adhoc

completed
2026-09-23T22:34:36.550992+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (75 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-5.6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
227.3 s
total steps
338
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe open safe is near the center, with three loose objects: a white plush to its left, a yellow object to its right, and a larger brown plush below. I’ll first move the left gripper above the white plush while keeping the right arm parked.
move_to
left_x0.2700left_y-0.1800left_z0.1500left_gripper1.0000right_x0.2930right_y0.0010right_z0.1780
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7933, 0.6033, -0.3931, -0.0193, -0.0303, 0.9994, -0.0212, 0.7944, 0.6067, -0.3962, -0.0193, -0.0124, 0.9996] state[eef_state]: left_x=0.2929 left_y=0.0013 left_z=0.1771 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9994 right_x=0.293 right_y=0.0008 right_z=0.1778 right_yaw=-0.0003 right_pitch=0.0004 right_roll=-0.0002 right_gripper=0.9996 state[joint_eff]: [-0.7179, -1.1966, 10.4274, 2.0586, -0.0562, 0.1148, -0.0757, -0.4034, -1.4291, 9.8393, 1.917, -0.0562, -0.0122, -0.0611] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.27,"left_y":-0.18,"left_z":0.15,"left_gripper":1.0,"right_x":0.293,"right_y":0.001,"right_z":0.178},"note":"The open safe is near the center, with three loose objects: a white plush to its left, a yellow object to its right, and a larger brown plush below. I’ll first move the left gripper above the white plush while keeping the right arm parked."})
tool
executing move_to over 17 steps (1.7s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe left wrist view now clearly shows the white plush just left of the jaw centerline, with the safe close beyond it. I’ll shift slightly left in the arm frame and a little forward while lowering partway to center the plush between the jaws.
move_to
left_x0.2750left_y-0.1500left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9775, 1.2049, 0.7036, -0.4156, -0.7292, -0.6842, 0.9993, -0.0212, 0.7986, 0.6094, -0.4324, -0.02, -0.012, 0.9995] state[eef_state]: left_x=0.2638 left_y=-0.1743 left_z=0.1334 left_yaw=-0.0353 left_pitch=-0.0519 left_roll=0.0394 left_gripper=0.9993 right_x=0.2885 right_y=0.001 right_z=0.1705 right_yaw=0.0001 right_pitch=-0.0374 right_roll=0.0013 right_gripper=0.9995 state[joint_eff]: [-0.2256, -4.2325, 8.9915, 1.3797, -0.6129, 0.0122, -0.0855, -0.0205, -1.5385, 6.8718, 2.0635, -0.0269, -0.0366, -0.0171] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.275,"left_y":-0.15,"left_z":0.1,"left_gripper":1.0},"note":"The left wrist view now clearly shows the white plush just left of the jaw centerline, with the safe close beyond it. I’ll shift slightly left in the arm frame and a little forward while lowering partway to center the plush between the jaws."})
tool
executing move_to over 3 steps (0.3s)
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 white plush is now centered on the jaw column and lies between the fingertips, clear of the safe wall. I’ll descend nearly to table level so the jaws can close around its soft body rather than above it.
move_to
left_x0.2750left_y-0.1500left_z0.0250left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8742, 1.1976, 0.561, -0.2882, -0.6922, -0.6289, 0.9993, -0.0212, 0.8005, 0.6075, -0.45, -0.0196, -0.012, 0.9995] state[eef_state]: left_x=0.2692 left_y=-0.1405 left_z=0.096 left_yaw=0.0145 left_pitch=-0.082 left_roll=0.072 left_gripper=0.9993 right_x=0.2858 right_y=0.001 right_z=0.1656 right_yaw=-0.0002 right_pitch=-0.0587 right_roll=0.0016 right_gripper=0.9995 state[joint_eff]: [-0.7316, -3.959, 7.4598, 2.0098, -0.2271, 0.1148, -0.0855, -0.0752, -1.347, 7.159, 1.9853, -0.0366, -0.0562, -0.0122] 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_x":0.275,"left_y":-0.15,"left_z":0.025,"left_gripper":1.0},"note":"The white plush is now centered on the jaw column and lies between the fingertips, clear of the safe wall. I’ll descend nearly to table level so the jaws can close around its soft body rather than above it."})
tool
executing move_to over 5 steps (0.5s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe descent stopped about 5 cm above the table while the plush is centered between the jaws, indicating the fingers have reached its raised body. I’ll close the gripper now and use the settled opening to verify a real grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8757, 1.2419, 0.5285, -0.2211, -0.6769, -0.6258, 0.9993, -0.0208, 0.8024, 0.6075, -0.4671, -0.0196, -0.012, 0.9995] state[eef_state]: left_x=0.2688 left_y=-0.144 left_z=0.0799 left_yaw=0.0021 left_pitch=-0.0976 left_roll=0.074 left_gripper=0.9993 right_x=0.2833 right_y=0.0012 right_z=0.1617 right_yaw=0.0002 right_pitch=-0.0778 right_roll=0.002 right_gripper=0.9995 state[joint_eff]: [-0.0752, -3.7128, 5.9829, 1.3944, -0.4567, -0.1001, -0.0806, -0.0479, -1.4017, 6.9538, 1.9121, -0.0513, -0.0415, -0.0122] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The descent stopped about 5 cm above the table while the plush is centered between the jaws, indicating the fingers have reached its raised body. I’ll close the gripper now and use the settled opening to verify a real grasp."})
tool
executing move_to over 10 steps (1.0s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe gripper closed almost fully, so that attempt was empty; the wrist view confirms the plush remained just beyond the fingertip convergence point. I’ll reopen and advance about 3 cm outward over the plush before trying the descent again.
move_to
left_x0.3050left_y-0.1500left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8753, 1.2419, 0.5282, -0.2245, -0.6769, -0.6338, 0.0105, -0.0212, 0.8024, 0.6071, -0.4976, -0.0196, -0.012, 0.9995] state[eef_state]: left_x=0.2684 left_y=-0.1433 left_z=0.0794 left_yaw=0.0072 left_pitch=-0.0997 left_roll=0.0707 left_gripper=0.0105 right_x=0.2785 right_y=0.0012 right_z=0.1557 right_yaw=-0.0001 right_pitch=-0.1087 right_roll=0.0026 right_gripper=0.9995 state[joint_eff]: [-0.0342, -3.7538, 6.147, 1.2723, -0.3346, 0.0464, 0.8718, -0.0479, -0.9504, 6.9538, 1.9414, -0.0171, -0.0464, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.305,"left_y":-0.15,"left_z":0.1,"left_gripper":1.0},"note":"The gripper closed almost fully, so that attempt was empty; the wrist view confirms the plush remained just beyond the fingertip convergence point. I’ll reopen and advance about 3 cm outward over the plush before trying the descent again."})
tool
executing move_to over 10 steps (1.0s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteAfter the outward shift, the white plush now reaches the fingertip line instead of sitting beyond it, and it remains centered laterally. I’ll descend at this improved radial pose to get the jaws around the plush’s body.
move_to
left_x0.3100left_y-0.1500left_z0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.778, 1.3132, 0.6281, -0.2348, -0.6224, -0.5579, 0.9949, -0.0212, 0.8024, 0.6064, -0.5228, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.2955 left_y=-0.1416 left_z=0.0889 left_yaw=0.0252 left_pitch=-0.1237 left_roll=0.0864 left_gripper=0.9949 right_x=0.2744 right_y=0.0013 right_z=0.1506 right_yaw=-0.0 right_pitch=-0.1346 right_roll=0.0032 right_gripper=0.9996 state[joint_eff]: [0.294, -3.2889, 8.6906, 1.4676, -0.2027, 0.1685, 0.1197, -0.0342, -1.1966, 6.9402, 1.8291, -0.0366, -0.0757, -0.0073] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.15,"left_z":0.0,"left_gripper":1.0},"note":"After the outward shift, the white plush now reaches the fingertip line instead of sitting beyond it, and it remains centered laterally. I’ll descend at this improved radial pose to get the jaws around the plush’s body."})
tool
executing move_to over 6 steps (0.6s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteAt table level, the white plush fills the gap between the two fingertips and is well centered across its torso. I’ll close the jaws to secure 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]: [-0.765, 1.6489, 0.5056, 0.1776, -0.6247, -0.5587, 0.9984, -0.0212, 0.807, 0.6056, -0.5533, -0.0196, -0.012, 0.9995] state[eef_state]: left_x=0.3035 left_y=-0.1432 left_z=0.0018 left_yaw=0.0447 left_pitch=-0.154 left_roll=0.1205 left_gripper=0.9984 right_x=0.2693 right_y=0.0014 right_z=0.1436 right_yaw=0.0001 right_pitch=-0.1705 right_roll=0.0039 right_gripper=0.9995 state[joint_eff]: [0.1846, -4.7521, 3.5897, 0.7692, -0.0562, 0.1245, -0.1734, -0.0615, -1.5248, 6.9949, 1.8877, -0.0611, -0.0513, -0.0171] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At table level, the white plush fills the gap between the two fingertips and is well centered across its torso. I’ll close the jaws to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe gripper settled at 0.136 rather than closing empty, indicating it has clamped the plush. I’ll lift it about 12 cm and confirm that it rises with the gripper before carrying it to the safe.
move_to
left_x0.3100left_y-0.1500left_z0.1200left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.765, 1.6535, 0.4984, 0.205, -0.6403, -0.5617, 0.1357, -0.0212, 0.8082, 0.6056, -0.5877, -0.0196, -0.012, 0.9995] state[eef_state]: left_x=0.3055 left_y=-0.1421 left_z=0.0031 left_yaw=0.055 left_pitch=-0.1337 left_roll=0.1155 left_gripper=0.1357 right_x=0.2634 right_y=0.0015 right_z=0.1372 right_yaw=0.0002 right_pitch=-0.206 right_roll=0.0047 right_gripper=0.9995 state[joint_eff]: [-0.1846, -6.4068, 5.1214, 0.9988, -0.1587, 0.0122, 0.9402, -0.0205, -1.0872, 6.8308, 1.873, -0.0415, -0.0269, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.15,"left_z":0.12,"left_gripper":0.0},"note":"The gripper settled at 0.136 rather than closing empty, indicating it has clamped the plush. I’ll lift it about 12 cm and confirm that it rises with the gripper before carrying it to the safe."})
tool
executing move_to over 8 steps (0.8s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe white plush lifted with the gripper and is no longer on its original table spot, confirming the grasp. I’ll carry it high over the center of the red safe’s open compartment, keeping clear of the raised lid and rim.
move_to
left_x0.4100left_y-0.2900left_z0.2000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7719, 1.3903, 0.7582, -0.3416, -0.6399, -0.5816, 0.1326, -0.0212, 0.8116, 0.6056, -0.6132, -0.0196, -0.0116, 0.9995] state[eef_state]: left_x=0.3088 left_y=-0.1484 left_z=0.1004 left_yaw=0.0613 left_pitch=-0.1486 left_roll=0.1179 left_gripper=0.1326 right_x=0.259 right_y=0.0016 right_z=0.132 right_yaw=0.0002 right_pitch=-0.2349 right_roll=0.0056 right_gripper=0.9995 state[joint_eff]: [-0.6359, -6.9402, 8.7453, 1.3407, -0.3834, 0.0806, 1.033, -0.1026, -1.2376, 6.8034, 1.7314, -0.0611, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.29,"left_z":0.2,"left_gripper":0.0},"note":"The white plush lifted with the gripper and is no longer on its original table spot, confirming the grasp. I’ll carry it high over the center of the red safe’s open compartment, keeping clear of the raised lid and rim."})
tool
executing move_to over 13 steps (1.3s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe wrist view shows the held plush directly over the red floor of the safe, with clearance from both sidewalls. I’ll lower it into the compartment until it rests on the bottom.
move_to
left_x0.4100left_y-0.2900left_z0.0400left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8421, 1.9797, 1.7874, -0.8413, -0.6567, -0.6712, 0.1325, -0.0212, 0.8158, 0.6018, -0.6361, -0.02, -0.012, 0.9995] state[eef_state]: left_x=0.4057 left_y=-0.2871 left_z=0.186 left_yaw=0.0585 left_pitch=-0.1708 left_roll=0.1064 left_gripper=0.1325 right_x=0.2542 right_y=0.0017 right_z=0.1256 right_yaw=0.0009 right_pitch=-0.2658 right_roll=0.0063 right_gripper=0.9995 state[joint_eff]: [-0.4444, -10.906, 8.3624, 0.8816, -0.569, 0.0611, 1.0281, -0.0889, -1.306, 7.0906, 1.6679, -0.0415, -0.0415, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.29,"left_z":0.04,"left_gripper":0.0},"note":"The wrist view shows the held plush directly over the red floor of the safe, with clearance from both sidewalls. I’ll lower it into the compartment until it rests on the bottom."})
tool
executing move_to over 10 steps (1.0s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteThe white plush is now down inside the safe and supported by its red floor rather than hanging freely. I’ll open the gripper to release it.
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]: [-0.8429, 2.1052, 1.4143, -0.3878, -0.6468, -0.667, 0.1312, -0.0212, 0.8173, 0.6018, -0.6575, -0.02, -0.012, 0.9995] state[eef_state]: left_x=0.4023 left_y=-0.286 left_z=0.0435 left_yaw=0.0563 left_pitch=-0.2059 left_roll=0.1399 left_gripper=0.1312 right_x=0.2502 right_y=0.0018 right_z=0.1219 right_yaw=0.001 right_pitch=-0.2887 right_roll=0.0069 right_gripper=0.9995 state[joint_eff]: [0.1709, -10.7829, 5.5726, 1.3114, -0.3639, -0.022, 1.033, -0.0752, -1.2513, 6.8171, 1.6093, -0.0708, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The white plush is now down inside the safe and supported by its red floor rather than hanging freely. I’ll open the gripper to release it."})
tool
executing move_to over 9 steps (0.9s)
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 white plush remains on the safe floor after release. I’ll retract and park the left arm while moving the right arm high above the yellow object on the safe’s right, keeping the arms in separate regions.
move_to
left_x0.2900left_y0.0000left_z0.1800left_gripper1.0000right_x0.4000right_y0.1800right_z0.1700right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8417, 2.1223, 1.3994, -0.3775, -0.6624, -0.6823, 0.8949, -0.0208, 0.8173, 0.6018, -0.6762, -0.0196, -0.012, 0.9995] state[eef_state]: left_x=0.4012 left_y=-0.2807 left_z=0.0333 left_yaw=0.0785 left_pitch=-0.207 left_roll=0.1551 left_gripper=0.8949 right_x=0.2466 right_y=0.0019 right_z=0.1189 right_yaw=0.0012 right_pitch=-0.3074 right_roll=0.007 right_gripper=0.9995 state[joint_eff]: [0.1162, -12.8205, 7.1453, 0.9988, -0.1441, 0.1245, -0.0659, -0.0479, -1.0872, 6.735, 1.5409, -0.0659, -0.0611, -0.0073] approver: 9 step(s) modified (delta_clamped ×9). 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_x":0.29,"left_y":0.0,"left_z":0.18,"left_gripper":1.0,"right_x":0.4,"right_y":0.18,"right_z":0.17,"right_gripper":1.0},"note":"The white plush remains on the safe floor after release. I’ll retract and park the left arm while moving the right arm high above the yellow object on the safe’s right, keeping the arms in separate regions."})
tool
executing move_to over 25 steps (2.5s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe yellow object is centered in the right wrist view but still has clear space between it and the fingertip line, so it is slightly beyond the grasp point. I’ll advance about 3 cm and lower partway while preserving the good lateral alignment.
move_to
right_x0.4250right_y0.1800right_z0.0800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1947, 0.9848, 0.8162, -0.6575, -0.3073, -0.1322, 0.9983, 0.5404, 1.6627, 1.354, -0.7128, 0.3027, 0.4141, 0.9996] state[eef_state]: left_x=0.2929 left_y=0.0004 left_z=0.1748 left_yaw=0.1262 left_pitch=-0.2031 left_roll=0.1462 left_gripper=0.9983 right_x=0.3858 right_y=0.1742 right_z=0.1542 right_yaw=0.0222 right_pitch=-0.3672 right_roll=-0.0255 right_gripper=0.9996 state[joint_eff]: [0.1026, -2.6735, 7.8701, 1.6288, -0.1294, 0.149, -0.1783, 0.1026, -7.8564, 8.759, 1.4774, 0.3443, 0.2271, -0.0611] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.18,"right_z":0.08,"right_gripper":1.0},"note":"The yellow object is centered in the right wrist view but still has clear space between it and the fingertip line, so it is slightly beyond the grasp point. I’ll advance about 3 cm and lower partway while preserving the good lateral alignment."})
tool
executing move_to over 5 steps (0.5s)
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 still centered and now lies directly between the approaching fingertip paths, with the safe rim remaining clear to its left. I’ll descend to grasp height near the table.
move_to
right_x0.4250right_y0.1800right_z0.0200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1951, 0.9882, 0.8162, -0.6861, -0.2962, -0.131, 0.998, 0.5003, 1.8427, 1.2781, -0.5335, 0.2829, 0.3851, 0.9996] state[eef_state]: left_x=0.2881 left_y=-0.0007 left_z=0.1689 left_yaw=0.1182 left_pitch=-0.2362 left_roll=0.1493 left_gripper=0.998 right_x=0.4072 right_y=0.1705 right_z=0.0726 right_yaw=-0.0003 right_pitch=-0.4433 right_roll=-0.0671 right_gripper=0.9996 state[joint_eff]: [-0.1026, -2.2085, 6.735, 1.6825, -0.2613, 0.0024, -0.0513, -0.2256, -9.5795, 6.735, 1.5018, 0.1245, 0.0415, -0.0611] 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":0.425,"right_y":0.18,"right_z":0.02,"right_gripper":1.0},"note":"The yellow object is still centered and now lies directly between the approaching fingertip paths, with the safe rim remaining clear to its left. I’ll descend to grasp height near the table."})
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 noteAt the low pose, the rounded yellow object is centered within a few pixels of the jaw column and fills the gap symmetrically. I’ll close the gripper now to avoid a sideways squeeze from an off-center approach.
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]: [-0.1959, 0.989, 0.8162, -0.6945, -0.3031, -0.1356, 0.9979, 0.5018, 1.9736, 1.2678, -0.4061, 0.2729, 0.3744, 0.9996] state[eef_state]: left_x=0.2866 left_y=0.0005 left_z=0.1677 left_yaw=0.1264 left_pitch=-0.2429 left_roll=0.1541 left_gripper=0.9979 right_x=0.4203 right_y=0.1804 right_z=0.0264 right_yaw=0.0128 right_pitch=-0.46 right_roll=-0.0718 right_gripper=0.9996 state[joint_eff]: [-0.0615, -2.4137, 6.7214, 1.5018, -0.1099, -0.022, -0.022, -0.3077, -10.0171, 5.2855, 0.8181, 0.2076, 0.0415, -0.0611] approver: 1 step(s) modified (delta_clamped). 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_gripper":0.0},"note":"At the low pose, the rounded yellow object is centered within a few pixels of the jaw column and fills the gap symmetrically. I’ll close the gripper now to avoid a sideways squeeze from an off-center approach."})
tool
executing move_to over 10 steps (1.0s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteThe right gripper stopped at a non-empty opening on the yellow object, though near its tapered end. I’ll lift it straight up and use the overhead view to confirm it comes off the table before transporting it.
move_to
right_x0.4250right_y0.1800right_z0.1300right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1959, 0.989, 0.8158, -0.6979, -0.3035, -0.136, 0.9979, 0.5087, 1.9846, 1.2621, -0.3744, 0.2539, 0.3599, 0.1224] state[eef_state]: left_x=0.2859 left_y=0.0007 left_z=0.167 left_yaw=0.1272 left_pitch=-0.2464 left_roll=0.1553 left_gripper=0.9979 right_x=0.4213 right_y=0.1882 right_z=0.0223 right_yaw=0.048 right_pitch=-0.455 right_roll=-0.0554 right_gripper=0.1224 state[joint_eff]: [-0.0205, -2.1538, 6.8034, 1.4286, -0.1734, -0.0611, -0.0171, -0.9094, -9.1419, 5.6547, 1.2332, 0.359, 0.2222, 1.9414] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.18,"right_z":0.13,"right_gripper":0.0},"note":"The right gripper stopped at a non-empty opening on the yellow object, though near its tapered end. I’ll lift it straight up and use the overhead view to confirm it comes off the table before transporting it."})
tool
executing move_to over 7 steps (0.7s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteThe yellow object lifted off its original spot and remains suspended at the gripper, confirming the grasp. I’ll carry it high over the left side of the safe interior, offset from the white plush already inside.
move_to
right_x0.4100right_y0.3800right_z0.2000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1959, 0.989, 0.8162, -0.7048, -0.3035, -0.1356, 0.9979, 0.4938, 1.9232, 1.486, -0.7746, 0.2317, 0.3325, 0.0668] state[eef_state]: left_x=0.2848 left_y=0.001 left_z=0.1661 left_yaw=0.1276 left_pitch=-0.2526 left_roll=0.1577 left_gripper=0.9979 right_x=0.408 right_y=0.1776 right_z=0.084 right_yaw=0.0411 right_pitch=-0.5682 right_roll=-0.1071 right_gripper=0.0668 state[joint_eff]: [-0.1983, -2.1675, 6.7077, 1.4383, -0.2027, -0.0317, -0.0171, -0.8274, -14.2564, 9.9897, 1.6386, 0.2027, 0.1978, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_y":0.38,"right_z":0.2,"right_gripper":0.0},"note":"The yellow object lifted off its original spot and remains suspended at the gripper, confirming the grasp. I’ll carry it high over the left side of the safe interior, offset from the white plush already inside."})
tool
executing move_to over 17 steps (1.7s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteThe overhead view now reveals the yellow object still on the table, so the first grasp was only on its tapered edge and it slipped during transport. I’ll reopen and return above it for a deeper, more central grasp.
move_to
right_x0.4200right_y0.1800right_z0.1600right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1959, 0.9928, 0.8158, -0.7193, -0.3035, -0.136, 0.9978, 0.8307, 2.5343, 2.7338, -1.6348, 0.3042, 0.627, 0.064] state[eef_state]: left_x=0.2823 left_y=0.0015 left_z=0.1628 left_yaw=0.1294 left_pitch=-0.2703 left_roll=0.1636 left_gripper=0.9978 right_x=0.3717 right_y=0.3338 right_z=0.1338 right_yaw=0.0229 right_pitch=-0.684 right_roll=-0.2116 right_gripper=0.064 state[joint_eff]: [-0.1709, -2.6188, 6.7214, 1.4872, -0.1832, -0.0708, -0.0171, 0.5812, -16.5949, 8.5265, 1.1941, 0.4664, 0.2857, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.18,"right_z":0.16,"right_gripper":1.0},"note":"The overhead view now reveals the yellow object still on the table, so the first grasp was only on its tapered edge and it slipped during transport. I’ll reopen and return above it for a deeper, more central grasp."})
tool
executing move_to over 13 steps (1.3s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteThe prior cross-table motion accidentally pushed the safe lid shut; the white plush should remain inside, so I’ll reopen it after collecting the remaining objects. The yellow object is now visible just right of the jaw column, so I’ll shift slightly right, advance, and lower for a deeper grasp around its middle.
move_to
right_x0.4400right_y0.1700right_z0.0600right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1959, 0.9939, 0.8158, -0.7261, -0.3035, -0.136, 0.9978, 0.5186, 2.059, 1.9297, -1.2201, 0.2871, 0.3134, 0.9958] state[eef_state]: left_x=0.2811 left_y=0.0017 left_z=0.1615 left_yaw=0.1301 left_pitch=-0.2778 left_roll=0.1663 left_gripper=0.9978 right_x=0.4112 right_y=0.1812 right_z=0.1396 right_yaw=-0.0168 right_pitch=-0.6662 right_roll=-0.2529 right_gripper=0.9958 state[joint_eff]: [-0.1846, -2.1265, 6.6803, 1.4383, -0.1832, -0.0415, -0.0073, -0.3487, -13.8188, 6.3111, 0.9841, 0.0952, 0.022, -0.0024] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.17,"right_z":0.06,"right_gripper":1.0},"note":"The prior cross-table motion accidentally pushed the safe lid shut; the white plush should remain inside, so I’ll reopen it after collecting the remaining objects. The yellow object is now visible just right of the jaw column, so I’ll shift slightly right, advance, and lower for a deeper grasp around its middle."})
tool
executing move_to over 6 steps (0.6s)
step 188
top_cam
camera top_cam step 188
left_cam
camera left_cam step 188
right_cam
camera right_cam step 188
assistant
agent noteThe yellow object is now large and centered between the open fingertips, with its middle aligned to the grasp point. I’ll descend the final few centimeters before closing.
move_to
right_x0.4400right_y0.1700right_z0.0200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1959, 0.9985, 0.8158, -0.7414, -0.3035, -0.136, 0.9979, 0.4805, 2.0789, 1.6581, -0.9154, 0.2985, 0.2649, 0.9989] state[eef_state]: left_x=0.2784 left_y=0.0022 left_z=0.1581 left_yaw=0.132 left_pitch=-0.2966 left_roll=0.1729 left_gripper=0.9979 right_x=0.4232 right_y=0.166 right_z=0.0651 right_yaw=-0.0272 right_pitch=-0.656 right_roll=-0.2771 right_gripper=0.9989 state[joint_eff]: [-0.1026, -2.4137, 6.6393, 1.5018, -0.2076, -0.0562, -0.0122, -0.4171, -9.9624, 6.0923, 1.0623, 0.2466, -0.0122, -0.1245] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.17,"right_z":0.02,"right_gripper":1.0},"note":"The yellow object is now large and centered between the open fingertips, with its middle aligned to the grasp point. I’ll descend the final few centimeters before closing."})
tool
executing move_to over 3 steps (0.3s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteAt grasp height the lemon-shaped object is about 1 cm right of the jaw center, enough to risk slipping from its rounded sides. I’ll make a small rightward correction before closing.
move_to
right_x0.4400right_y0.1600right_z0.0200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1959, 0.9993, 0.8158, -0.7448, -0.3035, -0.1356, 0.9978, 0.4828, 2.1281, 1.5646, -0.7719, 0.3107, 0.2615, 0.9989] state[eef_state]: left_x=0.2778 left_y=0.0023 left_z=0.1574 left_yaw=0.1322 left_pitch=-0.3006 left_roll=0.1746 left_gripper=0.9978 right_x=0.4257 right_y=0.1662 right_z=0.0244 right_yaw=-0.0331 right_pitch=-0.6501 right_roll=-0.2911 right_gripper=0.9989 state[joint_eff]: [-0.1573, -2.3043, 6.6393, 1.37, -0.1783, -0.022, -0.0171, -0.2256, -10.6735, 6.4889, 0.9597, 0.3101, -0.0415, -0.1245] camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.16,"right_z":0.02,"right_gripper":1.0},"note":"At grasp height the lemon-shaped object is about 1 cm right of the jaw center, enough to risk slipping from its rounded sides. I’ll make a small rightward correction before closing."})
tool
executing move_to over 2 steps (0.2s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteThe last correction was distorted by the arm’s reach limit and moved the object farther right in the image. I’ll reduce radial reach slightly while commanding the lateral correction again so the controller can track it cleanly.
move_to
right_x0.4300right_y0.1500right_z0.0200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1959, 0.9997, 0.8158, -0.749, -0.3035, -0.136, 0.9978, 0.4828, 2.1509, 1.5581, -0.7258, 0.3099, 0.2504, 0.9989] state[eef_state]: left_x=0.2771 left_y=0.0025 left_z=0.1567 left_yaw=0.1328 left_pitch=-0.3049 left_roll=0.1759 left_gripper=0.9978 right_x=0.4315 right_y=0.1694 right_z=0.0151 right_yaw=-0.019 right_pitch=-0.6375 right_roll=-0.2849 right_gripper=0.9989 state[joint_eff]: [-0.1299, -2.359, 6.6393, 1.3553, -0.1734, -0.022, -0.0073, -0.4991, -11.6718, 6.4068, 0.9939, 0.2369, 0.0464, -0.1197] camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.15,"right_z":0.02,"right_gripper":1.0},"note":"The last correction was distorted by the arm’s reach limit and moved the object farther right in the image. I’ll reduce radial reach slightly while commanding the lateral correction again so the controller can track it cleanly."})
tool
executing move_to over 2 steps (0.2s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteThe arm is in table contact and no longer tracks lateral nudges, but the yellow object is still well between both jaws with substantial overlap. I’ll close only to a moderate width first, enough to clamp its broad middle without forcing it sideways.
move_to
right_gripper0.4500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1967, 1.0004, 0.8158, -0.7498, -0.3035, -0.136, 0.9979, 0.4831, 2.1509, 1.5581, -0.7231, 0.3099, 0.2501, 0.9989] state[eef_state]: left_x=0.2769 left_y=0.0023 left_z=0.1564 left_yaw=0.1322 left_pitch=-0.3064 left_roll=0.1764 left_gripper=0.9979 right_x=0.432 right_y=0.1698 right_z=0.0152 right_yaw=-0.0174 right_pitch=-0.6352 right_roll=-0.2835 right_gripper=0.9989 state[joint_eff]: [-0.0752, -2.4, 6.7897, 1.3065, -0.1783, -0.0562, -0.0073, -0.3761, -11.7265, 6.5436, 0.9792, 0.2515, 0.0317, -0.1245] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.45},"note":"The arm is in table contact and no longer tracks lateral nudges, but the yellow object is still well between both jaws with substantial overlap. I’ll close only to a moderate width first, enough to clamp its broad middle without forcing it sideways."})
tool
executing move_to over 6 steps (0.6s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
right_cam
camera right_cam step 201
assistant
agent noteAt moderate closure the lemon sits to the right of the jaw center, so closing farther would likely eject it. I’ll lift a few centimeters to remove table contact while holding this width, then reassess and recenter rather than squeezing harder.
move_to
right_x0.4300right_y0.1700right_z0.0700right_gripper0.4500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1967, 1.0004, 0.8158, -0.7498, -0.3035, -0.1356, 0.9978, 0.4831, 2.1509, 1.5581, -0.7223, 0.3103, 0.2504, 0.4543] state[eef_state]: left_x=0.2769 left_y=0.0023 left_z=0.1564 left_yaw=0.132 left_pitch=-0.3064 left_roll=0.1767 left_gripper=0.9978 right_x=0.4321 right_y=0.1698 right_z=0.0153 right_yaw=-0.0177 right_pitch=-0.6343 right_roll=-0.2833 right_gripper=0.4543 state[joint_eff]: [0.0068, -2.1538, 6.6256, 1.2967, -0.2173, -0.0366, -0.0171, -0.4855, -11.7402, 6.4752, 0.9646, 0.315, 0.0513, 0.0757] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.17,"right_z":0.07,"right_gripper":0.45},"note":"At moderate closure the lemon sits to the right of the jaw center, so closing farther would likely eject it. I’ll lift a few centimeters to remove table contact while holding this width, then reassess and recenter rather than squeezing harder."})
tool
executing move_to over 4 steps (0.4s)
step 205
top_cam
camera top_cam step 205
left_cam
camera left_cam step 205
right_cam
camera right_cam step 205
assistant
agent noteThe partial lift confirms the lemon is still on the table and the gripper is offset left of it. Now that the fingertips are off the table, I’ll reopen slightly and shift the gripper about 3 cm to the arm’s right to center the object.
move_to
right_x0.4300right_y0.1400right_z0.0800right_gripper0.7000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1967, 1.0004, 0.8158, -0.7502, -0.3035, -0.136, 0.9978, 0.4904, 2.117, 1.5955, -0.8211, 0.3119, 0.2497, 0.451] state[eef_state]: left_x=0.2769 left_y=0.0023 left_z=0.1564 left_yaw=0.1323 left_pitch=-0.3067 left_roll=0.1766 left_gripper=0.9978 right_x=0.4236 right_y=0.1688 right_z=0.0357 right_yaw=-0.0213 right_pitch=-0.6577 right_roll=-0.3019 right_gripper=0.451 state[joint_eff]: [-0.0342, -2.2085, 6.6667, 1.2918, -0.1783, -0.0562, -0.0073, 0.2803, -15.0769, 8.4034, 0.8181, 0.3199, 0.0122, 0.0952] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.14,"right_z":0.08,"right_gripper":0.7},"note":"The partial lift confirms the lemon is still on the table and the gripper is offset left of it. Now that the fingertips are off the table, I’ll reopen slightly and shift the gripper about 3 cm to the arm’s right to center the object."})
tool
executing move_to over 3 steps (0.3s)
step 208
assistant
agent noteThe lemon is now precisely centered between the open jaws after the rightward correction. I’ll advance slightly and descend to place the broad middle at grasp height while keeping that alignment.
move_to
right_x0.4400right_y0.1400right_z0.0200right_gripper0.7000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1967, 1.0004, 0.8158, -0.7517, -0.3035, -0.1356, 0.9979, 0.4492, 2.0567, 1.5684, -0.8574, 0.3164, 0.205, 0.6956] state[eef_state]: left_x=0.2766 left_y=0.0024 left_z=0.1561 left_yaw=0.1322 left_pitch=-0.3082 left_roll=0.1773 left_gripper=0.9979 right_x=0.4194 right_y=0.1451 right_z=0.0517 right_yaw=-0.0381 right_pitch=-0.6658 right_roll=-0.3277 right_gripper=0.6956 state[joint_eff]: [-0.0615, -2.3726, 6.9675, 1.3358, -0.2173, -0.0366, -0.0122, -0.4034, -14.735, 7.4735, 0.8913, 0.2222, -0.0415, -0.0611] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.14,"right_z":0.02,"right_gripper":0.7},"note":"The lemon is now precisely centered between the open jaws after the rightward correction. I’ll advance slightly and descend to place the broad middle at grasp height while keeping that alignment."})
tool
executing move_to over 3 steps (0.3s)
step 211
assistant
agent noteThe low forward command stalled at the arm’s awkward wrist posture, leaving the lemon a few centimeters beyond the fingertips. I’ll pitch the tool forward while extending, which is the stable configuration for reaching farther at table level on this rig.
move_to
right_x0.4500right_y0.1400right_z0.0600right_pitch0.3000right_gripper0.7000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1967, 1.0004, 0.8158, -0.7643, -0.3035, -0.1356, 0.9979, 0.4305, 2.0361, 1.5684, -0.8661, 0.3176, 0.1829, 0.6988] state[eef_state]: left_x=0.2742 left_y=0.0029 left_z=0.1544 left_yaw=0.1335 left_pitch=-0.3201 left_roll=0.1816 left_gripper=0.9979 right_x=0.4213 right_y=0.1367 right_z=0.0599 right_yaw=-0.0389 right_pitch=-0.6587 right_roll=-0.3315 right_gripper=0.6988 state[joint_eff]: [-0.0342, -2.2085, 6.9265, 1.4188, -0.2173, -0.0171, -0.0171, -0.1846, -13.3128, 7.3094, 0.8083, 0.2173, -0.0611, -0.1392] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_y":0.14,"right_z":0.06,"right_pitch":0.3,"right_gripper":0.7},"note":"The low forward command stalled at the arm’s awkward wrist posture, leaving the lemon a few centimeters beyond the fingertips. I’ll pitch the tool forward while extending, which is the stable configuration for reaching farther at table level on this rig."})
tool
executing move_to over 32 steps (3.2s)
step 243
assistant
agent noteWith the forward-pitched wrist, the fingertips now extend around the lemon’s broad middle and appear symmetric on both sides. I’ll close to a moderate 3.8 cm jaw width to clamp it securely without crushing or ejecting it.
move_to
right_gripper0.4000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1967, 1.0042, 0.8158, -0.7685, -0.3035, -0.136, 0.9979, 0.5442, 2.0327, 0.7715, 0.8158, 0.7204, -0.0643, 0.6988] state[eef_state]: left_x=0.2735 left_y=0.003 left_z=0.1528 left_yaw=0.1346 left_pitch=-0.3277 left_roll=0.1841 left_gripper=0.9979 right_x=0.4458 right_y=0.1377 right_z=0.0461 right_yaw=-0.024 right_pitch=0.2189 right_roll=-0.3575 right_gripper=0.6988 state[joint_eff]: [-0.1573, -2.6872, 6.6667, 1.3309, -0.2076, -0.0513, -0.0171, 0.3214, -8.4991, 4.3692, 2.1416, 0.3394, -0.0659, -0.1392] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.4},"note":"With the forward-pitched wrist, the fingertips now extend around the lemon’s broad middle and appear symmetric on both sides. I’ll close to a moderate 3.8 cm jaw width to clamp it securely without crushing or ejecting it."})
tool
executing move_to over 3 steps (0.3s)
step 246
assistant
agent noteAt the moderate width both jaw pads are contacting the lemon symmetrically, but the gripper reached the commanded width without a clear clamp. I’ll tighten further; the object is now centered enough that the jaws should settle against it rather than push it aside.
move_to
right_gripper0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1967, 1.0042, 0.8158, -0.7685, -0.3035, -0.136, 0.9979, 0.5438, 2.0422, 0.7647, 0.831, 0.7177, -0.075, 0.4048] state[eef_state]: left_x=0.2735 left_y=0.003 left_z=0.1528 left_yaw=0.1346 left_pitch=-0.3277 left_roll=0.1841 left_gripper=0.9979 right_x=0.4447 right_y=0.1373 right_z=0.0425 right_yaw=-0.0164 right_pitch=0.2153 right_roll=-0.3673 right_gripper=0.4048 state[joint_eff]: [-0.0615, -2.3726, 6.612, 1.2821, -0.1832, -0.0464, -0.0171, -0.1162, -10.0308, 4.9846, 1.8144, 0.2125, 0.0366, 0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.2},"note":"At the moderate width both jaw pads are contacting the lemon symmetrically, but the gripper reached the commanded width without a clear clamp. I’ll tighten further; the object is now centered enough that the jaws should settle against it rather than push it aside."})
tool
executing move_to over 3 steps (0.3s)
step 249
assistant
agent noteThe lemon rolled to the image-left as the jaws tightened, so the clamp did not take. I’ll reopen, lift slightly, and shift about 3 cm toward it while retaining the forward-pitched reach posture.
move_to
right_x0.4450right_y0.1700right_z0.0800right_pitch0.3000right_gripper0.7000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1967, 1.0042, 0.8158, -0.7689, -0.3035, -0.1356, 0.9979, 0.5438, 2.0422, 0.7643, 0.8024, 0.7177, -0.0788, 0.2036] state[eef_state]: left_x=0.2735 left_y=0.003 left_z=0.1528 left_yaw=0.1345 left_pitch=-0.3281 left_roll=0.1845 left_gripper=0.9979 right_x=0.4424 right_y=0.1359 right_z=0.0371 right_yaw=-0.0112 right_pitch=0.1899 right_roll=-0.3865 right_gripper=0.2036 state[joint_eff]: [0.0068, -2.3726, 6.612, 1.2674, -0.2076, 0.0024, -0.0171, -0.1026, -9.2786, 4.3556, 1.9609, 0.1587, 0.022, 0.0952] camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.17,"right_z":0.08,"right_pitch":0.3,"right_gripper":0.7},"note":"The lemon rolled to the image-left as the jaws tightened, so the clamp did not take. I’ll reopen, lift slightly, and shift about 3 cm toward it while retaining the forward-pitched reach posture."})
tool
executing move_to over 5 steps (0.5s)
step 254
assistant
agent noteThe lemon is now centered cleanly between the reopened jaws. I’ll lower just enough to put the pads around its widest section before making one firm close.
move_to
right_x0.4450right_y0.1700right_z0.0250right_pitch0.3000right_gripper0.7000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1967, 1.0042, 0.8158, -0.7719, -0.3035, -0.136, 0.9978, 0.6292, 2.0388, 0.8059, 0.7807, 0.7868, -0.1028, 0.6943] state[eef_state]: left_x=0.2729 left_y=0.0031 left_z=0.1524 left_yaw=0.135 left_pitch=-0.3309 left_roll=0.1853 left_gripper=0.9978 right_x=0.4372 right_y=0.168 right_z=0.0514 right_yaw=0.0277 right_pitch=0.2211 right_roll=-0.4225 right_gripper=0.6943 state[joint_eff]: [-0.0889, -2.3453, 6.6393, 1.326, -0.1587, -0.0366, -0.0171, 0.0615, -11.6718, 6.6256, 1.9853, 0.3687, -0.0415, 0.0464] approver: 4 step(s) modified (delta_clamped ×4). 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_x":0.445,"right_y":0.17,"right_z":0.025,"right_pitch":0.3,"right_gripper":0.7},"note":"The lemon is now centered cleanly between the reopened jaws. I’ll lower just enough to put the pads around its widest section before making one firm close."})
tool
executing move_to over 3 steps (0.3s)
step 257
assistant
agent noteAt the low pose the lemon’s widest section is centered symmetrically between the pads. I’ll close firmly now; the mechanical stop on the object will preserve its actual width if the grasp is secure.
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]: [-0.1967, 1.0058, 0.8158, -0.7742, -0.3035, -0.136, 0.9978, 0.6308, 2.186, 0.8127, 0.9737, 0.799, -0.1307, 0.6987] state[eef_state]: left_x=0.2725 left_y=0.0032 left_z=0.1517 left_yaw=0.1354 left_pitch=-0.3345 left_roll=0.1866 left_gripper=0.9978 right_x=0.442 right_y=0.1705 right_z=0.0241 right_yaw=0.0262 right_pitch=0.2611 right_roll=-0.4227 right_gripper=0.6987 state[joint_eff]: [-0.1709, -2.3863, 6.8855, 1.2918, -0.188, -0.0611, -0.0073, -0.5538, -9.5248, 3.9453, 0.3687, -0.0269, -0.3492, -0.1392] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At the low pose the lemon’s widest section is centered symmetrically between the pads. I’ll close firmly now; the mechanical stop on the object will preserve its actual width if the grasp is secure."})
tool
executing move_to over 7 steps (0.7s)
step 264
assistant
agent noteThe widthwise close again pushed the rounded lemon forward and ended empty. I’ll reopen, lift, and rotate the jaws 90° so they can capture the lemon end-to-end along its longer tapered axis, which should prevent sideways rolling.
move_to
right_x0.4500right_y0.1700right_z0.0900right_yaw1.5700right_pitch0.3000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1967, 1.0061, 0.8158, -0.7841, -0.3035, -0.136, 0.9978, 0.6312, 2.199, 0.8127, 0.9791, 0.7963, -0.1379, 0.0146] state[eef_state]: left_x=0.2706 left_y=0.0036 left_z=0.1502 left_yaw=0.1366 left_pitch=-0.3443 left_roll=0.1902 left_gripper=0.9978 right_x=0.4414 right_y=0.1707 right_z=0.0193 right_yaw=0.0337 right_pitch=0.2525 right_roll=-0.4333 right_gripper=0.0146 state[joint_eff]: [-0.0205, -2.3726, 6.5846, 1.3993, -0.1538, -0.0562, -0.0073, -0.0479, -10.9607, 3.7812, 1.6239, 0.1832, 0.0366, 0.9646] approver: 7 step(s) modified (delta_clamped ×7). 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_x":0.45,"right_y":0.17,"right_z":0.09,"right_yaw":1.57,"right_pitch":0.3,"right_gripper":1.0},"note":"The widthwise close again pushed the rounded lemon forward and ended empty. I’ll reopen, lift, and rotate the jaws 90° so they can capture the lemon end-to-end along its longer tapered axis, which should prevent sideways rolling."})
tool
executing move_to over 10 steps (1.0s)
step 274
assistant
agent noteAfter the 90° rotation the gripper overshot outward, and the lemon appears to the tool’s left, consistent with being several centimeters closer to the base. I’ll move inward and descend so the rotated jaws straddle its two tapered ends.
move_to
right_x0.4600right_y0.1700right_z0.0400right_yaw1.5700right_pitch0.3000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1967, 1.0084, 0.8158, -0.7956, -0.3035, -0.136, 0.9979, 0.0048, 2.1094, 1.1568, 0.5247, -0.952, -0.9302, 0.9947] state[eef_state]: left_x=0.2685 left_y=0.004 left_z=0.1482 left_yaw=0.1383 left_pitch=-0.3572 left_roll=0.195 left_gripper=0.9979 right_x=0.5028 right_y=0.1499 right_z=0.1024 right_yaw=1.3134 right_pitch=0.2523 right_roll=-0.576 right_gripper=0.9947 state[joint_eff]: [-0.1299, -2.3316, 6.694, 1.4139, -0.1929, -0.0171, -0.0122, -0.1709, -10.5231, 4.7111, 1.4579, -0.6667, -0.1538, -0.2222] 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_x":0.46,"right_y":0.17,"right_z":0.04,"right_yaw":1.57,"right_pitch":0.3,"right_gripper":1.0},"note":"After the 90° rotation the gripper overshot outward, and the lemon appears to the tool’s left, consistent with being several centimeters closer to the base. I’ll move inward and descend so the rotated jaws straddle its two tapered ends."})
tool
executing move_to over 5 steps (0.5s)
step 279
assistant
agent noteThe rotated jaws are now low and symmetric around the lemon, with the object centered between their pads. I’ll close firmly in this end-to-end orientation.
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]: [-0.1967, 1.0107, 0.8158, -0.8017, -0.3035, -0.136, 0.9979, -0.001, 2.2662, 1.1275, 0.5377, -1.1507, -1.0649, 0.9989] state[eef_state]: left_x=0.2673 left_y=0.0042 left_z=0.1468 left_yaw=0.1393 left_pitch=-0.3652 left_roll=0.1979 left_gripper=0.9979 right_x=0.4637 right_y=0.1644 right_z=0.0371 right_yaw=1.4967 right_pitch=0.2818 right_roll=-0.5126 right_gripper=0.9989 state[joint_eff]: [-0.1709, -2.441, 6.5983, 1.3358, -0.2222, -0.0366, -0.0171, 0.335, -10.5915, 5.5863, 1.7705, -0.3687, -0.4908, -0.1245] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The rotated jaws are now low and symmetric around the lemon, with the object centered between their pads. I’ll close firmly in this end-to-end orientation."})
tool
executing move_to over 10 steps (1.0s)
step 289
assistant
agent noteThe rotated close also ended empty; the smooth lemon is being pushed rather than pinched. I’ll park the right arm and bring the left gripper to the black front handle of the accidentally closed safe so I can reopen it, then the remaining objects can be guided into the compartment.
move_to
left_x0.3500left_y-0.2200left_z0.0600left_yaw0.0000left_pitch0.0000left_gripper1.0000right_x0.3000right_y0.0000right_z0.1800right_yaw0.0000right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1967, 1.0107, 0.8158, -0.8097, -0.3035, -0.1356, 0.9978, 0.0006, 2.2707, 1.1336, 0.5812, -1.2057, -1.1072, 0.0151] state[eef_state]: left_x=0.2658 left_y=0.0045 left_z=0.1458 left_yaw=0.1401 left_pitch=-0.3728 left_roll=0.201 left_gripper=0.9978 right_x=0.4606 right_y=0.1689 right_z=0.0467 right_yaw=1.5782 right_pitch=0.301 right_roll=-0.5998 right_gripper=0.0151 state[joint_eff]: [-0.1709, -2.3726, 6.5436, 1.2772, -0.1929, -0.0562, -0.0171, 0.0889, -10.1812, 4.9983, 1.3602, -0.2906, 0.0171, 0.7888] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.22,"left_z":0.06,"left_yaw":0.0,"left_pitch":0.0,"left_gripper":1.0,"right_x":0.3,"right_y":0.0,"right_z":0.18,"right_yaw":0.0,"right_pitch":0.0,"right_gripper":1.0},"note":"The rotated close also ended empty; the smooth lemon is being pushed rather than pinched. I’ll park the right arm and bring the left gripper to the black front handle of the accidentally closed safe so I can reopen it, then the remaining objects can be guided into the compartment."})
tool
executing move_to over 20 steps (2.0s)
step 309
assistant
agent noteThe left wrist is directly against the safe’s near front edge, with the black handle/edge between the open fingers. I’ll close the gripper around it so the lid can be lifted.
