adhoc

completed
2026-09-23T19:50:57.134684+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
190.3 s
total steps
374
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 noteI see an open red safe, with a pale plush by its left edge, a brown plush in front, and a yellow object farther back. I’ll bring the left gripper above the pale plush first, keeping it open.
move_to
left_x0.3850left_y-0.0200left_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7925, 0.6037, -0.3916, -0.0189, -0.0341, 0.9993, -0.0212, 0.7937, 0.6075, -0.3958, -0.0204, -0.0124, 0.9996] state[eef_state]: left_x=0.2931 left_y=0.0014 left_z=0.1778 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.001 right_z=0.1784 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4308, -1.3607, 10.359, 1.9805, -0.0757, 0.1538, -0.0904, -0.4581, -1.4701, 9.6889, 1.9121, -0.0513, -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":0.385,"left_y":-0.02,"left_z":0.15},"note":"I see an open red safe, with a pale plush by its left edge, a brown plush in front, and a yellow object farther back. I’ll bring the left gripper above the pale plush first, keeping it open."})
tool
executing move_to over 8 steps (0.8s)
step 8
top_cam
camera top_cam step 8
left_cam
camera left_cam step 8
right_cam
camera right_cam step 8
assistant
agent noteThe pale plush is now centered low in the left wrist view, close to the fingertips. I’ll lower the open jaws around it before closing.
move_to
left_x0.3750left_y-0.0200left_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0952, 1.2465, 0.6655, -0.112, -0.0761, -0.0845, 0.9992, -0.0212, 0.7967, 0.6121, -0.4328, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.3631 left_y=-0.0176 left_z=0.1208 left_yaw=-0.0003 left_pitch=-0.1103 left_roll=-0.0002 left_gripper=0.9992 right_x=0.2887 right_y=0.0009 right_z=0.1721 right_yaw=-0.0008 right_pitch=-0.0355 right_roll=0.0006 right_gripper=0.9996 state[joint_eff]: [-0.5265, -4.7658, 9.6889, 1.8779, -0.2076, 0.0073, -0.0171, -0.1162, -1.347, 6.6256, 2.0244, -0.0317, -0.0611, -0.0171] camera 'top_cam' (step 8): [image omitted: streamed camera frame] camera 'left_cam' (step 8): [image omitted: streamed camera frame] camera 'right_cam' (step 8): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.375,"left_y":-0.02,"left_z":0.025},"note":"The pale plush is now centered low in the left wrist view, close to the fingertips. I’ll lower the open jaws around it before closing."})
tool
executing move_to over 7 steps (0.7s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe left fingertips are at the pale plush’s height, and it fills the space between the jaws in the wrist view. I’ll close on it and check the gripper reading.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0978, 1.5612, 0.4839, 0.3038, -0.086, -0.0906, 0.9992, -0.0212, 0.8005, 0.6094, -0.4553, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.3626 left_y=-0.0167 left_z=0.0169 left_yaw=0.01 left_pitch=-0.1896 left_roll=0.0101 left_gripper=0.9992 right_x=0.2852 right_y=0.001 right_z=0.1654 right_yaw=-0.0008 right_pitch=-0.0645 right_roll=0.0012 right_gripper=0.9996 state[joint_eff]: [-0.4034, -5.8188, 4.8068, 1.8046, -0.0366, -0.0073, -0.0122, -0.0615, -1.5248, 7.2547, 1.8584, -0.022, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left fingertips are at the pale plush’s height, and it fills the space between the jaws in the wrist view. I’ll close on it and check the gripper reading."})
tool
executing move_to over 10 steps (1.0s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe closed gripper reads about 0.21, consistent with holding the plush rather than closing empty. I’ll lift it and confirm it comes off the table before moving toward the safe.
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]: [-0.0975, 1.5745, 0.4717, 0.3111, -0.0864, -0.0948, 0.2101, -0.0212, 0.8005, 0.6094, -0.4782, -0.0196, -0.0124, 0.9996] state[eef_state]: left_x=0.3581 left_y=-0.0161 left_z=0.0094 left_yaw=0.0135 left_pitch=-0.2078 left_roll=0.0094 left_gripper=0.2101 right_x=0.2818 right_y=0.0011 right_z=0.1609 right_yaw=-0.0006 right_pitch=-0.0873 right_roll=0.0014 right_gripper=0.9996 state[joint_eff]: [-0.0615, -6.8171, 5.9829, 1.4774, -0.0464, 0.0415, 0.9695, -0.0205, -1.2239, 7.0085, 1.8535, -0.0122, -0.0611, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.17},"note":"The closed gripper reads about 0.21, consistent with holding the plush rather than closing empty. I’ll lift it and confirm it comes off the table before moving toward the safe."})
tool
executing move_to over 11 steps (1.1s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe pale plush rose with the left gripper; the red tray of the safe is to its right. I’ll carry the plush high over the open tray before lowering it.
move_to
left_x0.4100left_y-0.1450left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0978, 1.2633, 0.8761, -0.4446, -0.0872, -0.1066, 0.2123, -0.0212, 0.8055, 0.6075, -0.5072, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.3555 left_y=-0.0158 left_z=0.1449 left_yaw=0.0215 left_pitch=-0.2474 left_roll=0.0063 left_gripper=0.2123 right_x=0.2772 right_y=0.0013 right_z=0.1533 right_yaw=-0.0004 right_pitch=-0.1232 right_roll=0.0027 right_gripper=0.9996 state[joint_eff]: [-0.1983, -6.8034, 9.5385, 1.6337, -0.0757, 0.0611, 0.5641, -0.294, -1.2239, 7.1179, 1.9658, -0.0366, -0.0513, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.145,"left_z":0.2},"note":"The pale plush rose with the left gripper; the red tray of the safe is to its right. I’ll carry the plush high over the open tray before lowering it."})
tool
executing move_to over 12 steps (1.2s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe held plush is above the tray’s left/front side, while the tray’s open floor appears slightly to the right in the wrist view. I’ll shift inward and lower it partway, checking that the safe’s rim stays clear.
move_to
left_x0.4250left_y-0.1900left_z0.1050
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4728, 1.5997, 1.3544, -0.6899, -0.3096, -0.3923, 0.2157, -0.0212, 0.8097, 0.6071, -0.543, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.4013 left_y=-0.1408 left_z=0.1829 left_yaw=0.0054 left_pitch=-0.2931 left_roll=0.013 left_gripper=0.2157 right_x=0.2714 right_y=0.0013 right_z=0.1454 right_yaw=-0.0006 right_pitch=-0.1636 right_roll=0.0033 right_gripper=0.9996 state[joint_eff]: [-0.335, -7.6239, 9.1966, 1.2576, -0.4127, 0.0269, 0.3394, -0.0615, -1.5658, 6.8855, 1.9023, -0.0513, -0.0611, -0.0122] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.425,"left_y":-0.19,"left_z":0.105},"note":"The held plush is above the tray’s left/front side, while the tray’s open floor appears slightly to the right in the wrist view. I’ll shift inward and lower it partway, checking that the safe’s rim stays clear."})
tool
executing move_to over 6 steps (0.6s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe plush is now over the red interior rather than the safe’s rim. I’ll lower it onto the floor of the safe, then release it.
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]: [-0.5564, 1.8004, 1.2907, -0.5087, -0.3431, -0.4587, 0.2182, -0.0212, 0.8108, 0.6056, -0.5682, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.4131 left_y=-0.1827 left_z=0.1008 left_yaw=0.0009 left_pitch=-0.3505 left_roll=0.0385 left_gripper=0.2182 right_x=0.2669 right_y=0.0015 right_z=0.14 right_yaw=-0.0001 right_pitch=-0.1915 right_roll=0.0041 right_gripper=0.9996 state[joint_eff]: [-0.5265, -8.9504, 6.5436, 1.3993, -0.359, -0.022, 0.2564, -0.1436, -1.1692, 7.0632, 1.79, -0.0366, -0.0464, -0.0073] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.035},"note":"The plush is now over the red interior rather than the safe’s rim. I’ll lower it onto the floor of the safe, then release it."})
tool
executing move_to over 5 steps (0.5s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe plush has been lowered into the safe’s red interior. I’ll open the left gripper to leave it there.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5606, 1.8862, 1.1458, -0.3286, -0.3447, -0.4683, 0.2214, -0.0212, 0.8154, 0.6037, -0.5945, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.4036 left_y=-0.1787 left_z=0.0349 left_yaw=0.0141 left_pitch=-0.3924 left_roll=0.0629 left_gripper=0.2214 right_x=0.2621 right_y=0.0015 right_z=0.1335 right_yaw=-0.0003 right_pitch=-0.2243 right_roll=0.0045 right_gripper=0.9996 state[joint_eff]: [0.1709, -9.2923, 6.147, 1.37, -0.1587, 0.0415, 0.3199, -0.0479, -1.5658, 6.9949, 1.7753, -0.0513, -0.0415, -0.0122] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The plush has been lowered into the safe’s red interior. I’ll open the left gripper to leave it there."})
tool
executing move_to over 8 steps (0.8s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe left jaws are open and the plush remains down in the safe. I’ll lift clear of the tray before withdrawing the arm.
move_to
left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5594, 1.9018, 1.1316, -0.2874, -0.345, -0.469, 0.9953, -0.0212, 0.8158, 0.6018, -0.6132, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.4061 left_y=-0.1795 left_z=0.0284 left_yaw=0.0134 left_pitch=-0.3825 left_roll=0.0561 left_gripper=0.9953 right_x=0.2584 right_y=0.0016 right_z=0.1294 right_yaw=-0.0002 right_pitch=-0.2452 right_roll=0.005 right_gripper=0.9996 state[joint_eff]: [0.1983, -9.9487, 6.1333, 1.4335, -0.2076, 0.0952, -0.1538, -0.1436, -1.1829, 6.9675, 1.6728, -0.0122, -0.0269, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.2},"note":"The left jaws are open and the plush remains down in the safe. I’ll lift clear of the tray before withdrawing the arm."})
tool
executing move_to over 12 steps (1.2s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe pale plush is visibly inside the safe. I’ll park the left arm out of the way so the right arm can reach the two remaining objects.
move_to
left_x0.2900left_y0.0000left_z0.1900left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5598, 1.7935, 1.6203, -0.9108, -0.3416, -0.4812, 0.9964, -0.0212, 0.8165, 0.6018, -0.635, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.4067 left_y=-0.1808 left_z=0.1775 left_yaw=0.0236 left_pitch=-0.4058 left_roll=0.0615 left_gripper=0.9964 right_x=0.2544 right_y=0.0017 right_z=0.1257 right_yaw=-0.0001 right_pitch=-0.2677 right_roll=0.0055 right_gripper=0.9996 state[joint_eff]: [-0.0615, -10.4547, 9.2103, 1.1062, -0.232, 0.0806, 0.0952, -0.0479, -0.8137, 6.7897, 1.6581, -0.0464, -0.0464, -0.0122] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.19,"left_pitch":0,"left_roll":0},"note":"The pale plush is visibly inside the safe. I’ll park the left arm out of the way so the right arm can reach the two remaining objects."})
tool
executing move_to over 17 steps (1.7s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe brown plush is in front of the safe, while the yellow object is farther back on its right. I’ll approach the brown plush with the left arm, which can also reach the safe’s interior.
move_to
left_x0.3300left_y-0.1800left_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0795, 0.8082, 0.6636, -0.4801, -0.1287, -0.1177, 0.9966, -0.0212, 0.8211, 0.6014, -0.6571, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.289 left_y=0.0033 left_z=0.1837 left_yaw=0.077 left_pitch=-0.0384 left_roll=-0.0031 left_gripper=0.9966 right_x=0.2502 right_y=0.0018 right_z=0.1209 right_yaw=0.0001 right_pitch=-0.2948 right_roll=0.0061 right_gripper=0.9996 state[joint_eff]: [0.1026, -1.1282, 7.1043, 2.044, 0.0513, 0.0952, 0.0073, -0.1026, -1.5385, 6.7624, 1.6386, -0.0464, -0.0659, -0.0122] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.18,"left_z":0.16},"note":"The brown plush is in front of the safe, while the yellow object is farther back on its right. I’ll approach the brown plush with the left arm, which can also reach the safe’s interior."})
tool
executing move_to over 17 steps (1.7s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe left wrist camera still sees the safe rather than the brown plush, which is closer to the base and to the right of the gripper in the overhead view. I’ll retract and shift right to line up over the plush’s torso.
move_to
left_x0.2700left_y-0.2400left_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8009, 1.3861, 0.8864, -0.4026, -0.6487, -0.6312, 0.997, -0.0212, 0.823, 0.6014, -0.6762, -0.02, -0.0116, 0.9996] state[eef_state]: left_x=0.32 left_y=-0.1716 left_z=0.1414 left_yaw=0.0568 left_pitch=-0.0959 left_roll=0.0339 left_gripper=0.997 right_x=0.2466 right_y=0.0019 right_z=0.1175 right_yaw=0.0003 right_pitch=-0.3158 right_roll=0.0071 right_gripper=0.9996 state[joint_eff]: [-0.4171, -5.4632, 9.6068, 1.6093, -0.5299, 0.0757, 0.0317, -0.0205, -1.2513, 6.7077, 1.5653, -0.0269, -0.022, -0.0122] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.27,"left_y":-0.24,"left_z":0.12},"note":"The left wrist camera still sees the safe rather than the brown plush, which is closer to the base and to the right of the gripper in the overhead view. I’ll retract and shift right to line up over the plush’s torso."})
tool
executing move_to over 7 steps (0.7s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe brown plush is now near the fingertips but sits to the right of the jaw column in the wrist view. I’ll make a small rightward adjustment over its torso before descending to grasp it.
move_to
left_x0.2600left_y-0.2750left_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0821, 1.5425, 0.9516, -0.5285, -0.765, -0.9108, 0.997, -0.0212, 0.8219, 0.6014, -0.6846, -0.02, -0.0116, 0.9996] state[eef_state]: left_x=0.2687 left_y=-0.2371 left_z=0.1116 left_yaw=0.0193 left_pitch=-0.1274 left_roll=0.0541 left_gripper=0.997 right_x=0.2449 right_y=0.0019 right_z=0.1164 right_yaw=0.0004 right_pitch=-0.323 right_roll=0.0073 right_gripper=0.9996 state[joint_eff]: [-0.212, -5.9692, 8.6769, 0.8864, -0.6471, -0.0806, -0.0073, -0.1026, -1.0735, 6.7077, 1.453, -0.022, -0.0122, -0.0122] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.26,"left_y":-0.275,"left_z":0.09},"note":"The brown plush is now near the fingertips but sits to the right of the jaw column in the wrist view. I’ll make a small rightward adjustment over its torso before descending to grasp it."})
tool
executing move_to over 4 steps (0.4s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe brown plush’s middle is now close to the left jaw column, just outside the safe. I’ll lower the gripper to the plush’s lower body, avoiding the nearby rim.
move_to
left_x0.2650left_y-0.2750left_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1545, 1.689, 0.9974, -0.5495, -0.7822, -1.0008, 0.997, -0.0212, 0.8284, 0.5999, -0.7021, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.2551 left_y=-0.2603 left_z=0.0794 left_yaw=0.0201 left_pitch=-0.1599 left_roll=0.1043 left_gripper=0.997 right_x=0.2412 right_y=0.002 right_z=0.1118 right_yaw=0.0005 right_pitch=-0.3486 right_roll=0.0073 right_gripper=0.9996 state[joint_eff]: [-0.4991, -7.5419, 8.5402, 1.0085, -0.569, 0.0366, -0.0073, -0.0615, -1.6615, 7.0085, 1.5214, -0.0415, -0.0513, -0.0122] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.265,"left_y":-0.275,"left_z":0.025},"note":"The brown plush’s middle is now close to the left jaw column, just outside the safe. I’ll lower the gripper to the plush’s lower body, avoiding the nearby rim."})
tool
executing move_to over 4 steps (0.4s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe descent stopped above the requested height as the open jaws met the brown plush. I’ll close gently around its body and use the settled jaw opening to see whether it was caught.
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]: [-1.1637, 1.702, 1.0111, -0.5461, -0.7826, -1.0233, 0.9971, -0.0212, 0.8288, 0.5999, -0.717, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.2545 left_y=-0.2665 left_z=0.0795 left_yaw=0.0229 left_pitch=-0.1567 left_roll=0.0836 left_gripper=0.9971 right_x=0.2383 right_y=0.0021 right_z=0.1095 right_yaw=0.0009 right_pitch=-0.3639 right_roll=0.008 right_gripper=0.9996 state[joint_eff]: [-0.1436, -7.6513, 7.8427, 0.9499, -0.5739, 0.022, -0.0073, -0.1846, -1.1556, 6.6803, 1.5458, -0.0708, -0.0562, -0.0122] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The descent stopped above the requested height as the open jaws met the brown plush. I’ll close gently around its body and use the settled jaw opening to see whether it was caught."})
tool
executing move_to over 10 steps (1.0s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe gripper closed almost fully, so it missed the brown plush; the safe’s front rim may have kept the jaws from reaching its body. I’ll reopen and move back over the plush’s rear, away from the rim, for a different grasp.
move_to
left_gripper1.0000left_x0.2150left_y-0.2600left_z0.1050
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1645, 1.702, 1.0142, -0.5476, -0.7811, -1.0271, 0.0109, -0.0212, 0.8314, 0.5991, -0.7315, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.2544 left_y=-0.2674 left_z=0.0801 left_yaw=0.0234 left_pitch=-0.1573 left_roll=0.0788 left_gripper=0.0109 right_x=0.2352 right_y=0.0021 right_z=0.1066 right_yaw=0.0011 right_pitch=-0.3818 right_roll=0.0084 right_gripper=0.9996 state[joint_eff]: [0.0752, -7.6376, 5.7368, 0.8083, -0.442, 0.0464, 0.9841, -0.0889, -1.3197, 6.7624, 1.4237, -0.0366, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.215,"left_y":-0.26,"left_z":0.105},"note":"The gripper closed almost fully, so it missed the brown plush; the safe’s front rim may have kept the jaws from reaching its body. I’ll reopen and move back over the plush’s rear, away from the rim, for a different grasp."})
tool
executing move_to over 10 steps (1.0s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteFrom the retracted position, the brown plush’s torso now fills the space ahead of the left fingertips and is clear of the safe’s rim. I’ll lower onto that part of the plush before retrying the grasp.
move_to
left_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.2743, 1.6413, 1.0145, -0.7387, -0.7841, -1.1656, 0.995, -0.0212, 0.8341, 0.5991, -0.7433, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.2139 left_y=-0.2608 left_z=0.0894 left_yaw=0.013 left_pitch=-0.1899 left_roll=0.1021 left_gripper=0.995 right_x=0.2327 right_y=0.0021 right_z=0.1043 right_yaw=0.0006 right_pitch=-0.3963 right_roll=0.0086 right_gripper=0.9996 state[joint_eff]: [-0.2667, -9.1829, 7.1863, 0.5836, -0.7106, -0.105, -0.0952, -0.0752, -1.2923, 6.6256, 1.37, -0.022, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.015},"note":"From the retracted position, the brown plush’s torso now fills the space ahead of the left fingertips and is clear of the safe’s rim. I’ll lower onto that part of the plush before retrying the grasp."})
tool
executing move_to over 5 steps (0.5s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe left grasp point reached about 2 cm above the table, with the brown plush between the jaws. I’ll close here and check whether its rear body is held.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.2778, 1.784, 0.8703, -0.5053, -0.7792, -1.1679, 0.9963, -0.0212, 0.836, 0.5991, -0.749, -0.02, -0.0116, 0.9996] state[eef_state]: left_x=0.2097 left_y=-0.2527 left_z=0.0194 left_yaw=0.0201 left_pitch=-0.2091 left_roll=0.1514 left_gripper=0.9963 right_x=0.2315 right_y=0.0022 right_z=0.1032 right_yaw=0.0011 right_pitch=-0.4039 right_roll=0.0092 right_gripper=0.9996 state[joint_eff]: [-0.1026, -7.0906, 4.6154, 0.6129, -0.5104, 0.0122, 0.1245, -0.1983, -1.265, 6.612, 1.3016, -0.0513, -0.0269, -0.0122] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left grasp point reached about 2 cm above the table, with the brown plush between the jaws. I’ll close here and check whether its rear body is held."})
tool
executing move_to over 10 steps (1.0s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe second close was also empty: from this position the brown plush is still ahead of the fingertips. I’ll reopen and advance a few centimetres at table level, while staying to the right of the safe’s rim.
move_to
left_gripper1.0000left_x0.2450left_y-0.2550left_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.2766, 1.8008, 0.8581, -0.5014, -0.7746, -1.1683, 0.02, -0.0212, 0.836, 0.5991, -0.7666, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.2079 left_y=-0.2477 left_z=0.0115 left_yaw=0.0258 left_pitch=-0.2201 left_roll=0.1747 left_gripper=0.02 right_x=0.2279 right_y=0.0022 right_z=0.1008 right_yaw=0.0011 right_pitch=-0.4214 right_roll=0.009 right_gripper=0.9996 state[joint_eff]: [-0.1709, -8.759, 5.8872, 0.4274, -0.4615, -0.0024, 1.0134, -0.0342, -1.1145, 6.5846, 1.4676, -0.0366, -0.0562, -0.0122] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.245,"left_y":-0.255,"left_z":0.02},"note":"The second close was also empty: from this position the brown plush is still ahead of the fingertips. I’ll reopen and advance a few centimetres at table level, while staying to the right of the safe’s rim."})
tool
executing move_to over 10 steps (1.0s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteThe open jaws now flank the brown plush’s torso at table height, rather than closing behind it. I’ll try one close here and verify the grasp by lifting only if the jaws stay apart.
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]: [-1.1725, 1.8057, 0.8928, -0.4625, -0.7521, -1.0473, 0.9951, -0.0212, 0.836, 0.5991, -0.7879, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.2376 left_y=-0.2442 left_z=0.0164 left_yaw=0.0429 left_pitch=-0.2325 left_roll=0.1868 left_gripper=0.9951 right_x=0.2234 right_y=0.0023 right_z=0.098 right_yaw=0.0011 right_pitch=-0.4428 right_roll=0.0098 right_gripper=0.9996 state[joint_eff]: [0.3214, -6.0923, 7.706, 0.7595, -0.4811, 0.188, -0.0611, -0.0752, -1.0872, 6.6667, 1.4286, -0.0366, -0.0269, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The open jaws now flank the brown plush’s torso at table height, rather than closing behind it. I’ll try one close here and verify the grasp by lifting only if the jaws stay apart."})
tool
executing move_to over 10 steps (1.0s)
step 183
top_cam
camera top_cam step 183
left_cam
camera left_cam step 183
right_cam
camera right_cam step 183
assistant
agent noteThe brown plush still slipped free and the jaws closed empty. Its smaller head lies ahead and to the right of the torso, so I’ll switch to a narrower grasp there instead of repeating the torso grip.
move_to
left_gripper1.0000left_x0.2900left_y-0.3050left_z0.1050
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1717, 1.8175, 0.8967, -0.4568, -0.7448, -1.0519, 0.0161, -0.0212, 0.8387, 0.5991, -0.7959, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.2375 left_y=-0.2458 left_z=0.0132 left_yaw=0.0447 left_pitch=-0.2395 left_roll=0.1832 left_gripper=0.0161 right_x=0.2217 right_y=0.0024 right_z=0.0965 right_yaw=0.0014 right_pitch=-0.4535 right_roll=0.0098 right_gripper=0.9996 state[joint_eff]: [-0.1162, -8.6496, 4.6701, 0.5299, -0.4762, 0.0611, 0.7937, -0.0752, -0.9778, 6.5436, 1.2527, -0.0366, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.29,"left_y":-0.305,"left_z":0.105},"note":"The brown plush still slipped free and the jaws closed empty. Its smaller head lies ahead and to the right of the torso, so I’ll switch to a narrower grasp there instead of repeating the torso grip."})
tool
executing move_to over 10 steps (1.0s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteThe brown plush’s face is clearly visible in the left wrist view, slightly ahead and right of the fingertips. I’ll move a little farther forward and right and lower to the level of its head.
move_to
left_x0.3100left_y-0.3300left_z0.0550
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1084, 1.9003, 1.3743, -0.7967, -0.7219, -0.9913, 0.995, -0.0212, 0.8402, 0.5991, -0.8078, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.2848 left_y=-0.3017 left_z=0.0944 left_yaw=0.0546 left_pitch=-0.2457 left_roll=0.1647 left_gripper=0.995 right_x=0.2191 right_y=0.0024 right_z=0.0947 right_yaw=0.0016 right_pitch=-0.4668 right_roll=0.0101 right_gripper=0.9996 state[joint_eff]: [0.3897, -8.9778, 8.335, 0.5153, -0.4811, 0.2027, 0.0269, -0.1299, -0.8684, 6.5299, 1.2772, -0.0513, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.33,"left_z":0.055},"note":"The brown plush’s face is clearly visible in the left wrist view, slightly ahead and right of the fingertips. I’ll move a little farther forward and right and lower to the level of its head."})
tool
executing move_to over 3 steps (0.3s)
step 196
top_cam
camera top_cam step 196
left_cam
camera left_cam step 196
right_cam
camera right_cam step 196
assistant
agent noteThe plush’s head is nearly centered but still just ahead of the fingertips. I’ll advance the jaws over its face and lower a little more for the narrow grasp.
move_to
left_x0.3250left_y-0.3200left_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0939, 2.0483, 1.4353, -0.7433, -0.7181, -0.9794, 0.9963, -0.0212, 0.8417, 0.5991, -0.815, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.2989 left_y=-0.3175 left_z=0.0563 left_yaw=0.0693 left_pitch=-0.2637 left_roll=0.2033 left_gripper=0.9963 right_x=0.2176 right_y=0.0025 right_z=0.0935 right_yaw=0.002 right_pitch=-0.4756 right_roll=0.0107 right_gripper=0.9996 state[joint_eff]: [0.5538, -11.7812, 8.1436, 0.525, -0.4518, 0.1392, 0.1245, -0.0479, -0.7726, 6.5162, 1.2381, -0.0269, -0.0659, -0.0122] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.325,"left_y":-0.32,"left_z":0.025},"note":"The plush’s head is nearly centered but still just ahead of the fingertips. I’ll advance the jaws over its face and lower a little more for the narrow grasp."})
tool
executing move_to over 3 steps (0.3s)
step 199
top_cam
camera top_cam step 199
left_cam
camera left_cam step 199
right_cam
camera right_cam step 199
assistant
agent noteThe left jaws are down beside the brown plush’s head, with its face between them. I’ll close around the head and check whether it stays between the fingers.
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]: [-1.0847, 2.0995, 1.441, -0.7109, -0.7071, -0.973, 0.9964, -0.0212, 0.8425, 0.5991, -0.823, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.3029 left_y=-0.32 left_z=0.0374 left_yaw=0.0746 left_pitch=-0.2795 left_roll=0.2156 left_gripper=0.9964 right_x=0.2158 right_y=0.0026 right_z=0.0924 right_yaw=0.0022 right_pitch=-0.4844 right_roll=0.011 right_gripper=0.9996 state[joint_eff]: [-0.0068, -12.6701, 7.4188, 0.8278, -0.5055, 0.1099, 0.0024, -0.0752, -0.9641, 6.694, 1.2283, -0.0708, -0.0464, -0.0073] camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left jaws are down beside the brown plush’s head, with its face between them. I’ll close around the head and check whether it stays between the fingers."})
tool
executing move_to over 10 steps (1.0s)
step 209
top_cam
camera top_cam step 209
left_cam
camera left_cam step 209
assistant
agent noteThe gripper stayed slightly open on the brown plush’s face, suggesting it caught the snout. I’ll lift and confirm that the plush follows before carrying it over the safe.
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]: [-1.0847, 2.0998, 1.4406, -0.7036, -0.7067, -0.9733, 0.1246, -0.0208, 0.8444, 0.5991, -0.8371, -0.02, -0.0116, 0.9996] state[eef_state]: left_x=0.3035 left_y=-0.3212 left_z=0.0374 left_yaw=0.073 left_pitch=-0.2772 left_roll=0.209 left_gripper=0.1246 right_x=0.2127 right_y=0.0027 right_z=0.0903 right_yaw=0.0025 right_pitch=-0.5004 right_roll=0.0116 right_gripper=0.9996 state[joint_eff]: [-0.0068, -11.0701, 6.0103, 0.5348, -0.4176, -0.0269, 0.7839, -0.0342, -1.0872, 6.4889, 1.2527, -0.0513, -0.0464, -0.0073] camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.19},"note":"The gripper stayed slightly open on the brown plush’s face, suggesting it caught the snout. I’ll lift and confirm that the plush follows before carrying it over the safe."})
tool
executing move_to over 10 steps (1.0s)
step 219
assistant
agent noteThe brown plush lifted with the gripper, hanging from its head. I’ll carry it high into the open safe, positioning the hanging body above the tray rather than over its front wall.
move_to
left_x0.4000left_y-0.2250left_z0.2250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0847, 2.0453, 1.8851, -1.2118, -0.6918, -0.9916, 0.1266, -0.0212, 0.8448, 0.5991, -0.852, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.3049 left_y=-0.3282 left_z=0.1651 left_yaw=0.081 left_pitch=-0.2922 left_roll=0.1993 left_gripper=0.1266 right_x=0.2094 right_y=0.0026 right_z=0.0886 right_yaw=0.0022 right_pitch=-0.5156 right_roll=0.0114 right_gripper=0.9996 state[joint_eff]: [-0.1709, -12.8615, 7.8427, 0.6716, -0.5641, 0.1392, 0.6813, -0.0615, -0.9094, 6.6256, 1.2625, -0.0659, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.225,"left_z":0.225},"note":"The brown plush lifted with the gripper, hanging from its head. I’ll carry it high into the open safe, positioning the hanging body above the tray rather than over its front wall."})
tool
executing move_to over 10 steps (1.0s)
step 229
assistant
agent noteThe brown plush is hanging over the open tray, but its body is near the tray’s left/front edge. I’ll shift a little farther inside and lower it partway, watching for contact with the safe.
move_to
left_x0.4100left_y-0.2550left_z0.0850
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7479, 1.9518, 1.8668, -1.1561, -0.5777, -0.6472, 0.1284, -0.0212, 0.8455, 0.5991, -0.8597, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.3891 left_y=-0.2244 left_z=0.1899 left_yaw=0.1359 left_pitch=-0.3618 left_roll=0.2464 left_gripper=0.1284 right_x=0.2077 right_y=0.0027 right_z=0.0876 right_yaw=0.0027 right_pitch=-0.524 right_roll=0.012 right_gripper=0.9996 state[joint_eff]: [0.1846, -13.3675, 9.8667, 1.1209, -0.3639, 0.2418, 0.4615, -0.0889, -1.0735, 6.5573, 1.1893, -0.0757, -0.0513, -0.0122] camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.255,"left_z":0.085},"note":"The brown plush is hanging over the open tray, but its body is near the tray’s left/front edge. I’ll shift a little farther inside and lower it partway, watching for contact with the safe."})
tool
executing move_to over 7 steps (0.7s)
step 236
assistant
agent noteThe brown plush is now lying against the red tray floor, though the gripper still holds its head. I’ll lower the head a little more so it can settle inside before opening the jaws.
move_to
left_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7609, 2.093, 1.6993, -0.8932, -0.5655, -0.6682, 0.1317, -0.0212, 0.849, 0.5991, -0.8757, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.4025 left_y=-0.2476 left_z=0.092 left_yaw=0.1425 left_pitch=-0.3966 left_roll=0.2638 left_gripper=0.1317 right_x=0.2041 right_y=0.0028 right_z=0.0852 right_yaw=0.0029 right_pitch=-0.5435 right_roll=0.0126 right_gripper=0.9996 state[joint_eff]: [-0.6085, -10.2085, 5.3265, 1.0769, -0.5153, -0.0366, 0.3297, -0.0889, -1.0462, 6.612, 1.3846, -0.0562, -0.0415, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.04},"note":"The brown plush is now lying against the red tray floor, though the gripper still holds its head. I’ll lower the head a little more so it can settle inside before opening the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 240
assistant
agent noteThe brown plush’s head and body are resting in the red safe tray. I’ll release it, then lift the gripper away to check that it stays inside.
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]: [-0.7643, 2.1242, 1.5841, -0.7479, -0.5716, -0.6731, 0.1336, -0.0212, 0.8494, 0.5991, -0.8856, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.4011 left_y=-0.2472 left_z=0.0522 left_yaw=0.1455 left_pitch=-0.3919 left_roll=0.2656 left_gripper=0.1336 right_x=0.2019 right_y=0.0028 right_z=0.0841 right_yaw=0.0025 right_pitch=-0.5538 right_roll=0.0127 right_gripper=0.9996 state[joint_eff]: [0.1709, -10.0034, 5.2718, 0.6569, -0.2564, -0.0073, 0.1929, -0.0479, -0.8957, 6.4479, 1.1209, -0.0611, -0.0317, -0.0122] camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The brown plush’s head and body are resting in the red safe tray. I’ll release it, then lift the gripper away to check that it stays inside."})
tool
executing move_to over 9 steps (0.9s)
step 249
assistant
agent noteThe brown plush remains in the safe after release. I’ll lift the left gripper clear of the tray so it can reach the last object, the yellow piece to the right.
