adhoc

completed
2026-09-23T22:23:07.119998+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-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
231.7 s
total steps
398
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 red safe is near the center-left, with a yellow object to its right and two plush objects in front. I’ll first hover the right gripper over the isolated yellow object so I can refine its position with the wrist camera.
move_to
right_x0.4500right_y0.2000right_z0.1600right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7925, 0.6029, -0.3931, -0.0193, -0.0338, 0.9998, -0.02, 0.794, 0.6067, -0.3962, -0.017, -0.0334, 0.9996] state[eef_state]: left_x=0.2928 left_y=0.0015 left_z=0.1772 left_yaw=0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9998 right_x=0.2929 right_y=0.0007 right_z=0.1779 right_yaw=-0.0001 right_pitch=0.0004 right_roll=-0.0005 right_gripper=0.9996 state[joint_eff]: [-0.4171, -1.3333, 10.2906, 1.9951, -0.0513, 0.232, -0.0366, -0.4034, -1.4838, 9.7299, 1.917, -0.0415, 0.1294, -0.0611] 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":0.45,"right_y":0.2,"right_z":0.16,"right_gripper":1.0},"note":"The open red safe is near the center-left, with a yellow object to its right and two plush objects in front. I’ll first hover the right gripper over the isolated yellow object so I can refine its position with the wrist camera."})
tool
executing move_to over 17 steps (1.7s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe yellow object is centered between the jaw columns and sits at the fingertip convergence row, so the lateral and radial alignment looks good. I’ll descend to its mid-height before closing.
move_to
right_x0.4400right_y0.2000right_z0.0350right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4072, -0.0193, -0.038, 0.9998, 0.5713, 1.7241, 1.1698, -0.1677, 0.4385, 0.2893, 0.9996] state[eef_state]: left_x=0.2915 left_y=0.0015 left_z=0.1747 left_yaw=0.0027 left_pitch=-0.0156 left_roll=-0.0032 left_gripper=0.9998 right_x=0.4365 right_y=0.1956 right_z=0.1431 right_yaw=0.0379 right_pitch=-0.0581 right_roll=-0.0377 right_gripper=0.9996 state[joint_eff]: [-0.1846, -1.5521, 6.7077, 1.8242, -0.0611, -0.0171, -0.0171, 0.0479, -8.8274, 8.7726, 1.8291, 0.4029, 0.1685, -0.0611] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.2,"right_z":0.035,"right_gripper":1.0},"note":"The yellow object is centered between the jaw columns and sits at the fingertip convergence row, so the lateral and radial alignment looks good. I’ll descend to its mid-height before closing."})
tool
executing move_to over 7 steps (0.7s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteAt grasp height the yellow object fills the center of the jaw opening and remains evenly aligned left-to-right. I’ll close the gripper fully around 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, 0.7975, 0.6064, -0.4164, -0.0193, -0.0383, 0.9998, 0.5751, 1.9305, 0.9855, 0.1505, 0.4332, 0.289, 0.9996] state[eef_state]: left_x=0.2903 left_y=0.0015 left_z=0.1726 left_yaw=0.0029 left_pitch=-0.0255 left_roll=-0.0033 left_gripper=0.9998 right_x=0.4299 right_y=0.1946 right_z=0.0315 right_yaw=0.0427 right_pitch=-0.1224 right_roll=-0.0718 right_gripper=0.9996 state[joint_eff]: [-0.0889, -1.265, 7.0632, 1.7998, -0.0806, -0.022, -0.0122, -0.1299, -8.5949, 5.4222, 1.7851, 0.2125, 0.0024, -0.0562] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At grasp height the yellow object fills the center of the jaw opening and remains evenly aligned left-to-right. I’ll close the gripper fully around it."})
tool
executing move_to over 10 steps (1.0s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe settled gripper reading is 0.043, just above the empty threshold, and the yellow object is no longer lying unobstructed in the overhead view. I’ll lift it to confirm it travels with the jaws and clear the safe wall for transport.
move_to
right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7975, 0.6064, -0.4282, -0.0189, -0.0383, 0.9998, 0.5793, 1.9385, 0.9775, 0.1551, 0.4191, 0.289, 0.0428] state[eef_state]: left_x=0.2886 left_y=0.0015 left_z=0.1702 left_yaw=0.0026 left_pitch=-0.0374 left_roll=-0.0032 left_gripper=0.9998 right_x=0.4263 right_y=0.1973 right_z=0.0251 right_yaw=0.0572 right_pitch=-0.1374 right_roll=-0.0687 right_gripper=0.0428 state[joint_eff]: [-0.0615, -1.2376, 7.0085, 1.7851, -0.0464, -0.0366, -0.0171, -0.5675, -10.2359, 6.8034, 1.4432, -0.0855, -0.4664, 0.862] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.16},"note":"The settled gripper reading is 0.043, just above the empty threshold, and the yellow object is no longer lying unobstructed in the overhead view. I’ll lift it to confirm it travels with the jaws and clear the safe wall for transport."})
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 0.045 opening is too close to an empty close, and the yellow object remains visible on the table in the wrist view, so the first grasp missed or only brushed it. I’ll reopen and shift a few centimetres outward and to the arm’s right to center the fuller part of the rounded object.
move_to
right_x0.4550right_y0.1800right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7975, 0.6064, -0.4358, -0.0189, -0.0383, 0.9998, 0.5766, 1.7683, 1.2217, -0.411, 0.4, 0.2691, 0.0446] state[eef_state]: left_x=0.2875 left_y=0.0015 left_z=0.1687 left_yaw=0.0026 left_pitch=-0.045 left_roll=-0.0031 left_gripper=0.9998 right_x=0.4096 right_y=0.1886 right_z=0.1045 right_yaw=0.0647 right_pitch=-0.2779 right_roll=-0.1465 right_gripper=0.0446 state[joint_eff]: [-0.0068, -1.2513, 7.1863, 1.7314, -0.0611, -0.0317, -0.0171, -0.1026, -13.2581, 10.2359, 2.2149, 0.2955, 0.2076, 1.0281] 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":0.455,"right_y":0.18,"right_z":0.12,"right_gripper":1.0},"note":"The 0.045 opening is too close to an empty close, and the yellow object remains visible on the table in the wrist view, so the first grasp missed or only brushed it. I’ll reopen and shift a few centimetres outward and to the arm’s right to center the fuller part of the rounded object."})
tool
executing move_to over 10 steps (1.0s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteWith the gripper open, the yellow object appears at the extreme right and bottom of the wrist image; the overhead view also shows the grasp point left of it. I’ll shift farther toward image-right and slightly back toward the base, correcting both lateral and radial offsets.
move_to
right_x0.4200right_y0.1400right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6064, -0.4519, -0.0189, -0.0387, 0.9998, 0.5011, 1.8656, 1.3769, -0.5079, 0.3473, 0.1909, 0.9947] state[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.165 left_yaw=0.0028 left_pitch=-0.0629 left_roll=-0.003 left_gripper=0.9998 right_x=0.4389 right_y=0.1759 right_z=0.1044 right_yaw=0.07 right_pitch=-0.3392 right_roll=-0.176 right_gripper=0.9947 state[joint_eff]: [-0.1709, -1.3744, 7.1316, 1.7998, -0.0562, -0.0562, -0.0122, -0.6359, -9.0598, 9.3744, 1.6532, 0.2076, 0.1441, -0.1245] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.14,"right_z":0.12,"right_gripper":1.0},"note":"With the gripper open, the yellow object appears at the extreme right and bottom of the wrist image; the overhead view also shows the grasp point left of it. I’ll shift farther toward image-right and slightly back toward the base, correcting both lateral and radial offsets."})
tool
executing move_to over 3 steps (0.3s)
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 latest overhead view shows the yellow object much farther toward the right fence than my first estimate, and it remains about 80 pixels right of the jaw column. I’ll make the larger lateral correction toward the fence while maintaining a safe hover height.
move_to
right_x0.4200right_y0.0550right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8024, 0.6064, -0.4587, -0.0189, -0.0387, 0.9998, 0.4507, 1.7771, 1.2678, -0.5404, 0.3164, 0.152, 0.9989] state[eef_state]: left_x=0.2844 left_y=0.0016 left_z=0.1629 left_yaw=0.0028 left_pitch=-0.0728 left_roll=-0.0028 left_gripper=0.9998 right_x=0.4146 right_y=0.1435 right_z=0.0971 right_yaw=0.0595 right_pitch=-0.4024 right_roll=-0.197 right_gripper=0.9989 state[joint_eff]: [-0.3214, -0.9368, 6.9812, 1.7314, -0.0855, -0.0415, -0.0122, -0.1709, -11.1385, 7.5282, 2.0, 0.2076, -0.0415, -0.1245] 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":0.42,"right_y":0.055,"right_z":0.12,"right_gripper":1.0},"note":"The latest overhead view shows the yellow object much farther toward the right fence than my first estimate, and it remains about 80 pixels right of the jaw column. I’ll make the larger lateral correction toward the fence while maintaining a safe hover height."})
tool
executing move_to over 8 steps (0.8s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe arm only reached y=0.131 instead of the requested 0.055, indicating an awkward low, extended pose rather than a visual error. I’ll raise and retract slightly to let the arm reconfigure laterally before approaching again.
move_to
right_x0.3800right_y0.0600right_z0.2000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4728, -0.0189, -0.0387, 0.9998, 0.4232, 1.7504, 1.2533, -0.5648, 0.3008, 0.1265, 0.9989] state[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1599 left_yaw=0.0029 left_pitch=-0.0877 left_roll=-0.0024 left_gripper=0.9998 right_x=0.4098 right_y=0.1311 right_z=0.0993 right_yaw=0.0584 right_pitch=-0.4215 right_roll=-0.2034 right_gripper=0.9989 state[joint_eff]: [-0.0342, -1.0598, 6.9949, 1.7802, -0.0708, -0.0757, -0.0122, -0.4991, -8.1573, 6.1744, 1.4188, 0.1734, -0.0611, -0.1245] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.06,"right_z":0.2,"right_gripper":1.0},"note":"The arm only reached y=0.131 instead of the requested 0.055, indicating an awkward low, extended pose rather than a visual error. I’ll raise and retract slightly to let the arm reconfigure laterally before approaching again."})
tool
executing move_to over 7 steps (0.7s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteAfter reconfiguring, the arm reached the desired fence-side alignment and the yellow object is centered near the jaw column. It is still well above the fingertip row in the wrist image, so I’ll advance slightly outward and lower to a closer hover.
move_to
right_x0.4200right_y0.0550right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8036, 0.6064, -0.4801, -0.0189, -0.0387, 0.9998, 0.2375, 1.5299, 1.3739, -0.8337, 0.2379, 0.0021, 0.9989] state[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1584 left_yaw=0.0029 left_pitch=-0.0953 left_roll=-0.0023 left_gripper=0.9998 right_x=0.3912 right_y=0.0555 right_z=0.195 right_yaw=0.0092 right_pitch=-0.3819 right_roll=-0.1998 right_gripper=0.9989 state[joint_eff]: [-0.1983, -1.2376, 6.9265, 1.6923, -0.0317, -0.0562, -0.0122, 1.265, -5.4769, 6.7897, 1.2283, -0.1832, -0.0464, -0.1245] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.055,"right_z":0.12,"right_gripper":1.0},"note":"After reconfiguring, the arm reached the desired fence-side alignment and the yellow object is centered near the jaw column. It is still well above the fingertip row in the wrist image, so I’ll advance slightly outward and lower to a closer hover."})
tool
executing move_to over 5 steps (0.5s)
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 closer wrist view shows the object about 3–4 cm to the right of the jaw column and still short of the fingertips. I’ll correct toward it laterally and use a slightly higher pose to gain the outward reach that was lost during the low approach.
move_to
right_x0.4400right_y0.0200right_z0.1600right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4965, -0.0189, -0.0387, 0.9998, 0.2169, 1.647, 1.2015, -0.6434, 0.2203, -0.0265, 0.9989] state[eef_state]: left_x=0.2786 left_y=0.0017 left_z=0.1554 left_yaw=0.0029 left_pitch=-0.1114 left_roll=-0.0019 left_gripper=0.9998 right_x=0.3976 right_y=0.0517 right_z=0.1091 right_yaw=0.0115 right_pitch=-0.4853 right_roll=-0.2238 right_gripper=0.9989 state[joint_eff]: [-0.0752, -1.1556, 7.1043, 1.8046, -0.0562, -0.0611, -0.0171, -0.1709, -7.8291, 7.0222, 1.6728, 0.0855, 0.0171, -0.1245] 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":0.44,"right_y":0.02,"right_z":0.16,"right_gripper":1.0},"note":"The closer wrist view shows the object about 3–4 cm to the right of the jaw column and still short of the fingertips. I’ll correct toward it laterally and use a slightly higher pose to gain the outward reach that was lost during the low approach."})
tool
executing move_to over 4 steps (0.4s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe yellow object is now centered on the jaw column, with clear space below it confirming it is still a little short of the fingertips. I’ll advance about 2 cm and descend to mid-height for a centered body grasp.
move_to
right_x0.4600right_y0.0200right_z0.0350right_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, -0.5114, -0.0189, -0.0387, 0.9998, 0.1127, 1.7451, 1.4803, -0.7963, 0.1799, -0.1059, 0.9989] state[eef_state]: left_x=0.2763 left_y=0.0017 left_z=0.1524 left_yaw=0.003 left_pitch=-0.127 left_roll=-0.0016 left_gripper=0.9998 right_x=0.4373 right_y=0.0213 right_z=0.1531 right_yaw=-0.0048 right_pitch=-0.4732 right_roll=-0.2232 right_gripper=0.9989 state[joint_eff]: [-0.1709, -1.2103, 7.1043, 1.7363, -0.0122, -0.0659, -0.0122, -0.1162, -7.6513, 7.9385, 0.9597, -0.0171, 0.0122, -0.1245] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.02,"right_z":0.035,"right_gripper":1.0},"note":"The yellow object is now centered on the jaw column, with clear space below it confirming it is still a little short of the fingertips. I’ll advance about 2 cm and descend to mid-height for a centered body grasp."})
tool
executing move_to over 8 steps (0.8s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteAt grasp height the rounded yellow object is symmetrically positioned between the two fingertips, unlike the first off-center attempt. I’ll close fully now.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6064, -0.5213, -0.0193, -0.0383, 0.9998, 0.1051, 1.9152, 1.2427, -0.4541, 0.1677, -0.1276, 0.9989] state[eef_state]: left_x=0.2747 left_y=0.0018 left_z=0.1505 left_yaw=0.0031 left_pitch=-0.1369 left_roll=-0.0008 left_gripper=0.9998 right_x=0.4433 right_y=0.0207 right_z=0.0344 right_yaw=0.0087 right_pitch=-0.5422 right_roll=-0.2305 right_gripper=0.9989 state[joint_eff]: [-0.0615, -1.1009, 6.8855, 1.7118, -0.0806, -0.022, -0.0171, -0.1846, -9.2376, 6.4889, 1.3358, 0.1197, 0.0659, -0.1245] camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At grasp height the rounded yellow object is symmetrically positioned between the two fingertips, unlike the first off-center attempt. I’ll close fully now."})
tool
executing move_to over 10 steps (1.0s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe gripper closed to 0.010 and the rounded yellow object is still visible just beyond the fingertips, so it squeezed out rather than being captured. I’ll reopen without moving, then use a partial close sized to its roughly 5 cm diameter.
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, -0.5259, -0.0189, -0.0387, 0.9998, 0.1051, 1.9392, 1.2316, -0.4545, 0.1669, -0.1314, 0.0099] state[eef_state]: left_x=0.2739 left_y=0.0018 left_z=0.1497 left_yaw=0.003 left_pitch=-0.1415 left_roll=-0.0013 left_gripper=0.9998 right_x=0.4375 right_y=0.0203 right_z=0.0206 right_yaw=0.0097 right_pitch=-0.5781 right_roll=-0.2356 right_gripper=0.0099 state[joint_eff]: [-0.0889, -1.1692, 7.0632, 1.6288, -0.0855, -0.0659, -0.0171, -0.0615, -11.8906, 6.735, 1.033, 0.0952, -0.0073, 0.779] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The gripper closed to 0.010 and the rounded yellow object is still visible just beyond the fingertips, so it squeezed out rather than being captured. I’ll reopen without moving, then use a partial close sized to its roughly 5 cm diameter."})
tool
executing move_to over 10 steps (1.0s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteWith the jaws open, the yellow ball is centered but there is still a visible gap between its near edge and the fingertips. I’ll advance about 2 cm at the same height so the jaws straddle its widest section before applying a gentle partial close.
move_to
right_x0.4550right_y0.0200right_z0.0250right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8078, 0.6064, -0.5396, -0.0189, -0.0387, 0.9998, 0.1051, 1.9396, 1.2297, -0.4725, 0.1669, -0.1318, 0.995] state[eef_state]: left_x=0.2718 left_y=0.0018 left_z=0.1462 left_yaw=0.0031 left_pitch=-0.159 left_roll=-0.0009 left_gripper=0.9998 right_x=0.4328 right_y=0.0198 right_z=0.0181 right_yaw=0.0087 right_pitch=-0.5983 right_roll=-0.2381 right_gripper=0.995 state[joint_eff]: [-0.1709, -1.4564, 6.9402, 1.7656, -0.0659, -0.0611, -0.0122, -0.212, -9.894, 5.9966, 1.1551, 0.0269, -0.0366, -0.2369] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.455,"right_y":0.02,"right_z":0.025,"right_gripper":1.0},"note":"With the jaws open, the yellow ball is centered but there is still a visible gap between its near edge and the fingertips. I’ll advance about 2 cm at the same height so the jaws straddle its widest section before applying a gentle partial close."})
tool
executing move_to over 2 steps (0.2s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe arm advanced only 6 mm and the ball remains several centimetres beyond the tips, so this is the low-reach limit of the current posture. I’ll request the verified table-contact reach limit with a slight height increase to gain the last few centimetres.
move_to
right_x0.4900right_y0.0200right_z0.0350right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8078, 0.6064, -0.5434, -0.0189, -0.0383, 0.9998, 0.1036, 1.9759, 1.2926, -0.5224, 0.1658, -0.136, 0.9989] state[eef_state]: left_x=0.2711 left_y=0.0018 left_z=0.1455 left_yaw=0.0029 left_pitch=-0.1628 left_roll=-0.0005 left_gripper=0.9998 right_x=0.4394 right_y=0.02 right_z=0.0184 right_yaw=0.0095 right_pitch=-0.6221 right_roll=-0.2415 right_gripper=0.9989 state[joint_eff]: [-0.0342, -1.1556, 6.9128, 1.6386, -0.0513, -0.0562, -0.0171, -0.5949, -9.4564, 8.0068, 1.072, 0.0562, -0.0366, -0.1245] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.02,"right_z":0.035,"right_gripper":1.0},"note":"The arm advanced only 6 mm and the ball remains several centimetres beyond the tips, so this is the low-reach limit of the current posture. I’ll request the verified table-contact reach limit with a slight height increase to gain the last few centimetres."})
tool
executing move_to over 4 steps (0.4s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteAt x=0.475 the ball is finally between the fingertips at its widest section and centered. I’ll close only to about 4.3 cm jaw spacing, avoiding the full-close squeeze that ejected it before.
move_to
right_gripper0.4500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.561, -0.0189, -0.0383, 0.9998, 0.1001, 2.0972, 1.515, -0.6334, 0.16, -0.1532, 0.9989] state[eef_state]: left_x=0.2682 left_y=0.0019 left_z=0.1419 left_yaw=0.0029 left_pitch=-0.1823 left_roll=-0.0001 left_gripper=0.9998 right_x=0.4753 right_y=0.0231 right_z=0.0266 right_yaw=0.0227 right_pitch=-0.6347 right_roll=-0.2436 right_gripper=0.9989 state[joint_eff]: [-0.0889, -1.2786, 6.8581, 1.7216, -0.0708, -0.0171, -0.0122, -0.8684, -10.7282, 7.7333, 0.9353, 0.0659, 0.0611, -0.1245] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.45},"note":"At x=0.475 the ball is finally between the fingertips at its widest section and centered. I’ll close only to about 4.3 cm jaw spacing, avoiding the full-close squeeze that ejected it before."})
tool
executing move_to over 6 steps (0.6s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe jaws stopped at 0.641—about 6.1 cm—showing firm contact on the ball rather than an empty close. I’ll lift and retract slightly to confirm it travels with the gripper and clear the safe walls.
move_to
right_x0.4600right_y0.0200right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.5751, -0.0189, -0.0387, 0.9998, 0.0959, 2.1082, 1.5444, -0.6525, 0.1604, -0.1543, 0.6411] state[eef_state]: left_x=0.2658 left_y=0.0019 left_z=0.1394 left_yaw=0.0032 left_pitch=-0.1964 left_roll=-0.0 left_gripper=0.9998 right_x=0.4792 right_y=0.0214 right_z=0.0294 right_yaw=0.0188 right_pitch=-0.6356 right_roll=-0.2446 right_gripper=0.6411 state[joint_eff]: [-0.0752, -1.0462, 6.8444, 1.663, -0.0806, -0.0611, -0.0122, -0.3624, -10.9333, 7.8154, 1.0818, 0.0806, -0.0073, 0.8278] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.02,"right_z":0.18},"note":"The jaws stopped at 0.641—about 6.1 cm—showing firm contact on the ball rather than an empty close. I’ll lift and retract slightly to confirm it travels with the gripper and clear the safe walls."})
tool
executing move_to over 10 steps (1.0s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe yellow ball lifted cleanly and is visibly held between the jaws. The safe’s open cavity is the dark compartment just in front of the raised white lid, near the table center, so I’ll carry the ball high over that opening.
move_to
right_x0.3400right_y0.3500right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.585, -0.0189, -0.0387, 0.9998, 0.0967, 1.9575, 1.8751, -1.0752, 0.16, -0.1581, 0.6412] state[eef_state]: left_x=0.2641 left_y=0.0019 left_z=0.1376 left_yaw=0.0033 left_pitch=-0.2063 left_roll=0.0002 left_gripper=0.9998 right_x=0.467 right_y=0.0206 right_z=0.1724 right_yaw=0.0255 right_pitch=-0.5775 right_roll=-0.2406 right_gripper=0.6412 state[joint_eff]: [-0.0205, -1.1829, 7.0085, 1.6435, -0.0366, -0.0562, -0.0171, -0.2256, -9.9214, 8.4581, 1.1941, 0.0611, -0.022, 0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.35,"right_z":0.22},"note":"The yellow ball lifted cleanly and is visibly held between the jaws. The safe’s open cavity is the dark compartment just in front of the raised white lid, near the table center, so I’ll carry the ball high over that opening."})
tool
executing move_to over 28 steps (2.8s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe safe’s lid and front handle are directly ahead in the wrist view, and the held ball is centered over the dark open compartment just beneath them. I’ll lower the ball into the cavity while keeping the jaws closed.
move_to
right_x0.3300right_y0.3300right_z0.0700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8124, 0.6064, -0.5922, -0.0189, -0.0383, 0.9998, 0.9138, 2.2501, 2.4142, -1.5734, 0.3904, 0.6247, 0.6427] state[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1357 left_yaw=0.0031 left_pitch=-0.2162 left_roll=0.0007 left_gripper=0.9998 right_x=0.3284 right_y=0.3215 right_z=0.1864 right_yaw=0.0533 right_pitch=-0.6017 right_roll=-0.2495 right_gripper=0.6427 state[joint_eff]: [-0.0615, -1.388, 6.9949, 1.5653, -0.0024, -0.0415, -0.0122, 0.294, -11.0154, 7.4462, 0.6374, 0.4371, 0.1636, 0.1343] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.33,"right_y":0.33,"right_z":0.07},"note":"The safe’s lid and front handle are directly ahead in the wrist view, and the held ball is centered over the dark open compartment just beneath them. I’ll lower the ball into the cavity while keeping the jaws closed."})
tool
executing move_to over 8 steps (0.8s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteAt the lowered height, the ball is still just in front of the safe’s near rim/handle rather than seated behind it. I’ll advance about 3 cm into the compartment at the same height before releasing.
move_to
right_x0.3600right_y0.3300right_z0.0700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8154, 0.6064, -0.593, -0.0189, -0.0383, 0.9998, 0.9211, 2.2021, 1.866, -1.145, 0.3843, 0.6292, 0.6433] state[eef_state]: left_x=0.2628 left_y=0.002 left_z=0.1349 left_yaw=0.0031 left_pitch=-0.2201 left_roll=0.0008 left_gripper=0.9998 right_x=0.3207 right_y=0.3186 right_z=0.0682 right_yaw=0.0211 right_pitch=-0.6513 right_roll=-0.3109 right_gripper=0.6433 state[joint_eff]: [-0.1026, -0.9915, 6.8034, 1.4921, -0.0659, -0.0562, -0.0171, 0.1162, -12.506, 6.5299, 0.5788, 0.2808, 0.0171, 0.0562] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.33,"right_z":0.07},"note":"At the lowered height, the ball is still just in front of the safe’s near rim/handle rather than seated behind it. I’ll advance about 3 cm into the compartment at the same height before releasing."})
tool
executing move_to over 4 steps (0.4s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteAfter advancing, the ball sits behind the near rim and directly under the raised lid’s edge, indicating it is within the compartment. I’ll open the jaws to release it into 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, 0.8162, 0.6064, -0.5949, -0.0189, -0.0383, 0.9998, 0.8948, 2.2925, 2.0033, -1.1683, 0.3973, 0.5915, 0.6441] state[eef_state]: left_x=0.2625 left_y=0.002 left_z=0.1344 left_yaw=0.0031 left_pitch=-0.2227 left_roll=0.0008 left_gripper=0.9998 right_x=0.3462 right_y=0.3281 right_z=0.0665 right_yaw=0.0257 right_pitch=-0.6328 right_roll=-0.315 right_gripper=0.6441 state[joint_eff]: [-0.0205, -1.2786, 6.8444, 1.5507, -0.0464, -0.0269, -0.0122, -0.7863, -11.5487, 8.1162, 0.5348, 0.3199, 0.0024, 0.0757] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"After advancing, the ball sits behind the near rim and directly under the raised lid’s edge, indicating it is within the compartment. I’ll open the jaws to release it into the safe."})
tool
executing move_to over 4 steps (0.4s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe yellow ball is released inside the safe and remains visible beneath the raised lid. I’ll park the right arm to clear the overhead view while moving the left arm to a hover over the white plush object.
move_to
right_x0.2930right_y0.0000right_z0.1800right_gripper1.0000left_x0.3300left_y-0.1800left_z0.1600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8173, 0.6064, -0.6079, -0.0189, -0.0383, 0.9998, 0.902, 2.2963, 1.9556, -1.1484, 0.408, 0.5869, 0.9949] state[eef_state]: left_x=0.2602 left_y=0.002 left_z=0.1319 left_yaw=0.0032 left_pitch=-0.2368 left_roll=0.0011 left_gripper=0.9998 right_x=0.3404 right_y=0.3235 right_z=0.0529 right_yaw=0.0117 right_pitch=-0.6456 right_roll=-0.3559 right_gripper=0.9949 state[joint_eff]: [-0.0752, -0.9094, 6.9812, 1.5946, -0.0708, -0.0269, -0.0171, -0.0342, -14.7487, 6.2838, 0.6813, 0.3541, 0.0708, -0.1099] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.293,"right_y":0.0,"right_z":0.18,"right_gripper":1.0,"left_x":0.33,"left_y":-0.18,"left_z":0.16,"left_gripper":1.0},"note":"The yellow ball is released inside the safe and remains visible beneath the raised lid. I’ll park the right arm to clear the overhead view while moving the left arm to a hover over the white plush object."})
tool
executing move_to over 27 steps (2.7s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
right_cam
camera right_cam step 201
assistant
agent noteWith the arms clear, the yellow ball has rolled just outside the safe’s front-left rim, so that placement will need correction later. The left wrist view shows the white plush left of the jaw column; I’ll shift left and slightly outward to center it for pickup.
move_to
left_x0.3500left_y-0.1200left_z0.1300left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7185, 1.4307, 1.0504, -0.6361, -0.45, -0.601, 0.9998, 0.1501, 1.319, 1.1896, -1.0866, 0.2588, -0.1558, 0.9989] state[eef_state]: left_x=0.3191 left_y=-0.1722 left_z=0.1435 left_yaw=0.0013 left_pitch=-0.2905 left_roll=0.0207 left_gripper=0.9998 right_x=0.2915 right_y=0.002 right_z=0.1699 right_yaw=-0.0269 right_pitch=-0.6237 right_roll=-0.3585 right_gripper=0.9989 state[joint_eff]: [-0.2803, -5.6957, 9.5795, 1.4139, -0.4615, 0.1245, -0.0366, -0.1162, -5.8051, 7.7333, 0.9841, 0.0659, -0.0708, -0.1245] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.12,"left_z":0.13,"left_gripper":1.0},"note":"With the arms clear, the yellow ball has rolled just outside the safe’s front-left rim, so that placement will need correction later. The left wrist view shows the white plush left of the jaw column; I’ll shift left and slightly outward to center it for pickup."})
tool
executing move_to over 5 steps (0.5s)
step 206
top_cam
camera top_cam step 206
left_cam
camera left_cam step 206
right_cam
camera right_cam step 206
assistant
agent noteThe white plush is now centered between the open fingertips, with its torso aligned on the jaw column. I’ll descend to grasp around the thicker body rather than the narrow ears or feet.
move_to
left_x0.3450left_y-0.1150left_z0.0350left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.511, 1.4303, 0.9741, -0.5518, -0.3534, -0.4557, 0.9998, 0.1539, 1.3106, 1.1641, -1.0897, 0.2501, -0.1757, 0.9989] state[eef_state]: left_x=0.3415 left_y=-0.1173 left_z=0.12 left_yaw=0.0509 left_pitch=-0.3357 left_roll=0.042 left_gripper=0.9998 right_x=0.2852 right_y=0.0036 right_z=0.163 right_yaw=-0.0039 right_pitch=-0.6489 right_roll=-0.3616 right_gripper=0.9989 state[joint_eff]: [0.1846, -7.4325, 6.2564, 1.5995, -0.1392, 0.1099, -0.0366, -0.3214, -5.5316, 6.3521, 1.1404, 0.2271, 0.2027, -0.0171] camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.345,"left_y":-0.115,"left_z":0.035,"left_gripper":1.0},"note":"The white plush is now centered between the open fingertips, with its torso aligned on the jaw column. I’ll descend to grasp around the thicker body rather than the narrow ears or feet."})
tool
executing move_to over 6 steps (0.6s)
step 212
top_cam
camera top_cam step 212
left_cam
camera left_cam step 212
assistant
agent noteAt grasp height the plush torso fills the space symmetrically between the jaws. I’ll close around the soft body.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5034, 1.565, 0.7578, -0.2596, -0.337, -0.4492, 0.9998, 0.157, 1.2831, 1.1114, -1.0668, 0.2497, -0.1764, 0.9989] state[eef_state]: left_x=0.3326 left_y=-0.1124 left_z=0.0333 left_yaw=0.0537 left_pitch=-0.3932 left_roll=0.0666 left_gripper=0.9998 right_x=0.2782 right_y=0.0035 right_z=0.1545 right_yaw=-0.0002 right_pitch=-0.6514 right_roll=-0.3619 right_gripper=0.9989 state[joint_eff]: [0.2393, -6.1333, 5.6957, 1.3407, -0.2076, 0.022, -0.0366, 0.0889, -5.4632, 6.5709, 1.1551, 0.1929, 0.0122, -0.0171] camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At grasp height the plush torso fills the space symmetrically between the jaws. I’ll close around the soft body."})
tool
executing move_to over 10 steps (1.0s)
step 222
assistant
agent noteThe gripper settled at 0.041, narrowly above the empty threshold, and the plush has disappeared from its table spot in the overhead view. I’ll lift it to verify the grasp before transporting.
move_to
left_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5026, 1.5799, 0.7452, -0.247, -0.337, -0.4526, 0.0409, 0.1577, 1.2518, 1.0588, -1.0397, 0.2497, -0.1764, 0.9988] state[eef_state]: left_x=0.3301 left_y=-0.1107 left_z=0.0258 left_yaw=0.0598 left_pitch=-0.4057 left_roll=0.0731 left_gripper=0.0409 right_x=0.272 right_y=0.0027 right_z=0.1471 right_yaw=0.0012 right_pitch=-0.6457 right_roll=-0.3608 right_gripper=0.9988 state[joint_eff]: [-0.0615, -7.6376, 6.6256, 1.0427, -0.1538, -0.0317, 0.9158, 0.2393, -5.1624, 6.6393, 1.1111, 0.1685, -0.0024, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.17},"note":"The gripper settled at 0.041, narrowly above the empty threshold, and the plush has disappeared from its table spot in the overhead view. I’ll lift it to verify the grasp before transporting."})
tool
executing move_to over 10 steps (1.0s)
step 232
assistant
agent noteThe plush lifted with the left gripper and remains securely held. From the yellow ball’s earlier roll-out, the true cavity center is farther forward and slightly right, so I’ll carry this plush high to x≈0.40 at the safe’s lateral center.
move_to
left_x0.4000left_y-0.3600left_z0.2100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5034, 1.4403, 1.1481, -0.8227, -0.3328, -0.4587, 0.0414, 0.1581, 1.2263, 1.0138, -1.0138, 0.2501, -0.1764, 0.9988] state[eef_state]: left_x=0.329 left_y=-0.1112 left_z=0.148 left_yaw=0.0674 left_pitch=-0.4354 left_roll=0.0856 left_gripper=0.0414 right_x=0.2674 right_y=0.002 right_z=0.1406 right_yaw=0.0019 right_pitch=-0.6392 right_roll=-0.36 right_gripper=0.9988 state[joint_eff]: [0.0068, -7.6103, 8.9915, 1.2332, -0.2466, 0.0171, 1.0281, 0.253, -4.9846, 6.4615, 1.0916, 0.2173, -0.0122, -0.0073] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.36,"left_z":0.21},"note":"The plush lifted with the left gripper and remains securely held. From the yellow ball’s earlier roll-out, the true cavity center is farther forward and slightly right, so I’ll carry this plush high to x≈0.40 at the safe’s lateral center."})
tool
executing move_to over 23 steps (2.3s)
step 255
assistant
agent noteThe wrist view at x=0.39 is dominated by the raised white lid panel, showing this point is too far forward rather than over the cavity. I’ll retreat toward the base while keeping the plush high, aiming just in front of the lid hinge at the safe’s centerline.
move_to
left_x0.3300left_y-0.3500left_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8783, 2.455, 2.7441, -1.562, -0.4473, -0.8406, 0.0444, 0.1585, 1.2015, 0.9752, -0.9916, 0.2497, -0.1768, 0.9988] state[eef_state]: left_x=0.3866 left_y=-0.3408 left_z=0.1876 left_yaw=0.0571 left_pitch=-0.4602 left_roll=0.0737 left_gripper=0.0444 right_x=0.2633 right_y=0.0015 right_z=0.1355 right_yaw=0.0039 right_pitch=-0.6311 right_roll=-0.3581 right_gripper=0.9988 state[joint_eff]: [-0.7453, -11.7128, 7.747, 0.7937, -0.5543, 0.0073, 1.0281, 0.212, -4.4786, 6.5709, 1.0476, 0.188, -0.0171, -0.0122] 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":0.33,"left_y":-0.35,"left_z":0.18},"note":"The wrist view at x=0.39 is dominated by the raised white lid panel, showing this point is too far forward rather than over the cavity. I’ll retreat toward the base while keeping the plush high, aiming just in front of the lid hinge at the safe’s centerline."})
tool
executing move_to over 5 steps (0.5s)
step 260
assistant
agent noteAfter retreating, the lid’s lower rim is ahead of the held plush and the gripper is centered on the narrow dark compartment immediately in front of it. I’ll lower the plush into that compartment at the corrected lateral center.
move_to
left_x0.3300left_y-0.3500left_z0.0600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.984, 2.2944, 2.3032, -1.4277, -0.4587, -0.9298, 0.0444, 0.1585, 1.1854, 0.9474, -0.9798, 0.2497, -0.1764, 0.9989] state[eef_state]: left_x=0.3304 left_y=-0.3491 left_z=0.1463 left_yaw=0.0786 left_pitch=-0.5238 left_roll=0.1716 left_gripper=0.0444 right_x=0.2594 right_y=0.0009 right_z=0.1309 right_yaw=0.0037 right_pitch=-0.631 right_roll=-0.3579 right_gripper=0.9989 state[joint_eff]: [-0.0068, -17.7436, 6.065, 0.8816, -0.4322, -0.105, 1.033, 0.1709, -4.2872, 6.5983, 1.16, 0.1978, -0.0366, -0.0073] camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.35,"left_z":0.06},"note":"After retreating, the lid’s lower rim is ahead of the held plush and the gripper is centered on the narrow dark compartment immediately in front of it. I’ll lower the plush into that compartment at the corrected lateral center."})
tool
executing move_to over 6 steps (0.6s)
step 266
assistant
agent noteAt the lowered pose, the wrist view shows the plush directly beneath the lid edge and inside the black side hardware rather than outside the front rim. I’ll release it into the safe.
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]: [-0.9878, 2.2692, 1.9301, -1.1328, -0.4496, -0.936, 0.0444, 0.1589, 1.1702, 0.9176, -0.9627, 0.2497, -0.1768, 0.9988] state[eef_state]: left_x=0.3221 left_y=-0.3425 left_z=0.0614 left_yaw=0.1029 left_pitch=-0.5563 left_roll=0.2178 left_gripper=0.0444 right_x=0.2563 right_y=0.0005 right_z=0.126 right_yaw=0.0046 right_pitch=-0.6284 right_roll=-0.3576 right_gripper=0.9988 state[joint_eff]: [-0.0752, -12.6427, 6.1197, 0.4762, -0.4078, 0.0073, 1.0281, 0.0889, -4.4239, 6.4342, 1.0476, 0.1441, -0.0513, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"At the lowered pose, the wrist view shows the plush directly beneath the lid edge and inside the black side hardware rather than outside the front rim. I’ll release it into the safe."})
tool
executing move_to over 10 steps (1.0s)
step 276
assistant
agent noteThe jaws are open and the white plush has settled below the lid hardware. I’ll retract the left arm to verify it remains in the compartment and expose the remaining objects.
move_to
left_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]: [-0.9878, 2.2723, 1.9114, -1.1309, -0.4461, -0.9409, 0.9952, 0.1589, 1.1576, 0.8913, -0.9546, 0.2493, -0.1764, 0.9988] state[eef_state]: left_x=0.3191 left_y=-0.339 left_z=0.0548 left_yaw=0.1158 left_pitch=-0.5678 left_roll=0.2344 left_gripper=0.9952 right_x=0.252 right_y=-0.0001 right_z=0.1207 right_yaw=0.0041 right_pitch=-0.6341 right_roll=-0.3581 right_gripper=0.9988 state[joint_eff]: [-0.1162, -12.7932, 7.3231, 0.4078, -0.3248, 0.0415, -0.0024, 0.1162, -4.3282, 6.3521, 1.0818, 0.1538, -0.0122, -0.0122] camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.293,"left_y":0.0,"left_z":0.18,"left_gripper":1.0},"note":"The jaws are open and the white plush has settled below the lid hardware. I’ll retract the left arm to verify it remains in the compartment and expose the remaining objects."})
tool
executing move_to over 31 steps (3.1s)
step 307
assistant
agent noteWith both arms clear, all three objects are still outside and the white panel is plainly the closed safe lid; the black U-shaped piece seen earlier is its front handle. I’ll bring the right gripper to that handle so I can open the safe before loading anything.
move_to
right_x0.3500right_y0.2800right_z0.1300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1738, 1.322, 1.1954, -1.0885, -0.2577, -0.1417, 0.9985, 0.1589, 1.1358, 0.8616, -0.9428, 0.2493, -0.1764, 0.9988] state[eef_state]: left_x=0.2934 left_y=-0.0022 left_z=0.1708 left_yaw=0.1602 left_pitch=-0.5852 left_roll=0.2339 left_gripper=0.9985 right_x=0.2476 right_y=-0.0008 right_z=0.1166 right_yaw=0.0045 right_pitch=-0.6303 right_roll=-0.3573 right_gripper=0.9988 state[joint_eff]: [-0.0889, -6.2154, 7.1043, 0.9255, -0.0757, 0.0757, -0.1783, 0.3761, -3.7402, 6.2974, 1.1258, 0.1587, -0.0269, -0.0122] camera 'top_cam' (step 307): [image omitted: streamed camera frame] camera 'left_cam' (step 307): [image omitted: streamed camera frame] camera 'right_cam' (step 307): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.28,"right_z":0.13,"right_gripper":1.0},"note":"With both arms clear, all three objects are still outside and the white panel is plainly the closed safe lid; the black U-shaped piece seen earlier is its front handle. I’ll bring the right gripper to that handle so I can open the safe before loading anything."})
tool
executing move_to over 24 steps (2.4s)
step 331
assistant
agent noteThe black front handle is centered in the right wrist view, but it is still ahead of and above the fingertip convergence point. I’ll advance and lower so the open jaws straddle the handle.
move_to
right_x0.3800right_y0.2800right_z0.0600right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1753, 1.3201, 1.1954, -1.1011, -0.2508, -0.1429, 0.9982, 0.8307, 2.1036, 1.9232, -1.2644, 0.4152, 0.4805, 0.9989] state[eef_state]: left_x=0.2904 left_y=-0.0033 left_z=0.1699 left_yaw=0.1553 left_pitch=-0.5972 left_roll=0.2302 left_gripper=0.9982 right_x=0.3432 right_y=0.2754 right_z=0.1247 right_yaw=0.0291 right_pitch=-0.6315 right_roll=-0.3686 right_gripper=0.9989 state[joint_eff]: [-0.1436, -4.4923, 6.2154, 1.033, -0.1783, -0.022, -0.0366, 0.0752, -10.8239, 7.6239, 0.3639, 0.4029, 0.2564, -0.1245] camera 'top_cam' (step 331): [image omitted: streamed camera frame] camera 'left_cam' (step 331): [image omitted: streamed camera frame] camera 'right_cam' (step 331): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.28,"right_z":0.06,"right_gripper":1.0},"note":"The black front handle is centered in the right wrist view, but it is still ahead of and above the fingertip convergence point. I’ll advance and lower so the open jaws straddle the handle."})
tool
executing move_to over 5 steps (0.5s)
step 336
assistant
agent noteAt the lower pose the handle’s curved bar is centered between the fingertips immediately below the lid edge. I’ll close on the handle to lift the lid.
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]: [-0.1753, 1.3201, 1.1954, -1.1042, -0.2504, -0.1429, 0.998, 0.7876, 2.1986, 1.8263, -1.0954, 0.4187, 0.4339, 0.9989] state[eef_state]: left_x=0.2897 left_y=-0.0032 left_z=0.1697 left_yaw=0.1556 left_pitch=-0.6002 left_roll=0.231 left_gripper=0.998 right_x=0.365 right_y=0.2699 right_z=0.0624 right_yaw=0.0012 right_pitch=-0.6549 right_roll=-0.4131 right_gripper=0.9989 state[joint_eff]: [-0.0068, -4.6564, 6.2564, 0.8864, -0.2027, -0.0269, -0.0415, -0.335, -11.535, 6.0786, 0.823, 0.2662, -0.0171, -0.1245] camera 'top_cam' (step 336): [image omitted: streamed camera frame] camera 'left_cam' (step 336): [image omitted: streamed camera frame] camera 'right_cam' (step 336): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At the lower pose the handle’s curved bar is centered between the fingertips immediately below the lid edge. I’ll close on the handle to lift the lid."})
tool
executing move_to over 10 steps (1.0s)
step 346
assistant
agent noteThe jaws closed empty, but they are now directly beneath the front lip/handle assembly. I’ll lift vertically with the closed fingertips as a hook under the lid edge, which should raise the hinged cover even without pinching the handle.
move_to
right_x0.3700right_y0.2750right_z0.2200right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1761, 1.3201, 1.1954, -1.1053, -0.2504, -0.1429, 0.9979, 0.7856, 2.2127, 1.8244, -1.0515, 0.4221, 0.4149, 0.0098] state[eef_state]: left_x=0.2895 left_y=-0.0034 left_z=0.1696 left_yaw=0.1551 left_pitch=-0.6013 left_roll=0.2314 left_gripper=0.9979 right_x=0.3721 right_y=0.275 right_z=0.0571 right_yaw=0.0238 right_pitch=-0.6367 right_roll=-0.4004 right_gripper=0.0098 state[joint_eff]: [0.0342, -4.5197, 6.2291, 0.906, -0.2125, 0.0024, -0.022, -0.3897, -12.1641, 6.2564, 0.8913, 0.2857, 0.0806, 0.8181] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 346): [image omitted: streamed camera frame] camera 'left_cam' (step 346): [image omitted: streamed camera frame] camera 'right_cam' (step 346): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.275,"right_z":0.22,"right_gripper":0.0},"note":"The jaws closed empty, but they are now directly beneath the front lip/handle assembly. I’ll lift vertically with the closed fingertips as a hook under the lid edge, which should raise the hinged cover even without pinching the handle."})
tool
executing move_to over 11 steps (1.1s)
step 357
assistant
agent noteThe lift did not move the lid; from above, the wrist view now clearly shows the handle centered but still a few centimetres beyond the fingertip row. I’ll reopen, advance farther over the handle, and lower for a second, better-aligned grasp.
move_to
right_x0.4000right_y0.2750right_z0.0800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1761, 1.3201, 1.1954, -1.1076, -0.2504, -0.1432, 0.9979, 0.7925, 2.2272, 2.3611, -1.5578, 0.4309, 0.4107, 0.0081] state[eef_state]: left_x=0.289 left_y=-0.0033 left_z=0.1694 left_yaw=0.1558 left_pitch=-0.6034 left_roll=0.2321 left_gripper=0.9979 right_x=0.3656 right_y=0.2708 right_z=0.1854 right_yaw=0.0355 right_pitch=-0.62 right_roll=-0.3965 right_gripper=0.0081 state[joint_eff]: [-0.1983, -4.6974, 6.0923, 0.8864, -0.1832, -0.0708, -0.0171, -0.5675, -14.8855, 5.6274, 0.5788, 0.3639, -0.0415, 0.8278] camera 'top_cam' (step 357): [image omitted: streamed camera frame] camera 'left_cam' (step 357): [image omitted: streamed camera frame] camera 'right_cam' (step 357): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.275,"right_z":0.08,"right_gripper":1.0},"note":"The lift did not move the lid; from above, the wrist view now clearly shows the handle centered but still a few centimetres beyond the fingertip row. I’ll reopen, advance farther over the handle, and lower for a second, better-aligned grasp."})
tool
executing move_to over 10 steps (1.0s)
step 367
assistant
agent noteThe arm did not track the combined advance-and-descent command, indicating the current pose is kinematically wedged over the lid rather than blocked by the object. I’ll retract and raise to reconfigure, then make one clean approach to the handle.
move_to
right_x0.3000right_y0.2000right_z0.2500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1761, 1.3209, 1.1954, -1.108, -0.2504, -0.1432, 0.9979, 0.7906, 2.2257, 2.355, -1.5726, 0.4309, 0.3996, 0.9945] state[eef_state]: left_x=0.2889 left_y=-0.0033 left_z=0.1692 left_yaw=0.1561 left_pitch=-0.6045 left_roll=0.2326 left_gripper=0.9979 right_x=0.363 right_y=0.267 right_z=0.1839 right_yaw=0.0308 right_pitch=-0.6366 right_roll=-0.4182 right_gripper=0.9945 state[joint_eff]: [-0.1846, -4.6291, 6.147, 0.8816, -0.1783, -0.0513, -0.0171, 0.0205, -11.412, 6.7624, 0.6911, 0.4225, 0.0269, -0.1148] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 367): [image omitted: streamed camera frame] camera 'left_cam' (step 367): [image omitted: streamed camera frame] camera 'right_cam' (step 367): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.2,"right_z":0.25,"right_gripper":1.0},"note":"The arm did not track the combined advance-and-descent command, indicating the current pose is kinematically wedged over the lid rather than blocked by the object. I’ll retract and raise to reconfigure, then make one clean approach to the handle."})
tool
executing move_to over 6 steps (0.6s)
step 373
assistant
agent noteThe arm has reconfigured successfully; the handle is now visible slightly left of the jaw column. I’ll approach it at the front-edge height while shifting a few centimetres left for centered alignment.
move_to
right_x0.3650right_y0.2400right_z0.0550right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1761, 1.3201, 1.1954, -1.1072, -0.2504, -0.1429, 0.9979, 0.7906, 1.8557, 1.985, -1.5517, 0.4377, 0.3923, 0.9989] state[eef_state]: left_x=0.289 left_y=-0.0033 left_z=0.1694 left_yaw=0.1555 left_pitch=-0.6031 left_roll=0.2322 left_gripper=0.9979 right_x=0.3062 right_y=0.2081 right_z=0.2291 right_yaw=0.0412 right_pitch=-0.6182 right_roll=-0.41 right_gripper=0.9989 state[joint_eff]: [-0.1983, -4.6974, 6.0376, 0.9646, -0.2369, -0.0122, -0.0171, -0.3897, -9.4291, 5.3949, 0.7937, 0.4322, -0.0757, -0.1245] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 373): [image omitted: streamed camera frame] camera 'left_cam' (step 373): [image omitted: streamed camera frame] camera 'right_cam' (step 373): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.365,"right_y":0.24,"right_z":0.055,"right_gripper":1.0},"note":"The arm has reconfigured successfully; the handle is now visible slightly left of the jaw column. I’ll approach it at the front-edge height while shifting a few centimetres left for centered alignment."})
tool
executing move_to over 12 steps (1.2s)
step 385
assistant
agent noteThe U-shaped handle now fills the center of the open jaws, with both side legs between the fingertips. I’ll close on the handle and use the resulting jaw spacing to confirm contact.
