adhoc

completed
2026-09-23T18:33:28.851968+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
205.8 s
total steps
370
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe safe is open near the back center, with a white plush just left of it, a brown plush in front, and a yellow object to the right. I’ll approach the white plush from above with the left gripper.
move_to
left_x0.3600left_y-0.1550left_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7925, 0.6044, -0.387, -0.0193, -0.0338, 0.9993, -0.02, 0.7944, 0.6086, -0.4023, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1791 left_yaw=-0.0002 left_pitch=-0.0008 left_roll=0.0003 left_gripper=0.9993 right_x=0.2924 right_y=0.0013 right_z=0.1774 right_yaw=-0.0002 right_pitch=-0.0004 right_roll=0.0003 right_gripper=0.9996 state[joint_eff]: [-0.5538, -1.3607, 10.1538, 1.9414, -0.0952, 0.1783, -0.0904, -0.4034, -1.4564, 9.6068, 2.1074, -0.0659, 0.0464, -0.0562] 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":0.36,"left_y":-0.155,"left_z":0.15},"note":"The safe is open near the back center, with a white plush just left of it, a brown plush in front, and a yellow object to the right. I’ll approach the white plush from above with the left gripper."})
tool
executing move_to over 14 steps (1.4s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteThe white plush is centered in the left wrist view below the open jaws, beside the safe’s near-left edge. I’ll lower the gripper around its middle before closing.
move_to
left_x0.3600left_y-0.1600left_z0.0230
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6373, 1.3636, 0.7692, -0.1612, -0.4942, -0.4, 0.9992, -0.0212, 0.8005, 0.6128, -0.4332, -0.02, -0.0196, 0.9996] state[eef_state]: left_x=0.3466 left_y=-0.1479 left_z=0.1283 left_yaw=-0.0266 left_pitch=-0.0743 left_roll=0.0332 left_gripper=0.9992 right_x=0.2889 right_y=0.001 right_z=0.1714 right_yaw=-0.0011 right_pitch=-0.0332 right_roll=0.0007 right_gripper=0.9996 state[joint_eff]: [-0.335, -5.7094, 9.2923, 1.7753, -0.4908, -0.0171, -0.0171, -0.0479, -1.7162, 6.8444, 1.9805, -0.0513, -0.0464, -0.0122] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.16,"left_z":0.023},"note":"The white plush is centered in the left wrist view below the open jaws, beside the safe’s near-left edge. I’ll lower the gripper around its middle before closing."})
tool
executing move_to over 7 steps (0.7s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe left fingertips are down around the white plush, with the safe rim close by but outside the jaws. I’ll close the gripper and check whether it holds the plush.
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]: [-0.6456, 1.681, 0.6186, 0.2939, -0.5179, -0.424, 0.9991, -0.0212, 0.8024, 0.6125, -0.4549, -0.0204, -0.0196, 0.9996] state[eef_state]: left_x=0.3595 left_y=-0.1569 left_z=0.0343 left_yaw=-0.0032 left_pitch=-0.0748 left_roll=0.0349 left_gripper=0.9991 right_x=0.2858 right_y=0.0011 right_z=0.1664 right_yaw=-0.0008 right_pitch=-0.0572 right_roll=0.0014 right_gripper=0.9996 state[joint_eff]: [-0.0342, -4.7658, 3.7265, 0.8425, -0.0708, 0.2125, -0.022, -0.212, -1.4017, 7.0769, 1.9121, -0.0317, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left fingertips are down around the white plush, with the safe rim close by but outside the jaws. I’ll close the gripper and check whether it holds the plush."})
tool
executing move_to over 10 steps (1.0s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe gripper closed almost fully, so the reading alone does not confirm a hold; the plush is still visible in the wrist camera. I’ll lift a little and check whether it moves with the jaws.
move_to
left_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6468, 1.7035, 0.609, 0.2993, -0.5182, -0.4282, 0.037, -0.0212, 0.8024, 0.6125, -0.4786, -0.02, -0.0196, 0.9996] state[eef_state]: left_x=0.3559 left_y=-0.1546 left_z=0.024 left_yaw=-0.0004 left_pitch=-0.0958 left_roll=0.0479 left_gripper=0.037 right_x=0.2822 right_y=0.0012 right_z=0.1617 right_yaw=-0.0011 right_pitch=-0.0809 right_roll=0.0016 right_gripper=0.9996 state[joint_eff]: [0.0615, -8.759, 6.065, 1.4237, -0.2125, 0.0269, 0.9841, -0.0752, -1.2376, 6.9538, 1.9072, -0.0171, -0.0464, -0.0122] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.11},"note":"The gripper closed almost fully, so the reading alone does not confirm a hold; the plush is still visible in the wrist camera. I’ll lift a little and check whether it moves with the jaws."})
tool
executing move_to over 6 steps (0.6s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe plush is still visible beyond the fingertips after the lift, so that close was empty. I’ll reopen and move slightly forward and left to center the jaws over it for one more attempt.
move_to
left_gripper1.0000left_x0.3820left_y-0.1400left_z0.0550
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6468, 1.4956, 0.7467, -0.0685, -0.5175, -0.4355, 0.0385, -0.0212, 0.8043, 0.6125, -0.5003, -0.0196, -0.0196, 0.9996] state[eef_state]: left_x=0.3529 left_y=-0.1525 left_z=0.0895 left_yaw=0.0044 left_pitch=-0.1136 left_roll=0.0552 left_gripper=0.0385 right_x=0.279 right_y=0.0012 right_z=0.1571 right_yaw=-0.0014 right_pitch=-0.1045 right_roll=0.0019 right_gripper=0.9996 state[joint_eff]: [-0.1299, -7.5009, 9.265, 1.5604, -0.2808, 0.0708, 1.0281, -0.0615, -1.347, 7.1453, 1.8828, -0.0464, -0.0611, -0.0073] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.382,"left_y":-0.14,"left_z":0.055},"note":"The plush is still visible beyond the fingertips after the lift, so that close was empty. I’ll reopen and move slightly forward and left to center the jaws over it for one more attempt."})
tool
executing move_to over 10 steps (1.0s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe white plush is now close to the fingertips but appears right of the jaw center in the wrist view. I’ll shift the open gripper slightly right and lower it to grasp height.
move_to
left_y-0.1480left_z0.0220
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5552, 1.636, 0.7303, 0.0914, -0.4641, -0.379, 0.9956, -0.0212, 0.8051, 0.6125, -0.5232, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.3769 left_y=-0.1365 left_z=0.054 left_yaw=0.0243 left_pitch=-0.1356 left_roll=0.065 left_gripper=0.9956 right_x=0.2753 right_y=0.0012 right_z=0.1526 right_yaw=-0.0015 right_pitch=-0.1282 right_roll=0.0026 right_gripper=0.9996 state[joint_eff]: [0.4308, -6.3795, 5.2855, 1.7265, -0.0708, 0.188, -0.1538, -0.0615, -1.265, 7.1179, 1.8388, -0.0366, -0.0611, -0.0122] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.148,"left_z":0.022},"note":"The white plush is now close to the fingertips but appears right of the jaw center in the wrist view. I’ll shift the open gripper slightly right and lower it to grasp height."})
tool
executing move_to over 3 steps (0.3s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe plush is beside the jaws at grasp height but still a little right of center. I’ll make a small final sideways correction while closing around it.
move_to
left_y-0.1550left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5827, 1.7344, 0.7177, 0.1734, -0.4709, -0.395, 0.9968, -0.0212, 0.8074, 0.6125, -0.5449, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.3753 left_y=-0.1471 left_z=0.026 left_yaw=0.0132 left_pitch=-0.1562 left_roll=0.0733 left_gripper=0.9968 right_x=0.2718 right_y=0.0014 right_z=0.148 right_yaw=-0.0011 right_pitch=-0.1522 right_roll=0.0034 right_gripper=0.9996 state[joint_eff]: [-0.294, -7.5282, 4.6427, 1.6923, -0.4127, -0.0317, 0.1197, -0.0752, -1.2103, 7.0222, 1.9365, -0.0269, -0.0366, -0.0073] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.155,"left_gripper":0},"note":"The plush is beside the jaws at grasp height but still a little right of center. I’ll make a small final sideways correction while closing around it."})
tool
executing move_to over 10 steps (1.0s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe gripper stopped around a roughly two-centimeter-wide object, unlike the earlier near-empty close. I’ll lift the white plush clear of the table and confirm it travels with the gripper.
move_to
left_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5896, 1.7611, 0.7025, 0.2058, -0.4767, -0.4133, 0.2037, -0.0212, 0.8074, 0.6125, -0.5682, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.3726 left_y=-0.1475 left_z=0.0162 left_yaw=0.0216 left_pitch=-0.1609 left_roll=0.0686 left_gripper=0.2037 right_x=0.2679 right_y=0.0015 right_z=0.1438 right_yaw=-0.001 right_pitch=-0.1754 right_roll=0.0038 right_gripper=0.9996 state[joint_eff]: [-0.0889, -7.7333, 5.2991, 1.6142, -0.3687, 0.0415, 0.8083, -0.0342, -1.1692, 6.8855, 1.7607, -0.0317, -0.0415, -0.0122] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.17},"note":"The gripper stopped around a roughly two-centimeter-wide object, unlike the earlier near-empty close. I’ll lift the white plush clear of the table and confirm it travels with the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe white plush has lifted with the left gripper, and the safe’s red tray is open just to its right. I’ll carry it above the center of the tray before lowering it.
move_to
left_x0.3900left_y-0.2800left_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5896, 1.4971, 1.0412, -0.4282, -0.4755, -0.4248, 0.2069, -0.0212, 0.8082, 0.6125, -0.5987, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.3719 left_y=-0.1472 left_z=0.1458 left_yaw=0.0302 left_pitch=-0.1864 left_roll=0.0777 left_gripper=0.2069 right_x=0.2626 right_y=0.0016 right_z=0.1382 right_yaw=-0.0009 right_pitch=-0.2067 right_roll=0.0045 right_gripper=0.9996 state[joint_eff]: [-0.0479, -8.7043, 9.1145, 1.453, -0.2808, 0.1001, 0.315, -0.0889, -0.9915, 6.8581, 1.8193, -0.0757, -0.0611, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.28,"left_z":0.19},"note":"The white plush has lifted with the left gripper, and the safe’s red tray is open just to its right. I’ll carry it above the center of the tray before lowering it."})
tool
executing move_to over 12 steps (1.2s)
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 held white plush is over the red tray, near its front edge. I’ll move it a little deeper into the safe as I lower it, keeping the gripper above the tray floor.
move_to
left_x0.4050left_y-0.2900left_z0.0650
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8394, 1.8771, 1.6306, -0.7872, -0.5922, -0.6651, 0.2097, -0.0212, 0.8116, 0.6125, -0.6197, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.3851 left_y=-0.2761 left_z=0.1761 left_yaw=0.0164 left_pitch=-0.222 left_roll=0.0779 left_gripper=0.2097 right_x=0.259 right_y=0.0016 right_z=0.1338 right_yaw=-0.0008 right_pitch=-0.2311 right_roll=0.005 right_gripper=0.9996 state[joint_eff]: [-0.5538, -9.7299, 8.8821, 1.0965, -0.5836, 0.1099, 0.2857, -0.1299, -1.4017, 6.8171, 1.6825, -0.0562, -0.0513, -0.0122] 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":0.405,"left_y":-0.29,"left_z":0.065},"note":"The held white plush is over the red tray, near its front edge. I’ll move it a little deeper into the safe as I lower it, keeping the gripper above the tray floor."})
tool
executing move_to over 8 steps (0.8s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe plush is inside the safe’s opening, and the tray floor is directly beneath it. I’ll lower a few more centimeters to set it down gently.
move_to
left_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8307, 2.0293, 1.4315, -0.4664, -0.588, -0.6628, 0.2126, -0.0212, 0.812, 0.6125, -0.6357, -0.0196, -0.0196, 0.9996] state[eef_state]: left_x=0.3976 left_y=-0.2848 left_z=0.0708 left_yaw=0.0268 left_pitch=-0.2448 left_roll=0.1008 left_gripper=0.2126 right_x=0.2561 right_y=0.0016 right_z=0.131 right_yaw=-0.0008 right_pitch=-0.2475 right_roll=0.0048 right_gripper=0.9996 state[joint_eff]: [0.4855, -10.1812, 5.8462, 1.2674, -0.2857, 0.0659, 0.2906, -0.1299, -1.1419, 6.9265, 1.6044, -0.0415, -0.0464, -0.0122] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.035},"note":"The plush is inside the safe’s opening, and the tray floor is directly beneath it. I’ll lower a few more centimeters to set it down gently."})
tool
executing move_to over 3 steps (0.3s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteThe white plush is low within the tray, with no sign that the gripper is pushing hard into the floor. I’ll open the jaws to leave it inside the safe.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8307, 2.0579, 1.3785, -0.3744, -0.5922, -0.6632, 0.2149, -0.0212, 0.8162, 0.6125, -0.6567, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.3984 left_y=-0.2847 left_z=0.0498 left_yaw=0.0277 left_pitch=-0.2353 left_roll=0.0949 left_gripper=0.2149 right_x=0.2522 right_y=0.0017 right_z=0.1266 right_yaw=-0.0009 right_pitch=-0.2727 right_roll=0.0056 right_gripper=0.9996 state[joint_eff]: [-0.0342, -8.5402, 4.9026, 1.1893, -0.2466, -0.0171, 0.2222, -0.0205, -0.9778, 6.7897, 1.7509, -0.0464, -0.0659, -0.0122] camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The white plush is low within the tray, with no sign that the gripper is pushing hard into the floor. I’ll open the jaws to leave it inside the safe."})
tool
executing move_to over 8 steps (0.8s)
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 jaws are open over the white plush, which now sits on the red tray floor. I’ll lift the left arm straight out to clear the safe before reaching for the other objects.
move_to
left_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8307, 2.0647, 1.3655, -0.3515, -0.5911, -0.6678, 0.9953, -0.0212, 0.8165, 0.6125, -0.6762, -0.0196, -0.0196, 0.9996] state[eef_state]: left_x=0.3983 left_y=-0.2849 left_z=0.0447 left_yaw=0.029 left_pitch=-0.2338 left_roll=0.0886 left_gripper=0.9953 right_x=0.2486 right_y=0.0018 right_z=0.1235 right_yaw=-0.0006 right_pitch=-0.2925 right_roll=0.0057 right_gripper=0.9996 state[joint_eff]: [-0.0615, -9.5248, 5.6274, 1.2234, -0.3053, 0.022, -0.1441, -0.0342, -1.1419, 6.8991, 1.5751, -0.0415, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.19},"note":"The jaws are open over the white plush, which now sits on the red tray floor. I’ll lift the left arm straight out to clear the safe before reaching for the other objects."})
tool
executing move_to over 10 steps (1.0s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteThe white plush remains in the safe as the left gripper rises clear. I’ll park that arm on its own side so it does not block the safe or the next grasp.
move_to
left_x0.2900left_y0.0000left_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8307, 1.9877, 1.7489, -0.8455, -0.588, -0.683, 0.9963, -0.0212, 0.8173, 0.6125, -0.6838, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.3991 left_y=-0.2863 left_z=0.162 left_yaw=0.042 left_pitch=-0.2568 left_roll=0.1025 left_gripper=0.9963 right_x=0.2471 right_y=0.0018 right_z=0.1221 right_yaw=-0.0008 right_pitch=-0.3009 right_roll=0.0062 right_gripper=0.9996 state[joint_eff]: [-0.0752, -13.135, 8.9504, 1.2332, -0.3834, 0.1197, 0.0952, -0.1162, -0.8547, 6.8308, 1.4823, -0.0464, -0.0415, -0.0122] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.19},"note":"The white plush remains in the safe as the left gripper rises clear. I’ll park that arm on its own side so it does not block the safe or the next grasp."})
tool
executing move_to over 26 steps (2.6s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteThe white plush is visible inside the safe near its front edge. The brown plush is still on the table in front of it, so I’ll bring the right gripper above the brown plush.
move_to
right_x0.3400right_y0.2500right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1345, 1.0138, 0.9142, -0.7509, -0.2089, -0.112, 0.9965, -0.0212, 0.8219, 0.6125, -0.7021, -0.0193, -0.0193, 0.9996] state[eef_state]: left_x=0.2932 left_y=0.0009 left_z=0.189 left_yaw=0.0933 left_pitch=-0.2561 left_roll=0.0982 left_gripper=0.9965 right_x=0.2436 right_y=0.0018 right_z=0.1183 right_yaw=-0.0009 right_pitch=-0.3238 right_roll=0.0063 right_gripper=0.9996 state[joint_eff]: [0.0889, -3.1932, 6.4342, 1.5116, 0.0317, 0.0952, 0.0073, -0.0615, -1.4974, 6.8991, 1.5263, -0.022, -0.0513, -0.0122] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.25,"right_z":0.15},"note":"The white plush is visible inside the safe near its front edge. The brown plush is still on the table in front of it, so I’ll bring the right gripper above the brown plush."})
tool
executing move_to over 21 steps (2.1s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe brown plush fills the bottom of the right wrist view and is centered under the open jaws, just in front of the safe. I’ll bring the fingertips back toward its middle and lower them to grasp its body.
move_to
right_x0.3000right_y0.2400right_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1322, 1.0153, 0.9096, -0.7647, -0.1989, -0.1131, 0.9965, 0.8055, 1.6882, 1.3331, -0.7612, 0.4286, 0.6529, 0.9996] state[eef_state]: left_x=0.2901 left_y=0.0003 left_z=0.1843 left_yaw=0.0889 left_pitch=-0.277 left_roll=0.0943 left_gripper=0.9965 right_x=0.3294 right_y=0.2421 right_z=0.138 right_yaw=0.0229 right_pitch=-0.3693 right_roll=-0.0298 right_gripper=0.9996 state[joint_eff]: [-0.4581, -2.6325, 7.0359, 1.5409, -0.1734, -0.0513, -0.0122, 0.1573, -7.9385, 8.2667, 1.1453, 0.3297, 0.1197, -0.0122] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.30,"right_y":0.24,"right_z":0.045},"note":"The brown plush fills the bottom of the right wrist view and is centered under the open jaws, just in front of the safe. I’ll bring the fingertips back toward its middle and lower them to grasp its body."})
tool
executing move_to over 7 steps (0.7s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteThe right jaws are straddling the brown plush’s torso at table height, clear of the safe rim. I’ll close around the plush and check the settled jaw opening.
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]: [-0.1322, 1.0153, 0.9096, -0.7673, -0.1986, -0.1131, 0.9965, 0.8639, 1.7092, 1.0019, -0.4885, 0.4335, 0.6949, 0.9996] state[eef_state]: left_x=0.2896 left_y=0.0003 left_z=0.1839 left_yaw=0.0888 left_pitch=-0.2797 left_roll=0.0947 left_gripper=0.9965 right_x=0.2914 right_y=0.2324 right_z=0.0457 right_yaw=0.0288 right_pitch=-0.4198 right_roll=-0.0701 right_gripper=0.9996 state[joint_eff]: [-0.2393, -2.4684, 6.735, 1.409, -0.1392, -0.0415, -0.0073, 0.3487, -6.7897, 6.3248, 1.3407, 0.4127, 0.1587, -0.0073] camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right jaws are straddling the brown plush’s torso at table height, clear of the safe rim. I’ll close around the plush and check the settled jaw opening."})
tool
executing move_to over 10 steps (1.0s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
right_cam
camera right_cam step 175
assistant
agent noteThe right gripper closed completely, so it missed the brown plush; the plush’s body is left of the jaws in the wrist view. I’ll reopen and shift left toward its torso, slightly back from the safe, for one corrected attempt.
move_to
right_gripper1.0000right_x0.2750right_y0.2630right_z0.0520
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7708, -0.1986, -0.1135, 0.9965, 0.8646, 1.7264, 0.9833, -0.4953, 0.4263, 0.6888, 0.0117] state[eef_state]: left_x=0.2889 left_y=0.0004 left_z=0.1832 left_yaw=0.0892 left_pitch=-0.2834 left_roll=0.0953 left_gripper=0.9965 right_x=0.2846 right_y=0.2267 right_z=0.0331 right_yaw=0.0231 right_pitch=-0.4537 right_roll=-0.1037 right_gripper=0.0117 state[joint_eff]: [-0.1709, -2.4547, 6.6803, 1.4481, -0.1392, -0.0708, -0.0073, -0.1983, -9.1829, 7.1316, 0.9548, 0.2857, 0.0562, 1.0525] camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.275,"right_y":0.263,"right_z":0.052},"note":"The right gripper closed completely, so it missed the brown plush; the plush’s body is left of the jaws in the wrist view. I’ll reopen and shift left toward its torso, slightly back from the safe, for one corrected attempt."})
tool
executing move_to over 10 steps (1.0s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteThe brown plush now lies between the open fingertips rather than to one side. I’ll close on its torso again and check whether the jaws stop on fabric.
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]: [-0.1322, 1.0153, 0.9092, -0.7712, -0.1986, -0.1135, 0.9965, 0.9543, 1.7733, 1.1069, -0.6384, 0.4339, 0.7616, 0.9945] state[eef_state]: left_x=0.2889 left_y=0.0004 left_z=0.1831 left_yaw=0.0893 left_pitch=-0.2838 left_roll=0.0954 left_gripper=0.9965 right_x=0.2677 right_y=0.2555 right_z=0.0442 right_yaw=0.0371 right_pitch=-0.4861 right_roll=-0.126 right_gripper=0.9945 state[joint_eff]: [-0.1573, -2.4274, 6.7761, 1.3846, -0.1441, -0.0464, -0.0073, 0.2667, -7.159, 8.4991, 0.8864, 0.4029, 0.1929, -0.1245] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The brown plush now lies between the open fingertips rather than to one side. I’ll close on its torso again and check whether the jaws stop on fabric."})
tool
executing move_to over 10 steps (1.0s)
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 second close was also empty even though the plush was centered, so the fingertips may have passed above its flat torso. I’ll reopen and lower to tabletop level before deciding whether a lower grasp is possible.
move_to
right_gripper1.0000right_z0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7715, -0.1986, -0.1131, 0.9965, 0.9562, 1.7786, 1.1099, -0.6533, 0.4263, 0.7597, 0.0118] state[eef_state]: left_x=0.2888 left_y=0.0004 left_z=0.1831 left_yaw=0.0891 left_pitch=-0.2841 left_roll=0.0957 left_gripper=0.9965 right_x=0.2647 right_y=0.2546 right_z=0.0418 right_yaw=0.0372 right_pitch=-0.5025 right_roll=-0.1374 right_gripper=0.0118 state[joint_eff]: [-0.1573, -2.5094, 6.6393, 1.3846, -0.1001, -0.0366, -0.0122, -0.1846, -8.7316, 5.4769, 0.906, 0.2808, -0.0122, 0.9646] approver: 10 step(s) modified (delta_clamped ×10). 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":1,"right_z":0},"note":"The second close was also empty even though the plush was centered, so the fingertips may have passed above its flat torso. I’ll reopen and lower to tabletop level before deciding whether a lower grasp is possible."})
tool
executing move_to over 10 steps (1.0s)
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 open right jaws now sit low on either side of the brown plush’s furry body. I’ll make a gentle tabletop-level close to see if they can catch the fabric rather than passing over it.
move_to
right_gripper0.0000right_z-0.0100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7715, -0.1986, -0.1131, 0.9965, 0.9554, 1.8351, 1.0382, -0.5053, 0.4297, 0.7605, 0.995] state[eef_state]: left_x=0.2888 left_y=0.0004 left_z=0.1831 left_yaw=0.0891 left_pitch=-0.2841 left_roll=0.0957 left_gripper=0.9965 right_x=0.2674 right_y=0.257 right_z=0.0113 right_yaw=0.0425 right_pitch=-0.4878 right_roll=-0.1214 right_gripper=0.995 state[joint_eff]: [-0.1983, -2.1402, 6.653, 1.3748, -0.1636, -0.0513, -0.0122, -0.1709, -6.4752, 4.3966, 0.735, 0.149, -0.022, -0.2515] approver: 10 step(s) modified (delta_clamped ×10). 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_gripper":0,"right_z":-0.01},"note":"The open right jaws now sit low on either side of the brown plush’s furry body. I’ll make a gentle tabletop-level close to see if they can catch the fabric rather than passing over it."})
tool
executing move_to over 10 steps (1.0s)
step 215
top_cam
camera top_cam step 215
left_cam
camera left_cam step 215
right_cam
camera right_cam step 215
assistant
agent noteThe low close also ended empty; the brown plush’s raised body is forward of the fingertips, while the right wrist has tilted backward. I’ll reopen, straighten the wrist, and approach the raised part from above.
move_to
right_gripper1.0000right_x0.3050right_y0.2600right_z0.0450right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7715, -0.1986, -0.1131, 0.9965, 0.9554, 1.8523, 1.0183, -0.4278, 0.4309, 0.7559, 0.0177] state[eef_state]: left_x=0.2888 left_y=0.0004 left_z=0.1831 left_yaw=0.0891 left_pitch=-0.2841 left_roll=0.0957 left_gripper=0.9965 right_x=0.2723 right_y=0.2636 right_z=0.005 right_yaw=0.061 right_pitch=-0.4621 right_roll=-0.089 right_gripper=0.0177 state[joint_eff]: [-0.1026, -2.4821, 6.653, 1.4188, -0.149, -0.022, -0.0073, -0.0615, -5.8735, 4.1778, 0.8425, 0.1929, 0.0317, 0.779] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.305,"right_y":0.26,"right_z":0.045,"right_pitch":0},"note":"The low close also ended empty; the brown plush’s raised body is forward of the fingertips, while the right wrist has tilted backward. I’ll reopen, straighten the wrist, and approach the raised part from above."})
tool
executing move_to over 16 steps (1.6s)
step 231
top_cam
camera top_cam step 231
left_cam
camera left_cam step 231
right_cam
camera right_cam step 231
assistant
agent noteWith the wrist straighter, the overhead view shows the brown plush’s torso just left and slightly behind the right fingertips. I’ll position the open jaws over that torso, away from the safe’s front rim.
move_to
right_x0.2720right_y0.2900right_z0.0220right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7719, -0.1986, -0.1135, 0.9965, 1.0088, 1.8027, 0.7929, 0.0257, 0.7391, 0.6235, 0.9961] state[eef_state]: left_x=0.2887 left_y=0.0004 left_z=0.183 left_yaw=0.0893 left_pitch=-0.2845 left_roll=0.0955 left_gripper=0.9965 right_x=0.2964 right_y=0.2541 right_z=0.0265 right_yaw=0.0698 right_pitch=-0.0806 right_roll=-0.1283 right_gripper=0.9961 state[joint_eff]: [-0.0752, -2.4821, 6.8444, 1.3846, -0.1636, -0.0611, -0.0073, 0.253, -9.4291, 5.0803, 1.5018, 0.5348, -0.0171, -0.0611] camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.272,"right_y":0.29,"right_z":0.022,"right_pitch":0},"note":"With the wrist straighter, the overhead view shows the brown plush’s torso just left and slightly behind the right fingertips. I’ll position the open jaws over that torso, away from the safe’s front rim."})
tool
executing move_to over 3 steps (0.3s)
step 234
top_cam
camera top_cam step 234
left_cam
camera left_cam step 234
right_cam
camera right_cam step 234
assistant
agent noteThe brown plush’s upright torso is now beside the low right jaws, though still slightly left in the wrist image. I’ll shift the jaws left a little and close near the tabletop to catch it.
move_to
right_y0.3150right_z0.0050right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7719, -0.1986, -0.1131, 0.9965, 1.1305, 1.8786, 0.8375, 0.0357, 0.8284, 0.6949, 0.9973] state[eef_state]: left_x=0.2887 left_y=0.0004 left_z=0.183 left_yaw=0.0891 left_pitch=-0.2845 left_roll=0.0958 left_gripper=0.9965 right_x=0.2752 right_y=0.2872 right_z=0.0226 right_yaw=0.1003 right_pitch=-0.0252 right_roll=-0.1303 right_gripper=0.9973 state[joint_eff]: [-0.0615, -2.4957, 6.8308, 1.453, -0.1294, -0.0415, -0.0122, 0.0479, -7.1453, 5.7504, 0.8718, 0.4762, 0.0366, 0.1099] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.315,"right_z":0.005,"right_gripper":0},"note":"The brown plush’s upright torso is now beside the low right jaws, though still slightly left in the wrist image. I’ll shift the jaws left a little and close near the tabletop to catch it."})
tool
executing move_to over 10 steps (1.0s)
step 244
assistant
agent noteThe brown plush is still on the table after several empty closes, so I’ll switch to the yellow upright object beside the safe and return to the plush afterward if there is time. I’ll raise and open the right gripper as I approach the yellow object.
move_to
right_gripper1.0000right_x0.4050right_y0.1600right_z0.1500right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7719, -0.1986, -0.1131, 0.9965, 1.1374, 1.8908, 0.8516, 0.028, 0.8265, 0.6979, 0.0114] state[eef_state]: left_x=0.2887 left_y=0.0004 left_z=0.183 left_yaw=0.0891 left_pitch=-0.2845 left_roll=0.0958 left_gripper=0.9965 right_x=0.2741 right_y=0.2915 right_z=0.0212 right_yaw=0.1064 right_pitch=-0.0293 right_roll=-0.1318 right_gripper=0.0114 state[joint_eff]: [-0.1026, -2.4274, 6.6667, 1.409, -0.1587, -0.0366, -0.0122, -0.335, -8.4171, 4.9983, 1.199, 0.3785, 0.0122, 1.033] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.405,"right_y":0.16,"right_z":0.15,"right_pitch":0},"note":"The brown plush is still on the table after several empty closes, so I’ll switch to the yellow upright object beside the safe and return to the plush afterward if there is time. I’ll raise and open the right gripper as I approach the yellow object."})
tool
executing move_to over 11 steps (1.1s)
step 255
assistant
agent noteThe yellow object is centered in the right wrist view but still short of the fingertips, beside the safe’s right wall. I’ll advance about two centimeters and lower the jaws around its middle.
move_to
right_x0.4200right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7868, -0.1986, -0.1135, 0.9965, 0.5591, 1.552, 0.8906, -0.0574, 0.4633, 0.1783, 0.9948] state[eef_state]: left_x=0.2859 left_y=0.0008 left_z=0.1807 left_yaw=0.0903 left_pitch=-0.299 left_roll=0.0989 left_gripper=0.9965 right_x=0.3935 right_y=0.1573 right_z=0.1227 right_yaw=0.073 right_pitch=-0.0498 right_roll=-0.1521 right_gripper=0.9948 state[joint_eff]: [-0.1436, -2.2496, 6.6803, 1.5116, -0.1636, -0.0513, -0.0073, -0.3214, -8.8137, 8.9778, 1.7314, 0.2125, 0.1148, 0.1245] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_z":0.025},"note":"The yellow object is centered in the right wrist view but still short of the fingertips, beside the safe’s right wall. I’ll advance about two centimeters and lower the jaws around its middle."})
tool
executing move_to over 7 steps (0.7s)
step 262
assistant
agent noteThe yellow object is still fully visible ahead of the fingertips in the wrist camera, despite being low enough to grasp. I’ll move the right gripper forward a few more centimeters and slightly right to center it between the jaws.
move_to
right_x0.4450right_y0.1450right_z0.0280
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7937, -0.1986, -0.1135, 0.9965, 0.522, 1.8549, 0.7959, 0.2657, 0.4255, 0.1413, 0.9953] state[eef_state]: left_x=0.2847 left_y=0.0009 left_z=0.1797 left_yaw=0.0908 left_pitch=-0.3057 left_roll=0.1005 left_gripper=0.9965 right_x=0.4059 right_y=0.1535 right_z=0.0167 right_yaw=0.0829 right_pitch=-0.1313 right_roll=-0.1911 right_gripper=0.9953 state[joint_eff]: [-0.1299, -2.4821, 6.8171, 1.4481, -0.1294, -0.0611, -0.0122, -0.7726, -8.253, 5.0667, 1.8193, 0.2515, 0.022, 0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.145,"right_z":0.028},"note":"The yellow object is still fully visible ahead of the fingertips in the wrist camera, despite being low enough to grasp. I’ll move the right gripper forward a few more centimeters and slightly right to center it between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 266
assistant
agent noteThe yellow object has moved down toward the jaw tips in the wrist view and is nearly centered, but its base is still slightly ahead of them. I’ll make one small forward adjustment before closing.
move_to
right_x0.4570right_z0.0220
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1314, 1.0195, 0.9092, -0.8066, -0.1986, -0.1135, 0.9965, 0.4519, 1.8957, 0.8963, 0.2031, 0.379, 0.0925, 0.9954] state[eef_state]: left_x=0.2825 left_y=0.0014 left_z=0.1766 left_yaw=0.0928 left_pitch=-0.3224 left_roll=0.1045 left_gripper=0.9965 right_x=0.4328 right_y=0.1414 right_z=0.0213 right_yaw=0.0764 right_pitch=-0.1523 right_roll=-0.1984 right_gripper=0.9954 state[joint_eff]: [-0.1573, -2.7966, 6.653, 1.4676, -0.1294, -0.0464, -0.0073, -0.1846, -7.6786, 7.5556, 1.7949, 0.0855, 0.0269, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.457,"right_z":0.022},"note":"The yellow object has moved down toward the jaw tips in the wrist view and is nearly centered, but its base is still slightly ahead of them. I’ll make one small forward adjustment before closing."})
tool
executing move_to over 2 steps (0.2s)
step 268
assistant
agent noteThe yellow object is now between the jaw columns near their tips, with the safe wall just to its left. I’ll close carefully around its narrower lower half.
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]: [-0.1314, 1.0195, 0.9092, -0.8112, -0.1982, -0.1131, 0.9965, 0.4358, 1.9312, 0.9504, 0.1558, 0.358, 0.0723, 0.9954] state[eef_state]: left_x=0.2816 left_y=0.0015 left_z=0.1759 left_yaw=0.0926 left_pitch=-0.327 left_roll=0.1056 left_gripper=0.9965 right_x=0.4409 right_y=0.141 right_z=0.016 right_yaw=0.0867 right_pitch=-0.1866 right_roll=-0.2092 right_gripper=0.9954 state[joint_eff]: [-0.2256, -2.441, 6.7624, 1.3993, -0.1197, -0.0611, -0.0122, -0.8821, -8.294, 7.747, 1.8339, 0.149, 0.0366, -0.0171] camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow object is now between the jaw columns near their tips, with the safe wall just to its left. I’ll close carefully around its narrower lower half."})
tool
executing move_to over 10 steps (1.0s)
step 278
assistant
agent noteThe gripper closed empty; the yellow object is still just ahead of the fingertip tips in the wrist view. I’ll reopen, lift slightly, and reach farther over its body before trying again.
move_to
right_gripper1.0000right_x0.4720right_z0.0470
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1314, 1.0195, 0.9092, -0.8169, -0.1986, -0.1135, 0.9965, 0.4324, 1.9503, 0.9531, 0.1371, 0.3542, 0.0677, 0.0118] state[eef_state]: left_x=0.2805 left_y=0.0017 left_z=0.1751 left_yaw=0.0935 left_pitch=-0.3325 left_roll=0.107 left_gripper=0.9965 right_x=0.4373 right_y=0.1383 right_z=0.0055 right_yaw=0.0864 right_pitch=-0.2211 right_roll=-0.222 right_gripper=0.0118 state[joint_eff]: [-0.1846, -2.3043, 6.7624, 1.3846, -0.1538, -0.0708, -0.0073, -0.1026, -10.7556, 5.1077, 1.6337, 0.1538, 0.0415, 0.9353] camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.472,"right_z":0.047},"note":"The gripper closed empty; the yellow object is still just ahead of the fingertip tips in the wrist view. I’ll reopen, lift slightly, and reach farther over its body before trying again."})
tool
executing move_to over 10 steps (1.0s)
step 288
assistant
agent noteThe yellow object remains upright just ahead of the open jaws after the higher approach. I’ll lower onto its side and advance to the center of its body, rather than closing at its near edge again.
move_to
right_x0.4850right_z0.0120
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1322, 1.0229, 0.9092, -0.8204, -0.1982, -0.1135, 0.9965, 0.3985, 1.9495, 1.1187, -0.0776, 0.326, 0.0284, 0.9945] state[eef_state]: left_x=0.28 left_y=0.0015 left_z=0.1737 left_yaw=0.093 left_pitch=-0.3392 left_roll=0.1083 left_gripper=0.9965 right_x=0.4566 right_y=0.1347 right_z=0.0297 right_yaw=0.0936 right_pitch=-0.2789 right_roll=-0.2439 right_gripper=0.9945 state[joint_eff]: [-0.0752, -2.6325, 6.694, 1.3455, -0.1734, -0.0513, -0.0122, -0.6085, -10.0581, 8.6906, 1.9023, 0.1441, 0.0659, -0.0659] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.485,"right_z":0.012},"note":"The yellow object remains upright just ahead of the open jaws after the higher approach. I’ll lower onto its side and advance to the center of its body, rather than closing at its near edge again."})
tool
executing move_to over 3 steps (0.3s)
step 291
assistant
agent noteThe yellow object now fills the space between the open jaws at their working depth. I’ll close on its middle and check whether the jaws stop at a meaningful opening.
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]: [-0.1322, 1.0248, 0.9092, -0.8253, -0.1982, -0.1135, 0.9965, 0.3801, 2.035, 1.1893, -0.0769, 0.3122, 0.0105, 0.9953] state[eef_state]: left_x=0.2792 left_y=0.0016 left_z=0.1725 left_yaw=0.0935 left_pitch=-0.3459 left_roll=0.1099 left_gripper=0.9965 right_x=0.4733 right_y=0.1345 right_z=0.0147 right_yaw=0.0956 right_pitch=-0.298 right_roll=-0.2493 right_gripper=0.9953 state[joint_eff]: [-0.2256, -2.1128, 6.612, 1.3944, -0.1538, -0.0611, -0.0122, -0.4991, -8.6085, 6.7761, 1.4969, 0.0659, 0.0611, 0.0708] camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow object now fills the space between the open jaws at their working depth. I’ll close on its middle and check whether the jaws stop at a meaningful opening."})
tool
executing move_to over 10 steps (1.0s)
step 301
assistant
agent noteThe jaws stopped about six centimeters apart around the yellow object, consistent with a grasp. I’ll lift it above the safe rim and check that it rises with the gripper.
move_to
right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1322, 1.0256, 0.9092, -0.828, -0.1982, -0.1135, 0.9965, 0.3725, 2.0556, 1.206, -0.0696, 0.3046, -0.0002, 0.5988] state[eef_state]: left_x=0.2787 left_y=0.0017 left_z=0.1719 left_yaw=0.0938 left_pitch=-0.3493 left_roll=0.1107 left_gripper=0.9965 right_x=0.4787 right_y=0.134 right_z=0.0116 right_yaw=0.1006 right_pitch=-0.2978 right_roll=-0.2494 right_gripper=0.5988 state[joint_eff]: [-0.1709, -2.5915, 6.8171, 1.3358, -0.1685, -0.0659, -0.0122, -0.4855, -9.6479, 6.7487, 1.5507, 0.1245, -0.0073, 0.8913] camera 'top_cam' (step 301): [image omitted: streamed camera frame] camera 'left_cam' (step 301): [image omitted: streamed camera frame] camera 'right_cam' (step 301): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.18},"note":"The jaws stopped about six centimeters apart around the yellow object, consistent with a grasp. I’ll lift it above the safe rim and check that it rises with the gripper."})
tool
executing move_to over 11 steps (1.1s)
step 312
assistant
agent noteThe yellow object has stayed with the right gripper through the lift. I’ll carry it over the open red tray, to the right of the white plush already inside.
move_to
right_x0.4050right_y0.3400right_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1314, 1.0283, 0.9092, -0.836, -0.1982, -0.1131, 0.9965, 0.3733, 1.9072, 1.6016, -0.6716, 0.2977, -0.0048, 0.6009] state[eef_state]: left_x=0.2773 left_y=0.0021 left_z=0.1701 left_yaw=0.0952 left_pitch=-0.3597 left_roll=0.1135 left_gripper=0.9965 right_x=0.4762 right_y=0.1347 right_z=0.1468 right_yaw=0.1046 right_pitch=-0.3558 right_roll=-0.263 right_gripper=0.6009 state[joint_eff]: [-0.0889, -2.5368, 6.5709, 1.3846, -0.149, -0.0464, -0.0122, -0.3624, -13.2034, 8.8, 1.5507, 0.1832, -0.0171, 0.4176] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 312): [image omitted: streamed camera frame] camera 'left_cam' (step 312): [image omitted: streamed camera frame] camera 'right_cam' (step 312): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.34,"right_z":0.19},"note":"The yellow object has stayed with the right gripper through the lift. I’ll carry it over the open red tray, to the right of the white plush already inside."})
tool
executing move_to over 18 steps (1.8s)
step 330
assistant
agent noteThe yellow object is above the red tray, and the white plush occupies its left-front side. I’ll move the yellow object toward the tray’s right side while lowering it, keeping clear of the white plush.
move_to
right_x0.4200right_y0.3150right_z0.0850
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1314, 1.0283, 0.9092, -0.8471, -0.1982, -0.1131, 0.9965, 0.8555, 2.2898, 2.3779, -1.2499, 0.5064, 0.4194, 0.5996] state[eef_state]: left_x=0.2751 left_y=0.0023 left_z=0.1686 left_yaw=0.0962 left_pitch=-0.3705 left_roll=0.1162 left_gripper=0.9965 right_x=0.4043 right_y=0.3401 right_z=0.1861 right_yaw=0.1454 right_pitch=-0.3728 right_roll=-0.2634 right_gripper=0.5996 state[joint_eff]: [-0.0752, -2.5231, 6.8718, 1.3651, -0.1099, -0.0171, -0.0122, 0.1983, -11.7538, 7.8701, 0.8132, 0.5006, 0.1441, 0.442] camera 'top_cam' (step 330): [image omitted: streamed camera frame] camera 'left_cam' (step 330): [image omitted: streamed camera frame] camera 'right_cam' (step 330): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.315,"right_z":0.085},"note":"The yellow object is above the red tray, and the white plush occupies its left-front side. I’ll move the yellow object toward the tray’s right side while lowering it, keeping clear of the white plush."})
tool
executing move_to over 7 steps (0.7s)
step 337
assistant
agent noteThe yellow object is inside the tray opening, alongside the white plush. I’ll lower a little more so it rests on the tray before opening the gripper.
move_to
right_z0.0500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1314, 1.0286, 0.9092, -0.8539, -0.1986, -0.1135, 0.9965, 0.7967, 2.2158, 1.8225, -0.8371, 0.4831, 0.3645, 0.6011] state[eef_state]: left_x=0.2737 left_y=0.0026 left_z=0.1676 left_yaw=0.0974 left_pitch=-0.3775 left_roll=0.118 left_gripper=0.9965 right_x=0.4081 right_y=0.3052 right_z=0.0711 right_yaw=0.1151 right_pitch=-0.448 right_roll=-0.3263 right_gripper=0.6011 state[joint_eff]: [-0.1026, -2.5231, 6.612, 1.3455, -0.1636, -0.0708, -0.0122, -0.6222, -14.3932, 6.147, 1.1258, 0.1441, -0.1148, 0.3492] 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
move_to({"targets":{"right_z":0.05},"note":"The yellow object is inside the tray opening, alongside the white plush. I’ll lower a little more so it rests on the tray before opening the gripper."})
tool
executing move_to over 2 steps (0.2s)
step 339
assistant
agent noteThe downward motion has stopped short and wrist load has risen, indicating the yellow object is supported in the tray. I’ll release it beside the white plush.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1314, 1.0283, 0.9092, -0.8555, -0.1982, -0.1131, 0.9965, 0.7971, 2.2139, 1.7889, -0.7628, 0.485, 0.3481, 0.6003] state[eef_state]: left_x=0.2734 left_y=0.0026 left_z=0.1674 left_yaw=0.0969 left_pitch=-0.3787 left_roll=0.1182 left_gripper=0.9965 right_x=0.4133 right_y=0.3103 right_z=0.0671 right_yaw=0.136 right_pitch=-0.4162 right_roll=-0.3083 right_gripper=0.6003 state[joint_eff]: [-0.0752, -2.4684, 6.5709, 1.2723, -0.1392, 0.0024, -0.0122, -0.1573, -10.988, 5.1077, 0.7692, 0.149, 0.1538, 0.6276] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 339): [image omitted: streamed camera frame] camera 'left_cam' (step 339): [image omitted: streamed camera frame] camera 'right_cam' (step 339): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The downward motion has stopped short and wrist load has risen, indicating the yellow object is supported in the tray. I’ll release it beside the white plush."})
tool
executing move_to over 4 steps (0.4s)
step 343
assistant
agent noteThe yellow object and white plush are visible inside the safe after release. I’ll withdraw the right arm so I can confirm their placement and reassess the brown plush, which is still outside.
move_to
right_z0.1900right_x0.3000right_y0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1314, 1.0286, 0.9092, -0.865, -0.1982, -0.1135, 0.9965, 0.7971, 2.2143, 1.7798, -0.7673, 0.4797, 0.3428, 0.9945] state[eef_state]: left_x=0.2715 left_y=0.0028 left_z=0.166 left_yaw=0.0981 left_pitch=-0.3883 left_roll=0.1204 left_gripper=0.9965 right_x=0.4105 right_y=0.3086 right_z=0.0631 right_yaw=0.1389 right_pitch=-0.4313 right_roll=-0.3166 right_gripper=0.9945 state[joint_eff]: [-0.0479, -2.2769, 6.7624, 1.3358, -0.1636, -0.0513, -0.0073, -0.3624, -12.5744, 6.9675, 1.0183, 0.2613, 0.0073, -0.0757] camera 'top_cam' (step 343): [image omitted: streamed camera frame] camera 'left_cam' (step 343): [image omitted: streamed camera frame] camera 'right_cam' (step 343): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.19,"right_x":0.3,"right_y":0},"note":"The yellow object and white plush are visible inside the safe after release. I’ll withdraw the right arm so I can confirm their placement and reassess the brown plush, which is still outside."})
tool
executing move_to over 26 steps (2.6s)
step 369
assistant
agent noteI placed the white plush and yellow object inside the safe, but the brown plush remains outside. Repeated right-gripper attempts closed empty, so I cannot truthfully report that all objects are inside or close the safe as requested.
give_up
hindsightThe safe tray is reachable near left (x=0.40, y=-0.29) or right (x=0.41, y=0.31); the white plush released at left z≈0.045 and the yellow object contacted the tray at right z≈0.067. The brown plush lies around image (125,180), is broad and low, and repeated right-arm closes at x≈0.27–0.30, y≈0.23–0.29, z≈0.00–0.04 were empty; try gripping its raised ear or torso from another angle rather than repeating low closes. Uncommanded wrist pitch drifts considerably, so explicitly reset it before precision grasps.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1314, 1.0321, 0.9092, -0.8761, -0.1986, -0.1131, 0.9966, 0.0814, 1.1831, 1.0725, -0.9058, 0.1619, -0.2871, 0.9953] state[eef_state]: left_x=0.2695 left_y=0.0032 left_z=0.1637 left_yaw=0.0996 left_pitch=-0.4024 left_roll=0.1246 left_gripper=0.9966 right_x=0.3 right_y=-0.0005 right_z=0.1813 right_yaw=0.0965 right_pitch=-0.4533 right_roll=-0.316 right_gripper=0.9953 state[joint_eff]: [-0.0889, -2.6051, 6.612, 1.3358, -0.149, -0.0269, -0.0073, -0.0479, -4.4103, 7.4872, 1.4921, 0.0073, -0.0659, 0.0708] camera 'top_cam' (step 369): [image omitted: streamed camera frame] camera 'left_cam' (step 369): [image omitted: streamed camera frame] camera 'right_cam' (step 369): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I placed the white plush and yellow object inside the safe, but the brown plush remains outside. Repeated right-gripper attempts closed empty, so I cannot truthfully report that all objects are inside or close the safe as requested.","hindsight":"The safe tray is reachable near left (x=0.40, y=-0.29) or right (x=0.41, y=0.31); the white plush released at left z≈0.045 and the yellow object contacted the tray at right z≈0.067. The brown plush lies around image (125,180), is broad and low, and repeated right-arm closes at x≈0.27–0.30, y≈0.23–0.29, z≈0.00–0.04 were empty; try gripping its raised ear or torso from another angle rather than repeating low closes. Uncommanded wrist pitch drifts considerably, so explicitly reset it before precision grasps."})
tool
give_up: I placed the white plush and yellow object inside the safe, but the brown plush remains outside. Repeated right-gripper attempts closed empty, so I cannot truthfully report that all objects are inside or close the safe as requested.
