adhoc

completed
2026-09-23T20:08:46.999070+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (75 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
190.7 s
total steps
370
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe safe is open near the centre-left, with a yellow object to its right and two soft toys below it. I’ll move the right gripper above the yellow object first, keeping it high enough to avoid the safe.
move_to
right_x0.3800right_y0.2700right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7925, 0.6041, -0.3908, -0.0193, -0.0338, 0.9993, -0.0204, 0.7933, 0.6052, -0.3965, -0.02, -0.033, 0.9996] state[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1782 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2927 right_y=0.0012 right_z=0.1773 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.3214, -1.3607, 10.2359, 2.0049, -0.0855, 0.1978, -0.0904, -0.5402, -1.4564, 9.8393, 1.9316, -0.0366, 0.1441, -0.0513] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.27,"right_z":0.15},"note":"The safe is open near the centre-left, with a yellow object to its right and two soft toys below it. I’ll move the right gripper above the yellow object first, keeping it high enough to avoid the safe."})
tool
executing move_to over 23 steps (2.3s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe yellow object is visible near the centre of the right wrist camera, but still ahead of the fingertips. I’ll advance slightly and lower the open gripper toward its centre.
move_to
right_x0.4110right_y0.2540right_z0.0680
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4057, -0.0193, -0.038, 0.9992, 0.8448, 1.7279, 1.1595, -0.2623, 0.6407, 0.5034, 0.9996] state[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.0023 left_pitch=-0.0164 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3703 right_y=0.2635 right_z=0.1353 right_yaw=0.0368 right_pitch=-0.0495 right_roll=-0.0457 right_gripper=0.9996 state[joint_eff]: [-0.294, -1.2786, 6.9949, 1.8437, -0.0415, 0.0317, -0.0171, 0.1026, -8.4991, 8.6496, 1.5653, 0.5495, 0.2418, -0.0122] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.411,"right_y":0.254,"right_z":0.068},"note":"The yellow object is visible near the centre of the right wrist camera, but still ahead of the fingertips. I’ll advance slightly and lower the open gripper toward its centre."})
tool
executing move_to over 5 steps (0.5s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe yellow object remains clearly ahead of the jaws in the wrist view. I’ll move the gripper forward another few centimetres and lower it to the object’s grasping height.
move_to
right_x0.4470right_y0.2440right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7971, 0.6067, -0.4095, -0.0193, -0.0383, 0.9992, 0.7479, 1.8999, 1.0893, -0.0566, 0.5793, 0.4355, 0.9996] state[eef_state]: left_x=0.2913 left_y=0.0015 left_z=0.1743 left_yaw=0.0025 left_pitch=-0.0206 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3996 right_y=0.2437 right_z=0.0596 right_yaw=0.0186 right_pitch=-0.1103 right_roll=-0.0916 right_gripper=0.9996 state[joint_eff]: [-0.1299, -1.2376, 7.2, 1.7607, -0.0464, -0.022, -0.0122, -0.1436, -9.6615, 6.0376, 1.9072, 0.2222, -0.0952, -0.0122] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.447,"right_y":0.244,"right_z":0.025},"note":"The yellow object remains clearly ahead of the jaws in the wrist view. I’ll move the gripper forward another few centimetres and lower it to the object’s grasping height."})
tool
executing move_to over 4 steps (0.4s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe yellow object is still ahead of the open fingers, while the gripper is now near table height. I’ll advance without lowering much further so the jaws reach around it.
move_to
right_x0.4810right_y0.2370right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7982, 0.6067, -0.421, -0.0193, -0.0387, 0.9992, 0.6758, 2.056, 1.1702, 0.0223, 0.5289, 0.382, 0.9996] state[eef_state]: left_x=0.2897 left_y=0.0015 left_z=0.1717 left_yaw=0.0027 left_pitch=-0.0332 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4353 right_y=0.2393 right_z=0.0247 right_yaw=0.0127 right_pitch=-0.1346 right_roll=-0.1004 right_gripper=0.9996 state[joint_eff]: [0.0342, -1.306, 7.0085, 1.8828, -0.0562, -0.0464, -0.0122, -0.253, -9.3744, 7.3231, 1.5507, 0.2613, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.481,"right_y":0.237,"right_z":0.02},"note":"The yellow object is still ahead of the open fingers, while the gripper is now near table height. I’ll advance without lowering much further so the jaws reach around it."})
tool
executing move_to over 4 steps (0.4s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe gripper stopped short of the requested forward position at table height, so its current posture appears to be at a reach limit. I’ll lift slightly and pitch the tool forward to make room for the last part of the approach.
move_to
right_x0.4750right_z0.0750right_pitch0.4000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4282, -0.0193, -0.0387, 0.9992, 0.6662, 2.0743, 1.1828, 0.0402, 0.5217, 0.3664, 0.9996] state[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1699 left_yaw=0.0027 left_pitch=-0.0416 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4414 right_y=0.2396 right_z=0.0226 right_yaw=0.0181 right_pitch=-0.1291 right_roll=-0.1005 right_gripper=0.9996 state[joint_eff]: [-0.3077, -1.0598, 7.0085, 1.7411, -0.0806, -0.0806, -0.0122, -0.0889, -9.7983, 7.1179, 1.5311, 0.2173, -0.0171, -0.0122] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.475,"right_z":0.075,"right_pitch":0.4},"note":"The gripper stopped short of the requested forward position at table height, so its current posture appears to be at a reach limit. I’ll lift slightly and pitch the tool forward to make room for the last part of the approach."})
tool
executing move_to over 18 steps (1.8s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteWith the tool pitched forward, the yellow object has moved into the jaw column in the wrist view. I’ll lower the open jaws around it before closing.
move_to
right_x0.4730right_y0.2420right_z0.0180right_pitch0.4000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8017, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.6792, 2.1719, 1.0069, 0.8406, 0.6712, 0.062, 0.9996] state[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1678 left_yaw=0.0027 left_pitch=-0.0511 left_roll=-0.003 left_gripper=0.9992 right_x=0.4705 right_y=0.2433 right_z=0.0621 right_yaw=0.0504 right_pitch=0.3283 right_roll=-0.1261 right_gripper=0.9996 state[joint_eff]: [-0.212, -1.3744, 6.9949, 1.8144, -0.0513, -0.0757, -0.0122, -0.7043, -9.7846, 4.6564, 2.0733, 0.3053, 0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.473,"right_y":0.242,"right_z":0.018,"right_pitch":0.4},"note":"With the tool pitched forward, the yellow object has moved into the jaw column in the wrist view. I’ll lower the open jaws around it before closing."})
tool
executing move_to over 3 steps (0.3s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe right gripper is over the yellow object, and its descent has stopped above the requested height, which may be contact with the object. I’ll close the jaws and check whether they hold it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4454, -0.0193, -0.0387, 0.9992, 0.6792, 2.3127, 1.0161, 1.1007, 0.6777, 0.0383, 0.9996] state[eef_state]: left_x=0.2865 left_y=0.0016 left_z=0.1655 left_yaw=0.0028 left_pitch=-0.0625 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4769 right_y=0.2473 right_z=0.0468 right_yaw=0.028 right_pitch=0.4312 right_roll=-0.0698 right_gripper=0.9996 state[joint_eff]: [-0.1709, -1.347, 7.0632, 1.9267, -0.0855, -0.0757, -0.0122, -0.253, -6.8034, 3.7402, 1.1795, 0.0855, -0.1441, -0.0171] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right gripper is over the yellow object, and its descent has stopped above the requested height, which may be contact with the object. I’ll close the jaws and check whether they hold it."})
tool
executing move_to over 10 steps (1.0s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe gripper closed almost completely, so it missed the yellow object; the wrist image shows the object just to the right of the fingers. I’ll reopen, shift toward it, and approach from slightly above for one corrected attempt.
move_to
right_gripper1.0000right_x0.4570right_y0.2270right_z0.0850right_pitch0.3200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4576, -0.0193, -0.0387, 0.9992, 0.6811, 2.3367, 1.0161, 1.2045, 0.6659, 0.0093, 0.009] state[eef_state]: left_x=0.2847 left_y=0.0016 left_z=0.1631 left_yaw=0.0028 left_pitch=-0.0747 left_roll=-0.0025 left_gripper=0.9992 right_x=0.4779 right_y=0.2515 right_z=0.0558 right_yaw=0.0347 right_pitch=0.4928 right_roll=-0.0465 right_gripper=0.009 state[joint_eff]: [-0.3077, -1.0462, 6.9949, 1.7607, -0.0855, -0.0317, -0.0122, -0.4034, -7.4872, 3.5897, 1.116, 0.1538, -0.0122, 0.7057] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.457,"right_y":0.227,"right_z":0.085,"right_pitch":0.32},"note":"The gripper closed almost completely, so it missed the yellow object; the wrist image shows the object just to the right of the fingers. I’ll reopen, shift toward it, and approach from slightly above for one corrected attempt."})
tool
executing move_to over 10 steps (1.0s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe yellow object is now centred between the open jaws in the right wrist image. I’ll lower the gripper at this alignment, without advancing farther.
move_to
right_x0.4600right_y0.2280right_z0.0260right_pitch0.3200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8036, 0.6067, -0.4728, -0.0193, -0.0387, 0.9992, 0.6586, 2.0708, 0.9104, 0.8211, 0.6239, 0.1059, 0.9947] state[eef_state]: left_x=0.2824 left_y=0.0017 left_z=0.16 left_yaw=0.0028 left_pitch=-0.0904 left_roll=-0.0022 left_gripper=0.9992 right_x=0.457 right_y=0.2277 right_z=0.0721 right_yaw=0.0479 right_pitch=0.3095 right_roll=-0.0774 right_gripper=0.9947 state[joint_eff]: [-0.0068, -1.2786, 7.3094, 1.8828, -0.0659, -0.0366, -0.0122, -0.5128, -12.1504, 4.9983, 1.8779, -0.0073, 0.1734, -0.232] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.228,"right_z":0.026,"right_pitch":0.32},"note":"The yellow object is now centred between the open jaws in the right wrist image. I’ll lower the gripper at this alignment, without advancing farther."})
tool
executing move_to over 3 steps (0.3s)
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 remains centred between the jaws after the descent. I’ll close the gripper and check its settled opening before lifting.
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, 0.8059, 0.6067, -0.4793, -0.0193, -0.0387, 0.9992, 0.659, 2.2028, 0.918, 0.9459, 0.6086, 0.1089, 0.9954] state[eef_state]: left_x=0.2815 left_y=0.0017 left_z=0.1581 left_yaw=0.0028 left_pitch=-0.0991 left_roll=-0.002 left_gripper=0.9992 right_x=0.4594 right_y=0.2326 right_z=0.0356 right_yaw=0.0595 right_pitch=0.3071 right_roll=-0.0698 right_gripper=0.9954 state[joint_eff]: [-0.0068, -0.8274, 6.9675, 1.7949, -0.0317, -0.0659, -0.0122, -0.3761, -9.265, 4.5197, 1.7607, 0.3883, -0.1148, 0.0464] 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_gripper":0},"note":"The yellow object remains centred between the jaws after the descent. I’ll close the gripper and check its settled opening before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe jaws stopped at a substantial opening, suggesting they may be gripping the yellow object. I’ll lift it clear of the table and verify that it moves with the gripper.
move_to
right_z0.1350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8062, 0.6067, -0.4808, -0.0193, -0.0387, 0.9992, 0.6617, 2.2139, 0.9161, 0.9676, 0.5865, 0.1169, 0.605] state[eef_state]: left_x=0.2812 left_y=0.0017 left_z=0.1577 left_yaw=0.0028 left_pitch=-0.1011 left_roll=-0.002 left_gripper=0.9992 right_x=0.4585 right_y=0.2377 right_z=0.0333 right_yaw=0.0749 right_pitch=0.3105 right_roll=-0.0502 right_gripper=0.605 state[joint_eff]: [-0.0068, -1.0872, 6.9675, 1.619, -0.0806, -0.0269, -0.0122, -0.5675, -11.5077, 4.465, 1.5263, 0.2857, -0.1587, 1.0281] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.135},"note":"The jaws stopped at a substantial opening, suggesting they may be gripping the yellow object. I’ll lift it clear of the table and verify that it moves with the gripper."})
tool
executing move_to over 7 steps (0.7s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe jaws still have the same wide opening after the lift, but the overhead view is partly blocked by the arm. I’ll carry the gripper over the open safe; this lateral move should also reveal whether the yellow object is moving with it.
move_to
right_x0.4150right_y0.3550right_z0.1900right_pitch0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8062, 0.6067, -0.4957, -0.0193, -0.0383, 0.9992, 0.6605, 1.9457, 0.9451, 0.6064, 0.5823, 0.1123, 0.6041] state[eef_state]: left_x=0.2789 left_y=0.0017 left_z=0.1549 left_yaw=0.0026 left_pitch=-0.1159 left_roll=-0.0013 left_gripper=0.9992 right_x=0.4527 right_y=0.2332 right_z=0.1004 right_yaw=0.0902 right_pitch=0.2559 right_roll=-0.0899 right_gripper=0.6041 state[joint_eff]: [-0.1573, -1.2239, 6.9402, 1.7607, -0.0855, -0.0317, -0.0122, -0.0752, -12.2188, 8.9368, 2.2393, 0.149, -0.0269, -0.0562] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.355,"right_z":0.19,"right_pitch":0.25},"note":"The jaws still have the same wide opening after the lift, but the overhead view is partly blocked by the arm. I’ll carry the gripper over the open safe; this lateral move should also reveal whether the yellow object is moving with it."})
tool
executing move_to over 11 steps (1.1s)
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 noteThe yellow object is still on the table to the right of the safe, so that attempt did not secure it. I’ll park the right arm and bring the left gripper over the small white toy beside the safe.
move_to
right_x0.2920right_y0.0000right_z0.1850right_gripper1.0000left_x0.3430left_y-0.0700left_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8089, 0.6067, -0.5117, -0.0193, -0.0383, 0.9992, 0.9367, 1.9652, 1.3998, 0.0475, 0.7952, 0.2447, 0.604] state[eef_state]: left_x=0.2765 left_y=0.0018 left_z=0.1512 left_yaw=0.0027 left_pitch=-0.1346 left_roll=-0.0009 left_gripper=0.9992 right_x=0.4121 right_y=0.3536 right_z=0.1794 right_yaw=0.1368 right_pitch=0.227 right_roll=-0.1165 right_gripper=0.604 state[joint_eff]: [-0.0889, -1.4017, 6.9265, 1.7607, -0.0611, -0.0317, -0.0122, 0.1162, -9.812, 9.0051, 1.9609, 0.4518, 0.1734, -0.0171] 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":0.292,"right_y":0,"right_z":0.185,"right_gripper":1,"left_x":0.343,"left_y":-0.07,"left_z":0.1},"note":"The yellow object is still on the table to the right of the safe, so that attempt did not secure it. I’ll park the right arm and bring the left gripper over the small white toy beside the safe."})
tool
executing move_to over 30 steps (3.0s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe white toy is centred in the left wrist view, with its body extending toward the fingertips. I’ll lower and advance the open gripper slightly to get the jaws around its body.
move_to
left_x0.3510left_y-0.0710left_z0.0370
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3382, 1.2461, 0.5819, -0.1474, -0.2516, -0.2565, 0.9992, -0.0895, 0.659, 0.4049, -0.1188, -0.0845, -0.1749, 0.9989] state[eef_state]: left_x=0.3287 left_y=-0.0652 left_z=0.0836 left_yaw=0.0031 left_pitch=-0.2 left_roll=0.0145 left_gripper=0.9992 right_x=0.2934 right_y=-0.0077 right_z=0.1807 right_yaw=0.0664 right_pitch=0.2095 right_roll=-0.1156 right_gripper=0.9989 state[joint_eff]: [-0.1846, -3.5761, 8.8274, 1.873, -0.2418, -0.0269, -0.0122, -0.0205, -0.7179, 7.3778, 2.1563, -0.1587, -0.0073, -0.0415] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.351,"left_y":-0.071,"left_z":0.037},"note":"The white toy is centred in the left wrist view, with its body extending toward the fingertips. I’ll lower and advance the open gripper slightly to get the jaws around its body."})
tool
executing move_to over 4 steps (0.4s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe left jaws are low and straddling the white toy’s body in the wrist view. I’ll close them now and check whether the toy is held.
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]: [-0.3359, 1.4609, 0.5404, 0.0269, -0.2485, -0.2634, 0.9992, -0.091, 0.6643, 0.4046, -0.1486, -0.1032, -0.1913, 0.9989] state[eef_state]: left_x=0.335 left_y=-0.0671 left_z=0.0278 left_yaw=0.0135 left_pitch=-0.2778 left_roll=0.036 left_gripper=0.9992 right_x=0.2909 right_y=-0.0047 right_z=0.1724 right_yaw=0.0888 right_pitch=0.1747 right_roll=-0.1178 right_gripper=0.9989 state[joint_eff]: [0.4718, -5.559, 5.6137, 1.8926, -0.1245, 0.0806, -0.0122, 0.0205, -0.8821, 7.2137, 2.1807, 0.0415, 0.1099, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left jaws are low and straddling the white toy’s body in the wrist view. I’ll close them now and check whether the toy is held."})
tool
executing move_to over 10 steps (1.0s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteThe left gripper closed nearly empty; the white toy is still visible just ahead of the fingertips. I’ll reopen, lift, and pitch forward to reach farther over its body rather than repeating the same low approach.
move_to
left_gripper1.0000left_x0.3710left_y-0.0660left_z0.0850left_pitch0.3600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3332, 1.4788, 0.5354, 0.0254, -0.2523, -0.2707, 0.0336, -0.091, 0.6659, 0.4046, -0.1642, -0.0944, -0.1921, 0.9989] state[eef_state]: left_x=0.3318 left_y=-0.0644 left_z=0.0203 left_yaw=0.026 left_pitch=-0.2995 left_roll=0.0429 left_gripper=0.0336 right_x=0.2894 right_y=-0.0061 right_z=0.1684 right_yaw=0.0813 right_pitch=0.1571 right_roll=-0.119 right_gripper=0.9989 state[joint_eff]: [-0.294, -6.7897, 6.0239, 1.4286, -0.0708, 0.0366, 0.7839, -0.0889, -0.4444, 7.2957, 1.956, -0.1392, -0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.371,"left_y":-0.066,"left_z":0.085,"left_pitch":0.36},"note":"The left gripper closed nearly empty; the white toy is still visible just ahead of the fingertips. I’ll reopen, lift, and pitch forward to reach farther over its body rather than repeating the same low approach."})
tool
executing move_to over 22 steps (2.2s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe pitched-forward left gripper now reaches over the white toy, which fills the lower part of the wrist image. I’ll lower at this position so the jaws meet its body instead of the table in front of it.
move_to
left_x0.3690left_y-0.0710left_z0.0260left_pitch0.3600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3744, 1.6779, 0.2611, 1.0809, -0.4168, -0.1051, 0.9977, -0.091, 0.6666, 0.4046, -0.1944, -0.094, -0.1921, 0.9989] state[eef_state]: left_x=0.3662 left_y=-0.0632 left_z=0.0655 left_yaw=0.0277 left_pitch=0.2719 left_roll=0.057 left_gripper=0.9977 right_x=0.2863 right_y=-0.0059 right_z=0.1615 right_yaw=0.0802 right_pitch=0.1266 right_roll=-0.1139 right_gripper=0.9989 state[joint_eff]: [-0.4171, -5.3265, 3.494, 2.3028, -0.2076, 0.1001, -0.0708, -0.0889, -0.5538, 7.1453, 2.1026, -0.0757, -0.0366, -0.0073] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.369,"left_y":-0.071,"left_z":0.026,"left_pitch":0.36},"note":"The pitched-forward left gripper now reaches over the white toy, which fills the lower part of the wrist image. I’ll lower at this position so the jaws meet its body instead of the table in front of it."})
tool
executing move_to over 3 steps (0.3s)
step 177
top_cam
camera top_cam step 177
left_cam
camera left_cam step 177
right_cam
camera right_cam step 177
assistant
agent noteThe jaws are now low beside the white toy’s body, although its face is still visible ahead in the wrist view. I’ll test this improved position with a close and confirm by the gripper reading.
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]: [-0.4061, 2.0575, 0.2668, 1.396, -0.4507, -0.0891, 0.9978, -0.091, 0.672, 0.4042, -0.2131, -0.094, -0.1921, 0.999] state[eef_state]: left_x=0.3628 left_y=-0.0683 left_z=0.0053 left_yaw=0.01 left_pitch=0.222 left_roll=0.1082 left_gripper=0.9978 right_x=0.2844 right_y=-0.0057 right_z=0.1558 right_yaw=0.0797 right_pitch=0.1026 right_roll=-0.1097 right_gripper=0.999 state[joint_eff]: [-0.4718, -8.8684, 2.3179, 2.7668, -0.1099, -0.0317, -0.0024, -0.0615, -0.4581, 7.3231, 2.0537, -0.0757, -0.022, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws are now low beside the white toy’s body, although its face is still visible ahead in the wrist view. I’ll test this improved position with a close and confirm by the gripper reading."})
tool
executing move_to over 10 steps (1.0s)
step 187
top_cam
camera top_cam step 187
left_cam
camera left_cam step 187
right_cam
camera right_cam step 187
assistant
agent noteThe jaws stopped at about a two-centimetre opening, which could be the toy’s soft body. I’ll lift it and check whether it actually leaves the tabletop.
move_to
left_z0.1550
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4137, 2.149, 0.268, 1.5711, -0.4702, -0.0639, 0.2187, -0.091, 0.6724, 0.4042, -0.2504, -0.094, -0.1925, 0.999] state[eef_state]: left_x=0.3665 left_y=-0.0696 left_z=0.0123 left_yaw=0.0141 left_pitch=0.3005 left_roll=0.1034 left_gripper=0.2187 right_x=0.28 right_y=-0.0053 right_z=0.1476 right_yaw=0.0794 right_pitch=0.0653 right_roll=-0.1036 right_gripper=0.999 state[joint_eff]: [-0.4308, -6.5983, 1.4427, 1.7705, -0.1587, -0.0171, 0.8864, -0.0615, -0.4308, 7.1179, 2.1416, -0.0757, -0.0757, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.155},"note":"The jaws stopped at about a two-centimetre opening, which could be the toy’s soft body. I’ll lift it and check whether it actually leaves the tabletop."})
tool
executing move_to over 10 steps (1.0s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent noteThe white toy appears to have lifted with the left gripper, and the jaw opening remains steady. I’ll carry it over the open red compartment before lowering it inside.
move_to
left_x0.4110left_y-0.2420left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4118, 1.2758, 0.3836, 0.5934, -0.4759, -0.0685, 0.2192, -0.091, 0.6781, 0.4042, -0.2756, -0.094, -0.1925, 0.999] state[eef_state]: left_x=0.3647 left_y=-0.067 left_z=0.1449 left_yaw=0.0251 left_pitch=0.3115 left_roll=0.0956 left_gripper=0.2192 right_x=0.2771 right_y=-0.005 right_z=0.1408 right_yaw=0.0791 right_pitch=0.0349 right_roll=-0.0983 right_gripper=0.999 state[joint_eff]: [-0.3077, -4.4786, 8.6496, 2.0195, -0.0708, 0.0073, 0.7057, -0.1573, -0.841, 7.0496, 2.0293, -0.0464, -0.0317, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.411,"left_y":-0.242,"left_z":0.2},"note":"The white toy appears to have lifted with the left gripper, and the jaw opening remains steady. I’ll carry it over the open red compartment before lowering it inside."})
tool
executing move_to over 16 steps (1.6s)
step 213
top_cam
camera top_cam step 213
left_cam
camera left_cam step 213
right_cam
camera right_cam step 213
assistant
agent noteThe white toy is visibly hanging from the gripper above the safe, with the red tray below it. I’ll lower it into the compartment while keeping the gripper clear of the tray rim.
move_to
left_x0.4000left_y-0.2510left_z0.0770
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8181, 1.6943, 1.008, 0.2371, -0.8444, -0.255, 0.2209, -0.091, 0.6827, 0.4042, -0.2989, -0.094, -0.1921, 0.999] state[eef_state]: left_x=0.406 left_y=-0.235 left_z=0.184 left_yaw=0.0097 left_pitch=0.2827 left_roll=0.1129 left_gripper=0.2209 right_x=0.2741 right_y=-0.0048 right_z=0.1348 right_yaw=0.0788 right_pitch=0.0075 right_roll=-0.0933 right_gripper=0.999 state[joint_eff]: [-0.3761, -8.0068, 9.306, 1.7705, -0.3639, 0.0366, 0.4078, -0.1846, -0.8274, 7.2274, 1.9463, -0.0757, -0.0513, -0.0171] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.251,"left_z":0.077},"note":"The white toy is visibly hanging from the gripper above the safe, with the red tray below it. I’ll lower it into the compartment while keeping the gripper clear of the tray rim."})
tool
executing move_to over 7 steps (0.7s)
step 220
top_cam
camera top_cam step 220
left_cam
camera left_cam step 220
right_cam
camera right_cam step 220
assistant
agent noteThe toy is now directly over the red floor of the safe. I’ll lower it a little more so it rests inside before releasing it.
move_to
left_z0.0280
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8574, 1.9659, 0.8837, 0.5529, -0.8658, -0.2779, 0.2247, -0.091, 0.6865, 0.4042, -0.321, -0.094, -0.1921, 0.999] state[eef_state]: left_x=0.3983 left_y=-0.2492 left_z=0.0745 left_yaw=-0.0155 left_pitch=0.2381 left_roll=0.1589 left_gripper=0.2247 right_x=0.2712 right_y=-0.0045 right_z=0.1293 right_yaw=0.0788 right_pitch=-0.0181 right_roll=-0.0889 right_gripper=0.999 state[joint_eff]: [-0.4444, -8.9231, 4.4103, 1.8486, -0.4664, -0.0904, 0.3883, -0.0479, -0.8821, 7.0085, 1.9512, -0.0513, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.028},"note":"The toy is now directly over the red floor of the safe. I’ll lower it a little more so it rests inside before releasing it."})
tool
executing move_to over 3 steps (0.3s)
step 223
top_cam
camera top_cam step 223
left_cam
camera left_cam step 223
right_cam
camera right_cam step 223
assistant
agent noteThe toy is at the safe’s floor height and the gripper’s descent has nearly stopped. I’ll release it and raise the idle right arm to keep it from drifting down.
move_to
left_gripper1.0000right_z0.1850
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8589, 2.0918, 0.8707, 0.701, -0.8722, -0.2878, 0.2271, -0.091, 0.6876, 0.4042, -0.3328, -0.094, -0.1917, 0.999] state[eef_state]: left_x=0.3999 left_y=-0.251 left_z=0.0402 left_yaw=-0.0047 left_pitch=0.2475 left_roll=0.1444 left_gripper=0.2271 right_x=0.2696 right_y=-0.0043 right_z=0.1267 right_yaw=0.0787 right_pitch=-0.0309 right_roll=-0.0864 right_gripper=0.999 state[joint_eff]: [0.1026, -9.2376, 4.0547, 0.8181, 0.0562, 0.398, 0.2369, -0.1709, -0.5265, 7.0085, 1.8877, -0.0806, -0.0122, -0.0171] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"right_z":0.185},"note":"The toy is at the safe’s floor height and the gripper’s descent has nearly stopped. I’ll release it and raise the idle right arm to keep it from drifting down."})
tool
executing move_to over 8 steps (0.8s)
step 231
top_cam
camera top_cam step 231
left_cam
camera left_cam step 231
right_cam
camera right_cam step 231
assistant
agent noteThe white toy is resting on the red floor of the safe. I’ll move the left gripper out and position it above the brown upright toy in front of the safe.
move_to
left_x0.2930left_y-0.3160left_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8577, 2.1056, 0.8684, 0.767, -0.8799, -0.2974, 0.9951, -0.091, 0.7097, 0.5961, -0.5568, -0.094, -0.1955, 0.999] state[eef_state]: left_x=0.403 left_y=-0.2524 left_z=0.0447 left_yaw=0.0182 left_pitch=0.2833 left_roll=0.098 left_gripper=0.9951 right_x=0.2635 right_y=-0.0038 right_z=0.1632 right_yaw=0.0813 right_pitch=-0.0844 right_roll=-0.0802 right_gripper=0.999 state[joint_eff]: [-0.212, -8.4581, 3.6991, 1.2918, -0.0855, 0.1685, -0.0415, -0.0889, -0.5128, 9.853, 2.0293, -0.0904, -0.022, -0.0122] camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.293,"left_y":-0.316,"left_z":0.16},"note":"The white toy is resting on the red floor of the safe. I’ll move the left gripper out and position it above the brown upright toy in front of the safe."})
tool
executing move_to over 9 steps (0.9s)
step 240
top_cam
camera top_cam step 240
left_cam
camera left_cam step 240
right_cam
camera right_cam step 240
assistant
agent noteAs the arm moved away, it nudged the safe door partway across the opening; the brown toy is still standing in front of it. I’ll shift the gripper toward the toy and away from the door edge before descending.
move_to
left_x0.2580left_y-0.2770left_z0.1350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1973, 1.8332, 1.058, -0.0132, -1.1282, -0.6586, 0.9962, -0.091, 0.7136, 0.5964, -0.598, -0.094, -0.1955, 0.9989] state[eef_state]: left_x=0.3009 left_y=-0.3206 left_z=0.1352 left_yaw=-0.0101 left_pitch=0.2674 left_roll=0.1002 left_gripper=0.9962 right_x=0.2573 right_y=-0.0032 right_z=0.1546 right_yaw=0.0821 right_pitch=-0.1284 right_roll=-0.0725 right_gripper=0.9989 state[joint_eff]: [-0.335, -12.4103, 8.5538, 1.3114, -0.6032, 0.1245, 0.1001, -0.0479, -0.6496, 7.0359, 1.9902, -0.0611, -0.0513, -0.0171] camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.258,"left_y":-0.277,"left_z":0.135},"note":"As the arm moved away, it nudged the safe door partway across the opening; the brown toy is still standing in front of it. I’ll shift the gripper toward the toy and away from the door edge before descending."})
tool
executing move_to over 4 steps (0.4s)
step 244
assistant
agent noteThe brown toy’s body fills the lower centre of the left wrist view, slightly to the gripper’s right. I’ll shift right by a couple of centimetres and lower the open jaws around its middle.
move_to
left_x0.2630left_y-0.3040left_z0.0670
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.2652, 1.7042, 0.8814, -0.1303, -1.1503, -0.7658, 0.9963, -0.091, 0.7158, 0.5961, -0.6201, -0.094, -0.1951, 0.999] state[eef_state]: left_x=0.262 left_y=-0.2824 left_z=0.1191 left_yaw=-0.0444 left_pitch=0.2321 left_roll=0.1607 left_gripper=0.9963 right_x=0.2537 right_y=-0.0029 right_z=0.1499 right_yaw=0.0825 right_pitch=-0.1528 right_roll=-0.0679 right_gripper=0.999 state[joint_eff]: [-0.3624, -9.8256, 5.9282, 1.3358, -0.779, -0.105, 0.0073, -0.0752, -0.4171, 7.0496, 1.8046, -0.0757, -0.0757, -0.0073] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.263,"left_y":-0.304,"left_z":0.067},"note":"The brown toy’s body fills the lower centre of the left wrist view, slightly to the gripper’s right. I’ll shift right by a couple of centimetres and lower the open jaws around its middle."})
tool
executing move_to over 4 steps (0.4s)
step 248
assistant
agent noteThe requested descent did not happen—the gripper appears to be blocked near the partly swung safe door. I’ll withdraw a few centimetres toward the front of the table and approach the brown toy from that side.
move_to
left_x0.2110left_y-0.2820left_z0.0960
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.2808, 1.6707, 0.8738, -0.1398, -1.1576, -0.8021, 0.9964, -0.091, 0.7166, 0.5961, -0.6357, -0.094, -0.1951, 0.999] state[eef_state]: left_x=0.2568 left_y=-0.2824 left_z=0.1279 left_yaw=-0.0323 left_pitch=0.2458 left_roll=0.1116 left_gripper=0.9964 right_x=0.2512 right_y=-0.0027 right_z=0.1469 right_yaw=0.083 right_pitch=-0.169 right_roll=-0.0651 right_gripper=0.999 state[joint_eff]: [0.1709, -8.7179, 5.3265, 1.0965, -0.7399, -0.1148, -0.0073, -0.0615, -0.5675, 6.8171, 1.7118, -0.105, -0.0513, -0.0122] camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.211,"left_y":-0.282,"left_z":0.096},"note":"The requested descent did not happen—the gripper appears to be blocked near the partly swung safe door. I’ll withdraw a few centimetres toward the front of the table and approach the brown toy from that side."})
tool
executing move_to over 4 steps (0.4s)
step 252
assistant
agent noteThe left arm did not move on the low withdrawal, so it is likely constrained against the safe door or toy. I’ll lift vertically first to clear the obstruction before trying another route.
move_to
left_x0.2650left_y-0.2780left_z0.2250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.2804, 1.6707, 0.8738, -0.1398, -1.1576, -0.8021, 0.9964, -0.091, 0.7185, 0.5961, -0.6575, -0.094, -0.1955, 0.999] state[eef_state]: left_x=0.2569 left_y=-0.2823 left_z=0.1279 left_yaw=-0.0319 left_pitch=0.2458 left_roll=0.1116 left_gripper=0.9964 right_x=0.2475 right_y=-0.0023 right_z=0.1426 right_yaw=0.0839 right_pitch=-0.1923 right_roll=-0.0612 right_gripper=0.999 state[joint_eff]: [0.1846, -8.841, 5.4222, 1.0574, -0.7302, -0.1001, -0.0122, -0.1573, -0.1846, 6.8171, 1.7949, -0.0904, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.265,"left_y":-0.278,"left_z":0.225},"note":"The left arm did not move on the low withdrawal, so it is likely constrained against the safe door or toy. I’ll lift vertically first to clear the obstruction before trying another route."})
tool
executing move_to over 7 steps (0.7s)
step 259
assistant
agent noteThe left arm lifts freely but the partly swung door blocks its low path to the brown toy. I’ll park it and bring the right gripper over the toy from the unobstructed side.
move_to
left_x0.2930left_y0.0000left_z0.1900right_x0.2800right_y0.2550right_z0.1700right_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.2556, 1.5387, 1.0893, -0.4149, -1.1416, -0.7776, 0.9965, -0.091, 0.72, 0.5961, -0.6762, -0.094, -0.1955, 0.999] state[eef_state]: left_x=0.2651 left_y=-0.2833 left_z=0.2144 left_yaw=-0.0122 left_pitch=0.2558 left_roll=0.0604 left_gripper=0.9965 right_x=0.2443 right_y=-0.002 right_z=0.139 right_yaw=0.0847 right_pitch=-0.2122 right_roll=-0.0576 right_gripper=0.999 state[joint_eff]: [0.4991, -8.1299, 8.4991, 0.9451, -0.4469, 0.3004, -0.0024, -0.0342, -0.5402, 6.7624, 1.6825, -0.1001, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.293,"left_y":0,"left_z":0.19,"right_x":0.28,"right_y":0.255,"right_z":0.17,"right_pitch":0.2},"note":"The left arm lifts freely but the partly swung door blocks its low path to the brown toy. I’ll park it and bring the right gripper over the toy from the unobstructed side."})
tool
executing move_to over 26 steps (2.6s)
step 285
assistant
agent noteThe brown toy’s head and body are visible below the right gripper, just in front of the safe. I’ll shift slightly left and lower toward its torso, staying in front of the door.
move_to
right_x0.2530right_y0.2840right_z0.0890right_pitch0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0998, 0.635, 0.3962, -0.1272, -0.1894, -0.0338, 0.9965, 1.1091, 1.4193, 0.7826, -0.1371, 0.8993, 0.4911, 0.999] state[eef_state]: left_x=0.2896 left_y=0.008 left_z=0.182 left_yaw=0.0652 left_pitch=0.2188 left_roll=0.0579 left_gripper=0.9965 right_x=0.2728 right_y=0.2459 right_z=0.1499 right_yaw=0.1305 right_pitch=0.1301 right_roll=-0.1285 right_gripper=0.999 state[joint_eff]: [0.0752, -0.6632, 7.1179, 2.2833, 0.0806, 0.149, -0.0073, 0.253, -5.4906, 8.7043, 1.5897, 0.569, 0.1832, -0.0171] camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.253,"right_y":0.284,"right_z":0.089,"right_pitch":0.25},"note":"The brown toy’s head and body are visible below the right gripper, just in front of the safe. I’ll shift slightly left and lower toward its torso, staying in front of the door."})
tool
executing move_to over 4 steps (0.4s)
step 289
assistant
agent noteThe right gripper is down at the brown toy’s torso, which fills the space between the jaws. I’ll close the fingers and then test the grasp with a lift.
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]: [-0.0978, 0.6392, 0.3923, -0.1387, -0.173, -0.0311, 0.9966, 1.2453, 1.7008, 0.6868, 0.1352, 1.0084, 0.5144, 0.999] state[eef_state]: left_x=0.2887 left_y=0.0058 left_z=0.1762 left_yaw=0.051 left_pitch=0.1986 left_roll=0.0575 left_gripper=0.9966 right_x=0.2468 right_y=0.275 right_z=0.0712 right_yaw=0.198 right_pitch=0.145 right_roll=-0.24 right_gripper=0.999 state[joint_eff]: [-0.212, -0.759, 7.706, 1.917, -0.105, -0.0611, -0.0073, -0.1299, -8.6632, 5.7368, 1.7363, 0.906, 0.1441, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right gripper is down at the brown toy’s torso, which fills the space between the jaws. I’ll close the fingers and then test the grasp with a lift."})
tool
executing move_to over 10 steps (1.0s)
step 299
assistant
agent noteThe right gripper closed empty: it brushed the brown fur without catching the body. I’ll reopen, advance slightly toward the toy’s centre, and retry from above rather than closing in the same place.
move_to
right_gripper1.0000right_x0.2740right_y0.2860right_z0.0940right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0978, 0.6392, 0.3923, -0.1429, -0.1795, -0.0345, 0.9966, 1.248, 1.7203, 0.68, 0.1284, 1.0023, 0.5056, 0.009] state[eef_state]: left_x=0.2882 left_y=0.007 left_z=0.1754 left_yaw=0.0583 left_pitch=0.1949 left_roll=0.0574 left_gripper=0.9966 right_x=0.2444 right_y=0.2727 right_z=0.0616 right_yaw=0.2128 right_pitch=0.1229 right_roll=-0.2744 right_gripper=0.009 state[joint_eff]: [-0.1983, -0.4034, 7.1863, 1.8877, -0.0024, 0.0073, -0.0171, -0.4581, -8.6222, 5.5043, 1.2674, 0.442, 0.0708, 0.6422] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.274,"right_y":0.286,"right_z":0.094,"right_pitch":0.3},"note":"The right gripper closed empty: it brushed the brown fur without catching the body. I’ll reopen, advance slightly toward the toy’s centre, and retry from above rather than closing in the same place."})
tool
executing move_to over 10 steps (1.0s)
step 309
assistant
agent noteWith the jaws open, most of the brown toy sits just to their right and ahead in the wrist view. I’ll move the grasp point onto that visible fur and lower to torso height.
move_to
right_x0.2940right_y0.2640right_z0.0630right_pitch0.3200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0975, 0.6392, 0.3923, -0.1585, -0.1799, -0.0349, 0.9966, 1.203, 1.7603, 0.6628, 0.4511, 1.0431, 0.2562, 0.9946] state[eef_state]: left_x=0.2867 left_y=0.0073 left_z=0.1718 left_yaw=0.0587 left_pitch=0.1795 left_roll=0.0596 left_gripper=0.9966 right_x=0.2692 right_y=0.2841 right_z=0.0849 right_yaw=0.2342 right_pitch=0.2528 right_roll=-0.2959 right_gripper=0.9946 state[joint_eff]: [-0.0889, -0.3214, 7.1453, 1.956, -0.0952, -0.0366, -0.0122, -0.4718, -6.2291, 4.9846, 1.79, 0.5446, -0.1245, -0.2173] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.294,"right_y":0.264,"right_z":0.063,"right_pitch":0.32},"note":"With the jaws open, most of the brown toy sits just to their right and ahead in the wrist view. I’ll move the grasp point onto that visible fur and lower to torso height."})
tool
executing move_to over 3 steps (0.3s)
step 312
assistant
agent noteThe brown toy now fills the space immediately below the right jaws, and the gripper is at a lower grasping height. I’ll close once at this corrected position and check whether it holds.
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]: [-0.0978, 0.6403, 0.3923, -0.165, -0.1799, -0.038, 0.9966, 1.1194, 1.8729, 0.5632, 0.7288, 1.0027, 0.1329, 0.9953] state[eef_state]: left_x=0.2862 left_y=0.0073 left_z=0.1701 left_yaw=0.0598 left_pitch=0.1721 left_roll=0.058 left_gripper=0.9966 right_x=0.2869 right_y=0.2587 right_z=0.0524 right_yaw=0.2333 right_pitch=0.2524 right_roll=-0.3467 right_gripper=0.9953 state[joint_eff]: [-0.1436, -0.3624, 7.1316, 1.8584, -0.0659, -0.0317, -0.0171, -0.0479, -7.8838, 4.8068, 2.0293, 0.359, -0.0855, 0.0562] camera 'top_cam' (step 312): [image omitted: streamed camera frame] camera 'left_cam' (step 312): [image omitted: streamed camera frame] camera 'right_cam' (step 312): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The brown toy now fills the space immediately below the right jaws, and the gripper is at a lower grasping height. I’ll close once at this corrected position and check whether it holds."})
tool
executing move_to over 10 steps (1.0s)
step 322
assistant
agent noteThe second torso close was empty; the wrist view shows the jaws slipping between the toy’s limbs, with its head and pale ear to the right. I’ll reopen and aim for the firmer head/ear area from above.
move_to
right_gripper1.0000right_x0.3100right_y0.1920right_z0.1240right_pitch0.3200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0978, 0.6403, 0.3923, -0.1654, -0.1799, -0.038, 0.9966, 1.1179, 1.8908, 0.5514, 0.7162, 0.9871, 0.1238, 0.0094] state[eef_state]: left_x=0.2861 left_y=0.0073 left_z=0.17 left_yaw=0.0598 left_pitch=0.1717 left_roll=0.0581 left_gripper=0.9966 right_x=0.2841 right_y=0.2552 right_z=0.0403 right_yaw=0.256 right_pitch=0.2166 right_roll=-0.3831 right_gripper=0.0094 state[joint_eff]: [-0.0205, -0.3077, 7.241, 1.7998, -0.1099, -0.0513, -0.0171, 0.0615, -8.8547, 4.7658, 1.5604, 0.398, 0.0611, 0.7937] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 322): [image omitted: streamed camera frame] camera 'left_cam' (step 322): [image omitted: streamed camera frame] camera 'right_cam' (step 322): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.31,"right_y":0.192,"right_z":0.124,"right_pitch":0.32},"note":"The second torso close was empty; the wrist view shows the jaws slipping between the toy’s limbs, with its head and pale ear to the right. I’ll reopen and aim for the firmer head/ear area from above."})
tool
executing move_to over 10 steps (1.0s)
step 332
assistant
agent noteThe toy’s head is now visible at the lower left of the right wrist image, so I have moved slightly too far sideways. I’ll correct left by a few centimetres and lower the jaws to head height.
move_to
right_x0.3120right_y0.2160right_z0.0710right_pitch0.3200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0978, 0.6403, 0.3923, -0.1684, -0.1799, -0.038, 0.9966, 0.9211, 1.5089, 0.4011, 0.7116, 0.8547, -0.1101, 0.9945] state[eef_state]: left_x=0.2858 left_y=0.0073 left_z=0.1693 left_yaw=0.0597 left_pitch=0.1687 left_roll=0.0585 left_gripper=0.9966 right_x=0.3081 right_y=0.1912 right_z=0.1115 right_yaw=0.2469 right_pitch=0.2865 right_roll=-0.3984 right_gripper=0.9945 state[joint_eff]: [-0.1846, -0.2393, 7.4325, 1.873, -0.0904, -0.0464, -0.0122, -0.212, -6.0103, 4.9983, 1.8632, 0.1197, -0.0366, 0.0366] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 332): [image omitted: streamed camera frame] camera 'left_cam' (step 332): [image omitted: streamed camera frame] camera 'right_cam' (step 332): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.312,"right_y":0.216,"right_z":0.071,"right_pitch":0.32},"note":"The toy’s head is now visible at the lower left of the right wrist image, so I have moved slightly too far sideways. I’ll correct left by a few centimetres and lower the jaws to head height."})
tool
executing move_to over 3 steps (0.3s)
step 335
assistant
agent noteThe toy’s pale ear and head are now centred near the right fingertips. I’ll close around that firmer part and check the opening before moving 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]: [-0.0967, 0.6422, 0.3923, -0.1814, -0.1802, -0.0383, 0.9966, 0.9657, 1.8088, 0.4187, 0.9066, 0.8761, -0.1226, 0.9953] state[eef_state]: left_x=0.2846 left_y=0.0078 left_z=0.1659 left_yaw=0.061 left_pitch=0.154 left_roll=0.0607 left_gripper=0.9966 right_x=0.3064 right_y=0.2108 right_z=0.0534 right_yaw=0.2946 right_pitch=0.2209 right_roll=-0.4741 right_gripper=0.9953 state[joint_eff]: [-0.0615, -0.212, 7.1316, 1.917, -0.105, -0.0269, -0.0122, -0.2393, -9.4838, 4.5197, 2.3858, 0.3834, 0.0611, 0.0708] camera 'top_cam' (step 335): [image omitted: streamed camera frame] camera 'left_cam' (step 335): [image omitted: streamed camera frame] camera 'right_cam' (step 335): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The toy’s pale ear and head are now centred near the right fingertips. I’ll close around that firmer part and check the opening before moving it."})
tool
executing move_to over 10 steps (1.0s)
step 345
assistant
agent noteThe ear grasp also closed empty; the overhead view now shows the gripper to the right and in front of the toy’s head. I’ll reopen and reposition directly over the head, with a less rolled wrist, for a final pickup attempt.
move_to
right_gripper1.0000right_x0.3440right_y0.2830right_z0.1070right_pitch0.4000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0978, 0.6415, 0.3923, -0.1879, -0.1799, -0.0383, 0.9966, 0.9676, 1.8233, 0.4179, 0.9108, 0.881, -0.131, 0.0201] state[eef_state]: left_x=0.2839 left_y=0.0075 left_z=0.1647 left_yaw=0.0594 left_pitch=0.1483 left_roll=0.0615 left_gripper=0.9966 right_x=0.3057 right_y=0.2099 right_z=0.0494 right_yaw=0.2983 right_pitch=0.2115 right_roll=-0.4909 right_gripper=0.0201 state[joint_eff]: [-0.0615, -0.212, 7.1453, 1.8926, -0.105, -0.0855, -0.0171, -0.3214, -7.7744, 3.6855, 1.5751, 0.1245, 0.0415, 0.8669] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 345): [image omitted: streamed camera frame] camera 'left_cam' (step 345): [image omitted: streamed camera frame] camera 'right_cam' (step 345): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.344,"right_y":0.283,"right_z":0.107,"right_pitch":0.4,"right_roll":0},"note":"The ear grasp also closed empty; the overhead view now shows the gripper to the right and in front of the toy’s head. I’ll reopen and reposition directly over the head, with a less rolled wrist, for a final pickup attempt."})
tool
executing move_to over 10 steps (1.0s)
step 355
assistant
agent noteThe right gripper is now above the toy’s head, but slightly to its right in the overhead view. I’ll move down and left toward the head while staying below the edge of the safe door.
move_to
right_x0.3160right_y0.3090right_z0.0570right_pitch0.3400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0975, 0.6415, 0.3923, -0.2028, -0.1799, -0.0383, 0.9966, 0.9077, 1.8233, 0.5571, 0.9489, 0.6228, 0.062, 0.9944] state[eef_state]: left_x=0.2824 left_y=0.0077 left_z=0.1614 left_yaw=0.0595 left_pitch=0.1336 left_roll=0.0638 left_gripper=0.9966 right_x=0.3368 right_y=0.2696 right_z=0.0855 right_yaw=0.3192 right_pitch=0.3255 right_roll=-0.1085 right_gripper=0.9944 state[joint_eff]: [-0.0479, -0.335, 7.1179, 1.9658, -0.0757, -0.0415, -0.0171, -0.6222, -6.9812, 6.7761, 2.3419, 0.149, 0.1783, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 355): [image omitted: streamed camera frame] camera 'left_cam' (step 355): [image omitted: streamed camera frame] camera 'right_cam' (step 355): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.316,"right_y":0.309,"right_z":0.057,"right_pitch":0.34},"note":"The right gripper is now above the toy’s head, but slightly to its right in the overhead view. I’ll move down and left toward the head while staying below the edge of the safe door."})
tool
executing move_to over 4 steps (0.4s)
step 359
assistant
agent noteThe gripper’s downward travel stopped near the brown toy’s head, and the overhead view places the open fingers around it. I’ll close to test whether they have caught the toy rather than the nearby door.