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]: [-0.7654, 2.1284, 1.5749, -0.7029, -0.564, -0.6735, 0.9956, -0.0212, 0.8494, 0.5991, -0.9009, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.405 left_y=-0.2532 left_z=0.0498 left_yaw=0.1304 left_pitch=-0.378 left_roll=0.2337 left_gripper=0.9956 right_x=0.1984 right_y=0.0029 right_z=0.0825 right_yaw=0.0027 right_pitch=-0.569 right_roll=0.0131 right_gripper=0.9996 state[joint_eff]: [0.1573, -10.441, 5.2034, 0.7253, -0.3639, 0.0024, -0.1538, -0.1026, -0.9094, 6.5846, 1.1844, -0.0317, -0.0317, -0.0122] camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.19},"note":"The brown plush remains in the safe after release. I’ll lift the left gripper clear of the tray so it can reach the last object, the yellow piece to the right."})
tool
executing move_to over 10 steps (1.0s)
step 259
assistant
agent noteThe yellow object is visible beyond the safe’s right wall in the wrist view. I’ll move the open left gripper above it, staying high enough to clear the safe rim.
move_to
left_x0.4750left_y-0.3400left_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7654, 2.1105, 2.046, -1.1919, -0.5556, -0.6857, 0.9968, -0.0212, 0.8516, 0.5961, -0.9077, -0.02, -0.0116, 0.9996] state[eef_state]: left_x=0.4074 left_y=-0.2573 left_z=0.1733 left_yaw=0.1329 left_pitch=-0.3827 left_roll=0.2207 left_gripper=0.9968 right_x=0.1961 right_y=0.003 right_z=0.0804 right_yaw=0.0033 right_pitch=-0.5812 right_roll=0.0139 right_gripper=0.9996 state[joint_eff]: [-0.1436, -11.7402, 8.2667, 0.7888, -0.4127, 0.1148, 0.1148, -0.1299, -1.1692, 6.9812, 1.0525, -0.0904, -0.0513, -0.0122] camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.475,"left_y":-0.34,"left_z":0.15},"note":"The yellow object is visible beyond the safe’s right wall in the wrist view. I’ll move the open left gripper above it, staying high enough to clear the safe rim."})
tool
executing move_to over 8 steps (0.8s)
step 267
assistant
agent noteThe yellow piece is just ahead and to the right of the left fingertips. I’ll advance and shift right slightly while lowering the jaws toward its middle.
move_to
left_x0.4850left_y-0.3600left_z0.0700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7803, 2.7293, 2.9898, -1.5532, -0.5434, -0.7162, 0.997, -0.0212, 0.8555, 0.5961, -0.9245, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.4533 left_y=-0.3151 left_z=0.1263 left_yaw=0.1411 left_pitch=-0.4104 left_roll=0.2253 left_gripper=0.997 right_x=0.1922 right_y=0.0031 right_z=0.0781 right_yaw=0.0039 right_pitch=-0.6018 right_roll=0.0143 right_gripper=0.9996 state[joint_eff]: [-0.6359, -14.0239, 7.3778, 0.8962, -0.5104, 0.1148, 0.0122, -0.1846, -1.2376, 6.4615, 1.0965, -0.0513, -0.0708, -0.0122] camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.485,"left_y":-0.36,"left_z":0.07},"note":"The yellow piece is just ahead and to the right of the left fingertips. I’ll advance and shift right slightly while lowering the jaws toward its middle."})
tool
executing move_to over 4 steps (0.4s)
step 271
assistant
agent noteThe left arm cannot advance far enough at this low height; the yellow object remains just beyond its fingertips. I’ll lift clear and use the right arm, whose approach to the yellow piece is less constrained.
move_to
left_z0.2100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7853, 2.8506, 3.0165, -1.5299, -0.5369, -0.7235, 0.9971, -0.0212, 0.8558, 0.5961, -0.9268, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.4554 left_y=-0.3225 left_z=0.0704 left_yaw=0.1636 left_pitch=-0.4568 left_roll=0.2801 left_gripper=0.9971 right_x=0.1916 right_y=0.003 right_z=0.0778 right_yaw=0.0035 right_pitch=-0.6045 right_roll=0.0139 right_gripper=0.9996 state[joint_eff]: [-0.4718, -16.4034, 6.7624, 0.7595, -0.442, -0.0562, -0.0073, -0.1026, -0.9778, 6.2564, 0.9597, -0.0415, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.21},"note":"The left arm cannot advance far enough at this low height; the yellow object remains just beyond its fingertips. I’ll lift clear and use the right arm, whose approach to the yellow piece is less constrained."})
tool
executing move_to over 10 steps (1.0s)
step 281
assistant
agent noteThe left arm did not rise from that extended pose, and its joint load increased, so I won’t force it upward there. I’ll bring it inward toward a less stretched position while requesting clearance height.
move_to
left_x0.3200left_y-0.2700left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7818, 2.7743, 2.8689, -1.5364, -0.5282, -0.7158, 0.9971, -0.0212, 0.8558, 0.5945, -0.9447, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.4436 left_y=-0.3099 left_z=0.069 left_yaw=0.192 left_pitch=-0.5098 left_roll=0.3509 left_gripper=0.9971 right_x=0.1871 right_y=0.0032 right_z=0.0757 right_yaw=0.0043 right_pitch=-0.6239 right_roll=0.015 right_gripper=0.9996 state[joint_eff]: [0.9915, -22.4615, 7.2821, 1.1258, -0.4518, 0.0757, -0.0122, -0.0479, -0.841, 6.3932, 1.1844, -0.0708, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.27,"left_z":0.2},"note":"The left arm did not rise from that extended pose, and its joint load increased, so I won’t force it upward there. I’ll bring it inward toward a less stretched position while requesting clearance height."})
tool
executing move_to over 10 steps (1.0s)
step 291
assistant
agent noteThe left arm is free again. I can now see the brown plush has slipped partly over the safe’s front lip, so I’ll address that after the yellow piece; first I’ll park the left arm and bring the right one toward yellow.
move_to
left_x0.2900left_y0.0000left_z0.1900right_x0.3200right_y0.1700right_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9138, 2.1441, 2.1735, -1.5414, -0.5278, -0.8539, 0.9971, -0.0212, 0.8333, 0.5812, -0.9482, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.3293 left_y=-0.2754 left_z=0.1788 left_yaw=0.1756 left_pitch=-0.52 left_roll=0.3446 left_gripper=0.9971 right_x=0.1841 right_y=0.0032 right_z=0.0746 right_yaw=0.0038 right_pitch=-0.6182 right_roll=0.0144 right_gripper=0.9996 state[joint_eff]: [-0.335, -13.4632, 5.2991, 0.6325, -0.4078, -0.0757, -0.0122, -0.1436, -0.7453, 6.0513, 1.1551, -0.0269, -0.0757, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). 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":{"left_x":0.29,"left_y":0,"left_z":0.19,"right_x":0.32,"right_y":0.17,"right_z":0.17},"note":"The left arm is free again. I can now see the brown plush has slipped partly over the safe’s front lip, so I’ll address that after the yellow piece; first I’ll park the left arm and bring the right one toward yellow."})
tool
executing move_to over 25 steps (2.5s)
step 316
assistant
agent noteThe yellow piece is ahead and left of the right gripper in the overhead view. I’ll bring the right arm above it while keeping the left arm parked.
move_to
right_x0.4050right_y0.2650right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2535, 1.3029, 1.2121, -1.132, -0.3847, -0.178, 0.9971, 0.5705, 1.5929, 1.4178, -1.0916, 0.1772, 0.519, 0.9996] state[eef_state]: left_x=0.2878 left_y=-0.0024 left_z=0.1845 left_yaw=0.2182 left_pitch=-0.541 left_roll=0.3496 left_gripper=0.9971 right_x=0.3099 right_y=0.1661 right_z=0.1597 right_yaw=0.0232 right_pitch=-0.6384 right_roll=0.0003 right_gripper=0.9996 state[joint_eff]: [0.1026, -5.4222, 6.3521, 1.1404, -0.1734, 0.1245, -0.0122, 0.335, -6.612, 8.5675, 0.8132, 0.2515, 0.1734, -0.0122] camera 'top_cam' (step 316): [image omitted: streamed camera frame] camera 'left_cam' (step 316): [image omitted: streamed camera frame] camera 'right_cam' (step 316): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.265,"right_z":0.14},"note":"The yellow piece is ahead and left of the right gripper in the overhead view. I’ll bring the right arm above it while keeping the left arm parked."})
tool
executing move_to over 9 steps (0.9s)
step 325
assistant
agent noteThe yellow piece is centered near the top of the right wrist image, still ahead of the fingertips. I’ll advance radially and lower above it, then check alignment before grasping.
move_to
right_x0.4400right_y0.2700right_z0.0750
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2539, 1.3033, 1.2087, -1.1343, -0.371, -0.1764, 0.9971, 0.6472, 2.0808, 1.9419, -1.1385, 0.2085, 0.5694, 0.9996] state[eef_state]: left_x=0.2865 left_y=-0.0045 left_z=0.1822 left_yaw=0.2069 left_pitch=-0.5526 left_roll=0.34 left_gripper=0.9971 right_x=0.3948 right_y=0.2571 right_z=0.1355 right_yaw=0.0336 right_pitch=-0.6309 right_roll=-0.0164 right_gripper=0.9996 state[joint_eff]: [-0.212, -4.3692, 6.4342, 0.9011, -0.3248, -0.0366, -0.0122, 0.5538, -10.7419, 7.8017, 0.8034, 0.2076, 0.1685, -0.0122] camera 'top_cam' (step 325): [image omitted: streamed camera frame] camera 'left_cam' (step 325): [image omitted: streamed camera frame] camera 'right_cam' (step 325): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.27,"right_z":0.075},"note":"The yellow piece is centered near the top of the right wrist image, still ahead of the fingertips. I’ll advance radially and lower above it, then check alignment before grasping."})
tool
executing move_to over 4 steps (0.4s)
step 329
assistant
agent noteThe yellow piece is on the jaw column but remains forward of the fingertips. I’ll make another short radial advance and descend to the object’s lower half.
move_to
right_x0.4650right_y0.2600right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2539, 1.3033, 1.2087, -1.1339, -0.3706, -0.1802, 0.9971, 0.6205, 2.2166, 1.9305, -1.0206, 0.2089, 0.5411, 0.9996] state[eef_state]: left_x=0.2865 left_y=-0.0045 left_z=0.1822 left_yaw=0.2088 left_pitch=-0.5517 left_roll=0.3375 left_gripper=0.9971 right_x=0.4212 right_y=0.2604 right_z=0.0769 right_yaw=0.0133 right_pitch=-0.6552 right_roll=-0.0498 right_gripper=0.9996 state[joint_eff]: [-0.0615, -4.3692, 6.2017, 0.8913, -0.2369, 0.0073, -0.0122, -0.2803, -11.8222, 8.8, 0.9695, 0.1148, 0.0659, -0.0122] camera 'top_cam' (step 329): [image omitted: streamed camera frame] camera 'left_cam' (step 329): [image omitted: streamed camera frame] camera 'right_cam' (step 329): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.465,"right_y":0.26,"right_z":0.025},"note":"The yellow piece is on the jaw column but remains forward of the fingertips. I’ll make another short radial advance and descend to the object’s lower half."})
tool
executing move_to over 4 steps (0.4s)
step 333
assistant
agent noteThe right arm stopped short on the low approach, leaving the yellow piece ahead of its jaws. I’ll raise the wrist and pitch it forward for better reach, then approach from above rather than forcing the low pose.
move_to
right_x0.4600right_y0.2600right_z0.1300right_pitch0.3500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2539, 1.3033, 1.2087, -1.1336, -0.3702, -0.1806, 0.9971, 0.6186, 2.2635, 1.932, -0.9882, 0.2054, 0.527, 0.9996] state[eef_state]: left_x=0.2866 left_y=-0.0046 left_z=0.1822 left_yaw=0.2086 left_pitch=-0.5514 left_roll=0.3367 left_gripper=0.9971 right_x=0.4262 right_y=0.2635 right_z=0.0569 right_yaw=0.0185 right_pitch=-0.6681 right_roll=-0.0614 right_gripper=0.9996 state[joint_eff]: [-0.0205, -4.3145, 6.1744, 0.906, -0.2076, -0.0317, -0.0122, -0.1709, -13.9282, 8.1162, 1.0965, 0.1538, 0.0513, -0.0122] camera 'top_cam' (step 333): [image omitted: streamed camera frame] camera 'left_cam' (step 333): [image omitted: streamed camera frame] camera 'right_cam' (step 333): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.26,"right_z":0.13,"right_pitch":0.35},"note":"The right arm stopped short on the low approach, leaving the yellow piece ahead of its jaws. I’ll raise the wrist and pitch it forward for better reach, then approach from above rather than forcing the low pose."})
tool
executing move_to over 34 steps (3.4s)
step 367
assistant
agent noteWith the wrist pitched forward, the yellow piece is now low and centered in the right wrist view. I’ll descend over it while keeping this better-reaching orientation.
move_to
right_x0.4600right_y0.2600right_z0.0250right_pitch0.3500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2546, 1.3033, 1.2087, -1.1374, -0.3702, -0.1806, 0.9971, 0.7254, 1.9827, 1.0649, 0.5133, 0.696, 0.1745, 0.9996] state[eef_state]: left_x=0.2858 left_y=-0.0046 left_z=0.1819 left_yaw=0.2089 left_pitch=-0.5549 left_roll=0.3387 left_gripper=0.9971 right_x=0.4554 right_y=0.2572 right_z=0.115 right_yaw=0.0382 right_pitch=0.2728 right_roll=-0.0926 right_gripper=0.9996 state[joint_eff]: [-0.2803, -4.4103, 6.188, 0.9402, -0.2759, -0.0415, -0.0122, 0.1846, -9.3333, 6.0786, 2.1026, 0.2857, 0.0024, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 367): [image omitted: streamed camera frame] camera 'left_cam' (step 367): [image omitted: streamed camera frame] camera 'right_cam' (step 367): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.26,"right_z":0.025,"right_pitch":0.35},"note":"With the wrist pitched forward, the yellow piece is now low and centered in the right wrist view. I’ll descend over it while keeping this better-reaching orientation."})
tool
executing move_to over 6 steps (0.6s)
step 373
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2546, 1.3033, 1.2087, -1.1412, -0.3702, -0.181, 0.9971, 0.7261, 2.2604, 1.0157, 0.952, 0.7071, 0.1387, 0.9996] state[eef_state]: left_x=0.285 left_y=-0.0044 left_z=0.1816 left_yaw=0.2102 left_pitch=-0.5582 left_roll=0.3405 left_gripper=0.9971 right_x=0.462 right_y=0.2616 right_z=0.044 right_yaw=0.0268 right_pitch=0.3599 right_roll=-0.0569 right_gripper=0.9996 state[joint_eff]: [-0.0205, -4.4239, 6.147, 0.8718, -0.2759, -0.0659, -0.0122, 0.1573, -8.3077, 4.6974, 0.7497, 0.1685, -0.2173, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 373): [image omitted: streamed camera frame] camera 'left_cam' (step 373): [image omitted: streamed camera frame] camera 'right_cam' (step 373): [image omitted: streamed camera frame]
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 · 6.827 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Place all the objects into the safe, then close the safe.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6037, -0.3916, -0.0189, -0.0341, 0.9993, -0.0212, 0.7937, 0.6075, -0.3958, -0.0204, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0014 left_z=0.1778 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.001 right_z=0.1784 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.3607, 10.359, 1.9805, -0.0757, 0.1538, -0.0904, -0.4581, -1.4701, 9.6889, 1.9121, -0.0513, -0.0464, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92243010b5a11db5631d108a187b38dcc1b0a907622adfd8a0f0abed8c4f36cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e9e8ce6da7b84ba8c43dbf07e589bcbf42de2e06d33f25b79fef1ac791252b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:739d7d18d163bc5f188440bbd2040e61d4872fa26df5c5282637991fa3bedb76",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 3.903 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
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  "id": "rs_0fc39f5ee15d6c09016ab42daa5f7087d0a4b3701970fd3b4f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.02,\"left_z\":0.15},\"note\":\"I see an open red safe, with a pale plush by its left edge, a brown plush in front, and a yellow object farther back. I’ll bring the left gripper above the pale plush first, keeping it open.\"}",
  "call_id": "call_ntS5gtgFhIbZ4fJHxnhkjdiM",
  "id": "fc_0fc39f5ee15d6c09016ab42daf058c87d0ae0ff32b3cdaeeda",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ntS5gtgFhIbZ4fJHxnhkjdiM",
  "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]: [-0.0952, 1.2465, 0.6655, -0.112, -0.0761, -0.0845, 0.9992, -0.0212, 0.7967, 0.6121, -0.4328, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3631 left_y=-0.0176 left_z=0.1208 left_yaw=-0.0003 left_pitch=-0.1103 left_roll=-0.0002 left_gripper=0.9992 right_x=0.2887 right_y=0.0009 right_z=0.1721 right_yaw=-0.0008 right_pitch=-0.0355 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -4.7658, 9.6889, 1.8779, -0.2076, 0.0073, -0.0171, -0.1162, -1.347, 6.6256, 2.0244, -0.0317, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10e65bdcd63d4d3faca5652f043a214cd8b4e4d8d37ac45ec50d5febfe128249",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54f9ea2c0a1e236b421f018168c7ab2f1a7365f05c00189bb59ee4af4758abce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9255cfbf6c23ac52d7add88bc14965d0315a1417456b5789ae8e3f9f1bf0fc03",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 2.269 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6037, -0.3916, -0.0189, -0.0341, 0.9993, -0.0212, 0.7937, 0.6075, -0.3958, -0.0204, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0014 left_z=0.1778 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.001 right_z=0.1784 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.3607, 10.359, 1.9805, -0.0757, 0.1538, -0.0904, -0.4581, -1.4701, 9.6889, 1.9121, -0.0513, -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]: [-0.0952, 1.2465, 0.6655, -0.112, -0.0761, -0.0845, 0.9992, -0.0212, 0.7967, 0.6121, -0.4328, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3631 left_y=-0.0176 left_z=0.1208 left_yaw=-0.0003 left_pitch=-0.1103 left_roll=-0.0002 left_gripper=0.9992 right_x=0.2887 right_y=0.0009 right_z=0.1721 right_yaw=-0.0008 right_pitch=-0.0355 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -4.7658, 9.6889, 1.8779, -0.2076, 0.0073, -0.0171, -0.1162, -1.347, 6.6256, 2.0244, -0.0317, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10e65bdcd63d4d3faca5652f043a214cd8b4e4d8d37ac45ec50d5febfe128249",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54f9ea2c0a1e236b421f018168c7ab2f1a7365f05c00189bb59ee4af4758abce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9255cfbf6c23ac52d7add88bc14965d0315a1417456b5789ae8e3f9f1bf0fc03",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC207b712baeOVFuYpgLIAOOGKxPqLY1sIlSIG1x04IPIzXEpGV3CXMtMXv4y-cUj3bAAuRApvjzPrKic_0mymUmCmAKlFXMutdXsg-TCRVX1vXoTVmSbC0m1f5Ox9TllH1LHOIp5nKKly-nrqYFK3s9IJSX8rR2EwjgfKeGNWWsyQL4JI1Si3VzV05ktMW6HOHKiYEWF3MprLDjR_Rd20Svkv92lSZlXczPELBDgUiM2YqtezgC3hpBUgiyXni5Mdotjv5z1vW9dvcHgrjmeBn_xZIS4OkANtJwbqu2VkTRKHFh_Mc2K8UgY2cX2ELOuzkKWlpdAE2t5rD2NeHVQ5VeyGKKYo8SRJ29b5luQF2QFmuAftRgAkIMxhWfiYfHyQLGo7hk3-6b6lXExWqU3X2RDR5zFO5qNnBehgZ9Sk4AhR7PxDiK2tvjVurIldyufdq_ReHj2dWgqTkE8Rsy_afKzAm_RWFmKm4OrCCwPh48P9eivlq2mMa6RlXEhkS0nbqSgar6leelTMjWO_FPk-LRZST2srgxnXiVXVo4SqDlr5bz4hWiWM3vPtqA5TEomi5qEXoxYE43HkQ-rX3qvA10UB3YlIaYgDkytS0RI5DTf_8QGOMPUqxkxhx5i1YqgtjMNP8x0kv3MsZvI2PzrDjdMtyiOvha4DOh2hEPQ7IaUc-R4JdYRqDxG7E-KHlaYLHSvhIUWQHVIwIKS-IHUc1cIDZTiM-MNXaWo0gbpuEGqxyZ_XhgevB2xNmMnqthFGxRAnCo4i5WgWuSMbIiBhSFDxKxmvyQ0NcjCweH-GIiZYgNEjTE9hBoQW3Vrrp2j7oruCHLLSWG_72hdOhGZ1UAV467BKJrNTidCdEJqZ09afq1jVjHe8OvZ7jG2FYPLvIkSUjcCN37jegvFJcCGh78UUWLWyQvENDOcPJJyqzGGdazKAEQYZnjxLFLmtlIp7SWj0_nB8A_U_ZoqJnV7sSogKhLtotPU4gCMssBbGmSmkhd4MrXZkOQQsHvQSsZyWcjxHQMPejRtu_9Je4ljGehVY5InQ1T7LaonCtBoC3U6aLjc04gYnwYwRQGFDlG8aqXakZObeKUwDfQ_OqR8q70DIXDNYwKRa7LTfWZVl9WqFPS3wU2urwkE4owoSFd4Yxcjbf5LbXzNkkZ_pCfpUB9WYlvQimpAWYXQHKAHdUPXsm4Eji5pUnhrRO0Rsot4sjTZhOn9jXUEGZQeKarbG2BPXQxEY8aYl3Nk48NXNOitzgKe_7xpEreHPu9oVhiQOpxuySRnQ6noApHW6-frvFr25GoNmVMCnqt38eYx2jquv2dPLGkThCljDi5b9W2uu5UcKlitgYZ_xJ9abZ8QxAOy60JH_jOuHST0My_FH2maZK38IFCphW4ftLfEsPbtlPWiYBIctkIjOIIVMxPd-A8CCj-UvVkT4Pi8G_YG6mb8WyF_8_WG62x4WVklmIR9UhpxTjaCORMYcz1XK2Eib86xmbh-WLQjeERuEhwnFJUH9_1k2iF3ab4pkqojr05hLkP2-tjNUjbrjv8UaNFxWQ-Mk5wwNVIdR7pPVIJ_NdY1j41SLKxqkOkI5bAKlpWWxRISn7DQaEORdo-oNjFN1j-y00ohXOR7joX9fETTOT7kQFBaTRQJScl4YDitKyAlyopF0tQVycsiGvwtrkTsGSNndfgawJFs2Kkk8a6HsEbALAgjDqM2lDR9-InWdgANC6E0jx9O5Zjdx6MNYZTpgHB2_YVe8zMCATE4dCJECtujLjFl98Zr9NWhsJT0dXHS4ma_lOf2X_D7aPJFWo7gFBFLIu374AJGUVhjI63Bqdk7qDqAOxogndWkEWMmvk7pYasLhaepgg5JD1ETK6yiuI7NBo3xz2vwmhfX-CmfL0e2VWYO-dNKFAN6GlC8P7SmonGMOiT8BW7bdY-adiHW3-NWkzAJCSHFr3RowepXAPzGte2WkVstnAUjkPYB5ksVu-1BFnJaQNXO446KhoP0qDAXXK4RN8XEaOnYDOF4qGGLqwd1PlJjkxJbmT7d7ocUqC4hHyjWgLDhxOBsfm0knNWi0wCk5RxkSEYr2nSMjJoO1ldnYV0Zp-slnTgZONbdzcCNyPqXjA2Nef5UjtF_iWeonLjOGxfFEfW7bv-yLH8242N9ttNlpH9KlREPE6_SI3AFcckngX5yjzejMlm02Z843a20jVy2BK-R4dgU5LjoYbMFWaslp8ZIHGxB1xn9wWG4ywBF8EvktB5Zq2JSy7OCENdT6FKX8yHngG_PNYleuk=",
  "id": "rs_0fc39f5ee15d6c09016ab42db17e3487d088f81c6a93f4bd5b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.02,\"left_z\":0.025},\"note\":\"The pale plush is now centered low in the left wrist view, close to the fingertips. I’ll lower the open jaws around it before closing.\"}",
  "call_id": "call_NFoEP0D83GFYbyS1z6IgLdDl",
  "id": "fc_0fc39f5ee15d6c09016ab42db40c5887d0817bf5492fa3ad09",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NFoEP0D83GFYbyS1z6IgLdDl",
  "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]: [-0.0978, 1.5612, 0.4839, 0.3038, -0.086, -0.0906, 0.9992, -0.0212, 0.8005, 0.6094, -0.4553, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3626 left_y=-0.0167 left_z=0.0169 left_yaw=0.01 left_pitch=-0.1896 left_roll=0.0101 left_gripper=0.9992 right_x=0.2852 right_y=0.001 right_z=0.1654 right_yaw=-0.0008 right_pitch=-0.0645 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -5.8188, 4.8068, 1.8046, -0.0366, -0.0073, -0.0122, -0.0615, -1.5248, 7.2547, 1.8584, -0.022, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01f8ca402b2b3ccba4049ce8ef5e749b355bcd50e45e05b8548369071e062c48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:099aab734b0017352ec7cde78c114e71de1c2f4378206a66f35b8e4789f7d55c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c87e2af412973298c1ea215366ef1d822f9fd8cb905dcd389dead721a2e3e770",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 2.121 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]: [-0.0952, 1.2465, 0.6655, -0.112, -0.0761, -0.0845, 0.9992, -0.0212, 0.7967, 0.6121, -0.4328, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3631 left_y=-0.0176 left_z=0.1208 left_yaw=-0.0003 left_pitch=-0.1103 left_roll=-0.0002 left_gripper=0.9992 right_x=0.2887 right_y=0.0009 right_z=0.1721 right_yaw=-0.0008 right_pitch=-0.0355 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -4.7658, 9.6889, 1.8779, -0.2076, 0.0073, -0.0171, -0.1162, -1.347, 6.6256, 2.0244, -0.0317, -0.0611, -0.0171]",
      "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]: [-0.0978, 1.5612, 0.4839, 0.3038, -0.086, -0.0906, 0.9992, -0.0212, 0.8005, 0.6094, -0.4553, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3626 left_y=-0.0167 left_z=0.0169 left_yaw=0.01 left_pitch=-0.1896 left_roll=0.0101 left_gripper=0.9992 right_x=0.2852 right_y=0.001 right_z=0.1654 right_yaw=-0.0008 right_pitch=-0.0645 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -5.8188, 4.8068, 1.8046, -0.0366, -0.0073, -0.0122, -0.0615, -1.5248, 7.2547, 1.8584, -0.022, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01f8ca402b2b3ccba4049ce8ef5e749b355bcd50e45e05b8548369071e062c48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:099aab734b0017352ec7cde78c114e71de1c2f4378206a66f35b8e4789f7d55c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c87e2af412973298c1ea215366ef1d822f9fd8cb905dcd389dead721a2e3e770",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC23jKXooBOVqS1ftitoH3N399JWKtiRFy1aNrFO7kzfgvPuAtbQT7xd7MFxOW927rAD-JAARfKeHBfrtfgmfj6KAfaSzlBNg7hwt7avuexipnx1O0KY3Rydb3dKhY32mY2NkpybdN82u6Olu7AgBBDYbrmzskCuoeSdMJnX4XPrybQHkPdCL0uKndd-Bn6yRHn_ZYEcoqzPw9rLJXkPTUJPcJ4Bz7vCGOHbMETmxnKMLNNu5-p2GUhZ8C1NsmQyNFHz2DgWozD8Urqj2WdaeaAQeQpIYPFg7oK-1xWkYQwZvurT_aTLelv9Os-nw83-vGDlTNwVhjYuI9uwK543np7d9jqP_MZ8K3ZHK8pBUGB8cBmduG9kfMirWlIW2Z8EYhqzJfCgPgOVzu1rcLI47PWPl1XIDMsMYhwI0M0kEhuwZXw78HkbfGfMd9qiJo0POVkySZZQi3HRUlh_2OOAysBppOvt7a434b9TL_K-vdmFE1fdPsb2WQo_F8xjYeZUIhGuwkOakOb3YoKJa3VjhktlJy_Ckftgnu_5T04F8dhaDJIVplxg8AeLZsLB1mKyDs944gbQ8VVO5tBwt-_pHEBs1J_UPCd-nbhEGQS7yjjNqQMhNVhihKxaHfv2ADrEG44CxeA7tIl3GmbIYl2jEJvAuNYETb5cg3vRQvOkNppVAsJoLfi0rpsba4MV8ISQLRWdftM1Et0OpR3u9jVTbE9OlZcOHKKco8c1mhL9jkcgKrYuYK_dYBxSSuDr5ksleNjyy9-nnPSBWToqowj-05FDFhMNqwYmMKLoEhZUG4IBUBfgEisWJmauoDnTGXEMzz0eFQeZRYiyPFHfvLEMDR9gMHNzA-dSGFYFUg4qumeIU4KXnPrs5mnHMTh4foKI0TOXljXfGRyFTWNnTPtbNE0UfmIRF-1kNVaNhZqlV21JDA6ZNmMBZrfRPDJnoj0iHAsC1W3Ft9d9BrtNXRdGexkRfrEGYKKPzkPXgbrGsWOiT_2HuZ5D2FbVwQq8PEleOXfGkuNfthEOa46DhzL5HGRdMV4wlTM9ArSAmKCGg70E8YnpNv6yeweeQDq-Ft7OXYGMb5jo8AIvDbZ1VfKmUsdq3OjGqyQ6jOtscriXQfr1ht3n5s-4jqcFlncp5Ambq-cL5N5IF4Bm3UB69kKq5z6AkCEjjGmQ0U56EFMtQdaIsh2_5Dli8UECnjjmvW7MWwLpkx_qh5G344DY95t7j4gpn5sgFDSRWd1WQi2uDWYGqs4w2yKSDFEQr21wkXYRaGAcCcHhEaDsGwKAm7AunxekmpFhSDpZepgQGg9xYgR1_FqbNB6jcRkcxTHcNfGUqlVdoB-7LiU7RnMIYwPPpnL3Ss4KEW9pCi8HDmP-IU8JENSTxK0BAismHOI_0IDFwhlt",
