adhoc

completed
2026-09-23T20:24:36.642524+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
200.6 s
total steps
295
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 back-center, with a white plush on the left, a yellow object on the right, and a brown plush nearer the front. I’ll bring the left gripper above the white plush to line up a grasp.
move_to
left_x0.3350left_y-0.0150left_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7918, 0.6033, -0.392, -0.0219, -0.0341, 0.9994, -0.0212, 0.7944, 0.6075, -0.403, -0.0193, -0.033, 0.9996] state[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1778 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2921 right_y=0.0008 right_z=0.1767 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9996 state[joint_eff]: [-0.6359, -1.5385, 10.3043, 1.9267, -0.0073, 0.1685, -0.0757, -0.4581, -1.7162, 9.6889, 1.9951, -0.0415, 0.1636, -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":{"left_x":0.335,"left_y":-0.015,"left_z":0.12},"note":"The safe is open near the back-center, with a white plush on the left, a yellow object on the right, and a brown plush nearer the front. I’ll bring the left gripper above the white plush to line up a grasp."})
tool
executing move_to over 4 steps (0.4s)
step 4
top_cam
camera top_cam step 4
left_cam
camera left_cam step 4
right_cam
camera right_cam step 4
assistant
agent noteThe white plush is now prominent in the left wrist view but sits to the right of the jaw column; the left hand also settled lower than commanded. I’ll shift slightly right and forward at a similar height to center the plush before descending.
move_to
left_x0.3500left_y-0.0430left_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0975, 1.0546, 0.4755, -0.1375, -0.0708, -0.0685, 0.9993, -0.0212, 0.8001, 0.6128, -0.4332, -0.0196, -0.0303, 0.9996] state[eef_state]: left_x=0.3135 left_y=-0.0145 left_z=0.0961 left_yaw=-0.0178 left_pitch=-0.1343 left_roll=0.0088 left_gripper=0.9993 right_x=0.2889 right_y=0.0009 right_z=0.1715 right_yaw=-0.0012 right_pitch=-0.0301 right_roll=0.003 right_gripper=0.9996 state[joint_eff]: [-0.2667, -4.4786, 7.5556, 2.1074, -0.1441, -0.1148, -0.0269, -0.1983, -1.6479, 6.5846, 1.9853, -0.0757, -0.0415, -0.0073] camera 'top_cam' (step 4): [image omitted: streamed camera frame] camera 'left_cam' (step 4): [image omitted: streamed camera frame] camera 'right_cam' (step 4): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.043,"left_z":0.11},"note":"The white plush is now prominent in the left wrist view but sits to the right of the jaw column; the left hand also settled lower than commanded. I’ll shift slightly right and forward at a similar height to center the plush before descending."})
tool
executing move_to over 3 steps (0.3s)
step 7
top_cam
camera top_cam step 7
left_cam
camera left_cam step 7
right_cam
camera right_cam step 7
assistant
agent noteThe plush’s head is near the jaw column and its body is just right of it in the wrist view. I’ll lower the open jaws beside its body, with a small rightward correction, to prepare the grasp.
move_to
left_x0.3400left_y-0.0550left_z0.0550
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1997, 1.2186, 0.5747, -0.1101, -0.1291, -0.128, 0.9993, -0.0212, 0.8032, 0.6094, -0.4511, -0.0196, -0.0338, 0.9996] state[eef_state]: left_x=0.3382 left_y=-0.0416 left_z=0.093 left_yaw=-0.0372 left_pitch=-0.166 left_roll=0.0079 left_gripper=0.9993 right_x=0.286 right_y=0.001 right_z=0.1655 right_yaw=0.0008 right_pitch=-0.0545 right_roll=0.0008 right_gripper=0.9996 state[joint_eff]: [0.1846, -5.3812, 9.0325, 1.7265, -0.3443, 0.0562, -0.0122, -0.3487, -1.3744, 7.3231, 2.044, -0.0415, -0.0171, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 7): [image omitted: streamed camera frame] camera 'left_cam' (step 7): [image omitted: streamed camera frame] camera 'right_cam' (step 7): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.055,"left_z":0.055},"note":"The plush’s head is near the jaw column and its body is just right of it in the wrist view. I’ll lower the open jaws beside its body, with a small rightward correction, to prepare the grasp."})
tool
executing move_to over 3 steps (0.3s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe open left jaws are low beside the white plush, with its body spanning the jaw column. I’ll close on the body and check the gripper reading for a secure hold.
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]: [-0.2508, 1.3281, 0.5022, 0.004, -0.1562, -0.1562, 0.9993, -0.0212, 0.8043, 0.6094, -0.4591, -0.0193, -0.0338, 0.9996] state[eef_state]: left_x=0.3306 left_y=-0.0526 left_z=0.0498 left_yaw=-0.0472 left_pitch=-0.2289 left_roll=0.0192 left_gripper=0.9993 right_x=0.2849 right_y=0.001 right_z=0.1637 right_yaw=0.0005 right_pitch=-0.0637 right_roll=0.0007 right_gripper=0.9996 state[joint_eff]: [-0.1709, -5.4632, 6.3795, 2.127, -0.2466, -0.1294, -0.0122, -0.1983, -1.2923, 6.9675, 1.7509, -0.0317, -0.0269, -0.0073] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The open left jaws are low beside the white plush, with its body spanning the jaw column. I’ll close on the body and check the gripper reading for a secure hold."})
tool
executing move_to over 10 steps (1.0s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe left gripper closed almost completely, so it missed the plush; the wrist view still shows the plush just beyond and to the right of the jaws. I’ll reopen and shift a few centimeters forward and right for one corrected attempt.
move_to
left_gripper1.0000left_x0.3560left_y-0.0720left_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2588, 1.3529, 0.4747, 0.0677, -0.1707, -0.1734, 0.0097, -0.0212, 0.8043, 0.6094, -0.4782, -0.0196, -0.0338, 0.9996] state[eef_state]: left_x=0.3314 left_y=-0.053 left_z=0.0428 left_yaw=-0.0338 left_pitch=-0.2152 left_roll=0.0151 left_gripper=0.0097 right_x=0.282 right_y=0.0011 right_z=0.1599 right_yaw=0.0008 right_pitch=-0.0828 right_roll=0.0014 right_gripper=0.9996 state[joint_eff]: [-0.1846, -5.2308, 6.735, 1.8095, -0.0952, 0.0415, 0.779, -0.1846, -1.0872, 6.9538, 1.8779, -0.0659, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.356,"left_y":-0.072,"left_z":0.045},"note":"The left gripper closed almost completely, so it missed the plush; the wrist view still shows the plush just beyond and to the right of the jaws. I’ll reopen and shift a few centimeters forward and right for one corrected attempt."})
tool
executing move_to over 10 steps (1.0s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteAfter the correction, the plush’s torso is centered between the open jaws in the left wrist view. I’ll close again and use the settled jaw gap to tell whether this grasp caught it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3035, 1.4612, 0.5484, 0.0452, -0.2001, -0.2184, 0.9956, -0.0212, 0.8043, 0.6094, -0.5003, -0.0193, -0.0338, 0.9996] state[eef_state]: left_x=0.3415 left_y=-0.0664 left_z=0.0319 left_yaw=-0.0248 left_pitch=-0.2645 left_roll=0.0199 left_gripper=0.9956 right_x=0.2785 right_y=0.0011 right_z=0.1557 right_yaw=0.0005 right_pitch=-0.1049 right_roll=0.0016 right_gripper=0.9996 state[joint_eff]: [-0.6906, -4.1915, 8.2803, 1.7705, -0.188, 0.0611, -0.1392, -0.1299, -1.2239, 6.9402, 1.8046, -0.0073, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"After the correction, the plush’s torso is centered between the open jaws in the left wrist view. I’ll close again and use the settled jaw gap to tell whether this grasp caught it."})
tool
executing move_to over 10 steps (1.0s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe second close was also empty. Rechecking the overhead view, the gripper still overlaps the plush’s near edge rather than its center, so I’ll raise it and reposition farther forward and right before considering another descent.
move_to
left_gripper1.0000left_x0.3900left_y-0.0900left_z0.1050
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3061, 1.4651, 0.5545, 0.0406, -0.2001, -0.2222, 0.0095, -0.0212, 0.8043, 0.6094, -0.5232, -0.0193, -0.0338, 0.9996] state[eef_state]: left_x=0.3422 left_y=-0.0676 left_z=0.0321 left_yaw=-0.0251 left_pitch=-0.2667 left_roll=0.0179 left_gripper=0.0095 right_x=0.2748 right_y=0.0012 right_z=0.1514 right_yaw=0.0006 right_pitch=-0.1278 right_roll=0.0021 right_gripper=0.9996 state[joint_eff]: [0.1573, -5.7231, 5.1624, 1.5311, -0.105, 0.0171, 0.7155, -0.1983, -1.2239, 6.9128, 1.7998, -0.0415, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.39,"left_y":-0.09,"left_z":0.105},"note":"The second close was also empty. Rechecking the overhead view, the gripper still overlaps the plush’s near edge rather than its center, so I’ll raise it and reposition farther forward and right before considering another descent."})
tool
executing move_to over 10 steps (1.0s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe new overhead view puts the left fingertips over the plush rather than beside it, and its torso has moved to the bottom of the wrist image. I’ll lower straight down at this alignment before closing.
move_to
left_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3248, 1.5082, 0.8856, -0.2783, -0.2073, -0.2508, 0.9952, -0.0208, 0.8043, 0.6094, -0.5541, -0.0193, -0.0338, 0.9996] state[eef_state]: left_x=0.3808 left_y=-0.0861 left_z=0.0911 left_yaw=-0.0187 left_pitch=-0.2942 left_roll=0.0134 left_gripper=0.9952 right_x=0.2697 right_y=0.0014 right_z=0.1458 right_yaw=0.0011 right_pitch=-0.1587 right_roll=0.0028 right_gripper=0.9996 state[joint_eff]: [-0.6632, -5.7915, 9.1966, 1.409, -0.2613, 0.0708, -0.0611, -0.0479, -0.9368, 7.0085, 1.8486, -0.0366, -0.0513, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.035},"note":"The new overhead view puts the left fingertips over the plush rather than beside it, and its torso has moved to the bottom of the wrist image. I’ll lower straight down at this alignment before closing."})
tool
executing move_to over 4 steps (0.4s)
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 noteThe left fingertips are low over the plush’s torso, which fills the bottom-center of the wrist view. I’ll close here and look for a nonzero settled jaw gap.
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]: [-0.3271, 1.6146, 0.762, -0.1032, -0.2043, -0.2531, 0.9963, -0.0212, 0.8043, 0.6094, -0.5774, -0.0193, -0.0338, 0.9996] state[eef_state]: left_x=0.3708 left_y=-0.0842 left_z=0.0324 left_yaw=-0.0168 left_pitch=-0.3473 left_roll=0.027 left_gripper=0.9963 right_x=0.2658 right_y=0.0014 right_z=0.1416 right_yaw=0.0008 right_pitch=-0.1819 right_roll=0.0033 right_gripper=0.9996 state[joint_eff]: [0.0479, -6.0103, 5.2034, 1.4237, -0.1294, -0.022, 0.105, -0.1162, -0.9915, 6.8581, 1.8291, -0.0562, -0.0464, -0.0122] 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":{"left_gripper":0},"note":"The left fingertips are low over the plush’s torso, which fills the bottom-center of the wrist view. I’ll close here and look for a nonzero settled jaw gap."})
tool
executing move_to over 10 steps (1.0s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe gripper stopped at a small gap near the empty-gripper threshold, so the hold is uncertain. I’ll lift it clear of the table and check whether the white plush rises with it.
move_to
left_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3244, 1.615, 0.7544, -0.083, -0.2226, -0.2588, 0.0322, -0.0208, 0.8043, 0.6094, -0.6121, -0.0193, -0.0338, 0.9996] state[eef_state]: left_x=0.3729 left_y=-0.0805 left_z=0.033 left_yaw=0.0035 left_pitch=-0.3309 left_roll=0.0343 left_gripper=0.0322 right_x=0.2597 right_y=0.0016 right_z=0.1356 right_yaw=0.0013 right_pitch=-0.2166 right_roll=0.0041 right_gripper=0.9996 state[joint_eff]: [-0.5402, -6.9128, 6.5299, 1.1453, 0.0513, 0.0611, 0.7009, -0.0752, -0.9641, 6.8444, 1.8291, -0.0317, -0.0513, -0.0073] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.14},"note":"The gripper stopped at a small gap near the empty-gripper threshold, so the hold is uncertain. I’ll lift it clear of the table and check whether the white plush rises with it."})
tool
executing move_to over 7 steps (0.7s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteThe white plush rose with the gripper despite the small jaw gap, so the grasp is secure enough to carry. I’ll move it high over the red safe’s open compartment, clearing the rim on the way.
move_to
left_x0.4100left_y-0.2250left_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.326, 1.4803, 1.0069, -0.5064, -0.2222, -0.271, 0.0355, -0.0212, 0.8043, 0.6094, -0.6338, -0.0196, -0.0338, 0.9996] state[eef_state]: left_x=0.3704 left_y=-0.0803 left_z=0.1155 left_yaw=0.0131 left_pitch=-0.3649 left_roll=0.0388 left_gripper=0.0355 right_x=0.2557 right_y=0.0016 right_z=0.1319 right_yaw=0.0014 right_pitch=-0.2384 right_roll=0.0049 right_gripper=0.9996 state[joint_eff]: [-0.2393, -8.5402, 8.8957, 1.4969, -0.1587, 0.0708, 0.6178, -0.0205, -0.7726, 6.8034, 1.6777, -0.0513, -0.0611, -0.0122] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.225,"left_z":0.19},"note":"The white plush rose with the gripper despite the small jaw gap, so the grasp is secure enough to carry. I’ll move it high over the red safe’s open compartment, clearing the rim on the way."})
tool
executing move_to over 13 steps (1.3s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe white plush is hanging over the safe’s red tray, with room inside the visible rim. I’ll lower it slowly toward the bottom of the compartment before releasing it.
move_to
left_z0.0750
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6456, 1.8641, 1.7023, -0.9306, -0.3649, -0.5579, 0.038, -0.0212, 0.8082, 0.6094, -0.6575, -0.0193, -0.0338, 0.9996] state[eef_state]: left_x=0.4043 left_y=-0.2212 left_z=0.1759 left_yaw=0.001 left_pitch=-0.3985 left_roll=0.0362 left_gripper=0.038 right_x=0.2514 right_y=0.0017 right_z=0.1271 right_yaw=0.0012 right_pitch=-0.2658 right_roll=0.0052 right_gripper=0.9996 state[joint_eff]: [-0.3761, -9.4017, 9.0051, 0.9255, -0.4615, -0.0171, 0.5201, -0.0752, -1.2923, 6.7761, 1.6532, -0.0464, -0.0366, -0.0073] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.075},"note":"The white plush is hanging over the safe’s red tray, with room inside the visible rim. I’ll lower it slowly toward the bottom of the compartment before releasing it."})
tool
executing move_to over 7 steps (0.7s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe white plush is down inside the red compartment and the left gripper has reached placement height. I’ll open the jaws to leave it there.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6472, 1.8965, 1.3762, -0.6193, -0.3607, -0.5617, 0.0391, -0.0208, 0.8101, 0.6094, -0.6762, -0.0193, -0.0338, 0.9996] state[eef_state]: left_x=0.3949 left_y=-0.2158 left_z=0.0787 left_yaw=0.0114 left_pitch=-0.4382 left_roll=0.0621 left_gripper=0.0391 right_x=0.2479 right_y=0.0018 right_z=0.1237 right_yaw=0.0017 right_pitch=-0.2864 right_roll=0.0057 right_gripper=0.9996 state[joint_eff]: [-0.0479, -8.9915, 6.2017, 1.2527, -0.2564, 0.0073, 0.3101, -0.0342, -1.2239, 6.9675, 1.5849, -0.0415, -0.022, -0.0122] camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The white plush is down inside the red compartment and the left gripper has reached placement height. I’ll open the jaws to leave it there."})
tool
executing move_to over 10 steps (1.0s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteThe plush is visible on the safe’s red floor after the jaws opened. I’ll lift the left gripper clear of the tray before withdrawing it so it does not disturb the plush or catch the rim.
move_to
left_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6476, 1.9095, 1.3556, -0.6304, -0.3595, -0.5629, 0.9958, -0.0212, 0.8101, 0.6094, -0.68, -0.0193, -0.0338, 0.9996] state[eef_state]: left_x=0.3876 left_y=-0.2108 left_z=0.0652 left_yaw=0.0244 left_pitch=-0.474 left_roll=0.0912 left_gripper=0.9958 right_x=0.2472 right_y=0.0018 right_z=0.1231 right_yaw=0.0014 right_pitch=-0.2902 right_roll=0.0058 right_gripper=0.9996 state[joint_eff]: [-0.0479, -10.988, 7.7607, 1.0623, -0.2418, -0.0171, -0.1245, -0.0068, -1.0735, 6.7761, 1.4579, -0.0317, -0.0415, -0.0122] camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.18},"note":"The plush is visible on the safe’s red floor after the jaws opened. I’ll lift the left gripper clear of the tray before withdrawing it so it does not disturb the plush or catch the rim."})
tool
executing move_to over 8 steps (0.8s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteThe white plush remains on the red tray near its front edge. I’ll park the left arm and bring the right open gripper above the yellow object, keeping the arms on separate sides of the safe.
move_to
left_x0.2930left_y0.0000left_z0.1800right_x0.3450right_y0.2050right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6476, 1.8889, 1.7088, -1.0286, -0.3561, -0.5743, 0.9969, -0.0212, 0.8158, 0.6075, -0.7017, -0.0193, -0.0338, 0.9996] state[eef_state]: left_x=0.3884 left_y=-0.2121 left_z=0.1577 left_yaw=0.0369 left_pitch=-0.4943 left_roll=0.0994 left_gripper=0.9969 right_x=0.2427 right_y=0.0019 right_z=0.1177 right_yaw=0.0016 right_pitch=-0.3196 right_roll=0.0065 right_gripper=0.9996 state[joint_eff]: [-0.2256, -11.3846, 8.6496, 1.0281, -0.2662, 0.0708, 0.105, -0.1299, -1.3197, 6.9675, 1.58, -0.0415, -0.0611, -0.0122] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.293,"left_y":0,"left_z":0.18,"right_x":0.345,"right_y":0.205,"right_z":0.16},"note":"The white plush remains on the red tray near its front edge. I’ll park the left arm and bring the right open gripper above the yellow object, keeping the arms on separate sides of the safe."})
tool
executing move_to over 19 steps (1.9s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe yellow object is just ahead of the right fingertips, and its wrist image has plenty of space below it. I’ll advance a few centimeters and lower modestly, then check its position relative to the jaw column.
move_to
right_x0.3700right_y0.2100right_z0.1150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1036, 1.2369, 1.1271, -0.9909, -0.1425, -0.1055, 0.9971, 0.6949, 1.5715, 1.2358, -0.7483, 0.3752, 0.5304, 0.9996] state[eef_state]: left_x=0.2959 left_y=-0.0019 left_z=0.176 left_yaw=0.0785 left_pitch=-0.5067 left_roll=0.0962 left_gripper=0.9971 right_x=0.3317 right_y=0.1969 right_z=0.1449 right_yaw=0.0258 right_pitch=-0.3758 right_roll=-0.0344 right_gripper=0.9996 state[joint_eff]: [0.1573, -5.094, 6.2838, 1.2576, -0.0904, 0.1441, 0.0024, 0.2667, -6.9128, 8.7316, 1.3211, 0.3687, 0.2906, -0.0122] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.21,"right_z":0.115},"note":"The yellow object is just ahead of the right fingertips, and its wrist image has plenty of space below it. I’ll advance a few centimeters and lower modestly, then check its position relative to the jaw column."})
tool
executing move_to over 3 steps (0.3s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteThe yellow object is aligned laterally, but it remains ahead of the fingertips; the previous forward move was partly offset in the wrist view by the descent. I’ll advance radially at a steady height to bring the jaws over it.
move_to
right_x0.3950right_y0.2000right_z0.1150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1032, 1.235, 1.1244, -0.9997, -0.1314, -0.0933, 0.9971, 0.6601, 1.7012, 1.2533, -0.6952, 0.358, 0.5064, 0.9996] state[eef_state]: left_x=0.2933 left_y=-0.0035 left_z=0.1743 left_yaw=0.0618 left_pitch=-0.5185 left_roll=0.0934 left_gripper=0.9971 right_x=0.3508 right_y=0.1985 right_z=0.1076 right_yaw=0.0029 right_pitch=-0.4325 right_roll=-0.0751 right_gripper=0.9996 state[joint_eff]: [-0.0615, -3.3846, 6.7077, 1.16, -0.2466, -0.0464, -0.0122, -0.1573, -8.8274, 8.9641, 1.3309, 0.2027, 0.0171, -0.0122] camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.395,"right_y":0.2,"right_z":0.115},"note":"The yellow object is aligned laterally, but it remains ahead of the fingertips; the previous forward move was partly offset in the wrist view by the descent. I’ll advance radially at a steady height to bring the jaws over it."})
tool
executing move_to over 4 steps (0.4s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteThe yellow object has moved farther down the wrist image as the right gripper advanced, but it is still well above the jaw tips. I’ll advance another few centimeters at the same height before the final descent.
move_to
right_x0.4300right_y0.2000right_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1032, 1.2358, 1.1244, -1.0035, -0.1345, -0.1055, 0.9971, 0.5961, 1.8084, 1.396, -0.738, 0.3267, 0.4469, 0.9996] state[eef_state]: left_x=0.2925 left_y=-0.0029 left_z=0.1738 left_yaw=0.0728 left_pitch=-0.5219 left_roll=0.091 left_gripper=0.9971 right_x=0.3836 right_y=0.196 right_z=0.1088 right_yaw=-0.0028 right_pitch=-0.4577 right_roll=-0.0879 right_gripper=0.9996 state[joint_eff]: [-0.1846, -3.9316, 6.3658, 1.116, -0.0708, 0.0806, -0.0122, -0.1983, -8.5402, 8.0205, 1.1551, 0.1783, 0.0415, -0.0122] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.2,"right_z":0.11},"note":"The yellow object has moved farther down the wrist image as the right gripper advanced, but it is still well above the jaw tips. I’ll advance another few centimeters at the same height before the final descent."})
tool
executing move_to over 4 steps (0.4s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe yellow object remains centered left-to-right and is approaching the jaw area in the wrist view. I’ll make one more forward approach while keeping the gripper above it and clear of the safe’s nearby rim.
move_to
right_x0.4700right_y0.2000right_z0.1050
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1032, 1.2358, 1.1244, -1.0103, -0.1345, -0.1089, 0.9971, 0.5465, 1.9469, 1.5558, -0.7944, 0.3016, 0.3985, 0.9996] state[eef_state]: left_x=0.291 left_y=-0.0027 left_z=0.173 left_yaw=0.0756 left_pitch=-0.5285 left_roll=0.0906 left_gripper=0.9971 right_x=0.415 right_y=0.1952 right_z=0.0985 right_yaw=-0.0121 right_pitch=-0.5024 right_roll=-0.114 right_gripper=0.9996 state[joint_eff]: [-0.3077, -4.0547, 6.3521, 1.1111, -0.0952, 0.0122, -0.0122, -0.4171, -10.2769, 8.5949, 1.2088, 0.1343, -0.0269, -0.0122] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.2,"right_z":0.105},"note":"The yellow object remains centered left-to-right and is approaching the jaw area in the wrist view. I’ll make one more forward approach while keeping the gripper above it and clear of the safe’s nearby rim."})
tool
executing move_to over 5 steps (0.5s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteThe yellow object’s near end is now at the right jaw area, and the overhead view shows the fingers nearly above it. I’ll lower while advancing slightly so the jaws surround its thicker middle rather than just its near tip.
move_to
right_x0.4800right_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1032, 1.2358, 1.1244, -1.0122, -0.1341, -0.1093, 0.9971, 0.4965, 2.1239, 1.8183, -0.9081, 0.276, 0.3485, 0.9996] state[eef_state]: left_x=0.2906 left_y=-0.0027 left_z=0.1728 left_yaw=0.0757 left_pitch=-0.5304 left_roll=0.0904 left_gripper=0.9971 right_x=0.4558 right_y=0.1962 right_z=0.0954 right_yaw=-0.0175 right_pitch=-0.5422 right_roll=-0.1326 right_gripper=0.9996 state[joint_eff]: [-0.1709, -4.041, 6.3521, 1.0818, -0.0806, -0.0073, -0.0122, -0.3761, -11.2068, 8.5675, 0.9695, 0.2173, 0.0122, -0.0122] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_z":0.045},"note":"The yellow object’s near end is now at the right jaw area, and the overhead view shows the fingers nearly above it. I’ll lower while advancing slightly so the jaws surround its thicker middle rather than just its near tip."})
tool
executing move_to over 4 steps (0.4s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteAt grasp height, the yellow object sits slightly left of the jaw column and its thicker end is just short of the fingertip line. I’ll make a small leftward and forward correction before closing.
move_to
right_x0.4850right_y0.2130right_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1032, 1.2358, 1.1244, -1.0149, -0.1345, -0.1097, 0.9971, 0.4755, 2.2208, 1.8099, -0.8261, 0.268, 0.3313, 0.9996] state[eef_state]: left_x=0.29 left_y=-0.0026 left_z=0.1725 left_yaw=0.0766 left_pitch=-0.5329 left_roll=0.0912 left_gripper=0.9971 right_x=0.4706 right_y=0.1937 right_z=0.0523 right_yaw=-0.0276 right_pitch=-0.5675 right_roll=-0.1466 right_gripper=0.9996 state[joint_eff]: [-0.0615, -4.041, 6.3521, 1.0818, -0.0757, -0.0073, -0.0122, -0.3487, -12.2872, 6.0103, 1.0672, 0.1392, -0.0757, -0.0122] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.485,"right_y":0.213,"right_z":0.045},"note":"At grasp height, the yellow object sits slightly left of the jaw column and its thicker end is just short of the fingertip line. I’ll make a small leftward and forward correction before closing."})
tool
executing move_to over 2 steps (0.2s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteThe yellow object is now at the fingertip depth but remains left of center; the short last move did not reach the lateral target. I’ll shift the right hand left a little farther while holding roughly the same grasp height.
move_to
right_y0.2320right_z0.0500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1032, 1.2358, 1.1244, -1.0161, -0.1345, -0.1131, 0.9971, 0.482, 2.2929, 1.8896, -0.8604, 0.2714, 0.326, 0.9996] state[eef_state]: left_x=0.2897 left_y=-0.0026 left_z=0.1724 left_yaw=0.0789 left_pitch=-0.5339 left_roll=0.0896 left_gripper=0.9971 right_x=0.4774 right_y=0.2004 right_z=0.0403 right_yaw=-0.029 right_pitch=-0.5897 right_roll=-0.168 right_gripper=0.9996 state[joint_eff]: [-0.294, -4.041, 6.4615, 1.0525, -0.1294, -0.022, -0.0122, 1.0872, -11.9316, 7.7744, 0.7253, 0.1783, 0.2125, -0.0171] camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.232,"right_z":0.05},"note":"The yellow object is now at the fingertip depth but remains left of center; the short last move did not reach the lateral target. I’ll shift the right hand left a little farther while holding roughly the same grasp height."})
tool
executing move_to over 3 steps (0.3s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe yellow object is centered between the right jaws at table height. I’ll close on it and then verify the hold by 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]: [-0.1032, 1.2358, 1.1244, -1.0187, -0.1345, -0.1131, 0.9971, 0.5003, 2.3154, 1.9324, -0.8993, 0.2714, 0.3401, 0.9996] state[eef_state]: left_x=0.2891 left_y=-0.0025 left_z=0.1721 left_yaw=0.0792 left_pitch=-0.5365 left_roll=0.0902 left_gripper=0.9971 right_x=0.4745 right_y=0.2095 right_z=0.0401 right_yaw=-0.0264 right_pitch=-0.6047 right_roll=-0.1727 right_gripper=0.9996 state[joint_eff]: [-0.212, -3.8222, 6.5846, 1.1111, -0.149, -0.0611, -0.0073, 0.0615, -13.2308, 6.8171, 0.9695, 0.1392, -0.0122, -0.0122] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow object is centered between the right jaws at table height. I’ll close on it and then verify the hold by lifting."})
tool
executing move_to over 10 steps (1.0s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe right gripper settled with a substantial gap around the yellow object, indicating a grasp. I’ll lift it to confirm it moves with the hand and to clear the safe rim for transport.
move_to
right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1032, 1.2358, 1.1244, -1.029, -0.1341, -0.1131, 0.9971, 0.5003, 2.3154, 1.9316, -0.8993, 0.2752, 0.3397, 0.3924] state[eef_state]: left_x=0.2869 left_y=-0.0024 left_z=0.1711 left_yaw=0.0799 left_pitch=-0.5467 left_roll=0.092 left_gripper=0.9971 right_x=0.4746 right_y=0.2088 right_z=0.04 right_yaw=-0.0296 right_pitch=-0.6035 right_roll=-0.1772 right_gripper=0.3924 state[joint_eff]: [-0.1436, -4.0137, 6.3385, 1.1746, -0.1001, -0.0611, -0.0122, -0.2667, -13.4496, 5.641, 0.9499, 0.0952, -0.0269, 0.9695] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.18},"note":"The right gripper settled with a substantial gap around the yellow object, indicating a grasp. I’ll lift it to confirm it moves with the hand and to clear the safe rim for transport."})
tool
executing move_to over 10 steps (1.0s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
assistant
agent noteThe yellow object rose with the right gripper, confirming the grasp. I’ll carry it over the open safe, aiming beside the white plush rather than on top of it.
move_to
right_x0.4150right_y0.3020right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1032, 1.2358, 1.1244, -1.0344, -0.1345, -0.1131, 0.9971, 0.5011, 2.4416, 2.7102, -1.4937, 0.2718, 0.3397, 0.393] state[eef_state]: left_x=0.2857 left_y=-0.0022 left_z=0.1705 left_yaw=0.0809 left_pitch=-0.5519 left_roll=0.0935 left_gripper=0.9971 right_x=0.4802 right_y=0.213 right_z=0.179 right_yaw=-0.0071 right_pitch=-0.5548 right_roll=-0.1395 right_gripper=0.393 state[joint_eff]: [-0.1573, -4.0137, 6.5026, 1.0476, -0.1245, -0.0317, -0.0122, -0.335, -11.5487, 7.2, 0.9158, 0.1245, -0.0562, 0.0513] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.302,"right_z":0.2},"note":"The yellow object rose with the right gripper, confirming the grasp. I’ll carry it over the open safe, aiming beside the white plush rather than on top of it."})
tool
executing move_to over 8 steps (0.8s)
step 181
assistant
agent noteThe yellow object is still held, but the right arm advanced only partway toward the safe on the first transport move. I’ll continue with a smaller sideways move while keeping it raised above the compartment.
move_to
right_x0.4300right_y0.2900right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1032, 1.2358, 1.124, -1.0367, -0.1345, -0.1131, 0.9971, 0.5617, 2.4706, 2.7865, -1.5993, 0.276, 0.3779, 0.3937] state[eef_state]: left_x=0.2851 left_y=-0.0021 left_z=0.1702 left_yaw=0.0812 left_pitch=-0.5545 left_roll=0.0941 left_gripper=0.9971 right_x=0.4545 right_y=0.2334 right_z=0.1792 right_yaw=0.0056 right_pitch=-0.5999 right_roll=-0.1609 right_gripper=0.3937 state[joint_eff]: [-0.212, -4.0, 6.3385, 1.0574, -0.1441, -0.0415, -0.0122, -0.294, -12.506, 7.4051, 1.0525, 0.2515, 0.1197, 0.0611] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.29,"right_z":0.2},"note":"The yellow object is still held, but the right arm advanced only partway toward the safe on the first transport move. I’ll continue with a smaller sideways move while keeping it raised above the compartment."})
tool
executing move_to over 5 steps (0.5s)
step 186
assistant
agent noteThe right arm stalled high beside the safe, with its wrist near its tilt limit. I’ll bring it lower and request a straighter wrist while guiding the yellow object left into the opening.
move_to
right_x0.4300right_y0.2850right_z0.1100right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1032, 1.2358, 1.124, -1.0367, -0.1345, -0.1131, 0.9971, 0.5617, 2.4706, 2.7865, -1.5986, 0.276, 0.3782, 0.3946] state[eef_state]: left_x=0.2851 left_y=-0.0021 left_z=0.1702 left_yaw=0.0812 left_pitch=-0.5545 left_roll=0.0941 left_gripper=0.9971 right_x=0.4546 right_y=0.2335 right_z=0.1793 right_yaw=0.0056 right_pitch=-0.5993 right_roll=-0.1602 right_gripper=0.3946 state[joint_eff]: [-0.335, -3.8085, 6.2974, 1.0281, -0.149, -0.0562, -0.0122, -0.3624, -12.3009, 7.1179, 1.0769, 0.2759, 0.1734, 0.0904] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.285,"right_z":0.11,"right_pitch":0,"right_roll":0},"note":"The right arm stalled high beside the safe, with its wrist near its tilt limit. I’ll bring it lower and request a straighter wrist while guiding the yellow object left into the opening."})
tool
executing move_to over 20 steps (2.0s)
step 206
assistant
agent noteStraightening the wrist let the right arm reach the safe, but the yellow object is still near the tray’s right-hand rim. I’ll shift it a few centimeters deeper into the red compartment before release.
move_to
right_x0.4300right_y0.3150right_z0.1150right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1032, 1.2358, 1.124, -1.0409, -0.1345, -0.1131, 0.9971, 0.7727, 1.9816, 1.3121, -0.1997, 0.5873, 0.4641, 0.3951] state[eef_state]: left_x=0.2842 left_y=-0.002 left_z=0.1698 left_yaw=0.0817 left_pitch=-0.5586 left_roll=0.095 left_gripper=0.9971 right_x=0.4202 right_y=0.278 right_z=0.0833 right_yaw=0.0236 right_pitch=-0.1007 right_roll=-0.0748 right_gripper=0.3951 state[joint_eff]: [-0.0615, -4.0, 6.3111, 1.0281, -0.1343, -0.0317, -0.0122, 0.2393, -12.9846, 6.5299, 1.6239, 0.2125, 0.0708, 0.0317] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.315,"right_z":0.115,"right_pitch":0,"right_roll":0},"note":"Straightening the wrist let the right arm reach the safe, but the yellow object is still near the tray’s right-hand rim. I’ll shift it a few centimeters deeper into the red compartment before release."})
tool
executing move_to over 4 steps (0.4s)
step 210
assistant
agent noteThe safe’s red floor now lies behind most of the yellow object in the right wrist view, with the white plush to its left. I’ll lower the yellow object into that open space.
move_to
right_z0.0600right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0492, -0.1345, -0.1131, 0.9971, 0.8185, 2.0037, 1.38, -0.1921, 0.6075, 0.4763, 0.3951] state[eef_state]: left_x=0.2822 left_y=-0.0018 left_z=0.1688 left_yaw=0.0827 left_pitch=-0.5672 left_roll=0.0969 left_gripper=0.9971 right_x=0.421 right_y=0.3075 right_z=0.1007 right_yaw=0.0511 right_pitch=-0.0512 right_roll=-0.0393 right_gripper=0.3951 state[joint_eff]: [-0.0342, -3.6171, 6.5983, 1.0867, -0.1294, -0.0366, -0.0122, 0.1026, -9.812, 8.8274, 1.6825, 0.442, 0.2125, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.06,"right_pitch":0,"right_roll":0},"note":"The safe’s red floor now lies behind most of the yellow object in the right wrist view, with the white plush to its left. I’ll lower the yellow object into that open space."})
tool
executing move_to over 3 steps (0.3s)
step 213
assistant
agent noteThe yellow object is down at tray height, beside the white plush and inside the visible right rim. I’ll release it, then lift away to confirm it stays in the safe.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0546, -0.1341, -0.1131, 0.9971, 0.8234, 2.0373, 1.2572, -0.0334, 0.609, 0.4744, 0.3951] state[eef_state]: left_x=0.281 left_y=-0.0018 left_z=0.1683 left_yaw=0.083 left_pitch=-0.5725 left_roll=0.0977 left_gripper=0.9971 right_x=0.4133 right_y=0.3026 right_z=0.062 right_yaw=0.0561 right_pitch=-0.0488 right_roll=-0.0401 right_gripper=0.3951 state[joint_eff]: [-0.0342, -3.9453, 6.2974, 1.033, -0.0855, -0.0708, -0.0122, -0.5812, -10.2906, 7.159, 1.8388, 0.232, -0.0513, -0.0073] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The yellow object is down at tray height, beside the white plush and inside the visible right rim. I’ll release it, then lift away to confirm it stays in the safe."})
tool
executing move_to over 7 steps (0.7s)
step 220
assistant
agent noteThe yellow object stays in the red tray after release, next to the white plush. I’ll lift the right gripper clear of both objects and the rim before reaching for the remaining brown plush at the front.
move_to
right_z0.1800right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0561, -0.1341, -0.1131, 0.9971, 0.8238, 2.059, 1.2358, -0.0357, 0.606, 0.4717, 0.9952] state[eef_state]: left_x=0.2807 left_y=-0.0017 left_z=0.1681 left_yaw=0.0832 left_pitch=-0.574 left_roll=0.098 left_gripper=0.9971 right_x=0.4076 right_y=0.2973 right_z=0.0434 right_yaw=0.0581 right_pitch=-0.0832 right_roll=-0.0721 right_gripper=0.9952 state[joint_eff]: [-0.1436, -3.9863, 6.4479, 0.9792, -0.1001, -0.0464, -0.0122, -0.0889, -12.5744, 7.788, 1.409, 0.2027, 0.0024, -0.2564] 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":{"right_z":0.18,"right_pitch":0,"right_roll":0},"note":"The yellow object stays in the red tray after release, next to the white plush. I’ll lift the right gripper clear of both objects and the rim before reaching for the remaining brown plush at the front."})
tool
executing move_to over 9 steps (0.9s)
step 229
assistant
agent noteThe last unplaced object is the brown plush just in front of the safe, nearly aligned laterally with the right hand. I’ll draw the raised right gripper back above its torso and inspect the wrist view.
move_to
right_x0.2650right_y0.2950right_z0.1100right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0569, -0.1341, -0.1131, 0.9971, 0.8238, 1.8755, 1.3907, -0.3313, 0.6025, 0.4713, 0.9968] state[eef_state]: left_x=0.2805 left_y=-0.0017 left_z=0.168 left_yaw=0.0832 left_pitch=-0.5748 left_roll=0.0982 left_gripper=0.9971 right_x=0.4049 right_y=0.2952 right_z=0.1458 right_yaw=0.0627 right_pitch=-0.0541 right_roll=-0.041 right_gripper=0.9968 state[joint_eff]: [-0.0068, -3.9863, 6.4615, 1.0379, -0.1099, -0.022, -0.0122, -0.1162, -12.6974, 9.5521, 1.5409, 0.315, -0.0122, 0.1441] camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.265,"right_y":0.295,"right_z":0.11,"right_pitch":0,"right_roll":0},"note":"The last unplaced object is the brown plush just in front of the safe, nearly aligned laterally with the right hand. I’ll draw the raised right gripper back above its torso and inspect the wrist view."})
tool
executing move_to over 11 steps (1.1s)
step 240
assistant
agent noteThe brown plush fills the bottom of the right wrist view, with its narrower upper body near the jaw column. I’ll lower the open jaws onto that narrower section, rather than its widest fluffy part.
move_to
right_x0.2730right_y0.2900right_z0.0450right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0592, -0.1345, -0.1131, 0.9971, 1.1511, 1.6848, 0.976, -0.2977, 0.7906, 0.7536, 0.9969] state[eef_state]: left_x=0.28 left_y=-0.0016 left_z=0.1678 left_yaw=0.0839 left_pitch=-0.577 left_roll=0.0991 left_gripper=0.9971 right_x=0.2658 right_y=0.2964 right_z=0.0963 right_yaw=0.1038 right_pitch=-0.0472 right_roll=-0.0561 right_gripper=0.9969 state[joint_eff]: [-0.2393, -3.9863, 6.2974, 0.9841, -0.1197, -0.0317, -0.0122, 0.1709, -9.6889, 6.3932, 1.2821, 0.4908, 0.1245, 0.0073] approver: 1 step(s) modified (delta_clamped). 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":{"right_x":0.273,"right_y":0.29,"right_z":0.045,"right_pitch":0,"right_roll":0},"note":"The brown plush fills the bottom of the right wrist view, with its narrower upper body near the jaw column. I’ll lower the open jaws onto that narrower section, rather than its widest fluffy part."})
tool
executing move_to over 4 steps (0.4s)
step 244
assistant
agent noteThe right jaws are now down around the brown plush’s narrower upper section. I’ll close and check whether the plush holds a meaningful jaw gap.
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]: [-0.1032, 1.2358, 1.1236, -1.0595, -0.1345, -0.1131, 0.9971, 1.1244, 1.7676, 0.7952, -0.0456, 0.786, 0.7326, 0.997] state[eef_state]: left_x=0.2799 left_y=-0.0016 left_z=0.1678 left_yaw=0.0839 left_pitch=-0.5774 left_roll=0.0992 left_gripper=0.9971 right_x=0.2656 right_y=0.2737 right_z=0.0365 right_yaw=0.0908 right_pitch=-0.0571 right_roll=-0.0808 right_gripper=0.997 state[joint_eff]: [-0.1709, -3.9863, 6.5299, 0.9597, -0.149, -0.0317, -0.0122, -0.0068, -7.4872, 6.2701, 1.5751, 0.3736, -0.0659, -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":{"right_gripper":0},"note":"The right jaws are now down around the brown plush’s narrower upper section. I’ll close and check whether the plush holds a meaningful jaw gap."})
tool
executing move_to over 10 steps (1.0s)
step 254
assistant
agent noteThe gripper closed empty around the brown plush. The overhead view shows the fingers just ahead of its body, so I’ll reopen and move a few centimeters back and left to get the jaws around it.
move_to
right_gripper1.0000right_x0.2320right_y0.2920right_z0.0550
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0595, -0.1345, -0.1131, 0.9971, 1.1244, 1.7794, 0.7818, -0.0357, 0.7742, 0.7258, 0.0088] state[eef_state]: left_x=0.2799 left_y=-0.0016 left_z=0.1678 left_yaw=0.0839 left_pitch=-0.5774 left_roll=0.0992 left_gripper=0.9971 right_x=0.2629 right_y=0.2716 right_z=0.0284 right_yaw=0.1002 right_pitch=-0.074 right_roll=-0.0942 right_gripper=0.0088 state[joint_eff]: [-0.0615, -3.9863, 6.2838, 0.9939, -0.149, -0.0366, -0.0122, -0.0479, -8.6085, 6.1197, 1.0183, 0.3785, 0.022, 0.735] camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.232,"right_y":0.292,"right_z":0.055},"note":"The gripper closed empty around the brown plush. The overhead view shows the fingers just ahead of its body, so I’ll reopen and move a few centimeters back and left to get the jaws around it."})
tool
executing move_to over 10 steps (1.0s)
step 264
assistant
agent noteThe repositioned right jaws now straddle the brown plush’s central tuft in the wrist view. I’ll close at this alignment and check for a secure grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0595, -0.1341, -0.1131, 0.9971, 1.2388, 1.7729, 0.8673, -0.268, 0.8021, 0.8547, 0.9946] state[eef_state]: left_x=0.2799 left_y=-0.0016 left_z=0.1678 left_yaw=0.0836 left_pitch=-0.5774 left_roll=0.0988 left_gripper=0.9971 right_x=0.2294 right_y=0.2869 right_z=0.0372 right_yaw=0.1177 right_pitch=-0.1115 right_roll=-0.1295 right_gripper=0.9946 state[joint_eff]: [0.0068, -3.959, 6.4889, 1.0183, -0.105, -0.0464, -0.0122, 0.4308, -9.7709, 7.7197, 0.9499, 0.5885, 0.1001, -0.0269] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The repositioned right jaws now straddle the brown plush’s central tuft in the wrist view. I’ll close at this alignment and check for a secure grasp."})
tool
executing move_to over 10 steps (1.0s)
step 274
assistant
agent noteThe second close on the brown plush was empty. The overhead view shows a smaller raised section to the right of the gripper, so I’ll reopen and approach that section from above rather than closing on the broad flattened torso again.
move_to
right_gripper1.0000right_x0.2690right_y0.2250right_z0.0650right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0599, -0.1345, -0.1135, 0.9971, 1.2415, 1.7691, 0.8696, -0.2901, 0.7925, 0.8494, 0.0087] state[eef_state]: left_x=0.2798 left_y=-0.0016 left_z=0.1678 left_yaw=0.0842 left_pitch=-0.5777 left_roll=0.0991 left_gripper=0.9971 right_x=0.2267 right_y=0.2855 right_z=0.0363 right_yaw=0.1257 right_pitch=-0.1268 right_roll=-0.1442 right_gripper=0.0087 state[joint_eff]: [-0.2256, -3.9453, 6.3248, 0.9499, -0.1441, -0.0659, -0.0122, -0.253, -7.4462, 5.0393, 1.1111, 0.4762, 0.0171, 0.6471] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.269,"right_y":0.225,"right_z":0.065,"right_pitch":0,"right_roll":0},"note":"The second close on the brown plush was empty. The overhead view shows a smaller raised section to the right of the gripper, so I’ll reopen and approach that section from above rather than closing on the broad flattened torso again."})
tool
executing move_to over 10 steps (1.0s)
step 284
assistant
agent noteThe right wrist now shows the brown plush’s raised fur between the open jaws. I’ll lower slightly and close on that upright section, checking whether the jaws stay apart this time.
move_to
right_gripper0.0000right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1032, 1.2358, 1.1233, -1.0599, -0.1345, -0.1135, 0.9971, 1.0275, 1.5131, 0.5632, 0.0448, 0.7097, 0.6117, 0.9945] state[eef_state]: left_x=0.2797 left_y=-0.0016 left_z=0.1676 left_yaw=0.0843 left_pitch=-0.5781 left_roll=0.0992 left_gripper=0.9971 right_x=0.262 right_y=0.2182 right_z=0.0508 right_yaw=0.1119 right_pitch=-0.0497 right_roll=-0.049 right_gripper=0.9945 state[joint_eff]: [-0.1983, -3.9453, 6.5162, 0.9841, -0.1099, -0.0757, -0.0122, -0.253, -6.5983, 5.7641, 1.7216, 0.3053, 0.0073, -0.0659] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 284): [image omitted: streamed camera frame] camera 'left_cam' (step 284): [image omitted: streamed camera frame] camera 'right_cam' (step 284): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0,"right_z":0.035},"note":"The right wrist now shows the brown plush’s raised fur between the open jaws. I’ll lower slightly and close on that upright section, checking whether the jaws stay apart this time."})
tool
executing move_to over 10 steps (1.0s)
step 294
assistant
agent noteThe white plush and yellow object are in the open safe, but the remaining brown plush is still on the table. Several repositioned grasps closed empty; I cannot place it and then close the safe within the remaining trial budget.
give_up
hindsightThe brown plush is broad and compressible: at grasp-point heights around 0.03–0.05 m, the right jaws repeatedly closed almost completely without securing it, even when fur appeared between them in the wrist view. The white plush could be held despite a jaw reading near 0.035 when a lift confirmed it moved. Explicitly commanding right_pitch=0 and right_roll=0 freed the right arm after it stalled near its pitch limit while carrying the yellow object toward the safe.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1032, 1.2358, 1.1233, -1.0599, -0.1341, -0.1131, 0.9971, 1.0218, 1.5631, 0.5377, 0.1078, 0.6952, 0.606, 0.0085] state[eef_state]: left_x=0.2797 left_y=-0.0016 left_z=0.1676 left_yaw=0.0837 left_pitch=-0.5782 left_roll=0.0989 left_gripper=0.9971 right_x=0.2612 right_y=0.217 right_z=0.0344 right_yaw=0.1181 right_pitch=-0.0667 right_roll=-0.0564 right_gripper=0.0085 state[joint_eff]: [-0.0479, -3.8359, 6.2838, 0.9744, -0.0952, -0.0073, -0.0122, 0.2803, -4.7932, 4.8752, 1.4823, 0.3443, 0.022, 0.7546] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 294): [image omitted: streamed camera frame] camera 'left_cam' (step 294): [image omitted: streamed camera frame] camera 'right_cam' (step 294): [image omitted: streamed camera frame]
assistant
give_up({"reason":"The white plush and yellow object are in the open safe, but the remaining brown plush is still on the table. Several repositioned grasps closed empty; I cannot place it and then close the safe within the remaining trial budget.","hindsight":"The brown plush is broad and compressible: at grasp-point heights around 0.03–0.05 m, the right jaws repeatedly closed almost completely without securing it, even when fur appeared between them in the wrist view. The white plush could be held despite a jaw reading near 0.035 when a lift confirmed it moved. Explicitly commanding right_pitch=0 and right_roll=0 freed the right arm after it stalled near its pitch limit while carrying the yellow object toward the safe."})
tool
give_up: The white plush and yellow object are in the open safe, but the remaining brown plush is still on the table. Several repositioned grasps closed empty; I cannot place it and then close the safe within the remaining trial budget.