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]: [-0.0978, 0.6415, 0.3923, -0.2176, -0.1802, -0.0383, 0.9966, 1.0298, 1.9652, 0.6308, 1.092, 0.7258, 0.107, 0.9952] state[eef_state]: left_x=0.2808 left_y=0.0079 left_z=0.1582 left_yaw=0.0591 left_pitch=0.119 left_roll=0.0663 left_gripper=0.9966 right_x=0.3208 right_y=0.3132 right_z=0.0833 right_yaw=0.3069 right_pitch=0.4037 right_roll=-0.0369 right_gripper=0.9952 state[joint_eff]: [-0.1573, -0.3487, 7.1179, 1.9658, -0.1197, -0.0464, -0.0171, 0.1846, -5.9145, 3.959, 0.779, 0.0122, -0.0855, 0.0708] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 359): [image omitted: streamed camera frame] camera 'left_cam' (step 359): [image omitted: streamed camera frame] camera 'right_cam' (step 359): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The gripper’s downward travel stopped near the brown toy’s head, and the overhead view places the open fingers around it. I’ll close to test whether they have caught the toy rather than the nearby door."})
tool
executing move_to over 10 steps (1.0s)
step 369
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0978, 0.6422, 0.3923, -0.2253, -0.1799, -0.0383, 0.9966, 1.0328, 1.9766, 0.6331, 1.0725, 0.7212, 0.1055, 0.0079] state[eef_state]: left_x=0.28 left_y=0.0079 left_z=0.1563 left_yaw=0.0586 left_pitch=0.1107 left_roll=0.0675 left_gripper=0.9966 right_x=0.3192 right_y=0.3143 right_z=0.0753 right_yaw=0.3227 right_pitch=0.3813 right_roll=-0.0579 right_gripper=0.0079 state[joint_eff]: [-0.0752, -0.4171, 7.1043, 1.8437, -0.0513, -0.0513, -0.0171, -0.2667, -9.3607, 3.959, 1.9316, 0.1538, 0.0024, 0.6276] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 369): [image omitted: streamed camera frame] camera 'left_cam' (step 369): [image omitted: streamed camera frame] camera 'right_cam' (step 369): [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 · 5.488 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Place all the objects into the safe, then close the safe.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6041, -0.3908, -0.0193, -0.0338, 0.9993, -0.0204, 0.7933, 0.6052, -0.3965, -0.02, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1782 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2927 right_y=0.0012 right_z=0.1773 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.3607, 10.2359, 2.0049, -0.0855, 0.1978, -0.0904, -0.5402, -1.4564, 9.8393, 1.9316, -0.0366, 0.1441, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c39ee0c0fd7d05073371931ef147b6d5ff4b6741a86d0dd21045c62acba4e87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f0c5ddb0118e4dea2bea3a1e78adc8cbb41ab9f26ecf7e37c720c83aab8ac92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1acfd1a1c56f7c33733a32fdf4ee66bee148ef047d867604c814613cecb092c8",
      "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 1 attempt 0 · /responses · status 200 · 3.641 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtDHcg9ooPl6zZhOUYqXUeFCpppqJ0OT96qVF5-lDrpKZFn2aoSJl4MeNtP9UjPX9njLefsObrwI_nyjut4AY3e69xCPBRb8tbGqK2hEHkJqQEKbCfoLN4unUaeYTruK3sIsg7xurxGrpKbdYrAxPAx7xC6zoW608umyoZfdjYMX_oxA90apaMBaLa0zOBFp86PypiGDKGocj7U58S37oAyYcJqnu87hGAROwCDTDEB84fiRTpkDYEsH5R5VruZRZJgYCnM4XRnvmY-gWPW2WIraozCtxHNPr-3BbSoiOXjXKl4yL7ZvI_Y8d1DVvGq1NfpjTTrO7Rux4Z6EAtfaJVTk6Oean6ATSOon5Ef2vCPq2rhVewtviMwNR0cWKgu-My0dPJN7mAh3EjBwentVo2rER6kLt9QxFCJ8UjhJZrGb3eV4Iqp63aR-LL2_XxrQAL63x5lvo5076AD32omQCJYV6K4BzZVil64WDrDynoAm5L-ECqZ4_hlJMrMFEarTlZHgojTxrMQDsQR8Y4yQlRGPkWt500dZJjSIgd9WASDNsf_E0VfL0FThNFNM6WAROBrogDEgoYcPe_1rt0uhCYwKBVfjpWT_PXe0TPVCwAAcU6NROUxqEY-_XsEcvlGe_7XvqgYLtfF-QhIKgOC6x6-4BXWWBd8flN8WVtUU-6PYjj5Pb2-AcUGFDNswnJIClGDmt_dZEHbdZJqanh_SkOu0YJpC3wwwJTnZUfwyqJSybjSXRFO16BlZiQFq62RaeC5Nfp0eRPBKUIWqATWx8fI3s0dsJuGQztvcCdy5gsPbSfDRn70KLBKCTQxoQtnV2141GEXyQLaZQO_nCFRMFoWgPuKskyo5RBQChVp2vA5KkkVMY8lM3JA_bGekOGKfIQv_9XNIYSrUnU48Ar5EOb7SViURdXzIeOBCsvbihZYJQwqTNe9C7p13yZDtG3RfyfYEq6DDmFWTzHBDk2mOYHCJcuNn69_Sq71FmjP-Qltr2MuXeJ0eXMQkhdIzrR1lzjt_kMDZruyjLf9NIXhvab17k8l8HwLIOtgk-_Hnm6VTe7Y1BNHK5209z5fqYrvSG6-gzriC80eMgNhmhwVPtKzIFWofCXE21SzNz8KJuoe23C1rM7WNmhupPsRZRWbXJD5yKPRL0n5Qmy3l4s_72ubS_girCSxQPyNi-crx-TZsXoCi68SOXOltOilBp5TmF5pm2sHe-qUrF_LLN4F4oW-VkFU5j5QLKQ-BSqG9uIjMJik0PKsjKsK5HrvHD6XmtG8ZpXlS4SwwZjgFd-aPhnS_7nRMXZYb61EFM4pdUcfZdvoNP1rkCRj1-UD0oWd4EUUkqNxInx3DckRAvwl1HVMI8tAJkMhq96X75rwPg06CuCoSjaUqH2OH7fvgLcfwkLtJWP9Tq8_gwxDFaA2cutt-fAh-ZvozWHkqJcTXqwuiz-hlb4RJkxx-kcGYsvrz-x5FzF9NPMfUfarMTCMzPck3xPLdGqpG0gwrjm4SCD2q6vd0TQFvo0ZRCgY7_EzpMdJHparcJpXAYFIEqINVsJ0HQfI4tNclrgEPoM4ooogmvFCNE8VezztjGDEDLy2E1Nvk-Abp_UlVU6w3I9YTGbGFf5lgzCT9hRRIPmBx184_CnOh1qOtBEbNg8gEzfKGCtfhjeaMC3q_vRk3NzlQVYgK_IjzU7__Fiu5XfvoHO4J2i9R89FZuAzJoqbZBospUwxe5L5SsK0sOBc4nVzO3UhaJORV3EK-SbJVJi-ccP_zT7IuXK9DAFrVVfv3PiS2Th0J24BCckdreu--T8gacIyAzPRxM2L7alhetMnE77dzYQigee9zoSem0rWGSy8btB5IhgUwO6q1RyPmiW5lGPr6A3yVaZKBuprzJdvNKfUMn1fv_K0Ig0YJxB2Fu8Gu71mrW6ootR5kHRepDGIMuA_WxXSbLcTxQte0CUWmTTkqmNWxtMUvlp7v-cosTJ1_Yyf0bprqYr5xZas_UnWqeLhXRtX8C6QLxiTTDK3TxbIWI7C-PthWIFiZ3ilwJ870JkhXcFCQdo_h1IR1MZl3HpVsAz-hLBblSWwmjRafFHbMMVYwZ4ICFNdUITK04D9xMKQsqCTDxggM_ie5vnHBdHV1mUhu2vXklElv42a0g4jnnqMlaafieW2RO2E0Um4pp6Cp83W1-chUOWNHC_lrfjy5wPdiNcC1SgDNO8xr2ZdE2avdelHNeXfhRS6pnbgV-D4gtoHVWn93MlBYODqctwx4125HKhpIAZfyjUhKJ6-yCMWYcgSN-a5EbsvQWGQKfKTAaiz24JwBvcow2WBaMDdizU2HsRV_diFWo63zZ5iYWs13sIb-UGAzQwFPERMfYuOnqfG4Gkfww_RJhSbiOey2Kb6rvjWLBcf9l9t98QkgCc9oeIa4sfqu9KMjrkuTgPEgUBphV0RTXQx2-H4o2EUuEbT5CqvFwDGP_nes1nfH4DdjTpKMYWKSsc_RIPvc3UYA1gKf_fqk3oXrjvuefZhmNUUTFsJHj9pw8SoKpXR0YFknVazM-iKxKY4T0WZQ7HT22b84nYeQmA3nIGBzh8KIzLksx9fHsv7XFB89fsB6s6pg8g1OukvtCe4XNCd5mTSz2y3d1xlFZuLGFWTUwnyFuoDeDCJDVl2Qn0gzscV_WLtuYVsUlgKPr3-QzJkfzYxY9a9kQjQNthqIpKDoeDkLiREy-MWCnQLjamvvnFOywRsodTjDXiRjagj9EYQ_vqBaQHDOuInM-a0SToTyQvdmRkONOSuUwVlqDiIhc-NcJ5BqkOstNcbj_fLbE1VOXsgyDMI4i6whEeBtpxKAZjuOYmpTJuhsMNEg-R5vlEm1jM_LaLQFtT5VFyxiAZpmZzS2hCJkodtp1EE0uYjH1E4hfp4nZRdM75aGDlSc54VrYYeGTDTQfcsdTiE1tHvuO08XJT2_pDwIfG0vbPTn3XMSlNQ==",
  "id": "rs_0515d5cdd5bca4e8016ab431d8058c87d0901ed4c9a537ba71",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.27,\"right_z\":0.15},\"note\":\"The safe is open near the centre-left, with a yellow object to its right and two soft toys below it. I’ll move the right gripper above the yellow object first, keeping it high enough to avoid the safe.\"}",
  "call_id": "call_6KHsC2BjV8I9HdKNpSI2obQF",
  "id": "fc_0515d5cdd5bca4e8016ab431db697c87d0b80c91f515cd5ae7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6KHsC2BjV8I9HdKNpSI2obQF",
  "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]: [-0.0189, 0.7967, 0.6067, -0.4057, -0.0193, -0.038, 0.9992, 0.8448, 1.7279, 1.1595, -0.2623, 0.6407, 0.5034, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.0023 left_pitch=-0.0164 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3703 right_y=0.2635 right_z=0.1353 right_yaw=0.0368 right_pitch=-0.0495 right_roll=-0.0457 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.2786, 6.9949, 1.8437, -0.0415, 0.0317, -0.0171, 0.1026, -8.4991, 8.6496, 1.5653, 0.5495, 0.2418, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ae558fee9407cb372b7c2cd3ad46202005870e691bb1427d92f9a3a11352899",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c31922c3a8fe9390d12d7182ff45ce8679a2c50a331763f9a6a0e6d410d83cb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bfe06e4960ad65cf0d9f02327c2d06c1f26241e04325780345ca357a870cfeb",
      "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 2 attempt 0 · /responses · status 200 · 4.353 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6041, -0.3908, -0.0193, -0.0338, 0.9993, -0.0204, 0.7933, 0.6052, -0.3965, -0.02, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1782 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2927 right_y=0.0012 right_z=0.1773 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.3607, 10.2359, 2.0049, -0.0855, 0.1978, -0.0904, -0.5402, -1.4564, 9.8393, 1.9316, -0.0366, 0.1441, -0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4057, -0.0193, -0.038, 0.9992, 0.8448, 1.7279, 1.1595, -0.2623, 0.6407, 0.5034, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.0023 left_pitch=-0.0164 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3703 right_y=0.2635 right_z=0.1353 right_yaw=0.0368 right_pitch=-0.0495 right_roll=-0.0457 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.2786, 6.9949, 1.8437, -0.0415, 0.0317, -0.0171, 0.1026, -8.4991, 8.6496, 1.5653, 0.5495, 0.2418, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ae558fee9407cb372b7c2cd3ad46202005870e691bb1427d92f9a3a11352899",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c31922c3a8fe9390d12d7182ff45ce8679a2c50a331763f9a6a0e6d410d83cb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bfe06e4960ad65cf0d9f02327c2d06c1f26241e04325780345ca357a870cfeb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDHiZNaBnmu0hYVgz8F9bz80phBACS87xJUEQqK27Lgcg_PgFUp1u60ngEnYXL1Gi9LIQI2W7So9jSgVU1Qp_6g6uogBRiKKARXk9baDwawHjHiM905IJPh_7SunPX2bywm6CqFLXtiBBotonVY2a-lmfqy1kPl7boJTOHcnUK-0p0nUMiN7a4C13omSuTMyPQcwD7nVADIYOzYUkNaHd1qT1dQVlXBvqWXAo-iLAOvhMAMHJfhViqvR21ywBKHCOJPUG2n1-7DQnfQ2fpy-qp4a1r-jLXPWBm7gFqtq7ddKpDj6bScOtrdnb2u7EwYhDWIW2X95MgAcIHIwbi_WjO7hHgSC94GTLUkIHj0PkuJLD7lLdoUSoRrSltaHuvMTeWkLchBWo4x9QRAMwFMmsxOSpR5Augotesc2oDiSxwY_8KgqLi6rIFgtI3AasXSfL4rhmm_BSPQAsivTW1aM9SAEBVkYrP2U8l1oBD7fTOD1WISurnkf-pCbVyeg76_kxF8GIhL-JnijekDdM80Xelau-_ozBQfnxUcADUuen5wIMiGXvhPY4Ugs1nX9Eg9SxwejaxU0OGwgCmwNrx1MR5nvvqFgS8sNTuMTMkNevkv-J0F-26aYkFLVa-RUg6uBGH7kNAYbjKuBHe5jV1vGvJnuLzDiwSrnAheH2zpFR0T3iZhnlpU4GBZhqZs8cOpwwfbmsMGtw3mc4FKo2lq7mFWHh5Mcxud36hZCuLAVM5X-xigNfyuScMQEBaeq9lsu4DgiQiRzxqa3GhXQx4yDRy4jaURnVwNkZnJN_Xi2sV4BVZtdJBG3BMqN2mq1tdkE3uQFFPyF6gm8dZZdQZfIvkw-DPySE0JQypIgKfdS2KzQDUDW-F76SATh6w7nvtTVaoQOJDMfKvYHAztLUPrce8TGo1Sb3_7k2jeiGK-7KCrkKUOV4bIFeziuMMNQ3L_kPL9CFMqngeFPGjlPsdonjKC8ZyPdPsTZ3atKkDgMIFzHWkQ9jgckHcs7I84ua2glqzH2RsGgR2Fml7Jds9NCBUiTIIoE7G6Rgcy1PjTFXFL0PVDfLfoHZOM5NSI1Jrt6VOk7XgRBrwfNGSEPlwcHU7z5G8OKsbP_9m59l13HylJVQbUA0qeOE_2Wljd-o9YelCPGZo57CaXzrpxI4YDXlXrNtoe1DA7zLMc7MNBnOCUbM3XFRYSwZKHDDr42RHhsjR6xbzuKGbE13KFn-vUbw5Aqn-LH8d4l-c6tE-POLLUew6MuSH9Lv4h6jwm7SGqeS8KQtQkMyrRV4HRSUtWyBXw0k4EfqPAoAZTf4B3ON5ia_F76JVsnDpBWbiAYEJGiYpNi_hR88lgSV-FDu4_AYoAyeQiG7tcPv6Tf45ug7w3bHGWsvIMFYv_CliFc_9HOgGjwY-lTnsOf-uY_4jsv3s49ouM4nCVRNcFu_pAe1tBiP9NVfROD9z2MqxyRnFCEE1D1pyCLeNrhddh-YB2286X-nb8nk2J8CqdvF1p89D5MQg924bi2V4Uo0yUvPO10fupBP4lzfauMQ8Yfmd2KfUdeZOvZMLbjCKzp9KiP-0RI1N3BxcfFKsZVsjtpVmVg2DlfmDJHrzjwdIKYGkw8BGGAD9HI5cKwVYtjFO8Q17vYT8YGL6HjfeTp-vph2h7Dvtpie9AcU7f_ybVfSyjplZFJF6YMUOzLeVAk2mH1PNlPaYUdwj5o8JO0Xym09KvBOC_cs0vk7NBVr-amaQx_oZPU-7bZD2kWrILY-w-2kVo7TXA6J7vKjOF9lu9ffbBYNuIKAS4LnHtKCHOWj2zBUXcODcnQNVfjoVwowwFCoTHlXH3Cp0JD-tLWI1x4jrJBIgd5Z5c362DvyseyZ-f4KZPgx5qpcEcRnKh3u0iuas2S2taD4zQro2hGaJoJSGrqW43ug73gRzqLAg6GlUB_AObxnV48yQQRgHU9fb9n1rtGRqDcplpWE-2pXn5gz_I9g-dmHR-AoW8Tvb-Pfu_ddOc5l9BJt8f8o3Q_OUfRiwh03xJs8uUXGv9S0EZbm9TEsrUhpPdOs3JLtBCT7ELoC-ZdVZQgrUWPzvXgidoEsR2-yRzHlpEvruujpiFFWBLq2NDllapFa_IBE5TUwUuvK35AXbqUPip1fLbm-F58xpV3gyCtoAYRH5r3ITjSnTTLXJKaWUYA7s9_47xzBshOtbd_R3xyQKHTG5gKnxT7Vs02yepgv0bQ_SqH_O6qerllKTB9H4DF3pMXiG6426ppOOFT6KRtSE6qOO2ASwjM8r9visFdZJ1pyOEoEg_jfoIREwwHDZaCDwWSM4ouoXp7kx1U1Te9B-BVK5rQI9GdZDioR4XanT3yAuDf-bgUegAk5xbSvaupx86vD5fi50F07er82BU3IjDaHVztp36J1dX3G2PA-5RfI1VcDL1acW4bIvbtrLChOXTvGA4OGewyaSRBlK4u_-fw_WRQmabwyWu22rOJoRA3tsEI-zGNM9dayNpnTgsOabFHCx3gbdmy6y0HwQ==",
  "id": "rs_0515d5cdd5bca4e8016ab431df7a8887d0bf8a492b938f0ec1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.411,\"right_y\":0.254,\"right_z\":0.068},\"note\":\"The yellow object is visible near the centre of the right wrist camera, but still ahead of the fingertips. I’ll advance slightly and lower the open gripper toward its centre.\"}",
  "call_id": "call_wuOxK7WCAeqlWBdVafKDuznJ",
  "id": "fc_0515d5cdd5bca4e8016ab431e1c24887d0a268a69e2b025678",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wuOxK7WCAeqlWBdVafKDuznJ",
  "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, 0.7971, 0.6067, -0.4095, -0.0193, -0.0383, 0.9992, 0.7479, 1.8999, 1.0893, -0.0566, 0.5793, 0.4355, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0015 left_z=0.1743 left_yaw=0.0025 left_pitch=-0.0206 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3996 right_y=0.2437 right_z=0.0596 right_yaw=0.0186 right_pitch=-0.1103 right_roll=-0.0916 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -1.2376, 7.2, 1.7607, -0.0464, -0.022, -0.0122, -0.1436, -9.6615, 6.0376, 1.9072, 0.2222, -0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49cb7f827c91252ee45e0a1ab61821ce6fc4782ef0695bdfbcbc7909b9c544b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64f938a84b969e2efc4cc3a65d9929a593877a22ba270b09105cd5412b33350b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2510d8af889e10c530005ba15785962c3777788c88c2efe1cd0056b1ed1f98b",
      "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 3 attempt 0 · /responses · status 200 · 3.237 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4057, -0.0193, -0.038, 0.9992, 0.8448, 1.7279, 1.1595, -0.2623, 0.6407, 0.5034, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.0023 left_pitch=-0.0164 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3703 right_y=0.2635 right_z=0.1353 right_yaw=0.0368 right_pitch=-0.0495 right_roll=-0.0457 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.2786, 6.9949, 1.8437, -0.0415, 0.0317, -0.0171, 0.1026, -8.4991, 8.6496, 1.5653, 0.5495, 0.2418, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7971, 0.6067, -0.4095, -0.0193, -0.0383, 0.9992, 0.7479, 1.8999, 1.0893, -0.0566, 0.5793, 0.4355, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0015 left_z=0.1743 left_yaw=0.0025 left_pitch=-0.0206 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3996 right_y=0.2437 right_z=0.0596 right_yaw=0.0186 right_pitch=-0.1103 right_roll=-0.0916 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -1.2376, 7.2, 1.7607, -0.0464, -0.022, -0.0122, -0.1436, -9.6615, 6.0376, 1.9072, 0.2222, -0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49cb7f827c91252ee45e0a1ab61821ce6fc4782ef0695bdfbcbc7909b9c544b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64f938a84b969e2efc4cc3a65d9929a593877a22ba270b09105cd5412b33350b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2510d8af889e10c530005ba15785962c3777788c88c2efe1cd0056b1ed1f98b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDHnx3q6Cg7UeQfXxk8JtHglLx_yzARwx2terjjDMJIs_B7KzeWOgUjb7Z1sZNcWBfVBsbO4pfq1bbiPdxTaS0sErwZaaAVe8K5jTTWHwMpFHcShRUXeWNnve_ple1iJZ6ez27q-uyTcP_jMU35xSaSET5aky5Y9HEaePcxAgtY3HLlx1ntLeZ4Vf_t3Yh8XGmB4I53Eo4wHho9KwkhD2yRzYjvX54eshuE-qIMYvsDJ6uulwwoau3APABNVaCoeH4S-yB2cFN1XM2_WL8VgCUywUylGRB5ps5PNrtwIyfAhiveYYWh8KC3ePEzx1cuEpfHX6M9CKID4a17P_BE1HnCMsILfp9AUZJWNoEbKxWdDyXLuocsSyygUAL48cPl5-oSIYzkfMWR93oMfM6rsF1zBmk8e4gEWA1QXB4XkY0S44fnDOP7kaDdxlLsLHsZZZecEdprnlty05_4ebWa-Cj5iWA7mCtUqNZIBvX2xQHb61XbcgMuwjY3kmBn4Sdd-dwNCbVoCt6_Vaq-5V5Gm6xEkGxZ1Iy2IQGNDbHQPLh-EIX_2_WGVj6bBcdZY87ByGe9YjpWWOZEqIA7_mVtC8wrTRj6Li8aCJ3wUUuKJpHfHKqw-ywTI9p3hgVzM3K2UpSskOGZzdcqneQDSdihgRG07marBygO4agu6x1bWgkzDfFY4FIJ1PNCrPkdyEGr12jz_Ck_EieaQ6mUygWdpXICvyiqphOkw5EDSN5XEixGlQQFi7SuzohItqPTxUXITxKiREXRkvC1C9nz_5q-FP8NTDnew7wqOPf3eSbMnbkDU7EEAto5qXWN1hDu69eWFAjD1K0EwIBe7SBnfAOiiwSDNWhIo81Rm1zanzH8ulJHgdqsraLIPczk6MTGkZHy6meG9gdUSoeYFLZxbWdjyIjSTnMXaFCtP7LB7-3aU8faR9YcWVG8alw91nagoJwert3ESw2UI5T-diJ5RZC2hQQ-Udu_EBdDMPq9NkkjWzcBf03XLgme1AxYNdmZExCRZuUGHGv4i58giawSdoPM3AwGrbCF7wJvhAbMNKZMiqV-YSTE5OU8NE7XRqZPLyIOUWQYrbdpOEcwRHL8f2OplMi3anUygeVzuhJr7x5CpiJ2gGdEdqCSD5wrsPr-WzldQFE8jFfujMvA83xYfmTzkfpGDdq8q47OGM33lR9QA2mPaBn8fZwsTi-90DZh1k9cp26eiwT73s2P8OyP5Ghgde2nHtL4NpqlKYafQF8x16h1AYzdBGITWqq0_cj8yvHiqRtdzhSq-VXTJucTA6JgsoUh9KXGqVWQpBtQOx9wa5oqXr0GiJrizjrGQnKOWUiA58DrjQsk9dbHBh_5LSLMWJRwK68dKsh4LM2TIbVfQiozwRA5Ecw7wHCw1FrMDO23o9jatWeA9zMJNjKfsqHo2gUwOiTuWztPc7dYQip58w74U14zplmlxeprKxpghDE23lX3YweOW5btJXCBQpyeOvstXLCbXu6GH39pZpKY-BpMuaKxc1rQOjnW_5nmxtdl4rm6OA7Us1FiRQiLuSa8KjIblKazWWOuTRjAF3nd0LWyLnZ8hxR5P2wdIydbDWyoYdlH_AF6Ay0rVwMIaPWlQ6afdEyUnuvCQ302Nt_muItPO-hTk2Gg-b4jzTNUD3LoRaX2geo5DV0Vnjc9qZjvxQM2GJpcZ3ti501cJsmBlVIr7s0Wdi66aCLVxx0DXKb_FlNvdRuRN36isot5yuoGVQj6sNIfvkyKfNbBXLnyAzHj6hYF9NtkPBqoZNdk660B6uOz42f6DbffI0sjMu6Ewm3bq17wjFkZtdnKRAm0p4EnuFQb9tqZbrEZmROK-qg5jOUWIvRRS39uvDv9sXifQjHwKSPCtPfnYg9_LI1BRF2ke9TVUgsLqixRBkojDj_FcUzPgEn0WhONbXfV2sYFYHmVMfTDWlQSM6N6SJatE5a77Z7XyUQeDMFWhHC1OgLGCBgGrrS_pjYtOcJ5vl6nzQcSn8MuvzF5WeEmiSm_RZYycaGnzvT7gcYNIBoY-OtSvF8s-fmbCviG7tSrtr53puKoyzjzfb9UsfZiAHuih94xAYOFgRYwg34BUtx_3XWegtjzPTSQaHZ5ZevmzsYtLNHyINZFvx4XTsARQa_uF7iSpECLX0xo-S5C-BmSbJTg8TPhaFl9yMjRpDDEuHbh-Hx63ap6PyfTHHJBtXwM6FHORv9Cjjczguin1PU1UkhAMrINfozma6S47611oZ87KUkEZjcTbIw01pB331whKSoGyIOm-SrJNurCG9fh-fYHeyJS27r4j0fLZPC0b-kkfc-kdgwMeWqmrN6l9sw8TQgr8Dp4_dTgF8BkyFVKcCateYh4hMHGGqy-l-kTxgvHfTnRDt1BEsN2OLxajLJV6516jvUCmTxWGkkIE11yEDNWoS9oHi8GpVwk915iETVMb7dqCnZNWPz6DXTKBHp8XiYkfBv0rbVf7eMLlSWKVNxEZp-POxwie98C67GqN1FQW8lbsc7bT2DWFj1ohdxdIEJX22Gc2l3cWFqknFNV1OmJwSPf5-qXWyBsLbMGOZNACM55VCF-2Avr3KNuaT4kOmVgrL298P27EuMDK9tr4Fv1Jqzej",
  "id": "rs_0515d5cdd5bca4e8016ab431e3b4d087d0b1b066792894af18",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.447,\"right_y\":0.244,\"right_z\":0.025},\"note\":\"The yellow object remains clearly ahead of the jaws in the wrist view. I’ll move the gripper forward another few centimetres and lower it to the object’s grasping height.\"}",
  "call_id": "call_7yqy0WGsaiYCTrVhUEfax6ub",
  "id": "fc_0515d5cdd5bca4e8016ab431e690a887d09913f4726276e1eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7yqy0WGsaiYCTrVhUEfax6ub",
  "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, 0.7982, 0.6067, -0.421, -0.0193, -0.0387, 0.9992, 0.6758, 2.056, 1.1702, 0.0223, 0.5289, 0.382, 0.9996]\nstate[eef_state]: left_x=0.2897 left_y=0.0015 left_z=0.1717 left_yaw=0.0027 left_pitch=-0.0332 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4353 right_y=0.2393 right_z=0.0247 right_yaw=0.0127 right_pitch=-0.1346 right_roll=-0.1004 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -1.306, 7.0085, 1.8828, -0.0562, -0.0464, -0.0122, -0.253, -9.3744, 7.3231, 1.5507, 0.2613, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:404ab9bf3e8e89623a92d953fd978a6e55492d88208f03aa2e6a74a742e12853",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48a4f8e7bfba7a2483977f391b5c4150faf41766f838d05a631d17b41ff8f9b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50ede963e9b6db6fa5ab471c558c5682b1abf34d77f85f77d7f9dd9975a9aa38",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 2.218 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6041, -0.3908, -0.0193, -0.0338, 0.9993, -0.0204, 0.7933, 0.6052, -0.3965, -0.02, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1782 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2927 right_y=0.0012 right_z=0.1773 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.3607, 10.2359, 2.0049, -0.0855, 0.1978, -0.0904, -0.5402, -1.4564, 9.8393, 1.9316, -0.0366, 0.1441, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7971, 0.6067, -0.4095, -0.0193, -0.0383, 0.9992, 0.7479, 1.8999, 1.0893, -0.0566, 0.5793, 0.4355, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0015 left_z=0.1743 left_yaw=0.0025 left_pitch=-0.0206 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3996 right_y=0.2437 right_z=0.0596 right_yaw=0.0186 right_pitch=-0.1103 right_roll=-0.0916 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -1.2376, 7.2, 1.7607, -0.0464, -0.022, -0.0122, -0.1436, -9.6615, 6.0376, 1.9072, 0.2222, -0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6067, -0.421, -0.0193, -0.0387, 0.9992, 0.6758, 2.056, 1.1702, 0.0223, 0.5289, 0.382, 0.9996]\nstate[eef_state]: left_x=0.2897 left_y=0.0015 left_z=0.1717 left_yaw=0.0027 left_pitch=-0.0332 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4353 right_y=0.2393 right_z=0.0247 right_yaw=0.0127 right_pitch=-0.1346 right_roll=-0.1004 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -1.306, 7.0085, 1.8828, -0.0562, -0.0464, -0.0122, -0.253, -9.3744, 7.3231, 1.5507, 0.2613, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:404ab9bf3e8e89623a92d953fd978a6e55492d88208f03aa2e6a74a742e12853",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48a4f8e7bfba7a2483977f391b5c4150faf41766f838d05a631d17b41ff8f9b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50ede963e9b6db6fa5ab471c558c5682b1abf34d77f85f77d7f9dd9975a9aa38",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDHq2q7leyk2n6dVJdSTeV8kR1VeMwjkfGPz-l44XobEWuOIT2Vvwt-zwM1e6fet5cdhehBC4PbWYaVP-RMlep-bN6CYVikTyhuiztBt8sk2p1qjyGkmvb-D6frxukQp0wZIGbLHJBOuRBR4lobj86_vMFvVbvSKf1t6b3aBTAG46k5_fqzfpCscf_G-Cag5RHneZRbMGzBV1vKDMt0VsRkbJxq_1RvFPFsarjDCoj3dZLq2Qj2X2bLX3q0AeI_X3WjrimdnU3ZlLKNjCOFGqjDcdYdDmVVHkrTOyem8i21c8NNKA-IUbzMVZOTUr2Ajywinx8KrqsjfKbmwSMs0WcwEQ0Wo0y2Ekjq4lf3ZygIfTgHuFrQc3z85gLN4yrRJ5lPC0oM-FiUtsrLJup00UuV6Fc_IqyN88AoEK46VpoN3GxQMZLWkAaju68TgBRAsJkfzrnW4Tx_DfKOwGxrVNV_NbKE8SKxUG8TA0vH6YJagLb2FQO9m2HtGysdhuL9nayT99nu0CscmsGnS5h7xXaonXV9uWRXupRnX_-yg6i2S0NEzpebAf1ToyG4cWkvHuwZnlDLpVpydF7_3v8B4iacM1YDzBF7W-rLHCsfudxdBF0p5ya1waNbXaT0HVmVgldo936VswoBH-aM1OkinFxK5horYlck8jqHn3zws56FF62XlVxv9K1sr6kX_jc7_ExZ-3qJjazgAFsik5JuWVHzOOGSzKXPdRZVPZ6rulv1BXCohyRpiMK5MbgLPQo5sMNbZBICjJUoN9vTcKqQIwPdw55vvJYWxMZuTAweGwYw8Dylreb6HwYr5xGmLCjpITGDIZuMtThni_gj3dcYmAkbc91Q45IdjTqfqzL2ql6G5vl3Mf-KSYvgTYX5aGZJHfZTdBIenMVktHYVHE-sd8Aaxg0FJ1cr9qjLXn580-MAC6O_lmxOFXQLE0NmWotnXKFL3gBcVbsLZ9Djcwfxu2TnIVSnwfE58g0pVl7RJTjfCsCrwNW63tWmVtJ52rk2fmAwsffo5btE5wwdpBFxAwKqkuMtKhAH3tQqVZUswKr-2DZFH18Ews80qZpXq0YlgN-eCXUemH8-atPZk1zOVvBPtfPQQwtHo-kt9xJtB790zwj9BwmhhuWV2yn3thVs9y0T-ksQGjSee-bsTHD6w9qoFQYIxRqcuG3abiWl_jm7NtGxNxnOexRyoZuKITVg3skyWjluSMdMz2AnaYuvmVumkAN6ZepM1Xs4gCUhz6_EPbpcBToKUGBB0cwLq_uBXT3JK59nSgwEuXG9zoM-PTdQBCQwMeHQIgFzvfX5PImakLbvaI6RZyqeR1L2y92G9tQsqB24rEOCk-L7ME8fz8slsdPkTcvsviB9v2a-EAfeqnptAeKqebloOGQM5RS3qnhxEmrV6Nkxnwqp3h1QggS8rD1mexDzXsX6YKWtajVybLo6PFhzjdBN_EIawOqk6ASgcBWrKG0gfRLXAzqaPN2bWFRKc1uYD6Ox7jTXK0uo4P3B1t1S0WUnQFrNXqDiuV7uwyJUtTbBZrsYqpUuOKE0S2xKXm0ZAWwGStgk7R7P7oD-LnYK26WxSdaVVxt4RTNC268vgPZKPCq3JO6-EQ3yTDoZvLvjXtXFCuHH-UH_CZMzyQWapvqoXCxM3ijnUgRU6g22wnkxOSiHvYYBiHvYdR3Jj_eC-CpNUcqpq1o3AN7tA2y9V6bMMxJWbpmnUfZTlTUprAQC9KUrHaK4AEjcQoCxlectzvh8Kbqu6SoWe495SA4_c9WHXHa5ILDV1hzsij645O-d9UejWAPT5Vgg4mGn_rat-99MMKA5nADtmrVs9s6Mg6cLnAl61fcqu1B8j",
  "id": "rs_0515d5cdd5bca4e8016ab431e891f087d0810aef4731008714",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.481,\"right_y\":0.237,\"right_z\":0.02},\"note\":\"The yellow object is still ahead of the open fingers, while the gripper is now near table height. I’ll advance without lowering much further so the jaws reach around it.\"}",
  "call_id": "call_19hlnfVfG1hV6GHQTLxdg4i3",
  "id": "fc_0515d5cdd5bca4e8016ab431e9f30c87d0a6bcc1e8ba1e9a68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_19hlnfVfG1hV6GHQTLxdg4i3",
  "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, 0.7994, 0.6067, -0.4282, -0.0193, -0.0387, 0.9992, 0.6662, 2.0743, 1.1828, 0.0402, 0.5217, 0.3664, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1699 left_yaw=0.0027 left_pitch=-0.0416 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4414 right_y=0.2396 right_z=0.0226 right_yaw=0.0181 right_pitch=-0.1291 right_roll=-0.1005 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -1.0598, 7.0085, 1.7411, -0.0806, -0.0806, -0.0122, -0.0889, -9.7983, 7.1179, 1.5311, 0.2173, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c382ce85ea6b982924837a6ee2d2018e079ca2773da95f671f9891019a9357b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4712272374072a34402d169489a93b890f249d11571f3c498f8232ac4e89cb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08cb7f46e8252ddb5be82a1d12c2af4ac3c33fe9c4e467d03c462d263fca5ae0",
      "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 5 attempt 0 · /responses · status 200 · 2.251 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4057, -0.0193, -0.038, 0.9992, 0.8448, 1.7279, 1.1595, -0.2623, 0.6407, 0.5034, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.0023 left_pitch=-0.0164 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3703 right_y=0.2635 right_z=0.1353 right_yaw=0.0368 right_pitch=-0.0495 right_roll=-0.0457 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.2786, 6.9949, 1.8437, -0.0415, 0.0317, -0.0171, 0.1026, -8.4991, 8.6496, 1.5653, 0.5495, 0.2418, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6067, -0.421, -0.0193, -0.0387, 0.9992, 0.6758, 2.056, 1.1702, 0.0223, 0.5289, 0.382, 0.9996]\nstate[eef_state]: left_x=0.2897 left_y=0.0015 left_z=0.1717 left_yaw=0.0027 left_pitch=-0.0332 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4353 right_y=0.2393 right_z=0.0247 right_yaw=0.0127 right_pitch=-0.1346 right_roll=-0.1004 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -1.306, 7.0085, 1.8828, -0.0562, -0.0464, -0.0122, -0.253, -9.3744, 7.3231, 1.5507, 0.2613, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4282, -0.0193, -0.0387, 0.9992, 0.6662, 2.0743, 1.1828, 0.0402, 0.5217, 0.3664, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1699 left_yaw=0.0027 left_pitch=-0.0416 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4414 right_y=0.2396 right_z=0.0226 right_yaw=0.0181 right_pitch=-0.1291 right_roll=-0.1005 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -1.0598, 7.0085, 1.7411, -0.0806, -0.0806, -0.0122, -0.0889, -9.7983, 7.1179, 1.5311, 0.2173, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c382ce85ea6b982924837a6ee2d2018e079ca2773da95f671f9891019a9357b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4712272374072a34402d169489a93b890f249d11571f3c498f8232ac4e89cb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08cb7f46e8252ddb5be82a1d12c2af4ac3c33fe9c4e467d03c462d263fca5ae0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDHtQw5qK0qTxT_9xVlYYRixHHwiJ1Bu313hjLgloqMgFRToQxYmty3_c7RFKYShEXDAlX47xorT5PYxJ6Pi7yrbuBPkwXYZ7ZH1QZ_JKT8LCecOOMu9LIHnGr35Ga9eEGonM8NsVNhUvKX9fbiu6GYgEpRQN9LD4TvNaaCz1cD9EVPVP9YsQXTX_npDAmnhZmSpOReSQPFbtYSqyk8eEspka56_ari8OOM4coGOeggSuT4Br8_ZoIpN7_OFgOf5B1M7DYSNl495fPZxqg3uyyGe2b7uBJnWIPZdY34W3rCkr3kikpCjJU4-Le7V8SQwluu4jxk_EvgggZPxEgRkUVn8EXWsplf6tbVhqfvdrovPBuPCFr2kyIH7qEe8a0Ar1j_6kRWVUb6q29cxvt_GXtgLvHCuP5hA8Z36BHSX1feSnfU9yIbk_4Uk_hcbOaPyzRkG3Q756cDGjDdd1pF1Hf4HmY3Ns8dkrJfb5KSQgTBhAwxuLyueW3K3Nyw4m4pyFGhqUtC0GaRXXWIFYJKlWrW3UZ5RXxhlARgXIv1DG56n4HdevfyHyvdn9ZcoB1brF2nil9hDnc-m2UfMmgO4jB90ecx21mbbebLYCOfxz-BnpUHTcWAjEGRv3HSG48-uDwwHChJluTi62qyPcWj3sJQV2HxyyXkgIvHCSlzx7gzfMcOl9LhSQLnsmQAs9OxaANpjmWGr892OzZoNiFK4LWLrtCy2o7tDN0aYWE5WwOBFZ90zOGGBriV4WCxD9g-RSw8jKEHUTK6nVxrt0A8DGOTb1Mh4HX1bU9r1d7A-6zHOx9qX2vi7O2dWwWeZdJfzPeaaonbx-6C2iAXMIzfuS-YC3usExM2LVv01QxrJf5DbNqfkQzlhlt6ksmJ4gfopKT4g4kg_9cU1y5hCv-I51zbjT4cHVgPn2z3li7oxFfNVuTFi_QMiCJ3navesItzNcLsd4pPFSmr0y7I1t0hcYFBfvvjLd9P4NSpVH-jORpI0zWY2ti8nJmPzbxCth8seJ3h1_C9CaknaBa3UhTwS7LsfU8xzyiI0oDGhjgJ7oksaTWnUr8FT0ru-8Ti-iOr736t067yhU1KYoGnxfx0RsKPec2YKuQeuQ9lb4LvWs00loXQElgq3pqwT1ea7A8TeiCz5bsy6fLW7y6ewa5hbGDlJF4Ekfr6lq9CDcI1LXXsS4NEONYO2qj4BYBe6F1WMIgfpgl3EJyp8wzkiEYjeNbyVJihA2p5LW5CVXcMoP-6vuHO6PkNr5COTQIL33ft0VM5065g4YQULnsJADX78z-4KG7POkqzFKSaFFdAi6tmAFoWGXHGL0BNpmte95M6TI4Zg9vDoO8ie-LJVfnXYdm8dB4KAN_GRYkWBocDWOYLupdoIZEcrr8sv1ukbF1NXjbAM_ORJf2BI7_2ZGwPc4dTtUBvHKDGQHDzf7Tat__-DTo43jU-GzKSQAvb5xmgPwed3uSdrREA5Ng8f4Rs1J3u06I3CyoRKAGuWeyxBo_MmhSmRg75L4qq_IAUqaHGGEtmG",
  "id": "rs_0515d5cdd5bca4e8016ab431ebdc0087d0a42afee0428fd019",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_z\":0.075,\"right_pitch\":0.4},\"note\":\"The gripper stopped short of the requested forward position at table height, so its current posture appears to be at a reach limit. I’ll lift slightly and pitch the tool forward to make room for the last part of the approach.\"}",
  "call_id": "call_GEORSLJMUazFsAtmMvMYJCD6",
  "id": "fc_0515d5cdd5bca4e8016ab431ec782087d080646c880008976b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GEORSLJMUazFsAtmMvMYJCD6",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8017, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.6792, 2.1719, 1.0069, 0.8406, 0.6712, 0.062, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1678 left_yaw=0.0027 left_pitch=-0.0511 left_roll=-0.003 left_gripper=0.9992 right_x=0.4705 right_y=0.2433 right_z=0.0621 right_yaw=0.0504 right_pitch=0.3283 right_roll=-0.1261 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.3744, 6.9949, 1.8144, -0.0513, -0.0757, -0.0122, -0.7043, -9.7846, 4.6564, 2.0733, 0.3053, 0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b511cebd7974f56434fd6f68bb1e2ec4af51ed2bbacd22f72fef35a1e2872d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27b058309ad802134b9a1334f93c569f6223ffb757490ce8a53bbf4d5c86dd2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:714dcf12811a4aa2dfffc3464d406995da0e8ce1a6ed580ef85f09f6a80bb3a6",
      "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 6 attempt 0 · /responses · status 200 · 2.42 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7971, 0.6067, -0.4095, -0.0193, -0.0383, 0.9992, 0.7479, 1.8999, 1.0893, -0.0566, 0.5793, 0.4355, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0015 left_z=0.1743 left_yaw=0.0025 left_pitch=-0.0206 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3996 right_y=0.2437 right_z=0.0596 right_yaw=0.0186 right_pitch=-0.1103 right_roll=-0.0916 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -1.2376, 7.2, 1.7607, -0.0464, -0.022, -0.0122, -0.1436, -9.6615, 6.0376, 1.9072, 0.2222, -0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4282, -0.0193, -0.0387, 0.9992, 0.6662, 2.0743, 1.1828, 0.0402, 0.5217, 0.3664, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1699 left_yaw=0.0027 left_pitch=-0.0416 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4414 right_y=0.2396 right_z=0.0226 right_yaw=0.0181 right_pitch=-0.1291 right_roll=-0.1005 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -1.0598, 7.0085, 1.7411, -0.0806, -0.0806, -0.0122, -0.0889, -9.7983, 7.1179, 1.5311, 0.2173, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8017, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.6792, 2.1719, 1.0069, 0.8406, 0.6712, 0.062, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1678 left_yaw=0.0027 left_pitch=-0.0511 left_roll=-0.003 left_gripper=0.9992 right_x=0.4705 right_y=0.2433 right_z=0.0621 right_yaw=0.0504 right_pitch=0.3283 right_roll=-0.1261 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.3744, 6.9949, 1.8144, -0.0513, -0.0757, -0.0122, -0.7043, -9.7846, 4.6564, 2.0733, 0.3053, 0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b511cebd7974f56434fd6f68bb1e2ec4af51ed2bbacd22f72fef35a1e2872d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27b058309ad802134b9a1334f93c569f6223ffb757490ce8a53bbf4d5c86dd2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:714dcf12811a4aa2dfffc3464d406995da0e8ce1a6ed580ef85f09f6a80bb3a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDHx6TN5baEG8nJPd_OB1mPlnWNGXpOM_kndNADGLDa05-1uX8EWlwTNJ-yJBTVlqCICyF66DVo4GsezmHodXPGlx7PQ1wOJC4Yo9iYzeD7Nuyht6ydOQO6hyOAIErlPjJxrn2FjHh9s4I_yBPG_q7k3YE1PONH3nuLSxDfPW-rtqtQcJhB_SitAgrznyNq-GcHb1GnCD3hWJLI38C2if5pQOU8YsjoLNb2o2Di777vdgnDYeRLvlHZpvfCM_TJt7r4Ft-UOdOzBXqLbSF1_Da7FDA4QRIQ5AwzVQdLVTSRflfGpZleROeZ_Sem8I5pF_0UJ0kQjAEXoiW_f6Dm-eswgta4bCey2sGDt6FaSekYdXbmrfv7_eiChUowY_Bu10e8fETvSRMX4iP4zADG6GNhFoovxV0k2d24o7ClP0ziKCC1vtHSppvpTbDjS_TEunvP2cCDnPVXyXYrxC2rdW1aSLTiCRGxO9V_k4HL-Wce8cYK-heaAKNkGXjy9Pk3lVlPOlHy3wk0lBvH6_1VB3f3CGzvdxkVh2iHOVSJ0W2sE1NFTi5lHgf6S1R__aRiWjS_Q1GUd4HSYm0XOR0mJ2oeThlG00tolkWGNoR8mkg6x6QVwbgqEZFsKyeiIgzucoVni2ZyQxDZ_rj2OehxFWvYngzXsh5RSVU3NLJkvXTtt05FnyVnNVMunUlYAUtC8hB2yOhZ8b1CY06W0CWA-EgqnEryCBvbh3ivHZkZVwTxjz7muJeOIQzYLAGv0h4DPdRdeRvO6rACvpGXONrsLOOZZ3gcqF7fYQnOqNo6eLNLsnuoOmii7elY3G_3ou2H_F3HBCBRJM4zKyReELKr8hIW_DaoS4I67k3qu033WWTp6pZTPDmCg147LV_3leb3dpSzrcxQRpxxkfWzJRpmPao_ng0EsMkaFn8aLLWol51SZ17DZSqDhXSNYluV-GKyiE3V4iJoTZyGT1sL6uJTrTHlT-MytPljC0n-bIv76RO2xpLJ3253ohF3uchv5QmNTfP5WlJLL5cI2oaqY-q6qF_0UK33gxsTB1F5Mwgi_d22nqxBZTKAIWZoUhKt7zN4_Q9MQsOakg_RfUr66VljSYTdd9Igv9QUYX0gMqI3wLfKchGqD2NPr3Ufh7tmDXY1KccYJpEBTThnmk3U_RCQ8G17ZGfNrs-apczY64kULLRDw2XUi0EWwg8SpRaEww8PkaBEoN-TDi1mqM7OfJyA6UxzpuvZKDGtJG_JmBFbFxZVbiZ1aMFtOFxIntOUnpiW37-ZmmqmDmBaHIMBhdPBqUhP7PCjZH6XksBHIn6tYRSx6xdWxZy2jYEvkYApF4vq4e_O21Y81fkpqIUhFbQpcEEgvMPLsCHKl_-3BLH8TYs1VbxPhw5-5fPRHMuOSYyMgST5juDR-zjkEfZt1aP2IEQVqVsQOXWyqLFFFMQVB52aoOfQ85VId2Xi0twNBoov82wWmbBKGNVAASvuEGfC3jHWctu3Azw4O5oSs_IuWzNbeBvNvJyEoJGZXLzgt8JmdAwARbu5qwnrmS54T84pm2BEVaxPpMXkkZ_GqYtc6cgthnLY=",
