nstate[joint_eff]: [-0.335, -1.388, 6.9265, 1.6288, -0.1783, -0.0171, -0.0073, 0.1299, -6.3385, 4.4923, 1.2674, 0.4274, -0.0269, 0.9255]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba7c464dd098c59d0a96b90a0458d8ab78db03560ebdfe984dd8553575e6f276",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62c3ed407af40b5a9de859eda5f7986f93b9956be50028596f10440c6949875a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e0cb91d92941f219b2521be768d74c62440b5d24ab9bdd44ec377ec523c528e",
      "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 · 1.993 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 140 changed as sent

message 144 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]: [-0.1696, 0.8322, 0.6128, -0.458, -0.2779, -0.0277, 0.9977, 1.2072, 1.9762, 0.7971, 0.3038, 1.058, 0.4911, 0.9944]\nstate[eef_state]: left_x=0.2863 left_y=0.0038 left_z=0.1622 left_yaw=0.0617 left_pitch=-0.0735 left_roll=0.168 left_gripper=0.9977 right_x=0.2734 right_y=0.2957 right_z=0.0309 right_yaw=0.1558 right_pitch=0.1711 right_roll=-0.2959 right_gripper=0.9944\nstate[joint_eff]: [-0.0752, -1.4154, 6.9265, 1.6044, -0.1197, -0.0415, -0.0122, -0.2256, -5.3812, 3.0154, 0.7204, -0.0806, -0.0952, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1696, 0.8322, 0.6125, -0.4801, -0.2779, -0.0303, 0.9977, 1.0576, 1.8217, 0.5091, 0.5743, 0.9379, 0.3923, 0.9944]\nstate[eef_state]: left_x=0.2829 left_y=0.0044 left_z=0.158 left_yaw=0.0635 left_pitch=-0.0952 left_roll=0.1711 left_gripper=0.9977 right_x=0.2856 right_y=0.224 right_z=0.0288 right_yaw=0.1161 right_pitch=0.1586 right_roll=-0.2229 right_gripper=0.9944\nstate[joint_eff]: [-0.0889, -0.9231, 6.8991, 1.6728, -0.1538, -0.0122, -0.0073, -0.3897, -6.2427, 2.8103, 0.8083, 0.0952, -0.3394, -0.0269]\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 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1696, 0.8322, 0.6125, -0.4808, -0.2779, -0.0307, 0.9978, 1.055, 1.8168, 0.503, 0.5854, 0.9272, 0.3923, 0.0138]\nstate[eef_state]: left_x=0.2828 left_y=0.0044 left_z=0.1578 left_yaw=0.0638 left_pitch=-0.0959 left_roll=0.171 left_gripper=0.9978 right_x=0.2856 right_y=0.2244 right_z=0.0293 right_yaw=0.1194 right_pitch=0.1587 right_roll=-0.2106 right_gripper=0.0138\nstate[joint_eff]: [-0.335, -1.388, 6.9265, 1.6288, -0.1783, -0.0171, -0.0073, 0.1299, -6.3385, 4.4923, 1.2674, 0.4274, -0.0269, 