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 · 10.4 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Place all the objects into the safe, then close the safe.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7918, 0.6033, -0.392, -0.0219, -0.0341, 0.9994, -0.0212, 0.7944, 0.6075, -0.403, -0.0193, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1778 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2921 right_y=0.0008 right_z=0.1767 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -1.5385, 10.3043, 1.9267, -0.0073, 0.1685, -0.0757, -0.4581, -1.7162, 9.6889, 1.9951, -0.0415, 0.1636, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c84e965c8c91e638bc492cd663e7f9333425368f5eda418c26e81f4d3a6dcd35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67eeb7219c1bf64a67d42985145a6d1e5ddb1d44a323c3b38ae68286b58ffd92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c06d9919734d2671a2a2fc8fcc64a57b3652d7243d20f4c19aa2f267dda726b6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 3.486 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_08581611c5f83afd016ab43590cbc887d09f5d84dcddedb445",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDWWXGbnLgzOLOY0P5hm3ArZ-fnm3PRgnaL2TyW7zyZO8bti3uX010a724EePyK_JPGUiy-YBswtFbegp_1xvcigEmXCYGyB4OVnHXX61MveyhLHk1uhnvLABo68pPzOHp0PfiYIJIuBx-GogEp8UV1VR0oRgDtoZ2WoJFnP_s2NAcevWNbw6MX37salpB-ll7QGH_V8aSs3pRD1mPzhNf7zZ0RCDtLMjzX-ZHlEFOGeF3KUBG9DLecVFaW1BlNSbD0Qvom1yTn6rZLUh4IU06FRf4MB_UUgg-Hd0zEfBqDmmWQ1L3qpz9u5DFnN11Z1y_Cat54EWdRa5SOFmo_BX0RdAwEFi-hQwYyIVxSoVJ1Rh4ji8VAAMu2YpEmFGVlKxs5zdLwOJx7P08z9deVdAtddUN_zNH-MBYwcLa9Xu4pZjPpxHUwKPCiY_aBLGfG3eTTY8BEd1vQbjLtuFhIwnaX-Zq0yd7g6Vu148qT4RkjvqgfTo9Zu42n2vr9Bij0tAu3vZ0iPX5fec0bnGqkVmZEu_IuHp5NBs_5NW4duuc-2GeaXpLpT-McyA6XxAv9434zhSYz3Tf1rGgCTZjQ5Fw758lZncnIU44Ak9-nClEO6NMfm4qv-p2lAG2jYJktMM3KY0B9ZBvLdeAD8niRmW6UVC05FoWryCk-_BQg6FVFlGzuzqiFLB6e958XriYQU6XbzKhbeUePqqWYMGSAcGwnUxiyXDpHvO4og0rXz0GB5WNvg40jEHP_404AA6q3tyTiJaJrJVppF841E9rL_51frPo537IjSVBVdHc3VQKxMZ1XhFq_bCLV3bnBK48LcPvsY7VqNgl02tna83pGBS3ejVnhpxFjNJhEJIsPWa60IguDyfU9T7LOeXUlacqvR7A4zbi9CzdfYYLdZIDLP1Tq51f_4nwb9fSS4kxDHLu4ZNss3S7QMJO4nhM9U6wfeWjc10R3Axypd7Fc2BxdefUNTB1bzVYVah-uPU7rSPs-pXHhc8eV4XZlgWOehg9J5g3dQBZ1BS8LyqOZ7dKPsQskbWNrXH7N4YKtkVnDZIV71ePNzOAtqMNinhU3WTl4mvRb6T50EYmwP4sPlPSOQt6x4BXXw3iPaJbvKi1y9DCOVOB9mzJ2bhIRn_qGMUVOm7lnkB_hCzRqq1BK5U_ATkpgyEts1Jy08qtCTGAdhjmKn4DEHeiu0rsfAv1tJLd4VrXAYPoGEwFHBu30N3W0NrPQuizjdc1O3F4e7fPBO5Zu6krEjkq94bj0sqeWgw3YBdrjU",
  "id": "rs_08581611c5f83afd016ab43595d71c87d0aecd2c3dec2749f1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.015,\"left_z\":0.12},\"note\":\"The safe is open near the back-center, with a white plush on the left, a yellow object on the right, and a brown plush nearer the front. I’ll bring the left gripper above the white plush to line up a grasp.\"}",
  "call_id": "call_kSip5a9cdHsTqzLyCdJy1QDx",
  "id": "fc_08581611c5f83afd016ab435962dd487d09c7bca0784f3928d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kSip5a9cdHsTqzLyCdJy1QDx",
  "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]: [-0.0975, 1.0546, 0.4755, -0.1375, -0.0708, -0.0685, 0.9993, -0.0212, 0.8001, 0.6128, -0.4332, -0.0196, -0.0303, 0.9996]\nstate[eef_state]: left_x=0.3135 left_y=-0.0145 left_z=0.0961 left_yaw=-0.0178 left_pitch=-0.1343 left_roll=0.0088 left_gripper=0.9993 right_x=0.2889 right_y=0.0009 right_z=0.1715 right_yaw=-0.0012 right_pitch=-0.0301 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -4.4786, 7.5556, 2.1074, -0.1441, -0.1148, -0.0269, -0.1983, -1.6479, 6.5846, 1.9853, -0.0757, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7affeb216facdb080705d7f2126c6e015ed91463a8038c5e8c70402fc5beef05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf8274b43b3882e61876d7dbee31ba785f241664d46229c0bcda3c391ee54d9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd4a9244051ee9ba6fbb002ab7d1bebce7c98dc4a9e5b53330583e846cc687c4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 4.496 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7918, 0.6033, -0.392, -0.0219, -0.0341, 0.9994, -0.0212, 0.7944, 0.6075, -0.403, -0.0193, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1778 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2921 right_y=0.0008 right_z=0.1767 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -1.5385, 10.3043, 1.9267, -0.0073, 0.1685, -0.0757, -0.4581, -1.7162, 9.6889, 1.9951, -0.0415, 0.1636, -0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0975, 1.0546, 0.4755, -0.1375, -0.0708, -0.0685, 0.9993, -0.0212, 0.8001, 0.6128, -0.4332, -0.0196, -0.0303, 0.9996]\nstate[eef_state]: left_x=0.3135 left_y=-0.0145 left_z=0.0961 left_yaw=-0.0178 left_pitch=-0.1343 left_roll=0.0088 left_gripper=0.9993 right_x=0.2889 right_y=0.0009 right_z=0.1715 right_yaw=-0.0012 right_pitch=-0.0301 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -4.4786, 7.5556, 2.1074, -0.1441, -0.1148, -0.0269, -0.1983, -1.6479, 6.5846, 1.9853, -0.0757, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7affeb216facdb080705d7f2126c6e015ed91463a8038c5e8c70402fc5beef05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf8274b43b3882e61876d7dbee31ba785f241664d46229c0bcda3c391ee54d9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd4a9244051ee9ba6fbb002ab7d1bebce7c98dc4a9e5b53330583e846cc687c4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDWas92A6_iRhMkOjD24fps7GkTobaZ_5rMzd4aCdg0sLoo6IpLz_Xp5mYtRRz2dr77DVqBAMV3v2O-tkzSbu61VKX-y2uRSbdPWf_W2RwfuJUS-1iAqCDNFitlgJqPk7Fq_hnKcf3PCHKmU4cY5-Ns5rXjyPWVjAhKb5q6qm_exGXYwv3H6U1KIRm2RJQ4v5plXcG3-SPaz6iixGbcrIzRiSrILvV0i9qmgbxUaS1UIw9NWGqoTu1nyoctUWjU3olimDZeI7J2QjkmYIvnK9PUD-S56ITS8BLeCaTfx4gcV7xJSEiGbHeRQc4-uBYdMR65bxfnmSO_lb7m7e_EjdTMYnZ2ive26KjoSAGFGMiNfJipFp0FWPEVZFnApSC4-d7zG0EWw9jnvuDTjJyB-IiHvxKgt8QnNJ-czl3QcolrXpuIdsZGdZddzXhN35ivAaeqO0_dmxDO7MUBCwv-_HiRC2pbZvooRX4M5G1OTqlXojupRO8dVBOg066gJJh5fJkgidegHrVJ2bZz8aA-dQfy3gEA0-UZ1g4ItQCXES2YYPr-c1lbcVAaSzae-VRV_AFynX3DCS5Ru1LtLCK0XHixDxgRJM6LRstg2hNKGcn6K4sEPtGeViuorovF3lGDtdKwaqcsHLQ13_B6EOXVQyHSiANRka6LT5S24dJG-RzzNodL52mqckZ7FCJO7UGtDGsqNeLjiKj0E11nnCGa7WQK1gc1ZfSMzRMffF0fNQ9dOgMmzFTFiId6Egmp5nf5_QqRdugsrKM7C_HPJ4kAFFI6qW6ZVLX1PnCMXYfm5ASlItSp76xPwDangqs49eWPj-6kaymIERPsanP4EFbyMu2sHFA7eMVwad32aX56z_tzYWf0M3-oQQjv1Be7xts6-blFpib6_jXf8fhCRikxd6sbmmrhBadC1PZRfDHj93akw0Tffm3UyWeby9JhwBqZiUIU-9hor9xX_WBGH_tJ4883HQoGZ2jwNEs0eK-b79Ma4vjlMVZSH8fwX3QgpwwyCbrp_TgkZvdfwB7e5vHy2v2Qp1F9p6-8vYO3_Rla-Tn_44yODIqVPDAvwjduQDvWRju4t00cYEc1KQ4EmZBV5rkAhl7quRgxa5eFI0yYeeAKwYOB2YGpsTMdKTn-m3bGJjFrNJCl5SRLo2utvBLkYqPJSFgpVIJgAU83DIniwMvZAA2hsd4sFaV-aHfe3y_67pKHjDgkKUSzDItxKz8tJNiHjebpjZjMEtL3oKx5q-cbYzDjnXvVW7sdbSgBbG7fQx7Jfg1DFM_om7dzPeAUjpbhbcYTpDYBY1KKRaGL_Dd53lqrSkSefW37t0bzWgwFVGwUm0cgAu2C_INZuB26cMvrONBzwazOiDq5mQFctJ7XxoRes70LJA8BHkLNK-Ep5NGURqjEsBQPkFqr7mK8kOuNNIdPdLw2k_2Xj_0DB62vGP3H26BUZgCjjZyhszOPUIvgUZZbDUFN74YmCzsVTBq76o98jZ_zwul5jv9cpKqx2gYTm3lzLAR1QqBemBiHjvvHGLwArYC4Sj_7i8HfJ01R5firKugjRV_rNBO0YWEVFVUAbPolgU3h7Wq4dY2we4dQJw1LL17nMKw_nIz9UvNyVk5Rs_1Yo26na_X6DuJeIeZy20nRWlG37Jwl_htjxGG6G484GcMmX3aOdv3GRns8Pc1XUPoOVuhBbzM1kwOUC4P8OQiQehnKtRDPWr9AWtxW9-NrRCmu9dBVSXaYzhHZhsxQv7YLqBc2awed4cCbkGjCajWcGMZ6zq78LjIDL5y0BurhjrXrbfaqYdAlg-HGZHZT0otGkRxCgwS1WlD2Z9dPFW4g3fDWhBh2tGjcSY5rCEncTmblLkOm9hdn2PKSE8UzaHc4flCYPIaIDzDdtpPL2l-GNSTp4YmTIilDiF9YPwpTt8K2uo7IGHpMxMB5mP5FDfZDRym1LiBHa5dDXwB9paCZiAl7ITzwQCCnPtEJPHR4r9CHVSlHbwXyyubOo_ZE5UJJgzdYevjK2eZxbqUE4m3UU3vo0zWQZI9UQxBno-QCRUZl_DdeGX24C-8hDTUgziaJDZJiDAKHAn0ToDkg=",
  "id": "rs_08581611c5f83afd016ab435983bf087d086ea9ab86e2794e9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.043,\"left_z\":0.11},\"note\":\"The white plush is now prominent in the left wrist view but sits to the right of the jaw column; the left hand also settled lower than commanded. I’ll shift slightly right and forward at a similar height to center the plush before descending.\"}",
  "call_id": "call_sOPV0u1HK8KNBzMIZDJJmZiM",
  "id": "fc_08581611c5f83afd016ab4359a30bc87d0948cfdbd5c2801a1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sOPV0u1HK8KNBzMIZDJJmZiM",
  "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]: [-0.1997, 1.2186, 0.5747, -0.1101, -0.1291, -0.128, 0.9993, -0.0212, 0.8032, 0.6094, -0.4511, -0.0196, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3382 left_y=-0.0416 left_z=0.093 left_yaw=-0.0372 left_pitch=-0.166 left_roll=0.0079 left_gripper=0.9993 right_x=0.286 right_y=0.001 right_z=0.1655 right_yaw=0.0008 right_pitch=-0.0545 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -5.3812, 9.0325, 1.7265, -0.3443, 0.0562, -0.0122, -0.3487, -1.3744, 7.3231, 2.044, -0.0415, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94b6199d29303b4949be4df846004a328833b3a2cdb645d813e88526f1797a99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:854cf4d649378197141d93555e36a86f9630090f0112edeab1f063d07c3d7c85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06756dc01182be7b4bec45298a9dd93af93451d915d7b01d758d0e611d693999",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 2.193 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0975, 1.0546, 0.4755, -0.1375, -0.0708, -0.0685, 0.9993, -0.0212, 0.8001, 0.6128, -0.4332, -0.0196, -0.0303, 0.9996]\nstate[eef_state]: left_x=0.3135 left_y=-0.0145 left_z=0.0961 left_yaw=-0.0178 left_pitch=-0.1343 left_roll=0.0088 left_gripper=0.9993 right_x=0.2889 right_y=0.0009 right_z=0.1715 right_yaw=-0.0012 right_pitch=-0.0301 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -4.4786, 7.5556, 2.1074, -0.1441, -0.1148, -0.0269, -0.1983, -1.6479, 6.5846, 1.9853, -0.0757, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1997, 1.2186, 0.5747, -0.1101, -0.1291, -0.128, 0.9993, -0.0212, 0.8032, 0.6094, -0.4511, -0.0196, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3382 left_y=-0.0416 left_z=0.093 left_yaw=-0.0372 left_pitch=-0.166 left_roll=0.0079 left_gripper=0.9993 right_x=0.286 right_y=0.001 right_z=0.1655 right_yaw=0.0008 right_pitch=-0.0545 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -5.3812, 9.0325, 1.7265, -0.3443, 0.0562, -0.0122, -0.3487, -1.3744, 7.3231, 2.044, -0.0415, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94b6199d29303b4949be4df846004a328833b3a2cdb645d813e88526f1797a99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:854cf4d649378197141d93555e36a86f9630090f0112edeab1f063d07c3d7c85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06756dc01182be7b4bec45298a9dd93af93451d915d7b01d758d0e611d693999",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDWfpRbLKna7_m7MTSf4X6Ae9q4165ZW3x6GXapvvS_MLT0MRA-85hKbloqZcWI6R_rt_gQO1IUypUsZMFwBno7CtPiY8xlEqIk1Igfj1Sxjpl_Hs9UErBMYjTtio087MGh8g0Op8eCfCgENVC_rD1F9iwRI5vzx5fQkJzgcdId3uWetjuhJ50mhyfvi3SSqoh_jUmVJozX51KXsB9BrNBIfNuZMkuExqc9P48dCpv0bKKN-bgZAwBY-EhmKxyBeVE_5BBnwqxNuzcGZRvSyoNMOtDVIfGCOKyNA2p60vuoYCUxiS7evfmdq4LtiBn_7vVtM73gOUhbeRINggvLoCQgqTarEkvCTOYVu0HQbq0qResOZyhLzPcnH-wUR10kIrp0fU3xI6cmVr5EYqr_2HspjL7Aj7cGihduvbw7xpUmAXVxOcM2wGz9188o8R_5uKf3qtn6o-XCSFiNhY3aewxAb_H7I9jI-NFJOAbcjhAwUby_Np3gs6Tlvvozh3fXjTb4v5YTNSJo9k0qy8UVKGpdZp_2-uavm_-BNClYizQsNh1DdNa7lFB59g5NhLNHtKwLKEPfXQOvOiGhDxUk7zFU1IA5atvfogt0y7VvDyHf9KUHHye_iRl63Yig-oOJPMnr9mtiGLHjzNpen1tMK5pINP0H35rWGAdEoFxgFHvRuMxPQ25k3xviGQ43Z4bPoRkOuPs3vNmZVMCSkX-oq8f2LNf7SLNGOKf9KuCvKPAoZ35VugbtQHHYAeN69Ps81FqQSYGm16VqQLqFsq0hBTObZ-4prFvLNOc6pKgP24sOdWk6Bta74svRMbPGWKzH8lI6LmlnP6R7TIpveLyCHAGtM8UEGrUy2nF2wRoV5MDFMjKeKJEMi1S2WbxgjdKNLLw9S_JUD3AO6OERtTPC_zgyhNOokzXEZFOtAMmrztNd5M5rC2IIsxc7CiGfk-eknb0geptE2bsznLDJy3GcJ5tzp4o8XDu2WWn7dYqrQ_GLqWOfvinXa8SS3ILcQGi2BDSdfodBC7HYnIavCrdygwMNcUPloe88kaq3pGN2dL258Olp3CWx2IbMDVX5CKNdVV5J29tqk9RkmSPnf5OVNFWEueZ2ejSK4J6ACoZS7CCUZ8de6cRzLl8QvyUj6-hIjYF3C0hQeWiMWspMyGiEK_H1xGx98dVzqfitL6UD_SS1f0YqMJaggsVZakUTkScw4djNwmV1TVTtoPNxm_Qhyz5rsFcKc_TVGPTGJhkpko_qUTUvlmZz7TO8M0JzC9D1GAmzs5vyxiTiZPD_F9NcflA76Jsb_oUo9Cb2pxniHO3Vvv8YVu9oqFo8bhmsp2fV-KABrsP1JQ0N0qy2U9b3fZ2pmch__Kd-ji9OqlnRQwfpB7zokH5JtXL2AfH6B159LZXXPLqEsdt6N3_ujkmlRWKh4Rlw3RQggH7xjLdy3KEoKD02G6at8BzbX9Lgudj3SuxuvzlORa2Y1dcLQdRyuyBGzQrZH6TaFXuo2K_wmYZ0VI74zhNlBx7oaulu4q6BUyAmjIjP76D27HL1sky3A2LfXGnu4E0ynCUnqybDARPgOafTcpFLhD59KClhz2Q4_msQ-Wf7XWLcDcmkU73QbVEitslKUOjI5VdpNydpbAfsoULSpC_kEZnHVBm2i0g4QxCXHOo-Qc_Av3DFTXiqS6tXeF6kZQq_CxQ0a05hNqtEQlZsS-Ef37GDUGh89brtWQZLKQpuIm3Z4jPT3jD8Ul--2Uv1RUCuQBboVWb6y8CadI9AQjAqAczQjjAf5_Dze9f2RgsmgRU5Hmam4t3bhgWeriiDkgIyRr92LUBQIHCB8ftj7GkQ_er51bShyvFGx0HCnx_hZyeP9lV8muiDsi2ho6ZgawLvLzx6C0d5hpSQ_--uIPHLVIRARThvjgg5S6PZ6hAlWVgDTcMwDAOYoYmEXTjjupBlITK6PNppENy3rVxXov4iOmA7Qij_HYWmKrrcSIXzKuQ-nF5g7qu8ueTjRQ03xGlu6anVZ3EhwmLQmk4C0m0-DOk46k_ag1mQQN6ZSwQdBLc1vqRkxKfnU7E77AJ66CNQIhlgEMCBo71r_27CUVf4eS3Yt9lFArVTOtnC1",
  "id": "rs_08581611c5f83afd016ab4359bf0ec87d08996d71800b61120",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.055,\"left_z\":0.055},\"note\":\"The plush’s head is near the jaw column and its body is just right of it in the wrist view. I’ll lower the open jaws beside its body, with a small rightward correction, to prepare the grasp.\"}",
  "call_id": "call_lR059anMNwML75sIEdasRa9U",
  "id": "fc_08581611c5f83afd016ab4359e2c6087d0847352e9336c1f3a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lR059anMNwML75sIEdasRa9U",
  "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]: [-0.2508, 1.3281, 0.5022, 0.004, -0.1562, -0.1562, 0.9993, -0.0212, 0.8043, 0.6094, -0.4591, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3306 left_y=-0.0526 left_z=0.0498 left_yaw=-0.0472 left_pitch=-0.2289 left_roll=0.0192 left_gripper=0.9993 right_x=0.2849 right_y=0.001 right_z=0.1637 right_yaw=0.0005 right_pitch=-0.0637 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -5.4632, 6.3795, 2.127, -0.2466, -0.1294, -0.0122, -0.1983, -1.2923, 6.9675, 1.7509, -0.0317, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4df736101434afc9ee8d25848ce42e316158b534719edb43e1c42b36e464c2d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98107ca1fa7c26ff6f4ce9a485cccdf3c001253e5b22876c38538817f2329df1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21f6640cdc9faf8b9bccebd04ad605c43009ebfebbb0c6e6048df0943ce2175a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 4.736 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7918, 0.6033, -0.392, -0.0219, -0.0341, 0.9994, -0.0212, 0.7944, 0.6075, -0.403, -0.0193, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1778 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2921 right_y=0.0008 right_z=0.1767 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -1.5385, 10.3043, 1.9267, -0.0073, 0.1685, -0.0757, -0.4581, -1.7162, 9.6889, 1.9951, -0.0415, 0.1636, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1997, 1.2186, 0.5747, -0.1101, -0.1291, -0.128, 0.9993, -0.0212, 0.8032, 0.6094, -0.4511, -0.0196, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3382 left_y=-0.0416 left_z=0.093 left_yaw=-0.0372 left_pitch=-0.166 left_roll=0.0079 left_gripper=0.9993 right_x=0.286 right_y=0.001 right_z=0.1655 right_yaw=0.0008 right_pitch=-0.0545 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -5.3812, 9.0325, 1.7265, -0.3443, 0.0562, -0.0122, -0.3487, -1.3744, 7.3231, 2.044, -0.0415, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2508, 1.3281, 0.5022, 0.004, -0.1562, -0.1562, 0.9993, -0.0212, 0.8043, 0.6094, -0.4591, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3306 left_y=-0.0526 left_z=0.0498 left_yaw=-0.0472 left_pitch=-0.2289 left_roll=0.0192 left_gripper=0.9993 right_x=0.2849 right_y=0.001 right_z=0.1637 right_yaw=0.0005 right_pitch=-0.0637 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -5.4632, 6.3795, 2.127, -0.2466, -0.1294, -0.0122, -0.1983, -1.2923, 6.9675, 1.7509, -0.0317, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4df736101434afc9ee8d25848ce42e316158b534719edb43e1c42b36e464c2d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98107ca1fa7c26ff6f4ce9a485cccdf3c001253e5b22876c38538817f2329df1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21f6640cdc9faf8b9bccebd04ad605c43009ebfebbb0c6e6048df0943ce2175a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDWhbvvYSE6ouHMn0QNvAmQe_U_3O3gQQA1bhLzMeJnnrPraAL22La0jDdO8p27Xj4_LyDIITRn8g9t6-RUmIjVInnuvX-9q52V6MlpA85MegCcy___GV7e8CYV1LNCshTjqpJPaOC6LTTpYKJfzBx0jW1LMVt26qo5HxeeKfrk6dbT_ofOHtZHs9jDwngpxOk7pAVX8HW6wWqMILUhkk5uDYljTc60CrrVAWEeQu8GuijPSNieMSZMNTjBm-2DrccpYZ3WmPHcDfL7o9au8rxrWrzEbhsAMaR21wC_a1oaOcyNUjyV2-T3xGlF-W5HEnb5lusURWZY-7UgnwgQy7njqadH1HTxxpWoS_9yOJXSuGEnmeXUynJCmCjCf93qPTJUGC-09A78YPGJp62SxYCS20UiLZcaylE3XCKi3UpoxbhDO-Qc0HZgZD9oWGR7PF56wE66lP97JkWQMqVCltnR6XKrDdRJ4TdSNgh6x1Cqi_wt29YnJoQJ0ysTxbpTq7KM9XnHQQoWh8KlYzbPV05qlusVoWTXzHLs1Sc4nePNLiKuxLx3tOo3PJAgYgUJ1-QbWQGVrFPnMb3Cykjwsa44c4OBvViAA7EyhTkFwaEsCYL8it26JVMmOfIehdAE2d8YjhXarVtITTpH_aYzdgLSqn9UphKTisGptTWvS_iCH3rFxVgtaWscND4qR398NQR2vIJqNbv7CIIpm0Fkd30F9iMpes0CG9kDPBqLYLs7FzL6t4pgUUGYcxh3uPIaYvRTUPIbEJxrdU7Nx7IJABMuSpPymQMujobkftZHe_UW1bihdaUcy0D99AODpxoOV0LJrOU8w5P5HdVyuCAZ7-lvJvAPQArBB2Pi_Sz8DFMaLLiPfAxCycP0KNdQa1ZbibX9eX4bStSPl1Tx9AQfUUP3aE_DtSObj3JhIzfbe0mp1LN4fHhlQ7_-32qv0FPUmJfsVo7EoWKJRkLj8c3-CEJFIy3j32ZG3J0Z4r1-JspRtnRzpF4h8wlEiR4jm2R1eEjqoCLWvvwjh8td43wWsaU7KLJpnHGEdA_CXtq3IHfscuOwkLzWOLmL53gkQsikOsi4NgHGEWkX4_JZSsfXqy4kA6y7vYf_qS6fJLGH8Glp9mYNHAlRX2Tg8LwAt7wXBPwbjDuG6zWBGOwpIIOXHMxwKISijkcRgOjkboXMwQO_w1XM7gzBJcCx4CKuIRbhpHVoNTTli6UxqinseKlj8fUbwWw620W5yVyJh-TNWr3ZK_CTT3sKsGK5FfVleKFPUZzAiiLGiigBPcpdCBO_unKM2uIpEo9VrWsgEtLGxEGYzAn0=",
  "id": "rs_08581611c5f83afd016ab435a0f41c87d08a19478a2145efb5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open left jaws are low beside the white plush, with its body spanning the jaw column. I’ll close on the body and check the gripper reading for a secure hold.\"}",
  "call_id": "call_x1lUfcxnRvJLateewmyTYnf1",
  "id": "fc_08581611c5f83afd016ab435a12ee487d0be1279d42adf89c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_x1lUfcxnRvJLateewmyTYnf1",
  "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]: [-0.2588, 1.3529, 0.4747, 0.0677, -0.1707, -0.1734, 0.0097, -0.0212, 0.8043, 0.6094, -0.4782, -0.0196, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3314 left_y=-0.053 left_z=0.0428 left_yaw=-0.0338 left_pitch=-0.2152 left_roll=0.0151 left_gripper=0.0097 right_x=0.282 right_y=0.0011 right_z=0.1599 right_yaw=0.0008 right_pitch=-0.0828 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -5.2308, 6.735, 1.8095, -0.0952, 0.0415, 0.779, -0.1846, -1.0872, 6.9538, 1.8779, -0.0659, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a450ec6b8c54e074f1048062754504a895ba98bb62dedd324a2def5aacde31c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c71d64305f345c545354fb43181de306a38c0b2302c3b6dd91de05a21603274",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7d04454d302e18124e2276f9a6337515ed7a5c09e0b68fece3b4a7898d3e14f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 2.196 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0975, 1.0546, 0.4755, -0.1375, -0.0708, -0.0685, 0.9993, -0.0212, 0.8001, 0.6128, -0.4332, -0.0196, -0.0303, 0.9996]\nstate[eef_state]: left_x=0.3135 left_y=-0.0145 left_z=0.0961 left_yaw=-0.0178 left_pitch=-0.1343 left_roll=0.0088 left_gripper=0.9993 right_x=0.2889 right_y=0.0009 right_z=0.1715 right_yaw=-0.0012 right_pitch=-0.0301 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -4.4786, 7.5556, 2.1074, -0.1441, -0.1148, -0.0269, -0.1983, -1.6479, 6.5846, 1.9853, -0.0757, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2508, 1.3281, 0.5022, 0.004, -0.1562, -0.1562, 0.9993, -0.0212, 0.8043, 0.6094, -0.4591, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3306 left_y=-0.0526 left_z=0.0498 left_yaw=-0.0472 left_pitch=-0.2289 left_roll=0.0192 left_gripper=0.9993 right_x=0.2849 right_y=0.001 right_z=0.1637 right_yaw=0.0005 right_pitch=-0.0637 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -5.4632, 6.3795, 2.127, -0.2466, -0.1294, -0.0122, -0.1983, -1.2923, 6.9675, 1.7509, -0.0317, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2588, 1.3529, 0.4747, 0.0677, -0.1707, -0.1734, 0.0097, -0.0212, 0.8043, 0.6094, -0.4782, -0.0196, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3314 left_y=-0.053 left_z=0.0428 left_yaw=-0.0338 left_pitch=-0.2152 left_roll=0.0151 left_gripper=0.0097 right_x=0.282 right_y=0.0011 right_z=0.1599 right_yaw=0.0008 right_pitch=-0.0828 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -5.2308, 6.735, 1.8095, -0.0952, 0.0415, 0.779, -0.1846, -1.0872, 6.9538, 1.8779, -0.0659, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a450ec6b8c54e074f1048062754504a895ba98bb62dedd324a2def5aacde31c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c71d64305f345c545354fb43181de306a38c0b2302c3b6dd91de05a21603274",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7d04454d302e18124e2276f9a6337515ed7a5c09e0b68fece3b4a7898d3e14f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDWn7S7CYgcYKQ1VbkVusSPVDoFa3PUwdnEi8-vbQS_9q1SCd_JfmkvdJLfskMEgrrJjb1fwkr0ZGhKd3hExmn4nrkHzAILq_km4gB3p2NcUvOR9XEnuuTYIjDlL2_npzyNizUwmcbVPgrG6HWkf5vLyrxKQKUYnVXe2CrO2HLOC6Hsni9dhq9wvUPsbXwCmjupniwH-nr4aH6xGI7nHJCqPB08rnNsFLoLY14NFU40gc05g6PObe5JAtg6LIxdWdb39o3li5VDNuJSBgLVau-39EkwUeFapLqpP0fDqYhzqCaodWku-K8tYKlSk5oaMMguCr5c6XxLntfwHTyG3SlV0j0T5gaxjIpFoE_V3TYGI3S-KxONv8aKDVEPxBDUQvSuTafXtQ7WhbUq1EYqn-o4Pmflm4ZS4xrVW8TPy36pT_3fPKIPsSkpmExh9IZIgmlIY8dUoQ5iZlxy8YI74sl7Lp-LYSXNueAmMLQB06pS_YtJmF0K1H-rZX_XLcEzrTsCL2Uq4aVd6chDcBGkzSzOjEKSXWIDC11P8LyDFNpNfVojzjC_yu3wTo8bQ9f87W9kKW8xWtgO6yZM84Nbc111ohrPDJGzT9wujy4iQ9ssStVDnG-063gt-hzSVZDTdAvI0fulwlxUcu9JuxI1hNV7JQAy2xic1GY_tpTQpPoMWJyl14ULmnKJ19zESZGP3mvjHW5hj3LFXixzKpmTkLTFydkKub5cUoTEIfvTVUa8uBd0xsVmL5aPQdoOJ4_ZOxrSz37wfvUxOUw1030wkxvfbyyFteNmH8clOYSNrrh3LZ0sBrydhU6VMlFfY1LgttwoehRxfXffptlAYwsNteJDCmHIMNB8KAB-2DgejsjvDlgqFcGrwOS9Vt3vAGF0D_r16ZKvnz99s-H8uMEtjlcYMg6E3A3BBQAQDcb6mt3-p0xnOM2D4Nw7brV75r3JCbS1JYNhY62UWKxNmbnFVEMU8hMrbX13GNMM6mjiqhxZTNCyZinkGeZnbdGt5MhhSYRSTWpye1kHNaugCCZ6EA9aaEqbmx9UOgE4SueNgzD-IUbVbbopIRLi_YZnQA_yByh6vPg2SWmlEDe-fd1D--UE7KTtr_9_dsGqj476K4OaYpL1orTqrHIx3A4Jx8YhSWb8XGotO67VRpPd4ukmPv8dFY9SckTDDsK6u8uCmxhhNYQQn_91qLQ0wnixPOOtJmrnhwhywektNMrRQjDyCw6QagQb5vlCdmrnHY6N8QvDpGn5a0WkFN5wUdXZswwxY_-l0fo9byHprmq66BU1rpyAfnpl7Wyljbdt7cZik-ouq5Rx7sM0FbxRRKsY6iIzZa2ItzqvlOv2sr5xUYYbj8TLLqh4KCXRdNCX1LN1aQjeRQCkzonKJIQkuhLMTNWNFdvUqhBTXbfvtsDxtNUd1j68mgpJi755OByeCJMIEvbX8x6KI8BfoXEZoDQ_ZPdfdRQomXhR7g_deojVQqZn5GU1VTSLlBil8Bkk3NGhGiSaVJNY3ZQoPaG-9dn31aAxMG0D4oB7fNUAi6FiLwQEt_L04KkeZOmXwFV7Hh3_TpFo1xIs1UL-UsCCugjs1TUT9ujKb9x002tW-asL0o6gEEtgslarDd9iytmTjXanxwzMsNd_VHR8ss3cAN9DSa66Kmu3ZEEkYFsBDKUanY9yzNV0Bw5egisxszzwDTP_jNsqJMr3B93bzWnhWXU9XFi6fo4IzcOwG7wjD_L6DC8CyxJXeXC5Br3rg-TEqzF-w6Iy4GOc9l-gi5YyS0AauwaDC7Pl8ZU1ECqiekb9JeME-v9N_YVX380f5E2cTca6D4QUARZLnrPvcH_8fK-4a13c-FRukI0jHlZloNw7JPa28lI08j2kSdD4x4nRRnLO46XyQdoSnDKOdv_ys2tOrRFo_GJ79NYJwJR8QlsCvIBvVV_6T6IMm8yU4FffC4dGT-SgkC6CoARX_SOMKcHDCGy1igaehaLF2_cIagoIrIuI_ziKA9-ta6v84W1fqGJfOktFizyANdUdtAJZ9cORaXrSO3IRysu2Z8elIlgfrEIgi1tPOVFXyXRv3phDxoWUr2H1mCpdddKHpBJQN3jP7T96px0GedxJPFUsg3FgZlRPKMK1yVLo6GMCbhpJcayF_VzYfcwiwnbIjVp7pFobywh5klq1jrSPW8KaJa1vt6uNgR8TiWTJ30e-OkiY3TFZtn-VawfdxwKlerMDHqYiHfnTRNGmtzenfoNQqnVNlQo4Cn65UMZdSi3CzYRxAJ07NKA5_J1vtd5an8B5nthz2K21EA_uouQrdYoTi8mPMWd8kjgf1JkJgFOalBMO3tYMRiMyz-hKJFBb5hHJXkDJTz3TFtjeDFAFZPy0R1hW5rmvcCevcjl3udgDs2uG6w1406demcNY3k8OJwGau2nbzSWEaDETS_KTdjDz808l3Q5NChhoYgQ==",
  "id": "rs_08581611c5f83afd016ab435a4152087d089c7ed6f8bd4bc0d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.356,\"left_y\":-0.072,\"left_z\":0.045},\"note\":\"The left gripper closed almost completely, so it missed the plush; the wrist view still shows the plush just beyond and to the right of the jaws. I’ll reopen and shift a few centimeters forward and right for one corrected attempt.\"}",
  "call_id": "call_fg6Jsl964LQ5KDaT53QvaCBf",
  "id": "fc_08581611c5f83afd016ab435a6cf4087d0afb77b68332222bb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fg6Jsl964LQ5KDaT53QvaCBf",
  "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]: [-0.3035, 1.4612, 0.5484, 0.0452, -0.2001, -0.2184, 0.9956, -0.0212, 0.8043, 0.6094, -0.5003, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3415 left_y=-0.0664 left_z=0.0319 left_yaw=-0.0248 left_pitch=-0.2645 left_roll=0.0199 left_gripper=0.9956 right_x=0.2785 right_y=0.0011 right_z=0.1557 right_yaw=0.0005 right_pitch=-0.1049 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.6906, -4.1915, 8.2803, 1.7705, -0.188, 0.0611, -0.1392, -0.1299, -1.2239, 6.9402, 1.8046, -0.0073, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:064d2896814b97fd2816b20a05f8480c6e06c7a3badf98034025eb0c4901ee12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87d0739b545a491d593df5a521fd3efb513c31a87cdee5f61631ce1f6df46a76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a5129b2b28577ba337c410842e3cd3b4022e85f5eaee148aae67c414e4be651",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 7.336 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1997, 1.2186, 0.5747, -0.1101, -0.1291, -0.128, 0.9993, -0.0212, 0.8032, 0.6094, -0.4511, -0.0196, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3382 left_y=-0.0416 left_z=0.093 left_yaw=-0.0372 left_pitch=-0.166 left_roll=0.0079 left_gripper=0.9993 right_x=0.286 right_y=0.001 right_z=0.1655 right_yaw=0.0008 right_pitch=-0.0545 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -5.3812, 9.0325, 1.7265, -0.3443, 0.0562, -0.0122, -0.3487, -1.3744, 7.3231, 2.044, -0.0415, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2588, 1.3529, 0.4747, 0.0677, -0.1707, -0.1734, 0.0097, -0.0212, 0.8043, 0.6094, -0.4782, -0.0196, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3314 left_y=-0.053 left_z=0.0428 left_yaw=-0.0338 left_pitch=-0.2152 left_roll=0.0151 left_gripper=0.0097 right_x=0.282 right_y=0.0011 right_z=0.1599 right_yaw=0.0008 right_pitch=-0.0828 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -5.2308, 6.735, 1.8095, -0.0952, 0.0415, 0.779, -0.1846, -1.0872, 6.9538, 1.8779, -0.0659, -0.0269, -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 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3035, 1.4612, 0.5484, 0.0452, -0.2001, -0.2184, 0.9956, -0.0212, 0.8043, 0.6094, -0.5003, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3415 left_y=-0.0664 left_z=0.0319 left_yaw=-0.0248 left_pitch=-0.2645 left_roll=0.0199 left_gripper=0.9956 right_x=0.2785 right_y=0.0011 right_z=0.1557 right_yaw=0.0005 right_pitch=-0.1049 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.6906, -4.1915, 8.2803, 1.7705, -0.188, 0.0611, -0.1392, -0.1299, -1.2239, 6.9402, 1.8046, -0.0073, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:064d2896814b97fd2816b20a05f8480c6e06c7a3badf98034025eb0c4901ee12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87d0739b545a491d593df5a521fd3efb513c31a87cdee5f61631ce1f6df46a76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a5129b2b28577ba337c410842e3cd3b4022e85f5eaee148aae67c414e4be651",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDWqFhl0g4bnoAglo2XSoT-F4aih-v1FRN1lAYF2LESJDbu6DdCCFHjkQ1Kz94niqSjcsXQk3qtkN-4o4m23PKzLa8Zb8WgH2RhMXPzKZesjsTjYR9p5-jVamhXbBOUTcYX2I1vBFYWsVzVVRv-fwljQLPxysgKN3edB7QlM0e8SP7zgbxvolkp4snzjyDXbF-U32NL1a900Y9whOHKr1UEt3xTGeZh08MwQwF4mcbShZQQxr8-5VzBAzPSOGhsIO7oJu8BGYt-dHOcX-SxwuA_dD_9KdUtpL8Y3E1MoKYP7laxODEXS4KtKqus37E8NddpkiQXrTbQMEOd5Rw-0Pok966rRj8mWZDDK9hZ84cJZSf6idXSWHuvLtowVEHmb9VkOKOXdHg8il3MisNWmSzfK7L8-4Un0S9UjRb8BAsXqTdUQq12pSp1DxdMZKnlQKXbh1GtMES06nRQITMgMb-w197kX2vag65a1echlpOjebBXylNPi5GZbMOD91wrZKriSK8yU1pBtD-BUn02-Ym21oaE1q_vBRRWyRtZS_AClMz4sRM6ag5r7cjktNYONctftys6PpqzO9GWa_BfQ9WNga6OewZG3CWtW1OcSVoDELZKxrJXH4QBczVFXkXfMHfM3opC-hlN0SMjfVOD1Gya9vH6LV2DNU12939zL5MlqXFel0wmK21XtYHbjBmdOukR0_K7yme2fgc1f5pnZNS3JsoXFhc4RLIKHL7t_zcN6KRzSqRxOTaId8tYWt6dobUPi10z35pF5By-r8DQd-OyA5UWQ0cEfJnQsP4tthYwh_dy4L4iL3xt-IUCH7wYv20umW7Xk9HxW5zSZezcRj8lQeCdqtuwuEC4l87IjzShsQh6T34bcYhBoZvq3_Bub7GiIoLptmNtybs0mMkzQhj-8i0wrqbXMg-T0auEjwShySRKP3IGBt-gcKhLoxHKIqe5o03XEf6YrDHLp2-a_bOa5z6JsFdx3lig5yjm0TUYvovzSGuGZt9CDwkGaUdjX6q19kUo2nahDI4uKyTZheXD3DN8lDqC36Nt5rRbEm7HdWcayAZevrZ_J4x-hQFx3ufNeUQff5cedB9QbWVZeE0qDz_OJfEOot8x_y5UecM8LIelVkaSEkEpD9BFDG2zjsM0HMwc-43SUFTdLgmKKUNp18mGZOnBhKZD0r8Lsf2ZpCYA3cdtAOEVSQ0WvdoLn-x4Vn2tzLdhbPng3R5ppAa6Zcg9HHr1gi1u7-5hAElsNFRfnAB9OuNQR2wuX8XGx_0yKd0he1ZRfcmn4O6FzGf6RT25OA2xu_qvzKWtt_bQp3sN1Dh5M8jfJNmGSbowj287sL5j2uCBO0UqXx1EOAICtY0wvQrm3nCLbqddlMHuKNGA=",
  "id": "rs_08581611c5f83afd016ab435a9aa7087d0ad3e76273197d100",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"After the correction, the plush’s torso is centered between the open jaws in the left wrist view. I’ll close again and use the settled jaw gap to tell whether this grasp caught it.\"}",
  "call_id": "call_026fsFDJhLaC45ODtLg19zdD",
  "id": "fc_08581611c5f83afd016ab435aa0f2087d0ad9f71841f2db407",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_026fsFDJhLaC45ODtLg19zdD",