  "id": "rs_0fc39f5ee15d6c09016ab42db65db087d0b30e151039fe24ee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left fingertips are at the pale plush’s height, and it fills the space between the jaws in the wrist view. I’ll close on it and check the gripper reading.\"}",
  "call_id": "call_HmyCdA5wfym7mDXvJ9VgXwRm",
  "id": "fc_0fc39f5ee15d6c09016ab42db6d95c87d0a16e39eb2c833f34",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HmyCdA5wfym7mDXvJ9VgXwRm",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0975, 1.5745, 0.4717, 0.3111, -0.0864, -0.0948, 0.2101, -0.0212, 0.8005, 0.6094, -0.4782, -0.0196, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.3581 left_y=-0.0161 left_z=0.0094 left_yaw=0.0135 left_pitch=-0.2078 left_roll=0.0094 left_gripper=0.2101 right_x=0.2818 right_y=0.0011 right_z=0.1609 right_yaw=-0.0006 right_pitch=-0.0873 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -6.8171, 5.9829, 1.4774, -0.0464, 0.0415, 0.9695, -0.0205, -1.2239, 7.0085, 1.8535, -0.0122, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:236f887c392e52a5f9b3a44e53ed80e455677db9b8863620ce4223a0515c4464",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f61c7238142dc7e21cc375f7bcb5e6f075fb395d8939439e8c096cd0e0813d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91d852c4001231e8b34ec94bed6f7434de389e67268e23a457b7865644e3c479",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 3.587 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6037, -0.3916, -0.0189, -0.0341, 0.9993, -0.0212, 0.7937, 0.6075, -0.3958, -0.0204, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0014 left_z=0.1778 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.001 right_z=0.1784 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.3607, 10.359, 1.9805, -0.0757, 0.1538, -0.0904, -0.4581, -1.4701, 9.6889, 1.9121, -0.0513, -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]: [-0.0978, 1.5612, 0.4839, 0.3038, -0.086, -0.0906, 0.9992, -0.0212, 0.8005, 0.6094, -0.4553, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3626 left_y=-0.0167 left_z=0.0169 left_yaw=0.01 left_pitch=-0.1896 left_roll=0.0101 left_gripper=0.9992 right_x=0.2852 right_y=0.001 right_z=0.1654 right_yaw=-0.0008 right_pitch=-0.0645 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -5.8188, 4.8068, 1.8046, -0.0366, -0.0073, -0.0122, -0.0615, -1.5248, 7.2547, 1.8584, -0.022, -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 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0975, 1.5745, 0.4717, 0.3111, -0.0864, -0.0948, 0.2101, -0.0212, 0.8005, 0.6094, -0.4782, -0.0196, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.3581 left_y=-0.0161 left_z=0.0094 left_yaw=0.0135 left_pitch=-0.2078 left_roll=0.0094 left_gripper=0.2101 right_x=0.2818 right_y=0.0011 right_z=0.1609 right_yaw=-0.0006 right_pitch=-0.0873 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -6.8171, 5.9829, 1.4774, -0.0464, 0.0415, 0.9695, -0.0205, -1.2239, 7.0085, 1.8535, -0.0122, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:236f887c392e52a5f9b3a44e53ed80e455677db9b8863620ce4223a0515c4464",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f61c7238142dc7e21cc375f7bcb5e6f075fb395d8939439e8c096cd0e0813d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91d852c4001231e8b34ec94bed6f7434de389e67268e23a457b7865644e3c479",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC26c9Y-qENjg1wrxujVqMhtTcsp_luF-tezKWT-pxl9599JAleLxAUYXLF6uZOnaVlGgWhWKYZZlbHpy4d3pu1Jvgte81ePgQ2ouS8_p6hm0OXVK-My1159B_bp7PFO9uK69O16_Y_Y-wLfxvMUT93QMhxYFq5Qb53Xh4orpD-XoQ5jjhi6Ng3SiXt6tFNl3hPoolXKs9_55Xnl3bNFxMmq4xeCq3K8CkasMI9RGyPbkEgSZlXLo_17m2CH4RaWQ3p2JQ7DcWXqJ6Zt15vcVRC6vMcTo7ZEDZPdnKU7YFSbL4kw8GStEZscGqdJabxdGK6AUSARiI3jpr_7-o4IDydYEptPl_unrh6LGHfsCfSWmJxhF-e94FYY2D3y2pkYgdgbVzB5fS9mEuXgI4j_Q9xx4XH4M4o1lFEyGpG1JSFMX-x7hr9CCjhfFPOLB2lHdKxQJdcZ5hkABbqIUrkc_pXrgorCZ702jw0tEfi5HpIZUQBMD7c1GDi_G6OAaYWj3wkjHR8AcKJ-_8qz2RmjrKsmWNU3_M1NEubmZOxz8j-j0_QIPm57bnMKcACodpVOTckgWkN0AD5coTOOTDrbxtMZxh37pco0Y7TE0iygmwqG-ftKbA8SybJsu-CzuMK6PKVGt4DhQ8VY22bc1foC5bUZ3XJZtYp65hWbMqyEiHLSjfXZ7pmLMJwEqmNeS2PElPOSE4R9iIfdTSMvfz1JxziXaS2RplKL45klPUcx_Rbge5BmB_Iw4_PP-1nIupHMG1VRLxWrDx2iwVzsipVEoDY8g1faCclA3w7ztisIFMf08Ga8XkXDuYRZmSEQ1yhVZ5aI235KSaWKvcF2xg61o_WNJOx61AZ4vvEzPkOLM6cQbLQ00iGBT7Ost-6J2WvqNdu3KSrZg6Jpgd-j9LJemAd1YPc17rDoZnXpaumrwDN1zooPA7RiZpM_acIPMT7yCLEluaP697-_jiPufPhWKifDXOBRGhUt1SIWPK7e7-cmePTL4CQKBeYtK86Vxf0rCyZDpohNpsqFsHiF0Ynf-WLqXABZE_wnRY0AGy09VQ_QIp9LiUEW6nTO-HHnAauBYf0UFUNWHe0D5wqRuj_FDyzOPywyUpCpyp0k_s0Aoduwhm-0iVyFkNOJJ5xZz-XkIjyuvWqEPtxU-6QrSONbhiIdr-9mAgaglUjwiV9oSWHzK9o-J1BwXG9uUK54B_pnit-eVYX4sGnuZmY20fWbD4mDag==",
  "id": "rs_0fc39f5ee15d6c09016ab42db9757887d0a7c7c635e99a0563",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.17},\"note\":\"The closed gripper reads about 0.21, consistent with holding the plush rather than closing empty. I’ll lift it and confirm it comes off the table before moving toward the safe.\"}",
  "call_id": "call_0nA7XthefZ1Cl0YpTFRgrTDw",
  "id": "fc_0fc39f5ee15d6c09016ab42db99dec87d0bfaba5523defd37f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0nA7XthefZ1Cl0YpTFRgrTDw",
  "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]: [-0.0978, 1.2633, 0.8761, -0.4446, -0.0872, -0.1066, 0.2123, -0.0212, 0.8055, 0.6075, -0.5072, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3555 left_y=-0.0158 left_z=0.1449 left_yaw=0.0215 left_pitch=-0.2474 left_roll=0.0063 left_gripper=0.2123 right_x=0.2772 right_y=0.0013 right_z=0.1533 right_yaw=-0.0004 right_pitch=-0.1232 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -6.8034, 9.5385, 1.6337, -0.0757, 0.0611, 0.5641, -0.294, -1.2239, 7.1179, 1.9658, -0.0366, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ee1e236af30ed3d57874bca5216148636fe84809eaa3d8a571e956c1cd2d847",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de11468deaa6f8257272f148ee8ca06a21428f4e09d3f1e6bab860b66a4ac459",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8495d48284b9bb636a4b2d13fc45303272650f65e701edee123359293815dc00",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 4.773 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]: [-0.0952, 1.2465, 0.6655, -0.112, -0.0761, -0.0845, 0.9992, -0.0212, 0.7967, 0.6121, -0.4328, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3631 left_y=-0.0176 left_z=0.1208 left_yaw=-0.0003 left_pitch=-0.1103 left_roll=-0.0002 left_gripper=0.9992 right_x=0.2887 right_y=0.0009 right_z=0.1721 right_yaw=-0.0008 right_pitch=-0.0355 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -4.7658, 9.6889, 1.8779, -0.2076, 0.0073, -0.0171, -0.1162, -1.347, 6.6256, 2.0244, -0.0317, -0.0611, -0.0171]",
      "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]: [-0.0975, 1.5745, 0.4717, 0.3111, -0.0864, -0.0948, 0.2101, -0.0212, 0.8005, 0.6094, -0.4782, -0.0196, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.3581 left_y=-0.0161 left_z=0.0094 left_yaw=0.0135 left_pitch=-0.2078 left_roll=0.0094 left_gripper=0.2101 right_x=0.2818 right_y=0.0011 right_z=0.1609 right_yaw=-0.0006 right_pitch=-0.0873 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -6.8171, 5.9829, 1.4774, -0.0464, 0.0415, 0.9695, -0.0205, -1.2239, 7.0085, 1.8535, -0.0122, -0.0611, -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 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0978, 1.2633, 0.8761, -0.4446, -0.0872, -0.1066, 0.2123, -0.0212, 0.8055, 0.6075, -0.5072, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3555 left_y=-0.0158 left_z=0.1449 left_yaw=0.0215 left_pitch=-0.2474 left_roll=0.0063 left_gripper=0.2123 right_x=0.2772 right_y=0.0013 right_z=0.1533 right_yaw=-0.0004 right_pitch=-0.1232 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -6.8034, 9.5385, 1.6337, -0.0757, 0.0611, 0.5641, -0.294, -1.2239, 7.1179, 1.9658, -0.0366, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ee1e236af30ed3d57874bca5216148636fe84809eaa3d8a571e956c1cd2d847",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de11468deaa6f8257272f148ee8ca06a21428f4e09d3f1e6bab860b66a4ac459",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8495d48284b9bb636a4b2d13fc45303272650f65e701edee123359293815dc00",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC2_Z6up-Oc4FU17DmQNjEiHEtjOM6KfuNFEyDhHDYa_VFqHtO-8G2vppBV29E3Cnqfir9FJ3wiIQRuuwaFGWQFeG7I4lABriY6hYCbo-1DgNQ_8xp3s9jAtpHYx6ImuHd1u2AavgYX3ROketxlXqV6E_9QR8kcwEEdN8Cq-7AYzdNQ9WckDyjbfwtA8u1U1MnYHZ13MNUgBn7mFELaKA68srzdveKu0tjWwZTNO5J1O6l5V4oPkbpUmedl1Os-GVVYg41gz6DpKWEOdVh_4Rk_VcZlHEZQThekyEJOGyxwiJEqImZRslSLnYWwlyJzdnPnyW7Srg8Bvqe_uE3l_RIprv4E2sa8oRW7uZjU43sG6_byxsU-xhrVnpZg2yxbmCJIqwJftFpsZKlQLG1IjyMU3L-_yHjG0nNPUNq_E_3kQ0jzw3m0MPH-uXy75xj8q4QUb7OkrkoCSWMh5cib7pY1QFQ4dI7ah7jUDpK8NsCH6OlFDwxneWh2UyGxgBD6U1wA6ATx337ITaj2YoVX3ORzaSdAqDRSnz3UNShEHg72Ac5r6x9cMki_ILo5ptgOoxkpscS64ZXsTYo4MzvPZwl5bw_hjzGjVScxa_uiJErRBLim4TXx_kkvU3V0z-3ECOGYARXus2_-opMji9sFlqhwxlEyX6tUk63_lA-zJP5LL7u1X7GXSJpEYprfT0bIqC8sHFFmCcnwSiETh4GYIDgDEX8md63bMKtS7eaqkmsVsVwap3yCAMGroDTCuDWsbjQ-9y3yNsbK8Y0_i35YJGT5kcyFTKUHvx6kZiRL1fz_7y-UunGvgIrievKlJbmk3f2KTwbjxp3DciDD8XNPfBIMMrz__616zqLBq2Der5cW5eEegmWMeGvos5Kdi3lM_PYKXuvuILfPe4X0XVT3wkrgzKyvkbweDWcmhHjsIrBb_4WbjOGW2LolotjMcSJPHJrVqyJ96cWPEW14GujP1T_Fd6EPdYcqsF9o4b31ppEoJfIf5fJqdRfXqWyi-AgbJRgp0cwb50jv-06X4yGvdKviT-YpyU--28Vw4jbKJCpbsOBi5DvH0cCEe7YbDEZFFTEyaNaRc42UO2RDE45AtyBIXL6oOLlTlfkOG-WcA42E4GwqudxbXhXrl8qP3JrcR4cE_AsXndA4c1Kv5_6dfHCyOys1JqyvrofoNyartPJjq0a7HjhI_pvCTX0xiBfpmsAqGrqMmsNVVw2G-x257Ld85ul_Vvzjodt3luRMS-w1qEXfixNIjre0wY6ZUbFN04kEsiKgroxcIk1mFFq5_cAW1KIxT2R2_l5U2VNRrmOWNUl-pq38dSelHAPGDiSnDQNpcQUSuyMXMs-E8MtrtUJgb_7-Ni85X11r4iq8qx1Uz5NyCUzy9ab51gttx_4AaHIwTxJMqgJvtwvxg06g-tGdh1gtutS-8SN4ZhsbVg6_jjagwsjQx2xHUSM1vIN8LAj33uDRs1rIbDj1B9j4Wi1vZiMXOEhG0nAdA37vJoiFwoEN_eQrSMliJFcbLf04pWXtbOaJY7O3l-86w4HCrlTLBXxvPZa16SZIJs4yHes-eTe6316xLtZorPtVHMu5EkMtmALEizkA83lne_LsXjPMEIb04SyRcgj9-khtJSxfy_9mttF7nf_HXHEr_tpsJ5fr3ql6CQB8OhvbfjKMtuZpW5LuN9BgvSdHWEGCfxMDIRwj4AxYYq5_VRioWeDqyt3QnHJWuUHg7yTFhidqxOrjhRKSaI2-NwcRTUNhuEkPEKQofsohSbtB0stbW4OmC4ANtwEbYK7zcVrrQewFxGPWiXj_0T-Z_W7Ju4uwS_LURpTCQkOj7HB8fKpHlTbFc-6GM",
  "id": "rs_0fc39f5ee15d6c09016ab42dbcd29487d0a80fbc906d3028f1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.145,\"left_z\":0.2},\"note\":\"The pale plush rose with the left gripper; the red tray of the safe is to its right. I’ll carry the plush high over the open tray before lowering it.\"}",
  "call_id": "call_5jUYYHpiFq8Pot9Aa1xDpmSc",
  "id": "fc_0fc39f5ee15d6c09016ab42dbe5a8c87d09c3ababa1a986fd7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5jUYYHpiFq8Pot9Aa1xDpmSc",
  "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]: [-0.4728, 1.5997, 1.3544, -0.6899, -0.3096, -0.3923, 0.2157, -0.0212, 0.8097, 0.6071, -0.543, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4013 left_y=-0.1408 left_z=0.1829 left_yaw=0.0054 left_pitch=-0.2931 left_roll=0.013 left_gripper=0.2157 right_x=0.2714 right_y=0.0013 right_z=0.1454 right_yaw=-0.0006 right_pitch=-0.1636 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -7.6239, 9.1966, 1.2576, -0.4127, 0.0269, 0.3394, -0.0615, -1.5658, 6.8855, 1.9023, -0.0513, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:677f005df795488cfb1eee44be1b2909306bad7b0391408166f94cdb7877193f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52208dec0af89d2a48e78eb058dceb8c416fd7b44cfc64c0cb0de67555793387",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4293f21e53a22c05e631c654c12bf5594be7c70f9698a02b0e070bad3a5fa0fb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 2.709 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]: [-0.0978, 1.5612, 0.4839, 0.3038, -0.086, -0.0906, 0.9992, -0.0212, 0.8005, 0.6094, -0.4553, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3626 left_y=-0.0167 left_z=0.0169 left_yaw=0.01 left_pitch=-0.1896 left_roll=0.0101 left_gripper=0.9992 right_x=0.2852 right_y=0.001 right_z=0.1654 right_yaw=-0.0008 right_pitch=-0.0645 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -5.8188, 4.8068, 1.8046, -0.0366, -0.0073, -0.0122, -0.0615, -1.5248, 7.2547, 1.8584, -0.022, -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 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0978, 1.2633, 0.8761, -0.4446, -0.0872, -0.1066, 0.2123, -0.0212, 0.8055, 0.6075, -0.5072, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3555 left_y=-0.0158 left_z=0.1449 left_yaw=0.0215 left_pitch=-0.2474 left_roll=0.0063 left_gripper=0.2123 right_x=0.2772 right_y=0.0013 right_z=0.1533 right_yaw=-0.0004 right_pitch=-0.1232 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -6.8034, 9.5385, 1.6337, -0.0757, 0.0611, 0.5641, -0.294, -1.2239, 7.1179, 1.9658, -0.0366, -0.0513, -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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4728, 1.5997, 1.3544, -0.6899, -0.3096, -0.3923, 0.2157, -0.0212, 0.8097, 0.6071, -0.543, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4013 left_y=-0.1408 left_z=0.1829 left_yaw=0.0054 left_pitch=-0.2931 left_roll=0.013 left_gripper=0.2157 right_x=0.2714 right_y=0.0013 right_z=0.1454 right_yaw=-0.0006 right_pitch=-0.1636 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -7.6239, 9.1966, 1.2576, -0.4127, 0.0269, 0.3394, -0.0615, -1.5658, 6.8855, 1.9023, -0.0513, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:677f005df795488cfb1eee44be1b2909306bad7b0391408166f94cdb7877193f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52208dec0af89d2a48e78eb058dceb8c416fd7b44cfc64c0cb0de67555793387",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4293f21e53a22c05e631c654c12bf5594be7c70f9698a02b0e070bad3a5fa0fb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC3FeVaEvcRqMspJq-K13FylDiB1Lq6KsE0GlFq9u1oiDVY8VJHLHg6kCMZkrXBh-n7M_iS_JvAqijuhX2crf93Kh8_s1TatghvGZTEMyWtufl9epCegZiIMovKs7zlPomrpLWtPF_5EK-dw_sZERIi38Ruz16UVLGRldBGv0iS3n7435VD3HE70_dBOXiZl7WB34-5Cx_cIdJJ6ltkCs_Pi2odQHYSFQVcGd_ClLVamBqYWtelCo1CoB2Xjub4a9fUpOXhn-L-waI6KQQegCImJiSa0woaB7Th0v-sb9hUMRd2zf83JZ7BePUy0WExcHcEksFz1rwZ3YKDKazOYsVwxAaCABYxwfTnxfASyG1lsaw-1pmwJCfECxsGwx_fE8o5e0bkiik4g4Owz8QnFKMKGy3xlnD7xYtQBNFDlEVC0PJAOyDeSLhLjlDRT61e1W9fMuZps_fSEdsVQemlf7Bm8MmtTZW0oyXytNelJJCqhmbOxyzZPhhwslVYJJfrgX9gvLBF3oG-Kp5boaHE0OUAjo2II6IrJxKdhMLs0U_7EMJW00Gi9eKFJjWL1BitwEnUwZAnVn_XCYRDU4OUBSwMW2Poa30Be88vu6mKsiWVEy_21oBlh8u5jtVHHOJ1RZc0JdV_8bGqXLO2KORk6dayYnNhQlOHTyPv-sXL1zw__6YUguSz2r3_GTs-Ig-SDHrrdnE7kj2htNBJ4Bw9pCfzDvAt4XFdBB9bXrKYEoQdXVcyZZQGkFUTpWws0pcvmbWCiKAuocoDzRAsP1BqaVqm0loSQD90VEwvVtkUNqZJzy8OfFp9-Kd1ixmEzJo0DRCU25bo7zT4z06BnclpxrOpksIXUSdoFrmaHrAAy0GCXuoVKF9miADik1YGw0Ra8jGgEWN5LyELzr3OZSmqQsOTD9v3aEgZaHU9P2tKwU4UZf7bRtd3r1hXEyRit72Fn5IxTYNDn8OnpXw0nQHexbhLdyqoc3upL-fe88pmm0gsHRzZrgEeG81EpD0H9uGMGJGJr4yDlM8cIjrLJffl8-_DB-clkTEsQlxz_JSzlrhwPM2l5J2hMA-9cnRL94OkItlyA_9bWm24tRGJcM_siBV7qmoSROAM7fEsoermzX-NAhAaTZJpp7bZSs3oKL3RTmnsKkYUOR6HFTYOxchgHtklQSqvWpzNXc_3bG1TyM_CB9C1FdUGVrW4U-D3p3habKFnryPRSwRmsvuethWx1fxFDbzEOoeBeEXr3dl7sObxuOWrucD8LwiS-DG5yFOPfLyyQ-ojKAeYJGLH4B2m8NBUplLjpcSpHxKWGBc3eJh8-9gKRW43qRT2DGphlI6hqFNfkLL1TeL2WGQDls0e4LK9NSertsI8PFUWprgoJYEP89cmG-jLpQ8PlbPzWSYeTbaFWLizOjmMFNfcJPgYxktVbp4N2HqI-I2eInpxvT3SmeYAhXOzYx8HJqTOnO8rqFNmQdafk8ZfhSbi3_RwMwJ8jJ__hailx9aKtWOvFg0EYTtuYmLF8o1LbW5OaIxULMuof5ENuImm7Qpw5FSd7lbTGY-6sCjxocYc-Yxtkks4oHhn_Uz5dqmeEIbMSp5DAAcN6m2DbNau06Kg21_yqWoEqe20OZeFN0g9tTcGXGiJcob__nsZWbHIhZoCu4wUofxKmWPBv6UKW9vshpJF4jWc4_P3mcqtsSkZ5xCB1goSdx3J3reQY3jAN6vlMOox41Ng8RmUyianNBJ83pk_1sY8BorVmcW8MrNbfi7Mrs4L0vrLHIaumS-TtfKyObBOaiCDOGpVslxsarVkn3Fha_vOmf7fOdXwKhdqi-GhU0D7Je-JEoa7_xEpEMGlX1Q2S_B6YCNaYQ6sjGoH8X-6bRvuRMv7-BPccFxVrVldEahv0d1vS5RZX2WIeyXcSpc_x2o3cgUGmPR7Si_KeQlBJ7Dzztv3i3oUl05FbTxKW3tshpH8_ZgKQG9dUkahPCLHVE8U8cEQ5sGgeqeXPmp9-0PSB466lohIXYgES6jgAye3hMEr18hut0IuaGuM-Y334sQiTxFCRfFLSR_0-JsVyy_fSiyENi6l8pvDLFAvpxuJh_BnOkqR06ScbKS3bBD8ZdffQtPVBIaKuNBrqAEW0PRN3pNIi02pz-wHsvHaH7i4sylYgxU1TPyLLt5xjSdair8MYuzhpAs47BoGMsMyi0beY8t2OvBnsRZ44KLOLB1BAIJjDcA4ueeaXfB94CnlhXFUtIrwbl3cwETtX85tAC1YAhVmv-R2DHEe2pOLPwv-U85Qy1waBTvui8-HBqKkynV_pPdwJGJGWIhxAf-y9r9Zvf7gjwzhF7sQabQUtBSyptk7oWrw9-I3Ox-CSbdENEQ3Hsl0NG_uIxhQIKhn7MFf8xO2ZdnMVtFQ2dysRxxH-b2kOzJ_ZpTNA5z543lo78AJsQCRq_tjF_Eii4Q2Vuc2vha3koY8gkoYP_2-s_ctq1ccKo5F39BMt5r4eDhXh4DuRXZQiSLrpv-08e5MNYxo8vGy2V1Szju1hOVDO3ifmdPR_8CglSuFS-4ieHRpsfOZYXS5WMO28O3uDybGesmEDMw==",
  "id": "rs_0fc39f5ee15d6c09016ab42dc1622c87d09645233df2628af4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.19,\"left_z\":0.105},\"note\":\"The held plush is above the tray’s left/front side, while the tray’s open floor appears slightly to the right in the wrist view. I’ll shift inward and lower it partway, checking that the safe’s rim stays clear.\"}",
  "call_id": "call_3B2YBHzi0yJrxYj8b84YbSic",
  "id": "fc_0fc39f5ee15d6c09016ab42dc4140887d0b2f220cce28cbe0a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3B2YBHzi0yJrxYj8b84YbSic",
  "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]: [-0.5564, 1.8004, 1.2907, -0.5087, -0.3431, -0.4587, 0.2182, -0.0212, 0.8108, 0.6056, -0.5682, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4131 left_y=-0.1827 left_z=0.1008 left_yaw=0.0009 left_pitch=-0.3505 left_roll=0.0385 left_gripper=0.2182 right_x=0.2669 right_y=0.0015 right_z=0.14 right_yaw=-0.0001 right_pitch=-0.1915 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -8.9504, 6.5436, 1.3993, -0.359, -0.022, 0.2564, -0.1436, -1.1692, 7.0632, 1.79, -0.0366, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95b6629574b938cb39c28a31e66da12cbd21fc1dda6be4f1085e6afe5d248882",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e29a9ddffcb77f845b766a0c48db78b95b4afaa9b22460754920b8626768ece",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ef88c81130f109c14351d3a665762a93759cd2f180dd41a470d717c4d8e6874",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 2.533 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]: [-0.0975, 1.5745, 0.4717, 0.3111, -0.0864, -0.0948, 0.2101, -0.0212, 0.8005, 0.6094, -0.4782, -0.0196, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.3581 left_y=-0.0161 left_z=0.0094 left_yaw=0.0135 left_pitch=-0.2078 left_roll=0.0094 left_gripper=0.2101 right_x=0.2818 right_y=0.0011 right_z=0.1609 right_yaw=-0.0006 right_pitch=-0.0873 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -6.8171, 5.9829, 1.4774, -0.0464, 0.0415, 0.9695, -0.0205, -1.2239, 7.0085, 1.8535, -0.0122, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4728, 1.5997, 1.3544, -0.6899, -0.3096, -0.3923, 0.2157, -0.0212, 0.8097, 0.6071, -0.543, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4013 left_y=-0.1408 left_z=0.1829 left_yaw=0.0054 left_pitch=-0.2931 left_roll=0.013 left_gripper=0.2157 right_x=0.2714 right_y=0.0013 right_z=0.1454 right_yaw=-0.0006 right_pitch=-0.1636 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -7.6239, 9.1966, 1.2576, -0.4127, 0.0269, 0.3394, -0.0615, -1.5658, 6.8855, 1.9023, -0.0513, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5564, 1.8004, 1.2907, -0.5087, -0.3431, -0.4587, 0.2182, -0.0212, 0.8108, 0.6056, -0.5682, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4131 left_y=-0.1827 left_z=0.1008 left_yaw=0.0009 left_pitch=-0.3505 left_roll=0.0385 left_gripper=0.2182 right_x=0.2669 right_y=0.0015 right_z=0.14 right_yaw=-0.0001 right_pitch=-0.1915 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -8.9504, 6.5436, 1.3993, -0.359, -0.022, 0.2564, -0.1436, -1.1692, 7.0632, 1.79, -0.0366, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95b6629574b938cb39c28a31e66da12cbd21fc1dda6be4f1085e6afe5d248882",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e29a9ddffcb77f845b766a0c48db78b95b4afaa9b22460754920b8626768ece",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ef88c81130f109c14351d3a665762a93759cd2f180dd41a470d717c4d8e6874",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC3IWMKt0IpJGMt49RBepN-Twy8bjT72AREOPpGAFOOknaLs6hDm7rbUnJEX_20neeIS2HK5Pu-lEqg6bqh8wWcyajfsYaaIveZgrLJzIBhaYKQaDIXukm912yomrcCfj5_MaqnjZNCR9kDHbbbedO0Ir4_kTLaF7cyjvhkHub4NMOykhL1NassSJr7e2YeSxgQNHUcgFl42tIkwExAXCE7xsUQ9Q9mcuVnsZ7yPWOsDUbHmsQhaGNjE3G0GO5HY1kEBJCH0rldfmTjZJKr26vplM9XKp3opjNTE4TmceWzw7wGAEcU80Icowaym4obse97pVU4_-JANjhuz38De0cAOYMqkm_u97rnQtJWVnDT6-dPusrnb8e2iB3KdZkVNJPoUg6nEOsb4J8tBRJvhkGfWELlsK4qpJ87DAldZaXkhWOKKDCytgRdqzfnJN1ZdFgPok_k2AQRSvY5sXva_AnBBpJQ29xYSeTv-t_j-SmkmMmHYHwxD11XRhXC__03-3HTyB351_m8T9cWesQQS1JSoY8a3n2AKrh7yzvVr61iSRjMRZD72n929v73TXZ_wnDwSqXvgfU6swAZgwl2Z-zdavXyNQTP0SqDaMTZum57107Y6Ph9Up4GHLwT3jKyrvXSLczetk5CQNcQ2gDgAIUCRv8pSeWdl5wyEMdsj7Jud6Orj1i--trc_T10GKBG3tH19FsF_ApTvJxvFf5DHuEKiHUT1SzsORutPZOgS-Z0Xg6ym_uAXAZniYiLgv_60kgMVNcKm0vN0R8WJLKe3NNrw_rbI-mwYk8StqlEkS7NH0FOv1toAVGmm9pC8bk6s_eNNjraTOygxL3G87KVLfGt9OfJAIf6oAnNCPaDJa18MgBSyeYNnQT4hXAhXTB8Sm_k55wvn50diBX8nilWBav_26gzXE5n0WUaUL8klgO6-dhrMe57x9zErjTWyR6J4ifccWdvKF6WXleDUbdBoxufmuhFyfIG9vx3_Kcwp2Yalvawa327jUrdma5C3rNPe-A6KdlfZrawWXHaYRBAsBbCvH0ciTBDwAkrqo1s-D2SHeXFHXfNLa8Y_RsFIxWIf1eaABNAQijF_4RakQUlpbk-8IOCq2cYNlpqyILkcZ_MZdKz6ms72hhwqs9UzWgpKnJyFaAq0YAE0E_mZHbSsnXo8ALbgo-j_IwGHYrq-bhPGmGJGMBWCeUemaX3fWfpadAT4fp9V1Y4EMONmhakRqL3ZOvP8CEfwGR9MHIGVsjjhjAsf7e_wAqJ3c5ByX0V6Poi1okgOZX67AkUlRfWsUZHBuC_7nbnUnR-zEH-VPvr4ohuIkuY8kNESHcIbxcdHGPgt2pqAdftkqcxVY65M9LZsT45ASdbiqewgCeGkFv-e_uo0GpFz6o4F7lC4bkV8Qh4BjxT7lTzmKRnKegdrJ_eMeU1ll0_hvl_WyQYWyztH1aG46-6YgYgBcfV0tc5B7PpHFHarY_91_1rYQWJyvikJJ8Ds5yPHa-xkt94TOmTbAGeMv5NVN4G_Ffs7alcbIWOYnKhh7xTfUth-N9EsD_xCVMWqa_qJBOyDqzmPfl6IVHKEtUGVk8QTBlHnLWlqCRhqwblOZ_hgniHatKM1rmP1dWD0IRHf6kOO2dMYL2SxbiChPuRLyMe5R8oGOlqJydEM8iL9GFRU55ujzPd9opdRoJ0hRYxINxxjn0cj3H_UhOfuHoXTN5r7aLz5Ak7OB4RgcbkTUcDCauxWDdMkyz-HMqAXte7l00Jk3cfWtjoSric=",
  "id": "rs_0fc39f5ee15d6c09016ab42dc67ef887d0b00d00bd1c80fabf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.035},\"note\":\"The plush is now over the red interior rather than the safe’s rim. I’ll lower it onto the floor of the safe, then release it.\"}",
  "call_id": "call_U3jLWE4sou0RrBLETthBjsRy",