0.9255]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba7c464dd098c59d0a96b90a0458d8ab78db03560ebdfe984dd8553575e6f276",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62c3ed407af40b5a9de859eda5f7986f93b9956be50028596f10440c6949875a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e0cb91d92941f219b2521be768d74c62440b5d24ab9bdd44ec377ec523c528e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFNDihavyNKQ7XTWPIRMVEmlv7D9-PkDQzbTHHxdsCE8uhfz-u8Y8BXIk9Wmh0eqc25bRn34s8cml_N8T5pZgWIDdPS8RKF5Du9rx3np__f_GgR5QAXSLTTmxfiwtcxtKZT4ksyyOkMASiPrvp2zXHz3Z2xf-02DPSnJPQ1DXQHTqcoW0coKIU1nMD9Yh4H9IK2GQybxmWjyjp53H8Dx7QAHOQffTFUlaRb7UuR_2dstye9ixvqa-1o5zrTFBFaZe4L6wTdwwypRmEKmvzdkmtInqOfz8u0kVtEDUKAXj_BB93AIoPQWCdONwiE99xTmBPtcTWmnPcKLUGLZoAqddLm8nvtwyWDW7RRhkOhSjNqOZCe40t6k_fctfsCICQ65ZXfIEaFGS8wFUxfQDoeMbX_RsdlB6te8fTAZqMFAPLD_b54m122ptjBSKbolGo9qcVA0hjZcrT-T2QSNv_zaWwjyZHlCArc_BW5DpVEdO--0sOGqhPaVmP4zDLBdg9pVwhgFte26mU6PZiBUIMi5AfVfj0MOAP-JsMcEqn2vkGqTTKAsDC2Au1jNHOln0kH3EFbM1Qi_qo9-wwjh_RXc6D7nXcNNyR_D_P_icek2314ruoWdQwo44Lxh_HVKmxLK0Kn1Q0qnRdohTss_ytNoAPwJm4Dh3dfTIGJZ_HOwPEzJ722qlAvWoTuaOb2rPXF6iYfAEy3qLco-ZYP2GwFPS5pVTDduX8ulCXcIKMWPjW_BEQ7cgo_KP0upMDe37TA1Ji-7Pz2EkY6T_R2WWWd7sY_Pxp6mRp29Tsscxq_3J31hSLhAv5hHHIdBmPqNF2Pipig8crmgJBWezDoflZhKeL_qf2g_EUkzt8DQfL3a7usap7WrTxpue-t63-2aO8Ct8TlYVSxtv-qqCOFM0mg6jlpa4j6wjxokS47L-tT-QrwWRHtcgI2mYox8ekNWCvVPp7LCo3LrtjNGi3k03dUSHoVNjXK1HXt4SNij7vjWjxfAz_17GVQZw2URBNmGNpiKMo31Rztw9YDnknn6unxVgeWOY1YFNGPB6x5is0bVooCdjJgqiHdKyVFaGR8Sxd2cg_u0FDmCa3Vn3E4OIxgWr9oDsmBTv20AbzU7JluBzTwq2sQp9VMtnf8tU_Vn4p3yPEucA9zd4WU_Hg5Xkw2iXPWJyI9llLly34jyeUkx4vwxcNwVxuZO8E9wAuPN4dawzyX2p-lGvQZ5VWalrrb-V1sHCxP3IZH3UHYnAsPe9lZpIu4oWj-SsXyVyP4_RbCl4oJM9NceN6lwKCkrtUQwKjtami4yG9BY1Kj2kHHCP6VG2xY1gRdhpbUSPup0oeGpDRjKETMffFseQDwHL6liNyPysefWeeYzu6Yfr1NeQIgxsRW82xKlPGpSLBdrBI8-HVKV8mL7aHKX3eHVCXOWvEtkuXJkM_HneTx-XVcRqWNcfXGQY02mbZhh9XiYaC6fItDTZTvyrITf0VScFmrWM_V557OCGFzxYgF-QP0aanZIHYpae7nkkhaXYDZsnEdYMH6kqoI12sLXsTKxB_i2wfc6bpJFdr0s3NZZf5DcYs10DGK6TZZEANR7NcGlipVEl9lbNq9NoBVVTeU2NImQIu4YNzM7CEY1Iool5XwefGgSHnuQKlEFx_1tXaFR3sH3CKAP2g5DjWqjWBb609XF_N_Z2V6jPWbW9JwB6VVKwObdTjma1YQEIe79nXns10Lz2MCHRmntAcXQeXxd4dBSzYr3JC9vd4G3cBimMy-zJcjoHYkcu0yVLoTv19yrvItgw_xlxDCGfQB4z6sJpSYLSfAAPSRT0ehCqvoG2QwOVcn8y6qaeGRt7cmocyVLzFSCaMl0z05nPK-2Fh0z2XAT5DlcVnbGbP1MxXnvgVqcxVvfNJ7iX3hM9lEALHseKuuWEN0oYKZLljn1WL9jyPahhmMDF7bPFpKsK_92VkETb-d-hxuFNcPwlDnT3ProayjWZoame4ZDujFiQkZB_jN1emys1i92Ebu2pSDDaTxADnq26sKJniuVDEQJqd9lPEnLs23z2wd2PqQzjjkljFtkZQq4vKfAyAexk1zqMp0hWMTAnxf2bOllUabTTsrYDoWIHs9CGAxgKypX9Le8xaSd2dokDi7m4fG_1MQ0suLLLnEASTReMw_XJb0dfcJZCnZocIRTGND0dwiSF_buFdFfcMaS5EAt7VTkZg4KPmIKHi08kkxS8NfPMnEnAXzH5EvYQP4RpTPiWwSXKijCfrdSorsNECnfq5PyYFH9GqJwM9XjIdUPT5ylRsl6Fuzvbenj-nR31MwqOg1anSMelOw9nS0RZPWwdITDIRrJ5rAJgoLMYtDkTTQy_pKM50LmCkEjws9ak8q6zSp5sfBxlyC0V8F9nFqPE6XfL3NI8_ggLrNPawZKpQhKhzEACbYzaolG7RZus88d4mrc5l97mA6uDZeGRnIKTTxo72dyeEIHAsmygs3bxNRDdO0re0BUsqfo5GlkwVHxyRfvwl_5tb6qp2QSomDOihqCW9kdW3kWQ7