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 · 6.542 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Place all the objects into the safe, then close the safe.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6044, -0.387, -0.0193, -0.0338, 0.9993, -0.02, 0.7944, 0.6086, -0.4023, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1791 left_yaw=-0.0002 left_pitch=-0.0008 left_roll=0.0003 left_gripper=0.9993 right_x=0.2924 right_y=0.0013 right_z=0.1774 right_yaw=-0.0002 right_pitch=-0.0004 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -1.3607, 10.1538, 1.9414, -0.0952, 0.1783, -0.0904, -0.4034, -1.4564, 9.6068, 2.1074, -0.0659, 0.0464, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2c0b16bcc369f48602059838aa9da5567bee1fe2393bcbd3b0ec5061f99283b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efb2ef5fce49eeece3fe82ee2567d699cfba5b4784bf0c47f745715168bce70b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a894da2ab77661aeeab3a80c17794466c729b39318d18fd476ba4dc9315c3f98",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /responses · status 200 · 3.215 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtBuHx2wjQdYVIYeyj-R-g2SQ7XwRmOWLs1A9csGtJqAaTgUHdjTIs__jThqVNioZsF5qSe4XkCtP62T87w0UdR4jfHuA6gnS-IugAsug9k5eYr8X_nZdcMUQ6NobWULTb4PsuXGQlCxuTJZ4g7tcumxVIgGAfdjpxzTBTQfIvMDo973EkJP5HdqXdldcT_Lxn-YjGSltcAW2JzOVcUmOqew2cAXi14YUvd7tYBsircVFinklzRfQEmrSmSysLK3FclX-AQxur8S6Lf1YekWnNTbvI0MSDbQi54hMr5v9TR_PWztYZeWccb-5OVmQI6REBekKAh0sCG4GiV_GZPjBPfIfKuZ7DO9L17JKwTwOqyGsK1hVK3Jz3PeoFFghFAGxIHaDBa0uqsN1Lem35_Z9PpYk-rt7wqpovNrwF3zo3lC0ulKE9vy69Bc7LneDdVNF0jLZRey-FsYvOdL7etWB7BWNyHp2sUksm2gXGXmnWTxTCuVhu2evWTF7YMMvKapMXzSVIJkJ5PuQS8bez65-lR0EbctNhd64hUdNzdNBFr5gauWEVPXfvI7GulOpLVbAAYuP788AyZetZ1dxXUrty2HPCATRno73q_v5_P5jK92WpQGpaq_3shz_tviob2j1Yx6P71nXXvfUCzgqktk0TVKIvdswWqjXEYRVsk0t3ONgI4T0GdtdUq0-zej6eppcSv3sBb6NtXszNjYJhlxl0_8M9gPXRfAwL76Vn4WOqX3EB2nqBLx7E7SFlVxlNCMJmKw98NX9wcrP9HqAjQj1gJkrNnVCjBElWAOtuxARJTu_80QFMNnapmwM8EXwTKQlwg5KJGojAYKDnwxFqGZsIQVauffeRVoCDQoVWIxlS0XBDw3un_1CWKVcJn9-2lnnk6C9d0iN84mp55eaJgWGMT_wgVrekms4zkOQiXV6_vVo6iSOBpBoCjm2ym0et91eF7ESaHzyiH4rBLwnaxn_Pob2UDciPsYORmkBHv3PSixz6ToWHFKtdX3MqSQyIjwk6r5qOc1KP-mwKmS2713c0C_Nir6IP17boT1Pk4Ao52UjjTA4c9NW7HisOGk3cLl0s6At67SkGXQ5PKUWdhb4E46YnTFGK4-8L9ACzeTZ68pm2yfkn3A1SfaIKwbShpSlBvW3ceZi0MeMGk00EQ4kwRUf9WLIegdrH9DEoU2w_mQcZ5w3MaRsa4gCt1D5oHRpIw8ByCxTKedm3uwVuDKZfcjGWHHsu84g54RJjUeyOxK3sQzD0CDb_jPBygKZ8sDopIlVuI9w4RFFKnyWfKBuOePNJ14ZJSsF-u8kveZzhCpepbZC_-y3Kuw15qSqigQ5kCodyhGN-_l2CEyuG7l2KvqV1rK_ZGdaxnu-QfTPqvH3aJ39GJJ_5_wqi1JmqfGvDTHi9rTcJTJeNFcU-x-w2WlOGNRtnlw9lsZeuXnG3WHBlWpCb9ewrQt91wmJv0b-27_1NnhDAi4GUPGHrw2MysM4PVeYZJnjrLJNdPwmPFU3yDqYEfhJPFD8AxvFJYZCUkv93Af9vfvFKL9aXF6SWCdjW4wKATvzs6nnguJIu786yQ9A4Ryripni7rv9_mkV828qRIx62mg9o2oB-q5KeMVbacgXcVqD5BUbYI-4UAXxsjxDlLrXKIreoLen84__MUs009VTNEIo9L6gVECcOMTa9l2a3v2qBlTwVWqs4qSvhiuEt8Y3bTpI2pMf39GqibvpBp1f3KrphTCPHRTKrkidr-Po3Qe5OPMjHZxih_6bKfY4ngTYq_c04q98i-p9u7vb0Jt3pOdAhXiw0r7OkEWDvGz-ApuSbgcZX_YD0awD6-9q47HTptgeHHPak6zPplR9ZGl6C6jgiCVdlnMdC9VI3gsD5T3U_5LKPtH2syUnGHXb4n0lyhx8EudZvSxLTUAqWSfNgLNQNvaB43kGNI2sO-8lYkPt_6DuU5iJNFG_oIKWO75-ZSeXULd8xU8qrKFbmql-oDZaYZDoe65JD8dcvAQSZS3pzG23S2Gebxz2oLeyukXKH7nT-ozUHOIgRUXRNJgLpNinqWueXTvPXrj823eTANqzx_W2fFP_Lvj-4TYd8Gw1AFMGA2W9Kx1_XCNWyT81NuH8jA2F8YaLNwwnVLZDtQSfVAxKNo__6ABa8ttfAAo62jaK7rbBlyIIJO9949-Mw4bKcIHthKiwm0vLQ6gydgTn4TRDUB-Fwm2y75tKYQCqpWRTaleIl9ADm6p4GmhDv6uLktNmvm_Nukhfr3yYa-IGQK_kGZ4jGKeCJcrMpdTwKjpG-U3ertW-rRz2f9OEtsx6zNDVM8rqzjmvI_VGYtZOnkcZtPru7MqjB6BKEhGx-wrHk6e_TTWOaN_sIF24Yy7FN9CvSfMnNnLyFJOeA6ucT8HzMJUe0_cWZ96ZgrHB6g8ZfbaTjfCxNG0nHFysdif-i4_QMqnF4rp146KER7Bh39TrG8jQPXcuHCFmYXYSifmUq8Kxua7Ryt3iVHK0E5TMNV2vfnNPXJaJ1RQY21RxiNhojGYgQKRr5XJgcoE1Hg7c1Rq2kH_iR5jxM8mkOwZDlKNP8WLEVgN2f7fQKXdTntUY8ifigVBk3NyhIIXQ9v0iGpMRMhnGE6SoqUUsaK_c-VQ0_6sY5qvy8D45EQdfz5Rb418IL_nqo3PYWWU5k-glWLPef-jPsoNK46QLYiLGyZuarjgWnwE5aGsZOkCA7zfWXkW5kGPcU_aBNUfHmQ-dCbFiZAMkYPhY-oF2XfHcSwkI-VL2k9KngDRVXxvOwpTnXgVs-d2msjfPFX_-FekSDja38Myp_H9vCEleWJYIUfo0NYSByImCA4ls3xhapYizTPHWbInz5aNCdxGjnGFG_vZ_B7GZnh8ncHzcXQ46Z0jzNMwigjBX1t1U85eHxAXNAy32sEetLD042970ugHhijZP1N2hvG2qhGzsMZDQGmviz837DzaLVEvw1knFhYOU1514k19hhessE3ASgbkmwsobe91mPta1mC5xLzevjgqB8JNUZXCxwORLMqOzQ5-GrdMBJNukg1wStGWjz2_hpBHpdt-9zusW",
  "id": "rs_08cdd43b96952e25016ab41b82a83487d09934a5cc60afd7c3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.155,\"left_z\":0.15},\"note\":\"The safe is open near the back center, with a white plush just left of it, a brown plush in front, and a yellow object to the right. I’ll approach the white plush from above with the left gripper.\"}",
  "call_id": "call_16xbou3PEx6FGJSlH1iSePIU",
  "id": "fc_08cdd43b96952e25016ab41b86b18487d0a343b25f71355555",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_16xbou3PEx6FGJSlH1iSePIU",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6373, 1.3636, 0.7692, -0.1612, -0.4942, -0.4, 0.9992, -0.0212, 0.8005, 0.6128, -0.4332, -0.02, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3466 left_y=-0.1479 left_z=0.1283 left_yaw=-0.0266 left_pitch=-0.0743 left_roll=0.0332 left_gripper=0.9992 right_x=0.2889 right_y=0.001 right_z=0.1714 right_yaw=-0.0011 right_pitch=-0.0332 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -5.7094, 9.2923, 1.7753, -0.4908, -0.0171, -0.0171, -0.0479, -1.7162, 6.8444, 1.9805, -0.0513, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dd3d3de24640478842314e21056393b92087277c431ec6c68ff0a8619d20bf3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7fc177f8dd78299e7ae1d3148c93c9733d0377ee82397b35e28dd4dec21e326",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35ead6e6764a043b8ed4f95ca30f84734b247dfd774070af201060d09db8efec",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 2.122 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6044, -0.387, -0.0193, -0.0338, 0.9993, -0.02, 0.7944, 0.6086, -0.4023, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1791 left_yaw=-0.0002 left_pitch=-0.0008 left_roll=0.0003 left_gripper=0.9993 right_x=0.2924 right_y=0.0013 right_z=0.1774 right_yaw=-0.0002 right_pitch=-0.0004 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -1.3607, 10.1538, 1.9414, -0.0952, 0.1783, -0.0904, -0.4034, -1.4564, 9.6068, 2.1074, -0.0659, 0.0464, -0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6373, 1.3636, 0.7692, -0.1612, -0.4942, -0.4, 0.9992, -0.0212, 0.8005, 0.6128, -0.4332, -0.02, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3466 left_y=-0.1479 left_z=0.1283 left_yaw=-0.0266 left_pitch=-0.0743 left_roll=0.0332 left_gripper=0.9992 right_x=0.2889 right_y=0.001 right_z=0.1714 right_yaw=-0.0011 right_pitch=-0.0332 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -5.7094, 9.2923, 1.7753, -0.4908, -0.0171, -0.0171, -0.0479, -1.7162, 6.8444, 1.9805, -0.0513, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dd3d3de24640478842314e21056393b92087277c431ec6c68ff0a8619d20bf3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7fc177f8dd78299e7ae1d3148c93c9733d0377ee82397b35e28dd4dec21e326",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35ead6e6764a043b8ed4f95ca30f84734b247dfd774070af201060d09db8efec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBuLZNnI_-Ss12ybc4zTQGXh6WawdbCO8lSiFhiXLlhhnYodt9PJhjsIbhmMZeO93BkmvJFfsy8jU0oow3XTHwCt8FcneTjpgmgQiEXUQaeEKlHpgPxlvL2XtUgcADXB7O05R694TxMCMx_LipTEzJGi9LoHi1312iAkt8WAj9CoKRH53vfKnmuPDkjohMmDa2q1LZrHMaMMEK6Afuj6zm_YCRvLYYeijiUPo_O7TsdcG0Y-tJxUaqAjgVg7hGvP8oCaGIhVMy7R8b4hYUIzoeuwMgCY01Ugq4qPN9Xcs80kx95wrNEuNeHCtW5RoVcqXK2zaAmXi3wfOO4dfi9ooQH61Ta8-g5CpmhuFtkniimWSlazHnUhhQg_fD0RgPFxu_2NGNlUYiGnZFjZYxHe3iqbuu-6OCM8hdmpkV5SsI4XBbpU8H0iLeIBbpMFB7qGJb_Qw6gBpn9tFxVcUhwUNZdX4UZvDLbaQpPavnIQX648InBphnVuS3MQkJt82viB5q5UoQaRxxxACRUyhHsscjLg9iXX46i96yj4GckdKzuNIkKyDrZqOm2WbJLkEQyDNsfYM2rE32srnUxeiagCpEeJuREiD_z09nxXoAV1335GyWykiadqExWKOzqHQZqpUmqmN68SHME24rL0UuASMQzDyIWQbL1OHyk3cR41xlczrf7Io4reiGegAhbOa62g7rfMHGT20izf7ZoCC9YN_MZqRJnJ-pVYLuj-PIOoqQfY0ytnW8ib_6rd62zkeStN5wkX0qZUPRxUxdihA7yqVS5PJRFahPaheYqzy-3DnYfW8kBB6QPCmTHN_XdXcQFGVpNxiMb4ljE8IixGbBT61RxhuuWcSE1Z3SI16L_b3sUH6nxCwO1H0ImEv_ShGMhhSKZ_eK_wMOxszxAGoyga5rEiUVfuq7WBH-I5TNKtLfzJD77Y65SaYZz5pm3pxKtIUe6o4Yp3-fOrpfgTrY0hdS1RemkS_iovZ_RH-2WGiV-IJTC7meJmYGwFHAYTvOYtonrwfGoSxWZBkOWczb9h8vdjU0ZpdrsyMa6LTm6VtPY_EJgf2esmwCj3Vk8dd8NpvmNc7PzkCWK-q4QqmL20zvTkorZDDjXnnkk8px_d0ZXzUagjcz_fFTWcT6xGvZt21G09G8StuwWUyDCfE3kC13OF1Ef9sNmeeA5WgOD8C9NRALx31tggpeBOH_AlEOs3b3K-WsMU4k2jH_E7RXx2tOAktfhLFxPegO1MJ3MMrOI91pLu2u2etFomtWwelHDAu7e8B4uoiI1-v5RA7ZQ2QB40wUsYS_8KRgz-K90e_iXeUzF7kFl76HAV88VIMeJuWaswsugB63v7An_AwvYTajtH8W7tmlis02dbT_oAdaNan3rGUSB-PqlxGrO7GBZT5MjHb_mDErE7T4-1CsPSxBV8FZVNAttDDth9QSwlD0VrDrHrxIK0SXwj5mZHi4ymNsCN_LM1_XdggFM4IeDIsUoQrrIVhDFLXfT7dJt0g6Z4-ljBUOuaiFiG04q_iLon41DVJKGzGrGLX3yVN8tV7A6TPGJOHX_VfAWcKdV0G2DW0W7AbPw5B6RogwfZONz3aOpr1cDrRZ__PkCcXLqtYnhg90Oi_8nD0PAwAPZRX0-cvsLd97NNwiRHHgiPBBMQhzyTX2iTwnlO9riR-0mSZnLQNa5FANFp3Khk-62V3UW10gEDEOc_Ys_iGSFS8ZBXbwavAwDJ934c5m8dNvMDAN_iZ4UOmQZHF8LH9irZOn9Im1bwl48hwworoc4_hw4XdvkL3365K6zkb30tnYEbf0il9Pk7wXh6Zn_bKUfHQyVsK1jbaZy2Fot-eEaySXwG0EdxkIBcQEpIdtOzG4fkF6hB9yC6ORITfInX0tvnyKQVI4rdabG4TK-HTQr5Ay3wQaIfEkEk-pmrTlM-V-Wyry80OJ_MenAARKP92s0nRV7sP1M=",
  "id": "rs_08cdd43b96952e25016ab41b89bb7087d08abced56bfe70b4e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.16,\"left_z\":0.023},\"note\":\"The white plush is centered in the left wrist view below the open jaws, beside the safe’s near-left edge. I’ll lower the gripper around its middle before closing.\"}",
  "call_id": "call_VhZPqTU6vrzi8cPU8yCa7hwz",
  "id": "fc_08cdd43b96952e25016ab41b8b553887d09e5a5d975be4b6e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VhZPqTU6vrzi8cPU8yCa7hwz",
  "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]: [-0.6456, 1.681, 0.6186, 0.2939, -0.5179, -0.424, 0.9991, -0.0212, 0.8024, 0.6125, -0.4549, -0.0204, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3595 left_y=-0.1569 left_z=0.0343 left_yaw=-0.0032 left_pitch=-0.0748 left_roll=0.0349 left_gripper=0.9991 right_x=0.2858 right_y=0.0011 right_z=0.1664 right_yaw=-0.0008 right_pitch=-0.0572 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -4.7658, 3.7265, 0.8425, -0.0708, 0.2125, -0.022, -0.212, -1.4017, 7.0769, 1.9121, -0.0317, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dc4ebda3ca0b3d74300b0694f853253fa5932d6e754825aa231e8fd02f7f21f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a09b572c04f4adf5b66be6fff9ce278b0a975b0cd04288329d996510d9480cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c5268f8668a7b7d3279bd9d707ef5a9556efcaeb1bbe25dd4122a964af6f966",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 2.52 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6373, 1.3636, 0.7692, -0.1612, -0.4942, -0.4, 0.9992, -0.0212, 0.8005, 0.6128, -0.4332, -0.02, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3466 left_y=-0.1479 left_z=0.1283 left_yaw=-0.0266 left_pitch=-0.0743 left_roll=0.0332 left_gripper=0.9992 right_x=0.2889 right_y=0.001 right_z=0.1714 right_yaw=-0.0011 right_pitch=-0.0332 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -5.7094, 9.2923, 1.7753, -0.4908, -0.0171, -0.0171, -0.0479, -1.7162, 6.8444, 1.9805, -0.0513, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6456, 1.681, 0.6186, 0.2939, -0.5179, -0.424, 0.9991, -0.0212, 0.8024, 0.6125, -0.4549, -0.0204, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3595 left_y=-0.1569 left_z=0.0343 left_yaw=-0.0032 left_pitch=-0.0748 left_roll=0.0349 left_gripper=0.9991 right_x=0.2858 right_y=0.0011 right_z=0.1664 right_yaw=-0.0008 right_pitch=-0.0572 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -4.7658, 3.7265, 0.8425, -0.0708, 0.2125, -0.022, -0.212, -1.4017, 7.0769, 1.9121, -0.0317, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dc4ebda3ca0b3d74300b0694f853253fa5932d6e754825aa231e8fd02f7f21f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a09b572c04f4adf5b66be6fff9ce278b0a975b0cd04288329d996510d9480cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c5268f8668a7b7d3279bd9d707ef5a9556efcaeb1bbe25dd4122a964af6f966",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBuOJjkH6R_27wpOyKziGupkjUxi26QGCJGeJ7ZQXF04LtOnJHsKXgpolHEJGvVbiK_UV5gliCug2wEO-AymgjOnswrPZF1UVENFZQ9B-cplBGngxSkyXmQqhoRfRL9HwNFXQmTv8YXPh-h5vfBOyMxdNe8viWUey5iUwCN_fY1-QcraiWxEKdwkNEusbTWa9nfTBEg0LNG9R9cTEdKDyjlg2yPXU2rJgazBr914kXeKNq0qAOAPQqmXkJ-w8Uu00gx8PIlnQtm2GOYbNDiSoobWl9-Z8lgocOeGLLZTOoeO-nZdI6O6DSfxnNDKg_yZYDlfEcUP6d02iiglbEXXkXIhV8cEh3h1xjnbW17MmwTO1TLp-erZmLaJ91xV6LghbJOFDyCHDsHl5tLLOLQ6mvb5lEZ4Qp6NgPGLifo_GmD1O3E50jnzpHZAGjUCPSotmQLH7W6WjQyockZ8uq63uEmh2mM9_q9dr3TDL79KZu2asF4aCzXLl4GRBCjb5WpyNZ7lCnU5H1HW2SmZmHhBy_poR0C31-iSfEEQqhvBVE9hmgxmd-DCNOKc4c5Sb8zLVBt8KSpBDTC5aQeM_IQD1PFcTGvXPkrs-Li8unS_O_n3BvF4JEFQ6Lpu1Ydfn3dUkj0BIVHnIUDFfDWnLrf4dU5RUBIvFPz47miLYZuWZe2s03B8hF5XzoaUOTVMiVKSug-Y1uia_Vb09wki73g5J7MFh-QTjMc3ARSXUDcG9MWq4heoTSgy0cXQ7LIB9a4j2VFn1C3hwQFSrC41kfxgLVNYuNBMvOOkg3PjVD9XRihCJEuINb4R93hMPZMfu_6SwPjO4zVbCsnsyV2VyZJ-miuTxMHs-dJVG4c0TQJjtToE19D-tNaW2r-ShnNw1HtbM6zUXYPuY7SbUSh6C0Kwl69H7_onD5iZdjNN0RjBQQzHaIti5GtG-_zVwdSCHa8aqMS3CN0PzQWXZ_QzaNeGM0Pj2tnSzlVWtYTXCUJWPBK8elFqR33EbU7LiR891ikXBvC-hfDQ0BPzZyU-howxdKYsmsglZM1P6yprIeD5pR6G_gbHx_UmPez1IbmbPsm7GB-MhjC389ul6B3EYWh_Ls4UrDkDRkFNoc_XQp33IYTSZwxTJC-QzKViS5u9vMniwckAqufJ3UJr_F7fg_9wT2FS74xLdg2f6007OGhMPFe1HCPMgmCw5iX_bWh9GOf8nFqpzKizYFpAHe3Iem1o-pweVNmv_mihq2_gDT-OlVfHhr7mvJaWd4lBTBwtairX9cUKpGY92ER8uPDUdHEbX8ZUReP5UOdTTEaQDdB5KhBDEE_VP7prmulmTKOSPYD0XrcpYiZXcmA84RDlgvn932uUiniFIM7VVJMIFdBN9w4cxs9sdZ7HbS7rmUISc_p-UwwSP8sETlbXRBMoyhOo1tsKzg_A-JnTeTp_LHrf0NunEV9rJ8kUBovjWyfoNTDqfsyn99qczRIxeyJEjMFAyhF83A==",
  "id": "rs_08cdd43b96952e25016ab41b8da04887d0b04e4a16db01adcd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left fingertips are down around the white plush, with the safe rim close by but outside the jaws. I’ll close the gripper and check whether it holds the plush.\"}",
  "call_id": "call_p1CttQVmdwa0IxW3Jn9pCwVT",
  "id": "fc_08cdd43b96952e25016ab41b8e259087d0af0846a5cf77370f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_p1CttQVmdwa0IxW3Jn9pCwVT",
  "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]: [-0.6468, 1.7035, 0.609, 0.2993, -0.5182, -0.4282, 0.037, -0.0212, 0.8024, 0.6125, -0.4786, -0.02, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3559 left_y=-0.1546 left_z=0.024 left_yaw=-0.0004 left_pitch=-0.0958 left_roll=0.0479 left_gripper=0.037 right_x=0.2822 right_y=0.0012 right_z=0.1617 right_yaw=-0.0011 right_pitch=-0.0809 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -8.759, 6.065, 1.4237, -0.2125, 0.0269, 0.9841, -0.0752, -1.2376, 6.9538, 1.9072, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ed175efc47b008ad954f8a7f99953ce61094b37486182dc0f2e8f8c0c636599",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3ecff46d5fb0098cafb520eeb5c8ff59adc1a7325a8c42857ec1e8caeedd1da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:138b6c3f60fec043ebdd64b070f4d1edcc80daa5ac813a75e2f5444d1a584298",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 4.996 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6044, -0.387, -0.0193, -0.0338, 0.9993, -0.02, 0.7944, 0.6086, -0.4023, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1791 left_yaw=-0.0002 left_pitch=-0.0008 left_roll=0.0003 left_gripper=0.9993 right_x=0.2924 right_y=0.0013 right_z=0.1774 right_yaw=-0.0002 right_pitch=-0.0004 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -1.3607, 10.1538, 1.9414, -0.0952, 0.1783, -0.0904, -0.4034, -1.4564, 9.6068, 2.1074, -0.0659, 0.0464, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6456, 1.681, 0.6186, 0.2939, -0.5179, -0.424, 0.9991, -0.0212, 0.8024, 0.6125, -0.4549, -0.0204, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3595 left_y=-0.1569 left_z=0.0343 left_yaw=-0.0032 left_pitch=-0.0748 left_roll=0.0349 left_gripper=0.9991 right_x=0.2858 right_y=0.0011 right_z=0.1664 right_yaw=-0.0008 right_pitch=-0.0572 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -4.7658, 3.7265, 0.8425, -0.0708, 0.2125, -0.022, -0.212, -1.4017, 7.0769, 1.9121, -0.0317, -0.0708, -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 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6468, 1.7035, 0.609, 0.2993, -0.5182, -0.4282, 0.037, -0.0212, 0.8024, 0.6125, -0.4786, -0.02, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3559 left_y=-0.1546 left_z=0.024 left_yaw=-0.0004 left_pitch=-0.0958 left_roll=0.0479 left_gripper=0.037 right_x=0.2822 right_y=0.0012 right_z=0.1617 right_yaw=-0.0011 right_pitch=-0.0809 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -8.759, 6.065, 1.4237, -0.2125, 0.0269, 0.9841, -0.0752, -1.2376, 6.9538, 1.9072, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ed175efc47b008ad954f8a7f99953ce61094b37486182dc0f2e8f8c0c636599",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3ecff46d5fb0098cafb520eeb5c8ff59adc1a7325a8c42857ec1e8caeedd1da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:138b6c3f60fec043ebdd64b070f4d1edcc80daa5ac813a75e2f5444d1a584298",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBuSZS617S7yV2DvihpE5LzY8_fZstSW-HjsG_A6N-JfNmG5kzru07X2DAxBZArcX_BWGkFwoT9pxW9mvlL7SNOM8bhO9UiNqaj88cKHfh7rSFTJVdP75TW59rB_1DuefW8MNXoleLL3xMNWUZoVZpqdyB95ChovkcDkcbA141nGNWJ-jlO7UW8RhqbTLQ1tEmIPctUN8VMZGSFLpJIYEnUpXmhcOShamYJzp8MTAgYGxsThsHygreE7CahFgYPO3Elf3LRLhQ9wxR320eGMXqTpsoD5VcvutCCQkdkhpolie33zjKi_qE3vvE8NrgqmCC-dgWfSGd5xGAJXzkC0Zu6qK5uH_0DtnzyNMDZPu3lKcBw6VppN28CK3waJZnNM9HyLRk4C1kfIKN63CUpuuk9AaqgeW7nmi74JyZ_IQmFpto8po3vp8PK3W7Vis1XlD7-icvSZU5NUXuA-IRGs6ts8sNbhVLIVXgZj_d11cmo1gTcti60QN0xr1ARPwCTGRlQ8hO4S_U_AFhQq0o3VUVQWP3JZfAbsYNyJJKzDVzwW8U1z2Tx4zn8gh1w2tlMkbOUMLswZ-6LsEpKTHagdRXGZ1GSt8hjNut38yNJ42W3hfQ5NjjlTCD5pPjicXZiEojY7uhzFxIAw5a_WcvSM5VMEVrOXCON5LioxO83we92ralPJsPCvsEsICR8lHH2v771mDlxVFdI9QYPBIiqB6JJccvAq2m4BohY8h21mjQ2JHWG_ZJYqTSgCMNiWO8oWnZYS_TUV02_Ww3ngj2l6Sz1ye3TcVVpxGMmuGmMrJNX7q1B7mYLgtfPiKCUeRsd2tSwU6SQBlNiNfBppnp9ZIXUm1pdzXs77YU7tLoJ04-q3R-7UTgMVhDvB6XWnv-_IuoZ4YAHBBmg8En0ou30ScOKMVARVCylzVKxLBDR35kIBcbVVyUOh0nVNPbrvc0-1UKeEZYcQIbcZr4tWj2bzjPJsIFoJ0eRlrNChatwmcCkiTqCKSLYVEyF1Px9JVY2KbEHDlxZipjJtvsUAr96-ty110xmEBGioFgZUiJm8alR7cC8HnZzux1X1oFUASWgqRrZ8cb0WK9NQYZKG2nd0rG3cRH-SI41Ke_uTafBOLAGj7d_Pv8LxZTjJUqmdFMNY1VP0Eq2SfLckUF7yMutHsLSEEpUaqnX76Tj6dUZm4frgrrgle0yLqVAP92kEo0eslK8eESjs0TPdvRgTPD3oVlyd_DG_7ErG8_SwMGxpSG1F3a0B3rMUAz3Bft71IFnHNZLAHBOlSpqQu0dWQHbVmrko0L3-HynNkLyTe1WVSfE1z4199Armq9wspKti-HbZmeDKPj4bqCnQloiA1mWIE4vNSMRFbVH2duhs1NylY_AjfFm1COjOcy5c5aEPui44asB50rEkMHt24QmXikvTxvmBvoz5GKKVVT7OHvg0y0wn0QsbmRcxOcLA0qkpqkLSfYV3zRLF8CgxkTxWfoAKwkU4qvIReLFXo4sYMx5yhI8rXiM=",
  "id": "rs_08cdd43b96952e25016ab41b90be8087d0bdb07d5b30c11b8d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.11},\"note\":\"The gripper closed almost fully, so the reading alone does not confirm a hold; the plush is still visible in the wrist camera. I’ll lift a little and check whether it moves with the jaws.\"}",
  "call_id": "call_DwdmuYcb64SdiFQwXEIzI0K2",
  "id": "fc_08cdd43b96952e25016ab41b915cf487d082db4f405fe0c921",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DwdmuYcb64SdiFQwXEIzI0K2",
  "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]: [-0.6468, 1.4956, 0.7467, -0.0685, -0.5175, -0.4355, 0.0385, -0.0212, 0.8043, 0.6125, -0.5003, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3529 left_y=-0.1525 left_z=0.0895 left_yaw=0.0044 left_pitch=-0.1136 left_roll=0.0552 left_gripper=0.0385 right_x=0.279 right_y=0.0012 right_z=0.1571 right_yaw=-0.0014 right_pitch=-0.1045 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -7.5009, 9.265, 1.5604, -0.2808, 0.0708, 1.0281, -0.0615, -1.347, 7.1453, 1.8828, -0.0464, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cef223d148c8afca3171cc1c93baa711c9aa260b7bbc52f5893c95f3eb42a98c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e11679ac3925c78579bcf6b85b774ca6bebe18c7357f8baf9b626946a584c1fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1a0de86b0feef828eecd14a3c1daffc1d1a875e84fa0a8f117b60cba9d6cef3",
      "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 · 3.31 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6373, 1.3636, 0.7692, -0.1612, -0.4942, -0.4, 0.9992, -0.0212, 0.8005, 0.6128, -0.4332, -0.02, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3466 left_y=-0.1479 left_z=0.1283 left_yaw=-0.0266 left_pitch=-0.0743 left_roll=0.0332 left_gripper=0.9992 right_x=0.2889 right_y=0.001 right_z=0.1714 right_yaw=-0.0011 right_pitch=-0.0332 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -5.7094, 9.2923, 1.7753, -0.4908, -0.0171, -0.0171, -0.0479, -1.7162, 6.8444, 1.9805, -0.0513, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6468, 1.7035, 0.609, 0.2993, -0.5182, -0.4282, 0.037, -0.0212, 0.8024, 0.6125, -0.4786, -0.02, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3559 left_y=-0.1546 left_z=0.024 left_yaw=-0.0004 left_pitch=-0.0958 left_roll=0.0479 left_gripper=0.037 right_x=0.2822 right_y=0.0012 right_z=0.1617 right_yaw=-0.0011 right_pitch=-0.0809 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -8.759, 6.065, 1.4237, -0.2125, 0.0269, 0.9841, -0.0752, -1.2376, 6.9538, 1.9072, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6468, 1.4956, 0.7467, -0.0685, -0.5175, -0.4355, 0.0385, -0.0212, 0.8043, 0.6125, -0.5003, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3529 left_y=-0.1525 left_z=0.0895 left_yaw=0.0044 left_pitch=-0.1136 left_roll=0.0552 left_gripper=0.0385 right_x=0.279 right_y=0.0012 right_z=0.1571 right_yaw=-0.0014 right_pitch=-0.1045 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -7.5009, 9.265, 1.5604, -0.2808, 0.0708, 1.0281, -0.0615, -1.347, 7.1453, 1.8828, -0.0464, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cef223d148c8afca3171cc1c93baa711c9aa260b7bbc52f5893c95f3eb42a98c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e11679ac3925c78579bcf6b85b774ca6bebe18c7357f8baf9b626946a584c1fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1a0de86b0feef828eecd14a3c1daffc1d1a875e84fa0a8f117b60cba9d6cef3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBuXzbNQaVJKnN5zCBBbLdJWG48e0Flqtr0pe4dmWVHW6aehysqWq0qVVhWmfLEbnO5qWj7no3lvxBGWrcnadbxIQJ0l2kv4Kqwf14oRos2c6qfsuLDTud9HUlS0DLHvKu84I-SU1DyX9XZBkORkLoW-8u8tL-GloF6ZPkeay1-sVfeVKA83GYzkAyjAuODgz6uS1SvkrCFZ5m-CLbvlzpqGzGqmBjtgPm02__NdEfM-1XSiKbAieqWrGPoOLvZAmOsYDF09rC_DmYhW9_DGxmsazC5B7Puhc0bxfG15d2wEW95zcg_uWulbplY76O77FhLMZmTvr9HUpwgLnBhnSG-zKy5iexvCWTMLsLqdw93TgeTHV_iJw7cASfgIh3K02cALBC5AglqDAg3-pXnUcIJ5jUgGzncGYKW5b3RAMPzi1vitgfORi3a9jygY9eX7fxt4K3yFu9ab9Yej_efHFK1s6vr6vofGdCuc7qctz1KM-tCbBRpULDKO1QlVe_bb5J5_djDspq9os0AdkDt-r0sG-4kAlwgHtjdZtSAK460AQHZJEm1nTGQt4gkIygFIWUGlCTBa4b74WUSU49v8hV3NV505JnYYO1_8CobkmN46GmDclgTDXK4lCyrpEKo2Au8xYdgk_4IPlFlLOELAQugX0jmHpy2HARhKEex49dWF6veSf2uQvD8LrExu3fImlHeD3LC5ruwhIQMlYHSG3h_TJSwZSw-ji0SIo2KLX7wdw5pRZ1uuN1kqbripUuT3M84C0U6xkIlut7-uljH757LXoQM3bQ8fksTmu52QvgQtu-xeAcCbWG5NWSuKMjx8e9Y-tG6aZrc1kaheZhXc1te7Ikvd3UOV0w3dVLWlWW2OjKEzjg1BHIVsRJkI60SfzI6Xzg6Fi7s90yT6Kb0z8-HGsBJ01zVxs2ka-VKWvuJxEUYdFDf2907cehjiFx9ODTka5B6YqPGCCcsRzvSN-GWKieZpyBnwpuaKP2Z1ajBCzBpsDfnKSdwppwho0cEvnHnF2kXAEDvCf-IQbz5ILhc5ThDYunlD0jl0ZjHVdyg0kxaw9OPoZHehruIzzOzYdxsfgUUtxxIz8oQhc17Xp1yKkmeYev8VLK5UvQ8D_6KqLGlyi9OG3PirTiF7ZXrRA0Cn_ANxR9TpDhmpQQFBCslXBXxEn5f_V-u-SrhhWVJr_DIvqRYGbOckG9_7eHF8b_Z5bWMsNbVGOW3mKSK0Cbt-aXayUdFgqhs59KYSd3apIHZsHunPdne7mIO-V5UcxpZCi3OtoVN1Jf0QXMOegGFguBqbgmZlwrH20Jy0J2eesCHVfrqUrWBkZOMKIxVUm1IJ4XekoWhZyRm_bZqAhvXDSnZ8Pwa8jNknSJUDajTRJNijADuglbNbVoQUYymt3Xgi0R-Rx1OPPuxtbQgZkWiSX7zkKl4tbPJPUtbr9WqifDFstxBjyxCNFqavwqt5fulRiDLObKAkLSUjvr4I1nw7FeUkwnQDuvPCV-GZz1JOBgFVBbdUKputxuQjcMe5Blixj7N7vi1LvDuIZd0oZQRUPCnD1CjeWmIwGxiLoEz6ObC4zfTv0eYlI9qIwkbleqcwlyPxOyR-wyJe2I5w8U8H9kILdlmgEZND4JaFQYIxZXyIpycQjZH9liY0GfqJbQfGsKTwCRFUXYek6DRSaYVGuGtmD1LH8p4ZMHE2O57RAy8jJNAbyg5qFgQ1wniYJcOBY_NYtI0YZQMQOBP4v5Za3k7nd-0r_SjqmeMjV4DJPsjXk_1b6lWQ9VvaGojTZl_Q_6ez3r6euvT_mNccr9D2ySlPB-r2y0QGkLQoDjadn8rimKy3d76MIUfwXWaGNMXbX_sHMB-MQWwc8gmVJanJfT1S2tuwLSHjsGYh3mTTVuqogX37ONQGYlyM0cx35B2vofhYocLltYrNAOoErb33YYcSFBkU4FQECzY1RbnZiG1okI0jjnfoiyNddbL9Kd0iOkNS1uVLDhcNo9CbbKnDAjvf0M1Qu7SIdZkPVDjbUugzIiAwIzqb7Mdu-h3uQFoDtCATYW-Gxa9FMBl2ZUu-fxcOAhYwrxSsWwrHVoRrzE4DPJhBGz3_qf4EprnmRBZziSYPhUVJheanz7MeEthqVwtD2g9f3U6HGxBCZobvW1ZGlvq62J0E-d7dZ27xUadwJFu4986n8gSc3v1ott6S4eJqcP8w1P8iiv7rPrvJDTCkucOPbMR8TR_EP1gLNs0WAekHyELrdQKj25JhSXqepceAcZtBkpnexXJe3dy2EOp0vJlBgjvN9R5gC-cqRUPf7IMdedYAZSC-_f93pWPO60UDKGCSVx0VI1ISQoGCu8RXEaGnlY9Kb2xwD5tw-Q84rPPA8tNWS4bMpFYyGoibCzfbV9uCYEM_sIZaNH7pgTPl1jOkH9SLoM7VN3E_wj5l1SXYXdqTfGi0MLoMaleMfF7Sfa6CG1vNWl4p4ZBncHpc0If4S4XiyU5eRzNvQqNdW-f0jU3UIgOKP_FQpTDlcjeY3ip2KQ5aNL6Y3XOuPOGygs1uc66Z1MTBQSvcHv8470z_c3_90TYrfZ80TWrRcWt8DbL72YBnkIu0lghMEHrLcQVJJ10ZfkKoKLnv_5NUeGQiRFsWfdo64DSUM_17kH2FZ_7BotvkaQnOXRxViXrohIRR7dx_JfXMQ4OqlPsFjh4xDC5TmNrXRjGLQe7qasINqIvHBiGsazqwQU2b1whqwrOgdaByiYHc4Wj92Ld0",
  "id": "rs_08cdd43b96952e25016ab41b939f7c87d089cf389491f12408",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.382,\"left_y\":-0.14,\"left_z\":0.055},\"note\":\"The plush is still visible beyond the fingertips after the lift, so that close was empty. I’ll reopen and move slightly forward and left to center the jaws over it for one more attempt.\"}",
  "call_id": "call_1CNFv7wVBkPsdQ8Q7qfl97vb",
  "id": "fc_08cdd43b96952e25016ab41b96affc87d0bf1a68c35a48147c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1CNFv7wVBkPsdQ8Q7qfl97vb",
  "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]: [-0.5552, 1.636, 0.7303, 0.0914, -0.4641, -0.379, 0.9956, -0.0212, 0.8051, 0.6125, -0.5232, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3769 left_y=-0.1365 left_z=0.054 left_yaw=0.0243 left_pitch=-0.1356 left_roll=0.065 left_gripper=0.9956 right_x=0.2753 right_y=0.0012 right_z=0.1526 right_yaw=-0.0015 right_pitch=-0.1282 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [0.4308, -6.3795, 5.2855, 1.7265, -0.0708, 0.188, -0.1538, -0.0615, -1.265, 7.1179, 1.8388, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1bd2e9410a0df1be9ca26fe4a70f60beb7ab5f06a32aa15b7524a59482b3b4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1730851d7e2d15be6c55a275aca31e056b60b25d32542da52c645ae70fb394a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:379c1a836f26b02020a95095ef57be2aea29bd26cbbd434eb203c6844010ed11",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 3.165 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6456, 1.681, 0.6186, 0.2939, -0.5179, -0.424, 0.9991, -0.0212, 0.8024, 0.6125, -0.4549, -0.0204, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3595 left_y=-0.1569 left_z=0.0343 left_yaw=-0.0032 left_pitch=-0.0748 left_roll=0.0349 left_gripper=0.9991 right_x=0.2858 right_y=0.0011 right_z=0.1664 right_yaw=-0.0008 right_pitch=-0.0572 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -4.7658, 3.7265, 0.8425, -0.0708, 0.2125, -0.022, -0.212, -1.4017, 7.0769, 1.9121, -0.0317, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6468, 1.4956, 0.7467, -0.0685, -0.5175, -0.4355, 0.0385, -0.0212, 0.8043, 0.6125, -0.5003, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3529 left_y=-0.1525 left_z=0.0895 left_yaw=0.0044 left_pitch=-0.1136 left_roll=0.0552 left_gripper=0.0385 right_x=0.279 right_y=0.0012 right_z=0.1571 right_yaw=-0.0014 right_pitch=-0.1045 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -7.5009, 9.265, 1.5604, -0.2808, 0.0708, 1.0281, -0.0615, -1.347, 7.1453, 1.8828, -0.0464, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5552, 1.636, 0.7303, 0.0914, -0.4641, -0.379, 0.9956, -0.0212, 0.8051, 0.6125, -0.5232, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3769 left_y=-0.1365 left_z=0.054 left_yaw=0.0243 left_pitch=-0.1356 left_roll=0.065 left_gripper=0.9956 right_x=0.2753 right_y=0.0012 right_z=0.1526 right_yaw=-0.0015 right_pitch=-0.1282 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [0.4308, -6.3795, 5.2855, 1.7265, -0.0708, 0.188, -0.1538, -0.0615, -1.265, 7.1179, 1.8388, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1bd2e9410a0df1be9ca26fe4a70f60beb7ab5f06a32aa15b7524a59482b3b4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1730851d7e2d15be6c55a275aca31e056b60b25d32542da52c645ae70fb394a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:379c1a836f26b02020a95095ef57be2aea29bd26cbbd434eb203c6844010ed11",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBubxFcAZ6BcuROKilAlc399LH_NDSs-kSzs8nxLBUHZRYdACHGxQWrL5jNE0Dk4LxF6mxHJOvARCpQZXy1UwA-05W7I_V860EkP1SjyTuAhLVgjpTLAXAAWppPpX4d5ZuXrlsucoaieb9oslwIed-Klm3AQEZRdY2M3P_vNl7yAgQIXnbCT1MrDLGL4kkhOedLBBSXIM7I5aCJ2rJN_bPW2aI-jsgCuqR87jacbNw9JqQi79RmzByPBxlZkE1o5gLgE490esZ9ptT56XSTzZfjY96GIojZ6euy04a7dy5tt7p0COWBwUNnSM1IdkVp4u7MxYrKV51tU6n3hLMWiuGJXoDku3XX7Aor453UethP3_CguVtPWENbmf-Eik5vc0AOagDX1L5t21fGmq6tmJ0ukY1I9P6Xf7yg5spghPlTRXnBXaD3QkfbizADRN_ev2JaHsK0cXc15EXsSpo-sf_YMEepsacLm5TGXpTqAq4M0rUEUqM4m8f7kERMS9kXq8uwKTGUtQ2Cv5V3kNDs-dmxDv4ei6wj_Ovzb--7yLyl3GPtYowr6tjpSTFG9xj9KWOZ04KFMdNwNZEL41U-KiqFRjFee_gihUgjd82BFiZtWY50Qu7gMCm7Ry-7T0HRGhGnEFQTRRRI3iMlKgITAIT3FR0HVYIuoBNkW0shgR1wZ3fWP9ry1uuotVt9RRZyFnuPBE-uV0O5ngIEqEFPBcHSnSgPaivgcgmTpSG_mIAXokYaYlXuRrpmx23iVFgCEide2MWyMBOdpSvOSC3ubaUMvsttSxAHYf3yrr1tofwzGgak3_8exoMkGVBvHDuWI7PsQ_LcYLQ75mAhTlbE3Yk2xr_LpFZIpsGZxtCJI2J3cG4ZDwXoRYhQBcethZ6-vdTdjcgB3dZbCBz_ieco5v3EwjJPHsh__yzpH7yafZDHh__UxZdYUzgyiw-PGQkX8rL3-GnPu_-HsLPR2LMbD3-QON4te9NYU6UlwOoTxvdFjB6s2r07qaTPIKnP2B-xZH_17a1SsXoeu2XerQieZ9eJRlhQqdbGM8JyIxfLhAM3dUWWLGQbePiIQqfyUbE0M7Ru-MIc44rkLqdhH92yuzKIWgJFMLf8rYiIToxow4Do-pHH86mUJsFsR5So1X_VneLXS5CeVK9ePaR8HM1ORNuMb1XFOUz4ycCiW4NcdtLm4nQieAPE5X9LfENgYZW9UMgVV-Ji8nJrd7NEUIRUoOpktOO6FXN97BhYMFpXhPPlFmqekc8dLxmxu9Ish0dXFOghgq1zdpLR1jHvoFnfeppyvlp0GP3sQqalF0uTihb201SzBb2OhZxay69LodW-__7BdDCT20eda_YcFg64cxL1Sakrl4xoCiSc2sj7HxqcewMtZ38sVoam5KH2mslix0MZ8Z793ttQ2n_CszSIh4-CZzchhIWNiSTfxHOTx-_xytpi6nYZ0kq6wvqQvqnxpbLEJIMAhl7mlxP9oJbzlYvG6W94tjhOF2p926qtq0zqQcW2szIGiKAS-w7q87pz72ns0gMtUMrSJIHdl2hjQ8ypY6tiGnVufOWX9fP9hpiSfD4svjRhOpJplXWIZz2C5iriY792EDD4S9zXyQae0mwhKfH5GTSwtN-UyGYd8hdWXdXHTqq97W7HrBmbL1wt0JwUFwk8eLgrjYtdk6pmFxzoWM3bUw3RAqb0lmRb7QE1gOcruNzA9JmNthRrduNQwLKLgIT90MSDPA6Xm36U6Y78ZosWaTzihtKoeDsFmkAIjW-f_47OrLVRIeS566xkVvO9udv4UcXI0-lc86fp6yUhC-Q==",
  "id": "rs_08cdd43b96952e25016ab41b99ca4887d0b6a1f0d918a79b26",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.148,\"left_z\":0.022},\"note\":\"The white plush is now close to the fingertips but appears right of the jaw center in the wrist view. I’ll shift the open gripper slightly right and lower it to grasp height.\"}",
  "call_id": "call_PKI1IoORfixt26OOgB5sTXvx",
  "id": "fc_08cdd43b96952e25016ab41b9b1f8487d0aef21550a29928b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PKI1IoORfixt26OOgB5sTXvx",