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]: [-0.1761, 1.3201, 1.1954, -1.1076, -0.2504, -0.1429, 0.9979, 0.7528, 2.0453, 1.5711, -0.9668, 0.4316, 0.3408, 0.9989] state[eef_state]: left_x=0.289 left_y=-0.0033 left_z=0.1694 left_yaw=0.1556 left_pitch=-0.6035 left_roll=0.2323 left_gripper=0.9979 right_x=0.3514 right_y=0.2329 right_z=0.0599 right_yaw=0.0305 right_pitch=-0.6479 right_roll=-0.444 right_gripper=0.9989 state[joint_eff]: [-0.1983, -4.6154, 5.9556, 0.9109, -0.2271, -0.0171, -0.0171, -0.7179, -9.935, 6.3248, 0.5934, 0.2857, 0.0562, -0.1245] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 385): [image omitted: streamed camera frame] camera 'left_cam' (step 385): [image omitted: streamed camera frame] camera 'right_cam' (step 385): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The U-shaped handle now fills the center of the open jaws, with both side legs between the fingertips. I’ll close on the handle and use the resulting jaw spacing to confirm contact."})
tool
executing move_to over 10 steps (1.0s)
step 395
assistant
agent noteThe jaws again closed inside the handle opening, but this time the closed fingertips are visibly enclosed by the U-shaped bar. I’ll pull a few centimetres toward the base so the fingertips hook the near side of the handle before lifting.
move_to
right_x0.3200right_y0.2300right_z0.0500right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1761, 1.3201, 1.1954, -1.1076, -0.2504, -0.1432, 0.9979, 0.7647, 2.0525, 1.5154, -0.9211, 0.4496, 0.3408, 0.0099] state[eef_state]: left_x=0.289 left_y=-0.0033 left_z=0.1694 left_yaw=0.1558 left_pitch=-0.6034 left_roll=0.2321 left_gripper=0.9979 right_x=0.3459 right_y=0.2304 right_z=0.0446 right_yaw=0.0214 right_pitch=-0.6487 right_roll=-0.475 right_gripper=0.0099 state[joint_eff]: [-0.253, -4.8205, 6.0376, 0.8913, -0.1929, -0.0757, -0.0171, 0.0342, -13.3675, 6.0786, 0.6764, 0.3736, 0.0562, 0.7546] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 395): [image omitted: streamed camera frame] camera 'left_cam' (step 395): [image omitted: streamed camera frame] camera 'right_cam' (step 395): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.23,"right_z":0.05,"right_gripper":0.0},"note":"The jaws again closed inside the handle opening, but this time the closed fingertips are visibly enclosed by the U-shaped bar. I’ll pull a few centimetres toward the base so the fingertips hook the near side of the handle before lifting."})
tool
executing move_to over 2 steps (0.2s)
step 397
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1761, 1.3201, 1.1954, -1.1072, -0.2504, -0.1429, 0.9979, 0.7921, 2.0098, 1.4273, -0.8864, 0.4644, 0.3656, 0.0086] state[eef_state]: left_x=0.289 left_y=-0.0033 left_z=0.1694 left_yaw=0.1555 left_pitch=-0.6031 left_roll=0.2322 left_gripper=0.9979 right_x=0.3297 right_y=0.2266 right_z=0.0396 right_yaw=0.0185 right_pitch=-0.64 right_roll=-0.486 right_gripper=0.0086 state[joint_eff]: [-0.1573, -4.8479, 5.9556, 0.9695, -0.232, -0.0366, -0.0171, 1.4701, -12.1915, 6.7624, 0.8132, 0.4908, 0.0806, 0.8718] camera 'top_cam' (step 397): [image omitted: streamed camera frame] camera 'left_cam' (step 397): [image omitted: streamed camera frame] camera 'right_cam' (step 397): [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 · 7.798 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
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  "content": [
    {
      "text": "Goal: Place all the objects into the safe, then close the safe.",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6029, -0.3931, -0.0193, -0.0338, 0.9998, -0.02, 0.794, 0.6067, -0.3962, -0.017, -0.0334, 0.9996]\nstate[eef_state]: left_x=0.2928 left_y=0.0015 left_z=0.1772 left_yaw=0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9998 right_x=0.2929 right_y=0.0007 right_z=0.1779 right_yaw=-0.0001 right_pitch=0.0004 right_roll=-0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.3333, 10.2906, 1.9951, -0.0513, 0.232, -0.0366, -0.4034, -1.4838, 9.7299, 1.917, -0.0415, 0.1294, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e28f2ecd6ad0b647a0170f73dc5bb5003314b18645c42d1d2149737fe710cc60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3386b19d838af12c7457d3639258d0c45919be5bbd999b43cb724f25ebe18d09",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78742882899429c14d05c700a2c28c7367be03b30e976b2d41f1784716f98300",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
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  "role": "user"
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call 1 attempt 0 · /responses · status 200 · 3.143 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFFaoY7tZbzhW9oIJaKRQYstWmNpZcmEcrtdCINL2MBYBY0QuDjjFn3m0p4nFD5LrBasdLxzQUpd7zFfuYHbhfZerOcOB5-akvlOMLJqnszhjGqL9Uf8Omn-Xq4ARObsL4JdV5h7miNlTAI3frlW_RP25lXhySAKUg-AEwTBsUX_WtyImIz86mXG8_JFWSGDAmgNp3OwJiepQrZRxSKvAqdIoASd9leb21Bpg9UEyTzFaKYDTU4zkKZGlj8PADytUz8-ZqEkR_yKJ7QFngU5C8AneGbEwAVn-omsVm2-EyS-rUMWwjlCSKWLLhrh9QCzf-2Lzp-yI-VkdR_z3oTgdteLZELsA6uumtKETf05zP8heMfeQfGCOUjB_ahCJ9M8r06z23jPqGLHJ9N081bChXMjHns8vVZ5-LvmA5I6V7aihM415Y1sw34DRjc01jAJFv5ZAcA4dwdZpsFKy2L01gqymCIp-jt5ZMQUBkMx-bVbnFV_3so0h-YABW3Pihrmhu4O999az8Cba1eyOtv2iZCwBcIXifLK6YSX1VkG7OGR_VAIY78uGVOtxjF7XKGJp-SiFiiejzYje4NB3oTlN9gkvRdw0l0NYK4gV79atY64w5g3FqnccWTaZaynNMbBxwfaETq61NxuluBpdOS6uEDOnsTrUHYDWsMoUnhVET1ppRy8dghpnWFN5SXoSlsKT1hihqCA6lYuC6qQ8Uz0c9b-7wUG4iYYFcHz0R0HVUzZLxo4qkMAx6Mj0W4Mzmf4ZdJoWQoRG2F-YuY-PVTkm25maG9ZQSDo3VDLHG7eSW9VmKyxq68toPHKTWyY776vQgfjsNpidatx5NqwaUt2LE1_Pv8HDUvszHpnZlGnl9b9Ib4ktOMgfnOl7uvoI2KPPWtKiG5IO-TzkzeI-MobVY1o2RCMdDEkCxbuYxKwl1I_1vR3Psz7K8F4dMB3r1BB1zQY_NIjv3zpjAt435xXxuEODKsXIrwYxrfXMOPm-ni7rwixg0mG8B1qUJojyxTZmEasuyZqa4AxZV4yB4A_OvbFFK7v2aE1BT_aUBSCih83gU2337oeLfm64_sGbz4yxKvwUHI0eYhgXLyAZSNRGdgw0ra5qWkCzqPdHsBgDpKdKNsYzWP6cR494_LEityjPL7oqNIFxlSDj-nkx0-NhLBMAPyAiLCHmJU4vZQ1wpdW6DZXTgtdQZOF6-3vSiJ7UUQSqLoP1P8ggCJJfCjZM1CLYKygLeJJScmqVRMAV1tjiA2qmtP0PM26qJOfUaNw7sPJrAf5KOpCG3qNwdS44OVDSC-8W7Jf1sgN_U_M5pxDkbtvGcE19EUqxG-ziNi4BVw0jtfWmodTvg6b2vEg8Zq3wQ==",
  "id": "rs_003d579e8354fab7016ab4515966cc87d0a0383a1717f7cbe1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.2,\"right_z\":0.16,\"right_gripper\":1.0},\"note\":\"The open red safe is near the center-left, with a yellow object to its right and two plush objects in front. I’ll first hover the right gripper over the isolated yellow object so I can refine its position with the wrist camera.\"}",
  "call_id": "call_ak2XgSdDmlFizz3Su95kMHyQ",
  "id": "fc_003d579e8354fab7016ab45159ec2887d0aaf4501f9575f9f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ak2XgSdDmlFizz3Su95kMHyQ",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4072, -0.0193, -0.038, 0.9998, 0.5713, 1.7241, 1.1698, -0.1677, 0.4385, 0.2893, 0.9996]\nstate[eef_state]: left_x=0.2915 left_y=0.0015 left_z=0.1747 left_yaw=0.0027 left_pitch=-0.0156 left_roll=-0.0032 left_gripper=0.9998 right_x=0.4365 right_y=0.1956 right_z=0.1431 right_yaw=0.0379 right_pitch=-0.0581 right_roll=-0.0377 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.5521, 6.7077, 1.8242, -0.0611, -0.0171, -0.0171, 0.0479, -8.8274, 8.7726, 1.8291, 0.4029, 0.1685, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:341e9aeee42848f3ce4abc09e800f7be1b2bfd3576b1fbee2aea31b311000da2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e752d1cf3c3ca69274bb0cdc0002b0eac9a5e7e0e61686820812c3f607cd5d8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ae42d6f4b52e98ca7345be6d3b4605016b80d5c1d4b65340149ed62f2478776",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 2.401 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]: [-0.0189, 0.7925, 0.6029, -0.3931, -0.0193, -0.0338, 0.9998, -0.02, 0.794, 0.6067, -0.3962, -0.017, -0.0334, 0.9996]\nstate[eef_state]: left_x=0.2928 left_y=0.0015 left_z=0.1772 left_yaw=0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9998 right_x=0.2929 right_y=0.0007 right_z=0.1779 right_yaw=-0.0001 right_pitch=0.0004 right_roll=-0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.3333, 10.2906, 1.9951, -0.0513, 0.232, -0.0366, -0.4034, -1.4838, 9.7299, 1.917, -0.0415, 0.1294, -0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4072, -0.0193, -0.038, 0.9998, 0.5713, 1.7241, 1.1698, -0.1677, 0.4385, 0.2893, 0.9996]\nstate[eef_state]: left_x=0.2915 left_y=0.0015 left_z=0.1747 left_yaw=0.0027 left_pitch=-0.0156 left_roll=-0.0032 left_gripper=0.9998 right_x=0.4365 right_y=0.1956 right_z=0.1431 right_yaw=0.0379 right_pitch=-0.0581 right_roll=-0.0377 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.5521, 6.7077, 1.8242, -0.0611, -0.0171, -0.0171, 0.0479, -8.8274, 8.7726, 1.8291, 0.4029, 0.1685, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:341e9aeee42848f3ce4abc09e800f7be1b2bfd3576b1fbee2aea31b311000da2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e752d1cf3c3ca69274bb0cdc0002b0eac9a5e7e0e61686820812c3f607cd5d8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ae42d6f4b52e98ca7345be6d3b4605016b80d5c1d4b65340149ed62f2478776",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFFfPgm11-XI4gF2XT8H3rOVFb0SShi_Vcy4RGVcajtNzLd1douNWycvEXofKZn4UBC5T3AVV2dyKeFQtEgFmi4jJMmBiDmikzcS0jpVD68wE9c6U8h7Kp_P5np2NaMUre7Cpvh9Gg1rkMBsdRUN698sbyDHFpyapcAtCVQc4YE-yRvlTUOcQKhGdWqn940Tx14DGAefQQPEMk89LfHBcOLE_x72NgQi3d7MkLcQHz_1y_xtx8RDNc6DMYoQpSZ2nWSTkja4_uDG43z6_6S4og6vrhZz2zn_nfjs47sqQQgtE4sgWp7VnLtsEgUrFm-aDW6kdQzTkUS3BKsgsp9cCMtYzdCW9C_iN8T1titNgpAmN5imR3X9hJ3dyeB9NXooQ0rrhsiFaWTF6jyRIhLFZZzc16oLgJ-TPfu5g7-mI8YjIl0d3bCo4WUTjuqL5ecvkE8G_VfTu9dHK4gc1OvBdRBt6aEZlKdiwtu1rX0z4Oscc_9g5u-GdbIzZe3vnO-nHHqdqIogwve-D6LluySb-DB2jqc3E0denxXRH1xE_glKCHhpQ2i-cz75RezLeOUh62oFOc-8WfMbwIzzqYhxMvQ3LYk060WXPujBZl7_G8J8dvGdd6WiPgCThBhX8wHDpNpFgtbkRNCp8XzZdJH7x9sLbfVtH5ibn-uqpfNNAssyMGtWl_CijQe-vQfvlGBO9dMDX1__FcjsPZnSIVvYszfLA5zAFn4_5pm5obtEJWkpvnM_mSZv8JOZT1Ldjc3xzfZk-FTEB1V0MOu16RlhoGL5wZt9lIrD4HkZKrMNwyURSKquFDBD5xkloimrS1NNsM8i774ZO1WT4eK9gJ3kyTvgW-13Gdd58J2c_mL6FnmF7LZJEPX2JcebW9NZhbn8f4mC0AfLXuJ6xGduhdAa-4hjUYeIwp6FJT2E78sKGNbXt5w9Yx9rVg4BMJlfuKZfJa_b4cc5g-AJ4_fFqg1ZR0wG16258bYbP1Fy_jr00zqN7Fqp8Rg1jI1VXQgXEPnBQVKIMy2IdawPE5ZSYiRenPB4OhG2KmugnnkGjYoPHYsyNbW7WRcJnh52hCThjT_4AgbQrvre4z6nHTlbIE9sXYU_Dj8JyuFQZIPA2fSmzr_8uY-tCDj6Q-GT_CDikbGnu0Rpxobn8s5Rift6FNNYh-CiG77zBCPjaISJZ5Um2w7BcqVKZWUOizGngYBFLxnEQXZu_sVhVyRBsaDL2uo6mHF2VLIqZFzVnWFQ8TyUK-MjVLOCzUOfcaXPTr606y-zC1lUbTlvY97LRdk5M9G3u3iS1RfBQLS9LBRytZzbOv-NrHpeVuB5ulk_JP065aR-bZhqc_z-w2wGEMngMG1nrS0C8rcr2fpDVARWtryFeaKhAiX6jx8Ds3KeZnotFwIujhYbaRkD9ehn8SSfXMP6ovvVtep52kgBgmPzKAM932oWYSMTYESHdzsuKlGQm7hDzrkC1AuM8EMvL_1TtLk8VS3i0bGhyYL3Bk7zRx249oliWitNGMK0wBT_6NhulToZKRgg28MGM0sJDg6t5PbtM1qao_dKHhxU7k21ygY3uuN2Y1agA4rog0zs1UtpO0qHdpPo3eUcvwNALW8UCoEwC2jftTK1p_qUWlakMQ8Za3Poounoux2nO4eVv8_ub_gp1dXvnUvvQ1Fly59sNbK-j8f51JrLtWvbH1Zokc1fsauOfv3_eNasMD0f3N9mno6llMDCOO80kakiKZ35VLUbXXPJWL_vfPH90_zw7Wee7xBHgLz4mXlxHyVN3p9jXeDLJKwuXbJDYb5baSlDlyN7m-UBN_6TkN2aVIi9JQDAkHQ9tTHtGJRaty1_EjvY0AWbebF1Oa5kqTVzvXr1yoAa0lVGB3MrB0k7nwwmA1puYEBa22bFaxfR0JNg1a4Th8ldCyRsva55uyLh6xrWwMeRmBe4vhCPK6rVwaeOESwM_fiRF6iQ77kWmqp_TabXK-xnErayxwhQ-GQsMO58x67nJn5y4oa6bnGSU-CzPB9HzIO4TlY=",
  "id": "rs_003d579e8354fab7016ab4515d7f8487d083f90640453d46c2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.2,\"right_z\":0.035,\"right_gripper\":1.0},\"note\":\"The yellow object is centered between the jaw columns and sits at the fingertip convergence row, so the lateral and radial alignment looks good. I’ll descend to its mid-height before closing.\"}",
  "call_id": "call_ZZahI6OxS3cw0ZZ6Q1z806aK",
  "id": "fc_003d579e8354fab7016ab4515ee9b087d08ad1632a1f378f8a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZZahI6OxS3cw0ZZ6Q1z806aK",
  "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, 0.7975, 0.6064, -0.4164, -0.0193, -0.0383, 0.9998, 0.5751, 1.9305, 0.9855, 0.1505, 0.4332, 0.289, 0.9996]\nstate[eef_state]: left_x=0.2903 left_y=0.0015 left_z=0.1726 left_yaw=0.0029 left_pitch=-0.0255 left_roll=-0.0033 left_gripper=0.9998 right_x=0.4299 right_y=0.1946 right_z=0.0315 right_yaw=0.0427 right_pitch=-0.1224 right_roll=-0.0718 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.265, 7.0632, 1.7998, -0.0806, -0.022, -0.0122, -0.1299, -8.5949, 5.4222, 1.7851, 0.2125, 0.0024, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36aee603502ffa4400a5a05b5e579eefa9f38f4e6cd499ed9dc206c74ecab832",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84c0b72d9506d80c2028762afe0dfdc7347054415595cd8f1d18da671450dfa1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:509c460123088ed0c245c5b042ea2c7da006471c7a84b0880215f4ef625da159",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 2.599 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4072, -0.0193, -0.038, 0.9998, 0.5713, 1.7241, 1.1698, -0.1677, 0.4385, 0.2893, 0.9996]\nstate[eef_state]: left_x=0.2915 left_y=0.0015 left_z=0.1747 left_yaw=0.0027 left_pitch=-0.0156 left_roll=-0.0032 left_gripper=0.9998 right_x=0.4365 right_y=0.1956 right_z=0.1431 right_yaw=0.0379 right_pitch=-0.0581 right_roll=-0.0377 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.5521, 6.7077, 1.8242, -0.0611, -0.0171, -0.0171, 0.0479, -8.8274, 8.7726, 1.8291, 0.4029, 0.1685, -0.0611]",
      "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, 0.7975, 0.6064, -0.4164, -0.0193, -0.0383, 0.9998, 0.5751, 1.9305, 0.9855, 0.1505, 0.4332, 0.289, 0.9996]\nstate[eef_state]: left_x=0.2903 left_y=0.0015 left_z=0.1726 left_yaw=0.0029 left_pitch=-0.0255 left_roll=-0.0033 left_gripper=0.9998 right_x=0.4299 right_y=0.1946 right_z=0.0315 right_yaw=0.0427 right_pitch=-0.1224 right_roll=-0.0718 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.265, 7.0632, 1.7998, -0.0806, -0.022, -0.0122, -0.1299, -8.5949, 5.4222, 1.7851, 0.2125, 0.0024, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36aee603502ffa4400a5a05b5e579eefa9f38f4e6cd499ed9dc206c74ecab832",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84c0b72d9506d80c2028762afe0dfdc7347054415595cd8f1d18da671450dfa1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:509c460123088ed0c245c5b042ea2c7da006471c7a84b0880215f4ef625da159",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFFixg0gP9cVKqRNhYXpCylPCGPmlF4-MmYTezMwza5mTrFtAa7OcqHU6AwCigUfjNzLNYnNqwlVm4moLG9VtOfr9Yc-yIWs8M86Zy2LD4VTBICknxYzZsgf_bGKQNjYc_e8ngu44iFqdeQfjpA-3RPILOcX6ELny8LPvj0EF7vHkFevhn03uRvMY8IQLB13S7IRaYx-lw3bY1eOhT7C6epkAHePu6WnCRVfxRYZqHDQJrpfCXlXS2eMbPF3kYLq-WJs0CiBCZFraxg-bMaqGQU6RSYkjm1kAKMNfFrJQIoADZ0ZQSYaDy6HG4ahwh7TWoCepKx_x2Fyk-a23D9D4txGn57LLr4PADWrrTqSKMu2YpjxZdyl5pdiluqFAdrX29azMj-EBgdEEPaLc240vCGMttNt3cyFcVT81f18SeXPnda0t-XqzcEanNozZIf6q8e4GNg1ed6u8JsbZzCzyCv9o3XaI_ds9hpRQVwRSpIHHQDZ5rqpCBO2Qc12B0a7MrbEPgbD95upfG-lQumA7IjWsHMRF9DWR7SXVQ7X8YXzio3fenGRR12-gHbwcXwnQolC5xLbBIm94eVHGoWEoN6S6RWJwnkIhUHeEdzQVlh6legLsXQwG9Yo5TBJR8slCtxTRxeny8DklelYGLUN-HlGX92b6LQ29LtyZ9f0NuPB7SgH8SxqrHgGoscI-sKaeYnmrwBUFtv6WGIL0LFG63Ukk4FZJQlfpb05vb3pDgDLMcTwJKdw8zoW7pwRX9ZTLRdEraQiH25icbGaCHeWYo6TBpOLsmCKyBt3scx7RaQSmBPN2WmZLSfdFWT6VkFv_lAFMNud8f7ml2NEe_lnGrUmtoq55kSsfS_cDJdYR4cJ90CvomoBUlUHVi4gpd46ViKMttbw1bp6DimwETTbREBiUX7CwEaAZV9hnWmh-qr7hASRffm54_j0twZFL9PKtzKhbuYtnrvxKIrXA7cSymSVf3aXikWV_OvEcxkWKCwAQM1_I7hItlmd0tlMBfDnGhimtKEjT5CenFHKzl3hiF_e1DwyrOtl9hQwEDwRXzKzqRheuJim8lTjAJoKTwZPQjMDZ7dKcPU6wWUoMGWga2LeoUl9VO6OCgJZe6s0O91JiPtCSjdZcbMKkdMIwlFtpUxS8Td9AInn-sk4-qA5uWoiVExiX1HDtLYIyzk7DRuEk53JUguvzaLtq1xHzSDO83Tnz069GtVmtGjNCs2bUjeEs-SKSbzGmn3UMbyC6rNM-NyKavV4tpEk4Lynl3SLu6dJvyt8AM64ERJ6rILix2i3CzToUopG5r_k-zjEyPFOZ_c=",
  "id": "rs_003d579e8354fab7016ab451615ca887d09d1b1e3b39301275",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At grasp height the yellow object fills the center of the jaw opening and remains evenly aligned left-to-right. I’ll close the gripper fully around it.\"}",
  "call_id": "call_w2hHG7bJNCyQCqhTa2xFoHU8",
  "id": "fc_003d579e8354fab7016ab45161bed087d08081a44427e086cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_w2hHG7bJNCyQCqhTa2xFoHU8",
  "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, 0.7975, 0.6064, -0.4282, -0.0189, -0.0383, 0.9998, 0.5793, 1.9385, 0.9775, 0.1551, 0.4191, 0.289, 0.0428]\nstate[eef_state]: left_x=0.2886 left_y=0.0015 left_z=0.1702 left_yaw=0.0026 left_pitch=-0.0374 left_roll=-0.0032 left_gripper=0.9998 right_x=0.4263 right_y=0.1973 right_z=0.0251 right_yaw=0.0572 right_pitch=-0.1374 right_roll=-0.0687 right_gripper=0.0428\nstate[joint_eff]: [-0.0615, -1.2376, 7.0085, 1.7851, -0.0464, -0.0366, -0.0171, -0.5675, -10.2359, 6.8034, 1.4432, -0.0855, -0.4664, 0.862]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0007fd9eb42881c615f214a54fdfe4f719cd1e4f9539cbc888c65d2683e047d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:691b1db10a49db9e993bd982562898d9380e021bcb945ab9b1c3880738e42458",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:052fe21b23dca9347e9ec5b28825ce3e8420bace42e6f498856f3613e521e979",
      "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 · 7.737 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]: [-0.0189, 0.7925, 0.6029, -0.3931, -0.0193, -0.0338, 0.9998, -0.02, 0.794, 0.6067, -0.3962, -0.017, -0.0334, 0.9996]\nstate[eef_state]: left_x=0.2928 left_y=0.0015 left_z=0.1772 left_yaw=0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9998 right_x=0.2929 right_y=0.0007 right_z=0.1779 right_yaw=-0.0001 right_pitch=0.0004 right_roll=-0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.3333, 10.2906, 1.9951, -0.0513, 0.232, -0.0366, -0.4034, -1.4838, 9.7299, 1.917, -0.0415, 0.1294, -0.0611]",
      "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, 0.7975, 0.6064, -0.4164, -0.0193, -0.0383, 0.9998, 0.5751, 1.9305, 0.9855, 0.1505, 0.4332, 0.289, 0.9996]\nstate[eef_state]: left_x=0.2903 left_y=0.0015 left_z=0.1726 left_yaw=0.0029 left_pitch=-0.0255 left_roll=-0.0033 left_gripper=0.9998 right_x=0.4299 right_y=0.1946 right_z=0.0315 right_yaw=0.0427 right_pitch=-0.1224 right_roll=-0.0718 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.265, 7.0632, 1.7998, -0.0806, -0.022, -0.0122, -0.1299, -8.5949, 5.4222, 1.7851, 0.2125, 0.0024, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.7975, 0.6064, -0.4282, -0.0189, -0.0383, 0.9998, 0.5793, 1.9385, 0.9775, 0.1551, 0.4191, 0.289, 0.0428]\nstate[eef_state]: left_x=0.2886 left_y=0.0015 left_z=0.1702 left_yaw=0.0026 left_pitch=-0.0374 left_roll=-0.0032 left_gripper=0.9998 right_x=0.4263 right_y=0.1973 right_z=0.0251 right_yaw=0.0572 right_pitch=-0.1374 right_roll=-0.0687 right_gripper=0.0428\nstate[joint_eff]: [-0.0615, -1.2376, 7.0085, 1.7851, -0.0464, -0.0366, -0.0171, -0.5675, -10.2359, 6.8034, 1.4432, -0.0855, -0.4664, 0.862]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0007fd9eb42881c615f214a54fdfe4f719cd1e4f9539cbc888c65d2683e047d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:691b1db10a49db9e993bd982562898d9380e021bcb945ab9b1c3880738e42458",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:052fe21b23dca9347e9ec5b28825ce3e8420bace42e6f498856f3613e521e979",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFFmRWy67ZxgnBMNt6sxqzV7t-YEgIwzGKzTDGmpqQoO7y42xFc956Xs5U-I66cSx_F7SWy_i3HTjeihcN49pXTKBLUQq4rUNe5TT9GHgN5MBwi1Akigwy6a3H3xgMtmz76jTP__6fcn2hipt8TJ8P8Yd-NEmSgpUcP8HtBm12EjSYTG83Hngfmos6_itiBWVsaVc8U8igtlKLhggdmHMQgLyqp-rWmwRrWVtWu1hqw_d7rFF3gppW3VlnoJgrMedrMLkHkeC3uqLcigupoGlTFRsPWcQSJg99Q-eScI_zIE-PJtfNQD26ynYvVMq6iCRYoW7KSOAyJQcUpgx7sb4w0dcBVYy0NkbszO5vs8RD49mSLhA4DhbFIDVihznOt_YOCcvQn9_g-m29iosisX2uqgJHZ_rrVwQKoE-s1vtCvSh2CYXaQ6JBgpK0SQPTEgy0Zorzcb45jpDpCrZwvw86iwQh8l_JRaEB7RD_BGpm7r_aCmGDg_xWaVkPXh0fE2MaSyr6PzDUj964j4qIf79bYNhGo2vXV_2XVzkEVBvEyi3U_PSKPbgnseH48KmE02bekXkOVxPzhfpH2s-vcoD72iOIgTGe0KgIOSCTUlsIY8J4v2_VwPHM1mtMYC879e7nyk-DnUxkuCLb9rs42jpfDyQP4oQF4yR6pYjbGWwfaEfq7iZbCH9B-lIcUQbNDffAbNpf4bXTjUwANVp1j523V7sTVdmkmlwNyMxJ6l09kUOqk4mvDy1ubEywX9sLdx8_0_lpwxTLoGcPGwOgP_b5MXhYPZ4DvSiyM7nwFV0y_9E9Vh_pKA-a2DuO0mBHLfl6vFuiC28XkieRrz23CBJq9OzNJ0bZrMRMiZFONze1G3pzSX3OmOZnUPqUUA3ZZ1bvemSHHDsK4aUTNGCOZZvklsf63WEloqqB8n4TjEz09Q2P9VWphHgpB_xXk5HpStB87Dc7wBDv45JAqlJAyOFYrZjwh7KHHXdNMLA5L3WW4iXBEDEEPDQSxiAHYH-x5px4tObsBeANYVUooq4hQ4aLbweq-fc500Cnikxe4ho5yKV1JihAYBKFnWDIXg9ZRoSHoA0kriYnjhPUq_US8EjZfa2mGkr1SmC_j5Y3l97JDQU8xx6DnCE7XunnOrruMWDShLWHkZptLb3lDrFt4XiHQ509uEKLFLmBkNK_URfllE7TDF3vNrVxNAFD4vcHodsY4mZdOYGrDMtYFZGQaveXdjY7DNw3wVYCtlLzUhZsUcfeblF5EuLCNggQQ4emQrXLne47zH6dkuqhlJFiOLYNYpqs6mzMyzvkwea-v_eDeKawA06suc_NFXNNtpWqcJ2nV_HJ0pTvP9C3PnFsC3WTvs3i0nlJaegh0OV5RRWEmEzt5KWwmoqv-2e2cmT-2-E_Qj",
  "id": "rs_003d579e8354fab7016ab45164d0bc87d0a734ea8c1cbe5ff4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.16},\"note\":\"The settled gripper reading is 0.043, just above the empty threshold, and the yellow object is no longer lying unobstructed in the overhead view. I’ll lift it to confirm it travels with the jaws and clear the safe wall for transport.\"}",
  "call_id": "call_uMnix8cL2d52HckhYTrNuiWu",
  "id": "fc_003d579e8354fab7016ab45165372887d0bf300f12a505f51e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uMnix8cL2d52HckhYTrNuiWu",
  "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, 0.7975, 0.6064, -0.4358, -0.0189, -0.0383, 0.9998, 0.5766, 1.7683, 1.2217, -0.411, 0.4, 0.2691, 0.0446]\nstate[eef_state]: left_x=0.2875 left_y=0.0015 left_z=0.1687 left_yaw=0.0026 left_pitch=-0.045 left_roll=-0.0031 left_gripper=0.9998 right_x=0.4096 right_y=0.1886 right_z=0.1045 right_yaw=0.0647 right_pitch=-0.2779 right_roll=-0.1465 right_gripper=0.0446\nstate[joint_eff]: [-0.0068, -1.2513, 7.1863, 1.7314, -0.0611, -0.0317, -0.0171, -0.1026, -13.2581, 10.2359, 2.2149, 0.2955, 0.2076, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71730b88043a535afdfbb96def7c93704cc845560c5818f0746a7d3fdf70aba3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f81255feb9f189645f9903bd6b73795a687fd458831ff99f08dade3a15b00207",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16aae717562a003a0d01451087264dc2efbbf174b841b3796a07664ede0416f6",
      "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 · 5.03 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4072, -0.0193, -0.038, 0.9998, 0.5713, 1.7241, 1.1698, -0.1677, 0.4385, 0.2893, 0.9996]\nstate[eef_state]: left_x=0.2915 left_y=0.0015 left_z=0.1747 left_yaw=0.0027 left_pitch=-0.0156 left_roll=-0.0032 left_gripper=0.9998 right_x=0.4365 right_y=0.1956 right_z=0.1431 right_yaw=0.0379 right_pitch=-0.0581 right_roll=-0.0377 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.5521, 6.7077, 1.8242, -0.0611, -0.0171, -0.0171, 0.0479, -8.8274, 8.7726, 1.8291, 0.4029, 0.1685, -0.0611]",
      "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, 0.7975, 0.6064, -0.4282, -0.0189, -0.0383, 0.9998, 0.5793, 1.9385, 0.9775, 0.1551, 0.4191, 0.289, 0.0428]\nstate[eef_state]: left_x=0.2886 left_y=0.0015 left_z=0.1702 left_yaw=0.0026 left_pitch=-0.0374 left_roll=-0.0032 left_gripper=0.9998 right_x=0.4263 right_y=0.1973 right_z=0.0251 right_yaw=0.0572 right_pitch=-0.1374 right_roll=-0.0687 right_gripper=0.0428\nstate[joint_eff]: [-0.0615, -1.2376, 7.0085, 1.7851, -0.0464, -0.0366, -0.0171, -0.5675, -10.2359, 6.8034, 1.4432, -0.0855, -0.4664, 0.862]\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 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, 0.7975, 0.6064, -0.4358, -0.0189, -0.0383, 0.9998, 0.5766, 1.7683, 1.2217, -0.411, 0.4, 0.2691, 0.0446]\nstate[eef_state]: left_x=0.2875 left_y=0.0015 left_z=0.1687 left_yaw=0.0026 left_pitch=-0.045 left_roll=-0.0031 left_gripper=0.9998 right_x=0.4096 right_y=0.1886 right_z=0.1045 right_yaw=0.0647 right_pitch=-0.2779 right_roll=-0.1465 right_gripper=0.0446\nstate[joint_eff]: [-0.0068, -1.2513, 7.1863, 1.7314, -0.0611, -0.0317, -0.0171, -0.1026, -13.2581, 10.2359, 2.2149, 0.2955, 0.2076, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71730b88043a535afdfbb96def7c93704cc845560c5818f0746a7d3fdf70aba3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f81255feb9f189645f9903bd6b73795a687fd458831ff99f08dade3a15b00207",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16aae717562a003a0d01451087264dc2efbbf174b841b3796a07664ede0416f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_003d579e8354fab7016ab45168850087d08bdecb1e98751a26",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.18,\"right_z\":0.12,\"right_gripper\":1.0},\"note\":\"The 0.045 opening is too close to an empty close, and the yellow object remains visible on the table in the wrist view, so the first grasp missed or only brushed it. I’ll reopen and shift a few centimetres outward and to the arm’s right to center the fuller part of the rounded object.\"}",
  "call_id": "call_skFsn63ZgZmhgRguuPnwJnwz",
  "id": "fc_003d579e8354fab7016ab4516dabd087d0b6501aacc0706d5b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_skFsn63ZgZmhgRguuPnwJnwz",
  "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, 0.7994, 0.6064, -0.4519, -0.0189, -0.0387, 0.9998, 0.5011, 1.8656, 1.3769, -0.5079, 0.3473, 0.1909, 0.9947]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.165 left_yaw=0.0028 left_pitch=-0.0629 left_roll=-0.003 left_gripper=0.9998 right_x=0.4389 right_y=0.1759 right_z=0.1044 right_yaw=0.07 right_pitch=-0.3392 right_roll=-0.176 right_gripper=0.9947\nstate[joint_eff]: [-0.1709, -1.3744, 7.1316, 1.7998, -0.0562, -0.0562, -0.0122, -0.6359, -9.0598, 9.3744, 1.6532, 0.2076, 0.1441, -0.1245]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38772e2796889dae9557d2d4ee8dccb10848cf0e84e6d25c5765d216d18600d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51985ce78727a2d21acddfcc2a48b5f84ba999313df987e1e1823c02f555bd26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cdb4e897f6c3e57bafbe8341c88c54d8a6671f2ac822166b00a39bf055c2e7a",
      "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 · 4.691 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, 0.7975, 0.6064, -0.4164, -0.0193, -0.0383, 0.9998, 0.5751, 1.9305, 0.9855, 0.1505, 0.4332, 0.289, 0.9996]\nstate[eef_state]: left_x=0.2903 left_y=0.0015 left_z=0.1726 left_yaw=0.0029 left_pitch=-0.0255 left_roll=-0.0033 left_gripper=0.9998 right_x=0.4299 right_y=0.1946 right_z=0.0315 right_yaw=0.0427 right_pitch=-0.1224 right_roll=-0.0718 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.265, 7.0632, 1.7998, -0.0806, -0.022, -0.0122, -0.1299, -8.5949, 5.4222, 1.7851, 0.2125, 0.0024, -0.0562]\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, 0.7975, 0.6064, -0.4358, -0.0189, -0.0383, 0.9998, 0.5766, 1.7683, 1.2217, -0.411, 0.4, 0.2691, 0.0446]\nstate[eef_state]: left_x=0.2875 left_y=0.0015 left_z=0.1687 left_yaw=0.0026 left_pitch=-0.045 left_roll=-0.0031 left_gripper=0.9998 right_x=0.4096 right_y=0.1886 right_z=0.1045 right_yaw=0.0647 right_pitch=-0.2779 right_roll=-0.1465 right_gripper=0.0446\nstate[joint_eff]: [-0.0068, -1.2513, 7.1863, 1.7314, -0.0611, -0.0317, -0.0171, -0.1026, -13.2581, 10.2359, 2.2149, 0.2955, 0.2076, 1.0281]",
      "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, 0.7994, 0.6064, -0.4519, -0.0189, -0.0387, 0.9998, 0.5011, 1.8656, 1.3769, -0.5079, 0.3473, 0.1909, 0.9947]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.165 left_yaw=0.0028 left_pitch=-0.0629 left_roll=-0.003 left_gripper=0.9998 right_x=0.4389 right_y=0.1759 right_z=0.1044 right_yaw=0.07 right_pitch=-0.3392 right_roll=-0.176 right_gripper=0.9947\nstate[joint_eff]: [-0.1709, -1.3744, 7.1316, 1.7998, -0.0562, -0.0562, -0.0122, -0.6359, -9.0598, 9.3744, 1.6532, 0.2076, 0.1441, -0.1245]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38772e2796889dae9557d2d4ee8dccb10848cf0e84e6d25c5765d216d18600d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51985ce78727a2d21acddfcc2a48b5f84ba999313df987e1e1823c02f555bd26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cdb4e897f6c3e57bafbe8341c88c54d8a6671f2ac822166b00a39bf055c2e7a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFF0rG24BkXE0pbNmb2iHaxZq3fon8Y8HkGA6vusOUSBUOhCRaSQzEYMh_fGSHcn_6FuhIgbp_ZfvpaSE9-KO-hgqEP8-Xh3slyAYtcv5mTjkgq85vJ7ZKXmexkd0MoNTYbjuOCFQsAJQgtn16FFFTWXfUhvIVrhrIy_p9o_pV38kbDymnNCeSqk_a-R5dFAhS3U8mhLf_snnz5ITL0ie8UavHf7gOyhr6IA3G93qkTatwMhdPOvThBiQg8KfW5ciZtukUA3lqrFj2buD1Ddr9zjliPkoGz2wqz2OHW86z_fqNN5fgc4RpFbtZAhW21UuPwueMTpnlHkKX0obhKwF3zuHTZd17yrdA2xu2S0WB2ft1mrGbQ3QlBfganeeHuMuze1glRqxoPY1hMs4SSL3iey4HtO78FSJPeOr3s0PcxSiKftgaTIM_TLaOdRiO6GmpsmD6yxwYyeHm1HWlkAxL3sj-U9GdfGEFxmDXor9gJONCjJw6cQwSjjhAkfRC3jZ7BeeYWiVPxJqnC4FK52aVsA9Jl4WTJ7PiPy6frXQ3eFivWne5hoEtHw5oW6FXf0YnEIIuwttD1TFrx6brBO8QJXPLCNoYb1WLz-HoDt3JCSfODhGh0fgTIJ2nfI0Lfdd3OEo9O9GxfqM_SwBS_LsErsAoJsIz0_zzQpmQ-_5Hx5if9YpPMIn6gi_Lp3BArCFDEqOoKw43EBWbvHMH1u0NXSOcBg_IfpKGe_WVVxXQxUK7MP75NUQgiqt57oVnbR2VB-73d3gN7jWoPSNMpm3QjYbJPPCiojUCSMK31_kX7mb6IFFbEWYBmLTXpIc9th8x77V1qAncqxhcAwroFPnLGrkc_j19Y99GZiyi1PrNM7GxdJnKzwud2DVRtS6kLqmsvV_3NxcPIUq2O0cFsoppU4k4n7OTYj-KZ-zVzWPExC29aMarKkNSjn23XVAbUdvW2T13Z-dIkI_XjYBSUhmAajL8EYZxCVOohmI4f1TXJS48OhidSE4eityN8AgUgn4trjNeFQWqIwyTdGGRzSXA7LkBlVaVx-7EQ2-CACFbBTFQMgKqEDuN_EwLgPD-JgcH_EnUQqFkheqMlw6g7P9pQa5Ox5LeMnLMgNfbc14cvOdR49VSL8coAq0iiJ17PIn3I1Fcge-EqSegqlpO1NGidHWjjhgZvh1tRT0H3M0On5xCUkt57otnO_gTyAbTY8wqJXy9dfJtGMe0OdJH2wWH7gUL8LnNRMoKo-wfe7nhsz6SvA_IAGgT5J0ULzPctXAp82oyHYp-D1hhrEUjxwFLvCsaBbwPs6TlNLOJK1z7Qohm7PEleCnq_ueESaiyHvpDSOuAHAF65JsGfE2-tOrYoRvOu1A5wBjeYY0MwDLAe1om9u9qxQTuEkXESHuW8YLKTddUwCFMZ6eYO4DG4uEFSWVnv3WYW97Ben0_Zm6_WF1B-OTNBiwyDe0KFTEDVDBsi-rvTlHBmkykBmUVJRPGPngPpTBlfXmy71uSnK6HBJl4lWhAzD1B9s_oWJkBxOO5DyX1EMrQBih46i6mZqJzD14moMcjHTwAfn8VQ6gIGm9LHREEz3pD_bcXxEhJ0G8ExSZHnZ6DKmeimizllOw5Bf2X4gvBmQ0zoVuS0ua2svjaGBZgE4zDVI2lURPUGKRpztG0AHpgczufNJuojRAGPY59sQ_YiHh0q5yO40uNPQHW64WTLkOKW3h10saRuDUUZ0K_S6ygEZhg-jkCnGr_GcR0aTNCneEkgeySgjPaX6F_UoxaAQREXNP5TKSDNUHS8idcULtFmy7oUA9MdijuxJP0XGYJ3a6Ya3SOfgnIA5r8nTJZkYsw9UpAOxO5Yer8Q-twwFMMc500c6et4IqUVClgkTzRN_fd9_1IulQ8adm88qadMXPCnZfNnt7K2QyapdsFrGO20iknXVgp4xakAC_cpT-4vRva8xWicAbLKPx9MVKnoL4HFSdLJ0g4npthVAYEDrNw-ukOwjFo4NZzJ9xC3yMvZyHquOG0TS7IR4JNw-g76jdJvc0FXJfHvIWZgBTYwKh1Ah6L275Kjuc3Ri0zuOfr06nD62GpQhAc7j1YVk3eTNOeXy_gyOPUI6P8OfIbGPELvixH-ByLNteg_-eoCz4bsfMNelOmHNZncBTEjP8YEiHGZIkpgJBbXUBBZyV-GWOcizL8p6pNCz10GzOL2_vkFfmzeGlSVSJ-36BHcX8aE1ukFiqPWdiMTSULuPwtH6ad_LHkLZ2zdjxQYkOT3i3LVah_bb2qSzsNVIG6zfpzs3FV1iwoep-JCqFk3f8gOI4gY5v8taUY7Nzt6wEA==",
  "id": "rs_003d579e8354fab7016ab45171096887d09d179011a352dc51",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.14,\"right_z\":0.12,\"right_gripper\":1.0},\"note\":\"With the gripper open, the yellow object appears at the extreme right and bottom of the wrist image; the overhead view also shows the grasp point left of it. I’ll shift farther toward image-right and slightly back toward the base, correcting both lateral and radial offsets.\"}",
  "call_id": "call_arjzkaaBN2uOQqYcycsr2Wnh",
  "id": "fc_003d579e8354fab7016ab451737bd487d09550d2da0d0ea5de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_arjzkaaBN2uOQqYcycsr2Wnh",
  "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, 0.8024, 0.6064, -0.4587, -0.0189, -0.0387, 0.9998, 0.4507, 1.7771, 1.2678, -0.5404, 0.3164, 0.152, 0.9989]\nstate[eef_state]: left_x=0.2844 left_y=0.0016 left_z=0.1629 left_yaw=0.0028 left_pitch=-0.0728 left_roll=-0.0028 left_gripper=0.9998 right_x=0.4146 right_y=0.1435 right_z=0.0971 right_yaw=0.0595 right_pitch=-0.4024 right_roll=-0.197 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, -0.9368, 6.9812, 1.7314, -0.0855, -0.0415, -0.0122, -0.1709, -11.1385, 7.5282, 2.0, 0.2076, -0.0415, -0.1245]\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:5424643d731f3123af5001497ae77d59dd58acc89da40d20403f95343f4d517c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8f4c6e428949c71378d6688aa68a49f6e2e6cf97028010fa6f5ae5fbd98c449",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e11eed995163976dd4837b8a945821f6873027b1e7c9b4e4c362753deffa6dd",