  "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]: [-0.3061, 1.4651, 0.5545, 0.0406, -0.2001, -0.2222, 0.0095, -0.0212, 0.8043, 0.6094, -0.5232, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3422 left_y=-0.0676 left_z=0.0321 left_yaw=-0.0251 left_pitch=-0.2667 left_roll=0.0179 left_gripper=0.0095 right_x=0.2748 right_y=0.0012 right_z=0.1514 right_yaw=0.0006 right_pitch=-0.1278 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -5.7231, 5.1624, 1.5311, -0.105, 0.0171, 0.7155, -0.1983, -1.2239, 6.9128, 1.7998, -0.0415, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd6b54b130d5dc06a89a79f81d15ae04671577af91828a7f10118e048ae4c856",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ecd5adc306cd5e80bf4479c3aceca1f9e3c3d435ce6c9d0b1ac3ff6d0daaf13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52a5025d0a9ab9e1c756dcc73b7168ee2fb322d1b3130a02795199ecfbf7e852",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 3.742 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2508, 1.3281, 0.5022, 0.004, -0.1562, -0.1562, 0.9993, -0.0212, 0.8043, 0.6094, -0.4591, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3306 left_y=-0.0526 left_z=0.0498 left_yaw=-0.0472 left_pitch=-0.2289 left_roll=0.0192 left_gripper=0.9993 right_x=0.2849 right_y=0.001 right_z=0.1637 right_yaw=0.0005 right_pitch=-0.0637 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -5.4632, 6.3795, 2.127, -0.2466, -0.1294, -0.0122, -0.1983, -1.2923, 6.9675, 1.7509, -0.0317, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3035, 1.4612, 0.5484, 0.0452, -0.2001, -0.2184, 0.9956, -0.0212, 0.8043, 0.6094, -0.5003, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3415 left_y=-0.0664 left_z=0.0319 left_yaw=-0.0248 left_pitch=-0.2645 left_roll=0.0199 left_gripper=0.9956 right_x=0.2785 right_y=0.0011 right_z=0.1557 right_yaw=0.0005 right_pitch=-0.1049 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.6906, -4.1915, 8.2803, 1.7705, -0.188, 0.0611, -0.1392, -0.1299, -1.2239, 6.9402, 1.8046, -0.0073, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3061, 1.4651, 0.5545, 0.0406, -0.2001, -0.2222, 0.0095, -0.0212, 0.8043, 0.6094, -0.5232, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3422 left_y=-0.0676 left_z=0.0321 left_yaw=-0.0251 left_pitch=-0.2667 left_roll=0.0179 left_gripper=0.0095 right_x=0.2748 right_y=0.0012 right_z=0.1514 right_yaw=0.0006 right_pitch=-0.1278 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -5.7231, 5.1624, 1.5311, -0.105, 0.0171, 0.7155, -0.1983, -1.2239, 6.9128, 1.7998, -0.0415, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd6b54b130d5dc06a89a79f81d15ae04671577af91828a7f10118e048ae4c856",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ecd5adc306cd5e80bf4479c3aceca1f9e3c3d435ce6c9d0b1ac3ff6d0daaf13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52a5025d0a9ab9e1c756dcc73b7168ee2fb322d1b3130a02795199ecfbf7e852",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDWywe5a1hi825hiDTB-SFm6poWF4m8azKrCMTanirPnC9EJTnrsu53K5Tlqb8xJ_MTtHaJ7BsOZLanUaqbRaWRcU2y4bmsLqX-Djr7CpcAe4TGgZQ-zRBfJ4RXwUMaORwShwVmPGF1vUnzT1zwXhrCte9T8dugbfVSPPJ0tP3B_SZt15-0Dk79FOmoCzXyPfBsFVhXw1ryW2EZRXR-Ex4dWXfF8oP7rlYJzSnBUcytjpsl-0eaEpRgtIthveelRcPyJ0CIhyPxCxsYPP9DyryVINz6uLBmXN0tbCLUn4NvZT_HHc7gzjL4t51BwDC2YnjYM5ZCm46x9NXHHAxdxsrht6CDi7guRy5iSlwICk1x87LmHq_ENmo-vyWwDhjgesdHRA1-IiOUc3Z5XgIGSe2gwqSOJqScTc2udaBi2GMTtfkNPGinOYJXLDEBsAxG-6a-LoRu7cCrE7OXwAhsJDoeepFfweSqrFqxuEuvX5rbihKQM4D41xb-HyiCd8NCV-i7EwYwjpRsI4fCvjQ1d5nDAtu9oIIMt4I4YM6R3Iwl5bafa2E0cP2BbQWJkRZQN3tGRhgDk_vV4z6dqwMVjaivEMTXv2lp49hrk1fhCEL1FYa_CJLSoY4Uj-edebYyNy2aS05CclsBWCPcSAVlqgHPCh481DpDD1W3ureGxhyjQNRjVI1cFi5Q3BYe9tu387BmXsvD0O5SR5AARDKTQirzfsStph1HfPGOYGEqo9sYCFUlIRCXMkrx4aSsMhliD5c69VbPBKKOOB-gFNgP_t_cXMpVX_C9vsyygQt43y7UPDy-qIaI-YbVAipqCZ8GM43zA1xFDQEhJS3KkAy6PIOC7WtDXFkrrdk3KeWm6MSgTLSGCid5Bj-1U7aNrJLK4I5NugNbjuGF4ipYthPQOCsz61nu0mXE-v5MUo7IG0aLCVzsm3_d5nhs4bgy_kr2b1gNjNYvohKed2HPPTP-Pm_H-H_FtGlvWIrSCRluh5AusauTfulM0BngSSBwC_a1BLt11jlCTkM0cl0pt3_as6gFVVd8datSd6zW4DNHJ4iJoHgLbXdROJHWbGJE8LIBnfuexXzxU2ybWeDND1UlIzLNrSk2ywIdqbPeW9o9oNg4fnln0JXS4P34E_eo2BlzgBT-yqmSVVgxd57uYKt7mdK6Af4G1nawfAY8z8rsgp49pw9M_-NKKDnjqr5fb6Y9qZxCNS9fuvWS4pNY-gg9PlRXkUfGfEE9lh1N4crTouukUZW-F1XQIw6twJY3LuYCLDKgJ1lpkhmBXEsjewgGDDu3ISpv0ub4rl4QvkFjbGkgQBDYT2xWu1bD8PGEIZn4lk2l6Pze9vUt1XugN1trC8vw_kC7a5--p2Jtzeo4Kdgv1ApdTw0rMq5qHE0mCyGH3c3a45nZ6kTvU1yp207YTr8qNf1biyn50PSOLRhiW2Y29BCgio0_QRFrn_fstnMM6nEE2_9cH8Xl2ligS6bz6Oxny1lD9KGQANc3TvuE1mXjxttiPtKfCcplL2l5uOoUcye8qxEngkGRYB9q0w-GRUk-Q0yoqiCJdhnyVVIGfi-hrt4ue3ith4qA9g-kp-5BnRV0pIrSLKndloehvJZrJN5lZk-t2OwBEc9Zyf4yn8a5eWFnzV46-ifbfknHIAXpQRhhmmfoG8lvoELhPy_DmsmFmXl-esAvN34GR-RlX_-5qCzq694mf-71K95MWYDB3S5inDeYLMLet6sZA5PwyetvsKyWwclTW2L3GPWPy_i-wYZbXkG-Py6jndveQXgSkZo_Vyew1x042teVcFsEKjH-IUBXLRjRStfWAkB4jJ3BNIMve7zffvrDE9FL0IdIacS-5lVwCccVU6FX9XRRHsczUB4hxAn6mKt4h1-qMuoE73gkOxeJWna5cPClOBQtVj13pG147c4Mlx-W7yMbdUWSKoRaDrLySVI9cjEIJJupnWTfoAa3l9YSP2hQN7i9xHpqkrKlSd4HGuicTy4ZmFKwVBWEBeDXh3IfHC_Y442FFH55S2v1EN61qx9A2wbhhuMUCtcz5w9vguXB1D3yr2_Fv6NXq9PATtY6E00g0WWdsYXHPgejOH6a3OTYMUcdWON_DYQCD2RxAMSxZl_R7qLadJCpR9fqZCKQJnBOI6BWSs_iaLuyYmPM6KJkX0aLYo-8RtBwlriM3BdVUBP188f0uGVgQ9Jxf_vE4uIhKlr78zcVN2JY3jw9-0l5fmFZeq6-5oQr6xYSrN0cBq_s1MM-oFa52YlewL91dSH7-K8GeZwjuvrIxDCOeAW4Ln7F6BoaONNAIf4NWkcXMpdP4BCzmW6Mwh6-v5aR0HoViE8dKjNy6WCzfdIW_qSZLp_YPT8z1mrJblg0Q1Cr7NtPgBM8nvRsDQI48rNP651eYywyNjVWujlu9e2ZS6lchis8m4E12IgL5DnjxH20Fq9jNpVsQJ599TlUqVipDKjbc9Q1h8ZcFfXcEUEEUev14klCKOCULMwqQtDY3VZLsrNYS49ENN8Sj2w7KZesMVP9SXk0ywJkXO1sugUJGcyAJFe3FartYNuD-xJC8o7-hb-0Hg5l0KaEAcqHpiCQDkRjRH7GyCe6lm6B_9QnSt3VQtOMk_xDCyz24CvYZTCCqpk66ifDpYECb_gjGvWnUOhi0jl61wOqM4QrqUgFD5fJQfHCC2PCCKFnqglSLGrSnaIVQR9b-212NMqLZ-72kzfGlmaJ0AXMhgfPFb4pD0d2YCNnI40ndDOyc2g8Y6015MiOWg40u1_B-uxIAegErdEVxMva5qBmeXshwzxtk_YkyGaGqfDtrqx_BpicA1G297P_-cN782bNwjmiDIgMzhSQcbTU--MAGIFrUTY2hQksWg2jRKcurzpqNDcaiVFj0pa-NIZXCOh3_Zjn_GZdJqErP9OFuvCGexHIlOOVbZ8des7nF7OoJTBr5KzaLFJXVYIlhHf6axVien1SZJ14lDaUFJ7hTcgsthDkUlXu3v4YjJNARug9esU_mDpbWIk7X_ZCZWhB0nthhpAUJlN9-wOQ3QnUZDmCY1qeR-4_Vm1MNOPkwxBJgNYWHe-xDAXvX1k79Qumm9Xrls__HhS0OW7nZHVoVC3N8Y5geIzBe5rCUKm81vnxTIyUPL6Ium7nq5f61xu48UsTlj6YHP1waqlrnK7dWnPEO9ng72Z0d8GHLkBD9ihgsSh2j2CSdBUxOpo3vNLxTo2bNBN6O8qwKcoQqkrvWiQzcBWpvZUh10K6KmLhDiXjBAvULnw9d49baaI51m9FjSOZfMRZloLPIdvP5AbdblRFkCR4DrpummuVPOEObewU2JH_64cQpXzijdnU_CgimvKljF8SYqcaphauCyJOccwyk4HP0KevTuN04J6B4MXQJcAEn7orUQVOWZ-FS_0CjPG-5LWzj1B60PE8pqBbzSfbHGNpHQqqI5POpAFmknyNbxfoJ5BDsgUQYABnttMoSwraOYLnDxF0d0Eglsdodz_rpqPmxuu0KxWDG6QpoqjiR",
  "id": "rs_08581611c5f83afd016ab435aca8a887d09d995f1c674a379f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.39,\"left_y\":-0.09,\"left_z\":0.105},\"note\":\"The second close was also empty. Rechecking the overhead view, the gripper still overlaps the plush’s near edge rather than its center, so I’ll raise it and reposition farther forward and right before considering another descent.\"}",
  "call_id": "call_lE8b1ZgFKvhXjavgu57vHULY",
  "id": "fc_08581611c5f83afd016ab435b14d7887d0a6324c8c6adf63ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lE8b1ZgFKvhXjavgu57vHULY",
  "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]: [-0.3248, 1.5082, 0.8856, -0.2783, -0.2073, -0.2508, 0.9952, -0.0208, 0.8043, 0.6094, -0.5541, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3808 left_y=-0.0861 left_z=0.0911 left_yaw=-0.0187 left_pitch=-0.2942 left_roll=0.0134 left_gripper=0.9952 right_x=0.2697 right_y=0.0014 right_z=0.1458 right_yaw=0.0011 right_pitch=-0.1587 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.6632, -5.7915, 9.1966, 1.409, -0.2613, 0.0708, -0.0611, -0.0479, -0.9368, 7.0085, 1.8486, -0.0366, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d916de2b552082a194be873a545ad8934ab97d2b754b2f397a6c29a5ca5f09ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61963778e211b99f8b0e4a103637357d2aa8260fcc658d6fad8884262425fbaa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:176cd51b298a2d9329c8e5518f1fb617ed2ecd4d1a8b3e529ec061e616dd9a62",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 2.337 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2588, 1.3529, 0.4747, 0.0677, -0.1707, -0.1734, 0.0097, -0.0212, 0.8043, 0.6094, -0.4782, -0.0196, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3314 left_y=-0.053 left_z=0.0428 left_yaw=-0.0338 left_pitch=-0.2152 left_roll=0.0151 left_gripper=0.0097 right_x=0.282 right_y=0.0011 right_z=0.1599 right_yaw=0.0008 right_pitch=-0.0828 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -5.2308, 6.735, 1.8095, -0.0952, 0.0415, 0.779, -0.1846, -1.0872, 6.9538, 1.8779, -0.0659, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3061, 1.4651, 0.5545, 0.0406, -0.2001, -0.2222, 0.0095, -0.0212, 0.8043, 0.6094, -0.5232, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3422 left_y=-0.0676 left_z=0.0321 left_yaw=-0.0251 left_pitch=-0.2667 left_roll=0.0179 left_gripper=0.0095 right_x=0.2748 right_y=0.0012 right_z=0.1514 right_yaw=0.0006 right_pitch=-0.1278 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -5.7231, 5.1624, 1.5311, -0.105, 0.0171, 0.7155, -0.1983, -1.2239, 6.9128, 1.7998, -0.0415, -0.0415, -0.0122]\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 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3248, 1.5082, 0.8856, -0.2783, -0.2073, -0.2508, 0.9952, -0.0208, 0.8043, 0.6094, -0.5541, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3808 left_y=-0.0861 left_z=0.0911 left_yaw=-0.0187 left_pitch=-0.2942 left_roll=0.0134 left_gripper=0.9952 right_x=0.2697 right_y=0.0014 right_z=0.1458 right_yaw=0.0011 right_pitch=-0.1587 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.6632, -5.7915, 9.1966, 1.409, -0.2613, 0.0708, -0.0611, -0.0479, -0.9368, 7.0085, 1.8486, -0.0366, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d916de2b552082a194be873a545ad8934ab97d2b754b2f397a6c29a5ca5f09ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61963778e211b99f8b0e4a103637357d2aa8260fcc658d6fad8884262425fbaa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:176cd51b298a2d9329c8e5518f1fb617ed2ecd4d1a8b3e529ec061e616dd9a62",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDW3IAl6L_wUcd6mujiAocJO_h15qdRVxsfQr1VA2wYmHx2MV0W4UVXM2B-_2yZ_5YnK4WOGkGFPmx1LPj5ey6SJIuKp32utyW2jX83B03an9MZTPc96VDeEKM9y9UwYe94s2-vhLNPzdOiuvBIO4HgmwUx_usdsiFp9ytb8GJ9c84xgPDwYzyoDLGax0B7GOVNm1IOlZn_eCr64vnDprG1ow1sLNTPI4Z_TcQ-8OAmY3ir4WobPvhG2-35bm6g-6lrWvO1zvA3OrHOrvl7NaLE2DwGAxUiTM-Pmx_o559-iUNrUHQBATcANuCaZxPjIV6aapvvpXN5zBOpF3MI-ycAV5n5oSIIuJ6_x9OM1QmN5PVF_S0Sm1RDO4rA27QNW8zDdlDBdRYyJO3bh72PT1qF1E2uVI1rJUxXrMJphaT2t2LLsN54Rx83W2cK1tJWRkQFK-U3ilpJuWA8KeOFZUNv7W2VSc8Gl7zA4D5duebmiPqEHZ24ssJ6Bz7D4KPbD7k1R8N4Qz5y6lA09QqJ78om8Ac9dcllQFxUcFsN5Xk-Z0qvYNK6mMQzy6XbZcA9b_cT-ufWxOyqhG2Yj54ocKTwRxCcBqIhvYKGdOGPu8ro5qmrxhYnupYH2-aU__95fMY--krWHepuX3jAK9RFGqej3QyM329PdubVClsmySXJhVTwKa3B4prIjWPsQOaLMMR_mx4ehrwg2pP4qS0NaQ2FkFrQsAEoTZ2trmriTL2ovN1udT4AaojXqrJd_ujga28XB8ktZmMtgcfDxh2oZq6IxGjYCqlTGrtusYEwCZIeJE8RXHtOV1t4VwfVxuKJ-h3wPfh0et9_aSal0F6j4yr5KTUMbRTWFswUinVNHNfEzn_RSgFy7wqI4pG0ubNI5dW586B6WfvLD_3cBTaN6-jtuxXUeIuZxB71KrdQ2eRoP6qxCoisEftxrzUPOOMtlDmNpvuOHk9O5G6dB95ar-HwJrazqwaqbC4r7WORJgKFClc3jaBqwkLMdUFP1bH46U02z1adWHzIBNrw0FGYBvIE_6FU09STS8kHkMU-GP0E7w5lqCt6vn8sKM8JfZSzfSEA7DWE9paVbTY5stjKwusy8OIEU3g8TKy2EDZJLNcjygqOfa3wzn85BxKiKriPNMRq-7Pvh98BQamJXsidTBa11dztFNytoKVFNZkMMXjku2IprbroNq86HO0MRuzBbz-d0Rw6cnQR7FJoxCtcDVpYzMgwEJMYUYXVmFwRkesl-g_ESCdLq9_97W3bsjY9k52xQj1ZaOoezrIjjqVisT5amA57_ejeQCMVby0jgX9f_1Af8ZtyzrxL9iO6m49z3Knbo0vFHzSI3aCE8TD9x99wU-hArT7Ib84r5lT-ebbSIkW7qLJucVkHt67MesXDi1fnj2zcq5HxirM4lLQBRFix8Zr-3TuS5WyLWuY-Q9pXI0aOZi052TB8At0eAzXQKrqu2SFxC7oKbv7OwCWbjso-XGV1bGGx4_Fjt_H-8yGdcf2wskwy2ER282CvhKrw9W9w1RCVVmTGkDtmVLWJR6VtiZyS6Y-EmDgSFGFJHxBQZ7BAy5Hu4jq94DdZAYGhS4b6WF6flrcLZQKNwYBZm5K5wZDcQFzxVZHCfKm7F4L0TFKQ-B5Y8B8-UP7ofZoMyFroLYpgEra7S_elijqNQjgVXOG8YBiQkJLI2AOh3GHwrIr8MJegAmyXdqeVBj_FPytxnzw_w4j6rDrzxKfObQztF41RzpF6_AcyS9-IEeY3mgoLbIhckG0jzUQFv1LcYI-rpBljElLtr8DiW6QtrjJMazNSCRuTyoKFe-R94-yvy04bx-b6PgWOdfR8HhpU_hvrGTaWRl0evttxSpf-EeLfN6vljyc9huXfTtQqy8my8oTm2Ab6Hf8IdgYwcOF3DPfQp6ipC94UNsV6CAJwd5tziogwT3eOVzlcqkjbEiYYLa-OMrbgnw4_nyZT-ImBccfjub7iNSZre2myioXWNyaqXC0tSNBTOwjSuyt-ibeWtP1z2wxmryVgVWHImX3eeWpu_zB4m6FBdKupZuyhVDZsRZzy86e0SVaU9u3RIq96bnwKuGcoqCAIifw0PJ_ZSZRn-tET6rjYVBKFsszUvJmrtNJBy0P4J1qGSPi7xg0rWRx8hS8sNR3CuzgaOxPQ9oQKrNEeed6qsLIH44SLTRSuwrae8MDeMu8WLjQxGjMh7313eZZsPgdeL4DjMzxorhLYRErpnsFqGX63lFd_duRxN2macfXtNhj9dg02UdbqlPbTTOVdBQ99Z4g5L1XDy8XbDhiq1k0xLpZmbNj1gqPLoSE9yf30vlbgCTdz1dQgMLJJi3qA51MAwwGQHjHP8BESLhe37VweB7pntzfkpF-J61hJIAYwWH2ZyilJJHYcoywJDQKW84Vg4-b9JUzLTx3tj",
  "id": "rs_08581611c5f83afd016ab435b5042487d08695267c1ffbf466",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.035},\"note\":\"The new overhead view puts the left fingertips over the plush rather than beside it, and its torso has moved to the bottom of the wrist image. I’ll lower straight down at this alignment before closing.\"}",
  "call_id": "call_XYmrb0gjIXfgCX6A1a10mSnd",
  "id": "fc_08581611c5f83afd016ab435b71b8087d0a60612a0f152cde2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XYmrb0gjIXfgCX6A1a10mSnd",
  "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]: [-0.3271, 1.6146, 0.762, -0.1032, -0.2043, -0.2531, 0.9963, -0.0212, 0.8043, 0.6094, -0.5774, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3708 left_y=-0.0842 left_z=0.0324 left_yaw=-0.0168 left_pitch=-0.3473 left_roll=0.027 left_gripper=0.9963 right_x=0.2658 right_y=0.0014 right_z=0.1416 right_yaw=0.0008 right_pitch=-0.1819 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -6.0103, 5.2034, 1.4237, -0.1294, -0.022, 0.105, -0.1162, -0.9915, 6.8581, 1.8291, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6536d891087ce4cde0d5dc887f90ef9480bf3e668adf7ede66e1a1b5fcf6a40f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dc3403b6e620bcd4a5f885958837fbaf058e0d78341d8a8ba123f4462e62c3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4df2528c626fd827c42ca2a2739a2a195dfc7b4e528ea4fa4f52852500c9a7fd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 4.746 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3035, 1.4612, 0.5484, 0.0452, -0.2001, -0.2184, 0.9956, -0.0212, 0.8043, 0.6094, -0.5003, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3415 left_y=-0.0664 left_z=0.0319 left_yaw=-0.0248 left_pitch=-0.2645 left_roll=0.0199 left_gripper=0.9956 right_x=0.2785 right_y=0.0011 right_z=0.1557 right_yaw=0.0005 right_pitch=-0.1049 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.6906, -4.1915, 8.2803, 1.7705, -0.188, 0.0611, -0.1392, -0.1299, -1.2239, 6.9402, 1.8046, -0.0073, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3248, 1.5082, 0.8856, -0.2783, -0.2073, -0.2508, 0.9952, -0.0208, 0.8043, 0.6094, -0.5541, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3808 left_y=-0.0861 left_z=0.0911 left_yaw=-0.0187 left_pitch=-0.2942 left_roll=0.0134 left_gripper=0.9952 right_x=0.2697 right_y=0.0014 right_z=0.1458 right_yaw=0.0011 right_pitch=-0.1587 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.6632, -5.7915, 9.1966, 1.409, -0.2613, 0.0708, -0.0611, -0.0479, -0.9368, 7.0085, 1.8486, -0.0366, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3271, 1.6146, 0.762, -0.1032, -0.2043, -0.2531, 0.9963, -0.0212, 0.8043, 0.6094, -0.5774, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3708 left_y=-0.0842 left_z=0.0324 left_yaw=-0.0168 left_pitch=-0.3473 left_roll=0.027 left_gripper=0.9963 right_x=0.2658 right_y=0.0014 right_z=0.1416 right_yaw=0.0008 right_pitch=-0.1819 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -6.0103, 5.2034, 1.4237, -0.1294, -0.022, 0.105, -0.1162, -0.9915, 6.8581, 1.8291, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6536d891087ce4cde0d5dc887f90ef9480bf3e668adf7ede66e1a1b5fcf6a40f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dc3403b6e620bcd4a5f885958837fbaf058e0d78341d8a8ba123f4462e62c3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4df2528c626fd827c42ca2a2739a2a195dfc7b4e528ea4fa4f52852500c9a7fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDW6pddLQey7-G68l1pKLQaP9fvrcfEgYppLP2SwkcE91Qcb9Dy4TVQILpk9xchWY6_XWOHl6VLTv_YVhkDVXvvRQGPAprOe5zcld_o4KouIjn0KxBgsE6VmUTgDOYz808rV8pEcxzffcQeI54DNncoMr1uodjnoV-SmIjqCPio7jXZQ6Rqdvk07sx1wD2tCTkq1xtVLZTWdnTNy_IDnUL1pomGltSGICh71kJefds9eCf6ANTZRZLWYtteDFc799lR8iHVAeNBJU7r8J7wiNHtJKgeW9OSkq3yvs0yXj-pfwZYmFhSkYgjJyRziw5nXpReOYDnbHaUlIi_jLqK_5N7ytvexOXZhNR2zHvWr4GY7Mak8RzQHAR_2cPiYkfgmpXUHl4UIKO4_PzEFZnUkkBISypZjglRtT4zECuHPw_HZiUm4OWTpSc2QL5qDWDZxPcWCt-1t_sAetowfCJXN68AMRa0xSjj_m3dYAMg2B8baeh0_p8bGQ3N2gg4HGToeUractVkP42dJ6ftv1U4fNCESMYPK4lvVyVZ9xcjj0fATObN1rLPv1-BU-XA2PgdW5h2j1a7K4NeCLAeYC9yNA3DAQWqS7gcYyKZgWT-9lzbBNhXj0BCAwKw3ym3JIftIb51DpKL2ijoe4FB0HmlVEpJ6YdKlfLMutN39esQlAfJWYmfhAWrgt571faQMbmfVVogOTXY5w1u-rBmqepBRgaQ5a7V1fhdFas4y4Ev77OshEAzoijdN7i60mLzLmPRZDwe9dJ0PTt9qHq1h7uoOY94YPNxKwtTgDePhoudJa69WqIoCtwq6dGiOduudy78Bq5FLs9Icmzac6GpnHU0JD-FAqHJKgWaEcZGzC8E5YdLqflN8956AerFiOi2DYLqoW5UTc_GB9OOkrPdSUVLKb9e63Xv21zoZ89YIDNexWAeGCKTw_J3WswOwD9_ZN771hngWQZ_G1B3_CtACdYFYX5MyA_-w-FcvcZBxH7oTkqWBT9FpnD2iFDZISM3C8JKozyFnBt4rmJ_zN0ah7bUfY1bf48uxG91H85Uh4aGpK7gce0poFnIooDU8uUCHKXPlIMhWwRnZVAAjdX01vdr6NdshdjX-rAOpIe2VERgMi2rhw5HD9wgyliisEn-IXQ4n3JQ0orqjSl43r-37wVV_oj3u0-IvYhfRz956BsRE6DlKItTOUmGCdFcblbPSO9h3qaNuyPWK06RPTGo-g_0LOAAFRQNwpjKDDrcGMVozBkMjo4Apzz4uuDC4Ei_iy455YxYvU-9yLJrBkHycNet32xDcsNq8-_Rdf7VuAx3iQkKlcIqzZk2-h-ruh9MkcyfvKhk6p5IT-tNNoKlvul6dgHaFdAieLSXDSecgk_z2h7kC0IM=",
  "id": "rs_08581611c5f83afd016ab435b94bd887d09ba4bee2bd612a41",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left fingertips are low over the plush’s torso, which fills the bottom-center of the wrist view. I’ll close here and look for a nonzero settled jaw gap.\"}",
  "call_id": "call_r34cd87NLWJxJXb2rtugDLIn",
  "id": "fc_08581611c5f83afd016ab435b9c85c87d0aece1071f3c8b02c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_r34cd87NLWJxJXb2rtugDLIn",
  "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]: [-0.3244, 1.615, 0.7544, -0.083, -0.2226, -0.2588, 0.0322, -0.0208, 0.8043, 0.6094, -0.6121, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3729 left_y=-0.0805 left_z=0.033 left_yaw=0.0035 left_pitch=-0.3309 left_roll=0.0343 left_gripper=0.0322 right_x=0.2597 right_y=0.0016 right_z=0.1356 right_yaw=0.0013 right_pitch=-0.2166 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -6.9128, 6.5299, 1.1453, 0.0513, 0.0611, 0.7009, -0.0752, -0.9641, 6.8444, 1.8291, -0.0317, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d26a7115b9813a9ed36bdbd147026a10b3825875a103867693646998135bb7ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cc33c51174a49317b37f11631e981683322cb27f1bacd4dc46c7c1f9a75799d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c23e5425d2ab278d63c6b9b2a6b6db2863c19d71f2e5399182cb9c2754434302",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 4.328 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3061, 1.4651, 0.5545, 0.0406, -0.2001, -0.2222, 0.0095, -0.0212, 0.8043, 0.6094, -0.5232, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3422 left_y=-0.0676 left_z=0.0321 left_yaw=-0.0251 left_pitch=-0.2667 left_roll=0.0179 left_gripper=0.0095 right_x=0.2748 right_y=0.0012 right_z=0.1514 right_yaw=0.0006 right_pitch=-0.1278 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -5.7231, 5.1624, 1.5311, -0.105, 0.0171, 0.7155, -0.1983, -1.2239, 6.9128, 1.7998, -0.0415, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3271, 1.6146, 0.762, -0.1032, -0.2043, -0.2531, 0.9963, -0.0212, 0.8043, 0.6094, -0.5774, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3708 left_y=-0.0842 left_z=0.0324 left_yaw=-0.0168 left_pitch=-0.3473 left_roll=0.027 left_gripper=0.9963 right_x=0.2658 right_y=0.0014 right_z=0.1416 right_yaw=0.0008 right_pitch=-0.1819 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -6.0103, 5.2034, 1.4237, -0.1294, -0.022, 0.105, -0.1162, -0.9915, 6.8581, 1.8291, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3244, 1.615, 0.7544, -0.083, -0.2226, -0.2588, 0.0322, -0.0208, 0.8043, 0.6094, -0.6121, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3729 left_y=-0.0805 left_z=0.033 left_yaw=0.0035 left_pitch=-0.3309 left_roll=0.0343 left_gripper=0.0322 right_x=0.2597 right_y=0.0016 right_z=0.1356 right_yaw=0.0013 right_pitch=-0.2166 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -6.9128, 6.5299, 1.1453, 0.0513, 0.0611, 0.7009, -0.0752, -0.9641, 6.8444, 1.8291, -0.0317, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d26a7115b9813a9ed36bdbd147026a10b3825875a103867693646998135bb7ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cc33c51174a49317b37f11631e981683322cb27f1bacd4dc46c7c1f9a75799d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c23e5425d2ab278d63c6b9b2a6b6db2863c19d71f2e5399182cb9c2754434302",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDW_AzyAnqh0LzgQbQEQ_Z2RTeCD8vNcCoPNgF3GBq4akH4A9dES_hUX_cOYzKCxRBt5Vr-Bt8t-l_j7u4ooNesJeK1r_3DTDftqhn41XCYeLkWMJ3FnHNLXY3QCeR7txsQ2c-rNPJUsdi5uEkAkZD3rYWiMQELtg6n4mbqQVTGSm32IFXpYN5qrHh2JhvBNyrww8T8FIUXiqwYt_F4PyXZQwqi2OPsOmJQRb7_Rd5JcWlYCpg1K8IatPMImE2zEjk7IufWGcp1QO9qU0viJjz2f_OXkpHXGsJZWPag_iYWLzs_HKg-hebvTKv6e0yeNxHwk4-ALLbApgCGsfsndoSg_KA6pcYumQlAcNch_OJt-xIV2sq0eZmfeiq5j312HWd616Qk0yP5biwIOd507E7M58aHeuGTAQUx_SgZJRsC-FRN0XHw2pCM0ffjR5MvrnmsK-7_G8nM0os7UnUJWxlkDRgCH-jhKmoSWAW_u8075XjbD7G9PxxH8miNwXAYwZAoj-wxIU4ACdZ5qNNgzTg2HH-KchCqqJu-8OVDfJi5wpIA4X_Kl5dFjLXRtJapewL8vSHWKDazZTWrHYQ69Ukfn-et05rRf0G4NMgHfi8vGItKBcd78uGul5EC7O-2n0k2VUsK4ZlDHiA1d_owjRAiZbNygZriuEREBR6pugyzQYKD-nvn5Mu4mky1EiVGDWpbSEJF_Jy2zSuLBV6BScVgfLq05i30QiO1krqzrRAl4nomBznli67v6746fS3ZH3ofnO_VhTmTsDm80akhHPFLZCFR9TB-4a-uj2Ty9RoXJYMpUrovNOs0GGLxWdcbivPZN-gd5z_zm7jxC5YSF-l5TV9jfR2s4_EIOvXE--97zR0BRW6ECe5kHdWYWiapEqQACBY86AHYNshL3ph5c_HLpiqrqdqCMtyDJ-4MHbTJaNHT509qTuxGhQntJ8k9PADUEtfEwgBxh8T4PBLQFm1j4R6w4I_OuhLhPM7Gp9zDbRMCLJ2cQRkrWdkY376xzLH8E1qfwKnI5LnQKsV27YpXzRWNiKhV4pDAq7_hCv1cyiSBmwyibaHrdB-xIKrcZiuXTOw_JT4mxHo-Bq0swg_GYpqmTogbjkPdurwuGjUrZoEzFTEzpBcGn-dpSyb7Tv2Y_Y_HpTdfk_vSttKRSMTBf0ZCHWO0AWb1FNJxm4BiFi0E-DqweRJEEEVLEEskdSgmFbYPtnQFapzhH8oQiH_9eVhXcnWiIIOc69SyEqn36vQ0DcYXbM7zPO5LN6WrWMtEoPuRzN8XEdITNOTccW6lVZn4E_cAlT0AacSB1P_uo8kENR0BXLM78FQER2iM4uW71e6_t3XBynC--zjMSuxg_-MhpYbDo_rAqTrN6nnNJIu7kZgolpBbRzk1QGOUMYhGIF5zubF3QlT-wfpCcPOGvEK0lZQDLXUayFoG1IGNbQy3QX_P1EeJhz8I3DxZ5Lqau",
  "id": "rs_08581611c5f83afd016ab435bdcad487d0a18af0909fceb18b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.14},\"note\":\"The gripper stopped at a small gap near the empty-gripper threshold, so the hold is uncertain. I’ll lift it clear of the table and check whether the white plush rises with it.\"}",
  "call_id": "call_U7Th9DizXC3clOJOPNAoJLK7",
  "id": "fc_08581611c5f83afd016ab435be79d487d0bd8c5f71150775a9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_U7Th9DizXC3clOJOPNAoJLK7",
  "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]: [-0.326, 1.4803, 1.0069, -0.5064, -0.2222, -0.271, 0.0355, -0.0212, 0.8043, 0.6094, -0.6338, -0.0196, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3704 left_y=-0.0803 left_z=0.1155 left_yaw=0.0131 left_pitch=-0.3649 left_roll=0.0388 left_gripper=0.0355 right_x=0.2557 right_y=0.0016 right_z=0.1319 right_yaw=0.0014 right_pitch=-0.2384 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -8.5402, 8.8957, 1.4969, -0.1587, 0.0708, 0.6178, -0.0205, -0.7726, 6.8034, 1.6777, -0.0513, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba96704290535a147f810f30061629d686ec57e18907e91d4613c0524f225992",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13c5d54500cac171846c6e83be9f28330e7345d3662117b0207e6bad27112b7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15904394fc8a4eb9c56b43b5c8fb973aa0b2f67b60f01c53e7dc4198f1ebdb4e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 3.45 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3248, 1.5082, 0.8856, -0.2783, -0.2073, -0.2508, 0.9952, -0.0208, 0.8043, 0.6094, -0.5541, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3808 left_y=-0.0861 left_z=0.0911 left_yaw=-0.0187 left_pitch=-0.2942 left_roll=0.0134 left_gripper=0.9952 right_x=0.2697 right_y=0.0014 right_z=0.1458 right_yaw=0.0011 right_pitch=-0.1587 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.6632, -5.7915, 9.1966, 1.409, -0.2613, 0.0708, -0.0611, -0.0479, -0.9368, 7.0085, 1.8486, -0.0366, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3244, 1.615, 0.7544, -0.083, -0.2226, -0.2588, 0.0322, -0.0208, 0.8043, 0.6094, -0.6121, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3729 left_y=-0.0805 left_z=0.033 left_yaw=0.0035 left_pitch=-0.3309 left_roll=0.0343 left_gripper=0.0322 right_x=0.2597 right_y=0.0016 right_z=0.1356 right_yaw=0.0013 right_pitch=-0.2166 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -6.9128, 6.5299, 1.1453, 0.0513, 0.0611, 0.7009, -0.0752, -0.9641, 6.8444, 1.8291, -0.0317, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.326, 1.4803, 1.0069, -0.5064, -0.2222, -0.271, 0.0355, -0.0212, 0.8043, 0.6094, -0.6338, -0.0196, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3704 left_y=-0.0803 left_z=0.1155 left_yaw=0.0131 left_pitch=-0.3649 left_roll=0.0388 left_gripper=0.0355 right_x=0.2557 right_y=0.0016 right_z=0.1319 right_yaw=0.0014 right_pitch=-0.2384 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -8.5402, 8.8957, 1.4969, -0.1587, 0.0708, 0.6178, -0.0205, -0.7726, 6.8034, 1.6777, -0.0513, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba96704290535a147f810f30061629d686ec57e18907e91d4613c0524f225992",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13c5d54500cac171846c6e83be9f28330e7345d3662117b0207e6bad27112b7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15904394fc8a4eb9c56b43b5c8fb973aa0b2f67b60f01c53e7dc4198f1ebdb4e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDXFHNdh5wasPjpbWOR5V-JY3oQdm5ytT3VkXGAWEIq2_dzwU1Yn4ZsiiTt6ZISAuyiZ5ycVctX81S6fcfDOlvsZBpDqtZsVsM4khcXS4s9cnRV_eaRGha2Fu0hHz8_zSsiKJhofoccYM7bA6aSVi8VnNHBEyjL7XPkVwC7_p4Gm71KuJzj2GZxNXTWAs4SMVVU64UMMOAl1GViRoQ4MPqdk7PZCYN4Yi8wXc5kBt2-yK6ljLkNGbFWGFMWMm7FNb7QF5VgoYK_3w4PvoPZItx_svGeybGYy6mMP_YSvWkHJYdVYJs-lhZ6U277xocaTGWfGxoFV-05GaPXn_WuvUUjGZzCNA3OebjGtdBN1sHWBI7MVR8xj-AJejWXL2tm9zFS0lKmDRicHi64zrMqruTKfRFFqOAi8-3HlRcZmILpZUu1YWiNHy4k6rBXYpxm7hkhSJ7CtQstFe_Gj42QRriB-GMKI5oCsdjQFkDIAFq5GrbiYi_E93VlP11gsTC0SMSp8lFfQZ9GUNgSXuvfvYhVtr7GtpIx58DrLVdtiLr7ZkHP7fKUk4SDklOaJ5ujRss1DNa-KyRcf1oXWl5X19Co6pmP8UDYF2ZUAG8fNbg8WQTnul5CaJJXC2I7Bb7aDd9ZUoE_8RGUW8wM3PsNDvkplEeDYsZmz_qWep3WtkeFwNASMxSiPQy3c-8dNPC37R8lfu2Lz3YEVfb076zxSBC3uuQKv3Um1z1j3b3vqUVrA6YtDaoF3NDb2zXzg2P0OAVRUInOWoPKJCkf1us6C1ghzeC7YwO-vX_5FR-hWpO0woGzXzBZnlMKBGa2OQRwE0CNT4jXAzAM_p27RuY4Cx4ICYFlqx6TV9fz7u0xW8MrzsoABfUnq9Q01TgWwYa1Dcqmlp-yt0zjTAoWpfLOC0lcDK7XFytBag-_jdfbvbKJZFhG7JSTk5LXKcQjFyIaMC7treIBuGIyhfqO_RrkxMoPh5cqc8Se2eG0Y6smOgXhsp7LVKSWnQTz4CDiBWPmpKzgNQWKRLY3dL58JK7iI33nK7cLAEXxTGSvmNDMk3h3mqtlYpKgXKZeKYm1PHQvu7J0kKctDGGXk8nt-jnSvVjo3GtGWzk5K7lKm6ehv1QqzQ1bc3NppuxThcwAjSn2-o_WUeCEBhCuKU0L1j8Gd-YgfwM_1GKsvDCIK_KRcKSafoqBpbhVVnzaQE8nDWRKziKJ48EHmfUeHl-N3kaybKxReA8l-tg4jDN-5ukcniXFQ7SFJjiBbh8YME799qxMRW5RFCyiTHw6C5nrswvrDG0eQa4FFRmbTlg8RVYHzv-i0lCRg4y_HLk7mf363GY-3vknbCs9-_BIbqtyjYN2uMBoNvdBoMmtp-rl-WDgxlMLCJXuZuX7W_fygUpeywO9QnvNVK0sz5LlLLzR7duL6KvaPY3_hn3bS2n-SzQPy3EQGx7AN7B0WBAH4I0e5JhBP7QGCoax_wzdEmjzlExBZBVid54gtw9siW2T9n7pOjg_8MvYXh4xifFDeahfE1XL8wswN7fvyEksCYcuY2iysKCyTflHqIEB_NNK2hforxYROi6gQmCr7-cENBXCUU3HozQXxThhVuTGUZ4fRdfczZkwPj1sevpYe4ph4fEdTqNm5ztxAr3sHtUBy1wh9LoC35Ah6802e6gS4JTRK-jVvpO7E7DmWFtu2IfMW05VMlmG7FxZY5RsvRvr4PLOOxYT7Kz3U8qJGqmmeYFTJqPzmGJmW-EGgpY_ONX6Unmc7mg9_wkVZAAiarBW1r7cHEB7oYZ4wgHNyf6EJs_LqJliKUWgFnpbZSPNiGLXlK3uiQ1JFLO-bqyFJOzJK7OTTX7iTOgpHy6ha5_nL4DwOBsmKM8-uOhOH5D--dy2nOu5kEBJzoTMmZ03i8LV4QTO4VGJJ3ic40tCxuJe16nIbFbD0czfs7R6ZVNQPK4PlL52z0W1nTMbLxAbBvrBn5H0bRktt-UYauJWc15GOMSoh4sb8UcJTIkrFilSwPsEx79lfgmR9SkHfpT4PQlyX4wOyL18zZZlgx2oI0oWDAzC_60CHjM0pDrnxRbelk1BHqtvFoUkPtUlCGPxF1AAnBR_v8l46irsJONMAUxYrLR2GUbH0Ylzb7MvkYSBaYB4RWbbFzAvDJIkqfNm2Vo8YbR4cNXkR1vdiwdKxAvaPIOaYVXQuOlbJKuEBUvgJPSEbklqbWuouFBI=",
  "id": "rs_08581611c5f83afd016ab435c1bc8c87d084883d4a9e5d30a1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.225,\"left_z\":0.19},\"note\":\"The white plush rose with the gripper despite the small jaw gap, so the grasp is secure enough to carry. I’ll move it high over the red safe’s open compartment, clearing the rim on the way.\"}",
  "call_id": "call_G9DtBRsdPLeE0EhUbMpHBbd6",
  "id": "fc_08581611c5f83afd016ab435c4542c87d09422419af1bbb98d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_G9DtBRsdPLeE0EhUbMpHBbd6",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6456, 1.8641, 1.7023, -0.9306, -0.3649, -0.5579, 0.038, -0.0212, 0.8082, 0.6094, -0.6575, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4043 left_y=-0.2212 left_z=0.1759 left_yaw=0.001 left_pitch=-0.3985 left_roll=0.0362 left_gripper=0.038 right_x=0.2514 right_y=0.0017 right_z=0.1271 right_yaw=0.0012 right_pitch=-0.2658 right_roll=0.0052 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -9.4017, 9.0051, 0.9255, -0.4615, -0.0171, 0.5201, -0.0752, -1.2923, 6.7761, 1.6532, -0.0464, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ef334682a70946f74f9c89be295a6e98c1a04940ffdbfdffdecbe662c4b4a47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c265b192498ce1fa6832131652fbbd88e1fce62e07671caa8f3a508045f4b34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44a7b613bc1e65907510196bd07b0f96af50b8b91957e4c68a4314ef728ad553",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 3.438 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3271, 1.6146, 0.762, -0.1032, -0.2043, -0.2531, 0.9963, -0.0212, 0.8043, 0.6094, -0.5774, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3708 left_y=-0.0842 left_z=0.0324 left_yaw=-0.0168 left_pitch=-0.3473 left_roll=0.027 left_gripper=0.9963 right_x=0.2658 right_y=0.0014 right_z=0.1416 right_yaw=0.0008 right_pitch=-0.1819 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -6.0103, 5.2034, 1.4237, -0.1294, -0.022, 0.105, -0.1162, -0.9915, 6.8581, 1.8291, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.326, 1.4803, 1.0069, -0.5064, -0.2222, -0.271, 0.0355, -0.0212, 0.8043, 0.6094, -0.6338, -0.0196, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3704 left_y=-0.0803 left_z=0.1155 left_yaw=0.0131 left_pitch=-0.3649 left_roll=0.0388 left_gripper=0.0355 right_x=0.2557 right_y=0.0016 right_z=0.1319 right_yaw=0.0014 right_pitch=-0.2384 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -8.5402, 8.8957, 1.4969, -0.1587, 0.0708, 0.6178, -0.0205, -0.7726, 6.8034, 1.6777, -0.0513, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6456, 1.8641, 1.7023, -0.9306, -0.3649, -0.5579, 0.038, -0.0212, 0.8082, 0.6094, -0.6575, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4043 left_y=-0.2212 left_z=0.1759 left_yaw=0.001 left_pitch=-0.3985 left_roll=0.0362 left_gripper=0.038 right_x=0.2514 right_y=0.0017 right_z=0.1271 right_yaw=0.0012 right_pitch=-0.2658 right_roll=0.0052 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -9.4017, 9.0051, 0.9255, -0.4615, -0.0171, 0.5201, -0.0752, -1.2923, 6.7761, 1.6532, -0.0464, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ef334682a70946f74f9c89be295a6e98c1a04940ffdbfdffdecbe662c4b4a47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c265b192498ce1fa6832131652fbbd88e1fce62e07671caa8f3a508045f4b34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44a7b613bc1e65907510196bd07b0f96af50b8b91957e4c68a4314ef728ad553",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDXJKLr4W0hC8j9jei5EIE-tGSzJxFJXya1gkS_qAkTa5Fj4CBsH1B-yB43_HCinphXwalYWuEyCiZoRsneI7QjUBZe0OFmGBeBaSt7wNfsmERtmT_clBa_ogwn-5IUdFquBeEdjLXfuUmulxstAf-4EPO86UziEbpcGAGFbeS1ECn4CixkbUUiuwV-QmrCRPzNu6YUy8jjD1-xBnEDHEG5RH642brMTkzkLXosX9J2qBQJhF0dMwOZ5iIs_3r3-FVx6FjMkJqSuvpSLBLgijY2ZV0ZbMEA23lSsNPdRhrwFi4sdW_M21GeISZy06lmp01NLvBaKdwfcE6j4mngNz2yIWssTIwXqPqXwOfQiLSvWCG6XnjU3MsT-lKt3kJa7UjRn1nF5aKu4-5SDKnPjs6F6svLGcAqvzpeZ1b-XHf1SazRY21VKrFqHI8HJmtpdtLP3exIGs16DfhC1zouumU7UQMbn4WHGLV2V0CCwz2cqle3ikGtNkAeiMpP6lRo5T0xKrSWx533E3T_t1R7O70nIZEAqoZA6OwJJChMRWkBv6jLGAUFDJmkCNF_4OiiyNVu0axFmW-IfzkEFDvv10vUxhK7Uwd0wnIPIyDkjvXZk5FPWLAG47D6SWRqMP2B_n4vRDLg1-1v6mBnMevLrz3C4UTHHyYCrypB_66UslOR6-3-TnG1D-fq_jus8kxJWoszn8RdLkXdMw9sOzeKtE9BY3gMuY7LOB0a7B3iO1ZtC-nILYTWE1UXd_5OBNDnYj1eeoPFf3QuA3e86b8xvxeN3SfkV7hGsOQ0gvAKtVUoM-ji6Ll6xYK8SdJke97poZ8-J-PCPgZCiTOWXXLiU1UW_VyEH-vOiBI7RpMKNp8ERXv0JIlqS376Ixph_aYmDtJMp7v_Ha3SrNcli9NFVEX0dYSeeIsGPPvBbXkL1n8gerGAVWbnbvu-V6AnBhleCJ4QolAsynStAoWNBzwrR4Gl6qeQoDrzwfYkZOK89wD3fTrqE8LtIKpJE-mto8EbP0H-Lxt7JrY1OqziNLRMpt8ngpk-uZ0OgycnL8tpe60yi56HKWlbmB2_gXAsgznLsrgiuU72_gTNhhmnrDQb-6Eiuid_H0N2OxkWh_reRaBe5oITZgD1iCstMCpQrwMol_P4jvMy1ZGK20c7zus6CxvfUf_meUNX4ISuXRWG1w3xOA_f2i9Y6VqLhmsbsrd0JrGhH43ZJABg9nD7TUKKI_ICqUUnV_OoEYalIAsHyxDWPxLbET65GWMtQd54U5VSkxdvQ6E8rgmyZS4jcCFJHHnWhmY1wXUzklf0pH7ftTEDOEPKx3Iv-fj4tLpBSJhZ8IHOmqB9G5vE8BO3bcDc3jDtd_jDPVwfzoih1DvngzL1jTXvwRumRzhtuOgumQdzM44dFxpU_wM33OC3ssrP8YtvqGk_EJlB9QNnS1Ib_3rVXenNKyQdGCfaByqX_A9Y5bEqL0gzREeqlqqDSxL56aNQCd-dsJToGA4xBJI1pt3ZTZT5gcExKDBK1zqI_K2BDe6Ri8F_osIZU_yib9aA7unA-7fV5YmxH9O68vdnZKY3e7fNdShURy3CkssN_RlQ6oJFZWkpbz_3J3x6VSt6AAqigiW3whtBsQNXx56trDZCref6N1ifseSUNQC6fRGojCB8lU_8wdBHrHLCeXeKKIGsNrbFcc6zrmQKL4Wj7STRuhR_doJTb3MPnDjD3qYb-MNPmMXIwdHWSrABBWE3TzrdbdXHOTlXwaa7sOqF2Ne7sLvYvS-d3mnufTVCdBkgufFHx5HV_BF5lpTCuRLD9NuRcROvEZiGFbHNE8vLd6nda0b7xT9_v2YVD8axZDI7fpY6WDqR5EtDzVkTuygtrRskHYbSONMicb58qG820diEBeyt6NYn7PWg8NYxdV3cngEL2gD4muiY45UHmmdqyRO5ByV8kPGCCiQgC3FRwb35na3eosxh8ZKD-NNSJ1zO7edQHncFTwjGV7tLVfYnOsqkKhZ2u9I92upCwNfvwegB_HDA6PrO2q1fhsr6oFuU0UUYGP8K2x1r_aOMHxd5HmHclbQc87zYwvtPIfiTLiD5xZFnChGGPkaU4JUwIpVOWgEA_ynIwSKiK7KqoPWM1t84Wr4I7VtCaYG6PIkFZVe6nWSzkvMDwmm376Hwr07qJC4u_KKgPISk7ellX0k3d96JO-gURH0nUdmgCxRMmJuuM8ZjJ8T6x21IX7p2lcoCUFvfA",