  "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]: [-0.5827, 1.7344, 0.7177, 0.1734, -0.4709, -0.395, 0.9968, -0.0212, 0.8074, 0.6125, -0.5449, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3753 left_y=-0.1471 left_z=0.026 left_yaw=0.0132 left_pitch=-0.1562 left_roll=0.0733 left_gripper=0.9968 right_x=0.2718 right_y=0.0014 right_z=0.148 right_yaw=-0.0011 right_pitch=-0.1522 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -7.5282, 4.6427, 1.6923, -0.4127, -0.0317, 0.1197, -0.0752, -1.2103, 7.0222, 1.9365, -0.0269, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a72861d3ac926acb0becc4a57014376081b0ab6c517ad0439eb4e15037f0c5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab9812b8310d523190b799f9e4fdada1855e2bbd9e4531d497d9899d97aa842c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a693bfe2801ddde003c9815cab26d6896347a7e4e9e5f19aa111ae16e9c488d5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 3.033 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6468, 1.7035, 0.609, 0.2993, -0.5182, -0.4282, 0.037, -0.0212, 0.8024, 0.6125, -0.4786, -0.02, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3559 left_y=-0.1546 left_z=0.024 left_yaw=-0.0004 left_pitch=-0.0958 left_roll=0.0479 left_gripper=0.037 right_x=0.2822 right_y=0.0012 right_z=0.1617 right_yaw=-0.0011 right_pitch=-0.0809 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -8.759, 6.065, 1.4237, -0.2125, 0.0269, 0.9841, -0.0752, -1.2376, 6.9538, 1.9072, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5552, 1.636, 0.7303, 0.0914, -0.4641, -0.379, 0.9956, -0.0212, 0.8051, 0.6125, -0.5232, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3769 left_y=-0.1365 left_z=0.054 left_yaw=0.0243 left_pitch=-0.1356 left_roll=0.065 left_gripper=0.9956 right_x=0.2753 right_y=0.0012 right_z=0.1526 right_yaw=-0.0015 right_pitch=-0.1282 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [0.4308, -6.3795, 5.2855, 1.7265, -0.0708, 0.188, -0.1538, -0.0615, -1.265, 7.1179, 1.8388, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5827, 1.7344, 0.7177, 0.1734, -0.4709, -0.395, 0.9968, -0.0212, 0.8074, 0.6125, -0.5449, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3753 left_y=-0.1471 left_z=0.026 left_yaw=0.0132 left_pitch=-0.1562 left_roll=0.0733 left_gripper=0.9968 right_x=0.2718 right_y=0.0014 right_z=0.148 right_yaw=-0.0011 right_pitch=-0.1522 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -7.5282, 4.6427, 1.6923, -0.4127, -0.0317, 0.1197, -0.0752, -1.2103, 7.0222, 1.9365, -0.0269, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a72861d3ac926acb0becc4a57014376081b0ab6c517ad0439eb4e15037f0c5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab9812b8310d523190b799f9e4fdada1855e2bbd9e4531d497d9899d97aa842c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a693bfe2801ddde003c9815cab26d6896347a7e4e9e5f19aa111ae16e9c488d5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBufeyuoLTzXHwFS2xeApt31HaJFytUjmQ3xG4x-mVVgEBnCIxRwDZ3F-hHH0vrp6ajS6ImM5w8c2j2zWsW5vPvvLLQT_Lu4b4qMvj0pTOAX7gMoERM40xIr8vrlguhsSjkintAO3zUrFv8p0PSvNBTddlrZspBYHjwFzSRR_1MBQ15Evp2l59Ls3WLZO8_71mzXnDkEq09a-4859_3m92S48jmtSgc-Q7R3ORHP0dEwj73B0kCYiym8GdJ2gRIHthWeFZQBHYT87RkKT4JLwqR-uv5E2Q-wsuAwiIFX6j-hus4sHELUKBHCNwdPazxblHN3ZYfy5oJ_U6aCeuunh81fZf3RXS4zIL-e5pZVOmXq8GDcMCOQp2yEAuo-rkS4BgAKRHUUbvLAIcU2humlkguq8i4ALAeY95rnNWw904k0oo8lZnRRp-jXiZO8cjVpX8vdXg9DRIV1hgGBfTT6sypfsUZhtoyrYBp3ovpF2RHVtS31JuIZlQx_mNBJryE2I5kB_e007TkzKFO3QYWXZyO187ZyYWhIQNNxXohakKn1fro10ep_q1GZQ5FTZQwqJFcYbRh2EfsW2kfOq5x1A9VNMMwhVR8ih0Q_UQTo3fnOhsfykJqwEzMooEojmvXlyPaAoYAHBgN5rNcAp9i55ozUQFPl0apUfrkvTpcLt3Y3h9ByD6oh1fIj-dNeGIIPBKZHKvowfgB-6yjFxOW-DJntjfcKHij2wO1Ht-Mt_L6jaSJNwMT1czJvGsSPCmyML2YV6sZPRJ1lYEjYCboAd4KMm8hT2qI9CPYwqcBNf-JNUmchC3cihiV7T3kEniE4RdfAkkY_EsasPrbKBU0Ba5NcrKirdQLIlQgBh-ryCVKFbTvAE0Db_whT245IQl-XOkx3F55vspx6psQSBh5NLortY7N_EbEdZRJyrN43gMVHdlNrM1f1GZ2kukTlMuOBwb8uEDHY7DFO1RjhJvVG0iT-tQw--l2FFCBMrpTlyPDlkdyYLl1OIDTV8mXQNm8t_bMuNJzMvSk6oG-lMaUaH7CG8ukYIxaOeXVMg5T7RnyXiC77BGeI1-LOPBf59aMFJuOMkpFZVokDWgeb-fqW_5jMxfoe4wD7eg7-51pNiP5RelXi6fe-8CdrVR25jdhdNzcDoA5_JE-fy9oXI4jCcq3FWQc4DkPqZ4RqsF_mnyV78Q3O3krbNuJ4PoFaoN-CXEuZND4b5T115B9gRDS27zQNSaVC3ytVdpYjx3OfFFOpjabhxv1pMEyHZaOAPyT2zOBKyQR3yHwugyzPOB19T8-Xr8PDIhgk1NC8q1odGvYZFHde0z6efBHTq93VfihsDf2_DnW2ZVknw9_SVVBmPxNQFU4dKOLruOkAfVnkQDzyIwjn_0nq68CJoSuG_wsx7tfvTi207jiC9zHm73WvPUZtt7icUu7zSY0HSfPtBe1pUBLYyJ40KENomL9NYY_bZLeT8hyGbb1J58lVm3B8PvTTf7YATOTkv7pIpuu5oOGRSzoxSJJshByJGOKUm2FzlW5yNIUcmyU6vGE_KPY35fTgTi9YU-5MPp7XcmYDEU-rr6Xs6RZa76eh7Eq9wkes14OXWB3R1F_c0JQFeFE9xFqXM81LES4AdxAsPkwHrvq4K99NS3x1wlZIIRiyx5h-VOGSYrOaCj-jFXnnSyzsaMyHwy4UXqh2Zbc96RO3Pu_4nhUBxfScNH3tMeBPT9uLdF4NC0jnYaIdkJUnS6UguaqhpxgqsPMRpEZh5XWKGnc8OZH64Uzyuq0kbQijZ1b8OaoHrwHNcsJzg8MmXqsZWGrgptZyRUxyqWagi06D-EwI0bacaPqJSDD4t1tHqRH-2qTQY7LHSKnBRbQOmJCuzjcFARMfhNqxZGnEoNpVbplgjrgtxcx2Z5atHe43Y0YiyIqO",
  "id": "rs_08cdd43b96952e25016ab41b9d193887d08bac7229493f063b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.155,\"left_gripper\":0},\"note\":\"The plush is beside the jaws at grasp height but still a little right of center. I’ll make a small final sideways correction while closing around it.\"}",
  "call_id": "call_a7kA61KGX7WES6a9qgAej1JI",
  "id": "fc_08cdd43b96952e25016ab41b9eaa0887d0b234aebbfb5519dd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_a7kA61KGX7WES6a9qgAej1JI",
  "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]: [-0.5896, 1.7611, 0.7025, 0.2058, -0.4767, -0.4133, 0.2037, -0.0212, 0.8074, 0.6125, -0.5682, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3726 left_y=-0.1475 left_z=0.0162 left_yaw=0.0216 left_pitch=-0.1609 left_roll=0.0686 left_gripper=0.2037 right_x=0.2679 right_y=0.0015 right_z=0.1438 right_yaw=-0.001 right_pitch=-0.1754 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -7.7333, 5.2991, 1.6142, -0.3687, 0.0415, 0.8083, -0.0342, -1.1692, 6.8855, 1.7607, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d22f6035fdd561c3ebd18050b6ea57542a35de8df8b1b7c5d4e362ddd995fd1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c17514b03be46eb1f7978f0a7b5cf3db74a2c791bab9ea2d5d7f20c8ff94d3ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92b7e11bf77846433effe4d9a0da209b9680fd18c6d5d29ec057bd5b1a908b32",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 4.686 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6468, 1.4956, 0.7467, -0.0685, -0.5175, -0.4355, 0.0385, -0.0212, 0.8043, 0.6125, -0.5003, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3529 left_y=-0.1525 left_z=0.0895 left_yaw=0.0044 left_pitch=-0.1136 left_roll=0.0552 left_gripper=0.0385 right_x=0.279 right_y=0.0012 right_z=0.1571 right_yaw=-0.0014 right_pitch=-0.1045 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -7.5009, 9.265, 1.5604, -0.2808, 0.0708, 1.0281, -0.0615, -1.347, 7.1453, 1.8828, -0.0464, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5827, 1.7344, 0.7177, 0.1734, -0.4709, -0.395, 0.9968, -0.0212, 0.8074, 0.6125, -0.5449, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3753 left_y=-0.1471 left_z=0.026 left_yaw=0.0132 left_pitch=-0.1562 left_roll=0.0733 left_gripper=0.9968 right_x=0.2718 right_y=0.0014 right_z=0.148 right_yaw=-0.0011 right_pitch=-0.1522 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -7.5282, 4.6427, 1.6923, -0.4127, -0.0317, 0.1197, -0.0752, -1.2103, 7.0222, 1.9365, -0.0269, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5896, 1.7611, 0.7025, 0.2058, -0.4767, -0.4133, 0.2037, -0.0212, 0.8074, 0.6125, -0.5682, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3726 left_y=-0.1475 left_z=0.0162 left_yaw=0.0216 left_pitch=-0.1609 left_roll=0.0686 left_gripper=0.2037 right_x=0.2679 right_y=0.0015 right_z=0.1438 right_yaw=-0.001 right_pitch=-0.1754 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -7.7333, 5.2991, 1.6142, -0.3687, 0.0415, 0.8083, -0.0342, -1.1692, 6.8855, 1.7607, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d22f6035fdd561c3ebd18050b6ea57542a35de8df8b1b7c5d4e362ddd995fd1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c17514b03be46eb1f7978f0a7b5cf3db74a2c791bab9ea2d5d7f20c8ff94d3ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92b7e11bf77846433effe4d9a0da209b9680fd18c6d5d29ec057bd5b1a908b32",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBujnSRAnVtq_nRojiVAZx2gSH7hFXrOV5XvkwptEYa-HCBtT9u1g_5nKIESpUndq6kEsXdr2fRNjifonz6rZYNm16-hJTikxZr_XSCJr77Lr-1w5cjGzelo3RRc7Kvxt_eXJnMxsM31uUBOac6lQC95X0byNSCjRsqIdp8Dkn0-dy9Bn6iQOhW0__Bb6i_vOi4qP9dO2lw86QYcFzsfKY6LydShGekPA0pUDRRQz5A7E4F7l0kSB-aYp3WeS2MHWz6SgCI1qAdMpjpCCwf3VbMD5L4fgBHWB9jfuJw1Y7s8g13msEd7FN_OdB_TAF9lug_OkFamz-5u6_J8WP1kS1qkKgiX_xYq1v2bc0puQaaL1qzKKA4ALwdwpvVzpER5-dIwKIGDAz199kVh8g88qwAhwCAqVITnmwY82NTE1qQhwwROYpfhmI-W88rNGU_SgZmHTsKj8zN55XXKJ33KbseIHadMt2WinHjpONXwqcTF7W87HLo5IY-FE_TFTxg3udlWWId_rEVa1-YQx17nVfR7Yy4mACf9o-fnGN-O2tNoAskfU5P_Lf5ipRvI90WG3Jyqm8huR6VbQEWCeHNUes3PSKeWYiwFNLS5paUC3U9CbhvibCSvyIWEcynmVotdPnY3Oq3TdxMTua4xab6NDajMYpuSGtJwrs3s-WXygMtDyW823e03WWawcKA5McGlO87klNwU2D0nV4Yicu0yHqY35xRz_gvYbx3Pum6CdHPKqOiGukOMAMynHbBgPX37wuJeJMYfbF899vMU3uZC--YLQpiyIaTawijdkrHRheuoeryGdWkpUxQeZFklq8QANKudU7MZNzHa9cboVBIS0HompNnSD91jYug7GuCXSD_Q931YNtKbfhYk7731ZP4OVHlZN0zYbt7nEXN0Z-Yv9JLovkjP5rpCh-kv4chxhSYwQeM0NKS-ahnHpY-H3DpLD5zMR6T0j5SLty89SSYgNrXAlreGLlMjX6NVKs_a5wUHtxYwnoDl_c7yiM3f0D5h0dGL3YLCUlrxoXKopgF5IocQYGyNJ7e9YgRX5yTYYPicjJHIEVMxfK_343XQH0H4XrJwOqZfXMqdaZM656hZ5VH2-I-DyxY7TPzZJIIPVVMVQBDZmMJbOv-wCYx8NFyDswOH-e-y_Gd1mi4IPIH56g9gK5HbWmQzjs_UiPFIEeMR1y_mMW5NFqIVnlv-4Rqej1Xq0cOyqcOu6yvvQE7RTaAnqVq9ND-_B6TTQ5I65bL0ArfuLLcxEhr5g57Z2zb0KlZ19GD-QF7X71zPlwly7exuYBqXh4CQskwmfUTZO3Rm0a95XPaABITBqIOK0WBlpDjWA_GP6sw0qXKUyIalc0epLV4E29ETebsh-yioHI01t-vmQlX86GS8GV7Lt1_9k8LyjejqWVCgFJKpUbwtvgjq6219OhPNL0L4C8nIMzGZC-Mn09Bwr27OR6KqceaADZJUBLGbwrVlgWXamMuycTuQnDksf1VbDFCJYJxmMeUzNdmMfQKUbE27z45Y4l3slGfuScGq-cid8Nk_Ff_lEs6I3jBpcUCHuKCfROSSff4DGrrDaPHFm_vqlGBGf3paXlgl",
  "id": "rs_08cdd43b96952e25016ab41ba1c67087d0ae259ebb6c2de234",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.17},\"note\":\"The gripper stopped around a roughly two-centimeter-wide object, unlike the earlier near-empty close. I’ll lift the white plush clear of the table and confirm it travels with the gripper.\"}",
  "call_id": "call_y6zgx7UibnYBjxpQPVIePT4C",
  "id": "fc_08cdd43b96952e25016ab41ba2864087d0950a7b016b540e2d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_y6zgx7UibnYBjxpQPVIePT4C",
  "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]: [-0.5896, 1.4971, 1.0412, -0.4282, -0.4755, -0.4248, 0.2069, -0.0212, 0.8082, 0.6125, -0.5987, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3719 left_y=-0.1472 left_z=0.1458 left_yaw=0.0302 left_pitch=-0.1864 left_roll=0.0777 left_gripper=0.2069 right_x=0.2626 right_y=0.0016 right_z=0.1382 right_yaw=-0.0009 right_pitch=-0.2067 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -8.7043, 9.1145, 1.453, -0.2808, 0.1001, 0.315, -0.0889, -0.9915, 6.8581, 1.8193, -0.0757, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:456432d2c7e1773ffb35c2dd06cd86d62854bb736a5793b86b3c484cc1ffab4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88ddfa0dce1b82938663d05924236034a65cf471361431730ba05a246116cb7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:395150b2090fa4fb715c8d140577f75e44b4fffca3bf7770bfa9ebe596ed7191",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 4.627 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5552, 1.636, 0.7303, 0.0914, -0.4641, -0.379, 0.9956, -0.0212, 0.8051, 0.6125, -0.5232, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3769 left_y=-0.1365 left_z=0.054 left_yaw=0.0243 left_pitch=-0.1356 left_roll=0.065 left_gripper=0.9956 right_x=0.2753 right_y=0.0012 right_z=0.1526 right_yaw=-0.0015 right_pitch=-0.1282 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [0.4308, -6.3795, 5.2855, 1.7265, -0.0708, 0.188, -0.1538, -0.0615, -1.265, 7.1179, 1.8388, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5896, 1.7611, 0.7025, 0.2058, -0.4767, -0.4133, 0.2037, -0.0212, 0.8074, 0.6125, -0.5682, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3726 left_y=-0.1475 left_z=0.0162 left_yaw=0.0216 left_pitch=-0.1609 left_roll=0.0686 left_gripper=0.2037 right_x=0.2679 right_y=0.0015 right_z=0.1438 right_yaw=-0.001 right_pitch=-0.1754 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -7.7333, 5.2991, 1.6142, -0.3687, 0.0415, 0.8083, -0.0342, -1.1692, 6.8855, 1.7607, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5896, 1.4971, 1.0412, -0.4282, -0.4755, -0.4248, 0.2069, -0.0212, 0.8082, 0.6125, -0.5987, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3719 left_y=-0.1472 left_z=0.1458 left_yaw=0.0302 left_pitch=-0.1864 left_roll=0.0777 left_gripper=0.2069 right_x=0.2626 right_y=0.0016 right_z=0.1382 right_yaw=-0.0009 right_pitch=-0.2067 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -8.7043, 9.1145, 1.453, -0.2808, 0.1001, 0.315, -0.0889, -0.9915, 6.8581, 1.8193, -0.0757, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:456432d2c7e1773ffb35c2dd06cd86d62854bb736a5793b86b3c484cc1ffab4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88ddfa0dce1b82938663d05924236034a65cf471361431730ba05a246116cb7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:395150b2090fa4fb715c8d140577f75e44b4fffca3bf7770bfa9ebe596ed7191",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBuocI94AhRrbE_9WAZ-VhFMSFDAsfONlvzXV75-X4vn3tlQZ-apxBIWW0TW2mxTDyqT3ZRJuCOD6O1kBmi3jtlm0_SVsCvR0kxSkQfbuYJPkJXsmgD52G9o_9VJQ3LQR3oIuyBcwGj3vKZMewEgtaANPsbtqF3MoJX_lB0XIwRyPJSfxo6zvzj0TLE1hIsSRPRXvQA-1QciFF7wUZ2vASTjhK4HlzGA1kUEjzNx65qzwWDySa_t54iUgjBP0rSpGdBh2bYvuMsN8G6eD7AZCa_01WOk-Ombvxfijfrxfc-i0Gx-XPBxABrWe4d2FWAW1hxlotBbIMWS5vt_ogckUVAZAuelmllMhu8Ah_o1owv7WMrPbhxvEVJ_VVJX6kI2x5hy03I4Df1Ns71VREPhBNKxiQZnsA4G5s_WtfXuwJKDfQkWjHMYfaWDMdH9Z0N90s6dwYmUh9FHZx8Up0hL_fz3TA_fN3E3P4yHJx_1Y8g_5CLrDzgYC8l23yCy-3ulc13ebh59dCLE52uvD1L6Qwr5Dp4nGhU6gRmh91d6qRop_dGC1e9x01eNxhrN8YTdoFB-JsUW1nmg6bn65jzrSAFegBM2Dz_zZ77WeESR9mjsl8CPpPcBWj1wosm1NuKQginmkk03S6zcs0s-YeOvNjndfws1DYeFZdlKhBdDzLqbToeVrJVtkodMExBNTK7PqA2R7SstgYP7y7Kw3iIMCCFjnoaipUck89tPdgFiEmLRFXgmgZqAzJfQJo2VHYqmQaddLKSL39G8CKt6ectT_rjZHA54xXW2DcTkSNggnWpvZUVm9AqSTe4NIEvc9VVopePtKMlZ-pje37rQ1ZUIPnsb3oIMEP7NKYlff50gNvyyXOecxPx6ZNIfiLOjJuJygvmoBCbYFeW9KRRAG42102UucgkJmjSRcDS7eRJTEOd3TW1-2usrt4J-XvxM41iYCFRxIHpg5nExEFPswBAenf39ze-QxqdziF0cOua5nHGRvcGJP5BliXCNKYGAjYKaW2JIcOzmM2Uw-78u7UhCqSUJqhkb8vTwvxohQaLalzeOqv2k-slOdVTJ6szqQBmY6vI5nBxJpsgRv3dZxW8trIWrYUhjfKwFQh7c-lK0ngu-NKLilRrQ_Twim9DpGEPlmbG4olAU_ImvVaU7t1MFSGsLF5wKDTqjd26s8g5e3G8v9GLacm2uGbRKuHCZVYEpYMKKMVZ54sfnfkIihYdoebDkbyYBTGfgEpDAUQyCkWZ-vRJzD_ezFN3FRRjKJeeGMXVBuTQFxoOLbAcUgLhvIpY1JIXX1GAcy93-zq6V5pnZ_W1Eg9D-IPQfgiteV-TuhmOgiD7On-c7qXNqVL0oS1DT0GnlCDYH-VfbA1kUCkaMF4FVCbHUB_JHlSlQTDJK_9kLezFHOUdEbBVZzwjDRa3fGWV04GR9K1ao9yZEH4BY78DFQPNygh3zIQIgFzgUoQ9KJzQiMOFW9PdTsUQTeTq4ql1mHH9gzq2OaLPqaJOPwDDygurv6_V-POGXfiWbwABnDhQBKIeA9iosYEPlK7XsxCSyVsHhlMBXmbke98epIgUwHj8kKhc-gx_v8QfnI_cr8JByIfh1BQXBSA2ef0l31uMdHC_m-DlaJe9PKDWb2fsFklyHHBzVAytakzM9izZJOfd9RXyr3F4eQkgpHzXq3_X8YNUJkePn_wRHmUg8_fracdBeilbvS59XKE85m7O3GMJW6uqQ9pPZ_j9murd56gTrIGBJuaqzqbrOQc4u_dULf948s1S7k-CXcvNLLutxCO-_iiUdVOJbRYqxY_1lqkafGTofHyqchOb_9RtE9ZQFw2W_bzlcdWw14ns-E6cz2eDrDj0l6wMvomnIM2XlnZp6mhaf-3GdG8N5w9Z3kcv9ZnMmiaaatDhfMtZ8FIMKRf5g2WUdZ3-RadcNpxPamh3HQuDbmhkblpaj39ThJtwb78Z_FELoBqNuB4ZLJ0q029GCOTZc_Cxcmsyn0qoBVoXnAc3l4mNtReBb4lV6a6VKkTT_fyk91XnnsQpWtiwreVUoVo3KBDkRz_BA0FE3ghtsrR2Gmo-1di3JzPa86A3rCNCR8L_QfP7e6h8_O9LHmeL3-h-LBJEf5PRxpxFbJWwJxxz5y084fGdtNPGFnFfAqd-Xdpfmy6R0AQE9LEPKZl_LsHCNCFiOeDavobdy9_iiQTjAtIolN2MmjH1mLG18fWR5Nl8B-R58JgooQk8BPielGFICkbZSothCl25JlvzsExBLx4MxXrc5zemWwfD1AbPnoAGr1zWQu0OxWE0cX25KdZRD8HdqpCbMnLVAJZL8hnA3n6lQt5vNESteLPRX_odH27NZfbWnh2x8_uHZgTesUFeeTN0S0Oo952_W9PrzP1nuscgZczekrlLL0NrN4iIRvA2r7LQabyP9CyRndqTsiP2UDBFM09_AmSO9WS3REYKY4CwDTU3_FbjoN13g-IwTsw6S0IQmAGMS09HlEK4YKM-FTMefa00qDxiE_0uHdL-_LnnEFz6WTWdkqarHt9EPA6X3YwdlnlM74_5PimGLU2vubXyhhaeABIW-COf7WhE_zd-NNhbmkCj955XtaJHMdK89uhMQ5aplxmDh5ahuIf2mZ0e5IwWpzFrejeK_xDeZjxDa0u0dj5tW0JmURj6EuaalXL2gfu3SIsnRxq_9rpYRrAEJ4GkftqEKsenYHj7VSNj3WxGiicsd9zGTZnoZy9s0EtCevuNgPpphzciitJcJM8JYx22AP7oGk9Y58rAvPeOBj8LmXdGOq_UPxZUIftBkySGtKBcbpKGPJf8QYIZ7aFC76PLN9D4hXFYpkMFAQUe4SoECfR6k1t784CfXYXfNbXRNzkZqYx6EZj7SUPK_2ptQgtmzIqOP1Q==",
  "id": "rs_08cdd43b96952e25016ab41ba55af087d0be5a77cbe39cf5b0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.28,\"left_z\":0.19},\"note\":\"The white plush has lifted with the left gripper, and the safe’s red tray is open just to its right. I’ll carry it above the center of the tray before lowering it.\"}",
  "call_id": "call_ciFF3FPe87G8vPG1dtcfYuJO",
  "id": "fc_08cdd43b96952e25016ab41ba8268087d0bb73a7df44f1b0c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ciFF3FPe87G8vPG1dtcfYuJO",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8394, 1.8771, 1.6306, -0.7872, -0.5922, -0.6651, 0.2097, -0.0212, 0.8116, 0.6125, -0.6197, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3851 left_y=-0.2761 left_z=0.1761 left_yaw=0.0164 left_pitch=-0.222 left_roll=0.0779 left_gripper=0.2097 right_x=0.259 right_y=0.0016 right_z=0.1338 right_yaw=-0.0008 right_pitch=-0.2311 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -9.7299, 8.8821, 1.0965, -0.5836, 0.1099, 0.2857, -0.1299, -1.4017, 6.8171, 1.6825, -0.0562, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3de16d3491f4cfada93cccf6369fe96e947cbef7bab927b98b688e40f7abdb8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0e4d91ae03fea7e4f649806c3030ce1bfa1c7ed669654f265ed5b45e445a881",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b06bfb53fde50781dbba2e1dad2f4666b10127782bd932b4a016b92b53f1e613",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 2.472 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5827, 1.7344, 0.7177, 0.1734, -0.4709, -0.395, 0.9968, -0.0212, 0.8074, 0.6125, -0.5449, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3753 left_y=-0.1471 left_z=0.026 left_yaw=0.0132 left_pitch=-0.1562 left_roll=0.0733 left_gripper=0.9968 right_x=0.2718 right_y=0.0014 right_z=0.148 right_yaw=-0.0011 right_pitch=-0.1522 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -7.5282, 4.6427, 1.6923, -0.4127, -0.0317, 0.1197, -0.0752, -1.2103, 7.0222, 1.9365, -0.0269, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5896, 1.4971, 1.0412, -0.4282, -0.4755, -0.4248, 0.2069, -0.0212, 0.8082, 0.6125, -0.5987, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3719 left_y=-0.1472 left_z=0.1458 left_yaw=0.0302 left_pitch=-0.1864 left_roll=0.0777 left_gripper=0.2069 right_x=0.2626 right_y=0.0016 right_z=0.1382 right_yaw=-0.0009 right_pitch=-0.2067 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -8.7043, 9.1145, 1.453, -0.2808, 0.1001, 0.315, -0.0889, -0.9915, 6.8581, 1.8193, -0.0757, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8394, 1.8771, 1.6306, -0.7872, -0.5922, -0.6651, 0.2097, -0.0212, 0.8116, 0.6125, -0.6197, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3851 left_y=-0.2761 left_z=0.1761 left_yaw=0.0164 left_pitch=-0.222 left_roll=0.0779 left_gripper=0.2097 right_x=0.259 right_y=0.0016 right_z=0.1338 right_yaw=-0.0008 right_pitch=-0.2311 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -9.7299, 8.8821, 1.0965, -0.5836, 0.1099, 0.2857, -0.1299, -1.4017, 6.8171, 1.6825, -0.0562, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3de16d3491f4cfada93cccf6369fe96e947cbef7bab927b98b688e40f7abdb8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0e4d91ae03fea7e4f649806c3030ce1bfa1c7ed669654f265ed5b45e445a881",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b06bfb53fde50781dbba2e1dad2f4666b10127782bd932b4a016b92b53f1e613",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBuuQCBLLDV8YjW3tCPYS6DEmAvtrsTZtNf1zkZaqboDq65oMiAHWeqa72e9eKIphAaVjBJPmwR9GDfQvf3Q6ORwm96sEIf6k5e7utBclRSIo_vYud4p9PTnNI_GW_jpyYAnSXHlJlYpKIXn8NOUVfwv-jZZ8eQbi7omdgZIlP6l3EL8wcbs-rDeSl4CFCUBG0wmFn0Ppi7uuf-B4utNO8dJpTMKtqQKsaOjIzsMwanayg1CqitngMMPTGy52GPceTQCNXiJhzWlEWska-zwXmAiVbe-C2cNTpv6jp6dZBUL1KgZjsQfWbmdlkVTKiE2iHnf5tgJDDThqZ-dJWKDxzMgALO41F5ykF7sp9wapaVLbW7bQosyc15aicLqRjJOUaY4AwgkchlHgObMvVFwmzDCCmj7r2-Vml5M_li-VcqAKItGZwfz174doBKCjBUbOSD-K8uoNa5AdRB7ZxRgEFm8ZNX0VGPGANs7intcKP3_kr07JCskhikW0kQc_1MgVTVE4RO7cs3twYppnk6ZPzOmh9XZ2-P13H1TbdrAOyswG_k7GmY4RUYQa3ocrOsKx2dYUB0u2Ra9WBeWCcWB7KFeY8aT8lZhq4K0rT8iRabFg_oU3yYt7_-jDcGwrhbLvDFCjNT1b2j-wcP5Dqfp8Ma5e6qgm0N9bFesjAniB0SztIkyKrT-kuUEJGcxMqZFwI2SoGSQSI4FH69z5squDtst0-lNy9pFWYrip9b7Z5EGBKYaNkDM9Hq81kczzr4v1oGN8PORuJYSokTxZfnQCeK6a0-jCHSegDftnmoBR3XMROV4m9Sd4SSA7lFQ63AxZlXwrG025kmFo44CWiiVWAAgMD4EAF53xAiNnYTBRVzp4zMEwnwVhfc0dnmuP6ugb5WTGNNamjtIFUS6dfNfXTf8SDu5ne7kLmwXS4W60jORJytX6wkLQEgmY8sLthPkS0NHSv8su9yUZLrPdIzebROYyb3-T99rpUXJ58VA9cE5NEqKWUNxim-CnPQE9DhNnSV_9L0CU1JV9qmss4bEVEGl-ykUL8s0zn3Ck1R7OO_0N9UH1RrwlMQr0BvUeQViMRD2CiYbt1ZO7idmtd1Nku0IDMVOshqz1ECZwydVqL6IZw34PByaXMgIJUibrcjBOu7zfU6lvsVBxT7xIWdzvJy51ep9OG3OH_dNoPzE9jLU2bjcuBzU9s4hS7lRjVgk0tDwjJoLI1uY5JwtBmNcVUgtCnYb2r4DIiTtZ_02k61dQBQBzrBIRB6nE8JB9R5lvvhcCnd7jXy4rKlQ6ojHLU2XcuAQzg2M0FpKwXcc3zlRjIXWBsE5yhk2K5lDSYILkAUDWNJoFC0pyKtthJ_RRhstbu9yDQY6P8ewoaib0m6Ob67N01g2gbj3YqNdZic3MoDle7nORWU9Er9hFj2Dgwg4E-e4-VTcjd_H8Ou5oYAdV8MufLAhB_tiuld8a7npBdnEeb15TbGVt3pznNDnf_-2PIF_PO2wEB9-L3MjmBmvVZUku2QvmyFZ6sC-zS6jAyH5mkO4QLh2P1K0jMzoRsHXzKAtD5i0I359gt3DIvdwvKTYEZojqAmrkuROY78j2lHAAVilPs4KCAw5g7Vw0Qpug-cXH3Ow8LnXgU-l8v_kX-7xWrFpfK0wEMSXIz2mLUzjJ8GhTHoelgmewRkUvixRB5aYKEdCS5E5L9yGh-JZ557br6NlB7Qns1iktZxlxqR9D-RCRXEJTw3y7zy00s1aXLpjFtrSJ2LlHy4CbPfjRsVVcx6mHIEQyCp8GL9TCuRU3V94wQxYN927XKtTq5OFp1Fgh2lD_IJc7oJcvgt23I6bTmeCQIHElizmEjBLGEJpZO8CMLGdeam-sHZ641NauPGmXGtXw8L4oUOV5DTpURc0rtFHZ2hEeeYLQNwsRukejjsrXkTm41JcYBf_Y44yIfnzwlmCikuVrR3YdMHoZOovnhJNSUeXRsNE08bXR5_PLtz8zSb_h9slOiRWvKTB_lVNE42duRxadKu6blBqy_cJzmw_mrdYC9bHeoLIUk-WYmFXPAPTOswt96DezDhjSzlPLxSHdWV6sKvqbAjgdsimltxkxjmATQK1S3RBpAomFPCtKASy5YERM0ZqzyxNJXwzxWkcRREaEmCf7VVCNxMoxVlP8iFWeJAf-eBzOMyuii0hLDm5S3sEdq07WeOWEgGJgM5jWiah0aaGC9c2nMECcMDLSkrz2U1hNMhsCcnqQY4mVAGwzr8wys9Rp-gfWxGqZcrWa6UzIQqzz1nXMVievAMblStIt1ztuTY53BUMx1bTRPa_-MeqgDoIykpLlHsYTL_YZLrGdqGjLViNP4EGp4aaANu0YokLk9FqpsT59WrEtcCO6Dv5BUJnt9xeYxqkpfHNYIQ9OcoRewZS7V4tflyekqtP3i17s9MAurEEsSy3hdl_PF2CTiBfGMwTUn-d887UAEWNNVF1w6dnyJj5mlVV1jHKaRaou5VjJfWd78MIhJtA8uX-89tAmc1ro1gp5gYCfGxhw6e8M4GKKdYAPt76MLKFpVyJGEpgOus9fxLIh1PCe-3OdCCCui8EZxkjSHAY4BeXtCZcf_IrA1FtF-hgwrvzE-fXWnmdK5d4-WC4LHSX0AOWEEar5nbMhx0XttKGQcwex0nsf2jRwWnjXwl5MKMX2l7W4tRlv0ZAnVsy0NCqSBL6GWb_MxerG7TFkDi4TGHJD6yuvE25eea3gtwnQOX5lzpLVjV7575-lZdDeVwJWKvPr50Ug40AUncI0t-YHl7xhSC54FDE8LAPYComkDUmj3pYD5jeVRpY",
  "id": "rs_08cdd43b96952e25016ab41bab108487d0a17091951cb441ef",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.29,\"left_z\":0.065},\"note\":\"The held white plush is over the red tray, near its front edge. I’ll move it a little deeper into the safe as I lower it, keeping the gripper above the tray floor.\"}",
  "call_id": "call_KdDIYYh18GTG9kSq5hPM4c52",
  "id": "fc_08cdd43b96952e25016ab41badec6887d0b648c04f10de021c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KdDIYYh18GTG9kSq5hPM4c52",
  "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]: [-0.8307, 2.0293, 1.4315, -0.4664, -0.588, -0.6628, 0.2126, -0.0212, 0.812, 0.6125, -0.6357, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3976 left_y=-0.2848 left_z=0.0708 left_yaw=0.0268 left_pitch=-0.2448 left_roll=0.1008 left_gripper=0.2126 right_x=0.2561 right_y=0.0016 right_z=0.131 right_yaw=-0.0008 right_pitch=-0.2475 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -10.1812, 5.8462, 1.2674, -0.2857, 0.0659, 0.2906, -0.1299, -1.1419, 6.9265, 1.6044, -0.0415, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f82dcd8d76a00c49fb1c6a409a77db4990b5a0dd83275a1e3b626912e891489c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f72a5a5c78f4a3285df577028e7d458640cf9c221d19bbdf76be20cd276cd50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfeff2609e4f9ab2248f1c35bb30f57d9562c459552c7fc698f14ced9da5908e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 1.956 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5896, 1.7611, 0.7025, 0.2058, -0.4767, -0.4133, 0.2037, -0.0212, 0.8074, 0.6125, -0.5682, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3726 left_y=-0.1475 left_z=0.0162 left_yaw=0.0216 left_pitch=-0.1609 left_roll=0.0686 left_gripper=0.2037 right_x=0.2679 right_y=0.0015 right_z=0.1438 right_yaw=-0.001 right_pitch=-0.1754 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -7.7333, 5.2991, 1.6142, -0.3687, 0.0415, 0.8083, -0.0342, -1.1692, 6.8855, 1.7607, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8394, 1.8771, 1.6306, -0.7872, -0.5922, -0.6651, 0.2097, -0.0212, 0.8116, 0.6125, -0.6197, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3851 left_y=-0.2761 left_z=0.1761 left_yaw=0.0164 left_pitch=-0.222 left_roll=0.0779 left_gripper=0.2097 right_x=0.259 right_y=0.0016 right_z=0.1338 right_yaw=-0.0008 right_pitch=-0.2311 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -9.7299, 8.8821, 1.0965, -0.5836, 0.1099, 0.2857, -0.1299, -1.4017, 6.8171, 1.6825, -0.0562, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8307, 2.0293, 1.4315, -0.4664, -0.588, -0.6628, 0.2126, -0.0212, 0.812, 0.6125, -0.6357, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3976 left_y=-0.2848 left_z=0.0708 left_yaw=0.0268 left_pitch=-0.2448 left_roll=0.1008 left_gripper=0.2126 right_x=0.2561 right_y=0.0016 right_z=0.131 right_yaw=-0.0008 right_pitch=-0.2475 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -10.1812, 5.8462, 1.2674, -0.2857, 0.0659, 0.2906, -0.1299, -1.1419, 6.9265, 1.6044, -0.0415, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f82dcd8d76a00c49fb1c6a409a77db4990b5a0dd83275a1e3b626912e891489c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f72a5a5c78f4a3285df577028e7d458640cf9c221d19bbdf76be20cd276cd50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfeff2609e4f9ab2248f1c35bb30f57d9562c459552c7fc698f14ced9da5908e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBux0QAdqdninw6QyUD-4wtNitURZDqepYJa6rhuU8VL5-lSiNJQya1cGHZf2TUr2su8KN8XjAHTdWlYAnqWC-VESY5oLzJD_-ee9ejl1rY9r-H5h9LLleqAjWlsjTR84WU_Um-j5-PB5DdRPifp-hvCuSE2d87Ycog1YCGUFfDu6H4IjHGOKq6JFE9uHqF5Pwknk0e9wifmz1WxTcXxdhxcXhYIOMQ0vFmJvfN7mOmvQ46SFIWpANuZ9ZqLIq3Ew3aIhweF2e78P3orQ4B_cokIvSJEQOhhkokaA0HDmHxNaCtnRkT1ONKesDHcJrjfGPtK1n4hG7dFJKGNs2GJq-lJU8I3HQTe4jshgIlUAdFzP_YCIQS42W_b8RUNCVugi02b7RfCh7N_y6pF2nYTjoQMEwE2In4XLJF4G9h1_TJ85qd9kN-uIOK7c57rZv3PBhnwCag66RJaKFEMdh04nTTe5yeconxFkfyKvyHDBj-C7XJTrjr-FshtVMVFZgbM3noRSArTjXa7zt62l98jytr_kz5sfnEF9x0fIMXX3hnmqhLK3ORNRhX1QpyHQpliyT2mPxow_fYwFd4SciWqralI771teR1BK-6pb4t07ktWkrTTD6gEPnTkmr8LEyS1wbUrU82OlNYtEytMju29DRdvpLwYzSP03qMMMJs36gtdB0IcqKP0oXUYxRCCmfe0KejPr85Rw7chItjIpVoeE_rAUr-4p73fD6YfGzgt8-r__zgDnID_Fj281CALO9BG7Eb0Z-3KEm_OE25vJ8YGN3dsFZ1nMaA1iDq1MT3MRGruHtYyAQAcdWrKCZMXdkyIO-BZ7jop57VdTxjF9qHLoUKC6V55orf0Q9ke1zes4fVMp5llT6QeoQLGbyMYHIefSNw2sL0oyy-MOMI13ofv7aGg7OZ5246MVWFrUYeSX_Bh98hcyoRvjnrnOaPgcmoBayY3l-insTS4-QiWlz0WvelLIXyQGm6Ns6c4_lHwFHbpV04Wdwuco3xxrOQeZPns1QL_B3k87fj_eA4y_2C-JFE53PPJfaGrsWXH5UBR4xpYPSD1FCmu_srV7j__jJh5e18JOSQbBQkKbwqcyYsbAkfQAiZ3DP55ysYM8suY9Vi_g1hRIlKzs0S6bIuGmuo-vGH7KLPsrY3f9MWvH2hBumIkdmjfu2n4onyZ-FGDnyxOtE7AJRZW6febm5PllS9IgfTpY7u-CxyHzMRezm57_a_tfkdjbzFL9dc09rGfH9emZNLrrIGgxhgrCpMgOGE2GIXn6xKlfTbK2VAPJOKeGIRiBEESnDP18Ic-PxefJDydW92UXVH4762ACMW2IKJAz2FDUpwnacx4PjRLKLYTHcupHw==",
  "id": "rs_08cdd43b96952e25016ab41bb0954487d082ffbae36a03222c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.035},\"note\":\"The plush is inside the safe’s opening, and the tray floor is directly beneath it. I’ll lower a few more centimeters to set it down gently.\"}",
  "call_id": "call_7W5jIyYP3icMzncb9frlTY3E",
  "id": "fc_08cdd43b96952e25016ab41bb0f5e487d08230f3c05b9a561f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7W5jIyYP3icMzncb9frlTY3E",
  "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]: [-0.8307, 2.0579, 1.3785, -0.3744, -0.5922, -0.6632, 0.2149, -0.0212, 0.8162, 0.6125, -0.6567, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3984 left_y=-0.2847 left_z=0.0498 left_yaw=0.0277 left_pitch=-0.2353 left_roll=0.0949 left_gripper=0.2149 right_x=0.2522 right_y=0.0017 right_z=0.1266 right_yaw=-0.0009 right_pitch=-0.2727 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -8.5402, 4.9026, 1.1893, -0.2466, -0.0171, 0.2222, -0.0205, -0.9778, 6.7897, 1.7509, -0.0464, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e308e1dc9291431a43bb3d78cd00225e17d4323d40c5c3e17cb3c72b941986d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20c9d9fead7dea4110e6b3f8c2e546e2b4aed5f542ae47852e8267da8b1e5fd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d0472a96c7085a4d4a21f7cad322df5117844b18b2313ff42e60436f30eea16",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 3.826 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5896, 1.4971, 1.0412, -0.4282, -0.4755, -0.4248, 0.2069, -0.0212, 0.8082, 0.6125, -0.5987, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3719 left_y=-0.1472 left_z=0.1458 left_yaw=0.0302 left_pitch=-0.1864 left_roll=0.0777 left_gripper=0.2069 right_x=0.2626 right_y=0.0016 right_z=0.1382 right_yaw=-0.0009 right_pitch=-0.2067 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -8.7043, 9.1145, 1.453, -0.2808, 0.1001, 0.315, -0.0889, -0.9915, 6.8581, 1.8193, -0.0757, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8307, 2.0293, 1.4315, -0.4664, -0.588, -0.6628, 0.2126, -0.0212, 0.812, 0.6125, -0.6357, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3976 left_y=-0.2848 left_z=0.0708 left_yaw=0.0268 left_pitch=-0.2448 left_roll=0.1008 left_gripper=0.2126 right_x=0.2561 right_y=0.0016 right_z=0.131 right_yaw=-0.0008 right_pitch=-0.2475 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -10.1812, 5.8462, 1.2674, -0.2857, 0.0659, 0.2906, -0.1299, -1.1419, 6.9265, 1.6044, -0.0415, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8307, 2.0579, 1.3785, -0.3744, -0.5922, -0.6632, 0.2149, -0.0212, 0.8162, 0.6125, -0.6567, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3984 left_y=-0.2847 left_z=0.0498 left_yaw=0.0277 left_pitch=-0.2353 left_roll=0.0949 left_gripper=0.2149 right_x=0.2522 right_y=0.0017 right_z=0.1266 right_yaw=-0.0009 right_pitch=-0.2727 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -8.5402, 4.9026, 1.1893, -0.2466, -0.0171, 0.2222, -0.0205, -0.9778, 6.7897, 1.7509, -0.0464, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e308e1dc9291431a43bb3d78cd00225e17d4323d40c5c3e17cb3c72b941986d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20c9d9fead7dea4110e6b3f8c2e546e2b4aed5f542ae47852e8267da8b1e5fd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d0472a96c7085a4d4a21f7cad322df5117844b18b2313ff42e60436f30eea16",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBu0XR3oHP5KYcjQChckbkhjWl8eAO_iYq8FCFMYze8DtlWuCPpD20dvT63FdtFP2RDgxxuHYFl5UvFwl1pukeIEln-rjPnfQS2Tl-CzoYnlGJkZJXAK54EeAw0K0eUqlZSK8SrzYl1MC419pYiVIMqkYTeVex7tV8w6YBF-u8JC-dD2sz8OfcYA-cKQemlh5QNIPKvuquWpZh13xE9qaLM4PmnRPzWKIslqVmSQPMyEAOVSnH4-iG71JG8Q_-68wVa3XfFE8UdNawI05AHM6lTdo6H8dIrPA03aYP21ulOFoN2_qmJZOvp0K2dS38YxVmSWdwXN0nS_mo-O7Qd82xGpswJmJ9DL9gN3u1mb9kvxDDll5aDoDbCj3NWZmLvgQia6mYcyWom0FbPqhgbLB3nfr5fAd5BUl_lZLRp9-MLD2-nnr3Bdfv1GgzLpkLdYBPjIrgvmvsOG_Xsk1d5a-GiRF-IUx_mX3OGmqnaG7s6dmnSMn8o3xmXZqqXenxTviG5Ume_5Uo9hX6ATfMtu7MUzC2XECT0j8DihqURitPHVlPeym_pYv0k-DpGlsYshdjEWGofuCQe86xJy30hWyg1jra15gVXikjvMA8BHpY4LHxIQSmV5h1u89T87itvJIDcpq5-jTYXjXACmqm1LWQAx_NOYcMhjIAIy3q8-qtHlcA2-vXF402L9L1IXf8A782P2f5-X3dKF26kDBG7Y_tjH-lG3tLRQWcga0m3jvd2QDdmkx9ZuqRw4ShieXTKwRDmwBKwgZfWwag-XsQDkAX9qIcyIaF_dh9mdMocWr5ORGd7mB-W5JHu2pIfvvFKarnUHGgECQRB0y60frNfMD_Li53LY1jBNpPaSA9nv43g5CvEjxKfOL0hCa1EhokfVDkmfqj0oGkjac4DYnX1Os3WKZIZY4wgYZPhOYk6nAe7BmRY4FeINyExN69CXXaKmaWT_ZRPQ8preeED5UljLUJ9MPyuwEvpFUsjBbOiYF4ulD4R-PtWagVyDqEtMhQP8cx3VBGK6Yo_FxvHEsiwNFZkYRNZmaeQ_o9meH-7QJ6ybRAnMeIvkQ6MxSw2owpfIhgFc8TzNHad7fq2GktqFI4o34d6DRuZi19C0oaqFG5YEr-xARJ0H75J2nJBz4Mr8cGw_gNvigZPMjLSmmeF6hnZbBwhi7tqeAdbjrYIVGHmTYW3oVWFQVh4PSNdnnEK1SZWpS9M0f08pJzh9GXaP_8nJjyMViAMxKegMizub2-IZNaV13VlJpp1Avu5b7P9ojwwg",