  "id": "fc_0fc39f5ee15d6c09016ab42dc7975c87d0bb14b993842a253a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_U3jLWE4sou0RrBLETthBjsRy",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5606, 1.8862, 1.1458, -0.3286, -0.3447, -0.4683, 0.2214, -0.0212, 0.8154, 0.6037, -0.5945, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4036 left_y=-0.1787 left_z=0.0349 left_yaw=0.0141 left_pitch=-0.3924 left_roll=0.0629 left_gripper=0.2214 right_x=0.2621 right_y=0.0015 right_z=0.1335 right_yaw=-0.0003 right_pitch=-0.2243 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -9.2923, 6.147, 1.37, -0.1587, 0.0415, 0.3199, -0.0479, -1.5658, 6.9949, 1.7753, -0.0513, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c87949bd230439007e5cc1d87ce2e2c80c2715c90a98981d45b26bbf7769c30a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf18ed93c730f62eb6f68288c9670fc659c81b9ccc331c9d64b7dc2fe454f305",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8655869a5777f93ffed753a8c0dd2f56123ab5a448d37b235b42b6eeeca9ba9d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 2.141 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]: [-0.0978, 1.2633, 0.8761, -0.4446, -0.0872, -0.1066, 0.2123, -0.0212, 0.8055, 0.6075, -0.5072, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3555 left_y=-0.0158 left_z=0.1449 left_yaw=0.0215 left_pitch=-0.2474 left_roll=0.0063 left_gripper=0.2123 right_x=0.2772 right_y=0.0013 right_z=0.1533 right_yaw=-0.0004 right_pitch=-0.1232 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -6.8034, 9.5385, 1.6337, -0.0757, 0.0611, 0.5641, -0.294, -1.2239, 7.1179, 1.9658, -0.0366, -0.0513, -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 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5564, 1.8004, 1.2907, -0.5087, -0.3431, -0.4587, 0.2182, -0.0212, 0.8108, 0.6056, -0.5682, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4131 left_y=-0.1827 left_z=0.1008 left_yaw=0.0009 left_pitch=-0.3505 left_roll=0.0385 left_gripper=0.2182 right_x=0.2669 right_y=0.0015 right_z=0.14 right_yaw=-0.0001 right_pitch=-0.1915 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -8.9504, 6.5436, 1.3993, -0.359, -0.022, 0.2564, -0.1436, -1.1692, 7.0632, 1.79, -0.0366, -0.0464, -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]: [-0.5606, 1.8862, 1.1458, -0.3286, -0.3447, -0.4683, 0.2214, -0.0212, 0.8154, 0.6037, -0.5945, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4036 left_y=-0.1787 left_z=0.0349 left_yaw=0.0141 left_pitch=-0.3924 left_roll=0.0629 left_gripper=0.2214 right_x=0.2621 right_y=0.0015 right_z=0.1335 right_yaw=-0.0003 right_pitch=-0.2243 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -9.2923, 6.147, 1.37, -0.1587, 0.0415, 0.3199, -0.0479, -1.5658, 6.9949, 1.7753, -0.0513, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c87949bd230439007e5cc1d87ce2e2c80c2715c90a98981d45b26bbf7769c30a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf18ed93c730f62eb6f68288c9670fc659c81b9ccc331c9d64b7dc2fe454f305",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8655869a5777f93ffed753a8c0dd2f56123ab5a448d37b235b42b6eeeca9ba9d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC3LMSlhIKPOCG5OgaV3XhTES1YwzeWdzxyK4NXp444-ASn1V2_Je_-oznttxY5OFHdReR8tZzqNjkRaMKe9PAR7DRo-vjAuj01JNcERRSy3YnnVf-WtQ5D3M7H3DmohAphNiLHALNSI8bW_e1_-uvBE65Ai0FniUXLbsaIC6rfx8YzsjnBPgqWIaJaOMparJlfnxvX8orSVoapE61WoBD8kv6f4H0nN1mJEYHXZPXs1H72qvogUynqjNVNPrRA_QQ3vS0siMUhEyinJLWWByA-CYikTK8ynuy95_1OoGYOyqeCuetXU31wmGn7800aVkMnLMYYOoOTW3bRQsgZH6fiqIfYcWvbnslMCHh0lNpI1vlHTaP_GrIfIaONxTlSwjjzaBE81TvQCm-E7d4y28BBDSId9Y4AUaGpkcaOP8sTEqY9wYVRIrX0eLdYMMV5rGTFvjI1NfDpnU9vkahoifWn0Cn0fj3YrgdZmBlLgSby99OamjqduPEGu11bcHuh-a05Py8WfFf7b9dwnIymhMW6hw8EXnzAhYCi2BSyRhDvBylbag1_trZIOo3ivo6Df0laFSGnL9G6n2uBg36hThxWFXZRvKRF7lL-A4uY70-ABWyAAWXCS_H0Zgi4CGuWP8Vs0K4WQGBV68oBrbPFATnUET13GNYm4doObeF36quPx7qQaAuMZIYBQB5mAFdRMizvIApLB_vEstRihpyYi68V8BQQMu93teFRt9bf0mFUosYNUNASGXrGQJ-ygQ1CPK-P4hae6WLG-4n2R7jHbm62gGSAEsgScbbemsC0l3l3hVQN8RK4a_RT6V1VBU0ykiMozKP5C-EQkaG1FY7b3jWHVxtD_z3oDG091LPcy0fntNC1Tcq09HS2qU6QKioVGm1o2LYXn_dCkUbE0g_1t6z7h2LR8k_WWEVE4X3XnuLhp10AXD4YXtlvyjShNUj2O6IJTafiNVr1D3w7ZXTmeGaU97KnGSfqBigLVfXBwBaLf17yMKCZWrNjZiVqsiJJp73VZ_7Z93MAexrdiGoDQGU1I0f1za0UpxZ0Ah1A3lhPQu22s2ydyrIFtUkjQci4qwsXAdlaNIfgbFaACXqJelE0Bil8XXxKcoMMb6clUOU0q9g9RFzn0ghSyQ2k79DW7B2xJrz6CqYmqG5y5w5dXlXxK8JE2QJ6u2JdcCTiaTbrvks7WEK-bZx48XqyX_vUYGqjyDpzz8BE1-2d_MczDDtkoI3o3KdMKK8ALNkPPiGSdWIK5i2EFIeXIQr4s1mh5gUKqyNdKmthXfu4lrCYTO7egYw==",
  "id": "rs_0fc39f5ee15d6c09016ab42dca3a8087d0b8ca7c5eeaebb0c2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The plush has been lowered into the safe’s red interior. I’ll open the left gripper to leave it there.\"}",
  "call_id": "call_w1PWFjGkG10O80UougKt3cJH",
  "id": "fc_0fc39f5ee15d6c09016ab42dca854c87d0bd7101ce290ddc77",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_w1PWFjGkG10O80UougKt3cJH",
  "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]: [-0.5594, 1.9018, 1.1316, -0.2874, -0.345, -0.469, 0.9953, -0.0212, 0.8158, 0.6018, -0.6132, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4061 left_y=-0.1795 left_z=0.0284 left_yaw=0.0134 left_pitch=-0.3825 left_roll=0.0561 left_gripper=0.9953 right_x=0.2584 right_y=0.0016 right_z=0.1294 right_yaw=-0.0002 right_pitch=-0.2452 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -9.9487, 6.1333, 1.4335, -0.2076, 0.0952, -0.1538, -0.1436, -1.1829, 6.9675, 1.6728, -0.0122, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efe3f422c3138e073d472fd691b77c113db43150012e23c20fd48f6795d34675",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a4d63e4886310763de11e568497b80bce5cd1837646e8131461d939714f6fb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f06312263c513cb49da571d96e2051b5050c71eaeeb7ad2437e8b20023f697d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 2.271 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]: [-0.4728, 1.5997, 1.3544, -0.6899, -0.3096, -0.3923, 0.2157, -0.0212, 0.8097, 0.6071, -0.543, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4013 left_y=-0.1408 left_z=0.1829 left_yaw=0.0054 left_pitch=-0.2931 left_roll=0.013 left_gripper=0.2157 right_x=0.2714 right_y=0.0013 right_z=0.1454 right_yaw=-0.0006 right_pitch=-0.1636 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -7.6239, 9.1966, 1.2576, -0.4127, 0.0269, 0.3394, -0.0615, -1.5658, 6.8855, 1.9023, -0.0513, -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]: [-0.5606, 1.8862, 1.1458, -0.3286, -0.3447, -0.4683, 0.2214, -0.0212, 0.8154, 0.6037, -0.5945, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4036 left_y=-0.1787 left_z=0.0349 left_yaw=0.0141 left_pitch=-0.3924 left_roll=0.0629 left_gripper=0.2214 right_x=0.2621 right_y=0.0015 right_z=0.1335 right_yaw=-0.0003 right_pitch=-0.2243 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -9.2923, 6.147, 1.37, -0.1587, 0.0415, 0.3199, -0.0479, -1.5658, 6.9949, 1.7753, -0.0513, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5594, 1.9018, 1.1316, -0.2874, -0.345, -0.469, 0.9953, -0.0212, 0.8158, 0.6018, -0.6132, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4061 left_y=-0.1795 left_z=0.0284 left_yaw=0.0134 left_pitch=-0.3825 left_roll=0.0561 left_gripper=0.9953 right_x=0.2584 right_y=0.0016 right_z=0.1294 right_yaw=-0.0002 right_pitch=-0.2452 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -9.9487, 6.1333, 1.4335, -0.2076, 0.0952, -0.1538, -0.1436, -1.1829, 6.9675, 1.6728, -0.0122, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efe3f422c3138e073d472fd691b77c113db43150012e23c20fd48f6795d34675",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a4d63e4886310763de11e568497b80bce5cd1837646e8131461d939714f6fb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f06312263c513cb49da571d96e2051b5050c71eaeeb7ad2437e8b20023f697d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC3OdkY2UMrXuIJy5laoI26W-Cgq108g8xX5U16mJGcephAN2BTpDkc0jd9hR9B6CpTlZvnbeBUvfO2QXd3q5Un-JtkvgLdUBeWl2iHzAaTGAIaU490b2qcufWKapq8CUvNi-VG9ud9i-w2CbekNSIaJXUN0CSCtts_oiTgB-7wOHRdrCm0O1YR4_D4xR4_65X4NRHcQrAhqfgeAoHsJQ8tbZfg4sb4FoeAhS5J8f-Yf70Lh_A8tmnyDR2Un0IVXOfn-abmyZbXxhX32XBgElgZ7bFevtAkAwPkyvfUlCguvaLH7_bS9Q7dQvYtyZQPn0yCeV4J9rh4YjC2cxyCXO3Za9rY1uhpV6Gw_BgGaBH8aclQ-2J4j21APWl61LEg7dRwItZ0lKpt3RhTrnTvLBhXQmIuG1S-CzdULv--rs-IEfIF5icirbA-Rl5EExX6AP3VAvNOSBCXfNoLDTit6Wyhs6iITLXzpCW-p6OaCknA6X-U5QQFxs-wYmnmNq5EHITx_vYJe-U45PC5p86eLSBCzZWqUDTyNx5ljsfOJYMo6s3zd9v-qCb2P5OZz_N0DPJKlMVVrbzIqSv6seg_-ppT3q7sVPyfAFlQV1EBkeH66ehRuIXPFOPtcU-L-epsHJQnvo7BaONeZj3PUxNmK62jTErrEPm1lig0KzMw0lyIupf60BiSi5qMg5DwsVI1H5vTP5SEyGHKQqR42uvg3NURefEluNzkd0_dcxaJ3MXuTJlp6qlrUM9g9Gp01rzL2S5GiEnY-o2H-60Co7G1eJ2tiUFjTqUvY1cKrYKrls_AxrqMud0YVD98a7BDTD7BU52wdTs3Jar-j3hxclnv-MDUg7NMgeAlef5fihvEl5EMXZJ0kHOoZpTEay2Slguy4fWH5pmt4UGNoYsq_jS6yXk_uGrPcSObMaK4LLlFJyrBqu0tznb_AuRdttkECxgnq_qu2WSZQMKOnfHAzm7tdZA8573SFofODB4m1zNV1vOsrVQ4opSz7SfuhRO4UWj9O6N7TkVKxf8BVyhcW_XwoELtYAuvYlCGRtYV9Jd4uDPAEdK5Dn0H3L5JCYitzYhT9O_ZocO0bCos83Dl-XTJvDNC3yOUJFHwfGkHlhBlc7w8drbw76esSlwUxxBl_Bh7qWT-vMnx1nbmC22mqB8YBicRmUjVW4yWrL5EmnZJzfaHSyFc5PYLFPhiXjwLsradohiWVSz3U8Z8bEQ47ZhcxtJ6wSrO64ThQBP7UJ1QWHDu17dD6wDbQaP5_Q2mhAQoTJcLSxRDQqCkRWtVPF41faU-JI_03A8Wh6VGLDpgYBXk_WHKw2U2P6ZUu4lyo__I2wDybYBL4QXmnFQC3jRtgGUgKRvJhb3NQTGUxjj-g0r2kQ_w=",
  "id": "rs_0fc39f5ee15d6c09016ab42dcd251087d08c9a2a726a675deb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.2},\"note\":\"The left jaws are open and the plush remains down in the safe. I’ll lift clear of the tray before withdrawing the arm.\"}",
  "call_id": "call_CoydmPpEITB6EprFdmtQON75",
  "id": "fc_0fc39f5ee15d6c09016ab42dcd95f487d08ae1e31203b3bed7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CoydmPpEITB6EprFdmtQON75",
  "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]: [-0.5598, 1.7935, 1.6203, -0.9108, -0.3416, -0.4812, 0.9964, -0.0212, 0.8165, 0.6018, -0.635, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4067 left_y=-0.1808 left_z=0.1775 left_yaw=0.0236 left_pitch=-0.4058 left_roll=0.0615 left_gripper=0.9964 right_x=0.2544 right_y=0.0017 right_z=0.1257 right_yaw=-0.0001 right_pitch=-0.2677 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -10.4547, 9.2103, 1.1062, -0.232, 0.0806, 0.0952, -0.0479, -0.8137, 6.7897, 1.6581, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf909958fc573984209ee31dd6f557bd8eecd5b0633513b70388a35613cc95e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf7a2170d6029dfe1b9b8dd897b30176d978ad60136e5e2300f7fc981b635070",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba173d3f51ba6e65985f53697279d3778901cef0a9ba48d1b35a9d987d5c4141",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 5.455 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]: [-0.5564, 1.8004, 1.2907, -0.5087, -0.3431, -0.4587, 0.2182, -0.0212, 0.8108, 0.6056, -0.5682, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4131 left_y=-0.1827 left_z=0.1008 left_yaw=0.0009 left_pitch=-0.3505 left_roll=0.0385 left_gripper=0.2182 right_x=0.2669 right_y=0.0015 right_z=0.14 right_yaw=-0.0001 right_pitch=-0.1915 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -8.9504, 6.5436, 1.3993, -0.359, -0.022, 0.2564, -0.1436, -1.1692, 7.0632, 1.79, -0.0366, -0.0464, -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]: [-0.5594, 1.9018, 1.1316, -0.2874, -0.345, -0.469, 0.9953, -0.0212, 0.8158, 0.6018, -0.6132, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4061 left_y=-0.1795 left_z=0.0284 left_yaw=0.0134 left_pitch=-0.3825 left_roll=0.0561 left_gripper=0.9953 right_x=0.2584 right_y=0.0016 right_z=0.1294 right_yaw=-0.0002 right_pitch=-0.2452 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -9.9487, 6.1333, 1.4335, -0.2076, 0.0952, -0.1538, -0.1436, -1.1829, 6.9675, 1.6728, -0.0122, -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 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5598, 1.7935, 1.6203, -0.9108, -0.3416, -0.4812, 0.9964, -0.0212, 0.8165, 0.6018, -0.635, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4067 left_y=-0.1808 left_z=0.1775 left_yaw=0.0236 left_pitch=-0.4058 left_roll=0.0615 left_gripper=0.9964 right_x=0.2544 right_y=0.0017 right_z=0.1257 right_yaw=-0.0001 right_pitch=-0.2677 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -10.4547, 9.2103, 1.1062, -0.232, 0.0806, 0.0952, -0.0479, -0.8137, 6.7897, 1.6581, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf909958fc573984209ee31dd6f557bd8eecd5b0633513b70388a35613cc95e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf7a2170d6029dfe1b9b8dd897b30176d978ad60136e5e2300f7fc981b635070",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba173d3f51ba6e65985f53697279d3778901cef0a9ba48d1b35a9d987d5c4141",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC3R_IfNmBv2DSH2ypcJzs1ae912Gmv_Q6JtVeW0mxaBIK1R2KI68qYHxLSJahRHUQDJ5kQEgK-OZc0QK1smQwt6a9-pbTRYQ4X-qWit0Jlif6eyLu14beuD_pdxXl8g5bFiUj4NRlsfzkp8o3Rn5X7FvZKe00fdSPiRMj0xaCKgelywVIL6y8Ec4uWRdtY--wKtJMviLVjdrcyp6_lZqd9aaPIhOJ2Z7pM2phAvCK6xHZnzDGQQ6oa9lNXeaxRBbEr5RMJbxF8t7oCDHNhDt_M9tNE8FbZHIgW8gfeA3dTU7g6VaqfqgiDDKeGLdP3N5xDLQSEqpKyU0hyIDrDm8oYoBMoOI_w5rOjkmR7jv5w1Xmuabm3B9UTsp2GqnWrTREuTUUwSAButR19sdaR4eKEoJcsyKVjyKVWyAwi9tPbccCrXbjax0_1CEN_b6NL34oy1BSMhvbhYvLwIBGSnUwLi6HE1i1_rgZ89tjcTg_HNLZwh4mKdwwkUes6nZv2cBKoYCT5D_AVliD-mBgMIUABx-6ako0XkrQDPkPoOmbjiqPGIoKBQqrauYiHIurfOYyU34LdIYZIk4Z5kg9awggU56Rjcn6vFhNAFxbJo4V4d8UGhIZUl4Fy_ZMK0U8xsqvjZnWNbyWea3ArggOLO0JgQBgbU68MVzgPMcW_8aUCzjqdKiwgjRjBh9zuC3qQBjIM9aaniFM6ui_BYtWe6gdQQ_xxqeziP9-azs4AFEEcHiodZaCnstHjYQbk6JuJAPRI6uukkm0ScFDMfqhME6S8VbjwzQXaTiGbF4nrIsAL6Vr6EZLTUy7zd_bfibZyzPzRPzpyfsG6SOQ8Qx9XDsTCFYIHc1cKT5X-O3QhkATmqe5G7L5b9wuVeIm_-_nwzyGwElw3_kL9t62sD4yIVObwaQ5OpbTJkZFZy4YlIjAoLYhfqmZTj4UJRIEHQCQl3Ny8KQjKRNSIc_RuTLzOvScspSI3bASMF6U-Df2qBBCrLVKZMpHOd-UQCK8Fx5Sx6pA2W8ki-jmYRHcLnXcxrxNHg1A69hbuguZlAFybC434iF6xF6J4FJbo_lTzFID5f516Ht7MOhRSioLkw5OQYDbdVRcvWU-0jF3o_RM-NvE7jFixHn4MgMLiRM_V_mu_VYUSAYQP0ds5iQrbpT8_UlIQTTUPHbrbMeSUFSHaTo9QwePPWRrnqzd4SlQvBTtCTc7kFaT7MkWMfJ2w9cxcOjJyrhJ-U4AfMYAjGX7q1JEmNTZYSZlhrAfxWh7oUf3CelPKJJ1fXngj6QImCe_Xq69a-7nr0CZFt47UbTrEsg8F2xbPdmusyiyP8p_TZliaJ6YYrik4U6qFJIKF5ILkZGuXz8g-tgdMUzp14ao2rL85gFA76XpsCVAaLKZg_Ha9QaW5OTQAMdGjb8VV3zDHR7NfkNsRVrw259jcyEoUL6a-26fNSF1H9y-3POx7utZJoLuthkBQI4uTH4qI6OUvaTJ7mtL-3rKMVEpWldUMplpXfm_Gc9ccHlTiv-zwGGmzHUFYU",
  "id": "rs_0fc39f5ee15d6c09016ab42dd021fc87d08b235fc0b8620cb6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.19,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The pale plush is visibly inside the safe. I’ll park the left arm out of the way so the right arm can reach the two remaining objects.\"}",
  "call_id": "call_0vmRCVPSce5jbPjR9AKotwBL",
  "id": "fc_0fc39f5ee15d6c09016ab42dd0d40c87d087d4be47e2c3c786",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0vmRCVPSce5jbPjR9AKotwBL",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0795, 0.8082, 0.6636, -0.4801, -0.1287, -0.1177, 0.9966, -0.0212, 0.8211, 0.6014, -0.6571, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0033 left_z=0.1837 left_yaw=0.077 left_pitch=-0.0384 left_roll=-0.0031 left_gripper=0.9966 right_x=0.2502 right_y=0.0018 right_z=0.1209 right_yaw=0.0001 right_pitch=-0.2948 right_roll=0.0061 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -1.1282, 7.1043, 2.044, 0.0513, 0.0952, 0.0073, -0.1026, -1.5385, 6.7624, 1.6386, -0.0464, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42dd458f4f64db99453e9b693839e6738aa8e090d8cfda08856fabd0ae388935",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7dd841c663707b4705525c275e46bb38542c75385576758600ac78ecf36644b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3729bb6ff5cfaef7088be51a3d91a338ea4ff5c5ddcf308ea988232ae5578db0",
      "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 · 3.495 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]: [-0.5606, 1.8862, 1.1458, -0.3286, -0.3447, -0.4683, 0.2214, -0.0212, 0.8154, 0.6037, -0.5945, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4036 left_y=-0.1787 left_z=0.0349 left_yaw=0.0141 left_pitch=-0.3924 left_roll=0.0629 left_gripper=0.2214 right_x=0.2621 right_y=0.0015 right_z=0.1335 right_yaw=-0.0003 right_pitch=-0.2243 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -9.2923, 6.147, 1.37, -0.1587, 0.0415, 0.3199, -0.0479, -1.5658, 6.9949, 1.7753, -0.0513, -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]: [-0.5598, 1.7935, 1.6203, -0.9108, -0.3416, -0.4812, 0.9964, -0.0212, 0.8165, 0.6018, -0.635, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4067 left_y=-0.1808 left_z=0.1775 left_yaw=0.0236 left_pitch=-0.4058 left_roll=0.0615 left_gripper=0.9964 right_x=0.2544 right_y=0.0017 right_z=0.1257 right_yaw=-0.0001 right_pitch=-0.2677 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -10.4547, 9.2103, 1.1062, -0.232, 0.0806, 0.0952, -0.0479, -0.8137, 6.7897, 1.6581, -0.0464, -0.0464, -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]: [-0.0795, 0.8082, 0.6636, -0.4801, -0.1287, -0.1177, 0.9966, -0.0212, 0.8211, 0.6014, -0.6571, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0033 left_z=0.1837 left_yaw=0.077 left_pitch=-0.0384 left_roll=-0.0031 left_gripper=0.9966 right_x=0.2502 right_y=0.0018 right_z=0.1209 right_yaw=0.0001 right_pitch=-0.2948 right_roll=0.0061 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -1.1282, 7.1043, 2.044, 0.0513, 0.0952, 0.0073, -0.1026, -1.5385, 6.7624, 1.6386, -0.0464, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42dd458f4f64db99453e9b693839e6738aa8e090d8cfda08856fabd0ae388935",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7dd841c663707b4705525c275e46bb38542c75385576758600ac78ecf36644b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3729bb6ff5cfaef7088be51a3d91a338ea4ff5c5ddcf308ea988232ae5578db0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC3Ymy1nSrIeQ_OH0Wle9usOmfYNtU2EUsezQ8W15XNOUAm9pWV3mesIhjBLFlstbQGsgyRJ_yz3SUGGSbtogTZdohns9Veze4QKUyo1ZbFpOdunn44M3yJ2N08Vtt6A_e-cuYDPjpFX3Y4u1aRiRHRPLGZ3b1_U1iOPYSYLPZISz3THWHXSe9-PglBeSRRcSttFZpNLPCr_rbXvAFGwhdBPzx8UyRfCtX1WqgIs_LhO_dPKOh4GDIAVTbWilmB18HdIO6Z9drlKw5KcCgNvMpdSCCadwaEbO-Ep5H5aI8hU8rlLHcDMCedRi2iGDHVvgxhLQrpTq9SMGK6sIRINyFqF-RpOcyD5OtzaFtdFD_VPqFshmhh3WDK--nb9Jhmd9y4NhQXcLGxRmVl0ZPra6uhKTIhHChX6cVnvjJPhXgiYTfn04KdGj_zMT4a6Q-GAGNk7zB7qilVCHUms_I7SGxqJUnKPws_Iaa5EGcS0vC2Bs37ZfMLaTFzOXS7xw9bgj3YuNH9c0AdUq-jhSuGHhtPf4pEV23kjKCjw-26Cs6IOUxU8we-3aam9Zhmxm6h5Y79YDZnXJJsygdEo226sEQusvCz5f4R4YhYGQafg1F6zKZPyv4WIu6A7fdsf4vJw-f-pGNt3zJJkxy46urTzlxETTW5YAkEOTyRh1RGmnJfSFJvNzvwWc_vxm6GyfN6m8XcfqjS2YEGZUmUtCZhU9j1z3mMV-uiQWWROhUDwQvfIdxcFe6oZ52A2gRpKa0ucKqcW7Qaf1gh4UscMJUDIaW68BY0taCIX9uW1gHNFOg2YWIryzF_U6M0PhgAkA9yAdKiRTHu-RvUSJYQHBhX6IC4KwphyrmZs5mhr-8ZmggIcNo5kXSBZ8VbtXzkVYR-qL-O0EWAHMI4T-ttD-SE6AAB9ueu9CN_ovbVP2UnUXZsSATHYI1J3JQZgZzFAfkXpsludvmhJrZpcMc3kQFXFAac7h8bUMvTpKMzfsEz0fsY-Wk0S57zXNxBrOiGZauBdm63xBm7iqw9Pdc7AbchBjhBcv9m_blNNlWpniovL3LRs8Wa2GCyQBsfqD7T1lrYyZ_Lv95Lv8ywr3zvufPKdpGAF71dS00kfyGyJiGC9BYRxBhnhoKMsmcvLzH09fTsMRoCS6AZGHNzn7HO5GG4ueClK351WM-q-VXgBgVyxCvL8d3O7c9uA4zrk_Jq1wxlJrYFNOI5kcjzKDz590tj0i6RM7xlYJCEIPJmCj5_GHHDH8oM5F8ju_hQ_lRle3B1A4wG78Yvy7FjTfLx17NGPDYyo4EHC0w1_Tprw2tvrZFQ3ilR3YLkp-2fllKZg81tGmuMbhGHQb71laXcDLtg6lrCL8pVkug5L3qh4E6IxnJeBxOTiW7KJV9FvLnUxSVdWFhJM69TTzmpG4ECnQwyfjOhGPX7ObO3E0OzFlJHYKz0lEwcMK4y9_vgA8d20QuHdC8K1sYQe7Fn0zXoa8SDNAsrLrl7OkQkhNXLd7918Zc51xXjaM9LvntWCZv-sXo6wiOSeA3np1cA4uGa4RP6IN8Q5giVSq457zRxYO1kEnfYhmhj1zc1K2vObaL7aBGvBzx6asp8UIKx8837Xt5m8VhaupzIPoWzmSDYOaLAwW-JGzMIwnfbdbgLL963cltBSwcWjteXylAxuvyV7iXyNpd8lqApZ1Yx9Y4w6NiACkHuvblNyfdsxTc_sHejUcYlIjbVyT9VNiQHCmhP6w8S4rssSNv67kA90cptw94oUn67v3zP3nO32w4u2i6MMSmfcK2GY_MzvAzs5ZwX_Vx50L-bJ2f1coIqaTCoOeS7e9jmZYCcJ1AcYFCgh28ZgzWEppdzGyhh3oXkKDxpsUKtwq1W-3BtSmxU7qE7_HhmEfnExJN6jhOSTe5zAv9NU8w8iH9k0OrNxyo8B3qWGTMOWHZsY3eF8ujtEIoVsXIkJk_Zabv8KDlu2UZfzr9GT5z1aP6142RtoZBREHp-VGfg7AWAnI2-vPYHPx4SFvm7fpZ0pODjHzifBOinil1QLwGuT-RhsLBs9PnJpLskKavypQV6s4FMoRH2GYf4SLZ6rtzZplBjP4TK8HFsaWfu6UBsmp0BbYv4kqvCwLEizJywDgHaQX8S7nqjz2wRUEV7UJcaB0pNlGqXPHILdJ3gLS5otvwk_0kLE0WdcjmaNM68InZk-QzHdh6HZJE6e6eNO7fC2mRJOVz6LOGPOhMZeEdiFx8g85ZuHR8M6dqob9ELiD7NZ3TlgAg3wazuFBfgmtjY1aU92_c9ka5qBH5ep4AhPv380Wa2mgpCjbi6OrieXBbWL5qfjMoaxI5S0WdiJ17nR_6P8SdetRbBOs5VQzRW2ViFzjLzQLzGYrPUUOfxp6yPeDvt6Z3Okq1tqArsSNZErAcfq8biuPfY0t2rINQ2_CjY_K30gHRDs7tQTwdt_5IqVprEn1o0i2gRbWSNMzjHH1gz_ZT4dNKOA7HOYul8C58pzMeeHOPv-7ovyEa9hoikqH6rN1M-s_mPvw7j5fJxuJ2J2ZGEd3FzFeO-87XVrVth8TRAbQboewfVJ1mFye1U5-PB-7xoo9_dSeevcE72W4HEqszCbMxII8-mdVUcl_tOGqmb4KXSWoyYWEB8cz8NJ2r-hIPsixB_4Wr7b4HHB1QobzGVJn-ArLhLGlz7poiLZmur7VuQBCzqgw2qEtjO9w28ejaNTdgukS6CCgHpP4Qkv9pkLHHVR6Afngw6T9BCP-5slNSi1Gm5HpX6ExhRU7Bepn496caFu8C3bMdAXKKFOGvPZURd0Hpnc6D2lDiTtq21mavsLc29tgjgUfFlhi6QFynZ360M8dfihVstftJ7VuKCi8w0Snuq2d8HiQFDWcCHW9iUgmpfSgx1FnDd5paZzSFqUQCZ-l6GcT_6DgX1YRMseIQECgyCrz1_UFkDsVtlItfCX_ZDW2PS6eTgs0wBNmMxWkyBah8Q7C9UbvWBZ-2qrO1PwExu62HP5dZdxslEAKVu3u_ho7flCy3XjvqxliE_TxYyxZdYobxSDSi_4gIcwTLqNJUNNznd3rWDv8WzZA9Bi0GJEaMsqKIUhHpP1Cb375XrsOXQhMz17KuA=",
  "id": "rs_0fc39f5ee15d6c09016ab42dd42ad887d0a00a6dcb4c671cec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.18,\"left_z\":0.16},\"note\":\"The brown plush is in front of the safe, while the yellow object is farther back on its right. I’ll approach the brown plush with the left arm, which can also reach the safe’s interior.\"}",
  "call_id": "call_p8zFbsT1jhZNMzaIOYV6Wuwq",