      "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 · 3.967 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, 0.7975, 0.6064, -0.4282, -0.0189, -0.0383, 0.9998, 0.5793, 1.9385, 0.9775, 0.1551, 0.4191, 0.289, 0.0428]\nstate[eef_state]: left_x=0.2886 left_y=0.0015 left_z=0.1702 left_yaw=0.0026 left_pitch=-0.0374 left_roll=-0.0032 left_gripper=0.9998 right_x=0.4263 right_y=0.1973 right_z=0.0251 right_yaw=0.0572 right_pitch=-0.1374 right_roll=-0.0687 right_gripper=0.0428\nstate[joint_eff]: [-0.0615, -1.2376, 7.0085, 1.7851, -0.0464, -0.0366, -0.0171, -0.5675, -10.2359, 6.8034, 1.4432, -0.0855, -0.4664, 0.862]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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, 0.7994, 0.6064, -0.4519, -0.0189, -0.0387, 0.9998, 0.5011, 1.8656, 1.3769, -0.5079, 0.3473, 0.1909, 0.9947]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.165 left_yaw=0.0028 left_pitch=-0.0629 left_roll=-0.003 left_gripper=0.9998 right_x=0.4389 right_y=0.1759 right_z=0.1044 right_yaw=0.07 right_pitch=-0.3392 right_roll=-0.176 right_gripper=0.9947\nstate[joint_eff]: [-0.1709, -1.3744, 7.1316, 1.7998, -0.0562, -0.0562, -0.0122, -0.6359, -9.0598, 9.3744, 1.6532, 0.2076, 0.1441, -0.1245]\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, 0.8024, 0.6064, -0.4587, -0.0189, -0.0387, 0.9998, 0.4507, 1.7771, 1.2678, -0.5404, 0.3164, 0.152, 0.9989]\nstate[eef_state]: left_x=0.2844 left_y=0.0016 left_z=0.1629 left_yaw=0.0028 left_pitch=-0.0728 left_roll=-0.0028 left_gripper=0.9998 right_x=0.4146 right_y=0.1435 right_z=0.0971 right_yaw=0.0595 right_pitch=-0.4024 right_roll=-0.197 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, -0.9368, 6.9812, 1.7314, -0.0855, -0.0415, -0.0122, -0.1709, -11.1385, 7.5282, 2.0, 0.2076, -0.0415, -0.1245]\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,$blob:5424643d731f3123af5001497ae77d59dd58acc89da40d20403f95343f4d517c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8f4c6e428949c71378d6688aa68a49f6e2e6cf97028010fa6f5ae5fbd98c449",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e11eed995163976dd4837b8a945821f6873027b1e7c9b4e4c362753deffa6dd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFF5xEwvGbd5e1REAwNuvhhCtjAYMdwFS13mz1FrTbvTnbrZRATdrJpaWzWmIWp09_c9rpflS6eFGNZmlcaT3qCm65JdJ0X0OYupOldx8fvi0NDZ4uO8TAtcZKqTUfokO4d9kCb3GmoDPjynRwkY6qPl5nQ9nJxBqKcMAp5OlhdpGefX2JnRpVCR8ajFf1pJ1g1hOQxQJE64BborxMIxfkyA75Hgtq-Hk26sYB-igiHpKp-TtVbzIqXHsmcC1qx_mvU0B3ElK3QfWSNND7tBaGT7T2H1SfLA1Buh7yGY_rrRxTm6Lzc96bZZOgvqlbwKju0LBAnyz-9G9OiH59p5F-HkeKHbm8Vy_-A4jMW5SIP37rF96fPpnUZcPjvPeMuzBR3xkkgdpR3JQsj0oXNrE_8ZuwMAJ0or-Ut8q9ZgHH4MlZlYywRstDvy98OpVkmiJ64ygfqLgdSaBiSesc2NhbsFAi75ccbTB2tjzcM_vCGC20qVHQfHDW6QTZwacWZdPlh5aEnSRqHUwdxVf0fgZWIIt-guOnKVVcw2aVWD3XJNxmbAny_bJAkY-O4DtbPlyzUcDIwG1T2puNdeRfVdMqU5aRzdFd4YXA9Xwr6xNgebkkG5EaeoLyz3r9ijiaZ1xergyRCN58qcpvHqV5kMduwB8FmyJ2VBOMx_sLSGMyIIdMOu6SAfB_zoYW39UJKHot598AUzGFJH7rJW5iVnTe6nfio4kwQq2yddgGuJZgawPJwbDPtsMYU9P8-LiuE2NrJ4lwhcJAxxAAFRFqSPUU4q1BsfmkBW2u1cw2yXGlSyUmRCcBnysXa3zwdnF4LE3ox9JkB7baYB656T2VPuTbQ3YwiIlKkwTWdGAh47g6H5PQjAojFjJzcPDBENk_fRn1KSt4n457qCxuS8Z6Lr93OZlTlOI1T8mFMRuxtCq_72WjI7xQz9bJRP_KLiLJ4nCmzJz16lO1T9W0fS5hunxCDK5UcBAc79L5abDDPLw1gNoECcOwCrFnxS7WeSkCXsoX3aIRpB4Dm4zdRJF4kXwCWxtP_INe_KksUHVdbW5WLxcnjS0bfgs4uVsH8SabWefv3gyNlfXZ5rEKxivOGqhgVpLJfIYoi_1MGE5oUMBOEuzhySNZ1m7S0rmYrb6R2OYgjNcOCD2FdTVe9aU81nbfBA-AEcmpHXZXHR3OiSfXjNMpg185aLah1X_Jmi1dViuqWKpynklyF_QI5PgIcGzHurwiCOQaibXKIs7uqAZQirZw6RC38Mfzx9U4Ak0rAumxfiTiKklED8AtfkAw0-BTMM7IFBX6bCbf0CigkFLAuSWhuMu34kQpNcY0-3iF_r9eqOF4MD-FqIig9bXWddvitsSfk_Mj8r8hHQfWej53cucOUcEWaX_-LZ05iIRT17z_MGQBDVidhi81hrRW9Lk3ZlKoWkMLQyrxEJyolHA_tx-Mlndev9yXIEOMI8CAxc0CKCfXB-TYeU7Xn78C6l-YMWfQzy-oYQ-Cu-25DOCeqbCEhjg4FmWHyNT64gI-9lWupclHFS60piK4W7IDfkOCinynyIcBZJKLR3zrKSaLy8ZvN7dGb4PDROcs_ufVVpgSCtW82E_cXkGEOgoCryOr0XZIPX7VyhPYrxTdtfuIlJweOpO63usnPXipsJ991RhRwehmUYUhIyUGTIQPY9qqE7I2OM77Pfa0jdEsue7V6z17CH9cGQinddfVaiIwyxn2kAXefImSeawG_bZt34jAeRBCkPlwPkVn4NZHSfvTbKXXv86CpOOUfrUK3QKa855kTP2sUoHrk3kc_hbNcssM1EAa23M0ptFZMp1zLSw7MYgPb6sXZfU74zZKFrvFwTpf__2ImatvkK2Ls05030ZyS1v0MczHWPfNgXWIOtaIEczTD3xMmk4QP7AOGgcT7Qsc1YKbTNC3BgK1f2SJSKRkKaW8t3eVqz1EiAZ2vt92l4TY9IzyXDkfgSB4LJ7f5q6udxmilzTJbMdCTynvI8Ih3EKmEkebDXn40q4_cyTWkvZs0MyZGvAn9UtQA68tScS6HZxFLwyEQ8JWaFkw8Ixu14_aMMp8IDMre0pvN-mmPDCVg7s0l_JTYiHArA46yL129zYPkcnuflYG_cWrYj-vzBWQ==",
  "id": "rs_003d579e8354fab7016ab451769eb487d0b54eae9529009385",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.055,\"right_z\":0.12,\"right_gripper\":1.0},\"note\":\"The latest overhead view shows the yellow object much farther toward the right fence than my first estimate, and it remains about 80 pixels right of the jaw column. I’ll make the larger lateral correction toward the fence while maintaining a safe hover height.\"}",
  "call_id": "call_C708xYFGs1XXbhxVUhaKVIzX",
  "id": "fc_003d579e8354fab7016ab45178a9b087d0a9d82f74d8ad4c3d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_C708xYFGs1XXbhxVUhaKVIzX",
  "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]: [-0.0189, 0.8032, 0.6064, -0.4728, -0.0189, -0.0387, 0.9998, 0.4232, 1.7504, 1.2533, -0.5648, 0.3008, 0.1265, 0.9989]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1599 left_yaw=0.0029 left_pitch=-0.0877 left_roll=-0.0024 left_gripper=0.9998 right_x=0.4098 right_y=0.1311 right_z=0.0993 right_yaw=0.0584 right_pitch=-0.4215 right_roll=-0.2034 right_gripper=0.9989\nstate[joint_eff]: [-0.0342, -1.0598, 6.9949, 1.7802, -0.0708, -0.0757, -0.0122, -0.4991, -8.1573, 6.1744, 1.4188, 0.1734, -0.0611, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:974b28b4c198248d71276289c259be2dc563304ba3b7769f9b03d87a947e23c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f0bef1f30ec46b4b23663cff11b6ee3db9e270c57c1fa7ac5b68e269501202f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60061b45c4d8bc306344e684966e30eed9a6f1bfe407987d7738f3f3bf978a62",
      "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 · 3.107 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, 0.7975, 0.6064, -0.4358, -0.0189, -0.0383, 0.9998, 0.5766, 1.7683, 1.2217, -0.411, 0.4, 0.2691, 0.0446]\nstate[eef_state]: left_x=0.2875 left_y=0.0015 left_z=0.1687 left_yaw=0.0026 left_pitch=-0.045 left_roll=-0.0031 left_gripper=0.9998 right_x=0.4096 right_y=0.1886 right_z=0.1045 right_yaw=0.0647 right_pitch=-0.2779 right_roll=-0.1465 right_gripper=0.0446\nstate[joint_eff]: [-0.0068, -1.2513, 7.1863, 1.7314, -0.0611, -0.0317, -0.0171, -0.1026, -13.2581, 10.2359, 2.2149, 0.2955, 0.2076, 1.0281]",
      "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, 0.8024, 0.6064, -0.4587, -0.0189, -0.0387, 0.9998, 0.4507, 1.7771, 1.2678, -0.5404, 0.3164, 0.152, 0.9989]\nstate[eef_state]: left_x=0.2844 left_y=0.0016 left_z=0.1629 left_yaw=0.0028 left_pitch=-0.0728 left_roll=-0.0028 left_gripper=0.9998 right_x=0.4146 right_y=0.1435 right_z=0.0971 right_yaw=0.0595 right_pitch=-0.4024 right_roll=-0.197 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, -0.9368, 6.9812, 1.7314, -0.0855, -0.0415, -0.0122, -0.1709, -11.1385, 7.5282, 2.0, 0.2076, -0.0415, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4728, -0.0189, -0.0387, 0.9998, 0.4232, 1.7504, 1.2533, -0.5648, 0.3008, 0.1265, 0.9989]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1599 left_yaw=0.0029 left_pitch=-0.0877 left_roll=-0.0024 left_gripper=0.9998 right_x=0.4098 right_y=0.1311 right_z=0.0993 right_yaw=0.0584 right_pitch=-0.4215 right_roll=-0.2034 right_gripper=0.9989\nstate[joint_eff]: [-0.0342, -1.0598, 6.9949, 1.7802, -0.0708, -0.0757, -0.0122, -0.4991, -8.1573, 6.1744, 1.4188, 0.1734, -0.0611, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:974b28b4c198248d71276289c259be2dc563304ba3b7769f9b03d87a947e23c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f0bef1f30ec46b4b23663cff11b6ee3db9e270c57c1fa7ac5b68e269501202f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60061b45c4d8bc306344e684966e30eed9a6f1bfe407987d7738f3f3bf978a62",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFF-1NnROc7q5L7sFumC4bvQVa_6ORtDCUqGlzBiql5K5XHKq8n50I-mXKXn5kDCEAfkYVb9Udr3SFaB0l7ayKE8CYlrGpSzZTXTq45I3bmMU-HFkzm9jUWzrYZyQooxiLXJQar1N6y-PKQMFO2VhEU_eKmZ3ogQwx6cFdCH_KTWxSHBdhqH59ArgNrkxoENO9NQxULO7uFsVxxhfLLGWnZVZ4zlRJ7w1FEvwfXfUrWY1BqLp8A7ZRgMT_gQIKo65Ab1UzKpkqIXA6fSYO9dcDYnsHE_-lfcMisX7jXjX5NG8utvvUMSUW628Q8q22qBwHHaFZ_ezVgz0ERqH7Dy9tp5FA0nLFzTICsswm8mx2So4rI05YbF3BPW_ud6Nsn95JNBkfcZ1ET_qhYn4GjSTNR-O0hoy0ls3g4CRdm8VDQ0BLLTJXi0cqOVintnKT4TZr6WKczZ-vFqS9xFFpbr4KO3lr4lROVVAZVnUsy6187xDZ7S6sHLmAKKP1VYfi5QhJ8WqWBHLOrMQFjO5MDjf7U28FWiZmPWi2xFHQ_zODrBjSuiaIb_JBY82i10Np6yuItbGiuNh_sKN8OtJaOlx4EbKxwM1WHql_lfX475gUcojR6obDzHMF9hFZQdUFOHgPpnfDNqIUSJ15PiZKg5dWr9X1RVw9VU7Vz-ZpAb4Q__jUqA7ekZgGZMr7RUXq-aQjDJr3mbsmkIOt9HTRDiTTnodZ9Lx_YygFqYxHDO9Yh1oCbq5yrOwR5HYPdnbIENnb5tFW_O-9aguks2HxfoyWQOIsyyMf9u-4SpVwpXFOsVBgF5pWJcbFH2s8nLo8uL0GD6YvjQyqi41wKUTIYxpBjG9F7p7t1ZMW5AHOfJrVTRwidFONXxkI-BwfUt52ZIvvacadzsLy54jiT7RPFwjCIvbRoSTFaKzCHRoL05RU9Qra259S711U-aQMwW-edhFMyZkYuo5AdwzNuLVbqr9fJ8QPGfS3sTCRdWo52P_uGxohxgE5BecvkCg8KctOQGcueK2wjYAgyT2PeqOJIvrMqvk6pIcvNTZtNA4uyuSKztgmdODNg3jJLyIeY0KpNHTcNgRMHaYWHDqJoOCux-mDy0EM1AjafHJWORWnT61blQIh-M4JfQlmfOOJBwtMm6fvqhzXWgpatJWEfCYyHd_bXQQsw7k3wAxDSBDdMIFzMfRQ_X2euSLycDveUS6ySIMi-ikijWv8PVTiIxyjXqe9ENjphl8caIQyPT36w0OojkGhB-jQOlk3yyA28ZKKmlWlEiyHcgPDHr64ijJosiq1rerWvU9kNHmxpqudeeI6XgW3pgOzFEYTGMEs453o4wo_lGOi-7DImu-euEs41A8J6FFI6XbGO9EM4lffPUTlgyKZSR08Gk391Yc7pCNQE1-e_RB70TIBaPK1cnnqdvusJTtBeZViJGoY4l3H87CeQHdTkPfX5w3oMUkW83JwH6maqWimdy2O5qYngCIptA-Jk4PXxUifQtAI5fu1sq_AgkyJ_b8EiZmK3qAzZoNiEUpnn_fxWMrEHbCL89s1l-EpZTTaaY9RHMpblcMKGukH06KqOcFsIWYshyq74vgMybP8Vrd7XagvcYq7boJ0CTf7W02XHHjYxGQKXTsKsxB81BJoE=",
  "id": "rs_003d579e8354fab7016ab4517c2e8487d0b38eb1657331734d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.06,\"right_z\":0.2,\"right_gripper\":1.0},\"note\":\"The arm only reached y=0.131 instead of the requested 0.055, indicating an awkward low, extended pose rather than a visual error. I’ll raise and retract slightly to let the arm reconfigure laterally before approaching again.\"}",
  "call_id": "call_svUxNKaNV2szXklCBbKofwpj",
  "id": "fc_003d579e8354fab7016ab4517d702c87d09c7f1d17699e0b47",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_svUxNKaNV2szXklCBbKofwpj",
  "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, 0.8036, 0.6064, -0.4801, -0.0189, -0.0387, 0.9998, 0.2375, 1.5299, 1.3739, -0.8337, 0.2379, 0.0021, 0.9989]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1584 left_yaw=0.0029 left_pitch=-0.0953 left_roll=-0.0023 left_gripper=0.9998 right_x=0.3912 right_y=0.0555 right_z=0.195 right_yaw=0.0092 right_pitch=-0.3819 right_roll=-0.1998 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -1.2376, 6.9265, 1.6923, -0.0317, -0.0562, -0.0122, 1.265, -5.4769, 6.7897, 1.2283, -0.1832, -0.0464, -0.1245]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b41d59ad65cc9db915761b6de9c16d074ecb72e9f271bbd85df166a2a7c4683",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bfe86455a72bee134a2e0d4369cda539afc0db140b602d4c12db14d42bb77b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68798797a1b8ca216cf26d8839ba6abdb27cf834a62b8b0931912b3567b4482f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 3.59 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, 0.7994, 0.6064, -0.4519, -0.0189, -0.0387, 0.9998, 0.5011, 1.8656, 1.3769, -0.5079, 0.3473, 0.1909, 0.9947]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.165 left_yaw=0.0028 left_pitch=-0.0629 left_roll=-0.003 left_gripper=0.9998 right_x=0.4389 right_y=0.1759 right_z=0.1044 right_yaw=0.07 right_pitch=-0.3392 right_roll=-0.176 right_gripper=0.9947\nstate[joint_eff]: [-0.1709, -1.3744, 7.1316, 1.7998, -0.0562, -0.0562, -0.0122, -0.6359, -9.0598, 9.3744, 1.6532, 0.2076, 0.1441, -0.1245]\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, -0.4728, -0.0189, -0.0387, 0.9998, 0.4232, 1.7504, 1.2533, -0.5648, 0.3008, 0.1265, 0.9989]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1599 left_yaw=0.0029 left_pitch=-0.0877 left_roll=-0.0024 left_gripper=0.9998 right_x=0.4098 right_y=0.1311 right_z=0.0993 right_yaw=0.0584 right_pitch=-0.4215 right_roll=-0.2034 right_gripper=0.9989\nstate[joint_eff]: [-0.0342, -1.0598, 6.9949, 1.7802, -0.0708, -0.0757, -0.0122, -0.4991, -8.1573, 6.1744, 1.4188, 0.1734, -0.0611, -0.1245]\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, 0.8036, 0.6064, -0.4801, -0.0189, -0.0387, 0.9998, 0.2375, 1.5299, 1.3739, -0.8337, 0.2379, 0.0021, 0.9989]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1584 left_yaw=0.0029 left_pitch=-0.0953 left_roll=-0.0023 left_gripper=0.9998 right_x=0.3912 right_y=0.0555 right_z=0.195 right_yaw=0.0092 right_pitch=-0.3819 right_roll=-0.1998 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -1.2376, 6.9265, 1.6923, -0.0317, -0.0562, -0.0122, 1.265, -5.4769, 6.7897, 1.2283, -0.1832, -0.0464, -0.1245]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b41d59ad65cc9db915761b6de9c16d074ecb72e9f271bbd85df166a2a7c4683",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bfe86455a72bee134a2e0d4369cda539afc0db140b602d4c12db14d42bb77b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68798797a1b8ca216cf26d8839ba6abdb27cf834a62b8b0931912b3567b4482f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFGCzIHY1ZPG9XOCzn0AqLeP5GkYlGy2VSKClE7tlDSg3M2R1Z_lruJlIf96RMB260h1oJhh33tPHTi3PGwwvfemyYBPx4HsMb_Ts3-e4z3ETrtYTkI9AOHRx0Q4NhHd_5zqVwd50Azw9q2F3PeBxd9K0qTcW3xf_JVW2DjbVgXFxIgdNYlVV4_iXV3ii01xSbnhbt7VgkfzG3ZhYgITc4QqI91XSQpiE9A1vTZ1Q99ugrIb79hSeI_lK1UE08nWWyf6yMwix3YsNQJyx7xtqLctp23391CJCJGP8UbGy3wBi2GsgpJGYqCNLmQPpNZyHyoqaVbaN74GqIXCMe-KG0sChHztCcbg2V9KpOQWpbg4GjESgCG49CzBWoa5fKz3hNzFnq3yuA3eeIL85QXlyU0Z1mlRE7nUTbjtzxy2WMriCtJtFiV2g4an3sjKaAX-8b8sFFv0DL5zPyFOPgON9e3w6nkhL1XArddY-aF68Jkb8FmbrCVcY_xxyk09dmCG0aSFEQmhVlSWjn3FjvVQ7M_ejE0r_Vl-cSHQZicrb92XFGVm5HwSBa-5aItPrZPhTN682HT4-mc6qFpjE3CYM2Tph65T900aQxZ_f4WBjaq3BDip6VHaNFqCfY-WopJk7MVo9fnJQ5K3YpLg9wrWgdvUX6xfda6j7zIQIsmotC9Cxbj5--Sw2OTeAIqYrwaNCysXSWkdma3Lsti4fo2fwHHdSngf2l6_vr8BZWM3kMIBxJ1GeH2B7L2KTSnUZi7pAVUEM2lWJSV664ZQ-abFq6SFSPiR_C2lA162vKAhOhJvKaP5ij7Rb_X6GeeJSUd5JnlfusG4iojxKgXNDodHmqsrcb8Y8JzsBd8Wue1ZkXtdvkCmiUSvvlzv0xmO2K3dWE4ngK3hybIgS2anFUnoBcorkuTDRG7rW1m5rOyqRUT8WYFmA1Xe5ui5CAVSVKErtZeIZp7z57IBVZjm_QpvCr4Bi8zPGRl8tVjdPnfbW8saBhgyrFRPW025obroguUrab6_RsOhO3pIgyd_hLoxBDuwJMCaHIezCQ9Wyvcc8BtY-e5IRP7evrO9otDx-yhzxm2XL-_dlvTKV8Mz15B7Pc4wEC0PlaNBjl96xzBVMPfj4y-VEl3LgTvBy_2xVTISL31LYI1ZCwZSyjcWye-07IobNJQHrR8Mb4VsTp8T2VOYTg3EMrsRnCuUvUMRCQU_6d1CkWC3tUS500yM3LZXOV9akBARRDV5QMMqcK8PvjGIZV6yhf4SAR3z7-dPxq3FkoqC5IdQi2iSWmj4E8O5UraJJUQ9Rtu52mZoGr_F4B-84WZ-K06BYrOcV0D52uHcjKQhGYeh8Li7TQ7fFflUZ0mXw68Fekl9CKEsVmVNQzIbNLhhRoJ8g4fS66KsHIx9jyxcmE0NatSCAS7t7hAkznlu_THm_7xkOBbQF7PGJpnC_fkhGQiTcSjdD-pENKBc5eraJveOsUc6HqEJ8neSsjYa1l03gnCg9fT3s-chdAC6DtY31yqbpSEpXIxAcsw4HBrEyHpGQvidQO8LrSGau8m4qt0O8VOIZfvs1bGZN24fXKeB-4hfYVe-gJYc-56DZyXh1mr-vVvoSJoikXuEjftreiaSaUxl0OCjJ-wtHsr3J2jMYgkD4Cc3BE4LqCTFuf58snS2pUjoVN9KC5XhuEbbsb0sNlZ31CjbQNBG1NQ5k_RUoOHlAL_jIXmy9oz0Fed5",
  "id": "rs_003d579e8354fab7016ab45180220c87d09fb3a0d7cff4b246",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.055,\"right_z\":0.12,\"right_gripper\":1.0},\"note\":\"After reconfiguring, the arm reached the desired fence-side alignment and the yellow object is centered near the jaw column. It is still well above the fingertip row in the wrist image, so I’ll advance slightly outward and lower to a closer hover.\"}",
  "call_id": "call_ZY37x1kzPemp73xq1xslsYXQ",
  "id": "fc_003d579e8354fab7016ab45181079087d088805db400bcba20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZY37x1kzPemp73xq1xslsYXQ",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4965, -0.0189, -0.0387, 0.9998, 0.2169, 1.647, 1.2015, -0.6434, 0.2203, -0.0265, 0.9989]\nstate[eef_state]: left_x=0.2786 left_y=0.0017 left_z=0.1554 left_yaw=0.0029 left_pitch=-0.1114 left_roll=-0.0019 left_gripper=0.9998 right_x=0.3976 right_y=0.0517 right_z=0.1091 right_yaw=0.0115 right_pitch=-0.4853 right_roll=-0.2238 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -1.1556, 7.1043, 1.8046, -0.0562, -0.0611, -0.0171, -0.1709, -7.8291, 7.0222, 1.6728, 0.0855, 0.0171, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ccea2d4c8f7ef69f0f32b5fa7faa0e526cd393fe78e371f2989fd5a05937579",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2217e52db577b2b466bb3fd0ef05714964dfbdbbe3c26b13d1721845cceef09",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d7fa6af518c7c2e9aa10a47056659690571766fbd26906af58d257f6ae3f911",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 2.69 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, 0.8024, 0.6064, -0.4587, -0.0189, -0.0387, 0.9998, 0.4507, 1.7771, 1.2678, -0.5404, 0.3164, 0.152, 0.9989]\nstate[eef_state]: left_x=0.2844 left_y=0.0016 left_z=0.1629 left_yaw=0.0028 left_pitch=-0.0728 left_roll=-0.0028 left_gripper=0.9998 right_x=0.4146 right_y=0.1435 right_z=0.0971 right_yaw=0.0595 right_pitch=-0.4024 right_roll=-0.197 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, -0.9368, 6.9812, 1.7314, -0.0855, -0.0415, -0.0122, -0.1709, -11.1385, 7.5282, 2.0, 0.2076, -0.0415, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8036, 0.6064, -0.4801, -0.0189, -0.0387, 0.9998, 0.2375, 1.5299, 1.3739, -0.8337, 0.2379, 0.0021, 0.9989]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1584 left_yaw=0.0029 left_pitch=-0.0953 left_roll=-0.0023 left_gripper=0.9998 right_x=0.3912 right_y=0.0555 right_z=0.195 right_yaw=0.0092 right_pitch=-0.3819 right_roll=-0.1998 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -1.2376, 6.9265, 1.6923, -0.0317, -0.0562, -0.0122, 1.265, -5.4769, 6.7897, 1.2283, -0.1832, -0.0464, -0.1245]\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 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, -0.4965, -0.0189, -0.0387, 0.9998, 0.2169, 1.647, 1.2015, -0.6434, 0.2203, -0.0265, 0.9989]\nstate[eef_state]: left_x=0.2786 left_y=0.0017 left_z=0.1554 left_yaw=0.0029 left_pitch=-0.1114 left_roll=-0.0019 left_gripper=0.9998 right_x=0.3976 right_y=0.0517 right_z=0.1091 right_yaw=0.0115 right_pitch=-0.4853 right_roll=-0.2238 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -1.1556, 7.1043, 1.8046, -0.0562, -0.0611, -0.0171, -0.1709, -7.8291, 7.0222, 1.6728, 0.0855, 0.0171, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ccea2d4c8f7ef69f0f32b5fa7faa0e526cd393fe78e371f2989fd5a05937579",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2217e52db577b2b466bb3fd0ef05714964dfbdbbe3c26b13d1721845cceef09",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d7fa6af518c7c2e9aa10a47056659690571766fbd26906af58d257f6ae3f911",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFGGCJGB8MOWk7eLWCg8IhyEqvwKTceJoc5UrR3Ll6dRUkBmpK-Q0KRFYZjHqOAddNDKcQtSR-EDZxIYIuaX7p_ilrNQKlAd1a6dDDAkjji2fTg6mHYUCr8iemACik7KH0S-IWeXN85ou6hVhnfjMpheLREHCKKqqiVq7QSiqGyISRW55EGbY50fM5hSc61EYoccN3BL9Iqrap_wWpJ4Y2tzecAOK2xx_wFpLRxEteHwRTigFjkQ8u-h3S9GJ3B9a4TtMzlfgfjrOJI4ggr3xLBNZvprqn5Umeov8jiFRtZBcDPNDeclo4kzS8y3P3Vl7J-sb4rthvT8nDeHW8fDWmxd6GR_UOR7Q8AA7RhKwAWEqrnFionkh-HdiSXXtEycF4HiQJa8o37BpQz_T3Sv7psnL7VtMlSP2o4yfn85V_l8JlMj9oLByocMBMjG7tXUdzGXjOI0A0LW3TshIJmOLdxLrhiX9DlGY8XeQvsNnyV9Ukp826IMorPG5EbsIDM0CbaMkzh19ot_kzNFjNH9MOabt0sdWDhMJlqwQTe2eo9H2fEsFAjs37z_jY8tpfT7wMe5xHLpiqS30K7tx4lMvmj2Re3hBUeV6MEVJgvx6ofzKZEg2lKSqHsTzli9Co-PnmqzDmigO9WTkdTdmnS5ydY9RAuU6bcrt-6sbK29kSVK5gMKbPQiMfZKAXfI71EIjZqm_J9XDsZeci1w9GPyS-Dc0ACIklQ38elz1-qViO5GKbulgaYLcn8ssVQcO-V0j-kEaoYPNLED19sw6hgDynCkvB3uM_iE_mYr4OAPmKbjLiwU8enKeODd_6-4CYSVhCgpIYsU05CQLIViUCDmskYEs_Xtw3kKsHqrQuFndp1aWiHRQAZXN_WFqHBa-aRs03t6Hyp42n43-bx25_4kqDqawIBTjWlt8jHtzgqZ8NN4AfvOpqXMh8_fJhJReJvD5135xHgzd_YlcukuJHrVIMja9Ri5NoYyoSzWm-vou8CDp8H5zzGUmfhfqjP06bwWlqMGUKDRZelXthOC__T0N-JrePcZACsqLzBWKv8Cnev8XyoUP8nzkNN39WRTo4-xLxakRUxR80Lnb_6m0FDZNNX-VZWCa4mji_nWM3ewdemQOlvL-7kxZcHVt-BPTWMpYcl760Jw7lBnSYXUbS92Px9f3aYbTqlNQPK2XQYiUVYeKTSEsgGaMpW4dxZ1S3m4dbtWq3qe5FviGcF-wvzF57X685AuMsx5hNcCcbijyXWlIkjxDs4eWxXkIP6aCfRIz0YeFXCdEdrTVJ7sDmMVT3lPA0j0kpBT6lFFfSUXO2R3V1SxDkn52dsXJkeHHZma5nz5VaI5OKfs8jaAbgDl-y4yeUHEVl3xR8JN8yu_npZse3om2gqb9bOkgCloOeARUzPf_5HEwY8AJYdz6bdErLQvkH6tBdIO3ZLoxho51Jai2KLveyL9W8EEdbnPzsmR1zKKZXN-OA613_5Shi2jJXPlOZFPxrghhtC04PS3OhJFzvbqDBAX2LBlWVNCzFPvwImzNJwBmUMyTLxnq4GQNzn1aDHuZJ7V-bzA19Dfbu7Q5a7J7WHISPy9H-eRlRmkL0hm6OK07e0ioTfHAXGYAtUKLhMXXZGzDRYXwdF1a7Fe6CrvT1KvRgNN-tVFyxfPCnZXHlcBzs_4-N2riV2muC4CFQjEAt3GzRnyL6DVgoNSbpa1wIF9nBwpj4zAdrMfPWWPa9jx8kqw7Ar1KIr9PXjSUiUYlRhjF4MQmnP4cEKqsK0QETgq-HkX9iP6Xwyj6OPuwTbhSrPCptQw_7T3PietnZy5mvv8mgnuJEVq0rbSxU43xG7Qk96bAYjg-BuaSt1Zod0Jd0vifninXU2XAVaXyDTZ0ELc33wNqINolhCtiu9KMA_SEEfcZyaY9GbLjiTBRskRgCfQYoS78Veq2r5ghaAsgerbK1S0LnDmpqbou9o=",
  "id": "rs_003d579e8354fab7016ab4518373d887d0a757cdc24375660c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.02,\"right_z\":0.16,\"right_gripper\":1.0},\"note\":\"The closer wrist view shows the object about 3–4 cm to the right of the jaw column and still short of the fingertips. I’ll correct toward it laterally and use a slightly higher pose to gain the outward reach that was lost during the low approach.\"}",
  "call_id": "call_GzQBxrh5COs9kZb9yGE1Ld4f",
  "id": "fc_003d579e8354fab7016ab451851c9087d0907aee150b7f0173",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GzQBxrh5COs9kZb9yGE1Ld4f",
  "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, 0.804, 0.6064, -0.5114, -0.0189, -0.0387, 0.9998, 0.1127, 1.7451, 1.4803, -0.7963, 0.1799, -0.1059, 0.9989]\nstate[eef_state]: left_x=0.2763 left_y=0.0017 left_z=0.1524 left_yaw=0.003 left_pitch=-0.127 left_roll=-0.0016 left_gripper=0.9998 right_x=0.4373 right_y=0.0213 right_z=0.1531 right_yaw=-0.0048 right_pitch=-0.4732 right_roll=-0.2232 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -1.2103, 7.1043, 1.7363, -0.0122, -0.0659, -0.0122, -0.1162, -7.6513, 7.9385, 0.9597, -0.0171, 0.0122, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cdd184da199bdf74ee2491d42735d6eedf38427d31520de904f37afebf35841",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e3469cfb1d9e08a9ff715b05cd5b383acc37bc5c5cdc97aefa74df39c343c9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34463423d6de4fd14fd995c6f8b7bf12213593e69662a85eec09b2ca7e223c81",
      "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 · 1.809 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, -0.4728, -0.0189, -0.0387, 0.9998, 0.4232, 1.7504, 1.2533, -0.5648, 0.3008, 0.1265, 0.9989]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1599 left_yaw=0.0029 left_pitch=-0.0877 left_roll=-0.0024 left_gripper=0.9998 right_x=0.4098 right_y=0.1311 right_z=0.0993 right_yaw=0.0584 right_pitch=-0.4215 right_roll=-0.2034 right_gripper=0.9989\nstate[joint_eff]: [-0.0342, -1.0598, 6.9949, 1.7802, -0.0708, -0.0757, -0.0122, -0.4991, -8.1573, 6.1744, 1.4188, 0.1734, -0.0611, -0.1245]\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, -0.4965, -0.0189, -0.0387, 0.9998, 0.2169, 1.647, 1.2015, -0.6434, 0.2203, -0.0265, 0.9989]\nstate[eef_state]: left_x=0.2786 left_y=0.0017 left_z=0.1554 left_yaw=0.0029 left_pitch=-0.1114 left_roll=-0.0019 left_gripper=0.9998 right_x=0.3976 right_y=0.0517 right_z=0.1091 right_yaw=0.0115 right_pitch=-0.4853 right_roll=-0.2238 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -1.1556, 7.1043, 1.8046, -0.0562, -0.0611, -0.0171, -0.1709, -7.8291, 7.0222, 1.6728, 0.0855, 0.0171, -0.1245]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.5114, -0.0189, -0.0387, 0.9998, 0.1127, 1.7451, 1.4803, -0.7963, 0.1799, -0.1059, 0.9989]\nstate[eef_state]: left_x=0.2763 left_y=0.0017 left_z=0.1524 left_yaw=0.003 left_pitch=-0.127 left_roll=-0.0016 left_gripper=0.9998 right_x=0.4373 right_y=0.0213 right_z=0.1531 right_yaw=-0.0048 right_pitch=-0.4732 right_roll=-0.2232 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -1.2103, 7.1043, 1.7363, -0.0122, -0.0659, -0.0122, -0.1162, -7.6513, 7.9385, 0.9597, -0.0171, 0.0122, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cdd184da199bdf74ee2491d42735d6eedf38427d31520de904f37afebf35841",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e3469cfb1d9e08a9ff715b05cd5b383acc37bc5c5cdc97aefa74df39c343c9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34463423d6de4fd14fd995c6f8b7bf12213593e69662a85eec09b2ca7e223c81",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFGJMjIe6XK362jyQ3LDwX8Oed05GbC-Ze90zXTleZPEt3Vs3kTpVHP0xQ4P5Ax5sGbQiBT18Ifi7JEybAhZXhaygAJsvCrk735yyFhHVNGV5oCKdowWwI8k-rhQv50uSuOfHjlI6siYEfsjDBXDNpULOPWj5Ron96RR1PfD72ONeyqihuxgIxu2dlyXHlfH4XsvRlovLF-YKfl6ZnobLltSsN8O59XhUx_YeEmG8BFfT3J5m5KVhdK8yyxmakkGBelAN7pABoc_azxK7HVmuVi_UlzYcThTbg763FIUKwsdJlDMVAS27g1zjR5UwfvcsEoCVIFb954KDybqJyNVOsNU9-G2aCTT_6f1gSVkBtI5v5dC7fBMmV-4aPblgyqnfnllrXrUW4QZ-ZCyUrGpOtNmdmxxPRy9nt6CLRabXsDyQl5zRY4CsVruDWp-dJRJ0slUrvVD99aDdH6-iOEy43t-OPCjYJcfFq6PdKpHAxUqAYljQwyciNwLv6FWCu5JCkDm8bjFB4oWVJUhU5J-ruTWZh3_wbjPqOLlBz6qZRRf5Ffvwhbb5pIMgfTLYQ6pKZslR1iGiZdtdo8mP_kFvmH5pLPTRaIsAJtHhtgbtDztAO4ucYMEP4z6PuhRYsKXYDsFmDbvKp-zbtZpTZdYNeu8IeM0c4wMVAIc1lLmkm9dproRnaLIrQ2Q3cFTv4Llfm4cddg2eNR_7Z-ME8W2cU1SWnBfp20UNkIOPvpzEZH2XPe6qP4AfB2ZcC4SRf7g6DN_EwrLdRbvbvrqJRlPnY1v_pGVFZSk5fwM73R4ciloXq0yT4AlQayW6MAur7qFDQEUfd52FXljn86b6a2P2gS4vC1e4IqWattdg5EDksQ4E-vYk4m-C6ZA76jQkUqqkiAmF8t4uMoz0-Hgh5QYLCv-o3QEDO-LLh9URgR2DJKOiwqd1seHUPnjdhNYjXC-4DBnA4sRj66PGbn_HUqpN3NZpGGy1chHpV2LyQW3iz73sfK-nC87NGWmeVANxxFqVuKn5AeaTgs0gvS1UVvgN8mZ_qCE5wRnJkrhjumnZUV9OVXjCLtq9vRpA6kA7XQZHSrYg7GYRRWGsVi42G0m-FZovMmOzlI_NKtdcyh2IlNucrInBB9GOnTJmVGinjdj_KN0NAmYDOVqFbcG5kcq1dJUiemAyEbZUAxZq9iZYGbkKSAyjHc-GU_nE4WgXDBTUr6lWpq9nfVfdQGp4K06YPVggi8GFgyBfdHhVn88mnf6Vz0_Kuth6hZtf461vZO9QxoBPZKlnWTFWsgj2CfYULxfWcQN5auql6br6aof1oM5UxwQ5GOe9MdL7Mmpl0lZuENuhx9bfuwODegQ05TAX8Y-Z4h_3odl0FTxfn7QnNNRzD-KcklXQRj_Ced8hUROmqc0VY-dDLDrw-jkg2R6XPJHWAstgmuHaj_vy1Up9tbOORWwQTBUEKd2_y94iGWrGofcn6WCP1qjjFPHP9K9WBDs1A==",
  "id": "rs_003d579e8354fab7016ab45187a27c87d0a8b636151ec72a68",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.02,\"right_z\":0.035,\"right_gripper\":1.0},\"note\":\"The yellow object is now centered on the jaw column, with clear space below it confirming it is still a little short of the fingertips. I’ll advance about 2 cm and descend to mid-height for a centered body grasp.\"}",
  "call_id": "call_v3xU88dfBMvNU8hmhuAApF5t",
  "id": "fc_003d579e8354fab7016ab4518857ec87d0b5b5417fa5ab48d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_v3xU88dfBMvNU8hmhuAApF5t",
  "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]: [-0.0189, 0.804, 0.6064, -0.5213, -0.0193, -0.0383, 0.9998, 0.1051, 1.9152, 1.2427, -0.4541, 0.1677, -0.1276, 0.9989]\nstate[eef_state]: left_x=0.2747 left_y=0.0018 left_z=0.1505 left_yaw=0.0031 left_pitch=-0.1369 left_roll=-0.0008 left_gripper=0.9998 right_x=0.4433 right_y=0.0207 right_z=0.0344 right_yaw=0.0087 right_pitch=-0.5422 right_roll=-0.2305 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -1.1009, 6.8855, 1.7118, -0.0806, -0.022, -0.0171, -0.1846, -9.2376, 6.4889, 1.3358, 0.1197, 0.0659, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:785c8f7d05983db12c2ba8127b56520daa97c236489c8b9aabfb77384467b662",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:122fe8456771a45ee9b10faf161d6a0b3b0d074839881cea2a0d67abc3760f42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59e88e095b960a3f48775da62081645a54515a98f2fa4ee5b182628d678a76c8",
      "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 12 attempt 0 · /responses · status 200 · 3.154 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8036, 0.6064, -0.4801, -0.0189, -0.0387, 0.9998, 0.2375, 1.5299, 1.3739, -0.8337, 0.2379, 0.0021, 0.9989]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1584 left_yaw=0.0029 left_pitch=-0.0953 left_roll=-0.0023 left_gripper=0.9998 right_x=0.3912 right_y=0.0555 right_z=0.195 right_yaw=0.0092 right_pitch=-0.3819 right_roll=-0.1998 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -1.2376, 6.9265, 1.6923, -0.0317, -0.0562, -0.0122, 1.265, -5.4769, 6.7897, 1.2283, -0.1832, -0.0464, -0.1245]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.5114, -0.0189, -0.0387, 0.9998, 0.1127, 1.7451, 1.4803, -0.7963, 0.1799, -0.1059, 0.9989]\nstate[eef_state]: left_x=0.2763 left_y=0.0017 left_z=0.1524 left_yaw=0.003 left_pitch=-0.127 left_roll=-0.0016 left_gripper=0.9998 right_x=0.4373 right_y=0.0213 right_z=0.1531 right_yaw=-0.0048 right_pitch=-0.4732 right_roll=-0.2232 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -1.2103, 7.1043, 1.7363, -0.0122, -0.0659, -0.0122, -0.1162, -7.6513, 7.9385, 0.9597, -0.0171, 0.0122, -0.1245]\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 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, 0.804, 0.6064, -0.5213, -0.0193, -0.0383, 0.9998, 0.1051, 1.9152, 1.2427, -0.4541, 0.1677, -0.1276, 0.9989]\nstate[eef_state]: left_x=0.2747 left_y=0.0018 left_z=0.1505 left_yaw=0.0031 left_pitch=-0.1369 left_roll=-0.0008 left_gripper=0.9998 right_x=0.4433 right_y=0.0207 right_z=0.0344 right_yaw=0.0087 right_pitch=-0.5422 right_roll=-0.2305 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -1.1009, 6.8855, 1.7118, -0.0806, -0.022, -0.0171, -0.1846, -9.2376, 6.4889, 1.3358, 0.1197, 0.0659, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:785c8f7d05983db12c2ba8127b56520daa97c236489c8b9aabfb77384467b662",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:122fe8456771a45ee9b10faf161d6a0b3b0d074839881cea2a0d67abc3760f42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59e88e095b960a3f48775da62081645a54515a98f2fa4ee5b182628d678a76c8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFGLgfNaTO25VexAUpAxpBmwHeEr_GBF3uiZQShnXr60IyUx6hsT4kyTpWITkUL2VT4ndSQpMAIf69iOej7yLJyADmW6FNGweyqWVDV8hHeFK5WQlUfqOkR2b5yYHZqDByT28Q8hj1KZ65LTAzdE9HTHxzph2AmrL8OBR9hNh4vhb-jFg7qMf1uU0o8LMOWdIJRgT90ZjuA55h5WMlIQ-CLuB-3xI1q2XM6D5svSH1AwvCjyp5UGFO_eJzS5pP_Nzj57p1gZSdBQ_4-Xs5r4aEtU_dM-IYNjECMRStB-TFb4y2uDwApuAlqskTjZlkwDHlKTBgnVPVamPo-10r-7jEbZinfjSSowJWu3NUOuL1BFs7bv656Ylo2WySC-Zxtx1TrzuXYvFtFShioLjP3tikfsJMin-Sicju9nyu7zq_A3XMi3F99_NYegiAJ4ELfHM527ke0x4LcjTllq5aWfbClYuXR5iEvdxS6PnnP_V_PDLmxevHt3ectc0nwxElVtjgPhZE41NDkRz2KS-p82EN508n7s-VINZvHJYObjHRUyAaBMp3LsAJBrGWviYSFwvyizWGgaARkHfSoAY6Hjg02Rn5E7VqblNe2f8RtLy1gPjPL1-S4czgRxJdt1i-zySvjHTCjQOkdEviXecYl4YjGlas52q4zqYG4r0LoHMUqrrmqNpUiilN1FmRYDHhDXQN4R8o_BXWuvAtogI9sV5OFRQEfla9Vt7xbG2doDJ3L9w1-_q4AQzKhqQlMp0wtHKPcsmkJUqvKoSlvJ-D8aQt6yYmikua4oVumkjH8u3NF9SCK7NSxeu1VjrS9Bs688XbOmbShlKqyNqSW78Soe47qCxrlwZgSftd3kfLCGK-Ji3mRMQzb0_UrCo8JMoWEgPQnZNN2S9sBvR46FMUsIR-W3CUlLUBZkkgW7G70YCiUsVIbgMmhd7D-zKt14FlRC57jFPgGqhI05Kv5ElLMn8_WggyreQx8O5zNco6KwI5eJwPFSsDnywwsC0irpP33Lptc1BGefPlJZcjUA7VX-ZKxtA4dOnSPg6I5AVsMGZGY55nokWMc62ZAvAPW8UJf_SLyF9i3SKAZ4Ic_OlnYOBgjafRTZnEB2GRwZGN6cbHKzNZqeIcyMAsv36PHkLHhVg7CJGA-fnORTEM8750D8nUnc8Xxw49yj7oltpMzZXZwwIcuGdlHs6BVghyWMw7zPWn85",