  "id": "rs_08cdd43b96952e25016ab41bb30f8c87d09a8c705ac835dc61",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The white plush is low within the tray, with no sign that the gripper is pushing hard into the floor. I’ll open the jaws to leave it inside the safe.\"}",
  "call_id": "call_PtrLyYgB9ZAzE2I7qk4rGzIh",
  "id": "fc_08cdd43b96952e25016ab41bb34af487d0b55a487e3460433d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PtrLyYgB9ZAzE2I7qk4rGzIh",
  "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]: [-0.8307, 2.0647, 1.3655, -0.3515, -0.5911, -0.6678, 0.9953, -0.0212, 0.8165, 0.6125, -0.6762, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3983 left_y=-0.2849 left_z=0.0447 left_yaw=0.029 left_pitch=-0.2338 left_roll=0.0886 left_gripper=0.9953 right_x=0.2486 right_y=0.0018 right_z=0.1235 right_yaw=-0.0006 right_pitch=-0.2925 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -9.5248, 5.6274, 1.2234, -0.3053, 0.022, -0.1441, -0.0342, -1.1419, 6.8991, 1.5751, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9f6aa188491cb7ee1513c1e1351b545956fde406c24fa9acad42f63356ee3e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c607e61693e7f7912278012a7137b9d1776525fad5b70473c138abb979e87390",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e416bfcf29ac1866d29c79f79d1d2fa931d260394f6e9f5d5da5da64c7ced008",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 3.095 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8394, 1.8771, 1.6306, -0.7872, -0.5922, -0.6651, 0.2097, -0.0212, 0.8116, 0.6125, -0.6197, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3851 left_y=-0.2761 left_z=0.1761 left_yaw=0.0164 left_pitch=-0.222 left_roll=0.0779 left_gripper=0.2097 right_x=0.259 right_y=0.0016 right_z=0.1338 right_yaw=-0.0008 right_pitch=-0.2311 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -9.7299, 8.8821, 1.0965, -0.5836, 0.1099, 0.2857, -0.1299, -1.4017, 6.8171, 1.6825, -0.0562, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8307, 2.0579, 1.3785, -0.3744, -0.5922, -0.6632, 0.2149, -0.0212, 0.8162, 0.6125, -0.6567, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3984 left_y=-0.2847 left_z=0.0498 left_yaw=0.0277 left_pitch=-0.2353 left_roll=0.0949 left_gripper=0.2149 right_x=0.2522 right_y=0.0017 right_z=0.1266 right_yaw=-0.0009 right_pitch=-0.2727 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -8.5402, 4.9026, 1.1893, -0.2466, -0.0171, 0.2222, -0.0205, -0.9778, 6.7897, 1.7509, -0.0464, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8307, 2.0647, 1.3655, -0.3515, -0.5911, -0.6678, 0.9953, -0.0212, 0.8165, 0.6125, -0.6762, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3983 left_y=-0.2849 left_z=0.0447 left_yaw=0.029 left_pitch=-0.2338 left_roll=0.0886 left_gripper=0.9953 right_x=0.2486 right_y=0.0018 right_z=0.1235 right_yaw=-0.0006 right_pitch=-0.2925 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -9.5248, 5.6274, 1.2234, -0.3053, 0.022, -0.1441, -0.0342, -1.1419, 6.8991, 1.5751, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9f6aa188491cb7ee1513c1e1351b545956fde406c24fa9acad42f63356ee3e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c607e61693e7f7912278012a7137b9d1776525fad5b70473c138abb979e87390",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e416bfcf29ac1866d29c79f79d1d2fa931d260394f6e9f5d5da5da64c7ced008",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBu4NTgXzZQloDZ9Pq7QGF9aTx1ear2R0mMZeyHqWK5UkGEUfTU7vjgUJApY_giVRtMVi6MJzFOuefPw4w6_U4NIbqrTyrcHxOvo19L6fLrJObPVw6eXp2DGwoBQ_pd5-XhM6xlW5efzP60IZqH6n0KjQizO_imCU4r6tnXJPSdHX70a7rQ_vWgaMhIjs4UjViImQBrggTU2akqGNeIKPMgDKnAp216dMSr-YY_bb4R2uCwdM_7M9nf_u8PibBH2k3shwYKZwmejRBx7fMs64Nvao0EjZQituLUsj3xK6KZTk6hKQhfDXPIHKuTHFA9kcmcuWfRsIAgzQJePCZXgJe5T_f0m7NLNR84JQ_dMF3Es1OXEHg3zDRA2Sg0dB3igozKduwR7VRVAUFqUqfRIH2SmcKuU9a5ipZ5GSJnClgL2gSr8o3tBcQlqN1PbUkmpz3lVuzbp4SUWPUYQKmiEF2p38g83ObbxVDG-K-zkfy5B9R8Fyst7tJOmTITITRYOF_LeWkEEGKjL5TdX-5QaQBf7hCZnnPJGj_2lib5-lGXUd5WZzV87f08VrJmSxKnewIkmqSYNyiaIzUMKuIALDRhQNIYHkXxAV87R42tJ_pdjACbU1Uc4ynVs-qzWkePLu6_Ejb8ilGrB7ZIhIArwBs1M0iVOkfBx6Ea5UfMFjYlYny-_jqy9AEuR6kvSX_sMCDguofDLYZonb6R3GmrxM2qbTD3I2zqQAdRd_34MFrO57oWCqj9IiUczh-gAI6lUbrCa-N_4FM29Y05T8ivrIFgkuheTHfK4PutBu3yuQw76ZFIKSb6MGNseXt2lBDT6JffS9p73zyNPkRIY6Z3yhDpcoq9AhOdPgkacg_kwQFXW35ZnEJ6AqK0GF0UXDSMIj_US7hag2gSQMt8y-1IcXsMzK3kKi5eMFURBaK9iFyjbMxSDnIHXzoRs7DM7bKy82RUVkPIfcsjq_it5ShiPCyHFCKrAh-a6o04EOupnXzkOnunyIJzpgCDHbEti_0SF-WvUmS4-cI7uW9lW4NRjIXRVDA_5Z884qHijmq7sc15GdSeqorlCri6B42MdVwSCPIJFTzp0GrCX2xkf8FK-wPhx0QIZ1X07waPMZqphTq-ku0fhR5mYevFEJ4A-tNXwGf8D9gSj5J0MTJGjFxtepOByuaPpkYzVWOKlfMYPkkP_zI8UDQ-oPFOikVOu_CbyIs8oD0R_uvgZb6OwVZPkvNmKt2M9_uuA4yb9wTutip_f6cn92lNsMi6hOl4V0Yz-sPkn-Us-daHJmntIhwjeBUs49EGDUF85Ic_zOtaCqOKCF6h4fqvVBC87iAR6J4PpNjHrpsgg2SB-2Lii6kR2ScRI2evt8vSC6bW0nAhVn4a9IUyGS1g9rR2QM-nMQJgYoKf7g4d3nouc7X4-8JBSCIHwqIyDH6n0Fyk7T0k_x479yJgZ88DU9NlD-AOzFVjjCFb9vpFVQBrxejkzBqIUG82LW_DSk1KtTT9-3cLGB8GQoXFerZ0Z_WaX_6w23WT9i3SRBwLT-KalsdeNlhZ_lFoFc8SHXM4-VkQLXG4ZdlBw5v8pn8EM7vN3CXMN2JWWV7f11Qu8yvMdL_0mNiZv581Jlau0Brsrtgujj_tDNIE_v5m0M41ESyi-YOwfbhVDqui3-ywBXErnTfELA6-ff_WO5wvOCGuhvE5Ehm_1POFRIvCEgeEEm2F1ngFMvy1UzeiNMCCtUc_5kpszhPBZtM_yu9wlDsPZotFnn739PdmhdAy-JuJxGW02JTLDa8p2EVP356qrzJm-nfxsqSv4E79sDP9bAKe96d7XvjB-OsA7qKGxURbPyzopYxJtweclie5oy9ceCJzZhQ00GohEZfIhh5xd0pxkpNOPrcUdoM0wtoGzFK5jG-nfo1JlJqTUsOv9tkxKNcniJn29K64P7w9QTbEPx4zc2QIkmyxOwgEiuhUmuuYfaqslnX3nbT9L_VtWBJQlpdAYfijtMCfCmSOMg2o2kOhdAlzSF6ibHGEs7WOdmhPOCqT5nmov0EKens9eyvH9SN0TQtzewsBXXLWn9wPDt4i2Cy3U3KMfv4vE_Pirh4OdQRw-uRhqHSqjbMASeXTlO26kTeQkOfFwyrCfC_aP9QzvtsGo4FxEBawF9l7DKEG0bE7ZyhrcexzeuczjGuKL6zoGTBe2HZDdo0yjP1cEw1TYzTOYqvEy5_FwBVJqV8mhnyCZTtgvlDvtefUO",
  "id": "rs_08cdd43b96952e25016ab41bb5e16087d0aaf13fa75077fc26",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"The jaws are open over the white plush, which now sits on the red tray floor. I’ll lift the left arm straight out to clear the safe before reaching for the other objects.\"}",
  "call_id": "call_8CUfJONVu1WimWDbYxr2y0YY",
  "id": "fc_08cdd43b96952e25016ab41bb7e95487d0b58615cc3e3b2eb8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8CUfJONVu1WimWDbYxr2y0YY",
  "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]: [-0.8307, 1.9877, 1.7489, -0.8455, -0.588, -0.683, 0.9963, -0.0212, 0.8173, 0.6125, -0.6838, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3991 left_y=-0.2863 left_z=0.162 left_yaw=0.042 left_pitch=-0.2568 left_roll=0.1025 left_gripper=0.9963 right_x=0.2471 right_y=0.0018 right_z=0.1221 right_yaw=-0.0008 right_pitch=-0.3009 right_roll=0.0062 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -13.135, 8.9504, 1.2332, -0.3834, 0.1197, 0.0952, -0.1162, -0.8547, 6.8308, 1.4823, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ec2af7c579c88a5630f215ad59f0991445a0fa2022b0a02aa428d2a9198e0eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31419287211805098ff8322bb93aa24c8d69124ff3b0dc0c326672a7394772ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:718e6d50f79795dd7ba7cec4798572e714aad187d79dd20fa5842b2fed09cd47",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 3.129 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8307, 2.0293, 1.4315, -0.4664, -0.588, -0.6628, 0.2126, -0.0212, 0.812, 0.6125, -0.6357, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3976 left_y=-0.2848 left_z=0.0708 left_yaw=0.0268 left_pitch=-0.2448 left_roll=0.1008 left_gripper=0.2126 right_x=0.2561 right_y=0.0016 right_z=0.131 right_yaw=-0.0008 right_pitch=-0.2475 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -10.1812, 5.8462, 1.2674, -0.2857, 0.0659, 0.2906, -0.1299, -1.1419, 6.9265, 1.6044, -0.0415, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8307, 2.0647, 1.3655, -0.3515, -0.5911, -0.6678, 0.9953, -0.0212, 0.8165, 0.6125, -0.6762, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3983 left_y=-0.2849 left_z=0.0447 left_yaw=0.029 left_pitch=-0.2338 left_roll=0.0886 left_gripper=0.9953 right_x=0.2486 right_y=0.0018 right_z=0.1235 right_yaw=-0.0006 right_pitch=-0.2925 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -9.5248, 5.6274, 1.2234, -0.3053, 0.022, -0.1441, -0.0342, -1.1419, 6.8991, 1.5751, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8307, 1.9877, 1.7489, -0.8455, -0.588, -0.683, 0.9963, -0.0212, 0.8173, 0.6125, -0.6838, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3991 left_y=-0.2863 left_z=0.162 left_yaw=0.042 left_pitch=-0.2568 left_roll=0.1025 left_gripper=0.9963 right_x=0.2471 right_y=0.0018 right_z=0.1221 right_yaw=-0.0008 right_pitch=-0.3009 right_roll=0.0062 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -13.135, 8.9504, 1.2332, -0.3834, 0.1197, 0.0952, -0.1162, -0.8547, 6.8308, 1.4823, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ec2af7c579c88a5630f215ad59f0991445a0fa2022b0a02aa428d2a9198e0eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31419287211805098ff8322bb93aa24c8d69124ff3b0dc0c326672a7394772ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:718e6d50f79795dd7ba7cec4798572e714aad187d79dd20fa5842b2fed09cd47",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBu8m1kcNV0GovkojxKaVjtYcWgLkPPvxwDtTKYeS0ZSFLePZlJPlM5Kn5AAsXbKbfDxY8Je2rIH-HhfA2EhB8i9PQOz2jnj2_DF2L2HRd-iOON1M5uMDcPon-qTzx1t2LBpcPDZzuzkssuJpAu0zaT0SRPbYWtRD3raVP5UhnaWaVSNNdH5zdZCYF7kGRiezgbEdo5IT5f7_kgPMuk6z78XhIvgeJJ5AIKZwvQvX2LLSazEGTeeIKbwEK46cmtESo_8omL811JCPpLv3vFeGTuwIupvD6brs1MeI-0AlWbJ9t8zEsO-wgDMKhnmVS9Nde1QPzOko2iL0cO6Q5eqIaVQiqeswBHPHA4APQGUayVmbDnE0mT0_CxQGcgnWfd_rfIQix1ypfu98C8v7O5LQkXART3fNlcLP3V4t5VpXRS3GIeG69NPJdsBcoKxRd8oztsLBUf2EzvbKygj8IywykKLHCEtX9PI1qRkHNifIwZwgvh_8Qnc0jpKfw_oYnuuZV4OCxEoS_t_W1wzLqlQba8LV_2a-r17Kz292-na4QzyVJCQqZqAnR8u1tEVPTslOKdgdbqHp5x_W349bdedJEJybDWFZqAIXfrPfroUE7jDtQvoKhqPc8ackLxdp4PEub_NZBaxCoysJmoMHOrJevw6fDqhct-Rgl38sxAmR9HpiTxYwGVqLCqi8ykCT1iJUROKQUi0Mo78DlD2zs5nowI4popcG0Nl5dDH2CXPt_lG2mi3ucqBsWn7C3T7fp1iBmJenFa6hCC4skNodj67nvULTb0lveQzENhft_NBMkZVhfTskPnv11vuFKKT8nrMwzNhPMxj-hheT8u4Ssa9NLjNURrYmD5hUL5Xf2CryqsRNEOnaVQ4rTxHB4cIaf5I3Y8L2UOVmv3KgGMkgW4UBCusK46VkHYFF777LhBtPAb1NmmsHntIX8VajblAWLEG6BrEyAO9dqY48F4V8Kjk8-wJtdRLEcYomwhj5JaqdxxnZn2Gjez2t5fZIrs8N1lKA6fUrcGR21FufQY7U2cxVe7odqcCVpQituqpQgbKRPP9vSQ2esfCY33BiTzNlExUfb793BhF-x_ZE1h3oMPzJ34l56cHorVOdEcSagySzdFp14PnIoN6XIZ_b4z6njXPgqUpK6trJlyEl9RvZwfsfRyoPZza_O6IW52N1v3sK2OsUQTdsM9XR_XcSXAfdX4E9NmBB74eNnJVl0tLpqv_kCpvYJd5-UeS9PsZqrl8BRpWttgZhxJW0zj_WiQua-Drrel4uIVA5BMgQqUyX_-guQAp82jkjOyyyMms7faI7KF6eIuU0H9bURhfyvSOzXwfWg7kuXEf2omBAbe-JSQC5uy-BAaM-TD8Hr09YA_s-fXnEDWFfBO3YxtGChMqkkbUNc503YxaElUKS12fAkVrXFf0ofVX8hdvaZH_TS97_ollIdo0GPsvCziQXUhrWEGYYskKOZE3gdWVKsHu2msclSMLP-3zh8TaErQKd7HeeDl7UNBkoACWJy1j4C_Rty656f22_Vj2T7GLN3cxORPwInxV_FWNbuCJhQ297LHw74OrytWERT2gxeqGpmRttXbeHDi6on7VFPIhz-dHUYHQp11MAPQmc8g0y0y-lTxwAEvtGl72FxsSOI5kkwZqsM9yK-49Qjoz6SUwel6mGvxqIlcx2nq3nINkeZKHkODW7tGJSEcmZMM3WcYrk5I0tBUEer5Tj_vZ-RDgvlrwro7pGkR0zxlxO2ujaO2pEyCaimIL7kAswVscez4VTMU60h5x64dg6BI7T-9lDJvrp5Q48vienGTvh6jAFJv0Wxts8VMxan9P2ZRqJarl5_OuTOBioau6vouX8e35OcDoMyBK4bjXM0LMk-v4kg_Oghv9_--5aKekSClHIkxi5bdHwW8Mr27XgAcRJPTN1JsK7hOScKtZqbkG1Gd9lFIt3e5iaA1r8nmFVuWkz9_2yKOXtoY4YmLy",
  "id": "rs_08cdd43b96952e25016ab41bba70bc87d0bba7ad35b3e8aa8c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.19},\"note\":\"The white plush remains in the safe as the left gripper rises clear. I’ll park that arm on its own side so it does not block the safe or the next grasp.\"}",
  "call_id": "call_uUH8Zc7oaElxGLjO2pf6O28s",
  "id": "fc_08cdd43b96952e25016ab41bbbcae887d0b27975fda5f0712b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uUH8Zc7oaElxGLjO2pf6O28s",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1345, 1.0138, 0.9142, -0.7509, -0.2089, -0.112, 0.9965, -0.0212, 0.8219, 0.6125, -0.7021, -0.0193, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0009 left_z=0.189 left_yaw=0.0933 left_pitch=-0.2561 left_roll=0.0982 left_gripper=0.9965 right_x=0.2436 right_y=0.0018 right_z=0.1183 right_yaw=-0.0009 right_pitch=-0.3238 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -3.1932, 6.4342, 1.5116, 0.0317, 0.0952, 0.0073, -0.0615, -1.4974, 6.8991, 1.5263, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:300f27cd6b2ab6475d34336f79ad08663a891e7228fc5ab27ad91b0f0d876e5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eccd6d7186f9bee49f6ad326fc3ec27b60a2f580c89ad10bb97d6439ff489b5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7727fbb6769b2376270b7983008908b4ec5c9e3fcf0cba1ddb267b45e3639ddc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 5.254 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8307, 2.0579, 1.3785, -0.3744, -0.5922, -0.6632, 0.2149, -0.0212, 0.8162, 0.6125, -0.6567, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3984 left_y=-0.2847 left_z=0.0498 left_yaw=0.0277 left_pitch=-0.2353 left_roll=0.0949 left_gripper=0.2149 right_x=0.2522 right_y=0.0017 right_z=0.1266 right_yaw=-0.0009 right_pitch=-0.2727 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -8.5402, 4.9026, 1.1893, -0.2466, -0.0171, 0.2222, -0.0205, -0.9778, 6.7897, 1.7509, -0.0464, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8307, 1.9877, 1.7489, -0.8455, -0.588, -0.683, 0.9963, -0.0212, 0.8173, 0.6125, -0.6838, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3991 left_y=-0.2863 left_z=0.162 left_yaw=0.042 left_pitch=-0.2568 left_roll=0.1025 left_gripper=0.9963 right_x=0.2471 right_y=0.0018 right_z=0.1221 right_yaw=-0.0008 right_pitch=-0.3009 right_roll=0.0062 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -13.135, 8.9504, 1.2332, -0.3834, 0.1197, 0.0952, -0.1162, -0.8547, 6.8308, 1.4823, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1345, 1.0138, 0.9142, -0.7509, -0.2089, -0.112, 0.9965, -0.0212, 0.8219, 0.6125, -0.7021, -0.0193, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0009 left_z=0.189 left_yaw=0.0933 left_pitch=-0.2561 left_roll=0.0982 left_gripper=0.9965 right_x=0.2436 right_y=0.0018 right_z=0.1183 right_yaw=-0.0009 right_pitch=-0.3238 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -3.1932, 6.4342, 1.5116, 0.0317, 0.0952, 0.0073, -0.0615, -1.4974, 6.8991, 1.5263, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:300f27cd6b2ab6475d34336f79ad08663a891e7228fc5ab27ad91b0f0d876e5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eccd6d7186f9bee49f6ad326fc3ec27b60a2f580c89ad10bb97d6439ff489b5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7727fbb6769b2376270b7983008908b4ec5c9e3fcf0cba1ddb267b45e3639ddc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBvCXmoluZo8HKB1UiqreIcpJVT_5HVO6TyOLIwbMdxECHDfYRzMq07zEZEBXFG-w4-W3zf46xfssApVqVdcizE99YVMyxDtO7e4dQT24LbhKfTBRYfrj0d0cwDMqYwrL8-fJ37RUkhlh04H_GkEjgyVjbRY7Jk0JkYuUcdttvYEAMIVeFtyfiVBqaEzo1YRufdXmPotRWHsNgDulZS4hMQ6wVB0LPodg9V32tVPpYgQDhtu5JJkQsJByfDlLTXtFbIs-C4GzXZWNEeRbESn5vP1D7PliZ3ITvoVeGtbi_HRQMQ2NPqgkqAvSRAQ_0aOYJ20HLLyIKkyCxUnth4Bq9IqlfvpOt7vmqHNuVh-ZKiPHg3JKefgrIKxJbtNKi2JOTQsQ9zFUHrmasaV4ztCX2EkAqKOwyBeu3t35KqJoVhjrS3JcaQiAXIXVKWVAeRzBmtGUFmyIT6ndOJyVFm8yXZEwTHaTkinr2TOFKIGas8zKTy0b6jMKT2UmgAUKyJdYZKjHnEAtDbZdMh8GiHCN_Z54_GsQItMkfqDqyzCiDp5UOa3ugQ_-RUb47NpB9CWkb0I2LFnjTjlrlJN15s3UuD30ZJOLKxLknH3DQEptnQ-U9k1lwBs53Ns1CLEj0DMXexpbgPpIyN0Rdq4CuWBf0NT38UsrhCacfcWtJuJf1wnfWjND-QCvhqk1kVM_1vUddONr7k7fIFs91LiRmWrLL1LlgJtYQb6hiww7bTLI81Sq2yu9-CQB7txjcgzMjFXncVeIxXAePmqdtWNt-VJ0WjB3rovNrLMq2tpsu-E79d1KO5S5ahXnv2OzH0WU7sNflWjG1xfiJGYb21QFpW1FoYpyVlHs3_thtZ9e5NGUJ_lHfBZ7fnJO1wUiTdMcing83VIqZ-Sreh69fSNEtYnxLnVtpzbK1u2y46kLWUSjwz_xv9t7ajSMfkq-wGcPQycD-IERm4g9HhQIPv50czGEPx6m_zv4vKsMsry3M8c5kV1cg1ko6WskqHTOViJ7yCyM1T3zXnurBIhX3ih9MHGT9_oXhUm-hEavVhdDHEpAOHusNfM1xAcwt_sYZQCsoziZpg8DauQgc-EmjZ_JMlY2zS-u6NTxJ7r9Q4NbXdtJNLLGglDU5qPFjkvFn4hRklKEuSLeek0LghgjlBlHICSyLuXz6a93i5JwqmGhukf8b_U_BwWQ54gQvXgTMw-KO_oOp81yL6WHLtYFm_-ORPg4H6S1dtbg3NCLJB7ZuyCVoiyvvNi80YH-7YqFWGvpFwb2IZb34_GUwYUEmJSsqvC_nULq1ZrzETV_Wyq7RKE_MIwLzz2B19N727pPog_q3jsIxVtdiVxBE4cpvEi9NL4kHZjndVvcA2FQDOVtP1DqVJbGnTavrYp_WOs8ARBthayQaDKS3UvajcN_frJR2vY1iZcO_UKUHX64c-cwIW406O717syI-knC7LtFTYfnN-SRzRE1D3KFHCbBmTSnlEmKt0gQYnnyb2Wb8NnY9kxzALNck0KXJUTVQonVK0yHKckIya-GwRoHxjrdBJISXhxL6Q-pE85uJSz8etsXW1yp8mdTv35WkREtOCvCIawYe6r_lmxmjT35oWzMRK4Aa9aype9mZgBiWjzs4p6APYPAFXt7miBSBBEhJ790pAY3cmoa9XepEATGm9jXZfdGXksEBoJCRmdA0QF9ZN86kELhs17MA2-hnOGH8LybYgVE9MhNch5pDMRagMFGXv65bcB8MJPhYOZ39iyk4jVMk_uuTNxdgaVRDmdCEi_k3CjoOaEnf7q_5PV2GSegPu0ZLJMfhXynpeyTOnveYUNfRtFy7v6dqoAUuV0KsFPVriBRgoqPKZF5AFAtIhAaHu4xffePtH-uA==",
  "id": "rs_08cdd43b96952e25016ab41bc0364087d0bdb5703513629bca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.25,\"right_z\":0.15},\"note\":\"The white plush is visible inside the safe near its front edge. The brown plush is still on the table in front of it, so I’ll bring the right gripper above the brown plush.\"}",
  "call_id": "call_iBDBRDceNnGrPUUqVlRZALbM",
  "id": "fc_08cdd43b96952e25016ab41bc17a5087d08bede2c3d5ebd271",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iBDBRDceNnGrPUUqVlRZALbM",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9096, -0.7647, -0.1989, -0.1131, 0.9965, 0.8055, 1.6882, 1.3331, -0.7612, 0.4286, 0.6529, 0.9996]\nstate[eef_state]: left_x=0.2901 left_y=0.0003 left_z=0.1843 left_yaw=0.0889 left_pitch=-0.277 left_roll=0.0943 left_gripper=0.9965 right_x=0.3294 right_y=0.2421 right_z=0.138 right_yaw=0.0229 right_pitch=-0.3693 right_roll=-0.0298 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -2.6325, 7.0359, 1.5409, -0.1734, -0.0513, -0.0122, 0.1573, -7.9385, 8.2667, 1.1453, 0.3297, 0.1197, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a439578fae14e3d19a02fc39907a3c4baf106c54033465e1f7b22d67ad51e01e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:162a0e6a9797071f90225f5de6d705eaa54cc19199bd163af2246d64b3799d54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11af8bd8c948d6daf1d5f54517033ac165ef1f4796916d511967dbdbeaaabef8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 2.568 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8307, 2.0647, 1.3655, -0.3515, -0.5911, -0.6678, 0.9953, -0.0212, 0.8165, 0.6125, -0.6762, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3983 left_y=-0.2849 left_z=0.0447 left_yaw=0.029 left_pitch=-0.2338 left_roll=0.0886 left_gripper=0.9953 right_x=0.2486 right_y=0.0018 right_z=0.1235 right_yaw=-0.0006 right_pitch=-0.2925 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -9.5248, 5.6274, 1.2234, -0.3053, 0.022, -0.1441, -0.0342, -1.1419, 6.8991, 1.5751, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1345, 1.0138, 0.9142, -0.7509, -0.2089, -0.112, 0.9965, -0.0212, 0.8219, 0.6125, -0.7021, -0.0193, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0009 left_z=0.189 left_yaw=0.0933 left_pitch=-0.2561 left_roll=0.0982 left_gripper=0.9965 right_x=0.2436 right_y=0.0018 right_z=0.1183 right_yaw=-0.0009 right_pitch=-0.3238 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -3.1932, 6.4342, 1.5116, 0.0317, 0.0952, 0.0073, -0.0615, -1.4974, 6.8991, 1.5263, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9096, -0.7647, -0.1989, -0.1131, 0.9965, 0.8055, 1.6882, 1.3331, -0.7612, 0.4286, 0.6529, 0.9996]\nstate[eef_state]: left_x=0.2901 left_y=0.0003 left_z=0.1843 left_yaw=0.0889 left_pitch=-0.277 left_roll=0.0943 left_gripper=0.9965 right_x=0.3294 right_y=0.2421 right_z=0.138 right_yaw=0.0229 right_pitch=-0.3693 right_roll=-0.0298 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -2.6325, 7.0359, 1.5409, -0.1734, -0.0513, -0.0122, 0.1573, -7.9385, 8.2667, 1.1453, 0.3297, 0.1197, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a439578fae14e3d19a02fc39907a3c4baf106c54033465e1f7b22d67ad51e01e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:162a0e6a9797071f90225f5de6d705eaa54cc19199bd163af2246d64b3799d54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11af8bd8c948d6daf1d5f54517033ac165ef1f4796916d511967dbdbeaaabef8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBvJaNB42c7vSk2dbdtb0WYGxnRJ7k2BuZNvtUz2QKOCIvMKPj8aPk4XTAAAzB2xvbEEILzqXyq77FWd9EQN_Wsy-oFly2ONlP8LElATOEIWNW0xxNw56AMJ68__DTsBTZfgueL9oyxAxD9Ti9jFsLCVNm7ThuNKxTrEu8xQNhlCVMebCmMogIjrvxyxVeLfz0ROx_L3iSghFbHYeJ0ERYDVaGktj5-2ehbrdaABZ7Lq5dC27850zs4iJPDyvSOk09aJKOufaj6Ot0k995fpEc-Fb8esxIwa29iGNBZLUXkURuaIE7JIbCHWOOGcCT1bL52ib4mnKol4hCeKhK0aA9YY6ZXuHALFDGlk7K7P0UFpIF2lyLUQ0uwxST-ESCou2RSOT7EIUKSDJR16tNNTyu2LWA_iRxRRGDCudHYr8umFCvGNygqF1skUnKdIHBBU-gk-QfbsBG5mAiZWh1nkwYN1j5-Yf_AXk-btb_lCVm3Pnyd_j7Vt9n_CK5B6CynurYcReK-XdRmCbXoqqZJw1AOpaUf9aExngrXe910-uh4thGgOFJA1HsQyTzrHcbHLgVT86qbkA1WaupsQGwj8_ngNrv2iPdDAZb9xtg5qtxgp27mXHfUSZg5uCW6jTTNCdZh-8u8xduQxL7glk4UlxqnblcRYyxgfHAx0LPQEPgBPGqGu6DjJGCrGfPvCnksVZKr4-qXJaSdgtfflx8QbOheiMWw4sYdsffWRiR3zBxoEClSw8x4lRfXWMVYfcHXKAwguyLK8fcGrOUvI1wr7ZHwmYBcRwiSRCDOYK1JByuY06-rG1OLoFghWQT1DLr6u-cppDFKXPpZhcvHgK2BMB_rJQ_OKDwRDeWo9bgdQDX_NcCl8SoAORo-5zHV_bgnBHJvOgkfCB1R1MwFmnZEC6KcoPndb7UYxqXJnLFU_mphp9Yh8-gkeX-_DOOb70chHq-4wlK5cVtH1iqvuNFpSVKuaWe2ZMUiCBl4WIsrr_xjfrZXsViG6Yc5eoPDNpem5rF_X64L8JCdvInVe8PTf0wEgarid0sMCF0hn7brLj_9_Vy2N4qcvQZLOoTjbYnN9fqi-84ceGE5uw1rxvTBalLeIzGCS0aJS8JqClMAVP6PfA4sVZdaIocIB2Sai4iDKE6vqWSk28DlASkcvAMMNYBW7v9bmIwFG3vzItdbc65scr0HX2sJ8jpwR8YeiWX0Lb2RQQ-xFzCN1clFmAP7bCC76ResIDT_6o71QLkXtotKjGgSp69t4D0NtF_YUyOdXqZzonApZWhWm-XbOZznsuKlWQPRRZOJ2QZpTuOpv8I5qjcnk3XoUyzYj8frrIMxulqiQ-aEXJmbO_J40GoK06QBginntnRL5o1HDPWTaVCjYkBt_iDjAZb6vyu9B1jAxiT6qsGYVvykHNYdKys9eW-5mj5k0fkEqEzjk8YEflVSlI_3qzeN541u3Gb5HWsdgh7lKp4JrHKl7iI91nLSy7cI7Ojar_11R9YBYPxFLpjq6GxTImvwhb7tPPzeE-tpUXQJLWXepZR4aUqiEVpiPB4gsYaEekY-XyOE2YxKLR3XCVZD32Rx_4rEpxtMQmVV5CSCk-NhPPZC9z44D8iUE6UjyVhGB-qpkyLg8jH6sJPEOP1hr5JJoZyZr79ySYOGSm8CotqvdwMZ0ZmtXG-gq9haoPCvNuBJkDpnZOMxAMtbEuIp6IFMX91o0lXUsW8IT5sAAM64Q5YTuB590UyWjBtwgwAPBGmi9t37CgbqFCtyTtUFitk2CliY-8iR-4m8r9sFPZ3mLZzV-h7o9FzICKNXW_4FpSxxnw1N_uAPQMAhOdcm2-MSkuLaBDR9AO0IWTN2VVk5LIDFoYH-pkGPtY1Fx8SJi1ID1EuPjnC9Xumhyxw-QaeTbRVEtXZehCOa5_TYghZwTzYprwT_fZxEnSJdZUeABsPiGYAm5CbCItod034EI4d4LhmzYEsoWI0otZQG1RTzY5Wv0NAl7USiZTbb0e61o224yLmzYRMXufoLXPu8Ju-icE0_gnykUz14_GV6yTgP5zobe1TYr0lSSkBKfhYh2qLbU_XbcSiDMKPBGOO9-6UkRNPIDDoqvxzuoiwKgmTvpec-g9jSGi8rH08svGB7htUrWVADDihx8aKsBsO2ZBx4OE7VAaCFVjT8gLOTn9nFqqLqRXE9WK1kmmYUedvf3Alpn4kzo554CSf3p87nIeThwliUFZo4bmP-nk_J0vaHXou-YhIAYKmuC4bm58XJoC-HanHp-Gw_C8sizV0nr8lDq6R2SLG_ptx4CST2NmzTwFKpuY-l9vwqxVY-O5WYS1mOf2D2Lf3xLSm2v4DBqsB5hVNKT4J8jp9bi4WR8zRlBajZle11OuZu863kRgEGLsMOE41guL8MUuEJCWNX6GPDMQ7WUSuDZycBQ0nLOpEH4ziwnD4mkyJ5z-Y8E3oxqPcpcKXzLiF0MNCxxuS7fLeJrIpBfdIZDEGVCf3Azoi5tGszqEYAvO4N6SZTQrH9CtnwWGMbIkZeC3l6hFTlGA-eF3jQmaTcooHsyh8j16Fcqfe7CFpwvjiN9UgrwX5yeilFIyuE4Cf341hBRUGN4whrEmhi4odLJyjit4PAz0UO8_jNQJHqjLl-8-ri5EcJ_U4l0vLaqUiNKXph9t_rnb40UEgt4mGnWT7fn6c0Nz3ftO7oS71Vs7lbxy3arH4ljk5qIeEF5AVZvT_AFulJ7wNTGaA0terxzz5KzF9b-eIyMeNPuiUWFr-UNi1qeMmATvhYOjz8TAB7bwwqFdYgahQIB7YJL-KB96oL-Tn5J5rHiLaV48ONvJwiDKI016U06GgSS0kk9GtkNTnjwl5vm5V8YhBib7l6kwPWQOEGSmlWFccxevfnscTag_uSXuLJgfaJuYXYL7pp65TFYx8AAy7eYaD8Tt-cQ-kco-YYzC4A7A6rza1PLULFN15b813nCKYV3-Y4AtvMh9rTQBpCSPtElDISt8uzfkId4RND2qirnwPkEb-p33Ym9zscb_Ow3sR89JeNGH0x8nlIu9pP_9I7Vt9GP3-HfJg0-liwb",
  "id": "rs_08cdd43b96952e25016ab41bc5763487d09d2c05a669df29df",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.30,\"right_y\":0.24,\"right_z\":0.045},\"note\":\"The brown plush fills the bottom of the right wrist view and is centered under the open jaws, just in front of the safe. I’ll bring the fingertips back toward its middle and lower them to grasp its body.\"}",
  "call_id": "call_1X7gcQN8cyn4WQkLvLS00bTB",
  "id": "fc_08cdd43b96952e25016ab41bc8d40887d0982a585f27ceb714",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1X7gcQN8cyn4WQkLvLS00bTB",
  "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]: [-0.1322, 1.0153, 0.9096, -0.7673, -0.1986, -0.1131, 0.9965, 0.8639, 1.7092, 1.0019, -0.4885, 0.4335, 0.6949, 0.9996]\nstate[eef_state]: left_x=0.2896 left_y=0.0003 left_z=0.1839 left_yaw=0.0888 left_pitch=-0.2797 left_roll=0.0947 left_gripper=0.9965 right_x=0.2914 right_y=0.2324 right_z=0.0457 right_yaw=0.0288 right_pitch=-0.4198 right_roll=-0.0701 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -2.4684, 6.735, 1.409, -0.1392, -0.0415, -0.0073, 0.3487, -6.7897, 6.3248, 1.3407, 0.4127, 0.1587, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c9638b6f7218a659dd7328917d6f266949feb61dc5cb07882c58444a13a52d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cb2db2cefe3c804e4fdeb0efa4f088fb6953294c7fc6126158080d9da34e1e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49b827d24a1839102e058955a7b40bc00aff0f8603f2457fed96b37139d530df",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 4.325 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8307, 1.9877, 1.7489, -0.8455, -0.588, -0.683, 0.9963, -0.0212, 0.8173, 0.6125, -0.6838, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3991 left_y=-0.2863 left_z=0.162 left_yaw=0.042 left_pitch=-0.2568 left_roll=0.1025 left_gripper=0.9963 right_x=0.2471 right_y=0.0018 right_z=0.1221 right_yaw=-0.0008 right_pitch=-0.3009 right_roll=0.0062 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -13.135, 8.9504, 1.2332, -0.3834, 0.1197, 0.0952, -0.1162, -0.8547, 6.8308, 1.4823, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9096, -0.7647, -0.1989, -0.1131, 0.9965, 0.8055, 1.6882, 1.3331, -0.7612, 0.4286, 0.6529, 0.9996]\nstate[eef_state]: left_x=0.2901 left_y=0.0003 left_z=0.1843 left_yaw=0.0889 left_pitch=-0.277 left_roll=0.0943 left_gripper=0.9965 right_x=0.3294 right_y=0.2421 right_z=0.138 right_yaw=0.0229 right_pitch=-0.3693 right_roll=-0.0298 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -2.6325, 7.0359, 1.5409, -0.1734, -0.0513, -0.0122, 0.1573, -7.9385, 8.2667, 1.1453, 0.3297, 0.1197, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9096, -0.7673, -0.1986, -0.1131, 0.9965, 0.8639, 1.7092, 1.0019, -0.4885, 0.4335, 0.6949, 0.9996]\nstate[eef_state]: left_x=0.2896 left_y=0.0003 left_z=0.1839 left_yaw=0.0888 left_pitch=-0.2797 left_roll=0.0947 left_gripper=0.9965 right_x=0.2914 right_y=0.2324 right_z=0.0457 right_yaw=0.0288 right_pitch=-0.4198 right_roll=-0.0701 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -2.4684, 6.735, 1.409, -0.1392, -0.0415, -0.0073, 0.3487, -6.7897, 6.3248, 1.3407, 0.4127, 0.1587, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c9638b6f7218a659dd7328917d6f266949feb61dc5cb07882c58444a13a52d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cb2db2cefe3c804e4fdeb0efa4f088fb6953294c7fc6126158080d9da34e1e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49b827d24a1839102e058955a7b40bc00aff0f8603f2457fed96b37139d530df",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBvMjprJclQ97_-j3BobGIB6kF8w9cIYKohH_2uc1fGVEL_cWwoPNVr5yiSTDO-mBtsNAicv7DGHopOrJjmoaJ7xtt1vWSVMBd7_LZTDyL1ksgPv1wC9ZPGHNrWMR1qHRUt_kP4dmdU8VyrjJ6EHCpjQNU3bfOLGv3Qy7ssuSJfFNAo_6TBKZtCTOA_s8NhavrCi-zpGO1MlFNvhQmD8W2HOWmQ40P8ebLr7sgTewHisAmspTf6yNy3LUVJRq5WRa7NUeqvlTjGPOhKdjwZeD8vGQ7CQJFAKjdqlym56Ypj3npMM_9SZWSk-eYwEJXBVj_0jTi6Y1JvifOQ4KzLVRTmOo3k7TkR6ePo5YqleXVWGCXljfobp9_g6T6nRuhlu8Tnnnsrc_x1hD0vVcwZum8cD62xjercwZvDtBs9rRB1jb7CzvK_GrbrChEbm3xSjHrVtzxPbLbIgheWWayHP4aaNnpAG2Qb2ADZGk-aIojOxnGl_ysYurq453fJse89bADjLNSl23_zHtq4m-Eg05Z4V5QrW7Rhz_T10mcYEHdvOG9RQZ1a7NpjZCXRcnoa3GxHt9L4EmUDTuCyZL7HF4ayjDWLAntikox55rD1UJMWnxKQ7E_uBpskEI6Dlo11yT4c5cFsDmpqzY25jW2llGltjEg2Z3ylOaRPFeLDJshtsZ6N8m-ruVL3g1eWWH7RL7NO2FrkU3S_woWRydc160Iaiodh60w25kOCW-a3f_xWyjW1on8v7aA8jbOtFsCsCzXDclX_99g6A_HtWSL2jVktnBAsNVf4ErJn0j06Gnapcn_H32GJEOk5aqSuoNkVy_H7B8LNF9Nt-aGvV3DK-jLhqaxRNY2S9Nnfx_rNcwdfHNaAksag9h-MxqrybmVCkv5SAfgPd9wSzRIcIMc5E56krohAYamh_jNYOiDOCPvaNsViYfRCAnN7OUzUpXhmFXJx6NSIp1ZBbj3gLrgvFyxn9ahiYVN_qYiehQ3M2IOHGFWPQ69zYtIlmbdAqqyEgkTKbgVc9AXOpdGArwdjBIkp5-FlNcQgMP1NqBJs1rivwNYEHi6m5BhJyVK8gbJwD0u_mveUflCUvknGhSGObYTQiMKsXPMYfCut9Mmkj9jzY2Ws4y5sJxKV81nASFEpYuQ4Cph16Ebsrf1ErudusjwkulLYqjm0wF_fYE_rmcZCguuJB6VIGqRdi2_4VainU0PV7anOPPkRipWytJ5vDsX5805KF_J6k6vT4OHfv9UvF4yr3aUyNwZJ-fI0ln300zmvmk_DgMPND9JgMfaA6eOgM9s9sbIfOVRORdmDmv6Q1jquHUuFjHp049wcBg2a6zowL",
  "id": "rs_08cdd43b96952e25016ab41bcbb2b087d0877c5906bd4f8404",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right jaws are straddling the brown plush’s torso at table height, clear of the safe rim. I’ll close around the plush and check the settled jaw opening.\"}",
  "call_id": "call_PyWzzpjQZkXu8hJKKSDZ6rLB",
  "id": "fc_08cdd43b96952e25016ab41bcc1ea487d09163c4d140eb4465",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PyWzzpjQZkXu8hJKKSDZ6rLB",