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]: [-0.8707, 1.7439, 0.8249, -0.0128, -0.8356, -0.487, 0.9985, 0.3122, 0.8917, 0.5293, -0.1871, 0.4698, -0.4259, 0.9971] state[eef_state]: left_x=0.3441 left_y=-0.1995 left_z=0.0625 left_yaw=0.0305 left_pitch=-0.0101 left_roll=0.2643 left_gripper=0.9985 right_x=0.3078 right_y=0.0191 right_z=0.168 right_yaw=0.1351 right_pitch=-0.0129 right_roll=-0.6042 right_gripper=0.9971 state[joint_eff]: [-0.6359, -6.3521, 6.8855, 1.2527, 0.3883, -0.0952, -0.1734, 0.1573, -2.5368, 9.1829, 1.917, 0.2662, 0.1783, -0.0122] camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The left wrist is directly against the safe’s near front edge, with the black handle/edge between the open fingers. I’ll close the gripper around it so the lid can be lifted."})
tool
executing move_to over 10 steps (1.0s)
step 319
assistant
agent noteThe handle is too thin to register as a jaw-width grasp, but a fingertip is hooked beneath the protruding front lip. I’ll raise the gripper in place to lever the hinged lid open from underneath.
move_to
left_x0.3500left_y-0.2000left_z0.2200left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8757, 1.737, 0.833, 0.0231, -0.8749, -0.4847, 0.0102, 0.313, 0.8963, 0.5327, -0.2295, 0.4732, -0.4297, 0.9987] state[eef_state]: left_x=0.3496 left_y=-0.202 left_z=0.0757 left_yaw=0.0489 left_pitch=0.0451 left_roll=0.245 left_gripper=0.0102 right_x=0.3035 right_y=0.0174 right_z=0.1603 right_yaw=0.1344 right_pitch=-0.0566 right_roll=-0.6169 right_gripper=0.9987 state[joint_eff]: [0.5538, -7.3504, 4.9573, 1.1551, -0.4029, -0.0855, 0.7985, -0.2803, -2.0171, 6.7077, 2.0391, 0.0659, -0.022, 0.1538] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 319): [image omitted: streamed camera frame] camera 'left_cam' (step 319): [image omitted: streamed camera frame] camera 'right_cam' (step 319): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.2,"left_z":0.22,"left_gripper":0.0},"note":"The handle is too thin to register as a jaw-width grasp, but a fingertip is hooked beneath the protruding front lip. I’ll raise the gripper in place to lever the hinged lid open from underneath."})
tool
executing move_to over 10 steps (1.0s)
step 329
assistant
agent noteThe vertical lift tilted the safe but did not yet swing the lid, suggesting the hook is bearing on the front lip while the hinge resists straight upward motion. I’ll pull the hooked lip toward the base while keeping it raised, following the lid’s opening arc.
move_to
left_x0.2500left_y-0.2000left_z0.2500left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8757, 1.5616, 1.182, -0.5255, -0.8612, -0.4953, 0.008, 0.313, 0.8993, 0.5308, -0.2531, 0.4736, -0.4301, 0.9988] state[eef_state]: left_x=0.3502 left_y=-0.2051 left_z=0.1954 left_yaw=0.0456 left_pitch=0.0235 left_roll=0.2486 left_gripper=0.008 right_x=0.3004 right_y=0.0163 right_z=0.1542 right_yaw=0.1339 right_pitch=-0.0848 right_roll=-0.6225 right_gripper=0.9988 state[joint_eff]: [0.4444, -9.4017, 8.9231, 1.2186, -0.5006, 0.1197, 0.8278, -0.2256, -2.1402, 7.1453, 1.8486, 0.0952, -0.0366, 0.0024] camera 'top_cam' (step 329): [image omitted: streamed camera frame] camera 'left_cam' (step 329): [image omitted: streamed camera frame] camera 'right_cam' (step 329): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_y":-0.2,"left_z":0.25,"left_gripper":0.0},"note":"The vertical lift tilted the safe but did not yet swing the lid, suggesting the hook is bearing on the front lip while the hinge resists straight upward motion. I’ll pull the hooked lip toward the base while keeping it raised, following the lid’s opening arc."})
tool
executing move_to over 8 steps (0.8s)
step 337
assistant
agent noteI could place the white plush inside, but the safe was accidentally pushed shut during transport. The smooth yellow object repeatedly rolled or slipped from the parallel jaws, and attempts to lift the safe’s thin black front handle moved/tilted the whole safe rather than reopening its lid. With the yellow and brown objects still outside, I cannot honestly declare the goal complete within the remaining control budget.
give_up
hindsightFor this rig, the safe interior is around left-frame (x≈0.41, y≈-0.29) / right-frame (x≈0.41, y≈0.36). Keep transport paths high and away from the raised lid because a cross-table arm motion can knock it shut. The yellow lemon-shaped object needs a forward-pitched wrist (about +0.3 rad) to reach it near x≈0.44, but it rolls out of ordinary widthwise closes; use a deliberately stabilized grasp or containment strategy from the outset. The safe’s black front handle/lip is too thin for a normal parallel-jaw grasp, and hooking then lifting/pulling it can shift the entire lightweight safe rather than open the lid.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1542, 1.4467, 1.2823, -1.042, -0.963, -0.8497, 0.008, 0.313, 0.9024, 0.5308, -0.2749, 0.4736, -0.4305, 0.9988] state[eef_state]: left_x=0.2572 left_y=-0.2139 left_z=0.2335 left_yaw=0.0048 left_pitch=-0.0028 left_roll=0.2558 left_gripper=0.008 right_x=0.2977 right_y=0.0154 right_z=0.1494 right_yaw=0.1336 right_pitch=-0.1094 right_roll=-0.6272 right_gripper=0.9988 state[joint_eff]: [-0.1709, -7.3778, 8.4855, 0.7937, -0.6422, -0.0757, 0.823, -0.1846, -1.6342, 7.1179, 1.8926, 0.0904, -0.0464, -0.0122] camera 'top_cam' (step 337): [image omitted: streamed camera frame] camera 'left_cam' (step 337): [image omitted: streamed camera frame] camera 'right_cam' (step 337): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could place the white plush inside, but the safe was accidentally pushed shut during transport. The smooth yellow object repeatedly rolled or slipped from the parallel jaws, and attempts to lift the safe’s thin black front handle moved/tilted the whole safe rather than reopening its lid. With the yellow and brown objects still outside, I cannot honestly declare the goal complete within the remaining control budget.","hindsight":"For this rig, the safe interior is around left-frame (x≈0.41, y≈-0.29) / right-frame (x≈0.41, y≈0.36). Keep transport paths high and away from the raised lid because a cross-table arm motion can knock it shut. The yellow lemon-shaped object needs a forward-pitched wrist (about +0.3 rad) to reach it near x≈0.44, but it rolls out of ordinary widthwise closes; use a deliberately stabilized grasp or containment strategy from the outset. The safe’s black front handle/lip is too thin for a normal parallel-jaw grasp, and hooking then lifting/pulling it can shift the entire lightweight safe rather than open the lid."})
tool
give_up: I could place the white plush inside, but the safe was accidentally pushed shut during transport. The smooth yellow object repeatedly rolled or slipped from the parallel jaws, and attempts to lift the safe’s thin black front handle moved/tilted the whole safe rather than reopening its lid. With the yellow and brown objects still outside, I cannot honestly declare the goal complete within the remaining control 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 · 8.785 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Place all the objects into the safe, then close the safe.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6033, -0.3931, -0.0193, -0.0303, 0.9994, -0.0212, 0.7944, 0.6067, -0.3962, -0.0193, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2929 left_y=0.0013 left_z=0.1771 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9994 right_x=0.293 right_y=0.0008 right_z=0.1778 right_yaw=-0.0003 right_pitch=0.0004 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.7179, -1.1966, 10.4274, 2.0586, -0.0562, 0.1148, -0.0757, -0.4034, -1.4291, 9.8393, 1.917, -0.0562, -0.0122, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7c605eb674e92828a61070755d61d8cce8a8f46304f0c9d96ab670847dea75f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cb72c90da6720a3c05263e8abf45694de2b82a9e47f061e6c2457fc83a80a96",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6272b8403e9c26bfd92062122899c39c30a2e59aa662caf34b850176f11bdce2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 1 attempt 0 · /responses · status 200 · 4.439 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_09e31a60ea771337016ab45405baa487d08768244b9cff4297",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFQNZ2iZ2mnL4QQX8pOlnkht04qB8yj5KuID8mcem9GQ8ihMXyRd5We0arwXG2GKTOWjVEs0KXNAxLwL6LtAgrcr6cCnAm6sZsLGnQZSK2bGLIqECRwtawLwcdthcWXcgiifeyBuUtipHaDqVojE1e1bmNqqIxjBoYJhhfO59RQ9sclLMVpkOYBN_k9bcWpznjMEWRcVip066YFRpT3dUQVBXdk4ErrR3OadQdLAzKfKS3YGjccU_faGRfSrxskmKrlGjKh9erKsqDtw0szwoaAort9vr7A6Z53U_p-lj7xnMwl0By4CAYFa67Dfd9aEj_HxoiXubMwLOqpx3GkLP24edSH6dg14WkPGW0u-3Yh6gHisyy6NjkQkMnETr-U3lGEwsI5mdV_MZCbMWlLvuGwyLpE-ySRUrT7iw-1F4cqcP6zhI7FtY0MGOIzCA-pTUkhQ6hyRWy9fWLOO-QDH-xy_YaTBGZljEjAAkEcu1ehaOocEZx7ETlgBVLJx5JViSZAd_olWBVgYAH8AHLDDTrnKsn0MePDzM_vrCv8JERiVgyjo-J6Hkj6wZyQm0k-tDF2081ngSGWE_stFp8Fa8P7aB6lIQkZVeZMzsaZElYXmmPmSm83YbI8bmP0PWWBKzvuYN73f6VPhdhw4dz54gmBLMSC0OKVkQxuocjilVglIdla8sJ_aNQkw2CKGUrCWT0ypy9FswupmdaSdrmw0sYEdRcANLP7YzhawaISF_wMdehm2SEFmrtFjY6DztXNFY6MUXbfEhlBLEicoGrG_SzwNkpJuxo9-f3hCHRAes73LyR8-WNBqk5044hNnA7Qcn_8tr4K_aXsYMRqDGFXj9TzmAJ8W7qVCCRQmHDXrcDFXKfpDXkUvUnjDXFvB2vh4hh9soHfpHySrywV2YdHBrpC8aTrmh5KmVzCcPO1xs8EKEK1yzkVwLaD6aGynAeM1HfvqfqH-mnTshf21sWIu0Q7TrAV6YFH-4PhX5oMOgxFgFUIYxPwaJwY84OnU5zvvAdPHpMgo01-oQ2stFsQE1CrOyT_ftFRzH-QKDtIRCeJNvfiYEU9jG8zt5zckw7TzU9Vn8Lc9-G1uDzO8UxiUadBUDu0hY4kaEKdAHoWGVURVFlmWolY8N1oSy30p6rXKKorIPbJey78ukGoezOS2yXqthvGHMw7ILQR0ronu3VXXRfqT2GW4jDiA2941Dqt7cAMT4eRrezOB4PJrpodj5K5wMRsceKyNTR6BuufI0WwXDXmE1XJC_1Zn905PRHQeFBxbJ2ICx_Mvu0xTQfvOitMhy7jbp3_hY4y7PqgEqSfWsA57qx6BkPFRpon3QfELFJOFqUVgjBJtWa_hmI47lSfeghfJotrPcAYhd497ga8YKwbp3bTyGIz8vzBxhxQYm6baB-llbcX0xEam0UJNZ3TWtAeucQBukAHOxEY__A9dtl_mOhVShHFf65gxFCIQpGAa3kjslersQIqqInMhakbg07NtSKjfC0RrrXFRM-uUYyqENFa29QrN7VjYAqS5D9FcI8JjWSXASUA8pO8ZUUrWX0jUOBwfZRn9xEmkrNEA7wNUkveWaImrXo8Wxv17a7VbRqfbxTyvAsX7EvvdRDGvIkx3jJRTuD6ex-AaanqhsRuCu5aWLC9GWoVzCONF2rm0IneZ-DFRv7w_UP5D3UNa11MGV1paV7fYoURrypaRH8CuqrPoNAdT2vxsrTKi6cApFZLogYGPgmg4onPHqKMHYq7KIHx4dZyVZNK43IhksXuYNeBCNsUETj93CdB83DekCCcjBMBfimMpWvwmlOxLCRJ08ujjyNNRhtyf7GOF4pBweV9I2MaJE5MwOuYfTiAO",
  "id": "rs_09e31a60ea771337016ab4540b29b887d0b35da7aeed5eb500",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.18,\"left_z\":0.15,\"left_gripper\":1.0,\"right_x\":0.293,\"right_y\":0.001,\"right_z\":0.178},\"note\":\"The open safe is near the center, with three loose objects: a white plush to its left, a yellow object to its right, and a larger brown plush below. I’ll first move the left gripper above the white plush while keeping the right arm parked.\"}",
  "call_id": "call_BzR2oF8qZXFiHEyGUS489IK5",
  "id": "fc_09e31a60ea771337016ab4540c746c87d080fa9bc2e9b29163",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BzR2oF8qZXFiHEyGUS489IK5",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9775, 1.2049, 0.7036, -0.4156, -0.7292, -0.6842, 0.9993, -0.0212, 0.7986, 0.6094, -0.4324, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2638 left_y=-0.1743 left_z=0.1334 left_yaw=-0.0353 left_pitch=-0.0519 left_roll=0.0394 left_gripper=0.9993 right_x=0.2885 right_y=0.001 right_z=0.1705 right_yaw=0.0001 right_pitch=-0.0374 right_roll=0.0013 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -4.2325, 8.9915, 1.3797, -0.6129, 0.0122, -0.0855, -0.0205, -1.5385, 6.8718, 2.0635, -0.0269, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19b152859edd984beabf086abf5e255e7a5fe694d1caad6adb5e1fefe330c630",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:278dfbaf00f1f23b745ee10c87b3a196f521c573e96d4b6a5a2b773205979cc0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6f1dd52c7bac4c408f9b1cfa3749bdff49182bd4dd2932b30da7ac0d3f7c551",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 3.171 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6033, -0.3931, -0.0193, -0.0303, 0.9994, -0.0212, 0.7944, 0.6067, -0.3962, -0.0193, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2929 left_y=0.0013 left_z=0.1771 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9994 right_x=0.293 right_y=0.0008 right_z=0.1778 right_yaw=-0.0003 right_pitch=0.0004 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.7179, -1.1966, 10.4274, 2.0586, -0.0562, 0.1148, -0.0757, -0.4034, -1.4291, 9.8393, 1.917, -0.0562, -0.0122, -0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9775, 1.2049, 0.7036, -0.4156, -0.7292, -0.6842, 0.9993, -0.0212, 0.7986, 0.6094, -0.4324, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2638 left_y=-0.1743 left_z=0.1334 left_yaw=-0.0353 left_pitch=-0.0519 left_roll=0.0394 left_gripper=0.9993 right_x=0.2885 right_y=0.001 right_z=0.1705 right_yaw=0.0001 right_pitch=-0.0374 right_roll=0.0013 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -4.2325, 8.9915, 1.3797, -0.6129, 0.0122, -0.0855, -0.0205, -1.5385, 6.8718, 2.0635, -0.0269, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19b152859edd984beabf086abf5e255e7a5fe694d1caad6adb5e1fefe330c630",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:278dfbaf00f1f23b745ee10c87b3a196f521c573e96d4b6a5a2b773205979cc0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6f1dd52c7bac4c408f9b1cfa3749bdff49182bd4dd2932b30da7ac0d3f7c551",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFQTKuGrDgb2VbVfO8Gbawae64e1-8EXcOQXr9xPZCNsQAzr71et1cFitR3L40LOIUpHLfGnL6SlLsGX283fGJGUdu-mPrSAvHZRZbR9E9iqkkJhHMsU2sy-uPdGNEqq6x28S6z3vaEl850QkcJ01xppXaM1QDaPHq8y7cJQ4DERu1fDO5wr7M-w6xv_Xc50fvHiu1d1d0r9HsLXEQ7xge7sxjAlt0GT4K9JHDVoyiX1WXtqfU2Zit9UqA9NRQLzxvuf0i2aSCHZYUT2tQEneIZqNXyO87ZMoeGxg0cwm_LTrr4kAl4j_YRCcAIuwpZHouIWoVAjhE3EKhu6YwxiNe1H1ybey-P4mHBMdeg486MxvICAGnwUhl3AZAbDm6EqdMF0farQo-G2fXTPQC43t1ppCfbA4hL4pfEghpudVlEo9G5xhQlKTlNSSfD2s62nOd9q31gNa1nKq3jFEYiW2e2Tn39jgtTEfQwi_2-iub2_T_CQdJ5L2NY7aGnx-9ywPqcK7p1F7fhLm0j9QmL82fF86vlqEz1ZyYPo6HEQjwe77Hx-h_3cjQjFzmIK1yqNAVWfkd5ijO6Ed7xPxMTp0D1aEyq3UFv52457wbN5yffTU6B1IG6585HZqugiau2LjIktcnb3AF-HjOaqk51PErH5HclligCkfhCm03h9i8Mk1BG0KIO-AzghuztwZHvUJVgubTAddkjwuJSnOowettCTnX0kdT7lQ_Gu99PghNdY3-ElSkS-X3smfpVAupSY_rmX5iPl1vLy_ryE6H7Hg-NuhRytgmaT6Twx5G7Lk0KtbkKDQYsf1L313HHIxaiwpCFHf4iwluEHbVYJMhVAGDbnoEErB-2i9VyhxiqvpiErZ84LoQG6wyAx-_rW7YCUtfnI_E2nlTbjQGkcQlLeKpayR4rw0TEREcfqVKrJXFe0KAryHx8TlaU1Q-rwgMrhTV5njGZQkJUqjlKnpllz1pUcaqljI1ia8E4qH1kvX_AVqIKEvzybZeIEDDeb9VxUtvJt5IsPmFEd-TnLtH_31pVbzB4OGZz48G1scKCh-527pdxMpWvucHfSglRtw2bAVq_XjGxitQiw9FOK-m0NVkcnnkALl2dlX36yReAeQwF1gDDMZeNGHd4PmPjnhbmDCW42BPtiecR4DlrJZefl-PvYKUiAOsbmU1JVQSNDH2QNM0iNDuG2IuBgIys3SdcTgg88q4OmorIOPUrd7RDFXClZVij2Jqp4gdFvECO2o6rnbfL5vNxZqO96L1WdG9MASUpnJx7fcBSOg8PgjBpn6uo9JY-9v4Rz6Y1y95kTDhgQj8dDOLwuXayyvAS6Hx_-6-tYl1N70LIbRTEW4lWEJjuI8CbRKTmu3_FLS-VJ9Sco0pCrl22NEZsd5wO2ZQJAOYSdc9xsRTbo7uXA1JqwN4mNZqWKiXfQrxQV1lsuwTytM-neUtA65xvjgwXAK0FPP7Mg0CQ_sm-p_nT3NvnniH3iJIeKRbaEx9jKHfLmzfc4ny5SY1FMXCT39zSez4j3-I_sud8rCLaXyBMJBo15t3Kj92m0EL0ebTCkjTumLMjHSbpJFOKDwVb8CBYEUpO9QrkrJujcDAt1O_t3H9mEEhnIeK-ssjuHb3UzcsHNo06fGcgWonnejc3pE_irqrEO1dRGzbuglhDQGbfKYdLUqr-vpAQjfxa7LRp18uxROrIxWuUZay_z6GDjZnZ-yE6xdGIUBeCzSND5UuvFTy6BvBHfAiwS0ffbLXO7f13HO8gGFwoDYLBTqBc2zGTLoflnoFTNfHn-dws5LxcSRK2ywrOf9Yf-d5OIxM561wINu9qWikVDHQkpdYP43ndeqIWX22lH2-6k4NSvhxxEZVIimKWoY1AMfXmLqt--ZU5bTTIXo9qk3NpDOJtky7Zi2KjeCOlD4-_Fdv-LHqvqQWRuW2vIZuuUdv4S8PN91AvsI6vnW-w8FicOCkml93HXBZY_AjrhECiSPiScRfClO4R_bTCOhWz2V6T77MFfI3Po-5Hv6dznkTOL5yhgf_LQnXzd6mBk9wU01ybSlTfp9bzIcVEpJ3k7Jrs7T3IEvkE5lxuj6Dc5_mw2oJr36WzmeMCruObi2lhxRgOLPYL8fsB9RZmi_70mCbyZp6sNBF2Qd4IS-b6NyBYGC_Bvyc8kIfVPAOWtfPYhVfJtDgQ6pSO9aq5R1rk1y48lMN3Iipy1RGyTT0De248HLSI1ndPN9PnzvW0hMgxwAle5vRflnoRdg7XxkE2rNR_4kIAAGcMREbl3A8g=",
  "id": "rs_09e31a60ea771337016ab454103ffc87d0b429329175d748b1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.275,\"left_y\":-0.15,\"left_z\":0.1,\"left_gripper\":1.0},\"note\":\"The left wrist view now clearly shows the white plush just left of the jaw centerline, with the safe close beyond it. I’ll shift slightly left in the arm frame and a little forward while lowering partway to center the plush between the jaws.\"}",
  "call_id": "call_KTdMzZQNNzk3GrDDL4DqgaUD",
  "id": "fc_09e31a60ea771337016ab454129a3487d09b85a28fba7d8e74",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KTdMzZQNNzk3GrDDL4DqgaUD",
  "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]: [-0.8742, 1.1976, 0.561, -0.2882, -0.6922, -0.6289, 0.9993, -0.0212, 0.8005, 0.6075, -0.45, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2692 left_y=-0.1405 left_z=0.096 left_yaw=0.0145 left_pitch=-0.082 left_roll=0.072 left_gripper=0.9993 right_x=0.2858 right_y=0.001 right_z=0.1656 right_yaw=-0.0002 right_pitch=-0.0587 right_roll=0.0016 right_gripper=0.9995\nstate[joint_eff]: [-0.7316, -3.959, 7.4598, 2.0098, -0.2271, 0.1148, -0.0855, -0.0752, -1.347, 7.159, 1.9853, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:566a6a4c278000bf8e71762d95c7071ae71d9986c49d694bec128e1a7db1cb60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8fc0dbfcba2843a506dc9d706df20923641c72f5ba1dfdd1be59fe4ad426954",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87cc2bb6dd9fb828e2f8d1a6d199031e40226d6622513354c46e7a5e555e0503",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 3.55 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9775, 1.2049, 0.7036, -0.4156, -0.7292, -0.6842, 0.9993, -0.0212, 0.7986, 0.6094, -0.4324, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2638 left_y=-0.1743 left_z=0.1334 left_yaw=-0.0353 left_pitch=-0.0519 left_roll=0.0394 left_gripper=0.9993 right_x=0.2885 right_y=0.001 right_z=0.1705 right_yaw=0.0001 right_pitch=-0.0374 right_roll=0.0013 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -4.2325, 8.9915, 1.3797, -0.6129, 0.0122, -0.0855, -0.0205, -1.5385, 6.8718, 2.0635, -0.0269, -0.0366, -0.0171]",
      "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]: [-0.8742, 1.1976, 0.561, -0.2882, -0.6922, -0.6289, 0.9993, -0.0212, 0.8005, 0.6075, -0.45, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2692 left_y=-0.1405 left_z=0.096 left_yaw=0.0145 left_pitch=-0.082 left_roll=0.072 left_gripper=0.9993 right_x=0.2858 right_y=0.001 right_z=0.1656 right_yaw=-0.0002 right_pitch=-0.0587 right_roll=0.0016 right_gripper=0.9995\nstate[joint_eff]: [-0.7316, -3.959, 7.4598, 2.0098, -0.2271, 0.1148, -0.0855, -0.0752, -1.347, 7.159, 1.9853, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:566a6a4c278000bf8e71762d95c7071ae71d9986c49d694bec128e1a7db1cb60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8fc0dbfcba2843a506dc9d706df20923641c72f5ba1dfdd1be59fe4ad426954",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87cc2bb6dd9fb828e2f8d1a6d199031e40226d6622513354c46e7a5e555e0503",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFQWEwywS7DP8IES4jRRHZHWO6ml530VA4Zn76Bvt8TfAZJaUgjUR15hgpMgJWxaeV6hBkLtN3Jdc6EZapNAUrgU9YmC-bhhk0_NzrnqzmrU6n3bYOx1JqNAp4fl37bKEF7l-oCOZZxHiM-rXzvdbdPaQx4xZakjYuHfjoavmfjTREsMsoFA8f95HpOTtggVOuiqBI9NtUxCxwI1oDuEX1htcwB5ygNKDDLyDPCb6s66rQtq_NqdrLLuh34x2NCEPhSR5aJHBDhCOammcfsvXzwUI61aVVqOrHU1XY5ipIAOlCl6hq0Zdd5Zw93Cvl3BXDOK0KDTWid0wuPyRz-8eHZ2EKRgYs5FqukWD_0mSaCPsePCX70JZ9gsmxATHLUbvIYtCw4bnl-YApYoa6ZfEjTDsLYq8heLtKX8RiA23KAx4pQWjyDErNq-yHOAjhYts1wGsanHupH6Xr0gch9uAufAX0yC1TDXWrsy5biHD8PVUcL0DmjfcnKC_g1hmww3DgHGvY2JwsUbZDE6q8MZzv5Pps0wLn3ow6_NnI5D2DE6LUM8f7NXXGUp-EGbi7Y5uape3E2ZeTC6mxiJCYLoQY9BqwE3G8-vlyf4RzJuRFUEkli0stoZGbwfev7nAkmn6BzMLzYmkmtDdc78xif0bK4lIeaAZkGDg9MiQhC1SfnaGIChm6Pa1GJetLkG5vfZ-oyZEbNHs6FZKtjlQZ5BpQ7ccMQDaZaDFXEQ5t8ROVHP_ZkYt7V_IzCubSXw6Eh92CBbslnPhSxWhhT8Q-b6foPVGYnwpcxGNQeF0hezgHIYquGVXk6MwH5xzC2kbr6AQ8ghs8_URIuFhDlRR03qeQEpYJ0qL8iBkKuhDhzhBouZXm9LiQRiuDE0JTvinvsGUQrMA7EnUdVKcDJd5mOUg-n_mtnfzGrzAhGjrCKIHs6hbVN44V5jcl-hZw3L5BH3hdsDrQYXxJO7OD89uaH3YVanCVMHYTzV3aUzjVfgducndcLKDZh4EzyoHhU7gdd7aN9wFWG0hBiDtw1NkebIi-oUMilJeZAx8KO2E-punyyXI02cLIOHRDI4JI6nVKgguPJGDeaZvZ6R8NCZ1HBmJlLK4nFW4fmpwkmfHUIzmIZei8Y5zghEWbuX43ba60etZKpQ6K-aPNCq6A2Y-KgfGBIA5QxgNQlGrwxUbI6rAh4DKSIwAhwayf9AQeqOJ44zd4ax5_qd87sooCPvpcYlhc9jiSusnEFDbe_CnOM2afQrQVs_NBqZXZj2DCsaT91z_a50O1LuS9d6-DiCm1aDEeu-BqY-V4XhU1q3TbkqyjsXlL3R92LRYqPmk_5jMAo05I28vVeYBvVhvRZjILlCH6Pp6Wa_QIwklLcMbAi6IZucPscAl3ai1Q_2QRgWWO2lxtZCKnrqV9Op3FiuffEt8xexX7gIpC8APPXHHbQv8Y7xY-4tgD6iiZr2nbmoNZiSVJbQVBdRPzzmmyf68P33nL7icO7sOhs-FASbEju9cptUNefZAH1odK8CJGsUWCE47LA8M-6K4CU0-AR0W6Y9yZ2mc_8Aw2uDKdVf_QS2vCOmH664dBGAgkHQd2Zgkhwm6JL7OXFSr3egMFwXATbLuzzeMw==",
  "id": "rs_09e31a60ea771337016ab45414cb2487d099e5df1603cb3b21",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.275,\"left_y\":-0.15,\"left_z\":0.025,\"left_gripper\":1.0},\"note\":\"The white plush is now centered on the jaw column and lies between the fingertips, clear of the safe wall. I’ll descend nearly to table level so the jaws can close around its soft body rather than above it.\"}",
  "call_id": "call_fcBsk0whyxYbW3TK2GkNCukC",
  "id": "fc_09e31a60ea771337016ab45415f6cc87d090abf796387c261c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fcBsk0whyxYbW3TK2GkNCukC",
  "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]: [-0.8757, 1.2419, 0.5285, -0.2211, -0.6769, -0.6258, 0.9993, -0.0208, 0.8024, 0.6075, -0.4671, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2688 left_y=-0.144 left_z=0.0799 left_yaw=0.0021 left_pitch=-0.0976 left_roll=0.074 left_gripper=0.9993 right_x=0.2833 right_y=0.0012 right_z=0.1617 right_yaw=0.0002 right_pitch=-0.0778 right_roll=0.002 right_gripper=0.9995\nstate[joint_eff]: [-0.0752, -3.7128, 5.9829, 1.3944, -0.4567, -0.1001, -0.0806, -0.0479, -1.4017, 6.9538, 1.9121, -0.0513, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:015ccfac7dd21ef893e31c2b3758703429550e6da47301c5370cb0d53811d8b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:196fb43232eb9e29fc3dd59019bd55ed93baabf925ef94f16b87adb13c9fa48f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ca1b8b51621894029baefea4eee634ffe853422e5f1b7bcaa9337379de04139",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 4.359 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6033, -0.3931, -0.0193, -0.0303, 0.9994, -0.0212, 0.7944, 0.6067, -0.3962, -0.0193, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2929 left_y=0.0013 left_z=0.1771 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9994 right_x=0.293 right_y=0.0008 right_z=0.1778 right_yaw=-0.0003 right_pitch=0.0004 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.7179, -1.1966, 10.4274, 2.0586, -0.0562, 0.1148, -0.0757, -0.4034, -1.4291, 9.8393, 1.917, -0.0562, -0.0122, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8742, 1.1976, 0.561, -0.2882, -0.6922, -0.6289, 0.9993, -0.0212, 0.8005, 0.6075, -0.45, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2692 left_y=-0.1405 left_z=0.096 left_yaw=0.0145 left_pitch=-0.082 left_roll=0.072 left_gripper=0.9993 right_x=0.2858 right_y=0.001 right_z=0.1656 right_yaw=-0.0002 right_pitch=-0.0587 right_roll=0.0016 right_gripper=0.9995\nstate[joint_eff]: [-0.7316, -3.959, 7.4598, 2.0098, -0.2271, 0.1148, -0.0855, -0.0752, -1.347, 7.159, 1.9853, -0.0366, -0.0562, -0.0122]",
      "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]: [-0.8757, 1.2419, 0.5285, -0.2211, -0.6769, -0.6258, 0.9993, -0.0208, 0.8024, 0.6075, -0.4671, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2688 left_y=-0.144 left_z=0.0799 left_yaw=0.0021 left_pitch=-0.0976 left_roll=0.074 left_gripper=0.9993 right_x=0.2833 right_y=0.0012 right_z=0.1617 right_yaw=0.0002 right_pitch=-0.0778 right_roll=0.002 right_gripper=0.9995\nstate[joint_eff]: [-0.0752, -3.7128, 5.9829, 1.3944, -0.4567, -0.1001, -0.0806, -0.0479, -1.4017, 6.9538, 1.9121, -0.0513, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:015ccfac7dd21ef893e31c2b3758703429550e6da47301c5370cb0d53811d8b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:196fb43232eb9e29fc3dd59019bd55ed93baabf925ef94f16b87adb13c9fa48f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ca1b8b51621894029baefea4eee634ffe853422e5f1b7bcaa9337379de04139",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFQaK4OAy-ddRiz29e0u9ySf91bKHELsEyYVBp4caaaEkGazUA7FIOCqcmhIR1D1fTqXQzCPqfpC6R35z_wSYm9hzlkFvPlCMqe76s-AcubOyxa329-KfdSqWIcncV7ihlXzT6_YheyeOlNd6EUwb3lSeNgZzGaB07VZKZnTb69bL01KwR_qEHkcnLI5Pqb4r_MvBYKuhHWrhpFgbyOHS7T63FvlxEkfJiHBhVvM43gl-RnlKk4yV9cnFvpbVg2kW71SAvnahR5MwiR5UrmA960IsR--bMHdJuCSCLBPpyZO33tXH4IDburHwymo0iIS_-Gps2MG7J7pnb1K8uBk63P_oSDMpNiMZbQvomB_7gL8zL7IXN0aogkOJa-nswNO7FpvPmAc609AJQtEfEETCmO8FW38VHiyiSj4trGeqPmnLU7nsuHPCbPDbpnMw16fTs2f2GLKDuNyZHJAF0njVdcdttLPHYjCclWsCkV8KUVsKasfhemEgK49gMNUaLEF4MseTpJbeQccArhB64OnB22r_RTWgmElEKRBCPVT_qu33ZWrASvfSLqZxuBJkKWkyPGburPAHIbOTVH7BOTPi7cd_RpkvxOOyUbyjW4UdBBu0nuniyVd7YY9bygYGzl5dgy3230Bmrb1c69iCpvMEz4yHbPdgRYWFPjOGf-fE31TFPDZyiS5rfLEfUariXvktm8_eYFniLBa159Q3My2kVj_bi4-Lm-jckG_TqIo2AMuy5_2Q6otnlf4_FXgN2mo3jg8AbMe7fu5ExhZuxcQXSdW9KdneMk08niUSko0PHo4QGJNbzCp38NSmZ8uivGs4TPDLB1E0yzCl6qwOfc92-9eihAK34BEcYeEq1C4AjadEHHRxF1Jh3RMJhH82VW7Qnuts1YJ2RyagqRNSsAyTzbeY5I-hJ4V9DU_aK9YLaqCLGvJvmBGO4Wpryp7bm1zc7ZjcclQBDIE8GTlYaxz3wREDQSwgdhc4x15OMoxTG8hNwcoUcU_D6FmYEF6rYmdVMDK2-HQAUAY6A2uruTDA30BPiaZJmr20AFEgEiU0NVyQ-pXsOG5eHV2IBhzzM-4gmHCtHxRo__o5ahpIS4NWgsEDVVgKk7X4q3Qu4kV4lP3UyWP6Os8iB1GHXFo-BMX4i7Breb8bnqUynajlEl_tke0O6D2PmZIR1wnA5-XYe7PPYwY2Pe7OSB_26kBub_Kxi_q_U3edSaQ3TTLwcYha4wE-st1eEKMd7ETpIk0nzalWgl_xnMlAnVmGiZ5e_frV9QduEkRmjcOAT08xX4ZJ7uC75XxBpLEx0sJ99zKivyCLP6qbUTz_laRsBL-r5EiONKxVbiRfF2jZxEwM90AY_M-Q6dSU32vHHrru49rnSr6wmNF8Mn-OkXTWghNQC59hkBgo4UU9ebWsCsYtNrFoTw4p341XXN230d8Nlfbw2FXCBMXkvFxRbBy13F--SY4PVHzbGifXCjFK902342VolrJoTlLA25HHdAnDxfHFq3TMQQgegAPDX3kBiuK0YtcqYCe6i_cOOPJMFEmFXsK_sjitvJsK0nKmiVQvlmUdkugIJd36yku6leMi67bqXZdsx9Ph9zlvP2OppPerDVoFds4DOSh8DnoYMBhayzD3CxQxhabP9cNds-vwprgtwrchNtttsirmGySvqTtZMVC6kPrsXkpqvYfr4LEo_L46Md7wcP5Sja7fn2awoR8ROICZ261xmcq7Ul0FOe246msTapIIGS_AN9C5yG_wb9jHWkIJdpmBnkFYTrt09xk1guHnQkPA0yxAgQzcI8ltQjA9DTx-VnJBspIZzqXnUcvsU8PKuk7jxFkwumy0hNAu2JcusI4ydVE0bYbVwE64lwhEzUnvs_RdL2SQ59MrzNrFFsVpllDQBT5RLNnzytruaEJFoduVVBRDI-kPUZbYfBe_M7MutGlly7AdGZoKHwaO-oIvaENfq1TVHR_GNjBu67eHx4WNLGGC3Wv0z2Zk7Ut__uA9cxfNNO3OxykDzoo6tUCdfEPoHwZki1zD-HGj-drFWwUxHfiKEGoEmLqm3Q_MfvWTIKjcYjZgBnkrYhQM4DKW70=",
  "id": "rs_09e31a60ea771337016ab45418475c87d0871dbdd34c158f0b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The descent stopped about 5 cm above the table while the plush is centered between the jaws, indicating the fingers have reached its raised body. I’ll close the gripper now and use the settled opening to verify a real grasp.\"}",
  "call_id": "call_NrqXTrTEqQsTEwDWNKL34JDA",
  "id": "fc_09e31a60ea771337016ab4541a358087d0b43046067eec3f2f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NrqXTrTEqQsTEwDWNKL34JDA",
  "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]: [-0.8753, 1.2419, 0.5282, -0.2245, -0.6769, -0.6338, 0.0105, -0.0212, 0.8024, 0.6071, -0.4976, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2684 left_y=-0.1433 left_z=0.0794 left_yaw=0.0072 left_pitch=-0.0997 left_roll=0.0707 left_gripper=0.0105 right_x=0.2785 right_y=0.0012 right_z=0.1557 right_yaw=-0.0001 right_pitch=-0.1087 right_roll=0.0026 right_gripper=0.9995\nstate[joint_eff]: [-0.0342, -3.7538, 6.147, 1.2723, -0.3346, 0.0464, 0.8718, -0.0479, -0.9504, 6.9538, 1.9414, -0.0171, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7201294ebe754d83d4f8dc700099fdc3ee5a88807d49dc70058e5a24e514007",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38a2a2db91d45f1f655a96cc27f76f48acf04cde629500a2c21566435bdefdd5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5017d9bfa316b2b21f62ce1cc7cdf752f64cfb20348accf47d628ac42bda28f6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 3.571 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9775, 1.2049, 0.7036, -0.4156, -0.7292, -0.6842, 0.9993, -0.0212, 0.7986, 0.6094, -0.4324, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2638 left_y=-0.1743 left_z=0.1334 left_yaw=-0.0353 left_pitch=-0.0519 left_roll=0.0394 left_gripper=0.9993 right_x=0.2885 right_y=0.001 right_z=0.1705 right_yaw=0.0001 right_pitch=-0.0374 right_roll=0.0013 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -4.2325, 8.9915, 1.3797, -0.6129, 0.0122, -0.0855, -0.0205, -1.5385, 6.8718, 2.0635, -0.0269, -0.0366, -0.0171]",
      "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]: [-0.8757, 1.2419, 0.5285, -0.2211, -0.6769, -0.6258, 0.9993, -0.0208, 0.8024, 0.6075, -0.4671, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2688 left_y=-0.144 left_z=0.0799 left_yaw=0.0021 left_pitch=-0.0976 left_roll=0.074 left_gripper=0.9993 right_x=0.2833 right_y=0.0012 right_z=0.1617 right_yaw=0.0002 right_pitch=-0.0778 right_roll=0.002 right_gripper=0.9995\nstate[joint_eff]: [-0.0752, -3.7128, 5.9829, 1.3944, -0.4567, -0.1001, -0.0806, -0.0479, -1.4017, 6.9538, 1.9121, -0.0513, -0.0415, -0.0122]",
      "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]: [-0.8753, 1.2419, 0.5282, -0.2245, -0.6769, -0.6338, 0.0105, -0.0212, 0.8024, 0.6071, -0.4976, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2684 left_y=-0.1433 left_z=0.0794 left_yaw=0.0072 left_pitch=-0.0997 left_roll=0.0707 left_gripper=0.0105 right_x=0.2785 right_y=0.0012 right_z=0.1557 right_yaw=-0.0001 right_pitch=-0.1087 right_roll=0.0026 right_gripper=0.9995\nstate[joint_eff]: [-0.0342, -3.7538, 6.147, 1.2723, -0.3346, 0.0464, 0.8718, -0.0479, -0.9504, 6.9538, 1.9414, -0.0171, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7201294ebe754d83d4f8dc700099fdc3ee5a88807d49dc70058e5a24e514007",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38a2a2db91d45f1f655a96cc27f76f48acf04cde629500a2c21566435bdefdd5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5017d9bfa316b2b21f62ce1cc7cdf752f64cfb20348accf47d628ac42bda28f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFQg88bwUpZJRoqKToFyo3P633S0cI_6DrUbjxHrMRynhOjmK1wqixgvW6yah6pCEtkqNZ7Oq1YPzp0egOOIzyssjBgCNRK53XEEBflZ4XKtBMzptFWunL6uSxQdMbavmoDDJR2k5nS5wgdDaSW4ykJIlM8C7aod7BIDfqQ3NxW1DsU_k_u_scj6z9Xw4NHq66V7G9d-B49OhSiwenra3qy2cLe25UOBzwC1J4rXKGGirVHslO9tptyAlixHmaJfCa670CW2rrOCDtShEranejWctIaoYPU7s9u6uVCtS4_qvXQPbYJnzO-3AWUwPKwvzOcxEQMUcByXDsumMWN6dSD4-50dw3ODQpHQ08otioSoZzkvM0_MbFYuAc2V_BI1lHHN531XpZJQqp-Psfo-tK0Moo-Emw49of4UevdXAjQ8U4VcA0z5hTcjxsmhuN83MldpeM3CHOcvrmf6x8qjblkatEzlmF78zlk6vyJdNJCV0CosIjiIX2uu9VEWEN-6U5VFK2GLSYRiET33vd1hZ_OWsBI1-2JoGPA0TxK3S4RhR4zFvnS5eBwqdmiUKYwYuF0dEaTP_L9OnJqxD47xdqupb481RvO-nWrE7wvtv77VabxKvdQ8TeErQ12zSiDFTjfKIZ-qijHH0_0WfLlc_yrtpRORkG9cRGYmA1qb25z5DFSrG8Rkab2Qs5QSxxTYNXzh0-Smp0sCyhH0-wr4gMv3zgCnk9VcfUGfgW5r0rFin9XDElqXetzNW6Kxm_qYSylLqhXaNYwACcBhdq29iukRtonaU9pmCuPdFyVn0UEXt9fNcqQKKl-4w4ae9he8yRwxrjYwhfKScf_Mpd6UTKpKEFwd5OBM6P4RtXds-KdQxP3hkpCBXJFiRpck6dl9ZhfzBCuo7YxfljiHZEUyGyM5Z6FeCRyJ2_PEMw7Xzfr7aBpJuO6QFDoa6cHmATcSjOyJaah1htt3PRFzP9liFvXqCF1MO5JJr09QbvJ5ktWtord3w3z4x0UgYfRxBRq2hgbW1Z2wc86Ns_JsRkFL5EnAIaQBmMp_YEVUJRhlgB96j351SaM1XGqS55Ws5mfdoYgvA4RuHEJGGMVI_P12CTPny95Zzuq46lJfJ7i_4L1nLsxLD-c5iJmLAYSH42Ut_i6fL_vL1t5OgEsYJQti5EOs6Qh46KWv8sp3ydZFp9c7Jw8RicLIO0Cq0K_BCYW4Jp6pGMKrlsUcDbFwPZMg7GZNsNM9YPRkpkWTGCHeA2CWWB4qTEH3U3t25lJUq-wIXJQAAE7oGBJTS6tn57uaCfp5hx94KnCkXH-4jsZ7kl6rqr51cCgox2xuEvWujTjNu8z8B58NySJkTnTyeMj9aE1Bc_lVwkkKp-Q-zGBrr7yLglRkWWEmuZJ6C9wILIaa65KE3WSnGo3c894AxPgnfZjSrMgWG-nSDn63IjG9pBBbxkMsanv0VKVeBppyEeSAL9-DzbLMBVGsmSebbO9UQjdRIrdN7r0dnR7cZk_YknPCXFAYiZYri9GBuJu38VBLwS5QAWXaVPAUe2G60LcQPxJ-8pWoJrGums2REUAr5VXaw27TrVmkBLl6ldewENtY25GwrYSv9WRpG4giYIytAdc2aCBcSi0vn1n2o5ghjl809bBjPFUpOAMw-PHncK3hqaOcYpA8msJ2HthllSD_jN0LtwrEfSxY_L1jz7EClEpSeaRasj3shzJKb20ARzrmD6fCptfxMmvA5eKPD0e13hbhbjyN-1hnBzfhwsTjXZpMjDEIUhrs2QQ_NEaUOs1l1rldfh-6_QLt5wL7vrLYqY1NEauc526MXqVqASF1uI7kpdNztP8jywx5iXZS01dffOS9N6n-z1N9K0kWRMRpbp_GYuJt4-qjEewgbKpHBxUGumty3s7BlkOkm6Dskg8ni8SgTFMM9TsdV4oxDyA-FibIXOIVJEh8s6hAqDKmPRSbjXGG7hPEdFw1kbzJ0Gi4EhNLpG379F1LANaPXGskjV0lwNb5jez2cXuZFdUFMN3wzctUNlzVOYcxDCW4ZvEXa6VaW_jB1tI5OGhUYTdAqdrbaX-dfMmEzoqkH972G4Hk8R4S27uvCtnwVxEdiewOBofFjNIAGlnlKKu71n9in4SLPk0E3o2iaSxiSrI4hW1YfU12JKvEgT2l5aG9RLv3mYpXvsReM4LMyTIx214lzH9RyCFodWVN8BS_awIEI63qPjAqxHZJ5tKhVUkPlUEdyRWAq_AucW2MlXfLbNCGmglVeanFxeya9XduNDVbNaOpW_Oz0YgFy8r9Q7MeTYMeugLvt5oviCEP2st7RFEjuysYHTmlr4kN2j0DF6tuTkzfx-eAMVlXt-xBYQ7Hg6AStKF7yn86hn069Y753LG_E6MfIxE8vf8El4Y0bHMoMdal_25sUdk_cf8mlVWl_JES98YpyfMNUOCu8W0To4T50zpopgxWJtnX7_J0SLvEOkoR8IuDEXyV0VPWTA6dtGIVZ_3kIuH95wv8XC7Gdnu87GqGJoZGMWlajWRP75Bo8WRpCigSlIGsjp6MlXDRx-3yXdSN3PSGAjtgu0kFYbjOBn6_pJB-45jAB21zqhwF9qAU37wRkJRIie5EKwhl0TXNKpCCUL6YPYW7CTPRzqv4bM2KHw==",
  "id": "rs_09e31a60ea771337016ab4541ce8b887d0a45af359a391e7c4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.305,\"left_y\":-0.15,\"left_z\":0.1,\"left_gripper\":1.0},\"note\":\"The gripper closed almost fully, so that attempt was empty; the wrist view confirms the plush remained just beyond the fingertip convergence point. I’ll reopen and advance about 3 cm outward over the plush before trying the descent again.\"}",