  "id": "rs_003d579e8354fab7016ab4518ad74487d08364fa89bec2a7bc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At grasp height the rounded yellow object is symmetrically positioned between the two fingertips, unlike the first off-center attempt. I’ll close fully now.\"}",
  "call_id": "call_HKM423SS6VFJRhMyY6jsdUmx",
  "id": "fc_003d579e8354fab7016ab4518ae80887d0a746de614ec3f989",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HKM423SS6VFJRhMyY6jsdUmx",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.5259, -0.0189, -0.0387, 0.9998, 0.1051, 1.9392, 1.2316, -0.4545, 0.1669, -0.1314, 0.0099]\nstate[eef_state]: left_x=0.2739 left_y=0.0018 left_z=0.1497 left_yaw=0.003 left_pitch=-0.1415 left_roll=-0.0013 left_gripper=0.9998 right_x=0.4375 right_y=0.0203 right_z=0.0206 right_yaw=0.0097 right_pitch=-0.5781 right_roll=-0.2356 right_gripper=0.0099\nstate[joint_eff]: [-0.0889, -1.1692, 7.0632, 1.6288, -0.0855, -0.0659, -0.0171, -0.0615, -11.8906, 6.735, 1.033, 0.0952, -0.0073, 0.779]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79d95e3c7077473a7c584b0b6a4456687f5f3ca4e47bc28277ed4c05315e3cd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9a32a4ffa000e7235f15ec31e3a9a60b51135d3a5fd1675e329dd49a47bfdc7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f23a8610104b8c6c58feb79bb09d7582b08a4426050021995c7d31155e3813a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 2.67 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, -0.4965, -0.0189, -0.0387, 0.9998, 0.2169, 1.647, 1.2015, -0.6434, 0.2203, -0.0265, 0.9989]\nstate[eef_state]: left_x=0.2786 left_y=0.0017 left_z=0.1554 left_yaw=0.0029 left_pitch=-0.1114 left_roll=-0.0019 left_gripper=0.9998 right_x=0.3976 right_y=0.0517 right_z=0.1091 right_yaw=0.0115 right_pitch=-0.4853 right_roll=-0.2238 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -1.1556, 7.1043, 1.8046, -0.0562, -0.0611, -0.0171, -0.1709, -7.8291, 7.0222, 1.6728, 0.0855, 0.0171, -0.1245]",
      "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, 0.804, 0.6064, -0.5213, -0.0193, -0.0383, 0.9998, 0.1051, 1.9152, 1.2427, -0.4541, 0.1677, -0.1276, 0.9989]\nstate[eef_state]: left_x=0.2747 left_y=0.0018 left_z=0.1505 left_yaw=0.0031 left_pitch=-0.1369 left_roll=-0.0008 left_gripper=0.9998 right_x=0.4433 right_y=0.0207 right_z=0.0344 right_yaw=0.0087 right_pitch=-0.5422 right_roll=-0.2305 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -1.1009, 6.8855, 1.7118, -0.0806, -0.022, -0.0171, -0.1846, -9.2376, 6.4889, 1.3358, 0.1197, 0.0659, -0.1245]",
      "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, -0.5259, -0.0189, -0.0387, 0.9998, 0.1051, 1.9392, 1.2316, -0.4545, 0.1669, -0.1314, 0.0099]\nstate[eef_state]: left_x=0.2739 left_y=0.0018 left_z=0.1497 left_yaw=0.003 left_pitch=-0.1415 left_roll=-0.0013 left_gripper=0.9998 right_x=0.4375 right_y=0.0203 right_z=0.0206 right_yaw=0.0097 right_pitch=-0.5781 right_roll=-0.2356 right_gripper=0.0099\nstate[joint_eff]: [-0.0889, -1.1692, 7.0632, 1.6288, -0.0855, -0.0659, -0.0171, -0.0615, -11.8906, 6.735, 1.033, 0.0952, -0.0073, 0.779]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79d95e3c7077473a7c584b0b6a4456687f5f3ca4e47bc28277ed4c05315e3cd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9a32a4ffa000e7235f15ec31e3a9a60b51135d3a5fd1675e329dd49a47bfdc7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f23a8610104b8c6c58feb79bb09d7582b08a4426050021995c7d31155e3813a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFGPLNKB_ztpTOdHV12H4LEKf7HtyZzxP3gN-Bq27TwF-IBT2J2cDktscm5vPjcKffVS5iAWbve-jJnCQ_cbytionMoO-gChj7TYpg1Tip3Na0-wN61qiC3Jhoc0criJ-c1SpkOnf2WKlCXzcM5R50iuc2W2cstfXLwlUV9ZnkS0gnob1aa4JRffav7j7lrbVUKSYzJH7VM24IAOONFHHrK1i-30votXc_1qkSOkanESfVCGdwet19wVfoh4dTczIuVqnMOeZdZ_YFWCyu33tKu00vYgcDv64ZlmiNFVHX6RB3bEYBq1cLsT5nnfRzms3OO7Hjgy6kmF7wm6DIU2qrObU5EOCrOa_4-_9Xnnpn8wsvG6ydTWL5L_58s2TTu6lGLEdZlMvtE1iSNVnMtj7gLmNhMipWC2Jdyd1_AYwh07XwPK7YMM8gjSmnFW-z9cevc1zazETOAQlrZnoBw2EKB8OUYX22OGdViPVsHPohhppclo-svWCsjpHoDMElwvt2VN4719Dad4s1E9Y2wEdL3vStF6yQhBcty5ufzdBhsvIsTIc9uleuJH80f-z5aQ9U-va8AGJvVFby0VZpM2rqzU6hxTuQM1Fs0BFMWvlxzJSqicnLpgbtKgSr32AXUBMmvIt4odh4Pgz1MzeAjBBERb998512xyXhi5RS-3aP85A2ub6YQ13wFsBRmWGW7f_9RKO7K1vwLm1oSBmbNm4J0WRjWC_9hn_F1l9TFrbZDEPnKjA57gPp6zzcdPln5KAhFzOQ1wwYjQLZKvvtJgVN17KSs7Dw40X-3Eu7mCxToSi_XYjpCGCnZffkdyL5IVNXUj7oFyZyFnGlcc7siMg8k5XFzSRF54Fk_IL7Fw8A3hjRXSftTqmkDbgclzWdExAb-dIJTOg6ue94_YSbkXSavelhUeLei3OUnmM1L_Uw2yRrKamtc8M6bqU3gJQOmn2Ib3V7HW1MMTGdLhlf0dQ-LCaXzmXiEI1GCyNQ8F5TyahYHQ15MeE_vFU6abhRmGSrOlJi5xEDWgizmDZzMU1gQmJFUIHxXtbAGMBtD_IX-6OTMO30UKfAdWhzMKyn-hgU_oUdTxjPtbWmMw2UlIQDvrSEx8vShH_u_1hxRuFuZABWi2FchHnjvvUyUVlMILQ6VjatpoAA97AbblOPVN1GkwKarvhtA2OZyYrJ1Tt_VAte4Kyq5JmD6BM7HG-8jjZ9O_7z9zBHqMGSK5ch_TMCqqSj-KY3lL1CHHkAhHiabFgEWjfarBEznXptSzfxBzUH7RRmoLkDG4A-o9GsE1GLhmCNLi6Mcbu0n8ZcsmlYM6tJSTayHKVfFzSGUR-ZRuhyomfoYnkqnwAyfyv_mqX0Q6_FlMrfd_C9M8SB_9sFk4ZrkncDqAKvYTkurJWhxNuZ9wrJQov3BvY9EOO3wwUd1tV9IE5OnS9yrHuCf6NvOHCuRO2XhEviChDjMKE8Oy8s482CkXcVQsmE_A9JnFUSE2nr22z6PJq5njlxM64CeNjFP6hY1igtsLuWRn3thj04vjy4v3a5MyDPfVu9WH7i7gI69aqI_5PJ06UH4OP-59r9fcmyF5khGnu8jLg9XWzlS7XLbb-Y9oeBm0zB6bV1WVQ9ZJfE4ZIQDLIqAB4BpbgUWKZuzblupS6QwVxaEcuepRqSDLDFIRvUldqxRWt2RVwIQHuNGoBvu4wYKRqSFFYoiMsoXE0lnhhRpFeFPAFLaSxwRA4YCsxLphtwpNUhVOhB2-Fbj98iMF5BEleOEL1QX8HhvKmnVD1QS2iAZWZgWCxrwOTr9Lk9urN3MHz8cSwb0FdZv6q_1s-KgZYdDjN5xEKaA6S3JoQ5PeT3evNSMN5wHnWr3q217p0KmWeoFGygXsmMzo8OZWhOBABIoe-Y1Q1woNcKArbIVxygJVK0zoU4EnnRtirHAhY74D4FOq_A==",
  "id": "rs_003d579e8354fab7016ab4518d894887d0afc48375956b9694",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The gripper closed to 0.010 and the rounded yellow object is still visible just beyond the fingertips, so it squeezed out rather than being captured. I’ll reopen without moving, then use a partial close sized to its roughly 5 cm diameter.\"}",
  "call_id": "call_OvQWDOFzVSp9QeNnS6XTR7Xk",
  "id": "fc_003d579e8354fab7016ab4518eedc087d0825bfe2e142e2c73",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OvQWDOFzVSp9QeNnS6XTR7Xk",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6064, -0.5396, -0.0189, -0.0387, 0.9998, 0.1051, 1.9396, 1.2297, -0.4725, 0.1669, -0.1318, 0.995]\nstate[eef_state]: left_x=0.2718 left_y=0.0018 left_z=0.1462 left_yaw=0.0031 left_pitch=-0.159 left_roll=-0.0009 left_gripper=0.9998 right_x=0.4328 right_y=0.0198 right_z=0.0181 right_yaw=0.0087 right_pitch=-0.5983 right_roll=-0.2381 right_gripper=0.995\nstate[joint_eff]: [-0.1709, -1.4564, 6.9402, 1.7656, -0.0659, -0.0611, -0.0122, -0.212, -9.894, 5.9966, 1.1551, 0.0269, -0.0366, -0.2369]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc5c55d76c0e2549b77628558ac733a952d8c88b6a5681a27f4580e6a9a8f10e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d9ae484ade2492c95513766d8dbb26868110b318525ddecfc8cb4b392dc4968",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2611709059bff16d71cd8aabfd9b45269784cf941f1c404801e941e7e128f59c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 5.35 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.5114, -0.0189, -0.0387, 0.9998, 0.1127, 1.7451, 1.4803, -0.7963, 0.1799, -0.1059, 0.9989]\nstate[eef_state]: left_x=0.2763 left_y=0.0017 left_z=0.1524 left_yaw=0.003 left_pitch=-0.127 left_roll=-0.0016 left_gripper=0.9998 right_x=0.4373 right_y=0.0213 right_z=0.1531 right_yaw=-0.0048 right_pitch=-0.4732 right_roll=-0.2232 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -1.2103, 7.1043, 1.7363, -0.0122, -0.0659, -0.0122, -0.1162, -7.6513, 7.9385, 0.9597, -0.0171, 0.0122, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "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, -0.5259, -0.0189, -0.0387, 0.9998, 0.1051, 1.9392, 1.2316, -0.4545, 0.1669, -0.1314, 0.0099]\nstate[eef_state]: left_x=0.2739 left_y=0.0018 left_z=0.1497 left_yaw=0.003 left_pitch=-0.1415 left_roll=-0.0013 left_gripper=0.9998 right_x=0.4375 right_y=0.0203 right_z=0.0206 right_yaw=0.0097 right_pitch=-0.5781 right_roll=-0.2356 right_gripper=0.0099\nstate[joint_eff]: [-0.0889, -1.1692, 7.0632, 1.6288, -0.0855, -0.0659, -0.0171, -0.0615, -11.8906, 6.735, 1.033, 0.0952, -0.0073, 0.779]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6064, -0.5396, -0.0189, -0.0387, 0.9998, 0.1051, 1.9396, 1.2297, -0.4725, 0.1669, -0.1318, 0.995]\nstate[eef_state]: left_x=0.2718 left_y=0.0018 left_z=0.1462 left_yaw=0.0031 left_pitch=-0.159 left_roll=-0.0009 left_gripper=0.9998 right_x=0.4328 right_y=0.0198 right_z=0.0181 right_yaw=0.0087 right_pitch=-0.5983 right_roll=-0.2381 right_gripper=0.995\nstate[joint_eff]: [-0.1709, -1.4564, 6.9402, 1.7656, -0.0659, -0.0611, -0.0122, -0.212, -9.894, 5.9966, 1.1551, 0.0269, -0.0366, -0.2369]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc5c55d76c0e2549b77628558ac733a952d8c88b6a5681a27f4580e6a9a8f10e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d9ae484ade2492c95513766d8dbb26868110b318525ddecfc8cb4b392dc4968",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2611709059bff16d71cd8aabfd9b45269784cf941f1c404801e941e7e128f59c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFGTlZZeZik5MqmLWfJLmLe0QnaG4ifzd2d8TIrAP4an9GovaNq0FiVDDnvJRgRdCLEbxVt2RSYCAFgHKJwy50ksunS3liwH-e-DlWwTGrK71oXYy4_34wc85duRcL4tX6Nesp-dlYxsDDoImhMuKjYB1Cp0HrQj6P92FwZUyVPHm2IzGqPQ9gAujBiexvNnQAPLDSG5J6NQRUmjphKkdfFQpwfLjtG6-L3aJ7AbVtLKjuGpYNePxmBOnFBiJPBrjubXPh4n4YK6HCDySIxNe2mvTnNKROUIdNfPMRfaBvsIOXlfdZ4_maDm0gjtnEaJYMY0TYeJ0_il1Fl9uKbGeEJZRTZxyy2Qf5vOzp54t6iQzD9SI2u9yQKj6dI_NAJtj4K_jT5zsUntX5Y6Z4HHODHOEVjNmQKtQ0K7KiydkYoRDFLKYXIwlAquwpUxuiSJC8OnwLyk04CUT-UJwCuOp8Xr39_mkgXlMo_ULk6bmK3GAJ3IEPiK2_lbbnBxEAIcdCDlhqp7plku_Nc6N7g6SyckEGYHahigBCmbRHn5A6dNciJ1T9saQoxNO5ZOwrYaJKw4dUXNbDYy2ZYJ-Kxw5R9WxfpdVqQxKYVyMhQi33CUgepKhfQHg4mjfNXfjmotF35jy1TNDZW8J6fEDZR0A2yzh_2pIGM5z6mxYZW5dfLF9SIhZHBZoCrK9HmCvmL-Tiy_YsF6u8l9xP4jK5QjixfR7AagYH4wCo00xeOmBTvjw1IWovg2761vhMvNBgkwbZ8akCaOfAM7er_yl8KV1ck_P-WNI8IrfybK6Rv0ZolWvdm-_kHRoqqWNclfXAYBbk7xN4pjLv3zcn9QCF3oiF6WEKMb0p9ef0nFlcpyln4qbhYeFxjku5k3K-PV515DD3VqeBSyGSyWPYr7FCPsbLcOM-21dDNjRsV9cvih6DqNsKL6Y2Cw5pZEWEEd7XUfvFRqNCX5XhCalEkmo5rOMTnJY0KAQaIYtvho5r8x7BDS5YXJFpPEXHNGX2_wO0RmeoNHDNATaS6oP5ZQ6qpMHYaxai3fyihfAnE9vayPd31u4lnzrdoCGkuIKOe6o4aSDF4ge3Dedh6xBD82EIkv4SpQGa83rGwvHFqxJflrm7fg1zc_nzZP2xG9VKUXheiYaR3JvSwX0u3PGhmCZJWJNmj02kAp20Hz9iuYW_CZMwRww37sqhgXCS9QyvgLzMXpzShqr5Dt3ggYutncGxHLN8kTq12u0nmHbXxrEUXiPWjX2tb3QZOTYQGo9pVMWVc41_aLGOn5EA-vdrOhqDUg2R38jql3xp8dKf-Guxg82Ehf0uahgR4D95C9vnzbLiDjxCxoK29qdlFKS33x7ccKFgvMH-_8kDt0RcKLv7NSul72BqnlfgYxZhqH4YwX5b9UPFV9zDvMAHmeJ0GaaOAzR02QxQD9m4sLt8jP-M6HbueMosvUNvhxOJcWOSrLLIWqh84EJ96kfzGLZL9Mt096BQ7qNi5I7ARrYd8vkVzfMDH8YRIDkj7C75FTHfSadrCnFlH8wNuuBCNU75l_K1wB_BZaVvfBgUFEN0bcf2fI3DtfZiCODvvgMeRZIGjX9GOlr5T5",
  "id": "rs_003d579e8354fab7016ab45191a83c87d09e6f4feeec879e6f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.02,\"right_z\":0.025,\"right_gripper\":1.0},\"note\":\"With the jaws open, the yellow ball is centered but there is still a visible gap between its near edge and the fingertips. I’ll advance about 2 cm at the same height so the jaws straddle its widest section before applying a gentle partial close.\"}",
  "call_id": "call_YjDZBIMj7XQAaDUFymsOImH0",
  "id": "fc_003d579e8354fab7016ab4519257ec87d08ee5166183ce774b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YjDZBIMj7XQAaDUFymsOImH0",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6064, -0.5434, -0.0189, -0.0383, 0.9998, 0.1036, 1.9759, 1.2926, -0.5224, 0.1658, -0.136, 0.9989]\nstate[eef_state]: left_x=0.2711 left_y=0.0018 left_z=0.1455 left_yaw=0.0029 left_pitch=-0.1628 left_roll=-0.0005 left_gripper=0.9998 right_x=0.4394 right_y=0.02 right_z=0.0184 right_yaw=0.0095 right_pitch=-0.6221 right_roll=-0.2415 right_gripper=0.9989\nstate[joint_eff]: [-0.0342, -1.1556, 6.9128, 1.6386, -0.0513, -0.0562, -0.0171, -0.5949, -9.4564, 8.0068, 1.072, 0.0562, -0.0366, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ab7f3451ffda39656c81e8f21825de5be794a8867a7e287a0234f67749136eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9baead84ce757540aba82951bb0f655cd9c57faa5b9dd19203f58a52c0a2658a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aaf01051fc72749c5d8d4460a2faf83f95d8fdf016f8622ccb83925161ff0f3",
      "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 · 2.114 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, 0.804, 0.6064, -0.5213, -0.0193, -0.0383, 0.9998, 0.1051, 1.9152, 1.2427, -0.4541, 0.1677, -0.1276, 0.9989]\nstate[eef_state]: left_x=0.2747 left_y=0.0018 left_z=0.1505 left_yaw=0.0031 left_pitch=-0.1369 left_roll=-0.0008 left_gripper=0.9998 right_x=0.4433 right_y=0.0207 right_z=0.0344 right_yaw=0.0087 right_pitch=-0.5422 right_roll=-0.2305 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -1.1009, 6.8855, 1.7118, -0.0806, -0.022, -0.0171, -0.1846, -9.2376, 6.4889, 1.3358, 0.1197, 0.0659, -0.1245]",
      "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, 0.8078, 0.6064, -0.5396, -0.0189, -0.0387, 0.9998, 0.1051, 1.9396, 1.2297, -0.4725, 0.1669, -0.1318, 0.995]\nstate[eef_state]: left_x=0.2718 left_y=0.0018 left_z=0.1462 left_yaw=0.0031 left_pitch=-0.159 left_roll=-0.0009 left_gripper=0.9998 right_x=0.4328 right_y=0.0198 right_z=0.0181 right_yaw=0.0087 right_pitch=-0.5983 right_roll=-0.2381 right_gripper=0.995\nstate[joint_eff]: [-0.1709, -1.4564, 6.9402, 1.7656, -0.0659, -0.0611, -0.0122, -0.212, -9.894, 5.9966, 1.1551, 0.0269, -0.0366, -0.2369]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.8078, 0.6064, -0.5434, -0.0189, -0.0383, 0.9998, 0.1036, 1.9759, 1.2926, -0.5224, 0.1658, -0.136, 0.9989]\nstate[eef_state]: left_x=0.2711 left_y=0.0018 left_z=0.1455 left_yaw=0.0029 left_pitch=-0.1628 left_roll=-0.0005 left_gripper=0.9998 right_x=0.4394 right_y=0.02 right_z=0.0184 right_yaw=0.0095 right_pitch=-0.6221 right_roll=-0.2415 right_gripper=0.9989\nstate[joint_eff]: [-0.0342, -1.1556, 6.9128, 1.6386, -0.0513, -0.0562, -0.0171, -0.5949, -9.4564, 8.0068, 1.072, 0.0562, -0.0366, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ab7f3451ffda39656c81e8f21825de5be794a8867a7e287a0234f67749136eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9baead84ce757540aba82951bb0f655cd9c57faa5b9dd19203f58a52c0a2658a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aaf01051fc72749c5d8d4460a2faf83f95d8fdf016f8622ccb83925161ff0f3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFGYvLr1sWBlcJp5NfLjIr5FAWk2uGvwomVKcADcQjh5wH27AmBjYsbNp2t8kNBVKQcybn3lRfrOl7Vo8nuekEb1j3ygKgGr4l0Bw6faA9y0X66Qnw_CZDozDwH8LxZ_PjkpwghCYiElCy83RtGxNgFOGdtWJnSLeRTOuy84zkSrM7dWFlhUdb8DAr_P0lxliK2hEbCsumjxxGGaLT-9EiRXGcEUZG0h-_qX-fo0KS7Q1ioNLT0wiRonTUZ1NtYEkF6xrisbTbs7ELZeVQjK1jOKFu8pYsG5l5Vz4trCacKQby1BT2e3_lBx6hgZh6ODERnGnUvXswOYECC0GlcLWR-vv7ypRnStquDAUWw6nyno10o7rlXw2sgOczqHmCudc5dJ13230aHkMNvhqjAjVVcxx9U-V1totNCtPS-DiEPKsHo-QjPg8gw0O8yBVQPu4GmV_o48B_PU8hU9-K2dyyPZnq1thQbAYVsWR_K287m0JOAZD6K6WnZfyzPRaT4mk3H0dg8w5OLNt_4qMEJN-8DLqJV5PvD05D2y8QtG7CXjZdolP69ZY3BVYvanLl8ITnFnd9i_mn62mw6aSGPLQIJ_zAXQ3-YJofRtNZ_yYDvVbfhoHbq7uPJH9ahlFTnU1aZ9uKDv-Rn54p2pqCOafv8jA1pGhmOpC9wxPPsME02WKzq8zasQ_tF_UPGvsp1C013PFPjDLCVis-TvzCvO099lfc6L2KUJ34S58AkNl19p7kaDlqu4qddcKOC8zYaBjr7MZemXh-VhzlFCx2_GKTqlKQbAlkTyPMiSYC43Vsp2zyEIlHvCxcKZ_qzCJoCZ2cPvjL5ZMM1OlLZzjEKcXtgK6fR-yMnobZpqKexhgF2ezn5ke551tdmVPj_rXgPIz6gk1MbE4bNMrrhyXDtBmIEQqn0a18feqrxA6UQ_L1vIdBStfCCATZcJGcYNxFmt24lC1N0j0g2JF4kK6Jgyz8cCVXlc5ksNxlwan-T-oqhfO-dyFQIJIkqTrmiqdkToEZ_IIdK3__NAQm43UABiLPTm2sPhzYCvlLqCRnZk2b1o8eu3Mrkld2dvBGIRwJrcEdwqrGIHRnoJwSBeU2fdpM6HBsr49iP4EolSOcG6uHoQhxmcqCS2r1nh1HQl0p2LSuezYzuDkKgAHl24p2Nwd84tHBqzku76w_yOlmi3ZfG5wltzD2EXyLawzu3yT4Q62baL4T9DOLhQ-Y8JJm6kAlL3pwvFgzbERcZh1XI9NtTPocjpDbRVSUFjnYsq9MQJ63vDoMfePPv7L-v-97TCCBF-puyE-WqNvBXW4nm5W657aDrDvuqbm7mXSI8TdHxxgMWkJ7TSHoVh_li2FjEiEi1lizKnLuzykTDEoEXO4TxPvIbEKrS69pAVa2TfIdwNY2DN9zliP6va4qEkMDedEu8vCmdrMsY4JEw70yUS8D63UQ4MOkt1DKaF-htvcTGgnfDMcBLtDR7P9VHlU9KTTe0ooX1aQd2JEoUcezGgvA5KB9Lyka0RjM8fgLq2oJvouW_iXEUw9xp9vD_lm0yyjqj2thGUBBs-r6BZIFxs6r54Qhp7gaL2t8OL2FuDjYs1jwdGC1qkLz1YvCn9CxH1cmwam4RcMIIcOq55tg-p9ZbmH8lPgacI8qBlb3vfBoEGEvBC-V8Fw-VA0cd7gHfnDi4fKqKFvvtEwF-n-zFAmcQDxG8RvVis4ewmaz8CgOzm3JOUAicjoYBFGGiTUmYM7SriHxj4mECjfK5pw-9bWkzcF25FRPn4s8D1CyMszHw-kOZBPDVEgTL-aLjx_efVrnCHGxAT7z3Kvz5M1J7xzvbqelnvv1KDAglXOuyq7Q6XrSfSeNeXyX08N7M1G5e0RYHJWqKnOxrk7exVLnM65BrZkBjNoIt0NWAxYZkP_P3pjrRgQ7d3-xq-PqzzZliBRThDY12cjmE_tNKhNHkTClAnIdI1imLpH8-PFWwsH5rfjuk9GYexCNWp3moD-k1qTActHH79dPB8FimxeItlyXUXi9cmuUl9IYvfflTwj3zTc4p5YmR52VCisYCOIUeXzlT5sKZlji-hToSpqzWUWfQ6gS-CxKW_ztOV7HsZLAJuvRg067q0i0BKKDqm0AWIef-SFD1ZboYmYUKm5MaD0i5dXyYELYN68XjY88OJ7v1q3m91RPuofmBdgaa1MGYJzPY_aSwHg2CulqpxYD1rSEZdWPXLMKQ7v8sSlfxpe7W3je0B",
  "id": "rs_003d579e8354fab7016ab45195998487d09ef26e5bbc210dcd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.02,\"right_z\":0.035,\"right_gripper\":1.0},\"note\":\"The arm advanced only 6 mm and the ball remains several centimetres beyond the tips, so this is the low-reach limit of the current posture. I’ll request the verified table-contact reach limit with a slight height increase to gain the last few centimetres.\"}",
  "call_id": "call_PW60zrwVk2d8w9Y7t12zWikl",
  "id": "fc_003d579e8354fab7016ab45197ba6887d09a4e5aa73a18a0c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PW60zrwVk2d8w9Y7t12zWikl",
  "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, 0.8097, 0.6064, -0.561, -0.0189, -0.0383, 0.9998, 0.1001, 2.0972, 1.515, -0.6334, 0.16, -0.1532, 0.9989]\nstate[eef_state]: left_x=0.2682 left_y=0.0019 left_z=0.1419 left_yaw=0.0029 left_pitch=-0.1823 left_roll=-0.0001 left_gripper=0.9998 right_x=0.4753 right_y=0.0231 right_z=0.0266 right_yaw=0.0227 right_pitch=-0.6347 right_roll=-0.2436 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -1.2786, 6.8581, 1.7216, -0.0708, -0.0171, -0.0122, -0.8684, -10.7282, 7.7333, 0.9353, 0.0659, 0.0611, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7342dfd79c235d73570da54406a2c4b718362f981acddcd935f10ca6d778ee69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf239ac4a9c365dcd5220cb3e4c2528a619ed2fe70c828458e487ac2c0d2e312",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60a98897e97b9afb69174c5b61f1af2223f0fd08b64b7c7b9d435e8f97111628",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 22.57 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, -0.5259, -0.0189, -0.0387, 0.9998, 0.1051, 1.9392, 1.2316, -0.4545, 0.1669, -0.1314, 0.0099]\nstate[eef_state]: left_x=0.2739 left_y=0.0018 left_z=0.1497 left_yaw=0.003 left_pitch=-0.1415 left_roll=-0.0013 left_gripper=0.9998 right_x=0.4375 right_y=0.0203 right_z=0.0206 right_yaw=0.0097 right_pitch=-0.5781 right_roll=-0.2356 right_gripper=0.0099\nstate[joint_eff]: [-0.0889, -1.1692, 7.0632, 1.6288, -0.0855, -0.0659, -0.0171, -0.0615, -11.8906, 6.735, 1.033, 0.0952, -0.0073, 0.779]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6064, -0.5434, -0.0189, -0.0383, 0.9998, 0.1036, 1.9759, 1.2926, -0.5224, 0.1658, -0.136, 0.9989]\nstate[eef_state]: left_x=0.2711 left_y=0.0018 left_z=0.1455 left_yaw=0.0029 left_pitch=-0.1628 left_roll=-0.0005 left_gripper=0.9998 right_x=0.4394 right_y=0.02 right_z=0.0184 right_yaw=0.0095 right_pitch=-0.6221 right_roll=-0.2415 right_gripper=0.9989\nstate[joint_eff]: [-0.0342, -1.1556, 6.9128, 1.6386, -0.0513, -0.0562, -0.0171, -0.5949, -9.4564, 8.0068, 1.072, 0.0562, -0.0366, -0.1245]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.561, -0.0189, -0.0383, 0.9998, 0.1001, 2.0972, 1.515, -0.6334, 0.16, -0.1532, 0.9989]\nstate[eef_state]: left_x=0.2682 left_y=0.0019 left_z=0.1419 left_yaw=0.0029 left_pitch=-0.1823 left_roll=-0.0001 left_gripper=0.9998 right_x=0.4753 right_y=0.0231 right_z=0.0266 right_yaw=0.0227 right_pitch=-0.6347 right_roll=-0.2436 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -1.2786, 6.8581, 1.7216, -0.0708, -0.0171, -0.0122, -0.8684, -10.7282, 7.7333, 0.9353, 0.0659, 0.0611, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7342dfd79c235d73570da54406a2c4b718362f981acddcd935f10ca6d778ee69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf239ac4a9c365dcd5220cb3e4c2528a619ed2fe70c828458e487ac2c0d2e312",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60a98897e97b9afb69174c5b61f1af2223f0fd08b64b7c7b9d435e8f97111628",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFGb9IeZ4Dq8jv1oLpVkmZ1X357iBKjunXiLLxOowbXKBqVVTa1MwD3wNYbX-NE2SoJa6swT7uH9x6cAnKsZ_vyWR3GSp-vXJ-tspS8M44SFHDOXT0awjySnDV7Xka46hOemKPZK-BXLrl9Zq_zGW5orn_YdgvH28_hWalaDxR13Y_LhmysNcx5nhjanqOb2a1UckS4QHmbHV5bj3fzm3XHCcMVEJgKtaT5nlht2bbHLUTCPfFJ0tACL3hyc6IdMd1ZNxi0tlX5iYQC2vjWACMBSTKAUtZxq6fW7afWuSD2vzCkRP7YIS8x_-66dp0j2bjqVZl5FSljcfdPIaRAHCtlXn4YReIGqR1Xaz7buS-k5DW_-BvnpdotVH6UEOlUDl9hDbcmEHxD3pA9F3FeQYOt6T51m-nEyCEfezmvMX6muJHam-QCmQFk0dG1XPNWS-5MLo_yFFnDkRdcDuw55FKEBHflD1i-APGTinz1EvMKiZ4dppvBZ48vBPQ1wto4Pfygl6Gae3ggWXR39Rey79VNnpdh7sWjHtttN2kyu9PlMXSlnTiwYVDzjDnQ6EzJfv16O985_elfi44G8u4nx2P58w7NF551qdNjk55HWdkI2cE2lIYIrNe1EMlBd3H29QIoq_s7Zik1DEVIPq7ZyyuIfuLCaJjbJNQVBug9V8F0lEuHnq-RFbFkBgcPiM9_7wYlOk4Zb51EK9N1W31H5gsA8tSxcvpVDazuAu0b2AlmhfxPn_jnHMtENSKoFJt7-UtGCjljw-IOmknQjVuLqMHNVz3dVJVJSKK0I_nPRkuviSXKuqT8FDENHq95dE8LF4clL5ctgPldXM0W8o3l_Iv5XTZFCBZBBBK54M28DwU0bkk5V5MRm2LsaBah_uQGjC-FT7GQiPpFwt9Po26x4SWYE28Oyq6ncyvnM-PHGEO5nPrAMeZ27DdLYUjY7ui2EFIERsuZuXAIVu8fBbrEYekr6YxO2b71z1flz10NupsloJxWQxn0jRPFTe2844d7weYg21Fee8DhpJHv7_pOBWhvUNAmAJl3tsfaDFDpMYGXOTpB4MJFS6AisdNjUfHkF2iD6bdmZ3onKurLo2002y5PXBT5kfVbWLbk77-YVC8hzVtWx4_0WA5dRqWcu0XUZalFj4ovPyXaw9t4F1AvFrVKqEUX-bTf7nZgoc225IJX-qgW9R2VO7lSeUKGWzVtd1nGQ1luWdpD8Do_GSQDlu9x_MTZ84FvPZu__x_GkHqySU4fqv_IQ1Agd20KBgsbsd72spY11oTuLFQoGRRtAbKr9YQ==",
  "id": "rs_003d579e8354fab7016ab4519a39d487d0b81e4d73f0b63fff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.45},\"note\":\"At x=0.475 the ball is finally between the fingertips at its widest section and centered. I’ll close only to about 4.3 cm jaw spacing, avoiding the full-close squeeze that ejected it before.\"}",
  "call_id": "call_Qg7NccAceujmkQuVeIY3k3Ck",
  "id": "fc_003d579e8354fab7016ab4519a617c87d0a8fc0f4f5ba7ade4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Qg7NccAceujmkQuVeIY3k3Ck",
  "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, 0.8097, 0.6064, -0.5751, -0.0189, -0.0387, 0.9998, 0.0959, 2.1082, 1.5444, -0.6525, 0.1604, -0.1543, 0.6411]\nstate[eef_state]: left_x=0.2658 left_y=0.0019 left_z=0.1394 left_yaw=0.0032 left_pitch=-0.1964 left_roll=-0.0 left_gripper=0.9998 right_x=0.4792 right_y=0.0214 right_z=0.0294 right_yaw=0.0188 right_pitch=-0.6356 right_roll=-0.2446 right_gripper=0.6411\nstate[joint_eff]: [-0.0752, -1.0462, 6.8444, 1.663, -0.0806, -0.0611, -0.0122, -0.3624, -10.9333, 7.8154, 1.0818, 0.0806, -0.0073, 0.8278]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcf3cf4a50dc0d1dcca8fb5acbb0f630553c8218c66edb4d435b35486b51cbe8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91270d3111b9f93bf537387b0f64b993fc91ee282d7df4c5fd6804ca18701d57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d29b64fac909a16375556b126c400ee7bbbc3f9a622977bcecc1cbdd96820405",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 6.549 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, 0.8078, 0.6064, -0.5396, -0.0189, -0.0387, 0.9998, 0.1051, 1.9396, 1.2297, -0.4725, 0.1669, -0.1318, 0.995]\nstate[eef_state]: left_x=0.2718 left_y=0.0018 left_z=0.1462 left_yaw=0.0031 left_pitch=-0.159 left_roll=-0.0009 left_gripper=0.9998 right_x=0.4328 right_y=0.0198 right_z=0.0181 right_yaw=0.0087 right_pitch=-0.5983 right_roll=-0.2381 right_gripper=0.995\nstate[joint_eff]: [-0.1709, -1.4564, 6.9402, 1.7656, -0.0659, -0.0611, -0.0122, -0.212, -9.894, 5.9966, 1.1551, 0.0269, -0.0366, -0.2369]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.561, -0.0189, -0.0383, 0.9998, 0.1001, 2.0972, 1.515, -0.6334, 0.16, -0.1532, 0.9989]\nstate[eef_state]: left_x=0.2682 left_y=0.0019 left_z=0.1419 left_yaw=0.0029 left_pitch=-0.1823 left_roll=-0.0001 left_gripper=0.9998 right_x=0.4753 right_y=0.0231 right_z=0.0266 right_yaw=0.0227 right_pitch=-0.6347 right_roll=-0.2436 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -1.2786, 6.8581, 1.7216, -0.0708, -0.0171, -0.0122, -0.8684, -10.7282, 7.7333, 0.9353, 0.0659, 0.0611, -0.1245]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.5751, -0.0189, -0.0387, 0.9998, 0.0959, 2.1082, 1.5444, -0.6525, 0.1604, -0.1543, 0.6411]\nstate[eef_state]: left_x=0.2658 left_y=0.0019 left_z=0.1394 left_yaw=0.0032 left_pitch=-0.1964 left_roll=-0.0 left_gripper=0.9998 right_x=0.4792 right_y=0.0214 right_z=0.0294 right_yaw=0.0188 right_pitch=-0.6356 right_roll=-0.2446 right_gripper=0.6411\nstate[joint_eff]: [-0.0752, -1.0462, 6.8444, 1.663, -0.0806, -0.0611, -0.0122, -0.3624, -10.9333, 7.8154, 1.0818, 0.0806, -0.0073, 0.8278]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcf3cf4a50dc0d1dcca8fb5acbb0f630553c8218c66edb4d435b35486b51cbe8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91270d3111b9f93bf537387b0f64b993fc91ee282d7df4c5fd6804ca18701d57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d29b64fac909a16375556b126c400ee7bbbc3f9a622977bcecc1cbdd96820405",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFGyZtAktKm0_nk6oKyNiEIZQJ8_PQ8L6l594iITY7EVPhz6jDr6f0KGVIG4qFYzzVWaXs459M5ucroWROa_vWPM6uDjHmoaR3yiKA19nTLlR3qqHGYWgWuVcgeI-GMbpHhmTDtT0lf4G2j9dsIGKLWa7JlKg7Ax46J0OxUEuoDdVf6L3iSuCa6iUZGT7UdNtuG1Ow61p8yKsRP9RvjAmWc8ON7g4Gj8Sx50Boij-z4rLmhYMVq0055z0qEvcATby0nkF0tJydKHfGV6_-WuvOmp9VIr78FU1_rsFiIbWqlY2_buPGUXh2i1pSLu3025-bEvvud2emMW-l_TpgexNzvJZDxKm10nrWkGtDGyHTu9rCfhRdKPkPGulMERzwzfWVHpYFlbm4HgfV4Sf7iwM5eXujBGidjmJ-GrkDBWXG1STRzOB-FyOZKJc1oI4wCcLw0HU4NsxkwqbTKIkPHV9gmyoR0oNTCWwEzTSrmFO6GTmIBLXU9y6lZfIctkcllRcK2nv091t_prX9XWiK9p_0ewYO-UvN3QTwhRWHaa8QkK3oI4UWcBysWKzzC3CVU1xd0cgxs4Z8pCeyP7wbVzRDyiOXSsGI0Dy0R23t594wGTnNGcm_3iyeAB_xtbBW_4in4BTypTFxfq2rSskcdIcO8vDw-02pWPmeZ8b1pk7-5GptaW0AZ0zgxXXsz7T77rlk0zLoVnPVO6OMDXu2fSN0LHe0lY5OglPIzzAOR6Kqz4bDDz6zv_0IJTN1Y8kxRsPxmRXVD2_yjzGCefOnk2GaX1_zERev453LGK1g-92KTTTpqoBSg9DKbt0LkHLIfRl57U8lniJuMp82uiTgl21JOfnPGahIaUBac0bHFicq9tcVds5DuaSqkg6hW31ffJZrUuxJ1-_ZM91ekxrHUl6_8vTWgY9XewDbtNIThnE6iMIzvM8_UMoMxlF70yRnWBXgEQsBw94pS5WkGFnP_8YyMmZz-yUz23xoDxS1UVx8w5FDJlFgf_OMjqoH7lnMCPkhmr8NCCv8z3JeeF-2cNkx1yo7NUCYp_xN_4ExMhdGMDcnPvUalLBO7701KyN8xhBdR5OlJw5Sp2TltEF2Oij2bJgg3FrtKGKbY_Dw9Aw2BitOXFMYUeQ_DoeA6IcgTHHiBCYJymnMo8mzUsrd3Ib04iSbNSlzYBWDnQHhd3D-Q1vRMM1wEzFrV94HuqM2zuh16sY4jpIT8iu2hAIwr_X-ZXxIrjlij8qT2mhbhW5zIl1Ns993IG4uTtetLSFpoYUbovvzhsK1NT8GcMEsys09zyo3RA7zr1ndQV45tslwMKKOFEPmdZryJkQrqFLdw4dLhZUIzApgdWSZWgyAMggWTEVpT6EagoovE6jZYZy1aX7SOG0xRgVRTQ3iMTe54U09xsdXwKcLjekewqChNC6Gil9Y6vK5eKwcPCR0ZutrT73GePRIcJddqgNfLLEj_lrcVew0fnmxo10hN9TW1PFN8ACQ==",
  "id": "rs_003d579e8354fab7016ab4519ef6c887d096accfff52c44eb9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.02,\"right_z\":0.18},\"note\":\"The jaws stopped at 0.641—about 6.1 cm—showing firm contact on the ball rather than an empty close. I’ll lift and retract slightly to confirm it travels with the gripper and clear the safe walls.\"}",
  "call_id": "call_yURlhHcJMo2FQwyzwlQQYyxr",
  "id": "fc_003d579e8354fab7016ab451b187a887d0a784ad603db13e20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yURlhHcJMo2FQwyzwlQQYyxr",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.585, -0.0189, -0.0387, 0.9998, 0.0967, 1.9575, 1.8751, -1.0752, 0.16, -0.1581, 0.6412]\nstate[eef_state]: left_x=0.2641 left_y=0.0019 left_z=0.1376 left_yaw=0.0033 left_pitch=-0.2063 left_roll=0.0002 left_gripper=0.9998 right_x=0.467 right_y=0.0206 right_z=0.1724 right_yaw=0.0255 right_pitch=-0.5775 right_roll=-0.2406 right_gripper=0.6412\nstate[joint_eff]: [-0.0205, -1.1829, 7.0085, 1.6435, -0.0366, -0.0562, -0.0171, -0.2256, -9.9214, 8.4581, 1.1941, 0.0611, -0.022, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a75edb57933ba7dfb8ed93d1f8a48613c87bf03b91f99043e205c25faba4aa02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edab6a0df9dbfc9ff2bb4fddb2422888f6166c0f36d0a2cd96076c927e1c537b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe2c031bb83a22de2f46992312466c51e403e5f973e0ba746ddb9a13a2a8a8f0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 4.403 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, 0.8078, 0.6064, -0.5434, -0.0189, -0.0383, 0.9998, 0.1036, 1.9759, 1.2926, -0.5224, 0.1658, -0.136, 0.9989]\nstate[eef_state]: left_x=0.2711 left_y=0.0018 left_z=0.1455 left_yaw=0.0029 left_pitch=-0.1628 left_roll=-0.0005 left_gripper=0.9998 right_x=0.4394 right_y=0.02 right_z=0.0184 right_yaw=0.0095 right_pitch=-0.6221 right_roll=-0.2415 right_gripper=0.9989\nstate[joint_eff]: [-0.0342, -1.1556, 6.9128, 1.6386, -0.0513, -0.0562, -0.0171, -0.5949, -9.4564, 8.0068, 1.072, 0.0562, -0.0366, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.5751, -0.0189, -0.0387, 0.9998, 0.0959, 2.1082, 1.5444, -0.6525, 0.1604, -0.1543, 0.6411]\nstate[eef_state]: left_x=0.2658 left_y=0.0019 left_z=0.1394 left_yaw=0.0032 left_pitch=-0.1964 left_roll=-0.0 left_gripper=0.9998 right_x=0.4792 right_y=0.0214 right_z=0.0294 right_yaw=0.0188 right_pitch=-0.6356 right_roll=-0.2446 right_gripper=0.6411\nstate[joint_eff]: [-0.0752, -1.0462, 6.8444, 1.663, -0.0806, -0.0611, -0.0122, -0.3624, -10.9333, 7.8154, 1.0818, 0.0806, -0.0073, 0.8278]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.585, -0.0189, -0.0387, 0.9998, 0.0967, 1.9575, 1.8751, -1.0752, 0.16, -0.1581, 0.6412]\nstate[eef_state]: left_x=0.2641 left_y=0.0019 left_z=0.1376 left_yaw=0.0033 left_pitch=-0.2063 left_roll=0.0002 left_gripper=0.9998 right_x=0.467 right_y=0.0206 right_z=0.1724 right_yaw=0.0255 right_pitch=-0.5775 right_roll=-0.2406 right_gripper=0.6412\nstate[joint_eff]: [-0.0205, -1.1829, 7.0085, 1.6435, -0.0366, -0.0562, -0.0171, -0.2256, -9.9214, 8.4581, 1.1941, 0.0611, -0.022, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a75edb57933ba7dfb8ed93d1f8a48613c87bf03b91f99043e205c25faba4aa02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edab6a0df9dbfc9ff2bb4fddb2422888f6166c0f36d0a2cd96076c927e1c537b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe2c031bb83a22de2f46992312466c51e403e5f973e0ba746ddb9a13a2a8a8f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFG5s5zdlNDrlig_dYinzC7ieNL-gawIYW_HRQY6w1MGA7SIn1ztsOP2lxx8YS8m_JGNsIx7uikx5g_SH17VBCVacJAQ0FepA7LwYNK5CsQjb_s38V7ouaMuoMOXI9Fj3dt4j7WiEM_JY4BUIOS7REqsSBa_Y5vVRjUU2zdttP9rKcijt23GUgJOP-M-JpScZbfCGXmSEDD9z9BW8H4aFUbhoFlecYiHaFzjh2aKrMnfcAznmGdL7Pp_NfR4ka36_bXp7HQF2VOaQn1PNUPamFdOnzAs_9BcNpuXIcHvTAEify6YHw1L67WHbYnd41AX9d17cMGTAg63huF8liBZRT8cNSBE2NpRZ-cZ0Fozt_076BLG34YttZ7W7C_C25bR4p08bSFy2Q6Q4WY223WK1WUmdftdryxeZPKGzKQAGpzQWZ7a1YttwLSN0BEsI8ghDnFBZnfOGM-WClb3PUhIo7OSwEF6SxyYGrtm82c7wrN7qfMVyicycKO_97U4SXpqfpX5NINMxxguE_rgTbLJYdN8FfySfKQRQRSMEWXSfRLeXqPpYrMRXJ_kUCX4LXF3-P-bsRirdwza_gsfKim4AEWIVBkAT69lEIEx-woStQAYD3oEgbOiB13u7uLeoOzgqbMSFSOjysau1VQ7IXSp0Mdv_RtkOjDXDPZAAIXvWm_FjInlG7kcMsSjszg8CSUxow2ZY5w8IR4a3gt7pasQfMR2OfQ2maztOWkyXKjp9w73aSVNCTfGDkjnzzPTd3oWwxvDjwJENSfgcOu6nafaaKyuKMXWrkJJj80d7azK20zfIOt5yYwKh-uK1pkgOlp6BHO7gL-r6zjE9TZY-hBs-uMB4pvDJ4V1Mirt0tl76XD_4T6astkxMOKNHxEoKkz5DQG9ajXzo5rbum27xVrdJe6EarWLzHAJdajnPgAkHCXidEfLBRgMHvd7G4Fo74j00PzLvJg52Zar8H7pjUFLQ7lrjsAHAa06BjlpffVOi_7LJsPm1RB-i70Ek0w62ZvZzklL5Ex8WAVXnMmU5xDuX-Bn7id8ffV4hD7T-Qq-0YqnNHzyucerv1m3b6RkmUeqBaqq-8VqTNiGukYO4P7aOPQicmCVIO7KncpuMoIpdQ3XrQTkxb-VNIG-_5Yy3aKvSxCu09V9Njhzj_FVMFq5dzZyTr7QDEVo0_vQD5Wdh0prZtOKl8mW7S0i3oK0uGqRVgImOcXxwi9FhYC-wPCmwgD2Rz4uvwdWDJD0YqbLab0tzfD4rmQKKeNOl-eaBwaQX0SFJjQiA3202MpZo9maFOIw1t2aW23h3BtXKKzFRwkUdwATNHLIs59bcH7ZAytHef0a8lwFjBNCf20HlRqxGUQWpmv3DiDc_hg2-erTRMgt_HOLF8WZd0xWE51sjbqdatwdepcyEPk5OZj4GsAEVHF_l2sMyjCYo2JKitykn8h2hHCgn3oOyreYklbH3oD4pV3rsEwWic_sTBjKn_43pypApbs1cCB9zWgMk8m47qGt57pVKpQjL1GdK1ugspIMCEsbjBretpR77pJemSsXumAC1yHkK8vFFoHTF85vXRzOqdl_YyFfPtxqDPFDHPIbOfsYOVnIBKXFpotGKASio4VaOsQ5XL7MvVOWEktLayALHJpL0MTWKUtfilokLpIV5tnOAYOXhXMFUj0OjNUcJoJXomg5rJowXTv8iXVx_3WVfn4lBlWoszqnB-5t5EyVwKUcjRVUDL3SZVYL7EJgF5mVuZRZ4R1rHm48uBIM9jQQzXY6SjK0nLIcB2dNVALCxO2mSx_g74j9duScUaUjrQV5UTpdRaq4_wcA0ICUCL0tGNnxobGMMqmUzrobannsltfxkd1OXszFDtpRVIFOjRyqxXMRbLHrxUFL6HRYJV9RaWWd9bsX6M3_v1Ov0zHoGlSx0oyQOBrwinWp3y_AY9OYeRz1oro9XR-c4gORiaBbARSjVLA4kzHRc2NqhkfzH7-q9YFP7ixp6Dbs-2rvhLyPCq1FNLHev5p4w3ITEkOduueiNrM2XJ531-6MVRSknLkQYFnqVSWSV0fbXUiujenu_wcdsGnQhP6jDRvPamYij48i5Q0d4wh3-7VSmy7yle547as9jhH8l7AhYhYnnWapt2C9Vip9EEZWVCQSGNQTeIK8tqZoVGtv7Z-X1E1Bw5anVIsN52UzWNwv2xMHrJkQne7K_2t0nOeplDrc3nbt50iBBAKhCFeNe5krP-BI3KTsj8LJdfmv6AT2qxLHB6G5JGvuYv3Sg0zE5DKG2WZc-3cyfnvYBE3y1Uqu3OKCpTKUvXjwvouD5gbSVtvf2XzHKvQYDqOcbQZV4VP8Yvdrxo30pmTOazXb_VudaXc0-QF7_f1F0i57r7o8TdIqxcu9ns8oefrmsHWV-0AeHevvSCnBSC5MHb5Xrec5SmwYSOreH72RpRyjLqKPXXc0rcpmV6ZYADhUrqra8gtFrEF1ey4i-v_Y0DWEpyT4LXZpWlEuaUvdVy6jiT_oqTH1CB6O_SZ3HHbQls5C9ZPZRQmhNeR1byHkkd2WSuU0SNOfQ0Ha4kkbtIgRn6Hood9fjVnEwqB4fns1L2_ZbW9lrZl7lUSKF0Dkchj40a9BHozlxcQI-nh0cz9PhvsQNWIv4zFytNSuMT7CHTD8BzU2K38XqdYeMh0PeRFasvDewodTJSbjB9U3ZoDnVvdKXvlu8_jyS472pEb-bJ2UMg0L0I2XdkVJNTrhP_0fzKkkSVy0aIKfrd87ptWcY3pvY-foyN63CJ-4xvfizv7qFVBAAnlaYR1en2Blpq4ubPMqZmz2VFuB800aCZjsfvVB88-QtUowRZoKHLmZPV9o3LDcoeJYeSL3kZApnXjlgEQgtUxawXJzWDK2gpwBJP_Y5GLyfFHLdzUvXZhANFqKOqJ1xgsj9tqsbS-ndgl-5HNXSpyvfNUghUjXodKpcnOmA9KVEOmHjFAh8Hv8KPshh1Tyi4F4GzRdXQm3n-EzZuflt4avNKB4wKtSzua1QfVS7ZlwkjIG04BylSEDJGGQr8KmRzmtse6ASDody_HB-lwfaPJVihmabeP3rbFrq6t7ITKsGMLOwKfCJ9DC92LoGPrpgELUkDdoGWH0Yxm4xpNzxDhRQ8Ij-ppJbcMY7sFC5XsiDnfEewNo9nFmdjk7YlWPzr6G847iZCJwqBnEFd3Ws71IjhuLeI9qjhAo8b54OdOM8FHdwCN0PYnKaRqKs86GAm55tpv9dbqoR2FIaiCRRaluFPQSJHVHN3xsvOs2RXzW1CkCSpT3gXG9DXCy0qMYT23n2AIvN-_aGgCpsXAc6j5TlAEmOT5vqXHsyWWe1D7PyQHNykxIa5BuPjxwKPQEufTYIzDdU6uflUMivy1R5LelXXCk7HetdCn0bPEn2EvoFdHI8CBIf2qznF7uDKePfR8hdNNa1zD6QmJqVz8Tg6VNRQK7",