  "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]: [-0.1322, 1.0153, 0.9092, -0.7708, -0.1986, -0.1135, 0.9965, 0.8646, 1.7264, 0.9833, -0.4953, 0.4263, 0.6888, 0.0117]\nstate[eef_state]: left_x=0.2889 left_y=0.0004 left_z=0.1832 left_yaw=0.0892 left_pitch=-0.2834 left_roll=0.0953 left_gripper=0.9965 right_x=0.2846 right_y=0.2267 right_z=0.0331 right_yaw=0.0231 right_pitch=-0.4537 right_roll=-0.1037 right_gripper=0.0117\nstate[joint_eff]: [-0.1709, -2.4547, 6.6803, 1.4481, -0.1392, -0.0708, -0.0073, -0.1983, -9.1829, 7.1316, 0.9548, 0.2857, 0.0562, 1.0525]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5302c0b0e8366485de4d766001f93e5c8c1f6b50b2a9930b064b9569124fd882",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98425c605bb0801f617a38ab3d258c95f6a932e08b2335fb39d45afee40af73e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0acdcee6eaae6c69146b492f6eb742bc2bedc30d96b32f8757a241da520ff1c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 2.456 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1345, 1.0138, 0.9142, -0.7509, -0.2089, -0.112, 0.9965, -0.0212, 0.8219, 0.6125, -0.7021, -0.0193, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0009 left_z=0.189 left_yaw=0.0933 left_pitch=-0.2561 left_roll=0.0982 left_gripper=0.9965 right_x=0.2436 right_y=0.0018 right_z=0.1183 right_yaw=-0.0009 right_pitch=-0.3238 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -3.1932, 6.4342, 1.5116, 0.0317, 0.0952, 0.0073, -0.0615, -1.4974, 6.8991, 1.5263, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9096, -0.7673, -0.1986, -0.1131, 0.9965, 0.8639, 1.7092, 1.0019, -0.4885, 0.4335, 0.6949, 0.9996]\nstate[eef_state]: left_x=0.2896 left_y=0.0003 left_z=0.1839 left_yaw=0.0888 left_pitch=-0.2797 left_roll=0.0947 left_gripper=0.9965 right_x=0.2914 right_y=0.2324 right_z=0.0457 right_yaw=0.0288 right_pitch=-0.4198 right_roll=-0.0701 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -2.4684, 6.735, 1.409, -0.1392, -0.0415, -0.0073, 0.3487, -6.7897, 6.3248, 1.3407, 0.4127, 0.1587, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7708, -0.1986, -0.1135, 0.9965, 0.8646, 1.7264, 0.9833, -0.4953, 0.4263, 0.6888, 0.0117]\nstate[eef_state]: left_x=0.2889 left_y=0.0004 left_z=0.1832 left_yaw=0.0892 left_pitch=-0.2834 left_roll=0.0953 left_gripper=0.9965 right_x=0.2846 right_y=0.2267 right_z=0.0331 right_yaw=0.0231 right_pitch=-0.4537 right_roll=-0.1037 right_gripper=0.0117\nstate[joint_eff]: [-0.1709, -2.4547, 6.6803, 1.4481, -0.1392, -0.0708, -0.0073, -0.1983, -9.1829, 7.1316, 0.9548, 0.2857, 0.0562, 1.0525]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5302c0b0e8366485de4d766001f93e5c8c1f6b50b2a9930b064b9569124fd882",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98425c605bb0801f617a38ab3d258c95f6a932e08b2335fb39d45afee40af73e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0acdcee6eaae6c69146b492f6eb742bc2bedc30d96b32f8757a241da520ff1c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBvRDsNHQzkeWqp7VFA8dGrmuD7CnVjuPqmRHii9UYLupP9VJf7SLcOJpfVItA7avZRpLjluH7ch1N0OwYsrQVzZRWxeIWh8KOZLP8x0GMscVmiI6_YALGrol6e-EzKepw-4L48u3oU-c0iWSGb8MIGal82k3JF3JisXZ0l8ycqDvKI_fGxlcybZJst-u28t40XK3F99aNK5WZ9ExQZmUy34SI99MgrAPT-ehccy7-7Se6Xca9gKG4QWVyEtZiEgu8x9k9qcHua1vWTW2twIjVC3taH169VjV4jpS2JPt8252e8mzyLdfhOGkgyVnn9CaJGuln1xwY9P_50j6iNwIBSajucgeI4_NGswS_ltn-VO-CCXfaDkvfmCl3ftJyxAq3Gwa7WpjIsAL2qHV2-abVeLGhZkSFzj0TngBBGuwVW7uoVA9b5R8WkHenT6U4Fg0oFW9zTLIo5WSFHNG2-uAeRpMa84RUiprxYwwEFNXbnzotfDk0lHInDTpwOuE48-4eGa5qw4-WyMlzRu2QT7UsBzKgwG6_xJ-KG9dWeazIAy04gEWk3gt_CHXwxG7i825bEuf7CLHAW0lxtOZ2FjzXECSBdW-kU2ia4YKQi1vG6mefcXhfscylLoAkntW23Sp05lRfDB1mqNgwtyRev4MtnSNbYzR5KMMDfMu7B1CR99CeWx-qCaMB6Mc6Fya3kZjZxmmZRcIcvRp29AYh8-HJ2dY8Bo9BPNML3Ewy2Too_efyW-fu5uIyNH3vSbrj_4bJhxDm5oW9pTxND5yPUdM4_E-O4v3q7CXmqo3oNl9lVTkbwtnBcB2cCXNADZy25iIRq05F0tEUe7i5uTcdNBDpTVvu1s12MvbEW_EUoLU4uaBpwytDex4OV6Iq_1NKsS3eAL72aAZEwxzlQeat-08z239lUHzBniI52D1QVygB12SVlGUuX0DYjphRFksGq1W2r5Oo3Cws8aAdZIvE_EON6e1Z2glQQsckydyjT3JymRAKSDO1urkZV8gLQjwe2OPJqu-XL9Th79nDDKJRpbNItW1MnBKdhUDHVoygZBJthITU5P71FXNxumZ_Y8i9PAASkZGyeKWX75iBd7afUetOHWSOQk047hE--slWHrZaa8Jv3flQROssvLIoLkclwlq630Vb4Z1BMCqSNNXy84_HGjmZHbLjr9T83HPN8ku3MSX4mR_IEFDpukbEE1cNdqZwGTm21wF65IcCc_sjhB3GSSHEn1Y5gbFJ-GSo2jTuU-9GKzhN07nDOaOe5taBjhsOrQsaTzuCLo55_sNBZtRVKaoqtkuWv5JTapQU1hTcPs_YA4KAfXhKdsEIPOHWH2s-2S86a1xtpCIczSgv6W6Bonoefo2CRGPVaPZjb-pQ2JYq2AoHhCkjpVhzVhKokkGSPqsjoLj7oxOY2xLCU2-Jr-pcjJCZ--T20CmswklQ81dsCrOyPoAe4bCQNKjUU92EWId0qgDfn9ld3tSfXubcXfXD_oXcc6iCYHGB5cPi1HIOBDuiYrembHYRnzFv5L7nnBwca1whNpjzxtUJWvpPnMbIBj2QLlvDZ3OIqkIeIgewUv4bOBR_ti5KCwu2aawhsL9BltNRclbuaBHLR8Fl0l8-eTgjuQHcGSZa25X99oAHH2HYvQIkTwzCQSDPfWfZizE8vCxvVKgb3HVSYzyq-eOVz92u-oYgU3zlg6dZtyZeudyQpoVY1GI9z6PYI6Damp7yj4XlYZer0Hjl8soulx1KFrhEB6tcbKZ4DeSCy4elFXvvPsBatKekP0GDOO6ljwVSJPaQFavDFzC3pwlAURctDtMz60obnXg_DGheIvpVbH-kAx2MBcT69j-TIwmIVL7_N9Xs94f_Fkx3D34WqE6BaXuwPbYr3pE9lwkmhaQhcDRzIxMTN6wZm1IvaP0eU_sJ8tln5fxNbiRYgXJOUBlXDMg1LaH5iyPYiSd8zrf-6q5Dn-u6mg1pg9fZ_9zNVa1Head8E79QguIHO0HIpWscdnc0_oAKTks45nQpg1A7oGC1oGB3gptLjMH4tnUXgSrqtZz0RZH7KkV4tN2UgnzA8mjCy7HixdaHqccOgYrbx8dtsFIxv86SgSKBFzeIXA4nQ7O_hkir2uSrWJqfUzDmzSwOaYRDP3qhHxbghynky9cXdv_aYYiihajfqQ22Nsbg1x2mbRC-HO4CfOqgIM9VM_QqHT-LGzzsDya_CKbFnE1ByQYuK16TBGRJWljra6aYMrgfrJmnD-H4xHEq8U8HaH-O0DYO08Yhlg2iHZxv0OdxXdkIO7661kuLsAjXkRBYv6H5jR_-UgCxGIjE_YulsWuZV6Xc0uCsdUOtoKb31Qs567RlsQB14veUZ-e3yq163Y8vfQyuMx10KDk4ggm7bHjaBR1RdKUs9yHS2-S53GRAS1dm23o2oNtZQeTTulflE_mXdJUbrelvWpU0kEufXixJY95O-N5MRRpwyNyQ7EwKaIFnaamRfaAtJmWcNh3SxcFkKAbfs08D47s9XG5MHzZOrWh6xFG4YkQ99n5SA2J72bYQqG4D0sb-ITeZ2I69rUpjzKdsG8wqlKFkQyTunHpTJy_2DosLLkuwFyfs2z5jmxUkSkj_9JZngMiDYJmLKeKOi-JHJ5l3eBElVHeT8XK3YXNKWUCTbxbwDVjo1LW7EtmEDwrl6VMFbsMjo9dvuV7UYH75br-zbtfOFZPRCKmMe7mgDhaXbcpIHGym2-QVNAKNZkCdswWf1LzObO7tbqXfOmt8a1MkH3vJonggBhyMp9eVF_Z7QpRCFCxmhihCSaNyAoJDew6Zll8XXP9-MKYux_SKu4-HmA0BIgaruyJF2xCrJmaw3VhY9IRD3bsy1l25FUBBUDWq4Hj2x9cODzFaoOIHbqfDfCpmNH21iXd_Jgr0-54xAhMKvXlro=",
  "id": "rs_08cdd43b96952e25016ab41bceb34887d09dc600df26b4f98e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.275,\"right_y\":0.263,\"right_z\":0.052},\"note\":\"The right gripper closed completely, so it missed the brown plush; the plush’s body is left of the jaws in the wrist view. I’ll reopen and shift left toward its torso, slightly back from the safe, for one corrected attempt.\"}",
  "call_id": "call_l074l3m5TC38ccyMitYyqcZc",
  "id": "fc_08cdd43b96952e25016ab41bd1254487d0b21c4612da4756d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_l074l3m5TC38ccyMitYyqcZc",
  "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]: [-0.1322, 1.0153, 0.9092, -0.7712, -0.1986, -0.1135, 0.9965, 0.9543, 1.7733, 1.1069, -0.6384, 0.4339, 0.7616, 0.9945]\nstate[eef_state]: left_x=0.2889 left_y=0.0004 left_z=0.1831 left_yaw=0.0893 left_pitch=-0.2838 left_roll=0.0954 left_gripper=0.9965 right_x=0.2677 right_y=0.2555 right_z=0.0442 right_yaw=0.0371 right_pitch=-0.4861 right_roll=-0.126 right_gripper=0.9945\nstate[joint_eff]: [-0.1573, -2.4274, 6.7761, 1.3846, -0.1441, -0.0464, -0.0073, 0.2667, -7.159, 8.4991, 0.8864, 0.4029, 0.1929, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6374e58f26d16cbdb3351cc0e3572bc713ab45d638c7b22002d55e233c476aeb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a410eab77577981c32776ce1e6b591d6e0db56e2f86fe953aae9937b35e2997c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f4f24c0dcceba13bb0cd84252bf34133d92173948895ac08d6240ca74765463",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 5.872 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9096, -0.7647, -0.1989, -0.1131, 0.9965, 0.8055, 1.6882, 1.3331, -0.7612, 0.4286, 0.6529, 0.9996]\nstate[eef_state]: left_x=0.2901 left_y=0.0003 left_z=0.1843 left_yaw=0.0889 left_pitch=-0.277 left_roll=0.0943 left_gripper=0.9965 right_x=0.3294 right_y=0.2421 right_z=0.138 right_yaw=0.0229 right_pitch=-0.3693 right_roll=-0.0298 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -2.6325, 7.0359, 1.5409, -0.1734, -0.0513, -0.0122, 0.1573, -7.9385, 8.2667, 1.1453, 0.3297, 0.1197, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7708, -0.1986, -0.1135, 0.9965, 0.8646, 1.7264, 0.9833, -0.4953, 0.4263, 0.6888, 0.0117]\nstate[eef_state]: left_x=0.2889 left_y=0.0004 left_z=0.1832 left_yaw=0.0892 left_pitch=-0.2834 left_roll=0.0953 left_gripper=0.9965 right_x=0.2846 right_y=0.2267 right_z=0.0331 right_yaw=0.0231 right_pitch=-0.4537 right_roll=-0.1037 right_gripper=0.0117\nstate[joint_eff]: [-0.1709, -2.4547, 6.6803, 1.4481, -0.1392, -0.0708, -0.0073, -0.1983, -9.1829, 7.1316, 0.9548, 0.2857, 0.0562, 1.0525]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7712, -0.1986, -0.1135, 0.9965, 0.9543, 1.7733, 1.1069, -0.6384, 0.4339, 0.7616, 0.9945]\nstate[eef_state]: left_x=0.2889 left_y=0.0004 left_z=0.1831 left_yaw=0.0893 left_pitch=-0.2838 left_roll=0.0954 left_gripper=0.9965 right_x=0.2677 right_y=0.2555 right_z=0.0442 right_yaw=0.0371 right_pitch=-0.4861 right_roll=-0.126 right_gripper=0.9945\nstate[joint_eff]: [-0.1573, -2.4274, 6.7761, 1.3846, -0.1441, -0.0464, -0.0073, 0.2667, -7.159, 8.4991, 0.8864, 0.4029, 0.1929, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6374e58f26d16cbdb3351cc0e3572bc713ab45d638c7b22002d55e233c476aeb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a410eab77577981c32776ce1e6b591d6e0db56e2f86fe953aae9937b35e2997c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f4f24c0dcceba13bb0cd84252bf34133d92173948895ac08d6240ca74765463",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBvVC4YsB25YrFp5P5WWQWMn1G3ub6J32eFa3sdciP8ZdEEcuTY4aLgEvD1UWlh8vfhkyJdIhV8Tx87P2Z2PSlINT6x7IwJa29ei-_NutUXaOAb4VUVeENUyA57PGuPCL5EWnArEXat5oZ5Xo8OyE7TONz_uB5XdA5t-YH8Qhr87XmVCkXS3jfjVZaKleB76qK0ywJwRsQRQJVXgQnWlvIUTXxzJq2tpEb0E5T6rjnBDtsqTWS15NFfMAeexAdYr0NJk_dzj60R-Ot7edwEIvLqLRnxwK_uUOwxdyK1101jIqEo9Utad9gk6YbHMsER-WJ6DhI8wZql-M0nLJOloUf940PURAss1oEQKJ__qggdk9NUUs98usXyKcFyW6vuP8ZxF3rvAdHu5GbOJc8NxfZbKukag7EmIDAzMoXYksLGB55yDz4JDp5KTr93WiEtLqMfVuiCMfPOVGr1uUfBUO2Dmw92qwkJs4iPKxRux2fJc-yjEghlfovHbdA2gkits52NiR48yzYaczeJ1ei5HZNbcFm7l9OB98XUQUD76QEEymh64YFAxZPEmiHnFFBOZAzATe367v7kMMZ3xTESHG73V5Bp1ETwe_wcK1bShHw7YGiPmIsyrRDpN53e6hDKPUo6F4LpjTPT8YdnEeaxaCuLtmHsqyWDD65lmPMUKnLQ8c3l-TZZ3GlzyjGuIoZZVJeI27IBdXRx4z47fMfF9hu4dOO_089kyjZhFKQNt2Mh4wWdsO6X8vUTQjHhzc8cSUzOoR2dzjKva70wTmpDD3eluCr_dCWExPro0QaSB5RuzskqS9V6LAI4A5NA9Lkr5hR7jkzVKe2zLKg0F7J__1fXiWcXpxSZq_u8YWfRQQNc4M-MNtKobLryOjv6PTzxNF_Qdt2hT5DW_Y-ffHyBJabTAmnxqHL5mewDvsJviVizz6WfVXd1O9rNzBu7CH2wdXl16aU4GaNJ6L2bH9M3ihB6Ch6LhxN1C3iC-DVFMHogMdOsrH4l8bYwC3rsWE-jbAZoc8Ryyit2I8tAd1-xV87DhedLH66lvvPWsaRNsa8evLkgFpN3A_SUeFETZ5Yroj9PHmvVYawCRaPwUcKn-FD6FBu1iPCoBmgmp-qwqDcNIl-g9BfE_MsqoEa_tKPyq4TsiOgJVKpdhY-ZMkVyoDWsDXHl2EZNh0UjZLYgfcAFQoHROH6nI3vurGzB5bQNf5Vq8Nxuaw4-_1ozDagCh5rtfILmDDygSYVxwplYrUh8NCAX_XttGhqd7A5KIp9RZPsJAqldlQvrCGK3y9Uczesi7Ah09QwB5zS2hlWbiNikWGUWSDYccbwJf9V3cY35N8EgVLBniMlOE8ptNPecbx7_HpFSHjjhiurhJ2NAddVzuH4WaG-_NwExT6Xes80xfRBKx5jfB5RpDAjN5W0W_qqNr-Q==",
  "id": "rs_08cdd43b96952e25016ab41bd3f1f487d0a331eaf37cdd8ffd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brown plush now lies between the open fingertips rather than to one side. I’ll close on its torso again and check whether the jaws stop on fabric.\"}",
  "call_id": "call_SJCZmQ9Erd6ARJ0GxsRwDWHh",
  "id": "fc_08cdd43b96952e25016ab41bd49ff087d091b15225849f5a1c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SJCZmQ9Erd6ARJ0GxsRwDWHh",
  "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]: [-0.1322, 1.0153, 0.9092, -0.7715, -0.1986, -0.1131, 0.9965, 0.9562, 1.7786, 1.1099, -0.6533, 0.4263, 0.7597, 0.0118]\nstate[eef_state]: left_x=0.2888 left_y=0.0004 left_z=0.1831 left_yaw=0.0891 left_pitch=-0.2841 left_roll=0.0957 left_gripper=0.9965 right_x=0.2647 right_y=0.2546 right_z=0.0418 right_yaw=0.0372 right_pitch=-0.5025 right_roll=-0.1374 right_gripper=0.0118\nstate[joint_eff]: [-0.1573, -2.5094, 6.6393, 1.3846, -0.1001, -0.0366, -0.0122, -0.1846, -8.7316, 5.4769, 0.906, 0.2808, -0.0122, 0.9646]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70b5b2e7d0b56c01989c674e72cfb0665fb9cea7ded665117ef53c43003f5110",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:528023667854a8e5cc07724bbcad892718c199f85e8331bb8d98c341b88a25de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6de8586034360cabf13002078ab6e2ae13b5a6056c2861f52f1c8e4e393ee711",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 2.916 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9096, -0.7673, -0.1986, -0.1131, 0.9965, 0.8639, 1.7092, 1.0019, -0.4885, 0.4335, 0.6949, 0.9996]\nstate[eef_state]: left_x=0.2896 left_y=0.0003 left_z=0.1839 left_yaw=0.0888 left_pitch=-0.2797 left_roll=0.0947 left_gripper=0.9965 right_x=0.2914 right_y=0.2324 right_z=0.0457 right_yaw=0.0288 right_pitch=-0.4198 right_roll=-0.0701 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -2.4684, 6.735, 1.409, -0.1392, -0.0415, -0.0073, 0.3487, -6.7897, 6.3248, 1.3407, 0.4127, 0.1587, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7712, -0.1986, -0.1135, 0.9965, 0.9543, 1.7733, 1.1069, -0.6384, 0.4339, 0.7616, 0.9945]\nstate[eef_state]: left_x=0.2889 left_y=0.0004 left_z=0.1831 left_yaw=0.0893 left_pitch=-0.2838 left_roll=0.0954 left_gripper=0.9965 right_x=0.2677 right_y=0.2555 right_z=0.0442 right_yaw=0.0371 right_pitch=-0.4861 right_roll=-0.126 right_gripper=0.9945\nstate[joint_eff]: [-0.1573, -2.4274, 6.7761, 1.3846, -0.1441, -0.0464, -0.0073, 0.2667, -7.159, 8.4991, 0.8864, 0.4029, 0.1929, -0.1245]\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 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7715, -0.1986, -0.1131, 0.9965, 0.9562, 1.7786, 1.1099, -0.6533, 0.4263, 0.7597, 0.0118]\nstate[eef_state]: left_x=0.2888 left_y=0.0004 left_z=0.1831 left_yaw=0.0891 left_pitch=-0.2841 left_roll=0.0957 left_gripper=0.9965 right_x=0.2647 right_y=0.2546 right_z=0.0418 right_yaw=0.0372 right_pitch=-0.5025 right_roll=-0.1374 right_gripper=0.0118\nstate[joint_eff]: [-0.1573, -2.5094, 6.6393, 1.3846, -0.1001, -0.0366, -0.0122, -0.1846, -8.7316, 5.4769, 0.906, 0.2808, -0.0122, 0.9646]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70b5b2e7d0b56c01989c674e72cfb0665fb9cea7ded665117ef53c43003f5110",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:528023667854a8e5cc07724bbcad892718c199f85e8331bb8d98c341b88a25de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6de8586034360cabf13002078ab6e2ae13b5a6056c2861f52f1c8e4e393ee711",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBvcgBLdOcju7Sdj0p2nalth1gW6D2Fkk3ZiTGQ0pULbhRG56ssdjEApy3Cscl0YF8hr0AEkg1_ZSY8YATarTgROWaONYdRo22_Pn4OyHmnAX-NSiEXYqbwWDV6Q40rUYApFpFxDVTibALpBhjNU-Vw0I1aMDHWjsd5tkK1Scd-dy0A0vzRtM4XB7LNitcYRQlC728owr2VdDjwEVTeESVQtKhfNfa-YfPxgX6NGaYWm8HcrHt8W-_s14ldoIZoHnLTNfb_s0QzMeluXWLLQZLK3OQwovxjmL5zH0siODPnbKzPT12oFH-hkzaxBNhnrQgY7E_V1AE9hFuqkiZj3U_tZtw-FLmLkfFCdBVcDvT8qV5WHjKlaVESBOlERJZbvfEg3O5S6nX7qjlbwlWkFfRqh133drtADwGE7UkkRkR4yX7oCAk2sHzaJO3ec8uz-fq57KUXhMzO2xBvzNZuGsJXRfe6baKx8U15KJySRGtwZDg8n-MxHp39nE9W69UbPuqMhKxjOSSWNrq4srp4ARFxxavOknM83-Ho3bO7gum2mTcbBm-b4T7FVM2mUNazXRWOjOLwHTVYPwFkWxoxLxUBUYYZyJF70fv9FP8u1Of8YRCTyKsPYfxt9LKzLKTWcbiJ3Cuzk8mJ4TRca0qM0ryoKGuzfjfd8LJ3i7fHHgJ18HdBH4M3gjAXpdh37YTKleJnukiiRM0s5QMkn9iQYRgsgHzYcVU8TyYlqp-7IBws-K6fiCuh3bV2tNQI29Y1S78IAj2sW4_K1G-Z2lvfiTL0uCNgn9gpvjVDr5nfX2OYmuwJXtdAj37aJM-bqbTwa2OtBda6-YOUxS8HYX4RHmpVIXZGQ-ewZAI-S8hy1cZswak_fAtIgi_FLbHa3nsa_7YTX81jTVD7Xvuovew-xXTVIxGQU1OJZ9vvFF18CuVbEOK1_4DgvT_Kc-fV9CLWStiRiWLcgr7Ksh0DbTw1l7wX9n7TsbL7KlKmoEgiKF_yq0Pz37se8ZZyJDgGc7HxaH-OZtISp0Q_m2W5JETrQyPHYHCRVFgQX2acV-wOS97qGOtya5CbcGnGjbd5R7FYfafYN9ss9L5jFHrFwCHXMLdbxLhSEx2M3Ju5yRaxBeSwOzQg1Q8i3BfmkjeqfKNqK6WDJxpowDfot99Br5ufUG3VyD0D5Mo7p1RxAaMSC4dG5jBJmVFvZprQRctXYRdVRC2kIHfDCmkPpin8XtpmI3gO2O3FyRISKQdxalCxlNQF6XMUpW9a4Vr1cFGM8Dxb7fbWTR82i-G4FksOnPMBnSWDzTEADVMTHPsJP6w2Pd9GrONW7CZ_wzcZw5rlYjCG5Z0WhzJWum5E1zLga7pn1y5VBCtJuPDM6-Q1gdkhvKExmainzJVMBf2spQ0HMDi15c0t97Ap4XkeVwIYi6g0z_FvIK3LBky5dIFHG2rD7uq_IRd_gpYz0R7YNv5-PCxK4iD21WWMC2t4rh-Nd6in52XP2VJP6Vb0YRGFqoRYgoyjtUOSqS9JqCkcfRwtm7fr0k_WNLDGYhWqF2l7fx78dVr-ykwnFhc7PTxy7vo_-YbnMfQ1aMvkmTHtqt2DL--fgJlBUVKIK6gM7hjd5CT0SeZRPkWCSWMU44KBZOaPmmXu9qEw16c1M7p8UilLdRxx851TPKoFE8bjI2csS9SSh7-eVifVsQ0aVjiX1jOZDPhXNxI87ibPsuJ9WUgrikGCD8hdzLnMI29C34VOkG0-Hxeo95afIaJHJurcawHdUuVSmTxgInc1hJHH9J10cUKxIdg5l9B4Zp8Bm_EdeYB7f1HAbduWZ9ar9c9nMFUvs1RwHZKDlGj4UY9IAdNlR0JupHIqYJuH0NbIoO0UYkyope9mAuctY_0-hC-vKisIVRrbeNjAu44zWwwjNd6M_EKT2Sk8pvydDacvLTVXv0IWoetVjPK8PO9iu8BRj0E1sqmMw_rBm6HmGDxu2sfv692N4FJOJciEJeqJHzFenA5kygAxuM8zznG4PZCt8t9l6LF_dTUiVupH-46hQLlJma4Wj3Hy5LF23OZMtG-jveHq1xKfhyWS0veE61JJY11IoRzvy3hcpOjcwGuw3W8BkP9w6XVPDyVuEgUoi6O2yowoxkoATPGfq1kttBXAFHawLCl8lH70CnKEQXLGC7TWfJgaIPeEdlqJgrRrmvcrEPdD5mIxTc8WVUyDr0TIeGG-e8660tXxjGxeGcmLImuj1wN2-So1En4CznFmPSUJe1hJQOygj_Q0VtVJCLQsK32lRHUGWa64R1I9OX2vDlkL9KKykAQsUJ8tSYYcVb0Y_Y78i9dgKq3GUlojT0fTfLjpytMHwJf9GTt7M9AgjSzMnABVHe9fOCWKWALfP5K3e2Cb_ZKbHhwLT9TFMFoE7IpR2Ed0adVwciGsCjCRgitjBOffca8WH",
  "id": "rs_08cdd43b96952e25016ab41bd7d2dc87d09daeb78c6d85c742",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0},\"note\":\"The second close was also empty even though the plush was centered, so the fingertips may have passed above its flat torso. I’ll reopen and lower to tabletop level before deciding whether a lower grasp is possible.\"}",
  "call_id": "call_Pu9lSOoqaRsn2SdjKKvRpoW8",
  "id": "fc_08cdd43b96952e25016ab41bda2d3887d0bd562e688d266058",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Pu9lSOoqaRsn2SdjKKvRpoW8",
  "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]: [-0.1322, 1.0153, 0.9092, -0.7715, -0.1986, -0.1131, 0.9965, 0.9554, 1.8351, 1.0382, -0.5053, 0.4297, 0.7605, 0.995]\nstate[eef_state]: left_x=0.2888 left_y=0.0004 left_z=0.1831 left_yaw=0.0891 left_pitch=-0.2841 left_roll=0.0957 left_gripper=0.9965 right_x=0.2674 right_y=0.257 right_z=0.0113 right_yaw=0.0425 right_pitch=-0.4878 right_roll=-0.1214 right_gripper=0.995\nstate[joint_eff]: [-0.1983, -2.1402, 6.653, 1.3748, -0.1636, -0.0513, -0.0122, -0.1709, -6.4752, 4.3966, 0.735, 0.149, -0.022, -0.2515]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1acb5b4a59db7a78e39d1e22603ca3465f66b88c61867422dbd3a1a03492bd01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10f78904701decabb9cf6d2b6cdf129d56cb09846746ac383bd5494975ea89e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e52f34e0653567dd58c63d784afba67408c0293269684095cf59d6a102ec7ec7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 6.153 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7708, -0.1986, -0.1135, 0.9965, 0.8646, 1.7264, 0.9833, -0.4953, 0.4263, 0.6888, 0.0117]\nstate[eef_state]: left_x=0.2889 left_y=0.0004 left_z=0.1832 left_yaw=0.0892 left_pitch=-0.2834 left_roll=0.0953 left_gripper=0.9965 right_x=0.2846 right_y=0.2267 right_z=0.0331 right_yaw=0.0231 right_pitch=-0.4537 right_roll=-0.1037 right_gripper=0.0117\nstate[joint_eff]: [-0.1709, -2.4547, 6.6803, 1.4481, -0.1392, -0.0708, -0.0073, -0.1983, -9.1829, 7.1316, 0.9548, 0.2857, 0.0562, 1.0525]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7715, -0.1986, -0.1131, 0.9965, 0.9562, 1.7786, 1.1099, -0.6533, 0.4263, 0.7597, 0.0118]\nstate[eef_state]: left_x=0.2888 left_y=0.0004 left_z=0.1831 left_yaw=0.0891 left_pitch=-0.2841 left_roll=0.0957 left_gripper=0.9965 right_x=0.2647 right_y=0.2546 right_z=0.0418 right_yaw=0.0372 right_pitch=-0.5025 right_roll=-0.1374 right_gripper=0.0118\nstate[joint_eff]: [-0.1573, -2.5094, 6.6393, 1.3846, -0.1001, -0.0366, -0.0122, -0.1846, -8.7316, 5.4769, 0.906, 0.2808, -0.0122, 0.9646]\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 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7715, -0.1986, -0.1131, 0.9965, 0.9554, 1.8351, 1.0382, -0.5053, 0.4297, 0.7605, 0.995]\nstate[eef_state]: left_x=0.2888 left_y=0.0004 left_z=0.1831 left_yaw=0.0891 left_pitch=-0.2841 left_roll=0.0957 left_gripper=0.9965 right_x=0.2674 right_y=0.257 right_z=0.0113 right_yaw=0.0425 right_pitch=-0.4878 right_roll=-0.1214 right_gripper=0.995\nstate[joint_eff]: [-0.1983, -2.1402, 6.653, 1.3748, -0.1636, -0.0513, -0.0122, -0.1709, -6.4752, 4.3966, 0.735, 0.149, -0.022, -0.2515]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1acb5b4a59db7a78e39d1e22603ca3465f66b88c61867422dbd3a1a03492bd01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10f78904701decabb9cf6d2b6cdf129d56cb09846746ac383bd5494975ea89e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e52f34e0653567dd58c63d784afba67408c0293269684095cf59d6a102ec7ec7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBvfyrgZyy5rMxhSPHZjS7vx8KnodCwTBTfhsKyNYHsUGk3BNEYK6Wyi4gmR5BENmo4a1EPurzKBbJpse4wM56s7Siz_ufdglLwvpiplNktBiIG3ct5SdR3MnN78qG_TAnyEg5CDMDRo6-xsckk_LIr_wmDFTqczPy92bMIqF5eSCj4n9kdpN90-ksLnIODNQmggenh5QWevxDaWK3z87Uny1Zc4iru6z6RKksYTTZHT_gcMPveIHRivbpw66P86jL3CNBsEGF4KhCVLw64lKIkHZ01nrnnILl6cYO9iyv6bSgBB-ZCDUwgvfSaonwjPAimVqYU-ifkJiGZO9SQCJYU4ULFN2fYOttiWBdzLaT-M7vjvYcMItL9kNkICEMBxsof-AXKVoB3GvKj5uqfCr9tAt1VH0CvZUhu-Nzckmzn5Nh7xJzvsbNqjml1gtS8Q7lRbDGisbAir5ftVnULmBpWJQPmOKNYmca5XDSijQh9m6HY31oKkX5L-WYUW4OJg3hC4y0vps8HDgmlI-Id2ee5Du8qFpo0vSJxO2aAWzQ5jhn7vxI7AN7FEdd_WeqlEwy031gw9CeKG76jklkTjgiTdw-MTjbG-ATZgStC52Y7LPt6A6RIagKpoLA6mhq8NLzZZpg5oXOrSBTPpxSofR2ShufKmpu6uNQxVfy4N5HDDKPxXuU0WyLIPIQHQCh2Guh7vijWWTocFfDI5as1-CQljVuW1Aft8deUMpExL2WUMYH_ZNfEXFb6Y_5kHFlwLWwWMzrdGw8sNDrqfFVXmRX5-GbzNSMrcSjCmicoXpUxuJgV_1hhTf8_I8pXkdnsT-ndB9AsgGPpxh0YyUKo4RwLYSpu8XAjA7r-Akllz4iuWOzBS__sxvCr8E0dnjim7L90lGuQ1GedYqAvM7FdT8py0rYrGCTqPzn5MLO_9YolnBOt4K-yenTNZhpv1xaALksB5XKCoTq_et1uKAufU4QHKC7p_6CGikKXQlsWjtacA_hLyXQjuh44EO528Cgs90F2iq7zuQ6ZImE8bMIx89_HaYFrUJ79bTG0pI9p5KUwPUlwz0_LQfAlZj-MqshBAHv7O_kIOEVCPI8pjrcsLScawjAWOfOrWaNoNUXC3KgPnjv_pOyvU9cJ7oxHqu9pOqDLZAlyhnltDHiZ1xBqizi00sFy3gSVID6aNhMtu9pdtVXD7cZpu901m2DXK401PTuL45OLHbD6oiZly0s6fqmrEUJg5L1bu_5Zl3NPcWuOGXVc=",
  "id": "rs_08cdd43b96952e25016ab41bdf04d887d0a12e01e6235a2141",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"right_z\":-0.01},\"note\":\"The open right jaws now sit low on either side of the brown plush’s furry body. I’ll make a gentle tabletop-level close to see if they can catch the fabric rather than passing over it.\"}",
  "call_id": "call_JyRmZziZRI7OXyy7viyT8eZF",
  "id": "fc_08cdd43b96952e25016ab41bdf2f6087d0bb7ecbfa1958bcf1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JyRmZziZRI7OXyy7viyT8eZF",
  "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]: [-0.1322, 1.0153, 0.9092, -0.7715, -0.1986, -0.1131, 0.9965, 0.9554, 1.8523, 1.0183, -0.4278, 0.4309, 0.7559, 0.0177]\nstate[eef_state]: left_x=0.2888 left_y=0.0004 left_z=0.1831 left_yaw=0.0891 left_pitch=-0.2841 left_roll=0.0957 left_gripper=0.9965 right_x=0.2723 right_y=0.2636 right_z=0.005 right_yaw=0.061 right_pitch=-0.4621 right_roll=-0.089 right_gripper=0.0177\nstate[joint_eff]: [-0.1026, -2.4821, 6.653, 1.4188, -0.149, -0.022, -0.0073, -0.0615, -5.8735, 4.1778, 0.8425, 0.1929, 0.0317, 0.779]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f041e8bfd7e03d852d21fe0a566d29b19789da84ac1b8e3f982c4d9dca94aeac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e09a1468a7672ecb12862737e485b63fd45c36b49aabc0d42873d9cc4f1d568",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:308e327ee80d36f885388233eb82b7b07a920d6e39eecd6bb7b8cc9fcb36435b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 7.491 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7712, -0.1986, -0.1135, 0.9965, 0.9543, 1.7733, 1.1069, -0.6384, 0.4339, 0.7616, 0.9945]\nstate[eef_state]: left_x=0.2889 left_y=0.0004 left_z=0.1831 left_yaw=0.0893 left_pitch=-0.2838 left_roll=0.0954 left_gripper=0.9965 right_x=0.2677 right_y=0.2555 right_z=0.0442 right_yaw=0.0371 right_pitch=-0.4861 right_roll=-0.126 right_gripper=0.9945\nstate[joint_eff]: [-0.1573, -2.4274, 6.7761, 1.3846, -0.1441, -0.0464, -0.0073, 0.2667, -7.159, 8.4991, 0.8864, 0.4029, 0.1929, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7715, -0.1986, -0.1131, 0.9965, 0.9554, 1.8351, 1.0382, -0.5053, 0.4297, 0.7605, 0.995]\nstate[eef_state]: left_x=0.2888 left_y=0.0004 left_z=0.1831 left_yaw=0.0891 left_pitch=-0.2841 left_roll=0.0957 left_gripper=0.9965 right_x=0.2674 right_y=0.257 right_z=0.0113 right_yaw=0.0425 right_pitch=-0.4878 right_roll=-0.1214 right_gripper=0.995\nstate[joint_eff]: [-0.1983, -2.1402, 6.653, 1.3748, -0.1636, -0.0513, -0.0122, -0.1709, -6.4752, 4.3966, 0.735, 0.149, -0.022, -0.2515]\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 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7715, -0.1986, -0.1131, 0.9965, 0.9554, 1.8523, 1.0183, -0.4278, 0.4309, 0.7559, 0.0177]\nstate[eef_state]: left_x=0.2888 left_y=0.0004 left_z=0.1831 left_yaw=0.0891 left_pitch=-0.2841 left_roll=0.0957 left_gripper=0.9965 right_x=0.2723 right_y=0.2636 right_z=0.005 right_yaw=0.061 right_pitch=-0.4621 right_roll=-0.089 right_gripper=0.0177\nstate[joint_eff]: [-0.1026, -2.4821, 6.653, 1.4188, -0.149, -0.022, -0.0073, -0.0615, -5.8735, 4.1778, 0.8425, 0.1929, 0.0317, 0.779]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f041e8bfd7e03d852d21fe0a566d29b19789da84ac1b8e3f982c4d9dca94aeac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e09a1468a7672ecb12862737e485b63fd45c36b49aabc0d42873d9cc4f1d568",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:308e327ee80d36f885388233eb82b7b07a920d6e39eecd6bb7b8cc9fcb36435b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBvn9rkme7VLL0iEiPGjWBBUAXqG1KSpOjc0SkQCK97XI5SYzKp9QHX9Ku4EZZ4L8Adzu5Ur1s_BssJ0E16pJJ7lml3LBfxPIGI8i-_tUaljW3VE5RkJ6oaO0btM_j69jVwXE-PKIpZkuDpwHc37Xt0xairxJrR9wIHcKqjiZn_u80MU1ngaB8NoipMMy0Eg5NHdHto2nfEDk8pS6S_kvQdukSPkCtbYxo-gCMbkAhEwiycWB0QVwO2Ao9A9ESseio3SPQDRwI1xFeHmJrWIl5Bv8ElyiRCmow-3DtMqroiq8ilci-gYEyH8ymsr4kGKjoQcEN6ytRA3TtveAB5bW8Q0pdOf-1MjKY79a9lElan1bDCXGhhq8r-IG2RNJsnldTuPvdjJANgQu-dBXWFBMDrgtgetwCLxWBKaYaSdVUxlH36acdT6tEr8O3YuHb_3ZSjBvcWS4vZqV0031oLT8KhAOioNCcmMyPAP6l2nm1HCk26lHzGkRyqvQerkHk4GHQEmcXFGic4jM1mPOXLzf20c7UrS6FL5fUOHUnUeqXZMIGto9PiuWVjohO5hXVikJs2O-1Wf4yNj9F13WD8ncLO0oU55ej6xCzJpVwn-oV9J9-p81ioFs5heTuwlb7O68nA9HVngrdAq64uAGT0hDGpC8MgldfUMtlyI5x4jun2F1_dipooc2a6hY8SDX6HuNy2DBzZooUi8wuCkemOqkurDkCvkI3KUw0OuYG9E8YBrDLNzKJwcmHMAXgjwb-Rnm-5gZB27ByQT1FxF7HZzW4FDnHz7iS6hqaCfJL0BRb_XTchMV-9vnbrDTkj3d21RsHDgSicx8mGQUxAkVaWRiSaq6js8VqxEkahwxD5kN1XLRuy8orVj9B4bZqDQxQBlhc0RVY4yh2q8PUxxmfYZxnwkHWxxcBzv_QUTr3ERAnW14l8PdHYbXLgI_qdrxk3vqnCEs268VC5oEnlIGw5KWuPSsMUeYuns4qfRf1k25TlybiAhkH9PNDuwLqd15DkD13p1C6no_0yuDwbdZQSWZJJmr3GUAPCFEpeZv3yIjN6jA4o69vtPZGsTkqp_dXAGpkYdosWs0xy_aEkxUO9RNhdOaov4rSo5Zd5K_DaS86xAGOfF9QZ0pv8_KJFrr0B59H--d0TvQ8b9S-qSBUKxZO4nqL8nB5uVGPKagg4GaRthKxY3eavKsEK8MFng5mdVruoTzrGbIRbVUE0pk7VvAiHpGTxTrwVSBrDxFiF4VunUwzr-g2PJ5I7nP51tiSgzlLupraHFUCCfYoxk3-4Usmdd-uekMI2llYr9-YPvCgydv8QURDGMT-M36wauOwvjcylK9mvzoClO9lXP7hXBlGaJ71XemJrjNG7e_vfMSEZDZ9UiEScNoOSTaqyPkqeN2ocCfwzex69IaHA7dC29v4QfvFNvsOkmHDr6-Pu3J8LLlx74paua8t4CnTBYajPqvaUBEITwy54VFca-uLBjCCl0-8ChmsKGPvK54xyaBJcVpmv12Aii-YMDvzgvmxTSMWNZP6dgoAQyx77qyHLtb9p8pVMMO4Xwuempzw5J1kvmua0MHccrGmqbGYUja9fIVwF2hwtgS0veuO_pwu0LeLeoJLUooOzr3yMM0Qjmpsl-WwIFE3rozI4PGGOJvCObbfgSU_KcNlra0xtXehCVeBfcLpKesK_R6RZX13wDQrMRddxwLkWeQ-FpTEWwHXdCr5frBAOtPOiEymadkWX77X_lL2PjHZQN7SwC_69S8KuKomu6vzwulxu7MSGuImc3yoU2DnPtRJge1XZUAKEMyN01fU8l5_sWuTJ6fUGKV7BSsFb9UI9fFgUogMTZAKVL7SzxEugDsx3DoZJqA0GAzaI3AbyYKDrOo5N3a8E49DBsIAkSEpRcBwygHsYqLPyWbt8vY61HSx3L-a8-VrIunzmojQ_JxUffS_ogWG5XAv0-XssQTmmF8qTZB86W_fP-GroJ_PugblaTWHB6wpBkk_jIikI8DdWnJqfEKJ7zETcBAMLRLHEX6_j8zgzR94a5CRunZ9Kd2IqESMpYUID8rTVK0ZdvyjydDPL0W7XZ0d2aMVJ1pVTfPYK72PBCAVWj_xoWHSiOBAPsJYvgeFimNtB2lEfr7lUUA7K3YaEReDavgd8cfJgMJS7mHsCOoDm3uh6bVAAI2DTVx77dFLd9vdUBCmwOHe2gQEHutXgpx9T8dFw4akQNwmmzo9tvPjg-_6t2avZu9ukjMnJ1Ax1PC-klwkhk0MbCwXTx2rNXV3YBt2DO3yCUb8lIGIEQLDscU2d7XgaZxMDX9oHJaAKsgE8E7tymuZHNfg30TFr8Sd5LLM8UPxRlGl7Cru0kcHbp3RJZpMEBIsbwtvFs0530mVsDAMD-QZFoggkxc_bPVSu4wC4zahOsNxCOHK859IIN175Ukhq2wiDImMs7EJuZL_MdrbBQy4gjJ0nt0H-Qi7YRzw4DWJxpmti991TNA8kvdcTIhvScL8f4q4qDZAvJbKz62-RBJ9EwiFmwv7NaOJLcOBMwz5EsN0uYdYWN5h2bAqDVr95VYVt1DYaFHMPQMl3nL6cgzpHUq8ATgnAaoFmZf9Ja6_6XWCaZnawo-PMZxIgVLtGxtNh-0Uy8F4uDOhA9F3JjvpIDnGp60mHPlLXOsjmC7hfaaG92yZO8y6J4-DXKX6iOHI6vNV_vO5--u9qOGHpgDvF-CeOdkXo-kwVtc23BgCphs2fNt5OdQbfB1te2Y7M7Yrxxe9C8kfPQZw-DgqxQnK8mpWB4H0bUYW8QHNxRKAoEr_8pzUUFlvYr8JlRjrr7m70sDyk0w0PKF88R6ZOzSDBq-iye-mgmxdnGeGuOrawGeQASRBIAK5B8wT__3fMMgUUj38C07H3YpERKW8cafBhkcVGagEEPXqZN7-Nw1FcPIDA28INFEmlpAd0nrUfOfMOY8L7xOif97TAn5803oibUcRW1zV8GzDZicLkAz1vc3ZtP2d0SfUNpeMwz8mqldO1YbtQ7tdyb4vXArZ7Th05t8cdqZ34RuwKiN7A43F4lj4FrZS71OrYht3uLLqNseiGSsAYmiroTavt-B4jVxNPaGJxy4JiTFgt5iMWJvqxF3096qQz-BSr5mumV4V8BHGIO-3oq8QSKYYBUNFE7gC1SRBUqdPkYoEJz2l5VIAFSPlP0NNkZrrpPYCusNWypgRodw9l5CqYQJVumZwWBJm8O02aXAw1-TA1rPKrGbe3gdeW5NtbiiY3t4RYmFs92yFNhqseGJ3uVOA1fnfwhfraOiBR098kwp16ug7u5gs_O6Y4i5GSqxcBQH7PAe1OqIrckln-gqRDlhvXvEGOgyOqkk55X5b_6EFBJFFLt8rO421L0yVIu1KzLYBkK49LEfZU_KzdGqoE-NrMq3LFKqPAOUcoh4qnRSc_YAThWQudKX1cveniZF00WGl_ZnczdTs-MIqIoMJZGtLHDxdWw090wM3F9FPplVyRQigk3HR2wBmAeqNNCThD6qK4gBIvgeaDwtbZP9KpY1w97imUI5MogTM4_IbL9Hvh8IkvmecXWsCTfTf9QAVk9AaDAqV21UsCThfEHy6VKE0Di5xGlWC46-pZoTgFFADmGHOYuzKg85px-G8KlTuv3pN1-fjT-zuHVYLPkd9W2VknpcRv93agLjPfao8DOyMksdRl3bBYdPpPhX6qW4q7hCPNe",
  "id": "rs_08cdd43b96952e25016ab41be210c487d086b117dab53103c5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.305,\"right_y\":0.26,\"right_z\":0.045,\"right_pitch\":0},\"note\":\"The low close also ended empty; the brown plush’s raised body is forward of the fingertips, while the right wrist has tilted backward. I’ll reopen, straighten the wrist, and approach the raised part from above.\"}",
  "call_id": "call_DOXK79ZOpPKVme5NOn2usDES",
  "id": "fc_08cdd43b96952e25016ab41be64c3887d0b4f8c8f588f1d99d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DOXK79ZOpPKVme5NOn2usDES",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7719, -0.1986, -0.1135, 0.9965, 1.0088, 1.8027, 0.7929, 0.0257, 0.7391, 0.6235, 0.9961]\nstate[eef_state]: left_x=0.2887 left_y=0.0004 left_z=0.183 left_yaw=0.0893 left_pitch=-0.2845 left_roll=0.0955 left_gripper=0.9965 right_x=0.2964 right_y=0.2541 right_z=0.0265 right_yaw=0.0698 right_pitch=-0.0806 right_roll=-0.1283 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -2.4821, 6.8444, 1.3846, -0.1636, -0.0611, -0.0073, 0.253, -9.4291, 5.0803, 1.5018, 0.5348, -0.0171, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9be69d4966743683d9893040368de2db5eb8fe447d7d9cc10bd255c2ff0d7e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9b12292f0fd90974f3b4b879d995217f43b1c97684fa7d3fd1291deede6d698",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1287253779954b1a2fec1afa6374319457d5bae5c64f293b16d66a251031238",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 4.36 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7715, -0.1986, -0.1131, 0.9965, 0.9562, 1.7786, 1.1099, -0.6533, 0.4263, 0.7597, 0.0118]\nstate[eef_state]: left_x=0.2888 left_y=0.0004 left_z=0.1831 left_yaw=0.0891 left_pitch=-0.2841 left_roll=0.0957 left_gripper=0.9965 right_x=0.2647 right_y=0.2546 right_z=0.0418 right_yaw=0.0372 right_pitch=-0.5025 right_roll=-0.1374 right_gripper=0.0118\nstate[joint_eff]: [-0.1573, -2.5094, 6.6393, 1.3846, -0.1001, -0.0366, -0.0122, -0.1846, -8.7316, 5.4769, 0.906, 0.2808, -0.0122, 0.9646]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7715, -0.1986, -0.1131, 0.9965, 0.9554, 1.8523, 1.0183, -0.4278, 0.4309, 0.7559, 0.0177]\nstate[eef_state]: left_x=0.2888 left_y=0.0004 left_z=0.1831 left_yaw=0.0891 left_pitch=-0.2841 left_roll=0.0957 left_gripper=0.9965 right_x=0.2723 right_y=0.2636 right_z=0.005 right_yaw=0.061 right_pitch=-0.4621 right_roll=-0.089 right_gripper=0.0177\nstate[joint_eff]: [-0.1026, -2.4821, 6.653, 1.4188, -0.149, -0.022, -0.0073, -0.0615, -5.8735, 4.1778, 0.8425, 0.1929, 0.0317, 0.779]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7719, -0.1986, -0.1135, 0.9965, 1.0088, 1.8027, 0.7929, 0.0257, 0.7391, 0.6235, 0.9961]\nstate[eef_state]: left_x=0.2887 left_y=0.0004 left_z=0.183 left_yaw=0.0893 left_pitch=-0.2845 left_roll=0.0955 left_gripper=0.9965 right_x=0.2964 right_y=0.2541 right_z=0.0265 right_yaw=0.0698 right_pitch=-0.0806 right_roll=-0.1283 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -2.4821, 6.8444, 1.3846, -0.1636, -0.0611, -0.0073, 0.253, -9.4291, 5.0803, 1.5018, 0.5348, -0.0171, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9be69d4966743683d9893040368de2db5eb8fe447d7d9cc10bd255c2ff0d7e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9b12292f0fd90974f3b4b879d995217f43b1c97684fa7d3fd1291deede6d698",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1287253779954b1a2fec1afa6374319457d5bae5c64f293b16d66a251031238",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBvwwlnDWVb1ePLPWejthFs6alM9pSo6NPihGUoYowyAUtrseNEPetdvhpZiq8gI1qRsDWMutXI3twUcplh6EdD7osda0fo_S0rubyJYbTiq3Ww-o2lh1BLHQ7_WWL2SPuBBey6iW7Z4d6YhqSCd5ToygHTe4QhANA97WW23y29zylxG-TrSi5v0JrsVzRbkPCk_IhS4iIIqSGpIblS_MV2GF2KpIwSR6TDYNv6ZNOc10aBOP7m87Dk2p2BxQ4ctMIXH4zBn8NsJ9uzNGRI9PqcJvV_pDS0MCsGyQ9aBgF59Yi_3R6YEodWtZaqdVXfxnI3Vucgjc2JaIdbo4rjG0_s63-yf2Oqshh0COx58--R0uYr8UWbyo9UeILW2H3RZuezpsy73mFx6OKr5la6HjrvKOEZicAU-ljxAvUkH6dARLVCJNkLVu0HQmnZulD8wP4EQwC5Uq0fEGDvjymrlCt3lN-OwcsD44LfCNEuLnNSSgd6mDdjJvf-11kQ_dwJu_UbYyDsx2PzNIPeN9r8iKuFr3NeFDqhjWA_ofz1xODAuM9EF_30JC3AeSmkikoHsusndOxJGpvpBBXqE79p8l0VTqYMPcLk1Cwnk7UTrQ5janOH5ffMxSw9A-ZQMxc0emj8mJn_Ie4lS1usQwvJviQ-PGvP53ex9bxBo-Bd-K0CR7BDEm0q1JoJ1FVynFlBSWn7A4M92xAHaRqsf5cWuV1Tb0lygAstx-C0jbEcMhLXksIVccuRPY4z3Je8bz6cdIf9ExVvDSCh3H8QqdwD8Edtxu93hQ5tGVKBtGovWbAQ-lcqzZy7m7Fzep0LY28NXFOW3DwZAGfxwg8FsPZVBAVc67caBQIPwTl7dJL60Hn-Es449hW1wW5ntMfJpBYvJPnEwsGh91ucCXQ2J90ux-UImz52FW45KM7JW1-to7mk-0g3JBiLl-BAOE3ZwcGUer1UBTD2UZT2Wb-ME-MRnmDwwJfnZ7B7SWIQrlHMyqEEMu9GUlxl7oCkRLG3heXQYYUJTM8FEA79POGbT2olLBq56XQ4jkUW8Xy6ujtK1UjZGQNRpJiAO4CfZY9TeImW368u9katQPTVFdsFB1uNzGaTNJ9tuwixEe0hD9l881Z9vs9wAJA9b1GJTquPWVdhMrshz0fvGmL4y5nu2M-AA9OjQYZL_fPyWGRhA58oMSQ84T6K3y-legZBYKArRN5exblp-sxUQxuFPaQXk4bNaGs3ic2UpoOG07T6VAP3fJAuVjAW9s4vgC3LJOCQDyEBAPi-lz3B90MYMPLLSPuhumc_pDRDj35Z6I7itS4fCacbMAaSHevnoRN4u-h8xLmsZv6813gM1xg_vjKwd_wvQvTyRzWaJ5wCzcZ8HKNyfHIH_NpYWfawoC-OWqEbSk8auYxWPjPDBy_WmMBAF1a7cLc2_EglVS0r6SlJtVFwd754IV-uueS5_t2_aV2XPDnVVBZVSd7noNeHOWTvNnGykUzS9wrobwNAfA6rvI_dkI6wZurPZcd-9dc_OmSUADXezmIIWhstb3o0OFpH9ZjVVazq54uJEawP8-EVjQV3X-Xc13nEuPHwU5m_U6u9I359dvM-pth9t8A1VpHv0U1i9PWl887IWqpc6cSFOqOooiK18Q_T2aqNe28Z9Flw1qs-uqtdEDl2aM8OG6Zakb_f7irOjmAa5upmrUAGD3sk4M1vnxKbPatcZqVAEPmqPKVmQuj52xCBlaZIorH6shoBMFLGsjCTnEQKMyfL5WTku99GsvziVFvJvB4WSTsESrGmSNrxjHZ-tIkwQKl-uOY1hXFf9uVNNGCLr_Yu_EIsMrH9bi9kKv4o3rH4v2M8f_U4cxXJtXPDrQIw0Xe6TGSbndj1Kd0U651Y_Y70HPPeXWEoJrSxnsCyARceQQQXAxKV0lR5CjVJzXQpEJaJ6Gu3tfLIor0Qgc6DGFOshaBphBL9Gtg7O6QgthBFkq3KbTjxegk6mrXoFShCvZ-ilDKzwtBzWr5RozHP8e3AiJ10KCq6elSPzHbDBkzUN-sOb4VqiYyoVZXxSTUedwMkyq9egMhqgHHV2H5MkWWtpBKw0LnrluVRPnVeqQaKagKZvvzh-MtOcNPXQxRTaluLZzf-rsJiPYrKiFWKzku8LjvOax1-5mQZZaFpWgItV44MfSdop0l4yxyy6GXNeHH10H96wGu9ozVpv1quxdJR8vh9f66LLewTceLXJwMvlOlgjEXXIDSJ8JB947tszsZHBNV2QcJYmEOrY_CNOXFqIaObAM06-ycUuU-0aq-fjNWr518XeZr4rwlP_uR2X9FtrJg8zIl3quUseZCXiFISsnX2XNRfCFECB9mI5ZrhCerLmJWj-JvMtsazl_tFKSbe_FtYCKzxU9xjxwCl0fWLBS5vTzycqGklIRpQYFoBgKTR8Yp_9B6MGxlyMGvgFeJmjDD1olIGwp2j0DTSzSSi725yaQss8by9UDO-S8HykIIGkKqKOIJ73JuWsBqXzhz_BEvfOEFhYpzb9yVxSB8hNOmKL_o5BZL02B1GFB1rq5LVfEoRI4ULvbiWlLwd8mt4BXM2olEDpPmgH1Z9T1tis84-m0qSbo_ZAcq4Pjg-7EISsY4thDdzDKF0xSGWg_imMysPn-h0Bjd2srkCV8sZNFfeCZElkgPvR62vkMhDPUTSaPWR6tHuPtF2TJhDYG-9lyqHaZ6kQjv2B0_we7z7TcHtNhDL9-QFwzzbe3VhA_04Y0KAh5hQ5wcpONgbXGnDF5c66XyMnQgEg6yYaGnjDyg2dQ45djXT1ujYq9JvME6GW15APNDmse8Ow-1B0xBVt30GpzHTnTHxEejyQ9enBWPaaVIUhSM0roHAwUAR2PNSnyETMUYSnrOygxaIFroAk9fgDoX1Hw_5NHHPn7F3r4o3m3H9M6xx_RrmMyrU2jlIybBhlV9nEfkfMP8bB3V_G1OWEEnBQH8vUuvdw68PHspfk_1NkDuEpoga0QHnCCsEN96pQEC8c7xzDNopyfqTn-XmqzSt80crAapb7GOdubkN9wvfxEPNmoTPHcxo9VvZZAfm8l95SBVvsIC1ZiFWdBUOKQYGRmBvaaq_eo47Whk60l511xa2ca7WAe6_60yoe7KRZ2tij",