  "call_id": "call_LkoOw2LcavbwBm3THnfLtlyn",
  "id": "fc_09e31a60ea771337016ab4541f3f7487d0bd4b47f0ef656f0a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LkoOw2LcavbwBm3THnfLtlyn",
  "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]: [-0.778, 1.3132, 0.6281, -0.2348, -0.6224, -0.5579, 0.9949, -0.0212, 0.8024, 0.6064, -0.5228, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2955 left_y=-0.1416 left_z=0.0889 left_yaw=0.0252 left_pitch=-0.1237 left_roll=0.0864 left_gripper=0.9949 right_x=0.2744 right_y=0.0013 right_z=0.1506 right_yaw=-0.0 right_pitch=-0.1346 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [0.294, -3.2889, 8.6906, 1.4676, -0.2027, 0.1685, 0.1197, -0.0342, -1.1966, 6.9402, 1.8291, -0.0366, -0.0757, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c53abb2799abb6e1669951b1aaab4495f2689fae0911109d8fc77a3cfd17cd32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64f72e5ffeab2f6723ffe5c72dd0a47a5fb197606f7886e8b074ec80995553ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0ac0a4bff4bfc95f982d0562cab6231b61bc5d63a04bb07a539888e858e4d88",
      "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 · 2.169 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8742, 1.1976, 0.561, -0.2882, -0.6922, -0.6289, 0.9993, -0.0212, 0.8005, 0.6075, -0.45, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2692 left_y=-0.1405 left_z=0.096 left_yaw=0.0145 left_pitch=-0.082 left_roll=0.072 left_gripper=0.9993 right_x=0.2858 right_y=0.001 right_z=0.1656 right_yaw=-0.0002 right_pitch=-0.0587 right_roll=0.0016 right_gripper=0.9995\nstate[joint_eff]: [-0.7316, -3.959, 7.4598, 2.0098, -0.2271, 0.1148, -0.0855, -0.0752, -1.347, 7.159, 1.9853, -0.0366, -0.0562, -0.0122]",
      "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]: [-0.8753, 1.2419, 0.5282, -0.2245, -0.6769, -0.6338, 0.0105, -0.0212, 0.8024, 0.6071, -0.4976, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2684 left_y=-0.1433 left_z=0.0794 left_yaw=0.0072 left_pitch=-0.0997 left_roll=0.0707 left_gripper=0.0105 right_x=0.2785 right_y=0.0012 right_z=0.1557 right_yaw=-0.0001 right_pitch=-0.1087 right_roll=0.0026 right_gripper=0.9995\nstate[joint_eff]: [-0.0342, -3.7538, 6.147, 1.2723, -0.3346, 0.0464, 0.8718, -0.0479, -0.9504, 6.9538, 1.9414, -0.0171, -0.0464, -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 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.778, 1.3132, 0.6281, -0.2348, -0.6224, -0.5579, 0.9949, -0.0212, 0.8024, 0.6064, -0.5228, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2955 left_y=-0.1416 left_z=0.0889 left_yaw=0.0252 left_pitch=-0.1237 left_roll=0.0864 left_gripper=0.9949 right_x=0.2744 right_y=0.0013 right_z=0.1506 right_yaw=-0.0 right_pitch=-0.1346 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [0.294, -3.2889, 8.6906, 1.4676, -0.2027, 0.1685, 0.1197, -0.0342, -1.1966, 6.9402, 1.8291, -0.0366, -0.0757, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c53abb2799abb6e1669951b1aaab4495f2689fae0911109d8fc77a3cfd17cd32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64f72e5ffeab2f6723ffe5c72dd0a47a5fb197606f7886e8b074ec80995553ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0ac0a4bff4bfc95f982d0562cab6231b61bc5d63a04bb07a539888e858e4d88",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFQkJ-WUA56nJvsaTi3EGq1Fo8B7atNh_DHitnDTpgU7Gtmh2CQWRSjMUJTA8FR2zcZiJ8GPqMkXU4QSONdcL9SodlCtgUAo1E1FPoeWGMFdTiKxNuEjDwDoDUDF8UeCJ0u-KRxYWA9jk7UvsrevYWC-d1bJjwJaixwG_DqU32lteuFFTlacTalihBU8T0l6Y3g9-cZ-K7CcD55mpbt0DXX5Y1iD3iQky0L_6MRIuuA1zFjtrJ7Y5XB1X1Z97ktpsnhbzHFDDRj5avaXG-4ZRTmHapv53S95jCvcJ8vvhGYJytPnm11m92edH8BgedTfXv73svJivGU6ulaVm3PPr9NtpgvJZlxVzGlYsi0CMPS_1B6Xf-DJOpzQ_6z_k2wIX_GGtv2U_7fi1jF_22AlAtgEBfVcRocTVZuaY8n0zlKcNlBMyQu2BDgZDXI5blTHugLMk5UO8FB-C9DdUgm9Oh4MD2ozOIDQjtqj6h7ToJWXNwqvonk1pRbHhXC97CGzGupAfB8v2iDQDTlSA61csxvgzTc6t590e0zphiE_wBpLNdAWtlmgTeAyvXZcTBa0z2zAZh3KKc_z0mgq7EtbiKafL2CgHFjCcjPzdwuC16hk-GtuOdcqQMV8nMGkYJ9k2RPEcta4MzkP5KtRgMDalv_VYJiSoMe0Whte9ExJLsQEYGXJhphXHTgVXuRtNkGMuAy_jL8cr7vt59xSvTB-nFDHwtm9XtsrAa83aOB9axsp3CMo_va6NpkdSCSJAP0ZacRALB_qrhHHZ0ox99ZSRWxsPZk5WxTnXjQwPFzeN6wyp9kP_f8Mt7B6WyhOOptlM1FxO1GSCO26EEHNxhTgXLYwqh4z8eE7nixB0e9-s1LSB-crYGlZqW_ukwgcYldoD76n-kcCyG-n_idhZ4BiKgL9zuqTZeOHqqeysNJW3IJ_WRO1xZZfyoUT15tQkKo6QBt9WDHIIxQh3R7RnyJHlFlqtG7n6vwI96fPOUMZ1vkxBjmcggPQQqqZNkJUbYFxz6GYV5CahsvXq5POHqTHaJ-NyVfmd3hByGfrAnepzwKrXQnbkc-3HkuBD8Mpp4OnPEHzdZXTWOp0soovv5lXEUst41sMQQM25mnt_PDXgx0L9ORBory_STUQqSZ0F0lEXIXenYRS0hVLxwPS91LGO-EGupyVdgz7IbL8PPZm3i-5DWLKxogqUe1oHceZgM8nSYOqP-dmDONDH4-TmJmnbybCMGwf5nagV5CjBPgqyGQ7wV2ibhYZNXpqvPIIUEbEH7UOEP4VHHCVgPeBn3TXRzGRs0YuZ9O67iiMQs9PsFXQHFn8Wgap3muqVlB42OUUy7FI7vzNaluTQR_zNvCmQrIQh45_3sXFpgFLeCvAMMfmB_viX-uOcgzHPQu62HMvCSmc1w7amUzKuY7qlHvSsa22DRr4VY8COgQ2BYg5Qu5t8bbUjngkGItHyinM7tH-g5WGNyo5p_fYCEMhwqyT76Gt5OMkhZA3otVYtj-lX0y0qnM=",
  "id": "rs_09e31a60ea771337016ab45422d41887d0abc0293428064a50",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.15,\"left_z\":0.0,\"left_gripper\":1.0},\"note\":\"After the outward shift, the white plush now reaches the fingertip line instead of sitting beyond it, and it remains centered laterally. I’ll descend at this improved radial pose to get the jaws around the plush’s body.\"}",
  "call_id": "call_vJx1j2rHpi9HtE5ZTqUGRXop",
  "id": "fc_09e31a60ea771337016ab4542399c087d0a050e48d22b6763d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vJx1j2rHpi9HtE5ZTqUGRXop",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.765, 1.6489, 0.5056, 0.1776, -0.6247, -0.5587, 0.9984, -0.0212, 0.807, 0.6056, -0.5533, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3035 left_y=-0.1432 left_z=0.0018 left_yaw=0.0447 left_pitch=-0.154 left_roll=0.1205 left_gripper=0.9984 right_x=0.2693 right_y=0.0014 right_z=0.1436 right_yaw=0.0001 right_pitch=-0.1705 right_roll=0.0039 right_gripper=0.9995\nstate[joint_eff]: [0.1846, -4.7521, 3.5897, 0.7692, -0.0562, 0.1245, -0.1734, -0.0615, -1.5248, 6.9949, 1.8877, -0.0611, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3c951210b1a1ca865f10348de087d94b20601a4e2f755fcd6f3705f16650e15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c80b5c03247fed22d1dd1359c9a58f5e68d29a83b1d84bbb60db909ae426bde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48605bab26d38a3f8d74b1da6a9d29e751e872c97b691a5b4f65e50ad8f7145d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 3.454 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8757, 1.2419, 0.5285, -0.2211, -0.6769, -0.6258, 0.9993, -0.0208, 0.8024, 0.6075, -0.4671, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2688 left_y=-0.144 left_z=0.0799 left_yaw=0.0021 left_pitch=-0.0976 left_roll=0.074 left_gripper=0.9993 right_x=0.2833 right_y=0.0012 right_z=0.1617 right_yaw=0.0002 right_pitch=-0.0778 right_roll=0.002 right_gripper=0.9995\nstate[joint_eff]: [-0.0752, -3.7128, 5.9829, 1.3944, -0.4567, -0.1001, -0.0806, -0.0479, -1.4017, 6.9538, 1.9121, -0.0513, -0.0415, -0.0122]",
      "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]: [-0.778, 1.3132, 0.6281, -0.2348, -0.6224, -0.5579, 0.9949, -0.0212, 0.8024, 0.6064, -0.5228, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2955 left_y=-0.1416 left_z=0.0889 left_yaw=0.0252 left_pitch=-0.1237 left_roll=0.0864 left_gripper=0.9949 right_x=0.2744 right_y=0.0013 right_z=0.1506 right_yaw=-0.0 right_pitch=-0.1346 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [0.294, -3.2889, 8.6906, 1.4676, -0.2027, 0.1685, 0.1197, -0.0342, -1.1966, 6.9402, 1.8291, -0.0366, -0.0757, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.765, 1.6489, 0.5056, 0.1776, -0.6247, -0.5587, 0.9984, -0.0212, 0.807, 0.6056, -0.5533, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3035 left_y=-0.1432 left_z=0.0018 left_yaw=0.0447 left_pitch=-0.154 left_roll=0.1205 left_gripper=0.9984 right_x=0.2693 right_y=0.0014 right_z=0.1436 right_yaw=0.0001 right_pitch=-0.1705 right_roll=0.0039 right_gripper=0.9995\nstate[joint_eff]: [0.1846, -4.7521, 3.5897, 0.7692, -0.0562, 0.1245, -0.1734, -0.0615, -1.5248, 6.9949, 1.8877, -0.0611, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3c951210b1a1ca865f10348de087d94b20601a4e2f755fcd6f3705f16650e15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c80b5c03247fed22d1dd1359c9a58f5e68d29a83b1d84bbb60db909ae426bde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48605bab26d38a3f8d74b1da6a9d29e751e872c97b691a5b4f65e50ad8f7145d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFQnAEXV1fSv8z6alnkx6v2yQN6B8WSN14Fd55Xioe0r60ujxDAs0wLqAbcDWYJRW4f8bIhSNGGnsBv0qoCH0GCOk-94HYVzA2MNH3U3i0w_a7fS8qfhDFF8b1sJzs7h-SgSOmWgkQiI2a7RUrJCAUilMuhglrKYfZTSHMyyh7S5zgnRClCnXOWEr_7x5EMwx8cvWmudGFfObDUVUk9TBCiMRSPI1ofTd5_qpdUY0Of1zKF4_6xjroWjbT9u_9c0m_ilV5ODH8-uDRS33u_mioqWhRB_ENBoJOGJ5GOVJQNNAXgl3BpnN_0i5bt76NhwXJgP9FnOnyF1oztdXMOJBuVzAPE0YSy52goAj4HirpTuzzi76DI2hgepvHmyxIa91zxH26Hpc8dO50Jx4m7rlLa59q8SqUEt43TN3VjAwkscym-vH0rQRk16_ap11_XuZtjirLhXb3F4R0zLE8wpX2wYRDyPpwZephTY1MERb7QX2VhvNPWnHiUoSvMW96Dsyh9ZVP3VcNHrHF0U1N6anNyX_A_rmQNCnjM51YSvtXfI0YHkQmksE0BeHsKRsQY8gUPZhpuYjgKzYFB3Vfq26pHcK5N313_8jdZ4LIJkkqsBLn28VOG2NQ4DrQp4Z8LPI4iAe48X1F1lmN4fXznEpHJKhu_PMwfBV1FHEAYx8bYtrgwkZ5Jrseos5OZA8cToXw2m0c2IijkZw-oZLU3aExtCguLqcVsfk4e7LAxn-b0lTQ4C9umvurqAX_5vwypnYBI1MmI-U3lVBn51Dm-BXcvPbvQglYfyWQOb8sSRe9XyugV5-s8rRzwKxRpKXDDCQk1Ot-NOhDhPfNx3GG5ZbB9r0yDWma7KdRwrjhoF5wcfizja9tXIH2YoaRC_AlUPNWwtSG8iX4qk6qLSCI2HyEfLjAoK1kTfn3D1rFVU4ks-VLD5dnsxfDNz4Sn43S8kvWUAL5CRy-ymRK6cECik8Jbmni90SE_ybr2SGFpkJcdMRzaa8EA8Xl3wHflaVhOOTHlmQHcR_XCsf19FNm9tRupjoVGhibwqb3e0nkprOZImuHdnOFa1ki7bPAYmc_ssYaZT_KZrbULu7Rw2qHL6wdLw3D7rioFI1rE02bu4z2APtlOC0rmkgikjDcJJpVCHe2eTIULItiBk6rVFY3o9P-ANbFoJaTOuZZ1QAMOLdndwJI-W-ySRKixYKshOanPiAORtqwUrUutH9ZE2ByNrqS02cw==",
  "id": "rs_09e31a60ea771337016ab45426689c87d091daab7031420a73",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At table level, the white plush fills the gap between the two fingertips and is well centered across its torso. I’ll close the jaws to secure it.\"}",
  "call_id": "call_Zq4L2eXfXx5a1ADFwo17DCha",
  "id": "fc_09e31a60ea771337016ab454268d7887d08a851a175ad1f6c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Zq4L2eXfXx5a1ADFwo17DCha",
  "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]: [-0.765, 1.6535, 0.4984, 0.205, -0.6403, -0.5617, 0.1357, -0.0212, 0.8082, 0.6056, -0.5877, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3055 left_y=-0.1421 left_z=0.0031 left_yaw=0.055 left_pitch=-0.1337 left_roll=0.1155 left_gripper=0.1357 right_x=0.2634 right_y=0.0015 right_z=0.1372 right_yaw=0.0002 right_pitch=-0.206 right_roll=0.0047 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -6.4068, 5.1214, 0.9988, -0.1587, 0.0122, 0.9402, -0.0205, -1.0872, 6.8308, 1.873, -0.0415, -0.0269, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29e9adbb9f854eb146d405d1889098708b885f9da70cdb499565d85357bc9d09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:518f009a4b5c8d9767012b89693a7f16db25722ea3455ad917de32eac4b16843",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f47bbdecca3ff67e4296fa4b5df8b22cfc3bebfb43f94694be8dbd5530f47e3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 5.394 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8753, 1.2419, 0.5282, -0.2245, -0.6769, -0.6338, 0.0105, -0.0212, 0.8024, 0.6071, -0.4976, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2684 left_y=-0.1433 left_z=0.0794 left_yaw=0.0072 left_pitch=-0.0997 left_roll=0.0707 left_gripper=0.0105 right_x=0.2785 right_y=0.0012 right_z=0.1557 right_yaw=-0.0001 right_pitch=-0.1087 right_roll=0.0026 right_gripper=0.9995\nstate[joint_eff]: [-0.0342, -3.7538, 6.147, 1.2723, -0.3346, 0.0464, 0.8718, -0.0479, -0.9504, 6.9538, 1.9414, -0.0171, -0.0464, -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 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.765, 1.6489, 0.5056, 0.1776, -0.6247, -0.5587, 0.9984, -0.0212, 0.807, 0.6056, -0.5533, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3035 left_y=-0.1432 left_z=0.0018 left_yaw=0.0447 left_pitch=-0.154 left_roll=0.1205 left_gripper=0.9984 right_x=0.2693 right_y=0.0014 right_z=0.1436 right_yaw=0.0001 right_pitch=-0.1705 right_roll=0.0039 right_gripper=0.9995\nstate[joint_eff]: [0.1846, -4.7521, 3.5897, 0.7692, -0.0562, 0.1245, -0.1734, -0.0615, -1.5248, 6.9949, 1.8877, -0.0611, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.765, 1.6535, 0.4984, 0.205, -0.6403, -0.5617, 0.1357, -0.0212, 0.8082, 0.6056, -0.5877, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3055 left_y=-0.1421 left_z=0.0031 left_yaw=0.055 left_pitch=-0.1337 left_roll=0.1155 left_gripper=0.1357 right_x=0.2634 right_y=0.0015 right_z=0.1372 right_yaw=0.0002 right_pitch=-0.206 right_roll=0.0047 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -6.4068, 5.1214, 0.9988, -0.1587, 0.0122, 0.9402, -0.0205, -1.0872, 6.8308, 1.873, -0.0415, -0.0269, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29e9adbb9f854eb146d405d1889098708b885f9da70cdb499565d85357bc9d09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:518f009a4b5c8d9767012b89693a7f16db25722ea3455ad917de32eac4b16843",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f47bbdecca3ff67e4296fa4b5df8b22cfc3bebfb43f94694be8dbd5530f47e3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFQrVyA_PFH0mczcoAln1gbvsXOb15V-PMi5GFGDKpG5vKClhfM5HPLeOjJNd6vTtEM5wvFj4w7UK-xSoIlPgIDSmcyUwoeP7Y0OkfJ89MIf4t2FNi1wxd_iSlWIsHBGY7Pm54h_MQcBzIPKuzy8E_0nLZ6C_I3aHAW6MkNDcGXL0oZV0usi-pKjqpGnbnNNREx3OPEJAgtqfOLy6MrGyTDmN59gp9V1VAuVZCqTm64IyKkIriFbPvNVh4NZXx_kgm_OYZwP2tpZXfZNbTlQexpPch3ciJR6OvSr-tKJzr7BlkRLvPV15rUsq9gTe6bO6JtVB9HM5mYvgu2x_XHU059S19Rufb2lPbJHNY1VbYpKuUb1IQysVHbK3cNFqyscVvk0qovPsqwGDzODLaOENXIrHmwdpTJp-0gbt6kN6oQt2EKUKRoiym65aWf64HawYHY6AidqT1bd6RwHS-0n63tXxdqqdaLg-vcntWLIDEco35TpEBrM-u71Q_T0RiSTqBQ2JmGd6qqS8hFSgPImZZbL1J8x2xerjQbYOqXHOq2B1_b1Qx6nT-6xrn3Ng3yQa6sQmCuOq1DPOA2m9qTFN_6_VmjzhBLleyaVZafAQryHYcdu09cCmTL08w-P7mfhMMxs7PSozABN_KkHIpZQP2Zp3Zbfav04h27mEO0fvVtI2VkduW_q31sIprvkJbgLV4XgxV63IUg3YPtOVEBwllmpFx9jcWlERidzFJYTnEXzTyPxhq-rQ5d2apuD6DX5aVBlPZap7u_d6Sbv2QeczWojljQkED-E3aKAflley7zwrgDhTyxGEsxxjJaUBQ2LwvMVUr61LLBIxc7ZfZjeJYVSGiw2IKueSIxfV86sCytGFqSlVnVH_xD1QWzUiKqg7PMhAqzn6R9S6BdVyneTS_E1IQB96Er0Y4LNUOnw9CywcCtYVuOpD6VHS_QlhL2GLFEOa7BplZlELMB1LO-t8BehjQ88rpVFzGwxIkxs7KbkDbCiHKFhNuChGfQyaGNdEMPWCsC4KqnFtrazK1omBXSCDWugoRF_4Vro4xDFGWtW_awT--VU5df2jPsq3_yBZlY6KZjFOfAYbBy3lQksBPpJsb2rgXFLzOnkB9NvUIs-OoI5ZcqEpTYu38pFIYXFPupplBZnxXw1yNmSOa4pefWBo56RSgq14xu2EwrPOrGuVsabYX5XMn_qVUWEzydPJuvSp2mNrqm72lUuhYl9j2p5rKBEKy5eKr0L2pcvP8k4Jz6oU4Q-Me_7A9P2BXwAvnvI12OlQzAWtymbT2hDtgvLlV_mJpAiIOuaSyuvUBXy0qc4jw21L4dEycrMmBU_ZgP1",
  "id": "rs_09e31a60ea771337016ab454299fec87d08fd395d0fd5a945d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.15,\"left_z\":0.12,\"left_gripper\":0.0},\"note\":\"The gripper settled at 0.136 rather than closing empty, indicating it has clamped the plush. I’ll lift it about 12 cm and confirm that it rises with the gripper before carrying it to the safe.\"}",
  "call_id": "call_TNvYZT8rCUM2Zy3nur2m4Tsx",
  "id": "fc_09e31a60ea771337016ab4542a227487d09456e619a46f37da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TNvYZT8rCUM2Zy3nur2m4Tsx",
  "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]: [-0.7719, 1.3903, 0.7582, -0.3416, -0.6399, -0.5816, 0.1326, -0.0212, 0.8116, 0.6056, -0.6132, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.3088 left_y=-0.1484 left_z=0.1004 left_yaw=0.0613 left_pitch=-0.1486 left_roll=0.1179 left_gripper=0.1326 right_x=0.259 right_y=0.0016 right_z=0.132 right_yaw=0.0002 right_pitch=-0.2349 right_roll=0.0056 right_gripper=0.9995\nstate[joint_eff]: [-0.6359, -6.9402, 8.7453, 1.3407, -0.3834, 0.0806, 1.033, -0.1026, -1.2376, 6.8034, 1.7314, -0.0611, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e68d918936d53bb63ac1e244cf2ad28d455cc32d8069da152d6dc0d83b372903",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a45270293bea6055fc0069cdbfa5d71eb6c34b584f2b435b025ddd6c5ddb377",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d76f5fba43707dc7d2dd3c050d5f7a1aa85345e3da73edaf65a702c2f6041f9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 3.001 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.778, 1.3132, 0.6281, -0.2348, -0.6224, -0.5579, 0.9949, -0.0212, 0.8024, 0.6064, -0.5228, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2955 left_y=-0.1416 left_z=0.0889 left_yaw=0.0252 left_pitch=-0.1237 left_roll=0.0864 left_gripper=0.9949 right_x=0.2744 right_y=0.0013 right_z=0.1506 right_yaw=-0.0 right_pitch=-0.1346 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [0.294, -3.2889, 8.6906, 1.4676, -0.2027, 0.1685, 0.1197, -0.0342, -1.1966, 6.9402, 1.8291, -0.0366, -0.0757, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.765, 1.6535, 0.4984, 0.205, -0.6403, -0.5617, 0.1357, -0.0212, 0.8082, 0.6056, -0.5877, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3055 left_y=-0.1421 left_z=0.0031 left_yaw=0.055 left_pitch=-0.1337 left_roll=0.1155 left_gripper=0.1357 right_x=0.2634 right_y=0.0015 right_z=0.1372 right_yaw=0.0002 right_pitch=-0.206 right_roll=0.0047 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -6.4068, 5.1214, 0.9988, -0.1587, 0.0122, 0.9402, -0.0205, -1.0872, 6.8308, 1.873, -0.0415, -0.0269, -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]: [-0.7719, 1.3903, 0.7582, -0.3416, -0.6399, -0.5816, 0.1326, -0.0212, 0.8116, 0.6056, -0.6132, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.3088 left_y=-0.1484 left_z=0.1004 left_yaw=0.0613 left_pitch=-0.1486 left_roll=0.1179 left_gripper=0.1326 right_x=0.259 right_y=0.0016 right_z=0.132 right_yaw=0.0002 right_pitch=-0.2349 right_roll=0.0056 right_gripper=0.9995\nstate[joint_eff]: [-0.6359, -6.9402, 8.7453, 1.3407, -0.3834, 0.0806, 1.033, -0.1026, -1.2376, 6.8034, 1.7314, -0.0611, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e68d918936d53bb63ac1e244cf2ad28d455cc32d8069da152d6dc0d83b372903",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a45270293bea6055fc0069cdbfa5d71eb6c34b584f2b435b025ddd6c5ddb377",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d76f5fba43707dc7d2dd3c050d5f7a1aa85345e3da73edaf65a702c2f6041f9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFQxOZGYdAOiPqsunv40LImzCs1GG6H8JjFF-nLSSBfgTZMLn3BlCuZVB5aO1m4poMGi_iWY_0sxO_K_uCZFVWzn0jQ5AuFO96Rq6TQkJeZQh2p_hwYIbgDzyIA1rFUi_Q1zW4Z_fi76uK5N9Xug1is_hux8iIUGUu0yrkHVd0ddM1sBKGmDWX94vSqJ7JB49jE-2fNdkiImtHRRLRWX-gZ8Wbgdeu03-c7wHY0KF6mbazEk6iv7o14kA9qnO0iOxZRT5NOCuJNP1JGbA5rUgP0LP9TiRu6A-BvgW4sVMsNj7FIBHPwPSesDamc_j-XYG4H9h7s8vojDPgws9iy4Pwh9W1uwqRjQP-8t13INoDYhTQK5vjS8gVUxs4oWt5jOgz_hRyw4JAGRmzHfGgj5SRhIQU5NnQfR2077bV1eEVa8X5o11pl3qjvsUK8yHNTd9wR5zChe9C8KWWRkoOIOkJtRrYls7i941y9up_twY8FyWNPiHhvHbllmQ_vL1hlo5aAmndPmNMm3E9Y7aLA2ZqcA7aEaG8TG12fMzHJs4nMUue_AumPBAYrRmUp9eB3LFANhyemS8vTIaUE4PLDw7YOC5jE5DnImNL-rXO010rROsWLTVyxzpw_c_RsP0--HcGNWMV44eAC2wTgg4-7T7wraZ2Zf0hWoMoml38Q5WA1TB7Le9O4rIpUsLfehkCKw2zhnacYxe7RgzmM_ACgeH7aldcKLh5suc2jSLMFW25WavevfOsgdWeVZmNF8-Pzzmy5W0Znw0mvNnLWVwusL4GfXIw0U-Ylhh_3owMs5KvIH6Y-21J2OEuYsen3L0x2USVSINriuFAQS7kgCIyB0E5yMEqk5cMwTNcRlwIJDj52iILogA15xQ3ZL0ZzDPoJoSaUxcLxACMUtiK28_3zBn4F0CVmbewRKmSgaIlwrkG5uT2Ncf_6SSPQYsjHnLvkoaolXMVJBa5qucDj3i6kY_2vLrrXU0wzuRVVUkdJdbt34PgwSk__sjUtkhCu1WAkBNo-CJATvBOkWP2IgokJwdn1h_En_qcPl0aEqIxDryTr6EEjeARlPVDV0s42Vmp9ytI_jw9BaRw0FgqS-uI7gfoktgcC-EkUJ-n6UI4zKpK6Y-2UiYPVlBb_l_0961OuStlGledtvVO2dmNZuNH1IfJktxMLg6WpLbYnq7WCUztLuAP8BrV2Wvv6cxF_kWPoVC0Dns91itdFHL5exYg2ATYTQsQD5AxMfX99tzDVKqPf6M7ooaycNMe_it4RqJzKtpPgSwlFbyl7pQG6LK0RCIgy7yc_FezU7Z5Knph3OLB83z06Y11jMbx4YqmRsy3unE0ZsI2F5gXtjuebmes7l5DSwyl6edaX6uygOWipWqyxH4JuI8pemvizdIlGblNcNs0nAkuYzl1jW67_cnOwb1gGYL__l5O0IRIlMOtHP1-J8_FuorAbi1vVgSCF2rJzZyZ3M34j0-KvQ52hkX93yvSNevPLH85xgivwfHTmcH-sSfuAJrh-ocCzmavNauus3QlNi2WcOUZTXDfBwFwF-cmuNaFaiw9pT_zsv-6SVAAZG39R_iKYlf2TNviLZZcy5eO-gyu1r48GcCZmaOBAm_INVOZi_vtBA4x1DeA-7y85u0IA6dN7Cl0q2mhb79q6zyD9IUi0_J7VrVat4OLe9YM1la3iEg1xqdJkVOiiYMbYq4JIKpjhp9BXwCcU-9TjSW4eM71_4Z-CYcW15cBGy7P_QoZuww6pHfp3iouthcDg2RxQE3uAMLBPVALcWbVsTLu3-OKfHhSP2u6863a6xVhSb7Z6A56GYezs8mbSRld_g9v3L6vBrkI7EzywgxXfjQmj8lWVMtSBGzD5Wn-sELhBLClf4Ed4uU5YTIzMfOuk1524ha4CBIznRVV4Gjxs0XifZHD-Qpzna_fskrumeOMrVNYrfWWYJLZd3_SJ5Egjvsp7mtz22LhDhMU4uA8qAVEKepaF6JGctO9jOIsSCCKzUdrbI3Su4QKOOuOKRVEaPxq4csIhVlfgAhoPKFYVkIFovv9Ik6IpJSIb_zUZxpzVmptBOgyg1gUjm9zUyNLnlEkFIXIzGpR5I4E9PO85vo_VHCILRQ0Oqh8cxVBr3VaFBhHsP_3z0gztlWk__0sykn5pU1kzhzPUtMi1J0n-WuNxhkGqTj4wKCArAbEXPjcKChj-z5csP3amnKLDAKZIjhVpKDYav6b9UrHc5R4n3LNA5N-LOrNInk3XvWJoLdHRO2gGNLM2k7rP4K2hyie5QLo5f9GwgsIqw5nyY11W5uazFdx6jF_FsO6Vto0E7W4FjrJ-0ve6U2sqcqt-dkjDzkBaPlo1NTlFWeH6ziQDEAxL59KXQxcMbXTfue8FVsukjbLNFVikMO9aYmgXJkKAitrrY2Er3n_2Hd70t7rBQiLBiGAp6d2IwUhu-96GClscUydFw0lVLKF-em5pj_EQoJW3ZXSksrPwXuYYsUXWy3x8r-4fmozPvNTgUSVxRjYzgkezY_lknXwTgtRx51jMSsKxvQ_rtBdTuhG7mvrZVKALbodehWb_lXUTJw7gouutHYNyg6k-847zcQK0x76oO6TlAdc0U8f0YjKgs0VCfYLYLlfoB9JQXQZ6wtCT3dOrxp2WvLh6th6Fn1aN-YRftuvTlSOWA93qq9BY4nehxj4D9YnfKlZMM-QGarFC3lQ4ugdmz4xe90BkVeNfo8W81QBjO0_DV_5ggVIpQc8NL1HpJ6dnsTjgXQe1_8-ULc48dAshLOLNYz4uvpPepOTQbo1egnOFdiFBjR6VGXoQBUqtTrEC-HuofzXNkUxD1CCcA-2awN_aJyBM43VJ1nWJAA224rl6hfwKv6deZ-G05TQ3iplqxco2Y9Da2v4IjOJY6NVly1v8MBYY8917OByDHwhCHwXnjosGF0eHuHSzX3Isd6ZBzwqUBW4oNLux1HuDYDQ==",
  "id": "rs_09e31a60ea771337016ab4542d759887d0882c7737c9b93da0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.29,\"left_z\":0.2,\"left_gripper\":0.0},\"note\":\"The white plush lifted with the gripper and is no longer on its original table spot, confirming the grasp. I’ll carry it high over the center of the red safe’s open compartment, keeping clear of the raised lid and rim.\"}",
  "call_id": "call_ne5rXXwxZIHyxh0bIX6rSeSc",
  "id": "fc_09e31a60ea771337016ab45430eb2887d0a9243775a47cd53c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ne5rXXwxZIHyxh0bIX6rSeSc",
  "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]: [-0.8421, 1.9797, 1.7874, -0.8413, -0.6567, -0.6712, 0.1325, -0.0212, 0.8158, 0.6018, -0.6361, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4057 left_y=-0.2871 left_z=0.186 left_yaw=0.0585 left_pitch=-0.1708 left_roll=0.1064 left_gripper=0.1325 right_x=0.2542 right_y=0.0017 right_z=0.1256 right_yaw=0.0009 right_pitch=-0.2658 right_roll=0.0063 right_gripper=0.9995\nstate[joint_eff]: [-0.4444, -10.906, 8.3624, 0.8816, -0.569, 0.0611, 1.0281, -0.0889, -1.306, 7.0906, 1.6679, -0.0415, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfdb9e00239d901975be389849bc8b6956390c3da32c349ed54fe2b0a5c345d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a63ddf7e839eb1c3293d18552a44d78f35a7498e77f4f4a97a646a0159e8bba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eab4a2ba67021f46a92ac5edae14774f44dfdfd3897b67100154ae8aa5d64efd",
      "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 · 1.739 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.765, 1.6489, 0.5056, 0.1776, -0.6247, -0.5587, 0.9984, -0.0212, 0.807, 0.6056, -0.5533, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3035 left_y=-0.1432 left_z=0.0018 left_yaw=0.0447 left_pitch=-0.154 left_roll=0.1205 left_gripper=0.9984 right_x=0.2693 right_y=0.0014 right_z=0.1436 right_yaw=0.0001 right_pitch=-0.1705 right_roll=0.0039 right_gripper=0.9995\nstate[joint_eff]: [0.1846, -4.7521, 3.5897, 0.7692, -0.0562, 0.1245, -0.1734, -0.0615, -1.5248, 6.9949, 1.8877, -0.0611, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7719, 1.3903, 0.7582, -0.3416, -0.6399, -0.5816, 0.1326, -0.0212, 0.8116, 0.6056, -0.6132, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.3088 left_y=-0.1484 left_z=0.1004 left_yaw=0.0613 left_pitch=-0.1486 left_roll=0.1179 left_gripper=0.1326 right_x=0.259 right_y=0.0016 right_z=0.132 right_yaw=0.0002 right_pitch=-0.2349 right_roll=0.0056 right_gripper=0.9995\nstate[joint_eff]: [-0.6359, -6.9402, 8.7453, 1.3407, -0.3834, 0.0806, 1.033, -0.1026, -1.2376, 6.8034, 1.7314, -0.0611, -0.0562, -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 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8421, 1.9797, 1.7874, -0.8413, -0.6567, -0.6712, 0.1325, -0.0212, 0.8158, 0.6018, -0.6361, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4057 left_y=-0.2871 left_z=0.186 left_yaw=0.0585 left_pitch=-0.1708 left_roll=0.1064 left_gripper=0.1325 right_x=0.2542 right_y=0.0017 right_z=0.1256 right_yaw=0.0009 right_pitch=-0.2658 right_roll=0.0063 right_gripper=0.9995\nstate[joint_eff]: [-0.4444, -10.906, 8.3624, 0.8816, -0.569, 0.0611, 1.0281, -0.0889, -1.306, 7.0906, 1.6679, -0.0415, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfdb9e00239d901975be389849bc8b6956390c3da32c349ed54fe2b0a5c345d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a63ddf7e839eb1c3293d18552a44d78f35a7498e77f4f4a97a646a0159e8bba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eab4a2ba67021f46a92ac5edae14774f44dfdfd3897b67100154ae8aa5d64efd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFQ2XXDQHoDJFMsptXzgHFN_csyjGqlcfaHxjMqT8HMRK4ErQeHzr2HXgP6GDIT8nl_n86sTsI7VF3kcoOuBWsz3jyc20GVl5qMoE97DBhyBrPIiIyypTl3mKg9u1RYhbCMw5RTvnHeJDvy9MFXfFHhLsnfKb9zZIeBRt42Ej2b-8pidJSBHTOS0QGIb-FNc2FMy4hH7EB-PayMWusAkiTY2TptychYNnyzza28M99NJhMSJkYX9BceW-RMvf5pz78JWzZ6aq-a8Nf2LLZqPnTKqtKrLAxGbAaF-Tp6bcI10bB_woTpyHiZq18uyXtjRFM982AHA8U5SsJKKO_pr4qJFBSht2oB3P60QQliLHTt-vgLVrl3I4h3uoLFHZbmdrKIYnJPZhiHHPXQ3nyRgecTdACa28l44hgsEBb0vfYBwY-aa4lbGgcgo0CEBbBfZBiqmz2ydkL7ekyO1rA_kc38GSqA4GRofQczfiOqVEkxpLKWZZk_W19JKrb15KCNL3BYOauzDiTDgF0gRQ8yGTQpTCIj-KGaf7SC99io4PPzbb6AEcQ4AAJbK0w_EoQGCgShY7Dcp4esGRXDfCWTo4Dd1qtky_AF3GjvZJjZ7tcRD1IDquLJ_eLrf23R5Vby_vDDEcsI2e5udS9ZDCxhS7zafAOla-GxWj4TXTr6D6MSyajBY4sdUnFAbbPaMaGCi8GWqvYRkaHuPys8W4DvP8pN7gGAdTKFzClYnZJKRD87pGTmHMsxIFDvGuyP1vhQj2xlUxq_K0AEokApLqAdvdH11uPRwUgpVyCbTY7vg9OT0YwdcsiWdj6-uRy4b768aylh6AX6dLHt-Q-V9Zm7Hm7MGuUoQeje_ad77GUvJP4Shm6JtwexIJQv42OZn9X9YKRpOIpnJu0wLylxyIdKu-6ym2Rn26rgSBAjgpiHcQ2y3ZcbHRP9V_7x0lpz3lUdxTBD9PqEwpPx88jp-f8Wyyt8lhjLR7UUEUZT-4p4rGVSz7F7iuKqCe2USk0m_DdGBLR68sI_tFPv_JqqpYrC5eHXvIx_6WygCZkH977QAi9xy-YGcrMjEqajR5xLPYmVeEejdatQ6daZNeUodK3kPZYZ0OIOZniQlfHJahvIxTEISLq0pi3r9yh1MfJ-8vADYj5KNP3mdwjCE4t8H9odvZtpooNJXUDoxhExHOfKA_K0iYC47NyF_pfNpS5mhtdnK5hbwAGBoIUuYYhFf-RETbH-mz27ddXQn4GzUDIiBxZLKRUn1zcLzPtXO8rCWnWFeHALzdKdmM_zBHFI5PyFjAqfiw_-61H3eEnA3or6zi86Epnh_yHhyFSmHf3OmWDWSw9u2zXb5gZwlgT5NlkjHqEIPGR4PFzRn22VD-XH-n6g8lpfOOP1SeKOTlzmzF37jaGVo_MrIhxb7MOmLFy7M-hIkpLpfjCdsRXCE6G6tatJxEcsAYA7ncS-sbofmyx9o_6sjMqLUXiIcREmJ1MO_gDxkTr5N1PMki_o4-AIBcLPeyMb6jLKSfN7kTwxSdS-elJQBlKdR7pgyStIui3p8epn9Ku4nxSGD5uzNs7o2kB93LmlOqxCm9VelVF2tQ8q_PU8VSk5Pkrk4gMRJXg6q-aymPbsARLZlMpXJC8jxveghGHIsMMEtFZwKfZJIkILCOCrVNg_aXzX5PpXp-RXFkDqGSjrMaLOxjYUXaXVQ3v9udkvG_nPkvI6ylpGd4-34v1eBuMTvy-MhUlH_rvAmCOCP_g==",
  "id": "rs_09e31a60ea771337016ab45434101487d08a33177ceab2e87f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.29,\"left_z\":0.04,\"left_gripper\":0.0},\"note\":\"The wrist view shows the held plush directly over the red floor of the safe, with clearance from both sidewalls. I’ll lower it into the compartment until it rests on the bottom.\"}",
  "call_id": "call_C3lTcJFMk7VS9ckf4D91yqdp",
  "id": "fc_09e31a60ea771337016ab454352cdc87d0a7e48e822f58be92",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_C3lTcJFMk7VS9ckf4D91yqdp",
  "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]: [-0.8429, 2.1052, 1.4143, -0.3878, -0.6468, -0.667, 0.1312, -0.0212, 0.8173, 0.6018, -0.6575, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4023 left_y=-0.286 left_z=0.0435 left_yaw=0.0563 left_pitch=-0.2059 left_roll=0.1399 left_gripper=0.1312 right_x=0.2502 right_y=0.0018 right_z=0.1219 right_yaw=0.001 right_pitch=-0.2887 right_roll=0.0069 right_gripper=0.9995\nstate[joint_eff]: [0.1709, -10.7829, 5.5726, 1.3114, -0.3639, -0.022, 1.033, -0.0752, -1.2513, 6.8171, 1.6093, -0.0708, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:045b07974254d8b4c10c09049b5c5542b689e22ea2d87bd631f2d0b64f0cb311",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4563132865b8056ae1bcb98d4dc217a91ae5cb1b39b660dd6f9dc2a4fccb7b57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa38dbdd52fa7ec4a81d2d6a3186085caee132fa75007a65afc2c0306bf4d2d1",
      "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 · 4.61 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.765, 1.6535, 0.4984, 0.205, -0.6403, -0.5617, 0.1357, -0.0212, 0.8082, 0.6056, -0.5877, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3055 left_y=-0.1421 left_z=0.0031 left_yaw=0.055 left_pitch=-0.1337 left_roll=0.1155 left_gripper=0.1357 right_x=0.2634 right_y=0.0015 right_z=0.1372 right_yaw=0.0002 right_pitch=-0.206 right_roll=0.0047 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -6.4068, 5.1214, 0.9988, -0.1587, 0.0122, 0.9402, -0.0205, -1.0872, 6.8308, 1.873, -0.0415, -0.0269, -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]: [-0.8421, 1.9797, 1.7874, -0.8413, -0.6567, -0.6712, 0.1325, -0.0212, 0.8158, 0.6018, -0.6361, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4057 left_y=-0.2871 left_z=0.186 left_yaw=0.0585 left_pitch=-0.1708 left_roll=0.1064 left_gripper=0.1325 right_x=0.2542 right_y=0.0017 right_z=0.1256 right_yaw=0.0009 right_pitch=-0.2658 right_roll=0.0063 right_gripper=0.9995\nstate[joint_eff]: [-0.4444, -10.906, 8.3624, 0.8816, -0.569, 0.0611, 1.0281, -0.0889, -1.306, 7.0906, 1.6679, -0.0415, -0.0415, -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 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8429, 2.1052, 1.4143, -0.3878, -0.6468, -0.667, 0.1312, -0.0212, 0.8173, 0.6018, -0.6575, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4023 left_y=-0.286 left_z=0.0435 left_yaw=0.0563 left_pitch=-0.2059 left_roll=0.1399 left_gripper=0.1312 right_x=0.2502 right_y=0.0018 right_z=0.1219 right_yaw=0.001 right_pitch=-0.2887 right_roll=0.0069 right_gripper=0.9995\nstate[joint_eff]: [0.1709, -10.7829, 5.5726, 1.3114, -0.3639, -0.022, 1.033, -0.0752, -1.2513, 6.8171, 1.6093, -0.0708, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:045b07974254d8b4c10c09049b5c5542b689e22ea2d87bd631f2d0b64f0cb311",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4563132865b8056ae1bcb98d4dc217a91ae5cb1b39b660dd6f9dc2a4fccb7b57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa38dbdd52fa7ec4a81d2d6a3186085caee132fa75007a65afc2c0306bf4d2d1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFQ4urPOcA59AGGTphtVE_1OnH0MhqvmY2imHetA7bmx8AeWnZtLz0e2Jt9HlPfFP3zN1I8IwRvZNlNiDiqDPVJ_wzBvVqBO2_vRq6pM1MB3aFNx7zJs-6V1dF1-k9zD8Xl_hfGYg-6-l2auTJX4ewEx9T1yvOLs0UdP_4KvVVeQbCU0M1iv2EVMCtTucX6TQMhmJ2e-ctXlWT0eQKwldXyvnMUUlrHNtvHpJ8NrnLZgeFEPs7hyks8E8eULWcWqweM03E-hbJvjWWagTeP7easQ3Lnj1l7jCBzink0rMcnPGWSk1zz3i_hXioImVzFvUnWyAYJDeIi7XYDHiI_V_h5j53usH7-gBlKQ9sIUj6kjaEdOu8EbXu9kiVC_F8biUuUXcqviKIQsW6jpeuimilrBcgSiMpWAG074379LVruYrFI0jWCavJ89247-PE5bTf8O4pGGCNesy3dSlMux98xWiw5_DCjVE9kzjj8Y-5CmXukY5bQtyAZk6UWXZ--oOG9s10bwanIWRNJ_o_cr43YAQx-3zae4FHs3MVI_BaQhgvzm_LnTcRtAJnW8G3kuTRV7VCGfbI0B9r0r7jNv7JYiAx_mH0JrgRgh4mSHBlZ4pM_inp9YRF9D_t156zyhhVxaAYvTUfT2h9VX7KiPcqhsoW0KUr82S5gOpOBvahA4utUrRdSv45DQrSN6RyqUdevf2MMNhestHKS9_65lsDi_eK_WQpRNDpnGZh95miMiG5jtugWYA8Lg4AnE0L_gDK1js6ARcUHxVvKa6_gU_zmmlF36j9mHO2ikP0Te4OrK0PmqGwWWR3m1s1sMkkxfyXxWVttBGxesJYxGILlNkube5ddSWb2v8a_SHPUYy42U85FjMCkPg8BGsp8E1pX1kZKL2cjEl6Su7C-AbZO24BAD9xCIGJh6yTqaehBOOmR_y8xJ2VcVcXNqmBIjtqQpsTPDgfO6ULfB1poeywPxrw6DiKd5MnHu8pvfG0z3kZ9uO1xHmXCSi6LD2GBsHgcEPIf1x_n4ZyLJEtyimfMVKMiq8rSfi_C3-r_v-i-yvq1vSFO1D8oeEFMf3Vgoc69pHvA7lGncH-BeLjOCkMU95UZZk1dW1sgiorTG52mJ70lSg-XYJB07O5EKDDduD2UVff0Hcza6xGKiglZ0OzG-VYib8X8ijlzf03oazKwxWWWynNYflVuRs-gr3VHVhRlk6Jz5s4v-Jb5UtjMFHuWzcHUxEQ==",
  "id": "rs_09e31a60ea771337016ab4543810d887d0bbf4a7997f484dd5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The white plush is now down inside the safe and supported by its red floor rather than hanging freely. I’ll open the gripper to release it.\"}",
  "call_id": "call_efpTTJs5Gi6vndgDY3MZVoQ3",
  "id": "fc_09e31a60ea771337016ab4543832b887d086c7021e2f7189a1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_efpTTJs5Gi6vndgDY3MZVoQ3",