  "id": "rs_003d579e8354fab7016ab451b4681087d0863321a7e82580c9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.35,\"right_z\":0.22},\"note\":\"The yellow ball lifted cleanly and is visibly held between the jaws. The safe’s open cavity is the dark compartment just in front of the raised white lid, near the table center, so I’ll carry the ball high over that opening.\"}",
  "call_id": "call_N0laHKFNjPLMPgRuw0Kje0VS",
  "id": "fc_003d579e8354fab7016ab451b8a98487d09dc803abb8379870",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_N0laHKFNjPLMPgRuw0Kje0VS",
  "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]: [-0.0189, 0.8124, 0.6064, -0.5922, -0.0189, -0.0383, 0.9998, 0.9138, 2.2501, 2.4142, -1.5734, 0.3904, 0.6247, 0.6427]\nstate[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1357 left_yaw=0.0031 left_pitch=-0.2162 left_roll=0.0007 left_gripper=0.9998 right_x=0.3284 right_y=0.3215 right_z=0.1864 right_yaw=0.0533 right_pitch=-0.6017 right_roll=-0.2495 right_gripper=0.6427\nstate[joint_eff]: [-0.0615, -1.388, 6.9949, 1.5653, -0.0024, -0.0415, -0.0122, 0.294, -11.0154, 7.4462, 0.6374, 0.4371, 0.1636, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9d8dd0d1483800d7508d8306f4872f52c1d8c624a566c23d9ad87a409734cc5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:137faacbd442dd0a9cabb727ffc0921f734532d2731af7194e48a1a3934cee21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbb75ec4b85287b203d294007c1580fa781bea0fae83f003cbaff0c79a31c491",
      "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 19 attempt 0 · /responses · status 200 · 4.044 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.561, -0.0189, -0.0383, 0.9998, 0.1001, 2.0972, 1.515, -0.6334, 0.16, -0.1532, 0.9989]\nstate[eef_state]: left_x=0.2682 left_y=0.0019 left_z=0.1419 left_yaw=0.0029 left_pitch=-0.1823 left_roll=-0.0001 left_gripper=0.9998 right_x=0.4753 right_y=0.0231 right_z=0.0266 right_yaw=0.0227 right_pitch=-0.6347 right_roll=-0.2436 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -1.2786, 6.8581, 1.7216, -0.0708, -0.0171, -0.0122, -0.8684, -10.7282, 7.7333, 0.9353, 0.0659, 0.0611, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.585, -0.0189, -0.0387, 0.9998, 0.0967, 1.9575, 1.8751, -1.0752, 0.16, -0.1581, 0.6412]\nstate[eef_state]: left_x=0.2641 left_y=0.0019 left_z=0.1376 left_yaw=0.0033 left_pitch=-0.2063 left_roll=0.0002 left_gripper=0.9998 right_x=0.467 right_y=0.0206 right_z=0.1724 right_yaw=0.0255 right_pitch=-0.5775 right_roll=-0.2406 right_gripper=0.6412\nstate[joint_eff]: [-0.0205, -1.1829, 7.0085, 1.6435, -0.0366, -0.0562, -0.0171, -0.2256, -9.9214, 8.4581, 1.1941, 0.0611, -0.022, 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 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8124, 0.6064, -0.5922, -0.0189, -0.0383, 0.9998, 0.9138, 2.2501, 2.4142, -1.5734, 0.3904, 0.6247, 0.6427]\nstate[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1357 left_yaw=0.0031 left_pitch=-0.2162 left_roll=0.0007 left_gripper=0.9998 right_x=0.3284 right_y=0.3215 right_z=0.1864 right_yaw=0.0533 right_pitch=-0.6017 right_roll=-0.2495 right_gripper=0.6427\nstate[joint_eff]: [-0.0615, -1.388, 6.9949, 1.5653, -0.0024, -0.0415, -0.0122, 0.294, -11.0154, 7.4462, 0.6374, 0.4371, 0.1636, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9d8dd0d1483800d7508d8306f4872f52c1d8c624a566c23d9ad87a409734cc5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:137faacbd442dd0a9cabb727ffc0921f734532d2731af7194e48a1a3934cee21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbb75ec4b85287b203d294007c1580fa781bea0fae83f003cbaff0c79a31c491",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFHAdd4V2KfjdrRczyaYhpKwImWDIREI2O7xsAHvIXTcrt-x91iaxlvTADSAipUTNXpmO_jtD01Za305_cXlBr4jJzWdqaPL3PIVABuDIHmkchjazuk5izB33rgeI-Yig2DuxwS0W7Zscgc6Nyo7Um1XBiAx8VGl_zoJg8pyN1czwH8s5InvFRZlEXfFiSYWlycCVkt-dmhBdDFSkZ4gZG0_IziyhIDX37EieueT5O_qKyQ0lP3OCJp6fyQPfwrLz91OMUItmNdc-Q0ow_nvBr6zgZLO6hlAu8sC9sIKOPgEUJeYCaDlo86GQtdeOJodjWDpzGUBemqoIa6vnbhJVlJMb4OQKSqWsCY2Jf5PbbgnFhcFD9zzu1I6V7HsfgCMEhmzse0ECyO4py2HCu7TmXIY_mCtnhgDXNogsLo9zsucmSfeZ4DUlVu4aRcQ-zTGho-cx0rbFFVD3hL22tHapOHiSoBfaJ5U96TD7jv6ztpv6YFb2eg3fW6wHGgfFzblkQ-kIlzmEiPgdEwP2osQPz5qNFbzuYDMYBFrs_XZFFds2XfWbZWr3lf-G1ecq6OlbibrqgWent8vKLYc-3rqii9boGPaXyx3AWQWv5ohbnu70nNJZR7wLlPImPOKJpeOwFac8k8c2Iz9KZpVevepmdI9oH4VSvPk3SIjrZKv8Y1egXHqhl7B4eVaYFud1rykbfjuv42LQgGxmNYbmJdaC_D0hqnCZN6zchSd6pnCl8JC2vfqomRaXxR8Silht0WmjG_RT36hT4yqvpbG76xVlh3rhih_GwzjBNmFKDwgvQNO3lEjsUPk6SzAnCSEcl8PiP5jw2h8SXuABziNZW4ZPngBm_MpXaeLJ8o747AiX2n3FyyMgB22MLZzWaU8huOtub284Eo_bkrFJ9RNwMKAtoH73n51OSLdRFdiz_JI0Mh9ep0XGPMCbXVJk45OZj4KPAf4yCPnIlOhUdmAaSSQBq5hT8IXRCvkDfKgdJPLlbnWqKXkSa2mSgOk-lAP6Bce0NTEcmiGY8XfguURSomP_f_pYVE9HxRhn4IEfFtlditMbPYIT6fx3nVImUnjy0tn_fUu3fS_x5oZC80bmgzQlSbb2U4QrMS5CF9lf7T7_rn3bPhuSfF_j0s1P5CvYYeZCltlP-JPb06F1Sr7CKhjTXWpiDyuLENGWIfkcT5c-MGt0GVYxk90ZucWvx2df3sCC2VfORzD6hYnQP3OAaJbQUvHofRVG1SqRP8YRxu3nuH8CiL2Qk2lc6shbRkh0C_-PxHiZPLpWBQfaVhDeQpiJKNejdoC1s_CuN5tRIUnZ48JfrJKyCySPFCsLLXuB1It6dOPmK23Dt_BoNCZC1zII2rps7GJPr7dTMdhhGOTyqKGlaxtxtlvT7hwjSNK3G9WFLOl3COn9GaWZwGAKYA3MdOmxAIRsf1UnG3p0yqueK2taYl6y5bcW7bbj5qhVmtDHZxxXWjdRDrsANcGJPJt3gn3yAqxFWlMGyLYLF5TrkrxQUbmmeeqUWWvSgg9SVSVgzIft0RNxs_pprpeWc4TgFlT8ZTXCyqwIb0uhVkBayyy07vhWFQMDrQBDreXF_JttzEU0qQrT6KjkmHQdC11EUC12PkMDZ8Y8mm0KwolEg8fWRWIilYxK72bGdS_I_eZAvZcHdVnSaE27w__-o9UEBalRZWO08EmhsXVQ_N-FxybLdsEx_goaxbEInQf8WNO_voSD7syGqzxEOYvlC0ZEQw1B4ypE9OoBSFj7gRU5BkpbRTWXWhTwNjk8_eah9JMIpH3qZMO6BqnP7ThDvbRujgjdkEnvWGtr5b_Ee07NuDHfLdu8eEs5PTUJYBxezChGdLBT21Loihi2RKA6aMkDisc8KS567AScookM3lyntGVRyCRG29pk5NqNc4piJH7oBNIuU26U08kxqPuXVfn6FcVF5rM1HSCOc00_omZbY6a-vOjXUngqRVfrjQmobJioep6LBkH0H3sxymO4QG2G3oykDwP-Fr0saUA0xmG7IhhSWPei8NrAUuV5abnjC35LC0jLxjXOJ9RdyvpPAC3eUucbZeqkmJR6djFyxHrlFxl_7SmfER-Ei1Z684jP_snRRd3R7Q5pAtOk5iUcmju57yhu_mZosnA-K6TqimIbhWS869U9b55sK5DRbkIhRzjxzwhhigsF-Thp41ClPWR46xdA2MqFLYpRxB4xUibuk9VVBd2sRaupXy18dJyqa_0NPvE8hoFwN6SucYxTgkNUVweeJ_PUcg5K07pv0quOEKo6gZwB90KTNjwHcFcTA2tXGDORSWQN6DuPNcXFTWxXvuv6c7ilq4o4T85pSnG9dOVcBbxRRnIvMKE6z1eNWQhu3rBM7HDtSyFy4G1DF6-A-3LxzqSQe3eJyM97jsoNI2iab8608ydZnUGMV3jrFinMzkhHgpz9Ao_1HlJkGFnFwGZkQFRt53QX6OHShegD8KA4_9kaE6_9-cwVV58Bgxul1-xq_qlHitaRGacMdJhJkB8Yg==",
  "id": "rs_003d579e8354fab7016ab451bdcb9087d08e43785e72b3196f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.33,\"right_z\":0.07},\"note\":\"The safe’s lid and front handle are directly ahead in the wrist view, and the held ball is centered over the dark open compartment just beneath them. I’ll lower the ball into the cavity while keeping the jaws closed.\"}",
  "call_id": "call_6VHqksYjBh5TQIAVg0MwMgu9",
  "id": "fc_003d579e8354fab7016ab451c023d887d08dc73043217f9781",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6VHqksYjBh5TQIAVg0MwMgu9",
  "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]: [-0.0189, 0.8154, 0.6064, -0.593, -0.0189, -0.0383, 0.9998, 0.9211, 2.2021, 1.866, -1.145, 0.3843, 0.6292, 0.6433]\nstate[eef_state]: left_x=0.2628 left_y=0.002 left_z=0.1349 left_yaw=0.0031 left_pitch=-0.2201 left_roll=0.0008 left_gripper=0.9998 right_x=0.3207 right_y=0.3186 right_z=0.0682 right_yaw=0.0211 right_pitch=-0.6513 right_roll=-0.3109 right_gripper=0.6433\nstate[joint_eff]: [-0.1026, -0.9915, 6.8034, 1.4921, -0.0659, -0.0562, -0.0171, 0.1162, -12.506, 6.5299, 0.5788, 0.2808, 0.0171, 0.0562]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b9be0c4c1de7c5e49a64268a9daed77db44129996e2f24fafd1fe31d07b21f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f72d68927c1bcdbd79af0991c39e0799e12b605222a2608bb6e8bbff1db8a45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f29d24b8830179e7d282feec534081b7d1716052074118ea9ad2ca192572f1a",
      "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 · 2.061 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.5751, -0.0189, -0.0387, 0.9998, 0.0959, 2.1082, 1.5444, -0.6525, 0.1604, -0.1543, 0.6411]\nstate[eef_state]: left_x=0.2658 left_y=0.0019 left_z=0.1394 left_yaw=0.0032 left_pitch=-0.1964 left_roll=-0.0 left_gripper=0.9998 right_x=0.4792 right_y=0.0214 right_z=0.0294 right_yaw=0.0188 right_pitch=-0.6356 right_roll=-0.2446 right_gripper=0.6411\nstate[joint_eff]: [-0.0752, -1.0462, 6.8444, 1.663, -0.0806, -0.0611, -0.0122, -0.3624, -10.9333, 7.8154, 1.0818, 0.0806, -0.0073, 0.8278]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8124, 0.6064, -0.5922, -0.0189, -0.0383, 0.9998, 0.9138, 2.2501, 2.4142, -1.5734, 0.3904, 0.6247, 0.6427]\nstate[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1357 left_yaw=0.0031 left_pitch=-0.2162 left_roll=0.0007 left_gripper=0.9998 right_x=0.3284 right_y=0.3215 right_z=0.1864 right_yaw=0.0533 right_pitch=-0.6017 right_roll=-0.2495 right_gripper=0.6427\nstate[joint_eff]: [-0.0615, -1.388, 6.9949, 1.5653, -0.0024, -0.0415, -0.0122, 0.294, -11.0154, 7.4462, 0.6374, 0.4371, 0.1636, 0.1343]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8154, 0.6064, -0.593, -0.0189, -0.0383, 0.9998, 0.9211, 2.2021, 1.866, -1.145, 0.3843, 0.6292, 0.6433]\nstate[eef_state]: left_x=0.2628 left_y=0.002 left_z=0.1349 left_yaw=0.0031 left_pitch=-0.2201 left_roll=0.0008 left_gripper=0.9998 right_x=0.3207 right_y=0.3186 right_z=0.0682 right_yaw=0.0211 right_pitch=-0.6513 right_roll=-0.3109 right_gripper=0.6433\nstate[joint_eff]: [-0.1026, -0.9915, 6.8034, 1.4921, -0.0659, -0.0562, -0.0171, 0.1162, -12.506, 6.5299, 0.5788, 0.2808, 0.0171, 0.0562]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b9be0c4c1de7c5e49a64268a9daed77db44129996e2f24fafd1fe31d07b21f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f72d68927c1bcdbd79af0991c39e0799e12b605222a2608bb6e8bbff1db8a45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f29d24b8830179e7d282feec534081b7d1716052074118ea9ad2ca192572f1a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_003d579e8354fab7016ab451c2ac7487d081e535e49cf4b794",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.33,\"right_z\":0.07},\"note\":\"At the lowered height, the ball is still just in front of the safe’s near rim/handle rather than seated behind it. I’ll advance about 3 cm into the compartment at the same height before releasing.\"}",
  "call_id": "call_C71TH1CpfDOehWDckSA9vUar",
  "id": "fc_003d579e8354fab7016ab451c4d24087d090c9e809c1a870b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_C71TH1CpfDOehWDckSA9vUar",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6064, -0.5949, -0.0189, -0.0383, 0.9998, 0.8948, 2.2925, 2.0033, -1.1683, 0.3973, 0.5915, 0.6441]\nstate[eef_state]: left_x=0.2625 left_y=0.002 left_z=0.1344 left_yaw=0.0031 left_pitch=-0.2227 left_roll=0.0008 left_gripper=0.9998 right_x=0.3462 right_y=0.3281 right_z=0.0665 right_yaw=0.0257 right_pitch=-0.6328 right_roll=-0.315 right_gripper=0.6441\nstate[joint_eff]: [-0.0205, -1.2786, 6.8444, 1.5507, -0.0464, -0.0269, -0.0122, -0.7863, -11.5487, 8.1162, 0.5348, 0.3199, 0.0024, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3906810a7fe85d3a5e980510e112d624b6d883ac0ae90ae074b8fc5bdf0a1edf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce7dcd9c98524df5712eee1a3502d2c8a5add180d021edd65b37850dec13df57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a15ff140939e639f384b8a1f0f637dc82dc46c3c45359eb606e5ac59561987c",
      "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 · 4.632 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.585, -0.0189, -0.0387, 0.9998, 0.0967, 1.9575, 1.8751, -1.0752, 0.16, -0.1581, 0.6412]\nstate[eef_state]: left_x=0.2641 left_y=0.0019 left_z=0.1376 left_yaw=0.0033 left_pitch=-0.2063 left_roll=0.0002 left_gripper=0.9998 right_x=0.467 right_y=0.0206 right_z=0.1724 right_yaw=0.0255 right_pitch=-0.5775 right_roll=-0.2406 right_gripper=0.6412\nstate[joint_eff]: [-0.0205, -1.1829, 7.0085, 1.6435, -0.0366, -0.0562, -0.0171, -0.2256, -9.9214, 8.4581, 1.1941, 0.0611, -0.022, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8154, 0.6064, -0.593, -0.0189, -0.0383, 0.9998, 0.9211, 2.2021, 1.866, -1.145, 0.3843, 0.6292, 0.6433]\nstate[eef_state]: left_x=0.2628 left_y=0.002 left_z=0.1349 left_yaw=0.0031 left_pitch=-0.2201 left_roll=0.0008 left_gripper=0.9998 right_x=0.3207 right_y=0.3186 right_z=0.0682 right_yaw=0.0211 right_pitch=-0.6513 right_roll=-0.3109 right_gripper=0.6433\nstate[joint_eff]: [-0.1026, -0.9915, 6.8034, 1.4921, -0.0659, -0.0562, -0.0171, 0.1162, -12.506, 6.5299, 0.5788, 0.2808, 0.0171, 0.0562]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6064, -0.5949, -0.0189, -0.0383, 0.9998, 0.8948, 2.2925, 2.0033, -1.1683, 0.3973, 0.5915, 0.6441]\nstate[eef_state]: left_x=0.2625 left_y=0.002 left_z=0.1344 left_yaw=0.0031 left_pitch=-0.2227 left_roll=0.0008 left_gripper=0.9998 right_x=0.3462 right_y=0.3281 right_z=0.0665 right_yaw=0.0257 right_pitch=-0.6328 right_roll=-0.315 right_gripper=0.6441\nstate[joint_eff]: [-0.0205, -1.2786, 6.8444, 1.5507, -0.0464, -0.0269, -0.0122, -0.7863, -11.5487, 8.1162, 0.5348, 0.3199, 0.0024, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3906810a7fe85d3a5e980510e112d624b6d883ac0ae90ae074b8fc5bdf0a1edf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce7dcd9c98524df5712eee1a3502d2c8a5add180d021edd65b37850dec13df57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a15ff140939e639f384b8a1f0f637dc82dc46c3c45359eb606e5ac59561987c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFHIHDPKMqqC3_o5xzqRexEZYPiMPeHQu6sozMvzNITi2y0nPC3-TolM_zg83R3c-lQeP8HaCAoHIWJLo8KTciUYMu3uO6XMUy478z9O_tmXBN0X1R-nnquty2gDc5obInUjNQBtxtW6BFQoSn6fbhu5k-veTgAI_Ofyrjbe2j5cq6nRbvcmRdY9GXSfs3MtZXC3ZRhtHEhN5t8KFEW1I_-owWln_8gL7-if6uRpzJu0kcm6lvG4KPTi-Uk5aAj3LQsA6lmqTrAC0p69YEvrt0PHoUnj105x5bn4Ty7grISCCYkWqJ-EG_2aiO6M6z1mJcHSWTx7NanOLaaaCOaeLUBLs8hyXl4jufhtaHVDUn8RMnnt3e1sHNIWCjQAQ0YRaQ7LqJiOTX3m7whJU42siLEWjyuDyRK-I7jD9duoI_owz974KDtAwKaakoigD94TBxLC5pODIxaqaKWtEJ8wK8AA0YvJu3kKKHxV3Q23xx8o_2lpkXa10hjtaf75yzaRDZXkjO8M6g9XmCSxtzRLTU_O3xWJbHnmWB1-v7XPrizL8AgMENKOZsOW8pqW1E4xG1R9I5Hbz0rlIS2j6zgokS1D9a_6fb2-RdrK2IKQ7aHWJsrsUfzt8DVqIOqsysAQnKmU9LVa4L40Y7QryAFLTYsQXT2ERlzepVrSLEJtsEUtXovE942hdtuW2DHjG1WP3o6K3n_mDWjSePtXHIjBpVIrKQSeW-qgy7CAtNrTFqS13s84vNO6VtxWA9hSbRuqRtr2d6sXKI_v6EYjCk98BaLCST1aFKG8vSemC3XinveLRjvJDtBCyr_FQfkIfP7MDMaulbsp1zC-tfQOMIJ2Ea76T6NUZpdNLbaTQ3Vmz-3os9_8cspjGlwJeEilSrfM_jt717Y6m1D0XUj3LAuRx56t6wcx0biUXCwIZNMdcr74MNfz1pI4OZgfUub9jTSEibqNRa5ORI-jzX0uvvNnVL60zTD_Zp2kNJqgn8zawrB4OkkY1_0RjasOW8V4tY6htR0le_TvVD-8oWzLrYAyk2KvBka8TTVnBycpaIDoeaXLU3J3_wOKlfWxDg2gBTA-XjCW-O_1dGy19LQ1d_EuV_7CQkz6S-TXwH0yrctUySUFlexk8ld17kHhfXqHXO7Tt1W8RV5hkk34qfIwfrt7eh7pKcvaexis3LkxHrWrmYur3XWKC5Drw2m6A50IiHvQV4ocX4DI0Be7x2M7K8wZg7ScItreziLVwWpor5eypQ_cXkk=",
  "id": "rs_003d579e8354fab7016ab451c72ed087d090ee14a64314f0e0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"After advancing, the ball sits behind the near rim and directly under the raised lid’s edge, indicating it is within the compartment. I’ll open the jaws to release it into the safe.\"}",
  "call_id": "call_52qiVRTlIcta12QmVVN8QF96",
  "id": "fc_003d579e8354fab7016ab451c757bc87d09196cc7d27e6e690",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_52qiVRTlIcta12QmVVN8QF96",
  "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, 0.8173, 0.6064, -0.6079, -0.0189, -0.0383, 0.9998, 0.902, 2.2963, 1.9556, -1.1484, 0.408, 0.5869, 0.9949]\nstate[eef_state]: left_x=0.2602 left_y=0.002 left_z=0.1319 left_yaw=0.0032 left_pitch=-0.2368 left_roll=0.0011 left_gripper=0.9998 right_x=0.3404 right_y=0.3235 right_z=0.0529 right_yaw=0.0117 right_pitch=-0.6456 right_roll=-0.3559 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -0.9094, 6.9812, 1.5946, -0.0708, -0.0269, -0.0171, -0.0342, -14.7487, 6.2838, 0.6813, 0.3541, 0.0708, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9c83fa631cc2bd6e1852bcd51b9a08b87ecdc66b2a5740d8f4ba2d2c9ee16af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f452aab17ba64fd35f98c55b02cae3516f6181e469a61a7d00540ef1a3b93475",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed3622cca5df00be170398076224d1750e4014817d11dbe8c339ffea4e9645df",
      "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 22 attempt 0 · /responses · status 200 · 7.895 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8124, 0.6064, -0.5922, -0.0189, -0.0383, 0.9998, 0.9138, 2.2501, 2.4142, -1.5734, 0.3904, 0.6247, 0.6427]\nstate[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1357 left_yaw=0.0031 left_pitch=-0.2162 left_roll=0.0007 left_gripper=0.9998 right_x=0.3284 right_y=0.3215 right_z=0.1864 right_yaw=0.0533 right_pitch=-0.6017 right_roll=-0.2495 right_gripper=0.6427\nstate[joint_eff]: [-0.0615, -1.388, 6.9949, 1.5653, -0.0024, -0.0415, -0.0122, 0.294, -11.0154, 7.4462, 0.6374, 0.4371, 0.1636, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6064, -0.5949, -0.0189, -0.0383, 0.9998, 0.8948, 2.2925, 2.0033, -1.1683, 0.3973, 0.5915, 0.6441]\nstate[eef_state]: left_x=0.2625 left_y=0.002 left_z=0.1344 left_yaw=0.0031 left_pitch=-0.2227 left_roll=0.0008 left_gripper=0.9998 right_x=0.3462 right_y=0.3281 right_z=0.0665 right_yaw=0.0257 right_pitch=-0.6328 right_roll=-0.315 right_gripper=0.6441\nstate[joint_eff]: [-0.0205, -1.2786, 6.8444, 1.5507, -0.0464, -0.0269, -0.0122, -0.7863, -11.5487, 8.1162, 0.5348, 0.3199, 0.0024, 0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8173, 0.6064, -0.6079, -0.0189, -0.0383, 0.9998, 0.902, 2.2963, 1.9556, -1.1484, 0.408, 0.5869, 0.9949]\nstate[eef_state]: left_x=0.2602 left_y=0.002 left_z=0.1319 left_yaw=0.0032 left_pitch=-0.2368 left_roll=0.0011 left_gripper=0.9998 right_x=0.3404 right_y=0.3235 right_z=0.0529 right_yaw=0.0117 right_pitch=-0.6456 right_roll=-0.3559 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -0.9094, 6.9812, 1.5946, -0.0708, -0.0269, -0.0171, -0.0342, -14.7487, 6.2838, 0.6813, 0.3541, 0.0708, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9c83fa631cc2bd6e1852bcd51b9a08b87ecdc66b2a5740d8f4ba2d2c9ee16af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f452aab17ba64fd35f98c55b02cae3516f6181e469a61a7d00540ef1a3b93475",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed3622cca5df00be170398076224d1750e4014817d11dbe8c339ffea4e9645df",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFHNjYZYB-ipyWuO1lB3rkJbdWBIQj7RqGfw46iIaqaYe3Qt0qQaky_7sbApTSBF6LwpsGmE5JAWk3p4zjntp5ZmGcZK2q29qkEgnoTzjGGzFVIPf2sxI1XAFWn0g8im1dScCXx2EdkMU6NjSXF0EdErvzAzkNYVY9WN-w82MjMa_LN-NEJ-yVsZm6gWLT2liRZ0M8UWEFhtL8lHuuoVgfM2T4oUcS4jSc4BAgR6GMHJjLzsUqmCRFofRyQXVJozhd53YusMQ6oAii2TyB7CueDxZ27RxEFp8B_XRdJY5wIu7qBvS2eLa63Wk-CHGswGNT2VrA66FZ5YdhwzoScYCvpSZRApAbBOQIDP7hkmKlzpj1GOuGAW4-Cp4zOFZLJ5Avhs8eNBiWaFtv3jy1UFetMLXiMX7S-STGBHUDWkEgrIspjxzUom5owAMO1ekhOjMBzRBOCLpR5CyIZDinBjNQmr8xTNNHObuPpvIDvhgJ3aNGX24eh9-71nKeuOFhCH1Mr1j6rdTLjvLnBcFKkVPZybHfL4dx0TQ0lqPzYdpxabOudOOe_8AFsuEhh7XGc2e-eHKzhXraC5--uUjHlAXTjOUG-VAQdbTqW-7y2Lvt1FGVrRyW8AyAa7fSOkbdOH8_8kA79InZ2NhMGNIeO_ArpNQfplKtBXOQxh0HJF99PxTeqcompRjivjEUxgdVE2qx6O3QLALFJm2yXwPRP9ud2NmQURqn1mKd-IkKOr0_jky6TrMRMwXsPhbhpaZvk3ZcHvO09XO8hOclFm3ZjkQ3yfLXxKqf6sxCZ-pUN6RVllhr4X63emgRhjpngVnAg-utQO5By-JYAvK_Kk6gAZQjhbscsi1IHeedL6nci9_CRAOXEWzABcZfKHcAnHZAJGM4tOt3iK4IQAkDTem7Ou-rK6X2045Gu0gZSQPurcnC7tFjpwGNX-wS1N4A4CWmLOdyZp3POI8fPOjfKv51ZYcmGTBaxUAqbVfeuc6ctohOqeUAS9bYW5V1naJFpfud4iDjwrX10Ha4NaEGpqyBXhpqQMik0ffFr909LnTHcUpq1qYzwkSv1NFrXhuJoAkeEdEZXF9yUPKUN2Rdd8UwqCx4LvPRmFwWcWIP84GNRVpIWbiwP_GG2A8VUOxWwI-vztZRSNk9GxEmpjnYVY7Z0H8UQs6lrMq0QNQytxPSpbVMOI4sj8dkgO77K7Sf8p734cAsTZS1zp7c4QfI8Z9BwSSqhnqlcnJitUCz9p84DscBtyguXxZs32wIcVBnBk5ForRr8YzYLi-vLcWQStEPIH4U38CeP9phZOeRJUp_cRFQtotyXGTzSV0QwPtZvY0bI42rdmSKxuJRsaHM2IG5oVECFpakFzGbKYJf67BqWZRsSpQifreWX52m7eIdarHETTZQUenNieALA5uZMCs4BY28LMZA9Bh2TDU1_NLF5BLjdg63De3FVSiynXteuIhVJVjXNnLGnUuX1677xZykbcKHRo8QZWqEfS2D54un6-JaEv_8QRwiRqcRH4NwoqyKBLFIcBC5Be--usEgBgP4HjiSyILmQqZoMuAK-7Tg-4INbqL-nxYFQtlJFC-TrYk62IHmYMz8JUj4GeMYJS-JA_5478zlFM98TsAXDA8wFOxaD9f5z3MWigCQ3NT1TWoBDUSr_zcxtHmZuTpLiKKYfEea4cx6fAmAzs29Gj6mMLpWX_sn-LqMWX-VRzY6poyNUk1DpMVXcniMu2wmhB2lt6PbGrgU5kH6PmR7RwrIkCI4jh41hBPuvJI-9C3ukd9JLm3C97QMqjDY-QqsPTLPaaMSYc_q7XZCwVkNuY2pSYtrmAo8GqIvrK2pW9XJSOhe_oL2vjg8DZ4H0uf6onyhrZdA6_2zxJ9aIbErudUlLKDi3DhbhI1freZV3cWixxWwF2V4FDtL3fm54TapXrinbPszQtzVsTOMksi4YqLl3_Wz_qBojGs3GabNAXke5ZmQ1LaJrHS1HvRKkDUSy5toBV9puLREerdqCCwO485KRBt6Hzo81S0PrKWFwQU7HbahoMuJhpWV8CRbSAz09JQO90emBKqmMRFtMaSoh4ZVA40YAC6x9qktqsG8C8Mo5Yqaj8GC2-0XUFuj6xYkwunBzKuUppy3g-FpjoPtyLMnnlv6vnDKYpTUQQD7z5rQ6OO3a-6it-gjBUFCuDu7hAhlx-RrU-2oSQKEHsFcrunXTxOP1nZ3mpEyHt4johx4mKF4VAkKItGV_Y3QBRKItTysc9s8tqI2qFO8Rahb-gpzkOiPbnipOY2HP0e7kCVEPHxxF8-hR_Cq2MNXUpHAjtdkhk7CffCR7RhMZDbijJ7tXPoZSqCTGnVGBMq7tH5MZ8h1dmBcE86YtiE-w2ea6COLWPzXDeREiYI83ELJGWrYhEBqg4nmq7aeRkjJv3_IZ7C76bgHFJ",
  "id": "rs_003d579e8354fab7016ab451c97ae887d09026cdf4079fe7bf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.293,\"right_y\":0.0,\"right_z\":0.18,\"right_gripper\":1.0,\"left_x\":0.33,\"left_y\":-0.18,\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"The yellow ball is released inside the safe and remains visible beneath the raised lid. I’ll park the right arm to clear the overhead view while moving the left arm to a hover over the white plush object.\"}",
  "call_id": "call_zudSzKoMYnrv3wwkj0ScXyn7",
  "id": "fc_003d579e8354fab7016ab451cbe4a887d08ff2998e61fc5875",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zudSzKoMYnrv3wwkj0ScXyn7",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7185, 1.4307, 1.0504, -0.6361, -0.45, -0.601, 0.9998, 0.1501, 1.319, 1.1896, -1.0866, 0.2588, -0.1558, 0.9989]\nstate[eef_state]: left_x=0.3191 left_y=-0.1722 left_z=0.1435 left_yaw=0.0013 left_pitch=-0.2905 left_roll=0.0207 left_gripper=0.9998 right_x=0.2915 right_y=0.002 right_z=0.1699 right_yaw=-0.0269 right_pitch=-0.6237 right_roll=-0.3585 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -5.6957, 9.5795, 1.4139, -0.4615, 0.1245, -0.0366, -0.1162, -5.8051, 7.7333, 0.9841, 0.0659, -0.0708, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01b9ba652823761eb249e40f1cca8996d005d00e1bc327c24a18dde6d5a6e8f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe4a810afe395c8b02cf6a41d969ebbbb0007b6000040edbb4fa8c02dfbc165b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67d3bf0fab007e6af9beaa876e5827627349d6205eaba437d6aefb8888fca389",
      "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 23 attempt 0 · /responses · status 200 · 2.766 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8154, 0.6064, -0.593, -0.0189, -0.0383, 0.9998, 0.9211, 2.2021, 1.866, -1.145, 0.3843, 0.6292, 0.6433]\nstate[eef_state]: left_x=0.2628 left_y=0.002 left_z=0.1349 left_yaw=0.0031 left_pitch=-0.2201 left_roll=0.0008 left_gripper=0.9998 right_x=0.3207 right_y=0.3186 right_z=0.0682 right_yaw=0.0211 right_pitch=-0.6513 right_roll=-0.3109 right_gripper=0.6433\nstate[joint_eff]: [-0.1026, -0.9915, 6.8034, 1.4921, -0.0659, -0.0562, -0.0171, 0.1162, -12.506, 6.5299, 0.5788, 0.2808, 0.0171, 0.0562]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8173, 0.6064, -0.6079, -0.0189, -0.0383, 0.9998, 0.902, 2.2963, 1.9556, -1.1484, 0.408, 0.5869, 0.9949]\nstate[eef_state]: left_x=0.2602 left_y=0.002 left_z=0.1319 left_yaw=0.0032 left_pitch=-0.2368 left_roll=0.0011 left_gripper=0.9998 right_x=0.3404 right_y=0.3235 right_z=0.0529 right_yaw=0.0117 right_pitch=-0.6456 right_roll=-0.3559 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -0.9094, 6.9812, 1.5946, -0.0708, -0.0269, -0.0171, -0.0342, -14.7487, 6.2838, 0.6813, 0.3541, 0.0708, -0.1099]",
      "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]: [-0.7185, 1.4307, 1.0504, -0.6361, -0.45, -0.601, 0.9998, 0.1501, 1.319, 1.1896, -1.0866, 0.2588, -0.1558, 0.9989]\nstate[eef_state]: left_x=0.3191 left_y=-0.1722 left_z=0.1435 left_yaw=0.0013 left_pitch=-0.2905 left_roll=0.0207 left_gripper=0.9998 right_x=0.2915 right_y=0.002 right_z=0.1699 right_yaw=-0.0269 right_pitch=-0.6237 right_roll=-0.3585 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -5.6957, 9.5795, 1.4139, -0.4615, 0.1245, -0.0366, -0.1162, -5.8051, 7.7333, 0.9841, 0.0659, -0.0708, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01b9ba652823761eb249e40f1cca8996d005d00e1bc327c24a18dde6d5a6e8f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe4a810afe395c8b02cf6a41d969ebbbb0007b6000040edbb4fa8c02dfbc165b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67d3bf0fab007e6af9beaa876e5827627349d6205eaba437d6aefb8888fca389",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFHXbUaEBCA0EsppUGpogZI4atb03UwmftrsVx2lCXzmhirhi06BmuHpJSP3nqAEg7zPkr70VCfhIk-f2A8c3UOWeQKJSf-1Suyt3MYWRgeyGG6GpeFW4-fwdcjJvHbpRxLKYtL9tubZYWdeJKpP59vb-IWx-2cSGTF1pcEtJjowm0JNILHWDuhvF0ZZ10Y-uIkyOetIIOBjeMgX9fFmDMxsYk5tGZepXWO1WxTtucCImQiwPHT7RdLW_7B9n_PcG9OAijlAETL2TYuek4Npr4MjF5j-bvKwMaOEdcU_lpAvInGplkg1o52oS5RW3mACgeOLsL2aXM-yOMFGpB_80TAzDgzov3IzATtKz7tsb5QOHc6IAsJmfplLqonY2SOql9qxTWwNmK5t2U_B8JXQ2HlieaDfoj9j7MoJAPLqbud1uIS2lELE7LJfSJf_tEfAHCbo9dLfxYnVxXE78-J--TFZ2L1POBDBx0Iak0xtcCqcQrbW_ur2ONSj1_ZlpDQPxQYbfqiGyM8JoH8sZJqfjYl3BFH8WW-RHYjKJ-AQ_l0Y4zQVLVQiB0sYvTwXWcJYsRAVE9je131dCK_KfHp9SNCV-1LFfKis-Wu80TgMHQeoslpcWNkvsKyCgKnIknGGAPWOkzTfqhKbjyu5a70zKUd0_rOSMihKrit-yqB4KCKXTs6iaYf-XMPHG4gy2dZ3vo6pcczcFpYOQ4TiUin9-8zokDiokdCIZ0vB6tQ6yeNMpyxJBn0ApPcJmoM7xAHUzHKp-_LnYejy-qkjHn6mZnyWhsg4LfSnsVwTaqB2cMOP_0SDEGoh_KGnkbHXDXU1uMzSu1bQs2HdSaordvuZ9xuTNrE40yo2S_tEbIOTZUkrfa7LV-QF7vhMVC67eMZVGZTNgquPByCEPgTJFvMxPGIkJ045-BhNHIqU3x41fOUPMbCzyY9D98hKr3L2bcIjEEdO08-rUIbK8MrYtEm2_zAiadDYbjnw231SNrqaM44b_aY_4E3oO5FEJBqOEgzUCE9_ifhEM6w0hSIF-s4NVo2JvFcNoVZ7dgFi3TXnIukQ30daqWSs2ei2RXGTXL78o_Xq-vJYbT17q4qBcUrsiG25cUtXOlD_Az4pCFrZ4hYTM8MegIf3vkDDV-ajHJ5GeeMpliIreXPPEvcvQS9VWaK5LkqJVDLAcL7rD_GrEw3w5hIzrFKVN2tWZ60k9Y8sxHnf_bXZG1SbY_Z7B5ts6EDMGezrI_sxN_BQ2e1gb3FVxdVMvEe2ycF_adrlabqr2pX8w2RG6iEEy0AhaN2jTFtpp7adiih-opESV4JFgejaGsrz05LkFg5PoMyxDLpNL9Aho1uwOnirEEIcv2NR2GxUpsiKRbCESOg8L6MQU2THhxhifSsVdxmCNm-CDh9I2-AuQ3rQT4SnOZFMmidZ-iSD2yUvOfpZJQkdcYVsyYqiVMyerpoC9I2-61dCsjVuoPLx_YplmnEDmrZ_ZHzUlnOgK4C31E_-LQS063FsKJ9FOKfJCjuwIrDTyAATu4A-G866UHr-BKCFR66wS5SMsI_m7X_725rZlfcZ01uiYTNqQ8d3LYk9nnbmdVxSDRLVZjJdjO2yPZL1J7UMuD_vKZceK5HSI8I0dEfnqaNe5Ayho8zf-NrYnpfP_85nfbF36rjfCfDX_V1-z6pKTc3rBXGejG72K884AsYJm4WBwEi4ivO1Mu0PL34ahDADhK9oE58aoHSduhzxe2z5RTpPQu3XsCJ_VjY739UeI7L1_ezpnq_TAsfiLgXAPHNRCit0ulHgY8gQzYvW7ZtED2EpOhWvn0K6ZNAQb8ii4-Pme_IPcWQemUQhPlns2q5DfCsLZcGBDZXTWIo2ejja0RmkZzhoH8XOjesyJ3HIesjafS-r75LUcKlqc8WJrBAmQHuPSlqwuT2eHgVy-MbFPuhig-ZDhURExKmsG3d23v-2uuBQJIop6__kPHJqjFfmMmKW2OZjXULEly7fp3BYs4iIEMjL0SdqO8PIWOZFmSSj6hNFnBfyJXLrFHNbTCsGdnTJgEKabgyCFH8GPAwkusETxM0OGjY5_V3GiJc1fWVuQDE2HzN8RsMRR1rdG07cM8FkdCTgHy3EbZd6K959QnkmGQMO9xHgNpyEja_pG5n8py-lEBtlcIeAbp1o_E7bAU3Z7F5_zme9XEfW3IpJWFv95e1W-wfkTAEh99RpKb2q2OJbx__GOomyQ_lq2T1STJvHDxlIIDKGLKwXmzjX77lJO86e3w8CiI-TU9UZ5_U77NGWfOpRmqQ9DHTfLpofvrhm0zHXIKeahx6f_3mTrwfOBCvXo1-gptY_R74c24UW2sypDOyftOgTzBy2XVrrpCFvl5uO4XCG-PeOGWOfn_SqqpL0xg7LO7Zd7STUuzy83p6wdx7A73OgRE-l9nElsgqk4DgcQ_jJwluJsQPvDJnGF50M4_SDj0CioUMFAoCsfR4ihRLsRfW7BP82XuNVODzehMv4fFCnTTGZb6Ll1aV7wNIs6ESSmMfViPZDG12YTkmo9S9FKOms0_PUGwYYY8YDMPMsulcInzUP6qMWLWOzUxlzSFyof-jlv5eChruUZ7b-YJH4WA4uXldytw0UTrCBDJwh45fQy7J5bz4J0X0cehv6LSVKzxksRtKlOfM-0Ifg4Lmfhx7WENp5BFHGiwksXfMdLtvM6pHGOapdaOQs69JMDjw7GBlYqn7cAtdOt3CIyBrGUhm36CwU5F9q7BUXq6s7P65NsTOD5nre5B328jrXKuQenxk1Zz3HL7FW6mRq4clQrgUISjYP5VktAt1N7UNN3ckkTlzWl03O-YpsVU4rhZstaTLJIBIAwgTOWlCI37bJ8KaE2JgvPQc0W7PNu1jffQcGDXIIdrZyjv31LhQznRqQaDpvwTitZ519l2W0uwNMMZhBJ0NL0KluoUW_lwo7QEKk0Ghn5lSxDCbyZIsy8T7ug7vKJwuPGGOSl30zj6c2llMStJqdkCSzLxMulPP94hWYIx6OKET6O47cGPnV7bpR84XsFiKV8z2l026NSgd_3J-qdG7uUpkV94AOOqO1VFQgONnpciZeDFInj5wZk61R5R4Br43TRXKqZAZcNr6-omoSC9a6tQC5maxSSfbZKF8gEZSI-jsJ0K8KTEObZ5ibORDnNf2cSqjtuByBue7DQQ12BCm45rsqB5d4knAcOODMoy7ea468jdjTH_SjSYm7Q0edaXKS7bIouoNyqbIgzTg5H04N9NLa6LkQdjt9OTOzGg29NtjFe4PxtYo1pJWISCh_ujimN14TnnueLh_YV6QMkNwJWGf3Nj0vH88h3sLA5AD6FWtGffUKN9VllnVDBPEZcwp0YPRnhihQHY_EGv0pzbgyOQYHYb86M8Vjecon-L8nTGt-Pt_M-GaIemBWd9zkeaB94EtDWTLIhNNTjXN04tQiCY-RYHKFvDXrLjsQGOCqYRHVeFmjPXB5R2I5mhEi1BjgE7Uy-wnElf2aP0v57Vz_2_IDhBY506Ipx0joASmQKizFjuH-0HvypfLNkZyB5w97ZORan0cv7bkbuLWJcdtmMEqVhJhTXub5XogJlhiyEXA-JPt1Qb1Xgux1ztncub7XENtGC9bOwvvqvAFTVwjJauJbChd-1hF8cyFqQOijUq0La_CLuc442uJ_ATpMC-45hmYvDYyDEL0TPUCdSst2tqs8xCrRkGPj1QBdx8cOR2kWlqkzzkwzjmWpHZ5AdOGgcpk6wSs0ce9CGjAHua8tNdakO2qmMkhjO75mmKfsNLoJE4leCXefHlvrm0G-rB41jOHxdabzWs7f_ZDeGG6S7IZdAj5Yyc_UwFfdawiInVldPejr0T-CE1fjlvfZ3YzRcoLAPdZdnNb7eDYGwoAVuiDYjxJ_0cXyQJwVTJg9P58lSUDez9BZ0ozq-FCLDKDaefY6sJ0y3ZmTW90rsHk7IlFYQGXYgT48wr8Pw5Q3f8yvjCt49k1RdELI-WLgK_LzMf0Xnq3NNCk=",
  "id": "rs_003d579e8354fab7016ab451d136c887d0ae7b909240183de5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.12,\"left_z\":0.13,\"left_gripper\":1.0},\"note\":\"With the arms clear, the yellow ball has rolled just outside the safe’s front-left rim, so that placement will need correction later. The left wrist view shows the white plush left of the jaw column; I’ll shift left and slightly outward to center it for pickup.\"}",
  "call_id": "call_peRYYgKWtNZ2jXRNygIvTX1Y",
  "id": "fc_003d579e8354fab7016ab451d6987887d08063b601b8fbe70c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_peRYYgKWtNZ2jXRNygIvTX1Y",