  "id": "rs_0515d5cdd5bca4e8016ab431efdf5487d0ae6e023945e63966",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.473,\"right_y\":0.242,\"right_z\":0.018,\"right_pitch\":0.4},\"note\":\"With the tool pitched forward, the yellow object has moved into the jaw column in the wrist view. I’ll lower the open jaws around it before closing.\"}",
  "call_id": "call_8lMkHIwDKAdLXg0jckDETpWd",
  "id": "fc_0515d5cdd5bca4e8016ab431f0a7bc87d08192e84cf764f84d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8lMkHIwDKAdLXg0jckDETpWd",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4454, -0.0193, -0.0387, 0.9992, 0.6792, 2.3127, 1.0161, 1.1007, 0.6777, 0.0383, 0.9996]\nstate[eef_state]: left_x=0.2865 left_y=0.0016 left_z=0.1655 left_yaw=0.0028 left_pitch=-0.0625 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4769 right_y=0.2473 right_z=0.0468 right_yaw=0.028 right_pitch=0.4312 right_roll=-0.0698 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.347, 7.0632, 1.9267, -0.0855, -0.0757, -0.0122, -0.253, -6.8034, 3.7402, 1.1795, 0.0855, -0.1441, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:095f37065d245391fe46d8f6f0d31a36f9ad6d04f9201c40af7025d6386ddb8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa80c7758bcf84a001932e25e13b869c6524fd5003d75c7780f4d78af08e5d9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19393695b2370c17c5e87beffd8c79456d6adb7be5bf1285eae8fe6bffde52b7",
      "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 7 attempt 0 · /responses · status 200 · 5.939 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6067, -0.421, -0.0193, -0.0387, 0.9992, 0.6758, 2.056, 1.1702, 0.0223, 0.5289, 0.382, 0.9996]\nstate[eef_state]: left_x=0.2897 left_y=0.0015 left_z=0.1717 left_yaw=0.0027 left_pitch=-0.0332 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4353 right_y=0.2393 right_z=0.0247 right_yaw=0.0127 right_pitch=-0.1346 right_roll=-0.1004 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -1.306, 7.0085, 1.8828, -0.0562, -0.0464, -0.0122, -0.253, -9.3744, 7.3231, 1.5507, 0.2613, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8017, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.6792, 2.1719, 1.0069, 0.8406, 0.6712, 0.062, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1678 left_yaw=0.0027 left_pitch=-0.0511 left_roll=-0.003 left_gripper=0.9992 right_x=0.4705 right_y=0.2433 right_z=0.0621 right_yaw=0.0504 right_pitch=0.3283 right_roll=-0.1261 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.3744, 6.9949, 1.8144, -0.0513, -0.0757, -0.0122, -0.7043, -9.7846, 4.6564, 2.0733, 0.3053, 0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4454, -0.0193, -0.0387, 0.9992, 0.6792, 2.3127, 1.0161, 1.1007, 0.6777, 0.0383, 0.9996]\nstate[eef_state]: left_x=0.2865 left_y=0.0016 left_z=0.1655 left_yaw=0.0028 left_pitch=-0.0625 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4769 right_y=0.2473 right_z=0.0468 right_yaw=0.028 right_pitch=0.4312 right_roll=-0.0698 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.347, 7.0632, 1.9267, -0.0855, -0.0757, -0.0122, -0.253, -6.8034, 3.7402, 1.1795, 0.0855, -0.1441, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:095f37065d245391fe46d8f6f0d31a36f9ad6d04f9201c40af7025d6386ddb8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa80c7758bcf84a001932e25e13b869c6524fd5003d75c7780f4d78af08e5d9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19393695b2370c17c5e87beffd8c79456d6adb7be5bf1285eae8fe6bffde52b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDHzZ4hk62gDNDktH-smEVAAy28cZBAVds064JT07ZxBztHIYPZxed7ByrSfHZAvSQpGEwgiwqMTs_Ni-XlXbQ-PA5J5zbAQU5aPKnGsuukjcst-aNLeryqYkSCXFpHKvOKV-eQcEBN0Te-oHfB1fI3XsnB8ctGH1wE2_vn4BRnZxF0WaHbokCzjzHuWT-GbTT0JIRjt65cEREYXb1XaoqX3upijZ_UBnv4VV1S0eZm5yACGcIvF43ppZB6Ev_ne67Kh0JDYuX9nPB6U5lpV-WJMXIE9f-HKWKbegAGHWKTSdpewhCJ4GGJAOKhStgiXRb-Bo4dMzCbkFU3-jKDbFkoWK6wRIAAKW0VpYfh5-UtK3_so4JHLSdV8DJA872asFXp4cbLMHZ64Ryf25vG6o8RTRu7mALFe-gFBr6-gJtxDrYizqJKVtqcSK6JORVYglGpofyghu5UzKJFGo5SyWL0BsBjR4BXeNnTOJSvJzCQd0_tkjfbXy7-MmlZeCmZobHquutJqh3O1LPrgZLjCwLeEGs3m2QGBEEyVJeDMJVoT7hM8EOjy0aZ8NUa-3BplF4gV9VUzBA0aJMqK_tSL4OZbfBTwUgh-agGvpHKpoWLm9yX2oQC1nlBOhbb15ZAuxpc6Rw7vPde3SQIhH3VPwXHHFAsBSnfyXQulfNbwIT1fOlbbB4tKiTnwgBcP6w-2rTOESicpLE3DV-GqeL6cfODpvytN7Lur674I2PwUikfL_lQJi7yF-Bad7fkVFXR5ZtNQfQf2rY3bMKFxXctPU-3LY-GcZ36b84s8bQo4cS2pO4JUszNhnvY79BxlNsPIjpkPumzlnFMf2p6-csne8C8gqJGWxN6lghhsWgFMLQaaqserhHfDKSbZyCTeSn7T0ZWQe3t11Nw3w0wnHYPl8xQxkdn8BadPBtO0ioynxhJJ0zh8AWulxOXIcDr8N-0lYKlDBiy_kTe0HgW_ndb01J4o2ADtKvraEkipGuu6KtMDSo0K420uiwFFUVgGC4j503700q8s56KBJZi3fzFukX5WIK-VXTTaSct9LO9Q6b2Qv2C8ImPOQaI_vTju-ZTZVCrbZOnxl_fnmC_MV4V9IA4Hu1GVRKcOLGLxOjIzcyyr2usu21BS20MMf-ypvS6eKwLmQQL1jzGzVntRB5twsGH29rbXfY1YBjhtlDz359X8h2TWyYObi2iKGC1K-ShkL09UjPnmgAbebLwwygdgti0QVWl_p-vCtHZie3O-ovf3P-bk4Z5ECQWpJXFgOLQ6Ww-9Boh8b6zwODwZi3caD0uCJmdPis-a-tNfcspiRtb_J6n0bt7Fh9SkS5a-rHcvOUOfdbfCyWKYlua5hIwlx3WvDHjD9WkyZza0GJomzdwkAXzXLxc7dNnqG-_wQYn4iH2cpOnCCtXht4785vpRHiTIP6NUAWvjb0RkW9OI03AvNqcFvQJBsocdcfe0oF1IzqzvGkQXqwZ4MoqAh9iCIyS_Kqe6KcwrkxXQ_cLXNVobooTCp3rzqhMt_2otkkNLn2FGkdUZWhUVhAGZ4CvRA0gHCt66HKO58VwVZ0z0FQyM2SR3WuoN3ceKAytXtJaZ7DIQBSl2Jhso4re5lOODluz-sPCH9UrxrBOBsHREukJrSDw=",
  "id": "rs_0515d5cdd5bca4e8016ab431f26f5887d08a902900abbe1208",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right gripper is over the yellow object, and its descent has stopped above the requested height, which may be contact with the object. I’ll close the jaws and check whether they hold it.\"}",
  "call_id": "call_7aOd0VNRj7VJ3avbvmN2OcPL",
  "id": "fc_0515d5cdd5bca4e8016ab431f3500087d0b993d4b3252d177c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7aOd0VNRj7VJ3avbvmN2OcPL",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4576, -0.0193, -0.0387, 0.9992, 0.6811, 2.3367, 1.0161, 1.2045, 0.6659, 0.0093, 0.009]\nstate[eef_state]: left_x=0.2847 left_y=0.0016 left_z=0.1631 left_yaw=0.0028 left_pitch=-0.0747 left_roll=-0.0025 left_gripper=0.9992 right_x=0.4779 right_y=0.2515 right_z=0.0558 right_yaw=0.0347 right_pitch=0.4928 right_roll=-0.0465 right_gripper=0.009\nstate[joint_eff]: [-0.3077, -1.0462, 6.9949, 1.7607, -0.0855, -0.0317, -0.0122, -0.4034, -7.4872, 3.5897, 1.116, 0.1538, -0.0122, 0.7057]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a18ee0f73fb9444de9a1e469729b0efce893b6054698b9fea9d2d0539198b624",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94e151b3bc7e6deed13d807b4e4ff1f08427dc33129f158b3972de752512dd5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d319037389e5426521893fd2c9869183bcc497b7d247b43f3f5c827ce75ff031",
      "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 8 attempt 0 · /responses · status 200 · 2.274 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4282, -0.0193, -0.0387, 0.9992, 0.6662, 2.0743, 1.1828, 0.0402, 0.5217, 0.3664, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1699 left_yaw=0.0027 left_pitch=-0.0416 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4414 right_y=0.2396 right_z=0.0226 right_yaw=0.0181 right_pitch=-0.1291 right_roll=-0.1005 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -1.0598, 7.0085, 1.7411, -0.0806, -0.0806, -0.0122, -0.0889, -9.7983, 7.1179, 1.5311, 0.2173, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4454, -0.0193, -0.0387, 0.9992, 0.6792, 2.3127, 1.0161, 1.1007, 0.6777, 0.0383, 0.9996]\nstate[eef_state]: left_x=0.2865 left_y=0.0016 left_z=0.1655 left_yaw=0.0028 left_pitch=-0.0625 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4769 right_y=0.2473 right_z=0.0468 right_yaw=0.028 right_pitch=0.4312 right_roll=-0.0698 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.347, 7.0632, 1.9267, -0.0855, -0.0757, -0.0122, -0.253, -6.8034, 3.7402, 1.1795, 0.0855, -0.1441, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4576, -0.0193, -0.0387, 0.9992, 0.6811, 2.3367, 1.0161, 1.2045, 0.6659, 0.0093, 0.009]\nstate[eef_state]: left_x=0.2847 left_y=0.0016 left_z=0.1631 left_yaw=0.0028 left_pitch=-0.0747 left_roll=-0.0025 left_gripper=0.9992 right_x=0.4779 right_y=0.2515 right_z=0.0558 right_yaw=0.0347 right_pitch=0.4928 right_roll=-0.0465 right_gripper=0.009\nstate[joint_eff]: [-0.3077, -1.0462, 6.9949, 1.7607, -0.0855, -0.0317, -0.0122, -0.4034, -7.4872, 3.5897, 1.116, 0.1538, -0.0122, 0.7057]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a18ee0f73fb9444de9a1e469729b0efce893b6054698b9fea9d2d0539198b624",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94e151b3bc7e6deed13d807b4e4ff1f08427dc33129f158b3972de752512dd5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d319037389e5426521893fd2c9869183bcc497b7d247b43f3f5c827ce75ff031",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDH6xwdu3xMJUIO81yLtiDpaSixK0K7wLeAGMAVPDTvqbKCUCnP_9T_oOBHhXKTA54t9q4IW0QPZBsiGYP7J8oi5nHXI0myAHTN4fRpH-qIf1t8oHQ_3jGGSgZewlJCswEPZb80W6abLTuwKsyvsyw4mg6_S1-7arx64cYOCLLvoh-YAXA5pMShyh56WUes_PSdT1SUg0NOCAhJrpj9zuXB7-uiS2P0NZeGo9LeCsNhQngBal3-BM4EaHG1SA2aZTdhr7ZhmBE5pfCaw02jBkUS3HbUdkqU_kcVHjnsk4J1VGmXgPkxiO4ZhH3oBOOPoqcUkI-PKjJTILd9E9DLKm2uk3x9APFkZIoF9uKmpIcoU_yqDl_ZDzZEkaLG7BUNFvFMtzganmhMNRmGfrU9pZwcA-T93sDcJPpLgfKZPO2QypVK5jW6qlIzzF73hwnrLc0sKmTkGsgtT8PXkY4_vrgz7IG3pcrYEIvzhoA1flWQ1Oy3aYJyfyqSFkoFq076Xod9jtMm87cKBjBRgA7WP8FMNsj4zpl7ON1up7TuCf0q2x2nP3XRjeCUfIeamBLfy4_cRa7ZpwpVKqJSmuIRohpU4gICCk0krkrUetvMn0AOchoWRpht1EkqFTjukI8b0Lr3zoyJCiq1SEPJXtw7h8JbzfAgqnF04ldNBNrmafWXD59DLkrq7ZYiecu8nikdTP0Dz46ZYYkgjnxqM7F6v-N9bLm2wlSOAZxszgsxMV3wlNLHZZxS-nLJK06a-vAV8TcKgUEOQghWrANQ3mIjZ6P0ivTk4CKawBeg4hTdwx6CGu1oc_hp7NW4hM6Vr4AD_qlwlpe_ArzuH7-k7Yhj0pwJBOWBkP5VqtDzH9leE_yHqG_zir-83oUD37V2uh5O1SK7QEWCRFd0WFo8VAHSRgYAEi0umo1NJCTo_v1VIKhUOFRIav2Sdrmy7EG0AbjuZ6TvF_ln3E2MrAAUYAa_XrYxPOkSuMpyljapd9loVzeL5rCmmbEBJKXh1Et7NEuZ6TejalWqps_Ct8ljkg627mDe4lMIPXiqO7OaanHJRfsRI8nmlxM1zQdZovRqGQldFtWjCf6XG8ThME6FnUTibjexibKkC5pJSRfCWollMQYqU4smu2jpizIdrhHJ2JgQSW_2Oefamy18ZITJPLOsD3ZX9mEdsJ-Y9jtqjBEiwjpVbf0M4bUb64cWAwy0-MPAXTnL8xQMJS4NiXC-hI6IBmT79LfpZfiIQV1dpJaOyF7-TTQPlvfZdM8f62NIIfmRhcAMeawbg8xzqEpXPzaGNFCEYI3aLa4GpLJMweCrvrWpVW3BuAsf66U9ue6Wmy0sj1sE7V09Gssv49_9VZ_Nc29cR6wzgbv3wU4pOuATXKQP7iq1H40G2KpLXN-JDj_kPOtp-wCaWaA046rmjCsCAr2pa2LA3VsNahX8lMewjdd4bfoZhZ7zupW7lHeWJ6MwS7h0fRL_QX-cg1xKqkFuv6uafG8XgdmPV5491cKIAaw926u1GcI5_oxw1wRrSKgfCOcmkLTeeN5wjON0tTpRcApnF4iTGFILkuLva3lXbRcY4bc4N-6Rury5Y88gyoBDnOKBlnuuBpx5KVEttQpT37bzmvnNVlxyT8tKre0zZ0eXSPAu1EQ6pPbZmRwF10Nx3NGdsKeEmUv5Z-LybcUGPPfBpuaRLvfxQDJY7ORF50AlgF_3rCVqCLc4JQ-n3CSUhys_GxNsIzixxvEpZbXzKg4ThIqVdz_QcVnwXgT7LSrIuToaqSqE2hAMCOF3xshTeaobqdS1F80OJmSsSjtzwdjF9KGHlTvo9iNTbHWXeyb6yp2hPNZV3-4EL0Fs87t7J3N_R98oPIzqpq04HQRMBYD8eSQCgLjK6E-lwHOOeCZ6n3ycKDagsTAaHFb3Ktt8DkLmCemJ-rNZ9AuETlocLGFe6Lac7g_VAJZp5n3o2-i8B7jgpxweirxTMvM1Cr4sWWQY-iZb3tzPEVj8Ay1Ri5ITT0HwKPd61H7mhcIegX6fs8kmCX-OBFfYgJv7b-5QjRbWZfIqgYvDXlitm5ZIMV309pZxyzQWWJ6ATvDNaBNjRyJLTEDhTgDSJ7M0pIHDkYM4MK1Cw2RxZn8Y-ZAlTkFtbYA==",
  "id": "rs_0515d5cdd5bca4e8016ab431f5a48087d0b279bd584da4f64b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.457,\"right_y\":0.227,\"right_z\":0.085,\"right_pitch\":0.32},\"note\":\"The gripper closed almost completely, so it missed the yellow object; the wrist image shows the object just to the right of the fingers. I’ll reopen, shift toward it, and approach from slightly above for one corrected attempt.\"}",
  "call_id": "call_eYPkBxZVxP74pJ1pQjsFX6FL",
  "id": "fc_0515d5cdd5bca4e8016ab431f78b2487d08685cb1bb031d2d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eYPkBxZVxP74pJ1pQjsFX6FL",
  "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, 0.8036, 0.6067, -0.4728, -0.0193, -0.0387, 0.9992, 0.6586, 2.0708, 0.9104, 0.8211, 0.6239, 0.1059, 0.9947]\nstate[eef_state]: left_x=0.2824 left_y=0.0017 left_z=0.16 left_yaw=0.0028 left_pitch=-0.0904 left_roll=-0.0022 left_gripper=0.9992 right_x=0.457 right_y=0.2277 right_z=0.0721 right_yaw=0.0479 right_pitch=0.3095 right_roll=-0.0774 right_gripper=0.9947\nstate[joint_eff]: [-0.0068, -1.2786, 7.3094, 1.8828, -0.0659, -0.0366, -0.0122, -0.5128, -12.1504, 4.9983, 1.8779, -0.0073, 0.1734, -0.232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6828ccdc74b8bedb06eb40150a2992c66c6a4a53fe8541f62e4e1d8e44e1c16c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2b708b6b5fc704e59988444b63e5a65f3d75e2da930ee058713f40cd0f387fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91494c1815852adfd797955c1c02768763c881b5560fbc32e9bad2100dc6ca13",
      "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 9 attempt 0 · /responses · status 200 · 2.155 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8017, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.6792, 2.1719, 1.0069, 0.8406, 0.6712, 0.062, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1678 left_yaw=0.0027 left_pitch=-0.0511 left_roll=-0.003 left_gripper=0.9992 right_x=0.4705 right_y=0.2433 right_z=0.0621 right_yaw=0.0504 right_pitch=0.3283 right_roll=-0.1261 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.3744, 6.9949, 1.8144, -0.0513, -0.0757, -0.0122, -0.7043, -9.7846, 4.6564, 2.0733, 0.3053, 0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4576, -0.0193, -0.0387, 0.9992, 0.6811, 2.3367, 1.0161, 1.2045, 0.6659, 0.0093, 0.009]\nstate[eef_state]: left_x=0.2847 left_y=0.0016 left_z=0.1631 left_yaw=0.0028 left_pitch=-0.0747 left_roll=-0.0025 left_gripper=0.9992 right_x=0.4779 right_y=0.2515 right_z=0.0558 right_yaw=0.0347 right_pitch=0.4928 right_roll=-0.0465 right_gripper=0.009\nstate[joint_eff]: [-0.3077, -1.0462, 6.9949, 1.7607, -0.0855, -0.0317, -0.0122, -0.4034, -7.4872, 3.5897, 1.116, 0.1538, -0.0122, 0.7057]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8036, 0.6067, -0.4728, -0.0193, -0.0387, 0.9992, 0.6586, 2.0708, 0.9104, 0.8211, 0.6239, 0.1059, 0.9947]\nstate[eef_state]: left_x=0.2824 left_y=0.0017 left_z=0.16 left_yaw=0.0028 left_pitch=-0.0904 left_roll=-0.0022 left_gripper=0.9992 right_x=0.457 right_y=0.2277 right_z=0.0721 right_yaw=0.0479 right_pitch=0.3095 right_roll=-0.0774 right_gripper=0.9947\nstate[joint_eff]: [-0.0068, -1.2786, 7.3094, 1.8828, -0.0659, -0.0366, -0.0122, -0.5128, -12.1504, 4.9983, 1.8779, -0.0073, 0.1734, -0.232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6828ccdc74b8bedb06eb40150a2992c66c6a4a53fe8541f62e4e1d8e44e1c16c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2b708b6b5fc704e59988444b63e5a65f3d75e2da930ee058713f40cd0f387fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91494c1815852adfd797955c1c02768763c881b5560fbc32e9bad2100dc6ca13",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDH9AXXr91CmKf1SannrioMRg68cUfekghGUOd4d_fBTz2RIapMRdZgpjRsSvetTNvbRlUqpTYV28GQ4vV5BfLIosRZvqiytbvhhQ9AUaZVRmhbU5OPt8Hn6iRJGetYK6dKr9K0RuoqC0ilKesSXg6dvSyWu462i4tPWQeSzk_Lb_V6w1m5ENzhwJqVGt4FiV85Z9eZ15SRvDaWSePI396F_MgopuVm7p894-6jIms3vdvRwnLiVyxMb7dTBKLmOEBTMbiiQyQETpk0Ij2u1uI5akEQmFztAYzG13DgrtkG8O0aEcL3VaFMcnvtIVtA_fUvVzQX3XCgqEmbgSAP2akKgBWB1MUQLpJEpMswfy3A097OQcbxDHB3yUu8nAQI8roYjawQIZ5C23H993AcpQZIH1aSotm21f5IVeHlTz1ivmDuMDYiYI8zAMVKThZfSFpoHe5uC3sY7npci-I1xz56Ruy9LRenV5vLbLOVxJJscuwSGucu3UaH9w4sq-FuzvOz9-bLuO3ny8EAXtrgZ8T5tPelnhB2n6kqKyh0Ekhz_LedRrZdoQg8XmN9yjCPurcnt3cUISaAih_8ThqdpoPEXtD_XRDpUEkQAHD6vkda_0SVok0cfFZpPuReEdsiiVwXaiqD97AD5YMH1ANo0Btfbhsb_bUru4Dp7QruIKj311kYQ6Gh9tUXiG4SCHbN4eIlti9MDS7XgrJjOqYNhvIwoLXMHxqxBLevBZK-HtwByDbK7cBncCNfsotX5EmI30nrmPp0Hfhc-P3b9lIvxBTwA0g_MbA2AKUqPmRClVJhtNoZPOKbttjepN6ZTECOnSjY1aQez9aqy9ThCxJgZ--RueC3NPLeMr7PWRriowlImsmZrWdX4ouA07LE3Xa_XzfXPOy3_HvHsCHPm8gGEvmMZZzFz_-hXhqmI8BzvRagTca9HW7wm6SY6Bui8KddH8Nc3md0ukU0d7A650mS1G98bl2fGob-NLEnaJXHHiMtJ4648etXMCgKSCb5jF2DxH9tWH2Gh7SnBH0bjDrOp4ZnwFAxnxYCU_6X8aGvM6RTMhum0H8vv5pRldXQ-ujX2ifYZNY49UFlqM2eG8XGsPPwkGnRDeT7Zobg3QitmrhpPtwaCrWPHzCnpiwqztJTrQGporceoQcNn6_HzjQUu3zR2Z5ytKKuJDnoxy0sVh6eyTfAmGlBxWt49hWDllms31-KeVJFcjxK96ReLKb4VP8p8U5BGaORrA2mUzT2WlFX4mYCfL6xhCvJpgpMi0KDd_FEzuB-UezqOqcUsI130xNOtl8N_OQEd-I2fD_lv1ps0JzftUmdGcgOXvgTGhTjNahJMuSFh-cB38DTuwscs2LmrMuse_HgUYw3PvQYzzWAGY1QtjWzd9cey3XKve5OOnH97pT4xyzbk0zUyGOqmQiswxwrI7y_6BbyQQg0TNG7qmdMvT38XPIJcHUMnwExCIOx7ids35jdMr69UkCk1M3YG4bN2dGpGm0oFXEVcltsL_sGGWlvl0VLEbS52LROPCVJCeQnyNMHsmOgF36sHivnL9A==",
  "id": "rs_0515d5cdd5bca4e8016ab431fcb65887d08a77aac74b20cdbb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.228,\"right_z\":0.026,\"right_pitch\":0.32},\"note\":\"The yellow object is now centred between the open jaws in the right wrist image. I’ll lower the gripper at this alignment, without advancing farther.\"}",
  "call_id": "call_XOPmaayH4tQ9PWfEYqMtBx9Q",
  "id": "fc_0515d5cdd5bca4e8016ab431fd396c87d09bbae8371ac9c1b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XOPmaayH4tQ9PWfEYqMtBx9Q",
  "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, 0.8059, 0.6067, -0.4793, -0.0193, -0.0387, 0.9992, 0.659, 2.2028, 0.918, 0.9459, 0.6086, 0.1089, 0.9954]\nstate[eef_state]: left_x=0.2815 left_y=0.0017 left_z=0.1581 left_yaw=0.0028 left_pitch=-0.0991 left_roll=-0.002 left_gripper=0.9992 right_x=0.4594 right_y=0.2326 right_z=0.0356 right_yaw=0.0595 right_pitch=0.3071 right_roll=-0.0698 right_gripper=0.9954\nstate[joint_eff]: [-0.0068, -0.8274, 6.9675, 1.7949, -0.0317, -0.0659, -0.0122, -0.3761, -9.265, 4.5197, 1.7607, 0.3883, -0.1148, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38c2a8f77b33b4374d12447e5f9f8b4a03f53053949579674271dac8e27291a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8af9ea2275c5f9cae34fdfc55727b33af7b22adfde5d8a65f3bfc9446d4a7ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b8c6d7ad326660fc01f10d9b61818bbf4d075ae03e99d274cc5f118bcbafa8e",
      "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 · 2.161 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4454, -0.0193, -0.0387, 0.9992, 0.6792, 2.3127, 1.0161, 1.1007, 0.6777, 0.0383, 0.9996]\nstate[eef_state]: left_x=0.2865 left_y=0.0016 left_z=0.1655 left_yaw=0.0028 left_pitch=-0.0625 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4769 right_y=0.2473 right_z=0.0468 right_yaw=0.028 right_pitch=0.4312 right_roll=-0.0698 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.347, 7.0632, 1.9267, -0.0855, -0.0757, -0.0122, -0.253, -6.8034, 3.7402, 1.1795, 0.0855, -0.1441, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8036, 0.6067, -0.4728, -0.0193, -0.0387, 0.9992, 0.6586, 2.0708, 0.9104, 0.8211, 0.6239, 0.1059, 0.9947]\nstate[eef_state]: left_x=0.2824 left_y=0.0017 left_z=0.16 left_yaw=0.0028 left_pitch=-0.0904 left_roll=-0.0022 left_gripper=0.9992 right_x=0.457 right_y=0.2277 right_z=0.0721 right_yaw=0.0479 right_pitch=0.3095 right_roll=-0.0774 right_gripper=0.9947\nstate[joint_eff]: [-0.0068, -1.2786, 7.3094, 1.8828, -0.0659, -0.0366, -0.0122, -0.5128, -12.1504, 4.9983, 1.8779, -0.0073, 0.1734, -0.232]\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 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.4793, -0.0193, -0.0387, 0.9992, 0.659, 2.2028, 0.918, 0.9459, 0.6086, 0.1089, 0.9954]\nstate[eef_state]: left_x=0.2815 left_y=0.0017 left_z=0.1581 left_yaw=0.0028 left_pitch=-0.0991 left_roll=-0.002 left_gripper=0.9992 right_x=0.4594 right_y=0.2326 right_z=0.0356 right_yaw=0.0595 right_pitch=0.3071 right_roll=-0.0698 right_gripper=0.9954\nstate[joint_eff]: [-0.0068, -0.8274, 6.9675, 1.7949, -0.0317, -0.0659, -0.0122, -0.3761, -9.265, 4.5197, 1.7607, 0.3883, -0.1148, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38c2a8f77b33b4374d12447e5f9f8b4a03f53053949579674271dac8e27291a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8af9ea2275c5f9cae34fdfc55727b33af7b22adfde5d8a65f3bfc9446d4a7ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b8c6d7ad326660fc01f10d9b61818bbf4d075ae03e99d274cc5f118bcbafa8e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDIAYC2SkeLnrOVyi2ck6NFO78-BwqCgjODWrILLpbdX_AgZmazqJ-yOYRv7TlPiyM98FD9DwqG_agX_zKOc1Dq9ajAxPTuwN8kdSYTnvM9A9yUJu4iebI1QtO87zqcI0ggGMwu1LSdCVNkVNjqSWDIYdysZH60Op5mDNUs1JOvxnKWpANpO8s6Tr0xfWZQ58pIauZfDNZ4DrjtONsxtnWcD1S5j5lGSyY5a_DqovajXrxPT1tVKq92sObDDQ7xw4tscLjmKtSU-njBT-3FGCl_06xvxdDmPyiayLIaRuzu4D484sI1EyeWVRA1Dm6v-eZInY5dUkLGMEzz65lZEdqc_ohGug6BS9OawC__SoCw8X9k7f-0YvlQlqrh2ivHp0fAaSRZhhGA2lG8fesOSB8eOJEtmabC6e8GmFs3M8jEo0PjHM_oCVKE6RKGMTDW7EBIAZK8eCIzWzOFiD7svwx0vTdut6SGUgNjDX9djM43Ale1ppuyWvjpq_lGZiTjREHOErLFCfLnJ_AN7wtuKgqvxht4K1wKGIsIHBUu03OeVgW3P5ElzsVcVfHSk0-d3eBpXTiWQHI9S9qDspqjNvdeonlDue3fd_QKibMUvNWNIjlsOPXrYSfwSQR3LRvCumZMJzlAsoN4TzcpNYC_I4zKGHAIs6BOf9dgMmF5f929iGowk0GP5AIa20guQzi_28QHFE7AP14FqReTOQU7iCUA2Yq257Y0RUAexqNkpbpLLakMZAqAvxrHPABgeoOwyBOAH2BPiNC1V6VGuR3bnhncDLq-4XMztnRmbljpPgDlzwkUBaSFCJCR2XS56Uew1-pl9PuuFJftV4K1g02DYvmyH93Sss_XUim-8uKjaJrx_gis-h-sCAukIaOZt003fOl-ryY6aLRe2f1EcqW26DukQlMyfQM0MPOUKNW9Utce4YSlO_AeS5lvaeHnlB-EzRG-GInFaQkxtbsfphA4velWlykRDIkkDcfoVZLWRzkbyj3-pe5rd7Ic4vv8h-6GFdb_IR5hFX9fKnRhSf0lyytXwEY7lTM7YVGkILLQcWYKKtH89QT6IKtuC9n2vEkt6CULrfrUqkXycgM65n37GCoa_1pUiNQQ6H0mV5uH47-2ek4Beyne7zB2Nq3n14jADqb8vQPpZySiw9XpVRzVe2C_1zel_x6nDTN67HeBePjfpt99ZNPio3V5V50fyUbPn_LtHF_CAsajMx1gBMdDKlbzGqA==",
  "id": "rs_0515d5cdd5bca4e8016ab431ff45b087d0b8de86d8612ba148",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object remains centred between the jaws after the descent. I’ll close the gripper and check its settled opening before lifting.\"}",
  "call_id": "call_6lsSRO8uHimvQxgGjMfTgPWk",
  "id": "fc_0515d5cdd5bca4e8016ab431ff96d087d099ce3d9c8e61ce47",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6lsSRO8uHimvQxgGjMfTgPWk",
  "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, 0.8062, 0.6067, -0.4808, -0.0193, -0.0387, 0.9992, 0.6617, 2.2139, 0.9161, 0.9676, 0.5865, 0.1169, 0.605]\nstate[eef_state]: left_x=0.2812 left_y=0.0017 left_z=0.1577 left_yaw=0.0028 left_pitch=-0.1011 left_roll=-0.002 left_gripper=0.9992 right_x=0.4585 right_y=0.2377 right_z=0.0333 right_yaw=0.0749 right_pitch=0.3105 right_roll=-0.0502 right_gripper=0.605\nstate[joint_eff]: [-0.0068, -1.0872, 6.9675, 1.619, -0.0806, -0.0269, -0.0122, -0.5675, -11.5077, 4.465, 1.5263, 0.2857, -0.1587, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7974b2ad406427d0afe504212bc791da95c57ade9bf6adb7a44933dc0731f037",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27d1408bf9a9748b6c3d28734337aec97b1685b828d9b88f99d97223941e4191",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7717e50da4b2b2dcc26caef58f484c52d7edb02448cc7bd3840c43f507de38d0",
      "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 11 attempt 0 · /responses · status 200 · 4.529 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4576, -0.0193, -0.0387, 0.9992, 0.6811, 2.3367, 1.0161, 1.2045, 0.6659, 0.0093, 0.009]\nstate[eef_state]: left_x=0.2847 left_y=0.0016 left_z=0.1631 left_yaw=0.0028 left_pitch=-0.0747 left_roll=-0.0025 left_gripper=0.9992 right_x=0.4779 right_y=0.2515 right_z=0.0558 right_yaw=0.0347 right_pitch=0.4928 right_roll=-0.0465 right_gripper=0.009\nstate[joint_eff]: [-0.3077, -1.0462, 6.9949, 1.7607, -0.0855, -0.0317, -0.0122, -0.4034, -7.4872, 3.5897, 1.116, 0.1538, -0.0122, 0.7057]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.4793, -0.0193, -0.0387, 0.9992, 0.659, 2.2028, 0.918, 0.9459, 0.6086, 0.1089, 0.9954]\nstate[eef_state]: left_x=0.2815 left_y=0.0017 left_z=0.1581 left_yaw=0.0028 left_pitch=-0.0991 left_roll=-0.002 left_gripper=0.9992 right_x=0.4594 right_y=0.2326 right_z=0.0356 right_yaw=0.0595 right_pitch=0.3071 right_roll=-0.0698 right_gripper=0.9954\nstate[joint_eff]: [-0.0068, -0.8274, 6.9675, 1.7949, -0.0317, -0.0659, -0.0122, -0.3761, -9.265, 4.5197, 1.7607, 0.3883, -0.1148, 0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8062, 0.6067, -0.4808, -0.0193, -0.0387, 0.9992, 0.6617, 2.2139, 0.9161, 0.9676, 0.5865, 0.1169, 0.605]\nstate[eef_state]: left_x=0.2812 left_y=0.0017 left_z=0.1577 left_yaw=0.0028 left_pitch=-0.1011 left_roll=-0.002 left_gripper=0.9992 right_x=0.4585 right_y=0.2377 right_z=0.0333 right_yaw=0.0749 right_pitch=0.3105 right_roll=-0.0502 right_gripper=0.605\nstate[joint_eff]: [-0.0068, -1.0872, 6.9675, 1.619, -0.0806, -0.0269, -0.0122, -0.5675, -11.5077, 4.465, 1.5263, 0.2857, -0.1587, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7974b2ad406427d0afe504212bc791da95c57ade9bf6adb7a44933dc0731f037",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27d1408bf9a9748b6c3d28734337aec97b1685b828d9b88f99d97223941e4191",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7717e50da4b2b2dcc26caef58f484c52d7edb02448cc7bd3840c43f507de38d0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDIDlhFH2cY0hacihXLfdWAmJE4cR7Hp_uzYpm68f81QvV0Fklkn6lunDAIfU-_9QSXkIjxCoMYJ1-YaQTYURKSxBjcqdoBXEoMlAxJmNlNSPfDKKAOrBKQqlTjNSNp_gDsQreCQVdtAeHH9lhLNPXMf2DehPwGSP-rr3ih82a7TtQPgbJFfyRglvuy4njSUkulKEop7X_H1dla4qevYHdnwc-3juGwDTxJctdsl3bchnJJhN6mcPhr5CXNpcEsLDpOT2O6jvq3tztsK0zLgAPHfAW6zGg_GV_P0PCXRJTVXfu8uBkUT-5FXnYwpUdJ1kfQP4Yn0PZvTg96lT3_2HgUgtPD1vUNoC7lPkbbiUJBiVXf5KGiuwVbpI95oRpWP3-OY73oQ0l-CgBWhj4Psxm_qEhnBOlI5lYkejgnnkOi18vkSxkJHrbE88R0SFmS-N7UbMnw9iO__tv9FSJc8-huTfyIyIQAme_RTYuAXJFAIAFuANgnecGwYyVbn5_XiN3GNmCBvYGWGolYGvtiZ2097-zWl0Rsql48RKaBiUKiwx4qEDi6ueefN-rUSYqpSs_n-YgeizsZ9r7sIaHCAImqPrAID8zesbcJnlzyOXZhxT_kFg6nCydS3388-zEwh9w-YOfI6eGGoAcm_wsjLjwFsJ6ek6HEEcEIUSHS8-_yKnk7SGP21F0xjDtyNpZAoXWAuTjU_xHnY9s2l4jw6bVW2QmDrc4RHb43OEUlpiFjmFWjUq1ZswNvoFcTeXRlQQiC8lHOqb3vRdH86egs34cJZu3RnyU1gkPwM3aymGAEBCZ_7DnQ-9-eRPx_GkEthTkVxzc_fAiKB8LzuMonooRagMKYnFrq8GWu32iPGMJdoL0RnhccjUNd9od8UL329GIB-wcMcbUrTcF4TxHBPQ5MtGQH2BunuUIqqDGs3cJkQCV7q-ufWk50y8T1IFf9DERPnIJNWhyD9sDyNtsv8FD2LCF2LlPXAn6v5hdStcP_kft3to1sjZ5etM2TzoFc5KFPMA6dLz5oZOMFAXj2EA4EPF4xl-MCfxh-AQK7HyOGyUz4yB9lCxm54HNXaLRio-ZBWx4y54mq2yYgA9Iu8SwjiZSfRCKPZDSSf0OgkpYhwKhKrdkgQks1CeHOFFVgnbQVqr7AihhEW3pAvJ6COOgQzTKhB3siCdo7Ju4q8R4J-RZXIwouDQcxq2OFfsp43qSoQ8sytGrmtY2W5H3m9WImD7hofYHmPtm0mj1jjrZq_5rYimeKrQm2ODtWoYdKXcjRahgh35DA3TPRFyr5L3P-BfZqxeZapMtCJNnxGKOOheRuguh2H4Kho40OFLv29QJh6AYBd0QjPQ2-ZsKFscYYiY58JrTILc9miKoCCjYTIGBi8h_Gku8ZNKBY3F7eG7-KY18b0KyFJt2EN970_grsQYVYyQFRgHefmjpmXVklE7TkWifTusmkD4iS8fIT9D8KKMmCldk0WSfq-CZOkdr97oP_eCutXmH4KAlLxa_9kug0-XXNvsiggbvDYvDHI4t4TIa2PuZalz8_vf1elKggrFOBp0s0fKxieaPaGDn91qJ_OStt-kQC84e-dlF4oVuJrYk56v4bBCWd4qVfIrzXxCwmHckSOrJ38b_so-Ynnjv-3i3Lh0C2Ieou8NQyOmCx3itxO9O5oxQCWwTE7bdXf7jdIyravd2O2PKVHie4GDTrkXgDvt8Oahhi9_7Pn6tVk",
  "id": "rs_0515d5cdd5bca4e8016ab432021e5c87d0a03f7821cbd95007",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.135},\"note\":\"The jaws stopped at a substantial opening, suggesting they may be gripping the yellow object. I’ll lift it clear of the table and verify that it moves with the gripper.\"}",
  "call_id": "call_7qBCoVV97It8fS79sk53WFpp",
  "id": "fc_0515d5cdd5bca4e8016ab43202d6f887d086f1e89f26dc1adb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7qBCoVV97It8fS79sk53WFpp",
  "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, 0.8062, 0.6067, -0.4957, -0.0193, -0.0383, 0.9992, 0.6605, 1.9457, 0.9451, 0.6064, 0.5823, 0.1123, 0.6041]\nstate[eef_state]: left_x=0.2789 left_y=0.0017 left_z=0.1549 left_yaw=0.0026 left_pitch=-0.1159 left_roll=-0.0013 left_gripper=0.9992 right_x=0.4527 right_y=0.2332 right_z=0.1004 right_yaw=0.0902 right_pitch=0.2559 right_roll=-0.0899 right_gripper=0.6041\nstate[joint_eff]: [-0.1573, -1.2239, 6.9402, 1.7607, -0.0855, -0.0317, -0.0122, -0.0752, -12.2188, 8.9368, 2.2393, 0.149, -0.0269, -0.0562]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80b33a14b734e38cee9f76a328b6a360b53f943891fa91943a6ecaf7b1115de5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d546fb40d573569b92f4b1396da0c7d2be485ca0cedf18f196b08ae484e8235",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c59a7af06e87b3f901c752a6c7fe85c777699a10302d5e321b3095892af985fb",
      "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 12 attempt 0 · /responses · status 200 · 5.25 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8036, 0.6067, -0.4728, -0.0193, -0.0387, 0.9992, 0.6586, 2.0708, 0.9104, 0.8211, 0.6239, 0.1059, 0.9947]\nstate[eef_state]: left_x=0.2824 left_y=0.0017 left_z=0.16 left_yaw=0.0028 left_pitch=-0.0904 left_roll=-0.0022 left_gripper=0.9992 right_x=0.457 right_y=0.2277 right_z=0.0721 right_yaw=0.0479 right_pitch=0.3095 right_roll=-0.0774 right_gripper=0.9947\nstate[joint_eff]: [-0.0068, -1.2786, 7.3094, 1.8828, -0.0659, -0.0366, -0.0122, -0.5128, -12.1504, 4.9983, 1.8779, -0.0073, 0.1734, -0.232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8062, 0.6067, -0.4808, -0.0193, -0.0387, 0.9992, 0.6617, 2.2139, 0.9161, 0.9676, 0.5865, 0.1169, 0.605]\nstate[eef_state]: left_x=0.2812 left_y=0.0017 left_z=0.1577 left_yaw=0.0028 left_pitch=-0.1011 left_roll=-0.002 left_gripper=0.9992 right_x=0.4585 right_y=0.2377 right_z=0.0333 right_yaw=0.0749 right_pitch=0.3105 right_roll=-0.0502 right_gripper=0.605\nstate[joint_eff]: [-0.0068, -1.0872, 6.9675, 1.619, -0.0806, -0.0269, -0.0122, -0.5675, -11.5077, 4.465, 1.5263, 0.2857, -0.1587, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8062, 0.6067, -0.4957, -0.0193, -0.0383, 0.9992, 0.6605, 1.9457, 0.9451, 0.6064, 0.5823, 0.1123, 0.6041]\nstate[eef_state]: left_x=0.2789 left_y=0.0017 left_z=0.1549 left_yaw=0.0026 left_pitch=-0.1159 left_roll=-0.0013 left_gripper=0.9992 right_x=0.4527 right_y=0.2332 right_z=0.1004 right_yaw=0.0902 right_pitch=0.2559 right_roll=-0.0899 right_gripper=0.6041\nstate[joint_eff]: [-0.1573, -1.2239, 6.9402, 1.7607, -0.0855, -0.0317, -0.0122, -0.0752, -12.2188, 8.9368, 2.2393, 0.149, -0.0269, -0.0562]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80b33a14b734e38cee9f76a328b6a360b53f943891fa91943a6ecaf7b1115de5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d546fb40d573569b92f4b1396da0c7d2be485ca0cedf18f196b08ae484e8235",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c59a7af06e87b3f901c752a6c7fe85c777699a10302d5e321b3095892af985fb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDIIgikXp3UohRJbSADWTG6iP2Ot2opAP36oksimaKkGIvJaMKE7uDL4Oi5SOVhA63DfFWKeXgZhzwosN25GXE21r8ItknjWUPWjn-HaxLY8eYmkG2Cucuhccu31UdSNl70m3R8xRWaPtF42KzIKMoz6ODh9EdXcQVZcyiC0PuA3rt2fdDuSt0QIqOGW3aPIiH9ls0n3rhAuBnN8ZeMZ8utboTLUa-5-5vHUoaEDDWsu4sLXek4z7cZhBRf6rmjwI4xgccnRcUTCcaTw0-qFVBRwNFy9RokDyMfJxDxImrJhCojk_Ys4CfB40q6-0B3w0g3Qu7_yR-gEoaRmeKUCjrhvgJ6w-DpOGWB6zxjXJMYldApb4fI0N2Uz1rfkvSMqtFXUXjreX-NCd4eFlW9N7uaJTIz6ML8X4tE3AptYaRPqdEQEMIrfQ9p_jbtgCn66DooIKJJSmUaOM9JTXwAEVZyZx0Ww1gJQYTZjuAeqIZan49w534gp7H2dHzJhfXSFRjdhVp0B9NYPrIb8R3TZVG08LJFp7zN794f0jku7VCKl3VIig4TAsmOJJSL1uQBqfCCmbbf61nAYCC9XTtFPU7zA6pfrgM5AcsW-4Owb_EKLXLAyL_Kvomr9--uKrB54LDE9erh1EjmQ5chFyVjCUe8egeHGGUhow9YSYhCW3ZVEYHM4CvlKqGmV8m9iG_ida7i2KrIG4dM5nnKZfvWNbWbfKDF62olPWmw7yIElI4dbDIjkGrgWYfaSueHnx4Ru7vR0hSnZNAS8HJFb62hWFWXjT7y9OdA1byRido8hiXj4yojz-Dq4J3iITHiiM16Yd1g2GTBNDxc1mt8N9IKY0fOmVp0swTJMEWHxhLwUsYX1QvBKX5sPNMLgMOc4aeP4BWbS83UqHvGq9IExtRHlVCgUHm_KEtPHkISOBS1cmkJwHfjeZ4IYeAO4dvPPz4Zrf6uUEd0dT1UPJ_4mugJlWsSi-4jxMdsC6PzThGbaobw_PVoHiBtgHq2nRGjIxbOBBKCEvFy6xA0AKdVsAd20XvlCtIOR9jN6qA7PX1R1QjaXHy6UXzPjogf3HFopsRpvaUlgJStJ4FDMDdyoRQk_BbeIU0KFQKXJ_tSBno-QfkEe7emUlvFRvhmPgEe7_p688ig91SDBQWtYfwZqAOQl8C3fVbpCjrOr7j3x85SD0M6RQ19lALLuSU_R47Yw4mM26CvfkDjueEqzgnoa7LbIYNYnwCfDMF9eqYbRA6BhC_MIYLOU2kYW_zdLYg_XsE8KQUec6Op37Jdr1vFN8USk59HZHWEuaSD1rYga_hckW1ZePNbXKmfqOquQn-usjTK7_Jl_98D1rbRFr5ZBqG_R0P4ewI9uLQwzFvtoiybM9CarHStRnYwBr4vmqGCSyit1slHcmx6xfxgDh8u9RNiQPwczcJSdB3f83Zyb6_LH0IUIOfhrBKnyBN9_jrAp667q54QTDKWdYQ3VeVtP-iEVdFGD7jEkfzvvXBPjYJM2fkpIjz_oDGY_9rFZvTS02d7hc8RGgbPxfjMSiXesZ4sDmXxEaXQCUmJ6oh4AvHh_rQIm550UdHWw7rTJagSlwjw-wJEFkMfy_DL76oqTSYy-dwGOV_LelodDI-SOuZ6Qu1Gzf8Pc5g8nCUBQhswV0IbWlxlvk56tXp87N3osEDqfOEYTvnVmhrF85uN0oH2q0s2t1TUx34b8E3sKFiTXPNkXcMU6_Y1d5L-1bFKFQ0escAiE1f8nMGD6Q2_482hMawMz6nML8FQtvZIlJ_hj5QL8KNapJ_Q9JAUqx70MSBMN49128361xsC96-ptGLfXMd_ZsFOERroY26Wpsqxt87XxAvnLOxNLF2eluT7Se0I9VHoNMaI97kGvKegeVdLzcX-9iF21gPwGrazMW6PzMWzP98-9Cq7531iPqvRwdh2IXz0aWOZbYPg4VINZN-qAJmiYGj81caYhjtReZ9w_xmyb-5QFrva0AmBWZyhOLaVG6qyO8SOa87z5o5iFG_YzemjKVbgtR92Y67Sktoq3Sf8GYLySsycF5HSApE91tVmsJUAapjcy4DHWniWx6gFbOvq4FNbIcnU_OSEDQ3m5vNPSVXw6O-38L_n3DrbTaamBbNER0UV26vvzjOhCDeLGTgKiECUP8PfLyT_949PZpBjOsjZrU05QyWXLOdh39AH8ZaCmflCR8loScjzxR3ucDOQTBoW87oSoPClY7jePvUK4KH00Zfk5uBkiN3h8iIQmA2UiHToXXk914QIkFrdOiFLHYGK0gLUFBwFV1jrNk2RQQFaLuhc0VCwcwJNYIhUBtUea6CfhsL3bli_lPyxETjxUyNpUisSI7xMi3wdfQX1iVObflrD1FGesj4nkDcJu8aXTlD-26-YFBCSC6dAVFUuhVQIv03q0QeTNf8F8AIE6WiLFzEbx6VFtJJoitwpB-q1JyrDmNlqROdsLm1X6PD9bOpMTdqDwmlX1LZ_Tf_7MtYpjnISKCr0SKDdwklUFmlXk-4WsDo6niD-XbfglS1tuHOg8MecQYUspXnDLACbc5Vhe",