  "id": "fc_0fc39f5ee15d6c09016ab42dd7f12c87d0843e166a9c41da00",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_p8zFbsT1jhZNMzaIOYV6Wuwq",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8009, 1.3861, 0.8864, -0.4026, -0.6487, -0.6312, 0.997, -0.0212, 0.823, 0.6014, -0.6762, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.32 left_y=-0.1716 left_z=0.1414 left_yaw=0.0568 left_pitch=-0.0959 left_roll=0.0339 left_gripper=0.997 right_x=0.2466 right_y=0.0019 right_z=0.1175 right_yaw=0.0003 right_pitch=-0.3158 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -5.4632, 9.6068, 1.6093, -0.5299, 0.0757, 0.0317, -0.0205, -1.2513, 6.7077, 1.5653, -0.0269, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4444b4b53c9d2b1dcd98e6d92e402875f8f9ad3a31a6255e891b0b8768ef57f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85edcba80526c685b2e10cf80436088f6003936b319ea21670142ada98d7ada7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1836061e99128b111735f8d302902a0486e7ea42ff0775d2d402e7ed0d4f45c7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 4.288 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]: [-0.5594, 1.9018, 1.1316, -0.2874, -0.345, -0.469, 0.9953, -0.0212, 0.8158, 0.6018, -0.6132, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4061 left_y=-0.1795 left_z=0.0284 left_yaw=0.0134 left_pitch=-0.3825 left_roll=0.0561 left_gripper=0.9953 right_x=0.2584 right_y=0.0016 right_z=0.1294 right_yaw=-0.0002 right_pitch=-0.2452 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -9.9487, 6.1333, 1.4335, -0.2076, 0.0952, -0.1538, -0.1436, -1.1829, 6.9675, 1.6728, -0.0122, -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 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0795, 0.8082, 0.6636, -0.4801, -0.1287, -0.1177, 0.9966, -0.0212, 0.8211, 0.6014, -0.6571, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0033 left_z=0.1837 left_yaw=0.077 left_pitch=-0.0384 left_roll=-0.0031 left_gripper=0.9966 right_x=0.2502 right_y=0.0018 right_z=0.1209 right_yaw=0.0001 right_pitch=-0.2948 right_roll=0.0061 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -1.1282, 7.1043, 2.044, 0.0513, 0.0952, 0.0073, -0.1026, -1.5385, 6.7624, 1.6386, -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 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8009, 1.3861, 0.8864, -0.4026, -0.6487, -0.6312, 0.997, -0.0212, 0.823, 0.6014, -0.6762, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.32 left_y=-0.1716 left_z=0.1414 left_yaw=0.0568 left_pitch=-0.0959 left_roll=0.0339 left_gripper=0.997 right_x=0.2466 right_y=0.0019 right_z=0.1175 right_yaw=0.0003 right_pitch=-0.3158 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -5.4632, 9.6068, 1.6093, -0.5299, 0.0757, 0.0317, -0.0205, -1.2513, 6.7077, 1.5653, -0.0269, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4444b4b53c9d2b1dcd98e6d92e402875f8f9ad3a31a6255e891b0b8768ef57f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85edcba80526c685b2e10cf80436088f6003936b319ea21670142ada98d7ada7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1836061e99128b111735f8d302902a0486e7ea42ff0775d2d402e7ed0d4f45c7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC3d8D2AYJXKORq77mQGpsElagzzdAijF3-pCR32DO36jtTzrjpfb6pQoN8Udwsixxi_1rgFT6gfQvwxO0VZQSkhlDsAFJSPlHyg9GAqY-F1ePTavNc62Jbwbyf6hAi-RsUHhyugztxEEeB2aqsU37sHXch92RTys17s3ioE58ii5jEtOn4LBb2MuiRkALw1_DQthxjl0dOwDGWzqfB0NPwtEeZqKCuyQcpHIu9zBNQ2_kFJWGaNFqHc6fYM0xmdYaC8Ii00v-Hv_4IwGdHgX70BR5FD7HEklXoiSTUc8xVAwSWQdGZhGG6WueQIpQOQRyXyHDnEZlMHk3Nr7-DA84Yzw2OFj1DDFA-q9opdNBVt9LI121GZKfpPPC_w4y3xY4GbBIeJoqvcLosptRQX9HmKWtIrXZ7U67tZKBkGrUXVnDIDa5-GEgCFpKEJyt5T45QJyS0V40OFWEn6jO4MHDhPMqMnBKEkKnCQT2qOpiYHPK24F9gAp7hh1Qn5BI5zMs5ScTPDpD1rE24d4LCB3xpQnT2l2SPxQ_ZtJ1KPG31pCgDYB9HG6esc1YJ9DmM1j8m7886-OiZCdO6p4cK-DwkMPNQhX6zoDf0P4urV1K0A5IMwdjRLhewq4KvghgrII_PB6LloFibRZuy5MGxj9c3AMYNariu1OpykzNZgkui--LeXANdminx37bx04dyX-isZrm2Sx5k2k5kx4Lvw6uTckUJGp56zn9rxxZxYR68WhVcdcSha44DoA34_mSzUSzYQy6vu286oApbmK3WrJfH_OwTMYy7JtdqIM4yYgrq9KMgOSCzXYGMiNLqK9qBJRG4jHOibegLbN0N5osLoacLF5-hxC8iZCnrdZX6damosNWVyPmvn53Qh9ezsrIb0sU-qJ0cMBo10i2kd6B0RUMK7IfzUmYKRiEvwMBbYHHxbSy0wHuBBRUIT1cbVqvkX6aBdztDiazqgAPOqqxh6bSO9yYzFJwHGkv0RsjSCb6PbVdJmrJs_hqOaLuHYaPYbUEEbL0DwmSEyr1iCpJHSny7gevMGLfuoXGnoptY2YBv8XCn_ft9gr9RCjR4Z4ACfUyEGYMBmhlBev3bVhlYoBHK9UYp5E4u31e1YIgj4eDSKcqJrH2hD5SfLV0R2aGRjifzGf0RYkFTbqEFfJ7Hq1oE3JVsbV4TZ01QtnM6B3mRex71-IBbgkt_QYWv_OVYxSvxe83ipcht5Y5BNv5OLQErBtCsy1GDChDEDCzkFM9JAsfnZiiQPVpKd_TcqOgqjl8OP2et9lz3VJH1JAKbtKRYETVClRC8d0hwfgNiAYT821SQptUaefSBXUxqiXf6umCQ0cC_yeGbgpkWw164giC8khrHRfpIi4Lptx8wf8fdRQoQRp48TmRVptLPzw5eWO8c_VofGAKbAAy3RCNtsNC0nQYehCzyt__k4_qpqklJqnGF5cQJkDn-VItZIhKG3DtwAnF2euZmv-vd8O4Jsb6Ee_pH4oMX9hzQtaxIwvJq2JbFDIqVrVAzMPaxD3cKUnHCNcf6Juv18lF8RLsFvSAPYCb4Bju69Y2qV7NtQi7nNaT5JmMluxWVWVtyXSFFUzRu5-0g-x6NIG7V_b-3X7Uj0d50H6ws0INbzSMaucSrXIV6-9IYJZ238xYvXVcf3DqexB-MdZ6ICWjOl_4d5DGM6zzW_09O_8GsIjSYe8xbIY9hw2T4bwYIhWivCDf73BCvo92bJwFG2QLb3iOS3ab8eI0jnYoP98-nEO7Y2ZoQ__XLcQQbKFs5JSt_DrJLs5Usx-rGt-kLNm8iTWRMZbSMVhMpMsOyQF4LXhYGCcM1PL_JHayExjqehnFbhW2Zleoz3yvsD1FPwukhPU-bqUBThx3aanUuqagPIHmUrMfBN3MzxyfZ-1vEtlDESWsgVT-8pgcMi8Ig1JvYebQlP5E_5zCwVyi_c_cDEAuxikOh1w67g2JyaHk9pPEUj4rvgPkZBLwgWzMXlyjQ2WroDf7w-kRXb-g1WiDkB99cE8rxSSNd01n7s2zAdYnY8fFCx2pGw_R433l-06nWm33n0gVaaN9Rb6TpAXNF05jRzPdV-0H37Tz0P14TKglrj-ERvuWdeFxyYnksTMlN0ihrmp_1OdAs7X6jMKupozFJ98oZZQPCLFmJz7-kUJhlN9r4TavbXTkiSd9wHm3Md0qopZugh9g==",
  "id": "rs_0fc39f5ee15d6c09016ab42ddb611c87d0b802732fcdb4da4d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.24,\"left_z\":0.12},\"note\":\"The left wrist camera still sees the safe rather than the brown plush, which is closer to the base and to the right of the gripper in the overhead view. I’ll retract and shift right to line up over the plush’s torso.\"}",
  "call_id": "call_TO6bXcUfVhSkzUx71IdWQ59e",
  "id": "fc_0fc39f5ee15d6c09016ab42ddcfaa487d0a6414d8feba058d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TO6bXcUfVhSkzUx71IdWQ59e",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0821, 1.5425, 0.9516, -0.5285, -0.765, -0.9108, 0.997, -0.0212, 0.8219, 0.6014, -0.6846, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2687 left_y=-0.2371 left_z=0.1116 left_yaw=0.0193 left_pitch=-0.1274 left_roll=0.0541 left_gripper=0.997 right_x=0.2449 right_y=0.0019 right_z=0.1164 right_yaw=0.0004 right_pitch=-0.323 right_roll=0.0073 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -5.9692, 8.6769, 0.8864, -0.6471, -0.0806, -0.0073, -0.1026, -1.0735, 6.7077, 1.453, -0.022, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff9aaf2d17ebdda6c6f33efc67746c06a71867c9fb982295be291f50b1e7308c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afb6d228081732bcb98cefc15adff9730cfb8e4711e56441938a1cbb1d541229",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b480ab45de6450eb057e3e0a04f399f2148e05e429fcd146c331f93cfcb31d9f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 2.621 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]: [-0.5598, 1.7935, 1.6203, -0.9108, -0.3416, -0.4812, 0.9964, -0.0212, 0.8165, 0.6018, -0.635, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4067 left_y=-0.1808 left_z=0.1775 left_yaw=0.0236 left_pitch=-0.4058 left_roll=0.0615 left_gripper=0.9964 right_x=0.2544 right_y=0.0017 right_z=0.1257 right_yaw=-0.0001 right_pitch=-0.2677 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -10.4547, 9.2103, 1.1062, -0.232, 0.0806, 0.0952, -0.0479, -0.8137, 6.7897, 1.6581, -0.0464, -0.0464, -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]: [-0.8009, 1.3861, 0.8864, -0.4026, -0.6487, -0.6312, 0.997, -0.0212, 0.823, 0.6014, -0.6762, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.32 left_y=-0.1716 left_z=0.1414 left_yaw=0.0568 left_pitch=-0.0959 left_roll=0.0339 left_gripper=0.997 right_x=0.2466 right_y=0.0019 right_z=0.1175 right_yaw=0.0003 right_pitch=-0.3158 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -5.4632, 9.6068, 1.6093, -0.5299, 0.0757, 0.0317, -0.0205, -1.2513, 6.7077, 1.5653, -0.0269, -0.022, -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]: [-1.0821, 1.5425, 0.9516, -0.5285, -0.765, -0.9108, 0.997, -0.0212, 0.8219, 0.6014, -0.6846, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2687 left_y=-0.2371 left_z=0.1116 left_yaw=0.0193 left_pitch=-0.1274 left_roll=0.0541 left_gripper=0.997 right_x=0.2449 right_y=0.0019 right_z=0.1164 right_yaw=0.0004 right_pitch=-0.323 right_roll=0.0073 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -5.9692, 8.6769, 0.8864, -0.6471, -0.0806, -0.0073, -0.1026, -1.0735, 6.7077, 1.453, -0.022, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff9aaf2d17ebdda6c6f33efc67746c06a71867c9fb982295be291f50b1e7308c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afb6d228081732bcb98cefc15adff9730cfb8e4711e56441938a1cbb1d541229",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b480ab45de6450eb057e3e0a04f399f2148e05e429fcd146c331f93cfcb31d9f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC3iZf9vDT54XWbIjH2SyUc7E4hrZeMpAXppZm5ctC9ImZpf99JFvPRZUo7EfBvti1qy-0NNF0ANaky0hDBFElf1uRnhwMvGBFbun86h-42i5kmpEKpAa5xJdrpCWydM8tTG8kZdKVeyVCbatVZb2FwvRuWFbsnbWJ_zd2wszpILU5FYAGWTLspO3QCLmGOmxTEbgG73SGIzJYYX6trnl44VWen1sTi2Z1xz0z2cwliXvIuPua-c16UfrpILpVq77yUpPFy4TKFjV7vgxYRMtRhKCC9M6dPzT0aFoqL02ZqGNbXPwKBa4VdZHv2H_EQ57ncr7Aw65G84-gThiEB_6zUW-id9UM3Z8pE_dp91k8ODWKTLHjm329eW999_OQdlPopqUf4oQRpixWUv2KA3OO439YlZzFXbwwca862PAB7U5Ir5iHuhkSxszvgwdBiXZmoXwzUNB3lMlEPf27M55aVIbwAAJNZiC8Y8mVTVvBSLx44dwh1aUS9bvnrolV58TF5L1wCFV4ZxxrL4plMCjFrAVMaZvb4bPL_gnG84ZVE86nhzWEWVD7ruRvtQLgagGoImVavSt8cVetdfFaemCfpB2bS3izJf-sQ_mCTxH67lrfwQW5g3GdXms7SeG2tL2bEIC0VzWRx6rQKaBoOv6QY0ucSiVtkri55P_UyQD49ZrGnln8oL8BLwqSqBc4_KNmOIkDIKHYpFOCuJ1yp6OA7uGauzftTQRVf0fIlGpCjWaPYdpGAbf4eqsZsRQumMTlfS_k2z3o6quJy2MYPBY_0l7D6zOYVm7HNz1bdbyVDrgVI2HJF4R1I3xyBKsJUY3v_00-hf-kOrFNdJo3_0E804cfhpq9uFynHXUwlygARBw6bKrTLZMrBq9jssM2ahKm4g7YtHLy6cIp4kfP2DEHgfCuSAwTOTLXBs1rcibkqZZJK72fYVBheY1J_rDAPKpmF2IdLtiNanE24kM7y9DezLvkG7HjN2wlksXU9EPJgYD_9x4w2qknp8uooq66sjwHSEq_n6Yio3R6vh1rVKvQC6d5HLST7chbsAYVnwiaOtp1MuIGoENsZK_wXlfzGS3Drd2_Y_wPNsBGj3AiUK15KOGnzHjBlvSozDsc8qMEMS1ERnnqvf2ktE8pSqI9zOHaltjiWgIWc8512iw2quSWTTCqB5XBU-YpwKsLw9YpKCrPqOxC2pG6nKWAkBHQKlE7HTpmI99ev2C-Yuu7UObnZNK2ngfFXnYZrkh5HjG6C_qw13Jy-PISeFsi3fHGRNEAnai7oCixHW_zw0MOPw9vYZPvzZAXQGF0BTM4IDP3KduOg7v8QyBgTTtc8QFXPeHNEIV2kOwMAav6SUNiD4QrV95BKCoRccUTHFWcra2N-4BOpTNMtqhJL6fjFwhWFKT5n0QLi09_rsaia2InqKU9rTeL3E8osV0lFe5DV3wTWjY908RFQczTftcDWjs0egCTMKdXJPNZRw00CW7MlQ0fZ6mQVzaC4c8cndi4PPrtngEmuOW8k5-E5MmMIlDHWD3ODCG2pN7TE_2cWaGUh5zZccBNUTjnHJAwWNocaw8mUf7z2MbgN3yZkZFDO1skN0-iwA-KG1FGFNnT5yUKlryG--RjsrDk2e7UOIiU9_1E2OtKzW9ED7jA28nAlpYLis-MWRHvZMgLKvRC-GFWMMUO_HIUv03ebO9KN15_3M1G-Mbb8cpHOFFk6FUbsF7sLIcYI0hHISoKCaOnhhrvtTGv65yPPydOw3mcAdebZTgysCl12Rti9qZOuL1YKJLzJ-gg1uP4ZQZMxBgVSfoKpa6_rcWs-GLtQ6n9hFd4l9vID-p0sU3cj7t8K4o-BxgzTX63VU44qAEiix1JS2vDN5pZtObgaNmJy_AqLoG4WBO75PDE_b5YxtCU23ZZB4EZ_S1OoNnImhUe5N_CqATvSeRlMoFq2C-B_T3fukW1FY1jXd7sJVCmkJLNQhcqNq92JGfed3cX30YvBWtgv1TETjxYkrYPlOUH1mg6jZ3cPZP3b4k5XsuEPS6VSwSiJ0q4oK2r3i3UGqCFwi9AZsT4lNCR91CrUOf9oHdhTCCi6otXwXHzzrY40sJx9f5FDLV_MoE6PpaaoFUa9QBeTgmVd8g4ml5g==",
  "id": "rs_0fc39f5ee15d6c09016ab42de00aa487d0bacb3c78716f558f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.26,\"left_y\":-0.275,\"left_z\":0.09},\"note\":\"The brown plush is now near the fingertips but sits to the right of the jaw column in the wrist view. I’ll make a small rightward adjustment over its torso before descending to grasp it.\"}",
  "call_id": "call_8zF7iQzHBTUJdY3eu4yfbMBr",
  "id": "fc_0fc39f5ee15d6c09016ab42de1a6b887d086b2e1018625d3ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8zF7iQzHBTUJdY3eu4yfbMBr",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1545, 1.689, 0.9974, -0.5495, -0.7822, -1.0008, 0.997, -0.0212, 0.8284, 0.5999, -0.7021, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2551 left_y=-0.2603 left_z=0.0794 left_yaw=0.0201 left_pitch=-0.1599 left_roll=0.1043 left_gripper=0.997 right_x=0.2412 right_y=0.002 right_z=0.1118 right_yaw=0.0005 right_pitch=-0.3486 right_roll=0.0073 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -7.5419, 8.5402, 1.0085, -0.569, 0.0366, -0.0073, -0.0615, -1.6615, 7.0085, 1.5214, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:151e9b9fd8fc7f9d6df9769c5bbf3552e80e7d265f2d4c4b5d8a6dd16e1f0146",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8869214d6c5202ded1fb09aeb8ba6f86cfbb18108ea9d018c2f56608997876d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5687129d1597cb3bc2476b339d4dd212639d4ca596d31632f505a2a697200c00",
      "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 · 2.54 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]: [-0.0795, 0.8082, 0.6636, -0.4801, -0.1287, -0.1177, 0.9966, -0.0212, 0.8211, 0.6014, -0.6571, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0033 left_z=0.1837 left_yaw=0.077 left_pitch=-0.0384 left_roll=-0.0031 left_gripper=0.9966 right_x=0.2502 right_y=0.0018 right_z=0.1209 right_yaw=0.0001 right_pitch=-0.2948 right_roll=0.0061 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -1.1282, 7.1043, 2.044, 0.0513, 0.0952, 0.0073, -0.1026, -1.5385, 6.7624, 1.6386, -0.0464, -0.0659, -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]: [-1.0821, 1.5425, 0.9516, -0.5285, -0.765, -0.9108, 0.997, -0.0212, 0.8219, 0.6014, -0.6846, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2687 left_y=-0.2371 left_z=0.1116 left_yaw=0.0193 left_pitch=-0.1274 left_roll=0.0541 left_gripper=0.997 right_x=0.2449 right_y=0.0019 right_z=0.1164 right_yaw=0.0004 right_pitch=-0.323 right_roll=0.0073 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -5.9692, 8.6769, 0.8864, -0.6471, -0.0806, -0.0073, -0.1026, -1.0735, 6.7077, 1.453, -0.022, -0.0122, -0.0122]",
      "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]: [-1.1545, 1.689, 0.9974, -0.5495, -0.7822, -1.0008, 0.997, -0.0212, 0.8284, 0.5999, -0.7021, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2551 left_y=-0.2603 left_z=0.0794 left_yaw=0.0201 left_pitch=-0.1599 left_roll=0.1043 left_gripper=0.997 right_x=0.2412 right_y=0.002 right_z=0.1118 right_yaw=0.0005 right_pitch=-0.3486 right_roll=0.0073 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -7.5419, 8.5402, 1.0085, -0.569, 0.0366, -0.0073, -0.0615, -1.6615, 7.0085, 1.5214, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:151e9b9fd8fc7f9d6df9769c5bbf3552e80e7d265f2d4c4b5d8a6dd16e1f0146",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8869214d6c5202ded1fb09aeb8ba6f86cfbb18108ea9d018c2f56608997876d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5687129d1597cb3bc2476b339d4dd212639d4ca596d31632f505a2a697200c00",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC3l-q2gcq-mcPwk_I82P1M4JgdSXZV_9q7WssdjEn7GReVpNxpQeMlB51ZfZtcmMyYb8oVxjmZj4WQ6_1JvKJ0R32NcET3pi4-exTF83yFoacbACdSurAmpfLZl2VtdpmVDlclpxbC1J7CvD6_1JBHPtFLm8bFSw8jGPx84GjzVXik943tHNjt_SqU8TXkhMBVp45RBxq09k3_ElJdk8_t276HNEEVn5nvEBbLD7kZ36f-DWUvUm_0MdxJKklJJTLDCnSxI7_e9ymck39wLrveEtkfBtQVlZFDcNNh-Z_6jM2Y4vYJdD1odzazkOezZPh0JwsAfgnYb6YZ8H6jFOmTKJ6WPP_C4vEAoQLgKjdj6GBUN1rsHoQ78YE3_CDsfj6dg3uAq3ZdQnozf14m14wZRWssE6uYf0jH7cD83jx2G9CRywKetbKPAmZeoXC5r4jCFxgviT8xlj1mDrNLFEmhK4t_m-uP84vlymqPTFiuaWoUZuYj_m9Ac5N49PRam-EWNhJQ7-fWjaya9r1MDm-S7W9NAQU3HMulSTmCDL7nAffCDLUaeNrdxstfBftYWPjo-21nsqZ1Od88PsnQ0zZHtQH8_GWDLg6II4Z4qxAwP2lW35RPWfsPqvDfxWtfHmL74t70JvxROQEftOszkLsJzfGEIF4wiEQHficWsZFfFmehm1CqQE5FRuwlqjhN717znNdkQnen7TOCfE60kr_FBrZ7yDm5oHquiQellyGFdlJLcrAYcnAj-huq1KvagIpeFtaA9uiqPm_iZZJYTWkHpfwI5ZNw6b0EmlF6smleYRayQ3cjoc5eVGVqq6cwvsc9qIcbWnpYj3h-RwYnap6RANDyze1ItTa1z2yewhYdqYLc4mFx5ShTUJO4bSVCx9VoTFqfZnnbdrFEMfPBfV4_8PV8jtfd4h5OW026NxRs3bGJjssy9XyUEjG8DPiHx6aivnUp8_Y-6FhO89YE2JxB08FyBfwtOPZaVqTzc2EKQgQUSVCR_Wtpreligx_BwCBZxksOawqz-yeE7OkDn3gIP6y6x_GquGq-domXtpenaFxaWI0SEenzjGNmtIKrgTUCEhv0z4CTBLLOhzdZ96izGT2uk-IeoFW8K6fe4-lIuncRNLRrQDosCeOavyA6TafCuq0B_EpUWr1hS3ZYMOA3bd2z6aCkNlXKFcN4uDYmc2eMEpS9CW3Wc_YQCvNoqrUbx3r-TX9Rw-erbljT88sR8Jl5sa9NoTz_-lq03QV_DgIb4K4jQnYPkHGBSjPZBaYQZ-w5oGQYmnn_EFfBvUDamfF7TLvAaAZMOXlilgx3eCeUCWSOxUxMVZQU6Mh-Dk9YgKYURrgMRlsDKHb-OYQ8t8XkINLgkfJf12JmB16wa9h7Uk6lxxcZvi1quw_b0jVblUGOWVIUyB5jFhbH-WK5QfqSjwp3bU2U6JtHmbZI_KgjhubQxYsKSO3lWtcm5HGJFbKO0z7AWY_QmClWwN6qzHfI6GIJCfxN2RlWi8LkhATRivIHYkukcs_CWTWmdfv_OEmy1XeaOXG9MocTr14LWYKzbS1MMioPpQPO-AJX4fdKcAINaPVd6_KcVsFTBCtypqO6bOSbujUwLyhQUky5-nw==",
  "id": "rs_0fc39f5ee15d6c09016ab42de3f9d887d0b6d3878afde3a292",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.265,\"left_y\":-0.275,\"left_z\":0.025},\"note\":\"The brown plush’s middle is now close to the left jaw column, just outside the safe. I’ll lower the gripper to the plush’s lower body, avoiding the nearby rim.\"}",
  "call_id": "call_rSpoKZZMmTZSPbPumVyi6m7T",
  "id": "fc_0fc39f5ee15d6c09016ab42de4ea8887d089e6cdf2c1b3d524",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rSpoKZZMmTZSPbPumVyi6m7T",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1637, 1.702, 1.0111, -0.5461, -0.7826, -1.0233, 0.9971, -0.0212, 0.8288, 0.5999, -0.717, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2545 left_y=-0.2665 left_z=0.0795 left_yaw=0.0229 left_pitch=-0.1567 left_roll=0.0836 left_gripper=0.9971 right_x=0.2383 right_y=0.0021 right_z=0.1095 right_yaw=0.0009 right_pitch=-0.3639 right_roll=0.008 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -7.6513, 7.8427, 0.9499, -0.5739, 0.022, -0.0073, -0.1846, -1.1556, 6.6803, 1.5458, -0.0708, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b139a6d5e72d906f692b564fa1e2c31cdc0af2be9fae5133264bb0bb64f55b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6fee925a1d6c1d25a7df2236a6a33f255b8a016581d950616b61ecd559b944d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7adc03698f1e957cfc4392872847d7b48e9737d5ae5c738185dd7eb538e9f2eb",
      "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 · 4.673 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]: [-0.8009, 1.3861, 0.8864, -0.4026, -0.6487, -0.6312, 0.997, -0.0212, 0.823, 0.6014, -0.6762, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.32 left_y=-0.1716 left_z=0.1414 left_yaw=0.0568 left_pitch=-0.0959 left_roll=0.0339 left_gripper=0.997 right_x=0.2466 right_y=0.0019 right_z=0.1175 right_yaw=0.0003 right_pitch=-0.3158 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -5.4632, 9.6068, 1.6093, -0.5299, 0.0757, 0.0317, -0.0205, -1.2513, 6.7077, 1.5653, -0.0269, -0.022, -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]: [-1.1545, 1.689, 0.9974, -0.5495, -0.7822, -1.0008, 0.997, -0.0212, 0.8284, 0.5999, -0.7021, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2551 left_y=-0.2603 left_z=0.0794 left_yaw=0.0201 left_pitch=-0.1599 left_roll=0.1043 left_gripper=0.997 right_x=0.2412 right_y=0.002 right_z=0.1118 right_yaw=0.0005 right_pitch=-0.3486 right_roll=0.0073 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -7.5419, 8.5402, 1.0085, -0.569, 0.0366, -0.0073, -0.0615, -1.6615, 7.0085, 1.5214, -0.0415, -0.0513, -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]: [-1.1637, 1.702, 1.0111, -0.5461, -0.7826, -1.0233, 0.9971, -0.0212, 0.8288, 0.5999, -0.717, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2545 left_y=-0.2665 left_z=0.0795 left_yaw=0.0229 left_pitch=-0.1567 left_roll=0.0836 left_gripper=0.9971 right_x=0.2383 right_y=0.0021 right_z=0.1095 right_yaw=0.0009 right_pitch=-0.3639 right_roll=0.008 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -7.6513, 7.8427, 0.9499, -0.5739, 0.022, -0.0073, -0.1846, -1.1556, 6.6803, 1.5458, -0.0708, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b139a6d5e72d906f692b564fa1e2c31cdc0af2be9fae5133264bb0bb64f55b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6fee925a1d6c1d25a7df2236a6a33f255b8a016581d950616b61ecd559b944d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7adc03698f1e957cfc4392872847d7b48e9737d5ae5c738185dd7eb538e9f2eb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC3o8PpA2LRgQDnPlkA5UC0YBPO99yS0GEb-PR7Y5rH6djbKUUpLhqVoVds6IbxzzS5M7FBUMpyWYnugPDQvqyKdbNQo8R1sO89R7bg9YWPUS562-w0zOVAYqmjJOnTQLkIty60N20yxwyV0OUaiNswg49LygR67GHE1GylkOQLoGNniabNVNHj6kx0BhpsuPSxJJX2bjMMLvlIViUVJG3xMtLdoqDOt3YPBVROKcNZ62wG2Tg0QGKAEKEp628aoiBVebzqt0fvSLte2hwdUifLWbFtuiU6i8QaPe7i2pCacNYxqfzaVurjgfZYh8T6qFktojKmAo2yd9UKiDUOCFECQFj3HQYD_qby_YUWDsZTBhvFOGe5SBw6PpkKbmvf7NUWBtq093kVPL37JGiWyX7dbyS_Gk3Aea4nyXC4xvHr9aaiZEhLEiemJZtEhSvSONCw6hOSsWjkhY5AUYY0LKfH9GyQ1XlEjyZKwxqCKKzeWrbbK0OwM2MrgDrsta7SgPMLYhIr2d8vywEETbOWcqqWG4b1c4djX4llQiN_ECyK560210kZzD2vQrra-AIXc0S71Yq0g-6FdFxgaQc3fNhKW2JK81iG5X0qbb3x4OPL51kUYsmtZMN6xxcMRo3I6pwMiOAuTGikLVO6klJsL94PKuQpMOaZKd9WoGhA1kf_gQQWHleWPGRZjCUPoTJLMUSJ7gDb-wbkk5GoNKSJZG2CgIoqMhO90tmrohMeZbG9XQkMxQXCbZQw8qNNtpBamv6JCNyPU9iuW6-y28TXXKojqhqOVy9TmIQmIy_hbzULCdy3buUuCOSFMzJgyxf0YPjQlLEkouIdXAE60bSHpHMHEWOmd_64KL7jNIJnvxIJB0arNREU_1EmxgZbLOqvzS2sn9adBkAUY5MSALid3HFhib1KIaWzJ42NAaPIurEbKhiK1i-S1na0Sc26to7QRiZBP37Avf4ythnNkl6EAhc7PJlhcoJdGZ4T0dvn6N9a8o_kgXRzJ-jFbhvK406tgaqFtUxj4GotsI2UQm07ZWJ_FhhTpUDnObfqQ2koDWWEe8UIGNkjVPKu6zZnQa8GiHI0SkbTn1m33bVNWspoqbW-6EUcDUY0n7sq2rrFKZakYk4CICQByYSaFP35nH9HmHpzfnv3UgphSsloabQW39V-ceWI1c3ZxqzlY8z3l-ANuo3AZGP42QKFehv6pl7Oib6iAorKjdOjW0BJzhdgZZ2jPRqE1Z43_bBcRxANpd64k2MJqnOsUlRcdBwqFKhZGEHX96CNrgIDKPUM1V01iyc7JqjxviwDqHs2Edt962mGCajtRv1ZxQnsM8-QWstOE4kjAZoNZfhXqAkeFcVTgSzLI9cqaSa9ngLtrU0lLvLCU6ifnDIs8JF_AKV0p_2IL42SIj9uj3wYgQuZFhoNVYo2yfnnkHxCYtpOdqSIlnkE7heY4nI4r1tJO3Gq57szY_H7hcARBurnVdtaHkP8rqr5fqC0fEfJsUBWUmWVrrZZ8OyUEURS9KbqD0zs_GC8KhqsabY87B38TsGkMlL5E5hNBidp9mrgHLuYAnj5v9mkwQmwER-5f18a0-mmkzUm0EfM2OWOY5y7ELdmf8oOnPebG-yIXvwiTBgzZvXTHwjKheduo0JKKo-cj00YiNRr7TiQhFOPRmWXEWxur3lDQytp00A==",
  "id": "rs_0fc39f5ee15d6c09016ab42de6d41087d0b58df5ed5ea9d993",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The descent stopped above the requested height as the open jaws met the brown plush. I’ll close gently around its body and use the settled jaw opening to see whether it was caught.\"}",
  "call_id": "call_mV5b5lUHTsZW4NzmahJZRzPT",
  "id": "fc_0fc39f5ee15d6c09016ab42de7b43087d08337a8b184c50ea6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mV5b5lUHTsZW4NzmahJZRzPT",
  "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]: [-1.1645, 1.702, 1.0142, -0.5476, -0.7811, -1.0271, 0.0109, -0.0212, 0.8314, 0.5991, -0.7315, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2544 left_y=-0.2674 left_z=0.0801 left_yaw=0.0234 left_pitch=-0.1573 left_roll=0.0788 left_gripper=0.0109 right_x=0.2352 right_y=0.0021 right_z=0.1066 right_yaw=0.0011 right_pitch=-0.3818 right_roll=0.0084 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -7.6376, 5.7368, 0.8083, -0.442, 0.0464, 0.9841, -0.0889, -1.3197, 6.7624, 1.4237, -0.0366, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2cae0deef5e5395612f284c8ddb26aff702db8bcef65b24c3716d1e8d100b63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24a0176d6a9ac52191a2d8baab9e85a546df91fe801e1761dc115bf52d079f54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c97ab56efa78f260c772ae066b1eef2dd1840d046a6fdf63cebb30d1495846dc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 2.551 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]: [-1.0821, 1.5425, 0.9516, -0.5285, -0.765, -0.9108, 0.997, -0.0212, 0.8219, 0.6014, -0.6846, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2687 left_y=-0.2371 left_z=0.1116 left_yaw=0.0193 left_pitch=-0.1274 left_roll=0.0541 left_gripper=0.997 right_x=0.2449 right_y=0.0019 right_z=0.1164 right_yaw=0.0004 right_pitch=-0.323 right_roll=0.0073 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -5.9692, 8.6769, 0.8864, -0.6471, -0.0806, -0.0073, -0.1026, -1.0735, 6.7077, 1.453, -0.022, -0.0122, -0.0122]",
      "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]: [-1.1637, 1.702, 1.0111, -0.5461, -0.7826, -1.0233, 0.9971, -0.0212, 0.8288, 0.5999, -0.717, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2545 left_y=-0.2665 left_z=0.0795 left_yaw=0.0229 left_pitch=-0.1567 left_roll=0.0836 left_gripper=0.9971 right_x=0.2383 right_y=0.0021 right_z=0.1095 right_yaw=0.0009 right_pitch=-0.3639 right_roll=0.008 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -7.6513, 7.8427, 0.9499, -0.5739, 0.022, -0.0073, -0.1846, -1.1556, 6.6803, 1.5458, -0.0708, -0.0562, -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]: [-1.1645, 1.702, 1.0142, -0.5476, -0.7811, -1.0271, 0.0109, -0.0212, 0.8314, 0.5991, -0.7315, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2544 left_y=-0.2674 left_z=0.0801 left_yaw=0.0234 left_pitch=-0.1573 left_roll=0.0788 left_gripper=0.0109 right_x=0.2352 right_y=0.0021 right_z=0.1066 right_yaw=0.0011 right_pitch=-0.3818 right_roll=0.0084 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -7.6376, 5.7368, 0.8083, -0.442, 0.0464, 0.9841, -0.0889, -1.3197, 6.7624, 1.4237, -0.0366, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2cae0deef5e5395612f284c8ddb26aff702db8bcef65b24c3716d1e8d100b63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24a0176d6a9ac52191a2d8baab9e85a546df91fe801e1761dc115bf52d079f54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c97ab56efa78f260c772ae066b1eef2dd1840d046a6fdf63cebb30d1495846dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC3uN5yLcxFYKWN5KD7BdPLY48b3LlDzvr01Hg2ABnSCqhnUWtZk0UjwJn0GqfHCd38t8QT1QqwzDVd-qpQOkkis6Y6lrgHepGKHX-r78B_BOHuuUXUQ95SDi_3Oui1dq-PqyrX3yMLg11EQM9VKrYuSRJQ775PciZeyMha6uHFnV6ZVbGH9rVGffpNHRf_K2jVZMZOefIovMTlbtTl-poLIJw3Yg-O7M3K1k-zlQmvtLUDUHKr8iMUPnoIm5gZHTA6OOSlBq81gDvHsBT3m4PqhuodHzTqlN-GfqNRPQvYVbgHztMYPeP7Pz3YDpkGCYl8kSIyxaya1_qZ4O5P4s_lz6TeQwVBxMNnfOv0CI6nsuj6zpMfqmeNdN4wGfBbSArSVV1Y6lQo9Td9Si9FE-XhxSxucaQsB8CsO8uZ1D4SiGMxgsDylZQYy-Auct9a7vdmTrq0MIW6RN3dt1crwMQgAWHd3ttRxh-XSkKCzHnDiQNXFp_MI5m6WlslBo2GPUGVh2-9xvH_qnGpBgert-fdO9XCWBFBxDdYIUIEXALimviYxJgfIwmu9W9ajABSOq_waMzSs8mgqimjt4GcLwH0HBBNfdTugPL9WAW4An-2R564D6uotsdXUg-f8PXm8LWp8zpuawJDmMwkopmRnyzE4-DYUs1aOChblc9j_69fF44Ha2y2fZaYVwoeU46Gp7-2YIy5FyhPQwEzcWSfveyu0JvUXbCoN5hS4JDuyf2LfFWqRIYLmPPnXplN2G6bisCF7eNMyBCNI9OqN8y9_5tMwg_VwkJ9yVg3hhrSG6dTaoAg3VTLD71Gtt7GrpXG9a_I1ke4VPQLkIdzmufglLdvBHmhPB6JV2RM-ioEJfNlBoMIjUQAXD4burDwMumCI-A86nh7JQZBIJVgKS-Giy2-8Os0lJcvGGU_Dejvcpav6VtcfeFUvzknABY4BipZucH41ByMGh59_pJ7QHdg8-pwOB_KSed1-oLe_FFyFiwrVXorieYTlk2CDW3wyaUnLmgCRYVZlxT-fPwKLv2Z9i5LLS-aRzgsgqAWqyrEXkQkUYjLmAEZ90Na4F4jhStAPUzze3RENkwjgoRA3oDHUihrGHEoSsKfC3AcKCPyNuH7FIu2ou_MIK67kp0IlLac_7RlEmJ3dnUorQnb0YxLgYwaMhAzuWRhvfPhBKNYWvhGQNnHNoBN1-q4d_L8iLbitSaYEeZL3BfX2leZTFDAWRQz83uOo2mE7kcmYa80ERZaY83q64cwAr1tEKtrtDK7zC0DWxDz_a16G-0zrBdGQxk_EwBSwnw1HOoujEBKUKpZjqrXtvUsxkR24tTyA4JwlHSx7WJhVnOj93pNUSNxPnbKDvVmP0aZpJGT3SHTude2nnq99oG7ZTDPn1sZcc6T-LC_9JHePNQgS7BNJ2ZXGJVRXLIov3wb3RLBjlqwGvSgxXXpEBf7QVRzt90ShiS9JJO1d0eV0LSQz_VCwi66tzEZRYK3Sa1FBvPVT8a9UWwQw9wQuTQnpbKii4AL6tDqd_s_1BOpSuiTUgl2YPWXPxBO2FlfEr2TyX0CqmmWOXb5ZjS2InWsopJX_sIBhOcratIqu10GpXd-3-LmyNbU_ZRae3q1rteX-2v-j8vJoHxNGsBt_Y71laDcVyveLePvgSahbojLlvpC2X-PfCnrb0aiGYgMj4cxxaNef0qGLBo0rjU0dPe7cyXzw57cVlrjM5NQkxozkfVm_wx1cCAp_x5UmPlngkmDCSbMoDkeIn53Zh9nLk1R0iDBgTAoR0l-lKaWbLgSXYgLPJUKRNL995pdlgDphzE0RsQxJQXWpJAD1uIk3L4dEzQxqgbmdgeeZtSDZYmwSyGKDveM8CVlTY591oLVarkRUyDJoQ4i_Boi6qhgNYK3GfypvBzGiZ9NGR4fbJl5rhyGWygN9ADblSQFqg0xZBGN-NhgNKKV8sZA_NHFrdVjrYfTrxq-YzXTlGY95yQridQ1RG2hrE1cnPhN4YiXBOLDLzcKpcs-oFDhrXo1uxJqtreln65DNveqKAM_3EhkbY6G2CpY63zdwCVGpdMvLL1lF-9B7ck_EzRMaXhQ34YHK51PC116n6_cSHmWtuSCVed0S1p45dNStIQp6DB03yG3u0OU8aGk5uK_3ge7Q_NJR_Bx9leaz_W4Fnj1Qm6HQbQlUqznRF_Py67vm1e8YDF9nFwXgS_BGNhxCx0TKvi5LORsTwsFJHPxV4OC0ITzNbSq9CHrQCksvULGyFIrHY7voYAJ9Lu_y954gaS-RTCnBTbz2tXkQe-TV9_dLd_9k3u4vQyBgugeX7YismPHudZcQDFfRIbu5OREfEfo6nLl1EFNQp_M-jXK0iSlGtcORAKlRJOskv6nP-lJJfZ_8xjqCbpbf_T4HK4q3Bik2a0g4YRS5E5qElnhdXjLm7v4U6-VjYmPkXZd1ngberNOHVsoPChBWC6U9aaBustcA4C3dvP4iHopgt9jk9LNxJwrfxVUHARE76pyoe9UGC_31YzZ0LwoLalWn8jHh1j4pkNN0KrBwTKMHji74LXtvu6N7-LPmpDicWiGidmpxRDfyfIcDzWs_Hsb6ofOcY7Sw5XuU9z3y6JrvIsLrK0oK",