pD625n0HuggAv14V3ZQ9a6CkSS8M8gk8to-tb-J7oUS7esRaZ9U3_KHiwYNAP4-mCeXlhuwk5TM6xKzOpj70E0TpTUZMRZyCcRevHkglB9fsUrfder2Ltunt4WWDdXPeJsTjHJRp9PVi-6dPM5E4hG2CW9fxRvOGFyLCeZjGMazOWf3zHWcy1dy6ibXXhnbjZXwdc3Hj7lwZGd72AEYYsxjxyZPBk63myCxmwV4XgSI5xZHWiVAt10lFX2TR7lNzv8CufliH3UBQgIOIkVrTug9mhahQWag4n8csh8ko_0rdzw_6rSVjeMqTDvWObaKoZHUsSvZzoGZJk1eW-ct5_Go7cHj4cKGoxKF0AQVPJKU0ysJotPSj9Py0LPRB4FiWFSwAtcu7tm4x44135dPJSv_3JW26ad7aTe6qrChXX30FnZDCqtiBEfE-mFboVuZILWfj4bUDcEvSeULuLmFPYrAqamFwgkFbPeym1b3sgxW3p6tKat9ifjr_MzhMa4V8gOoEgRpw_RcWVQbV9DTJq68G2QPwb6rRv8rUFSSvqa05xC-B_pDgsRTeLKx6dIJUrl8MLZHdt-uzMmKC5IkywJI3dGgqVocnMoKnp__ve19DnIjtYapplCSYdjSxYTIZorGjUg0QMaWab10tQfM-lbCc8UQ02osfinEI-6hqgSwzXdzXMrgc80pWSLV2mvBn_uoli4yj5F3rAO3Z58CiDxloARnGliaoMoeliEtdSNEOd-rX3cV1nJrh1eqBaSX7CmbEN_3CI7M1Vh0HO4VIV9on2j4vVYpBh2UAoO15D8HCOulEsgVto_SfJyzfWwcp9zvAvF_fxJY-MF-OVds3EfLR9V6NCg6nsgs4iS31O7kqrY5tBTlsQxGqxSeU3cz_4NWtXuakPX-eQBawj9MEaPrFOkVJGBLd86tvG4Mz7G8nCLObvQpF0z9eXkZWeAkzpRVvwbU5hZivFoSHC91phK9MSCx87xFoLX2xJIV2OtMgcerxHxVemYjEREHc4djFnIGCubCceVR1IPnzCod5QSyb5R5kRNPdCtB1409uM_-zR16LxENjWWoQ8J6zQlOtOfcKLaqkSj_YAxmSYgg7MhWO1yFd_ZfP3tRp_7zl4hLSf2jIqd3_-Bcoow6bg9LknI570i0-h4ltMfbwKUt7hg5L7SmtrAkssGqw2DY4vEv-M7v8ol83-wRl8aWFMGGU5eM-Bb9Vdllse_j0JA5jn64DR6hhNyvKLgcZ3FrEomt0H1sg==",
  "id": "rs_0a06bda72ecea66f016ab4533e0e9c87d0ba19a4bef6c109c6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.14,\"right_z\":0.015,\"right_gripper\":1.0,\"right_pitch\":0.1},\"note\":\"The empty close confirms the jaws were still on the narrow neck; the overhead view shows the large round head farther right of the gripper than the wrist perspective suggested. I’ll reopen and shift another eight centimetres right onto the center of that round head.\"}",
  "call_id": "call_AcITSJ2urN70RxjiN6zSnt73",
  "id": "fc_0a06bda72ecea66f016ab453427c5c87d0bf6616be5cd090ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AcITSJ2urN70RxjiN6zSnt73",
  "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]: [-0.1696, 0.8322, 0.6125, -0.4961, -0.2779, -0.0311, 0.9977, 0.815, 1.6951, 0.2474, 0.8558, 0.7353, 0.247, 0.9944]\nstate[eef_state]: left_x=0.2804 left_y=0.0048 left_z=0.155 left_yaw=0.0643 left_pitch=-0.1107 left_roll=0.1742 left_gripper=0.9977 right_x=0.2958 right_y=0.1463 right_z=0.0262 right_yaw=0.0835 right_pitch=0.1483 right_roll=-0.1621 right_gripper=0.9944\nstate[joint_eff]: [-0.0205, -1.1829, 6.9128, 1.7558, -0.1538, -0.0122, -0.0171, -0.3214, -4.7932, 2.5915, 1.0672, 0.149, -0.2515, 0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef6bab105417b46ebd29c0ef9f47df2a7cebfcd16d9a81f231203637b762b412",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36862115bc9fdebea744b97079340d73e3e7e9006d2e82b6a683c5325b89b21e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b0830ec8f29908de0de48f45d69ad25e73cdb801b626e38e2a16ce47ca18c25",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 4.157 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 144 changed as sent