  "id": "rs_08cdd43b96952e25016ab41bea0a1c87d0952f1b3e5d42e807",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.272,\"right_y\":0.29,\"right_z\":0.022,\"right_pitch\":0},\"note\":\"With the wrist straighter, the overhead view shows the brown plush’s torso just left and slightly behind the right fingertips. I’ll position the open jaws over that torso, away from the safe’s front rim.\"}",
  "call_id": "call_xD7QIumvWhk1mpBJMtZoNiOS",
  "id": "fc_08cdd43b96952e25016ab41beec27487d0b2421f1f41a1cab2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xD7QIumvWhk1mpBJMtZoNiOS",
  "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]: [-0.1322, 1.0153, 0.9092, -0.7719, -0.1986, -0.1131, 0.9965, 1.1305, 1.8786, 0.8375, 0.0357, 0.8284, 0.6949, 0.9973]\nstate[eef_state]: left_x=0.2887 left_y=0.0004 left_z=0.183 left_yaw=0.0891 left_pitch=-0.2845 left_roll=0.0958 left_gripper=0.9965 right_x=0.2752 right_y=0.2872 right_z=0.0226 right_yaw=0.1003 right_pitch=-0.0252 right_roll=-0.1303 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -2.4957, 6.8308, 1.453, -0.1294, -0.0415, -0.0122, 0.0479, -7.1453, 5.7504, 0.8718, 0.4762, 0.0366, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7732e77a0f511cb7af8f2cd9caa9c50e84d5bb56096d5c81f23c4d23f121c0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f61a5343f2b7dc61173aa9bdb5d5b6b980d824082b1a17e7f335bd0c7d7c2989",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90c541d0b95753c5cdc35a04d4d58c1498399993571432e88d84ca963ead3d4a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 10.03 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7715, -0.1986, -0.1131, 0.9965, 0.9554, 1.8351, 1.0382, -0.5053, 0.4297, 0.7605, 0.995]\nstate[eef_state]: left_x=0.2888 left_y=0.0004 left_z=0.1831 left_yaw=0.0891 left_pitch=-0.2841 left_roll=0.0957 left_gripper=0.9965 right_x=0.2674 right_y=0.257 right_z=0.0113 right_yaw=0.0425 right_pitch=-0.4878 right_roll=-0.1214 right_gripper=0.995\nstate[joint_eff]: [-0.1983, -2.1402, 6.653, 1.3748, -0.1636, -0.0513, -0.0122, -0.1709, -6.4752, 4.3966, 0.735, 0.149, -0.022, -0.2515]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7719, -0.1986, -0.1135, 0.9965, 1.0088, 1.8027, 0.7929, 0.0257, 0.7391, 0.6235, 0.9961]\nstate[eef_state]: left_x=0.2887 left_y=0.0004 left_z=0.183 left_yaw=0.0893 left_pitch=-0.2845 left_roll=0.0955 left_gripper=0.9965 right_x=0.2964 right_y=0.2541 right_z=0.0265 right_yaw=0.0698 right_pitch=-0.0806 right_roll=-0.1283 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -2.4821, 6.8444, 1.3846, -0.1636, -0.0611, -0.0073, 0.253, -9.4291, 5.0803, 1.5018, 0.5348, -0.0171, -0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7719, -0.1986, -0.1131, 0.9965, 1.1305, 1.8786, 0.8375, 0.0357, 0.8284, 0.6949, 0.9973]\nstate[eef_state]: left_x=0.2887 left_y=0.0004 left_z=0.183 left_yaw=0.0891 left_pitch=-0.2845 left_roll=0.0958 left_gripper=0.9965 right_x=0.2752 right_y=0.2872 right_z=0.0226 right_yaw=0.1003 right_pitch=-0.0252 right_roll=-0.1303 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -2.4957, 6.8308, 1.453, -0.1294, -0.0415, -0.0122, 0.0479, -7.1453, 5.7504, 0.8718, 0.4762, 0.0366, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7732e77a0f511cb7af8f2cd9caa9c50e84d5bb56096d5c81f23c4d23f121c0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f61a5343f2b7dc61173aa9bdb5d5b6b980d824082b1a17e7f335bd0c7d7c2989",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90c541d0b95753c5cdc35a04d4d58c1498399993571432e88d84ca963ead3d4a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBv0XJx5F_AdVrWGVfrYnrv8y3iqEZ7bSvKPm8GNFpceYBbj45TvIz3_cyXEwNMrhGunMS-xrWkuIhkiII4Ab0RJSKybmIjKcK9cQaHHydfbf7e-Btc-fd_0GdKy8bc08S8XcaOBwkPQHtYL34B3Fsxd3yC-6t52JxPf2ZQswe16grE0cubw7AracSTkV2_EhVwuIAY_5NjQPO2dr2JmvxwK5seVZ-4L-xWmiVYmTUplAalnouK19lI2IRf-OSlZdU2MJVHQiNUf5zdI5g9u254XknYqIsSB7-2yeFEHDs1Yh6a89r8_jfTqV3Hbze2YoVnS9G-DadzW9fJN6CnhklAN514XJNHs42n9t9k8tUVn8xUGiMI52VTEvu0N4BgqhPx3-pCu-0h08ycDg2CYjL5lh_shpMh7jGHmYYPcrEMr-4sWE12At5fl9ZJybzL3gdmYS3pQWTuMWAKUgNPoxszKT7-AgoLQBJiYvVXirTITYiARThFSlOcm5QU5Nkxe0aCKZ0dwp7990LjPUn8uYYLd1LkFck3JtSkEjrZuhA7s1HTa68Cz_686kITJa0VVhqjBL0nFzM6AL-VApsi0UiC8_QHo1W2_BGtSqfOYwHSYmuTsoWDh6qOGMbGcTcV9Drz1APdMhVm-o_DUv05L4P4x7MZNoQmcWdb03n8ftPmtijSOxeWb2GdyiZVaS0oklBn0XquP9IeDp1MbtI4Dk0-VRpoto4SP2qSZYEWa11JEg5Ov--iUzmaSruZe4YMw1EBNBhnXx0ZAhFicNUFbB84hiVA2D_RezSMIEcALLfAhmujqaa6E5W-crMxsobLjTZ_hXr8reud2iH-KDnu2sIxUgfaRu_hfvlmKjQGXQYqZspC1-fpHBpP1cqFdfPTfznXRHEju4U-FdswlnIoLG3yR7NrR-h8rm-FfGrqBP4rtebMWd2nWB3b87Y7SnsGnilfDxCXfqRr06bjtKie4Dy32iNuHIhb0E_9icN72t5_e8ZE0uQmp3ByanO2aNtnKoUQE6Mo8r2OJR8KbPfbVQTFekjeAyAjn_7q85z7CYgDvzcBKyDdERKNFBKAA8V-mp8ZGHo2zfQgiPSKmLsYfcdmw6ThOnMx_aOHVJRUfRdr4Or3bOZT8i_0HkX3p3ubU6ac7Y18UmWLf3Xipr88b1emqINfqT-P4rye-vFyddJYdGONvcIpEqQXBS-zHgDgMmXntEPcXSW9yuLfkqRtoFV8jHkGAECXJhnJ_2x_yB4PMMLuSH1Ja4ovSxqan5OmeKXv3DLs4oDNDTNmUN1TwEhkhlnpDU4OQmIaciraUFzH28IoSlHP0nN-vO7XO7oSaX8E92GYd0mvoxm9IdNc__2TddpJt8sAAVsiPpExNOvpnAYGtTezhfOfY4-wTFVsrUeCRRwwmXY_gAZVnJ_6xXli5KPmkgF3qlX1f9F33OfIEfjPZrljTe16NQvPkFwK-EJYIvu90L85po-TnHWtKcmJ41uzEElC8LR0naONc6JoKel7R2CVoSKPa2l7jr3BYpDC343aJ65grYQI4VLfokVmD0TbigvESZv6Wvs0eoz7D56u2dSE4_Sh8kY2J730bhOzK-Ll_7Jp0ev19sUBdVJzNpQrHlYUtnkzNUH9j-7IIzs4WPdE7LF8sGTeDIFwnho2UPbfCSWI6Xz9-jx5J2tP_AhPCEb7y1QX5J2cKBED74hgDpGXTeqjHUO1WAfomyBOajNH5KeyDVbGoxmrPviB4JVwXsu1nQI7O-yaC8Bg7TSJrIQEKj8AxUi08mSx8tO1q1P5ni0HmSOYTIwJe4iXfC5u1Hh_z4lSpezn68sBXHZ5OXZOBsef8ALrrw_LvOLBvv1vJj2f2RF7lE3bX7iJ7702qn9Jt91OaOpFPgTs1CZaboJb_Ih025Wm-6fsrNiGPaUhcec--rkUZkPFgvuGgQyDFHJR5SuEaTTF4liRgOKc3EKYUeK0l2OjHcPDtE7Ae7nxNTa0hPNhWT6nzQqllcYb3fYMVRAULEdo4RJS8DH664v_yajlBPRcTy91jmTInLlW6U1VKkkdc9GuNaR54gFkfikiD7qdmH0Tm8lK9nCt-j7IqXyMi0whMk8_0chLALdoXHTs8ojS_z0Lle7ekL-PQd-NR_tK1pCDqm6lxPvC8qne2mFuigB___R3rYEv6ZtUhvudWD7J8YLHIoKWyijCEI6BV_9beLlHbJNVq8_as_9bcRura_Qzoc2Crju0Dz2tgdUEKayikmU6WSxZHoivBwOz4qPQa8XAFt0yEGUZ17eJtyf98dRDnp9c7JUanv1vyR6ylWw7-ijpp98dMei4AR9bi7DkBXSQEpn-xPqU1fVbw0zrrkwKKN3xMZxlpsW6rt7IBWE-q5iN08uBwXctkRGkKiiHXIGT9ko1hfNS0WqasuiuwXqOmR6OLZdlAB8Ifyea2-FRlGe4dVhwEoqIEVbTBKPGDszuIBVTENPY=",
  "id": "rs_08cdd43b96952e25016ab41bf1a2e087d0850987db7b5fc53a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.315,\"right_z\":0.005,\"right_gripper\":0},\"note\":\"The brown plush’s upright torso is now beside the low right jaws, though still slightly left in the wrist image. I’ll shift the jaws left a little and close near the tabletop to catch it.\"}",
  "call_id": "call_K3qqoVeOQgb6zsqLg1LhDA7o",
  "id": "fc_08cdd43b96952e25016ab41bf3ae2c87d08e33425c0d1b86e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_K3qqoVeOQgb6zsqLg1LhDA7o",
  "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]: [-0.1322, 1.0153, 0.9092, -0.7719, -0.1986, -0.1131, 0.9965, 1.1374, 1.8908, 0.8516, 0.028, 0.8265, 0.6979, 0.0114]\nstate[eef_state]: left_x=0.2887 left_y=0.0004 left_z=0.183 left_yaw=0.0891 left_pitch=-0.2845 left_roll=0.0958 left_gripper=0.9965 right_x=0.2741 right_y=0.2915 right_z=0.0212 right_yaw=0.1064 right_pitch=-0.0293 right_roll=-0.1318 right_gripper=0.0114\nstate[joint_eff]: [-0.1026, -2.4274, 6.6667, 1.409, -0.1587, -0.0366, -0.0122, -0.335, -8.4171, 4.9983, 1.199, 0.3785, 0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:524fd25dac1da8788820a3fcc3f69c1b573f05e396b633e2589f3d40e72d1d20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f87df73089a0c7b845770fd4c6aa748a7b454628f2143d5e3ef0315959f1161a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ece38f9b521e21c9ca8ec260e7f0b46f91caf223a12d241a92d0cdb024e3813",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 4.484 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7715, -0.1986, -0.1131, 0.9965, 0.9554, 1.8523, 1.0183, -0.4278, 0.4309, 0.7559, 0.0177]\nstate[eef_state]: left_x=0.2888 left_y=0.0004 left_z=0.1831 left_yaw=0.0891 left_pitch=-0.2841 left_roll=0.0957 left_gripper=0.9965 right_x=0.2723 right_y=0.2636 right_z=0.005 right_yaw=0.061 right_pitch=-0.4621 right_roll=-0.089 right_gripper=0.0177\nstate[joint_eff]: [-0.1026, -2.4821, 6.653, 1.4188, -0.149, -0.022, -0.0073, -0.0615, -5.8735, 4.1778, 0.8425, 0.1929, 0.0317, 0.779]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7719, -0.1986, -0.1131, 0.9965, 1.1305, 1.8786, 0.8375, 0.0357, 0.8284, 0.6949, 0.9973]\nstate[eef_state]: left_x=0.2887 left_y=0.0004 left_z=0.183 left_yaw=0.0891 left_pitch=-0.2845 left_roll=0.0958 left_gripper=0.9965 right_x=0.2752 right_y=0.2872 right_z=0.0226 right_yaw=0.1003 right_pitch=-0.0252 right_roll=-0.1303 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -2.4957, 6.8308, 1.453, -0.1294, -0.0415, -0.0122, 0.0479, -7.1453, 5.7504, 0.8718, 0.4762, 0.0366, 0.1099]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7719, -0.1986, -0.1131, 0.9965, 1.1374, 1.8908, 0.8516, 0.028, 0.8265, 0.6979, 0.0114]\nstate[eef_state]: left_x=0.2887 left_y=0.0004 left_z=0.183 left_yaw=0.0891 left_pitch=-0.2845 left_roll=0.0958 left_gripper=0.9965 right_x=0.2741 right_y=0.2915 right_z=0.0212 right_yaw=0.1064 right_pitch=-0.0293 right_roll=-0.1318 right_gripper=0.0114\nstate[joint_eff]: [-0.1026, -2.4274, 6.6667, 1.409, -0.1587, -0.0366, -0.0122, -0.335, -8.4171, 4.9983, 1.199, 0.3785, 0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:524fd25dac1da8788820a3fcc3f69c1b573f05e396b633e2589f3d40e72d1d20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f87df73089a0c7b845770fd4c6aa748a7b454628f2143d5e3ef0315959f1161a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ece38f9b521e21c9ca8ec260e7f0b46f91caf223a12d241a92d0cdb024e3813",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBv_iyH9ASUBwuD19ZrlETs4Ezfh83KArhtuC9qN1xHpqQdfFpql0sJBM9YxY03vkOCqN6SYwLg6byoMjwvN0-_3u4zmkydvJptt9RBJrAlyTGZIrOao7wd8bz83nJ2Szys5Pi3LL9AqO9pjf8zDIk5aDsm6QI9eiXvRy8zvDVvUMfiUWqvBbhexix3DlIivf7NxID15eJv4vHxXwn-8aGI5K_XyPzvTmveQKq8PndRIA4k2lctFz-xm5WptscSJ74Wz81TPGCAuoDLBMiBtUnMQm3ruI5vwYccLRzVwo0C733MVBCzvzkhUu4DVVYkt8n6pYTKfdga2v5W8YMJ6FkhQa6TXI_dQPifLHEQvwyC2gWi_5aZ_MfP133rmQN30-mPKONhqvkSHuTAUgp_i7tbppYP2woh-ocDss-tWLgQ39xhZpQzg8_cuBkXdzEs-BQ1gjQmZLaY1mBmEtNxw6IaoXzVRY8F63vOO7dVCHqjlL6gc_oiD-sK9_os-V-IKOEQswD2Sk9BtUTsW6TKMy3ydsJzpQmUHQV2Vr5hPpsXpt2a-HU7MsGcsRemti8ZBYiysZGJLrQ_x8mMle2JI0CI76hRSpRRJd2I5y8_1Lt9UTqR0nsqdv4peJQV8Nfmg_-ZyRH1LvHK938q_IvqXkzWH9wyGxeSfdKYv6MekwlsRBJdkhqY57AuIuNHHJrcEuerCVN02P3ZgD7RtpqWMRWrVF-TbpODgp5N3C5YjEPCF7Jo4KGLQHTw0825DFpjF5sTcPUtRvPANN7XV5a-VYPV_8v78iJ4smaB8j0yoCWE3G-1ZOjOLdpjPzGlLvpqhgZO1IpqsKeSHdC0XU5LzB_ZrN8A4RzrIlBdhgE5z8-mjmwvTNjRCJQsohpvpuezX7VjhOOwNLtuU0HS1X_L3-i-P-kvmke4UALTgFnnu2DKHkuwwPjKp8gotecG-OVYFkojPL1mi1x-_ji7zUbVg3vGLbIGhqgck8pEyvUp6XoWqpPUryvUoQH9Bojq9rMPVCrIcSdsS-oSTWJLPjnxzpi4aRNYHFNEGKIZcR9SNdveqXVdy0hFLpzS1tM9GZ0VfIZmm1ETYvOP8oKDMdXyo4oj3eGwYtYFsW9qTYmUJ4um_zj6dgAsk9jD8dk6OwFP6tVFgE0laK-2P4D65m7FiYBAZYKoEoEI9EWNN4C8rq_rNRJ3mq_MGSIABDC4OQ3zgjg0D7Aoaq69LfF1xKxrak_GQ4QEg5tzqFhn_UnYPiiJEkvirC4wqa15tn5KoenrGh08Ru9MNAmtdzXtr6l8v9oqFXGPIsm_UkSMGwgw3FmugJ9xo4a1s_aBncbvw4aVSctkPrKCEPwJiVQuT_kpO2eKHoBzaUIdHd98et00oniiwUNIdvFecoqP1lC0xIjL0hnBav34Xv9lcVeo_UYfvknPP_VyWFNOzxPj3hFDsgq5f3aRQaEvMclRTH_bYvKHSl0LL-wwWldHmM6VZOVxRH8TFCmTGZbUVOM636IHuDB1mJjuC-R4M76PaEAm2fwgDF0u4NaABSewU7J8BrxzT7vfC1muy3p_Us8pzbxx-ZBKGmBoSAjtJXOycOasQl7u-xVYgjDqrYHVyAWZ18NCM4YpOO72nygqLFVBNvAAtvhk5WIIuquljSS1q0sg6TH-pGImrHVhmFK0Fy-i0soziCJo4XOpMLWhT-dsMCfBHKXckMNzr_4IMaxiUA5SjMDZpFB2qoZxBhIpbJjn-Wepa-f500dW6bL1TAzk0qB9LdnkhLR7G3alTUeUIbgc23P1HFFKXhnCbKKvjQCoFs7PEp8ZNwTAEEXeevkDnc514scIQc3aBYO2b1BPX4aCh52TeGxYs6cqNpOdlPPepJKD9qlprA1MUMjPbbIgDAmFKXa0gvOsy0e9rJLmFourb178L5UDZ5H0-zZYVWmGB-ZClkH6e-YfcybyFAPD2B7AAao-silMEUTP_Y4ObBAtxY20xix-1OdIo_XWQWH83yNqvqNHbIot8TkRx54Go2nFk2pHsLqIK0DOxpfUcftb0-NX7YjhZMczD1ozrjScX3fNpQQeygG6Iu-55k-XsMzvh3VM4XS3p8vCvy7_rIH3cT0QVQUV84odPr_iTn-dBbYs1AOsUiN_6B6uOcxdZRreu2AWqVxnfMIZY49yFVLFczwf7rqnbUC2-BpuxrX6-VpH8XKhAyIUBWZdhqcnpdk3N14NXQJZlBhLBz-FagEkaOzgtBf2K4SW_I_fcpgWawa6CldhuL95YXjohVPLDzR01-bfbEbb3SOtNM9yN-MXdCVg-uaK8VPROtHbNPop5lcrLrKgapXcteNDbfDZPlcBIbD8xzZoayyUwWci1qBKlD1zc3N719oMiTQB0eQI8cbP_fCVZUJ7gRzwlgVctx0jeyeit3LdGp9tdmpor3zy3G8a9Vs50HFLOQQkfShdpIOZbAwMy0W7icBgUjmrh-2aUz5K5BJQT0S5BMZhYLzgmIo10x0uK5kn-VqRqGxWp6u2-5mlcR0fKcSxtjw1ewSg0MPGAQ_P5LXZH9_TL-dhE6BiIFzBqSJSfPPPrPv9ll1ylYylwINUxLdc6R5rCiNExvyXjw7IJrkB4HMa6h1Hlsv8YAeIcvYuE73YB-M2wCW5hEcUdyU5AWs2UxIm6jTR3yOxEFNHFqSXfyOCb17IegPDHluqZU76m4bGOKehW1Sx8vtmrijvSFifYvfxoH4tHtRhktedeuQz0W_r9FJ3zmaH9_caLrjrdbD6hHITd9CGMRY6asU8ouCYhzy6o7YiOArRoqRwh2R8p8UuNb1zta9g47shC9n_5wxR6sxtNmDf_eDBnm1lKjjab2rBXoUchhvINxaa6PrSnXGiutStw3woEYV_MowLhDjRcwEumPloep0yGm8jEdtVZmEhsD8hkU19KzrExN91EKNOMqrr_iXqb9PJYQotnmOReQo6DLOpmavHin1L1YAj46W-7JJ7rJDphmHSR6gFMOED4et2DkdbTXZRPlKfN2bMSAx5GvA1tXlfqtu4_7YL-b0SQHj1BbwfDrzdKY-6H9I5Xikn4PSi8xQWLRRQL-vEvLH7upMGkMWI5z0wCp-J4cHM0zRDzLwnDYo5bbfz_MzpRrb2x5wk51z5Pg5KEkP_YOL1UuhdGV8nUb9S03wI-cMNF0IIy3eMJySefNQlAr3Jan2-RTh6P2uA14mvfbU-GFKPegcq7-2nF5-jyJBJrRTJ4oAispqLF-tJe5Le6400bBCxLXrgc3eVRA7cXfxotOKi_4YRipCGNPAC1yiM0lAAIMf_xDDChSFcNcI_AjHB2pe_qhLan0lg4Vkw2LlhIiRy06cchPgjvPGnn8VRSYRgMeFxVVuw5iLK3gKmC3647Aimngq6ELbfetPzvc2wPLZyEiAN4jwxVh4RwzLB3HdokJ0D_B0jJqT6Yc82jYTwKw9T6JQ3sbSbtkTmgw8yj7UxKMBtHiAFmY9pR0qYXgrulj0ubaIWW8us4hThQee6bgLetZprBFRfwDlESYmc5p3RWaaPySzgDxOhp2ihiccXdhrkJCDwJRhQxT6wTlwO73ia1EvM9nkBUqwHfkiHxJ_ngEK7dljVJxbzmlpAv9aU5DiNBeONMJ1232bVbbeSJDdeoqeF6a1ndO3h0aSo61DkY8ngTZHoi9kOSO7ota9eYuxzF4jW-6q49mKi4ngOndCwFFNJLeVFmNmlyAorIj-aHPzFMhWJWQa1r5YZn88FVj-oTGj6jdxQ=",
  "id": "rs_08cdd43b96952e25016ab41bf6fdc487d086658cfa7283a086",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtBv_wM6DIU80R1cCQG7KmXWpqz6QTWHkxNYiGFDKcg1R-rnsmi9CW1-m6ONpFj2rnXDPCmEUJ4f5oLjvRpPFABiCtcrPvzybEZkJ6CwPqzjfCMivHoCNrPHufQ_MWZHaEDQvM_iiYMup9otHTU_LhPoQc7OCW1vnwOxXJ-OGVHEYo_Tg4jvkndjx65F-TreawYAa2HeoLQ5mO5rjBnWhpWVb-mn99VR2MOlTzipzRNtiRQnkxkawZUZFx4IGFq_I2LHV5VE0Bylu0cm66tlCcgoNmukrV8FqKMvqPQoxmYuPX2uPMbb25UBjYTqBPF6MajXzhllku8cJqFdYbKvnHxpM18eqtdSZFWbdoM5dQh79QOVJi80AwJrwBTKSp_ekOyToDGGrKgxqfXZFKZ5_OQyBWnv_HzI3mk2pACr9n67RrCwTkn0nmJZgLdwwKqQAqN4rlceeS5THUuAND4e1U7e85J90uDk9QuVSFX5W88IcTkUsUS4J-aBY5UQyVZfEGhNJ1Qw03hxwkBM9gAD0jIEzVYbEHYXPbqSiEmK5YmHvWhGt6vBode8D1ABhap53HNxpeDfvv3x1wZCb80uv6Mfws60SOVI_OW3xUSZYd7_V2SZhQK-tNWIMqcZx7989cyYynL7GrVy3q1Z2KAfQ7hANsL93Wip6ZETGXIFDRPz8ynLKvV-o8Xl1ouQYVp3hWGs5iCMsmJ9054gKOa-KEXM0squ7KccdkM4d6Bxl-uPoJUDmTfY_4q5rpe8bHLaBelAUT_473t8qbZErU-dOCbteFKaKyCOomoakMREBwTNNE0dGy_jReJrJDkEkP5anaZQnsKSUVm5wJyVYGTB-dONhRKmW0by2KWzCppW3gYCUCqQg-CXZaJ4vnWjMZLAU3ZP-4jFwStQ5hSY0evUwiMSWfMKKE1UWPUqWCZcX7aQHiFK5CDxhsiLkaRgtdskwrGt7C8a3YJXpMzWXhgisDanfHgav0422VmuuZLY0hmbQdnm9oPLErVQeLDLjbje4khp-jgSB3nGk8DB_rmJkR4xEo4OU7Efa2b-VRVi6aI1jZEpDQYU9m5yhyIEzXFeRViG-P_lF6Anr5uJPKbNwhJoRfBm88LXI9Yu3euVhKTv1ZpiEVYAjOwz6lh1jAu79GpvXvqq1ThbbkyJ_399obV5iOfl7L-6IV8wcjbhUHoUD5RDW8YCwjhsh4GQbdZJlK4vtmXAcHYMwCVgZd1iU8phuWl9Ljs-wJu_hHx9KB8c9piiDpGvCl_iNsg2xh4beqcXlcMSIeYv04WAzEVSEBTEyzOzsxohcRgsorMx6VPwQ0kCpRifYJsQTHQcAkDg-JOOJ9tc8V2S_9QGe4Cn5K08Pf7d7RsRv9aGrqvRoKvqFpVag7eJEKPraNVG6UbQs-x7F2xLUwYNoaEb6JcAEPsZY51F4389hJlfrFSVDIgfytPdrv8qJV_kkMd6ezZtvmcyjBRw6uQw8hDIwKr9EGzW2EGtdE5CKh826VNyaQA4X9d5KJldrMzhvPiF91iPFVQR456v7QLT_kNzSKXTJmOU4HH8bF7l3XSKw-_0AdzpscOv_efpRm8ktGGQJC9BYmWLdgGAsjgLNqV8HzoXVFT_lMWv6vWQ3SaL1IhOOyekYnodqBmj8sBFsCYYwC_EWcwT97e_69VtUhtwRIhNQhShwfZZAJFRUvXfDNNEB2hpsnhU2cDA1mtRrfQTTxzTaWS77uc28hJ3kZgOhtQ3VtuhBNDqctzaD8Ui_QsAs95BmZE04YhBACGNB9trfT5OlKqT6eVtg8NqtxtE-IRB2QB03HCEYM3yfx8AHlqpXs_sNQ5jSilrzapg95WjKqqYGmaYy3XKoBGUBkU5YXwYXhqeBZrLuZxUgShVbj-RGXnx0GJB3I5Gb8zbE7HmckyzR7JKZ-d86Kz6o8MStzTUwd02vzh2UizT_dBMK5y2pe2wTDVfHXPnUn71UnngcUkQAIZd49YXctE1eprig7udhf18OqokgesM4NOyKazAFJwBsqA6JT72U8Ef-fI5ssFeaVnk1REGRuW_uEheMvLvbfb-4ao5u6qaMzEIhfA6JNl7F5N-ScnWv02NNbHrGufCFymG8URCHGYyH0cZn9EqsCqI2H3udKOoJp1eXIlW-tGvsJFa3xcUzFpV4PtpnpqCZOMD4_EpEnt-dCyVixEgRabKcTYz1klVDxiFbqQHY4P7Q5tt_oPKqwxI1lre9fn_TFWITbEgyko-LjJKrJk_svdTLwUHd9YBxTzBwikakWiovZn5AoyxT-lLXjXXkuXi3YKNRVkBVHjQLJmtnRxFeI4I7qBRAuAzv3hTYt98EhN4JD1SBURPF2Gn6dtytk5olAiWsu_JjwdOgf33GZ6983Ujd-sDAKPt_jSfzVU3Yh3sJ6z6pkOsTd7Q6uRz7OOtFBw0V0-n5qlaPMh6xfTpHA2yAcun8Jiqnv_9saI7JBeo1O4NQ7J6AWQZgH8grPbQlgj8cFCGmNjjeFGbR2mf1TYb32_HWLreoOgT9St5L764xad3SiX4HnJ6_Y-IoD5mc-u8u",
  "id": "rs_08cdd43b96952e25016ab41bfbebe887d0b65debf15d106c18",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.405,\"right_y\":0.16,\"right_z\":0.15,\"right_pitch\":0},\"note\":\"The brown plush is still on the table after several empty closes, so I’ll switch to the yellow upright object beside the safe and return to the plush afterward if there is time. I’ll raise and open the right gripper as I approach the yellow object.\"}",
  "call_id": "call_XR39r8fUlFVNrIRat9hcQCpY",
  "id": "fc_08cdd43b96952e25016ab41bfe90dc87d08a0ac47325bfcada",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XR39r8fUlFVNrIRat9hcQCpY",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7868, -0.1986, -0.1135, 0.9965, 0.5591, 1.552, 0.8906, -0.0574, 0.4633, 0.1783, 0.9948]\nstate[eef_state]: left_x=0.2859 left_y=0.0008 left_z=0.1807 left_yaw=0.0903 left_pitch=-0.299 left_roll=0.0989 left_gripper=0.9965 right_x=0.3935 right_y=0.1573 right_z=0.1227 right_yaw=0.073 right_pitch=-0.0498 right_roll=-0.1521 right_gripper=0.9948\nstate[joint_eff]: [-0.1436, -2.2496, 6.6803, 1.5116, -0.1636, -0.0513, -0.0073, -0.3214, -8.8137, 8.9778, 1.7314, 0.2125, 0.1148, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb9fc24f6f07dd58459c7d8cd8bf5e24aad54abedec62ffe57f3d2ca782cf53b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:803440689b575dba58d49f7d223ecdb29c6427cefea014d44cb9ea9074d229d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9210a0b705425e9c64145869ef9893aaee506b1c5f99752058267ec06a785f81",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 3.698 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 98 changed as sent

message 103 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7719, -0.1986, -0.1135, 0.9965, 1.0088, 1.8027, 0.7929, 0.0257, 0.7391, 0.6235, 0.9961]\nstate[eef_state]: left_x=0.2887 left_y=0.0004 left_z=0.183 left_yaw=0.0893 left_pitch=-0.2845 left_roll=0.0955 left_gripper=0.9965 right_x=0.2964 right_y=0.2541 right_z=0.0265 right_yaw=0.0698 right_pitch=-0.0806 right_roll=-0.1283 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -2.4821, 6.8444, 1.3846, -0.1636, -0.0611, -0.0073, 0.253, -9.4291, 5.0803, 1.5018, 0.5348, -0.0171, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7719, -0.1986, -0.1131, 0.9965, 1.1374, 1.8908, 0.8516, 0.028, 0.8265, 0.6979, 0.0114]\nstate[eef_state]: left_x=0.2887 left_y=0.0004 left_z=0.183 left_yaw=0.0891 left_pitch=-0.2845 left_roll=0.0958 left_gripper=0.9965 right_x=0.2741 right_y=0.2915 right_z=0.0212 right_yaw=0.1064 right_pitch=-0.0293 right_roll=-0.1318 right_gripper=0.0114\nstate[joint_eff]: [-0.1026, -2.4274, 6.6667, 1.409, -0.1587, -0.0366, -0.0122, -0.335, -8.4171, 4.9983, 1.199, 0.3785, 0.0122, 1.033]",
      "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]: [-0.1322, 1.0153, 0.9092, -0.7868, -0.1986, -0.1135, 0.9965, 0.5591, 1.552, 0.8906, -0.0574, 0.4633, 0.1783, 0.9948]\nstate[eef_state]: left_x=0.2859 left_y=0.0008 left_z=0.1807 left_yaw=0.0903 left_pitch=-0.299 left_roll=0.0989 left_gripper=0.9965 right_x=0.3935 right_y=0.1573 right_z=0.1227 right_yaw=0.073 right_pitch=-0.0498 right_roll=-0.1521 right_gripper=0.9948\nstate[joint_eff]: [-0.1436, -2.2496, 6.6803, 1.5116, -0.1636, -0.0513, -0.0073, -0.3214, -8.8137, 8.9778, 1.7314, 0.2125, 0.1148, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb9fc24f6f07dd58459c7d8cd8bf5e24aad54abedec62ffe57f3d2ca782cf53b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:803440689b575dba58d49f7d223ecdb29c6427cefea014d44cb9ea9074d229d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9210a0b705425e9c64145869ef9893aaee506b1c5f99752058267ec06a785f81",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBwFUJc_U0nJorwJVSZ8Dn_067LcTDE-Zidbw-APxqy0Ya-Sd8qknr3pmfz4OFBWTFSWlqpiD-4c0VrBPF_hr_spPRmWAh5VhSmCmVP4Ck-73nJzDBa8iR9a1ouQIFzvgqhtMq3bwS7Gr2TDQTq6XcVn125ujqWELsCtNUSjcVMajbs9ilEm490YmogD3q7qK6rhtHhdSD-nBSgv0zQS3yHRKHxZMtXAeOUiCk_rdq_A6L2RLqyJVhij6ZMd8mVPv7jNYtCfy-wwGJgi3DGBN3hPwFp86YdGDkm04l7mKaE-8IEB9rS753QtkvnDQgPF0uV2RZOQwfkcwrDhP03R9O32iL46DXWkCMDkpBaHbWZx2e1Rl3wZuu9sSy3gAtHtbDQpIiwKYMZQ9hL49ftJZOnU-iQ_tDevmwZkenUFzRTEeg0eJEvvlKhtTocv0nrvdlju8U0mDzqwT0BabrvtaWXkVu1Ta8YC4tSX7qc28hUBMaLSolosVTmfLynF-n5RVdi0olEizrJSNtxNE0o-FpivxayBab7CN8815SUcbhBIRVrjCKo9UYjq14DKuKzD22fcw-oXWhoSLgocVeQMT0XHa5LMEa2YRXw81MHUvYlyV6TzpkgeYCt1BTAqgQvVmnZzQ2gzIFA4D-n27hVstbG8--hz6v6PuXxFkc_GupMRXWjfkpMOGYUhNgBEq5FtPST9SXrEocW9BR7fNmMZ8dGqA3f_uj26KbqCCmvhDdZqFgGV1rv26KapBmsRwvA4UCcSyQiANreOJGbAW5WYZmmutfJNWOzFs4DVQ8gnpHAsv_ZxE_v7rib8YUNgpHK5iBnNDMzPVzxnOz7R0_afoQqVNHqjdQSG65rH1pTBWZdmiFaqltxFaPHIRKaRFJAJvyHRRKvjcKPwTDgRArvvA5x35mr2Es2y9puwNNPDImCwTYwJUelzXXQ_afDkoXS-XD8qaJg_AU4mTwlxbBbx0jhRWj1BMItPPPbjejVm4NE_wL7DAogbiimIMIco8qXetuOiJ6pn2T5SCwSa2QMehMWT2CfsGMD33VLnCNzJMNITRBTlYlJqu_Vh424ecV9gC3h72IHFeVQzWVfD1we67tpykS1uUGjxSr4p-kDgrVYCh_QLGV9CDZaUtMCmErAO_HlC76JeEXP-bERA9QpyX9vJMO6ODAxFPJqdJTCA__G9XYmk8jWIsUnnOMUhfZk06iPO4VdSJrG-MlyXfuEkMcgZ_NnM1qLgq5sIexYQEElQswbJ1tssaGwc8gn0ThONqJbBbpxQYNCmKnr4kiytV_4gNowhmj8-Wo4CbSLUKsbB_5xXnViM_fVVGYWHs7PZetSUPrFg2x7Qa-kgO2w8hDmNoFdjHCUQFGBnnhWCbkN3aK6FtV-WoRe9h2Lf-hOrS-Nd5RzVa93WvzsxDZHv1J4Z8HDKnu6Sv1FLDMQkUCV7yeAkpXCphE9Nt-g9SWUmgQvoFGf21KvxpiHuTh50P11s7xq2ir_vPwsAqoOuJSoOY5QqBHi3SihoyrzQW69W5JVc5UOxjGRqGMacMFxbzL1icR58xjkFIKuKz4RMsSP-3b4D4XDr8-Z91O9wGUSpSwg5qe0AroQegwB_rgyn-S2NfYHKX5tktuf_ML-bco-maJCLnpQu0ynKuNeh1Puljlb2ufaIkumDXiO4Ci2ZtkcDdou2Tuz2kCeyLsddYqCGQcwqd9HeIsxmRkXskMICmFT89Zaus9p6jZkZMtEuCVIEjVsJ1Fcc_guNLTPqTUmXP2plw0XLOFRk08LXwVoVBvzyByU6EruVlMjnslaNUJHGUiBS_ttEQYwTWHiroqPxs1R3ZNJnwI3c1Nz7sRmKTVSDGSNz_qYgKf7RI1uIkD8YxjNdU712kOQ1qcs_X2N7QrL4L8U32kUx79IXx5MFKk51",
  "id": "rs_08cdd43b96952e25016ab41c0270cc87d0a4c7a0933bfa70d5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_z\":0.025},\"note\":\"The yellow object is centered in the right wrist view but still short of the fingertips, beside the safe’s right wall. I’ll advance about two centimeters and lower the jaws around its middle.\"}",
  "call_id": "call_XtWbJe7MOwYoqZjK1NFp191b",
  "id": "fc_08cdd43b96952e25016ab41c044be487d091445e0b5d47bd6f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XtWbJe7MOwYoqZjK1NFp191b",
  "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]: [-0.1322, 1.0153, 0.9092, -0.7937, -0.1986, -0.1135, 0.9965, 0.522, 1.8549, 0.7959, 0.2657, 0.4255, 0.1413, 0.9953]\nstate[eef_state]: left_x=0.2847 left_y=0.0009 left_z=0.1797 left_yaw=0.0908 left_pitch=-0.3057 left_roll=0.1005 left_gripper=0.9965 right_x=0.4059 right_y=0.1535 right_z=0.0167 right_yaw=0.0829 right_pitch=-0.1313 right_roll=-0.1911 right_gripper=0.9953\nstate[joint_eff]: [-0.1299, -2.4821, 6.8171, 1.4481, -0.1294, -0.0611, -0.0122, -0.7726, -8.253, 5.0667, 1.8193, 0.2515, 0.022, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e066efe84bbb66ff658dfabcff51ef74c0c99707080cf33759f22cb0c252bc3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc670f9a3e81dbf11f9c8426604eb18d0722fadfaf47108fe475fb8795bc7118",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61858d0b8b387f1893d4dc1c9bed9c4ceffec7df13f3b445164821ff21a90531",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 3.428 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 103 changed as sent

message 107 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7719, -0.1986, -0.1131, 0.9965, 1.1305, 1.8786, 0.8375, 0.0357, 0.8284, 0.6949, 0.9973]\nstate[eef_state]: left_x=0.2887 left_y=0.0004 left_z=0.183 left_yaw=0.0891 left_pitch=-0.2845 left_roll=0.0958 left_gripper=0.9965 right_x=0.2752 right_y=0.2872 right_z=0.0226 right_yaw=0.1003 right_pitch=-0.0252 right_roll=-0.1303 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -2.4957, 6.8308, 1.453, -0.1294, -0.0415, -0.0122, 0.0479, -7.1453, 5.7504, 0.8718, 0.4762, 0.0366, 0.1099]",
      "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]: [-0.1322, 1.0153, 0.9092, -0.7868, -0.1986, -0.1135, 0.9965, 0.5591, 1.552, 0.8906, -0.0574, 0.4633, 0.1783, 0.9948]\nstate[eef_state]: left_x=0.2859 left_y=0.0008 left_z=0.1807 left_yaw=0.0903 left_pitch=-0.299 left_roll=0.0989 left_gripper=0.9965 right_x=0.3935 right_y=0.1573 right_z=0.1227 right_yaw=0.073 right_pitch=-0.0498 right_roll=-0.1521 right_gripper=0.9948\nstate[joint_eff]: [-0.1436, -2.2496, 6.6803, 1.5116, -0.1636, -0.0513, -0.0073, -0.3214, -8.8137, 8.9778, 1.7314, 0.2125, 0.1148, 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 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7937, -0.1986, -0.1135, 0.9965, 0.522, 1.8549, 0.7959, 0.2657, 0.4255, 0.1413, 0.9953]\nstate[eef_state]: left_x=0.2847 left_y=0.0009 left_z=0.1797 left_yaw=0.0908 left_pitch=-0.3057 left_roll=0.1005 left_gripper=0.9965 right_x=0.4059 right_y=0.1535 right_z=0.0167 right_yaw=0.0829 right_pitch=-0.1313 right_roll=-0.1911 right_gripper=0.9953\nstate[joint_eff]: [-0.1299, -2.4821, 6.8171, 1.4481, -0.1294, -0.0611, -0.0122, -0.7726, -8.253, 5.0667, 1.8193, 0.2515, 0.022, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e066efe84bbb66ff658dfabcff51ef74c0c99707080cf33759f22cb0c252bc3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc670f9a3e81dbf11f9c8426604eb18d0722fadfaf47108fe475fb8795bc7118",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61858d0b8b387f1893d4dc1c9bed9c4ceffec7df13f3b445164821ff21a90531",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBwJdP7c0b1n_tuP-hYRVu19i_jzcyj4iZmKdeqTiAH_tbyNm85K1cRsLy_n4xCtBaP7jKh2zmo-U2jVGR5N61bqtZoOYdzeYS6c3LocvqyTzotaedwkSdylKfO8FUFA7ps7R51clNmnKl88bdG7_c29aecUz77WP6sQ9bfilA2vAwD02tAy6lVhVzNG72iPlTWC9xN_1fmEuMoGgPCVDEvOsC9MoU9yrq4_HJW40goXv7h86N9Ufj1qy2n-oyNFkRyqhOQg0xKO88pET0spLmpeihRaXEBSW58Pyi4qyeTI51OqoD6iHFgu1yj9HBsBhpzW4Jg5OcaLrVxKlKLJtN8VYckpqeKfyisxmptzhQAKwoxlKzx1NtGLMtRp9vtikMMFR2-t21qj6kODxvTzOBqwdYvu0_K1LCpHyDx1Zi66AKXarXdXUlfmD8KAnHK2Y2TBlojmG4vWf3hsJUBYhSBG89OFZzACJ1F0WSldqVSMozS59hNSA0k3K_FJczKKkUhJmIR2uleDwENpMvobVYtj3UkUaeML0dDy7n-2gazHDp41naFtC_DjCm3OvgvRv79T689ennB3SWQd4MGnltuCYeHXWgptTNTCE_fXhCRSmKoy4ucD7WQs4FJKhaphu--fJivbE1JzZzT6-Z7rbDE1-LcHF4bdInqSSZ1LcZn67wtKNVaBWOpoXbhdHLWJRQ2ld07k2NDfLJugbC3YkyQ6vFKe9tKSwGCTokdBDMplEXN512Qbcf4b4_LbGCnSjcyX9-qHvjZQQTw3lFG-1Kpdzyqwgfe9PTqmGUEv69clWiNOBgot_EfA9vPe2F_FwOJY_7eYiXG7tiDztlOEqOAUAkqwNv0z0SYb2cKF5PqTDi4NT5bAOsRXh_h0_uP1iYY6vEvihDgzZ81fXAXnlOzb3RcteWur1c2pbPiHNcgBCwacT5dfNceH-YMUH67-fAGDlPnBgwn0tu6zAaQc8IRQcveiNIvU2Hvn_OE7lJw4Qwqix_V9iujPCP2XGInJHWMLGDmtsApa96BLvidhYdWPeai1m0I8Cd-i0w3XoXSchD_F610bJedF3bWRBfDSxCDrgZbvEZsVvaNZCs7uW-YOyf4OZLr1s01_l8EmjV_rebzfzHBzwxa64duOqu1sFDL_ua6rpcCPScznbFy1NtNWrN5bLKE9-S_zUPDMGT696KVfRjh62sxVL-yeX4Wa3bye7XEC8eO6Ax31KvM09x8ALGymu2CS9qgzJPuMWs4T3MDUsJNfbOWtsyQpBlUCOBzfblvAZuyS35IAeXEyi0SOukekfbz9CO3lTnQh-9TTKQH7cYS0kQAgzyWIgzSc6id9VryeL4jH0gGr2EMtSjLtNvuA0i9RZgDJrQw8vpriUqaaksew0Cv23Q6xDFyuZx05MuQC0yh17MM-T9XmVVdLdzZOf-L9P_SOzuIZfuLhaR9p7EhyZnFyuyhDf8LAUdPQFkOF2VlhuG1SWaXq9xXHsW_ydN0Hx0VZiPBRnSYORc9iywZZgg5E6LFD5q1NpdDHT6rel1PXGo68T4-UVQTP1_cTJh_l6KbMbNTjE-9JQtCTEpX1xVYPNThYL7kGSofZnu4-EOuvqDdnkLsd959aspHxf1Vj1ZWvmXyQhhvuj89IOrCRb20DIla0Y26dO2L_Er7pKQscqPHlQ2G1X7tN7ULaRUoHlZKiCOV2WG5VZab-qdsoGK0KpSkmRHFHH5vHQEu650sCU4mRVoMlaV-ebUumpv-GIIT_DKnCbD5NhCgrpTrvnQRe2c6hWMf-bvg5W58L--82nTc9NDIISKSsSpsMAmQRl6jl8x-m6hfNht8g_twmUMAOGoyXpyEAHMeX",
  "id": "rs_08cdd43b96952e25016ab41c0704cc87d0bd16118c19fcdb3e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.145,\"right_z\":0.028},\"note\":\"The yellow object is still fully visible ahead of the fingertips in the wrist camera, despite being low enough to grasp. I’ll move the right gripper forward a few more centimeters and slightly right to center it between the jaws.\"}",
  "call_id": "call_mjpojJBx4ONwb1CynLRjG5xR",
  "id": "fc_08cdd43b96952e25016ab41c08564487d0a13028101a64a58d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mjpojJBx4ONwb1CynLRjG5xR",
  "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]: [-0.1314, 1.0195, 0.9092, -0.8066, -0.1986, -0.1135, 0.9965, 0.4519, 1.8957, 0.8963, 0.2031, 0.379, 0.0925, 0.9954]\nstate[eef_state]: left_x=0.2825 left_y=0.0014 left_z=0.1766 left_yaw=0.0928 left_pitch=-0.3224 left_roll=0.1045 left_gripper=0.9965 right_x=0.4328 right_y=0.1414 right_z=0.0213 right_yaw=0.0764 right_pitch=-0.1523 right_roll=-0.1984 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -2.7966, 6.653, 1.4676, -0.1294, -0.0464, -0.0073, -0.1846, -7.6786, 7.5556, 1.7949, 0.0855, 0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a891046ec98e412c80dbf70ffd7d72bda94fe58a06e666afbff9e24f513c7075",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae8592376a33297fa7d0a6553f1b5f4e121bb48f3b19a16df481b8fdc47e530a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef81fb3610cb5b7a2ff6a8b8aac8fd4da9f28f0075b60b47b6c343c5f74b701b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 2.812 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 107 changed as sent

message 111 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7719, -0.1986, -0.1131, 0.9965, 1.1374, 1.8908, 0.8516, 0.028, 0.8265, 0.6979, 0.0114]\nstate[eef_state]: left_x=0.2887 left_y=0.0004 left_z=0.183 left_yaw=0.0891 left_pitch=-0.2845 left_roll=0.0958 left_gripper=0.9965 right_x=0.2741 right_y=0.2915 right_z=0.0212 right_yaw=0.1064 right_pitch=-0.0293 right_roll=-0.1318 right_gripper=0.0114\nstate[joint_eff]: [-0.1026, -2.4274, 6.6667, 1.409, -0.1587, -0.0366, -0.0122, -0.335, -8.4171, 4.9983, 1.199, 0.3785, 0.0122, 1.033]",