  "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]: [-0.511, 1.4303, 0.9741, -0.5518, -0.3534, -0.4557, 0.9998, 0.1539, 1.3106, 1.1641, -1.0897, 0.2501, -0.1757, 0.9989]\nstate[eef_state]: left_x=0.3415 left_y=-0.1173 left_z=0.12 left_yaw=0.0509 left_pitch=-0.3357 left_roll=0.042 left_gripper=0.9998 right_x=0.2852 right_y=0.0036 right_z=0.163 right_yaw=-0.0039 right_pitch=-0.6489 right_roll=-0.3616 right_gripper=0.9989\nstate[joint_eff]: [0.1846, -7.4325, 6.2564, 1.5995, -0.1392, 0.1099, -0.0366, -0.3214, -5.5316, 6.3521, 1.1404, 0.2271, 0.2027, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b815118d4a527f9e4c705fa1d19eee27b7db8d3f7a29da3e7706f856684c1d68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:851ae8092c816c0bc90aa31d75839de1844556332def62c5155ddd2c95f91489",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89362bff715eb86529ad3cf4be8378f8574d7093fa443c4142b927c5315f1264",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 3.462 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6064, -0.5949, -0.0189, -0.0383, 0.9998, 0.8948, 2.2925, 2.0033, -1.1683, 0.3973, 0.5915, 0.6441]\nstate[eef_state]: left_x=0.2625 left_y=0.002 left_z=0.1344 left_yaw=0.0031 left_pitch=-0.2227 left_roll=0.0008 left_gripper=0.9998 right_x=0.3462 right_y=0.3281 right_z=0.0665 right_yaw=0.0257 right_pitch=-0.6328 right_roll=-0.315 right_gripper=0.6441\nstate[joint_eff]: [-0.0205, -1.2786, 6.8444, 1.5507, -0.0464, -0.0269, -0.0122, -0.7863, -11.5487, 8.1162, 0.5348, 0.3199, 0.0024, 0.0757]",
      "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]: [-0.7185, 1.4307, 1.0504, -0.6361, -0.45, -0.601, 0.9998, 0.1501, 1.319, 1.1896, -1.0866, 0.2588, -0.1558, 0.9989]\nstate[eef_state]: left_x=0.3191 left_y=-0.1722 left_z=0.1435 left_yaw=0.0013 left_pitch=-0.2905 left_roll=0.0207 left_gripper=0.9998 right_x=0.2915 right_y=0.002 right_z=0.1699 right_yaw=-0.0269 right_pitch=-0.6237 right_roll=-0.3585 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -5.6957, 9.5795, 1.4139, -0.4615, 0.1245, -0.0366, -0.1162, -5.8051, 7.7333, 0.9841, 0.0659, -0.0708, -0.1245]",
      "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]: [-0.511, 1.4303, 0.9741, -0.5518, -0.3534, -0.4557, 0.9998, 0.1539, 1.3106, 1.1641, -1.0897, 0.2501, -0.1757, 0.9989]\nstate[eef_state]: left_x=0.3415 left_y=-0.1173 left_z=0.12 left_yaw=0.0509 left_pitch=-0.3357 left_roll=0.042 left_gripper=0.9998 right_x=0.2852 right_y=0.0036 right_z=0.163 right_yaw=-0.0039 right_pitch=-0.6489 right_roll=-0.3616 right_gripper=0.9989\nstate[joint_eff]: [0.1846, -7.4325, 6.2564, 1.5995, -0.1392, 0.1099, -0.0366, -0.3214, -5.5316, 6.3521, 1.1404, 0.2271, 0.2027, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b815118d4a527f9e4c705fa1d19eee27b7db8d3f7a29da3e7706f856684c1d68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:851ae8092c816c0bc90aa31d75839de1844556332def62c5155ddd2c95f91489",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89362bff715eb86529ad3cf4be8378f8574d7093fa443c4142b927c5315f1264",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFHa0LsRqJEldpYsEjaXzSvHiyNBPbK3vOfdTZ8G2lKa_H9S-1VDjwKsOehBPabXSvs9kZJ86jtd9vuGD1k2yv0EnuOaFxykUqa-ABVQddkemI9HQK4YKHIivoEcYpjDb0VQm54oq5ZGFY1Frx00IFWjV8kkbvcUi1lCnLJaza_p6hTVPorYIuvTFQ_nnJLCorkPmKwRwWQDn27L3ZZ3Iuil5TMSG9JBWda2GG47ERVEkH_-mVC-2GjoupJ6DXlJb8aGLi6DScH5WykYyb8AJeapl0CsLwqRptnivDVYSqb4OiKkCcaw6o4wntfjjGcDsMFp5Cas4hGceuSPVzvzUcBCnHm9p4g0zCfJ1jl-Qu0gnuAFAOnFtWOYBcuyZd7kz6N-xbfVE-SMaGxrsJ1xQFcfUkIUwvb-uDVHnp-esF0iHi4v9xMMj7mQKgn87Iem_7Yozm_CBh_LF9VNosdDcjujKe_rR7CCz8KfOiJfAOlKWlmHAKfIJJR4U9u3nCcI1BLYp1NrP7D6A0gzShCLRRQ0-FlvdPfwWGtzuE8f9vCU526bhGa-zDsc4Pz2wpTIeH9Yc5ZKBzBQfutmy3nM0mndEVAZ6sCX5I6pLfLfpM2PrrPvy4Q0bAXRpI7uzsYldxUK_DHCkU9RO8Tk0SAsuBtqrnX3F4sY4fL9uPUdzUI212S9EpVvou6dmZ432t4v6oRb5vnJL-jKodYJME3f6w7aHBqdiMa0oWwN6J2JFvwE_wXF916wGegA15GUHcOrQkX91fQ9DoxTWCZEF11d2K52YlY3KkX43AwJ5HOCHW1W4bqVB5SVG7eISrQswK_4Dbi40tgOH66OrqZfCPZe-hvaoyS1ZwIG5Q3ya9V8vuaZInO3M4Is7hZ-EF0EjV7SuthIxcl3PMHeMuE24yLcyzZ4UJP0GvZpzzPg_mUPNiUB4ya62rxvCb-z9S3T3JVrtSRF9Z06aSik2HsO3zBBN5-7rvtBg5hgAAtzRIfPxhNfD3PHa4IkvYd9efBiaOtT9RTsE4W3NtKtwROQ8ImL7wsZjyhYDO5xeF4Zcjm--gSDoHsDXYMJFre5hCdySEikb1EZwXoCTeLtJgBseAG2JpJ66ZplpJDsaNoJAlKhSO-yY306KDKX8Ej-UIkEEq0SHz22dNZ0x0401cvPaCR0LynwtV9X94yt-Fpk3aB6NHIC3aiYGTP69jbxcGMJp5O6wyNISiZoWMx88bfiDetqsbUmKM4MDuQSxQk2XnwmDVOHmDgSEBKgKIfrIKcwG8eDmcPVG6iOsUVibgc94fjI9oONz7_RYZwwEvBDLuoShr-RSw2aFO8dVI2ucwv54yZIpvG4r3U49kPY2Sd329grJzOr9cZXby0d8jNgk8iKjObUXkNpWyFqxMSj7J1m9hhRqVf67b3ZcWO1lSOmWC1JOlfUdA==",
  "id": "rs_003d579e8354fab7016ab451d98bc887d0924a35920414a826",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.115,\"left_z\":0.035,\"left_gripper\":1.0},\"note\":\"The white plush is now centered between the open fingertips, with its torso aligned on the jaw column. I’ll descend to grasp around the thicker body rather than the narrow ears or feet.\"}",
  "call_id": "call_4t54r6tAuSYpWmp6nottgv65",
  "id": "fc_003d579e8354fab7016ab451d9f04487d0aaba58ddf09dbfa0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4t54r6tAuSYpWmp6nottgv65",
  "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]: [-0.5034, 1.565, 0.7578, -0.2596, -0.337, -0.4492, 0.9998, 0.157, 1.2831, 1.1114, -1.0668, 0.2497, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.3326 left_y=-0.1124 left_z=0.0333 left_yaw=0.0537 left_pitch=-0.3932 left_roll=0.0666 left_gripper=0.9998 right_x=0.2782 right_y=0.0035 right_z=0.1545 right_yaw=-0.0002 right_pitch=-0.6514 right_roll=-0.3619 right_gripper=0.9989\nstate[joint_eff]: [0.2393, -6.1333, 5.6957, 1.3407, -0.2076, 0.022, -0.0366, 0.0889, -5.4632, 6.5709, 1.1551, 0.1929, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a51028e4c0319d82992200e318320c26054046f869c371939dafbc86027991a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:043fe0dbd2f0ac5bd2464963e143ad93013b0133ae86aa50895ea49e265e64d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c8047e1f004b99e56c5e635a72209c96845f579cc9516ff489ff710f3f9a819",
      "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 · 4.355 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8173, 0.6064, -0.6079, -0.0189, -0.0383, 0.9998, 0.902, 2.2963, 1.9556, -1.1484, 0.408, 0.5869, 0.9949]\nstate[eef_state]: left_x=0.2602 left_y=0.002 left_z=0.1319 left_yaw=0.0032 left_pitch=-0.2368 left_roll=0.0011 left_gripper=0.9998 right_x=0.3404 right_y=0.3235 right_z=0.0529 right_yaw=0.0117 right_pitch=-0.6456 right_roll=-0.3559 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -0.9094, 6.9812, 1.5946, -0.0708, -0.0269, -0.0171, -0.0342, -14.7487, 6.2838, 0.6813, 0.3541, 0.0708, -0.1099]",
      "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]: [-0.511, 1.4303, 0.9741, -0.5518, -0.3534, -0.4557, 0.9998, 0.1539, 1.3106, 1.1641, -1.0897, 0.2501, -0.1757, 0.9989]\nstate[eef_state]: left_x=0.3415 left_y=-0.1173 left_z=0.12 left_yaw=0.0509 left_pitch=-0.3357 left_roll=0.042 left_gripper=0.9998 right_x=0.2852 right_y=0.0036 right_z=0.163 right_yaw=-0.0039 right_pitch=-0.6489 right_roll=-0.3616 right_gripper=0.9989\nstate[joint_eff]: [0.1846, -7.4325, 6.2564, 1.5995, -0.1392, 0.1099, -0.0366, -0.3214, -5.5316, 6.3521, 1.1404, 0.2271, 0.2027, -0.0171]",
      "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]: [-0.5034, 1.565, 0.7578, -0.2596, -0.337, -0.4492, 0.9998, 0.157, 1.2831, 1.1114, -1.0668, 0.2497, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.3326 left_y=-0.1124 left_z=0.0333 left_yaw=0.0537 left_pitch=-0.3932 left_roll=0.0666 left_gripper=0.9998 right_x=0.2782 right_y=0.0035 right_z=0.1545 right_yaw=-0.0002 right_pitch=-0.6514 right_roll=-0.3619 right_gripper=0.9989\nstate[joint_eff]: [0.2393, -6.1333, 5.6957, 1.3407, -0.2076, 0.022, -0.0366, 0.0889, -5.4632, 6.5709, 1.1551, 0.1929, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a51028e4c0319d82992200e318320c26054046f869c371939dafbc86027991a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:043fe0dbd2f0ac5bd2464963e143ad93013b0133ae86aa50895ea49e265e64d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c8047e1f004b99e56c5e635a72209c96845f579cc9516ff489ff710f3f9a819",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFHeWeA9aY_Khz_bPuJkGfV0-cl0_bulEutyCqP5wmbW9IXC0XJhjmdWa11EI8tj7FQ-043kUfDPmvSjzbhWp3fJ_zN6jzxJZk7fYWmy8AXo7zzViW6LETma1PdxvvvZKYKnPvjsdYu3V52B-fPTi4TlRlOuci7L0YyLNkMiP3udPBO7-whayQSnzqHW_kbBUpGEpBDD8nlUOikWdTdxLEvuqetEFsiRoimQMYdpEFoisUOOIASjfb3sH-T9KHFfXHZroKWJHTOwoP6qQ__M4y48ekx5p4yaNnRxIjUHOrK-dzR184l5IJhyXlsA0VfpSjCLJCv90LjfKmiAchh1GCuwGQpxnAR5sGqOTZ0KTDVmoeZ_kL_KCFMDGHravhvCpYIHWQle5wdNW5d2D042agyIxJjFtpgIl4siMpa8xtILWOMZXe1f8o5PqHA-WFuKNOJkXQUhEU30hPtgJB6Q6LYnYvWZgEXlpvt0YhL3iG0Oe8juRJOuuZb3to0xszN_aV86ySK034KRDSPWG5_CTwHo0pw_ptf6sqZ1qQAqNnPPPx4Bu6S1XD0VYs3FZdiwblJz9zx0fbBkZBFXYVYtxZtfRDxHAoTxuNiWO28eIMq3jTJc-XnfXWVIOJPAU4gU_whv38G6za5LtozsCQDsFZgd47A5UdWUg2lrwmLpEB7bkdpp9AZ72qhqtdEiasUIhcks2lzoEtyx3WG-9zeAQY7kxFkTmPAMbeC0ClW18c348gPKaYpwpxnKPxyZxRSOffLpRbZjMa0sIQWKGzAlZHzgF-EOc_9gj57863xrqcsC1rrMdLe4AITe5KOy0qBWt7ugtUxtcoG58gfMaCnYAeHLEts8_GbHMMpQPIfn0TBiCWxWML4ZVRU989g9zL8RyIXHx7FpqW7l_t1omnrT3UYiO4JBboL1W1VMJ5u1wTRh-Te73bcoq2YOvyLHCJbHU2qFhmaNNUk4KHS6ylt2i9J1DPI-HLJP8xxE4PK7x39T1tqNnEvODLi44tmSgyXsaEnpSp9o1HIn8lwj-2hDgUXsJyhWRT9ATFfQG8aj9Fb96xWV9IjFjTGYnApNbcnAa08jhjJCwcp-s6dOVNSuZ0OOYjkZ8eNu4zF2LoeL9gzWuUTnlrhiCzwPW56zP0x7GBDb2m1cEK4bu8pbz3Lgm1h7Or3CRol9QonWjY16fzEkz1Pd8N0y36p8TZLS5zOOfXt0oziGCKoEYizxGk_-rVkQbqHhriEKMlpRqjTt2sEqlPs=",
  "id": "rs_003d579e8354fab7016ab451dc8d0487d0927ff621b53f83bf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At grasp height the plush torso fills the space symmetrically between the jaws. I’ll close around the soft body.\"}",
  "call_id": "call_YEl7QiNf4DB6TNiPYNaETMAn",
  "id": "fc_003d579e8354fab7016ab451dcc94887d08a782e0a36168fd7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YEl7QiNf4DB6TNiPYNaETMAn",
  "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]: [-0.5026, 1.5799, 0.7452, -0.247, -0.337, -0.4526, 0.0409, 0.1577, 1.2518, 1.0588, -1.0397, 0.2497, -0.1764, 0.9988]\nstate[eef_state]: left_x=0.3301 left_y=-0.1107 left_z=0.0258 left_yaw=0.0598 left_pitch=-0.4057 left_roll=0.0731 left_gripper=0.0409 right_x=0.272 right_y=0.0027 right_z=0.1471 right_yaw=0.0012 right_pitch=-0.6457 right_roll=-0.3608 right_gripper=0.9988\nstate[joint_eff]: [-0.0615, -7.6376, 6.6256, 1.0427, -0.1538, -0.0317, 0.9158, 0.2393, -5.1624, 6.6393, 1.1111, 0.1685, -0.0024, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c5c3f2ee826eeb28daf11ccf10e4cecbe84403b4cbe21bbb53f84e0064e4f59",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e44ef8f54db34a28a556c038d9650da7dc28502e9179535ece5529e820e7b25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41c4e00502c950b94009b19fc45fc321cb9c34563af28af638424f34cc81676b",
      "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 26 attempt 0 · /responses · status 200 · 10.42 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]: [-0.7185, 1.4307, 1.0504, -0.6361, -0.45, -0.601, 0.9998, 0.1501, 1.319, 1.1896, -1.0866, 0.2588, -0.1558, 0.9989]\nstate[eef_state]: left_x=0.3191 left_y=-0.1722 left_z=0.1435 left_yaw=0.0013 left_pitch=-0.2905 left_roll=0.0207 left_gripper=0.9998 right_x=0.2915 right_y=0.002 right_z=0.1699 right_yaw=-0.0269 right_pitch=-0.6237 right_roll=-0.3585 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -5.6957, 9.5795, 1.4139, -0.4615, 0.1245, -0.0366, -0.1162, -5.8051, 7.7333, 0.9841, 0.0659, -0.0708, -0.1245]",
      "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]: [-0.5034, 1.565, 0.7578, -0.2596, -0.337, -0.4492, 0.9998, 0.157, 1.2831, 1.1114, -1.0668, 0.2497, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.3326 left_y=-0.1124 left_z=0.0333 left_yaw=0.0537 left_pitch=-0.3932 left_roll=0.0666 left_gripper=0.9998 right_x=0.2782 right_y=0.0035 right_z=0.1545 right_yaw=-0.0002 right_pitch=-0.6514 right_roll=-0.3619 right_gripper=0.9989\nstate[joint_eff]: [0.2393, -6.1333, 5.6957, 1.3407, -0.2076, 0.022, -0.0366, 0.0889, -5.4632, 6.5709, 1.1551, 0.1929, 0.0122, -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]: [-0.5026, 1.5799, 0.7452, -0.247, -0.337, -0.4526, 0.0409, 0.1577, 1.2518, 1.0588, -1.0397, 0.2497, -0.1764, 0.9988]\nstate[eef_state]: left_x=0.3301 left_y=-0.1107 left_z=0.0258 left_yaw=0.0598 left_pitch=-0.4057 left_roll=0.0731 left_gripper=0.0409 right_x=0.272 right_y=0.0027 right_z=0.1471 right_yaw=0.0012 right_pitch=-0.6457 right_roll=-0.3608 right_gripper=0.9988\nstate[joint_eff]: [-0.0615, -7.6376, 6.6256, 1.0427, -0.1538, -0.0317, 0.9158, 0.2393, -5.1624, 6.6393, 1.1111, 0.1685, -0.0024, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c5c3f2ee826eeb28daf11ccf10e4cecbe84403b4cbe21bbb53f84e0064e4f59",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e44ef8f54db34a28a556c038d9650da7dc28502e9179535ece5529e820e7b25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41c4e00502c950b94009b19fc45fc321cb9c34563af28af638424f34cc81676b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFHkCcBE_QrgMK5y_NzpcJfO71rWAH41hsuYU0rHun9bZJlnQhbgU4e-2VNj5YbTbQ6wPn5mW5rbBcP8wcnAN22mgkYecH8Kj_YaQ288VLBBzCQmDoovtarfqzDSmzqralgkvjd20n0amJCRlM9Pej97XRpdou-Yw1TavarYSDYylc_vHigL-qoPusFpNPnX_K3dTdoKpJ2Fecl-vRx2lIUqxpTRYXByiRex6GOgBrccphT3NwzZD6gRFvTnGHqMFdp_tYn1H_UOomafW61Lx2d3Sg887WqCTjFTkmKP1f_iNu5PB99nsx5o1iUlmsZ1SoT06fW17qu8wOXNV38M_NJJY_O4a3btiGQplhRrOndmUPgytgZ4Db5whjXHJDskUGZl3yFWfKEkSTenmaZYLOD-C2c7Fi3A3LzDv0zd_pCMNXicIaX6Xc3nbRXIPVgzgq67jP6W2nXxVqYHBi-bUEFES67EF4XKSQFnYNc9cS7cKse_KI7tYh4pD_hlTOoomq-8W04dzYHlZ64m0hJTkpLHjLOv9LigoncEmmGuPjdvN2YvAfLmgoulRVOZtJ2EkgsOi5RZlKDbGv8lzqH7PDaPs1OnSjJxoxhEV7rnntApyWG_2NrTTzK7lwaT3eQuIR5ipLLvDgk2RQMzH8pgACvNqijmJBvZcO40wRRQuWZbslwGKgyHRRCnrhajaG2jX8SHWxlPuBiOhd2zdb04KJmoC6JGVlGyJVd2ZZ9F_C6m2ogBYKExgHIwSAGqmi_6CR5rzXQubBpJMPHxzSWIn3ICGm6Oz8-J489_oJ598ji-tIV9CZgjtEl3-82WXMWIjD1_toUoY7zOU1FJH3kMYsl5OKmOqgOdZOwpMBU2sIHNybVkuWDsXVMii_TzRveUSSlKxEEeUTEek0TEXIqqVjYWquxXeV0txIM3acCxoxC6pRhhRQzAV5Yi0KC4kw-ghy2iOYnF6RwpH8NavkGqhz07aa-EmCxXRS0zUp-We2Ngxk4L2fl3hJ8t9Dh9A4hM14v7kWahPPd_Hz_oK2ykVt7USGx8AsZhN8gA7Ude2vSR8Ukg3hiQsbE5QQLJYKxNvLhGyhIuUPg10cfdwx9xW-6RAnN3hu-JKZ1NCtyozKvzdEZ6HdqVcS5ETK7Z1U6zb9RnF8wk3n5bJBpKnyWZVs2u4f2PbJa2vig44f9rlXSSqAUy0P7pXFkCyTV7u6er0_UD22DomFFYLRGj_WQB_v6Iq0ijtCzBPfweT_o87PXamcV52tEv6aofn7trWIfw7T5_Wf05vxYiJtOki3sFTpLEZu3fIleCUF0DjabVXYhWjBbbDTeRa8OmzUWCJESO4FP6bzLEfhP-ep5DvWFcBH9KVF_ZZXQ9Yb1wdQHUGoI7cUzIshyIx3qYO4M0eg5MBMopnWOrUPSo2Lws_SYaPGRac35XVOtQ71I2jLGqLpL1rrByS_WixAUivAPlU-X4zS1vLmVibuR-7lpjW-K5AYccjGrKuB07aIKo3zb5yJSHpxQ=",
  "id": "rs_003d579e8354fab7016ab451e22da487d0b972784bcbb9acc8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.17},\"note\":\"The gripper settled at 0.041, narrowly above the empty threshold, and the plush has disappeared from its table spot in the overhead view. I’ll lift it to verify the grasp before transporting.\"}",
  "call_id": "call_xpO03D909h72oQMKkv8LOK36",
  "id": "fc_003d579e8354fab7016ab451e2afd487d0b93b99bd3bafe50c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xpO03D909h72oQMKkv8LOK36",
  "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]: [-0.5034, 1.4403, 1.1481, -0.8227, -0.3328, -0.4587, 0.0414, 0.1581, 1.2263, 1.0138, -1.0138, 0.2501, -0.1764, 0.9988]\nstate[eef_state]: left_x=0.329 left_y=-0.1112 left_z=0.148 left_yaw=0.0674 left_pitch=-0.4354 left_roll=0.0856 left_gripper=0.0414 right_x=0.2674 right_y=0.002 right_z=0.1406 right_yaw=0.0019 right_pitch=-0.6392 right_roll=-0.36 right_gripper=0.9988\nstate[joint_eff]: [0.0068, -7.6103, 8.9915, 1.2332, -0.2466, 0.0171, 1.0281, 0.253, -4.9846, 6.4615, 1.0916, 0.2173, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:630890b9afd810bbddc7b98403ae1359224e5ab3bf969aae4a7c17a0052f3a7f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0499492f88ac855f0d121a7371967e56b2921a65ad2d73ddf0b3398d24dcc671",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:855b1e608386c109ab882c1d0cba3e0f1a67a0c7da3c7ffbed94b9cff4732edc",
      "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 · 5.503 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]: [-0.511, 1.4303, 0.9741, -0.5518, -0.3534, -0.4557, 0.9998, 0.1539, 1.3106, 1.1641, -1.0897, 0.2501, -0.1757, 0.9989]\nstate[eef_state]: left_x=0.3415 left_y=-0.1173 left_z=0.12 left_yaw=0.0509 left_pitch=-0.3357 left_roll=0.042 left_gripper=0.9998 right_x=0.2852 right_y=0.0036 right_z=0.163 right_yaw=-0.0039 right_pitch=-0.6489 right_roll=-0.3616 right_gripper=0.9989\nstate[joint_eff]: [0.1846, -7.4325, 6.2564, 1.5995, -0.1392, 0.1099, -0.0366, -0.3214, -5.5316, 6.3521, 1.1404, 0.2271, 0.2027, -0.0171]",
      "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]: [-0.5026, 1.5799, 0.7452, -0.247, -0.337, -0.4526, 0.0409, 0.1577, 1.2518, 1.0588, -1.0397, 0.2497, -0.1764, 0.9988]\nstate[eef_state]: left_x=0.3301 left_y=-0.1107 left_z=0.0258 left_yaw=0.0598 left_pitch=-0.4057 left_roll=0.0731 left_gripper=0.0409 right_x=0.272 right_y=0.0027 right_z=0.1471 right_yaw=0.0012 right_pitch=-0.6457 right_roll=-0.3608 right_gripper=0.9988\nstate[joint_eff]: [-0.0615, -7.6376, 6.6256, 1.0427, -0.1538, -0.0317, 0.9158, 0.2393, -5.1624, 6.6393, 1.1111, 0.1685, -0.0024, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5034, 1.4403, 1.1481, -0.8227, -0.3328, -0.4587, 0.0414, 0.1581, 1.2263, 1.0138, -1.0138, 0.2501, -0.1764, 0.9988]\nstate[eef_state]: left_x=0.329 left_y=-0.1112 left_z=0.148 left_yaw=0.0674 left_pitch=-0.4354 left_roll=0.0856 left_gripper=0.0414 right_x=0.2674 right_y=0.002 right_z=0.1406 right_yaw=0.0019 right_pitch=-0.6392 right_roll=-0.36 right_gripper=0.9988\nstate[joint_eff]: [0.0068, -7.6103, 8.9915, 1.2332, -0.2466, 0.0171, 1.0281, 0.253, -4.9846, 6.4615, 1.0916, 0.2173, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:630890b9afd810bbddc7b98403ae1359224e5ab3bf969aae4a7c17a0052f3a7f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0499492f88ac855f0d121a7371967e56b2921a65ad2d73ddf0b3398d24dcc671",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:855b1e608386c109ab882c1d0cba3e0f1a67a0c7da3c7ffbed94b9cff4732edc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFHvxFOCL7kT17xIjJsWDRYPySfDFoNFXj63X5BWMZFrOVI9Q4HZcDCwK5IyoaGQw8UGs2K9GCSTEIzp2ioQrjRH0lYtmAFPCphCUGcQ-oGZfbjlYKwxG-0gFkp8PHpE1gZY59Wy_g9qlZ1YgXnWnaEn9DZhqy0jAVxtZs30a3BdXNKrGNmJ4PmGnaxmjv33q3e_-SQ7zVvrZ2GUxTcVPo1Q9cPL_z1C6HpogVXgOR-cA1mQLRHeF1M7L7IuavYaUZQ_z17Z4BmApvOm8TBRjfFXUy4D6lqBeluNqTpx4bX5z2adET_30jTb51YLdwe3Z1d3jIW-nUefsssY7CR57v1AunRhZ5ujJg2jOyTcOyBOrqCbvkjf0ns3BWXsA9cpvKF7ifpx-qGWmdCsSFPSHAb-o48shZLMkzvxOeUtNOIHlEmF3xZvquNJXAU-FBKgcq9i-yZ4K0PZ1cWXI35DV8ZW94VdIIRHZ3j2iDlp7gFx_xOlKoz2y_NIprWQwrzVTi5RsMLHnadmBL0VvMOxEuQrNiJrsCxrW_ew3Ol8aHsSALBR76NiKY__qDikH4JvAZGASLqJXM9xfJ7Km4NeoUbTAq91YJ3O3FnBZcFirUobPM6v9_oBuz01a27D2xFCQLVLQX7AhbKwlSVs47n6hsO_jkL8Nkiz5_GYfz5BQOOi3qTkCAGRjSyx_TcZDLOEH7o9-z6af4fEZE_9edxbuwF9-6oCviAyDVWjKgBuHZd1CwsZfnsp2ckdBLKQnk_GNmEDe7UGv-_gS1hcoPD6Qv_EDq0IfTwAIRxyfJ9XzleZ7T2YNuG7pvDJwxISaSxBex3fL3Fl8CO3Vc3OfsRyb3xMv2AfWASiiyTOXTXrGfwwB9r0DHLJ60NJ9Cs1VCOmVwuh92OhA5-kWywIscG0HwmVefeXMhQCiFd3LNCHYesfbuFRwdC0NqDBPVELyOC4t1qTnd6nBSGktK7yIAaMrIh-qD8ufDT3vfAjwASdnA-psiXZbUC0l3yU0fw927GIIsXtscAgH7M-Kgc4vmDj-VyVN7pZ59N5AjHXECB6-WAiDgRnBc7uxBkzN30pQJfF55wR3tzfeNGuGZ_m3fAuid3ucDm9djLmSdAO7X9S_SKDAQqKuiSt_7ZmOiawXGbcMAqWA7GmPYg24kgugCXxmENAKESz1eTXPGYQImTeqDUKoSR8iN8xU9bzamjGBtr6qnPjMM9DK--FY-JWsG8q6wSpXENpKzNbqc3Ta334etP9fMNCQiXjNr3Bo0Wwdb4J4EdAbiBprBF_ZiPBJOgLC660XPyG7KqQm6HO8wbRq57e4p42kybT0lpUl944do8llgfgTqI2io8dTPTbOMye_uO4JVTSqYNHY7xu9ir1gOW3TMO8bUzhHAtMG1WFv_fRy_4zw5J0RZAFGWaT7IwlBRNF7QqMNMqSYBTVfqvfhqVW3gtuCFzG_4bYCbNHaQwTbvJiTDjgz5EJW4aKY708JbowFanlZYTJFM2A_q6tWgJqcfHINKQBjNMOSc0M4NEroHl9fwekpabFNrtDJQVE4m673ZsHNd4n0vsj3PqO0QdhJTMFH1jR0pKqG9OQA9Z3wmY3OcJEH1Am3lAsBm905EpAgjWoGUqxDkeJ7bv9dmFinOU_NAbCNrI-wkawZTpPW7b9n4fmp1KfXcc87-biMJB2loEJgKQJp4WQI9BM6X-pXbSnrDDe7c2C8hM5-089HaKWXLsD3smioXoNYjIQph__YOYkyqYr-DO6WbcE-x9OcqvOYUpjlPTMcvU58wg61piJ9XAbFDY_Xo42X7b3eauJVGfPBIyff8OWgmZgDgR183l6XVYubl7zD4bCJFsHcs4W5AY6t4rwhzee0uig0lxz2e06BGFSvprnjn1RQpnPsvtFKF9VgX4gTpz_Ny73y5RGL1UVuOTN9WZNyTVHnTdRs7GusljUuSsQMTH4RLFs9kSv0kj_KL4wUwxZlyJVJWfkONdM-PtIWNAxprE8xclBVdVvame_d2PaVbMCP0Dzc3LAyHENIkTez9H6yXUMP2PnaDY9SqwPYMD20aiYK89avWz2RFCWD3gCMqxlmyzAr19rqS0zvSNYUiKZoDM7hu92Bt8pzgeLls7n7s6Mv9N8JznXOMf-Aqmt_6ONUNh-U8u8sxIjdjNXQHXb0q9e-KCjqocwUUxAW9oHqJajtfPXMWsBKZCosArYPXr-PFgB3oALVUTMh8-5jT4xL9kndigujeplcxZ6DD-G55C9cqyTRg4cCUhe2XwPnMqaUHPbopcS5aMuoAFqY9wGS28TcjiiM0YmX6Q7mNKsUKdyC7aFDoot8gKJZdekVb3EXrwOl9nfUGT7QnTYlXSJMyGTjfnWT9EqSdNbLuUzCmBWeb_XEYu2RUqTmW1mq_L2HDYl5mPWrflIl0--ADZZkyDPtRnP-tyjYFHX_FPJlTyOtD6EK3qzwwDHzP9SdP6FkDmB4lo5fa-7BXK3WGVY5wB0yc-dCFM14AIi05x-9_5EhTs1P3v3tQVZwZ-A0FFhFZ8aDrqu_YgUIdhFvbDt9bgTjPgbQCGcW0A3ti71Nqk6l78OILUnXucmqDqRTh8vedfp-DlA8p0DxsomPJYkReXaunf4D33JJgJ-w717voABG8asL8fBnIckP_C71kJZGm6_pAl8qcHcBUaYMuoF1oGZ5F8swuYYzlo4r4EfG2lECCyNivdLoef3sYMduID8yoeRQk2yOsTxD9Bizys8fGLUoJA346lhh1VbRaYNjZe3mKbc5EH3uUAQe7z9ETqHieAvNj5fxDIKQ00-RtaDiLHZzSJWJqvwxgR8V-sbKUuwhsTXm3lybBTLtN_NuOee2roNe8qq18rw2XuYInw_wVMWcJkxDXdKtfAqN69kv6W7Z4reml6SOKaB6kojLr9q3SG4FRY0OWGVXD-KJxPqUV-l1DFZRicsShzIy81dT7shq9vb2twVcb45QTOaBhTIHzcHkR9_Q-_oM8yi1l4g1sP3Nw9ZoNareAL7pDbku_CQ-grFpKmAQ6GmdUC6_V555Ns28aA5dhXt4oDAbiiTcVd7tQ8ybXD9PO8N6tSVkdp-sUtrHUN0TfVEOaYfyD89Nv9pKODSexxE5xHQKPc5-9agMDhvenBb8yqy8MXniMQpa4IKQdBxo8VgF0L_SLxHrvEzpYD2aytlv3ZchVyFm7a9F1VUzKO0SatZqz90-di24c9OQGO5TzoK5nLudV2Nk4KxW6ydBNlyP8GZwHeOvjv-f3duEi1epoOtGsUFz-yPyEmhqJ4ymy3HMxjExrRmgyv1c9QuwT_3u6ruLeisBHBCtCMmcWBgeZaxMzfmJYHs37NfIkHTUKtji_8O_H9DfhDgWl0nHj15d3DLJQ4bdPX1ZL4OPbIc4b17BqaAsALRZa8R6kpWqpnFcVY23oYrxo-e9q2O7Puz6uhJKHgPgoh5eNHqt3tFcre5ONyezrV_uVGRHLthxDTWFeP5fD0UP4wfYDy67KYatnl9BzAtlDpg-qiqM44JeHFSwv485hw1ECKmbusCX4uU187vykWoBEgbyiAoZ5vMGoM-36vzi_juoKkD0QwSvZowM9Ex64Jidjo5kvOno7YnTT1_WGP0-o4QGlKK0oPcRDqH2k1xp2B5IM-1kYIAKPAQUP4pa2e9tW67Su8qUn0pMv3BkRvxScfo56qnNDeTMkZLkSOR65gKtqI4Kv1vjMdyZ8q2XNWeCNwHfXgMx0c-PEYmmBnCD3k5l_63G43ZMpIr1h9w6K3CHssAP44TEHDxbo4lySGTC4c_qV9KkY2pY5R2Nd1qeGxJ2BkoLBeSyDC9I7t_2bxruqslsx1H43Dv7SEB8wJnZSYXNUnoVvG0LzHEKviVek118XPUtKexxxE0AVnpCkK-cgPegrVvSvvg6nhVbaNqa9xtqJj-h2wwuI-QUQ2ddlBeZqAGD-89MhXAEjqR1yMZ0MfiV95H2C6N2Nus6DQ3zlXH8FlFIvr2O6Dk4o34-vUTnv1_wqgeUkxiqGz-2AzJxUS_UHcrBO52VdgyR4pcKXdyjQmYrf0PNxUo8r_ltOm65CVCKo1FHJ49W78-5BZgcpKsiFc1mdmgWltjEjV24702-AnMauWM-bixWmIuCtAr8hwf0b-BACbrWP7urexJZ_lUSm73MOUqBEHPJTCm3GWqmO-LD4pAn7d7PDZF_iI5Nrh2VQAT31d6D44coQL_xT9NUDIopY3o2MLfpOexk8Lav4J7iwkk-tWBfn7_jdcqru4=",
  "id": "rs_003d579e8354fab7016ab451e60f2487d0af8be19df2164f61",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFHvLLO82QO0IDOJeiaokKcV8zSEpAV8X91UZZy7Oze07cMI_-spsddP3NEhhwEYasB6CIDbJBa3nPiLikrYcFww8uLmrHV3pKCAro9x6KVGCzVBJgbnQCZl7mmJrqiSAbXGJ5SNGmszwdb9tZ0gwCJxUK7UAntSVgE8JS7CMdMUtSCfw51vNnxb32QgksdwYIpjlwGnsgCHRsIaEDQge7C9Okn8ffGAMgD7in-jh8vbAPlopwNjuggr4vLTnm7g42VruoN_uQQ30l4diqHsYRj_iMd6wijzhxvdA98qV-D0Yho6aEuOepay1wMkUjQlki4U9sYlP6Kk2p68zcWclytDsKgH1fYyxiYS_VwhuLNbfvp8FMnFMkBcIQGSfK1mGmXnuI9sVMrfMIpgyjM9NeOXNNt2_Vf0kQADt71U7EQc4um-Fnkp45qk-6eJ3P8HK61KHKoAnAhaZrdebdL1op05nugR6BnH8xj7RBo8SWzwGS7cKxp7HdQuu3vOocBpXnw0zQtZ93ZVge-HvK8LBHMjyn87fvAVdbYz7ls8tm2SFc9pdnRvj74vtuIC8k5gy1YIDwRrd68GIJZFD5jL0He79bwVfgzgrR85uaataqmIe2gepoeM6GbfhJDTvXoqLZC-lOF5-efdZZ-KRditV6qEke-v5Nc87iFX6WezHVSxt_ilPMmSV9tqe3oStCXswVbgxceSLrkkMmWBaGyF2AQgJzyHVEqBh9PqcXsJUPUFc5CXyFuDOYz_QDsPK2iBBy_XNDJhX_QhtNhEKdfFpc3c1sPZo3JtxK85asxvnGQWDDoiX3m0QW2CTxucc_cseQgTJMFqcEL9LFTBwclp2UDrx6DrMM1PbKRV2wk3dKdmOTjI5dmGGnOUl374wfwWBo6VRMBUyBqNmYGF12oU07uBI8UJxsZH0iWZRtOxV06vD4JEsvkrDhVpcS0uuBUtsOQgPR8Nz2MBZGoKgbmevYmlbuCWu7y-5FgNGsaEEIhAAGl7rwCJ889cQxlChRtzIgDmKHLjzJEGTdjbGbrv5Epm8tX8GDz8QkVslYN5HE-Kh-T0HjzleEnQtJO6HHvq7f9etk-njSZX4RPtGM_5pDOMKY3hktXV68SgOu2H49Nm92QUTRk2YO8f2STINkbp9dafCiWVpn0c68EEx6RlQoOvfUOWgxHNvc2f2tbRGqL9G7TMRaopM_0jieRsjjLSNZqWe-P6ZniSULQm0mZsMZPNQy94C_5jSYzq5pH-6V9WWWu9nsCPITwa__ZDV0A63DOyfomaWk3xs-u7JBhNYsBPHGv2BdeGU9rGJSRGyQCskm6MGylkQnxGNvylam0IXpn9pJyOgaMwEYaYFV_ybHPoExocoY6WCwacCe-YJVUM92FpkmEQwwCXOgqM7Zvyi70oO0nu21wWaN6xjyL-q8GXNUIpVh5cYBxdYaHqicQAybbSoK_pWs0wUD1hC9V16JVxNnPqvQaU-hmETPaplNMuPgbGSW3r1DDwskYx3pn7AVHHQCgPd3CW25XvkPnRLfr6Ewi0E8Ca9EzorfyCekX7jib841_GrdAtzwTtF6vdyInfRKWy8fos-Wazk-YTEGnWKUAPkGXmrrDWZQs-YomdKNzO4tK8hO4k2oAe0I3Bl_2PzN7IWb9S6fBWAPVcqO_ctTl_ZNa7WNmhBpBX4IEQrEHW9VUaIXqHNW3mcjGbXHsP257F3MFkuOW-MNMrBzzkLyQ5KhRGxpUJf54_3YRPt0gHmyaUZtGSwIf29vmrpCM72itGRfyAeS7zITkENyk7dA-7lIzQQNXRP3nMAN7D7UuPHGJUgLdXw5QySxfZUt1_zsUjPhz-UrIlXZ995IfMkFas6HbRhAuke95Rawt4Da7YHPhpeA6HgV5F1dUjQ7a5vSsnvoBE4RcYMA0iK6tQZQ7cbKGbXU3ELIMc37pqJ1zyUXwqKPJRlvynaa2jMXO9EbMdAMxO9QbBeAD9foE3BxhhjX0OpRZpOQdeH63x5guHybAaf5XzI2_2Fl1GvSg2KWAXNh9gMInFZAvn0dryt2-V6uqnLBeu1OKk1eA5Azv8SvieU-hYOff3yt9-FGBFS07YVZxABB8OBUfscEBrlBDo-zNaaN18D6JmHmdQsNIMBUXPznOZX_E76qiNQbZC4MsxVxLzmjkckCDyYphOYIsNqNY9Zx9jtKN6kDFbgKyhmTAl-01Ru1-SI7cFhb9kwEZT0UzE8sIHfeyRiOgEhGTI7IgvlMThP_Re-gev8fhSr5iF2y3tOMsMhifU4w3gC3382CiK8PPzG5LD0ODFVODcuR2HuaKgMzPiEo_LQn7gx3QVqgmL962fevcVgD-DuUvowti5lWui09IKtakf",
  "id": "rs_003d579e8354fab7016ab451eb5c5087d098b1fe8a9600c276",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.36,\"left_z\":0.21},\"note\":\"The plush lifted with the left gripper and remains securely held. From the yellow ball’s earlier roll-out, the true cavity center is farther forward and slightly right, so I’ll carry this plush high to x≈0.40 at the safe’s lateral center.\"}",
  "call_id": "call_BMUFHH1CriFAjKwfn4VGuqM4",
  "id": "fc_003d579e8354fab7016ab451ee5d8487d08d8d4e17658908d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BMUFHH1CriFAjKwfn4VGuqM4",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "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]: [-0.8783, 2.455, 2.7441, -1.562, -0.4473, -0.8406, 0.0444, 0.1585, 1.2015, 0.9752, -0.9916, 0.2497, -0.1768, 0.9988]\nstate[eef_state]: left_x=0.3866 left_y=-0.3408 left_z=0.1876 left_yaw=0.0571 left_pitch=-0.4602 left_roll=0.0737 left_gripper=0.0444 right_x=0.2633 right_y=0.0015 right_z=0.1355 right_yaw=0.0039 right_pitch=-0.6311 right_roll=-0.3581 right_gripper=0.9988\nstate[joint_eff]: [-0.7453, -11.7128, 7.747, 0.7937, -0.5543, 0.0073, 1.0281, 0.212, -4.4786, 6.5709, 1.0476, 0.188, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d99dcde6589f67305508524849923893f621ce17609eaff405613832434bda8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:023c5eb36aa4e33ad24e51b151a5e98ba9939b183220b24d195fe2ba324e6a46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:260e6aea95a2bb38cd63ba2c3258a268555506cbeece98e5230e1c95c2148b73",
      "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 · 3.946 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 112 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]: [-0.5034, 1.565, 0.7578, -0.2596, -0.337, -0.4492, 0.9998, 0.157, 1.2831, 1.1114, -1.0668, 0.2497, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.3326 left_y=-0.1124 left_z=0.0333 left_yaw=0.0537 left_pitch=-0.3932 left_roll=0.0666 left_gripper=0.9998 right_x=0.2782 right_y=0.0035 right_z=0.1545 right_yaw=-0.0002 right_pitch=-0.6514 right_roll=-0.3619 right_gripper=0.9989\nstate[joint_eff]: [0.2393, -6.1333, 5.6957, 1.3407, -0.2076, 0.022, -0.0366, 0.0889, -5.4632, 6.5709, 1.1551, 0.1929, 0.0122, -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]: [-0.5034, 1.4403, 1.1481, -0.8227, -0.3328, -0.4587, 0.0414, 0.1581, 1.2263, 1.0138, -1.0138, 0.2501, -0.1764, 0.9988]\nstate[eef_state]: left_x=0.329 left_y=-0.1112 left_z=0.148 left_yaw=0.0674 left_pitch=-0.4354 left_roll=0.0856 left_gripper=0.0414 right_x=0.2674 right_y=0.002 right_z=0.1406 right_yaw=0.0019 right_pitch=-0.6392 right_roll=-0.36 right_gripper=0.9988\nstate[joint_eff]: [0.0068, -7.6103, 8.9915, 1.2332, -0.2466, 0.0171, 1.0281, 0.253, -4.9846, 6.4615, 1.0916, 0.2173, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8783, 2.455, 2.7441, -1.562, -0.4473, -0.8406, 0.0444, 0.1585, 1.2015, 0.9752, -0.9916, 0.2497, -0.1768, 0.9988]\nstate[eef_state]: left_x=0.3866 left_y=-0.3408 left_z=0.1876 left_yaw=0.0571 left_pitch=-0.4602 left_roll=0.0737 left_gripper=0.0444 right_x=0.2633 right_y=0.0015 right_z=0.1355 right_yaw=0.0039 right_pitch=-0.6311 right_roll=-0.3581 right_gripper=0.9988\nstate[joint_eff]: [-0.7453, -11.7128, 7.747, 0.7937, -0.5543, 0.0073, 1.0281, 0.212, -4.4786, 6.5709, 1.0476, 0.188, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d99dcde6589f67305508524849923893f621ce17609eaff405613832434bda8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:023c5eb36aa4e33ad24e51b151a5e98ba9939b183220b24d195fe2ba324e6a46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:260e6aea95a2bb38cd63ba2c3258a268555506cbeece98e5230e1c95c2148b73",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFH3ud0lhNpkF0qUEw33790_vXgVUxw4aCYgGUmpFoe-jKdvujQRG9h6Xlaf91CRCtz-ethJldnNCnoaQtFtLSmz42iE6-MpWpysaIFCFhKRYyoMLYQkwu6fIMPC4JEMd-arIDeVMO58va2CUZjhtpukpVDK-J89FJ4Z9jwEn6G_6KCV-4Xg6nhzNfHZuroYh75jLzIm9FAwGhzWebiKRKbcS2f8jijKRMI7tNhcpmIrBOaeZYlsgI3ewQ9q0sDrCCBY64G4-v1Szuz7W2yZMdKb5f1bUXGLa3iCxLTUTaKA-_pOYW_7K-6--mSMKBHLd7J8j3M83d3bVyVlnPfRZTYwQB5svj16Bx_siO-8PTJsH7xbBGU6cz-EaYbZ2PB7t_yOx50l_iYOuXkeRellG4c1BLpp-u0rZZLnOM-0RctDKpwUQ9t156XifTWSn6Z7NFPNQBRyayBmagj15rQiaeCRmg3FqLfxo6UnFbgrnbjHZFYxn7-dvqoNHUpzqBFiYSbX5fVkafZ_OnGPnPBaTRuYO4djKXyiSaII0OXPst3TtBU_fDTu0hbYzzxcY1jMgRG9frmazXF8mDLL5Fw5Gwhupi5ggSpnaJGnoDgr2_4AF_I9g2V6740IjGqVSHXAwGRlLRYFOGr9jWn0CD6ald_V-2kztRHsbDqJULhUiBujN8nBrx9edtIhlhmcObRG6fyHAkiZWTB1SCisc4fp2Uo2te_UHxBQ_53yYLoD2S95VIUoM-QxuOuznFTSM8fk6G0Rw1R3RcFEkocHBk6YAU0Xg7cTW7uj5IMF1gmQFSAblq41LB29tuHYn3npH-WeQe5ILBje-7v_qtrIkfauHaImFkc0Yxj3mlDyPOoBEV5ErBOlg7haAAqNeUEvuOicX3Eli8sMB20yzrvtYTmD1DhUtsOL6Lop_jCPFV58Q1-igmSXUc5Qe3bA2TQwr7edh8Lz-9kd810xpT9dgf6JgFClT5Whv1ZeWimAZxXZLcsP9-4cvtf0YpJql9tYrDyBWGLrNpw6iRc2lgPaQldnWkYC_R-wr17_VnfbInOAo1UekwqlzGK2H-8ewYrgPd2KDsBiIl95FW8TOX6JxnPpNU8sR4B0s2Yv9_XZlG9PxY-ulq-CKUOZASetsXbLOFBweuiixk-ZgvwctwWWutECIWnM2KtP_GUnyJCNpRP8YO6xSyiwFDhBiXLae671H7zXnS8TZbWN8Hxe-uSya9q9ltUW7kFsUJ0bqafP1bst_sgNA3VPSVDE5GwNJHvapw4xH_JGrwEmdi5TR1TuTiIRxy5LcDSvBom2K8awBENTYei1Wf2wNy2JLLBVayuAFDHudTocBUoaK_y4Hki4pZIRgNqvnwRRVsvlBUT4WuAdyj9EuMzcs_R-EeXF2N2qp0LvgrSOmM34ovMRzSMFG_HIUspBoAcmsw_-WortqqQ0g3MgzNbDg7yd0FCpni9Lgj9Pvcg1itFrQAyP5PUksDVhy4RCf1Rak8w_F9zBg7tNDPDRdHvz5ILkj1T8lnsCp252JdTHFZ8utWb7ciFej7UILN-FHNL-fu8HuOhZ-XGLlalUREVHa8r7PBfqLw6E7HI7XtNe7uMUitLS384gECkzBoFiXsOLLHrGwsoocKqZKxlBwF8VFN-hoe47PfUyNguwHuILf8s6y3faTxEbZH_aunAiYrO5Thgkqs1OgznWG01_4l9OlD4ldWDPE5ZKT-LVmfknKnmVadCNvRv3ajtnoTqPwuEWscc9zUJ-HMxXAVGfau4w3QJtqtniqU32GF55QITgwJqOi_H8bzXGzuTOEAWrUyVp_Q6lyzTzPiiRwMXY2O4YN2nyLhe8mQuGA-bPnMT_UFEVB8Mx5wK_X6MUJf1o7VziddyPfuL8014LVIW9d30HZ046q-KHBcxDIBVuKX3VsNjSuqBh3Ku8aSp7o5gjyOCuaUJI2ASM0Ji2MVstR1R9hBOtVTYoUlVg_eXrQz2YDgGooTxNeaut3UQstRIdUzpC-pHXF1Xxa8XToEU0pM47bM0vu76qiJsb38gVOzqAA1vBI2jLZ29oIZlPLCNzuQTO7KhtzkW-L-abHSlRRQBryODIECSFyuQMpzGtAaO0H7koViP6ZwlA_hXFiotQZVMIK-3GQ1RgvllY0arxGSpGxSjWN4jSPUShNNagiK4pJtdOXwIIljcFig-UIkFx4g-ZfXuhRhjQ6G1HIaQkRFvWINpy5gL8327BHTWa0QVneafcsVH3oHKk8l46ARitKCw9qAoSQKEdrxyXKNNIzbL11Jb15Foa-oDzZzaJX3qzbcXGWb2nr_CfCgWWCRVEwQKmGn6ljxuCqVzUPpPvVSUdkqhMfm1gKFJZGxb5klDmPMj53l3Do9T1uo3yRDdz6fDTinVstaZoKGTsKvkXNSSdObMzap-ekI-I62ozCxaYMn88eON4qBgsofYtpRa0MhvNTyXzWutbj9c7zTJy1d5ut_X6KsmsRlaCz-5dS11wqGPWlLub14_PvCvdkVrQUFqWs8x9qRzBKUgBs9JAfwsOGmv3J3U64za6X66OpAjR7AmpTZ0FJoq1VPcrfYkdbO55s-NTXnTsxCOPyrdL_9UluaXrPwQTME9k0K5FuQ_4l3gT5eqP5XeT76SmdHNAoeJ-k2klPcJx4baZmxh3ffHfyKqnwDNwSFT4sI5rboVKIoWiSfpK4rWynDFBoMUP3w==",