message 148 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]: [-0.1696, 0.8322, 0.6125, -0.4728, -0.2779, -0.0303, 0.9977, 1.2079, 1.9804, 0.7982, 0.3199, 1.0584, 0.49, 0.0173]\nstate[eef_state]: left_x=0.284 left_y=0.0042 left_z=0.1593 left_yaw=0.0634 left_pitch=-0.0881 left_roll=0.1694 left_gripper=0.9977 right_x=0.2739 right_y=0.2977 right_z=0.0313 right_yaw=0.155 right_pitch=0.1776 right_roll=-0.2857 right_gripper=0.0173\nstate[joint_eff]: [-0.0068, -1.4017, 6.9402, 1.7753, -0.1734, -0.0171, -0.0122, -0.0479, -9.1145, 4.4239, 1.1209, 0.4127, -0.0415, 0.7106]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1696, 0.8322, 0.6125, -0.4808, -0.2779, -0.0307, 0.9978, 1.055, 1.8168, 0.503, 0.5854, 0.9272, 0.3923, 0.0138]\nstate[eef_state]: left_x=0.2828 left_y=0.0044 left_z=0.1578 left_yaw=0.0638 left_pitch=-0.0959 left_roll=0.171 left_gripper=0.9978 right_x=0.2856 right_y=0.2244 right_z=0.0293 right_yaw=0.1194 right_pitch=0.1587 right_roll=-0.2106 right_gripper=0.0138\nstate[joint_eff]: [-0.335, -1.388, 6.9265, 1.6288, -0.1783, -0.0171, -0.0073, 0.1299, -6.3385, 4.4923, 1.2674, 0.4274, -0.0269, 0.9255]\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 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1696, 0.8322, 0.6125, -0.4961, -0.2779, -0.0311, 0.9977, 0.815, 1.6951, 0.2474, 0.8558, 0.7353, 0.247, 0.9944]\nstate[eef_state]: left_x=0.2804 left_y=0.0048 left_z=0.155 left_yaw=0.0643 left_pitch=-0.1107 left_roll=0.1742 left_gripper=0.9977 right_x=0.2958 right_y=0.1463 right_z=0.0262 right_yaw=0.0835 right_pitch=0.1483 right_roll=-0.1621 right_gripper=0.9944\nstate[joint_eff]: [-0.0205, -1.1829, 6.9128, 1.7558, -0.1538, -0.0122, -0.0171, -0.3214, -4.7932, 2.5915, 1.0672, 0.149, -0.2515, 0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef6bab105417b46ebd29c0ef9f47df2a7cebfcd16d9a81f231203637b762b412",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36862115bc9fdebea744b97079340d73e3e7e9006d2e82b6a683c5325b89b21e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b0830ec8f29908de0de48f45d69ad25e73cdb801b626e38e2a16ce47ca18c25",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFNGnwSiM1hWb6fVmakJJ_5mg-Iliw1FFLzkC25V9qhfOWHHdgmhRfFg4Wj4BuPeUlKSKHJihuop89jIW2n3O48vkHQ4d3XULntvvP9DKRG-GlYWknXxcfbxPtUQH6TnFYTgh9AvDgDyuMZzF1CN2ic0LFfs3r3rNpdpYdMBEtYSJ8NmqzGekJN-8WOor-B03hr0R1rC3W9VmYDocJ2Xz6eNLHHSJyl1AtrByfyKL1TudHYTnZqepGFZCcpBql_0nxdfZoMjtG6hGhfW3HICYOxQeO9tUtLDkcd0atS0xtDaw5b0liSl4aNDjasN6zJ9O3jLCGej2RPOuk2efKP6C3cr_LIKCjcX-XZSdPwDMPK5fmAtOxrgne8ZNf4j9rGvki0X9KSuv2yYMn3Yk1a1tyPNSb083xqPZwjsBelet2dkyTM-mzjx4PQSlZ_AAhDKHURdzIqBRFguTN1GBbjiGrX3pHsq9R7xem_lCWshcVVaMFzaoVy6LceAcGU7qdjm6U7YripTUyMUgYqafpo93-DGqEfspA3iJxVS_9GIrm05XMmLq5iTwqpT3fzBHkkXadw5ZH7VyvBdYH5970L-aFJDR6s04kuiqq2Muf-CqVq90iV9dseb0uYv7LYHF_-Ep2MjT-yyNCt2b73tq-JNEeUQZl-fXoyYVeAw-4Tsr0h5TjGwRS4meXEEmAK4odszXzV5ltNLM2UCRNGozKlPyb94NC7tvDn67sPtahNJyXoIQ5D4e9M71rOIIBTTEUaPp_FUvJTpLmgUYxlf6s6GKZjzPzZd4yxyYL5qd55BXId1v-Nw1fYaoAioaSeq6N88hJGV_QLA5Ml0p59DQ0wYDnYWqBeD1E_v3rigG_1WrhMN9whqbKQxZjI3wiz06ko6DODPg1e3xW9cHVoDT1xQFQv1zuZhNC9sHotpRUfaDgKqiLl5F3B27gknB714zMICr3QotOQGWOWDElRv8G_DO9LISTs6VYolHOveQDKSCAEQCLWyIMzo1ASRl3td1ni1u9CY4kjRFRfWSw5hyP_HcoOLWE93XKWn7cITFiZCRQRBdAKfvfdD-S_PPsFjyoT0KjPp22mUIqumVZ_-O5tLJ0xxWb7Tp0Xr5MhE-lRbFdYU8l8rySyoHssKe_wwn-QysuHRKxDfa_Yb6LB47MvyArgISM1aBWOkTlOj5MwZEJ9NYfqHGE05OK-t700IHyKkIdTx4BQiB6u0-GCRNXIfcmxSAAx5FmjDrGNC4gZbO7EQRPbmns50hlzMdmXLxTcpKBs-WcqoegvDqCLGgjnYf_xVZA1aPsA9rLnRc75PJEjSYr32-R4B4ReWNkz1k1SUcMXcV6i2NgT-qOJY7W8ojWHTsA==",
  "id": "rs_0a06bda72ecea66f016ab453459c2087d086f8c01303207c03",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The round, dense portion of the brown plush now fills the jaw opening, with both fingertips on opposite sides of fur rather than a limb gap. I’ll close at this position.\"}",
  "call_id": "call_Ql6pv9WBqzf4Cota0AeYtaxV",
  "id": "fc_0a06bda72ecea66f016ab45345e2a087d0acd01a84ee20c735",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ql6pv9WBqzf4Cota0AeYtaxV",
  "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]: [-0.1696, 0.8322, 0.6125, -0.511, -0.2775, -0.0311, 0.9977, 0.8124, 1.6913, 0.2436, 0.87, 0.7216, 0.2428, 0.0143]\nstate[eef_state]: left_x=0.2781 left_y=0.0051 left_z=0.1524 left_yaw=0.0644 left_pitch=-0.1252 left_roll=0.1775 left_gripper=0.9977 right_x=0.2962 right_y=0.1482 right_z=0.0278 right_yaw=0.0923 right_pitch=0.1535 right_roll=-0.1508 right_gripper=0.0143\nstate[joint_eff]: [-0.0342, -1.3333, 6.9128, 1.7411, -0.1148, -0.0317, -0.0073, 0.1436, -4.9299, 3.6855, 1.4237, 0.2955, -0.0269, 0.6276]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3db653ca1bb303fcbeceaf67a6b934bda174122c4d76934871d5bc4d7533dcd1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31035d740c6e6baf2697645fa6602d7a7812c107e60663b87a09383090b3b01c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb4a11df55d0713ff5db31b8c9ea08c5d4d5d828d55f583d8d44318135ee934c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 8.708 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 140 changed as sent