  "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]: [-0.8417, 2.1223, 1.3994, -0.3775, -0.6624, -0.6823, 0.8949, -0.0208, 0.8173, 0.6018, -0.6762, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4012 left_y=-0.2807 left_z=0.0333 left_yaw=0.0785 left_pitch=-0.207 left_roll=0.1551 left_gripper=0.8949 right_x=0.2466 right_y=0.0019 right_z=0.1189 right_yaw=0.0012 right_pitch=-0.3074 right_roll=0.007 right_gripper=0.9995\nstate[joint_eff]: [0.1162, -12.8205, 7.1453, 0.9988, -0.1441, 0.1245, -0.0659, -0.0479, -1.0872, 6.735, 1.5409, -0.0659, -0.0611, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1642b77e4b087b58f4e7d0ddcede466c80d73e5ffae907feca07158268cdefe3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d874377664a59734816ae9a9bfac77f9102b83db75d2917af7fbf6cd4a842cf5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db776fb74850965062bc822ed741de143b4408baea49b6f4d7d06a02c4c33609",
      "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 · 3.054 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7719, 1.3903, 0.7582, -0.3416, -0.6399, -0.5816, 0.1326, -0.0212, 0.8116, 0.6056, -0.6132, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.3088 left_y=-0.1484 left_z=0.1004 left_yaw=0.0613 left_pitch=-0.1486 left_roll=0.1179 left_gripper=0.1326 right_x=0.259 right_y=0.0016 right_z=0.132 right_yaw=0.0002 right_pitch=-0.2349 right_roll=0.0056 right_gripper=0.9995\nstate[joint_eff]: [-0.6359, -6.9402, 8.7453, 1.3407, -0.3834, 0.0806, 1.033, -0.1026, -1.2376, 6.8034, 1.7314, -0.0611, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8429, 2.1052, 1.4143, -0.3878, -0.6468, -0.667, 0.1312, -0.0212, 0.8173, 0.6018, -0.6575, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4023 left_y=-0.286 left_z=0.0435 left_yaw=0.0563 left_pitch=-0.2059 left_roll=0.1399 left_gripper=0.1312 right_x=0.2502 right_y=0.0018 right_z=0.1219 right_yaw=0.001 right_pitch=-0.2887 right_roll=0.0069 right_gripper=0.9995\nstate[joint_eff]: [0.1709, -10.7829, 5.5726, 1.3114, -0.3639, -0.022, 1.033, -0.0752, -1.2513, 6.8171, 1.6093, -0.0708, -0.0562, -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 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8417, 2.1223, 1.3994, -0.3775, -0.6624, -0.6823, 0.8949, -0.0208, 0.8173, 0.6018, -0.6762, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4012 left_y=-0.2807 left_z=0.0333 left_yaw=0.0785 left_pitch=-0.207 left_roll=0.1551 left_gripper=0.8949 right_x=0.2466 right_y=0.0019 right_z=0.1189 right_yaw=0.0012 right_pitch=-0.3074 right_roll=0.007 right_gripper=0.9995\nstate[joint_eff]: [0.1162, -12.8205, 7.1453, 0.9988, -0.1441, 0.1245, -0.0659, -0.0479, -1.0872, 6.735, 1.5409, -0.0659, -0.0611, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1642b77e4b087b58f4e7d0ddcede466c80d73e5ffae907feca07158268cdefe3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d874377664a59734816ae9a9bfac77f9102b83db75d2917af7fbf6cd4a842cf5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db776fb74850965062bc822ed741de143b4408baea49b6f4d7d06a02c4c33609",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFQ-b8kNvRMSniy7ZC62bnYyj-DEt5F1aiesc4yPoYf3uJ_PUr6vaFExT7-eKKNS4FOF4a1KUoMozN9M8ao_vyTkOYDxzOv3VdLHX4JmzGyFZQojbS5mlMjYT4aN7U48Alr7NBi8CmOESInOFalvGXizzopL3goYN-5EgBB-ULBmKrbfrXUXtFQumRHJE-oynp3zxRElarPEaw6NSJqRJE1VyJWkMhEpWGQ6O1IhxrQeYtFsVsYGqof5p0BXwtHwUYwKg_W6H9FGRdpAQoC3CK2k554i0m6UPWXJ7Sl6ORV7Q3eR24KMc-IlL8LRvkNghTXQFx4DHcuQzsp6PIMiim0b4ZWHJnQp_JaFqQlnQcm9he43xmba3tdX2cxx-WukwnZXsPZSNJFX11HvfTxXs9IZwH1mxdj4itFxSYwwjNwZi4jVSIFGTrEdoEqM0P5A2zmt_UnC8vTPwLLX13cv_bec6ygQrXAUwf3NXQP4HTVTgtHZbdOYuAp3dTg4LAMtLWsJRqNvGBgOrimQBfPwvVcfRDAJKY86pufjDMLoJ5n9-vRpFiu3hEjtv705EsTzMWQsUSLQcjIrt6IlaH5Xp2GJ0bGzr3W1VkXOj5saEFDl_rq5mv0lQPmUDwrfBb37xiZLiQ5hprO0pGioD4gGEjBmTaPf8RfEuVweDcDYokOJ9ywYE40e-GwmGWRwplcQZGxf3ehrdBdoWMSOTbX0lp_FmEshqP8Xxaly4yoZVPa9Ex7-jXlnsJVNaWmA828jDf6F5oObQnv_VOxAQZGiBIiGaqbcA4SLMzt3TAz5ZXXvpt6jCyag_kWdmsdZC_G91fLfecPBICTkENuf5k1wZjRelRjhCCAe3ZuklINOpzNoOagqwZzqdymjXx6WRB71VFojbbYb42iU_xYNEzzpO6WxY2ABqNyZ4zdBjEvstdm3ek84gE5J-Ece1YNYQ829vKF6bckyfUkkKRjuxFEu5lyyQYQ-yrsW-uisV0wcyvwUYBCMlOPraurfrXFYmPfS1xCfvAShU2ruBxbouTLmikp-3DLrvqJXNflciDHTnPeEFY3KX6CZFab7godRqxgeLJb_EQ8KHzjsQkw0U8a0aHQbF335CSw2feUSPH0DYvxBFH-Qfvikekep0iqBi9LMsrhDiCuVjwK_JOmsOYdXK3ONHset0xE3aiREwEvMxhs16ijvUTQwpHJThDaVoEnVUddXc_MviLH2e2y93JPST29gDOG4LIk9sLg0A_zZ4Icd4O2kQ-UYALuUjvqumKRxGUmhnTbyBgLOKxpF26riEUqk0lQ3-79hoe3AkIXR3_eFsphvkAgjBiIh8VRRmeMU4FqSnh5H5F2C8KWWpi0PTP75MzkTLsEgPcZtHdDnT0VRbVJalkvBMfFVtpDredJUCTZlyAzWz0SjuLjVg1Af-i9SlrOvrj8KcERvZcrIikE115g0yEgT5V_mYrFvhos_dwubx-6d0y6LIfSoEKiJqsY7KJ1rOhH91LkeF-g2M6sBe9b9Rcx06uyiFHgWnv_PFCDAMGTinYdgl1WDCJ7o9ljVP04bSvtldxI534W_6uIl8_wPuO768ABY9Rzok5gFmEJE2_M2sUTk5eHdkmbW00hoWf9lkaaL1XWyEz_60nEDgbbSPqk8A-XJ0InY2qBzG-84f9iEYtgo5kaGJmR8tpFxpO1WYTebjhpRKGHDIZhdZzDMjOGVSbIlJAletSu1A2wH74Ll4K7G4o2GoETWfhEazRe9OLrJUX7Qv8te0h_7kyTBnO_on4V5groT-26LszQMS5zg6myGBDgDtHFYWjC3spx3nz3dBColbc0oTvp0n0oRwe1Tv5qYPd4Y01INkZSCJy7SDgnD9BfeEks0MaQ3KIoDQ7FaMssTcjlJooMsEnaLzSWEYDoP85d4ulWDZqlzRHTvNkWRNWh0B3CMcFXVjr576VszIPaBte3THvcqnVDBTj02TBxTUpnl4qo1drv81wq7gvFnfykuY_Y2QBaGuUqzRvJQM_N2Q0ZP7aAgEnRnS78E9omvNxvL27KjIJUqYnvmrm7XEVcJhqVcYxtg_hniHexoBkQ-BtLXE3JzWBMMzyTlcTqjOSC9QWuYjg6CNKVnOIEmmCbjnayhULD5xZnPsVFwoRJVwXXUjYxp3hh3zkjiwF9Pd8YFgYAfDQHOSB-m9oZP9INLvOe0tt3na7H1hBorMI7K-FLKOB1t4xq034mH3TvBuXxcJ2AjZHdYTJhAiug5KhxZsUIXU11vYhj5yPK20giq-0lktaDobL8bB1XKOHAbwM0Z_gVAXMLYOzYaQg9RL5IAGR17BcSZVeIWiMVM2hk7bryPD0o-obqD-_HeQRJ8xkmOqJys4lmaLTWaGNyOkLhd3TL59qRIji0HdQMMNyMROJLAPtlMmuMQ4n1SIDpid-plMhazlkgFU2STFFOd6QnbmzaIASNRIg==",
  "id": "rs_09e31a60ea771337016ab4543a938487d09d0e60124b91aa1b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0.0,\"left_z\":0.18,\"left_gripper\":1.0,\"right_x\":0.4,\"right_y\":0.18,\"right_z\":0.17,\"right_gripper\":1.0},\"note\":\"The white plush remains on the safe floor after release. I’ll retract and park the left arm while moving the right arm high above the yellow object on the safe’s right, keeping the arms in separate regions.\"}",
  "call_id": "call_0Q3EMXcX67ujioBFuArokkkP",
  "id": "fc_09e31a60ea771337016ab4543d190887d0a0c643148a8db14d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0Q3EMXcX67ujioBFuArokkkP",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "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]: [-0.1947, 0.9848, 0.8162, -0.6575, -0.3073, -0.1322, 0.9983, 0.5404, 1.6627, 1.354, -0.7128, 0.3027, 0.4141, 0.9996]\nstate[eef_state]: left_x=0.2929 left_y=0.0004 left_z=0.1748 left_yaw=0.1262 left_pitch=-0.2031 left_roll=0.1462 left_gripper=0.9983 right_x=0.3858 right_y=0.1742 right_z=0.1542 right_yaw=0.0222 right_pitch=-0.3672 right_roll=-0.0255 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -2.6735, 7.8701, 1.6288, -0.1294, 0.149, -0.1783, 0.1026, -7.8564, 8.759, 1.4774, 0.3443, 0.2271, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a187891db25619510d0ebe3245b72845e4431c7b42482a59aa6b60c4a9667fad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0971c2fe2fc690d9a204115ff195e21174cc97220b7505505bfb61709abc43fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9c5b7c1164d4a8cabfd8b6a6928b4e30ddcfd47bb871e593f1aba31d4fa82c1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 21.68 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8421, 1.9797, 1.7874, -0.8413, -0.6567, -0.6712, 0.1325, -0.0212, 0.8158, 0.6018, -0.6361, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4057 left_y=-0.2871 left_z=0.186 left_yaw=0.0585 left_pitch=-0.1708 left_roll=0.1064 left_gripper=0.1325 right_x=0.2542 right_y=0.0017 right_z=0.1256 right_yaw=0.0009 right_pitch=-0.2658 right_roll=0.0063 right_gripper=0.9995\nstate[joint_eff]: [-0.4444, -10.906, 8.3624, 0.8816, -0.569, 0.0611, 1.0281, -0.0889, -1.306, 7.0906, 1.6679, -0.0415, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.8417, 2.1223, 1.3994, -0.3775, -0.6624, -0.6823, 0.8949, -0.0208, 0.8173, 0.6018, -0.6762, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4012 left_y=-0.2807 left_z=0.0333 left_yaw=0.0785 left_pitch=-0.207 left_roll=0.1551 left_gripper=0.8949 right_x=0.2466 right_y=0.0019 right_z=0.1189 right_yaw=0.0012 right_pitch=-0.3074 right_roll=0.007 right_gripper=0.9995\nstate[joint_eff]: [0.1162, -12.8205, 7.1453, 0.9988, -0.1441, 0.1245, -0.0659, -0.0479, -1.0872, 6.735, 1.5409, -0.0659, -0.0611, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1947, 0.9848, 0.8162, -0.6575, -0.3073, -0.1322, 0.9983, 0.5404, 1.6627, 1.354, -0.7128, 0.3027, 0.4141, 0.9996]\nstate[eef_state]: left_x=0.2929 left_y=0.0004 left_z=0.1748 left_yaw=0.1262 left_pitch=-0.2031 left_roll=0.1462 left_gripper=0.9983 right_x=0.3858 right_y=0.1742 right_z=0.1542 right_yaw=0.0222 right_pitch=-0.3672 right_roll=-0.0255 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -2.6735, 7.8701, 1.6288, -0.1294, 0.149, -0.1783, 0.1026, -7.8564, 8.759, 1.4774, 0.3443, 0.2271, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a187891db25619510d0ebe3245b72845e4431c7b42482a59aa6b60c4a9667fad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0971c2fe2fc690d9a204115ff195e21174cc97220b7505505bfb61709abc43fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9c5b7c1164d4a8cabfd8b6a6928b4e30ddcfd47bb871e593f1aba31d4fa82c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFRDO_BLpB9kHOGGITYzrv8EAnP3xAuuhTVwaFdrC4q5VbYY0tSigjYTCyddv0DYuTIsRfN3hxMCosSinOD4cYxN-3laAKhOFstePWORrJTr4Zpxqf5RtvYx0B8qrrrqlA6JydSdFdRtJeVWuqTIKt-LIdkdVRrWNDr7yU3Efr2o7bgGIGxdTOLWu8_jomXsHt980hETyF5bMsOxuGV8p7ku_5LJfitx4jF7tUoO3hS3RKbu35blSCjJLjkfUuJ0NSDWN_isHa385tpSWcWrpIkdOTcQiuA7LFe-pOH6kYgwmb7hF-NZkrhVKncTK7URhIcZfb9zI8b69N9gASTIqChdF8HQD74Ifq-PXBOj7R4eMEI4imOcvS5MMzogn6wHnHZFpXRTH7EaQJMo2srE2seshdaoFzfhylhhRPeU-pvbqzZswOXgxEgdn4N0pdWi7XKo1Ybb5xktEmWX2hvKVunC99i_mt5qp10RKr4PnAW6oHBodDTjkekps4Hkm8sdkUsHUInfqqlw4yAMMF4c4dY5zpS-aiZVUZrYVwEhUx2HKJRzzrU9AoUePAviAFmqEuNMYq1Rp8kXSdDHaLGIH3dTaI9jxbV0Imqjo1XCsLbr4RQuJV34EajxH-BOI3BfnPk8WdKi4ts5KquY_QuyomctWuJAzeslcy2aGjoM_eEQOsP5tjV2Wlq7q3PMi1lsikFMZDdYUB9Vy2sh5Pwt87vr6zRaC0Jgz1nwt3AkcIZ1YZr7dub14Zf5nkhIZWn7AJJWKhukNIB-Hu_16-B7mDKG9PIuqKLLOX9zXRmAVUF_m-lF0UltH8z_aYp_AUQ-QJ8vJQ9FJF3aYaqZsiccGfPuOwkLO7q9o2JwQHwq8KNhCrSKLFjzLQKJ-M5NeAYFzQBxnE5p2ZP3omhRPy_qS5aWjMEMrTNj__kSyb8RHkr7ToxejCsNkxYXcD3ZzVhR2g3MDp-p3Xwt5RHrsPYFmvt2go4uU3AizxFOfqBZmVCC4zSssOBqJBucnKfOXWkNAe7V0on30OiVVKSqL_xw_6MvJcF9KhQ5dB6h86H9Njob9SbZqKmTDaS17NazHf0-568srxOfSOfP38flT-5-QtU9fHQDwc1I4ZUY30oMy-F1LJG73FV1sxL-lF3FW-em_9askpT3WvO4S86_UeEElv7mKG2Ju7tuPN7zH1SJ3XWA6uHCrA4BWTxErHkrjL2S0HaGQZ8UwktWPav9tYM3mOvMtk1CgCz-d3QmGQKr_vbV9q0jk3SUhbIdl77pdd6vm4qJiXSCPvcXXZjoDRYVrnj4TvUO1y5nKPF75vJmph3vLRWCVCnmuE-WXKSNQr3SkSuTN-nxtJrWyBXNZcVJkbFWZ1w1S05QlYJQxMwqc6NhPIAH6IewquX65k9W12R5XtPDtycuRmiDSaZJuvNBAxlvuxGfV8_jivkPieeVFITZqJDnQBgfQpNF_ZxpX2xvXS_iEj4LEH_M5ge5oaFmlXEJoSD-okJgRHucBqMyCOKB07NGvW7G3K7Ai53pVumUWYAoz_shLauSUHqufhdbTXPvWY9XMsW8ZQybJYxarsdxtU2vIFYxCGHp07le-PB_c8e13scezfHtaA0Bu04f7VkI8USVnkcHmmCht6mAdEujR05l5Dj6wfrHauXVbM-O0S7n18fJlkoGIowcgJ9tqtcf2ybCfBYwlkwM61Lr6UVDEl0=",
  "id": "rs_09e31a60ea771337016ab45441a16887d0b55706fc1817eb4f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.18,\"right_z\":0.08,\"right_gripper\":1.0},\"note\":\"The yellow object is centered in the right wrist view but still has clear space between it and the fingertip line, so it is slightly beyond the grasp point. I’ll advance about 3 cm and lower partway while preserving the good lateral alignment.\"}",
  "call_id": "call_dP5PFWl3SJvvbh7sFmj4IikI",
  "id": "fc_09e31a60ea771337016ab45442b6dc87d0a49d0b3d3272351c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dP5PFWl3SJvvbh7sFmj4IikI",
  "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]: [-0.1951, 0.9882, 0.8162, -0.6861, -0.2962, -0.131, 0.998, 0.5003, 1.8427, 1.2781, -0.5335, 0.2829, 0.3851, 0.9996]\nstate[eef_state]: left_x=0.2881 left_y=-0.0007 left_z=0.1689 left_yaw=0.1182 left_pitch=-0.2362 left_roll=0.1493 left_gripper=0.998 right_x=0.4072 right_y=0.1705 right_z=0.0726 right_yaw=-0.0003 right_pitch=-0.4433 right_roll=-0.0671 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -2.2085, 6.735, 1.6825, -0.2613, 0.0024, -0.0513, -0.2256, -9.5795, 6.735, 1.5018, 0.1245, 0.0415, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db2b41c896cb6d6ce26d5a99745240b8372147eec63ff5529cf214059a7b9b3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f96174a6bd954b4ba917cf99e493f27a343a70ab00fd183bce68668d8ad3752e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57b17dc240a9efb72f83e3fdaa70f8b8f765d6accf5186bf6b194276f39bced4",
      "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 · 3.035 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8429, 2.1052, 1.4143, -0.3878, -0.6468, -0.667, 0.1312, -0.0212, 0.8173, 0.6018, -0.6575, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4023 left_y=-0.286 left_z=0.0435 left_yaw=0.0563 left_pitch=-0.2059 left_roll=0.1399 left_gripper=0.1312 right_x=0.2502 right_y=0.0018 right_z=0.1219 right_yaw=0.001 right_pitch=-0.2887 right_roll=0.0069 right_gripper=0.9995\nstate[joint_eff]: [0.1709, -10.7829, 5.5726, 1.3114, -0.3639, -0.022, 1.033, -0.0752, -1.2513, 6.8171, 1.6093, -0.0708, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1947, 0.9848, 0.8162, -0.6575, -0.3073, -0.1322, 0.9983, 0.5404, 1.6627, 1.354, -0.7128, 0.3027, 0.4141, 0.9996]\nstate[eef_state]: left_x=0.2929 left_y=0.0004 left_z=0.1748 left_yaw=0.1262 left_pitch=-0.2031 left_roll=0.1462 left_gripper=0.9983 right_x=0.3858 right_y=0.1742 right_z=0.1542 right_yaw=0.0222 right_pitch=-0.3672 right_roll=-0.0255 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -2.6735, 7.8701, 1.6288, -0.1294, 0.149, -0.1783, 0.1026, -7.8564, 8.759, 1.4774, 0.3443, 0.2271, -0.0611]",
      "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]: [-0.1951, 0.9882, 0.8162, -0.6861, -0.2962, -0.131, 0.998, 0.5003, 1.8427, 1.2781, -0.5335, 0.2829, 0.3851, 0.9996]\nstate[eef_state]: left_x=0.2881 left_y=-0.0007 left_z=0.1689 left_yaw=0.1182 left_pitch=-0.2362 left_roll=0.1493 left_gripper=0.998 right_x=0.4072 right_y=0.1705 right_z=0.0726 right_yaw=-0.0003 right_pitch=-0.4433 right_roll=-0.0671 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -2.2085, 6.735, 1.6825, -0.2613, 0.0024, -0.0513, -0.2256, -9.5795, 6.735, 1.5018, 0.1245, 0.0415, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db2b41c896cb6d6ce26d5a99745240b8372147eec63ff5529cf214059a7b9b3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f96174a6bd954b4ba917cf99e493f27a343a70ab00fd183bce68668d8ad3752e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57b17dc240a9efb72f83e3fdaa70f8b8f765d6accf5186bf6b194276f39bced4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFRZMUwZhZGkEU5hz5jcKIcPwVVoupz_HAzou5AwcxtHQ0XTE5fJ__XhXIZpl0JHe6oxG_diW4MhUPklenBfmJc44cMixWpon03tQeCgysiY8BEJ8jAUTtz-F91ahfH7gUZqBwVhowEXw8uTf4opB-ktWO9e7gYpjl-YGeLbGa97vo-molf6raRhiOm9EqqhglZVdGrPg3VUwIIEjg0CMNvYFN0hod-eOH1a0dU7JJ0Mb3nbFWUKwX-2a58t2r8iYzi_dXLzB5vXZ5LMx_dK9lXarGVGL6ruRkNMWaQjoT-0r2EbXGN6qwcZUV20iUaaOblE0S3q4FHRgHWQT30121C6dlx4qZHXHfJkFZdIpxZE_HTP_xVr6oTO_1RqZImoja-4ilINeYsTGzYU_ydr19AB121Ruou047H05vY1pao6yi6BgkfqPwQscwK0xyNwjO4FOhX8jIcM6ndSSMxCZpZmfpsUhH76j2fk25RTenMPbL8xuGd0OTvbR_e3X36tCt1vLcmTjjIMMitLGkcAi1BOk8wpd0IQFpFdV49TtdTS1XtUUQZwPS-RsosFNAlqphsx1JNgQs9YKJlZIepF5JwWL7NHhltTNzDb7dh46A4asibCm1w6qCmH5yIIe7uq10JV5LfgO_BmxKa06vlhlbVd8ucDehJz3kyVQZKb5AZbQa7QG548_cNq-QC6PWY9uvGHMRroqmC_4BARAnWataDu_5m4rqrenlMfuxpEFuRHXb-O3bJjsYe8zezL6MbEjHG1IVf59N5YA2U1Bl01k6x4zm-cqFl2qjk0v8Un9BProtrJiZchSM-awUosSUTgNVlEHV1ywJR4n_HFmcJqPW6GCEUgu0X-MRuINRg4wl5j2HNH6KdBmtd6hPQwysJyyALZXyclIOIu44pWRROHnRVxbAJ3iwhKC9gZ7BBCoso-14bjVg8JxtYbj0MyWkzj21a3Be6-JDBNmtceb1HrE5Ri12vKUnWtF9JFYp1RZ0o04FsBsYhZb7p9PVkw4jbMkaRPDa6T1nT5EQwLc-8gZ0LDIYb-9L8zcUr62EhDymAx3cXPB9M_005ExBbTkx5SMGbJE66ioV9zkiNs1Hrr-ot_fG7OT3mv1OXgScJ06i73C4e5foBhCeYxWqaBRDstTvWxN0asuKmgcuOxF0S-myE2f1EVlxOvVRIy9oPwtMfst8wjnZLbPcxPlnwS6UwGvsNzZNLx1moveuvatEnaqSWAH3AhHm5f3pyb1B6RjGqs9zH_Bp1Fjp4Ahx9CvmEbaVTz4a8udMq2JdhGhwN_6_F4eAHBhyyE35lhwwclEjbP0enougEoUkg7M1TCVlYbHzTwIgB2GjsOKYlwPVNanLS9iQ-pzBrWCIrwlgdi1UbJUHSdmxIZj5PwNsF4zjkluANEWaRv9idTw0a-aPPWPPcDeK4Crx4v_M_dNkA0If3PSXLS_y_ZtIjn446C8dxU_GBQtpYGZ12CToJnbCAM1P0CnedPhcpnYdqMerhFOIQFCGW97O6pUdPcnFPoBMA3YOfR",
  "id": "rs_09e31a60ea771337016ab45446cbe087d08fc68078fb8a30ff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.18,\"right_z\":0.02,\"right_gripper\":1.0},\"note\":\"The yellow object is still centered and now lies directly between the approaching fingertip paths, with the safe rim remaining clear to its left. I’ll descend to grasp height near the table.\"}",
  "call_id": "call_liFa7y4eYIHJvYYZAvice98U",
  "id": "fc_09e31a60ea771337016ab45459096887d0838faadf6d520912",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_liFa7y4eYIHJvYYZAvice98U",
  "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]: [-0.1959, 0.989, 0.8162, -0.6945, -0.3031, -0.1356, 0.9979, 0.5018, 1.9736, 1.2678, -0.4061, 0.2729, 0.3744, 0.9996]\nstate[eef_state]: left_x=0.2866 left_y=0.0005 left_z=0.1677 left_yaw=0.1264 left_pitch=-0.2429 left_roll=0.1541 left_gripper=0.9979 right_x=0.4203 right_y=0.1804 right_z=0.0264 right_yaw=0.0128 right_pitch=-0.46 right_roll=-0.0718 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -2.4137, 6.7214, 1.5018, -0.1099, -0.022, -0.022, -0.3077, -10.0171, 5.2855, 0.8181, 0.2076, 0.0415, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:833cda38b4b573abcd7136ab16b163427271bdf3c2512adb32909b88519e48e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5881be7709fdf184c9dba5366e6785a7eb0a24234fd2e151a98cc1b7b3560a51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e99e84837c8e8dbab547791e76dfa4f1f758c32c6fca380fb5a81790f03d1ed3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 3.565 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8417, 2.1223, 1.3994, -0.3775, -0.6624, -0.6823, 0.8949, -0.0208, 0.8173, 0.6018, -0.6762, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4012 left_y=-0.2807 left_z=0.0333 left_yaw=0.0785 left_pitch=-0.207 left_roll=0.1551 left_gripper=0.8949 right_x=0.2466 right_y=0.0019 right_z=0.1189 right_yaw=0.0012 right_pitch=-0.3074 right_roll=0.007 right_gripper=0.9995\nstate[joint_eff]: [0.1162, -12.8205, 7.1453, 0.9988, -0.1441, 0.1245, -0.0659, -0.0479, -1.0872, 6.735, 1.5409, -0.0659, -0.0611, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1951, 0.9882, 0.8162, -0.6861, -0.2962, -0.131, 0.998, 0.5003, 1.8427, 1.2781, -0.5335, 0.2829, 0.3851, 0.9996]\nstate[eef_state]: left_x=0.2881 left_y=-0.0007 left_z=0.1689 left_yaw=0.1182 left_pitch=-0.2362 left_roll=0.1493 left_gripper=0.998 right_x=0.4072 right_y=0.1705 right_z=0.0726 right_yaw=-0.0003 right_pitch=-0.4433 right_roll=-0.0671 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -2.2085, 6.735, 1.6825, -0.2613, 0.0024, -0.0513, -0.2256, -9.5795, 6.735, 1.5018, 0.1245, 0.0415, -0.0611]",
      "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]: [-0.1959, 0.989, 0.8162, -0.6945, -0.3031, -0.1356, 0.9979, 0.5018, 1.9736, 1.2678, -0.4061, 0.2729, 0.3744, 0.9996]\nstate[eef_state]: left_x=0.2866 left_y=0.0005 left_z=0.1677 left_yaw=0.1264 left_pitch=-0.2429 left_roll=0.1541 left_gripper=0.9979 right_x=0.4203 right_y=0.1804 right_z=0.0264 right_yaw=0.0128 right_pitch=-0.46 right_roll=-0.0718 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -2.4137, 6.7214, 1.5018, -0.1099, -0.022, -0.022, -0.3077, -10.0171, 5.2855, 0.8181, 0.2076, 0.0415, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:833cda38b4b573abcd7136ab16b163427271bdf3c2512adb32909b88519e48e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5881be7709fdf184c9dba5366e6785a7eb0a24234fd2e151a98cc1b7b3560a51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e99e84837c8e8dbab547791e76dfa4f1f758c32c6fca380fb5a81790f03d1ed3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFRdbQ3mGroT9Uwg7t-v7wMDNQcSl1_RouiqpTj7C2W34JasuM-Y0k-xS11X1fNUJDHedaq8OpzW6TnGcb4OaeJb7mHZ9ZOoGHQ__LtxtfYU0kjsrOEbzEr8CLorgw2gIfGp09RLV82ZDZ6GZF4CjZJZVMTV7vVMh-z8T3wetL4PfwIU4lOJsc-J5vnIL7KjXOws8RnPgra7Y3ggP2MjefGLvwQ3I951z8ec79hcI4NLYCU65lyn8dgneHRKiSyMk6xO_IkBAYrgTkAZw79IpFVqzG-H_OsHCIMjc-mxXUnrDu64ymJNkoEKY83_XJX3cvTRntQA-ZpcJjf7hpK4V8K89stkiyhzgl5Z-9EgtOzymtdzsQUm0U3SjBAzVoyYa4RrJoH7Yffh0a0pcNYpZa2GDjJshhYKYBsCDxQ9irfxY6QGNVAptHgczQbABXS2tg_GFkbkO29YTZrSGb699IskICNIp57xznWagwA38tURgryx-7M3LjnSLoXkiwaqB5qf-ENY6wClMK0Bvak0Gr-zRN43k1Jqf38vOFneFBNIK8jiBR9748XCbERglferIXemmXtBFqWri8ChIUWJbJ3j-SEJHI5e6xvtOV1w0wxSABlKIzC5XH_ei-7u4cfMW_Amfavi_oqtcfxouCMbnnlilaayASHKrNjYzE2Zh7lVEyZkY5FEEyGfTHnmbEpz3lb7TCBmQkNMy87v89DLHY5sj0803-BSgMS7uQ-b0kkGmcgKAVVOiDCjcF0DDUoOnQuhlJhhCSMj63CZCjE9-fNnYOS1NpDuwB3pv4a3amKDiRY1QshYDRZEtsEyGPZK1lE0Ic7mXAbAyEpYVPb3tlEppLLpPVDDXGmxPvVQh3uh3l3c9BZHcKSXCQuQIt3EjSuYZ9DEASPNX70Rby_nk1bQ3jdRnG5FT7iR87JMarx1RrfF-s-gHVY7qcm_9LLt404FkTH5pYwlflTU2vMbZZYXKn-8WBlBB6h_RHu6mcgIi2Yka_n1sQ-ELZnv0ZLMcktRtOaYITXwSUw9ykqRoEeOGAf_CxXEWy0hm1F8VtzCpgq0_agVx8k-WgVqH3rjaCETJufj5ODWLEd7Ru4qyexT9NkvmcvlS7xNX7UNtFht--jP8KxiyfMvkFACbqoxQPGJwXpkNB0WJPL9RKdKTAnf4F0AwynIpQi8ewrJk5zIot1MxcrZf4Kw_y_YxL4SSkvIR9wU6t4rOty1yz1y9TJzyl9FfkNzAOtHzkyqjVdRmrT22Z_7UoW0UgeqWAqkJIVH20NiMru8eali0zvCMDc_yLMfDgSYkeaBSORh4cE-fd1mtOHjxEDkzMtFx31MICbr4YXG5hdzcz4ZWiEQfuIyAY6isr9KdFuvneO02QhoeHTslX5xtT6_2UPwTy3webqzylGQm4LlgPNOIE7Kt7BBy4DgXST_1FaMenjqzty6s02PzbucRmtkvglrsmFSR1HxE3VkirvoPQlUvfJxAHrEzy4HzTYbWOtWxeY5SWOPkahiRR705adnac1DgLw0ZfWL7XbW8ny3S85DlzJmBhffV_iDJOUhecO8E1Igr4wXh3xKFpN9ooh70UdKd8QEXiyl1_WLRbe_6FryWdZTzidJgOnyleuQxOvv1D2WzC81aaDnaJ6JBLbakxTQY69n5e9PPkGE-uukNJuWNe-9zsCf8Q==",
  "id": "rs_09e31a60ea771337016ab4545b495c87d08906c9f4ef4714bd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At the low pose, the rounded yellow object is centered within a few pixels of the jaw column and fills the gap symmetrically. I’ll close the gripper now to avoid a sideways squeeze from an off-center approach.\"}",
  "call_id": "call_YpN23PhkjJC1i7dmeAOIO4ij",
  "id": "fc_09e31a60ea771337016ab4545c4a4087d08d30f043cec3d0ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YpN23PhkjJC1i7dmeAOIO4ij",
  "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]: [-0.1959, 0.989, 0.8158, -0.6979, -0.3035, -0.136, 0.9979, 0.5087, 1.9846, 1.2621, -0.3744, 0.2539, 0.3599, 0.1224]\nstate[eef_state]: left_x=0.2859 left_y=0.0007 left_z=0.167 left_yaw=0.1272 left_pitch=-0.2464 left_roll=0.1553 left_gripper=0.9979 right_x=0.4213 right_y=0.1882 right_z=0.0223 right_yaw=0.048 right_pitch=-0.455 right_roll=-0.0554 right_gripper=0.1224\nstate[joint_eff]: [-0.0205, -2.1538, 6.8034, 1.4286, -0.1734, -0.0611, -0.0171, -0.9094, -9.1419, 5.6547, 1.2332, 0.359, 0.2222, 1.9414]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:284b7e314e6f8a3b22c0001000de2b2e9b78af5710055379c618918348c4efb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13b6d909047d38335111bbbe67c77bd68f4530b24c3946a2c655417f54afbd79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9273cdfbb394556479e0c5db0a1c7153a85da33d6606c384bc1daa89699e74e2",
      "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 · 4.785 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1947, 0.9848, 0.8162, -0.6575, -0.3073, -0.1322, 0.9983, 0.5404, 1.6627, 1.354, -0.7128, 0.3027, 0.4141, 0.9996]\nstate[eef_state]: left_x=0.2929 left_y=0.0004 left_z=0.1748 left_yaw=0.1262 left_pitch=-0.2031 left_roll=0.1462 left_gripper=0.9983 right_x=0.3858 right_y=0.1742 right_z=0.1542 right_yaw=0.0222 right_pitch=-0.3672 right_roll=-0.0255 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -2.6735, 7.8701, 1.6288, -0.1294, 0.149, -0.1783, 0.1026, -7.8564, 8.759, 1.4774, 0.3443, 0.2271, -0.0611]",
      "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]: [-0.1959, 0.989, 0.8162, -0.6945, -0.3031, -0.1356, 0.9979, 0.5018, 1.9736, 1.2678, -0.4061, 0.2729, 0.3744, 0.9996]\nstate[eef_state]: left_x=0.2866 left_y=0.0005 left_z=0.1677 left_yaw=0.1264 left_pitch=-0.2429 left_roll=0.1541 left_gripper=0.9979 right_x=0.4203 right_y=0.1804 right_z=0.0264 right_yaw=0.0128 right_pitch=-0.46 right_roll=-0.0718 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -2.4137, 6.7214, 1.5018, -0.1099, -0.022, -0.022, -0.3077, -10.0171, 5.2855, 0.8181, 0.2076, 0.0415, -0.0611]\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 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 0.989, 0.8158, -0.6979, -0.3035, -0.136, 0.9979, 0.5087, 1.9846, 1.2621, -0.3744, 0.2539, 0.3599, 0.1224]\nstate[eef_state]: left_x=0.2859 left_y=0.0007 left_z=0.167 left_yaw=0.1272 left_pitch=-0.2464 left_roll=0.1553 left_gripper=0.9979 right_x=0.4213 right_y=0.1882 right_z=0.0223 right_yaw=0.048 right_pitch=-0.455 right_roll=-0.0554 right_gripper=0.1224\nstate[joint_eff]: [-0.0205, -2.1538, 6.8034, 1.4286, -0.1734, -0.0611, -0.0171, -0.9094, -9.1419, 5.6547, 1.2332, 0.359, 0.2222, 1.9414]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:284b7e314e6f8a3b22c0001000de2b2e9b78af5710055379c618918348c4efb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13b6d909047d38335111bbbe67c77bd68f4530b24c3946a2c655417f54afbd79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9273cdfbb394556479e0c5db0a1c7153a85da33d6606c384bc1daa89699e74e2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFRhXsvjaRZy71FMz2dXqTkPjE4udn2POWPVs-C7kXuxnDORN7n9K2TFaRHDZnumga6N-QINwhqLTRJ2-fhPGYWAznRafAP5DZIPsl9t0xU4NDtntmvU7eL3VQKF839fvbhxhf-pHQcFxFJdz6cbt-C-n7I5Jyk8ANO5rY9L8o0FmfYl0QYxibN-lJVqQRsOzhtxGRAgavIrMCnHlD_o5O50JjxxWB_-cJi001w03vuDl5DgzadtwIdLIpRVk_oSeQWTb9Yef-WUQwbYudd4EprcNQq_LZrHm0rZyv2fSCb2wWoUtrF49UXYS5TAG2YzXSU7-z7ydRmx-8arXtve6ljJBIfvfFst--euUAUrGX_p2ZWoblt9V-qSxrHvj7Nm2VQ1lzNE2xS8UK8c4szmin6CPi7HmBFYNqNAuFmxSmio83oOe8McEbO9jCjouy4UmE7P3QRTneP8Jzk2o00d4b97z-ow7Dg7hdizZviM-txZwc49ryYhP3J3QJW4oUVEjssx4d56OYS9_qzK9LHK3xjJ69xFjy_Y2XKxiUNJ4VK7X2PyR9vPuZ-BDDJnzMNBNI5Q_PZBeVtYvWJAIMwDCR_H_R0LvzOSjvOdU6ZFdKMVAYza4NJc9jeLHxqLJ9Ta64m5Zm1OxWdL4vGGCCZci7wub84J124yF6_gM3-A0H-LthXG5T1qN6PzXvytaiioj5dJpuAvlDOUXQyUj2YXVYuOSR5js3_KFrQDVZhKNbcD6q7hxNE9p8ajOBh_J89-EUsFF1N9w48-fOEFZtrOLO4kVtfe0zMTpWhnkm7MmYcffwXab6UJ54W0VqZOeNKbjeJUtz_zLFOkkwC_7DNanSUT0tTGBJ3S1YMevLJ6ck3QKFfwFw4q7h44bNSfv8g1VIm25y9k5Hx6R-oLOQp0x_NBrFMrR0hAb4fq-mEE_GjfLZdg00_-8bplGrbH9x2CJpS92NU7zdiPREmblM791JcQyym9Q6m_ORfwv4Qxo_wVI0F2DxUaeEGoeNTq2ujTN7xqQgBhivqbEfHA662IDaoDHj9N7IICRREVwU4FlXI-Te9-QyubL4O0BnT-_JT7-iuD7S7Uoboq0RPp98b0fACxQpvQOSlMFoUqWt3LCnh2lYmZ9oOzAlF37Xj-8VSpE8C5XJHvn6sJBoXNHPbDM7NV4t7HFQfkV3_OrEJFpMmo-u20622l5MC45GNQkvefxswiAxnt9hgQNhaObjkYMckdPfLjvRCKOJ_YwsugRNggSyUW3R_yebDP2gHbNFuGRVUpo5IUUl95sUseNB5ilmccU4boMnbcBtHG1XAxC0ikKaUEm8b3GErMDfu5PSYaoR5DMFmxZKqK-aBxAXNSmEr7NAulEh7my12zaLxAKZl0ZLPnx2KhROU-kuvDTg9_i1Ogto4reyRT2E4SHrm-YDzc2qr40DXuYVJIn_BfL5eUzAY_jCJw0Rr2SZQE626STJko1vlhhVgnT4lAvF5mgmx1R5NaDPFjW-qm2Rq1WsbHJifXyVeLG--ofBXO5t7m409_ENw3z2TzyWXS1418wJSRwu4ZaXgalx5OE9mQX1zKav2pk8WPG6MGrmxq2Q8LfPud6rsdds38ZwAL5pBA21VeV4Tvwvb_4SeSprWw2TQFfWneo9rzmdJvSymcSiYtxgi-txuctUAE_JBwmql6cx4JgKECBkGL0gc9IbdsykWz8lw=",
  "id": "rs_09e31a60ea771337016ab4545fe62487d0b2a27d74ac3bd7c1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.18,\"right_z\":0.13,\"right_gripper\":0.0},\"note\":\"The right gripper stopped at a non-empty opening on the yellow object, though near its tapered end. I’ll lift it straight up and use the overhead view to confirm it comes off the table before transporting it.\"}",
  "call_id": "call_dscyxNAxPcCHEhfOO1dDzuMZ",
  "id": "fc_09e31a60ea771337016ab45460b41087d084dda689e52b1716",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dscyxNAxPcCHEhfOO1dDzuMZ",
  "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]: [-0.1959, 0.989, 0.8162, -0.7048, -0.3035, -0.1356, 0.9979, 0.4938, 1.9232, 1.486, -0.7746, 0.2317, 0.3325, 0.0668]\nstate[eef_state]: left_x=0.2848 left_y=0.001 left_z=0.1661 left_yaw=0.1276 left_pitch=-0.2526 left_roll=0.1577 left_gripper=0.9979 right_x=0.408 right_y=0.1776 right_z=0.084 right_yaw=0.0411 right_pitch=-0.5682 right_roll=-0.1071 right_gripper=0.0668\nstate[joint_eff]: [-0.1983, -2.1675, 6.7077, 1.4383, -0.2027, -0.0317, -0.0171, -0.8274, -14.2564, 9.9897, 1.6386, 0.2027, 0.1978, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7dad4a33dfd1cce80986b4591751cba2b4e60ba852a10c0c44483472340a267",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ad9737ff2261904b37f949a93e07ff9076491e8cbbd39dfcfe1d92a5664a02e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4a0de8a0d00573728fecdef2b6ac4b55ce0df56b0d3bf4a4aa568c53d21a6b2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 5.353 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1951, 0.9882, 0.8162, -0.6861, -0.2962, -0.131, 0.998, 0.5003, 1.8427, 1.2781, -0.5335, 0.2829, 0.3851, 0.9996]\nstate[eef_state]: left_x=0.2881 left_y=-0.0007 left_z=0.1689 left_yaw=0.1182 left_pitch=-0.2362 left_roll=0.1493 left_gripper=0.998 right_x=0.4072 right_y=0.1705 right_z=0.0726 right_yaw=-0.0003 right_pitch=-0.4433 right_roll=-0.0671 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -2.2085, 6.735, 1.6825, -0.2613, 0.0024, -0.0513, -0.2256, -9.5795, 6.735, 1.5018, 0.1245, 0.0415, -0.0611]",
      "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]: [-0.1959, 0.989, 0.8158, -0.6979, -0.3035, -0.136, 0.9979, 0.5087, 1.9846, 1.2621, -0.3744, 0.2539, 0.3599, 0.1224]\nstate[eef_state]: left_x=0.2859 left_y=0.0007 left_z=0.167 left_yaw=0.1272 left_pitch=-0.2464 left_roll=0.1553 left_gripper=0.9979 right_x=0.4213 right_y=0.1882 right_z=0.0223 right_yaw=0.048 right_pitch=-0.455 right_roll=-0.0554 right_gripper=0.1224\nstate[joint_eff]: [-0.0205, -2.1538, 6.8034, 1.4286, -0.1734, -0.0611, -0.0171, -0.9094, -9.1419, 5.6547, 1.2332, 0.359, 0.2222, 1.9414]\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 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 0.989, 0.8162, -0.7048, -0.3035, -0.1356, 0.9979, 0.4938, 1.9232, 1.486, -0.7746, 0.2317, 0.3325, 0.0668]\nstate[eef_state]: left_x=0.2848 left_y=0.001 left_z=0.1661 left_yaw=0.1276 left_pitch=-0.2526 left_roll=0.1577 left_gripper=0.9979 right_x=0.408 right_y=0.1776 right_z=0.084 right_yaw=0.0411 right_pitch=-0.5682 right_roll=-0.1071 right_gripper=0.0668\nstate[joint_eff]: [-0.1983, -2.1675, 6.7077, 1.4383, -0.2027, -0.0317, -0.0171, -0.8274, -14.2564, 9.9897, 1.6386, 0.2027, 0.1978, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7dad4a33dfd1cce80986b4591751cba2b4e60ba852a10c0c44483472340a267",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ad9737ff2261904b37f949a93e07ff9076491e8cbbd39dfcfe1d92a5664a02e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4a0de8a0d00573728fecdef2b6ac4b55ce0df56b0d3bf4a4aa568c53d21a6b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFRmEml2fbjLjk7tIYh2oJnRUIuBihIMRmF-opooGP2KhGouUqeXrzSolOjEtuL2_a_Ohy4nY5YLUaUvAZa2KZujqU77lEpDzyULsTzSAxXpZ-fjo67D5A2v2ZWyuv0nca9jEn8UwxGrTcb2iv7bXTe2vc4vaYm0_o9tNrpMPGxBsFm8YO64MNbjLrIZbznoyl7gl7xDg7Y6FPqoUWulx_Vzd_DGFfRVApFO4vC0xbIRHcousTSoAUEForbLzlYa56drWYHERn0MUTd0UcF3W7PsKCEjzcAABJdp3XIouecXYzu5any7IiDJ4hBzq0_iTxqelFJ-VHlgZ9EP9YdhM-yJa-8HMdR5jZDSOCcYkQH7fN6mWfFPGz-Qir5SjPliQsVyYDH1j-Wo3tifCQ_73hwJON5IyZbKBf4phxzdeJZMncyNmcuZwY9gZNmdj3wY8_C2PnbN3h5CEAbc44XFYviZp-ydN_OfTi8Ks0cyffzSj3Z_B5i29sjqFWvFnzq5qoy10EzFwogg2pxHLl5ZtG9Xj-ge_A8STaagFhNcQpNp_qnDt9kHoXoJI5t-gEsUg-6ag59vVFUMWE8Jfrubwgrh14eKpbhHIWmawPhxZgluAvLq8rLAgvt6gq2-cFuxyhJ2L46l76s4MZiq_B3pWstkXispib1Oi04V3jaAQK8AZjQ_XKPM3gTaCqxCEcPaaJgqKYACJA2Pr1P_522laLOJ0OZ1r9MYMjZx8S-lL-dqGymT9p7pwulinEvUO_Yqn6aIYFAG904A6sdX9844TWYZ9lwYtfpsDRCoRsXTdCq6-mAeq1VkYcWwpwZs2SFm9_ZEtRlaxOpcmkGV36AA9zBj8N6-uglyVXRtzWIwfeX3vLAms32qvDe0VAkssmBjbP6QI4hLcojKS7DqoQXQNLUn0oclzuOF9W2PW41XPPX1hxvNspjZpmuerFpmYnZPc5yjaucQQGrOiz4FPEnSQo7w-ltQ5b6qjxRB8q5QmtLgw-uZVh4Qqv6Ru7gyt6JEXh2hpZf-10O1-kCJrbfcnTjXBYMjiv4BfCAnMQn6FtE1rEXp422hyISFw6yECIiHYf4VzJhARTf9bSwlyylP53YO0JMERIcdkgQoVfh2QPjxRrSOOAxCCUyLXfFv_TKKDeNklVmRl_KZJ3wTMy0AnVZLEuBRuQrBb-ghuHl4did3l21Egrff2eD3pNu3Uqym0r9mM6N1VAABxRfxipH5vgouV4dLrkWpT9Acu6ao6TWEQr2PBk2_CoJByVfdBGAijqia3jEJ-P6T_X4S88JA4EL7Fz2dhSvCklIEbkW8c3MwdElvyxlOeLdR8wljBVxsrWUMXZ6RN_QCd6kgKEjyqe35qP6ZUTI-U8St2wU3W1HUm4ghXu318RE9Ti4QEdewqHIgGIz0aLQBSKoIdiEBb5fPnH2dOJ-OEPSXfVvV28lhQFMdkPCv_CH5hZeS5XNskME1yQzdV0m3KnmOCrh5YnLIF3gyO2TqthVW2QgDSBZGrNin9GYsjn5p_kvkT_LDC1-Z8NaLUvY53CkOB6Sagm6EKv5Le8Latx-UR1JYAG5KVwfwXoui5G5VeoYZTUpcgcP7qNFRdN8rQm8Ov4-eA6aqI33q9ud8CKfcxQ1ApbG3bddYnPVCZzetQnvmKK674EFQ_GnMD45urp0oON7JWZo88YIA2h162ghbxHTywKobp5abrE8We2D9FE0cd0MprXsWXCpf-40aYdWV3gp40EIrVWga8wxAVtKKhdLeTffbZjiLF7pUVVH6X8Ikv_Es0XajO1thqaLdiMaBDC1PItBkqi_RBJ6wUicbNWLMk64es95M_1iwu3gN1-L459qoOhUHjyeUdLkejIutLjrYASR5jBmtZwOY1b3jNgkz0QdngZzNAKtwMOCyWtJkUjSYOHjhyzWZ3vuuDGouRiPdqPN-c3ZpHsrMm3KRfw_LcZ7__z0emc12d_Yer-c7vQ6NAaDAfkcZPre2R_uZHzL6aFfVCQ0kFJiN6Q7LuhLEpS9wyI2G-XRDhv6PWaTlXJfVVhzbnzL632Osq4M8hn5xTw9dcMH00IXHQ8vjfuATJUrq4A1-vzCqgv4Raa2Jr1SJvM9fxLGQEg7ZzUqLQ2SGVr9HdnanS9wl9x3pxXcHBizVmgfXLVSsJXsx7aqpf2EmeJlwlELISTCcX-0gLrtr9kb3J8Ae1PSm8xlvXH17hzQ-GxSvhhRkrMkGx7EKQmxXDbE9vfX4t4E9ZY7rxbbRoxhtBIaNH1v7WIlSRPk-2m9uPmQMubv-R0FCP590XjXVfm9zl3rW4ROjtJXg-GeN4e40zyDTF0MN3P5YYgMHpUWLu-gWoLX7bgT14g8ENXNbRTe5oNHB6N259IzcQOTwSgP-dgQwHlR_wVIaWB3Hn13SCof06UwCK9uOaVLKQzHqozH7_726rjC7aCWs5kgGwO2_q7ugbN0G3pDw92Ddjz3rUs9ci8mwThptLDeKluAenQqUEevYXNNkQZWdVJUQuT9-S1Y36CA-wgSc75hhxzgb3LWj3kZGB8a30xH1LGTfDamNS9fqsHc47P_e_v66fBvBfabXJzbfEKDsBHBAY9QpxSaShg22oJKIO7qkpTrRZWzIwBywzErRqCyh41zckzRHasbwDKSc5Hrzi6uV40oqmdmOL4R4BbXHjZ-nls2GD0EWKb7w443zE6yg73eKyK5Evg==",