  "id": "rs_003d579e8354fab7016ab451f2f3f087d0b1e2c6c0bedb87b4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.35,\"left_z\":0.18},\"note\":\"The wrist view at x=0.39 is dominated by the raised white lid panel, showing this point is too far forward rather than over the cavity. I’ll retreat toward the base while keeping the plush high, aiming just in front of the lid hinge at the safe’s centerline.\"}",
  "call_id": "call_9aa4yhsrSI3HJejwwKzhnNNe",
  "id": "fc_003d579e8354fab7016ab451f5ff3887d09b7550d3e3af568e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9aa4yhsrSI3HJejwwKzhnNNe",
  "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]: [-0.984, 2.2944, 2.3032, -1.4277, -0.4587, -0.9298, 0.0444, 0.1585, 1.1854, 0.9474, -0.9798, 0.2497, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.3304 left_y=-0.3491 left_z=0.1463 left_yaw=0.0786 left_pitch=-0.5238 left_roll=0.1716 left_gripper=0.0444 right_x=0.2594 right_y=0.0009 right_z=0.1309 right_yaw=0.0037 right_pitch=-0.631 right_roll=-0.3579 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -17.7436, 6.065, 0.8816, -0.4322, -0.105, 1.033, 0.1709, -4.2872, 6.5983, 1.16, 0.1978, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13c25edf6a293871c4b12be671762839b1c7d121024bfe7835c919d1a783fd50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0de088f00e06d0eb1b8e1008d6b3c13bec8948ed115e124f5cd57bc84bf058cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2f76b8f097dcf5b1ec166069547bfe69c68915407000b554ccf3ca670c21d36",
      "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 · 3.056 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 112 changed as sent

message 116 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]: [-0.5026, 1.5799, 0.7452, -0.247, -0.337, -0.4526, 0.0409, 0.1577, 1.2518, 1.0588, -1.0397, 0.2497, -0.1764, 0.9988]\nstate[eef_state]: left_x=0.3301 left_y=-0.1107 left_z=0.0258 left_yaw=0.0598 left_pitch=-0.4057 left_roll=0.0731 left_gripper=0.0409 right_x=0.272 right_y=0.0027 right_z=0.1471 right_yaw=0.0012 right_pitch=-0.6457 right_roll=-0.3608 right_gripper=0.9988\nstate[joint_eff]: [-0.0615, -7.6376, 6.6256, 1.0427, -0.1538, -0.0317, 0.9158, 0.2393, -5.1624, 6.6393, 1.1111, 0.1685, -0.0024, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8783, 2.455, 2.7441, -1.562, -0.4473, -0.8406, 0.0444, 0.1585, 1.2015, 0.9752, -0.9916, 0.2497, -0.1768, 0.9988]\nstate[eef_state]: left_x=0.3866 left_y=-0.3408 left_z=0.1876 left_yaw=0.0571 left_pitch=-0.4602 left_roll=0.0737 left_gripper=0.0444 right_x=0.2633 right_y=0.0015 right_z=0.1355 right_yaw=0.0039 right_pitch=-0.6311 right_roll=-0.3581 right_gripper=0.9988\nstate[joint_eff]: [-0.7453, -11.7128, 7.747, 0.7937, -0.5543, 0.0073, 1.0281, 0.212, -4.4786, 6.5709, 1.0476, 0.188, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.984, 2.2944, 2.3032, -1.4277, -0.4587, -0.9298, 0.0444, 0.1585, 1.1854, 0.9474, -0.9798, 0.2497, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.3304 left_y=-0.3491 left_z=0.1463 left_yaw=0.0786 left_pitch=-0.5238 left_roll=0.1716 left_gripper=0.0444 right_x=0.2594 right_y=0.0009 right_z=0.1309 right_yaw=0.0037 right_pitch=-0.631 right_roll=-0.3579 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -17.7436, 6.065, 0.8816, -0.4322, -0.105, 1.033, 0.1709, -4.2872, 6.5983, 1.16, 0.1978, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13c25edf6a293871c4b12be671762839b1c7d121024bfe7835c919d1a783fd50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0de088f00e06d0eb1b8e1008d6b3c13bec8948ed115e124f5cd57bc84bf058cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2f76b8f097dcf5b1ec166069547bfe69c68915407000b554ccf3ca670c21d36",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFH7OCzj4otbeJsci_k6DVJKvgmSyllYcRONCuwaZtuyEjnQcI7bCzB153N3P8BNcdTnsQGMOmiSyC2883RkdyXPWpdSHLdN5FoieLyIUh8mggdYdKBdk027Zc3z65OO9ny6pSBPTheT2_76eLq5T1ME1Kdgyfn18Npyt7vA4E-pUZPgY_g8ymOlzAlNa-EpglC7_fjpcsKNJKSYVAXKXULADQ6Bk7uiuql8gKad7mpp5h00flbTDDBNgW6bjrRnOwaXvMk1ihzy4Poa4hmwnFMqRIxm6SH4SH6b07IpxFt5-_VmxU4NIJlK6s0wHD7TYzhIPP2BuWl27GGrdmDarxwoqYHXDgktnxm1Q2KDONWOwRpnW0hCrNPPq2iO4NbGpvxeVcGfZSqK6U4hj44cYr1rXJYqqZsIrW5FYA4Tdw6f4aEhQas-Y1bTOtmzJT7FHoE0ZT3o5P8Yu5fvESFBHB73oex_dP9CTQbpy2y9zr_QrAbjyajKuSCKiSOivGYjIgx6Nh2SB-MRAAlkeL3-F8jjBZLUFH5WrFzfya3r7q2VnU45KLdN0IhRz3NFho3R7zrgdTD7IUZgl968y6tU7PP5eNdeg3zv6eyPGwWXzZWbUHrFwB1b4BnEBn7ERR-iTX_YRSUUPIwq5F64yj2ywAIIbYDhPFLTvCUBbKi6cfdrkRdd9Kwn63w5pw0Wb5cLln91fRlgWaUTMjqm1Z_xjP0D9hSQ2nZ-2fQ7b4o_YjcRDrMl5-7S3Y33ON_iLZt3xwMM4Yk6Y3sWhxYU5AtM_2wP38fwhyU1ZVU1tti9XxElLZTrDm-lQeTIcK6NED75HgrAmOuJTHxKGuQ4HVhMNJP13qCdOA6tnMCTKb0g4aKhCwqnauCoxsbT0XDAi0dU7R7ETOMwVzcji56wUMI3VYyYlO5Nr_AfVeIWNPtXF5VNfvd9u_tTO8apq74VSastwgMPNdnYbwINKF9lD_2O4hN9ARKOPtvjbqdTjgTPtqcK-Ico9frM77ib1vcv5rnfi3PG6MWx_cpVS1ysZgcTdbd47v8KWyRGS4USBf_EkWNLYSBByAvvjAs72IU1_FAbnY6CsY0340VbsY22ZLbleAbDc-mJlnp-g1YKYPWr7Ghmq5xIQRULBeBlicR24g5uBc3GRfulio5RAkad77fhTPCoTH7qtFOVvOIplR9QpaU8Mu97bMv4jnJ8OEQql648k_8u-cX6nyF25rYhzQ4z0_5t8_A8XwnToc_HasRDnaU98H_I8XxYo4R437WvGmrgga5oiRXLSj4dJQ6scApac7w-H853iI7YWgqQEzewNYczr4gDgVBup_pQWoHTOQrtCMT14xZQw01WGyF3TL8k7sHcNcrQZMpxZkx018BsDQndfkYkEjb4dcnvWRpo1blFi8DLn5fFosYQGKoDG1xvNwHgeeUrynF2AEI2_D7aOV4jjbdHwG8TAFbMR475-bTVkQWRrNxM9ZtM5UJIhsUFFRhlMD8H230Vx0ueMKwtim53tn9W96vlpUFbtysq_hUEClMve_0T__FSVVmPUo5X_wwHhL3ITKR3P7xGtf_RW70YERBOqDuqlu13bVszHz45TTKXGuCXZ7zxlQb_IuOBeT3rG5rAY7fqhZ-szR1ejd03OjBHZXl1GaJK3Ik-AkHH_ptbJSwDhxuKJn6duwyWjiGGn5DUnpQUNS8VktuXniqAuVsSiZhYvxwKslXA9CvSKjSg6RepoBipdtpb1BlBV5fApA==",
  "id": "rs_003d579e8354fab7016ab451f9698087d0b64fe0b3ccc51018",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.35,\"left_z\":0.06},\"note\":\"After retreating, the lid’s lower rim is ahead of the held plush and the gripper is centered on the narrow dark compartment immediately in front of it. I’ll lower the plush into that compartment at the corrected lateral center.\"}",
  "call_id": "call_mQ2NspBfupaMOFefS1nn9HGx",
  "id": "fc_003d579e8354fab7016ab451fa665887d09073c4b5ac435541",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mQ2NspBfupaMOFefS1nn9HGx",
  "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]: [-0.9878, 2.2692, 1.9301, -1.1328, -0.4496, -0.936, 0.0444, 0.1589, 1.1702, 0.9176, -0.9627, 0.2497, -0.1768, 0.9988]\nstate[eef_state]: left_x=0.3221 left_y=-0.3425 left_z=0.0614 left_yaw=0.1029 left_pitch=-0.5563 left_roll=0.2178 left_gripper=0.0444 right_x=0.2563 right_y=0.0005 right_z=0.126 right_yaw=0.0046 right_pitch=-0.6284 right_roll=-0.3576 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -12.6427, 6.1197, 0.4762, -0.4078, 0.0073, 1.0281, 0.0889, -4.4239, 6.4342, 1.0476, 0.1441, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca41eed1645acb2ed99db44f0b6194bd37f922f06fcc1b033c01141b4d4a6a9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:902b418538de98d4cbb1b57998875ea8b41e7429f0767c782f4d9fb40c105a41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6785beab03ea5649b143d19d20f0952efbe5087766106c18644639cfa28b66bd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 2.582 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 116 changed as sent

message 120 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]: [-0.5034, 1.4403, 1.1481, -0.8227, -0.3328, -0.4587, 0.0414, 0.1581, 1.2263, 1.0138, -1.0138, 0.2501, -0.1764, 0.9988]\nstate[eef_state]: left_x=0.329 left_y=-0.1112 left_z=0.148 left_yaw=0.0674 left_pitch=-0.4354 left_roll=0.0856 left_gripper=0.0414 right_x=0.2674 right_y=0.002 right_z=0.1406 right_yaw=0.0019 right_pitch=-0.6392 right_roll=-0.36 right_gripper=0.9988\nstate[joint_eff]: [0.0068, -7.6103, 8.9915, 1.2332, -0.2466, 0.0171, 1.0281, 0.253, -4.9846, 6.4615, 1.0916, 0.2173, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.984, 2.2944, 2.3032, -1.4277, -0.4587, -0.9298, 0.0444, 0.1585, 1.1854, 0.9474, -0.9798, 0.2497, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.3304 left_y=-0.3491 left_z=0.1463 left_yaw=0.0786 left_pitch=-0.5238 left_roll=0.1716 left_gripper=0.0444 right_x=0.2594 right_y=0.0009 right_z=0.1309 right_yaw=0.0037 right_pitch=-0.631 right_roll=-0.3579 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -17.7436, 6.065, 0.8816, -0.4322, -0.105, 1.033, 0.1709, -4.2872, 6.5983, 1.16, 0.1978, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9878, 2.2692, 1.9301, -1.1328, -0.4496, -0.936, 0.0444, 0.1589, 1.1702, 0.9176, -0.9627, 0.2497, -0.1768, 0.9988]\nstate[eef_state]: left_x=0.3221 left_y=-0.3425 left_z=0.0614 left_yaw=0.1029 left_pitch=-0.5563 left_roll=0.2178 left_gripper=0.0444 right_x=0.2563 right_y=0.0005 right_z=0.126 right_yaw=0.0046 right_pitch=-0.6284 right_roll=-0.3576 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -12.6427, 6.1197, 0.4762, -0.4078, 0.0073, 1.0281, 0.0889, -4.4239, 6.4342, 1.0476, 0.1441, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca41eed1645acb2ed99db44f0b6194bd37f922f06fcc1b033c01141b4d4a6a9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:902b418538de98d4cbb1b57998875ea8b41e7429f0767c782f4d9fb40c105a41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6785beab03ea5649b143d19d20f0952efbe5087766106c18644639cfa28b66bd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFH_mLUUvi_r_cAVar3FH-VQkTuWfWS9MBApKXZ_ccIIhOUZhHWuKsaqyNwhhUrfutr7DsVioZ0_jiHRmB5GuD2Uc1H4JbuboATTjKMC420oD_oeP1qWIFoAKQ8xB8yKOXsQH6NKN-UEeXqW4bDsSDYnDVguGoHCUKZ1uE6BASIagVTZlJhXh4uU9wKzK8mtjmV9QIY-Ax0wbe6LxgYbRTG1Mq8u61KD5o0xTSBBcyZDmGO5gE9dOM_rgGyu5508DQ4RFrsPJ0c74PP5mDYrYPepEG2nNOROZ_kf7TmhQeekAMIY2n9ZWDzZWA2fuzctblQpz0kDRn1dN5Sv9Qh7nf3qUfmQRxwdX14eVXofNuXSOs7lbeS1C12gLMBVIAc1mR_4exh0nYYUnErzTQvuH8DDr8LQCM4Q27uR-bV7JzUF3DLoj8p9xRP3SX0Fs-kU_K1qw0vctpNCoul2dWJ_MmKHHKJOpcGotDad9XyibcWY3IbqcKEq2hOGed5eD_hGgpssUPdSQG3-jW4DnCC2XnsJ6wKbB39vR8N4GNgARtzH3zgmBSEtrM11PUCcaYs-79qeklk9-Kf8xqZYDbOqPpAUloH5NAIxo7bBHxS1Vrx7UWpCv6aMIgwst1cdgbYFqmzzVVBYmj0ReFSvlMImyESBNNhwKteIFud3VA1ik9pmK0pI-LtDMt4OacqJcyW3ig6G2H9kgX68R8XVvqlb3ebs72AvtsyG8WDD_UHUVLRwOoJzMPZg6eHF1JbxilhqiRXrzCIPTkfBSWm5JrnheUQiWjGNRAEyapLNT33FKbAkhU6jlKKu2MdnswLLMCS2iSW5SWu08JgQZtTo7zZjxT2s5rJFgWLtAsAkBWxQBRYVrq_v0VFXraqE-8ahvuXJne_BwEHYc5aFzeBZDl5FjG2VutJxv6kw36M5wG3RrEKxoKJwwGSp_vxRLtGcm9xqEXiBDviP1V-jNu4C8ubqt4w3KuP19HAgxO-sb7-7aqf7TO9NAjIWzKBMPqppuMQXovkYo_TI3IuPD-UI1XkwKJj9NJrDoOnmpI8uxBsoVcEMwjEIYag41vcGyQGPcV6zmAg4YWezUhR1Ogma5UrOEL3ONoR36tKZzRGe0Bu_14KXR3mLE-W4txFAn8t7o1PWlppSVc5oEv_P-NrC_6pjJmPBeN__L4OQOfpFA89YYE13Nf-_f6Dce9ySKygtSwRJt8rDjCGyrIbpNaTvOIIKGz2hppK6Arwi682iTcSroRSDp3jXZ-Km21HgJtSVD0DFCuNlZvoO60svY47jCzyDJapd2ONdRuHCXRW0afK2x2JTf2gqeMRkyMiJIEQtIlbcxi_wOve5cOzWQwX6bMQYuqCszwGFfLnfEBWSD80iOeCP2Ka7GCdbpR7Y-1cW7JL0dqwTLUGabu16S_50EIdwXXpbMkzkd2KES079kz-V4RYFmTecbJ-HIoHkAHqbR-3cvzpxBYfBCG6Yg6Fapf_Q6t2dfG9uVx62ldpQhL41se7slyHh2seXr8dSr_q_-OX-lcB3aOFU4EAzCC4P3og1o9H8Gq9hlw4jmV6tY-olPfLLIZo=",
  "id": "rs_003d579e8354fab7016ab451fd40a087d096357bf5fcaf2383",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"At the lowered pose, the wrist view shows the plush directly beneath the lid edge and inside the black side hardware rather than outside the front rim. I’ll release it into the safe.\"}",
  "call_id": "call_iGsqIKIQLYQ2NlAMBmS9YfTz",
  "id": "fc_003d579e8354fab7016ab451fe63a887d0befe57c8e5b730b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iGsqIKIQLYQ2NlAMBmS9YfTz",
  "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]: [-0.9878, 2.2723, 1.9114, -1.1309, -0.4461, -0.9409, 0.9952, 0.1589, 1.1576, 0.8913, -0.9546, 0.2493, -0.1764, 0.9988]\nstate[eef_state]: left_x=0.3191 left_y=-0.339 left_z=0.0548 left_yaw=0.1158 left_pitch=-0.5678 left_roll=0.2344 left_gripper=0.9952 right_x=0.252 right_y=-0.0001 right_z=0.1207 right_yaw=0.0041 right_pitch=-0.6341 right_roll=-0.3581 right_gripper=0.9988\nstate[joint_eff]: [-0.1162, -12.7932, 7.3231, 0.4078, -0.3248, 0.0415, -0.0024, 0.1162, -4.3282, 6.3521, 1.0818, 0.1538, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d79b168b5d51b4adb9ff22ed556f137ae384634a7087fb307633849216510fc8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab9197e858e7864fd9318bd119c1dd8e8e37d432616724d3c45806c278f13285",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a2aad34f46158b5834ebfd41d388c97a434129908f98e99015f298392cb8f50",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 5.722 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8783, 2.455, 2.7441, -1.562, -0.4473, -0.8406, 0.0444, 0.1585, 1.2015, 0.9752, -0.9916, 0.2497, -0.1768, 0.9988]\nstate[eef_state]: left_x=0.3866 left_y=-0.3408 left_z=0.1876 left_yaw=0.0571 left_pitch=-0.4602 left_roll=0.0737 left_gripper=0.0444 right_x=0.2633 right_y=0.0015 right_z=0.1355 right_yaw=0.0039 right_pitch=-0.6311 right_roll=-0.3581 right_gripper=0.9988\nstate[joint_eff]: [-0.7453, -11.7128, 7.747, 0.7937, -0.5543, 0.0073, 1.0281, 0.212, -4.4786, 6.5709, 1.0476, 0.188, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9878, 2.2692, 1.9301, -1.1328, -0.4496, -0.936, 0.0444, 0.1589, 1.1702, 0.9176, -0.9627, 0.2497, -0.1768, 0.9988]\nstate[eef_state]: left_x=0.3221 left_y=-0.3425 left_z=0.0614 left_yaw=0.1029 left_pitch=-0.5563 left_roll=0.2178 left_gripper=0.0444 right_x=0.2563 right_y=0.0005 right_z=0.126 right_yaw=0.0046 right_pitch=-0.6284 right_roll=-0.3576 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -12.6427, 6.1197, 0.4762, -0.4078, 0.0073, 1.0281, 0.0889, -4.4239, 6.4342, 1.0476, 0.1441, -0.0513, -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 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9878, 2.2723, 1.9114, -1.1309, -0.4461, -0.9409, 0.9952, 0.1589, 1.1576, 0.8913, -0.9546, 0.2493, -0.1764, 0.9988]\nstate[eef_state]: left_x=0.3191 left_y=-0.339 left_z=0.0548 left_yaw=0.1158 left_pitch=-0.5678 left_roll=0.2344 left_gripper=0.9952 right_x=0.252 right_y=-0.0001 right_z=0.1207 right_yaw=0.0041 right_pitch=-0.6341 right_roll=-0.3581 right_gripper=0.9988\nstate[joint_eff]: [-0.1162, -12.7932, 7.3231, 0.4078, -0.3248, 0.0415, -0.0024, 0.1162, -4.3282, 6.3521, 1.0818, 0.1538, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d79b168b5d51b4adb9ff22ed556f137ae384634a7087fb307633849216510fc8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab9197e858e7864fd9318bd119c1dd8e8e37d432616724d3c45806c278f13285",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a2aad34f46158b5834ebfd41d388c97a434129908f98e99015f298392cb8f50",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFICn1inb6Cn2ZHcKj-_RVkhW18XL3Wb2a-etT7AAWubRvYsRUtBjCUMaqIEqwN3Jou56DiSuWXe6LWK4a00iBEm9Y9u1fsXNkhUxU-kgvLGyN0cGDScHFRV7ZH87UJH_oyxCNQuPzh3iRG4Wfnfx4GW0T1847gY8TlCjIdpI_S0qJM6sxR7rPKj44pBt2zDyay_iPoKHMrSdrhc54VcQ3S34KchS1xTzugC6O1X1ec4XgRESDIedxjhIxjtupKHZ5qEMnQgxU7ubz3qXlr6iGrVTUqUm_Z_A92jXENfstHoTZZe248WOP0H3_XOaXCWW2el9RIWY2xr9Qrhn4i8CUabFu6P79aJIpIy0pWOFqWVrr2zrKg7IxuE1gqdcYYXgecHxbkwOWO_S9zm4TXSZbq7JjxBvaYykZIb5lT9Anr0LF8QnkIIQ2fnZAAIQh_6PISUTN5NvQ_YcqD1KJLv7zuL8oyspAmwBg4o2g8AmIrOCSvRBaYtKuOjDTwod721NQqAGpdH4T8T6BnBWK1nwdabxc_gZ3cvdWbxCElWPnDT_dsqPesdyK_gBxVKOvxv3qCzy6onnOSdDhb5C-kWLuhSZE48O9L0uQe9iZgocAD9l-nQeRuPXDCD_8fLv6mY94zabwbgg3wJ3FiZK_A5W6YTY7Ens6WWYCtc0RrV6hVRL9kAIceUzxcmMmEGTGsI9k7c9S29cOojRFR1fQQ59gKw5amrWpAyyxFzxIrV862z58PryUsH7EeBfkv6EoFLJkFlvxWR4TnXIeBRcEYsH4yUqeGekzUG0LKU3N3c0fpaAINOCwtqAV7CDSvEW2RRZyGMyBJ2MQo_kDZrNbQi4T9eGNEgPJgoJhTVFJgwdsWcCvYJi7Tx_0gd5dEwgPKQsnoNYIplwctsWkvJPGhiTFo51B8uKbPt8HS4JiE3JFtvN1-sBPwSfzYGmPycBoUogpRaJjjv2QX1ZtAakyEx6SW5pCBqLvzVIljE74C4JMg9t3xUVbY2FbzPXQv0JlyLzwbSWUW-Yh32lFIvnvXmBPf5dnIOXyqa7-whZEx7EGk-HVEk5CDvxGqOxTbo6QEtD7C81aJE0U7sDakou3Zr2fNBL0Lk0qYfORuCtw_9KNLDAMHGrI4NkCgre1uPHsBME9ZA861_Fxy0GSv1x9F_AUO_HlIn-ISQvZ1V0HdTy9BMRbO9yVL6oG4pjoipZkXipX-SokJIRowzHxfZRwPkEnzR_jDK0_3zdxVwy32NYe-ZcE4eRhhGSVLfIWdwwA-Rsy16YnsoRe25yJcTVGRGl1h0vYzo1JCVhRT90FeZ-d3yZ2aAlAB4BdpxSC63-GT1siNi1BGw19IcL3k3-Onm2gr748u5e1P_c8wviSc7BI-1tDB4Gk1ooWE5G5IZZrjYSaQ-ivo7W9PDDGpCtV_--dWCMwyJ_4aBh1ZBNCMGxcHdkF7bni7kVBSQXIx9jagw5ApsiJC0zBycNvMGMFtKBVpRNzNx6KzzV04H1b5u8TYae0VPAKqyu4GpFlDL1I9XHjch",
  "id": "rs_003d579e8354fab7016ab452013ab487d09fd20ef487e2ab0d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.293,\"left_y\":0.0,\"left_z\":0.18,\"left_gripper\":1.0},\"note\":\"The jaws are open and the white plush has settled below the lid hardware. I’ll retract the left arm to verify it remains in the compartment and expose the remaining objects.\"}",
  "call_id": "call_0L5aVcbils9nfpHeeUmF8z0I",
  "id": "fc_003d579e8354fab7016ab45201d23487d09176ae15b87d6beb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0L5aVcbils9nfpHeeUmF8z0I",
  "output": [
    {
      "text": "executing move_to over 31 steps (3.1s)",
      "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]: [-0.1738, 1.322, 1.1954, -1.0885, -0.2577, -0.1417, 0.9985, 0.1589, 1.1358, 0.8616, -0.9428, 0.2493, -0.1764, 0.9988]\nstate[eef_state]: left_x=0.2934 left_y=-0.0022 left_z=0.1708 left_yaw=0.1602 left_pitch=-0.5852 left_roll=0.2339 left_gripper=0.9985 right_x=0.2476 right_y=-0.0008 right_z=0.1166 right_yaw=0.0045 right_pitch=-0.6303 right_roll=-0.3573 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -6.2154, 7.1043, 0.9255, -0.0757, 0.0757, -0.1783, 0.3761, -3.7402, 6.2974, 1.1258, 0.1587, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6af9e95408b5f9a14c1827a82e99a1a1f3f2517622abe272b3e89f4bdafa0fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e1e15370154fc0e6267f24df40044b5e1023d0deb277aff0c8573b6aa047e07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7055b9dc3c5309490341c2b0fb854a00432e7159deb1db9311bc8a459e802eee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 32 attempt 0 · /responses · status 200 · 3.836 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.984, 2.2944, 2.3032, -1.4277, -0.4587, -0.9298, 0.0444, 0.1585, 1.1854, 0.9474, -0.9798, 0.2497, -0.1764, 0.9989]\nstate[eef_state]: left_x=0.3304 left_y=-0.3491 left_z=0.1463 left_yaw=0.0786 left_pitch=-0.5238 left_roll=0.1716 left_gripper=0.0444 right_x=0.2594 right_y=0.0009 right_z=0.1309 right_yaw=0.0037 right_pitch=-0.631 right_roll=-0.3579 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -17.7436, 6.065, 0.8816, -0.4322, -0.105, 1.033, 0.1709, -4.2872, 6.5983, 1.16, 0.1978, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9878, 2.2723, 1.9114, -1.1309, -0.4461, -0.9409, 0.9952, 0.1589, 1.1576, 0.8913, -0.9546, 0.2493, -0.1764, 0.9988]\nstate[eef_state]: left_x=0.3191 left_y=-0.339 left_z=0.0548 left_yaw=0.1158 left_pitch=-0.5678 left_roll=0.2344 left_gripper=0.9952 right_x=0.252 right_y=-0.0001 right_z=0.1207 right_yaw=0.0041 right_pitch=-0.6341 right_roll=-0.3581 right_gripper=0.9988\nstate[joint_eff]: [-0.1162, -12.7932, 7.3231, 0.4078, -0.3248, 0.0415, -0.0024, 0.1162, -4.3282, 6.3521, 1.0818, 0.1538, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1738, 1.322, 1.1954, -1.0885, -0.2577, -0.1417, 0.9985, 0.1589, 1.1358, 0.8616, -0.9428, 0.2493, -0.1764, 0.9988]\nstate[eef_state]: left_x=0.2934 left_y=-0.0022 left_z=0.1708 left_yaw=0.1602 left_pitch=-0.5852 left_roll=0.2339 left_gripper=0.9985 right_x=0.2476 right_y=-0.0008 right_z=0.1166 right_yaw=0.0045 right_pitch=-0.6303 right_roll=-0.3573 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -6.2154, 7.1043, 0.9255, -0.0757, 0.0757, -0.1783, 0.3761, -3.7402, 6.2974, 1.1258, 0.1587, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6af9e95408b5f9a14c1827a82e99a1a1f3f2517622abe272b3e89f4bdafa0fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e1e15370154fc0e6267f24df40044b5e1023d0deb277aff0c8573b6aa047e07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7055b9dc3c5309490341c2b0fb854a00432e7159deb1db9311bc8a459e802eee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFIL1DNrI2g_QSUomTh9nZCZpn3Xb3K0BKv1Joq8clqV51cOf4sm7uqIYkPfiTNrfMAEg3VSemL2h1ZA4N4Ty6qZ1HceScGO9eYOwNd-8n_RVm6ZixycmzVSXa7T4eiekpIafZvCU0jzJ-_PW19kkGtNdbepU065jdjcad7KwKamFuf_xsVjkC3vr60hASgFMl66GZdqIxXMzl6Lmf2N92XLPDv3z6dKuX3OZnVRZ8px2ADGfolW9ch8kNXrBJ8SfUyi9ou6QUv6EwvNdP9iC-0dNjQQfCmtTW4BZ7dD3jRwtwoR6lX0PunecGEQYHc4O4BOMkLoRb_Sb6OIrRkzMF8J-qegJwRvm2seqlSt7MVUIEDFAqnAZ0lBKTdJxE76eL5mmT0wLaq4G9dqP8ksnkqtZN0i5nuJuY_2Jo8H-NXUPRzBPY3NinYOIe5ZpLKUnXgtpngz8p0O-o-a9pR3MTMflMz60TQk9gNTr4VfEcgOU4EXBSLT1B_Ly4Y-rjfgSb6hZxX6-NNJ4yeFeTxq84Q9dcBC5cdQGO4KI17m_WVFrbpMZMuDuhLbHKjfYb1ZN_S1yPQ9DKk7c3zGaU7lBLvt95gTcIP6inOJCu1WJF9J9epqwdhWCIi-2gduhtVo4XfSR1nZtLjcrXFfbefIIcN5fF3zHAXwuwOr5f7eTxRNJ0A3L63fVJLtPPkweif-PpDmNdSIAB4JwjXV_IehK77BU_phXKXHE7H8krKtZwzEN1avYU-dV3tSeC67qQPQ2tUK8pXd_eP1M7CHOxhgAYTGP2WSz6ElZNSuReHpfYnl7Fs5fQwqW24TAI0tGCgxA-De6z-H3jTtlSzU-mhTGpCzLmqiFoaFGBl05ip6aHSyDNOP-e7l_rK_8inYsMUv9ldhjr1OE2e8zidjUpbcwjB6FIL1F-upsZI8MEVoioKR_IM7ogfNvOMj6xrkA6su8fIfcXrLei2tqzhO10Gs6h28xzE6FAxpBedaUnmQh1ybWhQHvWc8zjzu1il7DzVNeJ4PaKF-ch6cPYi0pRXDx7Dl9QDCRD8xE4zETY8AU2Q6HUTTw5P9ywWvQm2DO3hFPzru6F7ALz5UP8CdmbES0feFLmz0JIilCbEHXOy9Uay82uDI6wZ9oFP7hbAXfBTysHlSe9cnehkrtivXAU-aAvyQVkjoAbTjXIJ0DgT2I0pawXPA99Sh_BsPh6KHk_5pf-EDVPby1_M5T4Y_cHwbIeaT7aE8W-HwBjM8qGGqHDcsWZnuurl7Q-VLt-f_LPF7sj0MXd6uAPEtYC6F8TVwX_YfYpZLtLB9mdIsK14jwh7e8jJF53l5mQiXJhTMGFleh-PCXXlpFsnDPn-WaHEZYxZzOtZUYfrD1_Sv7kH1MuFfGloovK2cBlAbdZnQZrLkLJe7O0tdxcN3TIDXoJjvkxuMtsCaZrKcKBjmng_TvhJhulYfXl3JOW80zUoMg8RIduCWqPBnPdg0kDdOdrmWVAxEhlEej6XTUIf3wk61XDOlgHoh70ODv5-0PTRzyf4RWBM___YI5WHu8-kQmh3n8cJWEbmcJMNw1AqcjxGIrC2OUw7lVRfyoK8z8z7KZyjsu8vTU62aLcyIa_ccNg9N81VMjvsqq8A7NGWd7hYX4V3YgdQ9fEkQRHkj4kHwUp4HKOGqbNuEARJp-IvIKyNJ8FsGNq6OxsQw5MM4hVXFreusZE_qw0_lV21S-JlsbYt57N4Oo0u_GpXb6B-XXz3PauetCRn1SRqtZzt_nAu1k6CWJ23RkQWZt5vBE5PKXUGc8H3pFdw7Xr4RQ0IjzbUdpKAMItgM6QGrG3ZrTTxTgfWaEfUutND3SmWnXTfqQeYiJcKwGDi1VMz5zy8F83EhGH41OE8o7pyrtdkCiRmgq1OcMrnIEAASlacSABSdEikj7pZ_-EKgo-Tbk_Ct7ie1xeoprCPBuz05fCJTtEVBTBOEdlhzTTWr-POpDdrxUMq7QuDvWff87wPd2-F53WdIUMotVzev0TDmdz0ZErdKj6G_0fnZNv--WX1uRZ-QPHeupDOFrOocgt5R9OdmSJcCJtBqzcpbMt50YW9qaGFTo31twsfhY8AdKzGuLk5UGXjX_jUkLHOoMfH8DWCeeItwu3g60BhNS8C1bxPj67XnWA9Q34e40CdBpDLyjVvLtDFhIaVii98aegtTbujwy5J2_l60CEAkaLHTYtIh1qbfjasn_OR3QCa8UbC7eowoYgxQUah-JKEISYMNDrY_JkPCUp3RjYMXLutIykm5yunFy8xGY2XO1Wud_yRVU7by79_K-0qmteyogUKFM7cPorns2GlEuUTDN60RrI3Kj1Si7WzERr78UNp6Vnw9b5RvzJUSWqesQSZEbXj2Vg5p8QD2a1vzRhA0HRNSKBSzBDX_5QEEA10UGYcT-Z58oRRktTAifnixOQfzLVpP41NqTOeUh0Fu5LDvmDfFpMG4fTcG_OXzAv_73M5GV7jakva1REO3UzQDNPrMIxRPH1puU2APGB3SOW_8eoeG5kf4hIc4MmnabLTMAM8cssJ67A-lPvzJAcnQoi03tTAmHNjoXjQVm5rmB3QBg4ko7TwwkTH6hNrjBgsIpk9VLThld554f3kZTXzefDJEiUKRFny-00JHNV8n5A2GMax6BiozjI5ic7MrrfkgDmD4bIhpSk0J6d_iQ9LyvnH3r2iWZmK0cb_Ll5C6eNuEo-Uuv428bkVi7z4ccVMQhHWVZOYHWN0XrWhr5wTSNSBEnF-k3-n6GL8vYRKgOH4EEfjd3Bl-wH1xhVWLLLxSO4QMaa-Cwcgx1pQ-rLFEfss26xo5RTV2qqLEBe6ZqQldqYel7i-n6EgTH4cpOBmUqgn-MCaKED2Cr-bcT-EI3P1ikZCqErCm1-E-SD2v5rDSjXfYhUpGVF7VGtZoMBCmV9U_q8mOoDncG4uLa6v0c_xzIYNBQ1Vzg30KMiM-kw==",
  "id": "rs_003d579e8354fab7016ab452077c3c87d0afa1944131313a4e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.28,\"right_z\":0.13,\"right_gripper\":1.0},\"note\":\"With both arms clear, all three objects are still outside and the white panel is plainly the closed safe lid; the black U-shaped piece seen earlier is its front handle. I’ll bring the right gripper to that handle so I can open the safe before loading anything.\"}",
  "call_id": "call_7PMPTy0CY12PlnrNDU45Z9Co",
  "id": "fc_003d579e8354fab7016ab4520a82b487d09b6542c57f60be4e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7PMPTy0CY12PlnrNDU45Z9Co",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1753, 1.3201, 1.1954, -1.1011, -0.2508, -0.1429, 0.9982, 0.8307, 2.1036, 1.9232, -1.2644, 0.4152, 0.4805, 0.9989]\nstate[eef_state]: left_x=0.2904 left_y=-0.0033 left_z=0.1699 left_yaw=0.1553 left_pitch=-0.5972 left_roll=0.2302 left_gripper=0.9982 right_x=0.3432 right_y=0.2754 right_z=0.1247 right_yaw=0.0291 right_pitch=-0.6315 right_roll=-0.3686 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -4.4923, 6.2154, 1.033, -0.1783, -0.022, -0.0366, 0.0752, -10.8239, 7.6239, 0.3639, 0.4029, 0.2564, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfedff65942aaed17d8d1ef545d3deeb7786762bfb9c4f22d3ab4e4a9bcf6fe0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cc84c3e1b790c8d5969212c4aafbf69934eeb182c5b3c8b8ba752e2de7749e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d51f4816f7a18c499cc61628ab39de0cac15e54716d1a283a001110ee9e666f",
      "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 · 2.34 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9878, 2.2692, 1.9301, -1.1328, -0.4496, -0.936, 0.0444, 0.1589, 1.1702, 0.9176, -0.9627, 0.2497, -0.1768, 0.9988]\nstate[eef_state]: left_x=0.3221 left_y=-0.3425 left_z=0.0614 left_yaw=0.1029 left_pitch=-0.5563 left_roll=0.2178 left_gripper=0.0444 right_x=0.2563 right_y=0.0005 right_z=0.126 right_yaw=0.0046 right_pitch=-0.6284 right_roll=-0.3576 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -12.6427, 6.1197, 0.4762, -0.4078, 0.0073, 1.0281, 0.0889, -4.4239, 6.4342, 1.0476, 0.1441, -0.0513, -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 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1738, 1.322, 1.1954, -1.0885, -0.2577, -0.1417, 0.9985, 0.1589, 1.1358, 0.8616, -0.9428, 0.2493, -0.1764, 0.9988]\nstate[eef_state]: left_x=0.2934 left_y=-0.0022 left_z=0.1708 left_yaw=0.1602 left_pitch=-0.5852 left_roll=0.2339 left_gripper=0.9985 right_x=0.2476 right_y=-0.0008 right_z=0.1166 right_yaw=0.0045 right_pitch=-0.6303 right_roll=-0.3573 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -6.2154, 7.1043, 0.9255, -0.0757, 0.0757, -0.1783, 0.3761, -3.7402, 6.2974, 1.1258, 0.1587, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1753, 1.3201, 1.1954, -1.1011, -0.2508, -0.1429, 0.9982, 0.8307, 2.1036, 1.9232, -1.2644, 0.4152, 0.4805, 0.9989]\nstate[eef_state]: left_x=0.2904 left_y=-0.0033 left_z=0.1699 left_yaw=0.1553 left_pitch=-0.5972 left_roll=0.2302 left_gripper=0.9982 right_x=0.3432 right_y=0.2754 right_z=0.1247 right_yaw=0.0291 right_pitch=-0.6315 right_roll=-0.3686 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -4.4923, 6.2154, 1.033, -0.1783, -0.022, -0.0366, 0.0752, -10.8239, 7.6239, 0.3639, 0.4029, 0.2564, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfedff65942aaed17d8d1ef545d3deeb7786762bfb9c4f22d3ab4e4a9bcf6fe0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cc84c3e1b790c8d5969212c4aafbf69934eeb182c5b3c8b8ba752e2de7749e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d51f4816f7a18c499cc61628ab39de0cac15e54716d1a283a001110ee9e666f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFIRnlr0WB89Z7jB7HjHXF8AsufpxXBVRMKwWsHBinbQJu0yNZBVpnVSTUp1rIlMdtw1JRF5OYL-l7AYbpd3zCXpoxQscZG9H9wacDAy341XNxOl0jndAKq500pzaYVkR0hW91a0xkWhFxj8E03foFVdrLd5_KWXYVA2TVJFZIj4K4mNYNBAxw8nX-rGrIfMG6p1jZ6DJI1aPX1xEngLE3EGiu8zBjb8iphXF7G7FoBURGtUMpTYxDEEEEgPAb47DhFIss_IYaDV2uNVWWfeV9dxvgBWSeuQ8UFXqTWJyAFTrzNmqBN0LtsOZMTNvlB3SRVPZHOczQd0Wk_OkC5w761es6KRTFYzW5SpQijyjvS5V6BBUCnsSoaA-ixF-zw2nJYX6alhdKXKZvNASb_uS8mgEkEbjuYw5c-BuGFSHkfyUketsmvltGV4W_e6q7Ium442jIASc7I4LDL8v2M0ox-rCBuBTWX1M1slLXazk9mCxvUKL5O4OkwiDaYhXlsWmkYikonjRqUlF4j6B-q0VjtVDWDosDvvoxaBVhUBUQ9YBkni14JBR-81DxAXiZRD5JIItWf1o_PCDVlu6EdznBhnPQnbY4u6sxt2oTnF1Qvnobt6WMEOlLWHtdBQcGoQoIY--BaxrbnkBKL-XKQauTXVFkmTKFml1VI9ZThJ5YW9XikQDTSLmoQaW56ECItUNnNQMNHdxD81PXC6V7Qo4dq8lT864bFjR5zO7J1FwdupMLjjq31sATD0bbCA9oaEVLYb3MKtKDI1N69L6Y6qXOoZNxfwlyFsMUvoqYYLiGqfEBq_XBQkzbVj2fyCHY74WgjfB9XQoZyPcab5FGop2kLQwKcy_hICSAhAYBvz9o5xTpLbeFMuSD_uT5BN5qxshN99wAnpKsCLE6tOKaFuVY43qsTMdUZPxXhQWNgKRMpKD2e6HmgjNQbGythsptp0RSUQwbulVYEJiNbIyvZa6ffeMEqEaDu4Uwk2N3guDzQJH5QjwwIQUIlgjTCYIwLNQrc6qZ63YbYehpeEEf65p1cPsPkTJo0lFANLdImMjinszjnU-5lKcHhwopi-gkDVGL8GyPbfU_0utZy8-WhC6FMasK0edEGuM2HSQZBGW_mT94gO80lRK8vAyEIBH9wdL8pIN4RsOBVnK84A4Szs8Rp9QAJbN8fwMreKg5Z9PbXdOX-tu_uA5E_pRyoRcVfj5LV9cvBk7NOzOWnZdudjNzHCQjhlEgaoKPgO99SJDz6tgvjEdb-_rNsAjCut0RIJHpawlNOVqew6ajuimWKRiT2qdk7YTTVwTY4-c4cBt3khftgz-ITZl82qo5e96pMi7XqcaITkhOUyTFsjbo0kAVJy7chALUTRjfCjdCaKbjxTpq9Qv_rsXwUx-4kMaqHOtJmqE5JyEcx6Eh9Hjo3A198GdQn8OJzZldNLSqBmiYYvgIfQdZE21DNegqGY5IeDEDz8agFaLR6uNawgETYc7ejXgE_2FwHEUcq5YjBssJowZsYTUPAXs9Q-pr_eghYfKOsbwwtYVXXWK1C0C6wq1MX8zb89AtxcEHAxt1JDKn3-taE8BUz692QRu_TfU4YxDtaAm7C2axlNDfDno_Q1mjb9jIWCPxwRVyFqTDUJXEhstzxEnLDF9kP8lJkiIpDutIDZGD2FjTcK59T1zhEvoRGJm3vo7ct6OgOWkq6DUPsu3VVI8sj-2rSeM-t2bM294NaXl74osacJrX2h1DYki9qsrdZIBoNPpsJCJyJtI4_ccGqM0Y-BN8UceXyMqKEvTUPc1R9rKf3lUPCTKbpbJVtu5N1y5JuImYqxmqH1UTvFFlTwwr15aheLvs8CCxo0Co0AkWlJyfbNSVwcdJBscnmpqg==",
  "id": "rs_003d579e8354fab7016ab4520f6abc87d0a3f0e83acc61807a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.28,\"right_z\":0.06,\"right_gripper\":1.0},\"note\":\"The black front handle is centered in the right wrist view, but it is still ahead of and above the fingertip convergence point. I’ll advance and lower so the open jaws straddle the handle.\"}",
  "call_id": "call_w4wMNldz1xnz2LmzNWqS534X",
  "id": "fc_003d579e8354fab7016ab452108f6487d0a9ee4fab167d7f56",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_w4wMNldz1xnz2LmzNWqS534X",
  "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]: [-0.1753, 1.3201, 1.1954, -1.1042, -0.2504, -0.1429, 0.998, 0.7876, 2.1986, 1.8263, -1.0954, 0.4187, 0.4339, 0.9989]\nstate[eef_state]: left_x=0.2897 left_y=-0.0032 left_z=0.1697 left_yaw=0.1556 left_pitch=-0.6002 left_roll=0.231 left_gripper=0.998 right_x=0.365 right_y=0.2699 right_z=0.0624 right_yaw=0.0012 right_pitch=-0.6549 right_roll=-0.4131 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -4.6564, 6.2564, 0.8864, -0.2027, -0.0269, -0.0415, -0.335, -11.535, 6.0786, 0.823, 0.2662, -0.0171, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:132f608484ff0137ac6de0b8e21382ec13042c7222136f249ca84cc170770e9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:167ccb16f6da63cfda25ea43bd84abaaae74d4ef752f812bc581e5df8194de6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1df9e3f758137249a46ad6c021d342590eb4708c4ae083006f049468ab947a26",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /responses · status 200 · 4.781 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9878, 2.2723, 1.9114, -1.1309, -0.4461, -0.9409, 0.9952, 0.1589, 1.1576, 0.8913, -0.9546, 0.2493, -0.1764, 0.9988]\nstate[eef_state]: left_x=0.3191 left_y=-0.339 left_z=0.0548 left_yaw=0.1158 left_pitch=-0.5678 left_roll=0.2344 left_gripper=0.9952 right_x=0.252 right_y=-0.0001 right_z=0.1207 right_yaw=0.0041 right_pitch=-0.6341 right_roll=-0.3581 right_gripper=0.9988\nstate[joint_eff]: [-0.1162, -12.7932, 7.3231, 0.4078, -0.3248, 0.0415, -0.0024, 0.1162, -4.3282, 6.3521, 1.0818, 0.1538, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1753, 1.3201, 1.1954, -1.1011, -0.2508, -0.1429, 0.9982, 0.8307, 2.1036, 1.9232, -1.2644, 0.4152, 0.4805, 0.9989]\nstate[eef_state]: left_x=0.2904 left_y=-0.0033 left_z=0.1699 left_yaw=0.1553 left_pitch=-0.5972 left_roll=0.2302 left_gripper=0.9982 right_x=0.3432 right_y=0.2754 right_z=0.1247 right_yaw=0.0291 right_pitch=-0.6315 right_roll=-0.3686 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -4.4923, 6.2154, 1.033, -0.1783, -0.022, -0.0366, 0.0752, -10.8239, 7.6239, 0.3639, 0.4029, 0.2564, -0.1245]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1753, 1.3201, 1.1954, -1.1042, -0.2504, -0.1429, 0.998, 0.7876, 2.1986, 1.8263, -1.0954, 0.4187, 0.4339, 0.9989]\nstate[eef_state]: left_x=0.2897 left_y=-0.0032 left_z=0.1697 left_yaw=0.1556 left_pitch=-0.6002 left_roll=0.231 left_gripper=0.998 right_x=0.365 right_y=0.2699 right_z=0.0624 right_yaw=0.0012 right_pitch=-0.6549 right_roll=-0.4131 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -4.6564, 6.2564, 0.8864, -0.2027, -0.0269, -0.0415, -0.335, -11.535, 6.0786, 0.823, 0.2662, -0.0171, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:132f608484ff0137ac6de0b8e21382ec13042c7222136f249ca84cc170770e9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:167ccb16f6da63cfda25ea43bd84abaaae74d4ef752f812bc581e5df8194de6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1df9e3f758137249a46ad6c021d342590eb4708c4ae083006f049468ab947a26",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFIUqIoaINE2oHXU4UkObfFlTvL6EIyenySlYmq6ueL2-tuvNCLL3cD3F4cGR4nK0-2pIhyJLOr4Vbx9ChRm_FQD5SaMvVNLxx8FB41pu2-nvONbAsMXjEUrfapEzH5Bp-nv9ik_XGrXXSH3Eo2BW3qO4J0XU7HdXT4IW2aI22w-fTy7lcgtEzHk9hELUMe-FC6SmRMYGLfxbfP5TVskbP9B65MtF8mw5U1o__3R3vbPE4_uKss2nsogl7VtqA1MHSmxHQJLBATao37VDqYd2VrE_4gd2O6MjIpOrWVPP1XArLsj8-WgBksfg5wai8hdsQJxTn9c4VMItwsU7ebjmokT4ebthknE8NurXIT16bWMePzDkmFwX4v9Gmovm9vBMa-wXvS-Rds3TGaZy3nf5Eyin7p-ZIZkhSQ1iCVHgX5CbxyBSEWRdK2mc8-YcisDLe5nB757kH3bxSqui3hj0-wzR8Q3O9WGR_VjEFM5BRrWKgW3Qi9t6BX0zwqVl2mMYBi_SzidZ1E7dxUjMMLSAmVfewcWgCNROTdp7muENXRWsHThWqpiMF-Kwmhc5n5HtbDW7NnJtVPQsf5JqO339UIbm8Ml6VqD7D6FE-N2DvDcaxycfA5ZyUG7Yfhd1BpX4NGlhiJ3IYl7wIMhT0AFcOwjlrvcfR6qzOrx_I64Z73ZRIh3r2okbLllULDLTwEAJ5eQNlEZxGjsAY_bpxAYgVCxDesvPKDhmPcjc3ETi2ttbQfIW-cErfKb5h2e_CoRtVmAd8-9NRua9oeBeKP0vVgDXo8Xi-JQO2XnqDheIc6Hcuz9yX28inFvxyHiVjvqDwm7MBWU_5Dnx8ulewrodYLEgWIrr-0sepIqFBJA3DgYjP270vaARxcoiViJCTQPgLEfyZv_M18rhZ3pEd7WCc5EaTslmQr_IC5lbJSgyshWkTsGwCqfqq1smFdEHWty0Abt_n5BFGFzXkslckNoVfTuCXSzZjltmmsL8mPfpCBW8wlG2ngRmDTkS45qxwibNSiyqEovT5McH7QDTyRnDs7s0Dg8dlG40vpnOXPzjm2e9ZKqgscpM86KeLOL7SlpWXeb-_K6eseXjwRY66gzBGisSlcHrFgA_QVe9iDmCiJ6f5-n55o9_e5ZDihsn1bjFE-ZeiLuYOc6qeYOd_MEf4wQuhojOmWhagEFLz4jfPAoZg7X4-S513sLBMYtjMNgNdmqSvX0Pt-rOcJMDMTGfsqhKYAoOZ5aiId4WpUbQnmNviUDb_fA-cHscs3IU86asW_KwhoxQ2zpegQ4YEs0JjkXUQ==",