  "id": "rs_08581611c5f83afd016ab435c7273087d0ba89facc6a54cd84",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.075},\"note\":\"The white plush is hanging over the safe’s red tray, with room inside the visible rim. I’ll lower it slowly toward the bottom of the compartment before releasing it.\"}",
  "call_id": "call_qiZ1ibYJj1uo0kZCJz6vK3Pb",
  "id": "fc_08581611c5f83afd016ab435c9420c87d0994fc7dd0c518ea4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qiZ1ibYJj1uo0kZCJz6vK3Pb",
  "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]: [-0.6472, 1.8965, 1.3762, -0.6193, -0.3607, -0.5617, 0.0391, -0.0208, 0.8101, 0.6094, -0.6762, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3949 left_y=-0.2158 left_z=0.0787 left_yaw=0.0114 left_pitch=-0.4382 left_roll=0.0621 left_gripper=0.0391 right_x=0.2479 right_y=0.0018 right_z=0.1237 right_yaw=0.0017 right_pitch=-0.2864 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -8.9915, 6.2017, 1.2527, -0.2564, 0.0073, 0.3101, -0.0342, -1.2239, 6.9675, 1.5849, -0.0415, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d72bd80dfaf96810ef441c28152ecc9b650ce5bda5a86ed1e7f5acd157ddf00b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35d60f4523e6248b76ef07d2e90b55d0ba585afd4f40ed1bbe549b542186e21c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:714943e3ab45aa1a73798699f93dca558dd955be9ab530eab071696fe2356a2d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 4.046 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3244, 1.615, 0.7544, -0.083, -0.2226, -0.2588, 0.0322, -0.0208, 0.8043, 0.6094, -0.6121, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3729 left_y=-0.0805 left_z=0.033 left_yaw=0.0035 left_pitch=-0.3309 left_roll=0.0343 left_gripper=0.0322 right_x=0.2597 right_y=0.0016 right_z=0.1356 right_yaw=0.0013 right_pitch=-0.2166 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -6.9128, 6.5299, 1.1453, 0.0513, 0.0611, 0.7009, -0.0752, -0.9641, 6.8444, 1.8291, -0.0317, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6456, 1.8641, 1.7023, -0.9306, -0.3649, -0.5579, 0.038, -0.0212, 0.8082, 0.6094, -0.6575, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4043 left_y=-0.2212 left_z=0.1759 left_yaw=0.001 left_pitch=-0.3985 left_roll=0.0362 left_gripper=0.038 right_x=0.2514 right_y=0.0017 right_z=0.1271 right_yaw=0.0012 right_pitch=-0.2658 right_roll=0.0052 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -9.4017, 9.0051, 0.9255, -0.4615, -0.0171, 0.5201, -0.0752, -1.2923, 6.7761, 1.6532, -0.0464, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6472, 1.8965, 1.3762, -0.6193, -0.3607, -0.5617, 0.0391, -0.0208, 0.8101, 0.6094, -0.6762, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3949 left_y=-0.2158 left_z=0.0787 left_yaw=0.0114 left_pitch=-0.4382 left_roll=0.0621 left_gripper=0.0391 right_x=0.2479 right_y=0.0018 right_z=0.1237 right_yaw=0.0017 right_pitch=-0.2864 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -8.9915, 6.2017, 1.2527, -0.2564, 0.0073, 0.3101, -0.0342, -1.2239, 6.9675, 1.5849, -0.0415, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d72bd80dfaf96810ef441c28152ecc9b650ce5bda5a86ed1e7f5acd157ddf00b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35d60f4523e6248b76ef07d2e90b55d0ba585afd4f40ed1bbe549b542186e21c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:714943e3ab45aa1a73798699f93dca558dd955be9ab530eab071696fe2356a2d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDXN5TC_Z9t5sec2yoXuttdm4E22voXnmzTt6UFjyFbzdMwJMKEm92gsZfwXmlwN_e47tApYWklwI8nouBTc4RNCAMXUlNGp7JXK_L34IJ4luc4MH9dLz1DnBKSCGSoQBPJZWrY3nmUiVPf8gDyiJUfIqsxr_VCQx8hd4BunyRBnGZJo3aiTuUphZLZezTj4M1NUXuwcLX1amZsMcEZyoL9VHNObi6r7RDubIkKTq8-HmBFgTpFVMRnBZRGVVipxIbVqRvEGSG2q4m2zq8SrAeOCJIK4QTcbCxCF36Z-YhfzjN6ur5-VCDwDfjdBe35Eo9j3_kxJ4_wSLbFfZ9VjN_iCEDhTT1Znk3_jSeBTAga-aTfc2ecb9Ymnhejt97cvla9EdswOTQCkKS-0sYt2oLm1obSP53ZQT94Xje89L_diJAh70AzNQUP0gCoqQsNNAmq-YlxWnl3H2JKeUVJTHoap7OfSrwz6TImYgNdoHxZmEJo-wLNIp47D7UEqkOrmQltmkQgASNuVFw6jW-DB5nOQqgW0j4QinC9mfCiABbsrnZDNqXr09XmCRdW6NRWXXaCnpZpdm5fiUSNIggjFwk2kYhM45LWjMfalQV2HdWT99s-0Qmv4NHdKvzSeA_uYehNZ8Df2NQtXCtx66TYXSuV3m136XK08UXOwqmA6rlH7R1rodD3b_cz7TgyT6kxENV2HrHsm5iHd3zHtWmz1kGdjZ7_xcI6PXIrTSM6LbGddAoBvT0Svum3wRWViGJepEzgwACPE8kma5NRvfh8YNWqZNpq_4r6m8RTObrSkdlFtDSG0KVhzXC6PdXG9lrimrR35nrbCVHqDOLMiLuyonGzsvH-iK083sX7yf2aFK2uhKtgv925Jn2yrISmOA59K8CPVAYP9jSVpgERP1c-Ys3jkQuo-9Iv26O1BETMyutVvuEqiMk9jHHOyMlBKKeXMiE6GrUaMlGNXzBhyP5KIULu7h_10DkGn8u3wIxyKH_HTVyWJ8sG3iFapjqZD2ygZwJ-gxOGIP1BfwVtNASn0opJzjSUrBd4YI5FzBODnGraEfRY-WSgz0KwqY0hzk1-MMsetEzFJd4lw5nvLyvuVgpn5szo65sj1009vp60wY3dUKlrkTpxdqyMnMqKFQ0zaYyEaGsuTbwslJyby6j-r6waHHubBpnvYhsKG9iFoJ4buepPV5uv8-oFTZvrRvAVDZLMAJTOeBy750rOzgnCRBxxSkIWjxH7jM10GH9QSf1RTLdtC6ERxK7l37mrXz0Xv321g",
  "id": "rs_08581611c5f83afd016ab435ccc01487d094b7763aa8e8a4ca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The white plush is down inside the red compartment and the left gripper has reached placement height. I’ll open the jaws to leave it there.\"}",
  "call_id": "call_gDcshupDNUCE2DnoogQyLW20",
  "id": "fc_08581611c5f83afd016ab435cd0d4087d0bbdf8f6eb08c8d77",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gDcshupDNUCE2DnoogQyLW20",
  "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]: [-0.6476, 1.9095, 1.3556, -0.6304, -0.3595, -0.5629, 0.9958, -0.0212, 0.8101, 0.6094, -0.68, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3876 left_y=-0.2108 left_z=0.0652 left_yaw=0.0244 left_pitch=-0.474 left_roll=0.0912 left_gripper=0.9958 right_x=0.2472 right_y=0.0018 right_z=0.1231 right_yaw=0.0014 right_pitch=-0.2902 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -10.988, 7.7607, 1.0623, -0.2418, -0.0171, -0.1245, -0.0068, -1.0735, 6.7761, 1.4579, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9380e7b4b5efca5eacdc9667c251fc6983a7e416d2b0a0fdf431607be9f43249",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4102501577118aec632f9a271aef79665868998c5d6cbae2881d65cbe700be3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:739818fc88c6a4e6dea1ed1c600c24448214bc15a3fcf6f524d8cdb02ebb222b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 3.775 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.326, 1.4803, 1.0069, -0.5064, -0.2222, -0.271, 0.0355, -0.0212, 0.8043, 0.6094, -0.6338, -0.0196, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3704 left_y=-0.0803 left_z=0.1155 left_yaw=0.0131 left_pitch=-0.3649 left_roll=0.0388 left_gripper=0.0355 right_x=0.2557 right_y=0.0016 right_z=0.1319 right_yaw=0.0014 right_pitch=-0.2384 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -8.5402, 8.8957, 1.4969, -0.1587, 0.0708, 0.6178, -0.0205, -0.7726, 6.8034, 1.6777, -0.0513, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6472, 1.8965, 1.3762, -0.6193, -0.3607, -0.5617, 0.0391, -0.0208, 0.8101, 0.6094, -0.6762, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3949 left_y=-0.2158 left_z=0.0787 left_yaw=0.0114 left_pitch=-0.4382 left_roll=0.0621 left_gripper=0.0391 right_x=0.2479 right_y=0.0018 right_z=0.1237 right_yaw=0.0017 right_pitch=-0.2864 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -8.9915, 6.2017, 1.2527, -0.2564, 0.0073, 0.3101, -0.0342, -1.2239, 6.9675, 1.5849, -0.0415, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6476, 1.9095, 1.3556, -0.6304, -0.3595, -0.5629, 0.9958, -0.0212, 0.8101, 0.6094, -0.68, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3876 left_y=-0.2108 left_z=0.0652 left_yaw=0.0244 left_pitch=-0.474 left_roll=0.0912 left_gripper=0.9958 right_x=0.2472 right_y=0.0018 right_z=0.1231 right_yaw=0.0014 right_pitch=-0.2902 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -10.988, 7.7607, 1.0623, -0.2418, -0.0171, -0.1245, -0.0068, -1.0735, 6.7761, 1.4579, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9380e7b4b5efca5eacdc9667c251fc6983a7e416d2b0a0fdf431607be9f43249",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4102501577118aec632f9a271aef79665868998c5d6cbae2881d65cbe700be3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:739818fc88c6a4e6dea1ed1c600c24448214bc15a3fcf6f524d8cdb02ebb222b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDXSV0cE0qPnfCacV2HcSRcIHVYZNa7fhG3EpT3Kn8lrpjv9RHj6JCrYuxxo463SG9p1rLRQ9GWLmIKchRDDCEWrO3mIBNpg4Nh6d9Ms4_g6durws8TF9Qe4HQOh8ZTne0AN_gw-RHTwg3ivbRVsyF8LDAUXGuIrJnMU7nwdTN6mBUi4xMT0T1ln-k_l_HyAcBl4a96_sYH_QXsrb48xK7qz8HxZ1K1FAeZP7fo637VO51K_UBfD1cVJUcM_Il1wZcpTjUiO9qC_YRZaehn3dfk3kAFGQhkr3lwOF0vlA-NbYjwfBYwhjIL3Qx8bxEK612g8nOeirHqK872M0Evhaw_MfDSgAgunwugP1djMYuUwmQidbNvmH8cCF0X7fflMfViKI9UIr-Ypy3jrNN-A-EHlHLkf1a2gKcnEWC47L6fXTpY-rHAESZhQD424hQ9AtNk_Qu-BwmE2UrIO3H_PKidK2l4-nb1_JPU1rZQ-DGz524uD1_mjpXPwViBXkempRe9gAGhnVXwvWWkcLDT5QqC-pAJtJlgilkMptjHf_XU-yncujdv9JG_FCIEtWJT1vSe-5w_fp7e_EpLuLQ_IWkhr-pVUUFZ6iDBwBfkv5t2XWSw6EXn16bIljKgzXzEiA9wHaoSu64wBPrkVL-szyvLxXDaHSo2mh0gZbeB7Sj4EIDrd1Y3bzS24sFNuO5CmzcWCYDquVYWXNxUuegaN2MK7rcncyKcJcIONnUeewdHUBsBz6mz16YH4jf2Q-MLgXA9iZJcrIgR9JA47zXQ1Aj79wJQ9lu1mMKtF-O40W-RwcJ4wb9sh1KwtpocJ09dSYYHlp-tuho9BYEaa0ZXEM4JU5LFmf8bNFIf5lDPNiCtQm9Tb8EOH0NfkPuUJ11ifTQ65ETbIkAvfUV28jCt_Rj_3Vsy80QKYCPIqjSNoovJ7JVWGkxUNz87xxl8zs4Ox1LjxUD5ma1EdU0EGSWTUHhFwYWlSOkwoal9MjmnreNDprE_xsCRqTfZE93i_lVz5E-5FoG4i2HWvS6u_HF2Fi6qmDHk28ROHk6FPLg3A0YL1gWEbhJNb4H5Zhl6oMQAY50O9ob-UT-kLRkZbaJ8yqCTvKCC8UeMCpjkq-2Wqk37Etqlal-UtHj5g6oAkPnpy2siRjxtx_sv-L4RW5zDsAUaStuG0F3svyb9cSikP-UhVqw1qedIvb2EuxXnTLBPluhQlkEt-1lyiN6wdhYu3aD_XqD_wlc3mkfByEDpgdu904ti4dntgDv6ud7lSFr5tP6FvdjUVd8godNUCtFT3AS3R7S73Rx62u85MgGcAsK-8kjGVSGRoVYB-hg5NUdOsGLr-cuC68VAbSUdiL3h_4ujLjVngPRvcdiQSJdPsALzfSDtjwY_QsPKvJpAslytrT5oplGXAgZCaWrAYG75Eg1PtiZrlpkJYqvEwE97-sY38tDoJ5wHJ3WOcRFAG8WYQRwoXuhBaIXPyRNTT61bpyhgxDQ71V6NODoEbvcg-XOl5ebN7iU79LvOjzUsERCN8kj2hazP1BGsGWgABkyO2vhSy8wyHUE44J2RZjDZ_6rwxt-BAZH30HWSPNIV-JRx6Ne6SbyxdZ5UA3k0E9koTx1qbn7XmpS6ehSEdKb1vHkqEAnwwxZ32oHki3jNHfCtrIy26gDv7MJIQ8IYp_WF2-CdUvMInN1w_FV_SXS_K1K7pyo6Hm-xiDQPZLiNcKIcP9lHvLtJYMftTu0TnPZ1bSNx-Z93TSjrufGOE8PaOq-o7DpZx54jx17jLunhosum2WV0W_XIcQWRqU-NdsqO_t2MyvEdwa1-bL3TXgJLlI9xWAZ9ZMmET_eh2I3Fy8oxAlK-1G1iaR_kYRaTBMFizitXmRoNhtc-U4FDzERt9LCBpaWvbrtgalWfXDEK6s4VRJRjiQ3wY5U98G1RAWhTr2kV9dxKJGPstcMAo5yxJbRP0tl9gr6ylxGcyidvsXjZtmPNF",
  "id": "rs_08581611c5f83afd016ab435cfdc8c87d0bdb123cdfe7d78c6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.18},\"note\":\"The plush is visible on the safe’s red floor after the jaws opened. I’ll lift the left gripper clear of the tray before withdrawing it so it does not disturb the plush or catch the rim.\"}",
  "call_id": "call_7K1RohDuPXQX1Uk2YJQw9Yf0",
  "id": "fc_08581611c5f83afd016ab435d2155487d09793b72955850cd9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7K1RohDuPXQX1Uk2YJQw9Yf0",
  "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]: [-0.6476, 1.8889, 1.7088, -1.0286, -0.3561, -0.5743, 0.9969, -0.0212, 0.8158, 0.6075, -0.7017, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3884 left_y=-0.2121 left_z=0.1577 left_yaw=0.0369 left_pitch=-0.4943 left_roll=0.0994 left_gripper=0.9969 right_x=0.2427 right_y=0.0019 right_z=0.1177 right_yaw=0.0016 right_pitch=-0.3196 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -11.3846, 8.6496, 1.0281, -0.2662, 0.0708, 0.105, -0.1299, -1.3197, 6.9675, 1.58, -0.0415, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:654b3cca5d529545bdb8e8af77355de6e41d2e0ac4ca190f0aa69c8647870cf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b034d624a1178fbd85797c2d57cf231508f3009bd99c54f5bc115ecb57403972",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd33e1c98c94e7b0eecc85b56e90a7cfcaf75fdf5a9a7218b6d96e0ebcd48a24",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 4.333 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6456, 1.8641, 1.7023, -0.9306, -0.3649, -0.5579, 0.038, -0.0212, 0.8082, 0.6094, -0.6575, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4043 left_y=-0.2212 left_z=0.1759 left_yaw=0.001 left_pitch=-0.3985 left_roll=0.0362 left_gripper=0.038 right_x=0.2514 right_y=0.0017 right_z=0.1271 right_yaw=0.0012 right_pitch=-0.2658 right_roll=0.0052 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -9.4017, 9.0051, 0.9255, -0.4615, -0.0171, 0.5201, -0.0752, -1.2923, 6.7761, 1.6532, -0.0464, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6476, 1.9095, 1.3556, -0.6304, -0.3595, -0.5629, 0.9958, -0.0212, 0.8101, 0.6094, -0.68, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3876 left_y=-0.2108 left_z=0.0652 left_yaw=0.0244 left_pitch=-0.474 left_roll=0.0912 left_gripper=0.9958 right_x=0.2472 right_y=0.0018 right_z=0.1231 right_yaw=0.0014 right_pitch=-0.2902 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -10.988, 7.7607, 1.0623, -0.2418, -0.0171, -0.1245, -0.0068, -1.0735, 6.7761, 1.4579, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6476, 1.8889, 1.7088, -1.0286, -0.3561, -0.5743, 0.9969, -0.0212, 0.8158, 0.6075, -0.7017, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3884 left_y=-0.2121 left_z=0.1577 left_yaw=0.0369 left_pitch=-0.4943 left_roll=0.0994 left_gripper=0.9969 right_x=0.2427 right_y=0.0019 right_z=0.1177 right_yaw=0.0016 right_pitch=-0.3196 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -11.3846, 8.6496, 1.0281, -0.2662, 0.0708, 0.105, -0.1299, -1.3197, 6.9675, 1.58, -0.0415, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:654b3cca5d529545bdb8e8af77355de6e41d2e0ac4ca190f0aa69c8647870cf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b034d624a1178fbd85797c2d57cf231508f3009bd99c54f5bc115ecb57403972",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd33e1c98c94e7b0eecc85b56e90a7cfcaf75fdf5a9a7218b6d96e0ebcd48a24",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDXXG2C8lPFkbbr6hEsV_lQmQ3RM9sa8vbi9vulOPxK7x3MNXaKGUEiV_Mtl6NLqV1tZC1qaTnLrLZSZ30gL4grFWYE6U3dmk9no0-JYjhXzcdHvadYn2GMO7HvT_tODFjn000VI2XCFk4UV7PB5797CJ4ngyqsShgLzSBZdlUHAuydq5cb5ZJ2e082ZtY_MeyvcZDkEHRzVBcw0th8ji-NylNaxwKjZoirPq2Y8HMDmuJf71QRioDtrKg7jrliJDf6N89KxTUhHVJqF_wgb_eOnwaep0Wen_I1jwdaQ_ZUu8jFeGVDNJK19toqPIzeXIKFLxinDh_656NZ1Uqtoq5OrMHgjz-shCHuFendvt4B3xFrXP0WV72-3HknIfaaU0Wf3Ez4E9XslY-2e6hJ1zJzZThBE8Ya54X_V75vi3747pWgmXOGZjqy0W6LwfzOMFtkIfWXWiT4aH3s57iDazO_A7FKF_EEZOjuoYlb3WzfFloTBdXPXHwtiOdR0KUkmumXQQUs9M78q5ryNwKkb25lIPsRoc4tUOdAWlFEklOUF3JCbNfAw7AtgbPkzv3WskcZUU0n1LVSkJw_UAkIgwNji1iriqwDSjVyvKyf2ouq03pPGWfgG7Jsej398LLoL27DFGqUkXQs7oE4xl_aHaqswH6kgff1aFAroENjnMHGhHko_WGfqHEFLFEe7z2OpBxgwt3KM_eAxg8ZHi_stj3QxhUhwwuhZuN17-UZMDSavywK5oADQF5O1Bk-52AJvmja4Pve2uK4i5TAtjmtfU2nPVJmg2vhTxvLjglzKmSCiDvBp3r8jKqZtK_b8k1mbm4fUfIr3uCMPXh0iLtf83dWZhaEBstZ8Q6VCOGE0mG_sqc0aahezsAiBBVUw1zi0JRx3WrUlQuh-nXjsGdtgOYTuO1H1g8W-26pQiXBfZ1-VOZ9f8B4eLBN2YamabK7n4lFf-WIz_ZDztr_GPkqr0WeL-Cj-sVHzjtOUrJqENr-W6R3WXnYsjh-GkeCQ5ZgT541xvou9KIw9bo4wyO8ST7_1OJPYffWgoS5nkMoWVZyoSbLdX-T1RYJkW2x56BQVdO1hv0IA377IzAv3rzYxbIDUjsZvVw1g5r01HP6wfSJAgerDu-X-_9fQeNTXAyk4TWkoqLoe74G0afjNN_vTuK_wgthFwFuX6S6rpmMJunEWZZPi2vTCWGUdio6U0_N7kX-6SV_rutSKOboUEHQTnwllo6t9Abh9ZTF7gyzfmfIWhjHXHGVIexZKw1d_fPgA1d5rHl_N1q9v9VdrVJSxmNAb1YdKTxME45INsNHNw09zjg6WwVwERBInkM4BFWOjV-6iYp7P2vua7yPEyrBKd-DxZGlOZygA7Fa_F7tJyuLaDigpDb0oo4kyj8a6UjsAAZjCFq5K-zReDG0sICEEuSJZhHHKaeQAjDU-rnravUBK8f9mRXoODOq32syJOoXa9QwGol7t-Pbq4mxyPDIpGMyybbH3l95xZ9ei1ZiO1NKpxEiFV9Y7S3WuXr0PItOua5LbKtPsDs2NTXMBjdLfZx3ba2y393PnYgVwrCWO7u46pNx1M-u2gKQDw07uscIIhcE-pd7B4y0XwLTL_lG5us6Akivet2EUoofZuJDl5if2wpyvNSuQZYQ_ZuLuq5DmO6WW7aBwILb3CRnco4eq_S_pboOWqEfl9E-fH-Ub1InwzOYZWtcEhEn13wzJSa1ZIpsSU2fw0-cUhXN8BabUH5gSuT7oR8KjTS_BlpOy24jAT9cF4PKchPJOD6ldVpYVjm-WeYasNeR_JHc2Qlu8r-Dnm2KkYzBrtaQ1qcAIC2LaDikgEqXY-oJPNEdtfUVkWJoYUaqm65tKM_EMjJsrn2ghA5n5UqLrV3FsNEjYIItrHrUnYN_lqYiRlCqOzRu5idP8OWQXU9uuALRPiq5J9uPauw==",
  "id": "rs_08581611c5f83afd016ab435d4d2f087d0b6ff711f6d51ac43",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.293,\"left_y\":0,\"left_z\":0.18,\"right_x\":0.345,\"right_y\":0.205,\"right_z\":0.16},\"note\":\"The white plush remains on the red tray near its front edge. I’ll park the left arm and bring the right open gripper above the yellow object, keeping the arms on separate sides of the safe.\"}",
  "call_id": "call_dqfD6ESvOdfUlxYXYR23iAzA",
  "id": "fc_08581611c5f83afd016ab435d6494487d08bda532f7ef384a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dqfD6ESvOdfUlxYXYR23iAzA",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1036, 1.2369, 1.1271, -0.9909, -0.1425, -0.1055, 0.9971, 0.6949, 1.5715, 1.2358, -0.7483, 0.3752, 0.5304, 0.9996]\nstate[eef_state]: left_x=0.2959 left_y=-0.0019 left_z=0.176 left_yaw=0.0785 left_pitch=-0.5067 left_roll=0.0962 left_gripper=0.9971 right_x=0.3317 right_y=0.1969 right_z=0.1449 right_yaw=0.0258 right_pitch=-0.3758 right_roll=-0.0344 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -5.094, 6.2838, 1.2576, -0.0904, 0.1441, 0.0024, 0.2667, -6.9128, 8.7316, 1.3211, 0.3687, 0.2906, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc311a81da9f066334777d7a9d214009e5ebca42fc5c6d8e08790f8f73d8800a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ce7c95efa16dab9a5413ed9312f12b53c4b3e1d674a1e8895989dbc3eacb01e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66f808ae910ff4d42a02dda67af3218768f8bb878f66793f7cbbfb1221a8b4f4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 4.095 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6472, 1.8965, 1.3762, -0.6193, -0.3607, -0.5617, 0.0391, -0.0208, 0.8101, 0.6094, -0.6762, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3949 left_y=-0.2158 left_z=0.0787 left_yaw=0.0114 left_pitch=-0.4382 left_roll=0.0621 left_gripper=0.0391 right_x=0.2479 right_y=0.0018 right_z=0.1237 right_yaw=0.0017 right_pitch=-0.2864 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -8.9915, 6.2017, 1.2527, -0.2564, 0.0073, 0.3101, -0.0342, -1.2239, 6.9675, 1.5849, -0.0415, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6476, 1.8889, 1.7088, -1.0286, -0.3561, -0.5743, 0.9969, -0.0212, 0.8158, 0.6075, -0.7017, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3884 left_y=-0.2121 left_z=0.1577 left_yaw=0.0369 left_pitch=-0.4943 left_roll=0.0994 left_gripper=0.9969 right_x=0.2427 right_y=0.0019 right_z=0.1177 right_yaw=0.0016 right_pitch=-0.3196 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -11.3846, 8.6496, 1.0281, -0.2662, 0.0708, 0.105, -0.1299, -1.3197, 6.9675, 1.58, -0.0415, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1036, 1.2369, 1.1271, -0.9909, -0.1425, -0.1055, 0.9971, 0.6949, 1.5715, 1.2358, -0.7483, 0.3752, 0.5304, 0.9996]\nstate[eef_state]: left_x=0.2959 left_y=-0.0019 left_z=0.176 left_yaw=0.0785 left_pitch=-0.5067 left_roll=0.0962 left_gripper=0.9971 right_x=0.3317 right_y=0.1969 right_z=0.1449 right_yaw=0.0258 right_pitch=-0.3758 right_roll=-0.0344 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -5.094, 6.2838, 1.2576, -0.0904, 0.1441, 0.0024, 0.2667, -6.9128, 8.7316, 1.3211, 0.3687, 0.2906, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc311a81da9f066334777d7a9d214009e5ebca42fc5c6d8e08790f8f73d8800a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ce7c95efa16dab9a5413ed9312f12b53c4b3e1d674a1e8895989dbc3eacb01e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66f808ae910ff4d42a02dda67af3218768f8bb878f66793f7cbbfb1221a8b4f4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDXdH2uYTCS89IrZlcCNr9WLnG7QTot7dY7MdczSWEhsO1wcPUKnqk5iDObLHnFbbDmBiz5ghX7v1it8oqATiQqLWnLAad0lOPyhuj9w_fO7x57nye_uBixYnQMWJSzkL3DR1gPb3QqbN8I4OrjXrSHzKxImVCc38ivMMPyiRWgMojy4nB_OL_6NHWaTTxYwdJUU3HFlq-1WuGQKGBL-yPAii0rqyrIoPsw9Lh_2C99MNG-Y5uCiegN8ajmxy0tNIHW-BHqGbJr7jdpEsqPkC6uzBYiNjlGatQwyzvEaQ8P38sm-Sq4XJOmNMn7n6LBSoiCymc2Hm7uaf7TB56zgdFv5rT3vOa9rOEMqlNozSbpa1BmQ4PAy2h7-uPNibx4FiDbujsz-OCOxrHbodWPJh0ajd6w2SwvJjRGm-TnLl0nvQpcRaidV4g2gyYHBvdEiYf7y3-DN9MRTF4248oEV86eTvfOJW5biKGK6GPyedlZHTOvtCyxZj1Imd9i1z7tOb48cDL-Zq2hQiMnCm2YYqxDO-rEXW2YCmlLePs8XROxG129edY6cEpjnBnovIwy_eMOHSxauO95PC5VvMyRQ_Wosfah3uYNWvIb002m_9sVk_JkDGXZaVWDDokS8htWUQLXI7WAiMweJhlYw0dSA9Rtn2gzHznTluC0bty38itYhopjWeGQkBWc5Ndoa1cS2C3G6V6sgxK6v79-8HQOcAh-JzxGDAX5XjggZQlAoDIIHmP5yJIsRy9st73yoqQRvmNsDMmXlhC1_yFgUyZxm_EssyR9vZHDqLyt8SMplq3qasS-XpUxiW5027pMO0WTjFgDjKqQfimQwU6Rt_YoOg4m8i-TPwbfTd7ATrGSFiuidfFheDc8EGoO-gV5_C7zEaXkZdYedMtapJnJL5ibZoxk2zqzRpFzo_o6v_9V5IglzkL4RstPY73h6k1FDT7--Sn_x9fzUoqaGv6l4R8-yZnplGmFSraDFdP-jLCzNas83EVMZLqwaq8AlaawbukFxC2Gh6CGTz0qHFk6S4PLLTnn9V6vsRrULFL9qhhA8Xqo96l_mZ8iOtbWF4TlBGabUgmLfrd0TqeE595m---rAp3yHLORiyUf24aEzVn0nsJuRBtXS8puxU3Pe8Tp9_FTET6yV77b9f6dHQBa1NCrZgWnkENNqSSLiQPess-8hViyRHRjfB-WDh3Om49eJ90Hh2YOi-Pcka1XPguIZm8ZavRWG7VzKg6ZlUj8lJq6YdYvgtK3jkYIXYYqLXEBznTq3py7ty1hHhdMN4ypIjfxHq9GUWhrZHbOhqq9bBhWamvoGMZ2LBiQruV8AzqV6PAm2OsVtqbcQmtzxCwbrFYZ-w3p9QcxWhrfBBXn2w5-WO83386mPNPYTEaZOdxY7vw-MfzOrYw7dkGTYIsa1ZEPBZKE0Bz6iPcQWEiJxnN_FRQvg1VIPnrwzcrLOSmNBavmqgj9SoQvnAd8dBdHsRQDZ3vhnqB9CQTiGV3DYZGxK_985O2NafeAzMAguBuhLc9jNwr6elaYNdl4hzRRiEaTPjQ4FA44ApTpCOk1UYC-rStKV_h5XW8zDmyoFRZu0F_yD682k7Jcyh9XQSgzBK7L6WG9Rge4TWAN_HySmU-Jv-RboW4PBa0330POR3HvGq4Y_xS2wECoc3rcoIuaHvaWRZ2JZePqWV8NFZYRjxM2Sxt_a520FdMZjP1nMFjo5PhcT95uckea0LBG9tzbLLOM6-zLyyg1Srxlfh5bQoeHPYGlGT0xZ_hvxJpjoPQ6JrNTa-VjDQYHPpgOddkwu8nEW-ODfNzVeHKPhU1MtLIezjeYLVw8NzO22jpfFmQqvOAe9ZQXXFb_R0mXp9xYE0nOrYuONDrus2NEqILbRQIc4tpLTaHRsWPDKh2PYkV5HnQY_m6wLWnOMmV-93eECyoUyQILXnI2Gmz7q8LU9Bu2wBLYCFRbwqz-rxCmauXhPq-x6Z-gtO_C9eubyARqSdRy3UcJVNg==",
  "id": "rs_08581611c5f83afd016ab435da7c9087d09e91f3310be2200a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.21,\"right_z\":0.115},\"note\":\"The yellow object is just ahead of the right fingertips, and its wrist image has plenty of space below it. I’ll advance a few centimeters and lower modestly, then check its position relative to the jaw column.\"}",
  "call_id": "call_aHo4urcMgb0hR6505fBX8ZlH",
  "id": "fc_08581611c5f83afd016ab435dc172c87d0acfba490772ac0ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aHo4urcMgb0hR6505fBX8ZlH",
  "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]: [-0.1032, 1.235, 1.1244, -0.9997, -0.1314, -0.0933, 0.9971, 0.6601, 1.7012, 1.2533, -0.6952, 0.358, 0.5064, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=-0.0035 left_z=0.1743 left_yaw=0.0618 left_pitch=-0.5185 left_roll=0.0934 left_gripper=0.9971 right_x=0.3508 right_y=0.1985 right_z=0.1076 right_yaw=0.0029 right_pitch=-0.4325 right_roll=-0.0751 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -3.3846, 6.7077, 1.16, -0.2466, -0.0464, -0.0122, -0.1573, -8.8274, 8.9641, 1.3309, 0.2027, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f198d36dbbe0e23b873dd481606242111c6aa74400e5713b45ffb2393402568",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f10b35e5b2adc89c415d82f8d8f88db83c33e15f27f3586f8b5731001ec13d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f315c6d40f9a6f27df5f3f24c00ddc9b3ec968db12744d8a7f9739d411e8fdc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 3.911 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6476, 1.9095, 1.3556, -0.6304, -0.3595, -0.5629, 0.9958, -0.0212, 0.8101, 0.6094, -0.68, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3876 left_y=-0.2108 left_z=0.0652 left_yaw=0.0244 left_pitch=-0.474 left_roll=0.0912 left_gripper=0.9958 right_x=0.2472 right_y=0.0018 right_z=0.1231 right_yaw=0.0014 right_pitch=-0.2902 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -10.988, 7.7607, 1.0623, -0.2418, -0.0171, -0.1245, -0.0068, -1.0735, 6.7761, 1.4579, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1036, 1.2369, 1.1271, -0.9909, -0.1425, -0.1055, 0.9971, 0.6949, 1.5715, 1.2358, -0.7483, 0.3752, 0.5304, 0.9996]\nstate[eef_state]: left_x=0.2959 left_y=-0.0019 left_z=0.176 left_yaw=0.0785 left_pitch=-0.5067 left_roll=0.0962 left_gripper=0.9971 right_x=0.3317 right_y=0.1969 right_z=0.1449 right_yaw=0.0258 right_pitch=-0.3758 right_roll=-0.0344 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -5.094, 6.2838, 1.2576, -0.0904, 0.1441, 0.0024, 0.2667, -6.9128, 8.7316, 1.3211, 0.3687, 0.2906, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.235, 1.1244, -0.9997, -0.1314, -0.0933, 0.9971, 0.6601, 1.7012, 1.2533, -0.6952, 0.358, 0.5064, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=-0.0035 left_z=0.1743 left_yaw=0.0618 left_pitch=-0.5185 left_roll=0.0934 left_gripper=0.9971 right_x=0.3508 right_y=0.1985 right_z=0.1076 right_yaw=0.0029 right_pitch=-0.4325 right_roll=-0.0751 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -3.3846, 6.7077, 1.16, -0.2466, -0.0464, -0.0122, -0.1573, -8.8274, 8.9641, 1.3309, 0.2027, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f198d36dbbe0e23b873dd481606242111c6aa74400e5713b45ffb2393402568",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f10b35e5b2adc89c415d82f8d8f88db83c33e15f27f3586f8b5731001ec13d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f315c6d40f9a6f27df5f3f24c00ddc9b3ec968db12744d8a7f9739d411e8fdc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDXhMa3u6eCxTFETkBbT1JZliKBeLIbgt3ZrnXjl21KcLyUbND7UFLFsfj_Ue2wUmZObIU-IceWg8fqdYI7rJtYMGF642wUZOJ0D0Jn80rg83Xfc2XAZkgdZ8py1bD_bTflR3f0817_eJd30bTNVijPiIf8ERrP48703jmwuJKUoLds-Z1MVuC4CakemvXEuy4paslBZlENgczUy8d20o1_QrGmJwBtIN4WA8Bcmpo9oRluMYjZyvwN2K_qZ1vdz8mjK8z93r7QK6nqfhVJsSUg9wTBDAW-FYrTHn2tTcy4rEBwliK1V0ES-dJjtGTIrAK5f-jEXGCLbddPjmdEFBrdDrHdxB0Hd40bidM2xU_noKTA_f8tx4gkK68sO-vpMRVWPPt3DyUtg6cjd9ecpX1SiIv3RuJID_TltGiw7v7sdh5XB6a8Lq4xp-2O3kSPgr_eRBUsUYZLsNCp7lUnsUkBjzxA1N-3wMNQZGYqlkJSaq_-uKA2hmtRKqXqVuFCvvhbuwWUq_sRhRTGd8uSnECwH6TRAgdncWqdHrg6ex8LqBTKo8X6WLEsR1OvLabwWupo16bylHEctqoHBaLHarefltj-3xN0FVm5t4rFOlMPN-p3snWWVpql7hFMtt_ur-G5o8qa2dkuW2AHURHcEirFksTwVPQUPTs4RwiptwNLNiienvJqY6bkqCS-4JNq8OlZjyMoLaVxsonRQ5qTqQE8lpFYsI5JKsvnYnoiO_QoFCjMLGIJORG83OroDa3HPZVHZQnJs0h3cTKcxTFDFZSMItChNKqKIXuw5AtI-wwGlLx6EEnSZFhyNq03ah0ZccUgd1HLQV3qCABp-FJ7q8oDDca9RdP8VgWdQMiRU5kqluaXvKdYe2H7hsdeyJIYHlWIj56Pwq-R9vtSnKu-pt3aU7247_hN5b44Byp5Hnbeg7BOLaBfKOXE9MXqDaqtXgCNIuYWxfAY5oUzT5n7TXJxrv6saBUBjZcKD7AdpY3XrHv6xArACZmlAT-sEeSVXx_9LvsySm7AJJTu2k5Ry1RjdX9FdYxO6Pq_cBE0djGw_TAgiXq0rs-Akafc6gtx9kccqcSQsiCbL1q44_F4UAn9iyTRGsOPGm00snAskJvC0YrqTHDYQybV6faUj31rAN6Zs5ugtpe3y2LP9s5PX0vzUwr3fHRTNp4GD98v19ZT9RHw-hK8x0wXFFz1kAbIeMtoZkMATnsPxgwFj9MOeq-XBBlMAjNUSrDQDd5xIEnFwbrv8YW4Zs4XIi22nighNjyO-AjypYHhWvDovUcMHEM-BDFhPr0PTTRnrSN3W2UKalG3c-mrcTcREMCpvk9Z3Gk6H2iI61orLbzNJYoIsYs1sWTRIjPzhXB6hw7GXij6--l-lYeg6ZBPX8deUsbAbABLdIde_rcru0zvIPJrZd_WYbdCpERcWgGiXx4MP_s3tkGqgjDU5O151j7ZV69KctZgKTJmfQ69UoKeB8DI3WQZ8NJJ-DepZJZbnBFr2FWAUiYUdEbTYdBq4-MC1crwFgUlKww5l8jGNo1635cOLQMOVzu8wvnX6_GbFPAOUzKJFViovJxwYGPvQeHfCjPpGQZaBQuUVYIih246figkoaQEc9ePMKYA9mAZkiH56Ny9tv7cfvdjqSAOtdLgKNLQKctGkAVxzX3vpIbCZhnM9w-99_YnzkdRAaMdkssH_qYEcb2looEhhf72ZLEFMoHvsGJGTYPN9ptEgMeLmxGqc9FMB9FFyXIO_NmXuQ6Hj4gjoP-rpefjSc-e3KC3qQbACGCsVNncSaXtAapGeiqpJHLUkyK75fxMtbE7lZSCOIOI7zQO99pq3XEX1RorseU2vC_Z3x84XXnNsquGbkL6zCZMCLCrUgdoa7SGxuZRApd3kYWVEtm2xxSMBHu-c67QBajYQrtBrbGt5CZ-0aHbe6wBqdRyVMetUE2yvj3haw0nqkL3rTEWcTXfyskqsijFCbk5kS4TwQCeALcwZB2LXgyRABziVDL2H4wemW9i43JgFL6ecDq49JQ1OnN8VdGqweEcBgtppglD8ypnhl_oEGmDtUDe6RH1B3Mt346Y061jh_RIq0Z4jz_0tvZmxEP97NP5y",
  "id": "rs_08581611c5f83afd016ab435deade887d0b600d4378c8fede8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.2,\"right_z\":0.115},\"note\":\"The yellow object is aligned laterally, but it remains ahead of the fingertips; the previous forward move was partly offset in the wrist view by the descent. I’ll advance radially at a steady height to bring the jaws over it.\"}",
  "call_id": "call_MoznyvJ9YNU03sD4lCmtE9Hg",
  "id": "fc_08581611c5f83afd016ab435e08ae487d0a9802d1e3892fc56",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MoznyvJ9YNU03sD4lCmtE9Hg",
  "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]: [-0.1032, 1.2358, 1.1244, -1.0035, -0.1345, -0.1055, 0.9971, 0.5961, 1.8084, 1.396, -0.738, 0.3267, 0.4469, 0.9996]\nstate[eef_state]: left_x=0.2925 left_y=-0.0029 left_z=0.1738 left_yaw=0.0728 left_pitch=-0.5219 left_roll=0.091 left_gripper=0.9971 right_x=0.3836 right_y=0.196 right_z=0.1088 right_yaw=-0.0028 right_pitch=-0.4577 right_roll=-0.0879 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -3.9316, 6.3658, 1.116, -0.0708, 0.0806, -0.0122, -0.1983, -8.5402, 8.0205, 1.1551, 0.1783, 0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:698100d6c425781b550e67a826e9cec3270cc85c2d58cc84487487fed41e856f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e777d136755004fbe2c2c9b7c9b101ce366aa1195dc9ee486f3713d7c4df422a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:492966d47f1e521b2cbd6e8bf32c875c8bc48b52310d46f5a9564af0b10643af",