  "id": "rs_0fc39f5ee15d6c09016ab42dea788887d0b80333c4a83fc64e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.215,\"left_y\":-0.26,\"left_z\":0.105},\"note\":\"The gripper closed almost fully, so it missed the brown plush; the safe’s front rim may have kept the jaws from reaching its body. I’ll reopen and move back over the plush’s rear, away from the rim, for a different grasp.\"}",
  "call_id": "call_oD8FaFW3ubHurf75peEHNmi1",
  "id": "fc_0fc39f5ee15d6c09016ab42decf2b887d0b6bc8cc3e54ca1d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oD8FaFW3ubHurf75peEHNmi1",
  "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]: [-1.2743, 1.6413, 1.0145, -0.7387, -0.7841, -1.1656, 0.995, -0.0212, 0.8341, 0.5991, -0.7433, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2139 left_y=-0.2608 left_z=0.0894 left_yaw=0.013 left_pitch=-0.1899 left_roll=0.1021 left_gripper=0.995 right_x=0.2327 right_y=0.0021 right_z=0.1043 right_yaw=0.0006 right_pitch=-0.3963 right_roll=0.0086 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -9.1829, 7.1863, 0.5836, -0.7106, -0.105, -0.0952, -0.0752, -1.2923, 6.6256, 1.37, -0.022, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfa310892191ee52e1a007135a1e3c2f8343913a02788ec0c59cffca3510026e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88e89b82734e42a0fb4f93f40538cdc2dc169cea74997b2c2a84b84724de5b4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a78d5597cfa8d2845e18113713aa931247b51e2999a2c25568e713796f03be4a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 2.438 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]: [-1.1545, 1.689, 0.9974, -0.5495, -0.7822, -1.0008, 0.997, -0.0212, 0.8284, 0.5999, -0.7021, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2551 left_y=-0.2603 left_z=0.0794 left_yaw=0.0201 left_pitch=-0.1599 left_roll=0.1043 left_gripper=0.997 right_x=0.2412 right_y=0.002 right_z=0.1118 right_yaw=0.0005 right_pitch=-0.3486 right_roll=0.0073 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -7.5419, 8.5402, 1.0085, -0.569, 0.0366, -0.0073, -0.0615, -1.6615, 7.0085, 1.5214, -0.0415, -0.0513, -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]: [-1.1645, 1.702, 1.0142, -0.5476, -0.7811, -1.0271, 0.0109, -0.0212, 0.8314, 0.5991, -0.7315, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2544 left_y=-0.2674 left_z=0.0801 left_yaw=0.0234 left_pitch=-0.1573 left_roll=0.0788 left_gripper=0.0109 right_x=0.2352 right_y=0.0021 right_z=0.1066 right_yaw=0.0011 right_pitch=-0.3818 right_roll=0.0084 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -7.6376, 5.7368, 0.8083, -0.442, 0.0464, 0.9841, -0.0889, -1.3197, 6.7624, 1.4237, -0.0366, -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 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2743, 1.6413, 1.0145, -0.7387, -0.7841, -1.1656, 0.995, -0.0212, 0.8341, 0.5991, -0.7433, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2139 left_y=-0.2608 left_z=0.0894 left_yaw=0.013 left_pitch=-0.1899 left_roll=0.1021 left_gripper=0.995 right_x=0.2327 right_y=0.0021 right_z=0.1043 right_yaw=0.0006 right_pitch=-0.3963 right_roll=0.0086 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -9.1829, 7.1863, 0.5836, -0.7106, -0.105, -0.0952, -0.0752, -1.2923, 6.6256, 1.37, -0.022, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfa310892191ee52e1a007135a1e3c2f8343913a02788ec0c59cffca3510026e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88e89b82734e42a0fb4f93f40538cdc2dc169cea74997b2c2a84b84724de5b4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a78d5597cfa8d2845e18113713aa931247b51e2999a2c25568e713796f03be4a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC3xVJfg9k6GAxPTnIps1jz9Q2FKMU1wACZRU-BFJQFOZIK2smLB072nW1mi52pF-H9L0sDZmaYGseL9j4aLTp9jPN_gyIhWX3I_BeL1jq9gOnzlJ7pZnwxoMAgaX2N1UGM4whaIH2l-r9mzxwR8mGcH1RWdo9hmeCTU-14iM3ll3BLRw_DAQfO5I9y1a7vNvnI_qdYkmSpGM-rRzKoXDjTIKBa61BQNk63ArI5zRTnL0BPFgZ_BroupLwxkkkVczlwzw2jOfe52H-96ny8yIqkIIskkUxGHXRya5t7rP9gFenubG6_kap_FccnIErbpenV3UsOlCqabz1A-fVjquybYj4ceETWBSSQ_NE87rEZ1DlcmyxmWbk9P97kaBeA-QNBr8SV7kXl8fz1iR7MXNmSsqSpw_rIxPN0Z_Gne35EMdmMjfScQhZzSxE-vNafcFip2V7ch56yatCqg4817DrWfIclwqi5PWEl0CakQX9aarTw1QLU5gWjJhYxCBv_UQ-wYncXW6eY2NeyM9PxfjGaCFsC120qkH2Vsci6TQdTwNV4WNGr8vH-Pj_dT6HiCkBCC-MAH4lGMYxbZ-v2vS8EfmkwtoxjWj3yXxZxcsG2UPury9YbIcRLVi0CNl1s2bCvfHwXm6zKFxNOniPjpiSc0jhVBnt7vy0OaFzrm2Ri5qCZFyegiIIPMX-zWUo-N-UImU5GUVJY-kyItuDqWczGPIY9mOOV-lfrmus3WWf6wLBW-jnWc9CD9oDMiMY1Jb4w2nxzCRECL1jKUtuGqTTgSsEmVC0SNvqKDtlAJJougQdeOclhj_zfUKpTdHaoLSp9WrrQTSkc4rBOjU0BB4NcFcY_m592bxnkafjoREXr6eOAog3-ce5kY1X3Nb1RoHBuSTuQh_5wCgKuZIM_qpxOeDz0Z6knjE1NmKnPt8RlcPMh02bUbmq4bDJ8BDtWBqr2JRr3dFh9jmO2s1fYTdp0-q34jW8Ict-2SnV4nlicaNzSF1O6pxmSo4bKI_tJoajEKMmwSv86uhuAtjW9XeXjr6vXNxbdPz4zyVGQAs_Vd8PhLmcWsKvQDxhAMrNUPO5-Qfc5WqSRj9ybn7nDRXQgmyfQEgoa-_Ov55e320e2s2qvHrWpYHc6EKr5QTSLPfhGTOkwPUinmVAOKMySe6x38i4MgxNX8Of6I65wx0Q_Clcepfy7zgyJCkL0zkLU4RG1cE_xAhzpx6nGuxgfb7ghYh30B12VVS0IN6mhqCdoOtWL0tZch4db_8PSMwhPxIevH8z1hA3iDybYa9iUl8cOdp2lIbvGCENE-H3o4vv5fw0CZ_IuaRM9ikRO__-JzsrVtP-xji0nXobfgAMbRzAf8fY-4wgFjPhGE3ByZ84uZch2y-QDBpywpplbTgOsEzmv-UBbm2gs_8zVI1AG1FDQeQNxcV_2EF_6ad9hgFgteWBOTTpKaeLqS14hwU8wHiNsMqoqTvFkQU1JTSk6iduUD0uS89CQAGs4syeTpeQW-Gvik5gtVOY0jwFZgHTQi8RVFfjvhFG6ZuQ838mGUBxbt53qaMnOu9tJqoZGp6GWO1g19qgIngOEAUT9YSiD2HcI2rPXS2HJBiRp91QPR2ur9I_1LDXMsCJi9BXqPDsMhfJm9onFZK2r3jrryiNGuHxIVQ0x3n7zKKS1GsL8DJhQvzIRecg8DcjhwP3u-DUpJzDDc_0F2g_6q2xpbQuB_iKXT",
  "id": "rs_0fc39f5ee15d6c09016ab42defe98887d091e7893552ab0e3e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.015},\"note\":\"From the retracted position, the brown plush’s torso now fills the space ahead of the left fingertips and is clear of the safe’s rim. I’ll lower onto that part of the plush before retrying the grasp.\"}",
  "call_id": "call_I60f8qLevS9wb67Hg5ZBSlkf",
  "id": "fc_0fc39f5ee15d6c09016ab42df0daa087d0bc0d8256df959eee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_I60f8qLevS9wb67Hg5ZBSlkf",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2778, 1.784, 0.8703, -0.5053, -0.7792, -1.1679, 0.9963, -0.0212, 0.836, 0.5991, -0.749, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2097 left_y=-0.2527 left_z=0.0194 left_yaw=0.0201 left_pitch=-0.2091 left_roll=0.1514 left_gripper=0.9963 right_x=0.2315 right_y=0.0022 right_z=0.1032 right_yaw=0.0011 right_pitch=-0.4039 right_roll=0.0092 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -7.0906, 4.6154, 0.6129, -0.5104, 0.0122, 0.1245, -0.1983, -1.265, 6.612, 1.3016, -0.0513, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9addbc478fc56249d2612ede2c5b24c0d9daac48622deabdf8ce55580c313a87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90d85bc12515aad9eef8d8f019ec88271fb2f4caf047f7707f628c340587f71b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38626e8dfb7a5c3fd49bc75c1b8576456a31a87c933ef3842e88b2c91230610f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 5.321 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]: [-1.1637, 1.702, 1.0111, -0.5461, -0.7826, -1.0233, 0.9971, -0.0212, 0.8288, 0.5999, -0.717, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2545 left_y=-0.2665 left_z=0.0795 left_yaw=0.0229 left_pitch=-0.1567 left_roll=0.0836 left_gripper=0.9971 right_x=0.2383 right_y=0.0021 right_z=0.1095 right_yaw=0.0009 right_pitch=-0.3639 right_roll=0.008 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -7.6513, 7.8427, 0.9499, -0.5739, 0.022, -0.0073, -0.1846, -1.1556, 6.6803, 1.5458, -0.0708, -0.0562, -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]: [-1.2743, 1.6413, 1.0145, -0.7387, -0.7841, -1.1656, 0.995, -0.0212, 0.8341, 0.5991, -0.7433, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2139 left_y=-0.2608 left_z=0.0894 left_yaw=0.013 left_pitch=-0.1899 left_roll=0.1021 left_gripper=0.995 right_x=0.2327 right_y=0.0021 right_z=0.1043 right_yaw=0.0006 right_pitch=-0.3963 right_roll=0.0086 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -9.1829, 7.1863, 0.5836, -0.7106, -0.105, -0.0952, -0.0752, -1.2923, 6.6256, 1.37, -0.022, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2778, 1.784, 0.8703, -0.5053, -0.7792, -1.1679, 0.9963, -0.0212, 0.836, 0.5991, -0.749, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2097 left_y=-0.2527 left_z=0.0194 left_yaw=0.0201 left_pitch=-0.2091 left_roll=0.1514 left_gripper=0.9963 right_x=0.2315 right_y=0.0022 right_z=0.1032 right_yaw=0.0011 right_pitch=-0.4039 right_roll=0.0092 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -7.0906, 4.6154, 0.6129, -0.5104, 0.0122, 0.1245, -0.1983, -1.265, 6.612, 1.3016, -0.0513, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9addbc478fc56249d2612ede2c5b24c0d9daac48622deabdf8ce55580c313a87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90d85bc12515aad9eef8d8f019ec88271fb2f4caf047f7707f628c340587f71b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38626e8dfb7a5c3fd49bc75c1b8576456a31a87c933ef3842e88b2c91230610f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC30UDULCOq2Z7YPPDnVH5fkusA1coHujFsWIxEbc958li94FojDh-PfRozj6X3kR_J87ZAmVYFkStv1agP2fa-V7l5rtHotmeAiE0fsEfFANKK3tSmdYfds-7tZrnx747tCr4G5mEqImk_7pownKzLO-cUM9tCqRI73wqXp9vBUnLNwtK17naf6Q09L2AInE1vnxOhQvuO6vQBH9MYPlGCYRlVMZJALh49hVXs_PG94rtt5yOpDtjbDjz1coi0Jrsuo1qgffkNQIbKF8VXLeDYnjGe2OtdrHz7zQzKisvNxteX9tgbnxlkDwfoltP3kcYlGMB28kLUdm9HyROa34MaLknG6YMYppx8QYwPsceaqDR69egMDWvl2gF6aT6NmC4LdalW66HG4p5GQA2NAb83kwzOPRnSPRsYEbI6Csgn3x3lm5LjXWDc2oC3NFIl--h3eJvR6ZJ_yGRoGoyXxUDDYZoGHaBJ9k0_qgDlXf5mka4kWi-8X3ZM-p2ja8mVHBFG0OHB_SQzDjhAxU00VEZuc_BpF6HEtCExlCrO5QM6UWrH5GG_iB8hi5yZ0dtPNmyI9eCjcu0JNNhc1AE6H-hO0QhGjZq4Hv2FUXpbSSWzGdP3N079PnJlJId6NW6uQoETYZ6kqBr2UNPf89LN_fbr_m0sr-ZC5XVQppfFZq2fZ60W0Vaz2dQuucG6-BjYsJrj0DdfZ5sM9vcQGlNBjbMnRAp34SU9spYTBJahw-P4kr-6M5ilDWLjsGOBk_JtUZCyVeJh9yNlNNSRxhqQl4h1QUNum4GzbAIuTF9Or5HQkbuYbhc1toGJlx3ilmZujJ4YxPa9YP6p8dkc509Gpo7P-JU4FzveQ2BPYRMPjmlVGb02QqhyVEesANJBG5Ba5Hlmc-TkJxwhzaQeUmg6oVqn2JxdSV10HP680KwU_Y9ARAD1BkCZwHenO2Cj5oMmLVKuD9ZIYQ-kgvcDHUJL7-pGlbcqtocdaIumcsKFUOWpSOiy8svxu2vkoLsZIpOsAizi32FMQjwNxwAwDkKJ4eR7z_OwvDAxhlPQtCgK8xg26pQ0kIBdlKrKeTgMcvR0Dv4B1x_bSxgeOZowLDfhi_-wNPL4f4VXfqN5RUm8TkdVdLwi4HtyknUU3f7Y9TNtuRCwSOvgifu5ARkhkxMCtNS-meRKHA5U2PmaeKGCmhEG5fCdo4n-cuk_aBGuEHinhXi8S_dRNfWJZlhiTmWxeEEtjaFQU_i7moEPtj2ncxO_AY2dVKivDSUL35JaQQnmAOBXDs6WLOpEk6RYWLIrhGJMl3g6VkQeq_tSpUG8kdpu1kSp10x7jognElG1NraOodCWxxE0fbiZtSreWzqIgLg0l6EFq39JpMKQRnLwDKOAWfWU5IKIcWnoG-kIyfOwml4fa6TE1qh9Wsxk1cB349KftPlBygjVB0_HqHAJ0RMHuvP4gU6WTVm_UuHYrF2oHLzu5",
  "id": "rs_0fc39f5ee15d6c09016ab42df324a887d099702b9af935c5a1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left grasp point reached about 2 cm above the table, with the brown plush between the jaws. I’ll close here and check whether its rear body is held.\"}",
  "call_id": "call_PgLPqlpGGqb1e6pE4bP1OhOT",
  "id": "fc_0fc39f5ee15d6c09016ab42df3d31887d090c0dd0339d4f8fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PgLPqlpGGqb1e6pE4bP1OhOT",
  "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]: [-1.2766, 1.8008, 0.8581, -0.5014, -0.7746, -1.1683, 0.02, -0.0212, 0.836, 0.5991, -0.7666, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2079 left_y=-0.2477 left_z=0.0115 left_yaw=0.0258 left_pitch=-0.2201 left_roll=0.1747 left_gripper=0.02 right_x=0.2279 right_y=0.0022 right_z=0.1008 right_yaw=0.0011 right_pitch=-0.4214 right_roll=0.009 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -8.759, 5.8872, 0.4274, -0.4615, -0.0024, 1.0134, -0.0342, -1.1145, 6.5846, 1.4676, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80605351b2565f9ad324b054fca4f0eab016e0c3465ddf85022bf6dfacbdfbce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50bd92793668f655223af8c3662715fd2099d7f8ace9e3451feec86757237602",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3a3a14444c1e3bc7775440691fa5aefaaaa4b7bb638ff837a8aef3f8591583d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 3.022 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]: [-1.1645, 1.702, 1.0142, -0.5476, -0.7811, -1.0271, 0.0109, -0.0212, 0.8314, 0.5991, -0.7315, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2544 left_y=-0.2674 left_z=0.0801 left_yaw=0.0234 left_pitch=-0.1573 left_roll=0.0788 left_gripper=0.0109 right_x=0.2352 right_y=0.0021 right_z=0.1066 right_yaw=0.0011 right_pitch=-0.3818 right_roll=0.0084 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -7.6376, 5.7368, 0.8083, -0.442, 0.0464, 0.9841, -0.0889, -1.3197, 6.7624, 1.4237, -0.0366, -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 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2778, 1.784, 0.8703, -0.5053, -0.7792, -1.1679, 0.9963, -0.0212, 0.836, 0.5991, -0.749, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2097 left_y=-0.2527 left_z=0.0194 left_yaw=0.0201 left_pitch=-0.2091 left_roll=0.1514 left_gripper=0.9963 right_x=0.2315 right_y=0.0022 right_z=0.1032 right_yaw=0.0011 right_pitch=-0.4039 right_roll=0.0092 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -7.0906, 4.6154, 0.6129, -0.5104, 0.0122, 0.1245, -0.1983, -1.265, 6.612, 1.3016, -0.0513, -0.0269, -0.0122]",
      "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]: [-1.2766, 1.8008, 0.8581, -0.5014, -0.7746, -1.1683, 0.02, -0.0212, 0.836, 0.5991, -0.7666, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2079 left_y=-0.2477 left_z=0.0115 left_yaw=0.0258 left_pitch=-0.2201 left_roll=0.1747 left_gripper=0.02 right_x=0.2279 right_y=0.0022 right_z=0.1008 right_yaw=0.0011 right_pitch=-0.4214 right_roll=0.009 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -8.759, 5.8872, 0.4274, -0.4615, -0.0024, 1.0134, -0.0342, -1.1145, 6.5846, 1.4676, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80605351b2565f9ad324b054fca4f0eab016e0c3465ddf85022bf6dfacbdfbce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50bd92793668f655223af8c3662715fd2099d7f8ace9e3451feec86757237602",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3a3a14444c1e3bc7775440691fa5aefaaaa4b7bb638ff837a8aef3f8591583d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC36FsODmXC2PDflPaIBOPb9lIJYbLbIR9r5kH4bbWcYh_Ley59Bq_Qx9sUZL7qWXdNCy7jphzDkWRDHwWWI1pbgU1z00ffaTEjil9ZAXtzTB7Vi85IN7YF8xysKws1BkS-4u8VGXNK9zermMZLbR1EuKspjofJzD2eJE3n6amQASMLEdA0Fs_cGan7CfsvJhK8hxcJj5uBJuNSxupHDVD--cPZE5nxEbkqGarJ9MG-dwxCm7150kYHi1j2AYZqOe3sD4Itca3ORuehD--JAaV470kyBq0yuezYiq2LzIZzRfMyGTDP9Lghb--JwT9q3Kh5ZkWWcftLYVEmbsVhtDgahKSCr6L9tsfKPRcoXQUfR1rzQ7_8Z0Jrn16FSdKLUoqpHiWFr9f6I5MD5BR1TpvIbwLyZfjzhVfE8yXVoVYTxaueIOGVKa9TUHkuoAQwu7LUQprdo2us4Qz4sZjDa1Yz1A9CSoR59Lo3_3DsYPcFhBWsNI9vvPCtq5rPe1xZXYRVA4qPEwpNy6Sd0tfaH_7sxSE85InYp0mZsZ_aceYPnn1EsdiYBQDIj3sYIPawIBsJClIdka7xh4K4SpsdV6_qQZ2_VulgvUx4Q8ItBVB5ogVWAYAEIciw4dKERAY1m5oJXNQlPIJPNvO1TbezvMfHs9AfG0Riherh-RfDI47YWc8YpKkTVUU0Y89XJBpRMBUp7UEGcb956c8VoKvq2tilX-9ipzzqroojuy31nVvm-v23kNi_D60bsIWB4fND1sf4jY82BLwqUfkmCmxgIUqsZ2RKRs5T1vEdsO6EDnYDUb3kmG-F8UsBIJnImYObLTM_nTEPFK5Fx88v__hSrVXwZRuk5Qtc5AdRgyKjKNmagOQPRS99HXAO2lj4HWaUg6NIMnvZj-eEYrrixioxbmfHJD-5ykIdO4PPU7fOkOTbO2f2-tI5DyQyJK0Z64nbRMnEyogsuvc7ZvKuhHcbBICeXfEK0oqzjfo5p3cwKrz12wxRvuMb4It4r8P1hwQ6a_pB5aAlX3JzEAwHZ7dpkU2dzyFjFDE_ScjdcS_K-2sz9bzGouYIdjzOEBCpJ78fHU8TsVLR9MEat14px_WufHg7rmJGDuOBrP_CBpw64mZKq3VDV9gNnuj3s3YyVy2OE9u0IgF0x9tIQb9dZc1L-F5dT7O1BN5uzIDdpe0HcdZGl3A7h7Z2kqotlZPJAWsryFTzlfr5pQFACrZwNaG0IfozjJ7jamg_BSmo39h74lTerJEG1Mfq2vdO50-H6nnr3Ya_HCkKAvmEvjoPutt2LA3fnjVeqo7LEjSbyldV1D7jpsXqhar4a0_426OGfbaDP2lWNUKP8cFStIYPvUQw0X-muEuarpQQE-aWc1gnpp945lSCDtpIlXY8E2BTsKD13H4zWtkDD0Mklh9soGNddUwHDBxBsL2vFpsjGfYnuXKNoC3PwHHzVGHGEVVezDAaK8z_tjETdh7KSr4PhU2pOdDMRvhS5t_KuZT-wQ5Q3LFvHgYzzhKFg_NGzLlGvphcb7k_coXd4NV7czXjyFu4R0J-aNy-psuiGGlcKMiRa6VpYn4KAgfD0oElP5LXIEQCBNIkHstemkxBa6EvvdLSlIVVZxxUx6Fdwge26i6L5NfwZm26INzCoLWiQVReSV-PCXN1uorCGaJb6WH5sDuoDlrey4V5CWZpeLyAL1yI4Q9qrITtb9Q7VnYZdaVUs7Hv681QRaLDZVrOgtSrT0b3r3hh3BT3c1NBoVRrsdXbi5Vbma9fyYfz7dCygv-PRq3PGGbUZVd9B3B78-ZhwwvFGsd8t6nG6L96MdzisaTZou4yN-ROWi3APj1x03eZkO3kbo92u8buQY4BZj1PA6RcCR0JwXqvfzvZUOxbSX9pChUp02kl1QAFjmNB8VA5akb6KU3zecYfMfzh4S5X9UOTdBIwyABbwgOh5TW8ZnaF-6IDIlbe3l92DbIiBwDB7xEmPFqnUiUWfiIH6EIipe7GyQTYQhqMh70CNogFrIoXa6Y-CbTfx6vykhufOZlxAtS_TQfpXQeeY-7inJotIiOUaFkZTioz6vcMQEVuefZGhyGBOcuDDJEdeNNciO4OCfeMHY0_Ln06Rf02IqIsaDYwJUUfGkkAGoj6Rdasv_ksjJ42Fn5wd6nFRsAZ-d61nZCO_MZoZsGVyO9QY3JefJ-tfAkHkGzTAJMPRBQGIVY8TkTQlyDQkkWnXaAOUccKreVW5r8EvVykoxeVcqjZWUe5SiJ70zLKB1rO-i6yDElP4YWmy4dmdo9SXagKrBRIW_hRPn5ttaGdwQqpHfGipGkWTK31sSu187F5T5k_f8h5mmEwqBUazYqSos2Cqc56k4s2GMHYxSw1Kd6L0X2VPSG1yCknNdOsQEO2ISt6U8TSNaL9Sl-CyhXdacZ1KU9plm4U8xShAey3YSjbyervDyQaUQ5x1NxOqZkaJfr561lP-e_QcHXKcz0Eeq62VAhrDFyooQG7Kdg4TdgUH_r5ifOrpcNkQDNc5kN3_9pTPOIaO3lh-HGB9b-WdBHnGrDst6J-WhIEMZZ1NlIFeh-J1t1nM58rKhqGpFAQcU8W9wrZUxiMbX_u_oW1Ed8iTFxhWaX2xU-Kw2_VhqFP97axXqwrYAO5PXmJKLsQkqhuXRmLNV0r75ZrrS5zQALyHCeP_GCVPMoNnIn-0RK7LGXvajb7A29LJjNxjaPAnhuUBVq0G6Y7oMuQmxBWxXTBHEqs6XNanpyRCPXlfgeyc93oYvcnIswgFGKEkgno1iolxvOZCjx_y9oxAWWpDjitFQe4iQsMSyW3L",
  "id": "rs_0fc39f5ee15d6c09016ab42df6b9d487d0b501d0f1032f7191",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.245,\"left_y\":-0.255,\"left_z\":0.02},\"note\":\"The second close was also empty: from this position the brown plush is still ahead of the fingertips. I’ll reopen and advance a few centimetres at table level, while staying to the right of the safe’s rim.\"}",
  "call_id": "call_Chk7oEgtG4qiZjNr8Mgdtqjd",
  "id": "fc_0fc39f5ee15d6c09016ab42df9bb8087d0b348d8c135f3c932",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Chk7oEgtG4qiZjNr8Mgdtqjd",
  "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]: [-1.1725, 1.8057, 0.8928, -0.4625, -0.7521, -1.0473, 0.9951, -0.0212, 0.836, 0.5991, -0.7879, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2376 left_y=-0.2442 left_z=0.0164 left_yaw=0.0429 left_pitch=-0.2325 left_roll=0.1868 left_gripper=0.9951 right_x=0.2234 right_y=0.0023 right_z=0.098 right_yaw=0.0011 right_pitch=-0.4428 right_roll=0.0098 right_gripper=0.9996\nstate[joint_eff]: [0.3214, -6.0923, 7.706, 0.7595, -0.4811, 0.188, -0.0611, -0.0752, -1.0872, 6.6667, 1.4286, -0.0366, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af62015db078de35bd79ce4114e880f02c671a6f043ede0e6bf36df87d1fdd23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da6e3dacb17a4e9e88f02b9d4911186871f1c7b4f7831494a5a925d932b59d4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20de9f22ef0c1fc4ab83a37cf2d86fcfc8a9c88517e5583be12949f7491f1a9d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 5.706 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]: [-1.2743, 1.6413, 1.0145, -0.7387, -0.7841, -1.1656, 0.995, -0.0212, 0.8341, 0.5991, -0.7433, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2139 left_y=-0.2608 left_z=0.0894 left_yaw=0.013 left_pitch=-0.1899 left_roll=0.1021 left_gripper=0.995 right_x=0.2327 right_y=0.0021 right_z=0.1043 right_yaw=0.0006 right_pitch=-0.3963 right_roll=0.0086 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -9.1829, 7.1863, 0.5836, -0.7106, -0.105, -0.0952, -0.0752, -1.2923, 6.6256, 1.37, -0.022, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2766, 1.8008, 0.8581, -0.5014, -0.7746, -1.1683, 0.02, -0.0212, 0.836, 0.5991, -0.7666, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2079 left_y=-0.2477 left_z=0.0115 left_yaw=0.0258 left_pitch=-0.2201 left_roll=0.1747 left_gripper=0.02 right_x=0.2279 right_y=0.0022 right_z=0.1008 right_yaw=0.0011 right_pitch=-0.4214 right_roll=0.009 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -8.759, 5.8872, 0.4274, -0.4615, -0.0024, 1.0134, -0.0342, -1.1145, 6.5846, 1.4676, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1725, 1.8057, 0.8928, -0.4625, -0.7521, -1.0473, 0.9951, -0.0212, 0.836, 0.5991, -0.7879, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2376 left_y=-0.2442 left_z=0.0164 left_yaw=0.0429 left_pitch=-0.2325 left_roll=0.1868 left_gripper=0.9951 right_x=0.2234 right_y=0.0023 right_z=0.098 right_yaw=0.0011 right_pitch=-0.4428 right_roll=0.0098 right_gripper=0.9996\nstate[joint_eff]: [0.3214, -6.0923, 7.706, 0.7595, -0.4811, 0.188, -0.0611, -0.0752, -1.0872, 6.6667, 1.4286, -0.0366, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af62015db078de35bd79ce4114e880f02c671a6f043ede0e6bf36df87d1fdd23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da6e3dacb17a4e9e88f02b9d4911186871f1c7b4f7831494a5a925d932b59d4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20de9f22ef0c1fc4ab83a37cf2d86fcfc8a9c88517e5583be12949f7491f1a9d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC3-6X1oaLQkOo0YmUMeQdaH_QS0CqyY7IGwvymdt4h07ECu5jS4081JeZ9PmNxfbLVL59TcCpCq7sVj3V_GRJnS_fn85YsJQn9jBwb0DkA_fwKl6fl6vBd-KnspA5X2x7YgzUGuBhdVyeySjDG_yvhihDvYjOGxjN6LCunTq2YVBD9fMv9SnPU81DMb7qUqqVBxGtPKLuiVBKm_YD0YAI0Tb_xkKUEPNrfpBBMNXSrnLrgalDJfeexjJWWFAT-q9jErLx13SNc7b9ZMP0uA4HArqyeoQi9h2C5Cq70NT8Gbk6SmvSpHKx6_ddua0NF2qBcpP9UuqQ0ug5yx3ge_AC8uCGSFLATdZHRrvPJBy9wWJTfK8_QUpuRMUvdfLTBdNFq3b7is75SL7DSVbjNzhV6z0S-bAHeClXMuof4ZSyDnfGKY0blVErTRFcC-CQOt7rIv6hsS62xWWN6VBiiAEgBV6Z1e68es3DI9Hee7bxvR8i-B7_iZs7yBIYmnSd0KvbvapitklxJr3DHOgVGQzfzBWklozef6YOaiIQzedwvYVwV3Pk_2BlUD5F5JvF7kTOLabehYasiemwJx-5-9zjcFkvL-MpZfH4nGDRF4oo3-hrTAyeIZzt_rE6_7Z_b5fB6gbEcFb49I_N3ZySUpzGUgTS1Q_oFt0KF7svWSVuAqcmFOo89sfoy4T39kKaMC8vk3L25qKK97TLp8QmlFKwJ01vrMkwypEysUheQDwI4mxXHLH1r0hCd8Ir2NexoV8Kouayzml0ACtCdgOI-2ChElbIX-2KI8uCRIcbocLGGnikGfwmhGaMWv-mWKEiBL7SeofE23XTWA-wi90knfAxjjBq32rZ0Xn5SmRgMgWjlkG4KrPzkccdgLTV0wEFZcc3obTFixZR9ihAVcDIR4a_WBoPtVYrgl5q7KMYsJshZauQ1_3iEAZX3Rp8cSqPVI_A41HLBF-waMbZr8XX5QE-lAhJpplYJHb_Ve6viZhhnMV-J_KTVcF8Kr8a00P7kvo8c7Ux1SIRqNNn8EtcboNFQJX5hIaWQ11Ofd3wCQcPtOwPQ1s6kPQn4XEUCtGTWEXx_wOxt021JQtOIC5cU7VZ8MN_KGD3YpDLU3poIjigiaynVQxM_hGoGWHi6kkL7vot2Y8f6-aM0SYkjzfvwmn3QZzBswE8t9evOfOko0fEM2w8vIbx3eZdAHD2ZSbGOfMjIFmtnXP1esS5Y_F16AHrr2LibcsR-gW8iFkHr8qLAxtWsurpLwFL5j-cfNtxZo9CluHllgrFHz5hciDEqCPAUtUX7iBDXRUsdbgmKHW_H8DIq8kJ-7aq9Azq9XxfTvaH3i0wijlXdplS2oDmpI55_dJpHg6MapATxDxt1Ae485mErwuu--0-ZAsnRHzEvpCW9XKQA5d0NGMl_Jmh-91321f7RT32UABVcWw1ssViUJc8tXEaC4nvDSUlpIv9XZH2fEJb_FRQnnj77MzazDRreYnCdAe55jECvsP5wpDz-Wypvf4I5FdoCzoiT8how_Bn7ElAV2r5VIJvHefmcIGQLxUDovXuUA-LhUM5isK_88izZLEIwM2T0wxQFeIaYEyEjGd9PGNTWfrEHQcul2PMGQ41E7B6F6X2aBK9SIYfvjeIp6_r-aWWu6Y5D_KwDcxVqSUzxsZJ83-HMv4hBBNqbqKWIjZ7CaZuXGudPxSCRePgmWyXalO5TjB6uqToULTZhuJx1plUWenFByezBy0X72G1ykuEdAnuVnWeWNkPWbcWbLtBJ_V6x5yWeIwiTYLjviidgRKXcoA4iRrF_kpYHO-gjGIyDWOVwEqC1KXee4lTGwzEbiqAgYn221a8mBl7abHpjdDypeewkbV6587awMoX_Fk9icjr8eSO-TTNq-43W5HO2Agmxncngrt_sF_0Sd",