      "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]: [-0.1322, 1.0153, 0.9092, -0.7937, -0.1986, -0.1135, 0.9965, 0.522, 1.8549, 0.7959, 0.2657, 0.4255, 0.1413, 0.9953]\nstate[eef_state]: left_x=0.2847 left_y=0.0009 left_z=0.1797 left_yaw=0.0908 left_pitch=-0.3057 left_roll=0.1005 left_gripper=0.9965 right_x=0.4059 right_y=0.1535 right_z=0.0167 right_yaw=0.0829 right_pitch=-0.1313 right_roll=-0.1911 right_gripper=0.9953\nstate[joint_eff]: [-0.1299, -2.4821, 6.8171, 1.4481, -0.1294, -0.0611, -0.0122, -0.7726, -8.253, 5.0667, 1.8193, 0.2515, 0.022, 0.0513]\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]: [-0.1314, 1.0195, 0.9092, -0.8066, -0.1986, -0.1135, 0.9965, 0.4519, 1.8957, 0.8963, 0.2031, 0.379, 0.0925, 0.9954]\nstate[eef_state]: left_x=0.2825 left_y=0.0014 left_z=0.1766 left_yaw=0.0928 left_pitch=-0.3224 left_roll=0.1045 left_gripper=0.9965 right_x=0.4328 right_y=0.1414 right_z=0.0213 right_yaw=0.0764 right_pitch=-0.1523 right_roll=-0.1984 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -2.7966, 6.653, 1.4676, -0.1294, -0.0464, -0.0073, -0.1846, -7.6786, 7.5556, 1.7949, 0.0855, 0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a891046ec98e412c80dbf70ffd7d72bda94fe58a06e666afbff9e24f513c7075",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae8592376a33297fa7d0a6553f1b5f4e121bb48f3b19a16df481b8fdc47e530a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef81fb3610cb5b7a2ff6a8b8aac8fd4da9f28f0075b60b47b6c343c5f74b701b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBwNqa0sYTyqWb8vTGMaN3wOixDpiyNXRuAYXeCyR6105XgvVYZqVaaqSnbrbPM_TRPIkcs6fZ7IfkoaGXEJTdKiCVqD6QJd7PqeC3gHB_Bp0sS5H0_vd5GoGYSyOVfLvu4-EU6qftCUZd703GyA_mILVqyUKRxPWmliq8DP2c1oZLin-UnxfMd_OYsegeDcnGAjkR9DJiaO6MVn4Dgclgkb7NdzItazRqHgFp45-UjkIkqR_c1x7mCQU9ibQlltWl-d3SUaaVBCBLmMC-UQXc3nmSer33JwUi3AGiafa7XU1-uCFBqKC7dmwquLgy9EzuKJ_fcVbX4HQCo6sVgc67Ru3XCRzT0H8oZtbFXNpOsPwA3tlybBC8fTvVrr2ShZvrYOk961PIa3NSQ2uJlgFPU7oUTH-o6j7DxcLx2nukbOQo-bylPomUdHA9Z9Expx1v2ZRzq5EZtS1-IyuocqUxW2xqL1HcUOmvxFLP3BYBIB2NGeQ9XSXhogHddOMlSWNn64Uqr9fcttTJ0fL7YIAQ5D0bBNsM2-XtR5Qo4jTd8c_qf-E1bHg_u_AUFioYU01INS2LqPgYDUYidJ2Pe-x4gFAlfG3EQVcBiKvm-ZNxwXmAKx4ZSKPPjjA4egFoFlnflzaTiPUAEOO3gfGao0bl8MwDI1P5UmXI7_AloC1p5eZvwpW9QggZnEjjVyxRGb4oo07VXfhB_IMsYADVTx-ZXKbPZ2gDXHs3TMf7xq3NG-H0Nq4bEmdG7w3CtHjz3HdoWiXljxUEjt6dgyFv073yw3Y2zWR1IJqkQQS_qyqUUqOmQ1SV4J9GTwhjjsMI9y0wZNweaz5bkQtiG0aEC06rxWOQOiMSi_N5DEaoifsq1rBqToP1evdIc1SUBS3qNVFaDdIE6S3UUalX2NWX08H-1qCWQA51xnGb7c7GNsfMt0dITmggrB-ygqrGsnv0zAhZtzdokdckLVblVrCra7RExJmpdjYCB8PiCxNsNdUVh5uUtw2cZ4rWWzj-3oiGARCnoP3f87HV8zi9kYjeDprIyPRngUDhgr7ojEl7NkRzPoe7do6xHoowCTrkUCtLORy-aP_gAU3XnqATmhS_NDASjUfZMEyDYn9lCcFOy78WtUOGq3vTUBJVDGDtSafP--VaC9e9oS8dnKQGNhbf9f16-CoEDOi0teb0orGdT1Hv6DrqnTgNwxJoNhT2CXU3loZtJuPQQqvn4MHSDfCG4IrbTTRW6H-3GHzg6DiqYxhSA8uS0YYkInau1y9aCdKo8iva0xXrQVdM3WN5v601romjtPaf-HHA_ZDmI42ZWhdmS_FaIicWA2fmXBiu94zwswy9WgpINV_EAamaRy9jl30uiwxaxpqfSAhK8PbF-TmqggvErRGdRIjyWZk6VnYnUe0iiCA8cOUR3yEuWh_X5iFb2jwS9fMan3Lv8npoET5ugAb46aARr0Ar5gU4hN7f_ch5PO",
  "id": "rs_08cdd43b96952e25016ab41c0b53e087d0823a1dac7da57941",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.457,\"right_z\":0.022},\"note\":\"The yellow object has moved down toward the jaw tips in the wrist view and is nearly centered, but its base is still slightly ahead of them. I’ll make one small forward adjustment before closing.\"}",
  "call_id": "call_Lj6jVbOzLVAsy2edBomC1VsX",
  "id": "fc_08cdd43b96952e25016ab41c0c289487d0bec6d09b1886c81e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Lj6jVbOzLVAsy2edBomC1VsX",
  "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]: [-0.1314, 1.0195, 0.9092, -0.8112, -0.1982, -0.1131, 0.9965, 0.4358, 1.9312, 0.9504, 0.1558, 0.358, 0.0723, 0.9954]\nstate[eef_state]: left_x=0.2816 left_y=0.0015 left_z=0.1759 left_yaw=0.0926 left_pitch=-0.327 left_roll=0.1056 left_gripper=0.9965 right_x=0.4409 right_y=0.141 right_z=0.016 right_yaw=0.0867 right_pitch=-0.1866 right_roll=-0.2092 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -2.441, 6.7624, 1.3993, -0.1197, -0.0611, -0.0122, -0.8821, -8.294, 7.747, 1.8339, 0.149, 0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8725ce1b5a5a7efb7975242adef8a88aa86762cb821591c5437d4ca4375bf86",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b10fd2381ee47a973c30824860819cebf440e334aabc2c7805cfb7bd2558dbad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51d7f5f05073b091d1dad7c364aec721dd3770f62401b05fc04bece9c8af15d0",
      "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 · 8.067 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7868, -0.1986, -0.1135, 0.9965, 0.5591, 1.552, 0.8906, -0.0574, 0.4633, 0.1783, 0.9948]\nstate[eef_state]: left_x=0.2859 left_y=0.0008 left_z=0.1807 left_yaw=0.0903 left_pitch=-0.299 left_roll=0.0989 left_gripper=0.9965 right_x=0.3935 right_y=0.1573 right_z=0.1227 right_yaw=0.073 right_pitch=-0.0498 right_roll=-0.1521 right_gripper=0.9948\nstate[joint_eff]: [-0.1436, -2.2496, 6.6803, 1.5116, -0.1636, -0.0513, -0.0073, -0.3214, -8.8137, 8.9778, 1.7314, 0.2125, 0.1148, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1314, 1.0195, 0.9092, -0.8066, -0.1986, -0.1135, 0.9965, 0.4519, 1.8957, 0.8963, 0.2031, 0.379, 0.0925, 0.9954]\nstate[eef_state]: left_x=0.2825 left_y=0.0014 left_z=0.1766 left_yaw=0.0928 left_pitch=-0.3224 left_roll=0.1045 left_gripper=0.9965 right_x=0.4328 right_y=0.1414 right_z=0.0213 right_yaw=0.0764 right_pitch=-0.1523 right_roll=-0.1984 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -2.7966, 6.653, 1.4676, -0.1294, -0.0464, -0.0073, -0.1846, -7.6786, 7.5556, 1.7949, 0.0855, 0.0269, -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 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1314, 1.0195, 0.9092, -0.8112, -0.1982, -0.1131, 0.9965, 0.4358, 1.9312, 0.9504, 0.1558, 0.358, 0.0723, 0.9954]\nstate[eef_state]: left_x=0.2816 left_y=0.0015 left_z=0.1759 left_yaw=0.0926 left_pitch=-0.327 left_roll=0.1056 left_gripper=0.9965 right_x=0.4409 right_y=0.141 right_z=0.016 right_yaw=0.0867 right_pitch=-0.1866 right_roll=-0.2092 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -2.441, 6.7624, 1.3993, -0.1197, -0.0611, -0.0122, -0.8821, -8.294, 7.747, 1.8339, 0.149, 0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8725ce1b5a5a7efb7975242adef8a88aa86762cb821591c5437d4ca4375bf86",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b10fd2381ee47a973c30824860819cebf440e334aabc2c7805cfb7bd2558dbad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51d7f5f05073b091d1dad7c364aec721dd3770f62401b05fc04bece9c8af15d0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBwQb1Oiky68pW1AUE5m22W5JeaE1HIewom2WuCDcrENm_jAKmS6hf91EyvBxskHBRgkqSqu077La_S2wIua4hjnzcRh4h8I2fjFYqraJe5GrMQ7QXko6w39P1IRLE3NRj5J6V9Pny4TdLd9TvM6mp53wIkYiR8GVTe4eUMP4t0Oh4VXlQqYemI1jTLhciALhOWy20pJq0xfm2POgtvuSR1CFUQ003BozBTWcG4y5TNyw6JGXwImw_Jn2m0oiFXDZrgKHS2QigJOH1yZTe5nh-BPqzjZvb_BKcEX5GXjlK__hjqycIvA8HXjC4qVg6XoM95LuAcscs5Lca7maAcvR7nUL3CJyeQ53ofYVD6oa9V0bF65M6McMrLOrUkkqYEV3U_SvTksJvVcVijS9h60-ytIhpkn1fR_mbp6pnVXrEYLxkxuL_ovUOAzHX1DHRL3y3TM_0J1jLFAKelw7eRs_UMFz4pViNdwHFMIu1rW8bVXZBV7Vwyw2tZ7IEQ6acgK8GzOMTbOf_mJ5Ao_nhy1faq5pYIj2RoVPhBqkvoVdS07Z1BmulxpMCDXAVskPKHpT7mokUb2U_4iy20so0fX2uC3SZhtXMvIT9MwqOFyUt9KLlCaEMYvuHOwj3EUuWO_XOFinmkIfajuvVNGwKktK5jGZsFrfBci5kHOCLvTBG__amK-b9QZnYAMLzW8a8-YfvWpcFJ1c0s3ZjkSARPu1EW9YMkFnWypXsE1H_zx0-LbNP6gPcg95DoTo3wXe4emT8VoxUkeiqhimymU7S8wA-Xw1ImoI9f3T41rWfLJ4aryXURviv8tGC81utIjGOdKvxPwCrEJ_87mFXoWFEHUWVunuO8whiuRU6kMS3_S-PZvIGRSAupA9IHjwQphFiwx8VhYSdk_o8oLTFmE99fP9_snLs4Hp2bLUkNKt-oIY6ex-PnXLTVqV1GxgPmqN7XzPhoLXQv9BYoBrMlrpVzqxI9PP8yKXjmmsJ-f4acDcphmQOPn-nJPwgKHLzl692iRhdYbUjclnv_v0DEoLsn4t9bSaoPaRwyTIHln3qpvbAEiFqG7tfzJ6lS9i4XSThpHKOGiKwKVaE_B-YaNmkIKvP0b-tVKgNgosUgGrdz3aPPQAh-3sFWFe7FIlTeuDun0n8bnzwDsveVm7cfP_h5nLhtLkJYdRdQJCwdrbRf4gCvdzgg4RkomLAYPFYZZQxhVTLjI4AG9H_qm_-p5hN11yFHqcQn760XRjSwnO9bDHcIc46W1_Pwjo6n4dXsxI5m0CcJiK0gIvh5-uJmXEWRMkKzejAPkvvTzc5MqTtyKsx4IDUm0E5PYgbWsgjDKhQMSfkCpdBzYofCAFLv5181irxh9Ylv24UexUMDqPJypmrtiTPhSY1tbPujvWatZRYy-wivYgXe9lCzHGJDxfivvlRrGoIP_QugppwzYGVUoxHj10OyuqXidnp9B1FeEuAuZ9E3wNTGnqXfyanHejrHfIoEoX9GqJfZ0xPvmkdMWq_VRXiEAu_K7rVBlUqL2R95IIH75EVfZvZ_J8az6q8fRsA_5kJSkGpRdk-SgoLa8_YmYUcqupUpjCtZKBvWjhiNHmsOdYGzO3TtgIWXXB9mFDs_4gN4IcCUCSvQB_N26slXmumzfailvNWV0i-Y6Kjzrc-lCzFe0gwmLmEmJifJPOtIqkDUYxyB3MrDciBiu8rDp95E=",
  "id": "rs_08cdd43b96952e25016ab41c0e57ac87d099e3ef660cab2dc8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object is now between the jaw columns near their tips, with the safe wall just to its left. I’ll close carefully around its narrower lower half.\"}",
  "call_id": "call_fSrUrzetTwuKcOKW0V85ofPY",
  "id": "fc_08cdd43b96952e25016ab41c0f793087d0b37188ce80e01206",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fSrUrzetTwuKcOKW0V85ofPY",
  "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]: [-0.1314, 1.0195, 0.9092, -0.8169, -0.1986, -0.1135, 0.9965, 0.4324, 1.9503, 0.9531, 0.1371, 0.3542, 0.0677, 0.0118]\nstate[eef_state]: left_x=0.2805 left_y=0.0017 left_z=0.1751 left_yaw=0.0935 left_pitch=-0.3325 left_roll=0.107 left_gripper=0.9965 right_x=0.4373 right_y=0.1383 right_z=0.0055 right_yaw=0.0864 right_pitch=-0.2211 right_roll=-0.222 right_gripper=0.0118\nstate[joint_eff]: [-0.1846, -2.3043, 6.7624, 1.3846, -0.1538, -0.0708, -0.0073, -0.1026, -10.7556, 5.1077, 1.6337, 0.1538, 0.0415, 0.9353]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41c2ddd6ee21f9223da5d255c70dd4dd4edfa4d415c2965990c88ab217245897",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dbedd8a89ce601be277276514557619d420ecfb9663728be47e454e8f2d3180",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c3dd41f3fb0d1cfedc067d68826d6b36e9cb2cf2080ec9f5a774ea52a566112",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 3.939 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0153, 0.9092, -0.7937, -0.1986, -0.1135, 0.9965, 0.522, 1.8549, 0.7959, 0.2657, 0.4255, 0.1413, 0.9953]\nstate[eef_state]: left_x=0.2847 left_y=0.0009 left_z=0.1797 left_yaw=0.0908 left_pitch=-0.3057 left_roll=0.1005 left_gripper=0.9965 right_x=0.4059 right_y=0.1535 right_z=0.0167 right_yaw=0.0829 right_pitch=-0.1313 right_roll=-0.1911 right_gripper=0.9953\nstate[joint_eff]: [-0.1299, -2.4821, 6.8171, 1.4481, -0.1294, -0.0611, -0.0122, -0.7726, -8.253, 5.0667, 1.8193, 0.2515, 0.022, 0.0513]\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]: [-0.1314, 1.0195, 0.9092, -0.8112, -0.1982, -0.1131, 0.9965, 0.4358, 1.9312, 0.9504, 0.1558, 0.358, 0.0723, 0.9954]\nstate[eef_state]: left_x=0.2816 left_y=0.0015 left_z=0.1759 left_yaw=0.0926 left_pitch=-0.327 left_roll=0.1056 left_gripper=0.9965 right_x=0.4409 right_y=0.141 right_z=0.016 right_yaw=0.0867 right_pitch=-0.1866 right_roll=-0.2092 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -2.441, 6.7624, 1.3993, -0.1197, -0.0611, -0.0122, -0.8821, -8.294, 7.747, 1.8339, 0.149, 0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1314, 1.0195, 0.9092, -0.8169, -0.1986, -0.1135, 0.9965, 0.4324, 1.9503, 0.9531, 0.1371, 0.3542, 0.0677, 0.0118]\nstate[eef_state]: left_x=0.2805 left_y=0.0017 left_z=0.1751 left_yaw=0.0935 left_pitch=-0.3325 left_roll=0.107 left_gripper=0.9965 right_x=0.4373 right_y=0.1383 right_z=0.0055 right_yaw=0.0864 right_pitch=-0.2211 right_roll=-0.222 right_gripper=0.0118\nstate[joint_eff]: [-0.1846, -2.3043, 6.7624, 1.3846, -0.1538, -0.0708, -0.0073, -0.1026, -10.7556, 5.1077, 1.6337, 0.1538, 0.0415, 0.9353]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41c2ddd6ee21f9223da5d255c70dd4dd4edfa4d415c2965990c88ab217245897",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dbedd8a89ce601be277276514557619d420ecfb9663728be47e454e8f2d3180",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c3dd41f3fb0d1cfedc067d68826d6b36e9cb2cf2080ec9f5a774ea52a566112",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBwZ3SIGmWIqq9aJuXdagjN2Z2y3iIDApYx2MOFslD6lhio0Kydcajl-hDkLFAxOZCgx0VWLEI8c-5dsH0pVrg4X54dObJQQkpAHfdB-mmbClZTisCnm-94UfXepNyDah2bmYzb10YbK4-xTpqY6hpG0t_3CO4yld2v2t-n2E3DQLGYtPAtJw63eavHH5nTQvdzrgiJsqXVf33WfWzzdJ7asicnYe1jw1Z8U-1C2NlRexiEHsxrOhFUCmjiqwfx4kVVMFkK3dGGbK-T_o2_u8GpPK5FaN3Fa0ovchuw3sYBpIC-m8JBcPVaADfLH7Xhbe-EiM2yMuwlW6Ze9_klhYUkkrxlqhKFgIbKBDBNvSDYBOA8NNO0T64yub5zydPRZyn0A2fc_EpxG_FABmaSWjdYQ71w0eLuSqM-PbUjg9fmAfRJgjCQjdzXcCWZ4JEIhdoIFVD2Bqf281FCsyuPM566q5sdbT1JRvQIDC7SUzf_J0kXIY3w4yf1S5FIEHfuQTA3HfWE_W0e9O1ytS1Hg4qVVRNjiGsl0-CAp_r8PHmu3tG7xRqniuHp8lFScXNORHQLW7XO3kL3tZtmQ2okc4ZRl2GmuAUUaqM2Ntd-YkW-mk9D_gjXevOwIc90HhO0UT_VpfrRM29f3v6-oCp0HWF7gc1tI1w95g3J7smv-chBMVJE8Xp9AtmT240VE1yMtamYM9elthNU7Yq8CVdnFfN8Lk3fqlIRlLdxBsjSU_KOgLOXjj_xmTg4OYKfZ7Rju1oRF5PRD-_aZJzJ1IwwxgEV_QcmV5q9bH66o9b6H2pOWxGZf2CxJoBh4XjVkMWBp817CLjYXuf0zlvYoTbT1T241-Hs8Ckas6BP7L5v6HBB1E-m0PywgFQiiofAEOk2Ym1rTuejTzT8pssgLoy_o6mc7UXGVpimhEIQ60_n7JR18kL4Iv1sGsWvU9VPn3vX8NNBYQh6ORcPhVeyvCyc77yuTFvt2DBAhAzJa-7tNNgFm0vRw5QCFihVm2_acCNHtRP6o8_2kVH2iIVhTNvZVEGjLKNfQK-DamfFj5Kf7lYZJUwB-68KVyobQJ2S9eLJQz_PUYYgXPpjZnxaXgTxDuhoD3qyvVTC9uhKrp65_NF8215zlDBmZdJKNw3eM6F9yCq2stP3VyHcWJM6XFb-pxtT92wWlHTEz_2qc4tqp86vCihBaWIDoEjl3A3n_ZrbrNfZUzhkxUZCA5nUd-lF_-hUhiR7SqMmUPR1ViBn81lKEAaQvZ3UV7SBamSyi2b3X23b8XGtWBngbBJC_pTe0ELRdIaZaysCE8jZF_mN1VOR8E7zGmz4rYd7cciLPQMydy0-4hKE65M6bRAbCiUYKuXrA1MvM2Lw7sCk2H6XGQ1NaVQW8rHv6Isay_qEiJWAqyN0BMevopVzGqMcAcaVJQUaXTPxz1GJg2kzEfB0gYmGsWGHtLtb32SodAWNfMcl4oDovlRFpdFLuM66Oy-NvSiPqceWgxIVD9quxslgY7y0Zv7Kewq1p1SvLs3LV9Yzkl4K2h7vxeBrI-RIDNgINrecp8sma9Qo70kht8x3w_aFxSWy0u406Osg_gePOtDjBrXPxcwD8tG-O0D9mx2Cs4sfiHBuUEDU1LhfD1AQEaEnubxdYZpui4pOJgnxbISMeydJpNCs_audvLvVfE5JZ6HWCGGBpH7clUX2FRyHXV-cmY8eiNQqQADwtrTh5mv_Ao9bT-CXHcdq17FeI-J5XqeTNsGUlyORKly8au3nYRPaZqgP1h7BBvFu9CVAxmLUuH9ouaJYho-sC72ME8VSGBFOY87GiYsmMUCIPaYX8fxs98abJ8SK9Za7HVbD99yH8wccZk2KCP8vsWsne3fdVlygS_PX6gY5sOjrMD6Lzj1111pri0Ia3H2bcv3tBjuhSJyrHkVjuJ_sriPXUKtOPlKN69Liu_Bg7CLy_F5oB_XqxMwkdnWU5F4p1DqMI-XFSroyW",
  "id": "rs_08cdd43b96952e25016ab41c13933887d0889bdc697f13f5a7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.472,\"right_z\":0.047},\"note\":\"The gripper closed empty; the yellow object is still just ahead of the fingertip tips in the wrist view. I’ll reopen, lift slightly, and reach farther over its body before trying again.\"}",
  "call_id": "call_Lv1Qt3P1dsmNyue97JsCybMU",
  "id": "fc_08cdd43b96952e25016ab41c184a5487d0a6a2232508d7f15f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Lv1Qt3P1dsmNyue97JsCybMU",
  "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]: [-0.1322, 1.0229, 0.9092, -0.8204, -0.1982, -0.1135, 0.9965, 0.3985, 1.9495, 1.1187, -0.0776, 0.326, 0.0284, 0.9945]\nstate[eef_state]: left_x=0.28 left_y=0.0015 left_z=0.1737 left_yaw=0.093 left_pitch=-0.3392 left_roll=0.1083 left_gripper=0.9965 right_x=0.4566 right_y=0.1347 right_z=0.0297 right_yaw=0.0936 right_pitch=-0.2789 right_roll=-0.2439 right_gripper=0.9945\nstate[joint_eff]: [-0.0752, -2.6325, 6.694, 1.3455, -0.1734, -0.0513, -0.0122, -0.6085, -10.0581, 8.6906, 1.9023, 0.1441, 0.0659, -0.0659]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fa2f1231359cbc3f795eed64d27383f31f5883fb2ce7e0aa295161c4193bb93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99c447e3a6b52728b8822d5f9f49e62c856b490732d8ab748558cac2347bfad6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b58218f3f46f5ce72c4a2c379d573bc60910571aaa6ad9c46115a76dbe6407f0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 3.148 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1314, 1.0195, 0.9092, -0.8066, -0.1986, -0.1135, 0.9965, 0.4519, 1.8957, 0.8963, 0.2031, 0.379, 0.0925, 0.9954]\nstate[eef_state]: left_x=0.2825 left_y=0.0014 left_z=0.1766 left_yaw=0.0928 left_pitch=-0.3224 left_roll=0.1045 left_gripper=0.9965 right_x=0.4328 right_y=0.1414 right_z=0.0213 right_yaw=0.0764 right_pitch=-0.1523 right_roll=-0.1984 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -2.7966, 6.653, 1.4676, -0.1294, -0.0464, -0.0073, -0.1846, -7.6786, 7.5556, 1.7949, 0.0855, 0.0269, -0.0073]\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]: [-0.1314, 1.0195, 0.9092, -0.8169, -0.1986, -0.1135, 0.9965, 0.4324, 1.9503, 0.9531, 0.1371, 0.3542, 0.0677, 0.0118]\nstate[eef_state]: left_x=0.2805 left_y=0.0017 left_z=0.1751 left_yaw=0.0935 left_pitch=-0.3325 left_roll=0.107 left_gripper=0.9965 right_x=0.4373 right_y=0.1383 right_z=0.0055 right_yaw=0.0864 right_pitch=-0.2211 right_roll=-0.222 right_gripper=0.0118\nstate[joint_eff]: [-0.1846, -2.3043, 6.7624, 1.3846, -0.1538, -0.0708, -0.0073, -0.1026, -10.7556, 5.1077, 1.6337, 0.1538, 0.0415, 0.9353]",
      "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]: [-0.1322, 1.0229, 0.9092, -0.8204, -0.1982, -0.1135, 0.9965, 0.3985, 1.9495, 1.1187, -0.0776, 0.326, 0.0284, 0.9945]\nstate[eef_state]: left_x=0.28 left_y=0.0015 left_z=0.1737 left_yaw=0.093 left_pitch=-0.3392 left_roll=0.1083 left_gripper=0.9965 right_x=0.4566 right_y=0.1347 right_z=0.0297 right_yaw=0.0936 right_pitch=-0.2789 right_roll=-0.2439 right_gripper=0.9945\nstate[joint_eff]: [-0.0752, -2.6325, 6.694, 1.3455, -0.1734, -0.0513, -0.0122, -0.6085, -10.0581, 8.6906, 1.9023, 0.1441, 0.0659, -0.0659]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fa2f1231359cbc3f795eed64d27383f31f5883fb2ce7e0aa295161c4193bb93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99c447e3a6b52728b8822d5f9f49e62c856b490732d8ab748558cac2347bfad6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b58218f3f46f5ce72c4a2c379d573bc60910571aaa6ad9c46115a76dbe6407f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBwdFFlpgD-3t3DEtZjD01sDIaJhHKpOeLUJ8X_CLLE8lb3_elTdciA4ZYG5F5_nC4euG_gQAzKGW71xyK2kFClwYmRB3yQKrtGcK1kqT7z8qrcn5onG43RuiSFGDx8xGySfKhT8FFJokxLKA9MwUW7LOoUQlplMVYNV88p-BpEfLd4-eKggYpf5f6Av4chAYo0N5h94oD9RBw6wN05Z1widSpEg26xX0AKgElNd-wopyDNvdtlUum56BqSpLhPxwLoSdX6a62wiw7x7Tudz01TFR9hPOEhCRqcGrrsL4PmkAqaM3gUkOJuxIr6b4Uq5RSZD02cSn_TyUcShQzkMrM3LMIZlkxdSv2Lj6ifUhLMifL22S9hAiaiL8QOMKFWEBrXJ7-5GWJnl7jVXYnhF2KPm476kraK3XBqdtrs5DV3l4c1f4_baWuaeN9NbPp5DZMh0BXv_cwmvVPsQV0ujb1IyZNnp-uXDHpxhWizQ_NEd-PQyMV3H2oBX_RF0WcakdOEfRwpFShoZ7oXNguDWTqUXR0pGlMU7Cm8gLqebRNxeqbnQ5jRQZQbPr3p-W8byE_9dQW7c0E8-QGY9iXCLc64vyQM-T0vYKiKpDv-WFoBwXB1R7HaGpdpXeJ7gr4K-ReszPF7tmnq50nD6ztMoFrwCLqBXHvpjrILPauiPuGYDC-8b-cAd2oSUwV1ytUQmgvUDI9NtFtbjkmuptnH7NqqwHoa941kUmcQTZzrwZOr13kzL_CKjejAWsl6x5Iui0bZfdugZlCy02N451x2QlxuVvUk72dy5uP4r4J9nXykjViQrFxQo8-0wldwBEBPOud4XEBsXLOaAP28xGuCkazQ2iwz7uMDJKuFNRDddW1FLR8jrPvyRpztHYSxg-Wn2f2l7hGmtp4TAYPOzYJ6_0-f2P0Pi7ERqh-H9Jbbbduj6aMzWD3CiJ-oNNxzF9uzbpaJhS2wg_OfmgZfflkZYNIiMpzdEpx6hnO5m7k2gEg7M9eKvl-0-CQ2uj3AcD0ny0c53dgtbCd0WMNT7n4zm9pELqjX3LuAdsbEjf0Xz80luMDq3xUyR12UQmJnGN9g7R9CSZHPZPtYFn5o0ZSV69bYDiq1ARaLJGhipSX6tC_dw6W1E2CM7YBm1JXOiIFRrQMPNVeF8SE2hSNCv9a4LYbPF4MHqYlwfKDkimWfaFCWXbfNmyv5I5gNj4kiPFVN0AcIS1KsePO165WWF77Scn8L5DRulYJoO0F_BzRkeju-oeXxcnO3zCpAyLzb_RZ4xdRHbrxKeTvMPzsFrRjNefkDcmV9W5rnF6-CEMEpmPmDhCLDuCOCe4Sv3mtqzCtPnj3YSExZgr8ZHDHWDpNBl5gQ-VOXkh7vZlsY4L2g_Vxts-ryXAfN-9a_c6U0JFX8Nuvlcv8FoTqUj0pWBztuiofCaTYX5wovHQPPoIqSkitpt1J7FQ0G1zQO8Lwrhff8hGuilaRf48H6nFco3bJ5WBVs8XrjGOaD9shafc3gYQVK7VWbK-VSOuyLw7g5RYKmoSv1pqfsC6_JYtBzBlhOisOeG8-aCH1YWocWddMVtxa79-s6EO8_3VQ5cF04yiGkeCE3ckrvxQbTgJ46dlW1KnLlqLOgngapruXbCDrsArTgGffM1KWyGEaGH6ZZbJ-H5dzpEWwwJTE0C4kvoy7GZQbon7i70f7uYBXCRdW9GmJZprskagJiYNjdEZewedLNBWhMZyiYXp_5Kc_Fjpu56k1xARM5wHiAGF1e3Ww5H1ffafcD7Vj4c2BmLMm8ya-pzRmeRj4eCLu-uLLHi69wWlwFdEc69yckwe3JSbyZ06YWxHUo=",
  "id": "rs_08cdd43b96952e25016ab41c1b621c87d0b7066df39255801a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_z\":0.012},\"note\":\"The yellow object remains upright just ahead of the open jaws after the higher approach. I’ll lower onto its side and advance to the center of its body, rather than closing at its near edge again.\"}",
  "call_id": "call_RzFx8ab4DWQKa4yApL3F5WTu",
  "id": "fc_08cdd43b96952e25016ab41c1cc88487d0b13c6319ea43f6ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RzFx8ab4DWQKa4yApL3F5WTu",
  "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]: [-0.1322, 1.0248, 0.9092, -0.8253, -0.1982, -0.1135, 0.9965, 0.3801, 2.035, 1.1893, -0.0769, 0.3122, 0.0105, 0.9953]\nstate[eef_state]: left_x=0.2792 left_y=0.0016 left_z=0.1725 left_yaw=0.0935 left_pitch=-0.3459 left_roll=0.1099 left_gripper=0.9965 right_x=0.4733 right_y=0.1345 right_z=0.0147 right_yaw=0.0956 right_pitch=-0.298 right_roll=-0.2493 right_gripper=0.9953\nstate[joint_eff]: [-0.2256, -2.1128, 6.612, 1.3944, -0.1538, -0.0611, -0.0122, -0.4991, -8.6085, 6.7761, 1.4969, 0.0659, 0.0611, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0958cf4b7717e8eaa2cd0701577bde690adb582f67bdc7fa546ac3596118291e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2615d198dfd36e2eaff04a85742e599767c38282d9720d9c5c173e158203877",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7f95e46f71561061afbe44f5ed9fa70c99f05a033596306b7aa2d692f5e61a6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /responses · status 200 · 2.856 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1314, 1.0195, 0.9092, -0.8112, -0.1982, -0.1131, 0.9965, 0.4358, 1.9312, 0.9504, 0.1558, 0.358, 0.0723, 0.9954]\nstate[eef_state]: left_x=0.2816 left_y=0.0015 left_z=0.1759 left_yaw=0.0926 left_pitch=-0.327 left_roll=0.1056 left_gripper=0.9965 right_x=0.4409 right_y=0.141 right_z=0.016 right_yaw=0.0867 right_pitch=-0.1866 right_roll=-0.2092 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -2.441, 6.7624, 1.3993, -0.1197, -0.0611, -0.0122, -0.8821, -8.294, 7.747, 1.8339, 0.149, 0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0229, 0.9092, -0.8204, -0.1982, -0.1135, 0.9965, 0.3985, 1.9495, 1.1187, -0.0776, 0.326, 0.0284, 0.9945]\nstate[eef_state]: left_x=0.28 left_y=0.0015 left_z=0.1737 left_yaw=0.093 left_pitch=-0.3392 left_roll=0.1083 left_gripper=0.9965 right_x=0.4566 right_y=0.1347 right_z=0.0297 right_yaw=0.0936 right_pitch=-0.2789 right_roll=-0.2439 right_gripper=0.9945\nstate[joint_eff]: [-0.0752, -2.6325, 6.694, 1.3455, -0.1734, -0.0513, -0.0122, -0.6085, -10.0581, 8.6906, 1.9023, 0.1441, 0.0659, -0.0659]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0248, 0.9092, -0.8253, -0.1982, -0.1135, 0.9965, 0.3801, 2.035, 1.1893, -0.0769, 0.3122, 0.0105, 0.9953]\nstate[eef_state]: left_x=0.2792 left_y=0.0016 left_z=0.1725 left_yaw=0.0935 left_pitch=-0.3459 left_roll=0.1099 left_gripper=0.9965 right_x=0.4733 right_y=0.1345 right_z=0.0147 right_yaw=0.0956 right_pitch=-0.298 right_roll=-0.2493 right_gripper=0.9953\nstate[joint_eff]: [-0.2256, -2.1128, 6.612, 1.3944, -0.1538, -0.0611, -0.0122, -0.4991, -8.6085, 6.7761, 1.4969, 0.0659, 0.0611, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0958cf4b7717e8eaa2cd0701577bde690adb582f67bdc7fa546ac3596118291e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2615d198dfd36e2eaff04a85742e599767c38282d9720d9c5c173e158203877",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7f95e46f71561061afbe44f5ed9fa70c99f05a033596306b7aa2d692f5e61a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBwhbenHiFVu0qbpmb_5K3A1V25OeR32kcIXB2zacTPJYtGq0lWo7pCBo2o1aTWLZY1Tkuq0foTknTDW9C5pqxUVmeEd3uV2ugWfpTZSou-x2VUiKH64vVM2SYHKtCx4RenO0DSRaM1aKwM8e2QA5BFxbosiK4LiBW7uVYo-wE3dvfzKbXbxr0mghFDm0YVbTAaRlzrZd54TtYo-aJok7VzS0Sky8KKE5hTqDDRY5AkILO_REYFe3cjvB7VaFleR6f1yXTmNw12awJrXgmsCiUbw2jJm9dOORvdf0MmvjGhRQ6A8plzgmydR3UHmMrkLhwb3wYvjyS4bIqsxjc32Ct0fgDpe_YKc0BzwtRBzBB5Xyz4zva1bLVIcnK8CLhC2Xw0STR0ExRJK07Z_kpSXvTWC7QRwXIC9xrI25hT9IwXkNLPQK7gbasUiIy9v3gr806_9Fq4LCdMrdC8bwyEQhw_Brh8zezXKARfIyJwc6Oq83CsnBbTgCufky-WV3eYYZYlyo19PmkI_gfHQmNsgdFWqt4N9IdckSwdP8Osd_z0bqHtXjPN839qDDt0a-vFYO5c-APvUMGrdPOESxtLOck82iXr6KgdO78kuwoR0C_Q_dNsMBMxIokohDv9LnX7Vf3xZRe8mPYnd847g6kssvJBI0UerwbQuZBf68qUKsHgnKFEoYS5efraqbsY4-5lQQhtNa8xzIuTbLEbW399DmP-QyYepPGkVpO9XGtk9uhxxdfvVrxcE2YdrLPrkb5SAW0O4GoBFo9FzZsuOfBBmgOhvmxZHO_M4iCWFTulLqAkdP882pPtSXhAlpydyQr4GW3TYztTw-Ou_qOnRTao8GsKBl_zuA0NR7u41CFj42R8cnIACSnHnQvVJrcCBIo2rf13H13NY1jntUOBPN7DC4epQEZxgp-lku3NqHuxSLwLSBTugPHANkjsA74flHoJWSLGd56kMzfHVXFlyN9mQ_2lrahX9qnCdH7anQ6Cq35mdmXAaodlodheP1-ofyi_PUbpeLCJo-URUQ6GxnqEP8DO70yYAbK2Kbg1c4CpjLonOVZqSaTRXTCc_Bu-jxO0_2fN9sAuuEdEsA012bolJiPgcxtBAUzaIQrKqAUtM14m-1_3n6x-aoCjLuVvIsztty8HWZ9pB02z0bc1JaUGVWLpcUETgldtKUJSCTOGi_IEU98EY37VpywVuM9xm-u6LkKT2ucp0V66Yd7kZDdCCiGP-zq4Eg3e-BM7VXxk52UuWnTalLdDqUJ89YYopDMCCQew2ITzDnOqYimOyRLUrC_vdOvCV0Zsr4kWUxKu2R5P1Uhs=",
  "id": "rs_08cdd43b96952e25016ab41c2038b087d0a198fdd7fbb94eff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object now fills the space between the open jaws at their working depth. I’ll close on its middle and check whether the jaws stop at a meaningful opening.\"}",
  "call_id": "call_AmssulE4bQmFiEZxgoNtYyoT",
  "id": "fc_08cdd43b96952e25016ab41c208b3087d0aeca1dfcd1866f29",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AmssulE4bQmFiEZxgoNtYyoT",
  "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]: [-0.1322, 1.0256, 0.9092, -0.828, -0.1982, -0.1135, 0.9965, 0.3725, 2.0556, 1.206, -0.0696, 0.3046, -0.0002, 0.5988]\nstate[eef_state]: left_x=0.2787 left_y=0.0017 left_z=0.1719 left_yaw=0.0938 left_pitch=-0.3493 left_roll=0.1107 left_gripper=0.9965 right_x=0.4787 right_y=0.134 right_z=0.0116 right_yaw=0.1006 right_pitch=-0.2978 right_roll=-0.2494 right_gripper=0.5988\nstate[joint_eff]: [-0.1709, -2.5915, 6.8171, 1.3358, -0.1685, -0.0659, -0.0122, -0.4855, -9.6479, 6.7487, 1.5507, 0.1245, -0.0073, 0.8913]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4211754765c7816395672974e4217790619432b5b890ec92d2851805c1d0d706",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57322abc9ee328c977e679aa1c8bf29905f6e514627b7b6e945fc6776c18f296",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daf963550f58590b067315007d04b0eb31c74bc56c0faf4fcc604b302ecce3b2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /responses · status 200 · 5.056 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1314, 1.0195, 0.9092, -0.8169, -0.1986, -0.1135, 0.9965, 0.4324, 1.9503, 0.9531, 0.1371, 0.3542, 0.0677, 0.0118]\nstate[eef_state]: left_x=0.2805 left_y=0.0017 left_z=0.1751 left_yaw=0.0935 left_pitch=-0.3325 left_roll=0.107 left_gripper=0.9965 right_x=0.4373 right_y=0.1383 right_z=0.0055 right_yaw=0.0864 right_pitch=-0.2211 right_roll=-0.222 right_gripper=0.0118\nstate[joint_eff]: [-0.1846, -2.3043, 6.7624, 1.3846, -0.1538, -0.0708, -0.0073, -0.1026, -10.7556, 5.1077, 1.6337, 0.1538, 0.0415, 0.9353]",
      "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]: [-0.1322, 1.0248, 0.9092, -0.8253, -0.1982, -0.1135, 0.9965, 0.3801, 2.035, 1.1893, -0.0769, 0.3122, 0.0105, 0.9953]\nstate[eef_state]: left_x=0.2792 left_y=0.0016 left_z=0.1725 left_yaw=0.0935 left_pitch=-0.3459 left_roll=0.1099 left_gripper=0.9965 right_x=0.4733 right_y=0.1345 right_z=0.0147 right_yaw=0.0956 right_pitch=-0.298 right_roll=-0.2493 right_gripper=0.9953\nstate[joint_eff]: [-0.2256, -2.1128, 6.612, 1.3944, -0.1538, -0.0611, -0.0122, -0.4991, -8.6085, 6.7761, 1.4969, 0.0659, 0.0611, 0.0708]",
      "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]: [-0.1322, 1.0256, 0.9092, -0.828, -0.1982, -0.1135, 0.9965, 0.3725, 2.0556, 1.206, -0.0696, 0.3046, -0.0002, 0.5988]\nstate[eef_state]: left_x=0.2787 left_y=0.0017 left_z=0.1719 left_yaw=0.0938 left_pitch=-0.3493 left_roll=0.1107 left_gripper=0.9965 right_x=0.4787 right_y=0.134 right_z=0.0116 right_yaw=0.1006 right_pitch=-0.2978 right_roll=-0.2494 right_gripper=0.5988\nstate[joint_eff]: [-0.1709, -2.5915, 6.8171, 1.3358, -0.1685, -0.0659, -0.0122, -0.4855, -9.6479, 6.7487, 1.5507, 0.1245, -0.0073, 0.8913]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4211754765c7816395672974e4217790619432b5b890ec92d2851805c1d0d706",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57322abc9ee328c977e679aa1c8bf29905f6e514627b7b6e945fc6776c18f296",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daf963550f58590b067315007d04b0eb31c74bc56c0faf4fcc604b302ecce3b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBwlBqAdqKVqmLBRN9sowENmR2eWu5EBfPtRlgxFp1owKfq1g6AtyZsNyRfYivJcwu8jkcNsjdnIe00519t-oHgBazvtcgF9I6Xjwr_PmF6ifeBXwz4z23UfFfGy4mh1Dp7sqsiKYMw5ngi1MSZSSJlOzeL0kWqfDZ21a_87OdeLjdy7wPHL2c3z3T4DCZZHq5tBRV6kDnWWkkN_sckUvCUf5ZTIuZ_LdUlBA8yKkzqJuXNHNtDJEujKEs0Q4FZ-KPhn9M3XPIMXYHCf5iPSPZwMly51K6zs3wMaPzJJ9aFKW3E46g7J0cxTcyTsPP16XeNFzoCxLqJgvuXfnVJcpUxrwt4TPZY_zLwGtketMBWjhpM9GFso8DU0lST1G1QTNjjFB-DFD3MwZKsseNpLO5SInsFjENaC-CCAwiabHGPWRrLMST8hthUP0SEvF2MnQ-qRhdU65b2PeVuou71vFYWIQqCSIu4bYK9cUgth7rjotB1jQEI6qN4Ieg8f4S-zoCBGIthB4aDThI9KKNsG3PBBVLlG8_bY1RM6YbbedikT12QFqy_8uKCmM1uiGvg2ds0cWXyQVaqpgw5JV-vOUhDXXnNyWqQ8YLTR5HJWffoLJ7RPfixQrGwAY4Mjz5CMvNyb0RICAZZC3FM2xxt6utJ4W4s9inmXivbaMzua-Zl5l_5r4R2rZVZFZhOGltXgeZvBYg46ta50MdrqSPZ0B6QBDimcdWbyMhjfTcbTalbZoM4kzShHN3ePOHPuPgdsHhOn7N2xH6TXaixcbrEAjV1qaeLrV_xQC_3JpF8G0IucX822LhHYPiGTnLWg2PKRqZQ1nwbDwLmn3v3x8pk4RvwgS6wnweVCJ1CABS8SkZ01Zq3kLb8gZ0EDKX5qw-j7UFYqOzgO2ae3eWYP7Dx8cbyiaamGOM760bNXvkWbDyggQje58N_wXP5khEOhcckapHXTCudi6orkFkdrXEcGS2GymdqN6k7YUsHC-MHKGdSdjVwoZvIyVVkcBMSin1SgzBxGYfmqL6mRZ2ygWPHp7djhqrQ4iJ2JFcbT6yHj5Ky91KhMoBVYdhoNvz7vq8MMUIEXKRKtCsDqJPT-gVw8FY_QSG-Spv5wRJbW_RWeMXK8mQZCS_N1e6jWuy1w0lE4IXE6rgvXqoA2eqm6HC-6-dpSRUgBjD_vg5qaoRekkloRjcdHn37d2hybYbp55Qih5_lpDGgFubAt9tqY1ApT-tn-ycSwqFZm2dYWVBNsc_5gaPxRmud3P1xCAgM1MRvDbdx5v2i3k8DnPcmak46qJvLcejU-NJ5p8Y4CujKKxGhpN1DS1E8C1FqA_gYez-wGug23_vtzewenMAruJ4egGarLWsM_Y7vXQ3Hhij0HslFUQaa7pic_MFEBuqUtk1L-0Yst-Jg9G3YFz1W854rhQJ5bEA==",
  "id": "rs_08cdd43b96952e25016ab41c23982c87d09db65bfa2be827b0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.18},\"note\":\"The jaws stopped about six centimeters apart around the yellow object, consistent with a grasp. I’ll lift it above the safe rim and check that it rises with the gripper.\"}",
  "call_id": "call_MY9zrTeWkoM4C8IIaPortwfv",
  "id": "fc_08cdd43b96952e25016ab41c24436487d0b6a9b96c60b6d600",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MY9zrTeWkoM4C8IIaPortwfv",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1314, 1.0283, 0.9092, -0.836, -0.1982, -0.1131, 0.9965, 0.3733, 1.9072, 1.6016, -0.6716, 0.2977, -0.0048, 0.6009]\nstate[eef_state]: left_x=0.2773 left_y=0.0021 left_z=0.1701 left_yaw=0.0952 left_pitch=-0.3597 left_roll=0.1135 left_gripper=0.9965 right_x=0.4762 right_y=0.1347 right_z=0.1468 right_yaw=0.1046 right_pitch=-0.3558 right_roll=-0.263 right_gripper=0.6009\nstate[joint_eff]: [-0.0889, -2.5368, 6.5709, 1.3846, -0.149, -0.0464, -0.0122, -0.3624, -13.2034, 8.8, 1.5507, 0.1832, -0.0171, 0.4176]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7a59d6b2ece66e6f2fa243b860576820e4bd4b83de8427fc3100c8fbc894074",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68b01023849ce3ae457e914dd39cd90f3cba7320ae2e9902917157ceefa4c66d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af4a6cf0ba351a849e1fa213869d89a502b93cef9ddcd8a859e0f3b98a398b0e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /responses · status 200 · 3.447 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0229, 0.9092, -0.8204, -0.1982, -0.1135, 0.9965, 0.3985, 1.9495, 1.1187, -0.0776, 0.326, 0.0284, 0.9945]\nstate[eef_state]: left_x=0.28 left_y=0.0015 left_z=0.1737 left_yaw=0.093 left_pitch=-0.3392 left_roll=0.1083 left_gripper=0.9965 right_x=0.4566 right_y=0.1347 right_z=0.0297 right_yaw=0.0936 right_pitch=-0.2789 right_roll=-0.2439 right_gripper=0.9945\nstate[joint_eff]: [-0.0752, -2.6325, 6.694, 1.3455, -0.1734, -0.0513, -0.0122, -0.6085, -10.0581, 8.6906, 1.9023, 0.1441, 0.0659, -0.0659]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0256, 0.9092, -0.828, -0.1982, -0.1135, 0.9965, 0.3725, 2.0556, 1.206, -0.0696, 0.3046, -0.0002, 0.5988]\nstate[eef_state]: left_x=0.2787 left_y=0.0017 left_z=0.1719 left_yaw=0.0938 left_pitch=-0.3493 left_roll=0.1107 left_gripper=0.9965 right_x=0.4787 right_y=0.134 right_z=0.0116 right_yaw=0.1006 right_pitch=-0.2978 right_roll=-0.2494 right_gripper=0.5988\nstate[joint_eff]: [-0.1709, -2.5915, 6.8171, 1.3358, -0.1685, -0.0659, -0.0122, -0.4855, -9.6479, 6.7487, 1.5507, 0.1245, -0.0073, 0.8913]",