      "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 · 4.613 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6476, 1.8889, 1.7088, -1.0286, -0.3561, -0.5743, 0.9969, -0.0212, 0.8158, 0.6075, -0.7017, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3884 left_y=-0.2121 left_z=0.1577 left_yaw=0.0369 left_pitch=-0.4943 left_roll=0.0994 left_gripper=0.9969 right_x=0.2427 right_y=0.0019 right_z=0.1177 right_yaw=0.0016 right_pitch=-0.3196 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -11.3846, 8.6496, 1.0281, -0.2662, 0.0708, 0.105, -0.1299, -1.3197, 6.9675, 1.58, -0.0415, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.235, 1.1244, -0.9997, -0.1314, -0.0933, 0.9971, 0.6601, 1.7012, 1.2533, -0.6952, 0.358, 0.5064, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=-0.0035 left_z=0.1743 left_yaw=0.0618 left_pitch=-0.5185 left_roll=0.0934 left_gripper=0.9971 right_x=0.3508 right_y=0.1985 right_z=0.1076 right_yaw=0.0029 right_pitch=-0.4325 right_roll=-0.0751 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -3.3846, 6.7077, 1.16, -0.2466, -0.0464, -0.0122, -0.1573, -8.8274, 8.9641, 1.3309, 0.2027, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1244, -1.0035, -0.1345, -0.1055, 0.9971, 0.5961, 1.8084, 1.396, -0.738, 0.3267, 0.4469, 0.9996]\nstate[eef_state]: left_x=0.2925 left_y=-0.0029 left_z=0.1738 left_yaw=0.0728 left_pitch=-0.5219 left_roll=0.091 left_gripper=0.9971 right_x=0.3836 right_y=0.196 right_z=0.1088 right_yaw=-0.0028 right_pitch=-0.4577 right_roll=-0.0879 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -3.9316, 6.3658, 1.116, -0.0708, 0.0806, -0.0122, -0.1983, -8.5402, 8.0205, 1.1551, 0.1783, 0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:698100d6c425781b550e67a826e9cec3270cc85c2d58cc84487487fed41e856f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e777d136755004fbe2c2c9b7c9b101ce366aa1195dc9ee486f3713d7c4df422a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:492966d47f1e521b2cbd6e8bf32c875c8bc48b52310d46f5a9564af0b10643af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDXlSKNhIVaJX_kLf0gIltrXl3EuoJbQkDkbL031f32-c74kxWU-ZmNeLWOUIfeZkExF6CT-l3SUAC635co_IgRv6lz1S3sdivWPKjee-lgSuO7Tr4wig-Eh1AjwIpjADCiHkOZ0zZfeIESyNEcYtQgGg0cv3IxMfg3p6McPVCqS-GCSnXoc60EcAlAsx0oOFDJZSkqfkjrP3d3AoqunQn_b-u0RbbNVycCiD7U0TWu_5VQnPn2AD0aw85euTOJGJqbvWoSxFIQKuT3xeghYEpToTuwtJmief6u7nNgTvJ9-2AITe6b4HYrBHNZ2ZgGJrBp8J_y94LRZqgkX_wBegYnertaek2YG7MBlfs1ylnoLxnGemz3L9o17FbqFUrShH_PNNJtil7Wq_6EYX75PkLr1fRVk18_ZCVyep3XuZ1VLRabWY40ELG-rCmhiuVxttEdA2OJDczs9LOCajqBvGYAAckfaqZZvgF65Jha6SbU5yNh2PNxYDbb4bCfYWIFr-XlOxjmaarp-jKPsN-1Yx2dqYMYvFQPhr8NF3v2h4R9pWr9QbdOTrKtTCrx3Ng6vSDdbBaacE4yWLzQIQoeAyI5MbaBY5T3j1GEBcGri4kAC8IHE8PgLfkY20xqZB_gW3gDQlwpDNV09SqnXXzQfQnVGa1i0PAAsjV9H2Gc7ra2zgtEvOWWqda2JPlnc58vcTBVtEeI5ekBX7q1qSQ_3unxSyexGEdis-_hckbwZtfHMf807g07Z_4GryEN42cA3T1_SVWzX4K0qEN7nhfGoBdvhtjDUGr4C6TIy0EDEZLrNPW51RCQGmXBt4XntmC452H0o58EBoqihF45pjePILUlqdps01kidQTHhmLDtgFKJaiC7VQAvs0PTzCxO07EPiUSp5iv0iSb0e4FTzMsgGuR-dmfIjyHm2yvjwhYlt0uCRLqD9wQpF3rGW-ZxTxg9g6innD5hgITqAO1SfNyZ3pDmmNwEHdy7bIt9KX9VHVvXeul_K8wEhObwvgEv1nxSif4wYU-hrKjg2WMoJvz-p1SZvfznxYXrprUy7Y9mfoITbhg1dtgfCvQM4gJr6d_2KCNaQ-wcEC3wi6XZIIO29G2wxcY2ZLYkqtElkf9Jzfq7ADZRKMZWF6WkqD--Byp2O50iga1RmOCFciewti6Hs6ZrGtNygvX_Px0DUlMJRWgP_2JjcUop6IlgnwXMd5ZyhmzlxLz5GNO6Dck2pGa77IloMbi5vJuHzajA-xVL2oDaVUiGbY1MONjSGHnvESdqnM1XPglZGmoIeSjmS6kHYGk5wbGaNEddTjInIAhboGT5NmRHavyXve8AUHst_Yg93nbDeDAG4-ZaB-Prrz3s8Eo3XhNBT37B_eL7RRTzBBcrFQCWkTLAJjJg1CPXDELcMzTs8cQ6QZKwNDf-4I9EXzuKEPdpOEU-ytceh_oAG1Fx52IhVWoSv4BnJUwwxl-9SA3y9t8mz-qQMayauoglBal2f8rduMvGKwGAtFs0qZWtIoHPNK0zv2k7GfgRtodofUzpDD_4sVoS4uG6oe3xU4Zrnk65qXzOPb59t00YuDLjdQ0bP5tJ4bWmRoV4WzPUcUtkbtfuMyHyrEoPiri74Enul5Juk9_0rpivI2MLR1Z1ZyuNnDgdKEy1maNnsr2DqSnDgNxTNCVJzzVCRHnD9JQwsA4TTQP3ZJnBIkcHWldQVFC87Ru5a57oqy3LXEIiSTGYrAsSLmzi2hzBy0-xryjt-u3wwrZPOk1LmGpf-wJhaqcwtvHwHadF_HJcrTFzZS5VqwZvs8X2r3k_gakDrkzTs4ThhBh2Zsp5ibblz6M0z7LoRxnSUNfB9tXM0hUcU6xxcLipv6pZetTPnuJeBOKC0Ispm-GY62MGQL_4y3pZNYE0dk9VdXgASvbw3GvtLgeElCQuLQKHTAl80Octbg12hOyWYBliq3hSzuMKEEWl_hWfeU4vStqVgBc0_WfSrfyn7r_R5bOFEGMAbOE4YRTfXIEHPkWV2ZRDqEZDtwyoFBigNaacwGAjfwWfJu8ejwIzNqnWLDouNWocGQdemeBEH2NMx-Ul9dN53GH0R1EBnucmdKU7a_ZlxrBYpVkZfgH5IU5SuldMl1ClctZ-nWGROOLLEkAXn6ZLEIaDCt94ah01Q5R4QY2--KEVUb7yvOQxnEk_UaAMVG0Gv-EK92wnX63SxbIgJ0cy3yS-m0CswZ95Ie3GGjhnOfqcF_Z4bsTyEy0ZyMONkjciFpKgJ1Ti8w==",
  "id": "rs_08581611c5f83afd016ab435e3325487d0accbe0b4b739bf08",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.2,\"right_z\":0.11},\"note\":\"The yellow object has moved farther down the wrist image as the right gripper advanced, but it is still well above the jaw tips. I’ll advance another few centimeters at the same height before the final descent.\"}",
  "call_id": "call_kxHntlt0WIefccTQPMwIwJmR",
  "id": "fc_08581611c5f83afd016ab435e5329c87d09f55776b17b8b1bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kxHntlt0WIefccTQPMwIwJmR",
  "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]: [-0.1032, 1.2358, 1.1244, -1.0103, -0.1345, -0.1089, 0.9971, 0.5465, 1.9469, 1.5558, -0.7944, 0.3016, 0.3985, 0.9996]\nstate[eef_state]: left_x=0.291 left_y=-0.0027 left_z=0.173 left_yaw=0.0756 left_pitch=-0.5285 left_roll=0.0906 left_gripper=0.9971 right_x=0.415 right_y=0.1952 right_z=0.0985 right_yaw=-0.0121 right_pitch=-0.5024 right_roll=-0.114 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -4.0547, 6.3521, 1.1111, -0.0952, 0.0122, -0.0122, -0.4171, -10.2769, 8.5949, 1.2088, 0.1343, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6efc14c08c30c42071d50c891bebef2316912c28bd9f7de45d8e74945e2cab6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95063211f2431d108774fa9d0ab498ed31ee8c3627b730b3fdeb56b6be592f52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9829f7e73a3f4fc1dfe2d1a2077ebc1864626f264dc426bc7c1f40b35fdd1cc5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 4.852 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1036, 1.2369, 1.1271, -0.9909, -0.1425, -0.1055, 0.9971, 0.6949, 1.5715, 1.2358, -0.7483, 0.3752, 0.5304, 0.9996]\nstate[eef_state]: left_x=0.2959 left_y=-0.0019 left_z=0.176 left_yaw=0.0785 left_pitch=-0.5067 left_roll=0.0962 left_gripper=0.9971 right_x=0.3317 right_y=0.1969 right_z=0.1449 right_yaw=0.0258 right_pitch=-0.3758 right_roll=-0.0344 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -5.094, 6.2838, 1.2576, -0.0904, 0.1441, 0.0024, 0.2667, -6.9128, 8.7316, 1.3211, 0.3687, 0.2906, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1244, -1.0035, -0.1345, -0.1055, 0.9971, 0.5961, 1.8084, 1.396, -0.738, 0.3267, 0.4469, 0.9996]\nstate[eef_state]: left_x=0.2925 left_y=-0.0029 left_z=0.1738 left_yaw=0.0728 left_pitch=-0.5219 left_roll=0.091 left_gripper=0.9971 right_x=0.3836 right_y=0.196 right_z=0.1088 right_yaw=-0.0028 right_pitch=-0.4577 right_roll=-0.0879 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -3.9316, 6.3658, 1.116, -0.0708, 0.0806, -0.0122, -0.1983, -8.5402, 8.0205, 1.1551, 0.1783, 0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1244, -1.0103, -0.1345, -0.1089, 0.9971, 0.5465, 1.9469, 1.5558, -0.7944, 0.3016, 0.3985, 0.9996]\nstate[eef_state]: left_x=0.291 left_y=-0.0027 left_z=0.173 left_yaw=0.0756 left_pitch=-0.5285 left_roll=0.0906 left_gripper=0.9971 right_x=0.415 right_y=0.1952 right_z=0.0985 right_yaw=-0.0121 right_pitch=-0.5024 right_roll=-0.114 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -4.0547, 6.3521, 1.1111, -0.0952, 0.0122, -0.0122, -0.4171, -10.2769, 8.5949, 1.2088, 0.1343, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6efc14c08c30c42071d50c891bebef2316912c28bd9f7de45d8e74945e2cab6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95063211f2431d108774fa9d0ab498ed31ee8c3627b730b3fdeb56b6be592f52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9829f7e73a3f4fc1dfe2d1a2077ebc1864626f264dc426bc7c1f40b35fdd1cc5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDXqJpae_4WH7gABKakZPXMgPDCVSbfSIlUcK6N2PW5xIlFn8JfkrzIHJTdGBJcOTDeYWfIbBY4JB8SFOmJ5AtJ7u2PUxhg67frRNi1hEadIW3cjYiXDk3hsCLDak2RcVpXSckTc26KcZ79W_ddes4wb-OYrjTM424kdbXiTajeJ-fpW64gcv6OpFFI9fK_JnbNOYYpc80TinKwi9ESexbdihrNY9o5-7ZYwzcN-M_07Q_oBfUhFuTL9MVbgBJxUkhmOiEtgPg-0rZXQiVBk2J8mG9vgCVdMavb_4VTy8X74UEcuUmadeiYuRoag1uhFvPH_2z59yO186udKOKtQ_-IkCkP8ajGg_0XpgnSitbymo_P0A7Px4IVIXiOsmCySY96JJ3x59FqojWbfw_F9fQAdWwM_5TL_u_GLGaxyePxFdcMEJRu0BoIYTMpk6zOUIeFT9IGX-HAFXSjQoJtX7WJ1gB2R6EyDk0rC5ezHKv2h1X35_XbuYly1DQgdwHzThXK3_hV_1xBcVPoZBJat4JwxIffDVLPzUFNkIg6dEvpWQi48CutLtD1EwtsN9Tfzklm2UP8KoDhEoLW4kTDya0cDZXLZv6kCj4rtJjjUWrfJQHGbMPRbvNlMXP9DUaescr8lbbL8ioIn1HHXmvqhCiZbk7yX0fQnKIUkaDMUm8LPxdj1peKxFqN4X_fNcXqYe0xklVUb_M771oAKhNl6n0twtSXYrxWLlzpSfjEh9PBqAUeqIGdy4OPQYbTxsziw8xzcQzuwKOsEt5AnT27qsvWDNCxacdnS5lB8DH5F6QHTRYIT2068xQ5nyC91KisXUblxMmlmD6T6PQ_rLT0N466naEApij-UefuYEmsiVvQNWAClpDkxGr8Bg5qU01pwY5ClOdQoiIRzFHn_0tNf_-3Zyh4AT2UJ6jkK6DjGintSTMCcORNLPcTdIxQLPh41piGlaxWOXbx3pkVMUhDDd0ThgwZo2yZi5YKkW2nkiWL6wec23xIObdpDf7WZvd_0FxAIrp4ox4vOZiH_ZZCLNieuel0l6RMMi6MkYjpS63wwF5brV5m-X6gqxzZHFDbMp5GWA5RXFCOv215U2f1RRkPMF5rsCGGGZohh9v4MR4jgw1awwSHRr5q3I3qHpAc7OyBkiUvf_IaxVA_XPZvq-loIHk_3FxXhJqmhNrGWQiKdR1R0UIn45bVsZr8_4bU6Qo7lbZI_kad9wW-G7K9-e_LzIh_PSQZQbb6xGPxaGGR2HmxK9oZtAtkrxqtJWae0NiFG8FSmij6xdcz3dL8m8MZMrUa34xc_2om-BrVkSFkwqgxuQf6G_V8u5-KXWwSBjBZ1vHzVgIKvzDW9VHXXfBOaetW0aWNjiclgy8zX2IYoVJlsj2aCszKjrbsx-XIuD1ls7jIL5bvbA3W9Ax9CrXw8OWtPfotpIqbbY3DoUvy9iiiHoyfsFznNeaDBhxQ1ahCOx__0_vRMlwOQw4vFT5D-WgCmRfk9h2khlSPH1WWWaOY7-q5mM_XPBvju78kJx3gVKMM4yTOXOuayQPDnu9BtcqaWDaAVTdRmacIUxpDCGPeTC9KUdhs6pM_GjIbevKnGEAZHh8Uv0xJG6zXZZW6pTsNcydsWmmDLpXjZVjHPfrfmBxw7uOP5GWVpMDNb3hQ8jOcfwKitKbe1YSGHTpFzGE_UmwnQUE1lDEja4D3OSsy_U334CbuNxVCL6Op-6CY5SYA45L7QwfXL31xogplysQNtJxbmsz4WM9prfP8_7YMxKH9liwT6V679BG-icK_Qj4suTSigCskuuH_f0QsHW-zTbIqErZh5NIw2RdAPVrhq2pvs6rjeOdtbx74LRiGIPfrXpBxyqFUcsAfQL46ssnRQLF9aBHLZoh1LNKajL4mAwnPf50p4VsoqY1ICD1Vvvwzcdvg-IQMyALg8lNYR62f0e3z9RKDUETqON0cVEaDy6gSpRhdPUhRGZpDRBS2ZGnuwEJnxQk8b4zDXavEYCFC2ODN1aZfdsgvS9z4cuXGxT8caqV0sS2iPfgLdPVjPzugm7RPGNjYP6oecHou_a3xkBeRAMd0eAEl3XgFXt55sfRWkC-ny5_-4b69k3YdHlQZJeZAJizJPa84GJjehY_gWx5uXOkvP46hMWX3ZEnNP_nq8-LrNwSeuG2qv_S1X84lCLz9G6dHrJ2u2s0KFISGH_hg_HtVoyJOEuaLK_Dz0sU1hY8YNrsLvl3Dc2QNle5NfHNtpO7oFAGevRyhMHGDJxOeVuLAyjC-Q2FP8mBKjpDxl1uOsvsX6WJqq81Gm",
  "id": "rs_08581611c5f83afd016ab435e796ec87d0933cfc7fe984a7e4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.2,\"right_z\":0.105},\"note\":\"The yellow object remains centered left-to-right and is approaching the jaw area in the wrist view. I’ll make one more forward approach while keeping the gripper above it and clear of the safe’s nearby rim.\"}",
  "call_id": "call_ooSU7TAkCsX3vxFckh7HsVg7",
  "id": "fc_08581611c5f83afd016ab435e9ba0c87d0a50cf5148872c1fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ooSU7TAkCsX3vxFckh7HsVg7",
  "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]: [-0.1032, 1.2358, 1.1244, -1.0122, -0.1341, -0.1093, 0.9971, 0.4965, 2.1239, 1.8183, -0.9081, 0.276, 0.3485, 0.9996]\nstate[eef_state]: left_x=0.2906 left_y=-0.0027 left_z=0.1728 left_yaw=0.0757 left_pitch=-0.5304 left_roll=0.0904 left_gripper=0.9971 right_x=0.4558 right_y=0.1962 right_z=0.0954 right_yaw=-0.0175 right_pitch=-0.5422 right_roll=-0.1326 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -4.041, 6.3521, 1.0818, -0.0806, -0.0073, -0.0122, -0.3761, -11.2068, 8.5675, 0.9695, 0.2173, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a02bf5de6c1432fc93589ea73625c4cad7d9871f3b46573457560c0384070f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e629c00ef89527b2f6dcef51187bba9f667460211a17934743ec0e72c23627b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8ae61a29e542a2337e656c0c88eb1ffd96c0466a962280669c261ebe170eea0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 3.258 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.235, 1.1244, -0.9997, -0.1314, -0.0933, 0.9971, 0.6601, 1.7012, 1.2533, -0.6952, 0.358, 0.5064, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=-0.0035 left_z=0.1743 left_yaw=0.0618 left_pitch=-0.5185 left_roll=0.0934 left_gripper=0.9971 right_x=0.3508 right_y=0.1985 right_z=0.1076 right_yaw=0.0029 right_pitch=-0.4325 right_roll=-0.0751 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -3.3846, 6.7077, 1.16, -0.2466, -0.0464, -0.0122, -0.1573, -8.8274, 8.9641, 1.3309, 0.2027, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1244, -1.0103, -0.1345, -0.1089, 0.9971, 0.5465, 1.9469, 1.5558, -0.7944, 0.3016, 0.3985, 0.9996]\nstate[eef_state]: left_x=0.291 left_y=-0.0027 left_z=0.173 left_yaw=0.0756 left_pitch=-0.5285 left_roll=0.0906 left_gripper=0.9971 right_x=0.415 right_y=0.1952 right_z=0.0985 right_yaw=-0.0121 right_pitch=-0.5024 right_roll=-0.114 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -4.0547, 6.3521, 1.1111, -0.0952, 0.0122, -0.0122, -0.4171, -10.2769, 8.5949, 1.2088, 0.1343, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1244, -1.0122, -0.1341, -0.1093, 0.9971, 0.4965, 2.1239, 1.8183, -0.9081, 0.276, 0.3485, 0.9996]\nstate[eef_state]: left_x=0.2906 left_y=-0.0027 left_z=0.1728 left_yaw=0.0757 left_pitch=-0.5304 left_roll=0.0904 left_gripper=0.9971 right_x=0.4558 right_y=0.1962 right_z=0.0954 right_yaw=-0.0175 right_pitch=-0.5422 right_roll=-0.1326 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -4.041, 6.3521, 1.0818, -0.0806, -0.0073, -0.0122, -0.3761, -11.2068, 8.5675, 0.9695, 0.2173, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a02bf5de6c1432fc93589ea73625c4cad7d9871f3b46573457560c0384070f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e629c00ef89527b2f6dcef51187bba9f667460211a17934743ec0e72c23627b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8ae61a29e542a2337e656c0c88eb1ffd96c0466a962280669c261ebe170eea0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDXwr1ehmo5GQ_ThWeQfV5bubndGMyz_hNlU1B7ZqgXFuwhKTgf88uroVLJenWDQGXNwDIFor1Hcyn7VNNBLCC6BUH72PpKFT2-xoNMpk0e8sPZjkg21E0h6pdVo16TEujuYQIAodWWCGyIeijwtnsk1vxjGSheuRVTJ8cKx_TZ4mOz9TPVUL1Lo7uaExWdfE1TaVYdYRZs9ZP3Bh3nLcbEf49nM_qXKfE2B0n2sTsmwjQcDr8IqZEj7_EYqEBShM97oAeSzhg1SpbkyAGdsGEeaNvPiINi_cGWdN3wtuavdk-i0D1vDov6eByEngaAT5z09WeTV8MMKENzCU9WhHy0Gzfn1FQ5Fy-kHjRONM0AMR013kn3QRpbL4wB2vEBuBCPh6fkwQVJiUupZ27HI06YOuJ40wQicyarfspAVu3YBP1XY3mNjpSJdz8uEN_ftRVcvSlzd1gazgRnzDipHkGVxk0yyChH7HQOgXPYM6cXErvpMVSY8naMr_TVh5nxRv8OJm8DvkxSJxxeS-AdErW7rnsqTjVNJdIiTIobRjeT9uOajoMkZzy_5ZalhQNRU5NJq6mbV1z8rhLOQWroHn52toWJzQ6tyhR6FhhQk5IX9Shrwur6Snz7XlIb1Cn098Cp0ulsGLOuEDc2Hfh8g-WPw1FF_QqSaa1HJIXX44yK6lfWEYas_Wzd0SXajMQ5QCqyW3O4-D1zWOxIlIIhjOOhaU49TkiaVsLrt-O4cBCLQjth60UAVw90H2Sq_GhfQrsnkN0AqTZb7UtVxMb72TaCgC7KMCAvL-j6HiI7qAwek5gcYnNKq-eZ4iGhrju43eNRhu-xFtASwaNLjt0QLmSp9l9AMaLdU9nIvesovx7jPtKghHT-B1Ur2vexpTnpEyImWm6uzRqQD4WoWAQ0l09XtflH4fGXNB5SjVjxNV6ScxYzRjAfSRos83XbUZsG3N8CUgrwea7xVY8_huSvaKoQoDuZysLZC4B_mPXkheAVQ9D4z7w7yowBF1qxqWvRL49ZBGMMG6v9C2rHtLmrtr8epBEAmD7yyhqt4vWDidEk0WrzktgUIUzJpehSqiRNmVHJuNZOZSeMfsSpBVzPL7hmM-XPT4cAAYk71TwbgbyEDfvoo7WWPC_0ENUmWmDiN1PQ31pnOd4ZG3aekq3_bMh25cqJf4PngLazVUD0W1fayl5b8RFIpiJAXroBsqruYJDw0NEuVuZjRmLXiaY5s3kEE5M_Ab_K-WQ-2X8Tk1G_xw8-qH-DMWolh0w9AFw4OXv3B25EmBIDfgYG6OGPGbAO13S8bL23zjROH2YkB61av6zXih4_EBlJMNOvDV3ZIO7mRBrycxPHn-qFYC4A3rJ-FiWufarO_piZzOy4RG05iKNy3ncBPEl2E8dvjWl8o80pMcjaJje6TUNwb_6BNomLjJRKbTfNEibQXXHnFzKsFQS1shfH--j5w3biXzLTQS-Qssx5BpBkh8hm7a6ljdCULK36CeQIfbACIQSK6GjQfMDdguyurh2oFd1Mhe2bi34tqZVFKikz8Q-jEelXD17ivBOq_IpMc04MKoodrBXUhAVVPIhu1rxGkNoYFoiWvZrhS1Qx2grTBfrtuNJJThexgHyUHzETYUTmYRD_xAk2lgrZeJJASYBhFQBs6qwQKxXc47Zj6a4AAEVCFx3FF4ryQ74OYJal-xl4GVST9lwvrehbNXe0RICkJUqtx_9qJdSEBXkYjtrrXydQGSUlT-qAYeGqsIbeVJciZsSDfxJihUkKVR_jnFXygVssry4T4RQYhO554VcHI8Aic-0QhK7CmO2dcrV6mFDfL_eMbTVygy5KG7KrKi4MOyJxke6NGcJSdXu0JoiKfNEDntSL0Pgr6ZLdPym2kmcvUAmYZNd5_3ZiJJAT6bxULcQ26qaUOF8r2hPk-p21B7jh7KbLxNIwD_ni1RGibY8g0qjEmsaC1mFjOzlvnaIllv0QGjFL9RVwUdTsirpMfg2PcgX_gUsjN47tdsUlyDUAfYPhmmfllNiwwTzerDWL7Y7RBnUT6bA3BQDokG1DEvC-2zUruF6r5_sSsLbC_UQpibhwScQG3IfgC-JtZ-Ro9riQZSkAqKrt6t8ufA29RhqFEe3HNf-y1diTkgtv8FcUkPBZ91Ti6aYU=",
  "id": "rs_08581611c5f83afd016ab435ec956087d091c68640eabe77dd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_z\":0.045},\"note\":\"The yellow object’s near end is now at the right jaw area, and the overhead view shows the fingers nearly above it. I’ll lower while advancing slightly so the jaws surround its thicker middle rather than just its near tip.\"}",
  "call_id": "call_IXiVXjPZiWl7QW6QSTn9XniN",
  "id": "fc_08581611c5f83afd016ab435ef151487d0aa683120f1abd761",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IXiVXjPZiWl7QW6QSTn9XniN",
  "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]: [-0.1032, 1.2358, 1.1244, -1.0149, -0.1345, -0.1097, 0.9971, 0.4755, 2.2208, 1.8099, -0.8261, 0.268, 0.3313, 0.9996]\nstate[eef_state]: left_x=0.29 left_y=-0.0026 left_z=0.1725 left_yaw=0.0766 left_pitch=-0.5329 left_roll=0.0912 left_gripper=0.9971 right_x=0.4706 right_y=0.1937 right_z=0.0523 right_yaw=-0.0276 right_pitch=-0.5675 right_roll=-0.1466 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -4.041, 6.3521, 1.0818, -0.0757, -0.0073, -0.0122, -0.3487, -12.2872, 6.0103, 1.0672, 0.1392, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b75eb168e6f7e405c2b528e2a49edbeaefd046142818fa2decb770b12bea0371",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dbc22361c31428bca8fd552f5e36fce6d7345fb3bec26cbf391011cdbf8bd07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2982317b4bebfc0d89cee5f07e5f5361ce5e9e0fe553bbfd3d9be69b704a2fa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 2.893 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1244, -1.0035, -0.1345, -0.1055, 0.9971, 0.5961, 1.8084, 1.396, -0.738, 0.3267, 0.4469, 0.9996]\nstate[eef_state]: left_x=0.2925 left_y=-0.0029 left_z=0.1738 left_yaw=0.0728 left_pitch=-0.5219 left_roll=0.091 left_gripper=0.9971 right_x=0.3836 right_y=0.196 right_z=0.1088 right_yaw=-0.0028 right_pitch=-0.4577 right_roll=-0.0879 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -3.9316, 6.3658, 1.116, -0.0708, 0.0806, -0.0122, -0.1983, -8.5402, 8.0205, 1.1551, 0.1783, 0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1244, -1.0122, -0.1341, -0.1093, 0.9971, 0.4965, 2.1239, 1.8183, -0.9081, 0.276, 0.3485, 0.9996]\nstate[eef_state]: left_x=0.2906 left_y=-0.0027 left_z=0.1728 left_yaw=0.0757 left_pitch=-0.5304 left_roll=0.0904 left_gripper=0.9971 right_x=0.4558 right_y=0.1962 right_z=0.0954 right_yaw=-0.0175 right_pitch=-0.5422 right_roll=-0.1326 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -4.041, 6.3521, 1.0818, -0.0806, -0.0073, -0.0122, -0.3761, -11.2068, 8.5675, 0.9695, 0.2173, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1244, -1.0149, -0.1345, -0.1097, 0.9971, 0.4755, 2.2208, 1.8099, -0.8261, 0.268, 0.3313, 0.9996]\nstate[eef_state]: left_x=0.29 left_y=-0.0026 left_z=0.1725 left_yaw=0.0766 left_pitch=-0.5329 left_roll=0.0912 left_gripper=0.9971 right_x=0.4706 right_y=0.1937 right_z=0.0523 right_yaw=-0.0276 right_pitch=-0.5675 right_roll=-0.1466 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -4.041, 6.3521, 1.0818, -0.0757, -0.0073, -0.0122, -0.3487, -12.2872, 6.0103, 1.0672, 0.1392, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b75eb168e6f7e405c2b528e2a49edbeaefd046142818fa2decb770b12bea0371",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dbc22361c31428bca8fd552f5e36fce6d7345fb3bec26cbf391011cdbf8bd07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2982317b4bebfc0d89cee5f07e5f5361ce5e9e0fe553bbfd3d9be69b704a2fa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDXzL3hpCtHkJk7oh0cJladOnGwFujkHnfz77kj3ly0xu-SUJkXtRgouKeICz7WRdac5mvCCZn-8lNVIrj8mXf6uuWVnsBuGw5ac2I4lSijPiLowfAgesulmE5TrFZuJ7HUGQbFpQp_OMKQkCCsuD_7Ojxs5FJbg0gvtrP47RYAN9wlHsiQbmoqrYHoAP-dsA1uEpLmdLJd_THoDIOB5RnHCoKjR-cn-p5FomUVrJCG9JFbXesmyh9Pmsj_blBlE2NRPRFPCp-IMjS1xMvZvuMI7lfzi2HHq2s5Zov09P4T6La00eZH2xHT-_pjRG5JwagSqthwJBQ__JFoIukaiKoMhfKNYf1PfBqoUWiWDu-4mddL1Rm2H3rzr5ezAMriLsK_q5RVj6_ckVONSGNUdYPd48RZnbhAYiiYO_dzqgwk4nofFnbvxsVCP5F__rI07S4CeT0s6SSbwdzl6z-x4vfVmzCsKp0GqQb1yZ9zUZkbFESQgEkP8_YgOPTJYZ20jM0mAya5YY4LKA4g2de4luIlZFyEOX_RCAaSfc0y19OJx3RDr0Y70lBZ3-Gl-34KVlWsLBib3ZiT_zNGZxVgs3jdcho1awWDwBLNlY1O5c3BadmApxtutqv3J8hQdd3SysUgQ3XyC3eQAmN4i2fPYMM49NSdExMVpQLpxO7unS59kx0O9iENZUlHpQuklUJcoEsdEnnZMPJ40jzyFoSJV7PdA7BwsA0YzI4RrT5mXFqXUpDpCpaHRFQDz2OrOpsikXaX7ZfyaSfqC4hruFpGOrfWD8qYTorKlOnaUPfQVu8xbVJLTPE36ToyfswH5SPpU7shrEppeA6l-gPE3TCsD3PstvUjD6CSkjrn_ogZIA9j3jlpc6w-hWnKrcAitbY_W0fz7V0U0IZHnfRygkv0su13TRzgZR3-7sK8R6eORuYUzxuQ7bpSLA9jY28ICr_SH24qk2uD75dkXSUGpMogl5u84FdZo2g0TtOqETbR4Fa2R14dqr4Yz0U4zmQMPn6soIQr6Ag8Eonse4zcFOw0LE0r3xc-L30XVBW70EANwyGVHCVqboDMeUyex2v5A-45sEhrphJzNhLPMJICOJvECAXZgYQPpeZeXdR0YQWOGGSQmTBGLtIhUfcQQvrQSIBtiArIQf00_iwF56nI16owG530JLWyLFxq7vHvuQ4xbY14KVr3JrzSvevH6SphNvydCIwcsnLOXc9YMKMi5URxoLz4uMHiX8X_nmvgJsmthlMmlvAnr0TTn908_T35ni_L_qXT6QztvWbSk1N9i1psafCrIvUTh1O0ek8ufC1ZbotBvBlfVk6qOZQiHGiQqNbXix4E1w_DQgJFavm4aNYfVO4xnw6nWSYZdokRqT2u8VzkRZ7o42avz0FhLSGcyZ5ihsXhKpsJG63s3WYyWT41Bi-UgIzCLUBUy52_qw6eI36egU_wktkx6JGlWMdzEYUlZX6yv7R-8s-7ySEoS3y2RFpWpveGPm2peAmDjdntAWgddcMgRH2uUYRCPrHkcewoolf_fCbfpkGWqdtLdC1qZscGyUwI1VHv7gogttqfV6pITaePrXHw38Ic8vrMLnPMgc-ypz7ql1l1sooAenK8LoHclpC8NMbAY3h-Pj7oOSs64zwbmcing1vu-KF26JkXFgHUbALhci7VWWeEHbnIrWFtGPphWaCwJsVAtFW5eg4Hys3f7z0F2_S5Fb3EGSTDgqM2o2SPeLlrS4nUmXT8ePfA3Sv3Q7e9HqSEmc5YwjuMYv6xnFGOTZoA_V1tTQKPCLigHg8kfDoakGxRkfhCeK7MggjTUl2XCWsRW3f_H9KhCGWTMC89tywrT8jEOHKUCjZLI-Azcudm2HSszSZPfjhkrRF88fgmW3JD1P5d_iParlTeE6f8CpdpEm1hbSD2u-Rz_aK59fhm2selmnaVoHbov6kQcqpH_Wmq1ZCCeQ_ZJvuAKjd-SWAWO_SYw0IvygF14ZBOBJOUZqLCHWodeurm7YAUYvmB7kEALgWqI2t2uQxQ=",
  "id": "rs_08581611c5f83afd016ab435f191e087d0987843cd44454759",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.213,\"right_z\":0.045},\"note\":\"At grasp height, the yellow object sits slightly left of the jaw column and its thicker end is just short of the fingertip line. I’ll make a small leftward and forward correction before closing.\"}",
  "call_id": "call_Ptf9HS2osxAatu8McQmJbNCx",
  "id": "fc_08581611c5f83afd016ab435f30ff487d0a0beb8d88acfdb98",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ptf9HS2osxAatu8McQmJbNCx",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1244, -1.0161, -0.1345, -0.1131, 0.9971, 0.482, 2.2929, 1.8896, -0.8604, 0.2714, 0.326, 0.9996]\nstate[eef_state]: left_x=0.2897 left_y=-0.0026 left_z=0.1724 left_yaw=0.0789 left_pitch=-0.5339 left_roll=0.0896 left_gripper=0.9971 right_x=0.4774 right_y=0.2004 right_z=0.0403 right_yaw=-0.029 right_pitch=-0.5897 right_roll=-0.168 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -4.041, 6.4615, 1.0525, -0.1294, -0.022, -0.0122, 1.0872, -11.9316, 7.7744, 0.7253, 0.1783, 0.2125, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e84982c5e73439c81039d6c747e8fe1ee48dd9784d79decadc0792e0642b6aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:975317a6a746f45a0e72ec56fad36d14813769388139b24e1232d1e36bade8d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21b91a76b28e73d7b04a67ffb914f1e06ef863c992beeb46ca35e41b9bef84a0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 1.688 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1244, -1.0103, -0.1345, -0.1089, 0.9971, 0.5465, 1.9469, 1.5558, -0.7944, 0.3016, 0.3985, 0.9996]\nstate[eef_state]: left_x=0.291 left_y=-0.0027 left_z=0.173 left_yaw=0.0756 left_pitch=-0.5285 left_roll=0.0906 left_gripper=0.9971 right_x=0.415 right_y=0.1952 right_z=0.0985 right_yaw=-0.0121 right_pitch=-0.5024 right_roll=-0.114 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -4.0547, 6.3521, 1.1111, -0.0952, 0.0122, -0.0122, -0.4171, -10.2769, 8.5949, 1.2088, 0.1343, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1244, -1.0149, -0.1345, -0.1097, 0.9971, 0.4755, 2.2208, 1.8099, -0.8261, 0.268, 0.3313, 0.9996]\nstate[eef_state]: left_x=0.29 left_y=-0.0026 left_z=0.1725 left_yaw=0.0766 left_pitch=-0.5329 left_roll=0.0912 left_gripper=0.9971 right_x=0.4706 right_y=0.1937 right_z=0.0523 right_yaw=-0.0276 right_pitch=-0.5675 right_roll=-0.1466 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -4.041, 6.3521, 1.0818, -0.0757, -0.0073, -0.0122, -0.3487, -12.2872, 6.0103, 1.0672, 0.1392, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1244, -1.0161, -0.1345, -0.1131, 0.9971, 0.482, 2.2929, 1.8896, -0.8604, 0.2714, 0.326, 0.9996]\nstate[eef_state]: left_x=0.2897 left_y=-0.0026 left_z=0.1724 left_yaw=0.0789 left_pitch=-0.5339 left_roll=0.0896 left_gripper=0.9971 right_x=0.4774 right_y=0.2004 right_z=0.0403 right_yaw=-0.029 right_pitch=-0.5897 right_roll=-0.168 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -4.041, 6.4615, 1.0525, -0.1294, -0.022, -0.0122, 1.0872, -11.9316, 7.7744, 0.7253, 0.1783, 0.2125, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e84982c5e73439c81039d6c747e8fe1ee48dd9784d79decadc0792e0642b6aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:975317a6a746f45a0e72ec56fad36d14813769388139b24e1232d1e36bade8d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21b91a76b28e73d7b04a67ffb914f1e06ef863c992beeb46ca35e41b9bef84a0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDX2aeIHICT5hHqnyX62xLGfiXMBe6KH-OAG56Zz5kcQpXBELaUiGBQWyt7zFG2q8RnTw2b7_CU6HQrIZmsUyg--h4AuVpTzIx-1Th2HsDJoj3d3kBTgXLu5d5vLgPkuPTU95mJCzGTsVexzg-IFOcmScQyIz_htyDmYDEpeL9r-bRisp6XdFOKeyXYFttCfAXPAPfSGWY4G5wRsMj9Xe70Ak_swYDCvNCw-etMICRxPqtRbmQo8WPwfvxKyhX3l7E07h5GWpeJEmLDyONRHx5lHWi5J9BQspMuUuJfhrNnTxYBjHWgjNHij9WzY40isB1LOfWqYdKsZPGNjf8J3IXQxtMbQhyt4u8-NCg8ZritIwwUH1WsaybHoQupHKb_QwvJOSMb-pfsWYPDzre8IVc0Cm9Y8xZIENdDCdzyMwbTTfPFHPJ2Mc-ZSZXYcwzqIBdkVavrzL3VgMLlTNfxHfXTZnr4q6_KRkQyiAZX0QiQWJY8C3gcFi7eUfo-Lt80yLKGC-oBTJ7tvE_5W2iqo2wvFZwg1u9NoQh4zQHEXbA_xyu2CAu3zE-20RlJ5YBkd2zl4i6uWs4f69bv30HhQ3cRz5wA5oWUVtEoY5BeXyGNigZ3VDIv9qt0RQJXXTGRD1RB1m4yw-mL_ykJfMYBAXzu3LC_eVdoRdRYYWkQ64Lmniy5ii6b0n98DFlAaGempfFW_otU42yybwdh2cn-iZT0s3Pd7bnX2Kh6IcaywRDk1ROiuZk0OJajtdiyqqAjOtjnsOqicMO56ZolaZvi6lueQ2Cd3c_utSnHyBcxo-iIkJGqtvhY4rO7A36X_-DCqKHzvJSFrdsr0UFeIhPLRx6pp77vpGtkENIqX_gKLBVgejR23nMpRSKZgmaAEs6t2lw5U8Ox13_pO5ZWf21r8kM1o3fd4JFD4UCLtEs_o2qFSl_gOOIXewmLiDGpjr6itHRRB3j3tv4-hAVGlu1cQPPQXk79BLNRjhtmM4GAQFcABMFw3zhHaqzS5FYccZzUSdiSm8Uh4tdo-AGaVDohaV_7T0Hj4jVGN3LlL9qYi7RMJJWrSbaUO3dPCqaNhwM3O7tNBSkNlzbML2An5M19Sv1ku3pzqoUv86IBnrhqhJCulIVMw_Pf5xOdaYWM3y3cg44G-sQqZoe-69fGHOkqvYEk7LiWgkNIH-LtNu6PWsFxgKb9G12PlCVs1h1a9tmjO2UEET-ANOCDEFeiXVVmP2p3WNMci7bjUjwg79Eu7vtylWS2HctEe-XY8o2WbYmQBx7k9x9pHCVTAahRNpk5UClWB6RIP0mcUdJOGq62JpzNlrhHmxSnudrqVPJwI1G8FRWIoOeTG3X1re4uNXWxrOvmc_7OeoCKXNelC12cjmscWzD6uwRbPjMB1ANMjNSU86kllQwvn395tdoJ-rTLUwj0TcTntIGPyeA1_pEH5xAUqcrlGvUC5JS2DBd4Wx-mwpSxyezH-kqqm0D4SfRBRlmOMF9fA9hVK5zIROcbXKmy_n43OMaw-DJL_97P1EjON6ZFckwpqQUyrwSDwplkgK7owy5uKGuQ6EkRHh5VnpHhv7c8_xspssMPgw7gQlonYieUEQGByjikmHw4XidsiXXAOXPk_2Gr6zJjo_GLMz8c3xbDcXrCiA4iqAhZqt-1tG0Bl-GpzRNsrEFJatsbp19BYVQ==",
  "id": "rs_08581611c5f83afd016ab435f4f86c87d0aeee4a6aa46f5aea",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.232,\"right_z\":0.05},\"note\":\"The yellow object is now at the fingertip depth but remains left of center; the short last move did not reach the lateral target. I’ll shift the right hand left a little farther while holding roughly the same grasp height.\"}",
  "call_id": "call_wCrfPFzUXqb40MeHkesA94KB",
  "id": "fc_08581611c5f83afd016ab435f5f37887d0bf08c88c57863656",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wCrfPFzUXqb40MeHkesA94KB",
  "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]: [-0.1032, 1.2358, 1.1244, -1.0187, -0.1345, -0.1131, 0.9971, 0.5003, 2.3154, 1.9324, -0.8993, 0.2714, 0.3401, 0.9996]\nstate[eef_state]: left_x=0.2891 left_y=-0.0025 left_z=0.1721 left_yaw=0.0792 left_pitch=-0.5365 left_roll=0.0902 left_gripper=0.9971 right_x=0.4745 right_y=0.2095 right_z=0.0401 right_yaw=-0.0264 right_pitch=-0.6047 right_roll=-0.1727 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -3.8222, 6.5846, 1.1111, -0.149, -0.0611, -0.0073, 0.0615, -13.2308, 6.8171, 0.9695, 0.1392, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9351df6cfb8f6ba93565b9a317edb59de2e25c4dee8d124d0870930cacb61d2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d867147869b6a00dad381ff18480edd82bd2d8e643fe79b89fd0402cb4b03b40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:820d6b03ad6f4fe46ca93e56e28ef41d9a7f0a27f48a15714e192fcdcdd87d4a",
      "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 · 2.788 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1244, -1.0122, -0.1341, -0.1093, 0.9971, 0.4965, 2.1239, 1.8183, -0.9081, 0.276, 0.3485, 0.9996]\nstate[eef_state]: left_x=0.2906 left_y=-0.0027 left_z=0.1728 left_yaw=0.0757 left_pitch=-0.5304 left_roll=0.0904 left_gripper=0.9971 right_x=0.4558 right_y=0.1962 right_z=0.0954 right_yaw=-0.0175 right_pitch=-0.5422 right_roll=-0.1326 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -4.041, 6.3521, 1.0818, -0.0806, -0.0073, -0.0122, -0.3761, -11.2068, 8.5675, 0.9695, 0.2173, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1244, -1.0161, -0.1345, -0.1131, 0.9971, 0.482, 2.2929, 1.8896, -0.8604, 0.2714, 0.326, 0.9996]\nstate[eef_state]: left_x=0.2897 left_y=-0.0026 left_z=0.1724 left_yaw=0.0789 left_pitch=-0.5339 left_roll=0.0896 left_gripper=0.9971 right_x=0.4774 right_y=0.2004 right_z=0.0403 right_yaw=-0.029 right_pitch=-0.5897 right_roll=-0.168 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -4.041, 6.4615, 1.0525, -0.1294, -0.022, -0.0122, 1.0872, -11.9316, 7.7744, 0.7253, 0.1783, 0.2125, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1244, -1.0187, -0.1345, -0.1131, 0.9971, 0.5003, 2.3154, 1.9324, -0.8993, 0.2714, 0.3401, 0.9996]\nstate[eef_state]: left_x=0.2891 left_y=-0.0025 left_z=0.1721 left_yaw=0.0792 left_pitch=-0.5365 left_roll=0.0902 left_gripper=0.9971 right_x=0.4745 right_y=0.2095 right_z=0.0401 right_yaw=-0.0264 right_pitch=-0.6047 right_roll=-0.1727 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -3.8222, 6.5846, 1.1111, -0.149, -0.0611, -0.0073, 0.0615, -13.2308, 6.8171, 0.9695, 0.1392, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9351df6cfb8f6ba93565b9a317edb59de2e25c4dee8d124d0870930cacb61d2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d867147869b6a00dad381ff18480edd82bd2d8e643fe79b89fd0402cb4b03b40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:820d6b03ad6f4fe46ca93e56e28ef41d9a7f0a27f48a15714e192fcdcdd87d4a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDX4omvOQVXI30XnyRsAZy3tkLZGcFDP4Ym0X7Dsk502p80XRPK0g_PAvubQd_1wgGfW-RppppnQ30ik-IGrclFxz3JWHZ119zvPXkGzk8z00f3tK2Nqc0XxRffk-VCgWU8Qh7NIXK6-6pLnOQ3ZwhV47lMz7YxLBLQuhgXveUOU1eeL_0QH2MaPSh6wOWDgz5p3-wC8J-io0VLShNuHXKBp9t_kt9qS4-fCWAhk_T0tPG6l2WiwOmWCrTfoVu5NNFux7wWzD6nocFGC1Ft-nuAL988HdNHbsagurVvOgio3MtjBFYce6j01h6wQGZ1yXqLa7edIenZXOqvJ0AEOVBmQjUB-vWOn7f2GNfrK_6nWsS6_M7BCXyPBHy8TrrDV4-7WEyEJWycg7U1QZDMEsDWjM-9SkD9gNUWAc_wrzSo7JiUq2ZcLAsDF5q82BT76MUIbxiiOvTHfO-fX6_3J0G04iT7oyiM-oNE_P7ohNNcF5UCILYb-hIrwVyNvU_zAsdVN2Nxz0UIOxiJwNxGzM_HYAW7Yl07zx1gn3FZxh2bp6rx_4pE2PRmSh9_FwBdPuIyXwe60u2tfiGx2TSAH8Vdv9pH-0CQibTmcMH_rvARsqVbfUJjArUeShGwdO4-Zoj2rUBJsjIQUeF6ospD7HfVLgXk3SwW0dW1WLHiTVNSz0TZS06xCPo5azidtzIYsA-XRGy2dTYGnA3-3NJG-hIoKFRQSDLfU-ZQEpzvlEQDo7kfN7aXi2b6P3oGhk3cKkHPHSJhcF48lf7wSqUWljxfZOt2MdzHFuY1Pkk25o9EueAwHwP4WliWKdZL5tXL-Z-gGVIqq6gh0V9goMb1pcx4oCw4kIZivbK1IpYR9T7J7HIeOw6g2GiL31_shpB14IYxGYTe-ceLYRcqde2sxRC5CI8_9CklRj_7S5o017pS_MrKEyvd16c1e0-KOn5yNl1DAw6G0_Q0vg7zK8eU2rTNneWtwWQfp9a61jKip6eLgrF6-lgaWsZ7jPlu1XBGgB-CAgHJsDKR0mhBQ6GK1phdIVcuU-VniR3-yPsE9v396lHyfECzMFqQePw7vFi_XTq8O-Xu9zQ8pzwdO_Cv0V74fnZsWY9wko9TYW6JVro9ewuSnDToS-HMtgT6Dwd5zIH8fFTdnidy5UjX7EATAHaPbRHO_nrzpT3MqNx-xNJ9OsOvuO0Iu8BRJrRrbtDMu8ibz80B0q_7qYtpD5HbrMjqbkA==",