  "id": "rs_0fc39f5ee15d6c09016ab42dfc92f087d0bd642794a4cfb1ba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open jaws now flank the brown plush’s torso at table height, rather than closing behind it. I’ll try one close here and verify the grasp by lifting only if the jaws stay apart.\"}",
  "call_id": "call_lNNjyPuILpI8vfOXwMnuL53D",
  "id": "fc_0fc39f5ee15d6c09016ab42dfdf96c87d09305f403beeb5c6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lNNjyPuILpI8vfOXwMnuL53D",
  "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]: [-1.1717, 1.8175, 0.8967, -0.4568, -0.7448, -1.0519, 0.0161, -0.0212, 0.8387, 0.5991, -0.7959, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2375 left_y=-0.2458 left_z=0.0132 left_yaw=0.0447 left_pitch=-0.2395 left_roll=0.1832 left_gripper=0.0161 right_x=0.2217 right_y=0.0024 right_z=0.0965 right_yaw=0.0014 right_pitch=-0.4535 right_roll=0.0098 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -8.6496, 4.6701, 0.5299, -0.4762, 0.0611, 0.7937, -0.0752, -0.9778, 6.5436, 1.2527, -0.0366, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec67111ab6884e87aeeec2e0a69e8d19db69f4f7e3efe8efca1135ecad19be4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37f3d65303e0257838ec769200e02ed7b85227e33c523441c673b731300300e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eec4ab934cd02477008b24888c23f3ec9ce7822e954839e6913c9774aa502e35",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 3.528 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]: [-1.2778, 1.784, 0.8703, -0.5053, -0.7792, -1.1679, 0.9963, -0.0212, 0.836, 0.5991, -0.749, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2097 left_y=-0.2527 left_z=0.0194 left_yaw=0.0201 left_pitch=-0.2091 left_roll=0.1514 left_gripper=0.9963 right_x=0.2315 right_y=0.0022 right_z=0.1032 right_yaw=0.0011 right_pitch=-0.4039 right_roll=0.0092 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -7.0906, 4.6154, 0.6129, -0.5104, 0.0122, 0.1245, -0.1983, -1.265, 6.612, 1.3016, -0.0513, -0.0269, -0.0122]",
      "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]: [-1.1725, 1.8057, 0.8928, -0.4625, -0.7521, -1.0473, 0.9951, -0.0212, 0.836, 0.5991, -0.7879, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2376 left_y=-0.2442 left_z=0.0164 left_yaw=0.0429 left_pitch=-0.2325 left_roll=0.1868 left_gripper=0.9951 right_x=0.2234 right_y=0.0023 right_z=0.098 right_yaw=0.0011 right_pitch=-0.4428 right_roll=0.0098 right_gripper=0.9996\nstate[joint_eff]: [0.3214, -6.0923, 7.706, 0.7595, -0.4811, 0.188, -0.0611, -0.0752, -1.0872, 6.6667, 1.4286, -0.0366, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1717, 1.8175, 0.8967, -0.4568, -0.7448, -1.0519, 0.0161, -0.0212, 0.8387, 0.5991, -0.7959, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2375 left_y=-0.2458 left_z=0.0132 left_yaw=0.0447 left_pitch=-0.2395 left_roll=0.1832 left_gripper=0.0161 right_x=0.2217 right_y=0.0024 right_z=0.0965 right_yaw=0.0014 right_pitch=-0.4535 right_roll=0.0098 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -8.6496, 4.6701, 0.5299, -0.4762, 0.0611, 0.7937, -0.0752, -0.9778, 6.5436, 1.2527, -0.0366, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec67111ab6884e87aeeec2e0a69e8d19db69f4f7e3efe8efca1135ecad19be4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37f3d65303e0257838ec769200e02ed7b85227e33c523441c673b731300300e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eec4ab934cd02477008b24888c23f3ec9ce7822e954839e6913c9774aa502e35",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC4F3oaqlgCaEX-SMf2aOho23o9SnLAgGG_DxRT5SYmxqix2dG7ygr4wg4mZnqftB0JNBimusq4_vCW36Rqa_gapj4GagqqevJk-b9KmVF9qngnrtz_cxxFDhuO31FhSyMXjLhe8EjnSs4AVYNSDIZ7FT6ItxPEemPLNxIE7RP5S_kVtFHFc7htovF2oLVVvpEPUYeOtCxkriij88TKTjn8gVIDczfOkPrM39EjwmuqpZgW678YSt0IwiBFaH9ITWb8UA2eKTfBXRGYPr6oErbu6uZT1UQ6pvSzPpVhdEjYYSvtoxL-jMsEK_NG37KlRgHgQPWCiD8qirnWc0Azn3XTaKqyW0_8PdAsGgGfrhQ0IdYXGIxp5XzUi51Tcj7_Z--bs_iaGushpRYg5iXOAmgX3C0WHZ2PDTmNeaGL7vN-ztFr_MouVvPbbmSBDKIuQA9C8YYci6AoPK-47z82dHiGEysZXoGsKHwjEG6TXGzIIHgQLyl21e5xUUz7I-s1YoUJjZrzJ3ir3aQRr2CEZLn6I4KUyE5N_qfOIyh1T4D1ya2a4m8RW6-mK0CJURfOL6DwFpIvAG9GFxW2daMkjXFOrw_cwtAF5aA_3I8jNCGik3izukhJuZsQV9Z_t2uy47fJkhlqOk332niO7LSQ1F2gG7P2-7tMO5lBGPT18Fd5MbQ4Ckn8XDt1v4GyEPwQxM-ngqh18-22HVxzfqRP4OxUiD-d-VCGJIvXJ20lnZC3KIapXlqFkaBsBTTyqFaY3FBysB8O9rIDVrcz39kxta0ZRgtA5qYZRoLFGLcSJeLO_uJ3b13sHwA8YQAmjEUlRWHwv2_y6ZNkzMTpx6XtxokoGIoZpVswRYdoxApMGcFqs9lkl92nEP8-YuVDFCzLzrqrnykI-J5QQkCzdjIxM9D-8yuBRoyS9cTK5HQBhawcYWFNU2IcLBhzjFhJFejqWop_PeFKWrYv9Ne2cemd_-rb1uyxtyYuSpW6cyagppvmaLZJt3y3kl5D6DQNeTbj1d85DiHN8DXu3ELNXFLVPWyog4ljzLwljXgZe5TPoMpaVgDdANYyxMlibmZMPj1N5M8eViBAlSfQR5PhAA4FzyOX7NVve1khzbNivFGrIL101MJEnhS6d3PJOOwPeWm2WI7dc8kYg17Gz_waS2CV8dZ27mAZSxKTUwfCGldruzoaBRJ7876p5450_vBKRZD8IycioyMxrcqTrp6n5wFnh_ijn6ie72SQoJJxQYPSB2Z692qheSG1_qIPzSnrytKuvud8gpJl-pajlSFywrQsFT5d_Jli81L4SKcPNJCkaPtIqMyEU1hDcN05_sOlAuLhY2Tr1Jdgdb0ICUcNTYqlydyGt49cnjZywxvsZE6dfATeO9KNmyZR9AgHlBFlj-lKRCS_UMAPZklavqeQxa76n2r8krPaSNkaMl2KqqfwmuLmewDy7E88WhRwCSWoYrUoVYPtjR_8nQDEQK2fFjV1VodzP-sXUjhdVEnkH5bIOcH-nYtYYJ2kBTjiGDWCI1IFagRCP_RAGPnCgtHnro3yOyeXIm0bIMPyqckxMQXs-eFjp2cybYT54BvCSOZsoIhqj0IwqNU3NSUcoxE5W-5z10nvxg4m0tIG5mKSQs8qntoyEjp60STINKFX2qTPjxQuDl-TSpaipLLNIFPMViRwPKRnsJTmUU8pzNyeS0q5UuJBbFFdnM1KS1j9FbwiRom8P_w59iRkxprI5wCzEHmpqJM7D1luoUlrrTf-jeUASI10rPKtxhgGYGKdYZJeXgIa-HHjuJ8ZTX01Od5WTXXZQZ6JxKS9XAiNPQfFZTNHTAxeytHEct-KEok7bSGr1CbJ0zkM3RVDn6Swz2yoc1p9hd3o0EEMv82fXAuw0ttEqH9X_RZ8qvthucTd2NKPfS7ekYQP_WrTqTaaRRSqnzAKLTGUU1pV8tLR0SXk4nWj7-D17SbcGqzE7pkNdaDS2MRSSOXsZ_9x_D0XH1r46xqtTAPk3wC4uWmSiX-DgSpMPSXlGP6hGd_80PlegoNDP8JqxINSvg-sQMwf3o6GSm6rgIQZJbIxn5ax3vgJ34v_hX_YCbt03qoF223JZrBSv9ZTpZioGhjfnTtE3m6uAcqQ8_FXP4aSNA9fcQA_G96Mo5a1jUhyx0SXGGIyJS2XIOoDYXOwZCh2RsNFmu7_6mpGG1r07-aLCLsBDyBQivXTkDM6wh3lJ06wNFbkXgIkcAlor4NABh9qfFeg7a9m3PCujgWvkpR_PrZsXQ0vVtnVs4uAJspN9e1WMcC_gVYzZDBBsfRjLIRWOvNduQ50ZDleObRFTKb3cOX41T4Q8DmXah0cTHsgrpQ4kTazOv4pTbpcqhSBKuXvYSDkoW4QiK3l8BJ9GphodnwF4xalEDx5RpXj0Lx6EMGjiHcewrM8-INb1Y6ruIT_5Vem8-SY-_Q2wZH_7c-zqAFTYFjkWnBKdB0mBPRysMVQiPU1Rt33HTDw3NUqp1fdfBrM4PtAichj9wga-xyJUsiJvj24bMOLGesCGBgeFWS0VphvhWTvmjRzUxZD2GkZgR1jVrjMKuNDpCuRgDbKDnf1IvOUCSsHkUNctbRKCgCNhB0o-5qn_yvtO0M8jI8X5PWhBnXTkkE48qMKJoHOJvmabYKXdGVnyYCkqQVlIUlFld2sEyquv4_U_B9yAzIT3OAjqZaE64cREkzaX6iMdgKdttZAVYMTiDu3i61eUb9mEbso-a2PZT-nsEkKT",
  "id": "rs_0fc39f5ee15d6c09016ab42e00da6887d09409d0481d250afa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.29,\"left_y\":-0.305,\"left_z\":0.105},\"note\":\"The brown plush still slipped free and the jaws closed empty. Its smaller head lies ahead and to the right of the torso, so I’ll switch to a narrower grasp there instead of repeating the torso grip.\"}",
  "call_id": "call_Q1FJUcLmhdB9cSdAo4DAzikc",
  "id": "fc_0fc39f5ee15d6c09016ab42e045de487d0b28336750ccbb46b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Q1FJUcLmhdB9cSdAo4DAzikc",
  "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]: [-1.1084, 1.9003, 1.3743, -0.7967, -0.7219, -0.9913, 0.995, -0.0212, 0.8402, 0.5991, -0.8078, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2848 left_y=-0.3017 left_z=0.0944 left_yaw=0.0546 left_pitch=-0.2457 left_roll=0.1647 left_gripper=0.995 right_x=0.2191 right_y=0.0024 right_z=0.0947 right_yaw=0.0016 right_pitch=-0.4668 right_roll=0.0101 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -8.9778, 8.335, 0.5153, -0.4811, 0.2027, 0.0269, -0.1299, -0.8684, 6.5299, 1.2772, -0.0513, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f87d6eab314c8026c846a41a7db477e2df3f7cac82683db061e711bd5e2ea017",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f54204356f57857bbb4b17d7ea76ec190839dabc901e868e2c33210ef40eff40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd118d3a95ed6b5a7ea1b38fac1c5c4edda7f8e5b636d9bdb08c107b5958b875",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 2.536 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]: [-1.2766, 1.8008, 0.8581, -0.5014, -0.7746, -1.1683, 0.02, -0.0212, 0.836, 0.5991, -0.7666, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2079 left_y=-0.2477 left_z=0.0115 left_yaw=0.0258 left_pitch=-0.2201 left_roll=0.1747 left_gripper=0.02 right_x=0.2279 right_y=0.0022 right_z=0.1008 right_yaw=0.0011 right_pitch=-0.4214 right_roll=0.009 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -8.759, 5.8872, 0.4274, -0.4615, -0.0024, 1.0134, -0.0342, -1.1145, 6.5846, 1.4676, -0.0366, -0.0562, -0.0122]",
      "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]: [-1.1717, 1.8175, 0.8967, -0.4568, -0.7448, -1.0519, 0.0161, -0.0212, 0.8387, 0.5991, -0.7959, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2375 left_y=-0.2458 left_z=0.0132 left_yaw=0.0447 left_pitch=-0.2395 left_roll=0.1832 left_gripper=0.0161 right_x=0.2217 right_y=0.0024 right_z=0.0965 right_yaw=0.0014 right_pitch=-0.4535 right_roll=0.0098 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -8.6496, 4.6701, 0.5299, -0.4762, 0.0611, 0.7937, -0.0752, -0.9778, 6.5436, 1.2527, -0.0366, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1084, 1.9003, 1.3743, -0.7967, -0.7219, -0.9913, 0.995, -0.0212, 0.8402, 0.5991, -0.8078, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2848 left_y=-0.3017 left_z=0.0944 left_yaw=0.0546 left_pitch=-0.2457 left_roll=0.1647 left_gripper=0.995 right_x=0.2191 right_y=0.0024 right_z=0.0947 right_yaw=0.0016 right_pitch=-0.4668 right_roll=0.0101 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -8.9778, 8.335, 0.5153, -0.4811, 0.2027, 0.0269, -0.1299, -0.8684, 6.5299, 1.2772, -0.0513, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f87d6eab314c8026c846a41a7db477e2df3f7cac82683db061e711bd5e2ea017",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f54204356f57857bbb4b17d7ea76ec190839dabc901e868e2c33210ef40eff40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd118d3a95ed6b5a7ea1b38fac1c5c4edda7f8e5b636d9bdb08c107b5958b875",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC4JXKsbehFYqYX2nf-8STnoOL0ozJh1RcDtAaJQODGzexD2ahatyJa8W_eEqkw3aKFdgEcerkvstfO6p36D-DJISMhizptXPtK7_7LPLLGdQidcFtXlR4XJsLJs2PDWGgR5Xlqchslb1qwXuHTYYPSTx8BQZAseJviNUdUliCdf-qtmTAO-820jlfvbqjzNGnnsXAA9j-Oiy_czXkNnnZUtVI-VZl7Hs4wgd2mMqe_ohSuFuX2-9GKgohQinBtXolbulL7sJHzmr61xZrXIn1lll06kXhMgfc9S2UBSJRDhiIVoJZMyhDfAANj36UAx0zffpMbuTwEXDEYjsSh1nQbXAQQJ285SyGF5anIIDbaJeqgmlObXIe4Rk-NLpbnuUgm-OuW9kcN_gcgjl5573aNuZHeCj6rPWqyBpzXCNVPoR1WvaUOYQQE_DvnylhKV6z7_ZrjzkyrCQlOWI7ibi0xCnRVT2PvwQHawQOKd6jTPNczIQBBYB2s7ruma2MysAVICWSI3ZOEBwHfWwSNEPAtDXpEucgk6-fdABuiLASAr05xBpQV5a06GxZQNDPjasiOzJj63x7jFc_phmBM-2Lc88FcP9D1lO8-8AO6mTsyVS0W43EDmUvBEB7i9qhbUE7rbpwl0GuZWHK2nym1vP-nWN5mLATeCzwVLg6veT7SeJVyVN9hUx2RC2aDmgo4ErkVXvPnnZWbIqdS1AOuKaegFnVf4WfyXHb1-jW_8BEwGmWNApCbBiqHXwPObcvK3GA4uMEKDlxw1B65UhvpMX8eojW731CfxQukpUfcJD5y5Bc4lXub7DnyU2wh2vG_VJeDFsK2jAv5OCHtiFZcQD57pIyVHzh2etmEoxAzNQsAjqvJA1rgWyec_t3bFFS73xH6EFU6CIxEFdejB73b-cM9Yin6uAL5rfQW473aadIM-OFmS_tTRnyzl8VjuZegG0eyClJ1OXTynPbewlWnF7k4UF6wbfAu2TBfW-vPyeG_0b3eihB4jS9jzZQ-twXAMfdeZyIizoUxbBbyVyrCDaJCovuwAYmPGFuR9dO_I-1mJPFVpXTkWv5YbQT0LFbaYeJkz_DlwrjaZ3BleB3TQ8UNivmKUOG1qxwhqUbrrTPpaMmkMJAWZ02fzspJwCwWuC59M0zEQ7Y-ey3H-u-2YG2npCUi14NQVcppxWzWGz6y12Qpxh4gYrUhjj2ZzA_t0LNF8AEvPyCz4A6FafEcx7vkV-e4BF8JDBtoY8KXNAcYTlzqtaee3QDpHZGaEpbUnjxO0nheXK2cp5FdkkngOoR6T4ef4uIiafywM8iPr0uDscl1eqn7O5Kp9dMicfR7_jMQvodD5OzRDC82Of1CXowltTpPMIKipvrsaJHHa9P5nMMLdj6UjNdStEUBIOA9D2W8kdRNcG7LiSjHnmLfPwBaUtOrOCGumcqnQovG502gUC_UlA5ibXtJXAYBG-GqlFin7PeCBASr38RJZj0mLL1f5_RoGpQOFxY2xoHkcwnKsKNiH3pbZEluLormrDvfArM2NFlb5MDX0O0Jnwvu-ViWa0pZgL2iEjjIERXOhvRGdVC3ka8MmbI-tN-ohA7tfTXqZPD35d4Lft_vtPdbXs_zYogvk-tpAf2oxEdSw9s7OkVv1uNbA7L5UDn_sDOGDNNUtXqPEyvWf1BnwnLCodeGAgYDSVPNSGWb9_mgTirYYpN_gSem3rGpNf_E4uq45l0nqu8-pTVMEz4nE4RqwSPrCJsj9Q522A4BlhhOD7uQ_rfU=",
  "id": "rs_0fc39f5ee15d6c09016ab42e07971887d0a2c21de577f06357",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.33,\"left_z\":0.055},\"note\":\"The brown plush’s face is clearly visible in the left wrist view, slightly ahead and right of the fingertips. I’ll move a little farther forward and right and lower to the level of its head.\"}",
  "call_id": "call_gKoG4ejpsYHZBRfhdAFVO66O",
  "id": "fc_0fc39f5ee15d6c09016ab42e08bebc87d09f940892af866d5f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gKoG4ejpsYHZBRfhdAFVO66O",
  "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]: [-1.0939, 2.0483, 1.4353, -0.7433, -0.7181, -0.9794, 0.9963, -0.0212, 0.8417, 0.5991, -0.815, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2989 left_y=-0.3175 left_z=0.0563 left_yaw=0.0693 left_pitch=-0.2637 left_roll=0.2033 left_gripper=0.9963 right_x=0.2176 right_y=0.0025 right_z=0.0935 right_yaw=0.002 right_pitch=-0.4756 right_roll=0.0107 right_gripper=0.9996\nstate[joint_eff]: [0.5538, -11.7812, 8.1436, 0.525, -0.4518, 0.1392, 0.1245, -0.0479, -0.7726, 6.5162, 1.2381, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15f79e99e4a5087aa0b98e67a7159f5f36a906ea14d8d5dd73da5b5adbb95ffa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2460db2db81418c70aa1c91de4f9dfc48f714a684b94c091939cd3aacf4b73fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e5d66744df347da396445a1302184eb45ceec33479ac269f656bc56e88c1676",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 2.518 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]: [-1.1725, 1.8057, 0.8928, -0.4625, -0.7521, -1.0473, 0.9951, -0.0212, 0.836, 0.5991, -0.7879, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2376 left_y=-0.2442 left_z=0.0164 left_yaw=0.0429 left_pitch=-0.2325 left_roll=0.1868 left_gripper=0.9951 right_x=0.2234 right_y=0.0023 right_z=0.098 right_yaw=0.0011 right_pitch=-0.4428 right_roll=0.0098 right_gripper=0.9996\nstate[joint_eff]: [0.3214, -6.0923, 7.706, 0.7595, -0.4811, 0.188, -0.0611, -0.0752, -1.0872, 6.6667, 1.4286, -0.0366, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1084, 1.9003, 1.3743, -0.7967, -0.7219, -0.9913, 0.995, -0.0212, 0.8402, 0.5991, -0.8078, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2848 left_y=-0.3017 left_z=0.0944 left_yaw=0.0546 left_pitch=-0.2457 left_roll=0.1647 left_gripper=0.995 right_x=0.2191 right_y=0.0024 right_z=0.0947 right_yaw=0.0016 right_pitch=-0.4668 right_roll=0.0101 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -8.9778, 8.335, 0.5153, -0.4811, 0.2027, 0.0269, -0.1299, -0.8684, 6.5299, 1.2772, -0.0513, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0939, 2.0483, 1.4353, -0.7433, -0.7181, -0.9794, 0.9963, -0.0212, 0.8417, 0.5991, -0.815, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2989 left_y=-0.3175 left_z=0.0563 left_yaw=0.0693 left_pitch=-0.2637 left_roll=0.2033 left_gripper=0.9963 right_x=0.2176 right_y=0.0025 right_z=0.0935 right_yaw=0.002 right_pitch=-0.4756 right_roll=0.0107 right_gripper=0.9996\nstate[joint_eff]: [0.5538, -11.7812, 8.1436, 0.525, -0.4518, 0.1392, 0.1245, -0.0479, -0.7726, 6.5162, 1.2381, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15f79e99e4a5087aa0b98e67a7159f5f36a906ea14d8d5dd73da5b5adbb95ffa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2460db2db81418c70aa1c91de4f9dfc48f714a684b94c091939cd3aacf4b73fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e5d66744df347da396445a1302184eb45ceec33479ac269f656bc56e88c1676",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC4MaoDnjiku5H0K1ypP3gqQ9MKh7VP0AKdrpWG0d_Mqgo03sPFhSYxaNk2efwasy805btjydl3Yfeg1NQbyOfwYm0awVyk08QlNGhoRDQzx0AdGHcsIFGArOdU4X2xX4Tvn_95dafQp7y-NsxHN1o4X-MqajPzkFAv8NCnN0xTbPBPq80r9V_txI3AOIahXvCio0e4EDgl-ACbaCyDG4J7NtmRxi3faI8x4Jx8rC-DtVySLPBfhCt3MEM796BJ6VTYmDQwJD-zA3rOUEp9O3hMrcsA3wVJdSKa1Iv6yBCig--vooAF5Xj74xmRPtvkEjOPgM1l7tP9wIMYHUzKLBRjtbzu00V6M13atz7k2Po4v5rx1ML2uHfZSPbzFlfD8NQh1XlY0xM-7Bneb_qvhJ2rFX_Bv0vVDqbT4NOd8dUxiJ49JsN80gUGtSNIiaSvYULnjQgZP5lYrte5Ar-HLH-VhJauM9yboKhM1L4PoOayJop7-g2fsjueoZrQQ48Sbo8AgvQlkFKQ_KOBsEMnuBXa7tGA348wF005TeYif-JwZ2EBlRS82viVzZgg7HPBnoky41-S1CTzdMawywpwG8vBC96L8Ww6rHrBg1V7dPRVCtDfwg1YCc3xxtHWSAbhbvko_WLjo9RJUf4B21LiAawZhY1iN4ZNscIf_sb6kh7JhxGEcd92ZWzBjR5rSJWueDkfWdtBBQgAGaBAqmhD0wvFv_bMVWZgYpeJqLbMk8K3RDlr4MGTzv7ZTWFYkCSXL1ssC9Hr_C6YVHtUr8bgu2TR6U7t8FwamBsVfTEh81QxmhMvYaAuA1oDf8CfJ_7OybPpGmSL2ePoerX1PB5YgGOrX84mpYA3UQPxvTpSKFkfVVWVyGUEc4QbCtsW3MBKTziAjhz4nJ36XsAsxJANP8DT-rzF7Ggn-AH7jpoMp4FYxtduze82zLRHzLDFAYxyjZTL8_uicVUT_vw6g67ibN4nYef6KNv2cIxDsu_iftoGE3tBEjicH4lLC_-aM5pCWFV7vf1-rvhho5gxvdfpOMnn7d0gnT6-FVkfPL0XBP_-oXtkqrfPX1hha5I45sONyzaK7jjm8Zfyz-cgNN25IOIVUVDDOlQQkBKQel-o1WdX_VP7S945MBS5gq-jPteiizuxY0z_PfU2ArcGnUHAVhEpcCM7hcdi_xw2HwP__3OL7T8SnG04xUKL7YVQ1zryn-1FhdhidsWjTG-6ua-qAX1FETlcJeSeYZSSYZVlE-4IVCGBGIb-O-t4TaTJJpbb2gjsP_-oQDYWvbn6uxaXrl8nD_r0gKdkW-k42kZV6Rwt--i-AHZfhy7_iPZMtzZ4atb_tm4GaxT5w3P7PCDitsYuIZXNYHU7BddTvqmFYM0CdLvdkd7EPDekJJpKombJDfY1XhhIl7aTujS31ztuMQOmS-211IqIv0sQsrVcXDdzWw-nrpOUK0L-j398bua4VuphspDW28CMAS2DAOFo0Oq3kqVyusapG4yrmydwhmRTopnEnQP-KPWKXmWc5Q0jRXkUudYrfhOf7SfG7sk2cgofogRf3k9Bl3PUZwlO-GGF2g7qQE8Kx0UQ_SCE4zvChXGG9",
  "id": "rs_0fc39f5ee15d6c09016ab42e0b039087d09c0cd7d86b212858",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.32,\"left_z\":0.025},\"note\":\"The plush’s head is nearly centered but still just ahead of the fingertips. I’ll advance the jaws over its face and lower a little more for the narrow grasp.\"}",
  "call_id": "call_s0PbvM9LkUo7X127psioKRQA",
  "id": "fc_0fc39f5ee15d6c09016ab42e0bb49887d083e2007a5154ad49",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_s0PbvM9LkUo7X127psioKRQA",
  "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]: [-1.0847, 2.0995, 1.441, -0.7109, -0.7071, -0.973, 0.9964, -0.0212, 0.8425, 0.5991, -0.823, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3029 left_y=-0.32 left_z=0.0374 left_yaw=0.0746 left_pitch=-0.2795 left_roll=0.2156 left_gripper=0.9964 right_x=0.2158 right_y=0.0026 right_z=0.0924 right_yaw=0.0022 right_pitch=-0.4844 right_roll=0.011 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -12.6701, 7.4188, 0.8278, -0.5055, 0.1099, 0.0024, -0.0752, -0.9641, 6.694, 1.2283, -0.0708, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:922b3e8789c1569466e826538a5d0c34a4ef534a48c8eedf8806292b029252c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f82748285ce1648eeed03f98c461cf2c580ebb7240a72bb3797e2cd37e19a17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88a1536e0709578d3fec83d8d2f8a6fe47f76abbbf4821b3b3a391b79c8408d6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 2.267 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]: [-1.1717, 1.8175, 0.8967, -0.4568, -0.7448, -1.0519, 0.0161, -0.0212, 0.8387, 0.5991, -0.7959, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2375 left_y=-0.2458 left_z=0.0132 left_yaw=0.0447 left_pitch=-0.2395 left_roll=0.1832 left_gripper=0.0161 right_x=0.2217 right_y=0.0024 right_z=0.0965 right_yaw=0.0014 right_pitch=-0.4535 right_roll=0.0098 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -8.6496, 4.6701, 0.5299, -0.4762, 0.0611, 0.7937, -0.0752, -0.9778, 6.5436, 1.2527, -0.0366, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0939, 2.0483, 1.4353, -0.7433, -0.7181, -0.9794, 0.9963, -0.0212, 0.8417, 0.5991, -0.815, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2989 left_y=-0.3175 left_z=0.0563 left_yaw=0.0693 left_pitch=-0.2637 left_roll=0.2033 left_gripper=0.9963 right_x=0.2176 right_y=0.0025 right_z=0.0935 right_yaw=0.002 right_pitch=-0.4756 right_roll=0.0107 right_gripper=0.9996\nstate[joint_eff]: [0.5538, -11.7812, 8.1436, 0.525, -0.4518, 0.1392, 0.1245, -0.0479, -0.7726, 6.5162, 1.2381, -0.0269, -0.0659, -0.0122]",
      "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]: [-1.0847, 2.0995, 1.441, -0.7109, -0.7071, -0.973, 0.9964, -0.0212, 0.8425, 0.5991, -0.823, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3029 left_y=-0.32 left_z=0.0374 left_yaw=0.0746 left_pitch=-0.2795 left_roll=0.2156 left_gripper=0.9964 right_x=0.2158 right_y=0.0026 right_z=0.0924 right_yaw=0.0022 right_pitch=-0.4844 right_roll=0.011 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -12.6701, 7.4188, 0.8278, -0.5055, 0.1099, 0.0024, -0.0752, -0.9641, 6.694, 1.2283, -0.0708, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:922b3e8789c1569466e826538a5d0c34a4ef534a48c8eedf8806292b029252c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f82748285ce1648eeed03f98c461cf2c580ebb7240a72bb3797e2cd37e19a17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88a1536e0709578d3fec83d8d2f8a6fe47f76abbbf4821b3b3a391b79c8408d6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC4PlDeQJfqx5cQlggxMv99xXevbBOS6R-TNO1DCtXY_PRffpfJ_PwwKtSL8QNkyqEMUy66jsC-0xRMLwSQMbrYdIQbfECuZIbfTgBaNB4smOgbcH2SutlyhoURYgaM2oYdjBfeEYpiYTW2wl3jrW7Wt9SZigf0xtcmdCWlZbv2sylpOe3oW-tGa4MIaIibaT6Wz8AoHDq_c2pfH4-YESQ0VT23QniMs1mXQwU4FVo75R0xxDug4j9evbCot2P_yOsiiufpvEApoznxK9jrKFhQLpg5xtLn1O5Qceuu33qVN1RDs-Z_9GgNE7CTH80NT3vYhtHsJbRdAUqunFFrK-2xJ7V8uB98J0iX5nolIByEZsOpP2EcFlVnzj14CkiGCUXrTTZTU61N6p5N9oN7EaDUoC2sVUo_ATug-t7G3riQsEI09kaTaaLei79BB8ezZmWnXfsC8oVveR2zmZvH5aHV0iRjnHgKyZDA3TNBc3sYPJxQGwWCt9wlBrqw7aBr1K2qfQX7nD6L8c6b0IzuvBDhBMLhPw9NCHdZpAQEdETxeujC58rvxWCYAsEKJHa0YFOhQrmsYeyH4ADhfoFXCAOj9Lt68JwrC5J3MX1tPMlHYis_tPKKKedmLMBLug7rl-P-k2YjtlVhPtG6ufoN10munOljfxHwR6Ya0Ky3wbhodnKyP9HHKIj_2i33z5s8KMG0d3KjNmbk3OvO01UlbhQpPbscfmQSzJxtLQMESEWv0nWrX3deCt64lc_8l2MXh0wVbB8H0fVWOh6n5sxNv1iDpWnzeYmT-CKWUptioz2zstt01OtyZUsWCzhIkSUVwsa0uFonhnFpy7gNKnEn8LY-rV3YMbqNgIBMAbFWVQguirbZ8w0KnIsFyipeEVU5v_86D3TJ3QJOBeC489AvhiTeg9812brQtl_7I3b1c5TR8ZeuKeBbiUddfdI5ZFp9nU0SdZbYEQBKM05pKcrQh6qJbwWbmKxBOwhUM6ggbfnYDKtyfJmmDsVoFu7Azq3hnyRHbd8XBa-bwRwf2FyGCt0Q55orFKtbZYw7tYlkqECNuDba6jVLip-mKP2APLw7mjQdncg4rDaEOVFPmatVYEzCD2FAqmefYoR8My9D9XTytmsCnPYmQzpFNmgDA10Ut8meZaF7bV2L9Qlj0yCQgjnL8CmL77cmHDKEmRlmoplo--P9bImXSaqVP2zZ6nh07huO2aKrlb57Kg7Z8fkk4lxrhE9ASUAdUPR6Af8vSdSMprMdqgU0MM84-7Au7SOwzU07-3RRspvpOxi5kgD091lnlGzGaQLYkPDrGtkBK43ATs7-Bi1CjaDP898UE3_1Ux6uPHP4iP21l3Ka3nNmq2TMoTb7BeVGsJDXKzM_ewgk9dEQ=",
  "id": "rs_0fc39f5ee15d6c09016ab42e0df6a487d0a85022ab35dabdb5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left jaws are down beside the brown plush’s head, with its face between them. I’ll close around the head and check whether it stays between the fingers.\"}",
  "call_id": "call_06NlWjIeUoq2te4GAuIq78eZ",
  "id": "fc_0fc39f5ee15d6c09016ab42e0e8ba087d0924378fdae4f39b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_06NlWjIeUoq2te4GAuIq78eZ",