      "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]: [-0.1314, 1.0283, 0.9092, -0.836, -0.1982, -0.1131, 0.9965, 0.3733, 1.9072, 1.6016, -0.6716, 0.2977, -0.0048, 0.6009]\nstate[eef_state]: left_x=0.2773 left_y=0.0021 left_z=0.1701 left_yaw=0.0952 left_pitch=-0.3597 left_roll=0.1135 left_gripper=0.9965 right_x=0.4762 right_y=0.1347 right_z=0.1468 right_yaw=0.1046 right_pitch=-0.3558 right_roll=-0.263 right_gripper=0.6009\nstate[joint_eff]: [-0.0889, -2.5368, 6.5709, 1.3846, -0.149, -0.0464, -0.0122, -0.3624, -13.2034, 8.8, 1.5507, 0.1832, -0.0171, 0.4176]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7a59d6b2ece66e6f2fa243b860576820e4bd4b83de8427fc3100c8fbc894074",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68b01023849ce3ae457e914dd39cd90f3cba7320ae2e9902917157ceefa4c66d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af4a6cf0ba351a849e1fa213869d89a502b93cef9ddcd8a859e0f3b98a398b0e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBwroeVg7AgOTwpE3eAewTzUK_6Le5t1MnuM6gsnJG2H98Z9-x4ZEwDLMk-JYPLuFLd975iSM3azgIX8GCXpFrbkelmNPAgm-MdvuSe2l6Ohza-0s4z547zzncgRBXTcEo7cl9CyWnLaT_ksODnAFD0Fus6jLP3LaAcf06NLV7zyNiQlxBW3yKIFtApeqZlFPycwn4vmX6tfzln9kAodb11GhRSpQTnQwwK7ktTM0A9AlZqfnssrTwj5sWfOqQdxgOgNRcU3d33yxpM9vEoQVFjyXLGQjaefQWPTF11mrOD1UO5l6vv2ooHCuYnY6_D0HlziKd6xv3sfq3qh14AcfDij6pfxPgb23VnT7OdKcKlNxsfqGFsyB8qSkOO-PWUJzkt2OnTmfClgfihQTZWiyxw2kGjQWiICBacv8b8AockmFBrtjacMHxP1J5kcpnuE9-4I6yV4Xj3qqsRzp3Civ70lr953KMQ50WOPp-6JO3jNr69SdLxapsckZkGaQArlyZE12_opw5xiuZtvWSMSRKSvLyW93_OWSXq9X_Wjx2-PvOCVnUxRgBE_NKBcM_R12GQeANMODBlLXHJGtrI3CctNG2eKBroAmWPVPP058Em7palD1bOzj6HZWcMoFSV__IdH7n4Cy8InpbYu0bcpALmZkbVrV6XHlTm4RnKfawp3Wh1YLmqyL8r4Vx6ZTqeiSFyh7LGA668270AZFMIaxP-zozsMLFRUp1Hc8tT2CPyP5Q4Lj4djcINOymT14vCjCBD7-yplNhrGapUbl0Wk8UWSwd0zsYNhYpjdAFhR8dE7QTYDsBuryeUOqPk6geBT_p6gKOMYSZzHf2voU3KWEEV3H8FsP4ZnSnDpBuMyFtuX7GXmeaf0UkER0j543EpMLFg6pNbvIG4ZHhFy97rc900a_1OLoRznqgchfNDaDJF4KoOefX2CXMbh4ygkqqT8bFQH50lrv7Crh1czPgfe2BowUI6HSYeG0EUSglB3782VP-H72mn09WzPTkKJJ46xy0jW5Vsg2zXKo3OwCDskT9vvvs3i8i8Cbz5cw9jr0-0EuNm91t9KCjVFx--5tNQTUg9q2UPZ1Eg_HQ84n07oh3wqDolnYwiLDKBySH-Vxt9ME6HwwFV0uUFTlWnKs2cyGRvgc3-FrTXwFSogG6J6pCCrP0B-9KZD46vxz40yuL_ZhWnW8w7yMLhBWq8ng0PwuLH_-ajMSZDvStJ_0aU62OfuVabjm2g4cKmN_D5a-NFYFE-UB6EVRHObVVnPaZFsT_QhuogmOsooGPQSF_h_dpk0rcRwnUBoQEtXUt2HQ2gO9RKjwdS2yR7U4NcjmqMybeozBd3w293C7kXddsIEveNwHKxmaTDLYVZcxgJjzCdkiSQDdCvsrnXMELCGZepKwrrVl4LdlSnaVfZgPkcOyp23tBr9K-vZ8lXmF6NFF1ElBx8D-Y3X1KJy4-oQpjlUZWSFqNLp4gLlinDvoRkWoBqWS5XPGwuhaaqdA43pa2tgX8r06wFY9qSiZOkSkspMviAsDVuISoiyMO1BJ7MIttc1EzNEg97u-gSGiiaLsXfTuRAWE6aLQa8AOJo9Rl2zHO2Oz1px6kaAvx9IPJUARVvhl9OeQK70ZvbRC24PYTDKb3QGW53OmNvpkMxcprOSePAA7pLPXOt7_FpOS5Goh_5QOQzoMk8_VpeqF5t5L0WEzUgJPUdVTbqenNKCP3oK-RvnRd8usib8eSc2XGXT3zo1fuRpRwiYIeH-N6SjMUsjD_2XgPbkFhsfha_uB_5-NBRp_DwkKRIPrQjt1_4b0lXs9nEGO1sbrvI-d7X49weZbRaF-bcHx9JH_-gXBCddhq041zvW9G1VgT5iHMR1St2AiJi9pTYcsG_pLQfONhZWZifpnCjZZMhFVHGtNLca4U5Kasd8wDm5PgywXT6PytdqfvTnBDo6ibWZLp34sIun25CWYZYvEcG2_dyqV1SpyUUprb7iSrkf0G9rSaYaSO4B_8cq_VsIZ9v_0SBQzC35U2Zbfu78lpVOXO-6N7-v7Tie6UoztGAK5UxY6W5cuwuBDDnUfQobx66KI3opMQ6CvZ0utOHNrLZGhpvlyJVNrrgMH-YPu3Vy81PNAcUT09qss1TAHtFVyI5fq999pT2tv9z8Iv9AZAdOW46AeI3sYR4tqq0uVlusYBkeXo8NFPnR74O4u2azwscGfQChgBOmSOw3-L-IW4wQvKS7GInXZizjBtR89uIRZX6m34trpQ0qTtwUcelUM6WQ5GqTUALyviGaTEKD2gUWe9Ji-kUBQe_vW31fiKRZ8M-PKui2ImDGksnIhr_RyVJvuhYwE9ngVt_uPqKEE_FK3L_ffCqepUrBGRReF99DqbcUN7UcYSbXQGHhUi5za9RM6puKi2LnFtm17vdHCCeZFcOfN-SW-CqHy6oIsvBWQ670bFEsBfUPNoxUD_yf-kZqO39dTUDWmCcvhZ6ZBjrvRywX-QA-kqO25jyVNuNT16_Dns5u9nyKkJiVav9H5Y9RqxfnqsHzy76GqHcvCxWJ74j2H2_ih12oW0rGx_bEp6kGJRZrbKW1RhNYj_1SW5tBClhZQxdtXXnatyhiRpPnqXBGc4IkNowPZbOOz2hPUMNl-RrBZoTlHi4QZHmZmGib1uoTdVJfHMs=",
  "id": "rs_08cdd43b96952e25016ab41c27d55487d0a0ddfb8466bd3ef5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.34,\"right_z\":0.19},\"note\":\"The yellow object has stayed with the right gripper through the lift. I’ll carry it over the open red tray, to the right of the white plush already inside.\"}",
  "call_id": "call_tE1Sch1mMHMdemuQKWGSeUE9",
  "id": "fc_08cdd43b96952e25016ab41c2ab65887d0bab41f80112583ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tE1Sch1mMHMdemuQKWGSeUE9",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1314, 1.0283, 0.9092, -0.8471, -0.1982, -0.1131, 0.9965, 0.8555, 2.2898, 2.3779, -1.2499, 0.5064, 0.4194, 0.5996]\nstate[eef_state]: left_x=0.2751 left_y=0.0023 left_z=0.1686 left_yaw=0.0962 left_pitch=-0.3705 left_roll=0.1162 left_gripper=0.9965 right_x=0.4043 right_y=0.3401 right_z=0.1861 right_yaw=0.1454 right_pitch=-0.3728 right_roll=-0.2634 right_gripper=0.5996\nstate[joint_eff]: [-0.0752, -2.5231, 6.8718, 1.3651, -0.1099, -0.0171, -0.0122, 0.1983, -11.7538, 7.8701, 0.8132, 0.5006, 0.1441, 0.442]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1233ff3b76c73e5b8c17aadd97a3993c6ae9a6a72bfa71ce9ca39acab28e8503",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:289d07aae17b0901d571e1d7f20c89a3597e78e184e66bc62b4927af61163180",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f14e5331752add887a512cd9baee726d1cc7b84f3503359dbc8a940c7cccf8fa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /responses · status 200 · 3.281 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0248, 0.9092, -0.8253, -0.1982, -0.1135, 0.9965, 0.3801, 2.035, 1.1893, -0.0769, 0.3122, 0.0105, 0.9953]\nstate[eef_state]: left_x=0.2792 left_y=0.0016 left_z=0.1725 left_yaw=0.0935 left_pitch=-0.3459 left_roll=0.1099 left_gripper=0.9965 right_x=0.4733 right_y=0.1345 right_z=0.0147 right_yaw=0.0956 right_pitch=-0.298 right_roll=-0.2493 right_gripper=0.9953\nstate[joint_eff]: [-0.2256, -2.1128, 6.612, 1.3944, -0.1538, -0.0611, -0.0122, -0.4991, -8.6085, 6.7761, 1.4969, 0.0659, 0.0611, 0.0708]",
      "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]: [-0.1314, 1.0283, 0.9092, -0.836, -0.1982, -0.1131, 0.9965, 0.3733, 1.9072, 1.6016, -0.6716, 0.2977, -0.0048, 0.6009]\nstate[eef_state]: left_x=0.2773 left_y=0.0021 left_z=0.1701 left_yaw=0.0952 left_pitch=-0.3597 left_roll=0.1135 left_gripper=0.9965 right_x=0.4762 right_y=0.1347 right_z=0.1468 right_yaw=0.1046 right_pitch=-0.3558 right_roll=-0.263 right_gripper=0.6009\nstate[joint_eff]: [-0.0889, -2.5368, 6.5709, 1.3846, -0.149, -0.0464, -0.0122, -0.3624, -13.2034, 8.8, 1.5507, 0.1832, -0.0171, 0.4176]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1314, 1.0283, 0.9092, -0.8471, -0.1982, -0.1131, 0.9965, 0.8555, 2.2898, 2.3779, -1.2499, 0.5064, 0.4194, 0.5996]\nstate[eef_state]: left_x=0.2751 left_y=0.0023 left_z=0.1686 left_yaw=0.0962 left_pitch=-0.3705 left_roll=0.1162 left_gripper=0.9965 right_x=0.4043 right_y=0.3401 right_z=0.1861 right_yaw=0.1454 right_pitch=-0.3728 right_roll=-0.2634 right_gripper=0.5996\nstate[joint_eff]: [-0.0752, -2.5231, 6.8718, 1.3651, -0.1099, -0.0171, -0.0122, 0.1983, -11.7538, 7.8701, 0.8132, 0.5006, 0.1441, 0.442]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1233ff3b76c73e5b8c17aadd97a3993c6ae9a6a72bfa71ce9ca39acab28e8503",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:289d07aae17b0901d571e1d7f20c89a3597e78e184e66bc62b4927af61163180",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f14e5331752add887a512cd9baee726d1cc7b84f3503359dbc8a940c7cccf8fa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBwwnTFsc-oMRBpRcDorjaL46ThppDMXVys4qvnLfxK_-687wB6wkLfFEGGiMD8KS9kYDyZRSph-argi6m8kGEwwNDU9IAqk4E3XmyFHpisUY9M1KxfN9jnngmn1cIZzPFDSYym5K4h1eF9aFOH8notVn6fEAWFvhbesS4qb4C2vGvayNtVXPiHWE6JOot5UEMW4HEWcFY5M1__06HtSy4N6oDRQpv80-L0NkauvRHIaaFymp0_Dl2dZ7ZykNFl8dRsCC4O90-BaRK-mLdY3yhQBM-VlJN-gW8sMUabwyLwhTXhB-GQzfW66jULe1YL7H4QIkOu5glbI_q7eB403LQTz2XZvUdzdeVhTMkEAs2nR9Qmjs-D09CFoxN78qEZm-7hTDyzh2FcD3eQKBBV8VWSFPQYDohnSze9RZZInMgTv9Psj4a9boGEDY_MAGfUQcmdZzdEFMClbcdtD9KVtCLt3PZjqsRxQAsQvSAHY1pM2qGFbM0_7XBp6oj-AGhJPpB9oCK8l9IhP8qO0XBdF-2ZrB-DTmpXJ7e2Ds5RO8oQv0NbgAykUDoaU2WgUNxRXhDmpTi1F8pbc-7yZB4-QX3FV_go8stw4En6n_6VPsjELU0-HpHC1U-J9sJTxChV8zkL3iKFWB9-K8foejsm-u4LcGAD2KF9LeiDuhT0NTCTUr62cAFPPANXGluFx_Fb-WBWPdmT4yObVpRIOhqfQ7YtWMYv2vmes29xDN8_WyJlfu5Bv7_Ml7Uk1gMlPve1RCxs74rIgAsDI4QAo0czuoEOhRovta2nNL-LNXT0QzJJUSgJ-HsWcWIOt85_UmySbBd_NMBZu3gF3nxsMuJ9i6FqRpaZl9y2NDKsRy1FmOM2azdHSRi3vkTEesXjLKbRPqULIl6z3Jq729VU8bf-O4VeeLnkIFfwpmhwqSk8SGyyKpnedCJSTi1v2cppfr2ZktczcqkvGhuEEe6UScKyM0YJpIcNPsaNOlFHPykSmzkWsvd4sY-CmQhsEMOr3tohZuSQxBXQSv0KKsWmT54Tw59AfJTISBpUcx9DfFyg6I5f8W8zc0JwuWXOjzh0-uWzuwtR0BIAdwuGBRRx-X9qEzOzKqh5WX5bYs8y2g5YsbZl1_jGelr6I4Nezz-t9hX8ibxHvsAAPg0Zv7YVZzlPzwhz6AgXuOhRS9FOARQtMTAOts6gyAufpGI74AdW3WquPFMufcs20lk2G-0El8-rQPuZDkLOYB_fxTzDkbt4Epd6YfbyjOa1xDPbSFVfPIZfIiD9EnFeL4dOOMer8rE2pBPOk0wUsYuvROLnz-hlTs1kLiRM8X8FWaRYFdF34RJIfyqNGeW8YTmPqEP1deM8ZY_lddPs15W3Mbk5GebMlF9bDkqq5-pRd2Ao6z7qwtst95uRRbILQBnIZ5wCXnC5rSAuGCS0Ti7I6jOM8azz-pwo-crTn7Yq7RyKERVbZ3wiwYHSW7gW5FKFN2MCYNqFJl0_nC2DB3xAkj2w0c-HSSeP1we1gEPkp7xY72I2myAEKnpAtNT9t0zt74T-8BuGnuDBEO-Gv6bQDTetcnbkhgAFx-TiaYmMG77UceTEmBXd6ocMr4k02Tll75OoPPcE_H46bL1q5sJdm4JJeRRSqPlv7ASGovaiivP1Mj1t1ViZBDhIyWWgnRJ4_6EGOEY2Y4MIy-Cy4pQEf-gQk6mk-hCoR90z2Z86Tgo-GFOoEOVNLAsCyItO4l-W6G-pO6h3A31DuX4CdH-hb-wjINdghoQGUpBW5_lN5k7Xqaq_u3En4_H1W39nth_efB4p64x7zDzz7U6e3Cl35BDaa9de_ZQk-kB9ie9ZdNe-FMbyGfLLXvNsHOX1wiet4xOwHVms6Wm2BlPGRL_HGjypduawxWn775Kr724xK7RO440KQQ2v47NQ2VJ4AVifolp6KryL8YTMLeSSJURU82k3u6d06KTqrm5P2Lgz8ROmQFkMBveYS0nrzE_7vp3y7hibdWrkP0NlplA==",
  "id": "rs_08cdd43b96952e25016ab41c2e2aac87d0a46540bf636c51f6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.315,\"right_z\":0.085},\"note\":\"The yellow object is above the red tray, and the white plush occupies its left-front side. I’ll move the yellow object toward the tray’s right side while lowering it, keeping clear of the white plush.\"}",
  "call_id": "call_edlXMosYnHHfJeAVXIHGhyJD",
  "id": "fc_08cdd43b96952e25016ab41c2fa1e487d0a3ba7c9d5d86f56e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_edlXMosYnHHfJeAVXIHGhyJD",
  "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]: [-0.1314, 1.0286, 0.9092, -0.8539, -0.1986, -0.1135, 0.9965, 0.7967, 2.2158, 1.8225, -0.8371, 0.4831, 0.3645, 0.6011]\nstate[eef_state]: left_x=0.2737 left_y=0.0026 left_z=0.1676 left_yaw=0.0974 left_pitch=-0.3775 left_roll=0.118 left_gripper=0.9965 right_x=0.4081 right_y=0.3052 right_z=0.0711 right_yaw=0.1151 right_pitch=-0.448 right_roll=-0.3263 right_gripper=0.6011\nstate[joint_eff]: [-0.1026, -2.5231, 6.612, 1.3455, -0.1636, -0.0708, -0.0122, -0.6222, -14.3932, 6.147, 1.1258, 0.1441, -0.1148, 0.3492]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5425df73ed101086f6317de19e0003232ef36d179c60653f94b30ae2a821be7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e4bd70ca83b4ba51950c0c6c49ad3d67cf6f040c2804e3f907d1225d5e40601",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93bed0c6503b3a4341af8afc7028b43482d8fc13ece95aeaa1dd0aa0ba5f93f3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /responses · status 200 · 2.104 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1322, 1.0256, 0.9092, -0.828, -0.1982, -0.1135, 0.9965, 0.3725, 2.0556, 1.206, -0.0696, 0.3046, -0.0002, 0.5988]\nstate[eef_state]: left_x=0.2787 left_y=0.0017 left_z=0.1719 left_yaw=0.0938 left_pitch=-0.3493 left_roll=0.1107 left_gripper=0.9965 right_x=0.4787 right_y=0.134 right_z=0.0116 right_yaw=0.1006 right_pitch=-0.2978 right_roll=-0.2494 right_gripper=0.5988\nstate[joint_eff]: [-0.1709, -2.5915, 6.8171, 1.3358, -0.1685, -0.0659, -0.0122, -0.4855, -9.6479, 6.7487, 1.5507, 0.1245, -0.0073, 0.8913]",
      "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]: [-0.1314, 1.0283, 0.9092, -0.8471, -0.1982, -0.1131, 0.9965, 0.8555, 2.2898, 2.3779, -1.2499, 0.5064, 0.4194, 0.5996]\nstate[eef_state]: left_x=0.2751 left_y=0.0023 left_z=0.1686 left_yaw=0.0962 left_pitch=-0.3705 left_roll=0.1162 left_gripper=0.9965 right_x=0.4043 right_y=0.3401 right_z=0.1861 right_yaw=0.1454 right_pitch=-0.3728 right_roll=-0.2634 right_gripper=0.5996\nstate[joint_eff]: [-0.0752, -2.5231, 6.8718, 1.3651, -0.1099, -0.0171, -0.0122, 0.1983, -11.7538, 7.8701, 0.8132, 0.5006, 0.1441, 0.442]",
      "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]: [-0.1314, 1.0286, 0.9092, -0.8539, -0.1986, -0.1135, 0.9965, 0.7967, 2.2158, 1.8225, -0.8371, 0.4831, 0.3645, 0.6011]\nstate[eef_state]: left_x=0.2737 left_y=0.0026 left_z=0.1676 left_yaw=0.0974 left_pitch=-0.3775 left_roll=0.118 left_gripper=0.9965 right_x=0.4081 right_y=0.3052 right_z=0.0711 right_yaw=0.1151 right_pitch=-0.448 right_roll=-0.3263 right_gripper=0.6011\nstate[joint_eff]: [-0.1026, -2.5231, 6.612, 1.3455, -0.1636, -0.0708, -0.0122, -0.6222, -14.3932, 6.147, 1.1258, 0.1441, -0.1148, 0.3492]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5425df73ed101086f6317de19e0003232ef36d179c60653f94b30ae2a821be7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e4bd70ca83b4ba51950c0c6c49ad3d67cf6f040c2804e3f907d1225d5e40601",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93bed0c6503b3a4341af8afc7028b43482d8fc13ece95aeaa1dd0aa0ba5f93f3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBw03RARtN-rB34a3JDcZP9uCZGVFthVjsgTK6rQDivRH78zas-AOlY-Y9dR-XwffpM3y0rSXSlKnl65bQ9OD-_ZVEiY74HPdGTlL1Gfxk73P0dTwZHIuHbcbCNfPtIPzJsEQ37tgYlM_BEVsuUeydprzbA6FYEXZPNcZ9clTsQSm7WpRWqWc-0P5bviVafyzgBYJr7PHv71Lc9eOW0vcozcGlgln2UvIxltkayS2fSMPy8wNI9c_N4Iz00cE53t0TLvHrU45LFfTxefGovrTSkh9AyBI5gD4322ZkVH4cFtGa_uOwICpCNcXlE2jz20bg2QrUdMdmpgsnvPa4qiidQVdQphWE72H4ccMxXWTXUssCddCWNwcDgyVx-168Lc56B_2L6WTFlYCIjnuz2NK-UUUHjKqvaseeO--_YWaj3C1T75Sak5EqvMsQDqz4gEy8laxPBkjqbfvhuwVYuaG8g5n72XRMUkL6pL2e190Z65vrtAI1zm4YAYVnVl4jElZv_K0gT7qV0ZOcbNsDld2cQygHwzD6aR2XwKcXFnafcQChc9Wml8zqhzdAW1O_Tg5KNdw7OEcp-Evvindt5TmWyrNDCOdhCSeX6xx9byScdxVWb6E9ZjZxBEUC0Iv6no-nId3bfEGMm0vC7eoEIp5d5TIXerP29-RtndTfuUpHv_eqF8pQjeuDEyHW3OeiZHGxjBA9nb3LmwvlJCc0sPn1CZgogmNmyKBTU5xTiU87M3f1iOyqiiriC9MZzoVSMIknb-eojYGWQeeL8WT0kKgT_ZbCDuFg2_NoZ9YvP4RUf3uadOpB47XzZgJMIb5BvYUcMVANjfa2i3i2dZ7kNWgqaVKScW2g5tFopsuCfWcHHba_Hr5QoHQj_Dv49y3HicXTq0aFuO-trMy6a_EiM-6DAEV8eZAsGxmh_Mk4jv6Ap76TC1RZ2ToklyB9BidjsPB_O0LHY2Qm3x20gu-SUZwE6-Aq_ESx-BACuQDy4s2tPTyeBmxT0qp-GoI2BK731GbfT80Rb-zlIH_cIu2mZsxjX8ou9oTUZs-RiqvglyNmOggZHX1T2y4hyUo1pfwvsZ83HRll-b4yBjrPuYZe7Us5qJ8DCPP8Lx1okxcMzBJFFoVGmqxCEKAPyAh8OayIP4Q79dC0uCA9ljbrJN1DGt7mOBFvi0O9tuCNKwovZm11d22MIXs9kQwcZAtf1lGKUxlTeOqLZc4sKunpImvd2eZeH-Q5cHK0ZMeeSKBGP13Z5YOXx9HN96s5CFCqeKYtPgxY93hBAmMD099RLw9BK3yeLDtwuoksZc7h9cuLLH7pzjwC2P_YYvBWLIxY3X3aK0GxHsxnhvuWbAsRqztyrizDRdaMi_FGtHChHHgy_dnulhmg67lqzcn39JSiroU6J_20aLG_4LhrtSL-riVEsIapXsT0vsnjwL8Qo9VGtX2s0WcLvLmv5-bBSuWliYx1B65kRcn44xrGsOjRSc-4Kqh6h_IX1cr8feihIVzuUUolvgIOekMd3A9wyOqIxsLWf_V7EoMrSyhQdUNAKRF0Fzh38zqhGjnE2vnDe3kp-5ekaxZQieL5kRlgWY4n9t6b-o3fGYIQHQnbVARxDempoD6-7O5D9OOGJ09eVlnI1fp1dHqhqJFxmYnITJHg2L7PuPvVs0nIHlJc5dqLRN3F9MmZ-AyD2HA3nYy-QbOxJ0uJamtZb0CQ2FzDqJ4HALQNi-skKN6nifD8OFPOYi6PowDpvaxjrl20FjCjF3EL9dA-UfAoht6_3DWwpqQFrs3wwZFBgdp1huWIQRsV7-8gWH8CQj9M2_9B7WbM8qty4SekEyUGfXRa7Ftt6vIunbNGNdxNhA",
  "id": "rs_08cdd43b96952e25016ab41c3238b087d08aed873bbc6aebab",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.05},\"note\":\"The yellow object is inside the tray opening, alongside the white plush. I’ll lower a little more so it rests on the tray before opening the gripper.\"}",
  "call_id": "call_d4rL5l0ozZstdbTcijD1uxwn",
  "id": "fc_08cdd43b96952e25016ab41c337f5087d0a0b1bff2b370597d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_d4rL5l0ozZstdbTcijD1uxwn",
  "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]: [-0.1314, 1.0283, 0.9092, -0.8555, -0.1982, -0.1131, 0.9965, 0.7971, 2.2139, 1.7889, -0.7628, 0.485, 0.3481, 0.6003]\nstate[eef_state]: left_x=0.2734 left_y=0.0026 left_z=0.1674 left_yaw=0.0969 left_pitch=-0.3787 left_roll=0.1182 left_gripper=0.9965 right_x=0.4133 right_y=0.3103 right_z=0.0671 right_yaw=0.136 right_pitch=-0.4162 right_roll=-0.3083 right_gripper=0.6003\nstate[joint_eff]: [-0.0752, -2.4684, 6.5709, 1.2723, -0.1392, 0.0024, -0.0122, -0.1573, -10.988, 5.1077, 0.7692, 0.149, 0.1538, 0.6276]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1546a3451e45b8f1137eb1a14b1260e477fb02069f177f5ae78b7e7490114b95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6109ef0e0a0fd160f22416d5a397b2ff9ade0a7533404afac11c23aa9ae69642",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10c1fe4535ff853625771d802855947e98edb6e18c7eb97aa7bdd5c175c20413",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /responses · status 200 · 8.347 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1314, 1.0283, 0.9092, -0.836, -0.1982, -0.1131, 0.9965, 0.3733, 1.9072, 1.6016, -0.6716, 0.2977, -0.0048, 0.6009]\nstate[eef_state]: left_x=0.2773 left_y=0.0021 left_z=0.1701 left_yaw=0.0952 left_pitch=-0.3597 left_roll=0.1135 left_gripper=0.9965 right_x=0.4762 right_y=0.1347 right_z=0.1468 right_yaw=0.1046 right_pitch=-0.3558 right_roll=-0.263 right_gripper=0.6009\nstate[joint_eff]: [-0.0889, -2.5368, 6.5709, 1.3846, -0.149, -0.0464, -0.0122, -0.3624, -13.2034, 8.8, 1.5507, 0.1832, -0.0171, 0.4176]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.1314, 1.0286, 0.9092, -0.8539, -0.1986, -0.1135, 0.9965, 0.7967, 2.2158, 1.8225, -0.8371, 0.4831, 0.3645, 0.6011]\nstate[eef_state]: left_x=0.2737 left_y=0.0026 left_z=0.1676 left_yaw=0.0974 left_pitch=-0.3775 left_roll=0.118 left_gripper=0.9965 right_x=0.4081 right_y=0.3052 right_z=0.0711 right_yaw=0.1151 right_pitch=-0.448 right_roll=-0.3263 right_gripper=0.6011\nstate[joint_eff]: [-0.1026, -2.5231, 6.612, 1.3455, -0.1636, -0.0708, -0.0122, -0.6222, -14.3932, 6.147, 1.1258, 0.1441, -0.1148, 0.3492]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1314, 1.0283, 0.9092, -0.8555, -0.1982, -0.1131, 0.9965, 0.7971, 2.2139, 1.7889, -0.7628, 0.485, 0.3481, 0.6003]\nstate[eef_state]: left_x=0.2734 left_y=0.0026 left_z=0.1674 left_yaw=0.0969 left_pitch=-0.3787 left_roll=0.1182 left_gripper=0.9965 right_x=0.4133 right_y=0.3103 right_z=0.0671 right_yaw=0.136 right_pitch=-0.4162 right_roll=-0.3083 right_gripper=0.6003\nstate[joint_eff]: [-0.0752, -2.4684, 6.5709, 1.2723, -0.1392, 0.0024, -0.0122, -0.1573, -10.988, 5.1077, 0.7692, 0.149, 0.1538, 0.6276]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1546a3451e45b8f1137eb1a14b1260e477fb02069f177f5ae78b7e7490114b95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6109ef0e0a0fd160f22416d5a397b2ff9ade0a7533404afac11c23aa9ae69642",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10c1fe4535ff853625771d802855947e98edb6e18c7eb97aa7bdd5c175c20413",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBw2f9BMD4vZNhqVgJ_JZfEkdp444ZWHOav2a-Y0ocSTd55azncR4dyw7uN9bUon5fn6yds2Yr1Ymo-A2KqaTW_q8tPrVBGPz-gNtpds_BQ3pN_JlPpn4IaRABDfq0pgX-_iF7yz_exG7XyeGnaKz-_ApVcjA5FYFYdJbP_Mj0uI7iRTdvKODNtANwkOEjoNOs6I68VaIxgyILjUj7u_lKv7jl9yKrQg98M3NHtjPx_g1s7P0kN4QFkK5RFXE15F4Q6G2SibstreB6HTP6bTOUNdS-B20YlSdv4smUXvlyQEXZW4dWtxPht7MK22fK8giZIxWwbuthyM1xxfuamYsubgcje4jry8vNegN9_5KtDUV-NPyEquWhwmrSknkdQcexiNIYAq1V3f4T6lf7GGUle8q9njkaXLANNtGOWihkbcry30dRICDBKboir-j5CJJXSnKJF0s2cNaM_iAHqgz7t0g_ficnIHR43M69QT6uwYirufjcdb3eSYHbmns9G1aCb3UVaWvIRp7Hg8Fuh0NmvAkbrNkFBnockpa4n12gWVWl1cVcHMCZK9bf8piPwSPTieBMxBxxYrj_76U-OTXjyDJe2siKIWoQuXvst79xSqQ478Nr0yf-eJTG_1nQXhjQi5tpj4Xx1m6nae2YLtvPwhk2lwzL5PsOx7lA-eh8nwiarU6-RZ1ExVJLgRjtyG2vbMz8dwxDsBlXR8o7-6yuvdFTI2qeD883SohonS_EojE1LIo_Fg5bczd8cMX6zkQ3z5wqVbEkxbTQM2SDaG63KSGrNBqbhVgshzIJXlwugwxhgF_1mpfmwfO_joFL-W-QNMIplvcAPt0PPfyqgzhztaZaUJXyv5BAcUOYlKOnlRLHf2y4LCbvINuySOTVuPNVeyKoVBR1gsu3xJ4yDml0rrlw78LAe8vLFi5tRU6mnNJefzJhjsyWo0x2AvMoLWx3-gOv5LTmiT9ycABSJ4QnFPGEdl-SaYi4_zbVLaUOpGUtddKkrMRBDga6rUAbcHYFLZQ-GSVDYgGdoM-n_j-s_h2KwabD0p8XN54iNzfYY5T9MNE6051IaWus1kwg1Q4w_ZV3FZ2-8yY5VicfOWOSiktmy65CzDcA3vVKNng5nc0sNtlt_wpKE0Q78-oBj83iAaKPZXQsstKPKCN2lWhXekdq8IFK3yzwi2SXjk33t7meafaNMHRvueOYxvOjDWTcBwk6ohjSdSfG2OslANtnRIl-GDsh_4IH3H3c4Ux8IV8FNGgk75WbAIG_Pxk37RHlwWnB310a1hCMhlcdcmSFEj7g==",
  "id": "rs_08cdd43b96952e25016ab41c359fd487d083ccb69911085c3c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The downward motion has stopped short and wrist load has risen, indicating the yellow object is supported in the tray. I’ll release it beside the white plush.\"}",
  "call_id": "call_DTYvgADzUa1bYBzCmSwJSELJ",
  "id": "fc_08cdd43b96952e25016ab41c35eb5c87d0b4f7d68cbc4928a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DTYvgADzUa1bYBzCmSwJSELJ",
  "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]: [-0.1314, 1.0286, 0.9092, -0.865, -0.1982, -0.1135, 0.9965, 0.7971, 2.2143, 1.7798, -0.7673, 0.4797, 0.3428, 0.9945]\nstate[eef_state]: left_x=0.2715 left_y=0.0028 left_z=0.166 left_yaw=0.0981 left_pitch=-0.3883 left_roll=0.1204 left_gripper=0.9965 right_x=0.4105 right_y=0.3086 right_z=0.0631 right_yaw=0.1389 right_pitch=-0.4313 right_roll=-0.3166 right_gripper=0.9945\nstate[joint_eff]: [-0.0479, -2.2769, 6.7624, 1.3358, -0.1636, -0.0513, -0.0073, -0.3624, -12.5744, 6.9675, 1.0183, 0.2613, 0.0073, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b878878c15bb9cd7742e5d2611d9c0bc1fb486ea331b0da7b8c4b345d5ed4ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75b7f3326ded66ffb8e873e84d47c66baca3556af4e17a3e7079ef489ccee331",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0c960e34d5cbda815c274e0e3d12b02becdeb486906b958e30d6351e76fcc2e",
      "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 · 4.811 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 147 changed as sent

message 151 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]: [-0.1314, 1.0283, 0.9092, -0.8471, -0.1982, -0.1131, 0.9965, 0.8555, 2.2898, 2.3779, -1.2499, 0.5064, 0.4194, 0.5996]\nstate[eef_state]: left_x=0.2751 left_y=0.0023 left_z=0.1686 left_yaw=0.0962 left_pitch=-0.3705 left_roll=0.1162 left_gripper=0.9965 right_x=0.4043 right_y=0.3401 right_z=0.1861 right_yaw=0.1454 right_pitch=-0.3728 right_roll=-0.2634 right_gripper=0.5996\nstate[joint_eff]: [-0.0752, -2.5231, 6.8718, 1.3651, -0.1099, -0.0171, -0.0122, 0.1983, -11.7538, 7.8701, 0.8132, 0.5006, 0.1441, 0.442]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1314, 1.0283, 0.9092, -0.8555, -0.1982, -0.1131, 0.9965, 0.7971, 2.2139, 1.7889, -0.7628, 0.485, 0.3481, 0.6003]\nstate[eef_state]: left_x=0.2734 left_y=0.0026 left_z=0.1674 left_yaw=0.0969 left_pitch=-0.3787 left_roll=0.1182 left_gripper=0.9965 right_x=0.4133 right_y=0.3103 right_z=0.0671 right_yaw=0.136 right_pitch=-0.4162 right_roll=-0.3083 right_gripper=0.6003\nstate[joint_eff]: [-0.0752, -2.4684, 6.5709, 1.2723, -0.1392, 0.0024, -0.0122, -0.1573, -10.988, 5.1077, 0.7692, 0.149, 0.1538, 0.6276]\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 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1314, 1.0286, 0.9092, -0.865, -0.1982, -0.1135, 0.9965, 0.7971, 2.2143, 1.7798, -0.7673, 0.4797, 0.3428, 0.9945]\nstate[eef_state]: left_x=0.2715 left_y=0.0028 left_z=0.166 left_yaw=0.0981 left_pitch=-0.3883 left_roll=0.1204 left_gripper=0.9965 right_x=0.4105 right_y=0.3086 right_z=0.0631 right_yaw=0.1389 right_pitch=-0.4313 right_roll=-0.3166 right_gripper=0.9945\nstate[joint_eff]: [-0.0479, -2.2769, 6.7624, 1.3358, -0.1636, -0.0513, -0.0073, -0.3624, -12.5744, 6.9675, 1.0183, 0.2613, 0.0073, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b878878c15bb9cd7742e5d2611d9c0bc1fb486ea331b0da7b8c4b345d5ed4ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75b7f3326ded66ffb8e873e84d47c66baca3556af4e17a3e7079ef489ccee331",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0c960e34d5cbda815c274e0e3d12b02becdeb486906b958e30d6351e76fcc2e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBw_xSQ5BD0YQGSxJELZ9bcI1XgLC72A7BM9aiji-4E3YTzITVMFOsHlIiVBAXpXzStYbMCXUZ_tnG2MW0S4wqerwWOXi0rhOd9ZfumWeLn0I_w6NKn9We8tA7mgi4ZynmkL5WIKJvFsBT34clZ98IPVYIJnALxDvvzFHgrwRnIzpfP7LN96-QsB93udMBcugj56UXSOhGqVxkpd6Jcw2FrjECAhIcKEuooluVLDRi9CoHNBtBGxL7QPEp7wxPMtJXdD03-odxS_du_CSGa09WdRfT0MYHECL3k7edoGqtWofex0kGTXkWsoQEFl1vTyiR_DrxlaYnb9sFRWQX7qhZhy4oeEhF3FeH94C2VZdY46IVXBcwCiAiq3vkANLtniEyy_jR1SPM8WEH31lB93uzC4fK56s_Zb7xUCGrx-LpkcQhPw2IKdUps7xgKkupgphpZhYLTKcNnDSuwoId-xDcqhGB3ySI6qcPOZbX9m8xbeldgPi-TUuu4vZn1UNDze3K3DYKsuFbFAv-LOWKxLqGuyYNPk56pDycO5yHp2l4dvSZDGfqd8pSy2lojdcVkxBI6DFt161a7BnTSYKvIiSHz7Lv0oPQr3R29vpaM6fS1ZTC3u5J61xi0PVazeKwoiWpr2WWmZbdMe_fZV4xqFAGCG1GIHDvaC0tIjB1FydWvBKq4oOeu7E0Pj4xChj404s07WYGGtmTK6QL40CyD5053SR1qiT8oyuqqG6ugmnC7z9-n7y59kwidauEFhMlIbdTNL1tzIiQPJFUmirfFiMPfzu7DZu7mM3n2D3VKB0XiNwImVxdSE1ECkpmnVDw3mCwgggVHtKxsGbwMBsavpXbPeV_PtfUQ01FcpT9aFTG9ZbSnHfxIk7mK0RE43GFeJG0Fu5CXgjcKA1tAT24TbBNn3iPzbSigZVOVElt0l3MTwQp7o4MFdUacgeKQgf9JnyWfkqC2sVMPWfMi7urUhPx17zK6DKz1JxQvTJCjw3CB4QbLVipwdxBV8L1OV6kSWgtGWtB8T5YkSmROiyZR1M9CtPQ6E86lUhkJzKy0bt2RR0N45xxoNgD95RWtpedkljUcbnxuRMogW1Y0E2r84Lx1JzDSQEpGIXEJZPlsEwgjf87n7bE6oyKl7I0IZQPvx1mXOh4bfY1WTstopW_Xc6BIYZJBLi_X9r-HgFEznAe8SwbK4JYgrRO71FtYJNEhLqb50VZpyIzvvwJqCNrCIRktSLdQ-wihY9Ejf_WAwowH0BdCPHqaF6PTQ6ezFCexxbvnXsLmaF0dx_-QPnJ4axU7EH-gtq41xUIziaMwbyuy9GKHox7-nf8j8Yc9mwIOkmZVhoZXiRkmBxGNQaNb2Efr3vi4VwSdiviScl1BhT0OHnUzHyNr85_yQV4_BgGwIKPi4LzA95_hpFz0TQt0pHSQn3WohO4JROqAU-LlhdOP_tbZmKI3B40mAQKRhlaZHEjW_7TjDp1xKLC8pyHGyTuiDVeNVVf7VRGQPtrNjSHSW8wc8IwtszIirx7E2GF_IilCPzxbD9iI2m1kghIecnHPqTelO-S5E0H6oK8TcysLidlrveRYLVjqXzp0zAHH2959vPBUlorjqrPii2G2kV-Z1r86RampmJNs615URY_NKqUEJho8vHyHAO9Sj4v77Qtc8ef9cW3wxNb7-CpcE-MbyDOXkRBR7f8b97-3f57M16YdG76lWRmywIRDpk644VVn2VzBfojq5lXJobB4r05TeDQYCchdmCaXLmcc9DVk1rfle_2qlEH1Jn_rjxBx2JiU-F601z086aUMD-mkogp80zsSN0WxJ5R7vCCYAul8qdUqq-dOXBNxxNkypHMob5KCvVAxawZa8CsGkqFQsrJcIx6FxRQGQCfxYy7_ciqtwRD7ZZ3WG6Ufx648_T0-8ebE23aPfAN5ZaKcckWNK9WVjz1FjYqzE1PT1BqzUCOcAgcQX7xWIFnNgF8JhjFyP9Xy0NWAU1rLaw8Ds9DKAq8mvfal9IY8A7jC504tSXxDF6dgtFCGfKgKI9Lea3FjccS820Cya11DJ6JESwvW8YIUCuWjOtsYlV9utXhSgTJMwG0D46axoSY-AZfYeWuLFT5Ap8RC3FQsQOKx1ro7cT8HlbA629ZXn0c4iZzTeQpt1KRe3T6h_j8i1teKAvOn74jIVgIemyU0bEN2ogxZ4iCHvJ0QqClnC6FVBIMAt9UZxXfnwSUGV6BJwb0bUuxlTyAERlqxWjhkhy__lw3_jToLyxPeKfgPHhJvvA2Olg4VXnwoie5brmeKK-Uy2f31gF37-kpW3aXn_qcYJlzxTeIJhOBtIoEjU4U2hDVyrVjb5CfmFJ-WTC4EHFkoU1RY80_kiKStAneGN7NDLhK6-xquqpzpWJS9kjqlVXrf3elA5_c-SDCm9P57ytO9tEMLKVJeOpmva3Do7WnJKwYWUTUzOgHC3kd-39_imIW3-76c0cfOTyy-2Ooj8FHr1uICjo87fFOsSS6-ezs4_vIpAlxxjIHPviTDZgwEqfMZxBObN4r4igldlmzoZGwq95hVykCvRJGM8q3miQMK2-Cnf0ZDnyzF5SywWxKg3JLaWagk0nqHWyiIO0t8ePNrP-qlNt8ORobw6M4hwh8AcRXKkliNB5v6UFMbvQMU49ct_9nZtoXU1xmQgWqjYwW-QOYiXOPx87IMxmOZoRK_PiinqNPXmDAHkWfclyx_4fgTss3bEjvfQuzwwQXtR9Y8H0in7rR7iXkFtYu3ND1e_JzzXX1D8g90bvtX6NihuD5yv0gfjbL7SZYOEXtcgMYMV2awz3EqhYLlVh8YeolT5OYI5ONRfZBsKjkQqfpV9nH4qYGj8cGD_WWSh529alxH7vURVbDpq1aEuCYaBqU23FVqmQlmKJHLCu6l0Ljq90C_pRWRe7NaZpOa1PgoXiMD228WZ7mwg0HEqbTRHECYlCaN_6A0PIwTocM_B2r1rve-tpOcqnFdF4Ycwj0OlAsjlj9FyoasDqcoDjZpMi0dihdOVFm9bAbM1bdMkjvrl9UX4tZ4lC4itP3IkElIztizt9vbgWSfvQSqmIPlKBxqvCzrlqy8PqSq-UKXAbFOpqBKRVvfhNzWuBeEe8i1h3z-GiCEhwC6d2tUUJIEByPKebNWRdtGGeHFtOcUSYjDOwfIOTDKOrQE3qyjrewted6ZNdp4PyfT5IVdqGc7PC8XIk6aBjw2vXkL5D_ThByoRz2RqIljKoMx22uswU3WeInMQMVdJwzaCHLlMuZY_behQY29qkSpfvJzHBQK-K28voQ9sryIn8Tg0En_OZpGZNF9CtcEl8hdNkq3B7Re1QkwtzDu6FEzo_NBZSOG3tX1jVF3Fyg7Sdp9EwgaJGmxj2xemAvys5eC0CnXptzGOpcq4_oDdBiCKRCycoMZlF9_p40TKHjWJkVYaFU3Iam3EJnlL0c_UUHYsFY4Qk4_LZMNMeCpgvzHmD0ifUzEc18aOTPZrM1F-ZmPZLQ3f0p9hoHD9m2YU7EPGTBM5YG3H2mb2nYRmNQS1eGGri8TmB2khJLFpqyX_KQ6iDqREIsxpSUv2y5NKW-ChtxFsrVGGVr6YYDVurcEVnR2mlA0ulqBjYt1BWXjj29l1CfZ7xhcr2w9V4FAehsbz2ztsnBBuZE0n-95ZFu79gaN5PEsF-il54AsGaAwXg8k4rMaRlljzF4MrXy7OUbd-lfwwSHgyj4tARPeXuo3GPjW1RSZwODjnL_MndbADcxU1EOJlANJqON8TpNZQVLsz4Ps30WRlUvZlj0hwApBD6DjmYfWZpZZ6trNouO7fRPiqI876l9HRtRYmdbrU9fQjfiu4tod0Po09hwXXU1e39KGn4MAKJFbReE7AsBf88I37vPJqMClMoVS0bIlXTxzT8Np7Svmq_plLC8AvPygIuw==",
  "id": "rs_08cdd43b96952e25016ab41c38d94c87d08298b3d5ba8968db",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtBw_n5-DBi3B0CvPGmxkbSI-SQB4htLQ0BuVlvvgwEXQB0p-_KB2_Kq0plx6Bd-qKuiYAnZhH_SSj-Xnhi7Wi1r4BurWCawsQZnVfrKK8kIbeigFaSiKzq0zeXd7M5y5Pf0JlpV7nmO9ubdQjuhZqlk0Okp0Q8Rv1oREgdPY1ABITHjm-QEB6BZFwck08FgeyCDkkbw29aY94BqdhlV2GzSKw0b104UbeBtGlvL-V3nKUvjLJei0Vpwb-o2bn5aFQ1dYH0sOutx19Le2r6nWUorBDZ6060V3QrqUhLxd-h9hc5aKj4Yp2A2inUMVO9iWG-K_wP-UpkNHQSQQZDF349K6T2wXJvXEFRHaYKN5rgOrYaO720gtYqurOTAyUv8poBQ8Ms_FpJz6AiCbPBrU-YJR4ZHnyC1S_JyY99pyngwLw__VF3VYnE_L_iSc6y8VJulBhOevz_QEWEVTIrwLukV8v5dIzaBBomb2Zc7oAvOEExXzjxE13EkjbdihO6U3dAbrKIcUOFVAQPj3amTzuviQb1RKo_IfxIUz64XCD6ryof-sH1UlM5c9Xsc4-i-qFKwZd1DoZ8a62nswoUeU8n7S-NWHLCWR6g8rRIqqB3_MMr1cU_9roJHge1rAhxKTto8-_9TBpbAlYsFolz9pdxQYR3HIq7OenqO6Vj5CLFycV-YIEs46I2b19sNZw6QcMsckFBj9BQgsh9ecov1tmEQ84ZAey_dN1ke7LTzBR8LWg_OlxN_4Lq73d1cAQsf6ihtSiDagju6yFAyHzrioOWWbhHNAcsgFzAOeYaOYrS6naDtSlmoysOaL7KZ-H15UOKxwRWxScjTMoYg1tZAksaQFp6FMxMxI69uT5T-EOIboXraCCoJn8JStWR5OjlgygjyVeJHY2EqOaiJUNqd7PvLyHv9zoWMMILblJDptqdf1KbxxNSaPeloi_0tbtMJnoXviNo6mfHBj5GxfDY337SnKzjED2o4_DMy_TRJ3RHvQSyBiX_se8qkKqaRQMozvgqRWEdkI_dxH8f744NjNn_Df1RdzpXLgZKMYfzwxihzzMRrii1QLlZJ5EzVITGZgfT8VZl4y9GWaR0AnLCfJVjhEj--373NUMIYVZlAJJ3sg8UW_ijzkbPH7jZmHQeUQrT5dVZkJt-ngXgeyEvYvVgQgtdOAgim8wCm4XJki2SQsM-jUfjRldU8UQ9Ky5uHSWcvWoDoawXp9nAzNbdmoLbVCTpg8p9hsAJ6ZxfaCFmrVJ9gP7iL9R9bHUsGQWyiE5U1fUzIdkcZeryte2oRwY7S11BxruiSuQ32NEsEtf8m5uJCZrMlnaJgljIIMD8oKCBCjhiwXZOyUxIuqSWZw9MW_YfEIEB-HCPFTtbIJjeNf3jeFjhFoOUSMBzlIQbOZRC8pX1NNHvWp0XS0L8qKGVosOT28NFPH-6IERCqWwj0oX-Xepftkf_EIc77LjFSo0stS961QE8i0D7f20z6wLJeuSDZ3jFpIVBAFU-NqZiWGko-_Ocdooh-CxlvkDwtGyDMk8OEn4x7OpiDIwFTR-JOuIo0DB1nBdYq3rEZ4dSJqIAeeXkf-KnADr1nfdtheE8BIulnNIr8MWvcaVam5kYp6L7JseyeOy5Ans9COYpOp9klbPfEilCkI8OFgNPxryri0aO8yZAr4X_gOYmW152KBOLv1Q2IT1oiUbXqnp3QfM7pwtV6Maaw6kT1dVerrhCv_sL4xzjKGjVM4OrPkNIordSYaKT-HWW0tj8xzQogi9W2N3tHoIKGgz2KGKio6ay0PUr24UBPJTLYOFGdVMR2kflw2-TE3DgjHH_-GHRmmf-FNs5s0AITHwl2UBO2NJO467b4xddyt1Ifz4NLmE6vy388nhkHg4zCmE5UM0AXpj-mbtmcsU_AN-Q-Zz7pK1K3HBlr9p4ZamgNNK9puuDbCKv7q-L38a5mpKf6AhhL9EJ7VlZhPPPLhYxSYeX5pfRVM0-5_kqteijKoF-mLH3PJwzvyPr4SkSDVKOhgK2Ro2yPHyOvPoUGZIR8MtBzeQaqVa59Jd4ra0jgQ0QkPbAyp9AoLfoURxRjKuGpxWilnbWMpGrHvupBzPJki2VE8MRNCdHegRNfWPvhHZZqseKJrV4_jsVhwD0l25u5zDdDv_ysRjbPfNO8Duxi2GmDiJM0dBAmffmLekPPiNmdldJb_15AN-eYNi5951IB02mSMqJ7abI2UojqG6_Z9PYXKrqc9w4x1mDC9816fqOtxd9AOt0XYHxUCUYfJTqr9vPlp2bszrKuQmD8x7QRlYAb28LxM",
  "id": "rs_08cdd43b96952e25016ab41c3ca5c887d08366a8ec5c26725e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.19,\"right_x\":0.3,\"right_y\":0},\"note\":\"The yellow object and white plush are visible inside the safe after release. I’ll withdraw the right arm so I can confirm their placement and reassess the brown plush, which is still outside.\"}",
  "call_id": "call_31O2Fy7OFhqRwbKcIZYqZRBN",
  "id": "fc_08cdd43b96952e25016ab41c3e979887d09bc248b8f9c68798",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_31O2Fy7OFhqRwbKcIZYqZRBN",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1314, 1.0321, 0.9092, -0.8761, -0.1986, -0.1131, 0.9966, 0.0814, 1.1831, 1.0725, -0.9058, 0.1619, -0.2871, 0.9953]\nstate[eef_state]: left_x=0.2695 left_y=0.0032 left_z=0.1637 left_yaw=0.0996 left_pitch=-0.4024 left_roll=0.1246 left_gripper=0.9966 right_x=0.3 right_y=-0.0005 right_z=0.1813 right_yaw=0.0965 right_pitch=-0.4533 right_roll=-0.316 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -2.6051, 6.612, 1.3358, -0.149, -0.0269, -0.0073, -0.0479, -4.4103, 7.4872, 1.4921, 0.0073, -0.0659, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2300292fba2ebe7507b9380bf3b0501b42488eb718dbc89cb58be3c09ef684b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:201f1512d10771cb98d800549f94d78c3b34bc29755bccbf54feedd20a9d6e8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:277e11fb77bd7c1dfc0fb8eaccab687fca97e9b963dc52ec9fa8c9bb92dc8f05",
      "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]