  "id": "rs_08581611c5f83afd016ab435f7faec87d0a547aa2a2e8d9f4e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object is centered between the right jaws at table height. I’ll close on it and then verify the hold by lifting.\"}",
  "call_id": "call_Z06A5HA910CSIk0Azf4KHzjd",
  "id": "fc_08581611c5f83afd016ab435f82b5887d09b8e798555ef3ba4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Z06A5HA910CSIk0Azf4KHzjd",
  "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]: [-0.1032, 1.2358, 1.1244, -1.029, -0.1341, -0.1131, 0.9971, 0.5003, 2.3154, 1.9316, -0.8993, 0.2752, 0.3397, 0.3924]\nstate[eef_state]: left_x=0.2869 left_y=-0.0024 left_z=0.1711 left_yaw=0.0799 left_pitch=-0.5467 left_roll=0.092 left_gripper=0.9971 right_x=0.4746 right_y=0.2088 right_z=0.04 right_yaw=-0.0296 right_pitch=-0.6035 right_roll=-0.1772 right_gripper=0.3924\nstate[joint_eff]: [-0.1436, -4.0137, 6.3385, 1.1746, -0.1001, -0.0611, -0.0122, -0.2667, -13.4496, 5.641, 0.9499, 0.0952, -0.0269, 0.9695]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:680128425311ad8eb4bc1f152b90e04c83f8088be3478d5e8e5cf860e22c81c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c4d249966329fccd2f1c1444a1e9597ec1cce49b618bab1d52993c99cd84737",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9439089155d56719ef33c1a2c9a4924d0f46e75868fca3b7fa534322d61e214b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 3.122 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1244, -1.0149, -0.1345, -0.1097, 0.9971, 0.4755, 2.2208, 1.8099, -0.8261, 0.268, 0.3313, 0.9996]\nstate[eef_state]: left_x=0.29 left_y=-0.0026 left_z=0.1725 left_yaw=0.0766 left_pitch=-0.5329 left_roll=0.0912 left_gripper=0.9971 right_x=0.4706 right_y=0.1937 right_z=0.0523 right_yaw=-0.0276 right_pitch=-0.5675 right_roll=-0.1466 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -4.041, 6.3521, 1.0818, -0.0757, -0.0073, -0.0122, -0.3487, -12.2872, 6.0103, 1.0672, 0.1392, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1244, -1.0187, -0.1345, -0.1131, 0.9971, 0.5003, 2.3154, 1.9324, -0.8993, 0.2714, 0.3401, 0.9996]\nstate[eef_state]: left_x=0.2891 left_y=-0.0025 left_z=0.1721 left_yaw=0.0792 left_pitch=-0.5365 left_roll=0.0902 left_gripper=0.9971 right_x=0.4745 right_y=0.2095 right_z=0.0401 right_yaw=-0.0264 right_pitch=-0.6047 right_roll=-0.1727 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -3.8222, 6.5846, 1.1111, -0.149, -0.0611, -0.0073, 0.0615, -13.2308, 6.8171, 0.9695, 0.1392, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1244, -1.029, -0.1341, -0.1131, 0.9971, 0.5003, 2.3154, 1.9316, -0.8993, 0.2752, 0.3397, 0.3924]\nstate[eef_state]: left_x=0.2869 left_y=-0.0024 left_z=0.1711 left_yaw=0.0799 left_pitch=-0.5467 left_roll=0.092 left_gripper=0.9971 right_x=0.4746 right_y=0.2088 right_z=0.04 right_yaw=-0.0296 right_pitch=-0.6035 right_roll=-0.1772 right_gripper=0.3924\nstate[joint_eff]: [-0.1436, -4.0137, 6.3385, 1.1746, -0.1001, -0.0611, -0.0122, -0.2667, -13.4496, 5.641, 0.9499, 0.0952, -0.0269, 0.9695]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:680128425311ad8eb4bc1f152b90e04c83f8088be3478d5e8e5cf860e22c81c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c4d249966329fccd2f1c1444a1e9597ec1cce49b618bab1d52993c99cd84737",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9439089155d56719ef33c1a2c9a4924d0f46e75868fca3b7fa534322d61e214b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDX8j1OhZVedA1WhNJ2HZqK0FTZmr9FkIvMcS8aNy9EyObRWVvRiacifX7hkBBvCbDMcv15_FpAjbxeUibVHumzGsENveOLdf4tetuI4MwSg3k-i8yZuT1t8S0Zx7H_uqekmhyRYEBbZdasM5aXw6GP13jDHcdnxqrFk8ot9g_sZ4tf_nt5555YA7NbGc1xuBLqBf7Zu10LM3RmuUUxNL8KQUvVXxqwZ9MIYFDs_2y_zoqohleY2NXDmUAIldoivhxlpxRZx501yIV2PzrkiVdvOUINDbmZgRQ0CeInAj0YH0A4rvey-fO7-R9v7KYACOs3mMbclTYXYAViSgU4BoHLWPp_VmMuiL1srD4bGo27nb7O5Ke3iYtnuWyhNTJdil9hSXW7jrubBuYeNEVADNZONJ0lWNoAkkwzy2SbhQtPZkwGkTTmvu0QYrB_H97pFmuBlYFmzPfUgUFq8nzYNBgTA3O-Y6yA7jCwlRaaJghqr0R2v_ToREDqIWDEqbWKZUbu8ud528rB0E14G9579vrz0e-YNQXUQFgiwjVXfj6fKoyEhwWOXQecWmpgifAxMIws_pPv8Rjeb0mYobfzo2dB9XkdyO2wQandtEscXV2-nR8LxkiYPQyP_VrAANIGHPDboJ-5KQAbW5jKtX1xXvdOubKmlgw3j51OmISXSqHDbw-vsRgwmo5V6CLCUapGk6aX43eKC2ynweLseFYF9A1vHyQnyIf_ICRib84stpAVRuBi9h3KSTDaWvWY5svqOm9m307kafqHQqtgJBdUPPTwhuy_T8YaqYfxKdzTdOODZqdkT-mxECzf1950XxTQbCktngpJo40VIKWMy21LBhtfYKsZXN8q6A2JP-ib5blEmZnnBvi_gAGyEmBWXDEXyQDoDuJABsVfBBF8XYFK2KPl-HuHXtxQ_mAApYeT9F3vMJabGd3eJSZhrbR1ocgsCHsS6zOvVYHYx-Mjm9ZE2WHcmPGEOmIz9OtIkyY2Bg4QKCEhxV9fdKfho-2f25SMRpObj__DnICRl66I6EmKLW2ZTnpEr5TWFUL4XonMpEnXnhwPty-ncK8INrQKDztdVT-_t4IbEWc0fBPRf1KxLTw4-Be_ZuSGixREJnLm6JvpxHW6F4MdJo-Z_5xpBBNuPS3ugdOtr8ZnWxu4ZFs40QiDkaTK_xop90ixC2ohPEs_pOGgaeXqGkPmnIVNbdhimIslUTKSQSWkVYBf_L8pRyBYz5A8aV3zPIVvUKNKJ_DcOsWT8kfhsM_0MjaLvoDSM0tQJxFRCbhw0Jq7-48gBrInKEcYNtxbFOeAJTRrroOgAsta1WJ9AmotA-l9WJqSWj8tKCVkVtFlV52ykE7uwt9RVRCg7Ml3YefI1rf72fB30R1zo0UHix7-K_2467mK3VrZehTUHl9tF1Yfsl-e7F2O09akbri_JHhyY0Z7z_quqhEtocl0ZyrBYJIX_7qbe4UH10UDl-iXn1Owk77-ZXP66q9m9Mc8YCGzIhwvhvuMS-_4HmLIyfwfra0qBrxOTsmvgQC3dA4ZOMx8kLHtHklDGVEeiT1z_oFQvwHp1LwjJYUqNAf1QOEp81TsDkf-MWHfvnZO8uua7X4Nx3m2DeDwdS7yEz-kkFyDGYkAFJdMovsi4mbNWClPmGjI5eQz73BO4YJOeLbWA28zEOrYtylAgU4AixXGvf9x0APqN_LGsvRs=",
  "id": "rs_08581611c5f83afd016ab435fa98bc87d0a220946267b1cb76",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.18},\"note\":\"The right gripper settled with a substantial gap around the yellow object, indicating a grasp. I’ll lift it to confirm it moves with the hand and to clear the safe rim for transport.\"}",
  "call_id": "call_F2Eo5I82PCQjjZsEmsNfm8Lc",
  "id": "fc_08581611c5f83afd016ab435fba92c87d09b1e5dd5ba0456b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F2Eo5I82PCQjjZsEmsNfm8Lc",
  "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]: [-0.1032, 1.2358, 1.1244, -1.0344, -0.1345, -0.1131, 0.9971, 0.5011, 2.4416, 2.7102, -1.4937, 0.2718, 0.3397, 0.393]\nstate[eef_state]: left_x=0.2857 left_y=-0.0022 left_z=0.1705 left_yaw=0.0809 left_pitch=-0.5519 left_roll=0.0935 left_gripper=0.9971 right_x=0.4802 right_y=0.213 right_z=0.179 right_yaw=-0.0071 right_pitch=-0.5548 right_roll=-0.1395 right_gripper=0.393\nstate[joint_eff]: [-0.1573, -4.0137, 6.5026, 1.0476, -0.1245, -0.0317, -0.0122, -0.335, -11.5487, 7.2, 0.9158, 0.1245, -0.0562, 0.0513]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b88a6f7fd8062de76a093ac5b368546886cb4e4de08ad6fd93506486a46470d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:861bac7827c9ff37da4729b7206355d9d699d517b91d6940e02aa24302c9a190",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa8e78d3f85ce57efbdb77f16bb3fa3d4fc115cab72ae0a65df890a6a048186d",
      "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 · 5.033 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1244, -1.0161, -0.1345, -0.1131, 0.9971, 0.482, 2.2929, 1.8896, -0.8604, 0.2714, 0.326, 0.9996]\nstate[eef_state]: left_x=0.2897 left_y=-0.0026 left_z=0.1724 left_yaw=0.0789 left_pitch=-0.5339 left_roll=0.0896 left_gripper=0.9971 right_x=0.4774 right_y=0.2004 right_z=0.0403 right_yaw=-0.029 right_pitch=-0.5897 right_roll=-0.168 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -4.041, 6.4615, 1.0525, -0.1294, -0.022, -0.0122, 1.0872, -11.9316, 7.7744, 0.7253, 0.1783, 0.2125, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1244, -1.029, -0.1341, -0.1131, 0.9971, 0.5003, 2.3154, 1.9316, -0.8993, 0.2752, 0.3397, 0.3924]\nstate[eef_state]: left_x=0.2869 left_y=-0.0024 left_z=0.1711 left_yaw=0.0799 left_pitch=-0.5467 left_roll=0.092 left_gripper=0.9971 right_x=0.4746 right_y=0.2088 right_z=0.04 right_yaw=-0.0296 right_pitch=-0.6035 right_roll=-0.1772 right_gripper=0.3924\nstate[joint_eff]: [-0.1436, -4.0137, 6.3385, 1.1746, -0.1001, -0.0611, -0.0122, -0.2667, -13.4496, 5.641, 0.9499, 0.0952, -0.0269, 0.9695]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1244, -1.0344, -0.1345, -0.1131, 0.9971, 0.5011, 2.4416, 2.7102, -1.4937, 0.2718, 0.3397, 0.393]\nstate[eef_state]: left_x=0.2857 left_y=-0.0022 left_z=0.1705 left_yaw=0.0809 left_pitch=-0.5519 left_roll=0.0935 left_gripper=0.9971 right_x=0.4802 right_y=0.213 right_z=0.179 right_yaw=-0.0071 right_pitch=-0.5548 right_roll=-0.1395 right_gripper=0.393\nstate[joint_eff]: [-0.1573, -4.0137, 6.5026, 1.0476, -0.1245, -0.0317, -0.0122, -0.335, -11.5487, 7.2, 0.9158, 0.1245, -0.0562, 0.0513]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b88a6f7fd8062de76a093ac5b368546886cb4e4de08ad6fd93506486a46470d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:861bac7827c9ff37da4729b7206355d9d699d517b91d6940e02aa24302c9a190",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa8e78d3f85ce57efbdb77f16bb3fa3d4fc115cab72ae0a65df890a6a048186d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDYAPV0nzcSADfe1rINjVFqgERVpaDBYdaLTlQxGt-AEAYQKHBBnBDWl4Qhui2-PsxdslWWI02Pth-Rk6EB0uueTBQq-O9Fa90e5Fyjcf8YhWHw7qqYYQT1NKDOX65xpRAINHMs5V77spKFJby0UgweISqPu0RYBRVxuxMijEGY8osyC1naFkHzdR96WQsqDo0TWOyF94dcIIv3yFd188TALIVviBce6by89erGmEEVfjJRcpysk2xnt_3h_gjXtkHnNTnDSyTt7u8XaHl87fnNkJOE7eI8FkwYdylIpZ8xUjyQUob6E4KGf1rw3dALscKLaU1HE58dog_btngyJgomyNP42sIQcWsbqZ4IJA7VefPDCPY29hk0NfOi_jRVxctmNZZtJnZqeDKEAOTMGfAAqlO2mMqC9_v6uTp3heqqlC-3ySkRyLoU7o3H5HP3K5Vx7h-fvFulV8IgY5Gt_veGvr5kEltot0Aa3n7fe-Z2io8y1u1AGu1gzNscqVmq-VXmeujiROMFPGuDqcn_Cr1-jshSLE1a5X-tMs7NuXzvWigwsu0U7ksymHQ48ryEOSLm3rdpJ4TSq6FQabXI5AuTpAxWuj4xXWsGvLQc3T8bDTjaGXJZB4uOh0ePu4V6Uzz73SCO3ur4QvdjhoeqA80yCW-nWspl-gkZ7m0s0C6Rmulpbuk9Gxis4RKzEkuynZrWahSkc5YAZSsHva_0mcOizUXVuxR6M8bzBYe2St2-XYVguR975yIrL0vpdRHPOwSW5YOL3vV-R1EbOLuXRaznODb_K2kTvPJDxZPZKnOtlJZdZwuVeTQiI_mc_9KolbUxOD94uFbzbT8mfwAUQm5MXejjJkN3GfazKaE5pm83BiwkuphW6eBiCjCzbQI_4ykEk6SDkVglzs0RnOURkL4Dsz1jncHLImHAKDq0SA3gdBZGuLf4HCqW1hiJCq17I4Ya3aBWgBSJ1WbgZbPSsMNiddSmFY-K7pWnIpTkXfJPq7vY4w9fnkwMIYP4uKdZ3TldNNTUBQt62NYXf3NEKJlDb55ewi_-t5hbRRyA4QKR-P9nZMMrp8i158BWHMtpwjWyKZ2gbKr_X3D9fLf7bN2xVocml4EL7Q9M0S4kawVFAiBsxahhJwift_LzbMiIamxUTuxOyqgOFKaFJ05W1IU4q29NSdXk8Cb48k4-jve4orajW_b4tnQ_Zjw8i8zoyrvC2b4WuYlS74_-c0vfQTCazFENIgovbtvYnzPNcyVfaJ-CIEf3-06c2UtrWGgSZvVL9zZ_Rp3WVcsciE7G2Kzq6sW2ucrb10P5c0EnsD_K0xzV9LWuId7OBs7SnvOHhBB-6Ict5sHQ50eOShaaxeDe35wfVbsD5KWbrTD-m_5-ChGYF0AEs4bt6vGjXeK5EKhcMI0ygfdL79x3bAhUHiCU1lU5XCTjWbLu1Uk4LXyT8WF4NdfKRAztqhmX8r6CyRJaq7DFuU_ALrYRFBRzZmUkgZxUz1zO3xrGsPTVR2-c0lsRDElIW8WWqeHgJOJ3CLjvsWMosFyox_BaFPtThdaZk4-98dyNld4SGL4NZeQ2h1zqGAhZTb3MSF5it4ynj8hLxOI-7z-wj7Mxo6dIzWHqhzk0nNH97tnwNS-NRJxZvCglRqZPT15wQtPs6Zxm3G0yxiUnrvmg1sNRpFcJL0MsBD7z5k1VQ1n_Fqss8LNMqALUjwUnRMu2FhrrR3J8rAhCN7O72j64X91gKVZnOolJyqw==",
  "id": "rs_08581611c5f83afd016ab435fe921c87d0a3566f6efb4d902c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.302,\"right_z\":0.2},\"note\":\"The yellow object rose with the right gripper, confirming the grasp. I’ll carry it over the open safe, aiming beside the white plush rather than on top of it.\"}",
  "call_id": "call_nAzkd0VR7eFS5TzGooUas9tc",
  "id": "fc_08581611c5f83afd016ab435ffa0dc87d0aa2bbcc3f82d6073",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nAzkd0VR7eFS5TzGooUas9tc",
  "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]: [-0.1032, 1.2358, 1.124, -1.0367, -0.1345, -0.1131, 0.9971, 0.5617, 2.4706, 2.7865, -1.5993, 0.276, 0.3779, 0.3937]\nstate[eef_state]: left_x=0.2851 left_y=-0.0021 left_z=0.1702 left_yaw=0.0812 left_pitch=-0.5545 left_roll=0.0941 left_gripper=0.9971 right_x=0.4545 right_y=0.2334 right_z=0.1792 right_yaw=0.0056 right_pitch=-0.5999 right_roll=-0.1609 right_gripper=0.3937\nstate[joint_eff]: [-0.212, -4.0, 6.3385, 1.0574, -0.1441, -0.0415, -0.0122, -0.294, -12.506, 7.4051, 1.0525, 0.2515, 0.1197, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:226dda01902ca0cb7ea08a4a9bd6d37a48a0db457ace17097ba7e2f68df0c78f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98ae57f590baf0e4ec4a3ed93480ccbc5a3717cd576d9ec48e67476c06aca210",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:734e71a5bdd7c16f934c3894652642e3469d76db29bc7260faba5aea36e20789",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 4.702 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1244, -1.0187, -0.1345, -0.1131, 0.9971, 0.5003, 2.3154, 1.9324, -0.8993, 0.2714, 0.3401, 0.9996]\nstate[eef_state]: left_x=0.2891 left_y=-0.0025 left_z=0.1721 left_yaw=0.0792 left_pitch=-0.5365 left_roll=0.0902 left_gripper=0.9971 right_x=0.4745 right_y=0.2095 right_z=0.0401 right_yaw=-0.0264 right_pitch=-0.6047 right_roll=-0.1727 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -3.8222, 6.5846, 1.1111, -0.149, -0.0611, -0.0073, 0.0615, -13.2308, 6.8171, 0.9695, 0.1392, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1244, -1.0344, -0.1345, -0.1131, 0.9971, 0.5011, 2.4416, 2.7102, -1.4937, 0.2718, 0.3397, 0.393]\nstate[eef_state]: left_x=0.2857 left_y=-0.0022 left_z=0.1705 left_yaw=0.0809 left_pitch=-0.5519 left_roll=0.0935 left_gripper=0.9971 right_x=0.4802 right_y=0.213 right_z=0.179 right_yaw=-0.0071 right_pitch=-0.5548 right_roll=-0.1395 right_gripper=0.393\nstate[joint_eff]: [-0.1573, -4.0137, 6.5026, 1.0476, -0.1245, -0.0317, -0.0122, -0.335, -11.5487, 7.2, 0.9158, 0.1245, -0.0562, 0.0513]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.124, -1.0367, -0.1345, -0.1131, 0.9971, 0.5617, 2.4706, 2.7865, -1.5993, 0.276, 0.3779, 0.3937]\nstate[eef_state]: left_x=0.2851 left_y=-0.0021 left_z=0.1702 left_yaw=0.0812 left_pitch=-0.5545 left_roll=0.0941 left_gripper=0.9971 right_x=0.4545 right_y=0.2334 right_z=0.1792 right_yaw=0.0056 right_pitch=-0.5999 right_roll=-0.1609 right_gripper=0.3937\nstate[joint_eff]: [-0.212, -4.0, 6.3385, 1.0574, -0.1441, -0.0415, -0.0122, -0.294, -12.506, 7.4051, 1.0525, 0.2515, 0.1197, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:226dda01902ca0cb7ea08a4a9bd6d37a48a0db457ace17097ba7e2f68df0c78f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98ae57f590baf0e4ec4a3ed93480ccbc5a3717cd576d9ec48e67476c06aca210",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:734e71a5bdd7c16f934c3894652642e3469d76db29bc7260faba5aea36e20789",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_08581611c5f83afd016ab436026e0887d0b37085a2ec32a699",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.29,\"right_z\":0.2},\"note\":\"The yellow object is still held, but the right arm advanced only partway toward the safe on the first transport move. I’ll continue with a smaller sideways move while keeping it raised above the compartment.\"}",
  "call_id": "call_a44EK47sm8FRJVAc6Zcjsw9B",
  "id": "fc_08581611c5f83afd016ab43605646887d0aea69e37fc1cc862",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_a44EK47sm8FRJVAc6Zcjsw9B",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.124, -1.0367, -0.1345, -0.1131, 0.9971, 0.5617, 2.4706, 2.7865, -1.5986, 0.276, 0.3782, 0.3946]\nstate[eef_state]: left_x=0.2851 left_y=-0.0021 left_z=0.1702 left_yaw=0.0812 left_pitch=-0.5545 left_roll=0.0941 left_gripper=0.9971 right_x=0.4546 right_y=0.2335 right_z=0.1793 right_yaw=0.0056 right_pitch=-0.5993 right_roll=-0.1602 right_gripper=0.3946\nstate[joint_eff]: [-0.335, -3.8085, 6.2974, 1.0281, -0.149, -0.0562, -0.0122, -0.3624, -12.3009, 7.1179, 1.0769, 0.2759, 0.1734, 0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c26672161cb1bdb00fd66cee7d299c88359bd535eff3001e2bd0230edb71add8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c712e33dfc202035ae769b9d8a711e56f2b86fea6bc970fad72b4164df7839cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52d9d2c5d536b582f5ef6a65bbf86f4256138961c3ce9989bf2ff1014558e385",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 6.749 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1244, -1.029, -0.1341, -0.1131, 0.9971, 0.5003, 2.3154, 1.9316, -0.8993, 0.2752, 0.3397, 0.3924]\nstate[eef_state]: left_x=0.2869 left_y=-0.0024 left_z=0.1711 left_yaw=0.0799 left_pitch=-0.5467 left_roll=0.092 left_gripper=0.9971 right_x=0.4746 right_y=0.2088 right_z=0.04 right_yaw=-0.0296 right_pitch=-0.6035 right_roll=-0.1772 right_gripper=0.3924\nstate[joint_eff]: [-0.1436, -4.0137, 6.3385, 1.1746, -0.1001, -0.0611, -0.0122, -0.2667, -13.4496, 5.641, 0.9499, 0.0952, -0.0269, 0.9695]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.124, -1.0367, -0.1345, -0.1131, 0.9971, 0.5617, 2.4706, 2.7865, -1.5993, 0.276, 0.3779, 0.3937]\nstate[eef_state]: left_x=0.2851 left_y=-0.0021 left_z=0.1702 left_yaw=0.0812 left_pitch=-0.5545 left_roll=0.0941 left_gripper=0.9971 right_x=0.4545 right_y=0.2334 right_z=0.1792 right_yaw=0.0056 right_pitch=-0.5999 right_roll=-0.1609 right_gripper=0.3937\nstate[joint_eff]: [-0.212, -4.0, 6.3385, 1.0574, -0.1441, -0.0415, -0.0122, -0.294, -12.506, 7.4051, 1.0525, 0.2515, 0.1197, 0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.124, -1.0367, -0.1345, -0.1131, 0.9971, 0.5617, 2.4706, 2.7865, -1.5986, 0.276, 0.3782, 0.3946]\nstate[eef_state]: left_x=0.2851 left_y=-0.0021 left_z=0.1702 left_yaw=0.0812 left_pitch=-0.5545 left_roll=0.0941 left_gripper=0.9971 right_x=0.4546 right_y=0.2335 right_z=0.1793 right_yaw=0.0056 right_pitch=-0.5993 right_roll=-0.1602 right_gripper=0.3946\nstate[joint_eff]: [-0.335, -3.8085, 6.2974, 1.0281, -0.149, -0.0562, -0.0122, -0.3624, -12.3009, 7.1179, 1.0769, 0.2759, 0.1734, 0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c26672161cb1bdb00fd66cee7d299c88359bd535eff3001e2bd0230edb71add8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c712e33dfc202035ae769b9d8a711e56f2b86fea6bc970fad72b4164df7839cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52d9d2c5d536b582f5ef6a65bbf86f4256138961c3ce9989bf2ff1014558e385",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDYLxtaLccq0lVisUEKGH44L6Age10nl9Rsf2k2rt2ZG1RmDPQftyQC4YEqyjF8aRBcJTb7n2qMWNJmv8SAUGF9_R_H7-trjF768HbwMmGSOJK0vov7hUqCijO-YG1GpzdPtE7VgDAJovWSO2NRIMX2xerGxQDrx3UGoitoZoCDCKDS-DfKhyi-4hu6rgoslKAqN2LzAJkSRdp5SAMzX5dznFP2libNnLd6-KYg95bWNBju7zuP8T6z9kojQq0ghYQnLz7jY1TSok2p4lxMyIWvoAtPkZE50U44d88yX1J29gz2rG156q06X5tSyRsgLuP2yu6q9knRdnuMa54eN84GhBJH50u8VQhb4sfM8afePCc_un1uvbCD2a05JheGuX1t7q-aUsMvnhwtEe50ZpWzXSMHCVaW5i1MQACT3X62xmUSO8IAWKkT1zhNDiJseMifNXrvbzIRV_msjKJA7-VwpiaVebFj-FZGHnitIR585_hLflaND4x2mFTQTPhy6rBBJHarcz0ltp6u-raS_PO9JcWMArGn7Gs4X2WGvXBHTv1-9sLl7Ny0DEHVZhDwGFf0d2RSePoU-BRbHlkM1K-op2qY84b8YjwTdBWczRur4k_k4Tg1inhqJ3pypBwXl2S1bRdHlpC2gP7yBm-sRXFJILgX33X526jWxtQs_p_xu1HFXLYNi80DD13uOmom1tPDQ9cYm31BDpl3d6e0ZpxIsRf64xF8GFQvTPpezXekEzCK50ZKT7HLF3eWiu4U5LfK1Q9aED-rq190l2RTlyA3OSBUJjioztK6nyBQ1kXPaR4b5BpAFzEqI8PFq2n4VYU3H613fwgNX5CQ02mXBekY0kbaDbxe0_LCC4A7dSU-u4CnoiJra6Q45HPxoiyqiKhSQ0rsL9AV-9EZ5wHVTeCsEwn_wKY1MIvrCGDBAwMp3WayEDh63Xa_YUB-IbR8m_lMkzRKwwDuOTkGJXzlJQ33GEgB0mQvXllx__0KvcatpKdCB8Ra5_kNtPPOXz_8FiEhNiINEhl2RjwhUYnRE0e8KWlN6Qgtor_8D8SPkcSaZz0GH43mSmJ-aya10zl6XhfrdaicF0KifFahXPUW6voVTR4R0FKHcnwxtmbbXV883NO6KrU37ldXNPn7f39lp-mBp5MMenERjdzwoo8KYkkDKOg5Rz9YgwZRhGYxGKioxjWGYfEbY3kwSy2-KAoi9SIuZ6CB5fxsgG0jXOJO9zDKpiDgb1PLsURAtwnbm-Bp3TVwg81B3NEAaA_LYSjrc7RkZs-jgUIqF_A-uHD9MT7s0gITRaJcKTIRhnMCXn9nVGGMwHmsTMtm3iSvmfiwc5dCe7Pw8YZZuJgB8WtqE2Q501jyF8WMNe1TXfMSDFK-YjE8rOkHUTxmvR_zq-a5w3uYoN8YLbaBAg_Cl-dC4NEFFVOeP5yiahX5-tZSObHW6_GM8hu2-C7juVuyAqAS0jzTlrG0PXfWAQMWQ9hCR5crXiP7ONVkk00j7_U-WGme2hWitb-gyUHi5SqnwLwyWvmOhEloY1MwUuEOOHZvIYbpRYKRMuvRu2pFJAdabLoVHhRIvHhKHkBwXiQFVZF555cEGQ1-mKYWNa2OOeFU7-zqbesucDWBAmQP1-rK38YPWZNPT1-gvLbpfsvmvKcA9wz2GsgHB1fx7ncvMhXCZlr5Fum3sF59NBUgveW1fRF31UZt2B3x9rsriwrpknlzJPYuMw3j5rXPbJRepqWBob6EQajGNWzmBSHzWTiBqxW0GcdhHj9ZDHlsi2dG2RNVVkMBUdw8XaeG0ZuL4W3qBiXdpg9oVRIxShfrIJRU0SUJGqMfUZ1R86RptJTAsRGkCZYdrzoQ1-EdVbHMwmnq028a7vbeyjkaAjfYvah-okoPneZVxeb9R6iOJKqfrMkXPFJrm3t8i-oQwmiO_0_v-acxRSBIbA7vIR0M5G8ycR8FhtEng6a_uKbjaUeDHzCrOu_hNV4StRF0gUcrgj0cxJSDgzmWN24ilwEGXV-vDbXX7hz7JZAo1X0bL-UflXI7wpOH1VYS8RxOXUmrfgfC6SKj4Qi-L44j58jWuH06stFLWSM8CCt40J0vXQIb5aLJ1FI1qcBFFcUtQDuTyTvai2sYpnsOk4r941qUfIHmLG2kjNqcGkRm9cCHgwUn7wWwOWWwQesmSheXGh7EcRuBR9PPMkLq-wxcykyVbExoeimxlVmvRerh4svPxff_0z4IMHkUeFcNeW4OZvwWXQS3yLNrHdDiuW3X63wTaC9k_6l-syBXazb49EzwfJHcrN0NLlDBqzV4Y9Yg6tLO-99JDg8tbmrU-wvdV3fMQzbIfLkadTj8BuCTTA8noMzoIbstONyAikJIfsc_YfmfWEtzQ5DJMRh4tXG92MQzxvgA9Dq37czICjY7Wz0D6uZ2l8aDOp3UIrpO8PBBxuCLxFdrSbEZgcqWwT7gqTOn7aA_K4_9gKl1WE1DTgy-n1byZWciF1nTBC5OUEXJA_hspDPKaTny72rOL_OKIpkK2ycRXegyewuLE7sZ3QJkkQkBBcnZw_lps9G3bzjFr6zPCsyh_Giz0jlVor0qxhYz4Odf6wr5vhRobzprYRhyBmRVaD0mXMZGrofonNvP8m5Wgp5EnfEiTeUOBw6Wnb_q5SJbmoqt47HdEuqArRDKlQFrQA8sStCaadVchFov5Kt8Mxb2RWI9mherbg7JNdCKAp-x3PoJ-RSZwt0YmEd5yRv4RMJtAQG7k",
  "id": "rs_08581611c5f83afd016ab43607da4487d09d5e5c22a0b90a97",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.285,\"right_z\":0.11,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The right arm stalled high beside the safe, with its wrist near its tilt limit. I’ll bring it lower and request a straighter wrist while guiding the yellow object left into the opening.\"}",
  "call_id": "call_NlDQybxjHOCJThJo8Y3NFXqW",
  "id": "fc_08581611c5f83afd016ab4360a821887d0b0b5a273f7f9671a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NlDQybxjHOCJThJo8Y3NFXqW",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.124, -1.0409, -0.1345, -0.1131, 0.9971, 0.7727, 1.9816, 1.3121, -0.1997, 0.5873, 0.4641, 0.3951]\nstate[eef_state]: left_x=0.2842 left_y=-0.002 left_z=0.1698 left_yaw=0.0817 left_pitch=-0.5586 left_roll=0.095 left_gripper=0.9971 right_x=0.4202 right_y=0.278 right_z=0.0833 right_yaw=0.0236 right_pitch=-0.1007 right_roll=-0.0748 right_gripper=0.3951\nstate[joint_eff]: [-0.0615, -4.0, 6.3111, 1.0281, -0.1343, -0.0317, -0.0122, 0.2393, -12.9846, 6.5299, 1.6239, 0.2125, 0.0708, 0.0317]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ea3f0aa0ace519a50167f0531ee86a684256ae165788353c9b5b92c794924ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec7421a8e620a2416404b2bcea196925471e185d2d775b7ddbceb5f9ad8fc8c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a45a323a79a7c1672a7c33e0299193745705f1e6824023fd5d062fc006734be1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 3.369 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1244, -1.0344, -0.1345, -0.1131, 0.9971, 0.5011, 2.4416, 2.7102, -1.4937, 0.2718, 0.3397, 0.393]\nstate[eef_state]: left_x=0.2857 left_y=-0.0022 left_z=0.1705 left_yaw=0.0809 left_pitch=-0.5519 left_roll=0.0935 left_gripper=0.9971 right_x=0.4802 right_y=0.213 right_z=0.179 right_yaw=-0.0071 right_pitch=-0.5548 right_roll=-0.1395 right_gripper=0.393\nstate[joint_eff]: [-0.1573, -4.0137, 6.5026, 1.0476, -0.1245, -0.0317, -0.0122, -0.335, -11.5487, 7.2, 0.9158, 0.1245, -0.0562, 0.0513]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.124, -1.0367, -0.1345, -0.1131, 0.9971, 0.5617, 2.4706, 2.7865, -1.5986, 0.276, 0.3782, 0.3946]\nstate[eef_state]: left_x=0.2851 left_y=-0.0021 left_z=0.1702 left_yaw=0.0812 left_pitch=-0.5545 left_roll=0.0941 left_gripper=0.9971 right_x=0.4546 right_y=0.2335 right_z=0.1793 right_yaw=0.0056 right_pitch=-0.5993 right_roll=-0.1602 right_gripper=0.3946\nstate[joint_eff]: [-0.335, -3.8085, 6.2974, 1.0281, -0.149, -0.0562, -0.0122, -0.3624, -12.3009, 7.1179, 1.0769, 0.2759, 0.1734, 0.0904]\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 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.124, -1.0409, -0.1345, -0.1131, 0.9971, 0.7727, 1.9816, 1.3121, -0.1997, 0.5873, 0.4641, 0.3951]\nstate[eef_state]: left_x=0.2842 left_y=-0.002 left_z=0.1698 left_yaw=0.0817 left_pitch=-0.5586 left_roll=0.095 left_gripper=0.9971 right_x=0.4202 right_y=0.278 right_z=0.0833 right_yaw=0.0236 right_pitch=-0.1007 right_roll=-0.0748 right_gripper=0.3951\nstate[joint_eff]: [-0.0615, -4.0, 6.3111, 1.0281, -0.1343, -0.0317, -0.0122, 0.2393, -12.9846, 6.5299, 1.6239, 0.2125, 0.0708, 0.0317]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ea3f0aa0ace519a50167f0531ee86a684256ae165788353c9b5b92c794924ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec7421a8e620a2416404b2bcea196925471e185d2d775b7ddbceb5f9ad8fc8c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a45a323a79a7c1672a7c33e0299193745705f1e6824023fd5d062fc006734be1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDYTYB6JsoFtX-b-5X_fpWVu_SVsxn_MdQ_xve8_A4VNdaycZWgxKv6TnVhD4GMiuZQRfUPUgkoFw29YQnixDQc8xJe4bqt7dXFVAhR733ywElEg7REwdu6JbsEETI9oJBbkp1Sp8lEmUfVq-rH_6sIF0djF1Fw1jClNve-_l7D8YoSR9gDp1D2gku4W2B4wPj8P0T30ffWHfLpEMuM8TluUCRpeQHCqakfdDxoQuHaDVrVm2keZYKP77vfQnvPYKKxMVHQdzAcMkK1vqXnFaygkje_PcA1jHQSxeDGwp79rUoAq1qfsEnphHBW9x_lBwTUArm4kWqLiLvjqIQMg6DbCvMbEBvLDcuiH4LzA_CtNnXGIjZPOPFrpCZkv2zfrZA4Q0H4WYH8zdsf5xFdMVbhQsYtNv0l7JkiW8N3iSu8Es0IwFufu4FjxgUVTZGNFVuwe-BRb7jsVPg-WkXoXXJSrxh6yYUOePckM52g3oM5RhlT7mBc_3sSJS73OZywTgqt34PSa1fSWeGGXx7QIhMHFJpSXzD1ERymKJPGvQQzSdHF1GX3Glj9gG0L_vDZMORZU8HhiV1U2bqSXETu0uFrNxcVNjLW3_8jPFuApD1C0S72YdWLZcCwSc__ukDjPBBT6lLLPOO599Nu3lIWKJEIJXifL6QUp4863q7HoHhYqfOCeuChJS8FfQA5webPhXtaXpf13OBLONIhDb4AkCtGPDQLA1h-s-LwXTHluqpgt979lWXU7COLFj1kS6Ziy0HmLfbqzxzO2DAq18eCb8UgIMWHn_9J7ILyoGzpfxvEY3G_mJzzrWKJWvtNtTK1cOeTOVj8L8xQeWd78RUBim1QOukX-pVQ_5fDwDSk69XItYfBrU36cCM-pcShGj02QJOG8utvQgPN4e3QJ149Y01s8nYPdYcht6ybNzh7Io3fAjH2kW3iSLPbtwpp2cBRtuk-k_Bowa-7J225-K_mmuYeO8DrYIasd2Jq6VEZjdJ9_XHuZHdSXHQD1HPejY3LLglX1RIdStJxiWOiYgthpepm7FCiB-DovvcuHS7F8bnOhiYHMelxfgnxRWI-iGNofFvU1NGH1qCM73CktRrDRueqVghzUP3bUlXGJrRKNsQ0XqxhnWWKrMZHE2Dj4UfFrcQ_S_2GjgWqETCfSehMPGKTuaaAy0gR1F_ArTF1kgjhICSrqZ2LwWi2UYSTKu__WAy9J63zjjV_2roo-z5VyARiOh1m4KTCfb-mCD9oXwKN4WK9IV2PkKoS_zz-2_vLQGg2JceedY2O9M-PT2h8sd5LaFH1n8dsF8OS1P-xDn_QWXD2rVHfNWEiepbn5jOPnxnhcREGIhCtJDBzzb3bA5gp7lxy80Fn0TNoz-kYj490wEGbNJ71AKVpv47OkOR-Xl4slUY08c3VwAYkaioxnwwnGQtjKHNI19TRPK5SDyNMj967z6B0uXxcoLeL_-NfV7vUnWWCxsALQe7snJaswcDJTAS8w9wvHinYE9gi5FDXYHDRFLVHDhcnMhlNl4JAe2euwP_9fknWQMHw0AvwMJzzILN1n45cE1DeY4xQVhdAdEOPgksqB0_Hfj_HbClgCCCclhbjKrUaB-B63dDQtf5OQjD7ko3TiAXAHZo2v8VYgYKo_JemhmFzzQ81vDNkafj58R_sRNq3ulaf-EQm8lvCi5DdHUdqoUWBPcRpv6j0IQzU4YKH5O4NuHyG63WTayDnHWVq_1C6F_mF7CVSAXpA9D1mpuvKLQAO2P1ITbjLVjtCl15TgLzKEW0c4APyg0IhdCI59vocXd1i-H0KdrgxEJzLtGH28Y_G3NtFwoSKhFft9xHtIBShqDabOUB7JaTtwvR_6QjOS69aC09L19Dmb5sEmC6aCw5ZFstPPimHpf_Vo6Et7-e-ae4r0MKqOV5fwOm80FFvIhLoFkRexSlyeT5A0q6xbLkv6oUP9sKiu94LSdI1lfPiz9XFCvHSWroofLgjplBu8lvr6A_w1nCf0SqlwFcLF6d9f4KA4TNEYgcz67Kp3a94pvrB27r0GYuFOgjxw3hlue75UOp8aRrQxqnYwhP7wcp6dxDWF1sEc9EZDdm1LoM3UsTwprBeaZX0FbMapAVqUskU2gIggZUKBMQdvVUeNQVA1LSCqnZhdl0esGo8mWL1Eqd-XSTVp_mYLGBRKbSyFZXt9ARG13e6sTmktB9zTuq2ghmfJ_qMg-z7jMFhmTldvkzOQixJgXgQ9Zl1WiBOm7jibS5MXtIaJCiJeExZLH4P3Bai_gdTHq8nYyRXivVgrlcoFPIZYmn_SRvMyRTXuxCKFdUvUHiLgXj-UNjY-pS03gBMt9UbN4Xz5_Dw73A0_CoSHK3CGJzrHU_ACRkV-9DJ_gvpOyGZ4Y_ghu9t94hSJyOF67D-7B-HaLNSc4Ba7syM0pksrzK90BWUe4M3rJNm95_NsKEZLNLLMhbUwTgx-oQ8ytVIzasWvubxEfuWt_in4fwU2xr-BLakPRv6WtGROVt8v3PwG-WbI3sKqoRQQqiBMMjqdokHh97a4LZj5wN81Eh3oUiytmj4o-ydEZFjEZSmcpWuDUv5tEEsOnQEBbaJRSHsw3ZNRzzgNADjJomuw_6c9-1-WjEakOe8pp3geqkGx0HTW6Y8JF2mX96ZgjK-K7FOG7ZOCLP5MhjnPEv5hXIEVJiNT9RrgKywckKN7DZ8l1bY_Y31K0debZST-tBROGDa80W8nuM-cudNjU96kexNqjD9wNESbox1-x98zXC_CUv1XMMyKy5-hgQhohm4PncjTMUdJtjfNGA1yFMpNOXughwlmYNiMpS3pwHCkcjiSfSgaqLykX8ti3iKPjbgh0Osed9uIB0Q_PqSOXX6rJpvEJUM_7n3m6hg-iFH2iH5TGsryHOlf4u-DJc4xHxSC3YcK9OggGmJGJRkPcnb_Oo1qFuRDm74-Tza_2tZ71rR5tBAqAMTE7A452HKIlq23m6fiWsIIGqa7MvUP8iRMsCK6a_1ynx2qHPGL85g2dP-VwijVKmSC50Dx_Fi2F7SScIGUQWHYpVsvlZu19FWk8f0dBp6Jm2T6t2Q0SQeGSRx0n312B6c9sBXlv3i5dTWo65bTlUhfac-p4E0akfcyYPJ9ubWbZrvGnVnOwZNBruUAZPmk7ikWmiuzNVVB0YK1qHB0l2SMCpnpqEz0YMW_uP_GvUQVNHw6Rpv6sgxohfvjIFzTnApclbg4rFOshZaRQS0heAIxcmVlLjQ2xEK6hgGWCjz8nzFMcJ_gzu58kwKP_nVpaluhTSrNndzYA78gOfB9ItvYVsW9up_EFVuhhppeMnq9uyU0pY2onKe-RYp8rb6U8l_91md_01LEOfK0J8d4nl_j7cbWZcEdrBXpo7Gq1UWbG0v2j7gmpKVCry9HcK8W50RrrBTihH-HMnG6734jaVk=",
  "id": "rs_08581611c5f83afd016ab4360eae6087d09f0fb1f4407d82fb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.315,\"right_z\":0.115,\"right_pitch\":0,\"right_roll\":0},\"note\":\"Straightening the wrist let the right arm reach the safe, but the yellow object is still near the tray’s right-hand rim. I’ll shift it a few centimeters deeper into the red compartment before release.\"}",
  "call_id": "call_MzEv83LdoCbBYLDyMK1HJVzl",
  "id": "fc_08581611c5f83afd016ab4361314b487d0b8092e1c324a4a8e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MzEv83LdoCbBYLDyMK1HJVzl",