  "id": "rs_0515d5cdd5bca4e8016ab4320533b487d099a686f851deb3bf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.355,\"right_z\":0.19,\"right_pitch\":0.25},\"note\":\"The jaws still have the same wide opening after the lift, but the overhead view is partly blocked by the arm. I’ll carry the gripper over the open safe; this lateral move should also reveal whether the yellow object is moving with it.\"}",
  "call_id": "call_ej4PoL1oZCcnMLLcmvpza6Et",
  "id": "fc_0515d5cdd5bca4e8016ab43207a04487d09909a2ede02cf1e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ej4PoL1oZCcnMLLcmvpza6Et",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8089, 0.6067, -0.5117, -0.0193, -0.0383, 0.9992, 0.9367, 1.9652, 1.3998, 0.0475, 0.7952, 0.2447, 0.604]\nstate[eef_state]: left_x=0.2765 left_y=0.0018 left_z=0.1512 left_yaw=0.0027 left_pitch=-0.1346 left_roll=-0.0009 left_gripper=0.9992 right_x=0.4121 right_y=0.3536 right_z=0.1794 right_yaw=0.1368 right_pitch=0.227 right_roll=-0.1165 right_gripper=0.604\nstate[joint_eff]: [-0.0889, -1.4017, 6.9265, 1.7607, -0.0611, -0.0317, -0.0122, 0.1162, -9.812, 9.0051, 1.9609, 0.4518, 0.1734, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5570f2d0ca6909680b4256f7df9d4f164970733b4a262602a7327de5a35a0feb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4887398b404ba41767ea60e9b3ae2d46eada5da95004aab5add76295c9ce61e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa36863af98bdb661e35af7733a5d3c60525bf9e998eb2a22eaa4a59d03fb5dd",
      "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 13 attempt 0 · /responses · status 200 · 5.977 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.4793, -0.0193, -0.0387, 0.9992, 0.659, 2.2028, 0.918, 0.9459, 0.6086, 0.1089, 0.9954]\nstate[eef_state]: left_x=0.2815 left_y=0.0017 left_z=0.1581 left_yaw=0.0028 left_pitch=-0.0991 left_roll=-0.002 left_gripper=0.9992 right_x=0.4594 right_y=0.2326 right_z=0.0356 right_yaw=0.0595 right_pitch=0.3071 right_roll=-0.0698 right_gripper=0.9954\nstate[joint_eff]: [-0.0068, -0.8274, 6.9675, 1.7949, -0.0317, -0.0659, -0.0122, -0.3761, -9.265, 4.5197, 1.7607, 0.3883, -0.1148, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8062, 0.6067, -0.4957, -0.0193, -0.0383, 0.9992, 0.6605, 1.9457, 0.9451, 0.6064, 0.5823, 0.1123, 0.6041]\nstate[eef_state]: left_x=0.2789 left_y=0.0017 left_z=0.1549 left_yaw=0.0026 left_pitch=-0.1159 left_roll=-0.0013 left_gripper=0.9992 right_x=0.4527 right_y=0.2332 right_z=0.1004 right_yaw=0.0902 right_pitch=0.2559 right_roll=-0.0899 right_gripper=0.6041\nstate[joint_eff]: [-0.1573, -1.2239, 6.9402, 1.7607, -0.0855, -0.0317, -0.0122, -0.0752, -12.2188, 8.9368, 2.2393, 0.149, -0.0269, -0.0562]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8089, 0.6067, -0.5117, -0.0193, -0.0383, 0.9992, 0.9367, 1.9652, 1.3998, 0.0475, 0.7952, 0.2447, 0.604]\nstate[eef_state]: left_x=0.2765 left_y=0.0018 left_z=0.1512 left_yaw=0.0027 left_pitch=-0.1346 left_roll=-0.0009 left_gripper=0.9992 right_x=0.4121 right_y=0.3536 right_z=0.1794 right_yaw=0.1368 right_pitch=0.227 right_roll=-0.1165 right_gripper=0.604\nstate[joint_eff]: [-0.0889, -1.4017, 6.9265, 1.7607, -0.0611, -0.0317, -0.0122, 0.1162, -9.812, 9.0051, 1.9609, 0.4518, 0.1734, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5570f2d0ca6909680b4256f7df9d4f164970733b4a262602a7327de5a35a0feb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4887398b404ba41767ea60e9b3ae2d46eada5da95004aab5add76295c9ce61e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa36863af98bdb661e35af7733a5d3c60525bf9e998eb2a22eaa4a59d03fb5dd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDIOzakqTmWYAeFu16_ii9Cer9d13mHKVhdVZTSAKZf4PI3hwGyAKTrRBDuJvV19suroEkQs-qGF1Z9KSkb_B_cCFje-8px1qPRRZ1Km08ewqp8Pt2n3bhYxWSyQLHYDQtFsndQvXpY4QbBRjMghSq8i9TDcZKXI37PVe9C5xjDkozMx7u7g5bElZyeTO6CAYBGthW9VSYPvkbTzbNi5KxTq-Trx6OGREYczZczOUy_PSkSnwmNqgbSBrghjVZIriVcIRdETKlrGqP7MkM5k5meqLLnCuF9e7114pvSsRcOwUZT0HmgROT4jdUfMFCNk8L48Ip0W3JBpZyZPUEsKb_FTNxMHisXd0hFlrRRNwW85sNZmPbRv5rp3HYbjjXA5Zno3WYq2jNR0Ye4S0mGx5oesy4Lql1Yu7ctJzBobeJAKr9pxAuR_UOea3XEaweHHTgKjeaoNZjO8XG7JC9noCjzSLHh7zGZ2LUSMcyLZg1aBjrJdAXInsKRsB3-HN1xOgQ3N6F2GlLy1dYPjlU-dsqrDV7zykFAk8g7iUNRP5Dfybqy9GmwdB-_-lGR_vP_elZQbuoCP6HbgVmnLOUtUtS47Tt-7grYrVqggAQlnhGwViyO8AShJQyAC2fSxcfiDh8hMKEDyuNsbuE9AlcBUm2r19mMVqt1Cc0Q8Zvy_z-mV-sFD-EL2_7TScL-qMe4DCuDseRgtUPZxXzBlaLrFKidlAWg-hbi1pj9KQ6xXX1dvM6NhORpNDaSWTcuUesww8EZ9VXPwnUwvRzOfW-BVzv5DOKKzxgA_hB6pFXRf9TA07F9ZSju28CaIosF-fnHxusiCJDIG83E4CeczeODn-DsEUkw4ersiReeI29B0a2iGrkBQIlYHaWX8OqbsxxHzttbHOpmssGiSEfPJle-RdYD3gWvMKYFZlcDfEpi_YmsOOORo1XFFFkOuwT3Mrce94Gtz2gJcdwr1ry6IW6pN6tpn4kUL8JemT6XzKw7IND4bHXFukA-xLrnQMmfvTzbLS6ABQOURf_yVnRjlc_jj4bgKOWgXW2TYNBUXxpRD0aZDDDNsXkQYTenXGJP3QVeHVFkg2bwvg1w0piLE-AKawcJdPRb5_Bjh1elIbDvExA0N3fSCj6hez8LU2C5JrQs27_-DPx-FCqSdXnnRlE7TJ4k7DskonQn3epehnuH-5uZUWl39ugptYnyGzmzTNQwOvJSezEPOn8_FNKs8S5eR3HdjyzgkLJnfcm5Cfi7zhCxJRy8YiMmiHSq6D3N_-Ac2OJEirK6Uaw_mTY-zcuPcD1SRq4RUjz_bzHm4eUfmKdYZWAmUby8aV5Gmq-nvFKLQ3aaFbP3F8BGSbimuR-LdHAJwlg2vIu7A-QWOCVmgx3ta0RSSCcDCVp_pIltqc3CChVSzmDqTAx-vvKlLtBGU9lDKfabCJoOxJR-ZtNkqmli66kdyaOa0A8KO4gTz6_ckT7w_aDoZQm3r6c26jMMo0I7SG_9kZ0k6eC8uHH_JlgLuyKDTjSswAcUsNL5S53ocrx0FDJwOiCbAzKaG7aP2i-90zs6nPaQtk6XIQLc6GKM4A2cNbRwnmXKf66IzHigWgmfMqq8_hLHLCVCFJ32kAHc4-TEhpyUeG7b3CbqpJTpbSemll-G8L_26zoc3dSx-dW5OoscghD5G79fCyEvVoIjegDJmjwL9ht6grHDxV3CB0ulGNKT1zh6aKBxZizHBu8WIhpf2ocUHdH83IJJ6P1EnfXrmjdao5hJY7mdYlRIA09tcJJUtpn-4jvjfuYZcCsFtW32fiooOX5tDcBh3pr-QoHmKjmhv5c_kRuPuwq1sHI4XZuvQWh4J4FDBzlINn_1k8RXCuPIS0xM_dUTDsjyq6INB91TYrsCMqibTIYdxyoERm-5zJhaBrYenlRz5IM7z-9cpL2w3L8rkjeXRSCXK3_zQ_vtQ76heFhWQI3W-6rjLQPux7uPlIc1xKJAsamK_ORlBFFJvLevUHStpgBbbRXly4iAJfE-kNFOjE-veOlXBJQDk-7rWTiyUT5uR1f4PxEYaNE0w3Df4qPdOia6zkcrVuOM0AaVK8GAeiHxsG_99Nl8QHqe0yKbfVWlgiNkDI-KgZejE8wcY3hdwetGdDumL-YpeYryF-ZZaAwud0hnt7U7_K4cQzSwi4iqWRe3kgCh2fEYgvVJ95P6ALKGUuSmr-m_4ODPWYBwqTORj1kh5qrK7fp1lYcuCAf7uPOyVfn8TuiiJhmyIjfEO9lr-p_EQ-I-Dr4KLBJ0UCZIFnmk36kLQgbn2BJSa_fGst7Mws1ArYrD_VU02hykaHV0uA3bM4ajXwQZAESQjin6ME7hCeONZB266AILkwT0ozOGyfZraUsE-4EiGZLG-Ay5lxpS1TZEFznNwaenmwxAc83veu5I-8G4f_d5v6zcl_2tGgmoAI6PX4klT_Li-wrg0nNTl245G8VrJAbmDUNPzmqlHJmFheExqlIlyYP2fqmmWAehLLO_-C16VlYTNSM3tjM23ljfB6suMBCg0mmgtv_hUog3AdB0ceWxdu6ixoy09ojTYAefh9BmE2tCaIOHLb4Vrc6mIyuqQE0SltVuIy767MqcZJ7rpi-SfDEV87XPl9niQOb7kpNaA345jA7aGAwYULoqYjm2NGgSNdUo9PpOuKTr2cxQbyeQZ43cmQ9q0tOp_p5GFvFc8ujAWQeSa-UgqLamgX_lE-yo6fl7Fn_jgCE04B7J3IyECgSZVXFaS_teAOEnlt0_6ziTe-efjnpJiZYg7lmxC9J0X4abhDIYAPRzRMEslbGXtb9ANgr_Spxhm-HVtGq-p-Znp-DnAHQZXE_m6jxv7sYSY_InSiHXMAoE2C0C6gV9HH1Zhw-4Gfy2RsA2UK7Hipf9x1o2QlISFQXdO3VMQgk2HHw5YNv0GyC-NhbvZfn0DNWYj7RtzPiAmHREL2RjA7te2AfbmBSPlFIVaoZpqR3TnfCJ2lhN205Q3c9x7Tmu5Me1KglpZnuRf21R6m0qYi3CI6VseSAlGZ6y2zevNpzxJdRu3tpI5OZaoubx7AsRVfEpEzK-m8rYSLFo9vboxsvTDHKOkATAFSQ_R-dyJT5ImkB1PxKonLhCycrcs-L7v7ZIUE6EvY3F_ox49F4yPpMQeyssI_u4OOZtQf3g_v8CYCZeYA4vB400xa6WMNvqL3c2cjRUKMmCfiwo4S08jm6S_ft-OhblJgFzOJ8Ov42j1uA2yh_ZFWUgSE6tsUfVgh-gFN5Vu",
  "id": "rs_0515d5cdd5bca4e8016ab4320a7f7487d093f98273ebe0537a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.292,\"right_y\":0,\"right_z\":0.185,\"right_gripper\":1,\"left_x\":0.343,\"left_y\":-0.07,\"left_z\":0.1},\"note\":\"The yellow object is still on the table to the right of the safe, so that attempt did not secure it. I’ll park the right arm and bring the left gripper over the small white toy beside the safe.\"}",
  "call_id": "call_1hxIpi5TmVyBoXZDMI1UGH1z",
  "id": "fc_0515d5cdd5bca4e8016ab4320e06dc87d0ba479f51b2e8b19d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1hxIpi5TmVyBoXZDMI1UGH1z",
  "output": [
    {
      "text": "executing move_to over 30 steps (3.0s)",
      "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]: [-0.3382, 1.2461, 0.5819, -0.1474, -0.2516, -0.2565, 0.9992, -0.0895, 0.659, 0.4049, -0.1188, -0.0845, -0.1749, 0.9989]\nstate[eef_state]: left_x=0.3287 left_y=-0.0652 left_z=0.0836 left_yaw=0.0031 left_pitch=-0.2 left_roll=0.0145 left_gripper=0.9992 right_x=0.2934 right_y=-0.0077 right_z=0.1807 right_yaw=0.0664 right_pitch=0.2095 right_roll=-0.1156 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -3.5761, 8.8274, 1.873, -0.2418, -0.0269, -0.0122, -0.0205, -0.7179, 7.3778, 2.1563, -0.1587, -0.0073, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c79ebd4965832aef0974ad2f50c27e5c7d86279e808ae30e61129498da215f2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:655b4dd636a705ff178554b587ffe3833aaa1628193be9cfc0821058131ca7aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7c15e10dfee53a268930276ceea442ea1c13d07645596ea3f1f2539c8aad889",
      "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 · 3.119 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8062, 0.6067, -0.4808, -0.0193, -0.0387, 0.9992, 0.6617, 2.2139, 0.9161, 0.9676, 0.5865, 0.1169, 0.605]\nstate[eef_state]: left_x=0.2812 left_y=0.0017 left_z=0.1577 left_yaw=0.0028 left_pitch=-0.1011 left_roll=-0.002 left_gripper=0.9992 right_x=0.4585 right_y=0.2377 right_z=0.0333 right_yaw=0.0749 right_pitch=0.3105 right_roll=-0.0502 right_gripper=0.605\nstate[joint_eff]: [-0.0068, -1.0872, 6.9675, 1.619, -0.0806, -0.0269, -0.0122, -0.5675, -11.5077, 4.465, 1.5263, 0.2857, -0.1587, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8089, 0.6067, -0.5117, -0.0193, -0.0383, 0.9992, 0.9367, 1.9652, 1.3998, 0.0475, 0.7952, 0.2447, 0.604]\nstate[eef_state]: left_x=0.2765 left_y=0.0018 left_z=0.1512 left_yaw=0.0027 left_pitch=-0.1346 left_roll=-0.0009 left_gripper=0.9992 right_x=0.4121 right_y=0.3536 right_z=0.1794 right_yaw=0.1368 right_pitch=0.227 right_roll=-0.1165 right_gripper=0.604\nstate[joint_eff]: [-0.0889, -1.4017, 6.9265, 1.7607, -0.0611, -0.0317, -0.0122, 0.1162, -9.812, 9.0051, 1.9609, 0.4518, 0.1734, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3382, 1.2461, 0.5819, -0.1474, -0.2516, -0.2565, 0.9992, -0.0895, 0.659, 0.4049, -0.1188, -0.0845, -0.1749, 0.9989]\nstate[eef_state]: left_x=0.3287 left_y=-0.0652 left_z=0.0836 left_yaw=0.0031 left_pitch=-0.2 left_roll=0.0145 left_gripper=0.9992 right_x=0.2934 right_y=-0.0077 right_z=0.1807 right_yaw=0.0664 right_pitch=0.2095 right_roll=-0.1156 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -3.5761, 8.8274, 1.873, -0.2418, -0.0269, -0.0122, -0.0205, -0.7179, 7.3778, 2.1563, -0.1587, -0.0073, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c79ebd4965832aef0974ad2f50c27e5c7d86279e808ae30e61129498da215f2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:655b4dd636a705ff178554b587ffe3833aaa1628193be9cfc0821058131ca7aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7c15e10dfee53a268930276ceea442ea1c13d07645596ea3f1f2539c8aad889",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDIXg1LPbvSgeTNkdbnvs42-m1gC53ZVRklQQFKVc6yk40hgpqgyzHsRI3z3cqtWCtryYywf_90UXn7XCSD4RqQCaXlxU366iZXkofVyzt_8VnLDAUVxsOXKuEDiY89CEQC1Y6_60VkhcCFoQFp3pNtS5u8oa3icMEDs8qksenc_KbJoGCPw0mwJ9iXBfLvQG7zTYTlRvCfoRBPSaPKkRY0rgv3Dt9VzhbcS3jNbLS7SrhxusIP6-MLkdav7g5YJ5Kjs8gTzqs7dshrjv3z0kclX7WPip2mjWgmmLFURkMF2nLg52Nnbxbn0D_-29ahzqfAdIfSi3elPeTv4ZmgHsfQjV4OrdrwlgPfg2uNMTYK7DgZvRVlPUogJblMvEGQV2D8-xB9cN8-unRwZWE7BoGZmJJYLoBRLLAkiEyQub21jVVio_ic2F5b2fHAXgDB4mtGAY2PScGXKqImryCO_yiNa8qWR1dmsrd7QOr4MCIUS_FGfuW5lwj45P0EBoPDtJoR52-OLL1eyLLyBOddJgNS-ayAl3ARGylLaWvODuDA2-JJ9j9pyQimqIThVADqzMm7FlF_rat8PexUsFpC_F6xNNvS_hfi0P2kYQQOiwA-ukMeWOzl1e6nOudrfHxBB1FhALPi4LqKwNcF-H612C1mliVeTGhJDK3SLqDelkQrTBSGf3qpJJgYlmwWMjLkw1LcijCwBFY-yFXVE6ZF7E7iB3UkDxSOWH37JAwszbbb5cnczCtgnE4Fbx-RC-J0riER-reSaRC4aYQriV70Pg3go3IJYMVVimLyOZZYw8zHJD4tlX_VtXBY35qdoqPb4QAhx3FqsZiDrExIDV-EUq-w117ygxfWZX3H6ssVQ7I06tR-stw2DtSgovDBQpn_dHRPu4ORTPpDb1biNBDF2jGnedglWobaDuANyfCVF0MGHKFRz7CSV7LI9OjbarUGSi-XrE6Nhckcum8YjA4NGjJjUl1jZyvEV1GPQjyY2diq3LuK9AcLilErO87gbQ0mzIuusodTbGUNIoU4geJaviSOTV7xkgJU6TG4XSJcjcDOyN6Aj4hAsrd4Tz1TsZN-s8Nf8VavHS5tUzeLMs6TsIgfXGQcs-E_CUY69TJaG6NPqz7EMiVdvpf5Tylw84Gc33iH63ZMi589UXAKVFZyrdCsXfIOsdkxbn7-lW5GfAWCGICENRIHs5BmYNAWSXWAysjxxUZapaTScbgiPQ4ucN3KopQm0b8Gf0tG4MPja4WdNIAC3ZNB96DRe6xpNHQ6jrsJH1kyYOqbyzL95L4hkG17vS7WZG_M1ihxhDQdJleNSQNxoBomZlVn4BclEkRWPnXaih3aul1LFtb5sWAuGosnXpAtGLW0QZDxbxRbBTMODcsKhsZY0g1UzEbFSqjA5dNUlndSqoDEsGip26iqMTRNF4wiKpMm4rHrCzM6KUwOVDgheVgjjFx45cRoQSQOLvCqVGbznY7ba06DyS1-_VS4SXGv4bg_YJfhH4bFgTrf8Ky1q2h8GV0flJ9RmUwRghH1fwMPMkR74wv-BJVNkMjpaZJS1o2-Pl1NlCOcQV0OLRKosAbdDCCd6gJ4JPAXnZtQMZZYAKfaa9FP288EG4l9BNPTk9mjTpirPVY99O2GCEKFcMA5liUqxtF7NGw9hNoHVhAV6Ica-kZe_Ehdf6ixFIGikssOKittvpS9X5Q_Ua4NXFmknWyKybdz4P2ROsVrPRBTty1piN2JSbdvaWbb_trlx4yPTRwaFZL4oPL8-fpv-EdgYAjyFNd2DotzC8IyijHw4pvhAxzFKjXo96jzDtBz5s-1U7VOeTvVCltmhGnY0xcgjWQ3cAitEvv9F_RYpEWX0a8jisY13a6ChS29GHt954X2s9ymltQy0T78zDHIhAo049H8GPbZFjjf-isR5TxvTepcIyH7q_1RDwwOuqFlFR6zzPOsAN0zq2HSm51QCWPEV6zK128UrbI5sTeI8Y6admlyjACcQdiwsVJv4Z7SgQVOiwZkJ83XKtSyOu-BY1690hBGcnZ8YpSa9MNRSs8UF9J0W4sfGiS7-ZgPfIeBtBs3vGH2-lKTDAgEGSvgxHfz6sZGQPh6IGz-8ppBIGISvjlmFjUWl5W13L-v8iUp_MsfIElZ3WRDjakcybM5XMH36Tin8tj4kLQVo1eWxxEqNjBSlfMPwe3MQeKqO9UdRbQblM1S51dlCFUnUuX7NscK40dTJlwo8qFqmPo815FmAQ_35_g4f6LDT003T3-kB8IH47WxA4hHt3gwqQ8Rx1R4n-Zd_pGyoRZaVPrzeIB8xJVDs4ninga4Z199_TaSnfMbtiRKi32YZr3RDFe3kG2h4f7m8MOedxHnc2WhNrXQ9ZW8AFZy5o6Juu50hfqPpsdw7svQrGIAFm6X_AzcWCX2Jk5mM37NZnf8NzuYvpZe4YeJYqMl_hbUwO92HqfawJ3Qsn3KCfzgE8tvVYwihza6b37Zpr8OmaKCYMy4yhd1JMzsBXEQE0pxcgttonO6N3fBH9wGTDMgo-hChYvWW1QiSyhvA1GnaMRmJvbKg2grcc4BKQmcbn_Af7AsQMxzwRlkJUDrcmJIitz7dIUYN3hcDsFCSjSv9vv0S-jcGtYlRCl2wm_M1zNzQQBD5hu2we1cJUAOxIhiMiy01Kguno8oRqf75ou51jLtfqWskYaRUmQ5atme9ctYHmd2XoF6A0N6sqoyolDNopNJp95EhJV7iPjk3FvVdGgP3Rr-xayHeLPpzsnIkhAaJ5zqR0O2PEFzvXMLiv4TvWbk07C9csL8oUvNMpk6vquL9RC-E9S_pxsewF-cmykkU-ukQZ5fOJhuBSA4gb2l6msOOJq-376YkO9vu6hyik4DWUpZ8AXDanPoWWhmFTDLYTnuNdk-Wb1l0gRJpi3jGR3vSmZGelV2W88Fa1vOqHspOYKHESJQqBFkcqYpWgfrgSQQHlBvUNnAtHMc8HWy_4W2nKlQzZ7yF-8QNw5zTyl177EpfH3vBE3GGeHidj7-t7cNgf7iAr7I3AcVJ3K-YnmWf0sTPscZOhHo-SGuBK9Lp4ymt0tcxPUGGn1RNTje7MjdWxsuJDJqW89IyJIbkJBdYA_XVc4tFqeSCdqq7N8-_VhyfnmZFLOIkrQdUzMNH7Y0TbI_79ZESW_J3op6Dcx5R6gVtp6FByWeCyZV_2CWd8KitDkBgNlFrI9p4Env3mV4ywX-4wYBBmQ3D4p3RzPfhMNpKjpCH1T6_Etlxnc_zQJPx1PkUJuScKeVW_uKgNjfneA==",
  "id": "rs_0515d5cdd5bca4e8016ab43212d52487d0b7c2cc97a10799b5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.351,\"left_y\":-0.071,\"left_z\":0.037},\"note\":\"The white toy is centred in the left wrist view, with its body extending toward the fingertips. I’ll lower and advance the open gripper slightly to get the jaws around its body.\"}",
  "call_id": "call_0Au1OLh3Cz8kXK9v3V8GhA9H",
  "id": "fc_0515d5cdd5bca4e8016ab43216a53c87d099fded216ef63141",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0Au1OLh3Cz8kXK9v3V8GhA9H",
  "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]: [-0.3359, 1.4609, 0.5404, 0.0269, -0.2485, -0.2634, 0.9992, -0.091, 0.6643, 0.4046, -0.1486, -0.1032, -0.1913, 0.9989]\nstate[eef_state]: left_x=0.335 left_y=-0.0671 left_z=0.0278 left_yaw=0.0135 left_pitch=-0.2778 left_roll=0.036 left_gripper=0.9992 right_x=0.2909 right_y=-0.0047 right_z=0.1724 right_yaw=0.0888 right_pitch=0.1747 right_roll=-0.1178 right_gripper=0.9989\nstate[joint_eff]: [0.4718, -5.559, 5.6137, 1.8926, -0.1245, 0.0806, -0.0122, 0.0205, -0.8821, 7.2137, 2.1807, 0.0415, 0.1099, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffdb13f1ef578333a46568b7e2b6bb58dfb70ae7f2d5e50c8888d4ff93e0b26f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07bf56bdec94473ed960533ae21f158f7c6e7067ef81a9cc41c5961743bbc84b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2900bd0b7888615ffe955081664c7a1e1fb36d78bc756a63995bfd1c109209f4",
      "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 15 attempt 0 · /responses · status 200 · 3.659 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8062, 0.6067, -0.4957, -0.0193, -0.0383, 0.9992, 0.6605, 1.9457, 0.9451, 0.6064, 0.5823, 0.1123, 0.6041]\nstate[eef_state]: left_x=0.2789 left_y=0.0017 left_z=0.1549 left_yaw=0.0026 left_pitch=-0.1159 left_roll=-0.0013 left_gripper=0.9992 right_x=0.4527 right_y=0.2332 right_z=0.1004 right_yaw=0.0902 right_pitch=0.2559 right_roll=-0.0899 right_gripper=0.6041\nstate[joint_eff]: [-0.1573, -1.2239, 6.9402, 1.7607, -0.0855, -0.0317, -0.0122, -0.0752, -12.2188, 8.9368, 2.2393, 0.149, -0.0269, -0.0562]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3382, 1.2461, 0.5819, -0.1474, -0.2516, -0.2565, 0.9992, -0.0895, 0.659, 0.4049, -0.1188, -0.0845, -0.1749, 0.9989]\nstate[eef_state]: left_x=0.3287 left_y=-0.0652 left_z=0.0836 left_yaw=0.0031 left_pitch=-0.2 left_roll=0.0145 left_gripper=0.9992 right_x=0.2934 right_y=-0.0077 right_z=0.1807 right_yaw=0.0664 right_pitch=0.2095 right_roll=-0.1156 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -3.5761, 8.8274, 1.873, -0.2418, -0.0269, -0.0122, -0.0205, -0.7179, 7.3778, 2.1563, -0.1587, -0.0073, -0.0415]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3359, 1.4609, 0.5404, 0.0269, -0.2485, -0.2634, 0.9992, -0.091, 0.6643, 0.4046, -0.1486, -0.1032, -0.1913, 0.9989]\nstate[eef_state]: left_x=0.335 left_y=-0.0671 left_z=0.0278 left_yaw=0.0135 left_pitch=-0.2778 left_roll=0.036 left_gripper=0.9992 right_x=0.2909 right_y=-0.0047 right_z=0.1724 right_yaw=0.0888 right_pitch=0.1747 right_roll=-0.1178 right_gripper=0.9989\nstate[joint_eff]: [0.4718, -5.559, 5.6137, 1.8926, -0.1245, 0.0806, -0.0122, 0.0205, -0.8821, 7.2137, 2.1807, 0.0415, 0.1099, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffdb13f1ef578333a46568b7e2b6bb58dfb70ae7f2d5e50c8888d4ff93e0b26f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07bf56bdec94473ed960533ae21f158f7c6e7067ef81a9cc41c5961743bbc84b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2900bd0b7888615ffe955081664c7a1e1fb36d78bc756a63995bfd1c109209f4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDIb_hDK8DguX5kIsFAQi3ZWwWsLFo9PS1xFw5_M2C5zKuP2hg5YNuq5oAZsRXXi1Zkx7bc4f6NSA38ioZgXOasN5kL5I7AECMHO6OUx3fqYWWZnpTFzk6o9MPVMziX4Vk642lgbR35DW7NAJpCn-j3cqymkkvVFGc6VFfRGlUrDjRzWumwElj7bsqO5Ycb0NnoFGGOdm6U6emJdUGrXlaRH7mlo95_tzeFqS8HjVOeUnwJgjHw6WI_rFYPwI4utS9H-x4PnxX5Y48CZrNsO7_jvPj6vLrhVQeFMEwf3zd_4fOObk4_e3QqwbfkkqzS9PwqI5O6TlUS3XjJFHLQ-4w7shv1x6pTVxlSkKWvHTmXntnc-8iZgNZJFtxj88x1OZM2yx53wT6SOx0wdCNNtzRjHNFpp-dJnWdoxJg4eUWJeWPewQq2NhEI7MzVup1aAMJ5IljUmg6HyAlzk2lMFKN_D6pFc89_hsTXZAyZOeKMqbNd8C-qlckeJ-rOEE3FU4nGwEapCKSirAWmegPU_1TAQu5WDY_6UbMTWDxpVw7G7-2pzqWAdaYd41FXbvn98qAaeWuxIAo74Y08vS-jBcxMP5Cz07C9eIXpsvdVfWBefyOrojB2iTqQ9aCkn1Sa_zgITDGjKx4EKdbKymHm1s334RElDu5o6VhhqGbXKN2wj3XoUAj5SOhtg1nhar5oYfBwH3HzmbqfDJGH2W9HluCcQCYN0noJD5xhz59j5YV1WwGbeEVHwdjfXRi42KuZCvUeZBDqGfhoUkoiUEwFkY7873AQ1M_bKUG60vA_N4uKfgQqbzBdJOJWH_9tmKaqspkyZFH5tCxGDKHseFm6V93b0BupfYEQFU2LlVMgxXrjAoZ1txRwZDOJqxhrQIZ1K8dtRWSoNvAMUt4DczIwKp7l5uqYfPdxueA89r_eWiqCImRSo2-AUy-OJEdSrBwYaMwGLWi2xZAGVYysSqfQn7EDd2je-xSJQCbEpfLkrkITVdFm1-FVdHy95yEIJyd1nJrzVrO2jdLYXrr1Bv-6I6JuiwtsB9HlqYXuUL3-1lzPp7FUW8fv93ce1lNMtFPGd_eFxQsCsn7DkMt0zYz_wZmzC8ZKj2V7aqk_dCFmZDNHdSkFUyLwvX_6INS8gAuCN5jJRI-F-3ONzw4X9GeVrEjaFOY0TdB9w4nDXpW0if2L_EAIS1Ox1uPgRWrNYo-UtFr0F5BoPWC-gKV4XjcMxlydVoWur9p0ym0oiRE4OpzF3lFd7rMPypsnLz3FsK4LH3YYCCbrKeIb_8nkHVo6Q_kuLBD1QEUGWiZzQ8eh7Sea6WUgdntmFPg6PYxl1gZW2o2dNAzwuI5IqztpbMfxqLAGZZWlo_IJrMEXhjXgSBwxvC_Q1kthQPUBbfTMK_tJQsqaN5v8_uM05w5cJJAn8DpI9OiHQcADtflb8RFnWy7KRVLo=",
  "id": "rs_0515d5cdd5bca4e8016ab4321952c087d08ab70b9c0b3ec002",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left jaws are low and straddling the white toy’s body in the wrist view. I’ll close them now and check whether the toy is held.\"}",
  "call_id": "call_Wbzkx6R3IjyBkn5NVJRsixRx",
  "id": "fc_0515d5cdd5bca4e8016ab4321a3eb887d0a9ce9ea180ca45c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Wbzkx6R3IjyBkn5NVJRsixRx",
  "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]: [-0.3332, 1.4788, 0.5354, 0.0254, -0.2523, -0.2707, 0.0336, -0.091, 0.6659, 0.4046, -0.1642, -0.0944, -0.1921, 0.9989]\nstate[eef_state]: left_x=0.3318 left_y=-0.0644 left_z=0.0203 left_yaw=0.026 left_pitch=-0.2995 left_roll=0.0429 left_gripper=0.0336 right_x=0.2894 right_y=-0.0061 right_z=0.1684 right_yaw=0.0813 right_pitch=0.1571 right_roll=-0.119 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -6.7897, 6.0239, 1.4286, -0.0708, 0.0366, 0.7839, -0.0889, -0.4444, 7.2957, 1.956, -0.1392, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:857d053eebb2f64f150ee712b4f3bb06fb788087ee2385777a7aae6826b904ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d327b497f05cf174eda811f78fe34e6b2921d109b39ec84329b5cd6fc6ac36b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b689e61fee6fddf2f84bee7c1516f1269b74fe5bf96ff2a27f85b4e54ba7e2b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 3.999 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8089, 0.6067, -0.5117, -0.0193, -0.0383, 0.9992, 0.9367, 1.9652, 1.3998, 0.0475, 0.7952, 0.2447, 0.604]\nstate[eef_state]: left_x=0.2765 left_y=0.0018 left_z=0.1512 left_yaw=0.0027 left_pitch=-0.1346 left_roll=-0.0009 left_gripper=0.9992 right_x=0.4121 right_y=0.3536 right_z=0.1794 right_yaw=0.1368 right_pitch=0.227 right_roll=-0.1165 right_gripper=0.604\nstate[joint_eff]: [-0.0889, -1.4017, 6.9265, 1.7607, -0.0611, -0.0317, -0.0122, 0.1162, -9.812, 9.0051, 1.9609, 0.4518, 0.1734, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3359, 1.4609, 0.5404, 0.0269, -0.2485, -0.2634, 0.9992, -0.091, 0.6643, 0.4046, -0.1486, -0.1032, -0.1913, 0.9989]\nstate[eef_state]: left_x=0.335 left_y=-0.0671 left_z=0.0278 left_yaw=0.0135 left_pitch=-0.2778 left_roll=0.036 left_gripper=0.9992 right_x=0.2909 right_y=-0.0047 right_z=0.1724 right_yaw=0.0888 right_pitch=0.1747 right_roll=-0.1178 right_gripper=0.9989\nstate[joint_eff]: [0.4718, -5.559, 5.6137, 1.8926, -0.1245, 0.0806, -0.0122, 0.0205, -0.8821, 7.2137, 2.1807, 0.0415, 0.1099, -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 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3332, 1.4788, 0.5354, 0.0254, -0.2523, -0.2707, 0.0336, -0.091, 0.6659, 0.4046, -0.1642, -0.0944, -0.1921, 0.9989]\nstate[eef_state]: left_x=0.3318 left_y=-0.0644 left_z=0.0203 left_yaw=0.026 left_pitch=-0.2995 left_roll=0.0429 left_gripper=0.0336 right_x=0.2894 right_y=-0.0061 right_z=0.1684 right_yaw=0.0813 right_pitch=0.1571 right_roll=-0.119 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -6.7897, 6.0239, 1.4286, -0.0708, 0.0366, 0.7839, -0.0889, -0.4444, 7.2957, 1.956, -0.1392, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:857d053eebb2f64f150ee712b4f3bb06fb788087ee2385777a7aae6826b904ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d327b497f05cf174eda811f78fe34e6b2921d109b39ec84329b5cd6fc6ac36b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b689e61fee6fddf2f84bee7c1516f1269b74fe5bf96ff2a27f85b4e54ba7e2b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDIfpUmKkECVHLXuBQX3_8qK3ZDPMoUo7GS3bTpHmyYrPFwrVldWrpq8NmOCkrAqkZiGVPXa80Xfcg4f-QqDMiwrYDiDdzKkicnhlu6DOtxwLAT1RSVcQRwNr8_DXrhMBWoncoo0AP73_tzjvFUlhGb-8APNyjfyJb6BNzRwO_4ihoXKURSG9KYyoRsoN6BIfOxrVjv17-aXRr-YUxvvYUDaTyGG4ClwCWXK2cPFD-V5vRyS-ds3-BSnuETTdw-cholnrCAKqZkNj7OhwupCqgZwNXpKiPO0enqKvrk01DlJGpw99jMvDiLVyl8GOeUQFQeeFiIgksO4djYxbk0zPZaw1NqYRvH_u4He3kGNojLFVYSB6Sf-1bVuxUPlwRwlKuvZc6vV4hePjvCaO2OSmECDz767ttl6ntp4CJEgfmrwW3-7DVUjLBGNu_Pp0nxcTVA9gjzFmdOCunwKDhv64_PS5Q7Be7zdgOaeQG5dTBbb0CJl35giiN33DdojZAaLbyGTmlmRSCcQIKvkzaulWIgpQJJ6vIwTi-gKlBiwdgWjWIUJDfa_yvMC4m8Bx3Zq5XvFO7gkEPB_QgwT_a3FFZhoGMBITB1iLc_tXqs7S1lF3WY-UIC6O5t175sgox3Y3xm5fV1Av8Q2i0b_KrDae5AT_XyojSsFUvZeQU3OyzGx7Zb4B2W4RE7ycQVYEVuBwCedW22kG2k5n95fBXXrNjj2jDt_NUXtWtRX8WELAu1r8cG2TSXtV3Uz1O-Rhc5swvnOxWPiy08_iNGvvOF8SawXlXHCF6s1fxAYTp8DA4IKhO1YCQfvA5_GY3Y_wdTntsnJ8AeExZ43a30do4VF5gZBQ7spRVLJn6jTuShpo3-rqFQC2yAF0Z-_IIGVH0Swsyr8QTjCVvk_5q2tjgR4Dpc7VO2A5Pw5p6RtMPCYRd39ld9lDP6RXHv-AN_rGJzwN7SBsQ6_cNSAw-F1Zv5fhvG4YZKPS7y7ZGfm3q6CjXSTu1ERIvBU6yl9jmE8mq_uQLjXC-a3kKD-hET58LgRvhJXtSisSzQXcGaymF-mYz5mDro-sASeCcF_u9wBlxd5OsK26RNy5Mmd3fVoU-9qF0xTooiX_478Ng-R78yYNPgZoXlcoFbKZ0qmqggMTNFcQdmUeXcXLkxcgT-ZiwLWem1Hd-xs52NaEt_OgwTBZJ_Qhz6c3NKqndwFinCaBllF0QEneWo0hQ3sxlHLyFm2K1xGe-quEihVbDWpiei0eMu0KDTtba01tGRPfE9dDglcv2fpVwUNmZ1gn0ARMKfelg37O507zg55eP-1SOrqvpqaknvxxDOrZ10KADKS-vpVdf_3JeG6WB_TNE6Drh85KJHN8znbiTUlwBf_ejK_RGYv4U_U3QBN8Nc4GC6q3pk92nJ9S_gxdNxUJR3ArOfVSxUAtzR-5p5A8yk3pXvjXRorzUVmt8AeZmGmfnjdinIQMUDljiKau7vG6gpAGLJbmCcghM8l0SYHEn5pEaRl_TW2EJmHzMxWziIAvo56v0ShESpjgZKxb8fbltQNG_Jn6xF1ZmBPQppdD5BSieGy5IU14eQ1C1rEdssac6OCQcKNG9T6xjTYmyEfPt6zAZ8PIg2kG5oHtPYq8lV9a_-ksuCrXS3-EW67MDGIz-zpKZzbfJYs18Ep_Vk59okSjCKOewB1B60Zo_rRU7RwQou-yIrRhFCEelTQK8F9B2p-AhJIA202dDRNnAqeVpxrVTl95fe3HEC_8Twfb1qLVFovbmAqsssBBdA7ciZ0eXXHyzkzPgSYCshTirnfl7mo-baZSheFSdu0iVOAR1YvppZzi-hghXmvkcZ0yyUo5R-9d_JQoHA60frmCjDbR1bDw1wq7BxjWup-q32OtBaBH_Rt_ttFXbbPuLVdnO9dOn3KcS8mPlOalbwMAzJf85kvgnfhjTxi-EELhSPxpFXSeIEet4OJIqDJc3SSa-iq9QRyepkfUJ6F9FK8Aox3tn_rcEXUMPszo41ZJX9PGLR552_cW-SLQv5MnSTwci_CfitaokGN1C9hu1Ct0QKw6pWpcYO9rI_y3Jey1Kwy4P15KMw2rmYsus6x5wEX9ezMkAX7GrB6InJE",
  "id": "rs_0515d5cdd5bca4e8016ab4321d8cac87d08dc1f09bb8d89abb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.371,\"left_y\":-0.066,\"left_z\":0.085,\"left_pitch\":0.36},\"note\":\"The left gripper closed nearly empty; the white toy is still visible just ahead of the fingertips. I’ll reopen, lift, and pitch forward to reach farther over its body rather than repeating the same low approach.\"}",
  "call_id": "call_NjyJSGAqo7FxqN9ElMRTWPyT",
  "id": "fc_0515d5cdd5bca4e8016ab4321eeaa487d0af1942d8a63e2507",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NjyJSGAqo7FxqN9ElMRTWPyT",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.6779, 0.2611, 1.0809, -0.4168, -0.1051, 0.9977, -0.091, 0.6666, 0.4046, -0.1944, -0.094, -0.1921, 0.9989]\nstate[eef_state]: left_x=0.3662 left_y=-0.0632 left_z=0.0655 left_yaw=0.0277 left_pitch=0.2719 left_roll=0.057 left_gripper=0.9977 right_x=0.2863 right_y=-0.0059 right_z=0.1615 right_yaw=0.0802 right_pitch=0.1266 right_roll=-0.1139 right_gripper=0.9989\nstate[joint_eff]: [-0.4171, -5.3265, 3.494, 2.3028, -0.2076, 0.1001, -0.0708, -0.0889, -0.5538, 7.1453, 2.1026, -0.0757, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4bad133517743ad7b8b8144e5ada2e7ec1ed2f64db4b7b222cf8df3db578467",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22777b344fd3681f457c3629d7b5cd553e7d998bdd48415d9f1b8c70e5e5988e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2c709e41ba2595e481c4d99687b660461fec9a4277a671b9fd7a627b0b00abe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 3.24 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3382, 1.2461, 0.5819, -0.1474, -0.2516, -0.2565, 0.9992, -0.0895, 0.659, 0.4049, -0.1188, -0.0845, -0.1749, 0.9989]\nstate[eef_state]: left_x=0.3287 left_y=-0.0652 left_z=0.0836 left_yaw=0.0031 left_pitch=-0.2 left_roll=0.0145 left_gripper=0.9992 right_x=0.2934 right_y=-0.0077 right_z=0.1807 right_yaw=0.0664 right_pitch=0.2095 right_roll=-0.1156 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -3.5761, 8.8274, 1.873, -0.2418, -0.0269, -0.0122, -0.0205, -0.7179, 7.3778, 2.1563, -0.1587, -0.0073, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3332, 1.4788, 0.5354, 0.0254, -0.2523, -0.2707, 0.0336, -0.091, 0.6659, 0.4046, -0.1642, -0.0944, -0.1921, 0.9989]\nstate[eef_state]: left_x=0.3318 left_y=-0.0644 left_z=0.0203 left_yaw=0.026 left_pitch=-0.2995 left_roll=0.0429 left_gripper=0.0336 right_x=0.2894 right_y=-0.0061 right_z=0.1684 right_yaw=0.0813 right_pitch=0.1571 right_roll=-0.119 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -6.7897, 6.0239, 1.4286, -0.0708, 0.0366, 0.7839, -0.0889, -0.4444, 7.2957, 1.956, -0.1392, -0.0366, -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 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.6779, 0.2611, 1.0809, -0.4168, -0.1051, 0.9977, -0.091, 0.6666, 0.4046, -0.1944, -0.094, -0.1921, 0.9989]\nstate[eef_state]: left_x=0.3662 left_y=-0.0632 left_z=0.0655 left_yaw=0.0277 left_pitch=0.2719 left_roll=0.057 left_gripper=0.9977 right_x=0.2863 right_y=-0.0059 right_z=0.1615 right_yaw=0.0802 right_pitch=0.1266 right_roll=-0.1139 right_gripper=0.9989\nstate[joint_eff]: [-0.4171, -5.3265, 3.494, 2.3028, -0.2076, 0.1001, -0.0708, -0.0889, -0.5538, 7.1453, 2.1026, -0.0757, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4bad133517743ad7b8b8144e5ada2e7ec1ed2f64db4b7b222cf8df3db578467",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22777b344fd3681f457c3629d7b5cd553e7d998bdd48415d9f1b8c70e5e5988e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2c709e41ba2595e481c4d99687b660461fec9a4277a671b9fd7a627b0b00abe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDIlb42X4RQhEEeyCcBzu46sEyYsxdgxwxKKUHKG8-_SKJzQP_xpvhPZbwi255S_b0Ade666fvwnzs4DWFK6IwT1Ez-101kNM1nDLVlARwIUmpWK7Bbp9EZIb2trwGzuDCClE2rV9fBNVlecrtGvE4Q3iTN8OHjBYmJYDjGgycyHtVSbJrVyHyxe6FJj0XOfkZXKxs1CrRfg07QRMpctKMxs-SDf_mybxbsEurmZff3YahmH3e_PvclzWS0ZqR-CcVdQ_UjlGjlELKAqOWdyH3B_kWMcwq0QigpOOrAdSWLY7HojGiQM_gbTnaoBR0TmEiC5GMTPtz7rrQ1SPelpjpgwguPhB6SHp1679GGDTiQLthF2EFJjJ_7geCrTkxXOD7QoYRDvxQX9MzeRfyG1Uci9-q63CQ34x60KtgaKZMTUhJHKfJvGynFEHqCLtWdtTVUF-U-sisMak9nwY5aCHKiI__Nh7psj7eW_-ilgx48ljoYLnQqwsAncQV-0ub3Og80e7EDZPDIJi59m4q2wQ6ASaP94wgrJCpmQMDc0w0I_c-Ze2lWe88bG33T2x9_d74Jm6ZPYfL99KKowhsPZYr5nAj29-qUvx2rBgWXZMFoXTPbOazGCC10QdgCMFyNJI_7YyYLM81OBbL8xlAgR5CNlCXVK9iJl6E1-SGGd_Z0272XUhVvf1TMFWUsO4aCEw8H_xJyMcjrFIBhadY_Odd07O6DAnqY0J7FpXXck2vieMvalplYAMyRtaNc8CZd49QUkk5J6iWfl2G-vyzT2ob1sZRySo7ZwgLI-zvetYssGzxBohkKU__4GuAhwR82T_za4GmHo0KwYfsRRjFYdjwr4gd41CiGQwl6Ji3uNwAwtpjHk5OheqHvSHW-PClmJdkmU6dx7NsrgzjPOgHx1XzoWRkluzivheUZth3fF7MK1bo9WNm0mfdZYha5Z84V6A_kt2MhkTo8ndzhdaUx9T8DekgR1XbNhtkuZV3igSCpuAZR-ruAlmHFaUV1jtCAEBPVzC7iCeVOcE0693eS8izbgsgyL9fRqV9Vdhbnz5S_0R4SobcmiWqYyZKJDysSbFp5TP-ilOzjXjwo7XycrpwLXxkF2eauvVRPV0mBq-5fDaTLKcRVxxsgEieD-lwydCReirz5TEg8bDMXgTFJUqh2lf_mXhV4pG8rJ-QmjlX1BTYY0wg_b2u-SjbGBd9s8usAwYsrADTYpXZXFMuXILt3jbX-K39b5COxCHtEA_crLsG9NtqPu0_v9OUtKVTq29whv9Er2Ep6DabJMKZiYdgdPM_JYoHTqrWsTFiT5jv7VtwtXQeKnMKE311jSNmkuTKofIykVwOeHuznMuxIbvSRTP_2JMRnFyDa1i8VVU_a9Gmoo3s2qROLDSER0KKC1ShphURS55hy9TXiZ3yKCpyp7_ZzMalBw1ZUuNtJCVOFy-nVel0Gkgu6Q6t9uVkpvjPwEOFUQ5nVHgZeYpmPn4a-VM9lmbHfwKpwIs6kmI85cjW2wDwruakly5ilrxDidQOXBGKgXVMnAydhkhiJia4878oZpoitojMFONNXr7Q2CqN7eTGNYMlpQ2eDdL5KqJ7sEunLY4SVVqVDjfn2xKaxb9nF11qCDu_SpMvrxoytPNKg6F7KkNOLWYQh0EqdcM7F_MnPjKwd9zibcVH36PqXSWPpX1QOutzVGcFFTjjQ-IfYA-7amQcGByhczvXmhQtEwujIaJ7HKxJv0XmX3ghFAZhcginaucgNghrUmVI3efE7QC8Ik4UnWgzsS2XhcUt6h0YWRCahb05yBk0Z3mBivH5suZ9tsyDc9PlXKexjELC9XFaqwiE9fGgWY_unk5tVb5HYSI172znCyzM9RskbjEI09j4sU8MT-TMAkpk3Oc5WpfGBBVz4aNcoMEOpBcFR3HCMAlsD7uAWeBGV8PnKcyNBEv0JNPqzEfSreObuKUcx87Zgp2I-Fr7uljQGKKQrqFTRag_7lVSOf_hSd1rNmO2VVbhIJIq2WUNVmSzB1eAYt7yVGUJBCKjauO4kljDMLrw473pbMysL7wNFTGBobLjvyf67ydjpaYyc1FYkY7OebA4anwS43tysQ8OwNM5H90bD5WU563g9SENA8cuzYlFER4LXYYLwrqyM2zZDHnKcrQwzqUzQKw7eIhK0D8WxpwoJMNrUGbkEsEYEW6HH2mdbsQNT9-_cvPook3-rSWLs=",