message 148 changed as sent

message 152 changed as sent

message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1696, 0.8322, 0.6125, -0.4801, -0.2779, -0.0303, 0.9977, 1.0576, 1.8217, 0.5091, 0.5743, 0.9379, 0.3923, 0.9944]\nstate[eef_state]: left_x=0.2829 left_y=0.0044 left_z=0.158 left_yaw=0.0635 left_pitch=-0.0952 left_roll=0.1711 left_gripper=0.9977 right_x=0.2856 right_y=0.224 right_z=0.0288 right_yaw=0.1161 right_pitch=0.1586 right_roll=-0.2229 right_gripper=0.9944\nstate[joint_eff]: [-0.0889, -0.9231, 6.8991, 1.6728, -0.1538, -0.0122, -0.0073, -0.3897, -6.2427, 2.8103, 0.8083, 0.0952, -0.3394, -0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1696, 0.8322, 0.6125, -0.4961, -0.2779, -0.0311, 0.9977, 0.815, 1.6951, 0.2474, 0.8558, 0.7353, 0.247, 0.9944]\nstate[eef_state]: left_x=0.2804 left_y=0.0048 left_z=0.155 left_yaw=0.0643 left_pitch=-0.1107 left_roll=0.1742 left_gripper=0.9977 right_x=0.2958 right_y=0.1463 right_z=0.0262 right_yaw=0.0835 right_pitch=0.1483 right_roll=-0.1621 right_gripper=0.9944\nstate[joint_eff]: [-0.0205, -1.1829, 6.9128, 1.7558, -0.1538, -0.0122, -0.0171, -0.3214, -4.7932, 2.5915, 1.0672, 0.149, -0.2515, 0.1148]\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 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1696, 0.8322, 0.6125, -0.511, -0.2775, -0.0311, 0.9977, 0.8124, 1.6913, 0.2436, 0.87, 0.7216, 0.2428, 0.0143]\nstate[eef_state]: left_x=0.2781 left_y=0.0051 left_z=0.1524 left_yaw=0.0644 left_pitch=-0.1252 left_roll=0.1775 left_gripper=0.9977 right_x=0.2962 right_y=0.1482 right_z=0.0278 right_yaw=0.0923 right_pitch=0.1535 right_roll=-0.1508 right_gripper=0.0143\nstate[joint_eff]: [-0.0342, -1.3333, 6.9128, 1.7411, -0.1148, -0.0317, -0.0073, 0.1436, -4.9299, 3.6855, 1.4237, 0.2955, -0.0269, 0.6276]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3db653ca1bb303fcbeceaf67a6b934bda174122c4d76934871d5bc4d7533dcd1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31035d740c6e6baf2697645fa6602d7a7812c107e60663b87a09383090b3b01c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb4a11df55d0713ff5db31b8c9ea08c5d4d5d828d55f583d8d44318135ee934c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0a06bda72ecea66f016ab4534933b487d0b5150e9fb0ce49b1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.31,\"right_z\":0.12,\"right_pitch\":0.0},\"note\":\"The jaw reading is narrow, but this is very compressible fur like the white plush, and the fingers visibly closed into the dense body. I’ll lift and carry directly over the safe; the overhead view will confirm whether the brown plush travels with the gripper.\"}",