  "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]: [-0.1032, 1.2358, 1.1236, -1.0492, -0.1345, -0.1131, 0.9971, 0.8185, 2.0037, 1.38, -0.1921, 0.6075, 0.4763, 0.3951]\nstate[eef_state]: left_x=0.2822 left_y=-0.0018 left_z=0.1688 left_yaw=0.0827 left_pitch=-0.5672 left_roll=0.0969 left_gripper=0.9971 right_x=0.421 right_y=0.3075 right_z=0.1007 right_yaw=0.0511 right_pitch=-0.0512 right_roll=-0.0393 right_gripper=0.3951\nstate[joint_eff]: [-0.0342, -3.6171, 6.5983, 1.0867, -0.1294, -0.0366, -0.0122, 0.1026, -9.812, 8.8274, 1.6825, 0.442, 0.2125, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7e17613e2aed48fb89828d1c3b84b1c27caf4720c647a5cdca89b8a993147a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86cff2835725d98ba8b80cf903d7f2e8fdccdceccbcee8e02c00330402e4a20d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b21d470f28f2a0d0681f905c6cea38c57de1624dc2c145c7f97e4fcef466e737",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 2.062 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.124, -1.0367, -0.1345, -0.1131, 0.9971, 0.5617, 2.4706, 2.7865, -1.5993, 0.276, 0.3779, 0.3937]\nstate[eef_state]: left_x=0.2851 left_y=-0.0021 left_z=0.1702 left_yaw=0.0812 left_pitch=-0.5545 left_roll=0.0941 left_gripper=0.9971 right_x=0.4545 right_y=0.2334 right_z=0.1792 right_yaw=0.0056 right_pitch=-0.5999 right_roll=-0.1609 right_gripper=0.3937\nstate[joint_eff]: [-0.212, -4.0, 6.3385, 1.0574, -0.1441, -0.0415, -0.0122, -0.294, -12.506, 7.4051, 1.0525, 0.2515, 0.1197, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.124, -1.0409, -0.1345, -0.1131, 0.9971, 0.7727, 1.9816, 1.3121, -0.1997, 0.5873, 0.4641, 0.3951]\nstate[eef_state]: left_x=0.2842 left_y=-0.002 left_z=0.1698 left_yaw=0.0817 left_pitch=-0.5586 left_roll=0.095 left_gripper=0.9971 right_x=0.4202 right_y=0.278 right_z=0.0833 right_yaw=0.0236 right_pitch=-0.1007 right_roll=-0.0748 right_gripper=0.3951\nstate[joint_eff]: [-0.0615, -4.0, 6.3111, 1.0281, -0.1343, -0.0317, -0.0122, 0.2393, -12.9846, 6.5299, 1.6239, 0.2125, 0.0708, 0.0317]\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 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0492, -0.1345, -0.1131, 0.9971, 0.8185, 2.0037, 1.38, -0.1921, 0.6075, 0.4763, 0.3951]\nstate[eef_state]: left_x=0.2822 left_y=-0.0018 left_z=0.1688 left_yaw=0.0827 left_pitch=-0.5672 left_roll=0.0969 left_gripper=0.9971 right_x=0.421 right_y=0.3075 right_z=0.1007 right_yaw=0.0511 right_pitch=-0.0512 right_roll=-0.0393 right_gripper=0.3951\nstate[joint_eff]: [-0.0342, -3.6171, 6.5983, 1.0867, -0.1294, -0.0366, -0.0122, 0.1026, -9.812, 8.8274, 1.6825, 0.442, 0.2125, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7e17613e2aed48fb89828d1c3b84b1c27caf4720c647a5cdca89b8a993147a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86cff2835725d98ba8b80cf903d7f2e8fdccdceccbcee8e02c00330402e4a20d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b21d470f28f2a0d0681f905c6cea38c57de1624dc2c145c7f97e4fcef466e737",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDYXbbKsPfFbAekdHGWrZEILcqXVhRCD0gCHIeZViZMb7r_t80qo3VfsIZeXYl2zmuvY-B9QLQg1KQxo3sEcUH4nYS4XLpMh9qhcWGkiWM-qDLnKZN0rcuOSfg_jG1miDYFvDGDBkOgWhOxNdJ42CTT-K8aoZqZcfnaCA1QoIPkK4vV5ZQWqRz1_szgRC_T-asof8ZC8uknl6fc9jXSPjEmoHFs4xNcFA3rbey0NpIsOUX1Ask3fEZrCfjpCGi_SUIAOSPBsX26jgSlvidqCk7BzTpq5JS90uLZB0-wwifW3-eaizbDyilRrzdezuBbsK1DXdBT-CEyUW23185o3fXE1Oo_93SUX1FIY6d4yekNZXoXLNYnYdZagrMl6akuk8dk-FmysZ4vBaW3ZuUxhwaEGDbYSoCpBVRDgnPDMlG5qva8g75PpbKVQWgpaAOi0jktPYPk_K1z6IJXw7b6Zb7GORboA3wNZkW1o82XekQvLXkZ153TSD3MbCBAy8GoJnIED9Ep0BnRKONo6Th_GZz2TfnFeS9d-fvioqmL1NHfvDkbKaj5WXEiBjc9G8cW7ytpj3QY3YPVgSLCnXihRASeX1J_to6bqZA6J9qVuZLKnHbUt9O_Zxen8yBiCwupPXiv9TSfDTpky_RpHFTWbpkZVZ0AZIJRVouXZcLEnBsDZsjYF66r68Tt8SNcI2jKYJOcFIMQ3z_JkYgd6dGNQYxIOJC_4FWCozZFo_DiMy9LWHdM3KojO5ILdGhvydUBY1zvDWW1NYbq50LxGtYCbWjjWZl65xQaaTAfuTBT1QBo_3HqPTx9GVNcTWuWF4KILxtD0821Vym_KTtrDvhnojKi1V9DRF5wyi3hRYqmrDJCBmdKi3llu0JqONZeZp5eMNG-5MnQAP5QjAKfpQZc7wYPP2cutHxf63g_2GFKNICZkEa8Y3oDl6y46HKLL9vxhjFai7hNl147_aDUcjxDIFao_iaoyvXHcyS9lEzOBzG0BTskyvVYJs4TNMg1E_P9L_phc4mdDuBWn5svx4vcULH4d3nI1J1W5B6A3w3b4mnI92Llsd5s-ixsPhOg3Q32PM4vyNDnKRrV6xpUI28iGVZUrp65XSwyDojWbmPIS8WYk5XVEBVo4FS5PeVO6wPe_5Pc0ddUdXSQqKThjN9F7GqX54N3irzauoKEn4Pcx9Kbo5IlzWJ36tH4dsWZrnb5nn4f_6qMSoYkM1fNs3M3PL1TB1r-QYdzWw-7nGVHE-JGYrFWx_Lx75E-0zB60GERlfCAD3FvWF9dPcj2ZHg8U8sTGLxcVHm59kagLK8gBwKHZoPXXpQ02Vtgm3Dws1O__VQUGTu48An3f2Y1t5Y3GbEsnRg==",
  "id": "rs_08581611c5f83afd016ab43616827487d0853a16bb32f165f7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.06,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The safe’s red floor now lies behind most of the yellow object in the right wrist view, with the white plush to its left. I’ll lower the yellow object into that open space.\"}",
  "call_id": "call_oiM4W00O71Iujg81OpkGwxNH",
  "id": "fc_08581611c5f83afd016ab43616d77887d090baad8afe41a89b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oiM4W00O71Iujg81OpkGwxNH",
  "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]: [-0.1032, 1.2358, 1.1236, -1.0546, -0.1341, -0.1131, 0.9971, 0.8234, 2.0373, 1.2572, -0.0334, 0.609, 0.4744, 0.3951]\nstate[eef_state]: left_x=0.281 left_y=-0.0018 left_z=0.1683 left_yaw=0.083 left_pitch=-0.5725 left_roll=0.0977 left_gripper=0.9971 right_x=0.4133 right_y=0.3026 right_z=0.062 right_yaw=0.0561 right_pitch=-0.0488 right_roll=-0.0401 right_gripper=0.3951\nstate[joint_eff]: [-0.0342, -3.9453, 6.2974, 1.033, -0.0855, -0.0708, -0.0122, -0.5812, -10.2906, 7.159, 1.8388, 0.232, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee55328544712ab0e05f63a27e0959c8ecde6e350eff2aac12fc9301c6c1637e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ba86662dc3450f550255aee1a84b70ee4976ff7e1a6f2eb6df634a026459798",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2ac39eed52cf5651f4dbe861959c11be21bb6500f79a9104ba2c503dfb6191a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 5.246 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.124, -1.0367, -0.1345, -0.1131, 0.9971, 0.5617, 2.4706, 2.7865, -1.5986, 0.276, 0.3782, 0.3946]\nstate[eef_state]: left_x=0.2851 left_y=-0.0021 left_z=0.1702 left_yaw=0.0812 left_pitch=-0.5545 left_roll=0.0941 left_gripper=0.9971 right_x=0.4546 right_y=0.2335 right_z=0.1793 right_yaw=0.0056 right_pitch=-0.5993 right_roll=-0.1602 right_gripper=0.3946\nstate[joint_eff]: [-0.335, -3.8085, 6.2974, 1.0281, -0.149, -0.0562, -0.0122, -0.3624, -12.3009, 7.1179, 1.0769, 0.2759, 0.1734, 0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0492, -0.1345, -0.1131, 0.9971, 0.8185, 2.0037, 1.38, -0.1921, 0.6075, 0.4763, 0.3951]\nstate[eef_state]: left_x=0.2822 left_y=-0.0018 left_z=0.1688 left_yaw=0.0827 left_pitch=-0.5672 left_roll=0.0969 left_gripper=0.9971 right_x=0.421 right_y=0.3075 right_z=0.1007 right_yaw=0.0511 right_pitch=-0.0512 right_roll=-0.0393 right_gripper=0.3951\nstate[joint_eff]: [-0.0342, -3.6171, 6.5983, 1.0867, -0.1294, -0.0366, -0.0122, 0.1026, -9.812, 8.8274, 1.6825, 0.442, 0.2125, -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 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0546, -0.1341, -0.1131, 0.9971, 0.8234, 2.0373, 1.2572, -0.0334, 0.609, 0.4744, 0.3951]\nstate[eef_state]: left_x=0.281 left_y=-0.0018 left_z=0.1683 left_yaw=0.083 left_pitch=-0.5725 left_roll=0.0977 left_gripper=0.9971 right_x=0.4133 right_y=0.3026 right_z=0.062 right_yaw=0.0561 right_pitch=-0.0488 right_roll=-0.0401 right_gripper=0.3951\nstate[joint_eff]: [-0.0342, -3.9453, 6.2974, 1.033, -0.0855, -0.0708, -0.0122, -0.5812, -10.2906, 7.159, 1.8388, 0.232, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee55328544712ab0e05f63a27e0959c8ecde6e350eff2aac12fc9301c6c1637e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ba86662dc3450f550255aee1a84b70ee4976ff7e1a6f2eb6df634a026459798",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2ac39eed52cf5651f4dbe861959c11be21bb6500f79a9104ba2c503dfb6191a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDYa_BpimUzoxfvBK18pSxJdSddB_Ov6tPfmHiVv_0NE9_PfSxMsUqM1eNkIIbJN4IvzkGi6FPXYHD8x8XLvnDTQjlXs5WMSig2M_uzZ2n7fxTJVj5u63AsoruY8f2uhNLTVCU0T75BzFYFkvD9OdubhGNcY3TlATy3mZbC__nKm6RskKu6hFRgY5hyufR63aZIFzyOi220d60hdIxtizLvA3mMFdR2punovfKxvZUvJ6xxJcUzlg2pAi8rd7UXKWijbrRh5shw6D-w6D6SfCICtu5gh3-bMNj8hlNduq44JMw_gsXJjTPqBrNXE5HFYivdJl9fFe6v1F_84NA5HCvXkJe2yKHvCGVTmlcsvlWHuQ-Rt27I-KYhyEg51tIWTgcU7xvTY7mLizDhKpT1VJesZivXa0JnXce-SMj3Umqb17DAGTx0MFZn5BKyU1qtmO8UlFUt0ivrulrGOowm4oRw_8jh8t7fNWHzD03eovsk8Ybd7KFJm-iao_xZSlzv4UzwW69zFrbMS37thGFv6rIWdJDSzgBJ0cKxkroxSnHCsAsW-KJbVGZLKZVZuvS5uiaNb6BkKzVxHAV3lWsGYWdEypp1HahpUTEM6-7PQB-J40GSpHR3X5fGwZQH_HY3-0rJzIbwaTS-79arevg3DdK8SKmGRjXsJXLgYfkG7D-iVCTi4_XAzkeUw4Br5XZj1LNPq-iPmMW2FE4RFH9Z03BbFfc6T8QpwQgjiX0P0Y3BstzT8gRRi71K4m-U-a1Z4DNaWCpmET7aw2clYsJR1WBqji4RMGjPqXuSXOfa6mlKRZkcYyt6EzoTUlyZRWYCq6quxY2tCYR5PSPQ2DGbSQg0yAq43p2mo3mGVAYnXaa98o8P4nBfTnt7P0_YxX4o4CsWh_DPgT_JYXMeeUa3Z_uZNT7Gi_PZ6-UfLHoBzyLKdNy4Tax2HpahBdq4691r-lAmbmwTO7ooE6QRkXEdBXbxlh4zefWXDhLLgKuGRKBKJBPgV_8Mq-STqQON6DtkxSbGcZ_jOh0ycRaCl4VslfQPrxt_mOoxti6hOwdDO6obQOYAnINUyQtz2rA0IIOZ6kf8vBgJL4w4AYzUvfuYyT3F91HQUUoJ5i1g6G5FawgyTKzPc-NSFSrfzU_bYt9oCErlfPaGejJjJKYI9J5GTZNdaeroPexthlK3xqbTsTNzVoq-3RDLiwOSFL14BC5JU5od2xQA-mT026aaNFX9buc7Q0wGKaqehogUaZ7kugsDJCioohPTY30-6lIWq3Pv0vm2d_Fctx1AbwpLdLK_SccYbDBWjPBiVxjWJ4UVZMyP5Mzxnfgdrjgu7W-V8g-JomdbAdDk8HuADN3OaeBecfo1kpTNedN9pNHMdFMGW4vm1qdo=",
  "id": "rs_08581611c5f83afd016ab43618f95487d0b9817842ae4ab17d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The yellow object is down at tray height, beside the white plush and inside the visible right rim. I’ll release it, then lift away to confirm it stays in the safe.\"}",
  "call_id": "call_I3FrQMkhdpV6r0hAdHsqdRfU",
  "id": "fc_08581611c5f83afd016ab4361969d887d09783103d7de6f3ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_I3FrQMkhdpV6r0hAdHsqdRfU",
  "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]: [-0.1032, 1.2358, 1.1236, -1.0561, -0.1341, -0.1131, 0.9971, 0.8238, 2.059, 1.2358, -0.0357, 0.606, 0.4717, 0.9952]\nstate[eef_state]: left_x=0.2807 left_y=-0.0017 left_z=0.1681 left_yaw=0.0832 left_pitch=-0.574 left_roll=0.098 left_gripper=0.9971 right_x=0.4076 right_y=0.2973 right_z=0.0434 right_yaw=0.0581 right_pitch=-0.0832 right_roll=-0.0721 right_gripper=0.9952\nstate[joint_eff]: [-0.1436, -3.9863, 6.4479, 0.9792, -0.1001, -0.0464, -0.0122, -0.0889, -12.5744, 7.788, 1.409, 0.2027, 0.0024, -0.2564]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f819b23ea89d9be23821010756a3cd74d6b360fb39ae07949ff170c35e943e76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f65e7afe78c4d58103d1092aa223611c8a560d0b974cf9155fdc1ce60390dbd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f46eb7b62ba8463e7fefc130b717cf4913d5fb826e81e0893e64087bf21ff06",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 3.275 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.124, -1.0409, -0.1345, -0.1131, 0.9971, 0.7727, 1.9816, 1.3121, -0.1997, 0.5873, 0.4641, 0.3951]\nstate[eef_state]: left_x=0.2842 left_y=-0.002 left_z=0.1698 left_yaw=0.0817 left_pitch=-0.5586 left_roll=0.095 left_gripper=0.9971 right_x=0.4202 right_y=0.278 right_z=0.0833 right_yaw=0.0236 right_pitch=-0.1007 right_roll=-0.0748 right_gripper=0.3951\nstate[joint_eff]: [-0.0615, -4.0, 6.3111, 1.0281, -0.1343, -0.0317, -0.0122, 0.2393, -12.9846, 6.5299, 1.6239, 0.2125, 0.0708, 0.0317]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0546, -0.1341, -0.1131, 0.9971, 0.8234, 2.0373, 1.2572, -0.0334, 0.609, 0.4744, 0.3951]\nstate[eef_state]: left_x=0.281 left_y=-0.0018 left_z=0.1683 left_yaw=0.083 left_pitch=-0.5725 left_roll=0.0977 left_gripper=0.9971 right_x=0.4133 right_y=0.3026 right_z=0.062 right_yaw=0.0561 right_pitch=-0.0488 right_roll=-0.0401 right_gripper=0.3951\nstate[joint_eff]: [-0.0342, -3.9453, 6.2974, 1.033, -0.0855, -0.0708, -0.0122, -0.5812, -10.2906, 7.159, 1.8388, 0.232, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0561, -0.1341, -0.1131, 0.9971, 0.8238, 2.059, 1.2358, -0.0357, 0.606, 0.4717, 0.9952]\nstate[eef_state]: left_x=0.2807 left_y=-0.0017 left_z=0.1681 left_yaw=0.0832 left_pitch=-0.574 left_roll=0.098 left_gripper=0.9971 right_x=0.4076 right_y=0.2973 right_z=0.0434 right_yaw=0.0581 right_pitch=-0.0832 right_roll=-0.0721 right_gripper=0.9952\nstate[joint_eff]: [-0.1436, -3.9863, 6.4479, 0.9792, -0.1001, -0.0464, -0.0122, -0.0889, -12.5744, 7.788, 1.409, 0.2027, 0.0024, -0.2564]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f819b23ea89d9be23821010756a3cd74d6b360fb39ae07949ff170c35e943e76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f65e7afe78c4d58103d1092aa223611c8a560d0b974cf9155fdc1ce60390dbd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f46eb7b62ba8463e7fefc130b717cf4913d5fb826e81e0893e64087bf21ff06",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDYf7plc6aAOvTeGYbq5sotqkyI2pKqSKJBwqvUVELxCD0GpragUlP9WTDWS33em65dfpZy5nOC3nK9eXEvvlgaWFtA822_RsorP-oMnwcDF1P1t7GuSbByBOhi437ciLChYI6iKAxuMx8KIP5NGe5fFxCPHWkmgMC7stJuYhjW74AX7aiWN41hrrNEifBQLYvR5k9JB-dp3qFdpBwEBkDJXx6gdEE9YCuFrpvemAs_KwvwUzItsIFeakESgfjBfc4xHNsUvKVeTCdSOcFcsY1MDsmmElvzCl24kKwhdUuOW-y-RRy3uFrMekbotAf-_MDy6m4ycFraHKctR3tYgJndXB8dfbca7DKmJ8H4ec2QEUTZzQtArdiwI2mU-p1V6bDdJNtVoWa44naNq9hzNUU1al3tUE0MKi6ODcWvcc96_QBU2y6G4gBAb10I8bsRRroPAPhRQBIBKUXXodSKkfw71-pWFMeSEdLjOqnnolRHxh4bG24XwrgFRqOpYQSFLg3BxD3pWc9-PIQpXSzEdrgFQkbzU4nLTslGFfre9-zQpclldf-B1Av8Fhes1P0d5k4ZSkjMgmpS2IiYQgWRljbPP1GokEQVgVlcZDYN_WS6ePDKqN_2apUIM8Z1GxIVCcfFGvSf1PEfdR35d8budcPFlOFRE7pVxXOcT3VuDrH01IGu2zFPlYgVHnw_ieTKz222Cq3DLujFWigMgQkw6F1tcRosxAA4ZexOcmgUimX19m2OVpsB1XW6RO0qq8GeuM4q0LZA22XxDwMMe8pI6oqFYT3BfT9WvQn-ue4fxX_ERzEN4_ji74bekbT2SkwLgwHkbTT5IwxtCniHwGMtQnfiAPoZlI8A9b0QiBznGuKB0oGMcVWuzoZVLhT6TcUqrYjIk7IXkZmOZa1rDjzKcUyP3BPNVIXFklmAw2X9NmbpQb5WL9gnrpNQfpAT8Pn7b7PnseAmS7xr3sl94GAU-tsPVSJ0ER23UW8nzUfg3gjyVVHVtV-oyYzODsTspakESGtFFJRGS-YNG9YEUI7_KZi8inzVBiEmKGyDjk6s1VHXUvkCzVk6nHfLUcbbiEjpQi6M5yDXTGzhMPFFR0dp2lK3tHXOsWzmM8RF5GoSUoth1Airc5KEIo1-taYotUsb2fjPPHwLpBooAU-eeUVfXECfCkm6aaXnfRuMcAyhJwHpBZsQB6ViK0RL2Kg3aHUKVDZZBCWStWD511v1vtghiu-4xWs5Oppv8NmDpGPcTTRxGcJ-3OqHTfqN8tqQMnGEOB8ky6ATd3j0NhIiqMd7tMEN70x83hLKBCeExlw8trFmQViWCiUVrifA2gWGlwrlLgZCBVtp49_oaWxYmFLJO85zPJGdoF3NSCA9K_WVmjuTMtx8ExGm0ixEDSOIUURTmbzLw0BosfUaHo0MX4JqdyItngVBuOThCEg7cO1QlpE6DOfu_NngQy9xnd_zS42UmYGnr8iPsgAl372jpk2BSnNOxvVYbA85eTI-Pn5hVwkmcjpmBwY-ql3u3kvn5jtbx27Uey5gLh67UKnKjtI6TyPZcfiUFdrUSCmjhJgVlURN3ssoHXMM4Wagro_1k8MQZACfv2xFGvyhJucId71wkQZuDHAKCvesYjwkklXCNyP13O2616J4E-rNGObyuu3F-DkeN4hM3vGy3SkWj1COJb8dYfOlTJ5GAOcZk_AGs3paFuMCmC1vQi69ig7ZBQp1FIQdVmwa5hvBSH8SY5a_hBkaEE7mlcLKUiZ7t16vGsM38Wi5XtPAJxjKbTlVXo_73U84jOaTemqcEdBxdoVepxLGn0KR1L101a9otHdX9qHI7fWB9gZbRVVoS87SYFe62VzFexnzCBbDb7zZvChij0sHY-OsHp9QDqQArQjB3EVhsbE63LNnknIiA76Trkeeg79wsi13FTJszA1D9azUIj5luwB6GcHBTEhVydTUk63kIreyGG05TNRIGTafomVYEokfdir4XFnu7TtZferRs2AhEPghgG-zyoupfjn_0b6kYpm9sZj7iiXaIdVlb5otLh5aQtDxRsEdgtLjJdpi-4BNA_dl0BjtosHzIxFvh8WRnBbvabS48bkPTsufP86sv97ArQlCcD5F5h_7IzWl_ceGMhXUMsIZrFeZNiRlo_8cJ1PA9Mwxvtk1la2YK002FC9CNPOsoAw8IOZVMnke2cRcydvITrVz5UO-HQtIp4W-0xECYdIvyDkV_K9DPgtW9nbYI8qualZ37rGnE2J3NwvlRvd2j5h59nm09mitZCXwI8fn7-U-vcOy5UAC0mriAOoVw_W_xxOCDFe2PJwy7FDe8BGAEGaGb0NmWhN1qkDdrIw9tGeET768Ff_ZLehh95EagZdBDmqsq4CURPhQx5XKxOUHPoKJXF3wlnI-fHfkxgv7u-QpDBQPMdSJJ3cpzTed68juVi4DGcJnfNXsXZmeyT7882SntJBJTXu55Q9cOUNA5sc8pPhFHXLpDSIkfhUcuhgWuGBJA0p7m8KgjJeEx5tCXE8nAiv-a3J4iRfaabH3m8JWT0jVVE6oj6gNNbUMb7y8Pen-GIGgw_vPw-iSnUZ4IgMiaBJfYMph_NKGSSyxhPLV57z2-W9wqxt1JecXXYpB-eFcEhJW3dxiq-GG-U-Oe2Hwn7SThsiEIZKXtc2Pq6GLUtqh9KZ4ULORHronaFBhLiOUh1c3p96cyQ8J5ZoTzVhOZtHCcplC9juau29ZiVBsqUbmKYOtmQXm4CwoNg5-L9zg3KNUPT_w_j9SN5nlMBSJLcOt8iiAbToU91d938ucJJlzafDwtspCDl9DZt2oKdQOVvxupe5650ZtkUtSH6dFuDjMBSBK8h2-FnD2RleKyb8lKX4KVFWYUn2y7k8WC383Z3kAs_rHcn89p1zMVBkNedzIXA_yxcEYFvJlFcPmaYMwYiou9qDTDwArzEdJsgwfwcw_RmMe539Kn2w-QNLKtjMTjIfDZgN-pm7lvf4iM8uJDavByUDMMm10iG1Fwnd4WuSZ78PF6qi8QjThTTQya3UWkTvs5lh34kuBvoa8Su0rfcWxDpRoColnnlcdFVTm7vCjbHkJmh2a7seoQfT0ibghTqnuiJcUMwAkgXRSOd4G-Cwxxl0H4COQQlviIOfaGUIW5CnkgLuXxW-hY2mvZ_jzh4BOayHy6LTA_zXOtCB8-oo8pWxh6sbaQEzZte8Qxh30TieZ0jiuWN4yhHs3_EXGsIxxOBfU3phy93RaeOv3qYPsJdOnWnYDSAVKr6J19zZ01ovmUGUprYqcHnYZlzYelRSMdpprefRQ=",
  "id": "rs_08581611c5f83afd016ab4361b9ac087d09f263ff67542f708",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.18,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The yellow object stays in the red tray after release, next to the white plush. I’ll lift the right gripper clear of both objects and the rim before reaching for the remaining brown plush at the front.\"}",
  "call_id": "call_d3ypo6q6QgDU6EdLqHoUSJQc",
  "id": "fc_08581611c5f83afd016ab4361f4e1c87d0a2885dfd968d43f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_d3ypo6q6QgDU6EdLqHoUSJQc",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0569, -0.1341, -0.1131, 0.9971, 0.8238, 1.8755, 1.3907, -0.3313, 0.6025, 0.4713, 0.9968]\nstate[eef_state]: left_x=0.2805 left_y=-0.0017 left_z=0.168 left_yaw=0.0832 left_pitch=-0.5748 left_roll=0.0982 left_gripper=0.9971 right_x=0.4049 right_y=0.2952 right_z=0.1458 right_yaw=0.0627 right_pitch=-0.0541 right_roll=-0.041 right_gripper=0.9968\nstate[joint_eff]: [-0.0068, -3.9863, 6.4615, 1.0379, -0.1099, -0.022, -0.0122, -0.1162, -12.6974, 9.5521, 1.5409, 0.315, -0.0122, 0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5aeb917330ce5c3d6f7deada48dbaefad9a15be8e4b6c5eaffe98982aaecda42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4d1b752482dd4f0a05ca1d2c9c41facbefb01a41e7d8e51cc22b0316ee169f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cd86e827c9e949c1613d54a620469772c14867dad76e553f4c93a9d2ad212ec",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 6.953 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0492, -0.1345, -0.1131, 0.9971, 0.8185, 2.0037, 1.38, -0.1921, 0.6075, 0.4763, 0.3951]\nstate[eef_state]: left_x=0.2822 left_y=-0.0018 left_z=0.1688 left_yaw=0.0827 left_pitch=-0.5672 left_roll=0.0969 left_gripper=0.9971 right_x=0.421 right_y=0.3075 right_z=0.1007 right_yaw=0.0511 right_pitch=-0.0512 right_roll=-0.0393 right_gripper=0.3951\nstate[joint_eff]: [-0.0342, -3.6171, 6.5983, 1.0867, -0.1294, -0.0366, -0.0122, 0.1026, -9.812, 8.8274, 1.6825, 0.442, 0.2125, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0561, -0.1341, -0.1131, 0.9971, 0.8238, 2.059, 1.2358, -0.0357, 0.606, 0.4717, 0.9952]\nstate[eef_state]: left_x=0.2807 left_y=-0.0017 left_z=0.1681 left_yaw=0.0832 left_pitch=-0.574 left_roll=0.098 left_gripper=0.9971 right_x=0.4076 right_y=0.2973 right_z=0.0434 right_yaw=0.0581 right_pitch=-0.0832 right_roll=-0.0721 right_gripper=0.9952\nstate[joint_eff]: [-0.1436, -3.9863, 6.4479, 0.9792, -0.1001, -0.0464, -0.0122, -0.0889, -12.5744, 7.788, 1.409, 0.2027, 0.0024, -0.2564]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0569, -0.1341, -0.1131, 0.9971, 0.8238, 1.8755, 1.3907, -0.3313, 0.6025, 0.4713, 0.9968]\nstate[eef_state]: left_x=0.2805 left_y=-0.0017 left_z=0.168 left_yaw=0.0832 left_pitch=-0.5748 left_roll=0.0982 left_gripper=0.9971 right_x=0.4049 right_y=0.2952 right_z=0.1458 right_yaw=0.0627 right_pitch=-0.0541 right_roll=-0.041 right_gripper=0.9968\nstate[joint_eff]: [-0.0068, -3.9863, 6.4615, 1.0379, -0.1099, -0.022, -0.0122, -0.1162, -12.6974, 9.5521, 1.5409, 0.315, -0.0122, 0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5aeb917330ce5c3d6f7deada48dbaefad9a15be8e4b6c5eaffe98982aaecda42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4d1b752482dd4f0a05ca1d2c9c41facbefb01a41e7d8e51cc22b0316ee169f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cd86e827c9e949c1613d54a620469772c14867dad76e553f4c93a9d2ad212ec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDYjpp7seFC7bvMbcWzMefFT6hvLfGM_fMMjgVFQl5bMH7AdFwHUVCefGhClYmO1YA4Tx7sg1kmeFD96hADbXK_V7DAG8b6UfiEf6YNFez8ySXlmn08XRO6UjQtGBSSJNRID7Efxlai1kZwo-lfNHbiLfOSzlxp4tePJRzehhuchXQsSLEM-85wS_Q0iF0krXkOynsbhpxJDjg6PxoWwSOxtsz5DBXAPAzX468gK-eOU5L-XVyql_xfqxLW6TCXHa9C_7ZHmrg6IGmwY7YY8l5q8R28CgfWrm9CPoCOic_Uwjt5FxVVW3JwIh6eNBEvJtPdHpLzfDye3wQDb_IhK81x1xqFcNr1RqFPary2rcBA3sbwYsa7NMA5NvjvY6akuJ1StW992QdQUhhWy58nGUX0BrhTLpfea6SCQ8h_ZEQtEV5jwkH-a1tt_waumYZfjI5DQu9J5KnGffiWScQjisK1syM_t2g1qlZYy8blw0Mj95Fwy1QM3rDWMber8RDFy9-F2olKQFNjQWBcmmg-DxgqJWN2JdoRv-HaGAheu2xHJ7yi0exXjaVQDcnxTq8Z2W3K1_1J-BV52BU8mlU0ofpWa4RE5CEnA-2btW3aTF0rWheuOQeCZkb9ein5Szcc6yqPMnPaVOF9BO72tGf6AqNIph3Q_1k0O0uEO5wcwizkItV0GqQYgu6aRSKyhXSR76QydhwDe3UomoMcJAZCIZ7FKAk04JwDm6aPwf9EOcsYQB9EsFpq4FxT-k7VpFZTYAT9FnrdCRyKMtZTzJavQR0BFgG1CW_F5Xav8oTbQkoju8GgTACsyMe1tpJ_2psA0E6XSlY-mot36-YRAa4Do1xZEiOw6aXUJjio3UiY3X9UDKb92xY0AEB3brT9qLRLuDhC1palPNQwnKEBH9b__qidpRheHkIEHWhhVksMJj_kpswU1lYTny_f2A2FZ3OGgCMivqdgDxc_flxZvCdf70Nn0IB7xG9_3Qw8-l2Hxfb4c4BB7a4puyesPdMe6L7G8P4UbXJ1dMk7KQ_HSXMFr5g6YRgx99Ie9eDCM5vljt3T3zLW0QA6NjmVFQbl9z4gArfDm6F8-ZaI9ofptaMViF6x8JUyUcOax84Jh7pO3yNtY_nhxtlFUVLw0EGhc39n8fG_5zGEmMrXiOQUjFVv7aRjZzBsJ6ueKnPMO8rqYqLdjnGSwpnXAFDvqcABO0Ps3N8k6NwpivSzy7NFy_E54dg8AZ7kV8I8oMOkfaVyew7UgNUFOFQw31TkwclHSo7ccFn3kX1077u2u6vQU05R0XjPmF301Lv1qJdhbyRx17DiqraVcyu7y8mpiCJwE1BivO_wjNr8cOqcLEnqTr-1EXKggdPXKBRd5HtQmhEFSYNH4ZUQKN_2hrgHbwa7ZhoIpfXlGmkfe14aiwNva_Lw07EWzhb6VV7oHer1eJA4FIk9RO8N6mw5K92HuLdglhYcqxCL_nNx2TAPkAyOp40TrdqXcBAbQ6d1UCsvYVefJy2i-rmjFqjesVyL_tBjEjJ3Vk_erQi7O6SvrQhCbpLNeU0mNGLYeg35bwiUb726S8BDNveDL0c34pHW50HdBhqenPgg5Wrdk4PFkdFCFbGrklhG6Ce1DIM_cX_xzmgMNQ4D1avSh_OTZCUpxsW_TGQosWVQQnenPR-J6_xemfskVsEyDwZ6LbUOUZOIX24ifOXrkDVyL-MH1AwbvmP8HyhDzHJsCEMS2FDPuWR-KjCU5FjJ3BQ==",
  "id": "rs_08581611c5f83afd016ab43621db0487d0aeb1d92a77bbb26c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.265,\"right_y\":0.295,\"right_z\":0.11,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The last unplaced object is the brown plush just in front of the safe, nearly aligned laterally with the right hand. I’ll draw the raised right gripper back above its torso and inspect the wrist view.\"}",
  "call_id": "call_1B9CMwrrTdmX0MsJ29scal82",
  "id": "fc_08581611c5f83afd016ab43623147487d08504a98edf771551",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1B9CMwrrTdmX0MsJ29scal82",
  "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]: [-0.1032, 1.2358, 1.1236, -1.0592, -0.1345, -0.1131, 0.9971, 1.1511, 1.6848, 0.976, -0.2977, 0.7906, 0.7536, 0.9969]\nstate[eef_state]: left_x=0.28 left_y=-0.0016 left_z=0.1678 left_yaw=0.0839 left_pitch=-0.577 left_roll=0.0991 left_gripper=0.9971 right_x=0.2658 right_y=0.2964 right_z=0.0963 right_yaw=0.1038 right_pitch=-0.0472 right_roll=-0.0561 right_gripper=0.9969\nstate[joint_eff]: [-0.2393, -3.9863, 6.2974, 0.9841, -0.1197, -0.0317, -0.0122, 0.1709, -9.6889, 6.3932, 1.2821, 0.4908, 0.1245, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a2416973814a363e2b799b7e9a863ed2be7a37a118596a4dc2a17e7fe231283",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b9c49883e855fbc6886327a2336f506b29daaa970f4171fa45f9ac90799f41e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3ace30d6a1a7b98da3d8bca8059f58eb62dda5363419f72fe81172cd47f6f6a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /responses · status 200 · 2.266 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0546, -0.1341, -0.1131, 0.9971, 0.8234, 2.0373, 1.2572, -0.0334, 0.609, 0.4744, 0.3951]\nstate[eef_state]: left_x=0.281 left_y=-0.0018 left_z=0.1683 left_yaw=0.083 left_pitch=-0.5725 left_roll=0.0977 left_gripper=0.9971 right_x=0.4133 right_y=0.3026 right_z=0.062 right_yaw=0.0561 right_pitch=-0.0488 right_roll=-0.0401 right_gripper=0.3951\nstate[joint_eff]: [-0.0342, -3.9453, 6.2974, 1.033, -0.0855, -0.0708, -0.0122, -0.5812, -10.2906, 7.159, 1.8388, 0.232, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0569, -0.1341, -0.1131, 0.9971, 0.8238, 1.8755, 1.3907, -0.3313, 0.6025, 0.4713, 0.9968]\nstate[eef_state]: left_x=0.2805 left_y=-0.0017 left_z=0.168 left_yaw=0.0832 left_pitch=-0.5748 left_roll=0.0982 left_gripper=0.9971 right_x=0.4049 right_y=0.2952 right_z=0.1458 right_yaw=0.0627 right_pitch=-0.0541 right_roll=-0.041 right_gripper=0.9968\nstate[joint_eff]: [-0.0068, -3.9863, 6.4615, 1.0379, -0.1099, -0.022, -0.0122, -0.1162, -12.6974, 9.5521, 1.5409, 0.315, -0.0122, 0.1441]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0592, -0.1345, -0.1131, 0.9971, 1.1511, 1.6848, 0.976, -0.2977, 0.7906, 0.7536, 0.9969]\nstate[eef_state]: left_x=0.28 left_y=-0.0016 left_z=0.1678 left_yaw=0.0839 left_pitch=-0.577 left_roll=0.0991 left_gripper=0.9971 right_x=0.2658 right_y=0.2964 right_z=0.0963 right_yaw=0.1038 right_pitch=-0.0472 right_roll=-0.0561 right_gripper=0.9969\nstate[joint_eff]: [-0.2393, -3.9863, 6.2974, 0.9841, -0.1197, -0.0317, -0.0122, 0.1709, -9.6889, 6.3932, 1.2821, 0.4908, 0.1245, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a2416973814a363e2b799b7e9a863ed2be7a37a118596a4dc2a17e7fe231283",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b9c49883e855fbc6886327a2336f506b29daaa970f4171fa45f9ac90799f41e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3ace30d6a1a7b98da3d8bca8059f58eb62dda5363419f72fe81172cd47f6f6a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDYrfIzm9ymdBArXCMIqcMGYIiB89AZgmIt0feCjFdcAX_VLd2sYgENhPmpVUEI2QyHxk0yb10u042y4j6I7F7I83qTtD5jCq_2zbNKJzDen-3aLoRJSpcpCK9sGaMNuzjh8QLDPPlNTS96N9NdraFgO_r5QXnBz8b3YSVQeNUgc-X5-CoGtbaaeaILm4NXvi72Nzf86zXZcyXLS-qyLvWDrcnRPycM0taAPE3J5vhy4NSRPwGuiO5VYTF_ssYZPXtXs-kvE9giej6U3nlilcIpOnppW1X-WBZGwsgUncYoMqriLmqk5RxXBXGQC8_oYDlCAKLMx0YMEu_LWuO7ytfeBIgxyISTs-8SsObf8kjVTUsHTS33Tl-JnWYIyOvZSBjvXaQZV8M4x7zesIQRi0W1db5hnpUP7JohYOLrud-DBGm4dBS3zHTxhNyI1bJf6vF-bSYePSh0J8xcIIG1XFNzgHJ7mkCoo170jxT_Ksvqh82ZZ3bEEwgTqMnUTkkFz0pxfDR8r-gsk9u6e_zP8qWPtEogF7riPjmfAP6EmAx0Erif-Tw-dkdgd7V9ez5X6tQnfxopaFJF_PgyaBwEn4aLHW1R_aVjKrAYC7_jqWX6b5uWIz2qeXea9_XWkNoup271RvgqSysWNU6NrxnfsXRHbl3FbEcYkgUHXdsJUYG_bU_n_VDC6BEu3kQaqXWXDyu4lPxC5Wvt5G5JqMdV04gFrSFp4IH-5mqRiisJL_jXJJEUinRmuABK_4junxjS4-SIgQ9FpejCM8o3a8WgZKZjXur70krnomauZUUfCT_T8PXAmUh9p_OJb-zC6qx3Ij4lySlhleGP2nK5nE8Owu58WYiZ0dwaHoopWJ9VvcrmhWNFZ1jeO9ALC5fHheQy8xgpeppGbAOZbO5g4fhUKg2YkjNp-wpFN_T96VE6x6M8XX2zesEPpDcFfzKuYbNlgqRwRv8wonXtj2JbpHXNNyEa25QH8f_yBK8qVLYsUAU30n5GdQfaw23MUO0bV-fC6XhpAuOlJMS6XxOEibarkHimyiDjWYNLhO0RwdH4eRC0RI5kLU_z-1VnShWUYbtJ2LcfhWCGp-l9xwqNlnqod1fiOon-nWZ0UIo1d-jlFh_VmFypUlToAFQxsItNRHUNzI3-tKEbmS1kw5DEVTWv3fBCwqgf8oWBoXcfFmuWlkFx2lp4YXmeKVMx_R448Ji-5mJOwCUdbKWB4gubwklLNz3S5zrTJldoVnpOaAET-OVQI4vyHOnA_vvoa9imR3rUrIp5Md_jq3YM9LTkjPqURrxV3n2AOwecU0dNQ0o3jPhT15OBHFZYok8BowWOFDXxrx89MO69K7bkIGwmuDluKBHkSnpThH0YMXeo-G-eTXZGL2c5qJQ-D49Pbvo9Yyjh_Ss40xgpFbPEt8XUzh6--SUJFEhP9iC74OywvrCdkls2EPVJ4_GYe_pkX4qhLZGas6n6ekPVlIahJTeEiHbDp_ZglL59fKgS1uMLGIjk607P_vge1uXRAzaFE3i_cVA3meRGi17sXfrTBihg7PJwuaEnytBZWZ2me5MOX01-qS8FOxmSn5qJ8Ed7QxBWIbTKTk4iQaId5vlXxHJlHhTkiAI2XojxhecFkwC003TJialsXOxrW5VXT7sxkVwTgr_MQvFU7T9mE4zvAm3bwfYm_vRDHSdx14DDUrKXKX2PwxVTUOn2y70wsz40hGF1v8KG2J7P-f92Vnham7pfr_tXLZ9ztGe12rC8artFi6rUYjxbQmORH664-1tuDGr3kN0VpC118yxALWhJDqR3F9yLR-2pVVjoUcA_zvB-ccOYzETKTTC_an6Rizf6okic79ShZbF25XnN6kWHUj-bYQgAlj4slU6poASkvAldaOEgo3G6oMEdCISXO1uanBU45ODM1U3dFzohAaNa2Tui9O5TvE2i3xGIj9K8SLO9lP8lglmfxDTQ7K_s8UHc8ME5N8oVFruWzBOaVqsaK10Sl9_aFb7Wa7nRHMT2mMiPPz7A4RKzUU-i82afh8LWyQN-nN-C_A4z5g-xxSVB80cG5afrKNVR6anvn0jaC6FUuE8YVZEOieTZSATf1dyU0vyQT-wsCxDQm2IQqaN44BEhTMLaR5Ag660WUlyLeKy-U4_twkZyz3LvTv320tAhWVLtaBSgLlJ-yy04KK7ea63KXVbDz4ffiS-6cs5cbGwrc6xgmewG1fBvYPJQxAU5yfTWgF8pV34eZ4sDca9fly4M6jmcyznW3LrDcyzWB82Ltm04Rvl0ugNaPX5Gb_JxikWx0IGvLbP90jtQ0FDH2PinzQqIjgNueMx-vvm0x-H74WftXW8M44VhQwxLYOo2CiqNPPWRW3DF3dnBkmqUYoZzLZ_rt4VA_7ISdWMM4jp3NpRJzqfdezBQp4GPmCV180VjwUCMwUyk9K5jI31hSi6K3ipzc5TgV0sN5AazzLLkyyaQea8M_ZbiDHsPFk5inTIbjuG9FTSlUDo9qS1uvzf6ABvEUBIuVnsKxC-0V_wxx9uSmc_kEB4_oeF_1Gic4GarVlcCIPh-heqw1mlL4guTkCsDSyUzr9kNUz8_ToMVp2KQuiVTndMZ2nWyjTfWR8cfzI4R5Gb_7yM-n6p23A7fPMjq7aMfPRLUt7oN-mwo-p3BHVjVQm1uX6ksK1zjJSyKgIzkPbhtl8WK4QJMy1zGEpOmBmkESL9GZU4e8dc0OR_FzFjvbEVDyYPNX8GwAPqpYdDjS15lcJdmf6GElFXi2_gDDtxyZpItj1vtNA9LQaq6TlgUS85RRmB-7ks4d1UfDDtwJ6qwpWSifU8CvA6g2zn6__5B0zDO24BbfqfudlrnBeie8-FDU71dHZmjshPaWOhfEGVorwIfH_qkpnDxjaiT3zob1HwCWfP-WbQ3fFQvK-DiqzEwecWLh9ccJIWkr7LQe4UvYAWAltlrNHTdzROHVVrL6VgruodXTVf5cDZ40cOYOfh02CKPknkfZLDSFNsJN-0GQNWF4QzDaSPmu_Ec6Kw_8C13INPISCw95D362E5w3VnByLVMdsRSnpPZhxZ7g7ZMa__ExN2b8CuqJxw_c6mMDXku6GLUFCNzIyGtE_z-nwaQqpMI7ULy2nlOVzhlz7m6qyQF7Yh8JsqpWiru7EG-rnyvEH7c7t9uERWDw1GGq_lu_ESXX2hvH4mN42R6xKU2P",
  "id": "rs_08581611c5f83afd016ab4362675ec87d0a30e9b484abbf38c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.273,\"right_y\":0.29,\"right_z\":0.045,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The brown plush fills the bottom of the right wrist view, with its narrower upper body near the jaw column. I’ll lower the open jaws onto that narrower section, rather than its widest fluffy part.\"}",
  "call_id": "call_Ind3MKle7VshEO6K4wqnuKHf",
  "id": "fc_08581611c5f83afd016ab4362a4b5887d082dc1a7e3c9ce9e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ind3MKle7VshEO6K4wqnuKHf",
  "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]: [-0.1032, 1.2358, 1.1236, -1.0595, -0.1345, -0.1131, 0.9971, 1.1244, 1.7676, 0.7952, -0.0456, 0.786, 0.7326, 0.997]\nstate[eef_state]: left_x=0.2799 left_y=-0.0016 left_z=0.1678 left_yaw=0.0839 left_pitch=-0.5774 left_roll=0.0992 left_gripper=0.9971 right_x=0.2656 right_y=0.2737 right_z=0.0365 right_yaw=0.0908 right_pitch=-0.0571 right_roll=-0.0808 right_gripper=0.997\nstate[joint_eff]: [-0.1709, -3.9863, 6.5299, 0.9597, -0.149, -0.0317, -0.0122, -0.0068, -7.4872, 6.2701, 1.5751, 0.3736, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24927893ffde90e1a594d777d76eecafab53fc5b7a357e9842011582f9c566f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3fb6a2cb9a35175099d93dbd21b437b6608691a81bff5923514ff38c5b67ed6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cea196b4e8737bcfc8d7eb005eeb19fc53cbbafebbd8808c6e2c5d7d750eb33f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /responses · status 200 · 6.025 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0561, -0.1341, -0.1131, 0.9971, 0.8238, 2.059, 1.2358, -0.0357, 0.606, 0.4717, 0.9952]\nstate[eef_state]: left_x=0.2807 left_y=-0.0017 left_z=0.1681 left_yaw=0.0832 left_pitch=-0.574 left_roll=0.098 left_gripper=0.9971 right_x=0.4076 right_y=0.2973 right_z=0.0434 right_yaw=0.0581 right_pitch=-0.0832 right_roll=-0.0721 right_gripper=0.9952\nstate[joint_eff]: [-0.1436, -3.9863, 6.4479, 0.9792, -0.1001, -0.0464, -0.0122, -0.0889, -12.5744, 7.788, 1.409, 0.2027, 0.0024, -0.2564]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0592, -0.1345, -0.1131, 0.9971, 1.1511, 1.6848, 0.976, -0.2977, 0.7906, 0.7536, 0.9969]\nstate[eef_state]: left_x=0.28 left_y=-0.0016 left_z=0.1678 left_yaw=0.0839 left_pitch=-0.577 left_roll=0.0991 left_gripper=0.9971 right_x=0.2658 right_y=0.2964 right_z=0.0963 right_yaw=0.1038 right_pitch=-0.0472 right_roll=-0.0561 right_gripper=0.9969\nstate[joint_eff]: [-0.2393, -3.9863, 6.2974, 0.9841, -0.1197, -0.0317, -0.0122, 0.1709, -9.6889, 6.3932, 1.2821, 0.4908, 0.1245, 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 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0595, -0.1345, -0.1131, 0.9971, 1.1244, 1.7676, 0.7952, -0.0456, 0.786, 0.7326, 0.997]\nstate[eef_state]: left_x=0.2799 left_y=-0.0016 left_z=0.1678 left_yaw=0.0839 left_pitch=-0.5774 left_roll=0.0992 left_gripper=0.9971 right_x=0.2656 right_y=0.2737 right_z=0.0365 right_yaw=0.0908 right_pitch=-0.0571 right_roll=-0.0808 right_gripper=0.997\nstate[joint_eff]: [-0.1709, -3.9863, 6.5299, 0.9597, -0.149, -0.0317, -0.0122, -0.0068, -7.4872, 6.2701, 1.5751, 0.3736, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24927893ffde90e1a594d777d76eecafab53fc5b7a357e9842011582f9c566f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3fb6a2cb9a35175099d93dbd21b437b6608691a81bff5923514ff38c5b67ed6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cea196b4e8737bcfc8d7eb005eeb19fc53cbbafebbd8808c6e2c5d7d750eb33f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDYuta8z3_OdDuM2UOZaAl9kEywoKLDrS0_lqv2OGxfsuj1aK6Rk1_bAQMW1C1ACRKPuIO2F0uJjlHlys3aasN8YdUwAsrceQHE-8uVskUomEjmXG_KwNyP4PWd-Ugljujg6dkR10xBL_GUR2MMrxuJPBmrHO7QKHITQ9DwRtojvkHQdYsXxFa7gDRWBs7iGBpXg8EM0bKIeAKWequcdy3WuHZ4SJzE4F7RW-JKSG87vASXMxBeHw-9RjJM3-SfCU9iYoPZ_1D2WkjhitAbArlYEDzjnVji7r1CjbgL-EVdhQm5MgRsTyRXqGD_0ZYyEZz1GScFVylHMlNrCxfGGgyWCCOKe61EkbVvqn1s-dyJrSAVMhRlpJNUPF0P6KitIw5jXZUBIZsvBeDnFUKwg5KJnN3slAVG_azLsa8XYuX2UUqVaUh4dNXoHfXXOKQqbePprNfxyiuwUDzHFM9KT8yxe7ScKGzxyn3JlfXryJdwD8JDZP5a5igytApni1pZ1uw3GN_h6IHfyArSoKAIjNp7Nui5rE9KlvhOLJyGl2H19b9_H7SCIwWR-9xGALBNA_P6PyO2Ku2vTPiFDZoIZpqztOXyvJwVrYE1S-J9DsswogqJzyEaMzWQ5Lh8e3J8XqQC-BBN17YvvANHvzNopsyi69r19dysvCUssjZP6COd2sib39qHnxJom7RukJF2f6S-AO-YicZrLdgEW9thMNSzvcYVnSNrCrROJbOP8O7Pe5mWNwCgBZ8Gk7C_iiC4sQJP-Un8kiwWxbxeqp5-yInGO9v8mqnD7LLb_pznN_fTNogVB8lYq80MKsr6yOMNnzAYKeaJh4gML7nQyb2X8DaXNPQF_ncfAM_cGSnsd415vBYV4o_ICHb7TpOR0q4WSjA79qLBvgQgkvwyspyxUBVzP68OINVVYLYCskxaiUPsbw4Uqqhm5p4ljVU8FwZ4Fkph38eAKJxGp5cwfI4ykn-0v2NJDD3o48Oc1x95-p6zk2JYidfFxGJ9ztxd9qrO992vHG3fw-mM5MC0sTYSq6bdYnT3vMwfDtGIhN1kEXqZEl_RavpjUFzvp6UzmrpT9A3XtnLg3DUisIIc4jfgxi-j7P3jXp-QpYQO2gXUNVByzZW-NFilDp4p103ZiodBqJqt4sxlrhR-nxhemaDZ9BLd7Q2siUfa8xGRaBTKP3pmOhWX1seVK2fwLQXy_UmtmLMBQyj1VVp8ovNTOOkL46IGC4OylCr8kERoF9nqJkZTKSZ96aS0DmjrUxX2Wxrt1GpUaFU0B49w4aylDGkfwFbzgD7C6U2bNPOVeqF2_bsE8bDIiJbU1W-tI-cd1f_gNvVbopy3Q8GjnWfE9hZPwm53yQIp7bF7--mzgWyekJAsQ4YEBTpALwvhK9LC0XWQOadNGDo3TjLFJHptnyCfop1khzkhePD-qtQ_tO4gNbygE7sQ=",