  "id": "rs_0515d5cdd5bca4e8016ab43223033487d0ad276a1f756a5de2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.369,\"left_y\":-0.071,\"left_z\":0.026,\"left_pitch\":0.36},\"note\":\"The pitched-forward left gripper now reaches over the white toy, which fills the lower part of the wrist image. I’ll lower at this position so the jaws meet its body instead of the table in front of it.\"}",
  "call_id": "call_gt41tCV962vf9lmbzUt8CNQA",
  "id": "fc_0515d5cdd5bca4e8016ab432251a0087d08e95cdb19d02139e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gt41tCV962vf9lmbzUt8CNQA",
  "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]: [-0.4061, 2.0575, 0.2668, 1.396, -0.4507, -0.0891, 0.9978, -0.091, 0.672, 0.4042, -0.2131, -0.094, -0.1921, 0.999]\nstate[eef_state]: left_x=0.3628 left_y=-0.0683 left_z=0.0053 left_yaw=0.01 left_pitch=0.222 left_roll=0.1082 left_gripper=0.9978 right_x=0.2844 right_y=-0.0057 right_z=0.1558 right_yaw=0.0797 right_pitch=0.1026 right_roll=-0.1097 right_gripper=0.999\nstate[joint_eff]: [-0.4718, -8.8684, 2.3179, 2.7668, -0.1099, -0.0317, -0.0024, -0.0615, -0.4581, 7.3231, 2.0537, -0.0757, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9502accf3d9ce810cb8980422958093627784fe05deb7b7ae60873cb620b03b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:455753c19243141ccf6a7f6db3b331cdc165fb67d7e124f6bdb0d6090be1528f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bb03cdf9af4f8180028bca52d9a4543221979bc10281f8be5de85aa849d0805",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 2.77 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3359, 1.4609, 0.5404, 0.0269, -0.2485, -0.2634, 0.9992, -0.091, 0.6643, 0.4046, -0.1486, -0.1032, -0.1913, 0.9989]\nstate[eef_state]: left_x=0.335 left_y=-0.0671 left_z=0.0278 left_yaw=0.0135 left_pitch=-0.2778 left_roll=0.036 left_gripper=0.9992 right_x=0.2909 right_y=-0.0047 right_z=0.1724 right_yaw=0.0888 right_pitch=0.1747 right_roll=-0.1178 right_gripper=0.9989\nstate[joint_eff]: [0.4718, -5.559, 5.6137, 1.8926, -0.1245, 0.0806, -0.0122, 0.0205, -0.8821, 7.2137, 2.1807, 0.0415, 0.1099, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.6779, 0.2611, 1.0809, -0.4168, -0.1051, 0.9977, -0.091, 0.6666, 0.4046, -0.1944, -0.094, -0.1921, 0.9989]\nstate[eef_state]: left_x=0.3662 left_y=-0.0632 left_z=0.0655 left_yaw=0.0277 left_pitch=0.2719 left_roll=0.057 left_gripper=0.9977 right_x=0.2863 right_y=-0.0059 right_z=0.1615 right_yaw=0.0802 right_pitch=0.1266 right_roll=-0.1139 right_gripper=0.9989\nstate[joint_eff]: [-0.4171, -5.3265, 3.494, 2.3028, -0.2076, 0.1001, -0.0708, -0.0889, -0.5538, 7.1453, 2.1026, -0.0757, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4061, 2.0575, 0.2668, 1.396, -0.4507, -0.0891, 0.9978, -0.091, 0.672, 0.4042, -0.2131, -0.094, -0.1921, 0.999]\nstate[eef_state]: left_x=0.3628 left_y=-0.0683 left_z=0.0053 left_yaw=0.01 left_pitch=0.222 left_roll=0.1082 left_gripper=0.9978 right_x=0.2844 right_y=-0.0057 right_z=0.1558 right_yaw=0.0797 right_pitch=0.1026 right_roll=-0.1097 right_gripper=0.999\nstate[joint_eff]: [-0.4718, -8.8684, 2.3179, 2.7668, -0.1099, -0.0317, -0.0024, -0.0615, -0.4581, 7.3231, 2.0537, -0.0757, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9502accf3d9ce810cb8980422958093627784fe05deb7b7ae60873cb620b03b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:455753c19243141ccf6a7f6db3b331cdc165fb67d7e124f6bdb0d6090be1528f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bb03cdf9af4f8180028bca52d9a4543221979bc10281f8be5de85aa849d0805",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDIpDMAVrqWuz4SS3Jzdcy8kgPqhLklbSZ2T57IqmyjpllBc0Z9KZuN37Jh_v5gV3YdI9Ezx7TmD_ejPU89uCF2Cjv5cNjYrpP0E3rLTXVnShcidwNequffwsDmCAjLf2YV8Rsa9-KTV8kp3AAMEfpnzBDaqhDKyYebGdGQRDTqtcUZGqQTs7bfMzNapk7FAtIaFDZw9VLsfDjvj6j-XGTW1ix4WL4njr5BO2OhDH5xk2OZU41NkPHwTAp-O8oh-K5W94ywpU-1NE0LUpkNt3hN3lXmhYlp-KuACK4znsat4656wAX0pq3H2ZkiscuGSlXNnE0TY20MCZZ8uA61G2W3B7C_5jdCgqZ0iIM499kQJtVaCce7JerprC35ZstrKKDRzjKVO0MkByG9XTwVx1pom3kkaK09ci939udr1snAyz__ZIqBg5Q8lECQvJUoLkeUtHet1_CuWJVcryOhaoFAq5DSS2xKtGkf3F4rXX_dJBvYjwEahfMaHyN2ppe1D1hvJ6YdFKHjjo3tgMHiXxpD9UEqiUuhvsO7As8Oi76gzz2Jr-ovIgfS9S78FrmOzGh1wBKd94xwD69TrOS5wWz6Cr7Pa6lDx27gRJEC0yq5WPYOsXIbq2OAHtRzasw-owHCPj46tQvtcE-3_QUCWCCZb26poFpeTHmDcEfH0sdRIwjcavOs8NilfV4L0r9DrNEkyrHU8XGuNcesP2fXBJ307SzPDUg_Sb11f-FWmXBvJGNemkkedGIEBuOa6LQtuDqCgnd7wCREP_5V2MtH1Rp7UtJwNA5C2H6xmA9Ama9VMxcyFMzoJonoXPYL7tdjE1Cn2RjeSFbVYlKks77arY-ZQxkaahwpCHfOfJPusoBJN5o7JGOMUAAd-IAD4kdF9OmJ_QKwIURpZuRCdwEUOc99gdscg_O5KhtnsyVOHp79mvZdZKJv6KRb9L4lahCc2lUtBycacJnWz5Tb1lrSr5ovfYGOzS2ePaXOrH_vzbk8o0yEs1d-qxTCXSKrwC3tQcW-A2ufn6nG5E3FOL7te6V3hLPyulONJOHymjNHRso3mGekhbPMQ0jAWFIwnj6G41vH5hGJWP3Hij2uSEyYqohAvGo2-W1D_4mtycu6Zy3Zendvdu0grV1LPjzKPcogDJIki6gejjiXWoYk9W3O-dQGJYaWFFJZZlhAgzN1IAsIIsdpkPKT00h9m976scilz5rrjbRkamMlYgEPdHBKGCjnneukrsWItVpMEr_XegUfsvtZ86raj11uBzauYGbdeA8CbCNC8_kf3EZ3_vnulP4mKsyvXJU35hVjGvzVOFTZKQL6_K3yfGAmCNA8umICYURWRg7Wvs9THnpxl3WCAv9TmZok0h8fqUzADzLEVhfL4um2OBpiEc3bC4a9suG9NiVKmapeoG2QyHal_OmvzeAhICIL_QuD7wIVPzZmkK5lOvQZHAlY0da5atm_oGDu85NVK06d_eSwv3sDJibEa8jV9qko_3ciOhUwZ269h2xmGuxBdlRminvCtP5m2v9IIhrg842TphM8sIR0sb9-lFExqvwpM_llXPSirmnH-89nOKsPVYWM1BPyTjU524-utDx--sxJGS656MfHVxCU-ygUfYElk9YfHhSvp3RUbLYOyc2qOGbJZkl_fuvEU2xQWuk0yF4Z8jrw8c5c5DbeSAd0OYBsgZK8a1m50A5Ccr1pRqYjCX50UDkB7RFpPom6eRqjjVA3DIeUw1hiQHvUAuFgXcuWd2ZNgh8-W6eqqoAabnHeEUksqFrE3dmsCEjkKBLnlRZTBa22eAHyWm-DXKUSVZ6IQe0lJyN-Ua23pB6woz5AHqr1vGHrDbNkWGmu4vICrO3rGJOZkml8mX9J5mGTMLc3mAvihUe9GlUhEVgzdJBj7Qq3ntoRMkR861QD1N9rJ33mKd2S3TqobkftNVZY5VXAHExfqtLHX7s415lMc860=",
  "id": "rs_0515d5cdd5bca4e8016ab43226fdac87d09c71696cab51c54d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are now low beside the white toy’s body, although its face is still visible ahead in the wrist view. I’ll test this improved position with a close and confirm by the gripper reading.\"}",
  "call_id": "call_LHKpLj1QEQrCxOyZXuXYkFvh",
  "id": "fc_0515d5cdd5bca4e8016ab43228d8e887d0b8b8f62ef6a3f7a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LHKpLj1QEQrCxOyZXuXYkFvh",
  "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]: [-0.4137, 2.149, 0.268, 1.5711, -0.4702, -0.0639, 0.2187, -0.091, 0.6724, 0.4042, -0.2504, -0.094, -0.1925, 0.999]\nstate[eef_state]: left_x=0.3665 left_y=-0.0696 left_z=0.0123 left_yaw=0.0141 left_pitch=0.3005 left_roll=0.1034 left_gripper=0.2187 right_x=0.28 right_y=-0.0053 right_z=0.1476 right_yaw=0.0794 right_pitch=0.0653 right_roll=-0.1036 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -6.5983, 1.4427, 1.7705, -0.1587, -0.0171, 0.8864, -0.0615, -0.4308, 7.1179, 2.1416, -0.0757, -0.0757, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e04a0a819aa4fba57699ec5926d9dbc5a95912e962989cd252fc96064baeaba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c33ae2d0a03df42cdcdfb03cd1664a8fc01b5ed5025bd0dc5f9c9097fdf2da5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8bb290508641d92cdefb1ad05c4058a516a10990716bd5685d04525c1744f3f",
      "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 19 attempt 0 · /responses · status 200 · 4.898 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3332, 1.4788, 0.5354, 0.0254, -0.2523, -0.2707, 0.0336, -0.091, 0.6659, 0.4046, -0.1642, -0.0944, -0.1921, 0.9989]\nstate[eef_state]: left_x=0.3318 left_y=-0.0644 left_z=0.0203 left_yaw=0.026 left_pitch=-0.2995 left_roll=0.0429 left_gripper=0.0336 right_x=0.2894 right_y=-0.0061 right_z=0.1684 right_yaw=0.0813 right_pitch=0.1571 right_roll=-0.119 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -6.7897, 6.0239, 1.4286, -0.0708, 0.0366, 0.7839, -0.0889, -0.4444, 7.2957, 1.956, -0.1392, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4061, 2.0575, 0.2668, 1.396, -0.4507, -0.0891, 0.9978, -0.091, 0.672, 0.4042, -0.2131, -0.094, -0.1921, 0.999]\nstate[eef_state]: left_x=0.3628 left_y=-0.0683 left_z=0.0053 left_yaw=0.01 left_pitch=0.222 left_roll=0.1082 left_gripper=0.9978 right_x=0.2844 right_y=-0.0057 right_z=0.1558 right_yaw=0.0797 right_pitch=0.1026 right_roll=-0.1097 right_gripper=0.999\nstate[joint_eff]: [-0.4718, -8.8684, 2.3179, 2.7668, -0.1099, -0.0317, -0.0024, -0.0615, -0.4581, 7.3231, 2.0537, -0.0757, -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 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4137, 2.149, 0.268, 1.5711, -0.4702, -0.0639, 0.2187, -0.091, 0.6724, 0.4042, -0.2504, -0.094, -0.1925, 0.999]\nstate[eef_state]: left_x=0.3665 left_y=-0.0696 left_z=0.0123 left_yaw=0.0141 left_pitch=0.3005 left_roll=0.1034 left_gripper=0.2187 right_x=0.28 right_y=-0.0053 right_z=0.1476 right_yaw=0.0794 right_pitch=0.0653 right_roll=-0.1036 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -6.5983, 1.4427, 1.7705, -0.1587, -0.0171, 0.8864, -0.0615, -0.4308, 7.1179, 2.1416, -0.0757, -0.0757, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e04a0a819aa4fba57699ec5926d9dbc5a95912e962989cd252fc96064baeaba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c33ae2d0a03df42cdcdfb03cd1664a8fc01b5ed5025bd0dc5f9c9097fdf2da5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8bb290508641d92cdefb1ad05c4058a516a10990716bd5685d04525c1744f3f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDIsfzSdeEoyyB05DCrTD-kYYTCFsG9tTvMYd0RHXxYOuEDzTFwwKYEz6hGs7yToDHzN0R_jWxvBtZ66YePcHGW_WEaZ_NfJg5j-TMzppc59de1AaZYtKpH3lgwarcIkCpg713CINsePfdfEr_aXIUZ8rOBMqoQ5J5PiuX_ICUTTDt9afSYjCZOr5QyQTVUbMqQLaXDFjB41Rq3Vd1oFi-JTGUy3lxdbWR4o0-cQ-UAGJPjUbO-_UhwkxHJC0YUC_Y_1GzIbWz0AVrbk__C1vPbO49fzrBfbkkwgQqFRVY1RSBf8uMsuEslxlEWgLH9qmDTza0-uLr_-tgF1q8jRWZfBKVdXaqPT1K4jGq5jAQvtXZgbs7arkrdJoaC-aX2UpIB3F5y_Sd7bA9iaNo5T7YYsBWRIFNRS3Gnv3byArJLXGQmloepv6FtmWBXo736S1XnR4a9XdTH6nqpmSxak2jJ63A-8T5HuhqrViuGYX7_xSSeW6vauDJFzPN9R-JlACbUwBThGTV0_fMDv_96ZoO1ShQ7k_vk8PXvF9M_hsdk7dMhURSBwgVeuf3NSmU2Tuuf1kZC9KLkv6xsOPSmRCe7juECC7wjIotaNFUYk6p1koQnvZWLxMtduCwVj0V91wpC72qSnBCEelyx4UOOuK8Vk2h0vP4Mx5_Cidgb6VAqXvcUPl9Wi3HO47PKi91tkEKKo_KyysYoeM1-55bewtd8mGPqK6RvlZCfz3HMeAHaHV7VKf8im97T7QGyQh7AoPU07dSvi-5a5Zo2iGW8PBQ7caPz0WjRVEDwjDR-M2dSlf6dNLf4hdNs9aqjsxY3WyTdq_CdZoRy7y91THc3V6SlHvNPHgWE-yyFw5VnZr8OgXYr-mMDDAX-zPsOAAekWHRv2-10niYu-XVuasXdB0yhPdR9jlUj6NKhAvkZ111W-DnG6OM58hbetfpALA-NI56I4A_lQQ8GmaBuGyoOHwCFCkdo0l45hThJ9ROh3a58TAvRQWRXGwK1gpZnW-piZmKiW8qkNEzG9D-UI8OjjCXrXYCYrfh8kL31_zPbUKb2zeP2FX_cono4l4wcaUrW1a_kC0waiIqM5FeqR8_KF7x5uhO4tSUXzqLB0PwoLyVzD0209YFeRqwqJn17xfUVQNFLVw1_Tyo0ah1uSfQNUc8wq1dOpcsIFrGBCN3Qlo563glBZWBcluoi23IKBRskR_Nf3fZHsC-EBlit4BmMjA5As1TX_TmS7JSgp2QZvHUIOq6PEL_BZXUQp2Xtiu3QwM4gdUo-kj1ceRyFfUHtwblGOICksej3v3mkGXiGlPxhyoPdZ_ph4mTpEt5-EGQZ1nByXLGQBpsEb2Kipqki44koqlomTkEHqwhEW4y13oLzyTtlvIvj61BNLHxtMMY_TRRrorl4By6IJRyKqOjUYibcsctRM93xSZQn9cuBIOgNW-Xg=",
  "id": "rs_0515d5cdd5bca4e8016ab4322bd55487d0b16718abc9a98ff3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.155},\"note\":\"The jaws stopped at about a two-centimetre opening, which could be the toy’s soft body. I’ll lift it and check whether it actually leaves the tabletop.\"}",
  "call_id": "call_7oiQG4zeyVzAmbAgEC7tzCLz",
  "id": "fc_0515d5cdd5bca4e8016ab4322c4fa487d0b416e9ed45778bd0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7oiQG4zeyVzAmbAgEC7tzCLz",
  "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]: [-0.4118, 1.2758, 0.3836, 0.5934, -0.4759, -0.0685, 0.2192, -0.091, 0.6781, 0.4042, -0.2756, -0.094, -0.1925, 0.999]\nstate[eef_state]: left_x=0.3647 left_y=-0.067 left_z=0.1449 left_yaw=0.0251 left_pitch=0.3115 left_roll=0.0956 left_gripper=0.2192 right_x=0.2771 right_y=-0.005 right_z=0.1408 right_yaw=0.0791 right_pitch=0.0349 right_roll=-0.0983 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -4.4786, 8.6496, 2.0195, -0.0708, 0.0073, 0.7057, -0.1573, -0.841, 7.0496, 2.0293, -0.0464, -0.0317, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1694e80cc5f939386911e016df2804ddfb4376009df86da10f738d05bcea6431",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c6996492c7c5c69f2f4d20da79de7c9abba18317d8ac318bdb5675db580fd6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c3e7f42f924e277a478401f8b9a23761255663eb115db36454665b9381bd123",
      "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 20 attempt 0 · /responses · status 200 · 5.428 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.6779, 0.2611, 1.0809, -0.4168, -0.1051, 0.9977, -0.091, 0.6666, 0.4046, -0.1944, -0.094, -0.1921, 0.9989]\nstate[eef_state]: left_x=0.3662 left_y=-0.0632 left_z=0.0655 left_yaw=0.0277 left_pitch=0.2719 left_roll=0.057 left_gripper=0.9977 right_x=0.2863 right_y=-0.0059 right_z=0.1615 right_yaw=0.0802 right_pitch=0.1266 right_roll=-0.1139 right_gripper=0.9989\nstate[joint_eff]: [-0.4171, -5.3265, 3.494, 2.3028, -0.2076, 0.1001, -0.0708, -0.0889, -0.5538, 7.1453, 2.1026, -0.0757, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4137, 2.149, 0.268, 1.5711, -0.4702, -0.0639, 0.2187, -0.091, 0.6724, 0.4042, -0.2504, -0.094, -0.1925, 0.999]\nstate[eef_state]: left_x=0.3665 left_y=-0.0696 left_z=0.0123 left_yaw=0.0141 left_pitch=0.3005 left_roll=0.1034 left_gripper=0.2187 right_x=0.28 right_y=-0.0053 right_z=0.1476 right_yaw=0.0794 right_pitch=0.0653 right_roll=-0.1036 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -6.5983, 1.4427, 1.7705, -0.1587, -0.0171, 0.8864, -0.0615, -0.4308, 7.1179, 2.1416, -0.0757, -0.0757, -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 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4118, 1.2758, 0.3836, 0.5934, -0.4759, -0.0685, 0.2192, -0.091, 0.6781, 0.4042, -0.2756, -0.094, -0.1925, 0.999]\nstate[eef_state]: left_x=0.3647 left_y=-0.067 left_z=0.1449 left_yaw=0.0251 left_pitch=0.3115 left_roll=0.0956 left_gripper=0.2192 right_x=0.2771 right_y=-0.005 right_z=0.1408 right_yaw=0.0791 right_pitch=0.0349 right_roll=-0.0983 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -4.4786, 8.6496, 2.0195, -0.0708, 0.0073, 0.7057, -0.1573, -0.841, 7.0496, 2.0293, -0.0464, -0.0317, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1694e80cc5f939386911e016df2804ddfb4376009df86da10f738d05bcea6431",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c6996492c7c5c69f2f4d20da79de7c9abba18317d8ac318bdb5675db580fd6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c3e7f42f924e277a478401f8b9a23761255663eb115db36454665b9381bd123",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDIyvV4v4Wn8DIFhwQtONPCRwy81JYoKE_WE2JGZN86E_ymdwOzqcdHGdxkrd0l2_3auGQ6JE6LqVoMWQzjpREtXoGv4otuQe4cTYxP3E1NVu9-vu6aLB1mRoLpvBAut_RQN0XjdCvJaXHJK-vxpYPQ9n9ybXvmFFzX7G_tdu0bBWVBpJVHtmL06eUHn8EjZXCZgkuAdiU9VJbTuLHwgeFKnGThCVVwQqVvUUAxG3ONUnRg172M0UefBF5XuaKCFXhrEOYAyLhnDIPQeVPl6ub9oJfjfuIoZq0hjeBbvk-FRoDc2B4zpDwWnIA2UW-uICijWTmb-YaJocPZbkIQcG_lcnxgu300IVtQOgUBXbVGHBopv1fqnQ0L7lB3RF9ZDlbK5llttjOaVahxbbbs_XjX57-FXFWMopz0XenHujZT0D4_ZPv3Lt_6LsBLztsuOMaGNZc5FHBNGuJ8rnQHU8fwdxZTIA568iQpweYCQJXxJCVgq1YOQ-LJ-U0a7Up0pOiZpCBLxe1NJXITXGDfJ-JXhx9kMPXFf3ZU7LFvGqT7jZ_5r44qqMy_h9XCj3cK2W2Emzr_b5a4uFZyCmV7UredrgGAz94d8AtyZV8ILMsJ3vc8yOaFqYyAKdh2UGHnItU3BBXV9PDoYAPFqZT_t1fB3BTCs5w64BKk4k4cQraPEt5aCxQS6-z75r48lR2V6N52ptTB9pyeFB6yK_YOVgrG7jFtb-qI7_fjw1p3t2BJ_Ye6dJxymEKa4KUxWuwy2ZopWyVpMcfAjCVTxFDn153M0CHZx5kuFAZEqtlqGDZF66nHgPFPe93QIRhJFHRESBXFDKAeqoi98w3qecRMsZsUYNAF135JE-WLIaBQRB7ie23eTeU6Lz4Hb-ve4JmGwOXedh8UmH7HfiiUyk-UVNStS4coZKLwGbTeEyL2EXi38QlPfQnp54HvVWrSdG_hN35VZmu2-LuSy-0LapvUjgiiheju3F90febLH7kcns6CpeeLR67PXvTKi6gRSnNEl13kcIB8k4k_W3muDvbZ3uPyHOtBNQZN_ewlkFzjfAM3q-Pju7kTH_TExIWbenqgKSWxONn6CV7VmG1L0mmLRvW4x-gePKcVcSaIgO7W1cKVuVnwmwM6Pb23Zq_9FgukQNqCMfi67_g2wYsz-A8HFORYKtYWVP5RuP8P-I6KgzpWOEXCrO7nWDaCJtNSSdVQxJ265YvkHS_7_fGGpXFaSDpQf43Fj6PlDwgnO0v9Pz9_u_966LmYLgzWQFLHicae2Id-C8914Un-7kk1N3WJRSI-ETrJqjzlah3vTaZUEeGW97-lqD9MXpYZ4ApozPJYjdb8fDlAn124cUtN0AyxvbdIg6-UlnC8FNftFHWXbF7_rwrC59ocQFGU-5Dp9gXM9UDZQglXeFc31ICY_Vfo2l1P3a1Aow3PMf63aYcrHQ1AXRbtI6VKL873r1Qhex_cKNi1GiGJGuCq542OdFJNfMAB_9JH7N-Fus3lrRhLQ2Z1pLKCqauVQQ6v_S-dwqOEDwrYoH4V2kHShEyQvm5xlJySVYpsd8_r4f8dzug-7gA-3sKUNIsWbQSTrUAho6Y3bwAwmf6SMYDKtOXfssKjqPXSnJ3PWLuhJABhDOv5HTvZx9VDoCG4cB1ZWMRJzCdo10xHQ80mt6shtHfw4r-Bs7Kc1-mR4FdPp-RIdZuA4GiWic9EHoQ6nX1waBJatvoj5CjNzOwBrBN7Q2dC_GdTl6E78ZTLSkJIO98mG1kPBcypTEI-3f0IIVJ_4-yB9sZ60eP0-3xtzLELN9QVt_n6odksOPKjIGoziKpGBHWUIsZkA4QLvauGaYz3-HAeIdUlMLGC9n750LOg7_SWQFm8kxPRh_hjnLeUcim6qd015u4dl08mOWwzNKWiiz7BOGcHxQvul6hsldPlVlOTOm_xUkL3Dy1TbjEEobv3vv4q8T2hmzAKpKTknVcxc2kq2LGiJ3inZFT6K8yB7YVG7bHZcL2h_OBq2Cx00aj1ndaRqIS3jVq6Pei7TAzCMEqEbFKAki4W7X6zDqJ7sTBpPMVaQDXAfVjt3MDMYnRwW2AqISExWTM0g2_P9toeDfQWk3dWj9BLlsK7ze_-IQQwTILlvBC-1eLfUkqACsofSiWQi_gornoINmbqCWpUM_ZluBIcMeMv5Lpp4_DO2ye6SzvcYiGYhbQ5JBg-jkD_FOBXRu7SjcFXRivKDPi-d-5X55ciA85yCDqGjj_dEyvGHW_KDV8iTrqoUzVqYFoIKgjRONM6P7MUaNPKc5fxQwFIw_jbKOAoCVM3gwadp-48kQJJG1JcLWj3bKHdl4vJaR5KE8ivaYBiBBoPaD_U-so6Uii9cXzHYQsSUvDt92iBb3czm_BysmiqDeIVdiYcWfYl8txotIwZzP5NCT9yEtin6iodAbLo52KYoODf_Ru4PJsOmoJUjfy4aKX_i0bHJETinlf8RVrNzXxwh6GxTVdvQhaZPDpTsWQRDv2kIHLbmwCXphAnA16u49Thp-xLoj7X_EZZFDRxgqcWnisfdyr9eQpDl3VWGLhBTxukYohhd-FMCV2fRCNNdin9ZKCaUiBcZJ5wmiTbbRYPtMAooXMXQ15sAJcnWot6_wUpJrzrqqXgjCFiPTLTXQtzdzM86HXnwfMUMjrT2eaPtTwkMcDAVF8bCPxHZIPUhZyH5IpDJ_I0Lklm5wtxICv54zruMoJ74N6XtgbhdGLRPxChQurTkig_YlnQVvlzkKyb5cGg86CeGISIqOQ==",
  "id": "rs_0515d5cdd5bca4e8016ab4322f17a087d0ac0fbe815945fd86",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.411,\"left_y\":-0.242,\"left_z\":0.2},\"note\":\"The white toy appears to have lifted with the left gripper, and the jaw opening remains steady. I’ll carry it over the open red compartment before lowering it inside.\"}",
  "call_id": "call_UC7vYPxuhcx7fxS0Do6gGM0i",
  "id": "fc_0515d5cdd5bca4e8016ab43232106487d0b02fb3bc0f7e3b73",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UC7vYPxuhcx7fxS0Do6gGM0i",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8181, 1.6943, 1.008, 0.2371, -0.8444, -0.255, 0.2209, -0.091, 0.6827, 0.4042, -0.2989, -0.094, -0.1921, 0.999]\nstate[eef_state]: left_x=0.406 left_y=-0.235 left_z=0.184 left_yaw=0.0097 left_pitch=0.2827 left_roll=0.1129 left_gripper=0.2209 right_x=0.2741 right_y=-0.0048 right_z=0.1348 right_yaw=0.0788 right_pitch=0.0075 right_roll=-0.0933 right_gripper=0.999\nstate[joint_eff]: [-0.3761, -8.0068, 9.306, 1.7705, -0.3639, 0.0366, 0.4078, -0.1846, -0.8274, 7.2274, 1.9463, -0.0757, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d48c44ceb417d84a5a30c6081b35f50b53b154e8e8a39595ade7ac6099e14d07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea437ad7ea84a567d90c2467c755b1a10dfa912795cb9a5ccfdc120675ed37c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:382009dc75a459db344099c59a36c7cd009060dd016623634fa870bfbe2c23b3",
      "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 21 attempt 0 · /responses · status 200 · 2.574 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4061, 2.0575, 0.2668, 1.396, -0.4507, -0.0891, 0.9978, -0.091, 0.672, 0.4042, -0.2131, -0.094, -0.1921, 0.999]\nstate[eef_state]: left_x=0.3628 left_y=-0.0683 left_z=0.0053 left_yaw=0.01 left_pitch=0.222 left_roll=0.1082 left_gripper=0.9978 right_x=0.2844 right_y=-0.0057 right_z=0.1558 right_yaw=0.0797 right_pitch=0.1026 right_roll=-0.1097 right_gripper=0.999\nstate[joint_eff]: [-0.4718, -8.8684, 2.3179, 2.7668, -0.1099, -0.0317, -0.0024, -0.0615, -0.4581, 7.3231, 2.0537, -0.0757, -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 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4118, 1.2758, 0.3836, 0.5934, -0.4759, -0.0685, 0.2192, -0.091, 0.6781, 0.4042, -0.2756, -0.094, -0.1925, 0.999]\nstate[eef_state]: left_x=0.3647 left_y=-0.067 left_z=0.1449 left_yaw=0.0251 left_pitch=0.3115 left_roll=0.0956 left_gripper=0.2192 right_x=0.2771 right_y=-0.005 right_z=0.1408 right_yaw=0.0791 right_pitch=0.0349 right_roll=-0.0983 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -4.4786, 8.6496, 2.0195, -0.0708, 0.0073, 0.7057, -0.1573, -0.841, 7.0496, 2.0293, -0.0464, -0.0317, -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 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8181, 1.6943, 1.008, 0.2371, -0.8444, -0.255, 0.2209, -0.091, 0.6827, 0.4042, -0.2989, -0.094, -0.1921, 0.999]\nstate[eef_state]: left_x=0.406 left_y=-0.235 left_z=0.184 left_yaw=0.0097 left_pitch=0.2827 left_roll=0.1129 left_gripper=0.2209 right_x=0.2741 right_y=-0.0048 right_z=0.1348 right_yaw=0.0788 right_pitch=0.0075 right_roll=-0.0933 right_gripper=0.999\nstate[joint_eff]: [-0.3761, -8.0068, 9.306, 1.7705, -0.3639, 0.0366, 0.4078, -0.1846, -0.8274, 7.2274, 1.9463, -0.0757, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d48c44ceb417d84a5a30c6081b35f50b53b154e8e8a39595ade7ac6099e14d07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea437ad7ea84a567d90c2467c755b1a10dfa912795cb9a5ccfdc120675ed37c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:382009dc75a459db344099c59a36c7cd009060dd016623634fa870bfbe2c23b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDI55dudp5lO97Uw27fXCWmZXRtZuT-kCoyIj3xdZMYHCdOekCoWWTRsrYHW2NxaTGOztGPhWggh6EHqUcFG6nzCfkTVozgam7EVXyRvKJLq4aC9ZFdZcgDRIWGW897iTjhg5mLx8wyj4MMtaas2k_0Zsa5sqVr5fe_AKY3YEeO8SqRoTQiAegiQt11vap-R2HUJxvqrN8PmWN0muLttQQK65kO9NqxbSwbWDbsQq2CPI-D21yxnk0HMh71Ifu2hOSU98GJy0BBLKweYRRX99PU3SNatUfRkUyC4nzvDYEwHBQx2KC9YZc4fxX1ff57eowvkJY29ZeMMxaxkLySJCPH7vfKDOQ9t33x8gR8rONUOxggWPg9IcUnD5vrPsBQVf-RoUxoFuSjFqkF0MYwsbev0n1S8uuZ-sEfk5FGKTyYn8WeP7i6efOwYrKPs78bpJfqcOBNd6VfPDmQGXgIGU_1D9SuSysll6Gm0u02Jbj1nm1R18_MKCg27KD5Kd3vURL_1-druMxEXt82AEjgF4LPzAw6wEcn487MSP3Jkcx7YyDFxXQ-KwrgD2Y2ErmwPK2CzBGer5Ersji_qtQvEwl_CNx4W8xKJp98doZGUf7lj9jMZi00schLytQ6IpTU5o7Ekwi69YWD7NHs2qeYfPJyvCJuN-MCciFeiqcluGrAL9Gm-WHx6wZ8g9vyK1ZEe_OqZGzmbXwAif107YOFUHS86MuOxTISafalZUAGcrJcswhZfPlJgBatJLRe3pMkFmrweKzjccsL96u1QURWXK4MipZJjADkqxJNJAnBUytzUV4QnJl9hW_grPLDCZOPzwjxIYlacBmoyg0-waykgtHQlnepAq2zveexJnGCgWdYspJt2_7kpNq83bVeLEx3_t7A8JBNmzA6_Oh4PSBU5EkM-m4zDiuimN80EQpx7wyrRqlL47Gpa7IhHXrkHuqTHkIFTtE4kaF78hWWzkLMjpZKQTYJTtu2EikghoEV0vPk6QvKynHR9fpe7u7mjVUfM6dhwCRoYexLR8YzyhRHIJNP8Ug8uNDxvAbqGRRPGe9rslkLy8GCfJOAkdZSDn9q1NOPTOsJjN4INxqwWLHT8AR89rMW2YYc2BDHioY8AQY06Pn7xNpY8Wa-4jjCM0x8Iwyw6MqwAwtlbqnltkrtX-SNPfjFW_r4E5f1p3vzQplni_1n-t1Pt6mtqpR6uM-tMi7yeEcZxPHpaLtCo8FAYfjU0cr1O4O7CZPdeKYtonfcwB5cY5QV4F1QeVxtwvRjr6w-55Q47ccXPvGdkg0p2Y3Xc6-JdOBx0c3Ij0fJ2rVZpMj42pF00K_zwUx6jWYnLAN1AdXrOC38Hg7tY_hfKdnbac4CjiUmxQwugMXc4fqAybmaFsHx9mNHFLWAX_eHezT6JrFEL2oGBWznce6DZYlzRNKp7x1pk-y6v3K8iTLUT549W4mTIaJIXmci8c7wlrDK46qak4XF-m0PqXzYYhJZ7Q3kM69TxwtRv4oQMG0ZhhvdAmFuWEpg7ejyMQLGZVBzdeAGXGUQSMXfPvlbGRDanlKnrB6jmdDpXHS8iBCaLXU61PrkakHusjSLnvIGeKkL0d4mtDxwgQQZ7yoVafQ9m43jpYWCVZO0xcziAPCijhtpCPilwW0RqkM1NCoje3PyB-eBC-X05mm050o_bpC92TMvMOLQ6gshF0S6CAqhLWwNlFZ0IQvPhTzwVlsHImALfDP0aBb7NDfgqKLehr993X6yLZQKW_JMHqekE_1sDCw6tF7hh2gnNTg5FOdshQJ27DIZ7Cn6UHp5AaAd7iYb4XH4bSKkFWgL1f6RUjscUXMUuyK503TmaqdM8jT9LUlOg9GTklH5SRDRK-382xg-CFVmG45u3jiG91znWGHrKiH59aWCePQfwpUzBMIpnkBVmhq0BlQp8u6ORgUJQuieBoR6MAEg4NRi8RM7gwBroNiaWE8TzA-jhf1IU9K4BdnglxHkmDG0QQwvlIebhhG5irMYz_shVaRL7oZkIsQvdyLh4W5q6M9LMrU4jsDjRW4fMYtM276gJfARgsfqYfwMhKAHhIzp89cUwFTizr2uCLq4NINFQuX2OwW6q7YtL2Ch7pWYc47fu4c1Not7HKJLbhXBgK7zlPEMuSMVUGhJJE-LlSRqG-paI4zp9tJrGXCOe45FO6srB9N4X-XjP8ux56rNabJr866UsD9ttpMJjm_60nU6CAnsUkQ3k4RBZiwBSw3cI5X2Kz2VcCfuuY6_4NCreN4Oj9Bvv9fcIxrhqbPxU4yiEx_c96nr-alySoaKt3e5D8HfQ6ANTmnI8azU2vrblxqrWFvbS8S44acgSvlQ=",
  "id": "rs_0515d5cdd5bca4e8016ab432360bc887d096f062d5b362c3ba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.251,\"left_z\":0.077},\"note\":\"The white toy is visibly hanging from the gripper above the safe, with the red tray below it. I’ll lower it into the compartment while keeping the gripper clear of the tray rim.\"}",
  "call_id": "call_W7OpQtkSLzZq1B2vIgz9GfH2",
  "id": "fc_0515d5cdd5bca4e8016ab43239282087d08cb3bc6c163c4c02",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_W7OpQtkSLzZq1B2vIgz9GfH2",
  "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]: [-0.8574, 1.9659, 0.8837, 0.5529, -0.8658, -0.2779, 0.2247, -0.091, 0.6865, 0.4042, -0.321, -0.094, -0.1921, 0.999]\nstate[eef_state]: left_x=0.3983 left_y=-0.2492 left_z=0.0745 left_yaw=-0.0155 left_pitch=0.2381 left_roll=0.1589 left_gripper=0.2247 right_x=0.2712 right_y=-0.0045 right_z=0.1293 right_yaw=0.0788 right_pitch=-0.0181 right_roll=-0.0889 right_gripper=0.999\nstate[joint_eff]: [-0.4444, -8.9231, 4.4103, 1.8486, -0.4664, -0.0904, 0.3883, -0.0479, -0.8821, 7.0085, 1.9512, -0.0513, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cd1f6e5f12e9fa0d30f927e18bf1a101e99359dfee2a832afa411679ae4b3c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a22f394f1d07fc5eaf306070e28e6b33095aea31694d660fa64a974c24d9d1d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc4c1f67f12927cc422f930c2a016ac57479ca52024ffb3556c3a1bfd680cfcb",
      "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 22 attempt 0 · /responses · status 200 · 2.195 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4137, 2.149, 0.268, 1.5711, -0.4702, -0.0639, 0.2187, -0.091, 0.6724, 0.4042, -0.2504, -0.094, -0.1925, 0.999]\nstate[eef_state]: left_x=0.3665 left_y=-0.0696 left_z=0.0123 left_yaw=0.0141 left_pitch=0.3005 left_roll=0.1034 left_gripper=0.2187 right_x=0.28 right_y=-0.0053 right_z=0.1476 right_yaw=0.0794 right_pitch=0.0653 right_roll=-0.1036 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -6.5983, 1.4427, 1.7705, -0.1587, -0.0171, 0.8864, -0.0615, -0.4308, 7.1179, 2.1416, -0.0757, -0.0757, -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 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8181, 1.6943, 1.008, 0.2371, -0.8444, -0.255, 0.2209, -0.091, 0.6827, 0.4042, -0.2989, -0.094, -0.1921, 0.999]\nstate[eef_state]: left_x=0.406 left_y=-0.235 left_z=0.184 left_yaw=0.0097 left_pitch=0.2827 left_roll=0.1129 left_gripper=0.2209 right_x=0.2741 right_y=-0.0048 right_z=0.1348 right_yaw=0.0788 right_pitch=0.0075 right_roll=-0.0933 right_gripper=0.999\nstate[joint_eff]: [-0.3761, -8.0068, 9.306, 1.7705, -0.3639, 0.0366, 0.4078, -0.1846, -0.8274, 7.2274, 1.9463, -0.0757, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8574, 1.9659, 0.8837, 0.5529, -0.8658, -0.2779, 0.2247, -0.091, 0.6865, 0.4042, -0.321, -0.094, -0.1921, 0.999]\nstate[eef_state]: left_x=0.3983 left_y=-0.2492 left_z=0.0745 left_yaw=-0.0155 left_pitch=0.2381 left_roll=0.1589 left_gripper=0.2247 right_x=0.2712 right_y=-0.0045 right_z=0.1293 right_yaw=0.0788 right_pitch=-0.0181 right_roll=-0.0889 right_gripper=0.999\nstate[joint_eff]: [-0.4444, -8.9231, 4.4103, 1.8486, -0.4664, -0.0904, 0.3883, -0.0479, -0.8821, 7.0085, 1.9512, -0.0513, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cd1f6e5f12e9fa0d30f927e18bf1a101e99359dfee2a832afa411679ae4b3c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a22f394f1d07fc5eaf306070e28e6b33095aea31694d660fa64a974c24d9d1d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc4c1f67f12927cc422f930c2a016ac57479ca52024ffb3556c3a1bfd680cfcb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDI8B-CMKBrLUp0guTrUPm3JdDaRDKhN2snKpMSg0zE9YOUD13s2CwftGv36oQv0TZXvniZrY4rkdhfeMZyJn30plfD8B8NxX68CsYGtmMTkVv0KL2pQe9Yiw4Tsy859zsPfcMgF56D1MbtGmPGMM-wvbPBWzKnyLJjdvbDnEs186wJ2yklgcv60uU234UNVHv1tb7NTYb7Qz9cnu7mZu-PVpNEsEj2tmO2BvP2EC6-Id12NkeCVJSZhjfSkEUXhSojymAV4eCWB2Zrwu3rc4tfnxFFNVRgm44KFrHg1tNN2CRlJkSYMGxbP5nbslyD3yLR2WDA68IQb8V7o61rrraZkjLTF8lBIXxCloeLyhD2qjUqNu_u2FSzbdAWpaFw7cyUQ4SxAM3aWypIzwjvKcGdSliEDGazV583CgAjW_3n2hpdaLVZCLEn739E5dY2dI0AtmoCOnJjrVw4DVfvbjhjzt9iXATRku7DmTRt_9c-4VyNtJfY-3zueJFTOBHepx5eZcVCj82_S0OPTRz8_nkIt8Ei_ffPXBcFKSVqamwd4PrzeqRwgO9SluR_vV8m4Fywlf6nY4NuJbRxSj2ceE_D51mGKvWq53PENfkq6Qm_i53K7rF-aAMUDsGrAA7L1i5C2G-D3AFvG3oZqvSC6ibgvE51LRvHqTD1hrDDIdSG-8z5kghHMDnICqEFMOmoIQ_HYb_udEmGczkLFaNP10PTtGFPAkVDRGZF_qdFP6fsuj8-ACLXMbWMl-fOEkGR8xEDzUWCHpJTvnMhp4XOWJFAh9qQ0Az0L38i0RGTepZUcZpR0BKCmlq3JmHzno-RKRlECNaRE4HaCPV_YWopxsuzYDnMPCi5BhpyhDZU6fS4nldhSnQtjCtMSmKEBWgU6uSjzCPIUj0M15ZojxoHEWZdllTXKdO0urBPKBq2nilsatEjxxufuu5Hqz-6p4pI4NkphLFLx3NTmtw3-TX99atOzgxn2aC2AqF7pHTYwzOi1w3eD1_e_e_sA_sQBTYAtBPXfGZvaEIQfnIaAGySctRy3H8Kho37B_JV7ow5n0mNbmhTMlLBoxDytb934cmRfXprSHqiq5yD7SZJ-eWtwJMwS9fhUr64gFXbFPwm4EVl0bPKfmjD9xIqxxajsYoUmpvKNl097cQjydHbw-f9KblcIqLZd_OXHBCVTVrSH_I-gcHZy07yEeX-ZRNG4gvQuUUwWYy_3Nu1LgliMhy5es9NReEGnyYgKSrPcG5NCf7fsuGinNVODW7w88VPr7dO1pUFyUGo6bqAXkeeZakAZFK6zBkmvCQkVYVhpf-7DgLJFsVi9iXJDsAs8dVTx8SiiDnJHy9_XOCPr8dtTVXZ83BTN9SySTPrVN1zTFCpQ_pAoVI_inYQ5adhBDzfZGLfmaQbIC8tkgbGmrXm0mBkFtbHJeLKWo9NygIT5TwIsfnQ26HZMwPs6IOF2w1wa-UADtsi2dSrwyATNfM4ZpQMu8WkQBw==",
  "id": "rs_0515d5cdd5bca4e8016ab4323ba23087d0ab085b57dd1db0b6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.028},\"note\":\"The toy is now directly over the red floor of the safe. I’ll lower it a little more so it rests inside before releasing it.\"}",
  "call_id": "call_b2beuNuSvoYU7ir2Wk05oYgO",
  "id": "fc_0515d5cdd5bca4e8016ab4323c405c87d0b45413b9d3dad727",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_b2beuNuSvoYU7ir2Wk05oYgO",
  "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]: [-0.8589, 2.0918, 0.8707, 0.701, -0.8722, -0.2878, 0.2271, -0.091, 0.6876, 0.4042, -0.3328, -0.094, -0.1917, 0.999]\nstate[eef_state]: left_x=0.3999 left_y=-0.251 left_z=0.0402 left_yaw=-0.0047 left_pitch=0.2475 left_roll=0.1444 left_gripper=0.2271 right_x=0.2696 right_y=-0.0043 right_z=0.1267 right_yaw=0.0787 right_pitch=-0.0309 right_roll=-0.0864 right_gripper=0.999\nstate[joint_eff]: [0.1026, -9.2376, 4.0547, 0.8181, 0.0562, 0.398, 0.2369, -0.1709, -0.5265, 7.0085, 1.8877, -0.0806, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3d39dcf5e62fce35ec2e95ca54f6860cbb5aea0614b9db482fa654d0fdff10a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eda76cf3d384ec2977292b07d8d5858ab4dc4c75d3e62a3a042aafe9b1b9690",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74839016faddfa5e98444a0624d5b09abde63752918b543824cf630eb491eadc",