  "id": "rs_003d579e8354fab7016ab452134b9887d0b82db211a2ae923b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At the lower pose the handle’s curved bar is centered between the fingertips immediately below the lid edge. I’ll close on the handle to lift the lid.\"}",
  "call_id": "call_5tQqbRvyJLqaVrPD70CU0UCD",
  "id": "fc_003d579e8354fab7016ab452139e5487d0911ff0e729603375",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5tQqbRvyJLqaVrPD70CU0UCD",
  "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]: [-0.1761, 1.3201, 1.1954, -1.1053, -0.2504, -0.1429, 0.9979, 0.7856, 2.2127, 1.8244, -1.0515, 0.4221, 0.4149, 0.0098]\nstate[eef_state]: left_x=0.2895 left_y=-0.0034 left_z=0.1696 left_yaw=0.1551 left_pitch=-0.6013 left_roll=0.2314 left_gripper=0.9979 right_x=0.3721 right_y=0.275 right_z=0.0571 right_yaw=0.0238 right_pitch=-0.6367 right_roll=-0.4004 right_gripper=0.0098\nstate[joint_eff]: [0.0342, -4.5197, 6.2291, 0.906, -0.2125, 0.0024, -0.022, -0.3897, -12.1641, 6.2564, 0.8913, 0.2857, 0.0806, 0.8181]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d8330a44f1ce334ea98bb93ef6c4b42fdd8afdddca090accb83f07ff2142018",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b34f902e0127a0951b9721c75878c1238398347671c6b7d501d49f2e4bd43453",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2b6f935f0c1ce38b057dd25a98eda8a5cbe1fd3081327534584a88ba79509a6",
      "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 · 3.68 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1738, 1.322, 1.1954, -1.0885, -0.2577, -0.1417, 0.9985, 0.1589, 1.1358, 0.8616, -0.9428, 0.2493, -0.1764, 0.9988]\nstate[eef_state]: left_x=0.2934 left_y=-0.0022 left_z=0.1708 left_yaw=0.1602 left_pitch=-0.5852 left_roll=0.2339 left_gripper=0.9985 right_x=0.2476 right_y=-0.0008 right_z=0.1166 right_yaw=0.0045 right_pitch=-0.6303 right_roll=-0.3573 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -6.2154, 7.1043, 0.9255, -0.0757, 0.0757, -0.1783, 0.3761, -3.7402, 6.2974, 1.1258, 0.1587, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1753, 1.3201, 1.1954, -1.1042, -0.2504, -0.1429, 0.998, 0.7876, 2.1986, 1.8263, -1.0954, 0.4187, 0.4339, 0.9989]\nstate[eef_state]: left_x=0.2897 left_y=-0.0032 left_z=0.1697 left_yaw=0.1556 left_pitch=-0.6002 left_roll=0.231 left_gripper=0.998 right_x=0.365 right_y=0.2699 right_z=0.0624 right_yaw=0.0012 right_pitch=-0.6549 right_roll=-0.4131 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -4.6564, 6.2564, 0.8864, -0.2027, -0.0269, -0.0415, -0.335, -11.535, 6.0786, 0.823, 0.2662, -0.0171, -0.1245]",
      "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]: [-0.1761, 1.3201, 1.1954, -1.1053, -0.2504, -0.1429, 0.9979, 0.7856, 2.2127, 1.8244, -1.0515, 0.4221, 0.4149, 0.0098]\nstate[eef_state]: left_x=0.2895 left_y=-0.0034 left_z=0.1696 left_yaw=0.1551 left_pitch=-0.6013 left_roll=0.2314 left_gripper=0.9979 right_x=0.3721 right_y=0.275 right_z=0.0571 right_yaw=0.0238 right_pitch=-0.6367 right_roll=-0.4004 right_gripper=0.0098\nstate[joint_eff]: [0.0342, -4.5197, 6.2291, 0.906, -0.2125, 0.0024, -0.022, -0.3897, -12.1641, 6.2564, 0.8913, 0.2857, 0.0806, 0.8181]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d8330a44f1ce334ea98bb93ef6c4b42fdd8afdddca090accb83f07ff2142018",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b34f902e0127a0951b9721c75878c1238398347671c6b7d501d49f2e4bd43453",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2b6f935f0c1ce38b057dd25a98eda8a5cbe1fd3081327534584a88ba79509a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFIZtw1CzrDZPJpgb7pOCB9ME2SH9xcZkfqkX2ni2-84aeREPNGppeFVauhcO1_t1V9xO8N44W1cOmbbAtDdgzkMmzIiyd-ot1RhugzEk19-cRlwMeuYpE_NAIBAJvHGwtvRURyL5F0akI_J1XekeoIdF83s0rWklfyz-bCDRLaCl0NR-6mKb7bhHYoMC4eEzcpB9yCiE5MsdZvaTTZif2ybDz5gxakcq5qCipzfhoQ3bzrO1lRc1Vjd_muinclQa3ySEznr1bgN-ZdLGXeSJ1CWIeYr-GaAEo2BPzHd00Fa5rmQb4B6D_pHAKqAHlRn2C1cCE5r7SZozXlncZkUZJqZYWjrqiFBoSbTeatjVSoPDTNjdtZod9jHwrJosMTxt4H9GX-IXE3H6fU6mlZ7Cy3xK9oOy9EbNGGvfjtIQrhedlOy1NeDoO-BqK-9J-CNaBeMvIoeL98f9yE9QSa8s_o9sv100t18yjtY_7Z66EtudZcXWB0gsLzUGNxdqa5TFCxDCt6D0kjX36BQrJ_Tka0HUSI3GY6j6beRt2Ea1n0szVmyd0WmeEAWqmchV3hKIi3TNzBZA0IJnFbw2rZI378baAYX6MtaTrVMlsuMtP0g0EIRDLH7Mg6sVRS_cRcKfHqmhAblv08fGy1YeVthcHDZsQ-1qCBdxroCiNrsPvlZNKfpKe3iIPYFxag9oCh_2vUSrkYc8u5vpI4akWVgNX9Tmi2rz7NZo9iLFJSKfoyir4WNH_hnUJNNd5n1CA_ecBHqrsovT_ipc18EjkRh-yBV3pAnl0CT0Xhhb40O5MQqzNGUa1HYMU4n0EM8xgU5YpMhXNWPME6-2m2S1HW7laVdKvjZR3XvSLjaCnkqqaA_qWqZ-2DqKyVMdE-Yo4NioINBKGi_kEWpVcVNtETJEANKOv0RNPNMvXk5St8AYmmxu8soX3fPu_KyGORg-MyoLWK69o6hVtKaK0QbIRi1NNy3RuTAVw0fbTaMEDrSb8O5zltahNAWBQv7XGREzwocBkoaVvBGF6dEMQTIP7nZE5uAnnEwgt5q7nBvnEa7f589qXVE5zgFw8-p_uILFK4drR_fvTiT7nhFmM1_MltWZGDlcbUtyw7u8DbF_hsIHgOoMVnG1bgzhEXg5L5V5wAQAoIUgQKGTTFPSARGs56qbZjtOV3Cm3y02hKFLXO85ghXINq0cecO_UYd4v1RKbDdnF5_KpyuSe26i7PV7CR7MM-hS_kVqMzvQ7L-nPHBzwuGg01r32gu3Zd7J54vwRA8ZPWK2QJzC5diVHDljx8YbKmhoFUUVT8Vad_TAunGy1hKkOVWB7mA1cyMmkg5-WM6uL8cEUWkOLbcUxgx-leN5Etkioozh_764X7rF9qZkSWYbszEIxDzZAcPinXRu2LsEktqwgCmQM4HFVt1UdhIvjPhUXqPul3x8x5USNOHQkivq_ktjtkIfAh_M313sH2c3ljaaYls-X3uF5TSCgzz8o8HwLAFYe3MB7whaAE_qr7AbYhMEjFVz7B9NgGzlINdJ_BPVdYw33z3DSrcgCrWjwsiFVRgpnBy82qqm7OVlIIw_9thDvD_HSQQywMzgaWvqstH7jB8lCZloqdwOkNOiAuuAYMumVkFfZxjJ_3HwSLSUCr_XtT8tmlUUb9M0IGj6gT-tRWfZ_MS6n7bfzYRK4Gh7KgCGl9LzEBmVl0rIWgE7XayI_jzip6TfW6WmOX1TUGZMG1xOqCnBizUbjtcPH_qXGwvDJgeSkhInjSnvCN8JzgI_96E6eECIAvshOsmLKqQkK5B1YzsKjOWFFktqFQDJZ-4s9No7e_BNEW_t0n6ZyEWrjrgQpX7sKnl3DeZfqrh8ycDEMa0cAljxlJ9zf8_Wt_eIhlIosjd_yjA5sxuBSVN6oqzaJZlEm-jMLWNMvhG2Efo3vZk9WH1jvvJiuJSOY4SDOtBdMPmc_GJGpfFSOGZs1VbvLQArwmcu5iC99d84WwL8OzpQlJ2yk_AeC2658TR0x4vn0dX6OzVhkNmmtmtzoxrt6OfQXFXIvzDcGiGPlQ5DxHxU4Oq_SYdqgKfNA==",
  "id": "rs_003d579e8354fab7016ab45217300487d0a574f0bb746e5190",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.275,\"right_z\":0.22,\"right_gripper\":0.0},\"note\":\"The jaws closed empty, but they are now directly beneath the front lip/handle assembly. I’ll lift vertically with the closed fingertips as a hook under the lid edge, which should raise the hinged cover even without pinching the handle.\"}",
  "call_id": "call_MQ5ET9KWfBcg3iOMUKrkfIkr",
  "id": "fc_003d579e8354fab7016ab45218d87c87d099d9b26e37a77d64",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MQ5ET9KWfBcg3iOMUKrkfIkr",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1761, 1.3201, 1.1954, -1.1076, -0.2504, -0.1432, 0.9979, 0.7925, 2.2272, 2.3611, -1.5578, 0.4309, 0.4107, 0.0081]\nstate[eef_state]: left_x=0.289 left_y=-0.0033 left_z=0.1694 left_yaw=0.1558 left_pitch=-0.6034 left_roll=0.2321 left_gripper=0.9979 right_x=0.3656 right_y=0.2708 right_z=0.1854 right_yaw=0.0355 right_pitch=-0.62 right_roll=-0.3965 right_gripper=0.0081\nstate[joint_eff]: [-0.1983, -4.6974, 6.0923, 0.8864, -0.1832, -0.0708, -0.0171, -0.5675, -14.8855, 5.6274, 0.5788, 0.3639, -0.0415, 0.8278]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab6db1c2fe2a4d53ca7ccf866a58a3a12d4f4dc75dfb4d5313df5ce9d9346e47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:535fadbf04e55c3c8a8f11ca4049b8e03c63419a93e76fa9c4e895484d7d21db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:461c99c8f2b38e0bda92ebd2744beacb527e7945cf6eb895317e7f36e0ce4c18",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /responses · status 200 · 5.849 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1753, 1.3201, 1.1954, -1.1011, -0.2508, -0.1429, 0.9982, 0.8307, 2.1036, 1.9232, -1.2644, 0.4152, 0.4805, 0.9989]\nstate[eef_state]: left_x=0.2904 left_y=-0.0033 left_z=0.1699 left_yaw=0.1553 left_pitch=-0.5972 left_roll=0.2302 left_gripper=0.9982 right_x=0.3432 right_y=0.2754 right_z=0.1247 right_yaw=0.0291 right_pitch=-0.6315 right_roll=-0.3686 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -4.4923, 6.2154, 1.033, -0.1783, -0.022, -0.0366, 0.0752, -10.8239, 7.6239, 0.3639, 0.4029, 0.2564, -0.1245]",
      "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]: [-0.1761, 1.3201, 1.1954, -1.1053, -0.2504, -0.1429, 0.9979, 0.7856, 2.2127, 1.8244, -1.0515, 0.4221, 0.4149, 0.0098]\nstate[eef_state]: left_x=0.2895 left_y=-0.0034 left_z=0.1696 left_yaw=0.1551 left_pitch=-0.6013 left_roll=0.2314 left_gripper=0.9979 right_x=0.3721 right_y=0.275 right_z=0.0571 right_yaw=0.0238 right_pitch=-0.6367 right_roll=-0.4004 right_gripper=0.0098\nstate[joint_eff]: [0.0342, -4.5197, 6.2291, 0.906, -0.2125, 0.0024, -0.022, -0.3897, -12.1641, 6.2564, 0.8913, 0.2857, 0.0806, 0.8181]\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]: [-0.1761, 1.3201, 1.1954, -1.1076, -0.2504, -0.1432, 0.9979, 0.7925, 2.2272, 2.3611, -1.5578, 0.4309, 0.4107, 0.0081]\nstate[eef_state]: left_x=0.289 left_y=-0.0033 left_z=0.1694 left_yaw=0.1558 left_pitch=-0.6034 left_roll=0.2321 left_gripper=0.9979 right_x=0.3656 right_y=0.2708 right_z=0.1854 right_yaw=0.0355 right_pitch=-0.62 right_roll=-0.3965 right_gripper=0.0081\nstate[joint_eff]: [-0.1983, -4.6974, 6.0923, 0.8864, -0.1832, -0.0708, -0.0171, -0.5675, -14.8855, 5.6274, 0.5788, 0.3639, -0.0415, 0.8278]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab6db1c2fe2a4d53ca7ccf866a58a3a12d4f4dc75dfb4d5313df5ce9d9346e47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:535fadbf04e55c3c8a8f11ca4049b8e03c63419a93e76fa9c4e895484d7d21db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:461c99c8f2b38e0bda92ebd2744beacb527e7945cf6eb895317e7f36e0ce4c18",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFIeymgRINXnQ7RLzujOvQ5kRVv7SxCbYo2mL2b1jtRkjvqqwlymAICxMmlyPvn-JnCxRtozrztZ37S6nNaIUDMnUuoU5AqUYWhT35GP5Jmi1afrs_NXMwTMDi_C21IwS0HA0k7btmVovBoRQ2sOtkFbKdXpqY0qpB28Yu4Oi4G6qN2kuTcHHB28tFv2iDJrk4lTUSwinfBeSqoCQStGJzpDPBovgxSap8zdgcfUuZ1ESe9IUrIfGY-OSvRj0g908xviB-y5uDX7z482LOvGMr4qvBT-f060JLlaYQD6ltz9sWbATc0QLqjlBZhjS3WmMTd_qG3BeaC2MNx5emNHLqfzQlcS9iFC23_chnN7iCehNC6GF-Jq-DPJ9j2Bi4AwDd0zWq3Mfvf4sgH0KSM7x8ZNzx7zThizfBNo3f62qNRR-ipqeZDxIGTjuZSxykAz2lFNZ7bb6sjMoT2djcyr7uNlUmpAtbcNOWJGpoPWl3hj6NA4N2ocaOQmwcf3RQOct76PTCmWPFJw3GQuXwdETcIcW6a7xecCyCbCsYB5AxF_01vW-rxPifpePsBkJr-fhTjBHPQDQx_Ktg2u2b5B7JdXDK4dERxXL96EdqzU3IlQ88KKQmsNOLV1MeJ69ESeeh4d9dBw57UsBN5GWo2WbAxUMs8C_OTT5Aqaqkcd3BFCeDsyYmPnc-aH-3wPx3rI4nw1hvypxItJ2GkUSlZPCxfcHqM7SRwr-5SM7J5m-bK1hOXw-H_Fiz1HkC8ne9cpqoQcSXFp_u57OeeKH6I9jQguYcXc84w6pxwBNrECjPTavyuj54uJljqSPAIcTdV-7COHvd8jx1iO6I7uoZ69MUN1EzqWTBfhj9kcJe6v7vL634uNszX0L3wWP3JBPaFku9r6ZiTunh4aqQ8xanUyoePlfYOgUsAp8IIVoT67wDgXks8ks3dSS_CgfKfRLbF8c4ikwLXpUeNwUpFfUZAJGxg81kkfVLtxV0U89QBc7Lm995TgElj-G_-9NmJBepuJSphSXamQGipKC5cmBdQ8BU-75SFSZu-m8cgEZjxI04gkCupJAhP-l5wCPuPds0BZG2p-FbPggAetyuTHk0OhsU9HwyCpWPxMpH857YQyG52KDX_GzGwQdCo_aOv00RTQLgGgYKG3cTJokbsB4zgRe-2vJSusHwtt-LevNegFp1qkq_ZFVIia5vytsFeJNDvoT5gaTP2ZplcqKNE-8pc3JCs3Tkz45a9DY5lQx-Ox23MZdqqzAHbGjILMchRQlTH3xEq7WzOK9O6xtdGrG00ItPAp_Xjd97c7HMeU83UryKV3Zze-QFpXE-lAnp9WRQ6ynONVJh6O7ZM1XdA-HwmIJ0PIugDlbfZWiMEmUiHO9tIsBj-Gm8ZIwpZLegjKebuVkLDUEzb-pzYpXP72t3Vrc1t9OY98WWeMhbQv2NhTv3DIoVZUQneBNEfV--Yu9MPl2_DQPUQ-3rjNfy9C_VBSY0O4k4WLaAJLGSL7UnXLDTnxoCIQ84Wpop6CdDh27uljLisRv-U_gsAwjwDS54OcBpO_5fusT1vQLrgLSomeLfyqiEuCZiHi4eEYfcjQGRY6U1N68uY2IAQQkgeMdy1-qgdaI2zfC-bYZvgVkulCMk6fSulC8NLyLTP94bBSqkJyMCN8nmXE4fO3qSngYxiS6xqkc8L5dptarcJodVUcpvYtmbu3h3rnKmirxKpy-ZAIQue22Su2yGcCHqr6Evxgr4PRnb-BS-Ne20NilgUowSrtT_oBPH0SSfARTrNfB0P31k7-trOG2T8ROHRXvnuZVmaH-h_6qq66NNDmOZRX4045wmH-ww6KwbJvDS_le-aXJJvXh2pICWhQD3sAQmf4wMj0FXMWzaT4R9EzfR0fgqBydDU3JmMB0Ia1IQeKsZtQpdIBxAf7lpnCmfaqTHUUUgkIlOkzTDzd8iPyJI1T7JWrJjyE20-G1kVq_57arMRMJcVNX2VSVzTsxQ2X3pnriUxPuX1A7Unync2cqWTu70DpXt2oPlPz1zvw6JJPhYKK37mEykgkz7U1ogHsRqwLIy6I9xhWwN2I7BOmw2-AezKkhqOshjZmtVIuIjLKfI5jcQP1",
  "id": "rs_003d579e8354fab7016ab4521c297087d09fa898e922c1bfcb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.275,\"right_z\":0.08,\"right_gripper\":1.0},\"note\":\"The lift did not move the lid; from above, the wrist view now clearly shows the handle centered but still a few centimetres beyond the fingertip row. I’ll reopen, advance farther over the handle, and lower for a second, better-aligned grasp.\"}",
  "call_id": "call_NPhRrTKlEv2UCpcLwRhrBUZr",
  "id": "fc_003d579e8354fab7016ab4521dce3c87d0a94745a471e24e6a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NPhRrTKlEv2UCpcLwRhrBUZr",
  "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]: [-0.1761, 1.3209, 1.1954, -1.108, -0.2504, -0.1432, 0.9979, 0.7906, 2.2257, 2.355, -1.5726, 0.4309, 0.3996, 0.9945]\nstate[eef_state]: left_x=0.2889 left_y=-0.0033 left_z=0.1692 left_yaw=0.1561 left_pitch=-0.6045 left_roll=0.2326 left_gripper=0.9979 right_x=0.363 right_y=0.267 right_z=0.1839 right_yaw=0.0308 right_pitch=-0.6366 right_roll=-0.4182 right_gripper=0.9945\nstate[joint_eff]: [-0.1846, -4.6291, 6.147, 0.8816, -0.1783, -0.0513, -0.0171, 0.0205, -11.412, 6.7624, 0.6911, 0.4225, 0.0269, -0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da8e23eec2ce08041f39de0d9acc2290a6ca3903d4373db4f1fd2065d9aaba79",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f416e0f80510790e888ed79d67c5c5e00255fac9b0f0f684d94b845a5191ff6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00504c4729b685d910704e31095bc3e2452a7f72916f3d2f97fbbd0f4024cc97",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /responses · status 200 · 3.53 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1753, 1.3201, 1.1954, -1.1042, -0.2504, -0.1429, 0.998, 0.7876, 2.1986, 1.8263, -1.0954, 0.4187, 0.4339, 0.9989]\nstate[eef_state]: left_x=0.2897 left_y=-0.0032 left_z=0.1697 left_yaw=0.1556 left_pitch=-0.6002 left_roll=0.231 left_gripper=0.998 right_x=0.365 right_y=0.2699 right_z=0.0624 right_yaw=0.0012 right_pitch=-0.6549 right_roll=-0.4131 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -4.6564, 6.2564, 0.8864, -0.2027, -0.0269, -0.0415, -0.335, -11.535, 6.0786, 0.823, 0.2662, -0.0171, -0.1245]",
      "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]: [-0.1761, 1.3201, 1.1954, -1.1076, -0.2504, -0.1432, 0.9979, 0.7925, 2.2272, 2.3611, -1.5578, 0.4309, 0.4107, 0.0081]\nstate[eef_state]: left_x=0.289 left_y=-0.0033 left_z=0.1694 left_yaw=0.1558 left_pitch=-0.6034 left_roll=0.2321 left_gripper=0.9979 right_x=0.3656 right_y=0.2708 right_z=0.1854 right_yaw=0.0355 right_pitch=-0.62 right_roll=-0.3965 right_gripper=0.0081\nstate[joint_eff]: [-0.1983, -4.6974, 6.0923, 0.8864, -0.1832, -0.0708, -0.0171, -0.5675, -14.8855, 5.6274, 0.5788, 0.3639, -0.0415, 0.8278]",
      "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]: [-0.1761, 1.3209, 1.1954, -1.108, -0.2504, -0.1432, 0.9979, 0.7906, 2.2257, 2.355, -1.5726, 0.4309, 0.3996, 0.9945]\nstate[eef_state]: left_x=0.2889 left_y=-0.0033 left_z=0.1692 left_yaw=0.1561 left_pitch=-0.6045 left_roll=0.2326 left_gripper=0.9979 right_x=0.363 right_y=0.267 right_z=0.1839 right_yaw=0.0308 right_pitch=-0.6366 right_roll=-0.4182 right_gripper=0.9945\nstate[joint_eff]: [-0.1846, -4.6291, 6.147, 0.8816, -0.1783, -0.0513, -0.0171, 0.0205, -11.412, 6.7624, 0.6911, 0.4225, 0.0269, -0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da8e23eec2ce08041f39de0d9acc2290a6ca3903d4373db4f1fd2065d9aaba79",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f416e0f80510790e888ed79d67c5c5e00255fac9b0f0f684d94b845a5191ff6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00504c4729b685d910704e31095bc3e2452a7f72916f3d2f97fbbd0f4024cc97",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFIl0jiHTT-2hPqi8tWmKBLP1Ikeq3uvK9KEx3FfJ6kZv6pNeK5B4q-6LGjONFMhbrwhNZcHqN7Qzb93orFv2J4PV1NG9iXCfOons_o3iScmHSQzAinUmB-hpE0TXkK1Sq4AOdzf_kwwYwz7jplmcIvxIzrKwRizY1vbuxXtCvnWex2zGIbQl9kqQow8XeKeBGCzUO7tbgMN6QXZ1aJF0ad3xc9q_uvBbh7LTRjWs5RLgh1pYDDgKfn4qCqA48dne52nStizdd6oLslPd028yH19bT95BrClAE58FawOZGwmfPSgGQdBXxjq2I5pIdt39tqXr6ooWnT2RlLNFHUrO7MMiGnC51LB579lStwSWGJOZF8lda0nPSFaV7zYYiNb1JAstcyH9_gBcgbZPLaeT0Tg2JgXSgx_3DYsswljdas8TNA14ndGSrz8bpITG-e56bxHjdJWPyAiDU5Qk3NTCDfTxe9iuxQ4BYDF5hszxiuXNnh_Lh8VgyWlmflXZuuSJgOmCKoIXV-RYwZ6D5i-5wOGxoGmP9iOIPuKUAkVQQhQEfMpN_0ReCRggD1D-nYllr--xCjieOPWNDoAtSRT93XvaO9JRXGUNN75u0dSjpOIH5dyoxMrsea9adMU9ydtnZRE3ph79lhTlyTV6WHfy5MpA8OF9w4gCyMwtybnmvBxW-xr6EVDoxNojsg37dinh5W5CIEhl_UNJ71vLI0UNyLQNLvAMP7DKqqLHMrm7cPTWvCN6B1K3vsuEtyvEIaxDz95gIsrD6YcMwk1-3U_j6EYaZiCzXPa0qtVLF9KW1TkLoehhEFgdPODw2c4-lmngvxVF8f30EgptyzKEhcXl7kG6YvkpW9n8y3HO9zmMialF1EC3lggZOiSQFbQejR18B3VrMxUsXZg2agJyJwYdw6zeCOUHSImN4j92p77ywA7oTRp0OYLtd2ZVFLEeAq__f7lG2UW0GaJXUrNL3rQ5wv6LaNJxDJjmDVHCzDOqhMg4JvYQDFXltycu16AIKNNPMW-y4EaAHXO-eaS6xlgrD4TNZ_c7zYdM9huaRg4bsWYGoapaeJre_zIwzbgaCO-XK6nrFm3chWIh3ZIJeSJKVkgFtDhzCnuamEpWFJr7V3HnRjh8azKwTxzPaK_1OlicT6MPtlmobDbiCMJh-15lwF0vePkyg_PFQozN1-Vlqk8byI6cz-HsLkiX39DEaX_vD1HQKYEvW1wfMou5owtj0NCmaLEVbeQOURqW4Z1iKd83ORLScUpHWgLAKacP2EjD5j0eh2lZF7lOxTjQxGjKq1NrTJ203dp2fk_rwDKzTO2r8K3iX1qE9CCsF2ITP6f1HW-KBhiN66F73PkePBkGlUB578JPfoRjMFaVjpyuxusyvlvkFmEpqaqG63GlVbyzbugFA7Fl2_2l8b0RG8amCuDbNt-yDUBPWSY86kbGISbwG9fqU3W8fCbf1E-cUcAuLGVrpkzLBobUoUbV9DiOnD9VS3VXlLm-sB6hKm4LuGdslybKGGfrqtwsxT_n_NCWfJkaZ1zf89VpOfEyeEcSKUT9mrIZGv3JDIyLlgcJiE5cHbH_C8LGLhHPRPa2xtfu0XJH0AHGMmonUGrDp2RV4fmBrNf5RWhL3z3qghoB2HVzxdjuJKRlDZAcrhLC1ATtox7B_v6PRtTzsJ5NSAxR-fY10RA41kmN_fR_rR_EgtbsVjCsk54tb4XAQ5SstKx_ynLmiDDeZ35uwXG3p24eGlz4WDvPLKXq3TMVWdijrxbUewscIgJTSqYiO9ZpgJFagox",
  "id": "rs_003d579e8354fab7016ab45222477887d0b40e5134d5a98fc3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.2,\"right_z\":0.25,\"right_gripper\":1.0},\"note\":\"The arm did not track the combined advance-and-descent command, indicating the current pose is kinematically wedged over the lid rather than blocked by the object. I’ll retract and raise to reconfigure, then make one clean approach to the handle.\"}",
  "call_id": "call_GXCWkl6riB7SKAk6ctyc6kW6",
  "id": "fc_003d579e8354fab7016ab452247fb487d0bcf2252f890059fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GXCWkl6riB7SKAk6ctyc6kW6",
  "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]: [-0.1761, 1.3201, 1.1954, -1.1072, -0.2504, -0.1429, 0.9979, 0.7906, 1.8557, 1.985, -1.5517, 0.4377, 0.3923, 0.9989]\nstate[eef_state]: left_x=0.289 left_y=-0.0033 left_z=0.1694 left_yaw=0.1555 left_pitch=-0.6031 left_roll=0.2322 left_gripper=0.9979 right_x=0.3062 right_y=0.2081 right_z=0.2291 right_yaw=0.0412 right_pitch=-0.6182 right_roll=-0.41 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -4.6974, 6.0376, 0.9646, -0.2369, -0.0122, -0.0171, -0.3897, -9.4291, 5.3949, 0.7937, 0.4322, -0.0757, -0.1245]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:921a4660eebf070a078449b4e8c0bcb77bbb3d4dd97c002c98f89af54f198fcc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3a776acc2802e0843401e25aec0bdb5beeb4bc423d027d1f7f31215e1e1cd15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43d079be7e090bbeaeb48614f399f08eab312d1e18d08c42ac475f1a686a9e13",
      "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 · 3.176 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]: [-0.1761, 1.3201, 1.1954, -1.1053, -0.2504, -0.1429, 0.9979, 0.7856, 2.2127, 1.8244, -1.0515, 0.4221, 0.4149, 0.0098]\nstate[eef_state]: left_x=0.2895 left_y=-0.0034 left_z=0.1696 left_yaw=0.1551 left_pitch=-0.6013 left_roll=0.2314 left_gripper=0.9979 right_x=0.3721 right_y=0.275 right_z=0.0571 right_yaw=0.0238 right_pitch=-0.6367 right_roll=-0.4004 right_gripper=0.0098\nstate[joint_eff]: [0.0342, -4.5197, 6.2291, 0.906, -0.2125, 0.0024, -0.022, -0.3897, -12.1641, 6.2564, 0.8913, 0.2857, 0.0806, 0.8181]\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]: [-0.1761, 1.3209, 1.1954, -1.108, -0.2504, -0.1432, 0.9979, 0.7906, 2.2257, 2.355, -1.5726, 0.4309, 0.3996, 0.9945]\nstate[eef_state]: left_x=0.2889 left_y=-0.0033 left_z=0.1692 left_yaw=0.1561 left_pitch=-0.6045 left_roll=0.2326 left_gripper=0.9979 right_x=0.363 right_y=0.267 right_z=0.1839 right_yaw=0.0308 right_pitch=-0.6366 right_roll=-0.4182 right_gripper=0.9945\nstate[joint_eff]: [-0.1846, -4.6291, 6.147, 0.8816, -0.1783, -0.0513, -0.0171, 0.0205, -11.412, 6.7624, 0.6911, 0.4225, 0.0269, -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]: [-0.1761, 1.3201, 1.1954, -1.1072, -0.2504, -0.1429, 0.9979, 0.7906, 1.8557, 1.985, -1.5517, 0.4377, 0.3923, 0.9989]\nstate[eef_state]: left_x=0.289 left_y=-0.0033 left_z=0.1694 left_yaw=0.1555 left_pitch=-0.6031 left_roll=0.2322 left_gripper=0.9979 right_x=0.3062 right_y=0.2081 right_z=0.2291 right_yaw=0.0412 right_pitch=-0.6182 right_roll=-0.41 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -4.6974, 6.0376, 0.9646, -0.2369, -0.0122, -0.0171, -0.3897, -9.4291, 5.3949, 0.7937, 0.4322, -0.0757, -0.1245]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:921a4660eebf070a078449b4e8c0bcb77bbb3d4dd97c002c98f89af54f198fcc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3a776acc2802e0843401e25aec0bdb5beeb4bc423d027d1f7f31215e1e1cd15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43d079be7e090bbeaeb48614f399f08eab312d1e18d08c42ac475f1a686a9e13",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFIpelplSmm1ZHqUoQlOYKd637POC22_DuYRHWlb031uD5s3tpDIIlAH1liI2zzCtaBsCH4BkS_MD676TVhzWgzXGcR9pZNbT-lma24wfy54j57gPcblcOXsjC6bxbYKejAawNHrEQDko3Z47Df74xff9tFmGeJL6__JAhEBdZ5D6Bef0mx7xK7jQ_xs4N1zgvyUA6mlNEqO06IojdCXtX7rzwbsiS4rOkoXQ9Pa-Zz3qDPAaBgeiYP_NiZBl1rG1-nHO-B7QreEvOx45iPrnjQKxLDzQ7MWFnTjClaKG88mNGdV_HrtiEDgb1O7PAPGCATX9AAOZwaAVgmLXK09vCFyiIk53GSuULWjyWWQza1jQyVo0haOLdBgL2QjmiAx9wmfreezsOrdiwtCxhPRbEJ8WC98Be1QPs_ppok1C6SpGvUMfAf_Kst7VUyVSFdvsNon_Q70hDgEaV6KZjQZx1wjoYmlb4YINJM1Wl2mQL9QRhGmGjp_lAobwAoDkvx9xDhalL1cD4LK08XPpblk4wm2XbPACUpv6Nca6zalKj6ajXUPKkTPT8ha_TtN3nnh4kXVhtvHNEjrwZgPHpjzfGQAI_xn-wTu9A_lvafrjcssb3S2UzTI4YjopiEEQkByUIM8jvt6cZs8iPjUYTx5vmeJ1-s33LY81hqxzJC5magsYq4N-GHYXiG3mwA076mY-VzYiyoixLNOA7_H4p4SrbFylPaNADRk3qhVpDMcqBJBJKZqkYR45LRnVFmGaChUWZhCSqnDTmsbhaMkqo6MTbYSsoZJ_dCYuRCPeqhNK9k86F17vQSuM9p7rS0njwLx6klMHcbZgi8goeKVqDYA7_KEyi-4NIJ8UiZCgybUdFyLe273--OrJIC4GunqtCtPFVK2LWDEFICSE61OZuIlPsQBSe0QQfMmGE0P8mO1W3_5uBW_0YfIMzJJJ9Oof7vZPwAJ5_VdMkBTPcFCetPkh83FTZXCN474ilSHpBUQAES6cJM9D-cwBY_u1-0fRcjQQ7dyJMwemcNASsXxkKE7DfZBzEycMyqvPCjKZ0Q-giLRHk5GSmaJa_yZ3lPIAy_5rvhChbVxqAM4FgrTKIrxeFxYWe9fhhjXsmDzY9jr_RfbNetdyEdunh7OQxJAKvRpPSVbaZArfYovk-DBjDujO3gBKIBsMhwx-_EfJuKLU3rD89kn46NTYKdQbiCGPLuU2FxIL8-i94yTeRACqlrKSD2iHo7V9fr4WuNDgMyRAFmkHMPoeAVUXaXC6CLo-Y1K9MY_j3MISH7-aEm_Onib-ZMc1bG2isqCkej1oyR3Bg0zyIB9vw6bhQf2nUbGlxNMgx7_eevKz-653-ec-IHFhq9_UymeIT_xzIngsBjMeLSVoDKNNmL2hZDmZr92A-AMUG7f9jMYFXVhDdqxUIaJT7ObLDZK2OPNADsuDKQBqDpQV2qgf6yVCUq16q1wFfQL6satSmX3mjccPTpvhS4G4WBu1vXDADZOvaotVvzFhBSxd70N2wAi76cCiY5czAdtZsGb3CxMbXBTa-BiJzsFs0wjwdUMGIA7IFOHEIQxYoNY8-Z9PTLsSGNHaKxhlQS6RjdYtVxZAnbKzPYyUr7mOfU43VvgGbM0kNa8YzvIwAucvntmkOEuluaau8ujLqD67jOuk2AhWXmlTyT1aHrBK-lzcFjCjddNNmlzPlUTpy1NI70=",
  "id": "rs_003d579e8354fab7016ab452275ca887d0b5c6b2c3690e6f1b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.24,\"right_z\":0.055,\"right_gripper\":1.0},\"note\":\"The arm has reconfigured successfully; the handle is now visible slightly left of the jaw column. I’ll approach it at the front-edge height while shifting a few centimetres left for centered alignment.\"}",
  "call_id": "call_TRjHjAE2L3bGcFIXzKp4Hsqc",
  "id": "fc_003d579e8354fab7016ab45228831087d0acc11aab229dcac2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TRjHjAE2L3bGcFIXzKp4Hsqc",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1761, 1.3201, 1.1954, -1.1076, -0.2504, -0.1429, 0.9979, 0.7528, 2.0453, 1.5711, -0.9668, 0.4316, 0.3408, 0.9989]\nstate[eef_state]: left_x=0.289 left_y=-0.0033 left_z=0.1694 left_yaw=0.1556 left_pitch=-0.6035 left_roll=0.2323 left_gripper=0.9979 right_x=0.3514 right_y=0.2329 right_z=0.0599 right_yaw=0.0305 right_pitch=-0.6479 right_roll=-0.444 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -4.6154, 5.9556, 0.9109, -0.2271, -0.0171, -0.0171, -0.7179, -9.935, 6.3248, 0.5934, 0.2857, 0.0562, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af3a6f1e7d3663f09b88790de5e6ee871ab27443ec0906f47018090ab8ddbb54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:622da333bc91f1c0f5bb6c44d85a3c1412d4fade5fc4b91e426033a894fad0ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10a62ec813aa0bfb65b1bf2d19fa74678ed18ddc0b4993f292dacf5c8fea2754",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 3.75 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]: [-0.1761, 1.3201, 1.1954, -1.1076, -0.2504, -0.1432, 0.9979, 0.7925, 2.2272, 2.3611, -1.5578, 0.4309, 0.4107, 0.0081]\nstate[eef_state]: left_x=0.289 left_y=-0.0033 left_z=0.1694 left_yaw=0.1558 left_pitch=-0.6034 left_roll=0.2321 left_gripper=0.9979 right_x=0.3656 right_y=0.2708 right_z=0.1854 right_yaw=0.0355 right_pitch=-0.62 right_roll=-0.3965 right_gripper=0.0081\nstate[joint_eff]: [-0.1983, -4.6974, 6.0923, 0.8864, -0.1832, -0.0708, -0.0171, -0.5675, -14.8855, 5.6274, 0.5788, 0.3639, -0.0415, 0.8278]",
      "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]: [-0.1761, 1.3201, 1.1954, -1.1072, -0.2504, -0.1429, 0.9979, 0.7906, 1.8557, 1.985, -1.5517, 0.4377, 0.3923, 0.9989]\nstate[eef_state]: left_x=0.289 left_y=-0.0033 left_z=0.1694 left_yaw=0.1555 left_pitch=-0.6031 left_roll=0.2322 left_gripper=0.9979 right_x=0.3062 right_y=0.2081 right_z=0.2291 right_yaw=0.0412 right_pitch=-0.6182 right_roll=-0.41 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -4.6974, 6.0376, 0.9646, -0.2369, -0.0122, -0.0171, -0.3897, -9.4291, 5.3949, 0.7937, 0.4322, -0.0757, -0.1245]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 156 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1761, 1.3201, 1.1954, -1.1076, -0.2504, -0.1429, 0.9979, 0.7528, 2.0453, 1.5711, -0.9668, 0.4316, 0.3408, 0.9989]\nstate[eef_state]: left_x=0.289 left_y=-0.0033 left_z=0.1694 left_yaw=0.1556 left_pitch=-0.6035 left_roll=0.2323 left_gripper=0.9979 right_x=0.3514 right_y=0.2329 right_z=0.0599 right_yaw=0.0305 right_pitch=-0.6479 right_roll=-0.444 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -4.6154, 5.9556, 0.9109, -0.2271, -0.0171, -0.0171, -0.7179, -9.935, 6.3248, 0.5934, 0.2857, 0.0562, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af3a6f1e7d3663f09b88790de5e6ee871ab27443ec0906f47018090ab8ddbb54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:622da333bc91f1c0f5bb6c44d85a3c1412d4fade5fc4b91e426033a894fad0ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10a62ec813aa0bfb65b1bf2d19fa74678ed18ddc0b4993f292dacf5c8fea2754",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFItXnZmEmP6exRvNMQHpgtKb3n_DyqfXrxeqXP955gtDPJkv-LZA7Ss-1CYEa91RkACwzU43fw02x_wMbp2k8y06Emqu0kOKObtqxPYplkwlixGRn_ugE2dPEsbSAzkRO3KH9IJv48V80jzkrgxXql-M028PQYz1YeKQ6Yiip9Gmm2sKXfU2QDdSkX-0t7rYO9pKvaISZYiHPRClMUMh7HGx7_NZEkZEII4OZvJwsHs3QE0-jNLXFMCEBa0wjVqU3uU3Rj-8ZaCfDgtnBn2tTMIz1-I9sa4qvBQXxJKFtg1Mb65lvOssyBVvWOrLNNr4ZXwBpRaBHpMdxRSOJ3-_jpLPa9m0SRbgGA8CUco1s7mKhzzUHNd7bycAB9jjxYO6Fc2vG2_1PuNp9Ql1TC10UrRnz-eWOl6g2W0lVxWZ5XMYXEtY1uOdn8DCtAgvqP1fazuq4F8LwowBZLge2v8oEbYdAaxNI6NH8Ey0Ird9FhoPbiAKIu2uW2-W20NMclWCGi8YOaHnczkGOw75UO_xksqtBr4ryoT6GX9Gdp0ASC4C3Gf83HferA58J6fssKfFtPnNgS_hfTqMRHvjKrHFQHeBPPjAfJPruHsG_K-GB0Vh-UmBF-aN6FMfwvPXJ-tZ8clAIItD4LdRUDnpHvdJ0OrxoESfi6xsG5J7aXgoSyEu9C7gtZMKtKsTQ4iQH7nNLJUzUroRjVU0dCX9ohQvPdJoHOZ4mSs4y0gFBpzHK-WUGt6m2yDXCO-Hno4Afnfy44sQ_dusbiD_oo71oR-uT22TOCKI9xHdC6wOyM94laFrH9Czrp5_ugY7Yoa2UUYOwnrXk4zSRk09B_Aw4thjoT8SHnpQ_qK6fHEM_2cWjeRzN1sFDKg11v-mMq-fZtInHymwnU_rzUYe6iOokXwJb0el66o99pkcJh-MQjCsGXVMavKgYnp5HXm0sTY5Kma1UjMMSiJi-3x_wjI5-dfwtNZvAKoMrHkUQp5vOeTit2xPwW_e1Uzrk2QxlgsNUnyZZJtTe_m-qRDPF8p9ypSssyb9EyjlK16-MZJN2-H-2vv9RyI5aOMaTDMfl9dOapA8aJ82QRboPE-MnCWdGEmjPhAMTXhEJ-sw-dydasuZT-22UpSLMWcvWr3JI6lhJvjjtzlcoX6uGaEYMvhIoamr3eF-wTnnjB1JccJoLPUEMiAsY99YgYKiaCGh4MV7pLrBRX786JwxT5KNmqTCx5LfVNfjNDGcBIaEkPxVsXCxjWWU_xAyLnGKfDe5GchS1Uj7aCdOGr5pS5AFWo2mDSBfFkS81kQhNxAzyqfGXFDGC0j1Ia_mJhpuZj-LnC4pbJZhXEdJIji9MdblBD5sMNxL2vU7VOpWAj4v94U4Xy7kkIfGlLi1dXeuCAxza4v7jNfogZZln7_hIyauuVoy64F4xcQo_n1ni39qVAGtjuH1Ehwzlhzw51nfZLrRb10mwKNre8v-y5JBLnzgsrdvrp4G7VNLF2ytI2Dhri_8h2mk8U1lSPGmvWOoCXGTH6W4qqN9Ljac8JvaLA-IP3xuiFgCpSzxaU_pyWQlespjzYw48UNSuRynwiblTULX5EjDhIadOWJgKl8LkxKB3-a9DPsTbaq5A==",
  "id": "rs_003d579e8354fab7016ab4522c35d087d0b311bbd34e464b2a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The U-shaped handle now fills the center of the open jaws, with both side legs between the fingertips. I’ll close on the handle and use the resulting jaw spacing to confirm contact.\"}",
  "call_id": "call_hwDuA8mvt4x2f5ngykZFxS59",
  "id": "fc_003d579e8354fab7016ab4522d40a487d081b8e72ac1295ce3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hwDuA8mvt4x2f5ngykZFxS59",
  "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]: [-0.1761, 1.3201, 1.1954, -1.1076, -0.2504, -0.1432, 0.9979, 0.7647, 2.0525, 1.5154, -0.9211, 0.4496, 0.3408, 0.0099]\nstate[eef_state]: left_x=0.289 left_y=-0.0033 left_z=0.1694 left_yaw=0.1558 left_pitch=-0.6034 left_roll=0.2321 left_gripper=0.9979 right_x=0.3459 right_y=0.2304 right_z=0.0446 right_yaw=0.0214 right_pitch=-0.6487 right_roll=-0.475 right_gripper=0.0099\nstate[joint_eff]: [-0.253, -4.8205, 6.0376, 0.8913, -0.1929, -0.0757, -0.0171, 0.0342, -13.3675, 6.0786, 0.6764, 0.3736, 0.0562, 0.7546]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 395):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e579eeacea5248ecb4f88980bfae68fc09d9dddecc3ea22ffa53c9a47cd35f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 395):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57fdb522b50e6a2353f58a163d0aec3de61b73b4af581b2dcf2e577bf9241f6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 395):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2356574468369031e72637579625d457810f5a42365831a57f68a89f88b892c5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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