  "id": "rs_08581611c5f83afd016ab4362d786887d0ae430b95daa433ce",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right jaws are now down around the brown plush’s narrower upper section. I’ll close and check whether the plush holds a meaningful jaw gap.\"}",
  "call_id": "call_c1hbmrPF8LY6W8ONxrj42vvt",
  "id": "fc_08581611c5f83afd016ab4362e0d5887d0a213e3545aa621e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_c1hbmrPF8LY6W8ONxrj42vvt",
  "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]: [-0.1032, 1.2358, 1.1236, -1.0595, -0.1345, -0.1131, 0.9971, 1.1244, 1.7794, 0.7818, -0.0357, 0.7742, 0.7258, 0.0088]\nstate[eef_state]: left_x=0.2799 left_y=-0.0016 left_z=0.1678 left_yaw=0.0839 left_pitch=-0.5774 left_roll=0.0992 left_gripper=0.9971 right_x=0.2629 right_y=0.2716 right_z=0.0284 right_yaw=0.1002 right_pitch=-0.074 right_roll=-0.0942 right_gripper=0.0088\nstate[joint_eff]: [-0.0615, -3.9863, 6.2838, 0.9939, -0.149, -0.0366, -0.0122, -0.0479, -8.6085, 6.1197, 1.0183, 0.3785, 0.022, 0.735]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e11444e46d2aa8ee70db8d34bf6d9ff1550c029564f77166516fb74a10b6227c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14f56574dc21d2710aaf5b842af663f504fcf1730887626d85042ebf6f5f6d29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29f904e00f7f7fc1b8bfbfdd13ccdb19853f7b71bf17914a33bc5ea600db9a88",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 2.652 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0569, -0.1341, -0.1131, 0.9971, 0.8238, 1.8755, 1.3907, -0.3313, 0.6025, 0.4713, 0.9968]\nstate[eef_state]: left_x=0.2805 left_y=-0.0017 left_z=0.168 left_yaw=0.0832 left_pitch=-0.5748 left_roll=0.0982 left_gripper=0.9971 right_x=0.4049 right_y=0.2952 right_z=0.1458 right_yaw=0.0627 right_pitch=-0.0541 right_roll=-0.041 right_gripper=0.9968\nstate[joint_eff]: [-0.0068, -3.9863, 6.4615, 1.0379, -0.1099, -0.022, -0.0122, -0.1162, -12.6974, 9.5521, 1.5409, 0.315, -0.0122, 0.1441]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0595, -0.1345, -0.1131, 0.9971, 1.1244, 1.7676, 0.7952, -0.0456, 0.786, 0.7326, 0.997]\nstate[eef_state]: left_x=0.2799 left_y=-0.0016 left_z=0.1678 left_yaw=0.0839 left_pitch=-0.5774 left_roll=0.0992 left_gripper=0.9971 right_x=0.2656 right_y=0.2737 right_z=0.0365 right_yaw=0.0908 right_pitch=-0.0571 right_roll=-0.0808 right_gripper=0.997\nstate[joint_eff]: [-0.1709, -3.9863, 6.5299, 0.9597, -0.149, -0.0317, -0.0122, -0.0068, -7.4872, 6.2701, 1.5751, 0.3736, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0595, -0.1345, -0.1131, 0.9971, 1.1244, 1.7794, 0.7818, -0.0357, 0.7742, 0.7258, 0.0088]\nstate[eef_state]: left_x=0.2799 left_y=-0.0016 left_z=0.1678 left_yaw=0.0839 left_pitch=-0.5774 left_roll=0.0992 left_gripper=0.9971 right_x=0.2629 right_y=0.2716 right_z=0.0284 right_yaw=0.1002 right_pitch=-0.074 right_roll=-0.0942 right_gripper=0.0088\nstate[joint_eff]: [-0.0615, -3.9863, 6.2838, 0.9939, -0.149, -0.0366, -0.0122, -0.0479, -8.6085, 6.1197, 1.0183, 0.3785, 0.022, 0.735]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e11444e46d2aa8ee70db8d34bf6d9ff1550c029564f77166516fb74a10b6227c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14f56574dc21d2710aaf5b842af663f504fcf1730887626d85042ebf6f5f6d29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29f904e00f7f7fc1b8bfbfdd13ccdb19853f7b71bf17914a33bc5ea600db9a88",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDY1z4G28A7csC3xzmPvlnOunIbYEM8N6Nc09-O2n5QEsH1svziuwyBAkBplsmDO11UIYhM3iVNttZBo0BGjfkb_glsWz3fIMTqzaiTFgC8jFQxGkreWG1FvLe9UM-igYIli4TmXnpaYb0MKWpA-AwtiS3Cz3RUydJzvKBLkcBKkodKDirzQ7hlTjCopVzWawV_2E4uG3hijfvpMzk-jqnsHpC5_PlqfeKpvzkcLqYP4DS26wyOqm4Tw4TAZ2VkhcE7Dbwq-VojFypg16-b_I31C-iu4EXxRls6BRwPixDCWc67PSBDV7zJ2x-x-T6RQw_UEEmXD7fgVVxdw64mxSHvFQRx6pmMTgEKaa-sB55EveLHkr2NJrBHOAZUtL3FMObeFvNI7JHGK-8tdOD3thTG3LhabVdZ5Gu9wWn5ViBOgFPpdHSruf3nTQa6XQfSTKnnmAOoo3qt-4o0GeBNCR9uY4Pl5TI29GmbijEk4sPa48S3MuGwAQ701Sfc8EhkTYQpBz6viBjLtZzSYBdzAsGedtQi8Dx0ceyRmprnpw2nGPsuObadkl6BRlmX4jXkOyuocbMVIPP8LaLz-k8PKiDhjV58UIUBFPe6qAxW8U_QU0uVMG1TGB0aMwahtaNx-P4uBwXDZpnKaUm7aVLL4YuCgkA_S2R_VvQ5mPE3kXipqXbM-6B01w_tIdoaljTi_vyQdVqNMrJ3NaEroSwrJY0AbkXmZOeqiJy4pt-4qXtFR0iaA0sBbbXWn0MWfJQqZxHGaaMiVeWjRninGoRgf-dej0leGZ6EZIPXJwpgU9Mxc1zXkwvbJ8MpiIuDNw57rWt4IDcl2j2Z2iAfCL6FAzcSRpcMTSwJKLwimgOc3eDyFAqJI65yk7UuHSuNzEai7NhooYe1DsaI23x9Kbhk0rF_VhgJMtC9jvqJ4pVcv6qbZ6dYQFiK_W-iG64AKxIuIRIyLaZei2I2OSOuZnupyH3W1ppttCucegSb5goDgpVUpKQcnn9vkHQWttEob2IfFWyT7cNt7Ihp8lHWESDwo0ey5RWcu320V_72fUhWfII3_4mRfiYliQ6emR0spRUk4wuJfgYHA8y1pw9tXplYhzNghVaR9HdE0DEKMKYxy3YvEpmx6OJHA_nnSK-ffM9phP0pGF6YqZypcQbcMpOqohboANyFHGL8IHtp_LiMCUHy1VYV4K2ENqG5Ux-trsKD0DEwtHzDBk0sMQLRYh3foEEJD22AZdt972aVTdBVKfMDQGEVfhO2HRQaCtQkkeZVx42hfurUwQvzHPddye6Xg-gQPl9ip18ZJx0EJF3oQQP6Ef8ZgxcyX5giEjRx1AcblL1i71X-so8p_hRw4y5ZjICNUdWLOdZams1kz6JY6PgufbGieJP0aGCIIed0SgtLYMzlCkDJHKv6pOpYkM_ZH4w6SwF1fhvUNdGllQIyktVPGD9fu2WlTVGvFtTRJ0_cLEgek7zYAoFX-el13lHBKqk_xWffXNydfPc2MKmebAUkI4Gd_nP0yyDpK0NucODeBS50ID_ZXZ_6cPczvgu4jG6GGpQmOtZmjTpDDhnBWYG8P7zhRGq762b4TwBF58l3lvZRa30O0toD-O_i-M7hZP-7rUDGhP-7avMjj-gLIfmQjqmTktAs2yyNvThsXWa8P9zSEm3nRkGHmBeX1G24tacFMFEY8IVSHUaGVOQlzI-5xWPjeG2vsaUUYdfR0K9UiMt_PHbVn0EOdB0ds75MkVSLI0bL3TkLyduDcvhZMvf_T4p8H2it2SxKxl4TI6c2hLk00scMnui8J_DbDF1rMy5bRH2NpxAwUcXdfdeLcueblez64DzJN8GIl5kBZKuzGyDxZUN27jjyxQvcwAzTFUKXxjz0lMf4YXItvupsWQFhm4GOyo8EiNjz-AotPxF1fOiPMSEFsGVP3dGy9BzkdMUHHP1n34Qgr3vaMeeARfolar0JGrPPXHtzICOVffVKDnL2nIYxgEl9QRSWb69QBZmhbwgzXAMhI5Jcv5Mk2K3k_DBwZNhkKCmQ-9f1nSkh_0KaQ7Iq0fuDCV5dNT6WEZV2AzzbppRVyFMSrRlSMuDEOohvnU6c8BlsdLT5yjP8rTGxYZ1mcfSeoBCWsK_DGxy6B9zJA9TNRDfH8lP23xQmkczUS3eAevQrNJuqmkYvjo2Mb2FRqNPj6cDbzFwVjWVCr1eNC2aOflR3yM_hL3MtR_L8NLN_y3K670j31rOStVG52mlmDx05ZuTn3Ct6lgmfauCmo777ofVqEOtJ1wDtvkPt5B-BE1YYExFLdy8vE_oKExKUQtpO2xOI3Msul9ZfLW58tLHjSdwNZW7DriuCMLGjWW66rieD_KMay_j88Tz01BQr1Uz4C0rQkjOEQq829NqOfcvr4xPUtg9MSHu9utPuoIJOPHSXKG-pKh252xszs9kKOoQw_02xeMJBaztTqokfv1FnMB4CBBgaumrB57NmkaYHDaWOg0CFeRulrPBnEmfgfc4Kh6wPl-dTCr1pVaqWU_lWm7yBMwb3N_Ui0qNU_I0wMiSUL1uGUAuwGNsBpJyQT6oFO253sS3Ok676-FJS_ypsSNDgbpYfN3WOPlHiHQ5XzOmqYHrS1Q9Ro0U1CxdTJIxJaFPWTG0J70iprFPZsVubbpDMl-O_X5gFiWoVWtbUgEKyv36nm18Phn22vb3YvqYQU_wrand6jFxp-MzGJvxZSJ9NFL3HHxqOSpxDQRqZFKqLZ7pHuVyrGo1CbQyK8qhmhCca3l2Auv8CFHqaz_EI9BtRDYARnmO60hADAcodwRfEdou8XEkvKWALD6xjpkoAClgotMd4cUp3RNhrdPYrrUgbhryIKYQy4aD5qMJ0eSpelvknhpziNIocqklCQyrgwRYNAMQV46xxwhnA-htA1Pjq7h4HIXEihhqkxh5lTiN8enL41o0Lq1rLgzwp8ypMOXKcmcaBGUnUPZ3MIZTaTkpB7avxEsreNQ_Em4CZKI7-1j-Ujp1UGUx08IjznMp178fUSe8dFch_QT1t05AG1IUf3pscnD_EwWtFW3XkqNLfvSy3AE2CH3UBQvAJAjzZ-WvAvg2qK90BIFnDfEEajGPwKb7LUMDvfOCIwFuV-bdB0Nx9PT9-r3Fp_z6xutiN8sBZsFT5pK8yXikcBQKnchnPPBNgxMc5o_XXmyrvWvvVFd9isZ7Ap-Jgob2EQF3BcBbuHHbaL9M4HzeNarht60L3E50Zt80fFDaEIcktSmnfsvUNXjqmHmypHNtI4hc-LeiIhHM7K2uDGBBwEAccCcFFzuTpNBCGkwmtlmKk6u1An1JNpJULArMlyTY7ihD2rUdNPvyMjHOY0gSXWo1qe3-ruN11UKoEiEq4wycbHhxVCcYyuI_OjGe97lCNPTKHhEnCkrIjX9AvK3fFH8Q8nRjU5wlXQsKgQZaX3Yldt5Uw90uI3DRDK3PS4w_DTptXqzMCaHyWMMCUxk6j3cX9Sfc-b34p8mo7KFz_k3zJSvCPuL9sc7WiobRQk8p_yHnyL0AmQ8mgFCQFCN6y63ZsX1MiFeLMCR_DMAyKGLyVg5oE8FV8gyOd3UQ3Ed2-7gAPcCSkOG3-kr8-ZXfBpeLQV2zIkQGcrhu6Vo0Ww_OghbOHiJOvyR1WeRw41xmlHvmR2YtowQ73BhtAAgd3eJIwMSQLqddjKDgh70xSzbxVDzWMaKhhuOJiekcFeRYcOQ-5boGR1RFYDyz9sZA==",
  "id": "rs_08581611c5f83afd016ab43630b43487d0ba29027c767b404d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.232,\"right_y\":0.292,\"right_z\":0.055},\"note\":\"The gripper closed empty around the brown plush. The overhead view shows the fingers just ahead of its body, so I’ll reopen and move a few centimeters back and left to get the jaws around it.\"}",
  "call_id": "call_aTyM3VG6pF0SqtKxBNAoWSsR",
  "id": "fc_08581611c5f83afd016ab43634acc887d09d88fd8079f11701",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aTyM3VG6pF0SqtKxBNAoWSsR",
  "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]: [-0.1032, 1.2358, 1.1236, -1.0595, -0.1341, -0.1131, 0.9971, 1.2388, 1.7729, 0.8673, -0.268, 0.8021, 0.8547, 0.9946]\nstate[eef_state]: left_x=0.2799 left_y=-0.0016 left_z=0.1678 left_yaw=0.0836 left_pitch=-0.5774 left_roll=0.0988 left_gripper=0.9971 right_x=0.2294 right_y=0.2869 right_z=0.0372 right_yaw=0.1177 right_pitch=-0.1115 right_roll=-0.1295 right_gripper=0.9946\nstate[joint_eff]: [0.0068, -3.959, 6.4889, 1.0183, -0.105, -0.0464, -0.0122, 0.4308, -9.7709, 7.7197, 0.9499, 0.5885, 0.1001, -0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ebb518b8b35d84df92b0df06209728a953861ee20ac3ee8b77f0488814836d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75a82cfc5046947778afdce21c555534b3c824dab70f9b457e78c2d2ce933a71",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93ef56e38d0e65733acfc1fadb249d4278c3420743e098caa92729ed244fe503",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 7.959 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0592, -0.1345, -0.1131, 0.9971, 1.1511, 1.6848, 0.976, -0.2977, 0.7906, 0.7536, 0.9969]\nstate[eef_state]: left_x=0.28 left_y=-0.0016 left_z=0.1678 left_yaw=0.0839 left_pitch=-0.577 left_roll=0.0991 left_gripper=0.9971 right_x=0.2658 right_y=0.2964 right_z=0.0963 right_yaw=0.1038 right_pitch=-0.0472 right_roll=-0.0561 right_gripper=0.9969\nstate[joint_eff]: [-0.2393, -3.9863, 6.2974, 0.9841, -0.1197, -0.0317, -0.0122, 0.1709, -9.6889, 6.3932, 1.2821, 0.4908, 0.1245, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0595, -0.1345, -0.1131, 0.9971, 1.1244, 1.7794, 0.7818, -0.0357, 0.7742, 0.7258, 0.0088]\nstate[eef_state]: left_x=0.2799 left_y=-0.0016 left_z=0.1678 left_yaw=0.0839 left_pitch=-0.5774 left_roll=0.0992 left_gripper=0.9971 right_x=0.2629 right_y=0.2716 right_z=0.0284 right_yaw=0.1002 right_pitch=-0.074 right_roll=-0.0942 right_gripper=0.0088\nstate[joint_eff]: [-0.0615, -3.9863, 6.2838, 0.9939, -0.149, -0.0366, -0.0122, -0.0479, -8.6085, 6.1197, 1.0183, 0.3785, 0.022, 0.735]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0595, -0.1341, -0.1131, 0.9971, 1.2388, 1.7729, 0.8673, -0.268, 0.8021, 0.8547, 0.9946]\nstate[eef_state]: left_x=0.2799 left_y=-0.0016 left_z=0.1678 left_yaw=0.0836 left_pitch=-0.5774 left_roll=0.0988 left_gripper=0.9971 right_x=0.2294 right_y=0.2869 right_z=0.0372 right_yaw=0.1177 right_pitch=-0.1115 right_roll=-0.1295 right_gripper=0.9946\nstate[joint_eff]: [0.0068, -3.959, 6.4889, 1.0183, -0.105, -0.0464, -0.0122, 0.4308, -9.7709, 7.7197, 0.9499, 0.5885, 0.1001, -0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ebb518b8b35d84df92b0df06209728a953861ee20ac3ee8b77f0488814836d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75a82cfc5046947778afdce21c555534b3c824dab70f9b457e78c2d2ce933a71",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93ef56e38d0e65733acfc1fadb249d4278c3420743e098caa92729ed244fe503",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDY5a9pozgMrOAkAJhW0EG5lfvMcLpr7NslFPdNk16pohyQWeCp0EtzCcBfQtJb8TKymm_z9dGjFFqYWp7sioMnygWEvqNgMbEVickjUgU2x_qSo1JFfN0GmIi9ELtSnolzgAsH1NAGPkPhddYAbfr96bJCnbwmcKJ9v-WLRBql_w2EaNCI9aT4G7Wrb78yhnAfbnfQzOJVgKZ0iLnzavxB0w6cLeGLNOPDrDtCfMLYJ9CN1Qh6B_WLrpu2KhbuFO4vejgyieB-_UI1GqhFNT4v_iA2EtdLK1EFbumEkq65QJsSodTu_DXyxD3IGgatQgMbRIj1iOJr4LH31tdGf18qhlpOZoIcwoFimPl4EWv5L_BFBEfaOUQhruzXdONs1rIM2TVZ46eFi6GKuKotqhUBQzQ5ymsSxqi4zrdv5S25zM5yxc49uyzq1vZOJIfdV77eV41Rg14a7qap_r08o6H57fbRBuDHhUg8GTh-7poz41UvfWP_9ndyl354aoNJzxUaH5q-LZ9up-5rgcySObL4YxNOHuXM-EkaGgu5PbIVKnOTMm4vzizAJ2Web9xMASrTnxQVi7aO_TDev73HF6A0VApkEqw_2pF_-eWuaexpYn9Nd9LaA-n0vznx9t5pJomDA4HmGZqH4UKGBBna9X67z3p5RvJvj68QzbVLQUfBEagcE-HJeVzf_l8l3q7AlhHtI9D3zuo9Js_TEUSgPB8f90uRfnZ6rrQZURjAn3wvNoGAEynZWWTRdAH8dtYtewc8jWvrxMcHyn9-6fbECxRBezr2wV6IQC6tjvl2pqUtOm2QSs8a9XAOlehoQK-cHvIB5u5LnfptwTOTZDiS5fruB3PylgOuPFpSsXDANF-ahB72YwjJHsi778m4s_HGv92v_imrjkG0pUoiml4Xb64LYbVEXsaDP1_BpMxcAp9uzkG2FGxDUYJAwZu6N2k1aC4fo5gwFW5oQXagzO_bCxgvzRNMQEm1kV5IPnCjKOfTAW0jnBKc0dUPt1Y7I1CqK_bSaTfk_DFwQRZoshGguhxkKYpgiFCw4pXXpAvnrAI3UAM9hNYM3FzszRZ1xBOVxexpnp82UnIOS_amNm4IAqvl_TPytOlwNleUmevfkh1yl44PG1IwVIZ7BibmzfI1fzBpJ56ds-DYh9QIr7TkMRjmiYI1L-ba6a9b-wuNY7qz4s1bZ74n-PX5KZCRFurozo7X5t15jmFNDRQl55ENdYFFfn_SNi-cGQ6NEgI6gOranOWXdEJtIgjsHmmFlHlZG19S-vqtYpJTaGW04ByLokU8TzpoXbAkVjb1lkVnowYq69qB_HRtEQLutc1VzX023GWBEJQtCA-oI_h4h1aildBI-PoFUJ_AcTylV0ivcWZJhZKTMZMNgxaaor6p8tMkhE-CI",
  "id": "rs_08581611c5f83afd016ab43637b0ac87d0b1c1ec140e6e6ae6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The repositioned right jaws now straddle the brown plush’s central tuft in the wrist view. I’ll close at this alignment and check for a secure grasp.\"}",
  "call_id": "call_5b1Xm4jByBZm9rSEoh1fMtkS",
  "id": "fc_08581611c5f83afd016ab43637fd2487d0bd67a0668f1be684",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5b1Xm4jByBZm9rSEoh1fMtkS",
  "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]: [-0.1032, 1.2358, 1.1236, -1.0599, -0.1345, -0.1135, 0.9971, 1.2415, 1.7691, 0.8696, -0.2901, 0.7925, 0.8494, 0.0087]\nstate[eef_state]: left_x=0.2798 left_y=-0.0016 left_z=0.1678 left_yaw=0.0842 left_pitch=-0.5777 left_roll=0.0991 left_gripper=0.9971 right_x=0.2267 right_y=0.2855 right_z=0.0363 right_yaw=0.1257 right_pitch=-0.1268 right_roll=-0.1442 right_gripper=0.0087\nstate[joint_eff]: [-0.2256, -3.9453, 6.3248, 0.9499, -0.1441, -0.0659, -0.0122, -0.253, -7.4462, 5.0393, 1.1111, 0.4762, 0.0171, 0.6471]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6114b8a9a27f22d5e224f3a5b051525366e43bee2bc063011b3e512ed626851f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77605a71bdd8a2788821451e48be2107044b4c8565a0d99c6fff7fa0b5af3b0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a7a637a38447475cc52ee45a4aa0b4793ef48938ab6035343113ee001585940",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 3.897 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0595, -0.1345, -0.1131, 0.9971, 1.1244, 1.7676, 0.7952, -0.0456, 0.786, 0.7326, 0.997]\nstate[eef_state]: left_x=0.2799 left_y=-0.0016 left_z=0.1678 left_yaw=0.0839 left_pitch=-0.5774 left_roll=0.0992 left_gripper=0.9971 right_x=0.2656 right_y=0.2737 right_z=0.0365 right_yaw=0.0908 right_pitch=-0.0571 right_roll=-0.0808 right_gripper=0.997\nstate[joint_eff]: [-0.1709, -3.9863, 6.5299, 0.9597, -0.149, -0.0317, -0.0122, -0.0068, -7.4872, 6.2701, 1.5751, 0.3736, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0595, -0.1341, -0.1131, 0.9971, 1.2388, 1.7729, 0.8673, -0.268, 0.8021, 0.8547, 0.9946]\nstate[eef_state]: left_x=0.2799 left_y=-0.0016 left_z=0.1678 left_yaw=0.0836 left_pitch=-0.5774 left_roll=0.0988 left_gripper=0.9971 right_x=0.2294 right_y=0.2869 right_z=0.0372 right_yaw=0.1177 right_pitch=-0.1115 right_roll=-0.1295 right_gripper=0.9946\nstate[joint_eff]: [0.0068, -3.959, 6.4889, 1.0183, -0.105, -0.0464, -0.0122, 0.4308, -9.7709, 7.7197, 0.9499, 0.5885, 0.1001, -0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0599, -0.1345, -0.1135, 0.9971, 1.2415, 1.7691, 0.8696, -0.2901, 0.7925, 0.8494, 0.0087]\nstate[eef_state]: left_x=0.2798 left_y=-0.0016 left_z=0.1678 left_yaw=0.0842 left_pitch=-0.5777 left_roll=0.0991 left_gripper=0.9971 right_x=0.2267 right_y=0.2855 right_z=0.0363 right_yaw=0.1257 right_pitch=-0.1268 right_roll=-0.1442 right_gripper=0.0087\nstate[joint_eff]: [-0.2256, -3.9453, 6.3248, 0.9499, -0.1441, -0.0659, -0.0122, -0.253, -7.4462, 5.0393, 1.1111, 0.4762, 0.0171, 0.6471]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6114b8a9a27f22d5e224f3a5b051525366e43bee2bc063011b3e512ed626851f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77605a71bdd8a2788821451e48be2107044b4c8565a0d99c6fff7fa0b5af3b0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a7a637a38447475cc52ee45a4aa0b4793ef48938ab6035343113ee001585940",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDZBsa5IPzAT5Eh2z9uDyGO8x05yzn-Tj-9hUV4-nH9-SO6wXubxbDRO-EQ_4lybcNjFPsc_xaNn5Mcy5QE6z66S0k7Ea0pDk9TwMIc5sI8c2O6Z4RKmQxtgAjW_ot6qHDQu8CxE5cjM1l2I-NG2I9CVTJ2ZOPvJ_z8ZmixQMw5FzD0wo5VzG8m38Nk4_dht1gY-e_yR9lCBiapNHK26LURgJhvAQHGC8ToBKbgqFzCe4D9skNfH42zChX3X6GG6Pi6AVbUI4WvAMMSFF0PbyKzzNZiBJxccPCU-2O6o0gdqJNpw64gka4_MKXXvAp5DibZO-A5H9ntgplbZaHVc-E0ozWGNWw2sWe1yp0CYHSmkaCYTGDaLXeQtCdD-rQzYK6fXavTooJndTM9taq46dyXyI7REdbkn_e9gSh9aNKvx2An-z4_FgWAz1xTn3pebG_slWTJiw3xkm-8ziU-4nTkQ9DWc4K1pepDmwuAygikcVvx0olCaZwjxlQP6eLO9vsVDiyyK4ULIsm8gG1FKICN_9UBpha2QiRCjNuD8x3-12lbNnVbZuUh5metK7SqZ6unjK09Kz8zqMV8b6gnqf3AgvE4ZwWLdyGThbLeNO8hoPQPqBFlXu7FtkrQXD6pZaT5ACPy7kEUvDtjCAH_CieK7oNERg-CW9EYZ8m3ZwgtbOE0ZsxjYRAyCJfjTcvhJ_AJrrv22qDRs0u0n03hj6zK3Dr7Hs0MpxkWRD1HQb9Gm90JEIdxYFPaH5mE9UQ5Y0rpUC6s55CI4g-0AtRmL1M5WHzB8Rmii-IzHXfyRc3Ro_6eGCznVPk7Fl6zQuAxArJQ3dvuoN8QvZKVo16lRFrXtSuV15s45qG0Vmfy86o_Qbe1Jqgd9seRjniMypi_heP6F9l3N1T58NrOqwgPznsx9PWsP9k8O7_V1xBkOjh2dtj1PYFal-Ta4AHnDAhetysIh4kpy-Sr8mRbIvM14hgDdWcsQN_W_z9VDBdM3HtsPj6zArp_hpcbxmyJgK_XFyu8D0un1JQMIzG51JuKGO-hkXLssgf-7UfTRFF2P9wajAEB9tBt27oThrK0lCeCnCSbxQJc9JS4IS6PKvnGXvCnBMhMgKI9iwyW_ei21__iHPlkK9NK1heA1yRWeb7_LpA2ndvlGtk5-qcoiRVJqvVF0o7X4SK0-wswxUYZ4yEX6OCzFVfHZqcb789GuCduDjrOaPEnAL8R-cG96TPjR2m0vUXO3TjDwQ0ObyTdDcla194mvLKzT75KemrVQxFVElzSx4IhUZwcJA88e_AJqejwautVglFG3LiH8H6FJsbZDE8isLEvzYEm-ki46jpT9m2JK85RFxupIBrIQt1yhV7M5WQXikcna5cx4mXKKbcT3_Ry0mo4qMIkQWfN9lrdo9r4_2aKtB2VoVQdAy1UBdGGVg14G04dXtpyyNY-3eR0ZBHk7emqQfSshkbmxtB3WoFMANWhgYfg74pdCdrhjQyoSoUq8EjFQ5kcv64g3NJizhHIzrtIMUSAV-MZBTn-2yjemyHutIAPdVAT2PVfflFg2tMZ-m9W2TXRjZ-7wz1Fc6hXSez14k7Pn9EYqLWmGzb_8RKdEEubt5BYq4kloonQbK4Mm-AGQIORlE88Goq96rvKZlgwrZLI5RFImKc4kwD9TXTxJB0ZfQ3emCYxvFeVd4DP2_7TORHyHkrh54OiizelESCOhT8j_I1QewFhe3zx6RW2HEyvtmQ16p6ODGEzbfmND-1BG2qj0WTQqX3OVVlj3dTq1b2yzivM9i0faEx1t2TT0zRfffvGQntmhNJe_ECUpZYqvWlFwy4DB7clrI3ytpeMHviIKg4KpWuyO1Zgq9QvUheFcTDWa957Uh7hvMDBSL7h4bIK9NZVa6sHcAU8I8YvzTZ__bvNnTu5K8m2QkN27ysSFDgy8WQ3PpskUpghQTtC06niajqiRF-loFdiEhpmJtISzVP3B9rIq4MPit96s2gXpMVei3xyve3E73Y6c0YoylXnECV6wovSeXq1amVz20qgMqcY2jl6kjmJhZdIoFP8O3HkJY8EHIEQ8YIrilgvuPtbg2PnsjXmRrx20WykcsAXpUY_o_rRmXAgBeWuL2axOaKKY0D95IWoGe8bwuVvYGAMZ1rn6E6ghH8TSQo6aUUD2lTU6ZeNUtKOA__GLU4Ea1LsBlm_B0HuHUr61m-zL0OPaIsQbtNMuPrp8hjUSDSsv54Z9XzvOAAlJCw6DmaQ7rFiNA8Wd5iU4UWIPIQMKd_pISPW3Wu8uYpzId6X8ll74p2cpqTzF3irNeJIli1LzWrwv_bP5v3jgn-jmaastbbZOdlYm1hgWblbxaddUwng7xUkKcC3gQLthKq5llLe2pxlCDtw76WU6Vbkblioy62wc-LJ0YdewoAj9AGOpen4NfVGCYXSw5e5WWFYMkb-CxetbOUtB5agOhOHtwxZYivTyekknfkMciYZoKaa31V3aFn2F7djrWc48UzXujHZVj2XZl8KPhV-B3UZLFXiFcKV7REQKO2_p0JNZhoPJm_i-JBC3QpeazPAAyX9aRPp8bBj0WVNnG-WeSg1iGUM3WrEJ4SDP8PC6oHuXSybNFigsUeegav3hqfDxJY-LlqSTUEIFyMW3BAKyux71SGJOl9kT4MgyzfTsvXr5TuK2YKquoXI4uzrOPHIiCd5IXXAcB07GQQNJriBASP8wi6J_-_WRkbK2vJ2HK8RTRNPMD1Oz7T27T3MDay7EKdje6a7tQBQVgK66V6s5uB6mSftsTfHf0ZADdsi7k_OyoqsosaGloDW5Ah1ClqS4usuqN49kjSYSzGsEnZpZwole3bNxlLdhTYlGfpLpvZg0LOeUNOS-nQrQS-iqmLH6rSzeiCgV4KkcHaDzspltM8nvDimqOliik_UVTkzvndQxE6-ELKz3x8iEHa8GPfQPyCXMpd8eGqVAu8eV72-MIwAtuvxNqH5OUPv-xtO6Vs2zxq2uoViZaYjcwmKbV1MwAQtN3qodXuippfETn1lTSp5JV_HkvVRlB2Vc7o1Oh4qRQrCQfmT5dOL8Kumgbs6u14JKyAIbus-kLkz6UjjkFTJ0lRYOuvQ9AwKdzDN5hg4FljxzMqpNqTF2FEzSib9fNiwGAh1By8jbqMIM8HQeMqS3vd5Q-7YPb1O-3NPz2eXemhG5ibusmooUba9zTnkGeppDdzgCmcuNeFS0-NCyu2cLAcHi4mAEqRglk3GpSAJF-5ZPF1YGewY2tcgAWY_7VXPh6nGKDqi7e12w9PFjxR1JmJpHQG-uFlRcDuxFn4jjL2idIFhPJ_KsH3TG_0k61UEirx5sbRpADP2aMCYVGTbQbLNaC8svjU0TPuKXlc3h9LCepXCmOXpuUGhC-XbTmfwzHzQ5pvAAImLhIsL4bOT7g0mWF13s8osZZVoSejM6yTe_LcjRWVHfsrL4oX-7UOMLPoNO4TZR6H7nN1kNQCLcfag-cZMwocZnWV0V0cjE_58IwZwNO8Zqgo_ed4-pXMJzhC6RRApZa1Pepy_NfIKEjbBGjgise8sSM68Wx2B6jA65fE9bON866i5bbA2mpeJca1tusYIp0nNnBZw1ZKKnwgPwiUXjY_Hg8f4ecwvdBM_h-aH3CEDu98jOxj28O7qTGY49Ps1EGU69FHSTdp2uB0xfcayHr52-m2yTbf8bUsMNn5W_cT-5vXYkxipxAHuVoBKlu6u_wOk8VIJM5ytz8nEkjqCiJtJ9lHXleDFIzwsZCCJpjjz9fbS3yl5E",
  "id": "rs_08581611c5f83afd016ab4363b8f5c87d0881166dc5fe47405",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDZB2Ou1vizkKKrSMTXPtMEeKkkTD4Z670Dwq7pA1hEs6x804acJS-3R2pQIWooge-xCT1roMU9M61j6r1nmo77aE9gF4YMv2e9p3G8gT5KMMmwFKOfp_-5mv7E12PojIo3C9pW3oIHHR_1LFVYTdFerfwtUIkLV1yX7ZoSSKVK5vWZnjDk9zBZIha_BjLVOXesooX901fhd1fLY3Owxnd7LXbVpA1Evdz77MO4eKFv7VMySkz75orXS-cdxza7AbY_igSZNuf1lww2Q28NjGTt6zlJiOzP1pyWzOgXHGL9Qd1ylBvpvKPAyL7Q4YqHX5zTF15kzxmRSkrEkM--fykJL9wOS5hyyq85u23hfWrdKk7n5EPuIIxeGXWuh3ySK3LTT-O9qU0Tl5kTVU4Z9rkDFj9dgggQn50SudfjzynOhiCSCtEQsl6fKLvhNyvW411Gw6sbPMk_uwoU4U57jglDPrNZDO2BrL3EAj7vgQJqPs7NvEfgwVR1VHQcaZwxN_KuhUkul04-LB6rtfiSnBSfEFoSici0CpgGUXD2sR2f1RH8awNUo8WTg9P0b9hxWf8Oyalns-NSpe7h24JW3h288_2uSs_GqsvekJ-ihqNWf6hMfgm2sTV6W1UyiZxtQT8rIIb6f0JFJhdl-K_mXW6Vpx_J5r1OHkxv4iw4-fDL-c3N4YsspivIj1fR8SV9FAgsUM-QUW-sFbLnTV4uktDhpRVGH53eETCsEZ3-kpww0mq6UmYjA8SZ44ZdJ-zjat6WjCHt8-dirK8uAcO7UPJ81j8Jfqyo3f-HrIk9dMjC4Ist1pWTJsfV3InK66MiYcGdOIWTjXrSqxy86aw-Ri-tX0epvA6E9uIWYB93N7lqeGeDG8FlLvEO0sI4v--Y4fuYJxkTxjtJ2Iawohg2T2qDkkILQcp-n9PXWEedXr2e8j1edt6eHmcNLzj4aZrjhh6gYWpjZDqFCYQv0ZtJqhWGUBalHENOzK_zHVwLGAGLEsyxK_764ZvVkcT-keoj-ir2RXjRit_bOL1SNUpNgVdWmc9HtLRdSXUCWPZRaoo0f4WnXI74su9QyEoVhTaUr8qYrBnLWrJ9sY_jPZ7GHFGSz9cgx-wdqFQZ4MLynntYEuNoQYHvzxZSQVpAMFNvj3tdNKlfBjF4JZ1x_g_Chl_dxsdP2yzuWjyGdT0BHVlc_uZ6eSrxiVltC9KAjLYUf5j7YTAgnlxqcZf6zZeLTIJLTKl85ipNB3YP6Lo4HJtWvCHD2ymmAMmQKCyxEEDj8wgkxFo0lYcg9RVWKA-KpFcJdO5ZpBdely-EOw9vHXpLN9DnGiMt59XX49_CwSjuBeT5QxAU6Y6DmdwbIcOuQRiI1C15rJu67g0mgK7Wx3fBiC49_4JxxcER2u97MVa72FmyABj_Y8hGOUZw8G32H-tlXNjFp26FJuQ7uV_cLX1Tm3eI9v65rQ3Fihc7-YfbEoPBouMFn8MlofuBj5z9I_gTEi1oBy9bFYUfJpjXrqsfXM706nIRzRFnXmrcDsRuRbus7mqH5uOxHPLdkX_cwICU8sGbpNP6msqb2kjYbuN3uAvXaxXamna98-imH6a2NNrQ3RzGxSOA0o9CprqW27INVfMpZ5-sAtdR5TfXPKllEvop4KSK427AMx_2b4MbFVQPSteJRUfPWWYik-i9UjCR1Fv6vFVkXAJiVmtdUWALPYYkgJ1onYaigMYq22bxF-AUjt-s6S60aXZ6niiXH79o_osHHvZU47bs27nXqXiS6wgEb_iViBmIS8R86UVENHJZG2f_XkALOoIuCiD02CWM5ERRiQu_RhFv9m31Y6tCUV6K19cj-0Zzr5qdNfbDlAtKDSX5_VeAzUF7H15cPZ_bvf1tqEGMygoREcXAt08a9UoE9SxqjXwMcNYH9IIwv-bfUq28-yMnPYc0CKwMVlJ9Sn4PCkmfynOsHwtQWRSyl4JlXURBks8stzNxOOgtoPg4J",
  "id": "rs_08581611c5f83afd016ab4363f887087d0acf33c829d76323d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.269,\"right_y\":0.225,\"right_z\":0.065,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The second close on the brown plush was empty. The overhead view shows a smaller raised section to the right of the gripper, so I’ll reopen and approach that section from above rather than closing on the broad flattened torso again.\"}",
  "call_id": "call_Xij2pZgIPIJs8McYh0nfFurt",
  "id": "fc_08581611c5f83afd016ab43640e00887d0892a935a298e26e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Xij2pZgIPIJs8McYh0nfFurt",
  "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]: [-0.1032, 1.2358, 1.1233, -1.0599, -0.1345, -0.1135, 0.9971, 1.0275, 1.5131, 0.5632, 0.0448, 0.7097, 0.6117, 0.9945]\nstate[eef_state]: left_x=0.2797 left_y=-0.0016 left_z=0.1676 left_yaw=0.0843 left_pitch=-0.5781 left_roll=0.0992 left_gripper=0.9971 right_x=0.262 right_y=0.2182 right_z=0.0508 right_yaw=0.1119 right_pitch=-0.0497 right_roll=-0.049 right_gripper=0.9945\nstate[joint_eff]: [-0.1983, -3.9453, 6.5162, 0.9841, -0.1099, -0.0757, -0.0122, -0.253, -6.5983, 5.7641, 1.7216, 0.3053, 0.0073, -0.0659]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30c2a27fd9777fc16b55dcc9d56a312fad6342224e53c991de7743a4fe2f434b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15cb4231f0c55ed9a8e0bbb7424bd7d42698a2ab23fdf0b56c3fd91ecc120eb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de86ba0b3d060fff61aa8abd8a906061d18fd072d083a7dcabd6ffe7de0cb012",
      "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 · 5.441 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 147 changed as sent

message 152 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0595, -0.1345, -0.1131, 0.9971, 1.1244, 1.7794, 0.7818, -0.0357, 0.7742, 0.7258, 0.0088]\nstate[eef_state]: left_x=0.2799 left_y=-0.0016 left_z=0.1678 left_yaw=0.0839 left_pitch=-0.5774 left_roll=0.0992 left_gripper=0.9971 right_x=0.2629 right_y=0.2716 right_z=0.0284 right_yaw=0.1002 right_pitch=-0.074 right_roll=-0.0942 right_gripper=0.0088\nstate[joint_eff]: [-0.0615, -3.9863, 6.2838, 0.9939, -0.149, -0.0366, -0.0122, -0.0479, -8.6085, 6.1197, 1.0183, 0.3785, 0.022, 0.735]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1236, -1.0599, -0.1345, -0.1135, 0.9971, 1.2415, 1.7691, 0.8696, -0.2901, 0.7925, 0.8494, 0.0087]\nstate[eef_state]: left_x=0.2798 left_y=-0.0016 left_z=0.1678 left_yaw=0.0842 left_pitch=-0.5777 left_roll=0.0991 left_gripper=0.9971 right_x=0.2267 right_y=0.2855 right_z=0.0363 right_yaw=0.1257 right_pitch=-0.1268 right_roll=-0.1442 right_gripper=0.0087\nstate[joint_eff]: [-0.2256, -3.9453, 6.3248, 0.9499, -0.1441, -0.0659, -0.0122, -0.253, -7.4462, 5.0393, 1.1111, 0.4762, 0.0171, 0.6471]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.2358, 1.1233, -1.0599, -0.1345, -0.1135, 0.9971, 1.0275, 1.5131, 0.5632, 0.0448, 0.7097, 0.6117, 0.9945]\nstate[eef_state]: left_x=0.2797 left_y=-0.0016 left_z=0.1676 left_yaw=0.0843 left_pitch=-0.5781 left_roll=0.0992 left_gripper=0.9971 right_x=0.262 right_y=0.2182 right_z=0.0508 right_yaw=0.1119 right_pitch=-0.0497 right_roll=-0.049 right_gripper=0.9945\nstate[joint_eff]: [-0.1983, -3.9453, 6.5162, 0.9841, -0.1099, -0.0757, -0.0122, -0.253, -6.5983, 5.7641, 1.7216, 0.3053, 0.0073, -0.0659]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30c2a27fd9777fc16b55dcc9d56a312fad6342224e53c991de7743a4fe2f434b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15cb4231f0c55ed9a8e0bbb7424bd7d42698a2ab23fdf0b56c3fd91ecc120eb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de86ba0b3d060fff61aa8abd8a906061d18fd072d083a7dcabd6ffe7de0cb012",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDZGstbq8BMBZhqx9f-iILQyAQfTKGxrinDWhVp7Uup3ojU_SIZZbdYNwe9_BWKr_T-diPpQAGtuxwe05RIwFCDSQ2D4FjOsogglRkcIjmu36hf38D0BID2OiJU3rEovvskr-hL-RBMwC4m6MFOPjMbxtK0eZFoijRL6O8UboMcdNcMJ5RnifFdHD6N2mTPnEI5vNINbB2BqC4Ak42bns9JRUshDBoPZxX8rxIMQe_cydeV6nFC0JIQcYBIBB64SLsCyA6Jcwcz0YmHDkdSSf7XnR2STqG6eQtVW9D4Ova4EW1l_We_vr9eBygjxxOE6R316H9xRrBqGl0tcgf8cnOSNC50bIfkPjZJp1XS0oLR5Jads9dfoButI3OUDBlGVJOd3dfz409UqdxgRN1wsW33qjxwESUytWRHTEN0vB31JuCEGN6K3zckQaJk2xgESK35470Ice4sOho8PFFraWJ0XVDcbnC49qiw_wmRXPlSSWbyHkYxhmcLdvKVHHZrxMkWHDLpWvXFT3Doff31KzhJ4gc7UGcdsPxR8BVXlliHoDdhOXp4yF20BYbevbHY2Q_m6kS7xkE4025fm1tst-Ea221j7Sh01xPP1fE1DITEEbCIGu8cqgDE4nQoU1-yyjprQP94M9NnRDotgrv8xl8zqIuyGNqaHl8Pp7T6I4yd48QPY8QqJ4E9klevAKrHlSZRih6oS6-pfaS251IajJM_wfy_wEwz3tNtbF7fU0JOX8AoaX6TxoWsvS2g7uaSdKldMQulepgn4z5O1n7cX9aFZZ5UdFRjBjoGDBy8Du6aPAXXLeqKh5vanYEj5Hvaq0ltxY1C-b8gjyy7C8gMQyY5dU4Ta2einRCf54dNgSInO5x9Mfw5MIChLuedqJpIZXX1ARmK9srfPVewgAIu5M5TW8SahwwCTzdmDsq9R4tUgbMfWVThsbb4SxHx8R46iSvvexGNMuT7vKuKm_rb1a5ADMKQcY0K_WhYF6zxJzNPq_xq8MkvixHWioRMovDUYgI-PgvmRr7ue-BqHBj3Jo19ZUHpyPGKbKTER1mOLSEkQBLsn7XwMj9M8InAPKXgJ5E7n9G_yDOQxKsEVzJExmDVdPQhsDe5ngh_cKa4Y8RZux7Zw_xlgVtmv_xhB3svxFQs-VUix0_OcSqwjEmy2ACxxQm_DHOV9cXdidBbsggo8lMqNdaE7aBwva4IlIQPVSlKKxP2pFWE3Co92dyq6JhPcxetVXQYcXSbGSbWD5pY-xgR-4lRv0E7DOfYQ9uBP-6u2TMmSbMNRP4cR643bCgbBBZAlBOzlcTKDfqs27qzPZLaU7WULyqRzDI_kTfQ45orrdWyXJwm28wWVIL96xIZX4FyeSR5UOLLXuobCiXGS4GmlwcOulsv79nhSrxtdQcZSixzNwa_54q6CORcLcmkOxuh9b0yIV-fcU4IaLSJHx75saa93iD29PGu1l1R3kMOohwB7Impsm7R6mPXvwVEttliVsbwgEO1uKaOdIgq_mNm2HTFx3ZinRJQ__NpDIBDtD1DvH6EdI2IdbPDsox0pI5XM98MZILgimloEBx9yCQ3qcPjv9gX_nd5pJpCBRF-238pHtLblhQthod30skuLq938_dfMpMYovHNS-O7tZjrRleG5SWX1WImn1pBM00wG41ESiRUM7A0_PjHqEhohdaOIU7nXtErKC81cfAxHkUqIZUBrTPR-Z67OUPHZZHdr2NHcNCUwaBMI0_juS73ic4veiiAtUBXGedyT3MzGsGURmmpQnjTMcANyLKc2J0JVkObWbOvvx_wYJeNaJ9O3IHK2GR0jMUt-WcdO0bIoD98RoUbpKGHViupKnE_RYqqt0Hgem2J1-nnTACTAr2L0LI4KDGP9QlGRXrdRR0fb5bbwBCWwA-K1zDoYXdqRed_aoacBmSC85EEV6W5mtsLVuNTtpJ0RTXc9jGdE3PeVPZTqogP_44J8Np5p2Nk3RavZrYgBqB89e85uQHtnV30BG5UleOJ5r1Xho3tpH12-M88Wh15F-fohFREH6PmcUcdJqfH-_egzPs_ixShsMmX1YnPwYaqehobUYBd4n505c9w_IndGBWhfdjOUZBKqBO4fgMQw36MJuMfTCBtKhYYAhJhffLMg9cJYLltgGBujdLsEXlELRIYh8fTUdCAlHzwLbphkrZyd1aIhe7mz2JvQocY5cOOeJcabS0OcK-XQePDRkmqEQGjsUxLbxhRPyoZN",
  "id": "rs_08581611c5f83afd016ab43643ff4487d0a149b6b7146c41d1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"right_z\":0.035},\"note\":\"The right wrist now shows the brown plush’s raised fur between the open jaws. I’ll lower slightly and close on that upright section, checking whether the jaws stay apart this time.\"}",
  "call_id": "call_UVje9eezefbW21TKIelrK2jH",
  "id": "fc_08581611c5f83afd016ab436461fa087d08d98aff684675d35",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UVje9eezefbW21TKIelrK2jH",
  "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]: [-0.1032, 1.2358, 1.1233, -1.0599, -0.1341, -0.1131, 0.9971, 1.0218, 1.5631, 0.5377, 0.1078, 0.6952, 0.606, 0.0085]\nstate[eef_state]: left_x=0.2797 left_y=-0.0016 left_z=0.1676 left_yaw=0.0837 left_pitch=-0.5782 left_roll=0.0989 left_gripper=0.9971 right_x=0.2612 right_y=0.217 right_z=0.0344 right_yaw=0.1181 right_pitch=-0.0667 right_roll=-0.0564 right_gripper=0.0085\nstate[joint_eff]: [-0.0479, -3.8359, 6.2838, 0.9744, -0.0952, -0.0073, -0.0122, 0.2803, -4.7932, 4.8752, 1.4823, 0.3443, 0.022, 0.7546]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4801ed883f44f840e2b3a239b57ebfb542e01cf7368be729a0bf9c6357273dc1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:620cf9481dc74b518354a31eff867a45881cece21fc2f800455f9b7d57a770ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3e5071fb7365da06f919abd17e6fec410d6f9fd8914354ae01a5ad64e95c69f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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