      "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 23 attempt 0 · /responses · status 200 · 5.282 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4118, 1.2758, 0.3836, 0.5934, -0.4759, -0.0685, 0.2192, -0.091, 0.6781, 0.4042, -0.2756, -0.094, -0.1925, 0.999]\nstate[eef_state]: left_x=0.3647 left_y=-0.067 left_z=0.1449 left_yaw=0.0251 left_pitch=0.3115 left_roll=0.0956 left_gripper=0.2192 right_x=0.2771 right_y=-0.005 right_z=0.1408 right_yaw=0.0791 right_pitch=0.0349 right_roll=-0.0983 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -4.4786, 8.6496, 2.0195, -0.0708, 0.0073, 0.7057, -0.1573, -0.841, 7.0496, 2.0293, -0.0464, -0.0317, -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 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8574, 1.9659, 0.8837, 0.5529, -0.8658, -0.2779, 0.2247, -0.091, 0.6865, 0.4042, -0.321, -0.094, -0.1921, 0.999]\nstate[eef_state]: left_x=0.3983 left_y=-0.2492 left_z=0.0745 left_yaw=-0.0155 left_pitch=0.2381 left_roll=0.1589 left_gripper=0.2247 right_x=0.2712 right_y=-0.0045 right_z=0.1293 right_yaw=0.0788 right_pitch=-0.0181 right_roll=-0.0889 right_gripper=0.999\nstate[joint_eff]: [-0.4444, -8.9231, 4.4103, 1.8486, -0.4664, -0.0904, 0.3883, -0.0479, -0.8821, 7.0085, 1.9512, -0.0513, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8589, 2.0918, 0.8707, 0.701, -0.8722, -0.2878, 0.2271, -0.091, 0.6876, 0.4042, -0.3328, -0.094, -0.1917, 0.999]\nstate[eef_state]: left_x=0.3999 left_y=-0.251 left_z=0.0402 left_yaw=-0.0047 left_pitch=0.2475 left_roll=0.1444 left_gripper=0.2271 right_x=0.2696 right_y=-0.0043 right_z=0.1267 right_yaw=0.0787 right_pitch=-0.0309 right_roll=-0.0864 right_gripper=0.999\nstate[joint_eff]: [0.1026, -9.2376, 4.0547, 0.8181, 0.0562, 0.398, 0.2369, -0.1709, -0.5265, 7.0085, 1.8877, -0.0806, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3d39dcf5e62fce35ec2e95ca54f6860cbb5aea0614b9db482fa654d0fdff10a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eda76cf3d384ec2977292b07d8d5858ab4dc4c75d3e62a3a042aafe9b1b9690",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74839016faddfa5e98444a0624d5b09abde63752918b543824cf630eb491eadc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDI_mJYtXxrd2A5KkBgyVmbNvuCyELiaVcooIDnAcv13ciiGITzW6X4j0iSpVeCh5fyC8zGTQrLflvwhiSpaLY5zYGF3iti0-gesfGWgqJ2CPuOIuBXiQFKP9P88EFehnhPrsJ3dpPhil5bQnBAbpMg8jX1DNyxMWCFkj0BVRZFQw3DuafuGUHSZyzEPABTVBDC2LmByT0qdgKgirWHBwlisoKkHg_oXy1uIUDLCvtB4n1Mgk6km4VX7rD_IBx5qsvusqtStaBG8TI64_hijy8uI8YJRhXso6DVwxUpfuFl5RaT_qYwSqNNq3K8Ub-jYGILmrUzyq6YVoZRJp8kCd44oUyqu5vDNd7NYq0hDQcrP32GsnE_FtGfo2-N4d-wHytIRRYK7aheViW52rGdMcvul3fEyDtbLy1Z0qfLpLH9KM8jyTmIfTqMrCewCaewKt8RmopxzS4YBLFRwP38Ejv1hqlJ_-wYY1FVdKzrcjhqjV6z7v9Zokw67pNaRFlZyL26Xap63bW-v67lp7SFKWHlujP2QSnQ_A0Jv1zqC91FhktEI8gO6LzqBNMsJUAw1ooyAg7RvcRR36ajdvz4c9tJqqfc9dYTpeI8ROGLP9NXLPwmw5q4mR8DzkTNgiegjlHGaq5fTS283i6XxMSOmUIXQTdhjgrmkIbKlRYklPNqVmLFlOLXBhZpUkPQ00yxDsBxLaoQg0e32SK5USlb5uluGymEkfAyS8UScmcBeeNJvpkcap2dgwDrH8EYEWU2FEAgJtWOHdArm93C6x1VymEz_NoNfacZU7EVfccVzGgRz5p1lt1YAhMfvbPruQ-XLUHJlET9mg83zLRREj9doKvvbRQjPHXqVy3JJs5N6R3qFumTGFlOR5ytvtdB3h4HUH5xqmyuUqVgOuepIuoV1IfA1z9sawrSoWwrODST5u3RPHWrCYWVZ7REvnkCNXFlmg_j5LTAynhhfoZqGp6woaTjSUwZJGeEwwD_IcuvC5HkJphWC88Anb80gZaWocG0IV62QGPSC1ixj1S14U51P3Q8rB4_6k_3gwvszKTf5aspNnmxK_Ld9ZAnIj2J59tYLJDa-xLZ3SNXH7WXCnjpKXTfLhLCy1Q4H1zZvcymadGwtA2608gf3kLdgI64_cBw_3gHotL_2h2xp9OGg8PAmdmqe-mnP_RsWIZdnpzO0TPtnUYvRjYRzN2s2KxF6Av7oSmzpXPfP0eKhQITZ0aa9yfBtRjfhoCzjg3Yoen4PaNjbXF60RvjJxnT4I79Ss3R0aEHCH2-yJ2lL1R694rSijMxbhRhzV-gsqRjzRxkCZdGZ9R2DyVLBuD3JXxycdj46LoXj2vX3k3hiG4C5pcskq170Jvg0gAc45AtiQjeq_Po662YxpBAphzZb5FK3sRyb3SdqUiAzIvGfAxmMQiZzAF_ZGA==",
  "id": "rs_0515d5cdd5bca4e8016ab4323e42b087d0ba30df8969a777b2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_z\":0.185},\"note\":\"The toy is at the safe’s floor height and the gripper’s descent has nearly stopped. I’ll release it and raise the idle right arm to keep it from drifting down.\"}",
  "call_id": "call_abYbaT5ptdDrJZ9HSPwHFGSu",
  "id": "fc_0515d5cdd5bca4e8016ab4323ec84487d0b812b6c143db05f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_abYbaT5ptdDrJZ9HSPwHFGSu",
  "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]: [-0.8577, 2.1056, 0.8684, 0.767, -0.8799, -0.2974, 0.9951, -0.091, 0.7097, 0.5961, -0.5568, -0.094, -0.1955, 0.999]\nstate[eef_state]: left_x=0.403 left_y=-0.2524 left_z=0.0447 left_yaw=0.0182 left_pitch=0.2833 left_roll=0.098 left_gripper=0.9951 right_x=0.2635 right_y=-0.0038 right_z=0.1632 right_yaw=0.0813 right_pitch=-0.0844 right_roll=-0.0802 right_gripper=0.999\nstate[joint_eff]: [-0.212, -8.4581, 3.6991, 1.2918, -0.0855, 0.1685, -0.0415, -0.0889, -0.5128, 9.853, 2.0293, -0.0904, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:015aaa5ca943f2cae668901e6e21e487ccf9d741e957be73c850233cc0d4b554",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2d6fb48ee63b9157f651845d37b41f5e966365c6198d056b6d2f14c4a556f96",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f2390ab9a09b53f5e3a8315af2e7e026d976ba43a0871f3986d2a89c1e31ab7",
      "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 24 attempt 0 · /responses · status 200 · 5.121 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8181, 1.6943, 1.008, 0.2371, -0.8444, -0.255, 0.2209, -0.091, 0.6827, 0.4042, -0.2989, -0.094, -0.1921, 0.999]\nstate[eef_state]: left_x=0.406 left_y=-0.235 left_z=0.184 left_yaw=0.0097 left_pitch=0.2827 left_roll=0.1129 left_gripper=0.2209 right_x=0.2741 right_y=-0.0048 right_z=0.1348 right_yaw=0.0788 right_pitch=0.0075 right_roll=-0.0933 right_gripper=0.999\nstate[joint_eff]: [-0.3761, -8.0068, 9.306, 1.7705, -0.3639, 0.0366, 0.4078, -0.1846, -0.8274, 7.2274, 1.9463, -0.0757, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8589, 2.0918, 0.8707, 0.701, -0.8722, -0.2878, 0.2271, -0.091, 0.6876, 0.4042, -0.3328, -0.094, -0.1917, 0.999]\nstate[eef_state]: left_x=0.3999 left_y=-0.251 left_z=0.0402 left_yaw=-0.0047 left_pitch=0.2475 left_roll=0.1444 left_gripper=0.2271 right_x=0.2696 right_y=-0.0043 right_z=0.1267 right_yaw=0.0787 right_pitch=-0.0309 right_roll=-0.0864 right_gripper=0.999\nstate[joint_eff]: [0.1026, -9.2376, 4.0547, 0.8181, 0.0562, 0.398, 0.2369, -0.1709, -0.5265, 7.0085, 1.8877, -0.0806, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8577, 2.1056, 0.8684, 0.767, -0.8799, -0.2974, 0.9951, -0.091, 0.7097, 0.5961, -0.5568, -0.094, -0.1955, 0.999]\nstate[eef_state]: left_x=0.403 left_y=-0.2524 left_z=0.0447 left_yaw=0.0182 left_pitch=0.2833 left_roll=0.098 left_gripper=0.9951 right_x=0.2635 right_y=-0.0038 right_z=0.1632 right_yaw=0.0813 right_pitch=-0.0844 right_roll=-0.0802 right_gripper=0.999\nstate[joint_eff]: [-0.212, -8.4581, 3.6991, 1.2918, -0.0855, 0.1685, -0.0415, -0.0889, -0.5128, 9.853, 2.0293, -0.0904, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:015aaa5ca943f2cae668901e6e21e487ccf9d741e957be73c850233cc0d4b554",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2d6fb48ee63b9157f651845d37b41f5e966365c6198d056b6d2f14c4a556f96",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f2390ab9a09b53f5e3a8315af2e7e026d976ba43a0871f3986d2a89c1e31ab7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDJFqkYzrWwJz_hhy0f17rxX5rKnz8iNfB2ezm4xTDIZnmRzRlP5a0OpDdE96z0YMmTSRga2eWXqhPFI2yKX2p7rsD2L2wxbwt7nTVNmCyO1oDbX690dCXMp59tOmyGjrrSxikkHC_vJUyJmcxv-_DKoOBuc-PM7cyDH2lz4Sn_T-FG_6RXeC_iVU-tX0cdHDVm-uIS6jSxIpINEJ1MX-NWcGWE5MZdmvn9AJgV1-673T1gsfY0KwdCGWWK2hJGpgmO6H7rUU8Ph5ckZPd-XqrlkXLxEpzqiUAn7xtIr95hRDvWCgE5oeppfqdiJq_YXfoYy5YB5cs4RlZc6xgVSw5mmlSqjFBhCEOyFit0oGzScBF9MHiHx6Ypf4FBpfsrmH-MfHztwWmuomq0wtH7SXbQcPsJ_C1wtijX3n3Sw4x5pnnDCKmO_73E6X8F3thah1k9s3qMXGysJDyl-wW90wL-5OljU1BGC_zpqnTZXLGvxJ_beOEhlAJD9wp331d-pkXgcedU9hN2jHPKiP9qP-pISY7VrvCl-VDgKS26aBP3mCACalBJr0-ZZXdg7o9vl903CKp1XjMlvTdRCWqYtcBIWNsaAx39ZBNulZU0E1poXG-GmvFkQw_W_Dapqn3O2wPqqATkSmDqOwLZVYvqcVvrndpOu-l-jPut8u_89pwBNIxi-6P1rlke8bXAiEL28UBTgS373Q46zXKAAYNTV8mbHetQiRdRdKDSgnZ3ekUHmvHjaSgeWaQtS5oZlmrQN4UrEtS1fQhjVVL_peywSpiycUo_n6RxLJO2H1W1-QOI201MSFPNpWSy3PW-ThllJePbVnvMgNqITQ_cMLpfRAAt0UdKMIbhn1OWlzTTZ2OchJN52em6NNzccECz1uP7oQg30oDthWpwCXtlX035-ih1dgw6qULGpYCyzgxRs0Reuxs5UTJ5apuaIJTv0wSSSkVbKm50naAvDbJjBZQ4uM17t2_-qsHlg98AB9M4s9HAR6FEV_gl9odnZpDglJjPmxf6vKOQ9ZFXzo2ZiIYptn_iZ0rt5F8bQL59C4fazJHjNyhtM9EQuM4L5ZlkZ80ORmx97pMJfL6VcHv7wLZOFN-c-kya887Du5L-52B67ShCG5WYWNFodHERNE4ik7VdaaFyne6OPeeUZ5G4XGgOjEk3-Mhn6nuUkY3087ZJ05pLPCo-53o9ChhEqvdSeJ7jBTP8p8FH299RXWUEStAov-4p_yzEj3aSIFYGHqKetvsaSZXbAxtr9-AwWvroOIE4XukdKaFfQAxDZEQ_u-w1aA246nAuvcNZFYspqM7WsZrrAVKQ3AXkVCT-VuwVpb-tOnWtGvBySd9kZuZe5Byt5Z64WkHfiCFSokySGw3XKZ_cxMyWPjnEuHlqctdd01G3I9rAW9wHQlLaaUEtdUd6dGSPIq80aXVfwBN2tcy052YebxoyKW6R1u9GWSMnzT2Js4eOuq8TnsLVDp9ro-1SXBRhyBsAs5dAy2nhHtKxBJ1d5nWhLtMD3bCgDT7Dm3Gemk3fcE6YD-TRl9ykLaTVNOidCVG3B1JEI1XwPB06Z0joAS0D-PDWhP0qqv1e_InI5c6z6M1PuuB6EMaDazzDTwPCtDkJJCKblXUQ9KYMu7cZzteEbO8sxP03CXpdJBhOtGYAs8DuSHT62vFQnQACDBCHecpLxNF2Sb_a2WZE478MpmcnUGhUFxsO23AGRhJMH-bRS_Xpmw5TVKuXgpFBI8N49abwoutSIJW9x5iqUbqhn1RZDd1YDshKvf9gA2uzdgf03cYYhuOfwEf5F5S12_BmD9zFEVC3mzlpkHRi12LbMGLSLpMTq_wlGdU9RFVyfnWrgd2mN3gRMn6iXQGitux5u4-6_U8mE5R2qerWVROhOOqxbtBiZItn9qw8vdFQ6kwclbHtDEx5ua2eTGvky8_4zxUMOfZHmvLGa7YTMHSzJ1PwQvA9BjYoF1Q34w1Pq4W-ak18oHg0LJzLL-qKLXZvEMs1227zVVOQzn40XcDCr72c=",
  "id": "rs_0515d5cdd5bca4e8016ab43242623887d08832a36a0a99de36",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.293,\"left_y\":-0.316,\"left_z\":0.16},\"note\":\"The white toy is resting on the red floor of the safe. I’ll move the left gripper out and position it above the brown upright toy in front of the safe.\"}",
  "call_id": "call_ZvVwhQLg8bLM24gZbPnvbTNR",
  "id": "fc_0515d5cdd5bca4e8016ab43244bb1087d09b4388857f183fc2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZvVwhQLg8bLM24gZbPnvbTNR",
  "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]: [-1.1973, 1.8332, 1.058, -0.0132, -1.1282, -0.6586, 0.9962, -0.091, 0.7136, 0.5964, -0.598, -0.094, -0.1955, 0.9989]\nstate[eef_state]: left_x=0.3009 left_y=-0.3206 left_z=0.1352 left_yaw=-0.0101 left_pitch=0.2674 left_roll=0.1002 left_gripper=0.9962 right_x=0.2573 right_y=-0.0032 right_z=0.1546 right_yaw=0.0821 right_pitch=-0.1284 right_roll=-0.0725 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -12.4103, 8.5538, 1.3114, -0.6032, 0.1245, 0.1001, -0.0479, -0.6496, 7.0359, 1.9902, -0.0611, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0989294c84e9101d5f9bb83a9242854f0625e597b28c2d06c9a60d4f4485367",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6f855e5d3510a9986a5b96414f57e86001937fc825a9fb9eb599360849cca99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a17de98100c710523a506158ceb902f83ca5f2c7832ee1d09e6f4cd6655eeff",
      "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 25 attempt 0 · /responses · status 200 · 3.427 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8574, 1.9659, 0.8837, 0.5529, -0.8658, -0.2779, 0.2247, -0.091, 0.6865, 0.4042, -0.321, -0.094, -0.1921, 0.999]\nstate[eef_state]: left_x=0.3983 left_y=-0.2492 left_z=0.0745 left_yaw=-0.0155 left_pitch=0.2381 left_roll=0.1589 left_gripper=0.2247 right_x=0.2712 right_y=-0.0045 right_z=0.1293 right_yaw=0.0788 right_pitch=-0.0181 right_roll=-0.0889 right_gripper=0.999\nstate[joint_eff]: [-0.4444, -8.9231, 4.4103, 1.8486, -0.4664, -0.0904, 0.3883, -0.0479, -0.8821, 7.0085, 1.9512, -0.0513, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8577, 2.1056, 0.8684, 0.767, -0.8799, -0.2974, 0.9951, -0.091, 0.7097, 0.5961, -0.5568, -0.094, -0.1955, 0.999]\nstate[eef_state]: left_x=0.403 left_y=-0.2524 left_z=0.0447 left_yaw=0.0182 left_pitch=0.2833 left_roll=0.098 left_gripper=0.9951 right_x=0.2635 right_y=-0.0038 right_z=0.1632 right_yaw=0.0813 right_pitch=-0.0844 right_roll=-0.0802 right_gripper=0.999\nstate[joint_eff]: [-0.212, -8.4581, 3.6991, 1.2918, -0.0855, 0.1685, -0.0415, -0.0889, -0.5128, 9.853, 2.0293, -0.0904, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1973, 1.8332, 1.058, -0.0132, -1.1282, -0.6586, 0.9962, -0.091, 0.7136, 0.5964, -0.598, -0.094, -0.1955, 0.9989]\nstate[eef_state]: left_x=0.3009 left_y=-0.3206 left_z=0.1352 left_yaw=-0.0101 left_pitch=0.2674 left_roll=0.1002 left_gripper=0.9962 right_x=0.2573 right_y=-0.0032 right_z=0.1546 right_yaw=0.0821 right_pitch=-0.1284 right_roll=-0.0725 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -12.4103, 8.5538, 1.3114, -0.6032, 0.1245, 0.1001, -0.0479, -0.6496, 7.0359, 1.9902, -0.0611, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0989294c84e9101d5f9bb83a9242854f0625e597b28c2d06c9a60d4f4485367",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6f855e5d3510a9986a5b96414f57e86001937fc825a9fb9eb599360849cca99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a17de98100c710523a506158ceb902f83ca5f2c7832ee1d09e6f4cd6655eeff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDJLQ7XdqEtj8PJyq6CgWNYCmmocE4R6rjxmkGTa07qg9E8OlBM4HMrXVKspjTwsy6GiviYgUw9JqPPHjlvJIwyMi-cGvFb6t9wsKEi4ZR0lpMrGnssyXVY7M8RuCSliKhM1tMCmW6lHNER-Gy8eXCAR16H_tbK0lNWyV2RtFF9BPABoiJC8vGFGfE8g22Ttp2NAVqLQBYmAuYWuiNGNkXRIitH-GRzPgQ--eBPQ8seNY9VBqAunX6frYWXh3bz6p0YlOyK5kdUJseF77baDeDGc7Ka-Ai4j4UUJ4bPmfLGwiARX6XkuDSqeiqxPAzyf7kNFCIhA9OvRy0sYlpUw9Oks2DGDf2knbx87lVTQ_FdVs_fqFg33r69lXaVoPThlkK8CJHslM5GQVhNvzGdobAV_CMp6MIj24IejYaFk9ORAggTCSkGK-CqMcB3HRGMmt5i_splMftZea_gNk73bCahmNRjTQqdItU0UlAzImzN3k60llRyIfwq_iY5IytN-BFs3gxtW_Zg5_MidVbDWuGvxsLomQBrMfsXXsAEZUA9AoNYGXDR71_FKPMeTqP5QT52dmQtDaF6DkKH46m074SNeHfhEPYzHAKFddoOAYNNlAHgwemFd7AtPRrOGlcja9uxAvth4WeoahQGJJ2eQWcZeHVSx8pKLFDhI-UuxJJBTBKmu2PPwLEVXba_9srbfeaOFNr4vNa7DKebRy5Zh9_FxC_aOd_OK-0_Xc8CmEDIiN-X-7NEJvPLihB1angkrksJKqrRNVeD3xcN_r_ZQg9Wxfu_-pKQpGflZzRxb89j5HCW4bYJ9FQ2ouGm7RTK1JkQ5qNLAuv4jWlPghfBaXmnQWYtZ4MYoquqP7C7RrlgbZEEpwwOpcoTTLvfjWmbQ1OzZuBGco2sODG4L8W5l81wsRbmnPHSWEHVe0jL-gXYPbxxBMe2NQdLBYfzzwcmTmKIZpOG3WS4ZaI3ZKxF0Kzo72waq_7gF-doHeI56v75vXB6HRlkUT8L_-bKKguI8WOOHJo0obSweX_to2joS5Uy0o7zsLhw2prhsqJ4qyr72WdoDLe12K7Rk8B5ksY_S9-VZCxsBg8FGDsPZpgnngf906ul1VyRMrIqovxDmjEfaCI1SxztwF094Gbtoy9mU-wCPqcD7bChTIY48aayPrIME5MLpEGGpb6ygycb88LhvW2thl3NE2EfYBf80iFVm4SwYjftQF1KRtzbhxqkdJ6uZIT7XvnEArHo8y1yPSriTvHvFsXS2rV2gN981pqxYgkxF2v2lUn5hRBpY6O5IrICCvYEXBasM_vB3jjZ-okyNXnMTYU9UYdMChLl-SXqpVvxQT1tMuKPaBo-eJzQ52yqCWKImgzFycozsdOxuIM6v85RDlCFSI4JfWBzwZncpilLTE5vW_vsQaudqit2MIGzv3arGNfjSjclbjyH55aq7Gv7x6eQkWJNU0QgFz9bjn-TC8uE5Fjv_y1iS0RcfsmPJiqYWui82wamlIBez8JdDii1_6Hjxb5v4_-cakgRGY8NkmFRaN3A2XaLwJzgU7zIlvC_DDG4Ejxkk8pPIJajztOjzOUQWz4et3ym5Ruph9KioBmkDQlUP8X-WHMd_RMtPzQ9O-2hSQbExSVJT1Y780irA2_9nOcenQyvDOaZjq1TYAZvR8HRfBCUAMj7mKpMfNbtoBCBdPGTMAXgiKFt1c9LAbyoXYgNirJblCc4ytJrSnbZQAU6XToPVDQXWy0hrXbpM4V0yK6jbOoUyuL3g3oVs0HuvhDltZVKNbMILSeyI4VXjgia23Ia6USgH0PwztJhon3hCkoC_sHBDXDh4twqyjfQRhyCifPDw1eVQhA1QaftPWKVVh1u6-XnKiv9zCbUHVxGgHtWQ7RB4QoziF01OkalWbARbjcCzqwk7KJA1VNX7MtAAa_MbodzBAb1jxV4Lt1gdutyCuaoSRkOp3kKbeXRdqAW5SnIRC_MmJjki_2Ycb4HTG61a_agn9UMytj3Q40tAOR5V2d3Mir7AmuU0w4i-gJLegQM-UefIZ3TgsWLNECsTBpGmGvmMAi9lxtZZdznItSsX_2AMv_4J36uxU3eTebpNM5OI-XirFuRBQRdktjSoR8mGKwDxD71Ad6kwwYIbelmsoKHYrYEit_RWJU5mGdlFBm4ETbvzMavEePQ7-ak0k8DhjrBMRjfxMNS8gkYN_W-sCzMuRLtxgwxS7XPjs3oVTNgvc7Gv1wI3a9y0-5uoMyOWYpKxycS4pRJgMoPYuLADPxaC0LOiVDAbKFgelDkjbWDPYidv80FHanh5NILPdYLRKWXw5OA2T0SbsYb2JExia70nOuu-8e9_-Qh-PSEJ0oFi1xCxRBhFb0aFQe4ZCWBhOr0H4-YzDwmO1BkU3Fw4m77pje5RsKm-cBCUgy_hsATlYmPVYDuSCkmhUbH9ORYwQG2lJ2PqdcdDX_6eTuep1kneXthwXCLoXfJCX1JA3lmPqAS_DD9gHie4Fmejix2ObPI61U-jxAr11TsS_wZxicxkKpKwF-76bxw-Wq4pxG6CdaP-msWJjzJciKhPgJlLENFWgehYNeYndvBWNXOOqWPM5t2GPNFJiqF2Qcay4sTWW9cbe5JPTWvMuZMhQWf0LG39qpZSiO-npCsM_gpbi49YRKkYKofItDRxFlocKeNTxcLU4qMLbVDoKjKCM2PRMe6vSfSeQ1eArNAAYJxBfC1xdb52I-uPvVuVV8Cqe0ada7w66F_H2fTm8fXTPCtoueUUdHavDluSC4UbTTuodcHHOFBbwxrDn79EChm4yi_oMhSYuvXQxvtZQ-oEMO_Q9QtG97cDutRQIDUThhKXho8bScWrUYnOb-f4Smo4vEt8ComhsFQ2zMaWCuqXT0YA6oqv-uOpOEajuAkCsGdggcejMXq4l16pq3eH8tOUQ6u7iFR0CnPBRF54hCPTbdNGLxFTASwHfClVr5Lmw0f3D1OqaSbS3NVe97aX3TTWg3NL9o28RvO6bBa0q3Q0hIKRPz_-xYcAEQNVanXpVA4_UUDHhyEb_rkr5tZd65CkHdp4Iyj5sTOEn0LEnJostOPU8IkMs3E3H87KgSn9tz-lIvXhsX10VLj0LQPDFMx4-S3UDNRVCpRwiulX0lFQAb0LrZ3G2m-gCch99Lm4Xj52caDAyAvetuv9F2Kl3dozmoejZv5h-ojN",
  "id": "rs_0515d5cdd5bca4e8016ab432478dcc87d08eb3f4b892c30024",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.258,\"left_y\":-0.277,\"left_z\":0.135},\"note\":\"As the arm moved away, it nudged the safe door partway across the opening; the brown toy is still standing in front of it. I’ll shift the gripper toward the toy and away from the door edge before descending.\"}",
  "call_id": "call_w4iPid4K6AywF9FQs1PVSPWc",
  "id": "fc_0515d5cdd5bca4e8016ab4324aab0487d082dde237cf7aa0b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_w4iPid4K6AywF9FQs1PVSPWc",
  "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]: [-1.2652, 1.7042, 0.8814, -0.1303, -1.1503, -0.7658, 0.9963, -0.091, 0.7158, 0.5961, -0.6201, -0.094, -0.1951, 0.999]\nstate[eef_state]: left_x=0.262 left_y=-0.2824 left_z=0.1191 left_yaw=-0.0444 left_pitch=0.2321 left_roll=0.1607 left_gripper=0.9963 right_x=0.2537 right_y=-0.0029 right_z=0.1499 right_yaw=0.0825 right_pitch=-0.1528 right_roll=-0.0679 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -9.8256, 5.9282, 1.3358, -0.779, -0.105, 0.0073, -0.0752, -0.4171, 7.0496, 1.8046, -0.0757, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c73102ce46d1065cc06d99eddad40b6b96c18450e8730e13053ac1b93967dc3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59dd2fa66ece1871ca53efc0c79101f38e0a82e422c47ee46cbe37c79769ae05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56dc3eb5f6af09f9479ff47170dedf73d8a9a58f50e271b490467faefcfc5700",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 4.766 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8589, 2.0918, 0.8707, 0.701, -0.8722, -0.2878, 0.2271, -0.091, 0.6876, 0.4042, -0.3328, -0.094, -0.1917, 0.999]\nstate[eef_state]: left_x=0.3999 left_y=-0.251 left_z=0.0402 left_yaw=-0.0047 left_pitch=0.2475 left_roll=0.1444 left_gripper=0.2271 right_x=0.2696 right_y=-0.0043 right_z=0.1267 right_yaw=0.0787 right_pitch=-0.0309 right_roll=-0.0864 right_gripper=0.999\nstate[joint_eff]: [0.1026, -9.2376, 4.0547, 0.8181, 0.0562, 0.398, 0.2369, -0.1709, -0.5265, 7.0085, 1.8877, -0.0806, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1973, 1.8332, 1.058, -0.0132, -1.1282, -0.6586, 0.9962, -0.091, 0.7136, 0.5964, -0.598, -0.094, -0.1955, 0.9989]\nstate[eef_state]: left_x=0.3009 left_y=-0.3206 left_z=0.1352 left_yaw=-0.0101 left_pitch=0.2674 left_roll=0.1002 left_gripper=0.9962 right_x=0.2573 right_y=-0.0032 right_z=0.1546 right_yaw=0.0821 right_pitch=-0.1284 right_roll=-0.0725 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -12.4103, 8.5538, 1.3114, -0.6032, 0.1245, 0.1001, -0.0479, -0.6496, 7.0359, 1.9902, -0.0611, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2652, 1.7042, 0.8814, -0.1303, -1.1503, -0.7658, 0.9963, -0.091, 0.7158, 0.5961, -0.6201, -0.094, -0.1951, 0.999]\nstate[eef_state]: left_x=0.262 left_y=-0.2824 left_z=0.1191 left_yaw=-0.0444 left_pitch=0.2321 left_roll=0.1607 left_gripper=0.9963 right_x=0.2537 right_y=-0.0029 right_z=0.1499 right_yaw=0.0825 right_pitch=-0.1528 right_roll=-0.0679 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -9.8256, 5.9282, 1.3358, -0.779, -0.105, 0.0073, -0.0752, -0.4171, 7.0496, 1.8046, -0.0757, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c73102ce46d1065cc06d99eddad40b6b96c18450e8730e13053ac1b93967dc3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59dd2fa66ece1871ca53efc0c79101f38e0a82e422c47ee46cbe37c79769ae05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56dc3eb5f6af09f9479ff47170dedf73d8a9a58f50e271b490467faefcfc5700",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDJPLiDyiMWbzRNMKSdJjNoF71DjsJujS3lAq3AZ8KFbLFtoAKCiJFUwZhXNU1Tv-aI7trthX54hc1Ncxr4bT_2oeXOFAmgatJEgj4y_lt-MFeRu4VJhYC0sKKhYVhZ-QRijqSXs1pwjSWWV6mz8oQBgg9ZyJ64SqFC8xUsnHJlwhenJ-KGQr74rmONTylOblw-1APkzYvLj5jOhtKprmw1z5ys9E7Rj6mlquwiMJCaV3khAyMd9TBPpZyOW42vR5kq7Z0cHEUTNTGM4tWBCGRkMh-AUzwRuHvm2jFBYnkg713SZVAdVl8eZD5dHbyJlFC-R63u8mUk_aXnKANJgg816Kb6276tnsQb9LIPr2fBxPZIpNUAGI-g6kex6XiHdkH6MXtwjq8NeitUHF1CTFRtaOvBthGyTz8O6dEZtZASAfuQ_bytARn6rhWojVUVSOXuYH5PNAkIptn0ao4BCs1gGR53dOWYzyG1rapEINrvgs0hcGdzVQJnk-bU2Zo4XR6x5lTc2xU-g4vWt8_9O4SV4qs3SZk4NxCDSedfkaSz99-Hy9kNL4LwA9Jf0lrBqa9Hzs_GAGa-OHDz4ZKmgaGT-spLr0HVQyvuhYdxZZs3XvKWD5IgLVUIgwDZHXMFJJdLmslar5txhUUFekiq8W2FvwK6lemE1dBX9OVl_Ensrtb-gNd9Lp_53C-obszN8r2yxoTEjQJDubZoSZpiTNKml1gMsIZ5uITM1oPnAxMAZpl6zfxyba7Oj0j5N1KJhIMArfJeapVgfc9tmzyw5alskRmcO6BuMcFN-I59WYdQwGMjnvhQo2d1vsLyltGUEy4KOWawn19IE9JjVY8IIhpmn2OC5-IJ-7YkKirK78kWDU6sNFlyEtQEfCXGEUmS4L1kRM4FPd_8qm1Sg7qIQPHcJ573JehQOW7Wn4flVAOWJOqci7C_rQEBuMcKgyIe7YK22tuXRQOuMS_yM4ZiEjirlzv6TiQdUSArzTNOQKKLsOePN6XFAi2Lqo0dt5rZkklQTLASZN00rM9x2x2hlcaZVQyLhqeF2Fw6c4OjiiSeqwAhBnT-C8qcYJavQJB4uGiHHySWwjH_Z62pUUjsa3rTk2Ay4aqDxE98YPGKkkCxmksdwfxgegy8kqZ8FSOdlyBoVrm4MvmUJfYgxIjBRiDqR9t7HLmW_MCe61x0e-H2twNcijYuRl-unrxqtC7Zx904x1CQ__0Z2DB06CDdrhvw9pjtpiGrm1k3xu6jm16PyjZ38KuObwpCDIg3haD53OwgJvgiJI8dF_0wTK-tcoIpyqFN00KEbyddTrnZyuMl0R5QYNIL1X10DBOBqPulTkWz0pZRn051_3bkUGxgU_XyPb6I24gYksOudX5LNL2ec2c_tw_OrC_K6Dj0oMuGTowxOy45QhrpxQ8ijs2XucthJW8NcmIfPwDTXwnHXiE9_aebKhoAB-7j1IDwz6Yuq6DeccSl1goiO5iUI9OvGbBDNZ_aHIVP5I8U_nIpYPqq1wOIMgsRBeddvtqvfJDupOmpnk1ciAsXz_zM6nRfBy9YpwQuUGJO8gNR97HRQnU8lF9Tt84b7qPZYieRPcxT-b1gd0-Vql2nFFDKaKYM_GDMH2XwimD5yEqfgeX8yJQ86PVcGCMunimzKUjKdQu9hQNpFXhuuqkjMWINBjFKFbHUfx29tvVKrCCxRReuArFc-ydYzrQCa-_mQv-Wd1VbFnq0tGmn2MFMV6TUJUy2aTJ6YrCMpgzJLxIAuJULmfP23v10bpjoYMlLa8r3who7VN0C2FssCZwOTAXdK0su1w1QkfVJGE3DEdccO6BZ5oSHHNA1jg0Ziy5sMV6gEbz4hqhqQz2RtYnYthzMXp2Etkuj1aiQxgTs7fx27vZtl8GvFjOm9e0xhTW-CZaB6fyK1eP8jFWH4vzyl3h6ym798IKTfg6W2SZwKvlYQcDiEVsoQ5Lg=",
  "id": "rs_0515d5cdd5bca4e8016ab4324cd76887d09a795964754331b5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.263,\"left_y\":-0.304,\"left_z\":0.067},\"note\":\"The brown toy’s body fills the lower centre of the left wrist view, slightly to the gripper’s right. I’ll shift right by a couple of centimetres and lower the open jaws around its middle.\"}",
  "call_id": "call_p4pnaTofj14sIvERMlBBQbAW",
  "id": "fc_0515d5cdd5bca4e8016ab4324e71b087d08229019053d387a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_p4pnaTofj14sIvERMlBBQbAW",
  "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]: [-1.2808, 1.6707, 0.8738, -0.1398, -1.1576, -0.8021, 0.9964, -0.091, 0.7166, 0.5961, -0.6357, -0.094, -0.1951, 0.999]\nstate[eef_state]: left_x=0.2568 left_y=-0.2824 left_z=0.1279 left_yaw=-0.0323 left_pitch=0.2458 left_roll=0.1116 left_gripper=0.9964 right_x=0.2512 right_y=-0.0027 right_z=0.1469 right_yaw=0.083 right_pitch=-0.169 right_roll=-0.0651 right_gripper=0.999\nstate[joint_eff]: [0.1709, -8.7179, 5.3265, 1.0965, -0.7399, -0.1148, -0.0073, -0.0615, -0.5675, 6.8171, 1.7118, -0.105, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d000ed1beb2fbabe16281f6cf158d9b63774de5d6cf76a572580e9d9b9eabe84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52354a0cef8168370694e76bca7af7880558b266383a1ee87fd2b7d1d618cc87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:960a74023b05177d2740fae62a284ebfd8fd1eb9ba5aa612ac3b4c23805429e1",
      "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 27 attempt 0 · /responses · status 200 · 2.668 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8577, 2.1056, 0.8684, 0.767, -0.8799, -0.2974, 0.9951, -0.091, 0.7097, 0.5961, -0.5568, -0.094, -0.1955, 0.999]\nstate[eef_state]: left_x=0.403 left_y=-0.2524 left_z=0.0447 left_yaw=0.0182 left_pitch=0.2833 left_roll=0.098 left_gripper=0.9951 right_x=0.2635 right_y=-0.0038 right_z=0.1632 right_yaw=0.0813 right_pitch=-0.0844 right_roll=-0.0802 right_gripper=0.999\nstate[joint_eff]: [-0.212, -8.4581, 3.6991, 1.2918, -0.0855, 0.1685, -0.0415, -0.0889, -0.5128, 9.853, 2.0293, -0.0904, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2652, 1.7042, 0.8814, -0.1303, -1.1503, -0.7658, 0.9963, -0.091, 0.7158, 0.5961, -0.6201, -0.094, -0.1951, 0.999]\nstate[eef_state]: left_x=0.262 left_y=-0.2824 left_z=0.1191 left_yaw=-0.0444 left_pitch=0.2321 left_roll=0.1607 left_gripper=0.9963 right_x=0.2537 right_y=-0.0029 right_z=0.1499 right_yaw=0.0825 right_pitch=-0.1528 right_roll=-0.0679 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -9.8256, 5.9282, 1.3358, -0.779, -0.105, 0.0073, -0.0752, -0.4171, 7.0496, 1.8046, -0.0757, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2808, 1.6707, 0.8738, -0.1398, -1.1576, -0.8021, 0.9964, -0.091, 0.7166, 0.5961, -0.6357, -0.094, -0.1951, 0.999]\nstate[eef_state]: left_x=0.2568 left_y=-0.2824 left_z=0.1279 left_yaw=-0.0323 left_pitch=0.2458 left_roll=0.1116 left_gripper=0.9964 right_x=0.2512 right_y=-0.0027 right_z=0.1469 right_yaw=0.083 right_pitch=-0.169 right_roll=-0.0651 right_gripper=0.999\nstate[joint_eff]: [0.1709, -8.7179, 5.3265, 1.0965, -0.7399, -0.1148, -0.0073, -0.0615, -0.5675, 6.8171, 1.7118, -0.105, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d000ed1beb2fbabe16281f6cf158d9b63774de5d6cf76a572580e9d9b9eabe84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52354a0cef8168370694e76bca7af7880558b266383a1ee87fd2b7d1d618cc87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:960a74023b05177d2740fae62a284ebfd8fd1eb9ba5aa612ac3b4c23805429e1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDJUutLDaXKU-V6lauNnz1B_rKJ8bRtvop7f2TJoCaVfllumLATJxMrgVOCE_K_oSS5UFlt9CpB4sJZICTSLvaJWCmM08pRXHjGEHOhXkFsqKol4FOfsnsXP_SafyCrnu3ZvVmF60zHs9frfGjwyxkNIfiCcSt-Mc7Ama0o840OErDRRffHxXoKnRz1rNm9IsbnvBh7vhEtGAmn1qn6NT2RvCu50kSC07pDFHmcaSR_8s2r6Q8_cZxh3qxP_bgn04xnqZDpd3UvByzSNL8TkZroJdO9-NSwRLLlgX6sLjmJfrjFM4zR0xqky0xpFnHS5-bBS8eQy1VOyGqwUk-xTdehUNw5DmFzbJOWa_hpbynKhhp1iiccg9V75hOU6xYlfpPKXxViOpE1_LY510D31iXP52AWUZN9Fl2Wd1vUCyrO7ksTXwooJjtPgebKkOuqfc-WUR7gteeRnZPgBnavO5Xk3Jr7PilW7eTr8_iM20PjNR6Vn8Z_CgEriuT0gXHlHr_EK1Q2TcuzIho3yMW4BOl8LslwlJuGFU_OC-z1_Z4wkyV_yo31PWRop-Lqnqkrd5MYaqxC2so-ugDABQvmwiEUzbGpuVZwPi_13EJBCwqh2f_yRRYdMT3su_06VJcW4fmXcdwsjfTLttVNCG-1PFAC4uJ5kNWuXYKrjljv546AEgZWXctWJ4bZutaAvBaWUWuiOWAihMpw9mGnBfyEpCHZj4kzKKttRLwJoyIVNu4Fc10vr2EQM0A0ffZ4XtE3vzFXTNa_BAROhpztYhE1iHyDjIdXqZC4WyZuw-IiLAJMhyIO9cOcTnFhH5Zy_ltja2RdJImGplzVdG_r-DgZVYjvZZUtM_P6lMEulA96NYkq3RB8B4703eRrBFXTI-XgsT9y9rtUklquM3wJYfC4nivwSYCivV2K2IDzP9oWDTBokZBKxawtKhPnQEOL9nHb_lb0YNx8G3jcceg8KQZwKc3O7YcUES7lCtMsNgNeWGPSUPP4h0FuKB-4OwjVvqhqeE0QUGXZEr670AuzVoMaJdtaocSOyvvKEoxKpLdM109cxX6a3-sUqkttj8yc7S8H_mPZQE6QDC7wMYJjSV7lXLUZyYKpARgYAuNqY-ZqjeOVeIWRZGtO2t0eKehhOlGNpSk_eJTan-HOxylaP2OhKfOXQH4YZRwWVRMrJ_k9T3i-ywXITEp1CQy0uS8onvGL-OSWLFzOuRE5lt2bLkzHVAYmpSWwXesG_i8mOrZQZlBDmKDXlyi741ydisD6rykovukXnweU2MPVfA3zl3_D_Q8-Q9o1tps6sCqr5mpx9_mnLguqKTv3FNzV0dbjtDyPdfz2haJqCPKu-Ur1TlSqewo1vICWNfcrEucgECvo3cMcmhxolPUCHLm7BPvHRas6JcxTHqHaue1TSTAcKb1dFrezhP6YGI9W0yl7cHSssIFWzGNKRQhxo5hqrvdpH1J7dOmkwJ6ffiz7KspfLcj-2VvqUiBanjp5zTtXF3zzp79fDs5S1l-8UmSa3AGHqmQJpuOaLlNQf-BMfzMP4mCMELVXLTz6lWb6_nGZIp8dqDkvxfXIaG_VmkYAqHkFx6eDFFq-64jtkGtvmq5tVVWdyo0TaJkHWxZoRbT_VGSnUcO5MPtPfQc8In9Di8rXTSA1Tev7RX6TZVFNiU_P8PxxSTyFECAT0R9ckrnMoSHPlyQsEiRSC388H0Y9dT6kosnVhZqyu3RKgfNZIxGS_Y-JvjtoQfQf-wLwVKbq683KAd3ho_BL8YFRx6Y5ucAGz9UhMu2fFT7t8km95ntKR2GjUELH5FyqCIfc8098Ut6g8mVYTDNp-rCzpy8qh0XNn9kU6bEM0QV2iDYWkjk1Khu5tgd6KZynmHxVJYzIZb6fgtKqCwjZP2Z0qeBRgAW-0emOInJi0m7lFZ0TavCnlpDVDepME48ThfN92FFa-Itdjq1Jz6ZSAzBQrjzE1JCtS21eTsLh-XNog0ltiWFVo5TA3oFwmOf77LNGkmza2U9cvNVd5s8tpfWMqL3dSf6dKk05AvDo11Te8oghykBQMD_9RorWoZ2j9nFzcaUXRqK8aBjOioGck3dILC5l5_eOoHvYch8Yb17PYzm5ir8Z5sc9lmTUFCZ5CFQSYctrVFK_fuskjdlls_tidto_6QQN69wgLLyoO_6RH2QWW_R7aP6_qBdhQOt1Sh4s8BjVVswa8WwirxRs7ldE-1U0T2BpPAZM94z6mdA6czfgfDSbspoXOGfZu02q345GbBr_nU3AfdUZcLyTMoy4rdePoFWGthY9fKTNLKcIMufHp_CQrazJDUj7yIkj-rMWgXNKS8jaAKYU04fg=",
  "id": "rs_0515d5cdd5bca4e8016ab432513f4087d0a5ad4c10c714248c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.211,\"left_y\":-0.282,\"left_z\":0.096},\"note\":\"The requested descent did not happen—the gripper appears to be blocked near the partly swung safe door. I’ll withdraw a few centimetres toward the front of the table and approach the brown toy from that side.\"}",
  "call_id": "call_KpfuepHjoVzcjHeHrSL3uyHC",
  "id": "fc_0515d5cdd5bca4e8016ab4325362c487d0b71b99b49ff3e6c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KpfuepHjoVzcjHeHrSL3uyHC",
  "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]: [-1.2804, 1.6707, 0.8738, -0.1398, -1.1576, -0.8021, 0.9964, -0.091, 0.7185, 0.5961, -0.6575, -0.094, -0.1955, 0.999]\nstate[eef_state]: left_x=0.2569 left_y=-0.2823 left_z=0.1279 left_yaw=-0.0319 left_pitch=0.2458 left_roll=0.1116 left_gripper=0.9964 right_x=0.2475 right_y=-0.0023 right_z=0.1426 right_yaw=0.0839 right_pitch=-0.1923 right_roll=-0.0612 right_gripper=0.999\nstate[joint_eff]: [0.1846, -8.841, 5.4222, 1.0574, -0.7302, -0.1001, -0.0122, -0.1573, -0.1846, 6.8171, 1.7949, -0.0904, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e20afb8c9209d65440ac6b269eba6814862303adf93282c107c116a5937471e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f15b2d315e4125d8bf4d31f115d46e9b95c5e4cf2c873ec9a2a8c22e23bd91d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e91429d5e2a399bc62ac54a4f0b00ce4aebea0b627c10590be3679dc3423413",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 4.44 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1973, 1.8332, 1.058, -0.0132, -1.1282, -0.6586, 0.9962, -0.091, 0.7136, 0.5964, -0.598, -0.094, -0.1955, 0.9989]\nstate[eef_state]: left_x=0.3009 left_y=-0.3206 left_z=0.1352 left_yaw=-0.0101 left_pitch=0.2674 left_roll=0.1002 left_gripper=0.9962 right_x=0.2573 right_y=-0.0032 right_z=0.1546 right_yaw=0.0821 right_pitch=-0.1284 right_roll=-0.0725 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -12.4103, 8.5538, 1.3114, -0.6032, 0.1245, 0.1001, -0.0479, -0.6496, 7.0359, 1.9902, -0.0611, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2808, 1.6707, 0.8738, -0.1398, -1.1576, -0.8021, 0.9964, -0.091, 0.7166, 0.5961, -0.6357, -0.094, -0.1951, 0.999]\nstate[eef_state]: left_x=0.2568 left_y=-0.2824 left_z=0.1279 left_yaw=-0.0323 left_pitch=0.2458 left_roll=0.1116 left_gripper=0.9964 right_x=0.2512 right_y=-0.0027 right_z=0.1469 right_yaw=0.083 right_pitch=-0.169 right_roll=-0.0651 right_gripper=0.999\nstate[joint_eff]: [0.1709, -8.7179, 5.3265, 1.0965, -0.7399, -0.1148, -0.0073, -0.0615, -0.5675, 6.8171, 1.7118, -0.105, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2804, 1.6707, 0.8738, -0.1398, -1.1576, -0.8021, 0.9964, -0.091, 0.7185, 0.5961, -0.6575, -0.094, -0.1955, 0.999]\nstate[eef_state]: left_x=0.2569 left_y=-0.2823 left_z=0.1279 left_yaw=-0.0319 left_pitch=0.2458 left_roll=0.1116 left_gripper=0.9964 right_x=0.2475 right_y=-0.0023 right_z=0.1426 right_yaw=0.0839 right_pitch=-0.1923 right_roll=-0.0612 right_gripper=0.999\nstate[joint_eff]: [0.1846, -8.841, 5.4222, 1.0574, -0.7302, -0.1001, -0.0122, -0.1573, -0.1846, 6.8171, 1.7949, -0.0904, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e20afb8c9209d65440ac6b269eba6814862303adf93282c107c116a5937471e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f15b2d315e4125d8bf4d31f115d46e9b95c5e4cf2c873ec9a2a8c22e23bd91d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e91429d5e2a399bc62ac54a4f0b00ce4aebea0b627c10590be3679dc3423413",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDJXMGf5r8l0Fdir7oWtzWbmh2cPYtkCpEZc4PZB7rq4wVn7I1SQ7oHcHBqWt6QowckBtbMbTj197BC4Ha4uLGAj0J_BZ8GiXTBw7CiiRZfMelm4h_P__5F7i5yP7mplhbHgEW14ZHfs-Uo2hSwpxiKM-I56rGUIM3XKVUEilgAskRG030bdSoGnBW37GwP0GPEpwL8LCtapcYhRcqGhI6PfcNtRMH6pkyzlAGmfYIc3itq7QgimE7TartnKT1eFlfGqS7b4yo5oFS7sR3w9QJHwSEO1poZEUbg8MS9pqrpmdG3zH8nOWaaXFwokWvIVSiU8wujWlbC1FWmITeWhwrJwS3x9_evJez2nPd8rY8F-TwFlFtPsxo59TCAPW3g5NDVj-IJhmdm5VSZzOw4eESadj8BXeJaf_jzNzo8Th9JSOBwz4taVIm0EhqDsDD7WqNArXxbACLUm218r6XIIW3NqnSk4Mm-IEwCjiI2UQwIDLtUgz87xeC8ZyIbcSVOn-osKPK96LcYP1QO22yY1IWMZowV29zVv9K45Ndc0knuiVKy8Up0DaaHzaiH1r_dJraUyooPvMbv_JPaykgF8KxGCTRUxk2nTJoGMPI8QoCcWhGiNKXLByrSZ299rfmCsy7MLh_mpSZ5CmobqPX5Auk-MImP22NoDh54ToNXILFju3nmUFPlVborAmDZi7vTYqEU2PuBIZozYv34lcoW9w-f1bpH4PvixBP2ItoQR5tFk71LGzRgDRTza0i-yOeypM-ruzGmArepVgy9ikCLbB28xmYITXaoIRaA0n_xgJxGnBNQD8Kn67WA6NZAt47pPW_EBInE4-OVVHwrU8v04oYc0NX6972OMxgrbhPwe79YkxZrSP0pgheh4_dDBp-lZPbXh80oN15l4ZQL--g0CDxINE1l3kG-4X6DXkVuQnwoBTAJcphPYRn3WTQHXLlyJlS2fHGNlSzmFMqZBYi8V43z2URvwzeyMOzgL-g3xYhoLg06P7hMCpguD7pYjhBGkE4NL9n_mI55S8ej1oLENO0_MJlt--T1nUKoDfs5t09YF0p18LdFwutW71cYNLnWNhS_D_VQNWgkysTHOovFPummy7HF0k37DUIiG24pV3CKfUpEC137S6MMfssRq1WNNYv5ZnKVnu8jlD3lMZBSEKrZFRt9QulEwUKb9bOJqaONvZ8ap3uP-GbYk6Anzw7qXboQwu-DVfziT8nW26Com_7Yxd9XCbDeNPOse-Y1wxNN43J75SfnXwqCGm8Y0ffHEJ3fKUo_Hv-XaMCsrb1g-kvLIURXN2Ofwcm5iegEZmmTYfDp65sHRhZ2LoVCHgLDqPx0jBhSh9-xvg7uJHP5X61Y3zvEYHsEugEaSd-AJrbhNEPo=",
  "id": "rs_0515d5cdd5bca4e8016ab43256198487d0b2a29565779ea0c7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.265,\"left_y\":-0.278,\"left_z\":0.225},\"note\":\"The left arm did not move on the low withdrawal, so it is likely constrained against the safe door or toy. I’ll lift vertically first to clear the obstruction before trying another route.\"}",
  "call_id": "call_XFuZQetmRJpA6eDfhJSsXhSq",