  "id": "rs_09e31a60ea771337016ab454635e1c87d0b8c922e90bb8dc5a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.38,\"right_z\":0.2,\"right_gripper\":0.0},\"note\":\"The yellow object lifted off its original spot and remains suspended at the gripper, confirming the grasp. I’ll carry it high over the left side of the safe interior, offset from the white plush already inside.\"}",
  "call_id": "call_Q2oyMgZsk1MOJwxeFrhMJeXQ",
  "id": "fc_09e31a60ea771337016ab45466364087d0a40d42d456c8c3b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Q2oyMgZsk1MOJwxeFrhMJeXQ",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 0.9928, 0.8158, -0.7193, -0.3035, -0.136, 0.9978, 0.8307, 2.5343, 2.7338, -1.6348, 0.3042, 0.627, 0.064]\nstate[eef_state]: left_x=0.2823 left_y=0.0015 left_z=0.1628 left_yaw=0.1294 left_pitch=-0.2703 left_roll=0.1636 left_gripper=0.9978 right_x=0.3717 right_y=0.3338 right_z=0.1338 right_yaw=0.0229 right_pitch=-0.684 right_roll=-0.2116 right_gripper=0.064\nstate[joint_eff]: [-0.1709, -2.6188, 6.7214, 1.4872, -0.1832, -0.0708, -0.0171, 0.5812, -16.5949, 8.5265, 1.1941, 0.4664, 0.2857, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0db7e7581bc78c58e51e128f7f359c1390e8230aa95a81b1f6a2ee9a09a32085",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:703c289390fdc9711c0fc81bd2fd18f6f21b3451fdb141752863b1dd99348030",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06a274ca3939925b591dd07562b3703c945058d4db02a23392d03a082884e0ef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 3.714 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 0.989, 0.8162, -0.6945, -0.3031, -0.1356, 0.9979, 0.5018, 1.9736, 1.2678, -0.4061, 0.2729, 0.3744, 0.9996]\nstate[eef_state]: left_x=0.2866 left_y=0.0005 left_z=0.1677 left_yaw=0.1264 left_pitch=-0.2429 left_roll=0.1541 left_gripper=0.9979 right_x=0.4203 right_y=0.1804 right_z=0.0264 right_yaw=0.0128 right_pitch=-0.46 right_roll=-0.0718 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -2.4137, 6.7214, 1.5018, -0.1099, -0.022, -0.022, -0.3077, -10.0171, 5.2855, 0.8181, 0.2076, 0.0415, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1959, 0.989, 0.8162, -0.7048, -0.3035, -0.1356, 0.9979, 0.4938, 1.9232, 1.486, -0.7746, 0.2317, 0.3325, 0.0668]\nstate[eef_state]: left_x=0.2848 left_y=0.001 left_z=0.1661 left_yaw=0.1276 left_pitch=-0.2526 left_roll=0.1577 left_gripper=0.9979 right_x=0.408 right_y=0.1776 right_z=0.084 right_yaw=0.0411 right_pitch=-0.5682 right_roll=-0.1071 right_gripper=0.0668\nstate[joint_eff]: [-0.1983, -2.1675, 6.7077, 1.4383, -0.2027, -0.0317, -0.0171, -0.8274, -14.2564, 9.9897, 1.6386, 0.2027, 0.1978, 1.033]\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 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 0.9928, 0.8158, -0.7193, -0.3035, -0.136, 0.9978, 0.8307, 2.5343, 2.7338, -1.6348, 0.3042, 0.627, 0.064]\nstate[eef_state]: left_x=0.2823 left_y=0.0015 left_z=0.1628 left_yaw=0.1294 left_pitch=-0.2703 left_roll=0.1636 left_gripper=0.9978 right_x=0.3717 right_y=0.3338 right_z=0.1338 right_yaw=0.0229 right_pitch=-0.684 right_roll=-0.2116 right_gripper=0.064\nstate[joint_eff]: [-0.1709, -2.6188, 6.7214, 1.4872, -0.1832, -0.0708, -0.0171, 0.5812, -16.5949, 8.5265, 1.1941, 0.4664, 0.2857, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0db7e7581bc78c58e51e128f7f359c1390e8230aa95a81b1f6a2ee9a09a32085",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:703c289390fdc9711c0fc81bd2fd18f6f21b3451fdb141752863b1dd99348030",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06a274ca3939925b591dd07562b3703c945058d4db02a23392d03a082884e0ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFRtbEMiaxsTYQGI5TIOQDxbgNqyENASc30gRPToajGQM_-0IIZFFEK-DZW6AVGfZ9recShqbcnUGO3OTTYqi3UNu_RUxl5H9TGV1Um_0QuBs6x5AF_7if610IXIkQOta8fTtJMQTrMZ3cn3J34xmfx3EP1M6dPnf-0OxIE0xUESiuJeRKTa7Et_8uO7rg55he4NVBnTEkrhQUlmpHsRBTTStRP3wupO-EkqYgLL2RSNK_NOwHMbEo1KDOX1mfx_lvqGvWnTug2asJkYUW22Nn37tQW4vcGCAMTzd75zj1RiHlYDR4l6w4yRhFvYKW9IHuzA-QmmjstBfitC-E_CzvBzUZQ69qzuCc1g_eSQ0_Gm0J7hP0jCSs-dWDbNwI2fWPOELg1bLwNB1qGzhbxA9YiaGbni303WIXw4r8fOpsXA3dIhjgeUYKI_iLqT-_o09hNA-Duth58CSPneku9J9bA6A5uiSfT78BtufCcKVi49GJuiGF4t6bx9PU7Ndhps-ozT_TFolJ4hcMXfezMLvXx2R6zm7jr9mHWA-zT9RxcE4d3qZgQURE2nl6dyEixz0MZO4-VuBg5NOIx806nSMj8c11wkMeiJ1SmXmDIXS4K0skwy1raHyDM1a4_d9qBrF-7H2hl_2A0hjwoRl_rnuY7lFc_F2PT3q-IvIrqqgxgMFHQhyRwTxe-nYXr6GYKN6EkknwdwsxFySK5jmCTyg26n1SHcwPA__J32XJA4NNQ2sj9thaVHR-7qsXOGKWAj18Wxg3NbXv__nuz04J0S8QvAlAao9r8_gpo5gAsUXBYIgTeRIHXu09RvVgNE1yeGOZPoHrOceescWEq6qMECoRWtKpY83eVrfD9QALPVCLLGS3miOZPjXyleCoslW0SF7ES1B-JMTRFERa-AvmfwHeueESt8SrveLFw0hG1pZ-Fy7xcEqoR8b3ic8fTope1HhhKaONB8rUwVvQt3hRMuILtULS1fEw7js28IuD9r-UYWmVU2sLsMhE1aOCIwFmYH-qMSvNWwz4ttS2CjSOdM3_UTBeEsZl9it5WeREhLSBTsPjxQFevNLor4gySf0S3ffTWgoq4P9w7a43-7OTsYUdp2ONdqblXOZPa7_yoxXNiu0zMT13OMf8RjqRdiOL-VKzGMY8beZMH9GoJ0g5jzXAzZ2ct2f6Zx444CxkG9m9fGA3elm9vLJkb4FYj2j0sm03N7eEZXJVTtkXAr2b7PZ898CzEY_X8HdNjwYcm1k9UVjEiQgvNqSkrMA7sCyIhhd4n2_QSK26-w0UTxw3uIU9bah9ztE7h97q_f4LXis9CF4tAwK4_xVM00IHiEy6caqJFpONB85ISNfdhPNUYBX5ZKp91xnTb3OrK5OSijEanQ8glFX6LhZDRKBCbbjCk9liZK4q_YY9R_quyz6OKtTHS5rR6YbJ0s1vIGt-ne90n5lijSPylJWeqlY0PokGC1G8tsZjd5BEc4ti3guVCBJKw95Iw3Ciq3XZ_JQVneyY0n3Qp_y7_SWhzLalYoveeuq9w3wlyJZ15_60Mt72Qz9W3z1JtCX944MrFj9MOHPoVjkZOuqsriOp2IftD9zPWbm-5AZ63ovEm3cB7fS8zIWaPsCcMMGJy0dqeMr1Q9oqqPRUXReVlnJqM5R1nITZA8d5rRYiU2hirH1sHXh_kYMmXPVl1YcM2mA9i6D_wXEWE0ocLjQ5-byqvaotmn0Kh9slJHIL-fQxWL0yXrawUS6ik4B9ucCFhk8h-K-DJvm09r6XoiPVmvFaI4TQT0Lv0knMNdVakPacax_jMMbSXlScIelAtkm4-1mr969sa1JJ3C_KvN94uMDdhsleKzNi4x_z2pEyIEs29ZkHVUuCCb7tsBRtOsie6cYpmd47KMkMxasblrexG7AHGnSQAHtkeQcVfe_uYFP_bY8OHFl6Akp8bTZpOJyF_KEOA8IG2rrgsNSqWg1LR4jl6SUYsj0P2AL8Vb9tk4uHBriJdh-igOEmgDfqKwlBUXcEBC8j88BtfWvZEq6rofvPfSww7SUmi4ERFB4wXPMzJyd5GBe3IjvAaHvhN-Dg65Ahli1h4oB8M8s5gj7kD4vPQwfmDnsZcRfj3b6zejjxWxpj0K2Jt75nyf3geCSQR61EbG3rI3KoMtMyAg4Fct4R0t4eQzSRB1IrsqfmONxzjy61iCmYxXHE-pMeA2beniJLONnBBbkJ5dryqH_vKeKjs4V-atqQehV0YK7bV1Cp85O0kp15zWLmlBzyjzUh0lasX8FWmZ6SvuERcoI2wDLparwu1yIKGnPZ8HscI0VcIGgCI8cPmBTfyXSVaYK8J4Nf7h4VNzVpXR-Su4T974E9kNimx3lWhEZ65U0HPlgEuPVOsuwGxhclltWsylUt-iGW-ovZdiEFDGd-g=",
  "id": "rs_09e31a60ea771337016ab45469ec8887d0bca4223d0de722b6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.18,\"right_z\":0.16,\"right_gripper\":1.0},\"note\":\"The overhead view now reveals the yellow object still on the table, so the first grasp was only on its tapered edge and it slipped during transport. I’ll reopen and return above it for a deeper, more central grasp.\"}",
  "call_id": "call_njwPiMYAXd7JYnDuqqmpc5Pf",
  "id": "fc_09e31a60ea771337016ab4546c3c9887d0a567ff38abf2c80a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_njwPiMYAXd7JYnDuqqmpc5Pf",
  "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]: [-0.1959, 0.9939, 0.8158, -0.7261, -0.3035, -0.136, 0.9978, 0.5186, 2.059, 1.9297, -1.2201, 0.2871, 0.3134, 0.9958]\nstate[eef_state]: left_x=0.2811 left_y=0.0017 left_z=0.1615 left_yaw=0.1301 left_pitch=-0.2778 left_roll=0.1663 left_gripper=0.9978 right_x=0.4112 right_y=0.1812 right_z=0.1396 right_yaw=-0.0168 right_pitch=-0.6662 right_roll=-0.2529 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -2.1265, 6.6803, 1.4383, -0.1832, -0.0415, -0.0073, -0.3487, -13.8188, 6.3111, 0.9841, 0.0952, 0.022, -0.0024]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b5b228e0166be7907c33caf3c52529c90ab0bf8bfe1a8c0df296172d28220d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3891f3b8fee28326c4999613d8bdab0d99a8df837178dcb5f75866a766673b18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55d5562b757c181f7cb3c5ffbdd2edc20e27fbb2d5f204660640490af051e79e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 2.246 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 0.989, 0.8158, -0.6979, -0.3035, -0.136, 0.9979, 0.5087, 1.9846, 1.2621, -0.3744, 0.2539, 0.3599, 0.1224]\nstate[eef_state]: left_x=0.2859 left_y=0.0007 left_z=0.167 left_yaw=0.1272 left_pitch=-0.2464 left_roll=0.1553 left_gripper=0.9979 right_x=0.4213 right_y=0.1882 right_z=0.0223 right_yaw=0.048 right_pitch=-0.455 right_roll=-0.0554 right_gripper=0.1224\nstate[joint_eff]: [-0.0205, -2.1538, 6.8034, 1.4286, -0.1734, -0.0611, -0.0171, -0.9094, -9.1419, 5.6547, 1.2332, 0.359, 0.2222, 1.9414]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.1959, 0.9928, 0.8158, -0.7193, -0.3035, -0.136, 0.9978, 0.8307, 2.5343, 2.7338, -1.6348, 0.3042, 0.627, 0.064]\nstate[eef_state]: left_x=0.2823 left_y=0.0015 left_z=0.1628 left_yaw=0.1294 left_pitch=-0.2703 left_roll=0.1636 left_gripper=0.9978 right_x=0.3717 right_y=0.3338 right_z=0.1338 right_yaw=0.0229 right_pitch=-0.684 right_roll=-0.2116 right_gripper=0.064\nstate[joint_eff]: [-0.1709, -2.6188, 6.7214, 1.4872, -0.1832, -0.0708, -0.0171, 0.5812, -16.5949, 8.5265, 1.1941, 0.4664, 0.2857, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 0.9939, 0.8158, -0.7261, -0.3035, -0.136, 0.9978, 0.5186, 2.059, 1.9297, -1.2201, 0.2871, 0.3134, 0.9958]\nstate[eef_state]: left_x=0.2811 left_y=0.0017 left_z=0.1615 left_yaw=0.1301 left_pitch=-0.2778 left_roll=0.1663 left_gripper=0.9978 right_x=0.4112 right_y=0.1812 right_z=0.1396 right_yaw=-0.0168 right_pitch=-0.6662 right_roll=-0.2529 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -2.1265, 6.6803, 1.4383, -0.1832, -0.0415, -0.0073, -0.3487, -13.8188, 6.3111, 0.9841, 0.0952, 0.022, -0.0024]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b5b228e0166be7907c33caf3c52529c90ab0bf8bfe1a8c0df296172d28220d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3891f3b8fee28326c4999613d8bdab0d99a8df837178dcb5f75866a766673b18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55d5562b757c181f7cb3c5ffbdd2edc20e27fbb2d5f204660640490af051e79e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFRyLnf6_H4f1ds-3WlK-0QQT2P_Bibyikos5i16jXLNKYUw_kdfG_6Uz72LooebhIi13UhJtkb8bpazobtOCFNslv5-coGEVR8FKLnpNy9jJxmEFo8vFuk0WHlSvgvSLZgv0iuis-SZ13UL1XOJqJljYSj9YDV62KtS4bCextIBOkfl0kSfNF7eabL8I4NkIb9x1Rr9OBKZJ-BCYk7UNfiJJ2EZCaYvuXHq1zuWtxE40QF5HaAND3ZRbxdY14Lo3YfYTS5MztKG_9GKab7HJdjDWnG0mtxcTtVe3K-OTbAA_lIku-ZmCUViNhLq-A1cZo14lKZlROQfn3kBeMZ1njGRV8TIf2BnigLo7LdNPdFfVHAkL1q3oiUpCb_xltI1WBL2lOcmtFQP-9fSC6oKdWSC3bmOD-VVj_Im-EGnQAURvh2eYZhH_QWC3REUFtbljVz1Jq4EUicshWJaHy9mwgYM_MQV-dUPkMpeQB8NgoxEoKEm9jjMWEq3HHh-VW_9AKPMyee7iBxnMdMXf96DWSX2pYt5PjCQtMzJWUQUsh3rzy_mn-Oqe-cA7wIxOAQbdtFh1vqZPMxnBO964T8goh6nXgBQiLt_HmCfYyXxL-egzw06D-1NiNcfDvyOZ7r6xXosdoWvu-k94RrwYtBJAKQg0DSlydLB5HAkCSvXH7Nt4VUa4xSr8d66eilJR2HCreBJ-HpGCzzIXgeJGv4e9qX2k5J1wBayoHSlT_JZYLa3zHq8KtJ7cGV2nGpvoumn3EJY2zLau8brs3HbPouvhcosteYPeLk1ENmJupzgMC59LEzPxJGOb4TmwBAcnL17si3x3G6cpSChBqcXnXUVWCm1GbR5XZYBQUzO7LhR7JGmv7MHLXRbmaEDMpLYQS_tHnlNQdxU92f4qNwAZNsmog2974f93HGn-UO4Tof7wr6R0EposDvU2-lz8w6xCOyNvEwsmB_73F06y8eJ-T1Wy7XEUlysB0gxIVhL7JUVyLyP_Ah_194SetXj9WSR50HgT5txNaS-peUZFc3hIs2q1PmhvNn8Gs_34GR7Fi_IpMS3c8AF_yxPHGCBmsA0LYK2y2G28iFtHeC_nTn1yrwzf8DM9k8j2kSWabcqWhYghPfUk9KzH17DAa1Kf5YUQi76bLFMR90BMQ-6Iw67FlgTH0_gVfhOEhQmpwzqy1RuW23KIz7bir0qXI6Gt3EJ0FjErCcnnm_zsdRJenhRgPks3rNZvXEc7j9YrTw6tcc44npafTL3CWvScVw5D2OaoHqf2hbdrU3QNUR6v5zSdB6WKdYQsV4qKfabvl1xWmsj11y6zm1xYEjk6P8DSTRLG0ZuFC99xfqxZA8Q22QuyrA8APGLRLBJJn2h2wWRw2bUyfvZlxeKGgqFh4lQubNm0SpFrSpc9kpqGgJQaT8LVtnwzNLOmgaU_dYazsssCWQDBIY--UgcLnJPycYCBj2vQ04SH72bHd7qnljCnFO5CzoSo1XCy6uA0MkyxoZCjQovujMnJ6fgL-6e6qh__STae58lTS6Ine-s3fZnSiFtmhYqlQRYiK_EDSpWZQyMRDIq50rMsCeD3fBG19qIaZbZFFCNV9n1xdR2e2wswfAHZk-5jMQBsP36YxbhqqaaAMVhTKHPmImkdStFV2Cu-nj5wBHTcznt-Rgu3JTIKuTK7e2pX68bx6eOqiMirzrZUh3qs73_berhVSPoL0dQCRvN0wQDY2_kARFIFFOK9336-Sg4OoIG3000htST5iFNZyF7FeMhsto8tvC5J--4LPzwfzzbmBE39FSNQC4m0Az4bzS5vbVH1yaYaQrbEG9eLM_1M7Om1u-yEgsPQDe5iAriFG-gPXDCRKcAmvTpZRji-sayRQK5sjbCHGReyv3Ve3GITGbc8HSeGil-h3SuZit6i8fmwuUFXHP-ZG67T7eyMvtzqK-JZpmsVOG_Agjm9kLkyZXYJKp-njITSOl5RTWjYTU5N40fqGjha6zS1t2vvmIvGsiIkZkxMgLsGuGf5RCtYJ8P18Ct2WIqdtI6KqPXLDt8LStZbkCqWsDwA45Nd14Bj1l6YAYQvX4y1FifO7Q3dXKZkLAf8_PXDAJJNJ9pmuNo4nHIRqKYND8eMG-rYq3lpUwEIw==",
  "id": "rs_09e31a60ea771337016ab45470651087d0b706d512c9e8dd27",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.17,\"right_z\":0.06,\"right_gripper\":1.0},\"note\":\"The prior cross-table motion accidentally pushed the safe lid shut; the white plush should remain inside, so I’ll reopen it after collecting the remaining objects. The yellow object is now visible just right of the jaw column, so I’ll shift slightly right, advance, and lower for a deeper grasp around its middle.\"}",
  "call_id": "call_AOTNSngg9hsvRnjhbdY4Ye1m",
  "id": "fc_09e31a60ea771337016ab45471e44487d0a88b2dfa731b3761",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AOTNSngg9hsvRnjhbdY4Ye1m",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 0.9985, 0.8158, -0.7414, -0.3035, -0.136, 0.9979, 0.4805, 2.0789, 1.6581, -0.9154, 0.2985, 0.2649, 0.9989]\nstate[eef_state]: left_x=0.2784 left_y=0.0022 left_z=0.1581 left_yaw=0.132 left_pitch=-0.2966 left_roll=0.1729 left_gripper=0.9979 right_x=0.4232 right_y=0.166 right_z=0.0651 right_yaw=-0.0272 right_pitch=-0.656 right_roll=-0.2771 right_gripper=0.9989\nstate[joint_eff]: [-0.1026, -2.4137, 6.6393, 1.5018, -0.2076, -0.0562, -0.0122, -0.4171, -9.9624, 6.0923, 1.0623, 0.2466, -0.0122, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ab6ad96ab68397ad5ebe904301037f75c5661b0a62c63cd4b7447fedff24d0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4977b31c23001a62ad2e4cc4c10f1ab342afe66fa2f4fa0754220afc8aeaa3f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a54c62db20024ac2299ef016e80cedb59cb74fcba6c301dfc7b001a9792306e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 2.913 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 0.989, 0.8162, -0.7048, -0.3035, -0.1356, 0.9979, 0.4938, 1.9232, 1.486, -0.7746, 0.2317, 0.3325, 0.0668]\nstate[eef_state]: left_x=0.2848 left_y=0.001 left_z=0.1661 left_yaw=0.1276 left_pitch=-0.2526 left_roll=0.1577 left_gripper=0.9979 right_x=0.408 right_y=0.1776 right_z=0.084 right_yaw=0.0411 right_pitch=-0.5682 right_roll=-0.1071 right_gripper=0.0668\nstate[joint_eff]: [-0.1983, -2.1675, 6.7077, 1.4383, -0.2027, -0.0317, -0.0171, -0.8274, -14.2564, 9.9897, 1.6386, 0.2027, 0.1978, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1959, 0.9939, 0.8158, -0.7261, -0.3035, -0.136, 0.9978, 0.5186, 2.059, 1.9297, -1.2201, 0.2871, 0.3134, 0.9958]\nstate[eef_state]: left_x=0.2811 left_y=0.0017 left_z=0.1615 left_yaw=0.1301 left_pitch=-0.2778 left_roll=0.1663 left_gripper=0.9978 right_x=0.4112 right_y=0.1812 right_z=0.1396 right_yaw=-0.0168 right_pitch=-0.6662 right_roll=-0.2529 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -2.1265, 6.6803, 1.4383, -0.1832, -0.0415, -0.0073, -0.3487, -13.8188, 6.3111, 0.9841, 0.0952, 0.022, -0.0024]\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 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 0.9985, 0.8158, -0.7414, -0.3035, -0.136, 0.9979, 0.4805, 2.0789, 1.6581, -0.9154, 0.2985, 0.2649, 0.9989]\nstate[eef_state]: left_x=0.2784 left_y=0.0022 left_z=0.1581 left_yaw=0.132 left_pitch=-0.2966 left_roll=0.1729 left_gripper=0.9979 right_x=0.4232 right_y=0.166 right_z=0.0651 right_yaw=-0.0272 right_pitch=-0.656 right_roll=-0.2771 right_gripper=0.9989\nstate[joint_eff]: [-0.1026, -2.4137, 6.6393, 1.5018, -0.2076, -0.0562, -0.0122, -0.4171, -9.9624, 6.0923, 1.0623, 0.2466, -0.0122, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ab6ad96ab68397ad5ebe904301037f75c5661b0a62c63cd4b7447fedff24d0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4977b31c23001a62ad2e4cc4c10f1ab342afe66fa2f4fa0754220afc8aeaa3f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a54c62db20024ac2299ef016e80cedb59cb74fcba6c301dfc7b001a9792306e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFR1dRrxS19fjQaO8tMjPVK6bC8DT1XuymyRo7t3lA8KGL-C6ssU-R7BU09DC91isWgg14FDaHlNVAT37KsYRHpnItkPsExn7KFB1mpZIu0rhAE5T1xzrDwytKi6HQIDnIB0qOoUJhOjiYkNjbMiovpsOxJFci5CNnJAZ2zeVT086Mlydjs0KLImtb6X46YoYjPvXZLlMgda_EyG1kjIPbtV_W_zqS7nPfQ5gLdynJy_Hyalg2gZ81qmh6kxrkMbxQH-e6tOf0W3btaeatKpxPP_sZgpv-HXtK-OzOMyRDZYLJqjquuB7L3KnjAqNlatsKxfzq560UIZFAp1TOe0kDvvsN2BGux7gIJnF6F0wPwhR2ObFixQivU_G9mbxG4Zf5FSUHGhNyDEBsj0zu7RxlaF-YY8-VH8b8x7iJ_1d04tlGMChOTrRwk7SvW3YeZ3mFxMmAoLnMoUC0n1LcShBDnYQyBCdcGutyfRkMMEoQrLFBJAR26DaqI-10LIIZb-eSsVUb9kz1QwLgxmTImMgzw6gkYkD9-zT-Jb5SdDc0SKSVr2Qfuc9bdTSXSKdkST8u9GaBpTdHTjoNWl2mzLIpOKV52TVXyShCsc5fDuXwkZlB95zkEiwS5Y_TTlXQww5FBsJZBwr_ijgI4ZFRAKc1DQ05G7XMAO7edd2GYkASQA9kUYeeyeuG1H31498ZcvUF9Bu_6sWvLz6gL7b82fsKwklvZjgESY0iudY9PHa_OlLd_IKSeWIv5N5t0FinPPWwG2ONh5xnX8ghuSopZSHUZTx6ezXDlmT3DsAoyPYlGGUzR33wbcDLV7p32fU9MupiQOt83VPQXJ_IUWg5jwDVBny3WGKjksaqcKViQrBjrZmNo8eL03gRwtuh8l4CjYv4MQPoz5N1ZQ8DajPeMbXEMqFB6Lsd0mFzc-NgYdd41FSv5O1Jh7mjwj6mUh-ToeO5hTvjYyZ05SY9cYQ6Xa09Fe2D4rIICa24dojUR9cGgoI6tty5OYNfPX7ueRWdjl4L9iKciEelORdWUWrPomOhVaUlpG5J4jE8AVx_-wMqRgQCDlr4oefXQ_npdNkHaX041hCezw5YwZUeImBBdP5DLaX28NUw_J4Zomr4rH4WxDD933BWGm53AtJf6pO9Chp1ZnygdxReHpZ-8jWvwu-02OZXA70Wb6kLMJ3PrV_IPPF2lpBkGEJuSJ7ev9BUFtBgUv2oMHp9BC4myzbWPfExYflf3Jh1pr_XPKPLx6x8BpD9dWzsTvJbqJy0KpsUJi4GNc2R2y_PxVvvts1ncuz0olq1mTemMyP8RFsJ_Fj7z-Twjkb-MAuWz6HODPBPsBfTGhHal_ZUQmrm5FgoZ9IlPRj9rvVe7ejrTFNzwQl2OAm_U=",
  "id": "rs_09e31a60ea771337016ab454746e2087d0bcf8b2e6a09267c0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.17,\"right_z\":0.02,\"right_gripper\":1.0},\"note\":\"The yellow object is now large and centered between the open fingertips, with its middle aligned to the grasp point. I’ll descend the final few centimeters before closing.\"}",
  "call_id": "call_8r8d3p3eKTJngQtMvHusj1bl",
  "id": "fc_09e31a60ea771337016ab45474f0a487d086b64f74c49ccb5c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8r8d3p3eKTJngQtMvHusj1bl",
  "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]: [-0.1959, 0.9993, 0.8158, -0.7448, -0.3035, -0.1356, 0.9978, 0.4828, 2.1281, 1.5646, -0.7719, 0.3107, 0.2615, 0.9989]\nstate[eef_state]: left_x=0.2778 left_y=0.0023 left_z=0.1574 left_yaw=0.1322 left_pitch=-0.3006 left_roll=0.1746 left_gripper=0.9978 right_x=0.4257 right_y=0.1662 right_z=0.0244 right_yaw=-0.0331 right_pitch=-0.6501 right_roll=-0.2911 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -2.3043, 6.6393, 1.37, -0.1783, -0.022, -0.0171, -0.2256, -10.6735, 6.4889, 0.9597, 0.3101, -0.0415, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59ca3351bb5eb2bf1d8a6e542febdcd61badadf2fa364d1e855097b7887cb62a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b544b0ce16509a1f6ed36c249e51d4889f911e35e19e1c9914c6b2ee1225de1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8efebaa64f92eac8350de052721ead152a5c2166975a258a63fbb15feb9765f2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 3.702 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 0.9928, 0.8158, -0.7193, -0.3035, -0.136, 0.9978, 0.8307, 2.5343, 2.7338, -1.6348, 0.3042, 0.627, 0.064]\nstate[eef_state]: left_x=0.2823 left_y=0.0015 left_z=0.1628 left_yaw=0.1294 left_pitch=-0.2703 left_roll=0.1636 left_gripper=0.9978 right_x=0.3717 right_y=0.3338 right_z=0.1338 right_yaw=0.0229 right_pitch=-0.684 right_roll=-0.2116 right_gripper=0.064\nstate[joint_eff]: [-0.1709, -2.6188, 6.7214, 1.4872, -0.1832, -0.0708, -0.0171, 0.5812, -16.5949, 8.5265, 1.1941, 0.4664, 0.2857, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 0.9985, 0.8158, -0.7414, -0.3035, -0.136, 0.9979, 0.4805, 2.0789, 1.6581, -0.9154, 0.2985, 0.2649, 0.9989]\nstate[eef_state]: left_x=0.2784 left_y=0.0022 left_z=0.1581 left_yaw=0.132 left_pitch=-0.2966 left_roll=0.1729 left_gripper=0.9979 right_x=0.4232 right_y=0.166 right_z=0.0651 right_yaw=-0.0272 right_pitch=-0.656 right_roll=-0.2771 right_gripper=0.9989\nstate[joint_eff]: [-0.1026, -2.4137, 6.6393, 1.5018, -0.2076, -0.0562, -0.0122, -0.4171, -9.9624, 6.0923, 1.0623, 0.2466, -0.0122, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 0.9993, 0.8158, -0.7448, -0.3035, -0.1356, 0.9978, 0.4828, 2.1281, 1.5646, -0.7719, 0.3107, 0.2615, 0.9989]\nstate[eef_state]: left_x=0.2778 left_y=0.0023 left_z=0.1574 left_yaw=0.1322 left_pitch=-0.3006 left_roll=0.1746 left_gripper=0.9978 right_x=0.4257 right_y=0.1662 right_z=0.0244 right_yaw=-0.0331 right_pitch=-0.6501 right_roll=-0.2911 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -2.3043, 6.6393, 1.37, -0.1783, -0.022, -0.0171, -0.2256, -10.6735, 6.4889, 0.9597, 0.3101, -0.0415, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59ca3351bb5eb2bf1d8a6e542febdcd61badadf2fa364d1e855097b7887cb62a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b544b0ce16509a1f6ed36c249e51d4889f911e35e19e1c9914c6b2ee1225de1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8efebaa64f92eac8350de052721ead152a5c2166975a258a63fbb15feb9765f2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFR48sU1poOcigoMv2iAao8nvhU8XM094gYXZfZ1jS2FX_0wDl2dYDFVFz-EaGfyqvI1VYFT-EcPyRx1Z4BDY6bHjMoeFu1O2VZJcft5_NR_tc-P45CVcLyuyga2RUe4IZ4iDPnnZ9Cs6JoPJh_G08A1yucWsEXwMxGJc4NdT6UdPwSHzoPfCkuZHwe9eN8W5roTo0GD1KeAcyvXTzsJQZvvi9e1h5RkL6DrQ99g0Eyj8I7KsjYniagW6TPV74CM0c8YueXIQza0JP-QRqsEfpo6P4MvGI5T1kg9oICd9F99EVVxGTT_TEjIrCdOXVSjwyt9SMBKI1G1kyFtcJuZFeR9EXSwB5jBNCRSF8j2dLT5dyND3ZPJs2-vyRf-k5v_O8DsypEn5PW1BvepW4lQ-haKDR8iSdjR9h2E6Wa8mEthCzUiAt-PV4dXUwA2wR9eH5semLZ-pDGs5c4AWlOySCUx3ueymRh737IX4oPjx6dtdmOe9MK1jcrXfgsKxVVa_S2fQAFnPuq3x7dJNpJT7wPl4G4vV8zz4d_HxfQ-FQ805xK1YIVOateUWgndbt2p221eElB9w7pklsD2WhevIAhsXZ_Cpb8K1MblI9xDkqRyV48BZ1CbtEpP8aIfF5OqCYn_P7TESzPGX5ZL_VFyfhChqL1TUuYw-DpFOfIGcRBfIm1UEpGEfpVt1vGiEIaZ4ZuHfr6mEOCv8_Vq45jIvAKTV53-JjTJ0iN_wD8nUJtRpS4GdOPocfQbF7IAeifXZsORyK6p6DsoslWMrhsrmyi1Asjs0_3_M5FLcX3M8uAsoZUuibm2ytxTdho-4FqNcvyl3g-HjikFmqIgapHplkjbegOTcHIEFCSR0kINIBQQxrnRMN-OCcFfugGw4RQAokbl7le-qq7LnIdNkPql-Uh1KSiVKpp9QSRNiEjdMGDDWDyACm_ah22j60iU29jFwa1_3w_WdphmhCovuidpHltJgpCMwI0R1CfYA2h1QDKKZ9ewkjGrxYf3xg81VyDGlAczqG6RCNROnHh-AgNiGhLNd4-M-izlF7fdZ0Kgg1IAvT7upkcJQ6MUn577WhKguV1UV8D-DQqS0qzCQftCfniA-JQ1oiFjPaVHha0sjXZFKNdJKRQ-iFYx0KRQHmZRewa41DLY5HGmezne7mefvb87xLoNAgVVBz94L8ul9bXPGEf8UTfqf2m2fTZFmPB2pvUWUgOVBofjRRimv8i5ONW4Hbxv50yf55mDPL-SwxMg7H3834KaxIXsRvUbNNqho7AcjVevD3zDT8jAZTX4g07XJkCOZ3Qrpf-b6fShZTi7CRG8d_CL1DxBI81NSFpYU6uxa7KgnoeahNZe_vc5OUA-dujat7bbvAtgJ1dIKyTOQu35xZYWDueNAN9kgJLvjLGwl5lgAP4BRqrHPWILA1pj54p6pDVtPQ1NAxUvZpW4nlOx0F0U5y5ITEM3EnMA9xzRajkcOyKUAktCSnYmvcy9MKC8Y7KE6bfeT7qAmoQowVv-SqSCXwdaE_aIj557E6fVRTlsSWzWvUgzzS3Faf11YEDQKBuaflqIlXLzY1rpEoCQ_vOrtxXx_kRCQEsYYG0uD-c5R19eAH8yeBk8Lv3l7w==",
  "id": "rs_09e31a60ea771337016ab45476e4f887d0846e071e423dde1b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.16,\"right_z\":0.02,\"right_gripper\":1.0},\"note\":\"At grasp height the lemon-shaped object is about 1 cm right of the jaw center, enough to risk slipping from its rounded sides. I’ll make a small rightward correction before closing.\"}",
  "call_id": "call_bPG0TRi303KJB8dfZUD2LRkW",
  "id": "fc_09e31a60ea771337016ab4547803c487d0b4a9970905116f65",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bPG0TRi303KJB8dfZUD2LRkW",
  "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]: [-0.1959, 0.9997, 0.8158, -0.749, -0.3035, -0.136, 0.9978, 0.4828, 2.1509, 1.5581, -0.7258, 0.3099, 0.2504, 0.9989]\nstate[eef_state]: left_x=0.2771 left_y=0.0025 left_z=0.1567 left_yaw=0.1328 left_pitch=-0.3049 left_roll=0.1759 left_gripper=0.9978 right_x=0.4315 right_y=0.1694 right_z=0.0151 right_yaw=-0.019 right_pitch=-0.6375 right_roll=-0.2849 right_gripper=0.9989\nstate[joint_eff]: [-0.1299, -2.359, 6.6393, 1.3553, -0.1734, -0.022, -0.0073, -0.4991, -11.6718, 6.4068, 0.9939, 0.2369, 0.0464, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5005c77435f2be314a4c0a845ec41e755b278b9b52496e455d33b18921dad63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c15566c1e75c2a6edbac8a0cdfaa1436d38ff9fbd3094e32462ba6deb0e01c3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bacb5c5c9c1d90724055a19ee61998112091dcb3492b1cb3bb1f7ee3cec7218e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 3.294 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 0.9939, 0.8158, -0.7261, -0.3035, -0.136, 0.9978, 0.5186, 2.059, 1.9297, -1.2201, 0.2871, 0.3134, 0.9958]\nstate[eef_state]: left_x=0.2811 left_y=0.0017 left_z=0.1615 left_yaw=0.1301 left_pitch=-0.2778 left_roll=0.1663 left_gripper=0.9978 right_x=0.4112 right_y=0.1812 right_z=0.1396 right_yaw=-0.0168 right_pitch=-0.6662 right_roll=-0.2529 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -2.1265, 6.6803, 1.4383, -0.1832, -0.0415, -0.0073, -0.3487, -13.8188, 6.3111, 0.9841, 0.0952, 0.022, -0.0024]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.1959, 0.9993, 0.8158, -0.7448, -0.3035, -0.1356, 0.9978, 0.4828, 2.1281, 1.5646, -0.7719, 0.3107, 0.2615, 0.9989]\nstate[eef_state]: left_x=0.2778 left_y=0.0023 left_z=0.1574 left_yaw=0.1322 left_pitch=-0.3006 left_roll=0.1746 left_gripper=0.9978 right_x=0.4257 right_y=0.1662 right_z=0.0244 right_yaw=-0.0331 right_pitch=-0.6501 right_roll=-0.2911 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -2.3043, 6.6393, 1.37, -0.1783, -0.022, -0.0171, -0.2256, -10.6735, 6.4889, 0.9597, 0.3101, -0.0415, -0.1245]",
      "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]: [-0.1959, 0.9997, 0.8158, -0.749, -0.3035, -0.136, 0.9978, 0.4828, 2.1509, 1.5581, -0.7258, 0.3099, 0.2504, 0.9989]\nstate[eef_state]: left_x=0.2771 left_y=0.0025 left_z=0.1567 left_yaw=0.1328 left_pitch=-0.3049 left_roll=0.1759 left_gripper=0.9978 right_x=0.4315 right_y=0.1694 right_z=0.0151 right_yaw=-0.019 right_pitch=-0.6375 right_roll=-0.2849 right_gripper=0.9989\nstate[joint_eff]: [-0.1299, -2.359, 6.6393, 1.3553, -0.1734, -0.022, -0.0073, -0.4991, -11.6718, 6.4068, 0.9939, 0.2369, 0.0464, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5005c77435f2be314a4c0a845ec41e755b278b9b52496e455d33b18921dad63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c15566c1e75c2a6edbac8a0cdfaa1436d38ff9fbd3094e32462ba6deb0e01c3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bacb5c5c9c1d90724055a19ee61998112091dcb3492b1cb3bb1f7ee3cec7218e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFR8n524xrTcP0WJk5To53oBtX0TNqcBWqzb9vDpNEn5pNrLXnt74JlQt3iAL3BvehE5FQ0789hj7V9Y5VzycB1Y5A-on8g1cD7r0aXjL6Z63KsvOwmRLwubFsLRULSYAIIPzVasCPQY3BEoMetOjCY40rfqYWPO1k4nXurEL8GDQD2RGynQchwQczeZwXeMYTk88icbG9GBq8sAsG7lyZz6OlioU0XOrccrqPD3tUYDXcd1ukI7GoddvL4MQinWUykNIWMtWDbvcLx6pnL0d5oigh5lF6zf-qtbXh_-Hc68r6AAlvGcIL3Ddc9R-mamKNG68bBCCS-F-DWpfPFQMWa36osT0kpMFjZ3-59EZnhKD6COE1Ovh5vEuPAQNfa-66c-pUSZVCojxuqhSTJ_R2Iziy809YRe4g0XBr0i8OG-IgTASc54BuOD0cfLGatY8n-cFP9pwofoDKVD8r9NRCPj-7q5FLZOxTt4pKfFty7bYRRgrlC2SKHRelQGaCwYw6La2VwRne8ZXzwnsRLvpb5-UoFHOiWfy_Ml532EHsUqCk00pXMZCmnta4s-JTs9_g303mkCT2m07nHPSRW43KJjTePvxYYh30a6wSLtkSsAx47W6sV3At5dxxa2imgwXgFGn5fW7qcnsu4VBXVWG2H3v5zNw4phtU-1IQDZyejry9nM-uBUg5NdbX_cpS0D9cVsOIedZvaxZVq_KSvWrK42AoDHzWFt0eI2X8aZb3nJI92FqztHjynSCh89hrmj_qDQec20Pc7fNolcQqeNIq8z5L_BjU4Hkwx80n9CS1I_ZyqIrgbVF-tYVNwwwL9Cy-M4W5T7vh4bOWPtDHBuziNXhJALzV_LggIqicL7nmefT1c0KPgBOUHBPwfcZa3iFnXwHLANA8wzum-_-29X2KOIR9ZC6Ja68iG0xCUKlyyg3WbeA4ryS9tuycd2275FLLtFv1YC-yQunco0lsW12NFJKiL4xCEK6eOIyt-MbpOyZuVc08pOx1itSjkwZ8nxKyRMuvqMRurYlWzfZHDHbyiZ37n333kReZrNbabV6gz-UPXtIV0KOktoWNp7llJwD1P9U79ejxAkl9Otn-SzhgtxVDXir57ChJ46ZsbwV8g8zgBCYBNMsUgiG0b3noGJbHGCEZQCIRKO4x5l-9MLaAKVFXwgb6K6LYkeU5YhNNRT6DpZulj8vda_CzsTqKTLmqVQmFAfOZlDQPKznMDTEPMtF7YHVleElpmeaVA3clfP-9BOpUGOGsl3i01n2ZDvue8QThMonenEKGbi42PTJrRqHVyRggPgJht40Dh0KOUvOrEmzkGdLc9xDlVtKfE19y1IiQzDnR-HB_5jLzCmlOArm3Uvlan-4baq4dr9R4EymhqMI3keJv6q-ba-1ZUWpzeuD2SV4z7o4K8PPiw0BaDdIGYB5SOapx4qSh9z28rKIIGdqHX4flQPk24f5bF2SpFJKzN-9g6go15kmjag_AgVjDKvU6hsYVMGM28KjwBJYRNOT8yNL0YbDRY1An-OlK7l-nMO2G3-hdClVd-ugETH0QXYGtLrE_3vVhCzs9tR6TSCSXt3LWORQGPLuEOSQjofGHzfPQ5e7Ozd2QiTjjpdt5TsCCPiB0Ko5AKoCgqejSh8xwF-msmeT6iVdtdR0eJfIfdNKBkoz6DdawGVpHdekRF_V3K0xCR-TBXOuA43hUidGvMMsQFRiupTWvVnLugEsTb3cu4g_37vXwY4_SLMN4aZZHg9UOGnc2qqBnGa3jZ3fJjV6S0CINCwXn9YLTo0i36IA1IC0ALpFU9KOBeyHiu5SRLTt6QBjB0ZT2JG3wOuiFK3sJ_yu33z0M13PFJg42GISR1W3enrq7_Eyrw5ko0yKcarXwDRyO6GqhQ35ggWYc6WVrx0XEFs27c6BYfi-hcjg4YGfYdFVl9mFXiV0_iagBxIUw1VpERoXv-xKWe_7kqV5gfiwoQWsqjYjbkVSRvFnaJ8h54ArlAwrw3sy9ggc5xHQ3x6tlrFIYOTk0XCpmeK5ShiraipGObplhSj4zP4_wXplaWTOTfdCgmW1UPAEwTDi33xm24YOaq_QjEGpx3tGQFDu2TYoz7Ly_V0gI9vt0m2XPP6bB09renchA==",
  "id": "rs_09e31a60ea771337016ab4547a692087d0bf6007fb92359852",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.15,\"right_z\":0.02,\"right_gripper\":1.0},\"note\":\"The last correction was distorted by the arm’s reach limit and moved the object farther right in the image. I’ll reduce radial reach slightly while commanding the lateral correction again so the controller can track it cleanly.\"}",
  "call_id": "call_d3pXhIoRd0VxLA0i4PNHeyLy",
  "id": "fc_09e31a60ea771337016ab4547bd24087d08831595b9274d0d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_d3pXhIoRd0VxLA0i4PNHeyLy",
  "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]: [-0.1967, 1.0004, 0.8158, -0.7498, -0.3035, -0.136, 0.9979, 0.4831, 2.1509, 1.5581, -0.7231, 0.3099, 0.2501, 0.9989]\nstate[eef_state]: left_x=0.2769 left_y=0.0023 left_z=0.1564 left_yaw=0.1322 left_pitch=-0.3064 left_roll=0.1764 left_gripper=0.9979 right_x=0.432 right_y=0.1698 right_z=0.0152 right_yaw=-0.0174 right_pitch=-0.6352 right_roll=-0.2835 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -2.4, 6.7897, 1.3065, -0.1783, -0.0562, -0.0073, -0.3761, -11.7265, 6.5436, 0.9792, 0.2515, 0.0317, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4af2f62998c2c528012fdf21fa6e5ff0f0cee1a11bfb42c3b42a020fef1f97a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d25c999c3010c0a132fbb05878663383de267383ccf69fa214e51fc5291efb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe97d6893892349433303eea8647f781237e65358689eb22741663d7f1a4c1c6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 4.766 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 0.9985, 0.8158, -0.7414, -0.3035, -0.136, 0.9979, 0.4805, 2.0789, 1.6581, -0.9154, 0.2985, 0.2649, 0.9989]\nstate[eef_state]: left_x=0.2784 left_y=0.0022 left_z=0.1581 left_yaw=0.132 left_pitch=-0.2966 left_roll=0.1729 left_gripper=0.9979 right_x=0.4232 right_y=0.166 right_z=0.0651 right_yaw=-0.0272 right_pitch=-0.656 right_roll=-0.2771 right_gripper=0.9989\nstate[joint_eff]: [-0.1026, -2.4137, 6.6393, 1.5018, -0.2076, -0.0562, -0.0122, -0.4171, -9.9624, 6.0923, 1.0623, 0.2466, -0.0122, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 0.9997, 0.8158, -0.749, -0.3035, -0.136, 0.9978, 0.4828, 2.1509, 1.5581, -0.7258, 0.3099, 0.2504, 0.9989]\nstate[eef_state]: left_x=0.2771 left_y=0.0025 left_z=0.1567 left_yaw=0.1328 left_pitch=-0.3049 left_roll=0.1759 left_gripper=0.9978 right_x=0.4315 right_y=0.1694 right_z=0.0151 right_yaw=-0.019 right_pitch=-0.6375 right_roll=-0.2849 right_gripper=0.9989\nstate[joint_eff]: [-0.1299, -2.359, 6.6393, 1.3553, -0.1734, -0.022, -0.0073, -0.4991, -11.6718, 6.4068, 0.9939, 0.2369, 0.0464, -0.1197]",
      "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]: [-0.1967, 1.0004, 0.8158, -0.7498, -0.3035, -0.136, 0.9979, 0.4831, 2.1509, 1.5581, -0.7231, 0.3099, 0.2501, 0.9989]\nstate[eef_state]: left_x=0.2769 left_y=0.0023 left_z=0.1564 left_yaw=0.1322 left_pitch=-0.3064 left_roll=0.1764 left_gripper=0.9979 right_x=0.432 right_y=0.1698 right_z=0.0152 right_yaw=-0.0174 right_pitch=-0.6352 right_roll=-0.2835 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -2.4, 6.7897, 1.3065, -0.1783, -0.0562, -0.0073, -0.3761, -11.7265, 6.5436, 0.9792, 0.2515, 0.0317, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4af2f62998c2c528012fdf21fa6e5ff0f0cee1a11bfb42c3b42a020fef1f97a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d25c999c3010c0a132fbb05878663383de267383ccf69fa214e51fc5291efb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe97d6893892349433303eea8647f781237e65358689eb22741663d7f1a4c1c6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFSAGPjxd5Kx8clyhuvH7o_900M3vl0G10lebHX5FgGkqxa_JWcNpcZBJOyV0Lx1xd9XFJfLh5pLN5eGQtgcaxHFXcmcnvOw6lGoJlIe9IAq-X4-h1DEkaXUAT8_cVa5UvFXYwymLAw5qCxNURHlVHXhx89N5v3IxFE4qeUQLvy-D2As8W9KuzT6IS--vuSrfHZa2Clz5hQMJoTK8KWMnEvDvR6S1rcAoVmvlPWt25iWdb5to0X_D3B4o41PUUWgViQhLSWDxwoXz7kqJLmg92ZQdS8CaL_gpOW3DcFzM9arfcpb_5wjZHy9lJp1XHkJASp5hV5vS1tPtrPCeg3b8YwcxGYeWMwsyJ7esXB5ewZfip1jxYwKN2oIwXnkHxD2PghLBVmRC9HvzgaQ748UIp7Yacteuuome5yAYn6XTmkLiJtYPCyz7aWal_2YCVQOvHp7QNBZtxhvPcDezUegA_dnnqyjtHSFuD6qTLa9XqdNbg14mLSFpXD7SItGZF8ub-Q8ThyxUR0a2kLFltq9ZoqHXf1fBfQZyiwKS6gydz_yJ84J2DK68VWmUsHDVy031iOYnLEVwE8Mj3pHLlo07cixZ96Vj8pho1qTXfL9nsfYdM8R-JcSGffGYex-aOEY6PgKZI3wlzcP5SmH52Yso5j1bQPYXsutUrHcC2S-xtdNuwWK4hCbM3by1JxtgJi3z3wA0fwlVVdbQdRH1JFMO1BrWFyY6ACx-FsSsJzh6V5wOHGxjxe4P4fcUWc3scMxTWvsEtP5vIHfQJ4HSsKbjlWyzbY8DsSZh-j-NhbIm4ee4e8zngdyZLfbZzfyPxKOT_4XXhU6qTn7djnJ6_vWeS040wCvE-yBWmHsyC34ALuft4hLhbXoDHV7G8QXW-xVZGIj7JPGbucPtA8Z4S71nQhIztbQmP-xsDRIaGNDd-utb8hPw9hfgD3eWmIuccIj_nV59KTJKTR6AxOa7Jj5FEVKxHTj6KDb5D1pITURiSIVo_gNRyiFcnxwgQ7JTZ3Xj0gzuGZkCkLzA8ADekHClBoZv4GT_P8AgUh8lcu3KOXR3unwvJNW9-O-DCIuQ0ip6uX8vCk4p6zgLOj3p9Q40xTBQy0JW5tNFM5QDNRzrp6NFvFfKzx5xXwC6CZYUv5Scz8OiUC9ZmZo1L0iW51mQzBzi-VTT9z0GvHdNlh5bLbCK15pvhnd_MoGhKMiruKTnw2g5bW871R-rBEz-fscsSNRisb0XLAPZxH8-Ndx_UyPbY2HjLMvClQB0Jvo1nf-YjgFmGhUX-woEZxDoprxvXsUOALtQsqJvjt9UCs0oMlV5O7B8PIPAUl0wJMji6zFBSgTaFSjBqq6MneMtqaAZbIR4bEA7QpUyUO_4sYE8gJZBHVvYlU70EHYdDFLPUIfz_UbsdrSNUpxKynHv0IrCoAv-1-W6Y7IAk0zFVl6ICfj1OCesvE53F1v2h9F59wZEwnfUpr3nREohAisQ3uik7Xfq0Tg0mYAr_GVTKe0MotIL1PHdktTo0Qw6PJ0m53wbuPSumyLi2j1XZYxlNastWlqPOG3J5syofkivje6wXRRr2VF7uYjLmQ-eQUjuPaCZsz3n3qEI0kUymK7tkGsEoCY3EwbBVX8IYd30xqYaVsC_t7yMjCql5QPyJIa_Z6LOYoolbu0cLB8QPytq-lhECmePc0AulF3VRpewekeA3jq4oJbP3Q7bwx295jINDEV72UtL4VtW6spX4vNWNKeAppigi7Yo5CuFSKPYDwUdk9k2aGCPueAwWkD7ZfEpjJ8kN0w",