  "call_id": "call_hUWJpbLUAVHBED7g8WDlesqi",
  "id": "fc_0a06bda72ecea66f016ab4534ab5bc87d0a0988e72691e27b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hUWJpbLUAVHBED7g8WDlesqi",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1696, 0.8356, 0.6102, -0.5255, -0.2779, -0.0311, 0.9977, 0.8978, 1.9083, 1.2465, -0.1562, 0.7101, 0.3973, 0.0172]\nstate[eef_state]: left_x=0.2755 left_y=0.0056 left_z=0.1479 left_yaw=0.0654 left_pitch=-0.1448 left_roll=0.1825 left_gripper=0.9977 right_x=0.3846 right_y=0.3035 right_z=0.1091 right_yaw=0.1131 right_pitch=-0.0138 right_roll=-0.175 right_gripper=0.0172\nstate[joint_eff]: [-0.1436, -1.6205, 7.0906, 1.707, -0.1197, -0.0464, -0.0073, 0.1846, -9.8803, 8.253, 1.4481, 0.4811, 0.1685, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b47ae897d8297ab8c433fcc4aa34e6ee4185ba94e385240e99ae3513e16e9500",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d962f019dd1665149f6f50129a968d4f7f8cb68c473df97b38b2de1da26883d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10b53c33872eb2bf1e419b3562f942c78ae99233fe76024092b4c8aff5eb639c",
      "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 · 6.48 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 144 changed as sent

message 152 changed as sent

message 156 changed as sent

message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1696, 0.8322, 0.6125, -0.4808, -0.2779, -0.0307, 0.9978, 1.055, 1.8168, 0.503, 0.5854, 0.9272, 0.3923, 0.0138]\nstate[eef_state]: left_x=0.2828 left_y=0.0044 left_z=0.1578 left_yaw=0.0638 left_pitch=-0.0959 left_roll=0.171 left_gripper=0.9978 right_x=0.2856 right_y=0.2244 right_z=0.0293 right_yaw=0.1194 right_pitch=0.1587 right_roll=-0.2106 right_gripper=0.0138\nstate[joint_eff]: [-0.335, -1.388, 6.9265, 1.6288, -0.1783, -0.0171, -0.0073, 0.1299, -6.3385, 4.4923, 1.2674, 0.4274, -0.0269, 0.9255]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1696, 0.8322, 0.6125, -0.511, -0.2775, -0.0311, 0.9977, 0.8124, 1.6913, 0.2436, 0.87, 0.7216, 0.2428, 0.0143]\nstate[eef_state]: left_x=0.2781 left_y=0.0051 left_z=0.1524 left_yaw=0.0644 left_pitch=-0.1252 left_roll=0.1775 left_gripper=0.9977 right_x=0.2962 right_y=0.1482 right_z=0.0278 right_yaw=0.0923 right_pitch=0.1535 right_roll=-0.1508 right_gripper=0.0143\nstate[joint_eff]: [-0.0342, -1.3333, 6.9128, 1.7411, -0.1148, -0.0317, -0.0073, 0.1436, -4.9299, 3.6855, 1.4237, 0.2955, -0.0269, 0.6276]\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 156 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1696, 0.8356, 0.6102, -0.5255, -0.2779, -0.0311, 0.9977, 0.8978, 1.9083, 1.2465, -0.1562, 0.7101, 0.3973, 0.0172]\nstate[eef_state]: left_x=0.2755 