  "id": "fc_0515d5cdd5bca4e8016ab432566a2c87d0940066d30f5216ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XFuZQetmRJpA6eDfhJSsXhSq",
  "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]: [-1.2556, 1.5387, 1.0893, -0.4149, -1.1416, -0.7776, 0.9965, -0.091, 0.72, 0.5961, -0.6762, -0.094, -0.1955, 0.999]\nstate[eef_state]: left_x=0.2651 left_y=-0.2833 left_z=0.2144 left_yaw=-0.0122 left_pitch=0.2558 left_roll=0.0604 left_gripper=0.9965 right_x=0.2443 right_y=-0.002 right_z=0.139 right_yaw=0.0847 right_pitch=-0.2122 right_roll=-0.0576 right_gripper=0.999\nstate[joint_eff]: [0.4991, -8.1299, 8.4991, 0.9451, -0.4469, 0.3004, -0.0024, -0.0342, -0.5402, 6.7624, 1.6825, -0.1001, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b8c905ed3195dada66d03050d7e84a3a1ea3bbc41f19b5d2df89300f52290fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3eb4e1687ab3171d6974a4d6d5dd229d2bd22c94a43410f929dad5b605088cd5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f8e70c826cd2dd4f8bccd5dfef27e64631bc769053490368df0ff653bd6d782",
      "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 29 attempt 0 · /responses · status 200 · 2.768 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2652, 1.7042, 0.8814, -0.1303, -1.1503, -0.7658, 0.9963, -0.091, 0.7158, 0.5961, -0.6201, -0.094, -0.1951, 0.999]\nstate[eef_state]: left_x=0.262 left_y=-0.2824 left_z=0.1191 left_yaw=-0.0444 left_pitch=0.2321 left_roll=0.1607 left_gripper=0.9963 right_x=0.2537 right_y=-0.0029 right_z=0.1499 right_yaw=0.0825 right_pitch=-0.1528 right_roll=-0.0679 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -9.8256, 5.9282, 1.3358, -0.779, -0.105, 0.0073, -0.0752, -0.4171, 7.0496, 1.8046, -0.0757, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2804, 1.6707, 0.8738, -0.1398, -1.1576, -0.8021, 0.9964, -0.091, 0.7185, 0.5961, -0.6575, -0.094, -0.1955, 0.999]\nstate[eef_state]: left_x=0.2569 left_y=-0.2823 left_z=0.1279 left_yaw=-0.0319 left_pitch=0.2458 left_roll=0.1116 left_gripper=0.9964 right_x=0.2475 right_y=-0.0023 right_z=0.1426 right_yaw=0.0839 right_pitch=-0.1923 right_roll=-0.0612 right_gripper=0.999\nstate[joint_eff]: [0.1846, -8.841, 5.4222, 1.0574, -0.7302, -0.1001, -0.0122, -0.1573, -0.1846, 6.8171, 1.7949, -0.0904, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2556, 1.5387, 1.0893, -0.4149, -1.1416, -0.7776, 0.9965, -0.091, 0.72, 0.5961, -0.6762, -0.094, -0.1955, 0.999]\nstate[eef_state]: left_x=0.2651 left_y=-0.2833 left_z=0.2144 left_yaw=-0.0122 left_pitch=0.2558 left_roll=0.0604 left_gripper=0.9965 right_x=0.2443 right_y=-0.002 right_z=0.139 right_yaw=0.0847 right_pitch=-0.2122 right_roll=-0.0576 right_gripper=0.999\nstate[joint_eff]: [0.4991, -8.1299, 8.4991, 0.9451, -0.4469, 0.3004, -0.0024, -0.0342, -0.5402, 6.7624, 1.6825, -0.1001, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b8c905ed3195dada66d03050d7e84a3a1ea3bbc41f19b5d2df89300f52290fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3eb4e1687ab3171d6974a4d6d5dd229d2bd22c94a43410f929dad5b605088cd5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f8e70c826cd2dd4f8bccd5dfef27e64631bc769053490368df0ff653bd6d782",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDJcU7CYvRZCakArL_Q2aSHBmIYRiZRzQrcEnNUU75TtkwwQvPVPz48-3wd774-fVXksDPBZixMklF2Sj8wemdvANLwSjJ0l_eLRk6pYddxmt06tNRQz5hl94MSY6AxIz7kUAyzcp3MPRqYYJfl_DYfoZDofci1Cnb2BZS3MpTxwShtGswILWUeUmKWHrM7BrpuI6JOIcTY4V3jHJG68r8PaqvfNfd_bUt5vhmaKilKw3MUtZsfdqfvBepB2hIJoZ5-FNeJkyEylOySGCKB4JmZcPm56lthgcnF-5XjblORpwk_gUbOJo4dn8aa2YiIr6tnzeZZ9tR4_ikXVPEMjV4NBuKUNhFOsy59kncma7I7Dtjn-6_mRHnsYS5199UspFrr9K-yPydG8O6UwH1HghcEuRwy9Lyy75X9MiFzmPW0NHHdtQNt1KewgSnZztM-p5HYUyf8OeevEb25aI5FRDqNw_SopbKpMFef_rQ4MZ_tN8RljZ532_nE8wF9jljW15puIZM-GhAouBcLLU0I6XKRw97vGq3rMup0Hqpmkh-U7E8k5bDXkvU5L-k4o2v93kYE7HmpVF2IMBPBgKB6okcNgsNUblzeFMvTUI7F-_x5wCec8BOwmVlBI7seaaO_1bxE5yehkUwaBpIoCi0Ru9-Msi9AGNqjwljR1oJVu5Wyjxc1o9axEllrCl3qO7cLFtj1RfEEBdWRBlO1tJQu3KUtXcN36YNKIM-4rnkF87qsnpYbuM8tZYEe4t1vNTi4Ubp6BUmesnZ2PbFpO0fd7QfoYDGwcsB9vDadyFnzHzvQ-19eHjO2u6RZZwhxPcBkYnAYwBg6m-acFxoBLxfn_g_OkKeIELn_cCxi1AmicW_rmaqhpaN8LthqGTO4dKz9tOTeRDlqBKef7ebtY1SoPXlTfahUxHxlIRTRKlXcifVGIrj1D9w1bpacY8h-zyUcCVyyqgI9BgyJL62UhUpl-dOGbfWDpCJpTXjDWxrGrgqIiwcz-Q2Lw_LJDBqcmpl1PHUWBFQoKlx1Cto5wphWTI8X-pChoBKSSw9qEA63t1GuCCwEOtCO1i8jYrtnOp7_4WyzBtNRSTTIAlH4GYxdC03qXnYsY8bmnXw73UBaho9hA7GxYn6KupMh8wOfILeZ1ye2XnJQlKjXHZgyVKJYT9epw3gAtsNwqOvo2lulumdXZkpbkUalIOW8-UpBEqQDoLQ91qViJRdUnoafO3WXokDUVIv9afHI_caiDssZVGgNnAAXSPgpSg5aXseG7WyUZxSHSfyZoVFkxLwVFgEn3mDlfIRtwFNERK27_FEtok9oCMqd_cpDi_joD6fe261M3aJYBt9j4DLhAMJwk_Kw_kEoIlqb5XTcsaw1rEUKNDy6YZRIsInqJ6Z9w3N0d2oj05dgL1GAmGdHrKhyZyujHdrlEYppyUQcAjp1RZ0vl1kKkIfjaTLvKtLdRCZ6ipZ--nqgjvzrFC42_aeqrVu0hrxtkYRcwoZGQ-PvP4tYNDeADK6ZjJCUeA9h7rPpTWDX2gBnbLGmtMS-0t52ikFosbwqYrnLTrL3g5AXSY9zrrzqKzW7NkaSpT062-Uc7MqovBzGOeRUuOQEGO18ExlAQjSaxoFgxjXMo96Lh-CSvYPxAZCGyqiQkYps6Orb2fxG93CRrGrzpjcwG13aCkSO_H_jCQphL9kmlxQgYQLWfKvDXmSY9cD2Q8Jz1McxBeRKL3AJKZTMZhCWq30zw8PmGfZ7TOvZi9ZxJRWVrN6w4t2p6R7hjg5ncAPwrhbzT-MarRUK0F2eangUhl-11iucIdbMR9WTnXmWM6ywp6FoNDFpyPQqzk1LjlNuV5DeLaR1iuNC5gYJOUom091uJDEhlCO2N6KMkxyfyCApAWdTWFpOLYapOmOPpkucIm0_04khdTAO1sXc0NwCrYH01PNFEgv2I4FUsNhjPaz7I9Fqk1P1WtSjPG9GvSJeX-TejqpLjCGf1BCss-dgHhsHd8e6f66w9Lxo16eqM63PJuP9fGHj71JaoGNI0g-EnWcYL57rwEIEnOwWaG5JOK-xAoHRA_XHG97tc7kiAgD6dHfxCGpcAmeVxTkKDfF_l6e_AX3BAFxnLN1Rs6v55aBAa0FxdC3Sbppdz99oDSGw3EDoQnTlPkSw_EiRnx3ccI07ofLzQKc-we8uVWkjj_ErZd6wJluIcuU4FszxNXbReKD9eK_Jg4QFpssQKtK0A8FD4UXQo8_w_6mUxhV997KgPKwqHc7eqlZzVC96WhIBXysi9nSJ37jkMfnsZYQxF-eP4yxOVnYCupuj67sJjOCQ2HoRQ_Xpi7Q==",
  "id": "rs_0515d5cdd5bca4e8016ab43259746887d089849a1bde4b6c03",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.293,\"left_y\":0,\"left_z\":0.19,\"right_x\":0.28,\"right_y\":0.255,\"right_z\":0.17,\"right_pitch\":0.2},\"note\":\"The left arm lifts freely but the partly swung door blocks its low path to the brown toy. I’ll park it and bring the right gripper over the toy from the unobstructed side.\"}",
  "call_id": "call_KVMioCEomAVGop710S3Kl7UZ",
  "id": "fc_0515d5cdd5bca4e8016ab4325b531487d0894420baa4a155d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KVMioCEomAVGop710S3Kl7UZ",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0998, 0.635, 0.3962, -0.1272, -0.1894, -0.0338, 0.9965, 1.1091, 1.4193, 0.7826, -0.1371, 0.8993, 0.4911, 0.999]\nstate[eef_state]: left_x=0.2896 left_y=0.008 left_z=0.182 left_yaw=0.0652 left_pitch=0.2188 left_roll=0.0579 left_gripper=0.9965 right_x=0.2728 right_y=0.2459 right_z=0.1499 right_yaw=0.1305 right_pitch=0.1301 right_roll=-0.1285 right_gripper=0.999\nstate[joint_eff]: [0.0752, -0.6632, 7.1179, 2.2833, 0.0806, 0.149, -0.0073, 0.253, -5.4906, 8.7043, 1.5897, 0.569, 0.1832, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bebd144d57270cb211a9554b3ca94046d9b48c1a1b9f8427ab526bb598cc50b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:553c29df64dfa03483a37cf86a1b65ba3c03f48d72b90971e669820930f4efc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7dc6022b9775c03c5f0d082c33d44255777084f4a9730bc158b532ca7522125",
      "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 30 attempt 0 · /responses · status 200 · 2.471 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2808, 1.6707, 0.8738, -0.1398, -1.1576, -0.8021, 0.9964, -0.091, 0.7166, 0.5961, -0.6357, -0.094, -0.1951, 0.999]\nstate[eef_state]: left_x=0.2568 left_y=-0.2824 left_z=0.1279 left_yaw=-0.0323 left_pitch=0.2458 left_roll=0.1116 left_gripper=0.9964 right_x=0.2512 right_y=-0.0027 right_z=0.1469 right_yaw=0.083 right_pitch=-0.169 right_roll=-0.0651 right_gripper=0.999\nstate[joint_eff]: [0.1709, -8.7179, 5.3265, 1.0965, -0.7399, -0.1148, -0.0073, -0.0615, -0.5675, 6.8171, 1.7118, -0.105, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2556, 1.5387, 1.0893, -0.4149, -1.1416, -0.7776, 0.9965, -0.091, 0.72, 0.5961, -0.6762, -0.094, -0.1955, 0.999]\nstate[eef_state]: left_x=0.2651 left_y=-0.2833 left_z=0.2144 left_yaw=-0.0122 left_pitch=0.2558 left_roll=0.0604 left_gripper=0.9965 right_x=0.2443 right_y=-0.002 right_z=0.139 right_yaw=0.0847 right_pitch=-0.2122 right_roll=-0.0576 right_gripper=0.999\nstate[joint_eff]: [0.4991, -8.1299, 8.4991, 0.9451, -0.4469, 0.3004, -0.0024, -0.0342, -0.5402, 6.7624, 1.6825, -0.1001, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0998, 0.635, 0.3962, -0.1272, -0.1894, -0.0338, 0.9965, 1.1091, 1.4193, 0.7826, -0.1371, 0.8993, 0.4911, 0.999]\nstate[eef_state]: left_x=0.2896 left_y=0.008 left_z=0.182 left_yaw=0.0652 left_pitch=0.2188 left_roll=0.0579 left_gripper=0.9965 right_x=0.2728 right_y=0.2459 right_z=0.1499 right_yaw=0.1305 right_pitch=0.1301 right_roll=-0.1285 right_gripper=0.999\nstate[joint_eff]: [0.0752, -0.6632, 7.1179, 2.2833, 0.0806, 0.149, -0.0073, 0.253, -5.4906, 8.7043, 1.5897, 0.569, 0.1832, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bebd144d57270cb211a9554b3ca94046d9b48c1a1b9f8427ab526bb598cc50b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:553c29df64dfa03483a37cf86a1b65ba3c03f48d72b90971e669820930f4efc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7dc6022b9775c03c5f0d082c33d44255777084f4a9730bc158b532ca7522125",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDJhpm57vx6ssG5j8z7jsdfbhkCPpZ4DbR8-wA68qd4L2qu6XpwPZ05J49LsAyd0jrxlZfp5vttflhmhJG4_HMQFes_bkoJginwRTToDtvHv4xKZWa7jl6Z7hMVRQKF_aObPYttrmntYSNg8I3GoRbiSGdwJcnvvtkZIu_Er8p6cv0KappkVnaxQqwI0x1e6ATJgl_8kHs_14QEc52VYS_g-vnTUHKlg7ogE2GSir1VSDSKCyIjhuNFwv1PPf_RMzmjPc1DuXdg-zPskmCcWde0FamiXmO_hBIB4odyo4b9UKdfpPpzvuxLuIas6CMpb-612xNKwP2bOLgEGUBChdmX2mFmfJp4Bqki-KXgUBge0PdxNK5JDNff-M1yUeY9K98kTlCmxey4TfEqFdE8DPkGgXZI0JQ7cQ-VXw5F52zmt2XCWSSQ-ndzKoKvK2jGuSaYs183TluM3GwTeYzs28Z99auRAsk3-Bu9jrSOqBedf6Pb33R1Hv_sheOCTTDMA6lGcT5wtu9BKjR54IyX5MTO68WzAWFMJii3qOMarcxe5o4jrcUNYvIyo0LRDCtvCTQyqsUZJ7Hjba5dYyzxN3UKyPddq3ZDuHpb2Tw9X0F5204a7fsnngd6xVUARYovqYG0GUkVmys8_D7kF9NaHu-TAeqUJgDKDg6dH2kehjMRhvN8rGxPta4u9jX0emcf7dV5ZrGhPMi59xSJsbJ6E0zRe-WXwg0EKnq12nVjmUGjdjdpbFG_ozyM7bcU_g-BXcByW6_SI5AZgricTg4AJgq7RuEf-CCYliuukrcZjKKZV1wGpfm_2ExVV34XKIfL4qvg5tTjoVjggdimb_csHtagt6tG5jQNgEYDbnE7ycWMbHKuHyDE9CLVh1FPRCl7rrySSSb3kE1c1fOURgL74A_yGr5WwlRpB7CQZbcBC1VhNG1ZgANaXD3b1hjuW6gBNXViSTLsLbOjItPtAdoIkWOyNBLgRxRJdrTymKT8v_SSwMDBaKD9mbu3Ad5IiZr9N2tkYHLWKLmQ-NW_2iElddzmMVnLGOdXl7r4TzDioPaO1oUOEKY05QiW05naYXtjPZYsffJ3s-_Uqz175QheF0grZnN5yoRd7j_VVYvr5Q438oVp7nqcX6ortLRzkwqoz6Wvc-2IfuLHnHcWK0MY5a0dqKCUWydgawcgO3Q_2pfiXZHtPtgDAhqpsP3QJC2-DxKt9p1KqttO6fCXl2cRIEi-RWMAnpAavdgXa94_6yIerbcUT6tKFO-Y_1vf3fliFBZhg9sQRt_WApCbAcHCygRAY_BKRa2QrIs9Q4QO6y-zPnXwSdUINosez_wsT6TVyxikVMDitObiJhXzySaQmeBDuPT2VgOKmjW8F_MtfnAmTXLCgR4wxaLg9KMr5AzXFpeyMIzpWQTSmSfEieliY_GQnPRWgbLOUNZbuuAjp-Yn7H8R1ZGJ6OdzI9mOD4kYQ6xUqea6vpone1oRPPp47tmkou6E1mMnUK1AUP_RPU3auNwyzbQYL2_FU6nrGv9E_LhYLeedArAhqqoT8xvusTcKxS7hI-sF6oz2h_fxpiOwB4vtH-VxF1P8CQoASFxp__EZFSNvBfOqVKMTAvcNI6jPyUsmZFyMu0UF8QU2clnfhZNbWndntdIlLh1rMI2BdsDpeZBqQufnmzM5i7WHJXbbQd4UfN3JGs2An_JbbXuEzOndwi55CgkMeBMEHjTet7X_ksMhkhfVS2cu9mIIctVSus-grnkOsn-bYeMMG1nG-u6lfqyrg6jnPkVmTL9Tciif07NZIKukVeftzdNeHHmxhnSFliZVkpP0ANIOUKe4B6qzS3ZHShYLrWBmwtMbzDima",
  "id": "rs_0515d5cdd5bca4e8016ab4325fe2c887d0bfc56394384d814a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.253,\"right_y\":0.284,\"right_z\":0.089,\"right_pitch\":0.25},\"note\":\"The brown toy’s head and body are visible below the right gripper, just in front of the safe. I’ll shift slightly left and lower toward its torso, staying in front of the door.\"}",
  "call_id": "call_4uQCOrwzAxeoN9DgmaoI5lYV",
  "id": "fc_0515d5cdd5bca4e8016ab43260e31087d085939dd97872e33c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4uQCOrwzAxeoN9DgmaoI5lYV",
  "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]: [-0.0978, 0.6392, 0.3923, -0.1387, -0.173, -0.0311, 0.9966, 1.2453, 1.7008, 0.6868, 0.1352, 1.0084, 0.5144, 0.999]\nstate[eef_state]: left_x=0.2887 left_y=0.0058 left_z=0.1762 left_yaw=0.051 left_pitch=0.1986 left_roll=0.0575 left_gripper=0.9966 right_x=0.2468 right_y=0.275 right_z=0.0712 right_yaw=0.198 right_pitch=0.145 right_roll=-0.24 right_gripper=0.999\nstate[joint_eff]: [-0.212, -0.759, 7.706, 1.917, -0.105, -0.0611, -0.0073, -0.1299, -8.6632, 5.7368, 1.7363, 0.906, 0.1441, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:810b54cfbeb64b67ffea973eae230cf2901b353bf10fd2073c32f8e6becef6f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:947fb48f6bf6ce51ea85afec42f80a9292fe80bbdc70689be46cea34c77d7c9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5872487f62b634def3deb1b3031917c4d50b30dec2c8ff8d2a63478b31fa5fd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 4.087 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2804, 1.6707, 0.8738, -0.1398, -1.1576, -0.8021, 0.9964, -0.091, 0.7185, 0.5961, -0.6575, -0.094, -0.1955, 0.999]\nstate[eef_state]: left_x=0.2569 left_y=-0.2823 left_z=0.1279 left_yaw=-0.0319 left_pitch=0.2458 left_roll=0.1116 left_gripper=0.9964 right_x=0.2475 right_y=-0.0023 right_z=0.1426 right_yaw=0.0839 right_pitch=-0.1923 right_roll=-0.0612 right_gripper=0.999\nstate[joint_eff]: [0.1846, -8.841, 5.4222, 1.0574, -0.7302, -0.1001, -0.0122, -0.1573, -0.1846, 6.8171, 1.7949, -0.0904, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0998, 0.635, 0.3962, -0.1272, -0.1894, -0.0338, 0.9965, 1.1091, 1.4193, 0.7826, -0.1371, 0.8993, 0.4911, 0.999]\nstate[eef_state]: left_x=0.2896 left_y=0.008 left_z=0.182 left_yaw=0.0652 left_pitch=0.2188 left_roll=0.0579 left_gripper=0.9965 right_x=0.2728 right_y=0.2459 right_z=0.1499 right_yaw=0.1305 right_pitch=0.1301 right_roll=-0.1285 right_gripper=0.999\nstate[joint_eff]: [0.0752, -0.6632, 7.1179, 2.2833, 0.0806, 0.149, -0.0073, 0.253, -5.4906, 8.7043, 1.5897, 0.569, 0.1832, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0978, 0.6392, 0.3923, -0.1387, -0.173, -0.0311, 0.9966, 1.2453, 1.7008, 0.6868, 0.1352, 1.0084, 0.5144, 0.999]\nstate[eef_state]: left_x=0.2887 left_y=0.0058 left_z=0.1762 left_yaw=0.051 left_pitch=0.1986 left_roll=0.0575 left_gripper=0.9966 right_x=0.2468 right_y=0.275 right_z=0.0712 right_yaw=0.198 right_pitch=0.145 right_roll=-0.24 right_gripper=0.999\nstate[joint_eff]: [-0.212, -0.759, 7.706, 1.917, -0.105, -0.0611, -0.0073, -0.1299, -8.6632, 5.7368, 1.7363, 0.906, 0.1441, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:810b54cfbeb64b67ffea973eae230cf2901b353bf10fd2073c32f8e6becef6f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:947fb48f6bf6ce51ea85afec42f80a9292fe80bbdc70689be46cea34c77d7c9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5872487f62b634def3deb1b3031917c4d50b30dec2c8ff8d2a63478b31fa5fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDJkYFJO0x7RoZVCmdjcI6ayQG9l6g22GvRj46XrD2PE2XgyNeyamdjSHkBvfyO9G7bbZWreM_ruEp44SUruFH9ixTe4SlTY-gbKd2Ix45gizIDZh04rAcHR9uQ90xJKNsKqpTQ18aWpn_IZUPR4lxsCoQeaycq_X9Q4E9yDRW5fE1qohhWIskjTI4F2NxTRjfxsvnYMTllv2RsOd7wRGCr1sMxzeVUva2IVsz1DFdKQFBcsTRhC3vl4wdPcjqCSpDB0zG254370VSBm39d53YRhY5zwiK29wmGjPcOnwDmFAMhrfszGffMsWA6IghVq5ppJF4jF3kFfeqopPbkgRj02P5os0QTwowVR78bXy1T-vh6LvdpTNhqVcCVXbcy0h6pnnOEl65NuXxHYUwWLxJN-QMEs8esK1ilmx0aoNhGEp-OSDYxyaDDdFZaczrPiAvAjUznRx8lp3vht_AanHLuGr1u2nu3U9dBGf9YySct0EaEqveveumfD3FRUohncYCyNz_uSmOfGejRgDrHbtj5OEhgcPZ2qDQ9Dutv8OkygDeGTmq12bpd8E8ISkLIkBUwXm0AIglBjHXvMlMVTg_5lZOTXbpn1Xw8OD-rFMc_x0p3_qCMpSHaN2pZ-FIBWUKcSeteazxqcYWdsqD8OkriVzIncF6IJRlbZIACB_CdZpJ3gUy40ImH3c07ODlBDviSA1VXjBlHw4uDs9kQvxEhriaoSd87AOSa2Z-UCwJ1B8331OpTL6kB49qzwrpkL7apL0mHmBI6farEtPBNwwRjUqa4lQCTHPzwslouCmB84KppD-1SGqoMEsdeFTFc8CQI11IhDSjYWoaYSunyPfz-Vp6zuzvNjsFJBZv0bBaF1kB-X8QBqfS8uxuXAXqqi2Gf9tkD5EQiC4LwHOs8-oRcQ5SolHwkKSaOeeANNb9i0cIwa6rV_fJQJREyP6pRrnhyJ6dx5_DYlZOSo_onfxoHLf3kUn0KzeseiHvuZ7RowoASHH4YumpSnNA0UuLHvB4jVpfU63fynwWer6uB5Iv2GZ-2dMagDF8nQ_2YKmOod72oshgEYar9tTAMTX3xQ1-Bn9dhmTJ4RblxTuaIWmgebdokzYS6-yVyQVn-ziSRGVo8QRosGlBKmZWDzuAJXTq3pP6BLkRj7o7tzln-DWXcWhDo-SYgIqt_wbgFX4UnAu6RY03XREheliIDUIril9sYShMF3tksbhfDjqxkZSKOlkwJUsVb_WpfXrDAh2X1Xc2EXoDmATc3tJ6JXTXiz90cVGCXEWgGSddrCVPhdLXoCGQ==",
  "id": "rs_0515d5cdd5bca4e8016ab43263432887d083a8d0a9e0ddb891",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right gripper is down at the brown toy’s torso, which fills the space between the jaws. I’ll close the fingers and then test the grasp with a lift.\"}",
  "call_id": "call_aX7dVsnRJtV6CDwfqAa0FQiX",
  "id": "fc_0515d5cdd5bca4e8016ab43263988c87d0aec52b53c01e2634",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aX7dVsnRJtV6CDwfqAa0FQiX",
  "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]: [-0.0978, 0.6392, 0.3923, -0.1429, -0.1795, -0.0345, 0.9966, 1.248, 1.7203, 0.68, 0.1284, 1.0023, 0.5056, 0.009]\nstate[eef_state]: left_x=0.2882 left_y=0.007 left_z=0.1754 left_yaw=0.0583 left_pitch=0.1949 left_roll=0.0574 left_gripper=0.9966 right_x=0.2444 right_y=0.2727 right_z=0.0616 right_yaw=0.2128 right_pitch=0.1229 right_roll=-0.2744 right_gripper=0.009\nstate[joint_eff]: [-0.1983, -0.4034, 7.1863, 1.8877, -0.0024, 0.0073, -0.0171, -0.4581, -8.6222, 5.5043, 1.2674, 0.442, 0.0708, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9868b0142ee74c7566b1a684f7bbafa8b577a90e4297514d94bfe7768011935d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd2982ca14468f5db419da56b92e6800b94c24a449f8eddd184312c8300e4551",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cf8baba25328d49f3892cb8864c98e5a88a0dd971c5023e446aacaf4f3f9644",
      "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 32 attempt 0 · /responses · status 200 · 3.369 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2556, 1.5387, 1.0893, -0.4149, -1.1416, -0.7776, 0.9965, -0.091, 0.72, 0.5961, -0.6762, -0.094, -0.1955, 0.999]\nstate[eef_state]: left_x=0.2651 left_y=-0.2833 left_z=0.2144 left_yaw=-0.0122 left_pitch=0.2558 left_roll=0.0604 left_gripper=0.9965 right_x=0.2443 right_y=-0.002 right_z=0.139 right_yaw=0.0847 right_pitch=-0.2122 right_roll=-0.0576 right_gripper=0.999\nstate[joint_eff]: [0.4991, -8.1299, 8.4991, 0.9451, -0.4469, 0.3004, -0.0024, -0.0342, -0.5402, 6.7624, 1.6825, -0.1001, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0978, 0.6392, 0.3923, -0.1387, -0.173, -0.0311, 0.9966, 1.2453, 1.7008, 0.6868, 0.1352, 1.0084, 0.5144, 0.999]\nstate[eef_state]: left_x=0.2887 left_y=0.0058 left_z=0.1762 left_yaw=0.051 left_pitch=0.1986 left_roll=0.0575 left_gripper=0.9966 right_x=0.2468 right_y=0.275 right_z=0.0712 right_yaw=0.198 right_pitch=0.145 right_roll=-0.24 right_gripper=0.999\nstate[joint_eff]: [-0.212, -0.759, 7.706, 1.917, -0.105, -0.0611, -0.0073, -0.1299, -8.6632, 5.7368, 1.7363, 0.906, 0.1441, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0978, 0.6392, 0.3923, -0.1429, -0.1795, -0.0345, 0.9966, 1.248, 1.7203, 0.68, 0.1284, 1.0023, 0.5056, 0.009]\nstate[eef_state]: left_x=0.2882 left_y=0.007 left_z=0.1754 left_yaw=0.0583 left_pitch=0.1949 left_roll=0.0574 left_gripper=0.9966 right_x=0.2444 right_y=0.2727 right_z=0.0616 right_yaw=0.2128 right_pitch=0.1229 right_roll=-0.2744 right_gripper=0.009\nstate[joint_eff]: [-0.1983, -0.4034, 7.1863, 1.8877, -0.0024, 0.0073, -0.0171, -0.4581, -8.6222, 5.5043, 1.2674, 0.442, 0.0708, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9868b0142ee74c7566b1a684f7bbafa8b577a90e4297514d94bfe7768011935d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd2982ca14468f5db419da56b92e6800b94c24a449f8eddd184312c8300e4551",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cf8baba25328d49f3892cb8864c98e5a88a0dd971c5023e446aacaf4f3f9644",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDJp2GmylMGWT2uxcGBzpZ9-CLrS2fQT6etfYf4oRvWqwE8vcyHpqQnmOLQg7Py8AtYQ4GUrqEc6hwC128YUe-FLW7iYsCPXrfsW9oisvwCGF-47KFhCjSdrG_9lKS9smPTNv2f5U4YK9j-zJJNPLTE8wIbjHi8Gf8M__mYu-4fre9LXIAtu-UfgxMEq5ZXbiXo3CAI3veJz_Ej-p1fn0L6rUx6i2OH9yyFHUR2N0YFXTHUYHJsDzV9Haj5x1GM0yoTNEhFvfaWQqFUr9JiHOMK_lPBhh1rusJIgAlBJnwRf07zXlJzM3S_J_-bIaCMYqmg10CEWYfI2Qog1vTH3I2CEhHEQMrErvUu5TquGfb9fEpy6_Zg7-Ngj-EvqGV2TaNRHiaLQSNj-EpcttQJNUuOMGOhdIIhugOEgg2ByGhGscj3J3yMmXshh0H7Kkk8Jkc7BOeouqxfYGugUrABeCZ4N_aWxetZQvUgqSzQtdWfu2rxbmYH-w-8GkgfFX_qWtObNMdhOu5CF0fWWJjuUIu0_qgs8rWU0CIJDSlGRfbJ-uTzAV8kJNSW4StzyI4pQ9yqERNZ0TD-B1QePTYeGEUees3mfAXCm_LkMLFzz-6uXhpeXogEjpk5nSZZKTwNFTCliHE69fLaIScsVq6oSeKEwjTJDwiK0YjILTP_nKj6S8eNHef2ad30ZZPaDV5PG7Bkq923dtTpsE7_5HPJIJgVWNaSfuIhXpOQAGldVInNRPdZlJroUwqh-V7lbqUA_vQyteHgepbJNthacb2_0Y26ZbiVsM-2q9u9L2TyHV_jgKac5DMK2PFlU4UpoaB6EjiE_2Yj02Ut6lzOO6xuDVuxHy2Q0mDZnFtRC4470ZT1hdR8030aT2JNFaDFw1en07nH9IH1ZQo1gnHu-4wBLeRtOyFF4z-PzrZiBZG1mvT3il1PaBMuIp4f6QIUbfNOkkiRLEEQwJz7CkhyX7JCcfssq5Ufmr6cxKyOx7IJfii4WQa0AoY1WZyEZxvCQjCKQCy0ID-A6XCOXYcoOCX9L328QjuqS-KJAzu8ckPeYO0twCaFdNifELACWO4_SI3o-r-OuK2kU_rq1EpdADbEHD9gqm32xCuA5gMnxYjjx0rNRC6Qd2E-nQ2mSkekydveX11O_fDjAH8Bk37ZF7fXjFq7mTiAW5P5FfGuxoTbvyX-Nra6V1U9DEV78ZpF2MftCtghyWBRNC6XZu_yBEwoh8FgYPquHXh1g-pkTs2g9EP4kbkJp3NzyPGfZyYhkg9WNoJkJih8IvB6-xYe17ZsAQTzpclSBckD1YRZHNBLIq5wIEKQrXDG_uHaVvi5ihbSwTyrLncFrm51HAnRcwSdEugXTrwCPxQJfUp-K-s5LFYSyP1PnhPavMdbxReCtCzO58R7mOMs9rTBY5KYHHThmr_iw2cXTMBrxNQnaxk_5EueU3_jD438N6z8iUseT0PweEQuSNQqMecVtMMy1ZzsXahqeyqIHAYLfLWuD30eSEvjUM3yp0TWpW9OHHzFepkqJrKlJ550O1B8fEovsOJME0EmGejRyl2ngwqimWwDm6ozrkqlZ1f__5VNswIpvg4Y1QfyxBymytv-4m0Jrl7YnyRZUfzCWhPfmugH5QbeHmALHkvn_jbk3xZqE7Iv5DUcTEgSFq2Ujn3HErzgZFJg5cYaE_r1JFNLgOC47TvV0OWPI3qN9dSe9HmMk8RVFEKhIUmNeOh2jIN3I6Ihp3i2buY0m_DHU6GzY8JsCqZBnYGbMNa64yUJF5SNF6xqrDOTjGbae9PBiC87q9h7ajzk3cDi9ScPXvIYbvxco6IXdygHmTV3LApxZ2Ml3aYvBjDYM8mem9r_oekciOwEmcsWfHwcD0K4gj1YWQNeoCi9M9FHwpZ493ocVAkJS7e-Sb5DDc0uw_Watx7QSq4-L9R3G2btCpag6OpQeLg48KGm6Zr2enDyGB9KENTywe0MwG7sCuT7oehTPkoyMFVyDaODTsP-oxEB3lT5099-AnrVJHKwHTKN5Jv1lavHmggXM10ooiCaMLoXPZ-oor3NrLqPskY6ILApkCm5E8o-WiR1driNLmywJ9Ys1JlDtgZvXD_W8GMwI3t0QRjDBGijoVTcnZ9Pg-OIK_oJ7hx3oaOgb9_CeGnRaENAlG0Pgx0DyL6QAXW4YzttWBCoskwasx-gKNWG_WQxegAsDeOxIZIaGSm86Ak2yO4Gd9LPC64uyLCKLlmSBWcfQquUg2rjdLf7oKoxTCVn0ykUf7x1ab5C49yVTNH3cwYayTrISZSIy_iLxXf88tIX1KZCy8U7sPdHywHsar6bYVbUR3-xOSu0VTXSdXpLkxMFTFtBbfBGcW-VC7aq8Sw5EuiHM1SReVfW-fcGB_IWUmnsesgnlOzsujzYSYgA=",
  "id": "rs_0515d5cdd5bca4e8016ab43266812487d089b6617ce4b20c6f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.274,\"right_y\":0.286,\"right_z\":0.094,\"right_pitch\":0.3},\"note\":\"The right gripper closed empty: it brushed the brown fur without catching the body. I’ll reopen, advance slightly toward the toy’s centre, and retry from above rather than closing in the same place.\"}",
  "call_id": "call_I1HXfk0tLCddsOyum5ryO12K",
  "id": "fc_0515d5cdd5bca4e8016ab43268a29887d0841b6501dfc85e5f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_I1HXfk0tLCddsOyum5ryO12K",
  "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]: [-0.0975, 0.6392, 0.3923, -0.1585, -0.1799, -0.0349, 0.9966, 1.203, 1.7603, 0.6628, 0.4511, 1.0431, 0.2562, 0.9946]\nstate[eef_state]: left_x=0.2867 left_y=0.0073 left_z=0.1718 left_yaw=0.0587 left_pitch=0.1795 left_roll=0.0596 left_gripper=0.9966 right_x=0.2692 right_y=0.2841 right_z=0.0849 right_yaw=0.2342 right_pitch=0.2528 right_roll=-0.2959 right_gripper=0.9946\nstate[joint_eff]: [-0.0889, -0.3214, 7.1453, 1.956, -0.0952, -0.0366, -0.0122, -0.4718, -6.2291, 4.9846, 1.79, 0.5446, -0.1245, -0.2173]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27e9f12dfa7774062aca6cc43cc0ad8df24b6a5dc564fb227c028389e29fb0af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6496589c12c68a45f8e2a1924805120908774bf2d5adf459f43c4c6b560c8a71",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efed6890409293b4d2384ff6d92b0b4e9c68121ec341edcc6e1b262bda5ea316",
      "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 33 attempt 0 · /responses · status 200 · 2.446 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0998, 0.635, 0.3962, -0.1272, -0.1894, -0.0338, 0.9965, 1.1091, 1.4193, 0.7826, -0.1371, 0.8993, 0.4911, 0.999]\nstate[eef_state]: left_x=0.2896 left_y=0.008 left_z=0.182 left_yaw=0.0652 left_pitch=0.2188 left_roll=0.0579 left_gripper=0.9965 right_x=0.2728 right_y=0.2459 right_z=0.1499 right_yaw=0.1305 right_pitch=0.1301 right_roll=-0.1285 right_gripper=0.999\nstate[joint_eff]: [0.0752, -0.6632, 7.1179, 2.2833, 0.0806, 0.149, -0.0073, 0.253, -5.4906, 8.7043, 1.5897, 0.569, 0.1832, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0978, 0.6392, 0.3923, -0.1429, -0.1795, -0.0345, 0.9966, 1.248, 1.7203, 0.68, 0.1284, 1.0023, 0.5056, 0.009]\nstate[eef_state]: left_x=0.2882 left_y=0.007 left_z=0.1754 left_yaw=0.0583 left_pitch=0.1949 left_roll=0.0574 left_gripper=0.9966 right_x=0.2444 right_y=0.2727 right_z=0.0616 right_yaw=0.2128 right_pitch=0.1229 right_roll=-0.2744 right_gripper=0.009\nstate[joint_eff]: [-0.1983, -0.4034, 7.1863, 1.8877, -0.0024, 0.0073, -0.0171, -0.4581, -8.6222, 5.5043, 1.2674, 0.442, 0.0708, 0.6422]\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 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0975, 0.6392, 0.3923, -0.1585, -0.1799, -0.0349, 0.9966, 1.203, 1.7603, 0.6628, 0.4511, 1.0431, 0.2562, 0.9946]\nstate[eef_state]: left_x=0.2867 left_y=0.0073 left_z=0.1718 left_yaw=0.0587 left_pitch=0.1795 left_roll=0.0596 left_gripper=0.9966 right_x=0.2692 right_y=0.2841 right_z=0.0849 right_yaw=0.2342 right_pitch=0.2528 right_roll=-0.2959 right_gripper=0.9946\nstate[joint_eff]: [-0.0889, -0.3214, 7.1453, 1.956, -0.0952, -0.0366, -0.0122, -0.4718, -6.2291, 4.9846, 1.79, 0.5446, -0.1245, -0.2173]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27e9f12dfa7774062aca6cc43cc0ad8df24b6a5dc564fb227c028389e29fb0af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6496589c12c68a45f8e2a1924805120908774bf2d5adf459f43c4c6b560c8a71",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efed6890409293b4d2384ff6d92b0b4e9c68121ec341edcc6e1b262bda5ea316",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDJtyVaRKj4zukMNxiIGx9aJA81wHmxHFKQcwVobtB6MSKzyFEHvG518bi69FVDHctA0wQUc3P8X4b4h2x1cAYcNdGgN4m1R1aO-E63dwkeX47A7THKUSdEh3MklPvtL0-BBeLFsml73vGUDJkP6qQPwRR28LDjxR4oRo4f9GuFxksInhpEiKihdZZs1ViI23oWdx7SI4wiF6Q4ZrHXZN7epPRFAzybJCYT37DeCyOCh4OFFdd5I94d6UFF0UkA84r67Bzzg-gJFucv7tpbqgfRWXthCgJGScIyz4RxKSCoau-snGnYZmhIDRtnzn9SrB6A15qeksiNjtWyEu_UIIKpNrGHVKEoqJKV3MdgQMJaIp8XjuuyIcIGoUQmyko50D5JGRE7X8CIy4b-6T6Sa3sE9aV0c86opJykTTFBPfszMzY5MgGDlf66Succ-tsswXwpsgAEKY8t280NLEFpM--1ahk7IoaFzt_qQZpCUK_Za5mUMOY0JHvpBs7mk2muEQG1A6WLn35seyZAY8bNUzcqF9aPW1LdKl1dlKCW4q4KmKwFI46KHoJs1X4_tfTKXem_QHLZfJy2OXwOH1f8VJ76wBAhcVs8SqQ5mZa3unNDfLRkPP7O5YCfeoKXYf2ItGO92fe6yIt3asvtjYPfP3y-S3Bewp-q-myAFxU6H2OorH2WKZtTD5BQq0nv1cJcKB8Q4TsHjshzSqoSOcVuYlVmNfF7VHCupHKx9c5ifg94_oLt3SPSm5cVkxh8NsLzCSQlLRIsbOv-WrsaQNARP92HYFsjxkHwa0A9tyjOMaXgQTc51igOO0qqCKMji_aWNGl7YyrIhZebkWRY_4OEovWPje7TaRyf_L-GHBcopGk991OxFe-nHBUz6VDb5dSFbFPJdlPuPS1IKZiLZl7Rm1oScCiqrdQkfVUZajr5g7PK2B_f_nylrKy75X_zPlaFgyvyzIwjOLyKkaXPZ5D1QDBbs_4CT3kp8xGgZ1hah8rPXMhwII5DF5gns4rygWWOrORQq1D7XxOIIArY2fPUYXr60auyyVQkCn9pk6ZnNuHunDannOXwrysMW1U_qqwB-Uk5YdkUUzb00WeN_Uc56obBjwes7_b38Wx-r2kk3JFRGaisFSi0ev9Lq54Xt50_RGigfTscYqOguLJkxdx2Twn34qjlQmllbUHBQPPwP2U2D-4RiUPE5gjqSXkUyWJ20u4bQuSw2Gs7ohDxM67gkZvaLOD7I5svRy8n2RWO6WAtiLBrjzWyGxxGTXJcuXQskEzHV8PTTAYR2h5bHqvp9vIekwLVxj2EGGCh09rokAjlFjTd6lxj5krVlYL0OEd4t4_EYvLY10Zey5rkcq8wyx3cUNYZ2gq-l-oswScy6PHYVclhDDLvM29ceB_OqgPvS-o23UCgdk4pt4nEjWljWALeIfL7oF65kK3Pn6BDLPnoM3eKkVrwWP-poeWpHspq_2B1GZKMJdf0UwZK_ZHKLj_iACIsLbO2_-IpIEruRDljpgOoGArhlzSj0XfsJ9bvQnXyenjnrklzR_E--ADLj-hBVxgrpqGrM4H0dnQs-igVAXJhCFqwKAmEhnBFLvB7r2pGD42NJ-KFhfF517QP-hOIM25QqLJTFHzP776UssL6obwMl8-BpJ81u4urxdG5UZ1USKiBb2cQiXJMQnyn4asqLrXJeuJa7Iwk73dHdJpssu-HDfewV6HMtvwrWGU8gjY4xNvtu4avpaV6soVPjYisbS9vR7_BjqiYJqssfSYdIUgQ=",
  "id": "rs_0515d5cdd5bca4e8016ab4326b87a887d0a1e4dbc357886981",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.294,\"right_y\":0.264,\"right_z\":0.063,\"right_pitch\":0.32},\"note\":\"With the jaws open, most of the brown toy sits just to their right and ahead in the wrist view. I’ll move the grasp point onto that visible fur and lower to torso height.\"}",
  "call_id": "call_PskCCAsHxDmEFoWVw3Csr5iw",
  "id": "fc_0515d5cdd5bca4e8016ab4326cc57087d08dc92969c93d2243",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PskCCAsHxDmEFoWVw3Csr5iw",
  "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]: [-0.0978, 0.6403, 0.3923, -0.165, -0.1799, -0.038, 0.9966, 1.1194, 1.8729, 0.5632, 0.7288, 1.0027, 0.1329, 0.9953]\nstate[eef_state]: left_x=0.2862 left_y=0.0073 left_z=0.1701 left_yaw=0.0598 left_pitch=0.1721 left_roll=0.058 left_gripper=0.9966 right_x=0.2869 right_y=0.2587 right_z=0.0524 right_yaw=0.2333 right_pitch=0.2524 right_roll=-0.3467 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -0.3624, 7.1316, 1.8584, -0.0659, -0.0317, -0.0171, -0.0479, -7.8838, 4.8068, 2.0293, 0.359, -0.0855, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a65e14a809d594f181c30c0a8c69486ea852a0b21bd18ec5b3753adfea39f34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f20b8d99c2c555d77cd94359e948062608a65f4f66a6b59f77f09e665801ba4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98a0d8b10e249770fad585c26c17ca800bcf930ad024faf086195a326e30ad9e",
      "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 34 attempt 0 · /responses · status 200 · 5.017 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0978, 0.6392, 0.3923, -0.1387, -0.173, -0.0311, 0.9966, 1.2453, 1.7008, 0.6868, 0.1352, 1.0084, 0.5144, 0.999]\nstate[eef_state]: left_x=0.2887 left_y=0.0058 left_z=0.1762 left_yaw=0.051 left_pitch=0.1986 left_roll=0.0575 left_gripper=0.9966 right_x=0.2468 right_y=0.275 right_z=0.0712 right_yaw=0.198 right_pitch=0.145 right_roll=-0.24 right_gripper=0.999\nstate[joint_eff]: [-0.212, -0.759, 7.706, 1.917, -0.105, -0.0611, -0.0073, -0.1299, -8.6632, 5.7368, 1.7363, 0.906, 0.1441, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0975, 0.6392, 0.3923, -0.1585, -0.1799, -0.0349, 0.9966, 1.203, 1.7603, 0.6628, 0.4511, 1.0431, 0.2562, 0.9946]\nstate[eef_state]: left_x=0.2867 left_y=0.0073 left_z=0.1718 left_yaw=0.0587 left_pitch=0.1795 left_roll=0.0596 left_gripper=0.9966 right_x=0.2692 right_y=0.2841 right_z=0.0849 right_yaw=0.2342 right_pitch=0.2528 right_roll=-0.2959 right_gripper=0.9946\nstate[joint_eff]: [-0.0889, -0.3214, 7.1453, 1.956, -0.0952, -0.0366, -0.0122, -0.4718, -6.2291, 4.9846, 1.79, 0.5446, -0.1245, -0.2173]\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 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0978, 0.6403, 0.3923, -0.165, -0.1799, -0.038, 0.9966, 1.1194, 1.8729, 0.5632, 0.7288, 1.0027, 0.1329, 0.9953]\nstate[eef_state]: left_x=0.2862 left_y=0.0073 left_z=0.1701 left_yaw=0.0598 left_pitch=0.1721 left_roll=0.058 left_gripper=0.9966 right_x=0.2869 right_y=0.2587 right_z=0.0524 right_yaw=0.2333 right_pitch=0.2524 right_roll=-0.3467 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -0.3624, 7.1316, 1.8584, -0.0659, -0.0317, -0.0171, -0.0479, -7.8838, 4.8068, 2.0293, 0.359, -0.0855, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a65e14a809d594f181c30c0a8c69486ea852a0b21bd18ec5b3753adfea39f34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f20b8d99c2c555d77cd94359e948062608a65f4f66a6b59f77f09e665801ba4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98a0d8b10e249770fad585c26c17ca800bcf930ad024faf086195a326e30ad9e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDJwhyP2Z2MSloXZlVPmOVT8BRjuIkfu0WsruruxSzh-xCpTunWHHL-U3f3RtfOJp8BN1uZKAWlK_E0Xnswbi1Fb4c72aX9e2iC9zDzvNlCsNECa1_efXqBjFNTPXkBYcBchLfA7vnbUa3BXkDXu71Ei1gPWdo2JpEh81bECS0U6nXO_gYTHnA8OvVl9Er6ctygi59T3vbfUaVapf5nT6KFAubNTCvlk7s-DRooWP1zUR77xvy132mxW3ZQu2KxLBfnvnNDyvOxI3UKNfMuOPF37FXHCKDXXf1PNP8SIIzvm5KznQ0_FZRxOwj4TiRAUpijxw-Z8i1hamQYTlbmN5LNnJzXoOheJfibgkq_h77hPy4cg1rfxFu2QQFNqoKw-xvKRde8-5GzatZjhL-CO1QsXJuA-OMs7UpRY8vDIwO7yxwAbuwJULSZn7HwDt8fzNd6SmQAJtrrODmf4CkY155HVwwU8h0MdLOeiNXIzx7FWiLW7ZEm3yU_daEyx-w4waHuO91NGBZHlmZ53k4LWLS67s45Te-5Ovlyfy5FII4-yYsqK5FblHmbhXZWuLizWWjhWOGTLLuE-18_ukbfjaKf2HfggRu07CROzE--zEnLR5vCrQ6k6ZY_0LG0Hum9xZ3SVCDgi2KqBPDV0cXQdP3m0b_nUGeiiW6Eh5XkYMgSSxdKV_8uOHD41PXB9ES7xIWXdovYCE93d8VUvAzktSQGcwNZQ5G2_JGBD7HnpWVKm65A-1yNIUsn3VqXV-0hQXR1-GGu1n_nZ-RBCqlP_Q4yJKTjT8-EG1z69GC-F7osnWxpzFgfich79idHRFJCTEeDbliUCX7D9LQhk-X6w_fxM8N2GX2eIjwXDnufWFnLYSpFRydbCGmLJk1JG_q7aokbY6V_CrBoija9TbtrTjABDNxGF48UikKrfX181ehRrPSIoaxY_ulZY8bu1UqUiHeDerAKMrLMnKrcYkbDd7Z-lLOdZniyZw12eMFGEJw8ZKkKVgVtCuVdKnS-fKizBZRmsAdBCKihUmLHKFT7lscxJWaBPMW6jDL5WyylaUvkGFbFQflSfq44NCxlGKvGEOu46oC_3DlpUGEG0SrMQjPuIuvFOO8DFubP0D3Wb8LajVQ_Mxsfv9MN_cBTFFumy4fTctPaltPqYCdrIZ_hz2IcCV3JcZsErsVwXy0uetYmXgZfZJTiO8sWrrA1horeag-E7lw4pF1UE52vDfHmBj4HLIxGcA-rUUSK4k7D756pxS-O-_z7wNy6Q-BNk2nTMz_p3b1wN--WFOM3u90hh80ALFs_G0-nTGil-QOE8PmqouMCTYtBnWM7vi35OgqrHLeLrdkGc8ZsoWdmR4CJohpQ5XOJuUNk1lcFqoXTm5eusL4LH8hXyuaLGYEm-QFWQfzP4Mm-HovYeyp7RnecbIsQeog==",