  "id": "rs_09e31a60ea771337016ab4547e621087d0b1d0d8f992ddc0b6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.45},\"note\":\"The arm is in table contact and no longer tracks lateral nudges, but the yellow object is still well between both jaws with substantial overlap. I’ll close only to a moderate width first, enough to clamp its broad middle without forcing it sideways.\"}",
  "call_id": "call_27UjzHipHuWpp2sQf0dAXokM",
  "id": "fc_09e31a60ea771337016ab4547f509487d0b65eeb973bb29ac1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_27UjzHipHuWpp2sQf0dAXokM",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1967, 1.0004, 0.8158, -0.7498, -0.3035, -0.1356, 0.9978, 0.4831, 2.1509, 1.5581, -0.7223, 0.3103, 0.2504, 0.4543]\nstate[eef_state]: left_x=0.2769 left_y=0.0023 left_z=0.1564 left_yaw=0.132 left_pitch=-0.3064 left_roll=0.1767 left_gripper=0.9978 right_x=0.4321 right_y=0.1698 right_z=0.0153 right_yaw=-0.0177 right_pitch=-0.6343 right_roll=-0.2833 right_gripper=0.4543\nstate[joint_eff]: [0.0068, -2.1538, 6.6256, 1.2967, -0.2173, -0.0366, -0.0171, -0.4855, -11.7402, 6.4752, 0.9646, 0.315, 0.0513, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2a352fc52b8d76a0913af720bcfc208887608347193696199c12a44929b5dfb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3414d38cd416aa298869dfcda97b9f4c9694da490621a9c3b75a8ff97cd1f19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fe4746f3c0974c03255ec16c2789b7a6796705949e2c00771986f0df1a30381",
      "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 · 3.236 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 0.9993, 0.8158, -0.7448, -0.3035, -0.1356, 0.9978, 0.4828, 2.1281, 1.5646, -0.7719, 0.3107, 0.2615, 0.9989]\nstate[eef_state]: left_x=0.2778 left_y=0.0023 left_z=0.1574 left_yaw=0.1322 left_pitch=-0.3006 left_roll=0.1746 left_gripper=0.9978 right_x=0.4257 right_y=0.1662 right_z=0.0244 right_yaw=-0.0331 right_pitch=-0.6501 right_roll=-0.2911 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -2.3043, 6.6393, 1.37, -0.1783, -0.022, -0.0171, -0.2256, -10.6735, 6.4889, 0.9597, 0.3101, -0.0415, -0.1245]",
      "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]: [-0.1967, 1.0004, 0.8158, -0.7498, -0.3035, -0.136, 0.9979, 0.4831, 2.1509, 1.5581, -0.7231, 0.3099, 0.2501, 0.9989]\nstate[eef_state]: left_x=0.2769 left_y=0.0023 left_z=0.1564 left_yaw=0.1322 left_pitch=-0.3064 left_roll=0.1764 left_gripper=0.9979 right_x=0.432 right_y=0.1698 right_z=0.0152 right_yaw=-0.0174 right_pitch=-0.6352 right_roll=-0.2835 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -2.4, 6.7897, 1.3065, -0.1783, -0.0562, -0.0073, -0.3761, -11.7265, 6.5436, 0.9792, 0.2515, 0.0317, -0.1245]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1967, 1.0004, 0.8158, -0.7498, -0.3035, -0.1356, 0.9978, 0.4831, 2.1509, 1.5581, -0.7223, 0.3103, 0.2504, 0.4543]\nstate[eef_state]: left_x=0.2769 left_y=0.0023 left_z=0.1564 left_yaw=0.132 left_pitch=-0.3064 left_roll=0.1767 left_gripper=0.9978 right_x=0.4321 right_y=0.1698 right_z=0.0153 right_yaw=-0.0177 right_pitch=-0.6343 right_roll=-0.2833 right_gripper=0.4543\nstate[joint_eff]: [0.0068, -2.1538, 6.6256, 1.2967, -0.2173, -0.0366, -0.0171, -0.4855, -11.7402, 6.4752, 0.9646, 0.315, 0.0513, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2a352fc52b8d76a0913af720bcfc208887608347193696199c12a44929b5dfb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3414d38cd416aa298869dfcda97b9f4c9694da490621a9c3b75a8ff97cd1f19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fe4746f3c0974c03255ec16c2789b7a6796705949e2c00771986f0df1a30381",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFSFrKvqTAqGN0EcpXAsuYTAR4ODLo-Ks68hiybUaMEkjZ4pJe4rtIdPcg84scnP7HCW_XFSmDynNQ2qrRXsELZjcpA9LrWnks81iSe1l0Nf_xH9EeclKxNfRsraRKTXKXd2WsELruV8v0wyMBNRYl5B0MB15Qe2-5vkbpAXdChGXPXzRxdw-yv7X3URxzqk32w2WLkDrVvCsxvL88kYWj7FzzTn2u8RdbDuYKjMPE42GmyDaf3LKvdh0smEMKnhBl7f-wtKLa7qaKtpSqiXBYaWJm7XoDFQQ78bIpM1BjxTUX3N_pS2irbZTGm-kDy3VxbglaKPIWEBjaq0iuVdJV8ZKfbbA8ynhGONTh4FpUCab1NTrMAGnkqt0ArMnekewCW0ESlE8_CVC7LVAjIL-CX4tTY--Gucuwig6CKvWdopXil2AAg-5owEwnw0h3TZbudhARiC7An8XZXwLF4CX-NBlRvB0UhO9_ZpJ6iIfaEsg58qwkZ5hKBEVHHlCU7inP31IR1K4xjhmpS1W4ePsrTiZsKozy5u-IvRmRbCX-lmUwhHmdsXXZe9U-wEjrsO_aDO70f9dKx2Su8NIR4ddMyP3uzvHbMfRGoo0ZALCT3EMCfNF5GQwUj82SQ1x0TuS4_A-Oft32RgS0hT_EvPKnRkTaUnUsLDvk2WLgfS11awOkM3Ae4j8iC7txW2lZtRRMVCtK5hsXXbU-LuCFe--Zpr1YJsffUJ8dAIGhNQAIUqOCxhl4T6XQDorZG0heDLrga8FsWFbMKKlAU_0LWrBbbIuOI1gPYl1QO-bEWo8RceOMXUveTbqoME2D2bXdfBQg4e-zKnHERQvzgKamcrYFaulmNI4AmzNPbNwb7pmvIYa2iqt3Izb0jPyF1afPDzGYR1mqUXDO5t18Sxe1J35qm68gEy7E2dGPv0Emlg7hvbgyl85RAtw1tMAIV90moYpJY5UH3mRuhgGVUHCHmnUAWrTf9pY1humqXe1IC1qJySgq4ppU6PVabY8uvmYc3FC8lhuHxUBdpu3Awt5ldDh8iv4VFbyKnUpKiJd6Vxxnwiodmx350sB-bYvjyAThGqETOZwsc841rZ1s4jl_kNGbuFUyJkpCyTLmS3s7MjL726OqcWG0TYZO5pzsdCP6CkHsKY4Mh99RnrHZLX7V_tqfreeMU74Gwkpb6tXuxbQ4mgrk64sm9kqeMijseGPGcnfJlzqwpEZCBKkvowodayRt6qyU1rHY_A-2ALn8izH5XC9-wp1141w3wc9nLYT3NdlD7niQdLiN2Y_TBUDx5WAQOkTL-krrPmFAc6wPrSbJaAAJFrr7KUBsjZ37S2AWlFRATSZ3uV9BAoXtbX5_JcJY7UVgVMEWp2ST3_gNK6qDNpVpoPmC5JiiaUc24xMfDGBvXH2RLdxWKoMA3xVfULWgN_b1czBEIiS99zWevqcJud7z456Ms7bEvXCsa3B9PSqXjCYt_vzI6PSQuwkMAoJm-Opv2FNwcHgIrEldzng6oVz3rfAobwnyrT68O_LTWK1ocfXLQ8h_mNWgkS85_RGSFOIeXZZOxqvxbV53MulCQyEjYpFZa_vDzmTdDdq-WOWQr7N5VZjN3HUcrwcYIusXePfqFeMC4iwVlQ1uTJNQFGsK9PmIYlvhl0WRckyFDfegLl8q9eYVsw_fFyKJtz_Q6MVwD4hPITSL4sJkSu03Y7QwicUHB4kc9UoyzEZM46D89P3Zvaqk9uMsibL-NyXHxD9fhNmF_OekkhhhgXYwTqkzrwgA6PUWGps9CIsb0lnsbH3fYNU8XFiPXTaiV1NVYXUTR1SPdaZqd59kMIeniRn-laJ0SUpsck7FJhhdk6hRwyPdbQGS-sQV-JiG__gAlMEQgrF02Dfc8j4o0gTUCKQ_vodwB0LoO-9zDh3Cyg2rtcyBxu_aOrb2jBaIBZAjmBClqXaMP46CB96mYp3T2cA8-HUZzwnz3V-puZ_TlRY-R42WJFr2tKLOhDFXeI5bq4HeUl5Iz3gncBVlb93rSdmaik1DdcT9s4izglbxLylzUsEMFuQSE08SP6fdpw7JqeoOwI9_Dd6XAXu_Ach9dLe97iIQkxAwmhoQJfIr-2Es-KOVU7LgWdDA2rqFNcdhPagZs87cL7ANn-QSrmW3vsXQc1TJfPZ_zc7dkyFXfrVCfsTv8v_hk_f0RV49ierS_BJ1aZKfR_jMZ7SC7zErKN4NR7kZxsV6IU48GWF_mgJgP0X9JeKeInRnO-DO4kFuNfJc5SAZTGOWoeQDbuk6ZwqEz_VUSnd58id1ugvfnDMfinPBXRivsWl9HU35L_sUiwVSYdGq8ZAjvCX9K6kHrMALidzAL0dIh3ibe3uCr57WIc7DCpRjq__1Z3FKcRpl4ZSt_WXdXug-75waX2dJiTMamI_f4gKb779MKGOaKySzVi4UkeNzmm86L0NjmZYpud-zZcFLkLX83I8m_3YeDh8oi46R8N9bUhf7SqJxBSTOzyEQyGbU5Vp5XFVdk74P6isQ==",
  "id": "rs_09e31a60ea771337016ab45481c55887d08c291fba1dd9233f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.17,\"right_z\":0.07,\"right_gripper\":0.45},\"note\":\"At moderate closure the lemon sits to the right of the jaw center, so closing farther would likely eject it. I’ll lift a few centimeters to remove table contact while holding this width, then reassess and recenter rather than squeezing harder.\"}",
  "call_id": "call_LYYdYKA36DjLO2DC52TeFjFM",
  "id": "fc_09e31a60ea771337016ab45484699c87d0b558db578e645616",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LYYdYKA36DjLO2DC52TeFjFM",
  "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]: [-0.1967, 1.0004, 0.8158, -0.7502, -0.3035, -0.136, 0.9978, 0.4904, 2.117, 1.5955, -0.8211, 0.3119, 0.2497, 0.451]\nstate[eef_state]: left_x=0.2769 left_y=0.0023 left_z=0.1564 left_yaw=0.1323 left_pitch=-0.3067 left_roll=0.1766 left_gripper=0.9978 right_x=0.4236 right_y=0.1688 right_z=0.0357 right_yaw=-0.0213 right_pitch=-0.6577 right_roll=-0.3019 right_gripper=0.451\nstate[joint_eff]: [-0.0342, -2.2085, 6.6667, 1.2918, -0.1783, -0.0562, -0.0073, 0.2803, -15.0769, 8.4034, 0.8181, 0.3199, 0.0122, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78c2d9143e33c2849ef32a7c7de3c51356bb5e7c7f2aec373ee30f9cfe623ef1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dda112b77b1933d1c7852993dd93dcbba32991b26846fddaf2b7942c8f2d70b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f463b6d0a1e96314281e687fed575591e9918a9c03e64fc129421ac29b1b9de",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 4.203 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 0.9997, 0.8158, -0.749, -0.3035, -0.136, 0.9978, 0.4828, 2.1509, 1.5581, -0.7258, 0.3099, 0.2504, 0.9989]\nstate[eef_state]: left_x=0.2771 left_y=0.0025 left_z=0.1567 left_yaw=0.1328 left_pitch=-0.3049 left_roll=0.1759 left_gripper=0.9978 right_x=0.4315 right_y=0.1694 right_z=0.0151 right_yaw=-0.019 right_pitch=-0.6375 right_roll=-0.2849 right_gripper=0.9989\nstate[joint_eff]: [-0.1299, -2.359, 6.6393, 1.3553, -0.1734, -0.022, -0.0073, -0.4991, -11.6718, 6.4068, 0.9939, 0.2369, 0.0464, -0.1197]",
      "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]: [-0.1967, 1.0004, 0.8158, -0.7498, -0.3035, -0.1356, 0.9978, 0.4831, 2.1509, 1.5581, -0.7223, 0.3103, 0.2504, 0.4543]\nstate[eef_state]: left_x=0.2769 left_y=0.0023 left_z=0.1564 left_yaw=0.132 left_pitch=-0.3064 left_roll=0.1767 left_gripper=0.9978 right_x=0.4321 right_y=0.1698 right_z=0.0153 right_yaw=-0.0177 right_pitch=-0.6343 right_roll=-0.2833 right_gripper=0.4543\nstate[joint_eff]: [0.0068, -2.1538, 6.6256, 1.2967, -0.2173, -0.0366, -0.0171, -0.4855, -11.7402, 6.4752, 0.9646, 0.315, 0.0513, 0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1967, 1.0004, 0.8158, -0.7502, -0.3035, -0.136, 0.9978, 0.4904, 2.117, 1.5955, -0.8211, 0.3119, 0.2497, 0.451]\nstate[eef_state]: left_x=0.2769 left_y=0.0023 left_z=0.1564 left_yaw=0.1323 left_pitch=-0.3067 left_roll=0.1766 left_gripper=0.9978 right_x=0.4236 right_y=0.1688 right_z=0.0357 right_yaw=-0.0213 right_pitch=-0.6577 right_roll=-0.3019 right_gripper=0.451\nstate[joint_eff]: [-0.0342, -2.2085, 6.6667, 1.2918, -0.1783, -0.0562, -0.0073, 0.2803, -15.0769, 8.4034, 0.8181, 0.3199, 0.0122, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78c2d9143e33c2849ef32a7c7de3c51356bb5e7c7f2aec373ee30f9cfe623ef1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dda112b77b1933d1c7852993dd93dcbba32991b26846fddaf2b7942c8f2d70b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f463b6d0a1e96314281e687fed575591e9918a9c03e64fc129421ac29b1b9de",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFSIlNlWL55SGMLOjz_M9CBrfpmEySBe8qGTUpHXvupJvg1tJfCFo8ZDAcbkyt5rdskUOQgFgq_MTn1X_ADErlG5knixW_vODCH_4YBBVeC1RAQzwLzcykhO_w02KZI2Jc4Eogs2zBzqpj_OFCqw7BIlb4pC1vwk6ZVkz7FFjzYtVDy99l1jixU9gW9vjC4yM8ZtevjQDzdPEO9mn5dc8fEjX8onWuMfvKIZoYbjtlrnPngujPCHjCNdHeJHAAntwToTEgh1l7M5HpOXdf8lKgBUKCo46i-RdQhHSbaU6l-l6Qd-LRFCqF9VfbzbI9N6OA0r5ORA9XbzlfqXpaGYY8olanBQjZ87QCUQ1qbRjT1p9L-sAIiJEbJDnI-Vtb4VZkcrLywGLrPzFSuoqxpSYodGJb_pZ5MWN9GVCIXlK7E6p08H3WYRlJslN_nw9eN86MRFZvVYn0gtOUtjFv0IMW4BGSgX_5cSsj1bWf4VoVeAEpPjZs3M3iMzmzazVjD_ftpQMZgiNrZoLLcKSi25z97W9pJAtQAjpCzpTyjQ033TXjVOMGzDqI8Z-9Ud-OYFhmFiS14jzeVsncDEC_ThVRhK3HjRH_JhMRgDe22Qx3-0ydr2-cIa4JASYUZAOfvZgZk73_EOxSlO6IWxO0iQEelgHK0eT1NpOIblZACMTIGTdGShDTDfZ1tYoxKYVRt_ZoEIQTGpqwm5_VEJOirrqaHaE60YvFqcOf4qSZuF-Tnj9RBDp8BFeiOgfSyXQ3wt3T0J4uLPGmxYzDcFeosjPQDIfsWGwLyBGL9F9T1oIcpHXC-SVIokvWH7DH9kfUAiLrI4EifE-Bfk-DCqvVmgShgxBsc1dVL9ZtoSNi6Aq6t5zlF3b0xlXPVgrDFR8TOLbRQ2e7eXOSdX2ENsCYlA9VNwkXZj5fVY8xKu7c6QZcRbJKXuiH3FL3MHjzb74JhIDIDdwQgkYvuVq3bdODzsYmS4MWXf1DilURX7LVzj0GD56-wpRjHgRddjZyp0UJtRIoLGhXqEolNerBVYkfLRe9C9K4DnrfNYy_qUgMpXsnoRN7NaSOHR_Ns4sE8PrFT5I22Jp90A1unzqOox0egD-36E6EF1_680InfrP3E64KzGNjhZpzOZvPRuQVBelENeaJF1byXoZDjVzz_7ExLwWby9T_c49mFpfQQcisyNQ0dREMGsc1Pcm7uNGptNHAkvze-p9qG6itYl8kepcge9quhEfYuly7u9H5fW-c-Nv_JbrTAaSVsoDD0ch_IfBctbMjyE27WGhyGA5D6Crf5yYUhAHzR0WHPWz3Y-qddZEwGKsWg2rFtQuRTbm1mqHYmxI4DZJxQgDgQHBV9bZlvOhx2FQ0vGDG_flf_UlOQeACTqEQEDFhDgbXqyKs8lTLTuehg3RL6OTtSW8PXVTdZZf7H-HtBTK_j8kzuF56MJKQ7npxIpUMrC4JF1wJw1rvO46t1eDwR8_05ZFnjK5a_27xXh-kug8uidXYhuofSuSyBtHqSRAtPrmLmMj_XyilacZ0qG72vNmPTGz88IGwges6z2a2NagH-ky-QrWDsb5UMECE4wsCkwLfEVEnDIGH4_1B7t_BozTLNq7EDXiuCUxi-q5_iOHSC6gXRQoTp5rK37tCjGXD9mKGyC9YZEL0BzZ1RkO5zvygottuVtA1ZbogkLjqfqKBYxP9L5xuIj7qRiyvI=",
  "id": "rs_09e31a60ea771337016ab45486e9dc87d092d0edf364ee892f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.14,\"right_z\":0.08,\"right_gripper\":0.7},\"note\":\"The partial lift confirms the lemon is still on the table and the gripper is offset left of it. Now that the fingertips are off the table, I’ll reopen slightly and shift the gripper about 3 cm to the arm’s right to center the object.\"}",
  "call_id": "call_VbgSndXwVKd8RTNQSnamuWZw",
  "id": "fc_09e31a60ea771337016ab454880eac87d090f20ae4c615498c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VbgSndXwVKd8RTNQSnamuWZw",
  "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]: [-0.1967, 1.0004, 0.8158, -0.7517, -0.3035, -0.1356, 0.9979, 0.4492, 2.0567, 1.5684, -0.8574, 0.3164, 0.205, 0.6956]\nstate[eef_state]: left_x=0.2766 left_y=0.0024 left_z=0.1561 left_yaw=0.1322 left_pitch=-0.3082 left_roll=0.1773 left_gripper=0.9979 right_x=0.4194 right_y=0.1451 right_z=0.0517 right_yaw=-0.0381 right_pitch=-0.6658 right_roll=-0.3277 right_gripper=0.6956\nstate[joint_eff]: [-0.0615, -2.3726, 6.9675, 1.3358, -0.2173, -0.0366, -0.0122, -0.4034, -14.735, 7.4735, 0.8913, 0.2222, -0.0415, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a31f5bc277f5475a00db5e30aebfa80fd091e4635c8f15336dc7ffc890b69444",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d19a71864aea8457ace48349bf031608cda30d6f40609d9826422550376fa677",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:399652d19eff422774b06140392f87d2a3ff01c5bfb616076ba96052c4f4ffae",
      "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 · 4.6 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1967, 1.0004, 0.8158, -0.7498, -0.3035, -0.136, 0.9979, 0.4831, 2.1509, 1.5581, -0.7231, 0.3099, 0.2501, 0.9989]\nstate[eef_state]: left_x=0.2769 left_y=0.0023 left_z=0.1564 left_yaw=0.1322 left_pitch=-0.3064 left_roll=0.1764 left_gripper=0.9979 right_x=0.432 right_y=0.1698 right_z=0.0152 right_yaw=-0.0174 right_pitch=-0.6352 right_roll=-0.2835 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -2.4, 6.7897, 1.3065, -0.1783, -0.0562, -0.0073, -0.3761, -11.7265, 6.5436, 0.9792, 0.2515, 0.0317, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1967, 1.0004, 0.8158, -0.7502, -0.3035, -0.136, 0.9978, 0.4904, 2.117, 1.5955, -0.8211, 0.3119, 0.2497, 0.451]\nstate[eef_state]: left_x=0.2769 left_y=0.0023 left_z=0.1564 left_yaw=0.1323 left_pitch=-0.3067 left_roll=0.1766 left_gripper=0.9978 right_x=0.4236 right_y=0.1688 right_z=0.0357 right_yaw=-0.0213 right_pitch=-0.6577 right_roll=-0.3019 right_gripper=0.451\nstate[joint_eff]: [-0.0342, -2.2085, 6.6667, 1.2918, -0.1783, -0.0562, -0.0073, 0.2803, -15.0769, 8.4034, 0.8181, 0.3199, 0.0122, 0.0952]",
      "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]: [-0.1967, 1.0004, 0.8158, -0.7517, -0.3035, -0.1356, 0.9979, 0.4492, 2.0567, 1.5684, -0.8574, 0.3164, 0.205, 0.6956]\nstate[eef_state]: left_x=0.2766 left_y=0.0024 left_z=0.1561 left_yaw=0.1322 left_pitch=-0.3082 left_roll=0.1773 left_gripper=0.9979 right_x=0.4194 right_y=0.1451 right_z=0.0517 right_yaw=-0.0381 right_pitch=-0.6658 right_roll=-0.3277 right_gripper=0.6956\nstate[joint_eff]: [-0.0615, -2.3726, 6.9675, 1.3358, -0.2173, -0.0366, -0.0122, -0.4034, -14.735, 7.4735, 0.8913, 0.2222, -0.0415, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a31f5bc277f5475a00db5e30aebfa80fd091e4635c8f15336dc7ffc890b69444",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d19a71864aea8457ace48349bf031608cda30d6f40609d9826422550376fa677",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:399652d19eff422774b06140392f87d2a3ff01c5bfb616076ba96052c4f4ffae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_09e31a60ea771337016ab4548a5cdc87d0b95337de78f16180",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.14,\"right_z\":0.02,\"right_gripper\":0.7},\"note\":\"The lemon is now precisely centered between the open jaws after the rightward correction. I’ll advance slightly and descend to place the broad middle at grasp height while keeping that alignment.\"}",
  "call_id": "call_xaEq5DqLJAjHLd61bqt4cFgA",
  "id": "fc_09e31a60ea771337016ab4548c788c87d09813dab3fa7c9439",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xaEq5DqLJAjHLd61bqt4cFgA",
  "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]: [-0.1967, 1.0004, 0.8158, -0.7643, -0.3035, -0.1356, 0.9979, 0.4305, 2.0361, 1.5684, -0.8661, 0.3176, 0.1829, 0.6988]\nstate[eef_state]: left_x=0.2742 left_y=0.0029 left_z=0.1544 left_yaw=0.1335 left_pitch=-0.3201 left_roll=0.1816 left_gripper=0.9979 right_x=0.4213 right_y=0.1367 right_z=0.0599 right_yaw=-0.0389 right_pitch=-0.6587 right_roll=-0.3315 right_gripper=0.6988\nstate[joint_eff]: [-0.0342, -2.2085, 6.9265, 1.4188, -0.2173, -0.0171, -0.0171, -0.1846, -13.3128, 7.3094, 0.8083, 0.2173, -0.0611, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49168398dbdddc66a86901888e60178e82ced5bf4bda76c42f04458efb318431",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f43ef51471bc21d2ffba94dfa155cbae53981482558361a897c560cd29ea1aed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aa7349589a815f89f23b53ac39b0fec302d630d4c64344a4eb979783ade5ff8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 2.579 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1967, 1.0004, 0.8158, -0.7498, -0.3035, -0.1356, 0.9978, 0.4831, 2.1509, 1.5581, -0.7223, 0.3103, 0.2504, 0.4543]\nstate[eef_state]: left_x=0.2769 left_y=0.0023 left_z=0.1564 left_yaw=0.132 left_pitch=-0.3064 left_roll=0.1767 left_gripper=0.9978 right_x=0.4321 right_y=0.1698 right_z=0.0153 right_yaw=-0.0177 right_pitch=-0.6343 right_roll=-0.2833 right_gripper=0.4543\nstate[joint_eff]: [0.0068, -2.1538, 6.6256, 1.2967, -0.2173, -0.0366, -0.0171, -0.4855, -11.7402, 6.4752, 0.9646, 0.315, 0.0513, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1967, 1.0004, 0.8158, -0.7517, -0.3035, -0.1356, 0.9979, 0.4492, 2.0567, 1.5684, -0.8574, 0.3164, 0.205, 0.6956]\nstate[eef_state]: left_x=0.2766 left_y=0.0024 left_z=0.1561 left_yaw=0.1322 left_pitch=-0.3082 left_roll=0.1773 left_gripper=0.9979 right_x=0.4194 right_y=0.1451 right_z=0.0517 right_yaw=-0.0381 right_pitch=-0.6658 right_roll=-0.3277 right_gripper=0.6956\nstate[joint_eff]: [-0.0615, -2.3726, 6.9675, 1.3358, -0.2173, -0.0366, -0.0122, -0.4034, -14.735, 7.4735, 0.8913, 0.2222, -0.0415, -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]: [-0.1967, 1.0004, 0.8158, -0.7643, -0.3035, -0.1356, 0.9979, 0.4305, 2.0361, 1.5684, -0.8661, 0.3176, 0.1829, 0.6988]\nstate[eef_state]: left_x=0.2742 left_y=0.0029 left_z=0.1544 left_yaw=0.1335 left_pitch=-0.3201 left_roll=0.1816 left_gripper=0.9979 right_x=0.4213 right_y=0.1367 right_z=0.0599 right_yaw=-0.0389 right_pitch=-0.6587 right_roll=-0.3315 right_gripper=0.6988\nstate[joint_eff]: [-0.0342, -2.2085, 6.9265, 1.4188, -0.2173, -0.0171, -0.0171, -0.1846, -13.3128, 7.3094, 0.8083, 0.2173, -0.0611, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49168398dbdddc66a86901888e60178e82ced5bf4bda76c42f04458efb318431",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f43ef51471bc21d2ffba94dfa155cbae53981482558361a897c560cd29ea1aed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aa7349589a815f89f23b53ac39b0fec302d630d4c64344a4eb979783ade5ff8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFSSGQvy9L3hBrnSFryrk7kOawYpUaKKAgbGGmdPqLdXobb_MIp8ao0NwfSi1KCJwncKL98SmSXr2URIwbvMRWwt8lljIRT2wRu0AVh8AZV5berU13oEp7wqQPiqwtDfBa0_Z-bOrFAMJCz5jmAqZn-k5s2MApfginjCjgOdulo7BU-Hifr-sodK27NI7OyjK438CqXD25_q4UVTTUmcP5jpMlu9aUzrT4A6IgiADeydkbFQwa7hSz1umo2cDMhMv-oNWLNgYegXSEv4XNoWRxbJrpqz5VYzIvVAZ419OS_jSsoBSVW92vPF3vFVy67iLYSvg7Sz7kQSrvXJNgWOeKAnjI9z9e7iLfvi8aFv5KWHO01hE32Q3-Q3zv4uBIrdfPlkE3b4PgRnu9MxN1zt5MRHciQ_QiaHF_gkNnF48Y1xL-GjVrXcVhc0Y3cBEaM4DtxRjbMVti0BmtBT9ObZitX_ZgP92GisehI2xW6ZIiOkv879MnSMFcgrSLs3ybKVEEoSdyk-5U4jy31imo3x1FqyBUN_dJtOLVuG7V9na3m7GzL2rfDqDCYfIK8x5sslxofIKZMVgK-i-R8tkZ3pGBafTAux0ytAkj2oV7B1nSx2cQ8_VifH3xO_v2VmkOzmrw3_4svvfP766vgVDKeStvtbEtuadjg9vMi6YXpjW2E9hMPmkE8T1ZdmgxvGWG1XMeevbrz22qWXjx05pDmeTNQQYW7OuJA7BDoOZWJAs2qiQFQHiPgY5FOPaz1ZJ_TrBbehaJwUlV32kg92_SAT3hR-bgpjapukOg-_MjYwqYEUdi8aPzGL3tVRhBI7L2cGoEVJnowlZXtyBXM8uCwzt9PJMZUhltPlZq0F2V9knXMEoWMPrN6F4PXdAToTGe_cP-vnX9bvGL9S-9hPPvjHOW4zowZSRb26BeJls6sH3ck-SGLgCHAI064eKC4XKx7fEChlaBUKutO32EZElN42JHMEiz26qO_xsdk6pAkkVEba5YZwPnjaJrJ5bAszMWh5-fTduWk8VvIfWVGYZf0gSKPstzMfFy0p4akX9Egny2bLPmHwMS9ho7mq4hk5X3gk02pLV97S2gTeonIT3gjd72rHRq58tCuvHLbBR6lmLNFZR66Bo5DIiW_U50Dlx6YtaJwFC1UiXQPW82tnA8TGb6cWTFuRlE_StpcmXB4ini0N2gKQMI2iT4X5tDmppkBA8so__82zxfN8ipop9_-vidHbS5q8WivIRIDsFp3Ypas6IeELGVPPIgRrEg9bsCvIFLtX-V-qnTKHFdFOPZiNpXq1HWBl2fTkbyEsDjiu71yixf49K7jjr7e6ZwtpRWzzDa_9KNrJYMS-AUEh50cXBnTtL22QnJ2iEOyKV2pmwjoB2jdwHNdHnSB1w7BqhnUiM_B1REcKzFrBGkJ3J6ykLuXlMymlSFNsmahUXm43NDv3cY1FeyqAIuRgS8zBTLy6z5FHBOUAYrqM0a6nVyqkn2QdKJsuaCn5ps1-4q8yFlqqEXhktFwWtc8u-v7f4gWco-5C72WvyOQrrtEdXStTq_O5DYzBtRVAAvfmz2COOrdL2PVnfhkPZq86jRIXz84jwkG77sxPysLQJX7FmCa_wk91cbZtMLCbBzO79_jrxMARwtWevtcmrHauFPdN5GuyIAIvlxVZtNQEUkAsprMhLJ4OPPjApUTRXjuaKbhnv5k5b48wQUEbzPXNWRB4Av_tLeqlTWwicugtRDp0EySb7d0KbkbpRWCD0qkF8cuniUegdFI2V1scGJo_aS0YKdB09r-JuVkwoDJXYdru2Rez-knjPkOQ-s6D_emL9qGIFiRqSOaq4R1eeXOqFcjLOw73JKwbPWbKgrTPuLAuB19na0764g0jar5REgjqeBe7fVP0ytP29zpEOBWixbxyNEV0ccCLGUMbRUHEshApC0WZJ_zKxs-fUIYiLx5A-wZh9Z-fRM2W-RVLxPWz0lsMUirnHmmnNs3dLzVxkDNR3kG1g5Ufl25zWY5YW-UUg-FDAXMBRk0a4pSAMXCefU4N3j0JKmbVdjVdQKoIqfoyNPUHdXQI6hDpYpW03AB-JBCBFHA3QtbhlhuhuBwey_K4SJhBhUiDswxBf9ClmxbJOYEgHFR8q39umYZUVS_2cANwh6CePPs85gzDRMGv56TZKG86nf0UTeTY4fpD9RwIk6ioBobZxrwD5rjhyKfztHxyHo5po0kYNNVl9ZjawArNDxkk0L60KU7TGOZ0-c98CmnADSayFoUL7L6aRLQQE5uBd0EgnxxZ1_hcQf0ygWCNcNFDXux_ElKZajir6HmIyY2uVw0svYyWmPWJj0t3DCN2HF8QauviZ-BZGmASlUvC397BwyiEo5W0Hv5l3Hh56bwAysvEG2GDxIbxXXBcuLEkLXm-Fw15EJcQH6rqFDJgwlO-UMPlk4LhsquKoQdmtZh2l77KIRPfBMcad4D2a3q8L9kWZwcrO8Wbi8DxKhHzreYl44pt_yaxIt9cMf0tcWoE_OFUGV5KE7Fp9-veveDGvnOId__ZSwrY_aBFZhoM3J_Hu_wa",
  "id": "rs_09e31a60ea771337016ab4548f57d487d0b7209b0348c744f3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.14,\"right_z\":0.06,\"right_pitch\":0.3,\"right_gripper\":0.7},\"note\":\"The low forward command stalled at the arm’s awkward wrist posture, leaving the lemon a few centimeters beyond the fingertips. I’ll pitch the tool forward while extending, which is the stable configuration for reaching farther at table level on this rig.\"}",
  "call_id": "call_AUwAZXWKTwRCKbBWy8czvn3Z",
  "id": "fc_09e31a60ea771337016ab4549139cc87d087f7df747ff571ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AUwAZXWKTwRCKbBWy8czvn3Z",
  "output": [
    {
      "text": "executing move_to over 32 steps (3.2s)",
      "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]: [-0.1967, 1.0042, 0.8158, -0.7685, -0.3035, -0.136, 0.9979, 0.5442, 2.0327, 0.7715, 0.8158, 0.7204, -0.0643, 0.6988]\nstate[eef_state]: left_x=0.2735 left_y=0.003 left_z=0.1528 left_yaw=0.1346 left_pitch=-0.3277 left_roll=0.1841 left_gripper=0.9979 right_x=0.4458 right_y=0.1377 right_z=0.0461 right_yaw=-0.024 right_pitch=0.2189 right_roll=-0.3575 right_gripper=0.6988\nstate[joint_eff]: [-0.1573, -2.6872, 6.6667, 1.3309, -0.2076, -0.0513, -0.0171, 0.3214, -8.4991, 4.3692, 2.1416, 0.3394, -0.0659, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:104070dbd69f1ea6a37abbf832ae8acc673a40887b2d91854a003418261ba07b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1e52161e2fb9dea75653ca05f116a11ca2cf2487ac28fc153c548102bdbe840",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d39171bdb8c8d249d48f7a4ddaf53276a248c82856f0b801b7c2d83f4d212cc9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 3.02 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1967, 1.0004, 0.8158, -0.7502, -0.3035, -0.136, 0.9978, 0.4904, 2.117, 1.5955, -0.8211, 0.3119, 0.2497, 0.451]\nstate[eef_state]: left_x=0.2769 left_y=0.0023 left_z=0.1564 left_yaw=0.1323 left_pitch=-0.3067 left_roll=0.1766 left_gripper=0.9978 right_x=0.4236 right_y=0.1688 right_z=0.0357 right_yaw=-0.0213 right_pitch=-0.6577 right_roll=-0.3019 right_gripper=0.451\nstate[joint_eff]: [-0.0342, -2.2085, 6.6667, 1.2918, -0.1783, -0.0562, -0.0073, 0.2803, -15.0769, 8.4034, 0.8181, 0.3199, 0.0122, 0.0952]",
      "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]: [-0.1967, 1.0004, 0.8158, -0.7643, -0.3035, -0.1356, 0.9979, 0.4305, 2.0361, 1.5684, -0.8661, 0.3176, 0.1829, 0.6988]\nstate[eef_state]: left_x=0.2742 left_y=0.0029 left_z=0.1544 left_yaw=0.1335 left_pitch=-0.3201 left_roll=0.1816 left_gripper=0.9979 right_x=0.4213 right_y=0.1367 right_z=0.0599 right_yaw=-0.0389 right_pitch=-0.6587 right_roll=-0.3315 right_gripper=0.6988\nstate[joint_eff]: [-0.0342, -2.2085, 6.9265, 1.4188, -0.2173, -0.0171, -0.0171, -0.1846, -13.3128, 7.3094, 0.8083, 0.2173, -0.0611, -0.1392]\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]: [-0.1967, 1.0042, 0.8158, -0.7685, -0.3035, -0.136, 0.9979, 0.5442, 2.0327, 0.7715, 0.8158, 0.7204, -0.0643, 0.6988]\nstate[eef_state]: left_x=0.2735 left_y=0.003 left_z=0.1528 left_yaw=0.1346 left_pitch=-0.3277 left_roll=0.1841 left_gripper=0.9979 right_x=0.4458 right_y=0.1377 right_z=0.0461 right_yaw=-0.024 right_pitch=0.2189 right_roll=-0.3575 right_gripper=0.6988\nstate[joint_eff]: [-0.1573, -2.6872, 6.6667, 1.3309, -0.2076, -0.0513, -0.0171, 0.3214, -8.4991, 4.3692, 2.1416, 0.3394, -0.0659, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:104070dbd69f1ea6a37abbf832ae8acc673a40887b2d91854a003418261ba07b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1e52161e2fb9dea75653ca05f116a11ca2cf2487ac28fc153c548102bdbe840",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d39171bdb8c8d249d48f7a4ddaf53276a248c82856f0b801b7c2d83f4d212cc9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFSX6sarov68QLyuuNDtoz6QSz_Nry1yQgX0mjxSljs_VqSWmHaeFJ4YyczvbsSdV8ea3OFAnNT7s5RAs2-Hm-7U7JZ0MzxPkwC64kB-wFuLa5lhEPosxIECOVl5fb14I4xcP1XfERod24zXt4ZmzreEncFw8-vxjpw6MDZ-kdFnHoaIVny-sGL9mCTA5IDQySKx_wizyrtA4Ankn3f5Tiad-p7-Boo0ctQnykprwN82uBMlbx6bi2ujd119eHzKsqfZfxp_RR3ixY5qY30KXFL3UZeeXuEqD8izjj7-j7yQUlSphIoY8MjCrD-amuk4nwo3EQWmBHjeab6wFIADyxvblH4yf5x2gct3axF4RjJ-y6N977vZwSWd7shxamKIHqr6vFYqTzidgLGVh4qGIzg4lyv-1ciyLlkNJ8XZvleelWxyVlWB4Yk6MTDr6YAVkwzD2q495EIbudqBIEuH-zFkDQFe1BRIJm76VX77XzKr-c8HRlvthAMkiB0OZfx-fw0pCKObNheEifGnkUh0TshJLw7Y2AMAJXBoH1A22M2FJHKzVUlQURzl_8CH81md3aQf9XDPxnqqymyROFTgHYnbRqhNtFkX9hBtsSYaWWTWcET5cHagxAtWzdBTnyOpuIFW9refb-r0QC5SB3tQ6jOVqRPRzHNMcWIo9uSrniuAWs7jO04pm9WlxUZBX-wydNwEfTHIKO1dgm1iXg1FBPMXbaGZZKKTAQWRILweNMIhdWuisKgsMF8BxSSxZBn7WWrhAspcqxzzcs5iAjFdRo5euH9MzyucDmZ-G_7KMlOFViMSam-gTq8Th6j2h3PSLmMdjlo9OwgCUlFUwhgmd_XnDMDDq1vi6dfvz8yZKv3OhY_f-1bujLVNM22eOkXckgwm21_VFzrKjFXCPARxwm8-HlsDAUNm_-AbTIMaxvA75vGyaHWI_HV6nFHN5qw5NH5jh13MQO9wHWBwzCJpC5sIQ9dqrURIKOLaDMkEN4Bn3lMWpsvt7J1vlkdKjF6mn-CLNFM19ce2tj-DJOIhZh1gm0Re2DKsc88RhoKD7eFS4oCu9h-ytWs5sUCILLgmGmiO2cOHIEFVIWC-nJFzwTmDtBFiMfcWXBvNLw-qwUlHww547R7vFG0r2bayVbsgCBUk2esWensmAXtys1vdqO_hE0vIraRqBWfGqXPbwfwXVLWAdMxQlhUzUbYBVLZq9EL5urFbvQ-KBsUSpOQyMZr3PUikluRZqa2P_E1KGqKXcpoxX8GTKUpRRdKF92VA3tP-61oC-5_7J2LSNq8DSmmCwBHZs0MRUYV7lRKnSbePaaGU_qFwh7BJOHPgaawqwC2nmDXRZaESXGSz_dIby8eInmDJrVYwZbkaRr20LY871ILkxNkb9dbrel3SbusuidGRSg2-uyzuHMGJQcYfNWgZZYtZ3z3ye66z9hddIENLAEbuMeeYpHHf9WDvQoJZyvTzxayJ-Y56ydvImYsA32p_myMKEcLZlblJViRQrb_DVsa9Vk8D8ssivl1rwZUI6Cs4dpVBDxtFxzONY9U7R6usHg==",
  "id": "rs_09e31a60ea771337016ab4549652e487d0a75fe44eb69f1fdf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.4},\"note\":\"With the forward-pitched wrist, the fingertips now extend around the lemon’s broad middle and appear symmetric on both sides. I’ll close to a moderate 3.8 cm jaw width to clamp it securely without crushing or ejecting it.\"}",
  "call_id": "call_C7WNMzq9SuS6Jhyel22i7PzV",
  "id": "fc_09e31a60ea771337016ab4549723c887d0bc19ff7b0fb7e139",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_C7WNMzq9SuS6Jhyel22i7PzV",
  "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]: [-0.1967, 1.0042, 0.8158, -0.7685, -0.3035, -0.136, 0.9979, 0.5438, 2.0422, 0.7647, 0.831, 0.7177, -0.075, 0.4048]\nstate[eef_state]: left_x=0.2735 left_y=0.003 left_z=0.1528 left_yaw=0.1346 left_pitch=-0.3277 left_roll=0.1841 left_gripper=0.9979 right_x=0.4447 right_y=0.1373 right_z=0.0425 right_yaw=-0.0164 right_pitch=0.2153 right_roll=-0.3673 right_gripper=0.4048\nstate[joint_eff]: [-0.0615, -2.3726, 6.612, 1.2821, -0.1832, -0.0464, -0.0171, -0.1162, -10.0308, 4.9846, 1.8144, 0.2125, 0.0366, 0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa73040c2f1088ecb041978ab5b6e4ba15d0204a4fb50867ae2dd5957d71f27a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf7c0a237b0ed731c840a9a2f2bb1e1596649ce38e6f0cc7b95dfe7b1d2b7e22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47e5bf88d1f9901e983317482cf9708b8d4f7eed06c04d657dfe3a94440601cd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 5.047 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1967, 1.0004, 0.8158, -0.7517, -0.3035, -0.1356, 0.9979, 0.4492, 2.0567, 1.5684, -0.8574, 0.3164, 0.205, 0.6956]\nstate[eef_state]: left_x=0.2766 left_y=0.0024 left_z=0.1561 left_yaw=0.1322 left_pitch=-0.3082 left_roll=0.1773 left_gripper=0.9979 right_x=0.4194 right_y=0.1451 right_z=0.0517 right_yaw=-0.0381 right_pitch=-0.6658 right_roll=-0.3277 right_gripper=0.6956\nstate[joint_eff]: [-0.0615, -2.3726, 6.9675, 1.3358, -0.2173, -0.0366, -0.0122, -0.4034, -14.735, 7.4735, 0.8913, 0.2222, -0.0415, -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]: [-0.1967, 1.0042, 0.8158, -0.7685, -0.3035, -0.136, 0.9979, 0.5442, 2.0327, 0.7715, 0.8158, 0.7204, -0.0643, 0.6988]\nstate[eef_state]: left_x=0.2735 left_y=0.003 left_z=0.1528 left_yaw=0.1346 left_pitch=-0.3277 left_roll=0.1841 left_gripper=0.9979 right_x=0.4458 right_y=0.1377 right_z=0.0461 right_yaw=-0.024 right_pitch=0.2189 right_roll=-0.3575 right_gripper=0.6988\nstate[joint_eff]: [-0.1573, -2.6872, 6.6667, 1.3309, -0.2076, -0.0513, -0.0171, 0.3214, -8.4991, 4.3692, 2.1416, 0.3394, -0.0659, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1967, 1.0042, 0.8158, -0.7685, -0.3035, -0.136, 0.9979, 0.5438, 2.0422, 0.7647, 0.831, 0.7177, -0.075, 0.4048]\nstate[eef_state]: left_x=0.2735 left_y=0.003 left_z=0.1528 left_yaw=0.1346 left_pitch=-0.3277 left_roll=0.1841 left_gripper=0.9979 right_x=0.4447 right_y=0.1373 right_z=0.0425 right_yaw=-0.0164 right_pitch=0.2153 right_roll=-0.3673 right_gripper=0.4048\nstate[joint_eff]: [-0.0615, -2.3726, 6.612, 1.2821, -0.1832, -0.0464, -0.0171, -0.1162, -10.0308, 4.9846, 1.8144, 0.2125, 0.0366, 0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa73040c2f1088ecb041978ab5b6e4ba15d0204a4fb50867ae2dd5957d71f27a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf7c0a237b0ed731c840a9a2f2bb1e1596649ce38e6f0cc7b95dfe7b1d2b7e22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47e5bf88d1f9901e983317482cf9708b8d4f7eed06c04d657dfe3a94440601cd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFSb7nGLbEM8SHMIkBA9avucj39t5f-K3owISC9dk0zQAhnLR1ODRzkn-XgwMo-ByUa75-I3H_T8b8mJbLyApLGsq4ivgxcpTtR3ohr_CXYcevv3MtnFnojr6gFNJUcFUYC7KbSlb0oDGjwQhzb8jtGlLRcOhPqtgncyEViOlGU8fhdDk5zkHWM46sBzGQiEEQph-egJEN1GOADBy1BNiJ1WeKWZ30RmCpMNzbQlp400F6c_Bb9xRd9hIRWoB9DjiFPHLng9uA1wHW7DQz1lEK1kTzwNVge4eNInpOmdlUa47B9Q2Oi-L0HQm9G26ByJ4Me7cjbMT4Bj7xgmFSlTqeSA4s03QTtQFeJuReKFp07WFyn6GQtRLe1t_BVlhnUbbg91FHyqeas7Z6c9R2LxgH8QXQVJyw5fOVBdKelIbqtpFvMDiIkQi-NIB_RegiKfecEq5dSI_QIWD9Rgagc3G9IurErS0V2lYwDuPh0A-KGHDygsLvCfdXBumDz8UEreuRhTgE8azfqtMbuN0Xea93wQHZOAqlhNXlViDVKu2sTIYV1yA5cSKn-kcgKrC58eJAct4M5lI2X-gjXJ3oH39YRR9XYlcLm91X6m1KMrHzDNoSlp7f0tuHnGPXpSKDGv8jTVPM5HZx6-TSq-6IazLTYOfAvE81ocOEWUoZ2zdeSQev_MbFMcDnF9yVIC5qyZxcB_LaJ43COtQN7Umk-EIcluRjC7-2HcVch1QeY0-MP8QbN_cOMb4yBhBxvpl7oxgt3iei8LsGNh0bRx0PR2R0gtwPK62pgj__v6TjZ_dL6VJJgMHi3G6pIy20iFsnQeBWP1cISYPNng4IIsaJrA616zBCBS3q0H5ZFrRhVacnIL1zty7da5FP9J_chjK2KRcwvGBXguKAWJAU-sbEKhOW_fzwbj5otoNLXfUCMlnYXyBrRSAlxzmsC2P9S-8X7YBwLJ_TSbErSy65nBUHuiZwa3HPVCz7lvJKnaJG1yKafx8RdfB3s9sBwIp5OdVedfs12fuHqT6_Ei_mRC12BRDIDBacl7_XwbYihkFYRmdvQ96_1UBfeL5fOvzH_x5OOU0SEYdVEVRoFFjmdgV2Qkb1LIpnKcP4LUs-taCzVDgG76cDooBVkGL--Nl10bVR07VaCRM5KwfAoZU5o7FcwQD_mQhwgHo7Bwlyxu_Vis8Svva10bVJzvI-jsilJD4T7tOafu7K75KuuwQFbcLi-19DfmSLOKuJGR5qOSxI5leAeG1m_qpbx4hAcNr9bArpcmehZAs4YRWU3w931Tc9oh0-wHjjK9HhOjJMS7kBehb1W59djmPMam4AJ2Z2eusj6Owftoz-3TEMWl-4w1_La9RXT2q-tNT7xkIjaD0I3CUehYWA8kEi7HAM86eCTJ97pR_c50gQVG1jRAXR0Kn0YuWmVlwAWszteRj1oeoXlI4EGldiFpiCqtWMwN_K0MrLXgqe_vKXbcN4P1vaotniNQPUfLn2zZINQw_tG91GALteD-UMlgIu-i_SD6cemCNdL99-2hAELQeMrIeQifuHE2V7RTebUlxm6FPoTLSh9LeJ1uJZQ=",