left_y=0.0056 left_z=0.1479 left_yaw=0.0654 left_pitch=-0.1448 left_roll=0.1825 left_gripper=0.9977 right_x=0.3846 right_y=0.3035 right_z=0.1091 right_yaw=0.1131 right_pitch=-0.0138 right_roll=-0.175 right_gripper=0.0172\nstate[joint_eff]: [-0.1436, -1.6205, 7.0906, 1.707, -0.1197, -0.0464, -0.0073, 0.1846, -9.8803, 8.253, 1.4481, 0.4811, 0.1685, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b47ae897d8297ab8c433fcc4aa34e6ee4185ba94e385240e99ae3513e16e9500",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d962f019dd1665149f6f50129a968d4f7f8cb68c473df97b38b2de1da26883d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10b53c33872eb2bf1e419b3562f942c78ae99233fe76024092b4c8aff5eb639c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0a06bda72ecea66f016ab4534e57fc87d0b4524962e41dda78",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_0a06bda72ecea66f016ab453533ca087d09d35c49a0fe85be5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.36,\"right_z\":0.18,\"right_gripper\":1.0},\"note\":\"The brown plush lifted and traveled with the gripper, confirming the soft-fur grasp, and it is now centered over the safe. I’ll release it to settle onto the other soft objects while moving the open gripper to the raised lid’s far edge for closing.\"}",
  "call_id": "call_8dCKBTSZvTRtS1EV4OtPZ9tk",
  "id": "fc_0a06bda72ecea66f016ab453549fc087d0899084d394d81bcb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8dCKBTSZvTRtS1EV4OtPZ9tk",
  "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]: [-0.1696, 0.8379, 0.6083, -0.5404, -0.2779, -0.0311, 0.9977, 0.8253, 2.2383, 2.0022, -0.5568, 0.6491, 0.3176, 0.9947]\nstate[eef_state]: left_x=0.2729 left_y=0.0061 left_z=0.144 left_yaw=0.0661 left_pitch=-0.1633 left_roll=0.187 left_gripper=0.9977 right_x=0.4717 right_y=0.3589 right_z=0.1703 right_yaw=0.1272 right_pitch=-0.0329 right_roll=-0.1911 right_gripper=0.9947\nstate[joint_eff]: [-0.1026, -1.2513, 7.0769, 1.7314, -0.1294, -0.0562, -0.0073, -0.5675, -12.5607, 8.5538, 1.4432, 0.2564, 0.0464, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 426):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9f5276608c96e5efc66ba1e9e6dd866c5c614255bd4a0b0143ba0e572b1ea6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 426):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38e3882c171050f4b6a4c649231ff49a7c8c2a068d95afd87a77b7cbca4f551c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 426):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17d2e0fc386e5d8a37983c2749f26722df46399b2c9351f0a1296ee2b2bb21dc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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