  "id": "rs_0515d5cdd5bca4e8016ab4326f062c87d0ad1fb56c5ae14fb1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brown toy now fills the space immediately below the right jaws, and the gripper is at a lower grasping height. I’ll close once at this corrected position and check whether it holds.\"}",
  "call_id": "call_cLDNgUfw3Q9A4MUy0vNJdAhc",
  "id": "fc_0515d5cdd5bca4e8016ab4326f97c887d0846c5758e75d4ac8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cLDNgUfw3Q9A4MUy0vNJdAhc",
  "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]: [-0.0978, 0.6403, 0.3923, -0.1654, -0.1799, -0.038, 0.9966, 1.1179, 1.8908, 0.5514, 0.7162, 0.9871, 0.1238, 0.0094]\nstate[eef_state]: left_x=0.2861 left_y=0.0073 left_z=0.17 left_yaw=0.0598 left_pitch=0.1717 left_roll=0.0581 left_gripper=0.9966 right_x=0.2841 right_y=0.2552 right_z=0.0403 right_yaw=0.256 right_pitch=0.2166 right_roll=-0.3831 right_gripper=0.0094\nstate[joint_eff]: [-0.0205, -0.3077, 7.241, 1.7998, -0.1099, -0.0513, -0.0171, 0.0615, -8.8547, 4.7658, 1.5604, 0.398, 0.0611, 0.7937]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd5591a8b53825d16162754c0c58eff37ee93937760bfb6e34ae5ecd84b4ff14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:468ad6d20d57e84d95ee9d37ec728750ac465a984587974c0bcebe75712e813b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c56d74d97cc55e35abc9c570c4770328bd5c12cfaf3ae910fa460783f74b5664",
      "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 35 attempt 0 · /responses · status 200 · 3.909 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0978, 0.6392, 0.3923, -0.1429, -0.1795, -0.0345, 0.9966, 1.248, 1.7203, 0.68, 0.1284, 1.0023, 0.5056, 0.009]\nstate[eef_state]: left_x=0.2882 left_y=0.007 left_z=0.1754 left_yaw=0.0583 left_pitch=0.1949 left_roll=0.0574 left_gripper=0.9966 right_x=0.2444 right_y=0.2727 right_z=0.0616 right_yaw=0.2128 right_pitch=0.1229 right_roll=-0.2744 right_gripper=0.009\nstate[joint_eff]: [-0.1983, -0.4034, 7.1863, 1.8877, -0.0024, 0.0073, -0.0171, -0.4581, -8.6222, 5.5043, 1.2674, 0.442, 0.0708, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0978, 0.6403, 0.3923, -0.165, -0.1799, -0.038, 0.9966, 1.1194, 1.8729, 0.5632, 0.7288, 1.0027, 0.1329, 0.9953]\nstate[eef_state]: left_x=0.2862 left_y=0.0073 left_z=0.1701 left_yaw=0.0598 left_pitch=0.1721 left_roll=0.058 left_gripper=0.9966 right_x=0.2869 right_y=0.2587 right_z=0.0524 right_yaw=0.2333 right_pitch=0.2524 right_roll=-0.3467 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -0.3624, 7.1316, 1.8584, -0.0659, -0.0317, -0.0171, -0.0479, -7.8838, 4.8068, 2.0293, 0.359, -0.0855, 0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0978, 0.6403, 0.3923, -0.1654, -0.1799, -0.038, 0.9966, 1.1179, 1.8908, 0.5514, 0.7162, 0.9871, 0.1238, 0.0094]\nstate[eef_state]: left_x=0.2861 left_y=0.0073 left_z=0.17 left_yaw=0.0598 left_pitch=0.1717 left_roll=0.0581 left_gripper=0.9966 right_x=0.2841 right_y=0.2552 right_z=0.0403 right_yaw=0.256 right_pitch=0.2166 right_roll=-0.3831 right_gripper=0.0094\nstate[joint_eff]: [-0.0205, -0.3077, 7.241, 1.7998, -0.1099, -0.0513, -0.0171, 0.0615, -8.8547, 4.7658, 1.5604, 0.398, 0.0611, 0.7937]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd5591a8b53825d16162754c0c58eff37ee93937760bfb6e34ae5ecd84b4ff14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:468ad6d20d57e84d95ee9d37ec728750ac465a984587974c0bcebe75712e813b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c56d74d97cc55e35abc9c570c4770328bd5c12cfaf3ae910fa460783f74b5664",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDJ2Fn7Ays67E2zXNxs1a43fsQzRspwwjNUMW5yL6OpkQXOj0-DDvAQAzLGkNUnQWhd9wXyIExirra_fzYp9JgufVoKs2Cprc6N9npaB3lYAqHgJdY13Jz-TP2Phl35uUUClMK2ttxCnCSRQ4vkNp27znn6ZPHIY7eEvuWvLvoOMlQg2YCm2n52XvhpPbO0lYzFHde3tyeeAJQrmLbbn6_NKS8My3QGv3qFshMZz_-mTKG98C4bKpEmfv6mmxqI9ZkptquyazN4GUAJI_W9uTTrSxD6HxvMdMJWvb4nUG5jauedk6xOswcfB2RFBHL2fMfHJTKhaG1dD3nEq2IDs1yupemmGYsYKDFTV9hPdWSX6-taOWJ0ggVvXxJe6RIuydYE4LR12YI1TaGEnMuKacMMuLgw4-rBxwLnAHQOqzmvzLsw5b1MM-jZRxLnHyNz4WuHODXCd4SiLFM-475VWHC8c325D1fuUhAA-YuJmRuKiS1io0kD187-rJP462dZCM71045yvZUQDcBUh9tZc4bybNRVu2YTYcLet3r5cKgcbBXvH-WKz8gQ-nboaVEhP48l7sYFj-mXlWEbb1ZN7kZtK89sjI2FVMX0H6dRXdKA-wkGtDzJlSzv99pCHg4KmBiJatuepN-QwXa8aKhqaQIpUwQ6v1WNNnC4UG_Ch5MPpilEcfoIbTRDvqQlE08f3Cz7-xY2fb9zeESwh60nnsJ7oQrajf2jg--iBZD_U3w_89MVEUvOi5kiwxLMKxMjOQ-bjW4hamqIq_qG3OPDDQnRHq_BhGgYnRQrCDhjthJbQEEJ3jlepFPklN-Q6lpsATSN0K_mLH6HiH2eudkZVspfiIpByaa2zuChaS48eaa-nRRDQgBrg72w8XquFYLdQa_iHEdHY4K_0x-mjJoXRYx2gQgbgdP170DimC4mj3KySB2CF-G9eaGqWNd1-EsEC9g1yWMHb3HImULppuoSAtoOtKISRul3-wyErEHYfnAATh9f-ybPA2PxsmVsKnxZUP9CwZZhOSLcToXAL_oaYqeSe7BKBURE4YQCFHSqudSRMV2wlPBr_7tB7DdrxhtZOXR5qRn83vENT3GjM_tw6Y9HCTW_Jc-5m41RK_2k90qoFr9xJvOnh_fjKeObYGktuGbC6CM9v7JNMI57GyiHzwNiSfyKMztdru08qnTpkRPPJ0JwPsSXWsWiL7twkcdFfyqzBo8g_D685gllyc-K_RWlPCccpiih2iDp__bogt228LvhMVo4tZu9o3yZtHyAxr9Ch5P7OFF1VCP8YcSHhUB8pt7qmbo2150UcANFdwaAjWV2zgSqsSqT6HxUJePKHRuzxqGn_qe6gVN26PZWUGHaY9NxXjihwSKH-qY_b8olJUAC4AV3tsWf3rHcAG7RvLClQ-tqBF52H6VcidnH-nQWzg4lIfhorZtc-6Zsvcvu_QBWudmgW_vZvkjCHITjG8iJIZZFqF-YFvSTzxuqQQaQltcUi1IdSZdF8ybGD_CTduqWPpkqeibDTX_Rd4bKsaq4h6yFbekM7GvVPYPCcq1aZGS_dIy72XirKee-Tqto6Uqxh8ECLuP73KBs5VJ3CQyHlgwjfF1SMChK0H-LmCC_TXNk5svych8deLe9QK7Kr3tA1RoGidQeT_cT7OFqWBlaNe6fe8YzwkeagDDJSmWMrcVUXHH-kLcP_uUDKczkhW9Ifyhf773pduKAAixCXBnXDIh8q3WBV6yIwZHVACtXscmtP1GAuvCbHywg-XF1FrTGx6EstM19_-q9ZvaeLN5qTLW3pPcBSJ-cCtVJbmjXkUJ7oXF_TEbN-FZLwOe1ePt_hAwsX5mAvDv4GCB1fyEefPhKfy0Jqa_2tZiupONFeRYu-MouTURB_cJrmr27IlPekHRVUtDis9hzr9t2pFFT_sVuhsGo3NckmBRIf4CAL8EY4LJoHdfnAutpBW0fgAcO6QYgE0mBroMAoJch1npYJuS5n7XwmVYWgJUbsmhNTg3WS0U19y09hjvZVDRBOJeVRkHo_iduVrrNbNxj-PX_SB_dJcJ_xlHe3dCBpBKNKBpTlp35T6d76G1lZnKOeTk6_VJAX_Ppg6eXEeupyWTeoJiomi_KeuGSroZQCBuoaK79zqs9Jy9b-8CsEr4UoPPfwW6inXPEDBXSBPtBOcXEDsrDch-t1nRG4c_YlLPhxiMrqjzTb3V_QUHeGy0_mnrrhsn1frxP382ZJL5Ej7c4u7zTdbEfzzNClWTsia4ge6F6mcLsDAhV1zk_3Dej_XnU1ctJLHKyUB-M_c-JKT49o7UmCHU0JVnyAUfzvcGfLIl8dNj9J8l-gSagysg6VMwq0EbaT1-qfs4kwrQCVZmn7WunP007CunlCWofpQTIZN1r_0E4NRBTPlFlxvGhYlriYJHesSyKiKqItsOm9CNFq6plFH2ZP4nOh7S1WvAX9EAvSvxTNYRjTIK8SMLth2pg=",
  "id": "rs_0515d5cdd5bca4e8016ab43273001c87d08bffaa54c05f5fb1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.31,\"right_y\":0.192,\"right_z\":0.124,\"right_pitch\":0.32},\"note\":\"The second torso close was empty; the wrist view shows the jaws slipping between the toy’s limbs, with its head and pale ear to the right. I’ll reopen and aim for the firmer head/ear area from above.\"}",
  "call_id": "call_5rQJPyhiJmanVhZUkYTXfOc8",
  "id": "fc_0515d5cdd5bca4e8016ab432754a6487d0a149a0c18ac13757",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5rQJPyhiJmanVhZUkYTXfOc8",
  "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]: [-0.0978, 0.6403, 0.3923, -0.1684, -0.1799, -0.038, 0.9966, 0.9211, 1.5089, 0.4011, 0.7116, 0.8547, -0.1101, 0.9945]\nstate[eef_state]: left_x=0.2858 left_y=0.0073 left_z=0.1693 left_yaw=0.0597 left_pitch=0.1687 left_roll=0.0585 left_gripper=0.9966 right_x=0.3081 right_y=0.1912 right_z=0.1115 right_yaw=0.2469 right_pitch=0.2865 right_roll=-0.3984 right_gripper=0.9945\nstate[joint_eff]: [-0.1846, -0.2393, 7.4325, 1.873, -0.0904, -0.0464, -0.0122, -0.212, -6.0103, 4.9983, 1.8632, 0.1197, -0.0366, 0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0974cbb9caf2aa5d2284a428d9761c3b3270cf4b9f7afb0141483b714790719",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19f0075ff08dac15357288c7dfe4f7ef9d5fab6f7aac32510fba1ac4f7eb3e70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c150de9f6ec34ee832d7781beccda3493d63f4158b569d96860fec693d8b01c2",
      "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 · 2.698 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 130 changed as sent

message 138 changed as sent

message 142 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0975, 0.6392, 0.3923, -0.1585, -0.1799, -0.0349, 0.9966, 1.203, 1.7603, 0.6628, 0.4511, 1.0431, 0.2562, 0.9946]\nstate[eef_state]: left_x=0.2867 left_y=0.0073 left_z=0.1718 left_yaw=0.0587 left_pitch=0.1795 left_roll=0.0596 left_gripper=0.9966 right_x=0.2692 right_y=0.2841 right_z=0.0849 right_yaw=0.2342 right_pitch=0.2528 right_roll=-0.2959 right_gripper=0.9946\nstate[joint_eff]: [-0.0889, -0.3214, 7.1453, 1.956, -0.0952, -0.0366, -0.0122, -0.4718, -6.2291, 4.9846, 1.79, 0.5446, -0.1245, -0.2173]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0978, 0.6403, 0.3923, -0.1654, -0.1799, -0.038, 0.9966, 1.1179, 1.8908, 0.5514, 0.7162, 0.9871, 0.1238, 0.0094]\nstate[eef_state]: left_x=0.2861 left_y=0.0073 left_z=0.17 left_yaw=0.0598 left_pitch=0.1717 left_roll=0.0581 left_gripper=0.9966 right_x=0.2841 right_y=0.2552 right_z=0.0403 right_yaw=0.256 right_pitch=0.2166 right_roll=-0.3831 right_gripper=0.0094\nstate[joint_eff]: [-0.0205, -0.3077, 7.241, 1.7998, -0.1099, -0.0513, -0.0171, 0.0615, -8.8547, 4.7658, 1.5604, 0.398, 0.0611, 0.7937]\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 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0978, 0.6403, 0.3923, -0.1684, -0.1799, -0.038, 0.9966, 0.9211, 1.5089, 0.4011, 0.7116, 0.8547, -0.1101, 0.9945]\nstate[eef_state]: left_x=0.2858 left_y=0.0073 left_z=0.1693 left_yaw=0.0597 left_pitch=0.1687 left_roll=0.0585 left_gripper=0.9966 right_x=0.3081 right_y=0.1912 right_z=0.1115 right_yaw=0.2469 right_pitch=0.2865 right_roll=-0.3984 right_gripper=0.9945\nstate[joint_eff]: [-0.1846, -0.2393, 7.4325, 1.873, -0.0904, -0.0464, -0.0122, -0.212, -6.0103, 4.9983, 1.8632, 0.1197, -0.0366, 0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0974cbb9caf2aa5d2284a428d9761c3b3270cf4b9f7afb0141483b714790719",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19f0075ff08dac15357288c7dfe4f7ef9d5fab6f7aac32510fba1ac4f7eb3e70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c150de9f6ec34ee832d7781beccda3493d63f4158b569d96860fec693d8b01c2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDJ7dmLEiG4wmI7RneHM8uzH6bV5-v4UNpd30DU9I7y6JaM5y-oQD9_CLKmWRt58M58bWCxFRgFlrlyKT-Qry87o-8T0UMmSzI--kPULu4blHedzHZUOyyeXGLA59u9hZqXZAeAXto-j4fu7BE96-8OCBKwCeWP6LTm-4JL7FmRicmBD4REHPhYjbeQh_3pef9xNGVew-sCRJzlAdV3DiSTz0BFsDxccVjbFcVOubLcAlcpwTgu0m8Ju8tJJtbCln0He1HiKlLXoT_BGDQWTxLM8xotJPutUHNgGWJH3wwaKR3dtLc5UUGKLsktnz5VfMynughqieJaMDEfyxm0DYaAz20H4qp9ULa6eke1nwQbKGWjOLBdizilow-Rvl9JjM3yYD2C2vftnEj57_J8se4g3OAev7jN0cArcwa-LlnYPeqMzdVB29m5KROr1dtUv-qEoPZhAwZimesg8TnhK0_uH-TUejG_NDARI1chAKBXAwGDKWZ3Lx43u0luJ08lqvE_4zOf6yKvJAfggL2JfJlJQ4wShuKN8rKP2Lssygly--oEod-On6ux9w4tIK-iVJiM-uXCBjlg3GHO15DZy20crP-BJCAdHgUQ_FEK-3YoJK5LNiivC963GPKtMI-RKafp2Fhu_bTx6hCQ2GDilydIvEpwV_-1cC66QG_U58IzeylsKLOP0QQ_JtLYOCgBBiVtsAQpX9tplEkIqhlPDU17iSgo0I61Y4iMIbCDcImaTsTresVVSxjqLZ6GoMoMpM87lJwxjuC_ZTDAyZs8YVTYAoI3NIF6KAFVzpJw_towC9mRs1CyiXBnNMvIo4Rolq9svu4Nto0hRRIzPj7h2c_0nDapZ-6gAKCVgCVRs_1HnIiMcn8ZGn15FAHFv_oRi38k4S0hYagQhDsyLq3bEYVIhHCfSppGQo7dMo7urLcLDyNYBEIgWFcIqSQTmW-nD2xxPjSZ4aQJwaB7hGm7QBqP7VKrvqwSQ4ryTRlMD4N-iVOiMC_McFCxzp5ILtWf6WLlvtw6Tp8Ros2lO2fCd5ws0i3WcAtXNpDOaWx9ETzHcYEihkTDwEjZt8VrhkFskktvz9N0nlSgPsyTPw5CaXyz3-RNjwaPQpjVmCTXFfN2oXZmRaHiQzCDghPytjnmp1y2ugbY_NW0oKs-RVmiGpTABIUb4DBMLW6YCIyIwN3phY9UasXZGrzvutVjl8WwCffWHjBSLDVe9XCsomWBKXZQCUvaGdcPmoy9pjj4hMfrF68OFZsQgYLH5_QJftVhBQEgwMy_d2dIm5i3B8zdRcLyy7o0SlHbzXcEW7MiTZaa6bqzCAF2gaacRVovdMtbLKEIMEDCA5nN0raMcyI-CYzaCO6mW0V63PVuo1D1BwBpmzysaz0ehJTZ73Ec0RPpGe_1JVIbdVFjgVB_bih88iv__SR9gfZF34B41qk8jnGiuSx_q9uHPDBxsoMHGFF6nOVs_D3ijgKA1NWtCE10oMde59IH3bbZChqUYdpaf_pMxGXYxg1OhcbARcRygaQudNxuNOBknBBMzn4wcV7P6XwpxkH3ivQ10CL22zJgsBId36huLr1DTnkacgxx4BgJPy7Qy",
  "id": "rs_0515d5cdd5bca4e8016ab4327859d887d0ae340782d35dc8aa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.312,\"right_y\":0.216,\"right_z\":0.071,\"right_pitch\":0.32},\"note\":\"The toy’s head is now visible at the lower left of the right wrist image, so I have moved slightly too far sideways. I’ll correct left by a few centimetres and lower the jaws to head height.\"}",
  "call_id": "call_f0c5U1YTUkZZSMFSNjhcVCmX",
  "id": "fc_0515d5cdd5bca4e8016ab43279123087d09359dc7f53f588f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_f0c5U1YTUkZZSMFSNjhcVCmX",
  "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]: [-0.0967, 0.6422, 0.3923, -0.1814, -0.1802, -0.0383, 0.9966, 0.9657, 1.8088, 0.4187, 0.9066, 0.8761, -0.1226, 0.9953]\nstate[eef_state]: left_x=0.2846 left_y=0.0078 left_z=0.1659 left_yaw=0.061 left_pitch=0.154 left_roll=0.0607 left_gripper=0.9966 right_x=0.3064 right_y=0.2108 right_z=0.0534 right_yaw=0.2946 right_pitch=0.2209 right_roll=-0.4741 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -0.212, 7.1316, 1.917, -0.105, -0.0269, -0.0122, -0.2393, -9.4838, 4.5197, 2.3858, 0.3834, 0.0611, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d83a00dd5f9b4aa65f3c90ab2ea898d2f8d6bbf1f4fd84084a5019b7d03fd870",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:445e61a35bb3e68cc291ab0f73f60d672f7ed432e32cd79f7774d473f5e63511",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa3d4a3f5a84e677f4c2f175ef6b9dbba8eecc94bf29bc51f90fb49ef45ba334",
      "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 · 5.189 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 134 changed as sent

message 142 changed as sent

message 146 changed as sent

message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0978, 0.6403, 0.3923, -0.165, -0.1799, -0.038, 0.9966, 1.1194, 1.8729, 0.5632, 0.7288, 1.0027, 0.1329, 0.9953]\nstate[eef_state]: left_x=0.2862 left_y=0.0073 left_z=0.1701 left_yaw=0.0598 left_pitch=0.1721 left_roll=0.058 left_gripper=0.9966 right_x=0.2869 right_y=0.2587 right_z=0.0524 right_yaw=0.2333 right_pitch=0.2524 right_roll=-0.3467 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -0.3624, 7.1316, 1.8584, -0.0659, -0.0317, -0.0171, -0.0479, -7.8838, 4.8068, 2.0293, 0.359, -0.0855, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0978, 0.6403, 0.3923, -0.1684, -0.1799, -0.038, 0.9966, 0.9211, 1.5089, 0.4011, 0.7116, 0.8547, -0.1101, 0.9945]\nstate[eef_state]: left_x=0.2858 left_y=0.0073 left_z=0.1693 left_yaw=0.0597 left_pitch=0.1687 left_roll=0.0585 left_gripper=0.9966 right_x=0.3081 right_y=0.1912 right_z=0.1115 right_yaw=0.2469 right_pitch=0.2865 right_roll=-0.3984 right_gripper=0.9945\nstate[joint_eff]: [-0.1846, -0.2393, 7.4325, 1.873, -0.0904, -0.0464, -0.0122, -0.212, -6.0103, 4.9983, 1.8632, 0.1197, -0.0366, 0.0366]\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 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0967, 0.6422, 0.3923, -0.1814, -0.1802, -0.0383, 0.9966, 0.9657, 1.8088, 0.4187, 0.9066, 0.8761, -0.1226, 0.9953]\nstate[eef_state]: left_x=0.2846 left_y=0.0078 left_z=0.1659 left_yaw=0.061 left_pitch=0.154 left_roll=0.0607 left_gripper=0.9966 right_x=0.3064 right_y=0.2108 right_z=0.0534 right_yaw=0.2946 right_pitch=0.2209 right_roll=-0.4741 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -0.212, 7.1316, 1.917, -0.105, -0.0269, -0.0122, -0.2393, -9.4838, 4.5197, 2.3858, 0.3834, 0.0611, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d83a00dd5f9b4aa65f3c90ab2ea898d2f8d6bbf1f4fd84084a5019b7d03fd870",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:445e61a35bb3e68cc291ab0f73f60d672f7ed432e32cd79f7774d473f5e63511",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa3d4a3f5a84e677f4c2f175ef6b9dbba8eecc94bf29bc51f90fb49ef45ba334",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDJ-BuNOti-U0Mqp4DwAcMrFEQSeTu4x5gc1klHT6G3HIERew_WgdaZrDVBJT2Ddg8KmBeNBNuv8aMBVVQIdoobAngtTy1MUEfpUO6vQUJS6r2S5Dcvw9n07yfO4wfNdX9o8y9RYg0plBKM-YadRBmcsfVlUoB-ZaAtNi0DYWBo_buEL7U2ivaTZXO1xQK337vfV_lmvN8C6cDfUarBEOnOM_y8MLs-hQvXs8zyfy99iVo34sm28RDYP1vYS4U2c7dxeuYWvifNpTsTfRTcoga-mKkuzJ2W6SY716qgXT8q-yWDQJwVbO3Mrd5A_oRQROQc4XBrvrCYrUUUq8zuI5YrIXKQSc54xvt7LYPIxxU0ksgMmRbTDHN7n5oqaAaiC71bs0JFY42GEJvIoR7vSrX76_QzV42rUh8ZdJKrgrk1zP2QDCoUVMrNMZzljkCk8gsKP76iQnDkPIS4VEfKKr326jscoRWjAB7-mIaJNmaDZqVPWgUBUtsksNzMgfZLS00t0ZgqGW4muYckkRDBPLqeggG37vO0OG8tz4G5BKH3YWcyUKiIrvrW2-mghvAYTzDQdFyVVRS4hhV3VsQWTAlIRDbtRfowDka27-apZtZAkrZQecfMaqPODHLW0rcj8Jh-iSwGxuvrOsojJB65FJSIolciLq0sht84l853_IJx5k3ROFnUoO0XibLs4faeIu-xllYBoJejKyAiYKronBsTKiZ2Rbwr6TrbWTHI-jODsw7izqbeKCMe9vsFtxyWeO5yvUcN1rZCH9StDMi-sj_LJWNKMy30Hd0NtoSnvm8OGojoKd98opBoWFiimvYtrTcRhg8XsqBN0-ZapAqS3b-op3_QqBWQ4LW9XmQZOB07zIhUboJPQrRAzjunJaJN9JzaIvPVIL4JQK4CXAPEOoOMQ9lPFUGxyw3GJap6NzM3XpnRYJP5VuxmJW3TfDSPOxH0Pyl3TTakgBeoF9ZwEoKo70BJP8DVU-xwaG60m9mCqi-J6PSTrkQiiCHWgXJ03fBG9t7cEPskCxVyOEQ3vx9lZz6d3bOTr5fIshzjskneGKFaBg9xsBanz5rksA_6JnPnK2x2kzIORDxnbW_t72jUjNeNgG74Na2w3TDYxcJ0SKveL2PrwaoW-m2yldHlYYX-m3MmvLyk4tJyusFbTEwJuQRK7vfEdv3rGPIITF4wC_PW9NIiHfvIHPyByqBCCeAw3hFefsbbjOCaYHvjdFQnZ3AYYuQM3YTfHYbowZSWNFtGR6HjidiuyyIsjy2obfnkexgVuPhv0ownnZeWFOBUTcZUN4aZRMyXl3rbQDrEfWzvM7wJH_m7N3H1Kn66bTZxdz2hHZ5k8fBfOdELLfhTRMX1rKt-JM4eSBwVxvmpIWv-XIxGqe9s8RjT2FLqKLK6pK0USp-_0t6aR5qSAjNhR_Giub5dhO0wr1jc_ON-dh5qe9rLWQKo3dysx0msUSOUAAvVpGcMybFE6-OjZ7XU2EsEpfxDoicucrnlfC4bEZPJnlHfWcujaVng-qBNI-wg7Ueu25XgEy_c85x7vVzcn62KZrmqaviTabsHhtMFamSfsvuQOk1HhujWJ-oHqeIEruXxWm2UytIKHK7PgXBaFNiVukUdHx8JVEXIY8MaJ1eXTEGBCwFlc3nGXYtepIOXMLqpo0liw0T8clumKyAUSMenOtVl9x-WSa3t6W0AIoaIvG5p2mKPIOy2RAd8MCNjx3oba-F4yvvEXHsftRVSdZ15wDv_kCUNt3e5dfx1tbOk=",
  "id": "rs_0515d5cdd5bca4e8016ab4327c671887d0848546c54f903b32",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The toy’s pale ear and head are now centred near the right fingertips. I’ll close around that firmer part and check the opening before moving it.\"}",
  "call_id": "call_iitZqSKey0IKSBvJraRS2jeV",
  "id": "fc_0515d5cdd5bca4e8016ab4327d7a8487d089e7b9202165a3ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iitZqSKey0IKSBvJraRS2jeV",
  "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]: [-0.0978, 0.6415, 0.3923, -0.1879, -0.1799, -0.0383, 0.9966, 0.9676, 1.8233, 0.4179, 0.9108, 0.881, -0.131, 0.0201]\nstate[eef_state]: left_x=0.2839 left_y=0.0075 left_z=0.1647 left_yaw=0.0594 left_pitch=0.1483 left_roll=0.0615 left_gripper=0.9966 right_x=0.3057 right_y=0.2099 right_z=0.0494 right_yaw=0.2983 right_pitch=0.2115 right_roll=-0.4909 right_gripper=0.0201\nstate[joint_eff]: [-0.0615, -0.212, 7.1453, 1.8926, -0.105, -0.0855, -0.0171, -0.3214, -7.7744, 3.6855, 1.5751, 0.1245, 0.0415, 0.8669]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf15d9d1aa130bfaae217292a36c65b102fb2afe74c0b2408ef419b6c12f08ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1a5d49a1f16d6c65e0aa04902e674f8ada37ee0132558f9a5c465bf4c4b2af5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:553c3692e912ae89073ce80bc9180a08dbc972c48460cbede5f61918516228a9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 38 attempt 0 · /responses · status 200 · 3.082 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 138 changed as sent

message 146 changed as sent

message 150 changed as sent

message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0978, 0.6403, 0.3923, -0.1654, -0.1799, -0.038, 0.9966, 1.1179, 1.8908, 0.5514, 0.7162, 0.9871, 0.1238, 0.0094]\nstate[eef_state]: left_x=0.2861 left_y=0.0073 left_z=0.17 left_yaw=0.0598 left_pitch=0.1717 left_roll=0.0581 left_gripper=0.9966 right_x=0.2841 right_y=0.2552 right_z=0.0403 right_yaw=0.256 right_pitch=0.2166 right_roll=-0.3831 right_gripper=0.0094\nstate[joint_eff]: [-0.0205, -0.3077, 7.241, 1.7998, -0.1099, -0.0513, -0.0171, 0.0615, -8.8547, 4.7658, 1.5604, 0.398, 0.0611, 0.7937]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0967, 0.6422, 0.3923, -0.1814, -0.1802, -0.0383, 0.9966, 0.9657, 1.8088, 0.4187, 0.9066, 0.8761, -0.1226, 0.9953]\nstate[eef_state]: left_x=0.2846 left_y=0.0078 left_z=0.1659 left_yaw=0.061 left_pitch=0.154 left_roll=0.0607 left_gripper=0.9966 right_x=0.3064 right_y=0.2108 right_z=0.0534 right_yaw=0.2946 right_pitch=0.2209 right_roll=-0.4741 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -0.212, 7.1316, 1.917, -0.105, -0.0269, -0.0122, -0.2393, -9.4838, 4.5197, 2.3858, 0.3834, 0.0611, 0.0708]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0978, 0.6415, 0.3923, -0.1879, -0.1799, -0.0383, 0.9966, 0.9676, 1.8233, 0.4179, 0.9108, 0.881, -0.131, 0.0201]\nstate[eef_state]: left_x=0.2839 left_y=0.0075 left_z=0.1647 left_yaw=0.0594 left_pitch=0.1483 left_roll=0.0615 left_gripper=0.9966 right_x=0.3057 right_y=0.2099 right_z=0.0494 right_yaw=0.2983 right_pitch=0.2115 right_roll=-0.4909 right_gripper=0.0201\nstate[joint_eff]: [-0.0615, -0.212, 7.1453, 1.8926, -0.105, -0.0855, -0.0171, -0.3214, -7.7744, 3.6855, 1.5751, 0.1245, 0.0415, 0.8669]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf15d9d1aa130bfaae217292a36c65b102fb2afe74c0b2408ef419b6c12f08ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1a5d49a1f16d6c65e0aa04902e674f8ada37ee0132558f9a5c465bf4c4b2af5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:553c3692e912ae89073ce80bc9180a08dbc972c48460cbede5f61918516228a9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDKEkHIyd3tjbzAyuNsmwWUU5Floqndjr5jlYKEB-NBbQQxvRTRG3AcjqE1QzpzQOWZO2pm7I4syqEa-HbA_mJxW_OqhgUOFY_zZ2Rg7uJhgcB8A9RmPnPfp_GDg7xmrrzqSwQ0Be2r8AOByMcLOH4D-93QOsFmAoOYFqE064SCrFnnK1FrsQ1GaClbYtWqIkGsi1j18weigi_1CwaOJ4gyc-3XAmq9BLGQXB8_s3BCX7gR4R49KRGKREPSiDOzkdaCwYb6Cpk8ovKjmv7Z6Wf3FSNhB0zVDc6gJnO-eZgdBr0Yje9bJWddOgSjFhZQT6eKXAGQN8yogmS4Zb8Z_seEPhFZiVOgIdPSwcVrvIlYnRQLhrO2NkJuJdogy6Te2ESWOQSkpncgvoQNgr32DNLAif7r15tmaSADyrObr4WXSaVbgENGXY-OTkjXuXB6hzlj60onWr7MeMUuUJC34OOFXxYPDojtHepH5fxmmO6yy9qZuEb4YWJua1_12J6RORNEiK05F0G5SIL9GWRr1nKQPuC7S1GPTHpd_TeUH-7TMjyScE7lNw36cmc1ntIPSCJQcA07t-i1iyRKB5EZHi80j8wSRmvgftX1cUAwbG0JK9mF7nTDrrYncxE19KB_74xQrq3cTfrYVpddIM1oqTlzzNU1eA8MDaS2BdY06OMk8b1aJ1t7GWETDJcmZq_PZNdl-aBCzkL05FqvK2mo015DWf_Dl0-va5Qb-1yf-r35aPl_2djH2JVIDOKQ95EYS_kbMyCNPClunL-wOOjJ3xcdkCFZaN8dMojofgnPbS0dC0HZoGVLJckttSE8e2XY97BL2JC2SFaAaA7I8jnQ8nnbbT5QYpbPzRqHcOiGpqFvICws3wTNFP1THpDnRaXkeLvaDf5hmUKW1Mg1bweV1uMKZBKX88xbW_0rrYy4DDWq4_8MNW0OIIHnbipts5ITJLn7M9_WGkcjLK7LI9uBj1l27s0nt0mw8ACyp3_OWsHQnyMhN0IiLUqVj3OtEZjP2FQyJuR-1V2VGUpvkD7GmUTrl2rdCWangSJZOWBBHjjw6fV-ah-vC594hukjS_vroPREViSdupPIhqMPf3YhxypPCC9I16UCtVPcIAbFmrxcn4nUN9sa-L7qKeXzAW7oo-_2tQgQAwmsZMWImxZFFjb5gy6JTFgFhlugnHA_x9bCt9XKprqvF9ASbMZOXV0JupYzt6KGOtQG0rRfPTZkA-Kd6IADnJwDrI-gAjvlyFTQf1Gym8IO8evR0MNvlo8sibORvruKspIQndwskYCX9Ec8HiY3KmLRgkU41u2mSin5m8WR93-pp-NadivySBECMahqFLgSj8uF7gnndaHpS-0IYqOrIHpIXkXPBoBmhxWGXfgK0QulCxQtKC0sOFrfKp45y68rT6grZLIGr14R1xlN4Bl1jROrPj0UPifydrUN-3BCbMpSUJeIcLDH1dzPB-pEDbM27WWz23KtZDjKIYKMmZAIyfZebEy3vmyqutSYpKU9idRvmlAWeykZOzSO89s44svAeGuH17ebIIDM0zsxc1Kt5dlwWNbItOT8q5EzL9UzMEZUkU1NxLVStMG0q1TPe_76K6lXKANPG4FlFsz0Ja_igM5JOIMqac4yvoo4_5vMZQZ3Y2Jo4z8p4eRBXp6tEz05cf8uBc7V6WOqJWjNAF8kp6XtkfHZjyBCxjzLuVeyC-o1XjAXXY7EJefhFbAEA6OhsGG5-9sLgcI16TCI418G5kKYIYi7JUZhUnyRjCGfXOuSoS5rkAvHcJ0nN2wAWBpBHOq_uwSBMFjgbSOBl_iRCMLTNZFpqGc4IlioThz8R4587cum9Bt32_cDCZOX1CTKYntSulQXeLuyyQJujk3PmWm0sLdjLFdu14DWPJ_SxKfI-pSwTXi7DR_qoGDDnsDzhcMUQvYZiO93eKi0AK_g2Y0X4SriT6sLlalaq1fSXACNDJKmV9QfcrrTc7iQkbPfZdI3vq41F84wPh8krEEmARkB5wl8M2006rUJjeuXoj5JOMFVpmPJH2ti2s0qVqpCdrVB5TT0C8_9lVSftWceYTXj6wGRyjmPuLQO5FVCzSTLW7XaXF4HcsYK_eR799gUJLVufGBLeF4vX-oaYn6BsrYQKmn6GHDrNdil_gfICVaZtHiMKzazpPaL5l2BDnkhsiKToYx7f4iQcW4ylFlb-jbzXnRM8TvnFcwImroQPnVGEEsNNDIOtqOHvFVOyiA2CfXGf2ZBjsGXtzVocduWJ24imSndqzyvENntHfNCBVcFGOvzrEkVtlegD1UoULgslACPDfNGR65vuEoqk_UXvvgOL8bZWmBrOGJp3qHgXYgxMqckyyzcMTbQGgB78im1Xt2X7R4caijqroTsDSLr3G8uMmCxgTUZavQmRM5s8PQZWeR9s1DG8jVdACUkL6XFCKpzQ3xnOA0A3WP_gzMxBYQ2UMFoCySfxXlsdtO2_-9Zna5r0qLReCNBlwm7SHpSDNsG70vzLl-wkvkIMsfAj0vjSzqCbITEjJN_IJP6hl3HGGOWpskqr_fm0p6H_l5-2OahWRs08lsLgFWj-zCO1YAT4Yq5HaEh4h616jTP1FM6Xn8jQcWVBs3kOZtX4muT4DuHr8PxibfTepCXCdeYFbcb_1zUyj9QHcfXr88704SgK50eUtk2TODKzBwXqo_ltA44MsIT_tb11vaQTkthSCJL5iu9NQ_5EcIoqXPwfHYJR7neYWoEPqdChvE_Vy6S7sspeQOXe5obOL1jxn5FLugSGOriHGOuhgFPDhjoNLujRU3da6pRcupLP5nWLb_fr3ebj71GsO2JDWOjaVfZsmBP3RlTmrmclzdTPfIioqTlkmTIGdQYiSdSXL6EYqoQwSEc8hQ63nNhcrTUrZxOOdgxFDOlmi72TV6H5PWA=",
  "id": "rs_0515d5cdd5bca4e8016ab43280477487d0addf4e28a7cd7554",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.344,\"right_y\":0.283,\"right_z\":0.107,\"right_pitch\":0.4,\"right_roll\":0},\"note\":\"The ear grasp also closed empty; the overhead view now shows the gripper to the right and in front of the toy’s head. I’ll reopen and reposition directly over the head, with a less rolled wrist, for a final pickup attempt.\"}",
  "call_id": "call_XBkQdIU3wN8tZGXaU6Ih8Jk4",
  "id": "fc_0515d5cdd5bca4e8016ab43283572c87d0a54e7863c84840db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XBkQdIU3wN8tZGXaU6Ih8Jk4",
  "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]: [-0.0975, 0.6415, 0.3923, -0.2028, -0.1799, -0.0383, 0.9966, 0.9077, 1.8233, 0.5571, 0.9489, 0.6228, 0.062, 0.9944]\nstate[eef_state]: left_x=0.2824 left_y=0.0077 left_z=0.1614 left_yaw=0.0595 left_pitch=0.1336 left_roll=0.0638 left_gripper=0.9966 right_x=0.3368 right_y=0.2696 right_z=0.0855 right_yaw=0.3192 right_pitch=0.3255 right_roll=-0.1085 right_gripper=0.9944\nstate[joint_eff]: [-0.0479, -0.335, 7.1179, 1.9658, -0.0757, -0.0415, -0.0171, -0.6222, -6.9812, 6.7761, 2.3419, 0.149, 0.1783, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a40eb036083dbbeb8f81b6d623962db602447c43d69943245fa9bfbd16586e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b514345abc8e521c9aad2d73e6f8c1b63ad6ab15bacfa1eb0c8aafe644ca335",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f1bb983016c6524424fe644ad8a13d42ffa5a1c54402a5faf69a505cd4dff66",
      "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 39 attempt 0 · /responses · status 200 · 4.115 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 142 changed as sent

message 150 changed as sent

message 154 changed as sent

message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0978, 0.6403, 0.3923, -0.1684, -0.1799, -0.038, 0.9966, 0.9211, 1.5089, 0.4011, 0.7116, 0.8547, -0.1101, 0.9945]\nstate[eef_state]: left_x=0.2858 left_y=0.0073 left_z=0.1693 left_yaw=0.0597 left_pitch=0.1687 left_roll=0.0585 left_gripper=0.9966 right_x=0.3081 right_y=0.1912 right_z=0.1115 right_yaw=0.2469 right_pitch=0.2865 right_roll=-0.3984 right_gripper=0.9945\nstate[joint_eff]: [-0.1846, -0.2393, 7.4325, 1.873, -0.0904, -0.0464, -0.0122, -0.212, -6.0103, 4.9983, 1.8632, 0.1197, -0.0366, 0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0978, 0.6415, 0.3923, -0.1879, -0.1799, -0.0383, 0.9966, 0.9676, 1.8233, 0.4179, 0.9108, 0.881, -0.131, 0.0201]\nstate[eef_state]: left_x=0.2839 left_y=0.0075 left_z=0.1647 left_yaw=0.0594 left_pitch=0.1483 left_roll=0.0615 left_gripper=0.9966 right_x=0.3057 right_y=0.2099 right_z=0.0494 right_yaw=0.2983 right_pitch=0.2115 right_roll=-0.4909 right_gripper=0.0201\nstate[joint_eff]: [-0.0615, -0.212, 7.1453, 1.8926, -0.105, -0.0855, -0.0171, -0.3214, -7.7744, 3.6855, 1.5751, 0.1245, 0.0415, 0.8669]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0975, 0.6415, 0.3923, -0.2028, -0.1799, -0.0383, 0.9966, 0.9077, 1.8233, 0.5571, 0.9489, 0.6228, 0.062, 0.9944]\nstate[eef_state]: left_x=0.2824 left_y=0.0077 left_z=0.1614 left_yaw=0.0595 left_pitch=0.1336 left_roll=0.0638 left_gripper=0.9966 right_x=0.3368 right_y=0.2696 right_z=0.0855 right_yaw=0.3192 right_pitch=0.3255 right_roll=-0.1085 right_gripper=0.9944\nstate[joint_eff]: [-0.0479, -0.335, 7.1179, 1.9658, -0.0757, -0.0415, -0.0171, -0.6222, -6.9812, 6.7761, 2.3419, 0.149, 0.1783, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a40eb036083dbbeb8f81b6d623962db602447c43d69943245fa9bfbd16586e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b514345abc8e521c9aad2d73e6f8c1b63ad6ab15bacfa1eb0c8aafe644ca335",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f1bb983016c6524424fe644ad8a13d42ffa5a1c54402a5faf69a505cd4dff66",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDKIEs17Tbq7LWUOrX12aDysTZNueLfRIAZszrvXO_gmyzOczxn4zPHNdKNa0uwIT5d-4WY2llYjEcwhq257ekdqoRppdKGn9w-Iopd-TWSrborT6IhWxgiMFztzXe4wvb1AcUCZmQnIfoZUdLhNE6Jgc0RSZKLfM44k9YwHWz7otHvj_qhS01KSrJIUNH_nPo7JWHpmu3e0o6xSI4HfEvg5cuDIQoo3-oGP_lcGWLzRGZqw51KkwUMwi5K1j_VyjzuX2H96ndHypf3pgD5OmI4NxTOTpERo8eG3GyalUNQ8aRidZmmZoZXn0189eaGL_w2_JK5hLzf94mX8eaKBoYVvDT3NDSQ5ZMnDYZaVk4xyPATINFU2_9HGwkl2xvobtc0y0_dpr7aT1FAD3taB_fZ5uWJpuyQaVE4JOxwARxaNOj5uyhqroQ7F3WIJbsmRSyYSQ6reLjH7qwtZKJ1T_g511Zm1TWnn_67CZj24hjPpHgHN5ozlFr6cjbiQt4yZNV4AO_zZDMuwVG01XCLDggAGlLAs-qHfCZYCDwANwkFxPJwiuYdp2rYU4ZuBBVoLljH88QWHIpm3KZRi5mhh8WDUnQFcWAd68DSyJMOsbR6iAd3lBPeTSpVNEkU_taGkMBVEhcfMNrlAWYbPXVUSOUFRAvYBTVWC_E_sm7jodlen2wwtbdjulsyWETsffGFbtCKshCDI0nPbnK2VtVheLMJdsIMnY6ijPTkCKLmh8n5W92MfV3Abu27rBv7ZHup1oGMJ757IEGm6xjBkn9V3c2Me9-XgPsKgAwWjeijbwRKI0eW3FmBEsznLjj6KkVjjNl-UpwfjMky5r5uaPPwW8BlKIj_kZzVSFwSpMKo_3pzL_tfPQ2k6wXI0tdtMhnKRBDoxkpHG5IEc0XQkSC_1lLqqgo--S8BbIk_qsGXEg29VjtnWCigEueSwJhYgmepxrzNJbTS9V4dZ-Eukd8wROTwEY4K_NWrJFPs8BFMhOGLXjQdXVz3fBRP0jaoQXFSyxOhYOik-shr56JQlyJEcMESi4f1dlSDmXXODWH37buufL-aKNPFDIPhPA38_jyylwNut_b7qqemMKFFJqnJif_NXBimrhl8je3yEZRdZemW0puBAHTVRAQf7rlZxRkg-3Fuu_GulGYcL2Y4JSX8WYZdrma8QeJM0ruoFbHwvD4sAu08e1haVBxFbeslTe00QP1KZ2tU4ytJsVSPNNGPM_v-KDL9IxVCKDxEz5YCAokt2UbFRwHSp_9uJvkRLSjD9OZtXKv_EtyRKdPgCRmrK-rOJRXBm6f9ZgEo5dXMpVAs9THfeWaq_kFyL-7JDDq9yv2tt97cFGuYgTMION1o2TjbeD0TumEo9JOxwcBRnkHPiryWlpIX3RV_Upe7Yog1PkCOdLpHDYzDUprmtyXEQ54M48rbXQjE2ExydJgkGP5kHYFBVkC2U9x5r2qP5vJOvcD-pIjFBpfohYFqcgMDnFX-P4HPDHlSBbuLUsmXk8smm1AtXL0smrx2QdBJicAluJ8geuEguchIhZrQc9CDCPcyVGnRq4hsx0BD39MBeBePHlYvYzZvARtycAzht7rqVzihrW8bD7i8YSZ0NFmaisk1nbA==",
  "id": "rs_0515d5cdd5bca4e8016ab43286821887d0891124034cb95174",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.316,\"right_y\":0.309,\"right_z\":0.057,\"right_pitch\":0.34},\"note\":\"The right gripper is now above the toy’s head, but slightly to its right in the overhead view. I’ll move down and left toward the head while staying below the edge of the safe door.\"}",
  "call_id": "call_icdlXjPf8fNsbRwV5meKqBW1",
  "id": "fc_0515d5cdd5bca4e8016ab432878b4487d0884e8e8c46ed2971",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_icdlXjPf8fNsbRwV5meKqBW1",
  "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]: [-0.0978, 0.6415, 0.3923, -0.2176, -0.1802, -0.0383, 0.9966, 1.0298, 1.9652, 0.6308, 1.092, 0.7258, 0.107, 0.9952]\nstate[eef_state]: left_x=0.2808 left_y=0.0079 left_z=0.1582 left_yaw=0.0591 left_pitch=0.119 left_roll=0.0663 left_gripper=0.9966 right_x=0.3208 right_y=0.3132 right_z=0.0833 right_yaw=0.3069 right_pitch=0.4037 right_roll=-0.0369 right_gripper=0.9952\nstate[joint_eff]: [-0.1573, -0.3487, 7.1179, 1.9658, -0.1197, -0.0464, -0.0171, 0.1846, -5.9145, 3.959, 0.779, 0.0122, -0.0855, 0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0329a2d0720545080e5009176ed8acb661b1efde23cdab11d6a40b3bb519cfad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72d3ed27e49334cce2580e752f39e4d335c884140cb95f898214a2e99e5f0ad1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd06d1ee2f61c1cfdaa8e6b13141fd35d85f18b51264d893bb65ecb4df1e96e5",
      "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]