  "id": "rs_09e31a60ea771337016ab4549948f087d0b9c14f7afb9c065d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.2},\"note\":\"At the moderate width both jaw pads are contacting the lemon symmetrically, but the gripper reached the commanded width without a clear clamp. I’ll tighten further; the object is now centered enough that the jaws should settle against it rather than push it aside.\"}",
  "call_id": "call_oFPI5LPicYbC27cL4FyDwFVn",
  "id": "fc_09e31a60ea771337016ab4549a0ef487d0b8a514717c1a83ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oFPI5LPicYbC27cL4FyDwFVn",
  "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]: [-0.1967, 1.0042, 0.8158, -0.7689, -0.3035, -0.1356, 0.9979, 0.5438, 2.0422, 0.7643, 0.8024, 0.7177, -0.0788, 0.2036]\nstate[eef_state]: left_x=0.2735 left_y=0.003 left_z=0.1528 left_yaw=0.1345 left_pitch=-0.3281 left_roll=0.1845 left_gripper=0.9979 right_x=0.4424 right_y=0.1359 right_z=0.0371 right_yaw=-0.0112 right_pitch=0.1899 right_roll=-0.3865 right_gripper=0.2036\nstate[joint_eff]: [0.0068, -2.3726, 6.612, 1.2674, -0.2076, 0.0024, -0.0171, -0.1026, -9.2786, 4.3556, 1.9609, 0.1587, 0.022, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0acd2df7909b8b4fdb54bab4d811705004c13556bebc2b1733b647f4d415ff25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:844eececfef7ede6b27a557b3daba761d8ba2476a3426caf9e3ed571690bfe1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42017adb274c0690e7db58209b3bff7ab213880402fe23382e75ac70d6851c04",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 2.617 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1967, 1.0004, 0.8158, -0.7643, -0.3035, -0.1356, 0.9979, 0.4305, 2.0361, 1.5684, -0.8661, 0.3176, 0.1829, 0.6988]\nstate[eef_state]: left_x=0.2742 left_y=0.0029 left_z=0.1544 left_yaw=0.1335 left_pitch=-0.3201 left_roll=0.1816 left_gripper=0.9979 right_x=0.4213 right_y=0.1367 right_z=0.0599 right_yaw=-0.0389 right_pitch=-0.6587 right_roll=-0.3315 right_gripper=0.6988\nstate[joint_eff]: [-0.0342, -2.2085, 6.9265, 1.4188, -0.2173, -0.0171, -0.0171, -0.1846, -13.3128, 7.3094, 0.8083, 0.2173, -0.0611, -0.1392]\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]: [-0.1967, 1.0042, 0.8158, -0.7685, -0.3035, -0.136, 0.9979, 0.5438, 2.0422, 0.7647, 0.831, 0.7177, -0.075, 0.4048]\nstate[eef_state]: left_x=0.2735 left_y=0.003 left_z=0.1528 left_yaw=0.1346 left_pitch=-0.3277 left_roll=0.1841 left_gripper=0.9979 right_x=0.4447 right_y=0.1373 right_z=0.0425 right_yaw=-0.0164 right_pitch=0.2153 right_roll=-0.3673 right_gripper=0.4048\nstate[joint_eff]: [-0.0615, -2.3726, 6.612, 1.2821, -0.1832, -0.0464, -0.0171, -0.1162, -10.0308, 4.9846, 1.8144, 0.2125, 0.0366, 0.0073]\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 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1967, 1.0042, 0.8158, -0.7689, -0.3035, -0.1356, 0.9979, 0.5438, 2.0422, 0.7643, 0.8024, 0.7177, -0.0788, 0.2036]\nstate[eef_state]: left_x=0.2735 left_y=0.003 left_z=0.1528 left_yaw=0.1345 left_pitch=-0.3281 left_roll=0.1845 left_gripper=0.9979 right_x=0.4424 right_y=0.1359 right_z=0.0371 right_yaw=-0.0112 right_pitch=0.1899 right_roll=-0.3865 right_gripper=0.2036\nstate[joint_eff]: [0.0068, -2.3726, 6.612, 1.2674, -0.2076, 0.0024, -0.0171, -0.1026, -9.2786, 4.3556, 1.9609, 0.1587, 0.022, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0acd2df7909b8b4fdb54bab4d811705004c13556bebc2b1733b647f4d415ff25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:844eececfef7ede6b27a557b3daba761d8ba2476a3426caf9e3ed571690bfe1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42017adb274c0690e7db58209b3bff7ab213880402fe23382e75ac70d6851c04",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFSg20qFwHeq3gsK23cm4jUhlG_mvszXQ5j_eiZu2AWxIiN_xN76uE5Cwvap4IA5OPORrJkPbN7LvAlHGSFdZAWlwAiekQe6HWQ_7ud7V0kQjRDtJsRDfNaKEctWP_UHCSWs9uaHrsu8dUeae_-s-tiBGkze8PwuuxVzpSAiFf1xPHYc3cQwYwAzweqoENREvNCSkfbV_o90rgWh8_CE5NDNa7inXZU8K8xXUsPSEzgGzcQH7RUk42z52gD7xdPTMAvgDkGcp2lpei796TJ_BkQ5iJo_vs3Y5mzNhK5eACcF4uVtA3KGghaxOF08X4wxrT8zKjGObfhwtL9OE_Hv77lspWUQyc6ThluLELcTLxQNNpBe538eP8_apLmS-6nRrzt5AwxFZFIH7W511VUDdLf0G-rK_DYMAxwcCBchuDzU4NI9JnpXmHhdpaKex-oZUULDMXSVNXhqsKr3EshQK_Y9SotvV5WNFt5cqLT3GYNINkrvoWuZT3GP4Ctf4m-ldAaPJ7rterujofB0P-GUQMrFW4idxUo5Vp0m6zo1odKjgWgO4JAev4FRBvNOeVzT0Yc6LNVqLm8IQb1Ms3t-8w9hrxlnDmXHJMIaGTD6G2C_ovV7sfT7oJcx5iJyMjy2-RHlo6H3OcDF_L1W2M_el4rVJSFKCcQUZOA8eP5Jt_l4mSFk0J6bILmidRFSh_-2T5GhJSJZ-Pu9aAiC8EaL3L-vHV9ASqxKxC89MZEstVP37uVTFg0RYW8dKXpprDCBdusdjlhic7zCEArHwAV5Yvc5GmpWM5VmaZt-GpODmBTGjQLFWXJN2yn-yV0rdC8dIC7qoOyufkKB-xaFN1D6f9xn1oCFGBk1xwW5h1oHlvUX5x-i4sJXpZ-WII9EsoL3BGjb0B2YIAn_ra7M6NXiL3O6QiGvANuIVBzKQ1gU7ZCQ7feu1E1eMJ_cwBkd3Lw09MdI6SKvmSM8yXAPNzYIxwX6FRvm4sGtVZmWFyChlUE9eHiiP_BPiEEPbd7LZtqJr-TvON__U3XwBzPLTjYy7nJWY5Nacgxvk9cxfSqbdxwmc8cK9wucxkXYwC9mEiLWCZWRy_C1OBhu9RB1PZOcNmtf-fapkwkIrqTbouJWVpipNDW8a2hDO8hFiWC_aAF1e6Gd7aK_v0e-gln6HgXKFcbvxPsZbpMJeh4CT32USF81C-_6CdXsoCKxl4ersWhXJMwbRHca38s9OvQMsNBeAUrVnWaLjD9l0HEHA79Geno7rJ6_BdygIXRFGPoGj4WBJqyenlkoiTsSzjvsba8fNcO5Gw3hu4cLcli_E2cw1DMxGcmUKa3n6UP-OV2bX8Z0M-4_eNT2wSXzdVPqn3eMuFbekLspOcVtQWTsZGUH83pTmowVbVGDMPhI4VJgUzjj4-7rLXw7qWybIfZfw6fz9xVilv-wOciK9tDR56xeAijmvCcTD4LqB_zNJBhny8kdx4mpXbD1yS0aTl7-vxYLsSOf0tTnvntjSSmBuBpu3Vdua3s4_7NM9jyhNdb5bfQrGYZoMnk9Tsf4Ht-1vEX-i7wnLHYJ2FBxVoVbrsqFNoNXeN6k_0MQCyablOpcLUEiwFbQvBVre9jVyRq1qmHigOmfI-nT5mi5jMSbwp-90kPsg3n5UFwCGG7rNL7nOGZcRbvhXPapSLD_AEDEIHwG9Tvv1GgyF-i-PaWq7tfAjdlP6Egs9NgUTnIqDKHXHjSUtIw3kDdiFye-exevPSFjqaBPm7VS8VjrahTRAn2YAS7vuA6oBIFkDg_Iitt84tRQFGBvRnxN1cTcIII5K1md6q1YQLam0IEdP2yzSFCOiLEFW5RIzAoeXuVQjh8d09oku2KF9cnpzUxd9DLoG8smdApc2jJ_UuXA-p3CRw5aL_HNg6Y0wTPr3kTNlGUxMvwPyj2Q1JGIVIGhnnDEKAq3d-hYDwswEra2-Kbs-mwIkJ8fPBO3tWsCS6HRlLQsLWBwXJT5u7X4beayd8k5spezb3bLKAdQwfC_GweStEfv-sIJQ2L2EIqXnUSSzLKXYnOzjHMwvoV-bEcM8mDIEuu38YEx0hHTtvZfliP_J3JeC-WsprUdOrJYmYoEERh8kdPMsuuSuXJlwPVfLevsUqcH6I-PNu5uNdL-IEUDGLLfHoaodpvr8j4k6cPeEw469wgQqa86OyInVbKy1fAIojO132wyDIIP7Uo5Sg9of6vnP-4Ntct30tgO9rkvFHgbDIXljP03IKfN0ybRf-wpI8CRXLiOiDQKYgMhtCKbStNRyS7pqgCCNI9IWXYMLjPxuIQPKxIUIJ670o2d334Qm1Q7mcsRJAtFtEl8G7HIo8o1hswJen5CUo5T27DeewOgc_wZ6tOe",
  "id": "rs_09e31a60ea771337016ab4549d18dc87d0946b801b150b8d19",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.17,\"right_z\":0.08,\"right_pitch\":0.3,\"right_gripper\":0.7},\"note\":\"The lemon rolled to the image-left as the jaws tightened, so the clamp did not take. I’ll reopen, lift slightly, and shift about 3 cm toward it while retaining the forward-pitched reach posture.\"}",
  "call_id": "call_PNgEu8ZKXPCFXkSMhgsGZsUZ",
  "id": "fc_09e31a60ea771337016ab4549f756c87d0ad6e044f71d058b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PNgEu8ZKXPCFXkSMhgsGZsUZ",
  "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]: [-0.1967, 1.0042, 0.8158, -0.7719, -0.3035, -0.136, 0.9978, 0.6292, 2.0388, 0.8059, 0.7807, 0.7868, -0.1028, 0.6943]\nstate[eef_state]: left_x=0.2729 left_y=0.0031 left_z=0.1524 left_yaw=0.135 left_pitch=-0.3309 left_roll=0.1853 left_gripper=0.9978 right_x=0.4372 right_y=0.168 right_z=0.0514 right_yaw=0.0277 right_pitch=0.2211 right_roll=-0.4225 right_gripper=0.6943\nstate[joint_eff]: [-0.0889, -2.3453, 6.6393, 1.326, -0.1587, -0.0366, -0.0171, 0.0615, -11.6718, 6.6256, 1.9853, 0.3687, -0.0415, 0.0464]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5fe5e29824fdc2ba093b50aaa8453e62dc6cc36b31677928981b961650ada89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e16567cf8c40480701ae38ecbd2b1e0ea92c02249e674fde5a22aea3e952e23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:015507af2ea7ea1a4c04d13c544c1f5367a85c3130916ca5c31c3c97ed6a7340",
      "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 · 2.58 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1967, 1.0042, 0.8158, -0.7685, -0.3035, -0.136, 0.9979, 0.5442, 2.0327, 0.7715, 0.8158, 0.7204, -0.0643, 0.6988]\nstate[eef_state]: left_x=0.2735 left_y=0.003 left_z=0.1528 left_yaw=0.1346 left_pitch=-0.3277 left_roll=0.1841 left_gripper=0.9979 right_x=0.4458 right_y=0.1377 right_z=0.0461 right_yaw=-0.024 right_pitch=0.2189 right_roll=-0.3575 right_gripper=0.6988\nstate[joint_eff]: [-0.1573, -2.6872, 6.6667, 1.3309, -0.2076, -0.0513, -0.0171, 0.3214, -8.4991, 4.3692, 2.1416, 0.3394, -0.0659, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1967, 1.0042, 0.8158, -0.7689, -0.3035, -0.1356, 0.9979, 0.5438, 2.0422, 0.7643, 0.8024, 0.7177, -0.0788, 0.2036]\nstate[eef_state]: left_x=0.2735 left_y=0.003 left_z=0.1528 left_yaw=0.1345 left_pitch=-0.3281 left_roll=0.1845 left_gripper=0.9979 right_x=0.4424 right_y=0.1359 right_z=0.0371 right_yaw=-0.0112 right_pitch=0.1899 right_roll=-0.3865 right_gripper=0.2036\nstate[joint_eff]: [0.0068, -2.3726, 6.612, 1.2674, -0.2076, 0.0024, -0.0171, -0.1026, -9.2786, 4.3556, 1.9609, 0.1587, 0.022, 0.0952]",
      "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]: [-0.1967, 1.0042, 0.8158, -0.7719, -0.3035, -0.136, 0.9978, 0.6292, 2.0388, 0.8059, 0.7807, 0.7868, -0.1028, 0.6943]\nstate[eef_state]: left_x=0.2729 left_y=0.0031 left_z=0.1524 left_yaw=0.135 left_pitch=-0.3309 left_roll=0.1853 left_gripper=0.9978 right_x=0.4372 right_y=0.168 right_z=0.0514 right_yaw=0.0277 right_pitch=0.2211 right_roll=-0.4225 right_gripper=0.6943\nstate[joint_eff]: [-0.0889, -2.3453, 6.6393, 1.326, -0.1587, -0.0366, -0.0171, 0.0615, -11.6718, 6.6256, 1.9853, 0.3687, -0.0415, 0.0464]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5fe5e29824fdc2ba093b50aaa8453e62dc6cc36b31677928981b961650ada89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e16567cf8c40480701ae38ecbd2b1e0ea92c02249e674fde5a22aea3e952e23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:015507af2ea7ea1a4c04d13c544c1f5367a85c3130916ca5c31c3c97ed6a7340",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFSjbt_1yVULsA00HbZR1gL4_ee1wYd1144yjnmdI9MC0sFrF968cZbGA5bnoO55SSDDJz74qBeAsNWjXjM5gjuaYi8J91ahAltX_Dby28O9AoH9wHE8Ltf1_QP9VfKeb7HdMoqojsowVZceQbChTHJvUyVmGYv7Hg0fQMjcSmffYkGQld9gZVavcIXbpxh0RO2rh5MLfF4CH-eW8vytOZK__3iL75N6rHRJ3crW1qVwMIGbxWBskNXVVgBanPm9xHk--r3ZaYiDfqsMg8syMFqE7BcHlOBgMGj98uwQmh6WqNyhjAe17hSZoRuFmOq0NCc6HUqlvjtACeriJA-FejiiKccqlTqJ8s9RECJDkixgp1ScsZXFDmPLczy9s9xn0z1YuaLU6K9cA5WtRqGqS5Xaz8Ven5aAkGy0eHtHdrWhkAITWolz-1QKm4XKRg1f6SKHiz1QJ3Q1IJD64Ra2J40R70Pd1osbgIeNPzAQegYQz_eoVh7DlzcqbwpHUBmJYHsoKfAZl6-EZ7q_MPrVTMHC75uUZCMUNQkP9KvjIDXaoj_1WVwLZViGL3wIBJ1rK4sIxeMC9Y9YY2eS27S2gISF5aqM8Sn6w5p7f5AtkVF0cfo7MRA-YozBI97dyC_Cp-YDhrymx2HuhPRk76Wa4xbEyTpj8wmdlmqd9j46VRBGDOHt8Hp3U2uDh8iAk39OBQ_vohLrYYny31k_Z0y-ftohvO-gMBcFCultNOVjscOOmBerfPTuesaHmzbOOm2JI1kVPM9SZwveDtWn0McV73q_uUIWMEAWdktoZ7n_oN_bQRdWlNjUgSt-NCU0PdJxnQd0n7Qy-iuefXsXLntS0UpmOT1rKS1zwnScXQqwdZyOXHAzYDiK8kcZwsq_io2QlHYXvJPomyT9lHF1WmmUpwQ6Qszc35yUqEWpgc2XGxu7eIExx1QrIT121lYeJBSkkLulW8gMvRQB0EP0p5hxRJMRhtZgJ-m3LVpNKeKRV0hXxGIWc_97x0ZQsGHIDo2fsWcEvWpEXAftlC4fw4_fDnQkKDtRgJztZRCeACsx3264HZepgrmFs_MqeRiH4bmzNroFgtbRVWT9VtQv52b6NnRgpCcwgLNiLuHj3_LbavFeCN0omulTqxmTFSriTmy7-QqNUC6HOVQ4M7nL-Gg2JIfyOcndL8U50h1eHLF8ZpyQearzfJ2LUIg4HkXUkZ1NNtK0r4cdtLnMi7qmhIJByojoDbzSEw_6fMwNm_dKCrIfdQEqF4BZ_S1Zo8JDcAuCStT1gAUKies2OtiVThv0kyjrQncleFT6EbwvM7oMjSr42LllgU_KTpJAlhbUlfTyuLR-gyyNKO5tbz7mHnQcXjgWpm5ghmBw0bSuOoO5wt0U_igpTWh2-vuV2E-iFFP09PMeZB__xY4Iks1xVO_RGhTtqXaKj1i7GfmVsxGiTC6-yu_0DouFUwRJXndfTNRbNxXfEVV64dqOh7wqlZlQOiD7gEhxrVQpYD8IRxCe122O8YazjQ6PZ601aK6Urf4dv0ff",
  "id": "rs_09e31a60ea771337016ab454a2109487d0bbc3f59d026b08a9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.17,\"right_z\":0.025,\"right_pitch\":0.3,\"right_gripper\":0.7},\"note\":\"The lemon is now centered cleanly between the reopened jaws. I’ll lower just enough to put the pads around its widest section before making one firm close.\"}",
  "call_id": "call_AYAOnhetaZ5rkbkP7mzyYRjT",
  "id": "fc_09e31a60ea771337016ab454a2babc87d0a99b4b1ceee3a6e8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AYAOnhetaZ5rkbkP7mzyYRjT",
  "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]: [-0.1967, 1.0058, 0.8158, -0.7742, -0.3035, -0.136, 0.9978, 0.6308, 2.186, 0.8127, 0.9737, 0.799, -0.1307, 0.6987]\nstate[eef_state]: left_x=0.2725 left_y=0.0032 left_z=0.1517 left_yaw=0.1354 left_pitch=-0.3345 left_roll=0.1866 left_gripper=0.9978 right_x=0.442 right_y=0.1705 right_z=0.0241 right_yaw=0.0262 right_pitch=0.2611 right_roll=-0.4227 right_gripper=0.6987\nstate[joint_eff]: [-0.1709, -2.3863, 6.8855, 1.2918, -0.188, -0.0611, -0.0073, -0.5538, -9.5248, 3.9453, 0.3687, -0.0269, -0.3492, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3b6cbc9a3c708099a144d008d4b9d5e3df7ecf644b78b374f1bcdc28a71ad1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32a5b0c1f96b1f3a2d44403d2d259730cb141732a9f50bcd6ee9791b0738e226",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5de3ca96c542db441d5da6b830ca9e498b4404471d2075ec54103b3d14f5e123",
      "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 · 6.712 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1967, 1.0042, 0.8158, -0.7685, -0.3035, -0.136, 0.9979, 0.5438, 2.0422, 0.7647, 0.831, 0.7177, -0.075, 0.4048]\nstate[eef_state]: left_x=0.2735 left_y=0.003 left_z=0.1528 left_yaw=0.1346 left_pitch=-0.3277 left_roll=0.1841 left_gripper=0.9979 right_x=0.4447 right_y=0.1373 right_z=0.0425 right_yaw=-0.0164 right_pitch=0.2153 right_roll=-0.3673 right_gripper=0.4048\nstate[joint_eff]: [-0.0615, -2.3726, 6.612, 1.2821, -0.1832, -0.0464, -0.0171, -0.1162, -10.0308, 4.9846, 1.8144, 0.2125, 0.0366, 0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.1967, 1.0042, 0.8158, -0.7719, -0.3035, -0.136, 0.9978, 0.6292, 2.0388, 0.8059, 0.7807, 0.7868, -0.1028, 0.6943]\nstate[eef_state]: left_x=0.2729 left_y=0.0031 left_z=0.1524 left_yaw=0.135 left_pitch=-0.3309 left_roll=0.1853 left_gripper=0.9978 right_x=0.4372 right_y=0.168 right_z=0.0514 right_yaw=0.0277 right_pitch=0.2211 right_roll=-0.4225 right_gripper=0.6943\nstate[joint_eff]: [-0.0889, -2.3453, 6.6393, 1.326, -0.1587, -0.0366, -0.0171, 0.0615, -11.6718, 6.6256, 1.9853, 0.3687, -0.0415, 0.0464]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1967, 1.0058, 0.8158, -0.7742, -0.3035, -0.136, 0.9978, 0.6308, 2.186, 0.8127, 0.9737, 0.799, -0.1307, 0.6987]\nstate[eef_state]: left_x=0.2725 left_y=0.0032 left_z=0.1517 left_yaw=0.1354 left_pitch=-0.3345 left_roll=0.1866 left_gripper=0.9978 right_x=0.442 right_y=0.1705 right_z=0.0241 right_yaw=0.0262 right_pitch=0.2611 right_roll=-0.4227 right_gripper=0.6987\nstate[joint_eff]: [-0.1709, -2.3863, 6.8855, 1.2918, -0.188, -0.0611, -0.0073, -0.5538, -9.5248, 3.9453, 0.3687, -0.0269, -0.3492, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3b6cbc9a3c708099a144d008d4b9d5e3df7ecf644b78b374f1bcdc28a71ad1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32a5b0c1f96b1f3a2d44403d2d259730cb141732a9f50bcd6ee9791b0738e226",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5de3ca96c542db441d5da6b830ca9e498b4404471d2075ec54103b3d14f5e123",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFSm9WsqRtLHv4pcxpD98yC1zLHA1n2blYCq20n9NoQ3Kt1BUAFjb_O9SQFoqZgWWW2ZiNgaKzbfuT6xcYMgCmVKD_LwGe66RrcHI5wl1EUh9fPbbtdk8crVwR1DWnhqe1csCretlXJjrNcWfKFg_jYtH-A8TW_hxMvW5v1zXxiwwlGu4MExcCbXWAKyqpw_H3cvqTVpPFR9PITRjXZrLI0dd01JLf8lX92fg-ML0K6kaqRW5bti6YREN8xlTgXWg8YKhARkMFkVEIoqXyBu4o96yQsMEoGnI0kBwhJV6K6xp-F1rdhG0heMH_RqYrg6_E1-SFbrpZMQssSeftra8LRSecvu0uyPuRnkpqRWuR5M9T77XJqtPwjO3zW7Gy4Sp_2vzlObBJrw47dUhBiydfhzosTrTYUMW6DmiNaLttBfkvdKqyju8UwS-s-vpbuoB3woopGbL8UCes1ORHMrQppjefR4U4szlRqwmAmEaMdc49dw-gFqa9dv7ZtARZFHi4yZoPCaAAdu9tRbyiw4ND2slZ-g-Krlq6j7sGQe3vc-zt0MWYgrPDerEwUg5PyMXVRYRsSqvVQ3w6xHL24IaFgtZWm6II8SvumTvy86eV35Yr2SOo5HFRyG75qNBvjLOHDWCYufsoZg8i8Tsn8LiSzoFmY4n51s9JJyHa4KUBrIZHWvTHpxI56OdxwhHVhZUBFjKsRlkEfYx-R6bvqEQeq21ClNncUoZAJ-P0CTHhki7mww17GdlgubQfbOyQHCOjkB689NwBeNa2UEmprvxHQf3eUGfuFr-b9F7f-6OylCsS10IVTDk9CJNQKmtLBbdtd2hGxUcVoqcNZ_g94EAeCMaW64OFxUBPkRzuRqO15jX3pDzzjb8TetIqM38DYr1wX9VvRQwu3LL3s0I8Ce-i5_1CIHzf07IWZHFHszW2OhXoCEunZ7d18hesDfGvKSJTPoKM60VClAZJbq_7nUtb2WTRRKoUFsgGkHWxGm1km8fmPARJayt9wDkQ7ugw_ShBxonHcjwjsBDJLn2cA4cVlXWV3ZJT0E6XVZ7G0V2AFxNHIppGiy1RAG7sDF2EpZ2ZJIbSt36Vd6iVABa4RsrxcmHN4cLuv_aFPhMKTA3qWGQ0hr5kUpLu1W7-WP6qlGjBwnnouSd1zU1vHzRNO0VzqMh5r-KbtHPKlb8BSvZirXfV52Nw775fQN9spCbNivmqOWsw9k84h4ClxbSJK-ik3Pyt2L73IYzyofz69cgHBMJK82UJdlaiJ8dNzKDJqyXeWp2upNGjXv1qrhotqEqI5smQ==",
  "id": "rs_09e31a60ea771337016ab454a4dabc87d0a223fea84b6a1ae7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At the low pose the lemon’s widest section is centered symmetrically between the pads. I’ll close firmly now; the mechanical stop on the object will preserve its actual width if the grasp is secure.\"}",
  "call_id": "call_w5BENfUFMuSK3cRbJYv5h2rR",
  "id": "fc_09e31a60ea771337016ab454a5320487d0b6dbca71195881a9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_w5BENfUFMuSK3cRbJYv5h2rR",
  "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]: [-0.1967, 1.0061, 0.8158, -0.7841, -0.3035, -0.136, 0.9978, 0.6312, 2.199, 0.8127, 0.9791, 0.7963, -0.1379, 0.0146]\nstate[eef_state]: left_x=0.2706 left_y=0.0036 left_z=0.1502 left_yaw=0.1366 left_pitch=-0.3443 left_roll=0.1902 left_gripper=0.9978 right_x=0.4414 right_y=0.1707 right_z=0.0193 right_yaw=0.0337 right_pitch=0.2525 right_roll=-0.4333 right_gripper=0.0146\nstate[joint_eff]: [-0.0205, -2.3726, 6.5846, 1.3993, -0.1538, -0.0562, -0.0073, -0.0479, -10.9607, 3.7812, 1.6239, 0.1832, 0.0366, 0.9646]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e803c403b3eee7dc40422af030f2ab6eeb57249d45131c9a0320e4bc8e26c9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9225e51dcafa0baf73b92c668973f5db7fe5dadd42be8b8a992a43e71c6545f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9088e0454c4e0fb981b7508ed991e9eab7c5c2a9c17f7725bc6138a44e7ad47e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 5.502 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1967, 1.0042, 0.8158, -0.7689, -0.3035, -0.1356, 0.9979, 0.5438, 2.0422, 0.7643, 0.8024, 0.7177, -0.0788, 0.2036]\nstate[eef_state]: left_x=0.2735 left_y=0.003 left_z=0.1528 left_yaw=0.1345 left_pitch=-0.3281 left_roll=0.1845 left_gripper=0.9979 right_x=0.4424 right_y=0.1359 right_z=0.0371 right_yaw=-0.0112 right_pitch=0.1899 right_roll=-0.3865 right_gripper=0.2036\nstate[joint_eff]: [0.0068, -2.3726, 6.612, 1.2674, -0.2076, 0.0024, -0.0171, -0.1026, -9.2786, 4.3556, 1.9609, 0.1587, 0.022, 0.0952]",
      "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]: [-0.1967, 1.0058, 0.8158, -0.7742, -0.3035, -0.136, 0.9978, 0.6308, 2.186, 0.8127, 0.9737, 0.799, -0.1307, 0.6987]\nstate[eef_state]: left_x=0.2725 left_y=0.0032 left_z=0.1517 left_yaw=0.1354 left_pitch=-0.3345 left_roll=0.1866 left_gripper=0.9978 right_x=0.442 right_y=0.1705 right_z=0.0241 right_yaw=0.0262 right_pitch=0.2611 right_roll=-0.4227 right_gripper=0.6987\nstate[joint_eff]: [-0.1709, -2.3863, 6.8855, 1.2918, -0.188, -0.0611, -0.0073, -0.5538, -9.5248, 3.9453, 0.3687, -0.0269, -0.3492, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1967, 1.0061, 0.8158, -0.7841, -0.3035, -0.136, 0.9978, 0.6312, 2.199, 0.8127, 0.9791, 0.7963, -0.1379, 0.0146]\nstate[eef_state]: left_x=0.2706 left_y=0.0036 left_z=0.1502 left_yaw=0.1366 left_pitch=-0.3443 left_roll=0.1902 left_gripper=0.9978 right_x=0.4414 right_y=0.1707 right_z=0.0193 right_yaw=0.0337 right_pitch=0.2525 right_roll=-0.4333 right_gripper=0.0146\nstate[joint_eff]: [-0.0205, -2.3726, 6.5846, 1.3993, -0.1538, -0.0562, -0.0073, -0.0479, -10.9607, 3.7812, 1.6239, 0.1832, 0.0366, 0.9646]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e803c403b3eee7dc40422af030f2ab6eeb57249d45131c9a0320e4bc8e26c9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9225e51dcafa0baf73b92c668973f5db7fe5dadd42be8b8a992a43e71c6545f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9088e0454c4e0fb981b7508ed991e9eab7c5c2a9c17f7725bc6138a44e7ad47e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFStHyhIoNJe32jI0_uCKRv-PZVLzkwV0oeRxn1MFBZ-E0F9xFLP-9rw2I_cRlStsIx0o_A97u0IbVwGCHHw-lan_-vy2mmVSXuC1lnOgpVJ1oaI0-SoD4FjAgy5ccCCm3_kkvXEte-LEfe3wNcBtXdUXdZA7kHABlh_JKZ8J3_x-QmSpUulVtTf54cuv7mmeSCo3YjWoKQLi5UNgnOlMlDHxBiRh-9UIhkk2H0Z_j64RDvdybvtpaegbdV4-W9600155Od0BJhf_PyAmpS52pcRvNqqjDlM5uyuZEqtsYfC1LfQEVYeVvdwREMjphnirMDHcnTejDtlxoV_Hg-_f57sHH9uQIIAVYTshqcb5DkAD9ApIuh6jD-esd1uSgyHOlSg6HtdS4noM5fYnH3JAREdOEY8ER7aP8vhEB5-NLd0nbMHihIJFNS1gwkzEP0_HwZT_qsHU6aQjDf4meIcPR0n7UwjndmeGm6S-5Sgpvd96DVXC9NGloy0dcGi7Mlnwd0gtLyQvduMYI2TsMFQjGpghaU2Uw2_1zx1yutZAXvfb3iGgjQv_RuGA3s9KsgcQrJ3EmEccQUmXJEvyQjna_l_E7axu_YsXayfptms70gH1SB2tgqvTFHsSAQi4Sldx2uk3UPZXVhG1J_vY_fNc0QQgF3tBVfoPMlekhvzcp6u0i2QsKyKL66bdXKezedMCkI3JG4o3LV_v-LUeTun5j_5pWOVSwT-i8SvFo-leMMBCpVUTcChpF07MPS-HHjFWILRYrjQfszAkFgn0ACavr5fJrwOd9HjVSOrak_UN-AhPfzoPEv-J1-gg161CZbXLIRwB66Jb8u1XD-nMBYnwr8WYm7yGhs6elVH4fDunL07cMrlY8XXYGh2YOEpR5-h9r_qGUO6rleUmaSLt_ytMh47bTE0CPo1h7rhKg7vgH6gL_TeRx3iho8wnWkolMYHhcnxmwfEleEvmUwuisbWlLqKjo1W07pXPwCsSdYTWN2GaS_NBo-cmQJxlUB1VAOs3GZ1cRnprF-eVrZ-QxrffQ22_cWa7sMJ70Uo_y-w0KwIEb2gmpfTGLnlzFcaLSJi0ekrixk1w-UwKtqJfHb50PCznf4UO3uxUbe3MHzlD6DhK0OF3ACC5VeGzVbKyxQ9H3yWWTAHuuflwfbBFXWeP_DJ2bt2Dw_dSvai7yrgMwc3vg-_JWkF9240PJLDfN4swQyjoYcZleCSTCswiPzitvH5Wuj0imcNZKXGAz41LZD2RyiIyNOPDQf10vAvEikdi6XPx1P6ApikyGSCtEgNHoz4O3fnemfU21EseKEMrH6nSRwPsPCoirynIQ7w4jFpE_8TFBix3PIRGBewjtF4GsKR-lL7nTiYgAap5xIzjqUpNHkHhuouvFYWHJbN9qNfQyr-ePiGUG0KXJ6hmnrg5KmIb1xlcmPFSkVSEPOp5K6kbEs84XfaXMHkjXn0w24Oq6nfmA7ug6WJjfjAHZzzeVLkfF0VFmVoavrD4u-ziEsQLnGprG9gRWzP1b3swVoG7ibkte9hkpoCVSlVN_helk56hZIEPPZDGVqPXI6Ex8_B3l4Hj3J066rkhS5YGwGQGB3DwRQiS_cvFhY2IY17q-m7ZE0_kf474Y9Z-m0xhUuyFMyBsR0iZPW7I4u4Q3FkKplTLotWgD-3HgaJhOayc2brPBoVRYrOLi5SLwToHBMsMt9E3e7BFSOpV-2gQavdJDLqy65neLz_OT9JGfCHmYvpewQJP5vJicMwE9_vOCEes1YHD8vRPypkhnDpmYnLZaEkWiYNxW9kB3_au57HxIGCWTH1hleRbq9MZpnaq1HM5UvrUGUaORu43FikshWLsv7ER-s7s_Zqj6jZZXj3047yX3RNiB-3YK5AELwMJ86qVa3QzWmJF7hCBD0Pn75aYjzvF_ooEWjYNm4-BpEDrljbUsVPAQ-dFI_QRld2Q-zLUR5L0osMjusWG4UbssEKQ937j_8TTiU0TbtwE0_xwVUdFu62uUQTQ0_03m7u64IyF56M4xip9cvnS0M5MXpEZV21PK89WZGhHvmGRGJfInrIUg8pBpEwiMSZpLyn9Ho2pgYMDx24og3oyLbj7h8USj_bBBOUzZ2KlgyUJMZcdOLWVISpni5X7C4bbJ4OcuFaXzI7T0QQNK_dVVw1WbF9oGFFlqUQkJWL2GPSKQDkhDtXDCPy_ORH-rc_zgSnxG5ETJB_a8HWHJI-qGWkqQ5QQBbJ_7oqvCB1TWEQCb4pby6Gxt4P6r8dxaS9qWdiqdUVaeJcAGp6vrCQIJ92uZT_Gttp6PTJeK0nI1vMejtT6SsC90ibgdZRURalD1fiVUdy-q_KIcXSWVxIVU32EIfItTLkFRC2zUO4eMpl6iVnVWLlD16IotxGA4VRtf2ZeUJ62prmX47pO6-knthj7iUi00eZfGGnYj7yCGllhaR9hvTChblzSaXty6BweD70FTLJMK5M541O5NbNvPVy_Afnd1Lgrh5yDh_bwNhAq4DpCOaVSzOtv2VYeY7iX4Un5utIrBH5q_Lag0wz2tTMcEVBIBuhTlcPmkNytFiS3rnMiMhFJvpgXJjV3UDq2u0FxaeCvxXrNH2KqwuENRpK7oMRbOnEpwBMuG_DmaN3g7wny-QcM3NJAdtmh7lh0oIkhytr70H3wny1xzU_VqFN9I1SfvUmZ8KnMLkuO7M1GuJNNqwE3GjKTDFALriqY4zlUw60waVyjzTutOr5WFajXQEdFtrZlcd2iKiPIpkHUm8A7vbjKiaydp-QSpyF9eYwFN1ga5Ny9MgvDA9E2AzOsIZSidIh90kJ-7QzXZF9Co_DqrLxAvX2-cXqmE0u-KsvDcjBeR_g_bCYlqqjsNb9tpVL6QyifDloNU9iD5f8cZRqQ0ZL_-brd-leF2QJRlTtLaSf5lFzEnNOCUOFhE9-cuDe7rkA2PyAP1OhEOd8Zw2fdxzIb4KnTiCZOlXc6_pljQYTLL-IiO8F6CKQFGnK1k0hlMnDGJubg090JwxhqttOZrqFT9Eft2rYpLo28dybWo7ga9bxFiiHTSvE-bFgBQI36tGMgoRwvyBzXJmuDATIdFIVhP20e2V1kn3TlzOvHFIN2McqrrquekytUrx9K3AEt3O62AmZBVrzkOkxCix64Jo--KU2WAXA6gfpsLxydbXuam1bJoineuj4RN81Q0_OhCAcF2zczN6utyy836XVimiOrJzAptvOKJ1L-9EF554A5VgrvOb4F6qtKehT33YUjHkH1DzgryowFNtKqq3RZ8-nxO0eZADvp6KUbrhfrhfJMPVuG6RupVatkqQGUBTmJ6Hw92vsL-HhEVE_FZDKONZomJ64A4qLy1qsi2DbAyPoOmlSuItD06tJytdPjC46Pj-q-QVXIEFNP5Nk5PRhzylFr6mif1kk1DAJYVjGsaZryVxdW03-AxkDPjrR660ZvTDz",
  "id": "rs_09e31a60ea771337016ab454a8b03887d09a95075d51326390",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.17,\"right_z\":0.09,\"right_yaw\":1.57,\"right_pitch\":0.3,\"right_gripper\":1.0},\"note\":\"The widthwise close again pushed the rounded lemon forward and ended empty. I’ll reopen, lift, and rotate the jaws 90° so they can capture the lemon end-to-end along its longer tapered axis, which should prevent sideways rolling.\"}",
  "call_id": "call_CpSVAv44AYSK2MYGhIqWBjjv",
  "id": "fc_09e31a60ea771337016ab454ac7ee487d08df91e01811fcca0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CpSVAv44AYSK2MYGhIqWBjjv",
  "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]: [-0.1967, 1.0084, 0.8158, -0.7956, -0.3035, -0.136, 0.9979, 0.0048, 2.1094, 1.1568, 0.5247, -0.952, -0.9302, 0.9947]\nstate[eef_state]: left_x=0.2685 left_y=0.004 left_z=0.1482 left_yaw=0.1383 left_pitch=-0.3572 left_roll=0.195 left_gripper=0.9979 right_x=0.5028 right_y=0.1499 right_z=0.1024 right_yaw=1.3134 right_pitch=0.2523 right_roll=-0.576 right_gripper=0.9947\nstate[joint_eff]: [-0.1299, -2.3316, 6.694, 1.4139, -0.1929, -0.0171, -0.0122, -0.1709, -10.5231, 4.7111, 1.4579, -0.6667, -0.1538, -0.2222]\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:2bafa1d1076e1129ef9d749dfe472c5c8e01f293669bc6e6b6cdc7f224697837",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6c210fdfe8349ca53393f6ddc10f51ed7690de8b4ba66e912b8d40cf85fd3ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8511fbf420bfcd9b010cd6820f985271e5a36c35ec141795855c1259b770ad51",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 4.074 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1967, 1.0042, 0.8158, -0.7719, -0.3035, -0.136, 0.9978, 0.6292, 2.0388, 0.8059, 0.7807, 0.7868, -0.1028, 0.6943]\nstate[eef_state]: left_x=0.2729 left_y=0.0031 left_z=0.1524 left_yaw=0.135 left_pitch=-0.3309 left_roll=0.1853 left_gripper=0.9978 right_x=0.4372 right_y=0.168 right_z=0.0514 right_yaw=0.0277 right_pitch=0.2211 right_roll=-0.4225 right_gripper=0.6943\nstate[joint_eff]: [-0.0889, -2.3453, 6.6393, 1.326, -0.1587, -0.0366, -0.0171, 0.0615, -11.6718, 6.6256, 1.9853, 0.3687, -0.0415, 0.0464]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.1967, 1.0061, 0.8158, -0.7841, -0.3035, -0.136, 0.9978, 0.6312, 2.199, 0.8127, 0.9791, 0.7963, -0.1379, 0.0146]\nstate[eef_state]: left_x=0.2706 left_y=0.0036 left_z=0.1502 left_yaw=0.1366 left_pitch=-0.3443 left_roll=0.1902 left_gripper=0.9978 right_x=0.4414 right_y=0.1707 right_z=0.0193 right_yaw=0.0337 right_pitch=0.2525 right_roll=-0.4333 right_gripper=0.0146\nstate[joint_eff]: [-0.0205, -2.3726, 6.5846, 1.3993, -0.1538, -0.0562, -0.0073, -0.0479, -10.9607, 3.7812, 1.6239, 0.1832, 0.0366, 0.9646]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.1967, 1.0084, 0.8158, -0.7956, -0.3035, -0.136, 0.9979, 0.0048, 2.1094, 1.1568, 0.5247, -0.952, -0.9302, 0.9947]\nstate[eef_state]: left_x=0.2685 left_y=0.004 left_z=0.1482 left_yaw=0.1383 left_pitch=-0.3572 left_roll=0.195 left_gripper=0.9979 right_x=0.5028 right_y=0.1499 right_z=0.1024 right_yaw=1.3134 right_pitch=0.2523 right_roll=-0.576 right_gripper=0.9947\nstate[joint_eff]: [-0.1299, -2.3316, 6.694, 1.4139, -0.1929, -0.0171, -0.0122, -0.1709, -10.5231, 4.7111, 1.4579, -0.6667, -0.1538, -0.2222]\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,$blob:2bafa1d1076e1129ef9d749dfe472c5c8e01f293669bc6e6b6cdc7f224697837",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6c210fdfe8349ca53393f6ddc10f51ed7690de8b4ba66e912b8d40cf85fd3ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8511fbf420bfcd9b010cd6820f985271e5a36c35ec141795855c1259b770ad51",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFS0w-66inEPfGs1otENlkQXb8s6Dz2orMnH6net1EFPSr0K2EvB891u8X0PILYfBEWk2dkWSvqRNlPSUUjLgTRnWxBCwfTU1yDE92HRpdWhZG9gDj0GxFYBYl7kUUaCF1QNttuUanNMYyQxwLWmEkhsniHnJwlKow_K6iKVijqBQHipXVOv0lFInHyRIBo0aCDZVAfXV3tfmRQIKpiIWnrHhxGzXPMVsHCdLX-qA8PCZplb8Fx2xaxlGtzGqxOEgYj_0rSD6LXBiw2PvesjzrpMhfXPegE_ukF7ws_Y8LXHXugklwaegaVPnCUnIAaKk0FUJAD66azdCAsEdyvnCsxFAsyMWl2kGqU2BV8Lr7sdw9TKGxOWh2-b5cAf1_gBi2v4jdDfbBARBVpIpTdm4b3T2XG2N-nYALiCJgOH74BH8FMMyP_NyhL7aWXjNRQjS19ZokOTkWYLzeib2FT-2Tbtn5lkdQDa90Wr9v2Qztmrj7VCmgGRhEaNdaXaDIneT8Uz9UhSk8qYz4QHB-Hg141r9EuPVLqBBNsaCf6IfbG0815koGZkj6qqsuxWDIeq3WzlDSsMSlLYsf8p_8y-LT_s1ZtYU47e9XjOvbHbXakrBc0Xbz1q79SPo5XQh5OBsdvVnG00IRx8ZoguKykd05mYXg0xhBlKU0vuAHD51LK0dOO8JohN_1UeO6YOnIl89jLdBBJcqlx3QG8Gi3yPM_xZjMdqtGH1hsQgeBqSh6DotAa6s5k-g4WwDx91Q7oD7lfOfH03Fm2owZPQY36bDuKSgv7pH4QMD3ugz2f3yiyaPecQ2D-Qn4LADfn_KUBOCUfDkNRWPbI_pI-X3j05fqsZuk8lnsrLgyEQaXy0FBcUQxPKgCSlJEx69M7reMHGP8PBFGG92TlJpP5yHg1wdx6FcRSZn7b9gwqZZFj88X_SU1WxVk8iaDTnXrPD_jOdZOgcLPcXm91-swna0tYO9XmjGXt38-uFxKPa5m72RPLpay6rUmRLhL8mTdHpASMCHzmN8uIp3IMDUhoWPjRmkPJLkX0pSKTNdfBTI_NS5c-4v-SoUFmczfvXE9aD6JWJVqM9XGCnywrluyGQXponzMqHnzXMZPcbVcX-2F3uhu8p5_PS3wdyMy4tWHH0eow1UtssDHraFcCTzkswufWYA6BZu9SgEMveQQSbI77t_344Si48NYoeS_2FT5H-YTPw88Aa5CXeVS_UsbLeKXwL99IJjmUfNRMlGzJlCgv0ruKz39FEmhy0Rxn93VYzVYeEgKlbGllSpU4Gy-NEJ4mvVysFe4E10ntNqtfgcLbECduuPln7asXF9S7G2zUR8iqXyVST7kZ1ziAHlPLBfmG2lga7RDR9TRY4H2bACOaIoHg43XkMEO_FCt6xrwW7aphgRCEJreqwgOJFHVTKXICG_IfcOZ38WH4XIUN9hpR4kGh-EPPQ-V0DodwKrLmaXQY6YCJX3cSnIY038JOt14cHce0EgywfjR7G0Br2dYkIW96-yB1EYXiDE5FKr6HJre9u1FjSpEtGosU_mq5czcIoG-tKkaRuWP1huQ88IKxWp0GMcmsU9NGGdj0VVbiDtw7tryZRc-9SKyVNl2eSyC_GDtSu6_7HopGXgWumvF99uEuYOycPFvaL57a7dvPLwxV6bOln1ecxtRSeGut2nv6xNbWlFmRFOsaqlLV_NDkrFv82ntMufizGVLBXxUsft1E8KNsSK6cA9fCV3W4EGP0RduQ8M5S5u9JJrtY7mClkx8mjlq0Dxl1pzaKhkYW5-G6_MQpooBJ7MAOgEYCDSSEcxupICk2QwgSiZNYGZjJ9Os01icGad1aHCZETLG6-HC0hUQgimk9PMJJIv9-cUgpynYeIonrebeP5UnaQha3h3xPS1ml5PV0jWAhZh9q7bnH4iZ7NFosRZWP1LxTGCL7IfmB4fV6aFpwtg-n3_ED4ZjtsrYSvgyuoMhvIJAGbmWlCxKRHHBr4nxFkCXrySHkhDfnOsBhnzMCClmRI4ogTLGGyywINFo3mjRrg9rRPcomaIc-x4JvU6kE3Ea99EFsxMybXEHtW0bgnI2334_VyLxqajcjQNq_4zer6RGLp2bWoYbUoLV9hO4lXA6-aQMtYIB7k9KI4TJ3LS5ax7BLd2ZzO00xHC5XVGLXQSZxCsT_73uNPZB9Y3kMZ8dXhK42TP57xBqzAK_p_THl7eSTXeZIDgP5CZHCJ-5Lkcjp6sTHWc5fT8SKlR04uaHV4bDrdoHulKXnLYdftwGjicms-jasNPTKpqY-dPUw2Zps9bpb9dllcBOMI8moxEy5awafeOB2rEoz56o8ctbn8RAHxf_gl9E4HX2f4e-c9CGZJXPZXrErEenDVNoZbQI1dvlKSIjd6i4a8RESQhUWEaAbRVvU_xPWEkro-ddIU531AeVgGmFkDFKUAcGUgnwmouAD3hLMgGKmvzopdYOgUsK9F2lOFrEsrbE3mv5zJ32XHQtP3o0HZVxnoYy0ImKe8svPmlLmKg0ILFP9FlJKRELODLKxws_ZIVgyUcuMfUd845Dhj7kkmh6f0wTOElDJ4FX0cP4s5C1CNrHijQ2moCkdSYp69OKT3a3NyUNEnv0h6SlIwmxYUtJ8q_th4RL5OWTWdHeRslq_PRFtkdRks8XMXt893RgbzG2_hBIrdo3W624S9hAPFPVqYz8Z7yGFrXvoiAa8BfUzbVp2gl__XEpgLaPnB_yEf-vXOvw_ZtVfoG2HRz8fL",
  "id": "rs_09e31a60ea771337016ab454afe4fc87d0b5a41b7b0b4b0e07",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.17,\"right_z\":0.04,\"right_yaw\":1.57,\"right_pitch\":0.3,\"right_gripper\":1.0},\"note\":\"After the 90° rotation the gripper overshot outward, and the lemon appears to the tool’s left, consistent with being several centimeters closer to the base. I’ll move inward and descend so the rotated jaws straddle its two tapered ends.\"}",
  "call_id": "call_7PjtJTwZZWdXJxriTLpIU5Hr",
  "id": "fc_09e31a60ea771337016ab454b2f80087d0b85c2cb2316d6368",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7PjtJTwZZWdXJxriTLpIU5Hr",
  "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]: [-0.1967, 1.0107, 0.8158, -0.8017, -0.3035, -0.136, 0.9979, -0.001, 2.2662, 1.1275, 0.5377, -1.1507, -1.0649, 0.9989]\nstate[eef_state]: left_x=0.2673 left_y=0.0042 left_z=0.1468 left_yaw=0.1393 left_pitch=-0.3652 left_roll=0.1979 left_gripper=0.9979 right_x=0.4637 right_y=0.1644 right_z=0.0371 right_yaw=1.4967 right_pitch=0.2818 right_roll=-0.5126 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -2.441, 6.5983, 1.3358, -0.2222, -0.0366, -0.0171, 0.335, -10.5915, 5.5863, 1.7705, -0.3687, -0.4908, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb22ea0d5f6694f6c7137b160a2b89e4237d1540f741609d35ebeae00ba87dad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:946062b9dfa9c18da08c5565d2ffc09b11911e79cf3be0dd6f968f11f0504b9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf4097af53d94ea789bc7f80ef773058bce67786c506b5f09a8fb47685ba4efc",
      "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 · 14.5 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1967, 1.0058, 0.8158, -0.7742, -0.3035, -0.136, 0.9978, 0.6308, 2.186, 0.8127, 0.9737, 0.799, -0.1307, 0.6987]\nstate[eef_state]: left_x=0.2725 left_y=0.0032 left_z=0.1517 left_yaw=0.1354 left_pitch=-0.3345 left_roll=0.1866 left_gripper=0.9978 right_x=0.442 right_y=0.1705 right_z=0.0241 right_yaw=0.0262 right_pitch=0.2611 right_roll=-0.4227 right_gripper=0.6987\nstate[joint_eff]: [-0.1709, -2.3863, 6.8855, 1.2918, -0.188, -0.0611, -0.0073, -0.5538, -9.5248, 3.9453, 0.3687, -0.0269, -0.3492, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1967, 1.0084, 0.8158, -0.7956, -0.3035, -0.136, 0.9979, 0.0048, 2.1094, 1.1568, 0.5247, -0.952, -0.9302, 0.9947]\nstate[eef_state]: left_x=0.2685 left_y=0.004 left_z=0.1482 left_yaw=0.1383 left_pitch=-0.3572 left_roll=0.195 left_gripper=0.9979 right_x=0.5028 right_y=0.1499 right_z=0.1024 right_yaw=1.3134 right_pitch=0.2523 right_roll=-0.576 right_gripper=0.9947\nstate[joint_eff]: [-0.1299, -2.3316, 6.694, 1.4139, -0.1929, -0.0171, -0.0122, -0.1709, -10.5231, 4.7111, 1.4579, -0.6667, -0.1538, -0.2222]\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 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1967, 1.0107, 0.8158, -0.8017, -0.3035, -0.136, 0.9979, -0.001, 2.2662, 1.1275, 0.5377, -1.1507, -1.0649, 0.9989]\nstate[eef_state]: left_x=0.2673 left_y=0.0042 left_z=0.1468 left_yaw=0.1393 left_pitch=-0.3652 left_roll=0.1979 left_gripper=0.9979 right_x=0.4637 right_y=0.1644 right_z=0.0371 right_yaw=1.4967 right_pitch=0.2818 right_roll=-0.5126 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -2.441, 6.5983, 1.3358, -0.2222, -0.0366, -0.0171, 0.335, -10.5915, 5.5863, 1.7705, -0.3687, -0.4908, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb22ea0d5f6694f6c7137b160a2b89e4237d1540f741609d35ebeae00ba87dad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:946062b9dfa9c18da08c5565d2ffc09b11911e79cf3be0dd6f968f11f0504b9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf4097af53d94ea789bc7f80ef773058bce67786c506b5f09a8fb47685ba4efc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFS4mHjyoSen3dsuU03ulZMeQu5zEw3jEwVo68PpLGSNdpQ792U4xXXQbhTBoO3vT6k3Itg-GJQ9mh0rX7u1OQnYNOhauLKtNh59RcCZrJB90FjYPy8bOJZe87Y2JqSO86fOyh_brBb-TlhIiX5clNqvhgiCGegAYmNvVSG3ZKQMvE9d6NkE_D_p9FEs-zIvXYlABVVCT0V0Ya3IcS6XlI4GQtMxJpulGoc90kcbxJ6_e1eD9MslDXkJdsOZEdYhgKjlRvAcB-6mLSabfn2e5ywlSltSR0bMDng_906JPdU4K9M89AmCccnFcv7SU9y1qfnGQLaLfzovcwqT4h9kX6jpPagc3c7oTITpP4YLHC_Z78L53azsU6HP-rpkADvDKT0vC4sCAbyQ5fKCsm46-ds0-lmtG8oaWOf4MwhZ6E1s55vNNbUiEQSnoTm5lCPn95Jvd4slKaX1oTKwQEZEycxtRfPb7K7Iw3MKMtf1He1sb3BEWXGRY0sXr6zuDhxUiyU-HP6mtDk-4tPKqqrbHQzqNHkybrEGuUTVXpLs92izP7_9DuUjrVxOkwhI5OFoLStIF77J6Rw_-w1r8fDeybg07BuQK0d_5PKrsQt2rTDjN8kmS5btT1qPoZEe4oFIEJhSvVGOEd8Hnza8IthXj8FWXabILgDlBGzFP3ziH4Yw4_Sov8-8stMts8WeAe_lkOFENKcWYAB3-I1eJ9SMX7o9aDXsi1lbCZC-M76Q_OijC6Z7QQq58WsmTpJx7cLJvdT3pjZbT5nL67Pm5JLZGFgtb-vvb6LJNLayiCX6E2YiqofqLquWMvu2Uy1EfZFCtFpSoqumJ2V1cupE8Wop1okGfQDEiK-VqAdPYXANK84IMiYA_wFe8oaE4cQ8wHetnGQsPw-mVvXtjdBwa6Bt7ygzLNgd3zNXLBZucZ178j1_1RW3_71P47ab38ZMHAphcCsdxWB4G0EIQrwuRybh1_Zu8Z5nmiRtM6KDvrqLbA1LHeT2kIaiIarccyJRqs3iUs5bfKR3nJdBCc-BzHoxwigQetQ9AdT68XzEjqFIkesATjgDsxZWt8DajeoMqWNFX50b_U7dNXqGEfYUsWoNZ37bTg2VIz_mtC8SNathLJLWqlM16Xw1DddkHMjgBVm6ux0MJ7KbgBFlREOqoDtX3h3uQZAO1Rbu7anxHKatasq02t-9Z3f99SNGdNhOmgFDwyWPpiRe8iWFdgdIsiUurVdkoaW-Rn4g2D0tQSu8iSGF5CZ70z13bc2_YUfwAZQ4aj45V7zbSLa3A6x2wJ6D__euE-cXk7LgdbVuwQ92cSACO1ILkd_bSBpFVsoUXgKhql7hAemLSUxyf2D_UmcbljrGnASWSIwNh6gj7nBI1wya840-ctgWvSmEB5FLkl1OzIm9DIP46vyfKm0f-iRSt0A8hNi9AhSnUolglYj4_d7jR51x9hGWjNxfdMT0PIKCzdIm9bXq2ONV5ralwmKI7e5mz518Zgv_b-e5y5K5e-DK-1f077kk9QiwRI10AeKfhMNrziOTLgS-4rzAfeE-13tX5SI9RNbs7C4hLDOrCCUedEG8OCeQKlTrleIp9dk78ckXAS4KY6bhRcFYYlq8h7OdxgW4_B3IgZrInJnY-wJ3Qks=",
  "id": "rs_09e31a60ea771337016ab454b6244887d0a87e0919ec31be45",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The rotated jaws are now low and symmetric around the lemon, with the object centered between their pads. I’ll close firmly in this end-to-end orientation.\"}",
  "call_id": "call_nfyXX9rgQBg1PHtO72zWyZtm",
  "id": "fc_09e31a60ea771337016ab454b7168887d08df35068b3860342",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nfyXX9rgQBg1PHtO72zWyZtm",
  "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]: [-0.1967, 1.0107, 0.8158, -0.8097, -0.3035, -0.1356, 0.9978, 0.0006, 2.2707, 1.1336, 0.5812, -1.2057, -1.1072, 0.0151]\nstate[eef_state]: left_x=0.2658 left_y=0.0045 left_z=0.1458 left_yaw=0.1401 left_pitch=-0.3728 left_roll=0.201 left_gripper=0.9978 right_x=0.4606 right_y=0.1689 right_z=0.0467 right_yaw=1.5782 right_pitch=0.301 right_roll=-0.5998 right_gripper=0.0151\nstate[joint_eff]: [-0.1709, -2.3726, 6.5436, 1.2772, -0.1929, -0.0562, -0.0171, 0.0889, -10.1812, 4.9983, 1.3602, -0.2906, 0.0171, 0.7888]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b592265cfcb4b1aeeea5b3d6fd261512a01a779d7ce0ffb9bd303cc15a171a47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76cd983a3bb2238695aa20c9b75a1f1c678d903ad83c4c796b59e710e2821fbf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf63bd849225c227634e540f1cca8caa65221111a752195e1683c79c5f897307",
      "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 36 attempt 0 · /responses · status 200 · 2.529 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1967, 1.0061, 0.8158, -0.7841, -0.3035, -0.136, 0.9978, 0.6312, 2.199, 0.8127, 0.9791, 0.7963, -0.1379, 0.0146]\nstate[eef_state]: left_x=0.2706 left_y=0.0036 left_z=0.1502 left_yaw=0.1366 left_pitch=-0.3443 left_roll=0.1902 left_gripper=0.9978 right_x=0.4414 right_y=0.1707 right_z=0.0193 right_yaw=0.0337 right_pitch=0.2525 right_roll=-0.4333 right_gripper=0.0146\nstate[joint_eff]: [-0.0205, -2.3726, 6.5846, 1.3993, -0.1538, -0.0562, -0.0073, -0.0479, -10.9607, 3.7812, 1.6239, 0.1832, 0.0366, 0.9646]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.1967, 1.0107, 0.8158, -0.8017, -0.3035, -0.136, 0.9979, -0.001, 2.2662, 1.1275, 0.5377, -1.1507, -1.0649, 0.9989]\nstate[eef_state]: left_x=0.2673 left_y=0.0042 left_z=0.1468 left_yaw=0.1393 left_pitch=-0.3652 left_roll=0.1979 left_gripper=0.9979 right_x=0.4637 right_y=0.1644 right_z=0.0371 right_yaw=1.4967 right_pitch=0.2818 right_roll=-0.5126 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -2.441, 6.5983, 1.3358, -0.2222, -0.0366, -0.0171, 0.335, -10.5915, 5.5863, 1.7705, -0.3687, -0.4908, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1967, 1.0107, 0.8158, -0.8097, -0.3035, -0.1356, 0.9978, 0.0006, 2.2707, 1.1336, 0.5812, -1.2057, -1.1072, 0.0151]\nstate[eef_state]: left_x=0.2658 left_y=0.0045 left_z=0.1458 left_yaw=0.1401 left_pitch=-0.3728 left_roll=0.201 left_gripper=0.9978 right_x=0.4606 right_y=0.1689 right_z=0.0467 right_yaw=1.5782 right_pitch=0.301 right_roll=-0.5998 right_gripper=0.0151\nstate[joint_eff]: [-0.1709, -2.3726, 6.5436, 1.2772, -0.1929, -0.0562, -0.0171, 0.0889, -10.1812, 4.9983, 1.3602, -0.2906, 0.0171, 0.7888]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b592265cfcb4b1aeeea5b3d6fd261512a01a779d7ce0ffb9bd303cc15a171a47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76cd983a3bb2238695aa20c9b75a1f1c678d903ad83c4c796b59e710e2821fbf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf63bd849225c227634e540f1cca8caa65221111a752195e1683c79c5f897307",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_09e31a60ea771337016ab454bad02087d0b386c5437a90905d",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFTH838_UXaNqygee8I0RYCAT7OXC1KqFwzRHcrZ8fFFtMdweFEYam4d1KVrtkfkeNDqXtWzs8jZq8afOetALSjBv46DBuwFM2WkK8SWAbxB52Feb99O1kvuMNjIYHijDq37BvzOiKJKzW0AZGgmztkphRpmM_s4q-r2asUrpEBqp5nhsSP8s8q57O0J9t-hjx9EkiSUB1tzVzAbU4pgP1JcORtNWT0Xc-b61b6xWDDzN_rcL0tCSLcQk2Y02XHYLrMupoSPr3NtFJWqjH16MbZ11sbwRdrOR4Rn4xwn6yPaLUz0n1Zqcdm0jq_ccKQGpRtnuVY_nL9D4HWDTe73HFkdz2it55jdFKhVubK3oyd-PT2L1htDjo4mt0Mt09Ra_LOE58D8v6fKFiqXQUCR8QtBQ5rsUPNsMB1M1xn2f44KH-kTjhoTr1QycWpR3rw5sevnwkWJlytF0rbqp1Uzba9vkiY0yh-qBCqa3svNmWroL0QhGcsz0xVbmqcdcZW27wYTIC3FCdPqMXsGTA9QBnompsoQLuoD-KiIdWrYC6T3bcgEtnCMNSfBejdKI2kpgqlwbyNWvBDn2t4xuuq7mwW73stBNK5Lyik-xQHw9M2urqSLOxRngHRMjQAR0etpppUITX45AWqCJY06Pz_KTWvmwbKOYcYu-pM_-rw6W6HZZMZUwuUpBF-aGYTxCzfKUg1-xOrSmSWoh5m7Sx1RB3unVQ4T5HCSpCZHkQNE_rQWvwWGfzYhvzx-dpKnS1rtFSuRYNN4-cqNbA1QD2EBlrwLILluqYXeDgpPoZa9UP49PEJCT6p-UstDsa_fko0QXrji3BQ-zICJHVfhmjvZ8XAlczOhEN3hH0iPGrQ4zM49ygApmEJCdEMh7UWsqwyyYs9kNLqu3OUpMp68PZ6CIT3coZOhynte5UTSUMdJ-TwEuH5fZsCEe9x6rKiahpz6ZuzYDqnmtMQmIRAPgjPpf0nDWK9xEhpbwmS1eYK3jzucrHUQmrkXFzl587xlMP_4HqlTLEkkWlClXH5DuEIcMnoVEVqsjy4wMnK7qYmKwBYzIK6krX3OOYJGMmuugp7pdJA2YktMMUm_F3IqkK1RMmIOGlfmvNsc-m1VRtJXjN7vGC-Aoy_Z_99QGPsD6nLotseYtP5x8xwtAWTTMjwnxBikJyWN3vBBPgotJuF7Py4XjjLghOwVTJauEB0hrGWvNz7EnZDcs0SNn6h0LciYZmM3ub-PKk8t2M80qb8uej8R5RngCMFcGPNm39R_S52RXfjoqp_5wre87dxbrk9X1lw2TF2_t4zh30NTYE-k2vRWW5BM_fwD6TVU3xSR-asm9etS19LcypM8b12P3T_eY83c-e65YacljQxot2bnzFNWLuD8AXrkIhT6ME0D1p7I19-QkjEwNj3UBHsiEXiS0X3BzUv20VhuZ5r3qAXvY-VLUmf1NrOVo4n8oy0LmM8mSRF0LUwItnJRsRh7_EhbeLKuCItmRrFH2_9EPYcEHBcxtMJPJTYkGUk8iFOjCv32ABmA3j5p4jb9Lo2ao4_IuZlcYFZEH-te8C_ZIylgELBRmY1JZVCAaBKqh_7wtOiT-lztzN3pGVh9lPa7v6vmchNzG_ZgjqVNcPhXqKJprqumNDct567i4dLGzkLICgoKylH_DC7L9vrTISTYV_EvRikIaFqw8I7Mc_qgsopTcm7085qC6mptj8043qgXMT4BKFzp0aeKitMA1O9NcDvR5chKTkgK1b8ChEZnsCwqAUX59xCm6FOvgFkrJn9i6IdYqEGhjTQkcvfVgvgZbEAqW7yPmGdAtpy6R3y-RcXb679HkyOQ3lf_Uvrb_qr4AmaAFPwoa9mNzJx1uD7rUOuWbD8EbD77wcHIrzLQ32Mel1CXpxsYnCeNqbK-ycQxDLCdI1wDYQuJnvFfjVfAGzPA66zXdSpvbmOUSPJLfIt33_9Fej3lAX3RT0ywsD3rYcp-6oUoXgidadlTxCxAMkg6_f8jQdGXtD-aswEHFAww5CJHyJQ6cESSUpxbIJCrzvmQoobp9V_0yF39KRC7twe8rY9bjPmf-p4MPC4-YZzeq4OHVojLFUqD9Ifk3LG_dwrtAU-d9balOKT2LDO8hioN5ybUQI0-_F2bEtE35PMp5QKi1UoFNUCegrOjjiDMjlUuiLg-bztE5SjZt68sEO2CrvNCbGmdTq7_52xOnp8ZhWvQ_m83Y6rcRiRM8lnw2kBC-06SYaHnORdec7G-LqDBUTz1NK-eKBQlXqgMp1d8O7jPppA7mji5aGJFWSSRYw4n9XbaVZlQFRN3V8SxsRZhU3FbCa60bifQ1-yP9TF5aqEuiKcmL_BYN7TON-5GHKMG5tDp7H-fFE9ZXXctSDUykST21Aw-JYI75N15ZoNZxCI2iCvI-Q11VL7cFYUtI35v9XXB4aBbszNsshBuVf3JLjyLAIORnlvRHU3uEH9NvgMa1AxrOh5zCh6R6ODGazSAdyy2f9BI5NrgMBZBWjdFEoyWlM689c6-yVa8Tc6y09nlofLeZMYTOUPIxJ6SsVFi2nQ8FWVxW4Fu0I_0Yu6Sc3OzwaWR5q2rsdRa6YEVAIHszsmUnIodB8hFYM8HAp3y6F8SbKeiblYurkTthyW5lbTyE16aJhVys6OzbsgCByKyVYcpMqvedIUnqMudqAKSbR0X6K5Nzl6LvgC3EbKBng-G67-CcP2qpxpOm0JbFY1tHs7uJi4XFkCGw5JMFomOQ_m9qFUXcXK2qdMb26fIDINSLC7f9qG71wpkr0Lle7sc42hmzpSEiSkWEoVUnwFu3A6MvgJ1AJu5-Km2LTTS-4cRrNk9g9vHkGgUBw-0kY54V_DuLmXKGbaJ-3fLj6DLMyHUG8ereq8lzFO7BUTCp26-pGm2LgqUhT6f6U_WXCvIlCNr2fTJPfLFhgcsW_oevPAOTNmZ0AfnKSeFLHn06hx8xLf7n2wZmeZYVfSCPAsq1JtB5uJSO8GOrFWa-NltK5GY26d9FdCjzsYoL8Zwf_ELW6rur4zEaxXGch5SQlcg2eVvf8wy__vce9HEvoXhexVmXTJPY5oNetDjS5SnVnPbOc1Lcf1rbCs7zILedCGoCAQff3djKTFC1vWPlq3nh_o1OI7_ItQN2Sfn28sYHn5f4wNADiP4INjiEsDcS28f2lHq9-gtnTAf7Rgbhm285wxrFkoJKlnfhEAGa6U2kcCsMRSK--wHaQ6m9eAOH0Tt2wkQDqBKHkMFoLlOsZbQSUc9Stk2r2-8nI3nCRLY_26UCZZCnefvoPe5QnAG9_GidyMzpUHSA0fAvFpWphQs7zpPB-ZRm9hhokevJoM5m5_7R0Xe77zz-0QhIhO1O-JUYYaxoOfaW-slYvFIdmDbG7_qloVhG7QmyyYV2PnnEWvsjqr3tpX6J46IekrzpWUmEo-S5zDB8IlXmA27tcO9D-THtz_S41FLjqzCMlg8cOmgV5rFHOBd_fQbW4TFNgUveIkRU71fqKTs-0AxOhf-yqeoAKlpNgXKjxUiX8_lGedkfKeVPUhzKGwDvfkfH5NrV1qsVeMcwKtvz67frc_LgQc7JVOKj0fsjyXf47Kn-j6Y9jKRLRhqTCXVDPz9Fass_-pikhfTkjDH6zvimK7xJDG2-0TIRVeIg6_sTD2oHOmN3Aphq0U1H6wO7FB4rteLHqUTamh-nWZWv02yBtFdo7iWTFro_ow3150wlp19W1XeVWNafzDjROBroSiuw3WuWTI2QCPEXIN8lY_VaE55iFIV5c5XuuGY4YtSHPHG_H8nEAXnyPd3iwUuXlqN-XwttMfCjzFcODQjePnauHpA0GGd3asaoroqNnx5Ayuo6isoix4F53pbwbFnlT3Ar_u31vxcMo1c6XsqU9JHgwNfdb61vW2oL7VCxXxfZ3cW2_kB2TfnAY38Cuuw8m-FMe8fTMg8WuU6ybT8N6lG5g-okCRnhjSUjapNc2Ct0KiR15b5LDplC98XoFVbagynmjLHn_VVozf0hkkkd1OvLBk5EM7jfR2-gH0a4zn60vH2MJ2j7VbInD7Pphzdfv3NVuCi6HEAMVuT3Nr7fWDw5eGrbPBlm2BZd4GVEuBA2jYLcoT6xAOX4WVxuHqFzbwWDz0OrQkEgzYrYoc-JtdzAwrQOj__cjhma6CLLDdO05BHf4WaUWACNt9SzcEHzkfpRvs2i1c=",
  "id": "rs_09e31a60ea771337016ab454bff41487d0af58d04c3767d308",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFTHvp9gaGit_b6_UtXUt_sIR2xT6i7RlkLwNv7x0iR5I6rxFJDJGR3xWpws7CeRMS1nUraTvwSjgctWlrH0sW0pQkcxkSBspEqX53BQ7Z34dGrxqXX8-riYLU5LVys_FsN3NmElcw13OIyek33KuxjI8fgLQ1Mtq6dWVknALQORsb2pIK8N2inTxnGZOy1Dd1w8t19BFpXapPJEd1wWKMZkSnB2vAGzSKKsuyUFVLTSbatxK79A2Uc6AsQN72urCMzFxE7LxKZD1J1Yuq0FsFwZzhUEc5kfSNvW6zI_WKKgrdl1D01PDMRDRNG7hSzD-EJ1EfydgT6x4nENJxkMEn0PexHW-8lwUdKXwt5V6Fq1oh--bSMXMTO1USxamXjvedGPbKl4FRh-LsbdQ5OcrtEMcCBRr7YiT2lYN08etwyRrDCBjkaMaJfhZotzXw95H7AZFvh7joLuRlaT8PnxKaCkWmDqrHnlISyWEUWqBIA_cwLu49ZdWpNsDXGJkAaYlJTdopFHl7EDCgtMYEDA5USXeP-OFVo7ASH4y1P3ptlKKreamksqxXuVAuMEMjaKgGBSxu-tezaauO2FUPNKyecV9pqqJZopFoxN0gsp4YHyivHyKaeJgQcdxEKkQCOCXpTxLj49-7WGKz3cMHPJsf_aW5M9iCedQiildl9jwX0_jZA_8Ta_0TwGlfk3tuQdKg0TQOe4TBQqazd6rzDhqWFAb2yJU_IIPXKQnoaEqL2p0qoFpu4MFSkOsl6vXC54gRT1wwhjNQka14c8pBMDZyjWKUB6NVCzEpLpIB4MPnfUPm7EbJ3KHkwD8r6qFw5ER8oo63bzyYIxhttdUNISy0MDO62ud3IJwCCLv7k5cM2qdNxlMERhZ6EXa5gDSo_DkeqM9YF0Nd7QUvc9uKF6oeB0HF-xMj07UztjlWJZQDXjFQpHHJz8pcKGblM5w_mDg-DQg3P9zBXIXTixEp8eoB4f59dNCxjBJ849CgJ7AH17M2PJt_UBWcYXiQux3PQDNggWdLII5uOKsyM-kbbfrOhMu2DG5S2DfbLqq8ehyzfIm8qFjUyAEYC3jlQgt9En25EH7dc9TAQZ83IklqbrEsgPYGNaDnfrpPg8Vl8XJxx6vT9r7QDf4OfDeFQjTSRlFMIfs-jvIrQpAi57i9ZZmhJ58tFrweADujvZzvexmUd675MdLdQiaLHexf5lXszvEZ7gFcJmxnedZpVlWZD35fhBEn8F6olEtsY23oexlNAvRLwBEaRmnwDwrr-5ZuAIhuTjrf2TRoCxnWlqA3Vy26kyfWmpM6IrZQ6bRArrdyl5nLQjidP1U59Ek54vnXNgW8ZqF2jlPNzHIfnN3FY2AmowNTJU8FusLgiVy7RTUTVZIC1B5pYYT-lOlBjtrhX3jZB7CoAI5UK4VukJ4Lrkv1TukARR9zlkrzt5WnqL_QsZbZ7h1j4_ijzDa8ZeNEz2MxyQfvZNermTZWeNgxRs5SHH5Qi34kuLhKemtMiV0W93LascadedgY1dv2FVGDCvBbwSA4BMn92q1g9S3S6pvjxWIfULQDD4o4bKFtBoUaIdW-cshGUzi2GqppD_0So9hM2G1NLG0KlQ4H0byKqes9enhrA0vVWJw8lHQ_abuTChdsynrPgOmfmsPV-Dp1F7zcWwabQGUXjFqh1PAOO5mjwo0kdYmTl-exKdm4tzRy0Y2ewYLeTeUU_9BaIYu0P7uhUhOoi-iw1afVlmAIOLknhRcVPB9wW13h50vnNTAmAjeEF6CPWL1hQu4ieZ9TCkR3V37tEOtBMnGt8GTIbo64ncAN6BIlMOWPEooXcnEQ07w6jsihfz_odgifDgPvZmiWtO7KXR2O6GFJJY9Bxa9smAVot0XFHYWxnMKKXFA8rVoXu-L0EC9BLbZdWvFsRtjII9IHLvhWQXpA7z_tmZMFdwOMlQJltKKPm9DlaosEr0lQVFk4InADwoPQR985YXDG0T",
  "id": "rs_09e31a60ea771337016ab454c4eb5087d096becceb0551bb21",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.22,\"left_z\":0.06,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_gripper\":1.0,\"right_x\":0.3,\"right_y\":0.0,\"right_z\":0.18,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_gripper\":1.0},\"note\":\"The rotated close also ended empty; the smooth lemon is being pushed rather than pinched. I’ll park the right arm and bring the left gripper to the black front handle of the accidentally closed safe so I can reopen it, then the remaining objects can be guided into the compartment.\"}",
  "call_id": "call_FZrkWbZdKw1ZjVQ9WnCrmFmd",
  "id": "fc_09e31a60ea771337016ab454c6ae2487d0b523d1120b684f20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FZrkWbZdKw1ZjVQ9WnCrmFmd",
  "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]: [-0.8707, 1.7439, 0.8249, -0.0128, -0.8356, -0.487, 0.9985, 0.3122, 0.8917, 0.5293, -0.1871, 0.4698, -0.4259, 0.9971]\nstate[eef_state]: left_x=0.3441 left_y=-0.1995 left_z=0.0625 left_yaw=0.0305 left_pitch=-0.0101 left_roll=0.2643 left_gripper=0.9985 right_x=0.3078 right_y=0.0191 right_z=0.168 right_yaw=0.1351 right_pitch=-0.0129 right_roll=-0.6042 right_gripper=0.9971\nstate[joint_eff]: [-0.6359, -6.3521, 6.8855, 1.2527, 0.3883, -0.0952, -0.1734, 0.1573, -2.5368, 9.1829, 1.917, 0.2662, 0.1783, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79276ec77c32cb168186d18b9369188d5c81a4a9e34afb8f39d8e65596668485",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f67f621b8a2ae235bc76ce9fd36bcdd4b872825e42bb1471f60d8aecc62043e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b39a054e59c12dfc6c31ae957acf452f5f1550750b3831e3d39f8dd322777c5d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 37 attempt 0 · /responses · status 200 · 3.444 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 143 changed as sent

message 149 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]: [-0.1967, 1.0084, 0.8158, -0.7956, -0.3035, -0.136, 0.9979, 0.0048, 2.1094, 1.1568, 0.5247, -0.952, -0.9302, 0.9947]\nstate[eef_state]: left_x=0.2685 left_y=0.004 left_z=0.1482 left_yaw=0.1383 left_pitch=-0.3572 left_roll=0.195 left_gripper=0.9979 right_x=0.5028 right_y=0.1499 right_z=0.1024 right_yaw=1.3134 right_pitch=0.2523 right_roll=-0.576 right_gripper=0.9947\nstate[joint_eff]: [-0.1299, -2.3316, 6.694, 1.4139, -0.1929, -0.0171, -0.0122, -0.1709, -10.5231, 4.7111, 1.4579, -0.6667, -0.1538, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.1967, 1.0107, 0.8158, -0.8097, -0.3035, -0.1356, 0.9978, 0.0006, 2.2707, 1.1336, 0.5812, -1.2057, -1.1072, 0.0151]\nstate[eef_state]: left_x=0.2658 left_y=0.0045 left_z=0.1458 left_yaw=0.1401 left_pitch=-0.3728 left_roll=0.201 left_gripper=0.9978 right_x=0.4606 right_y=0.1689 right_z=0.0467 right_yaw=1.5782 right_pitch=0.301 right_roll=-0.5998 right_gripper=0.0151\nstate[joint_eff]: [-0.1709, -2.3726, 6.5436, 1.2772, -0.1929, -0.0562, -0.0171, 0.0889, -10.1812, 4.9983, 1.3602, -0.2906, 0.0171, 0.7888]\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 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8707, 1.7439, 0.8249, -0.0128, -0.8356, -0.487, 0.9985, 0.3122, 0.8917, 0.5293, -0.1871, 0.4698, -0.4259, 0.9971]\nstate[eef_state]: left_x=0.3441 left_y=-0.1995 left_z=0.0625 left_yaw=0.0305 left_pitch=-0.0101 left_roll=0.2643 left_gripper=0.9985 right_x=0.3078 right_y=0.0191 right_z=0.168 right_yaw=0.1351 right_pitch=-0.0129 right_roll=-0.6042 right_gripper=0.9971\nstate[joint_eff]: [-0.6359, -6.3521, 6.8855, 1.2527, 0.3883, -0.0952, -0.1734, 0.1573, -2.5368, 9.1829, 1.917, 0.2662, 0.1783, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79276ec77c32cb168186d18b9369188d5c81a4a9e34afb8f39d8e65596668485",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f67f621b8a2ae235bc76ce9fd36bcdd4b872825e42bb1471f60d8aecc62043e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b39a054e59c12dfc6c31ae957acf452f5f1550750b3831e3d39f8dd322777c5d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFTMZ1_WW1nRRjOLTrsW90v87F2uaeh687kbi5Xzzs8pfZ5mfOTjKivxwIbIRfD5y9K95TXLzL1K0nq1FBtxgrdFUc2FtHQThol-Dq54CuXyDOio-YUScD2pcn3g7hki4pcH1yZEYnVixM8QGWDnKNGqL9dopIt6SgzuhMIIiNRORIwR2wYEN5LkuEHiL9JSbJxKpdUMX2zgUxXwQvUoZfkwmtdpsdag-cdAARnwXP7XnRY5tpwVohXHAmQ6Z1uszaAISnnTdqIgQosbhbMcMdG9UbYcwO7Euf8-DOMCjw5TFXptpZGU7PN3NST4-RXI5ExTlfbgoEdW1yKI0b4FuTTREqCMFaZOiJpV790ptsFRwUeqhx5loInosDSqkg4mwpYEtMFoI5aysfu-8u5Tdqn4N5WRK6dg4ID61n7nL59ooWsUVkcQU5eED6pj_W6XsADuKWXcmktOfVe0w20BocWPSg9SYRsepMb9X7W6_2gZopJcUbiukhHjqGysw4n5l0NQ5l-_G32jB6urtB1QSPsqhYwJuWggP3J6m3OtVe5g9VHgbxPHNn-f-wtNgQunO5FqJO2zqQG40kJJg1j4NxDQA-ZDJm_cF46OzmMuDShQQQ8LNgYZ6QKU11c_n7atRZfd8V-oBlLKip_nBmsh2Ujhp4yZCQ9OLXf2GD0mbhCTNwkus4BjRQigFO8fmh1HR013qXZ16j5dsGE7w6iR392OIIHjpeKmJqcc1kRMw4OrPFgbjV9IabmcQV4D9slBj6OA4HVIQFz93ndD_uFCH4fdHyvd5KYoS2xMQ9ys1O_kmxUh77B_C5bzSPJuSHXwt9JpeGmyf4bq0OWQ_XDptHWlU_CQgo-NGjHNo3tGyEWkYNUl1eTVZ18X8o_PktBPp2hOoz4sbnW0Acq6-0PtV6Y-dZx8012W-MqKCWmwaOQ0l6GgDfjdQBjv7Ctm5dcArrDEOe7bWOzLjxgPHY9Dw83k5dRqFoZS9YFMRhylv5pqKwmmeSjGQ2gCywGTW1P7FEmQcDKa28hbj5KEB7ZWQ0obEGGaCY0o2YaNamPsdr8liQgkfv2QyEwB7GzI5kXVrNX5uHoan4ExCsmVrhhamJsBKgku8v16XtICDt5P0c4Jhcv5q6bHqEUCI7sw29YHWPJceqpYTUaR62JTpGijvuJ1BJiv9sm1A8WZ--Lstl41UI3dpkY6P1eKZ1vL8QovydnbFi5EuF_eK0MNYLO9xCp2RFgTngG5tZDBVmlNQmMdc8fDCmLI--yoYeZUjB4zjSD4l-o3qbYl-qxch1XU3AwVzWQX4hwcxyfUWv0FMjCU9H-orUi_gcN3paMdqrFXYuHngtwu2LNtXDtOZn47zOAv6fAgMk4ns9xbzN3Wl2r-Q8oXE0vdEzVc9CBA3c09Cba_ojaL8GBYoQWXxEQT97QmEg==",
  "id": "rs_09e31a60ea771337016ab454cb5d3087d08af0823925fe6259",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The left wrist is directly against the safe’s near front edge, with the black handle/edge between the open fingers. I’ll close the gripper around it so the lid can be lifted.\"}",
  "call_id": "call_ivF3E51DkoO27rO0bYPHCLMA",
  "id": "fc_09e31a60ea771337016ab454cba1a487d0a3adc0c2e51b75dc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ivF3E51DkoO27rO0bYPHCLMA",
  "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]: [-0.8757, 1.737, 0.833, 0.0231, -0.8749, -0.4847, 0.0102, 0.313, 0.8963, 0.5327, -0.2295, 0.4732, -0.4297, 0.9987]\nstate[eef_state]: left_x=0.3496 left_y=-0.202 left_z=0.0757 left_yaw=0.0489 left_pitch=0.0451 left_roll=0.245 left_gripper=0.0102 right_x=0.3035 right_y=0.0174 right_z=0.1603 right_yaw=0.1344 right_pitch=-0.0566 right_roll=-0.6169 right_gripper=0.9987\nstate[joint_eff]: [0.5538, -7.3504, 4.9573, 1.1551, -0.4029, -0.0855, 0.7985, -0.2803, -2.0171, 6.7077, 2.0391, 0.0659, -0.022, 0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae8891774f0c5c0ee162d361e262077aa1bafb036625b80bc441af607a53b41f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76ef4e0a4c14ec20d81c7a1e58ad7d2744e0e34d0c4905c005227a981bef3b34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd409a185f7f9904d4089eae22e0d762168ac979bd922b8f5cfec6669dc93fe4",
      "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 · 5.506 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 149 changed as sent

message 153 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]: [-0.1967, 1.0107, 0.8158, -0.8017, -0.3035, -0.136, 0.9979, -0.001, 2.2662, 1.1275, 0.5377, -1.1507, -1.0649, 0.9989]\nstate[eef_state]: left_x=0.2673 left_y=0.0042 left_z=0.1468 left_yaw=0.1393 left_pitch=-0.3652 left_roll=0.1979 left_gripper=0.9979 right_x=0.4637 right_y=0.1644 right_z=0.0371 right_yaw=1.4967 right_pitch=0.2818 right_roll=-0.5126 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -2.441, 6.5983, 1.3358, -0.2222, -0.0366, -0.0171, 0.335, -10.5915, 5.5863, 1.7705, -0.3687, -0.4908, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8707, 1.7439, 0.8249, -0.0128, -0.8356, -0.487, 0.9985, 0.3122, 0.8917, 0.5293, -0.1871, 0.4698, -0.4259, 0.9971]\nstate[eef_state]: left_x=0.3441 left_y=-0.1995 left_z=0.0625 left_yaw=0.0305 left_pitch=-0.0101 left_roll=0.2643 left_gripper=0.9985 right_x=0.3078 right_y=0.0191 right_z=0.168 right_yaw=0.1351 right_pitch=-0.0129 right_roll=-0.6042 right_gripper=0.9971\nstate[joint_eff]: [-0.6359, -6.3521, 6.8855, 1.2527, 0.3883, -0.0952, -0.1734, 0.1573, -2.5368, 9.1829, 1.917, 0.2662, 0.1783, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8757, 1.737, 0.833, 0.0231, -0.8749, -0.4847, 0.0102, 0.313, 0.8963, 0.5327, -0.2295, 0.4732, -0.4297, 0.9987]\nstate[eef_state]: left_x=0.3496 left_y=-0.202 left_z=0.0757 left_yaw=0.0489 left_pitch=0.0451 left_roll=0.245 left_gripper=0.0102 right_x=0.3035 right_y=0.0174 right_z=0.1603 right_yaw=0.1344 right_pitch=-0.0566 right_roll=-0.6169 right_gripper=0.9987\nstate[joint_eff]: [0.5538, -7.3504, 4.9573, 1.1551, -0.4029, -0.0855, 0.7985, -0.2803, -2.0171, 6.7077, 2.0391, 0.0659, -0.022, 0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae8891774f0c5c0ee162d361e262077aa1bafb036625b80bc441af607a53b41f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76ef4e0a4c14ec20d81c7a1e58ad7d2744e0e34d0c4905c005227a981bef3b34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd409a185f7f9904d4089eae22e0d762168ac979bd922b8f5cfec6669dc93fe4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFTQ7tZbqqN1IrX4_QIQAlUOxEdMz_thHP6zcqn7ya-FGgIZai8lHd5tCJXv0_XjLUOUBNXmUTGkQGpF6gUNw0p4OkvRb3RalB4XZ1vvwhKTshR5Ff3Y28I3g7vcQ5-YvsYuisvNQ9CY4gti0vqE204lGr42F4X0n8dNMri7bEVmFvPmOOaud-Fur8X8Z2D1hGYlE8pVFpcp9qkGcDkiWXSnogK-tSZMCmyNqmeAEmZ0mJYn7rXEesPsvN_6qvFVHyU8RqtKOXBmMcIQJDEUr1ZFakoNL2u4RVTWPvk6LnHaDkkGUcXSeFYjxrVMOSkdx7la1c_MysxRCigKDW41oFsnxLCq2QkIEwUu57o0D9iZVMGsyBOIBw8e3Goy551__XmJaR3GL-6nyiFAiMqxxOksB_wABmqK-e3VnW1ifgnEppNfCq0XPhedaaqVadR6UNxVhGmG48TIiaCmUKFLNIpd64jYBFFZb7yK9ZIGfKcWO5ojXQWgjWPepI9xiRVjB2mmJ756aDu4pZvdkvaVpwmPPTYRIvD4hmFv7Hk5ZKSUNd9ckbHo2EQY68bn2Zf4HcFbbLHlhZHbLsjFJetmb02jgw0EykFHaAFn13MQYVTu8AdAXq_8X07vKaDLiLReknCvRHP5HsbMqEur05EYWczyeUyQC4_ogVsMrGOIys7kB72skQTDRYmOwnpscaJW7kcVxpBklPYC0dq3i5j8FcjkLxmBiBjj3SZCAL_GjrIQCpaP9I7JHhMB0hf_wRpP7Mvt0glR-Gtv-jPmxAiI0VDUyig-diO8g2PUrrT-2YBESH1T0YZ9zGzLmUAntXk-SXI6PPYXZLcWamp9HklXK7rj28_93ct1qpF-z4aZelV2O5Q1s71By9Yfw6tz4L7XVv7GnbMitiayI7hMDMcNHylsTQ8ZzOHD7JXDhe14ijG1-pHgHGu4b69rYBYLGVWiKUlkflCJff_a7m8FG21WcpmbOx3eR8L_FY3Dmc1_fQ_ecbiQjfdG2b6aiaNSTwqWuk0aDFQKnIOjKTTwbMXx3ez3IxaToBiIPbzT0alEEx5ZfynaNpGj9ttHD4Q7EMKprY3WTeWj5tOKx-E9Ao2nMyaUFxycrOddqSkT0RVPLcWIfiEWy6_BagC6UShEvB2TUHf9gRR7uDFynQO5Beqq56DmzvCPADSfLIXWM2QmY7-cFQOFMneW_9h5zh3NZ69KCvR3eD6i_f5YPrMzAtqqkeB425ODbJ4ms4jMuOH6Qs7XPAgBwxAvfN-oLb62GbE63pc_uj1Vr7rI1LZGZC_rkFtTbgN6My10WNNo1zn7sEeKAGK_NllrYYFZLY4FO3PmakS_qTRZkon7BKQKdm171Rvge4SnUeO6ayjM2ztaojLz1YagvwDhmqfl8guBDJW5DZBClbv26pwGnPBaA433AmJHNk6WtY995Z0rG5dVrp1ufgMG7BrdNqjY5__gvloELuIp_YmWTgJuIBWgVAEO8x61Pgjt-13KUUlIn85VzX4GdT9gc9DYS6Nx3idM0q-EjO2boqgo8y7roWPudTi8glKXW-ZY6WmMypFpoQSyRyu7W2myfHa83wPSsQURu-1Tq1bUpfr0PVIA-06n7kD-qmsXL1Ci2g5Fi2N5ptRSQIReITLlOrcmeDwPGYn3UQ_xAazNhz4bTF7_c9uWPL13G8UZQpTDMf1rM2AbEcdvaKbAEu6HSwgJxAektHIeuGLN9hHHK4crKUS1U4NV8_8BuFNZDR53kHIgYGnxyRVAGmIPpCw=",
  "id": "rs_09e31a60ea771337016ab454ce879c87d0a3f1c7c8833453ca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.2,\"left_z\":0.22,\"left_gripper\":0.0},\"note\":\"The handle is too thin to register as a jaw-width grasp, but a fingertip is hooked beneath the protruding front lip. I’ll raise the gripper in place to lever the hinged lid open from underneath.\"}",
  "call_id": "call_r2HBwjKze0Mh4sSD868IbbaX",
  "id": "fc_09e31a60ea771337016ab454cfe93087d0908e17eedb1ff155",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_r2HBwjKze0Mh4sSD868IbbaX",
  "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]: [-0.8757, 1.5616, 1.182, -0.5255, -0.8612, -0.4953, 0.008, 0.313, 0.8993, 0.5308, -0.2531, 0.4736, -0.4301, 0.9988]\nstate[eef_state]: left_x=0.3502 left_y=-0.2051 left_z=0.1954 left_yaw=0.0456 left_pitch=0.0235 left_roll=0.2486 left_gripper=0.008 right_x=0.3004 right_y=0.0163 right_z=0.1542 right_yaw=0.1339 right_pitch=-0.0848 right_roll=-0.6225 right_gripper=0.9988\nstate[joint_eff]: [0.4444, -9.4017, 8.9231, 1.2186, -0.5006, 0.1197, 0.8278, -0.2256, -2.1402, 7.1453, 1.8486, 0.0952, -0.0366, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e3ce112eb147b840393a70ab8346c50e75d6bf625c7cb4b2fda8e1bdd94623f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4098cc7bc7c77c89a1cd4881588977219360b50ad24051b3b479d642b7e14b20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cd7a0fd6cffdcc559e720cb21868caf22a10c616c51db307906ccb5a9229807",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 7.809 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 143 changed as sent

message 153 changed as sent

message 157 changed as sent

message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1967, 1.0107, 0.8158, -0.8097, -0.3035, -0.1356, 0.9978, 0.0006, 2.2707, 1.1336, 0.5812, -1.2057, -1.1072, 0.0151]\nstate[eef_state]: left_x=0.2658 left_y=0.0045 left_z=0.1458 left_yaw=0.1401 left_pitch=-0.3728 left_roll=0.201 left_gripper=0.9978 right_x=0.4606 right_y=0.1689 right_z=0.0467 right_yaw=1.5782 right_pitch=0.301 right_roll=-0.5998 right_gripper=0.0151\nstate[joint_eff]: [-0.1709, -2.3726, 6.5436, 1.2772, -0.1929, -0.0562, -0.0171, 0.0889, -10.1812, 4.9983, 1.3602, -0.2906, 0.0171, 0.7888]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8757, 1.737, 0.833, 0.0231, -0.8749, -0.4847, 0.0102, 0.313, 0.8963, 0.5327, -0.2295, 0.4732, -0.4297, 0.9987]\nstate[eef_state]: left_x=0.3496 left_y=-0.202 left_z=0.0757 left_yaw=0.0489 left_pitch=0.0451 left_roll=0.245 left_gripper=0.0102 right_x=0.3035 right_y=0.0174 right_z=0.1603 right_yaw=0.1344 right_pitch=-0.0566 right_roll=-0.6169 right_gripper=0.9987\nstate[joint_eff]: [0.5538, -7.3504, 4.9573, 1.1551, -0.4029, -0.0855, 0.7985, -0.2803, -2.0171, 6.7077, 2.0391, 0.0659, -0.022, 0.1538]\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 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8757, 1.5616, 1.182, -0.5255, -0.8612, -0.4953, 0.008, 0.313, 0.8993, 0.5308, -0.2531, 0.4736, -0.4301, 0.9988]\nstate[eef_state]: left_x=0.3502 left_y=-0.2051 left_z=0.1954 left_yaw=0.0456 left_pitch=0.0235 left_roll=0.2486 left_gripper=0.008 right_x=0.3004 right_y=0.0163 right_z=0.1542 right_yaw=0.1339 right_pitch=-0.0848 right_roll=-0.6225 right_gripper=0.9988\nstate[joint_eff]: [0.4444, -9.4017, 8.9231, 1.2186, -0.5006, 0.1197, 0.8278, -0.2256, -2.1402, 7.1453, 1.8486, 0.0952, -0.0366, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e3ce112eb147b840393a70ab8346c50e75d6bf625c7cb4b2fda8e1bdd94623f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4098cc7bc7c77c89a1cd4881588977219360b50ad24051b3b479d642b7e14b20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cd7a0fd6cffdcc559e720cb21868caf22a10c616c51db307906ccb5a9229807",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFTXKmAcZfkOOu99fURjbOX6hhQlw-WyqIeBjLvYu9G9reixhdYB1JYxn7L2yq4MgnZLwIe0WgBZsn9aAPTNhZhUTphsGkK8uS7uon46_WzORHfbi1N8ulxgdBL8kt4_0KdjrwUYI7QugWvS_4ukFNaY7avE9EotAfY7Yt18pv-u_N05r_yHWothE_gAgbu8xXyoUwhiG1g8XTp0GdK-cpvh3XE2asblsBNvT5rkxOQJ1b2WKg3j0iz6FDEYWi58_4J2MwM1J3JV0i6sd4TJfkUvydNlwHI_wc40THc-BwW_0_rp4ioRBFHBA4eEI232sadG5qIOOUqFMpD-1c4QTKNd2KFncs9eDL2aYPvPQ2EBg_RPvxnl-5JbPCTBFI8ROrj-jXnJj8lCI1yfr3e7s9mp8rG83ezo9ElfPhgzf95upNW0TEBrR-Q6oigNmg9YHyUgDZTv3EbeddQI0Vaf4bp4iWoDU2SvQvvD-Y4iGkCDI-2ytIFBlGE_Le10kUz6z7AskuZz3G0xQskOZqgKDn18HkQepkuBfNl2WLoVAK7Nz423hm3CVWQhDtbm-nK1I38r9lVOLrdzt31ofnSdfSp97VFBNDONSUXfqgtSCLQTHKMoONs-WQPRI01PdBhWL86cZ-tciYtH3SMHy79xv7-IRpKSf_9UFnOc8c8QF1ZoVtu9AUsM5eF3_MmBFim3I5ZP4R1QQi1xp7RUWffwwYsxNTmFd4ozDeeJ8cn6VuwvVrRHKh95hUI1AWwOsqb0AiYoC0eInx_BsI6ye_juQTQDB6z5axqy_-9L2-Jbmv9UTf-ipe2D3bcQGCxTwLn5EpPWctCQaaADRZe63YeWvZy5OuREUTuN3Wr4is2c1pWHCh9_AbxZo_N8z_DkxBXlVMdIsfqLOXgOc9xVMQbr0KnCIMP1y7suaj7rPvh5RU6NNB9Gi8o6V8SkDi4TyeZHY3XsH8dmJW14ZW4d4nTCAysmXyjux_yLCbrxf2dpca0SdQ3K2H-6VvbOARYNIxbUfxM8sAeOgQqfygCkgXIY1ysRr1OgWHvqOQZjD5W-CkC2HAgIac5_gK1KiknynD7c_Exi4i2Y3Lw4xXhE8ah3jX0ChFyXoSgbc-GVlXlv2RbZQvT_3n_9JcPTgZK4bCUDru96IwSoQitonbHMvdbVMKHdslT_3UQkkTT29Wl7Y0l2Rjdp7QxMaAEZLDbSUCd14VSccYNPEwkRKk3k3hXbpW9DZyWDYiWW5qzf4thnZvr93akWYCN_XtW0mkakD1k4qsMAf34PgFKPb-k-sdoEhYWnRE35Tl0ra7jJ1R-WN0lJZDqfmjPF5aeE-oxtsZTDi54-azSDpOrMPetg4oitsfZYZpiBRlYvTCNlkjGE12XBmSeBdDymjWUzjbz12nhewDQChpnTYwXy1CkbAL7jE1NGDVFSDXecj8naORmS1DsTVzkEKv8D1VErmY_nV8tGyQfQwY9hfcQma2htvb_hxhGQ9JNJ-SjwIRy2SKY7Zeyxdtd24LXdZEJI5ZivXneG70Kta_u-VFr7OgLmPKwxwmmZtDF9nKFRQDnIbNa99ENzYBXY4fiMTZtgwrfW-Mfi3I0Hk80wRthGdag32VcbPHopMCApiPEXaMyYHr0uZ4d14GcdzDzmstGS5PnTvaq715q4VVCjlLzneVIpvRRCBGLrn7PIaQMm6vAznhBeOOfYF5NNrUP1kI4ofLdR80iCGTgDPDJ6MARR02etl-V6LRA4WjiSrXx5WSdUJgfbP43FU0M8zkIROlmfLXOOFcT9PxIXWb7IIlbbf1mNSO5Pb-0VMNm6edfl3zAXhlCtvjBVKMlysT_D9KX7sMZUVKByXUIl5mNIAwNSEd4wQ3Gr6iBy2x0Wl-Az1zkVDwsPD53YjHJZkqh0qm1CPDCu0tSPgxxOqzmrx-LjP8ENNTJ6J-cLpyK66oVwhXeErdhUQB7GIvT1LMm1ewDZ94vrE1cke5lk_tFc6xt-dJSBZBIlxcGi1JLJISJkeZtquqx9hKQ1g_S5nUAG3iWYnUho3W7alaDjdl1IoYTQ2K7Rm3uk9QTive32-CqyTsdVWNxNZ9AWNBkT8SKVaqi_QC-i0HYvwmO9DjdzEX9OI42F70d8qt976sFk4hPRWQSUISmOryRDjFy5hjE-d9Joml6GOJU90mDhKe07ednhkNd-lF5862o0WgngydcQz8CdENoSRb3dOZFs44w4j8FtydRK4uQihgMcPLVl1hOH-QWT5E91AZxi4HEFTn5RxHIyM1eMssVmjX1V4YGfR7VZd6aJZaZacZiSOwkBDGbYt-SqM8nXcXtT0xMO_ePfBTlhVv8GvDEaOJDYCxO5TXjC8isR3DOyrINToFuTHi0NsgdjDUzVfcMm6MbNkr587XPN22qGq83TxE2kQRFmFrjnTc8UgU6DpqbbUxnI3PP-UyX6QArGHVYA_O1Ky-0GeyLSGpXBdpf7wXZ6NIzEC92wDbQA7J33sk-uKfbxYLRu4kV7Dq8PVPWyLVfDCkifU0-FN0JadRoZBqhxXG9JgBOU-ytePPmpoSmEz0BwtZwKP9YBZ3ukikqRp0lM65IsBRenIURSPTW9lJHz82ayFRjC7mC9Rmc6jCNcU22oxdpSTqclYASBIQATKYdrN-QghMp-iKqbuEpQRpusOGWqhCdJ0vTD73JfCHC8pcvdq5wcrNF1CErrKkHyBqOO91fFy86TLDekXdKxXFrk2BiGqsoxqABQf6HkpSYXNT_qc5oeilTGfrxJ3LV2dqS89H2isF6TZjzeSpH463qHze9gMWCpVSPPdvL-WOpOK37In_eL4QW-nU_trrMaRM4gLewQpsAKggJtV9iSnPA6CmbjKI9-CvqKs4BxsF1zJ4A23dQS0Ow8KMl50ZenrDmIgtFrO7jNHcTv9DaGLBrUOgzQ8JVC0XYopYjpx1Yw_RAO7v2r_L4ZJkski287VP9qCI11aamVUilEZUg1EL0NgwBlx0QudGFEAO0Wd0CbIXhxKNYellTL68Fd-5ZWWhN5hFXLecku8npiUh-ckEXPyE-LbmjZnraBazEkSqjH",
  "id": "rs_09e31a60ea771337016ab454d2e87487d090facb0c2b80ab81",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.2,\"left_z\":0.25,\"left_gripper\":0.0},\"note\":\"The vertical lift tilted the safe but did not yet swing the lid, suggesting the hook is bearing on the front lip while the hinge resists straight upward motion. I’ll pull the hooked lip toward the base while keeping it raised, following the lid’s opening arc.\"}",
  "call_id": "call_mlAz79DEDLxeq2F6VJLOeLqg",
  "id": "fc_09e31a60ea771337016ab454d5d4fc87d0be39c5eb767e29e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mlAz79DEDLxeq2F6VJLOeLqg",
  "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]: [-1.1542, 1.4467, 1.2823, -1.042, -0.963, -0.8497, 0.008, 0.313, 0.9024, 0.5308, -0.2749, 0.4736, -0.4305, 0.9988]\nstate[eef_state]: left_x=0.2572 left_y=-0.2139 left_z=0.2335 left_yaw=0.0048 left_pitch=-0.0028 left_roll=0.2558 left_gripper=0.008 right_x=0.2977 right_y=0.0154 right_z=0.1494 right_yaw=0.1336 right_pitch=-0.1094 right_roll=-0.6272 right_gripper=0.9988\nstate[joint_eff]: [-0.1709, -7.3778, 8.4855, 0.7937, -0.6422, -0.0757, 0.823, -0.1846, -1.6342, 7.1179, 1.8926, 0.0904, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e91061b8c463091fa8545b3a60223fcd6a12c9e0ada84c519583551a84e6414",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42190bb405d9cc3ddff9179e39fd9f3c0959797b34d0b68f2390475ede675e3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a38af5ded2a1f6cb90fcc55d781330e7351653e98bbbe4e66ab45cf26ecbd72",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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