  "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]: [-1.0847, 2.0998, 1.4406, -0.7036, -0.7067, -0.9733, 0.1246, -0.0208, 0.8444, 0.5991, -0.8371, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3035 left_y=-0.3212 left_z=0.0374 left_yaw=0.073 left_pitch=-0.2772 left_roll=0.209 left_gripper=0.1246 right_x=0.2127 right_y=0.0027 right_z=0.0903 right_yaw=0.0025 right_pitch=-0.5004 right_roll=0.0116 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -11.0701, 6.0103, 0.5348, -0.4176, -0.0269, 0.7839, -0.0342, -1.0872, 6.4889, 1.2527, -0.0513, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfd559368576fc3c76422e29f6fc6c67f0be6ec8eead7def4464c28ecaaebb45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0829457c21ef29ad15899e28ab4373c98246c83cb33ddef71c50d6a17a2dc9b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbf23b896c053cf63a71e71333ad7ae8c1a8d45b31b3cad7145b6ca6609a2688",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 6.716 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]: [-1.1084, 1.9003, 1.3743, -0.7967, -0.7219, -0.9913, 0.995, -0.0212, 0.8402, 0.5991, -0.8078, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2848 left_y=-0.3017 left_z=0.0944 left_yaw=0.0546 left_pitch=-0.2457 left_roll=0.1647 left_gripper=0.995 right_x=0.2191 right_y=0.0024 right_z=0.0947 right_yaw=0.0016 right_pitch=-0.4668 right_roll=0.0101 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -8.9778, 8.335, 0.5153, -0.4811, 0.2027, 0.0269, -0.1299, -0.8684, 6.5299, 1.2772, -0.0513, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0847, 2.0995, 1.441, -0.7109, -0.7071, -0.973, 0.9964, -0.0212, 0.8425, 0.5991, -0.823, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3029 left_y=-0.32 left_z=0.0374 left_yaw=0.0746 left_pitch=-0.2795 left_roll=0.2156 left_gripper=0.9964 right_x=0.2158 right_y=0.0026 right_z=0.0924 right_yaw=0.0022 right_pitch=-0.4844 right_roll=0.011 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -12.6701, 7.4188, 0.8278, -0.5055, 0.1099, 0.0024, -0.0752, -0.9641, 6.694, 1.2283, -0.0708, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0847, 2.0998, 1.4406, -0.7036, -0.7067, -0.9733, 0.1246, -0.0208, 0.8444, 0.5991, -0.8371, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3035 left_y=-0.3212 left_z=0.0374 left_yaw=0.073 left_pitch=-0.2772 left_roll=0.209 left_gripper=0.1246 right_x=0.2127 right_y=0.0027 right_z=0.0903 right_yaw=0.0025 right_pitch=-0.5004 right_roll=0.0116 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -11.0701, 6.0103, 0.5348, -0.4176, -0.0269, 0.7839, -0.0342, -1.0872, 6.4889, 1.2527, -0.0513, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfd559368576fc3c76422e29f6fc6c67f0be6ec8eead7def4464c28ecaaebb45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0829457c21ef29ad15899e28ab4373c98246c83cb33ddef71c50d6a17a2dc9b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbf23b896c053cf63a71e71333ad7ae8c1a8d45b31b3cad7145b6ca6609a2688",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC4S_in--nKzw7bDyqupRm2CKvXLm-tZKwy99L7TXUqatFxAMfbyjkAQig-KBNaUfLqPR3-D2AU7YWG_sHr2iFwrf_aHRpWFAOxVcOvBMUIZD9PI_dnzQo6qk-Iu28uhVy72IFqHcbgt-FfJj8DG3tsGUiXdk1--2e3c8_VZITfegYLBLs5MJiqykeMGPxDtsq-CCpSZ4N0guYo8J1xR-kuFQu3vF62p8lJjVDV-phxSD-MxeyiS99cEJ0Z2L-fowTKAkv7Y4VoG8CWBNtm0TWDJ4qFYd4R0pGq15qXTotZd-XE3hA0dfMXDHlV9s16y-h4RclT5hCW74PbBcgxJPxDds7fwxJoV6tjo8Adt-WhK6MoJrcv4NiWN7n06B-P-GyZ40N9EwcJnTvmAQTC0BENtNbc8g1wNRp9_JwXT1hTNDBICCHd7AlX7TlO44z5T69wn2hAukQD5AmAoo9rETXVG-gzCXnCztJC6uBvUyl4OmLH-nnZUK5hwQWbuqM9gEndXE97Hi_EkkMcllI0QMkUFcgeyy2kqAN-T7RUocnharq-SkATYJheUcYabbQhRqUtTI3aP3Qe9ANkF8kfpizcDRS7KhdZKf-zzs3SU0rU-Q-jNP49r1Uk67fa7xyF6iZA73bsP24BDp9C9KNprPfGL9XrOb23H8H3zoP7Bx_rauZ8zXMQx3JVGk3OrnGd340KWmkTZ86r9hubOst2vrHUGkRsM_rlpHTJEp2oW3Y779Hvq-C_9R07u8nIMq0K9qbwokDEBvvCrmODzY0Y_GQxScx-POapWys9xaOLaZfL9zvZXs9v_Q5zX0xFQHTRUpP2jd1giwF37v8FanpuPJ_Zl6YwJIP6qkIYN3GEGnmyg-VJ92wI-wodchUPPhsKdzF9EB61mrYmcysOSpU23rltdE-Ahy40aySEdYnZ7dgjrsxxilf7drk8_via2pVnxQzonHPifS5-x_gaVm0yp0dPIYub52bIEn9bJJxgGZL8XY_6YnvfdM9qcnyhSqO5RfAg2Ota6r632DUkT0V6lPjp0udlKSJIi4r5rnpJ9bwmizZd9xdFB3tPYF-XNNO4jcGegK_u_NQXEg2LZT88CZkJh7s1IXyrl8-6Eg3TdHfhXqyv4tCVIg6tJbkwZiheZW_obqkH9PtYsiiaEi-PsQkQyiAoG0Zn0Ll1Jdaxvp4IVnW71qnm8aR4m1dc6yEV9uTTxhdBGudBCCifO8CgzDO9VrLGQFHV-e7yo5lcZLibs6wc=",
  "id": "rs_0fc39f5ee15d6c09016ab42e113a3487d099104088dc70e794",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"The gripper stayed slightly open on the brown plush’s face, suggesting it caught the snout. I’ll lift and confirm that the plush follows before carrying it over the safe.\"}",
  "call_id": "call_Q9UGAgvOeVxZebBGkml2M6fX",
  "id": "fc_0fc39f5ee15d6c09016ab42e11725487d09b90f82188a80428",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Q9UGAgvOeVxZebBGkml2M6fX",
  "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]: [-1.0847, 2.0453, 1.8851, -1.2118, -0.6918, -0.9916, 0.1266, -0.0212, 0.8448, 0.5991, -0.852, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3049 left_y=-0.3282 left_z=0.1651 left_yaw=0.081 left_pitch=-0.2922 left_roll=0.1993 left_gripper=0.1266 right_x=0.2094 right_y=0.0026 right_z=0.0886 right_yaw=0.0022 right_pitch=-0.5156 right_roll=0.0114 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -12.8615, 7.8427, 0.6716, -0.5641, 0.1392, 0.6813, -0.0615, -0.9094, 6.6256, 1.2625, -0.0659, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b49601c64b2d35df5a690fbd5ac7ae9fa0164c311eca4cf75452dd428ea22fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b37325b83ab688c20b98688a18ad842e5a9a89997edaefc3be4624a67a80d9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:199f0761cb03456d720292994812920b6ab0982417346e8d24c5b0e90dfd9140",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 5.698 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0939, 2.0483, 1.4353, -0.7433, -0.7181, -0.9794, 0.9963, -0.0212, 0.8417, 0.5991, -0.815, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2989 left_y=-0.3175 left_z=0.0563 left_yaw=0.0693 left_pitch=-0.2637 left_roll=0.2033 left_gripper=0.9963 right_x=0.2176 right_y=0.0025 right_z=0.0935 right_yaw=0.002 right_pitch=-0.4756 right_roll=0.0107 right_gripper=0.9996\nstate[joint_eff]: [0.5538, -11.7812, 8.1436, 0.525, -0.4518, 0.1392, 0.1245, -0.0479, -0.7726, 6.5162, 1.2381, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0847, 2.0998, 1.4406, -0.7036, -0.7067, -0.9733, 0.1246, -0.0208, 0.8444, 0.5991, -0.8371, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3035 left_y=-0.3212 left_z=0.0374 left_yaw=0.073 left_pitch=-0.2772 left_roll=0.209 left_gripper=0.1246 right_x=0.2127 right_y=0.0027 right_z=0.0903 right_yaw=0.0025 right_pitch=-0.5004 right_roll=0.0116 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -11.0701, 6.0103, 0.5348, -0.4176, -0.0269, 0.7839, -0.0342, -1.0872, 6.4889, 1.2527, -0.0513, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0847, 2.0453, 1.8851, -1.2118, -0.6918, -0.9916, 0.1266, -0.0212, 0.8448, 0.5991, -0.852, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3049 left_y=-0.3282 left_z=0.1651 left_yaw=0.081 left_pitch=-0.2922 left_roll=0.1993 left_gripper=0.1266 right_x=0.2094 right_y=0.0026 right_z=0.0886 right_yaw=0.0022 right_pitch=-0.5156 right_roll=0.0114 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -12.8615, 7.8427, 0.6716, -0.5641, 0.1392, 0.6813, -0.0615, -0.9094, 6.6256, 1.2625, -0.0659, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b49601c64b2d35df5a690fbd5ac7ae9fa0164c311eca4cf75452dd428ea22fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b37325b83ab688c20b98688a18ad842e5a9a89997edaefc3be4624a67a80d9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:199f0761cb03456d720292994812920b6ab0982417346e8d24c5b0e90dfd9140",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC4aAQsi-9dxxJ-eapmYGFbyfpC959VRAXZMiSp1ahDvuqzwnYnxKHI3SS-lQYWLgzphGGQUq_mDgbvremwmU2x9otdsgnRbgvOr3L42la4lWfw8qbUvv6Rf-f8BXGL2dC903kisamanwXXqk09PX56fOynouFhD0Ppe2EFB3kpggsZWvXiD2freSh-IXL0ornf02sTOVnKtCAe67TW1HUP-MaopuuGsR0BRhOvtE-oPHmDum_40tRArEeJdws96aDQ2j3Sfx7U3MdvI1ppHTpc8zaZUF9bvU6Sex_NGRsbSa3AMr3uWcrqzUvqyICpDUJ7pDJ8hU8Say1_ZcYQnHfh1uKJGLG_aUpAlHQVz3sklE7rwa41q3Bg9qGkcv2URDpSu9y6EIcnxFyHkL2MmXf4rI_aiV0SIvyR5YKw0zoF5osjjmQMwJXPuHxYVbIbZhKHh0aaBM51Mdcqi1G-QZMS800-Z1MkIO0jhvJMfE1Y6n6nrem-3k9CCqu4fkrT1FdNShpiLOGSVrFo2SwBDyidZHgmWyKDQljdSMaP6rXQhlJpDuNB_KTWSXL6CBhV-yhb4JtjePlDTWuPBVgTFVpHhgUvqs2oRJl2FQhikjilb7_-RVx2C8GiqLfwnv9UBRPJRPBI_tiEUm8Z_Yf4ucmhA4Ao5uMUVhkhqTpbU1e97f3cIS0fDjoBmc_nhWbZbhzT6lrZMF_f3SGInExBeOhFPBoaXsYvDWk1f3dQfGHOcftSQh-tn88tNcPaG3SD15OOGp0qwMg27EBWCNgtLFMx6v0AvytHn221JKNyfB1n-cFco4Qk7rIQfLtllKG0epkIaJpogYXmfK74kilbzgx91yC1neJ00WdJuVdD_obL_1fqftAhOwS8Fz-a4s09nM2rbC53jTd7HtZ34TJV2pqszAks1pkkOau2vd7yzum6NJmjZB19RRo-3icg4K3xb4XfXuq5AeeXCQa_ZDhHGTEi94jWgNzEvrcHz12d_wI9H_BzGjVd1bPaXdHzbME6bgxSf2nCPIQWnssH6y3I51UGnNnsMW4KHasCvYFcc-UUDlri3hC2feWLDrfW1QCzQOXawyoD2q9E7lc5XLJ1qpabN6jkkSexWEKFGpScYoXDqwtwDqQM4fPSshMiCFkjoEP6BBvK9t9ywQMwSL7Xnd3H0cFT5eFVFMdcqJA0dLBS_JUAhB1upY2ZoXiMPjwGVkRg_7RD6bmPqihbEA_Z_um9EHjc6h3uyy5Ohdm6Rjyty_BMxinHKgCEC8xzHy0dV0sUkIJfZdX8wLxfyjRjNI2031krRMkN01vqiBwe0ZK9tebfpAwCpueibMOErCFsB4vJdd9rv_osA7R8dJcW-iVxedT0d2-_TG1-IzVnhhW7eOpJBKpLvoJW6yN4idF7ueHcXo8VYE2Lp4hSXkVNo0O1yLefnXrUFxVtd3G4hDoRCldRSn51EUxVZ15-4z9iM9ZqBMvZYECeUWLYa7QHEjPKYdMTIa1pt80EgsX9KokAfB1kwM_Yb0bBrz6eSj06__8u-8qVunVZdgpVuUy0WAtkw3svDxn6XJ8s3jN-92pCjXfYjmKNTjl_PIyKz_Cc_HUjW4Ph2qxnFvB1XIAqmYpXQ6iPXQpr-HLCSSbrGbSRK0mdzp-vPRiZxQP3diGxECVcTcj-XH5LZpauFhn--9HI1R0BKLnnrX3pf5nA_8GGbBduA_I-zoF6hWz8tP4Yj1i3AvBKODUNqN9WAzw10TEGJ2vibGiKAXbPeS_nE_yXMpczw9OpCDuOENm0P6fVTI12fbLmEGCW8ejQds9loTnqk2pakdgYU4jQenVTNAreCu7MvkI62udkL8gcvHcShjhLPCwN8orvMyO20sBrtvSqMGb_oskX_8Fmiex0_ms0wl8mJoPlx80CYZMpT7d0fJW_YUDBKfdxyRsprufEbjTNgTIPgEzWN_kkSCoQRQpTyn2lOmdQOr1CIJz9NXG7NOkwTmr6g01Av2dsXUrIexzchajMSn3WEMF-fenfbUEH1W531leytevVdpMZp4oQK8szLya-FSYmmSupK1DtQ9JZK5r2X-GFzMxXAm5POZZs0ZHuaa4vAt-M0wZSM7Y5Hr82aa99AH8xymhghzmOt7W7vrqfF_qbJL2Pv9j6IlA_vEsqTigy3M9TRk2zEw-boNZfZ9bgUwb5637QLozkLo6ePgJHDTs7cPjeXuD_wkxdlB5GC6p063VFX5_VhsTPR9BerpCH2bNUtt8_kbFq8aEDWl44u_WpaiJmZK2yNYe-8x4iXfmJxdDeVsPejbdnWOVKnVP98U0SpvxqxJBdB3Iy0-_KhQ_zr-GQN9O-MmQuxDbIMmgD_fqGnD9QL8sE4Aqv4B8l5t4C3f9DyebdCAV7uNlQ78-Wva4L5FA6Qy3bNM2kGUDLM5SkON2hyGz_jTLJueMRQPKjCFHa_wU6w4dWzYJO4a18fHcrgunK4cae8fcWovsp3oySnTiw_ncKMf51hImlWu2uZKzh7wKBTEjXdnN2Dor21wFF4HxxNW2FdMIMG75JJT1G_l6jFfP3h_dgF-5qtGLIkU6jSjXBji6sTdC9wdgijRj50LHg75YACrcD2DAvmZiN-2WiPoqGrd_FfCX7D-vd4WB3UpXQk2W1JD0fcBQ29RXM8VROe_k_mVmxdF705_-3qrzR8cWAgdVSKLcvnPkulVegxXeY8KPtjAakUSJjnTXJn2j_JH97g2p0bWu-OA94CI6OU70nhyUO-pDIDmKTDlFk0NbrfN4qks2KM6RkcckjB2X1G0603zJSTHjewjLlSBu-rXBQ_nE10_CbruIM2KF5M_s6Bay-wMEJCSuRb99ZmD8dHBQy01OM4eky4ZS6L0PXrmSpjMm3UAfaVbLe3Su9XSHmJBSZi1tEjt63MmWH3K8NjQsE27Yss_FQTfn8QzcubuSu6Zt9Lr1pRLjJMSVKhj8MtjxFrvA==",
  "id": "rs_0fc39f5ee15d6c09016ab42e15718487d098bf15dd0c068b22",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.225,\"left_z\":0.225},\"note\":\"The brown plush lifted with the gripper, hanging from its head. I’ll carry it high into the open safe, positioning the hanging body above the tray rather than over its front wall.\"}",
  "call_id": "call_wnPNM7ifkKMVb2x2mkVyHM46",
  "id": "fc_0fc39f5ee15d6c09016ab42e18fe4087d0b0af47cd4cd8e615",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wnPNM7ifkKMVb2x2mkVyHM46",
  "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]: [-0.7479, 1.9518, 1.8668, -1.1561, -0.5777, -0.6472, 0.1284, -0.0212, 0.8455, 0.5991, -0.8597, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3891 left_y=-0.2244 left_z=0.1899 left_yaw=0.1359 left_pitch=-0.3618 left_roll=0.2464 left_gripper=0.1284 right_x=0.2077 right_y=0.0027 right_z=0.0876 right_yaw=0.0027 right_pitch=-0.524 right_roll=0.012 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -13.3675, 9.8667, 1.1209, -0.3639, 0.2418, 0.4615, -0.0889, -1.0735, 6.5573, 1.1893, -0.0757, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e448d9bfa14afa5d956df04fdac543b17bd3a39cd96c305a6c0ab90e7f13fc81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2034dfa4bcfdb9446729eadae38c271a4893ca59ef93808c13adb9524baf28f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adbd434149385312eb8b08a7ce662208d68bac6d23a549017c81a04ac69dd871",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /responses · status 200 · 4.44 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0847, 2.0995, 1.441, -0.7109, -0.7071, -0.973, 0.9964, -0.0212, 0.8425, 0.5991, -0.823, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3029 left_y=-0.32 left_z=0.0374 left_yaw=0.0746 left_pitch=-0.2795 left_roll=0.2156 left_gripper=0.9964 right_x=0.2158 right_y=0.0026 right_z=0.0924 right_yaw=0.0022 right_pitch=-0.4844 right_roll=0.011 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -12.6701, 7.4188, 0.8278, -0.5055, 0.1099, 0.0024, -0.0752, -0.9641, 6.694, 1.2283, -0.0708, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0847, 2.0453, 1.8851, -1.2118, -0.6918, -0.9916, 0.1266, -0.0212, 0.8448, 0.5991, -0.852, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3049 left_y=-0.3282 left_z=0.1651 left_yaw=0.081 left_pitch=-0.2922 left_roll=0.1993 left_gripper=0.1266 right_x=0.2094 right_y=0.0026 right_z=0.0886 right_yaw=0.0022 right_pitch=-0.5156 right_roll=0.0114 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -12.8615, 7.8427, 0.6716, -0.5641, 0.1392, 0.6813, -0.0615, -0.9094, 6.6256, 1.2625, -0.0659, -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 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7479, 1.9518, 1.8668, -1.1561, -0.5777, -0.6472, 0.1284, -0.0212, 0.8455, 0.5991, -0.8597, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3891 left_y=-0.2244 left_z=0.1899 left_yaw=0.1359 left_pitch=-0.3618 left_roll=0.2464 left_gripper=0.1284 right_x=0.2077 right_y=0.0027 right_z=0.0876 right_yaw=0.0027 right_pitch=-0.524 right_roll=0.012 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -13.3675, 9.8667, 1.1209, -0.3639, 0.2418, 0.4615, -0.0889, -1.0735, 6.5573, 1.1893, -0.0757, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e448d9bfa14afa5d956df04fdac543b17bd3a39cd96c305a6c0ab90e7f13fc81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2034dfa4bcfdb9446729eadae38c271a4893ca59ef93808c13adb9524baf28f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adbd434149385312eb8b08a7ce662208d68bac6d23a549017c81a04ac69dd871",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC4gFf1zcX0BlrLPEcImj1kTGNMe-YAM61nEBQcEsxBuJbv6ZOP04cuVSUUUfuiU_L4JgpFAb4NDeQjVdkWWG_jZSFOJjSkUuPMuNuQqDKPtQ_53ODFs4HlLjJATdZOLuXEGeXNKwlTyn1atc3NRy4YfV-ZK5i19OujVXfEReMMtAD_KB-I2cMeqlx9spxIQA2ko-MxERIYkmTJsGRyEHgwF-veE7uNmhl9vuQdZbEgGCjT93XW-_fEGtzkYlygH3sWJHF8QluyRkuABeb4-tnC7O2bRjS7_dCQvs-4g3eodM71sA9VYOpLpWvgjmiEEE6XzlKdWLSzteBIM1Xs_yfTC3ysfBOB2SVsgkzTXCHzCPFhJNw0VgWiR8mmRTamUVDx9SUeH7GUb8MlMdG2_L_42LC_hfanp3x8FnDdQBkwdziukF2PG0stUtlaEPMCqwF5woBCSkUBMGE9cuqNOqbVsKlau6jsO21V-Fa7CaR6PZvjrz8bsj3yCbdAqF0ILz4xoopE-81lOIvGrQaVT1yiIsPFY526A50RiXvSs5Rqb9KwSHESBlnpNkTZQNmXbBgm1uu_3C48Yebiy0uuYpH9vGEJ2Rv2LTdGN99eKi9sBc9HeFxwSb4DKSnSLGANlR_U6m7Q47_etSLh9V4sr3LYntDo7iX8Y3XtmH6HmLHvEq2CiIlfENDEOajxd5Dcl9OFwlY6r6DKDtXITfCG-VQmu4fyd5B2P4z_SuJM_BJDaHaqOXoGScpMV14_kH8Sdr0P0CB9oDAcF8TmIFbE0OS4YMX9owzF8awFULDjxo8xIVmsMRoACafgvoOILmE73L0qBxH1RTlPwSGSczY-oafH-33WtKs5dq4hJi9Dv9PY9d1fS05Tf0P4KnCJ4XE2q4lieo7R7KjfbNWxpBmM1fR2x1I-ZO8UyQP2go4kzO70FVTjlZELD3T8yywEpQfiJAO8OyNsjwDCQSH_9Gb8SQbWCcceJHenEORM7HIZqlhdZccdMXw6UMPfAPxMXd9DaCelCz2oPATrebMAkFmi-zo_wEbmbFLPUPHNQILsfBICJ4jlwauWql3mEA6RHSBh1Ud1EhLkaib1jQF8W6JS0Khb0M2qsZ5kFCVoZ5ON84jwHRaMPoNRlv1O3mKDGqAckb0T8pISNSpwKcX_WJaMpze4iB09wN7sOAl7HMDSDfLL0vCEz1fzajsCdMoio0BmCZlXHPvtg5UZ5qp7thKPyUdqJTCic_Jz1sKO3Cj4Wz-9cySvOzoBfYX5wI9Jqc5e3kZfF8Q368H9qrR5GMyJ63OiCkOg_MEd3L8zyiFoUYK9RtLsQFiW0N5oqpUFx_gJeq71_HE6IhWqs1adIWWn-zGvmyVuZ8xzBp1dHAHt8VLzhlhQDEn-8H0PU4zslUmmx3h3AZ6NLSkzoTnFcLP61dR00lBRkQe1ubf4_LpQL6ty11t0AxSkR43htscOuBTGeiC849VXRkcxbw_IZ4K4iPfsNBrbwBkYCCSfkGw9b9EyNgFmDqshDXtaH9Xj7t7yFAK4LKuE1lMDuK2hVYR3v4WYS30HLhYToo4_M4kVxA04BPL-pb2LTof7sJbSMu5MBmKzjbBJKZCSZVWK_4WBw39tuoe1pM-36Nnhci3894Rd-X7aPVuhG9_xY2Ve-_oSxeMu3OIBI6CVw5s9LbgYdz8tyZaJWYLXjNh2Z2cCph61cCsX3YaljlidyJK_stv1Sb7cQil7KGdQA3ONIaHI2uhujl8rtPZzG5WkkHeRhsewDyuPS6MB97mWdWcPLxSWBjBnceiaFDCLuB_bv0tpt89GJmb0AXNTMp_vwsN45bxeulWAarLNM7L8yQLnCZOZ5u4yccGX4G5xAULc-K7B4vaZYAx0Nd1zKN58byn_ObVg6DDcL0zSSPZGzf_gASvGd_WTs3RAdW4bmuMt6tvKjL7lahyXz8bYMT5IQp6wqE6klaKWr1MCejJKJn5GSO4uuI9EGZVfYCJGYbCUdHP47KXJHZoBMmoxlK5qskVArMoxlBmidmisEcCpWBeym7Od7OB8tkDVteANnHooHoLYh6d7NDu8i1WAwpTuuw2oinyAlzsP8rQaT0rOCFcvB-cSZw3rMZTW1XCm7TQOy_X5xzFLuloIExohrpTStp_MQvt1mGVupYqZMXYrsxZJRr3jybKjgi3wE22UvWn2zAZJNkhRBROVNeNnsxZht4bTT5JFwh1gQxUaHNVPbblKbL4DvmqAxGfpMtSKMxEK0u_SIL4Kn4ttd7vZGMxPwJpFbueUQltkYodxGT2QcIpMUuN8y6ISJ-y-xoUN3wajZ211GmdPFg753Dn08ykEebtQ7fq-n-wlxxqb2fQH3nm8yAbda1_3c4NWbMUZ8GPd0zHeB4rLQNNANlqfPbd8w844H5vFDpMPT0rEV3eLjlLZp-KI-aumf61gyi6LHMz-ajUOQyuAMERq4_-ddOTQR08bR25xrqNNtJnD-QrnwHvm6GlndZ6DdPVettM58ROYGuV9gWLLLXLkq8eQHP0s4G63TZVKBKNL9b7XXwmGk-7ccgK-sbmVJCaPw5SA08Jn5ZOiB0RwxIug5pj7-1yVo3lN_MLB4o_p-wNgqUdikgRbvWYHfVu6LrfunWMjBvlRjWr2XELn5jdn919zcJ_vNrB8dliYOAU5hEwAP9PLfq6Mgb-B52SfpOQ0f3ijxPfpFM7o6k5hVnpDdRsyhAK6Dt1erfhFelWj94cF0zRwVl9oaQkhZqbb9HiW0tbMuWdTJERuHTFfSaqLPyW2KZNlA1BcKOp7yLe0tpk1hv2RkjDOx2AY0ex-pwZEkISIE6noA99iStXyBVxP_ie10IH_gfgST3gpg_kjjZKtbSgJvxRv3VRajvCsE4a8-EIig0pxN17OTK7-aqVPPBjhBJD99rFzzpSMD9zTZzjacWYl6hFSFuNerm3JwAuNsAvHEaLsJbP19k2UDkHJGqaTuOhpV8dB2OQYC1iVLQXvb-zNny56E_Efe8BC1jdh_0zJ0xm2g9h4pBusKP7vOvgNPR0UcRpEcoYPFvgdvlx7kN_1skiR6vCc0a02Oye3nK0OAkjKSAUzrdYQuoMKP0uMAeszlnN-_W4HSCyk=",
  "id": "rs_0fc39f5ee15d6c09016ab42e1c0afc87d0939736e9ee107b63",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.255,\"left_z\":0.085},\"note\":\"The brown plush is hanging over the open tray, but its body is near the tray’s left/front edge. I’ll shift a little farther inside and lower it partway, watching for contact with the safe.\"}",
  "call_id": "call_bnuF31t2Pro1yxafJl1QRzla",
  "id": "fc_0fc39f5ee15d6c09016ab42e1ff0dc87d0be4cb39010e84fe8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bnuF31t2Pro1yxafJl1QRzla",
  "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]: [-0.7609, 2.093, 1.6993, -0.8932, -0.5655, -0.6682, 0.1317, -0.0212, 0.849, 0.5991, -0.8757, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4025 left_y=-0.2476 left_z=0.092 left_yaw=0.1425 left_pitch=-0.3966 left_roll=0.2638 left_gripper=0.1317 right_x=0.2041 right_y=0.0028 right_z=0.0852 right_yaw=0.0029 right_pitch=-0.5435 right_roll=0.0126 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -10.2085, 5.3265, 1.0769, -0.5153, -0.0366, 0.3297, -0.0889, -1.0462, 6.612, 1.3846, -0.0562, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae90f640d0d135689ab9d92fb59cf80564ce09c6bd50a55ceaec2b75567a758c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b3e67b16810f77d199ef21150729989b972d45f0dc22ad4254416f3898c8f94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a42a5b35d5f4f83c30bef5d43973ad404b2e967160958f48cfae0390541bbc3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 2.262 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0847, 2.0998, 1.4406, -0.7036, -0.7067, -0.9733, 0.1246, -0.0208, 0.8444, 0.5991, -0.8371, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3035 left_y=-0.3212 left_z=0.0374 left_yaw=0.073 left_pitch=-0.2772 left_roll=0.209 left_gripper=0.1246 right_x=0.2127 right_y=0.0027 right_z=0.0903 right_yaw=0.0025 right_pitch=-0.5004 right_roll=0.0116 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -11.0701, 6.0103, 0.5348, -0.4176, -0.0269, 0.7839, -0.0342, -1.0872, 6.4889, 1.2527, -0.0513, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7479, 1.9518, 1.8668, -1.1561, -0.5777, -0.6472, 0.1284, -0.0212, 0.8455, 0.5991, -0.8597, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3891 left_y=-0.2244 left_z=0.1899 left_yaw=0.1359 left_pitch=-0.3618 left_roll=0.2464 left_gripper=0.1284 right_x=0.2077 right_y=0.0027 right_z=0.0876 right_yaw=0.0027 right_pitch=-0.524 right_roll=0.012 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -13.3675, 9.8667, 1.1209, -0.3639, 0.2418, 0.4615, -0.0889, -1.0735, 6.5573, 1.1893, -0.0757, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7609, 2.093, 1.6993, -0.8932, -0.5655, -0.6682, 0.1317, -0.0212, 0.849, 0.5991, -0.8757, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4025 left_y=-0.2476 left_z=0.092 left_yaw=0.1425 left_pitch=-0.3966 left_roll=0.2638 left_gripper=0.1317 right_x=0.2041 right_y=0.0028 right_z=0.0852 right_yaw=0.0029 right_pitch=-0.5435 right_roll=0.0126 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -10.2085, 5.3265, 1.0769, -0.5153, -0.0366, 0.3297, -0.0889, -1.0462, 6.612, 1.3846, -0.0562, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae90f640d0d135689ab9d92fb59cf80564ce09c6bd50a55ceaec2b75567a758c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b3e67b16810f77d199ef21150729989b972d45f0dc22ad4254416f3898c8f94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a42a5b35d5f4f83c30bef5d43973ad404b2e967160958f48cfae0390541bbc3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC4l6_sgvwgNIzLyWq4Jw6RsehSkk09ypV6cB6UqyBqxdvO1WOS1upyp8WFfsuP4ntNKuLON62CRr6P80shgfnZXZ7NwZkSrSreZhFi6tJ7xcsywtg0lC7Apa_ZJyt6S0Ha0qH3aKIF9IhkB2taqF4l0vlu8Sfhd-9NDp7m4MuZK0y_PBkYM_D56RliCfXljO4DvqKtA3-y-avto6g12rPXfUtB4dNMFn1mu8zCDcYCJphTGqRnzucIILGHdQtg5AQFzFE2Wei9HTq9DZCpCa2IryD41YjytOJ_RYI0WCKiojUoUMTc5-H9i6IjOcZ_tV3XWR_1DsjiGu6EaLgFUDPzAFTD4dy97lP8KsTwFx2DoIsOZYJqA5qltbkyxwjGSJHzFS9MJWv0k36ivGDGnTvxLv2pIZDy81Gv_Aziy8eEiAMKNlhYxizase_Rxc4q42JlJbt_WIyCrpsZM3SoMsl5MqAOOandf0B-CAzYe0THUyEVkcoHSbT957JEwOs5nG6ZDYCqePhg_zxyz-lgM8AjjVEnm_xphL7FokdanIATnKFdK_d_UFPsm-gLQo9-KWlt44QXLIIEqvvG45PuCa8iZXQ30Nmr_bI4MUXhvXXSw5v4A0HlB724y6XYkiKVp5L6-s9RDvan2h4b_ztw9CRo8R6XpEkQEMdQ0aBf2qoR66Kz15aWvTmyKo86V5wQbrO3EartCIKFcnVjAo8uK5IqKtHRLRJ_rzdeR_zBc_8mBM3z0bIETCHLf7qYugtrtoy3Ulmd8yKMD0v7YCqUbnw7mlzZYC8kF8n8-JB6WkwznI6yWkMNhowu92YMYRHp6JtQS3EP1Iy-tkfd6wObDK2n8BeEnS_Eyo83Fdm5YP4r67fuzdA1TIOREiK4xyHgbX2_6zF0GY38IkCrYNElzooqSn7p-y_7GCgQ0JT4nJmz_y8PF-PkFUh4httqFpbYC5lSY7kE15p12NqovbAPT4T4RoGvb-gRWioIIGQ6iiMYoD0A-E1TcCp1VSRg91deSYqCVpqL7kJhCHS5oJg9Ck61huyGnZXLAUnEQV6aZDBOCkkZE6DYgVDRSJTPi47t0zcLRzfR80ORS9dHWi4jfBemSBO1ZRcRiXqtLVAkhri-uw15iFjbql-1N6hbJJ5zQWqp4ygG0p3EPZgNgj41hJ7-dlibdy4WyO8dIQGd53bhs0GyMI6YKFoSvoxyvuompUDs9gAabBFLTPFTmJZZyZ4vwJpGlJnLOSRg-PX1WL4-jfqYo-3UAgMG41lHrhIcVisVazw41HySO7Y_fayL6ljIVl1Imo2cE4F-zEF6M1CVHW_HCmqvqaPTor6gLBSu9X6qwmJfsR-GohQP5SmBVsGwuLm6XBPcWugNGNoy8RQipQ94ByVAaTBLQzlLQIURfjmSRn7px9Za9ILH04jMrMak0k1PgN0ybC6eQADNYFZnrEb4UVen6lLiraSvYv90z4yhsqgGgts9dfveFEof082RfimS2Tv7epEU_J4k8wdkuqNi1OQbL-HC0RYHIknCZLoJE_XfSU691IVidIOC1Behk8NY0a6mKu_yf_XrB9Rk48noeF5WBiERB8UknIg590ymKzs6h9mIO3CSdZ52duDGEFeHZ6UB_ElwIMrOXOB6hYr_oxsGgoltVtlVy3LltA7BYRrCmlAisqYyV7MBBceEXllUTyAopcEuODOlsEEs4Jz2Ycbxm-up1TNPHVf0P0hrLhwmWoq87jMxwcfRiP5z9xZlO0xQ_k-FbYhDwQzYmBHi0RTGCSIUpaiWiVrF4yPcK5R1ueAS_fpc4jsz9mFw12xclGDPznuCEHMzdTzEyOI9_nWSFUGaFOJ0KNd-xcyHUsGgzELf-5KXY-eaKPaqU1BEluz56_ICX2d_v_oPp5V0=",
  "id": "rs_0fc39f5ee15d6c09016ab42e22f2a087d0a51d8a5bee8f97c4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.04},\"note\":\"The brown plush is now lying against the red tray floor, though the gripper still holds its head. I’ll lower the head a little more so it can settle inside before opening the jaws.\"}",
  "call_id": "call_i1ue0WD0cVc793fk5N5Xh7GE",
  "id": "fc_0fc39f5ee15d6c09016ab42e241c5c87d0802a2805b952afb4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_i1ue0WD0cVc793fk5N5Xh7GE",
  "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]: [-0.7643, 2.1242, 1.5841, -0.7479, -0.5716, -0.6731, 0.1336, -0.0212, 0.8494, 0.5991, -0.8856, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4011 left_y=-0.2472 left_z=0.0522 left_yaw=0.1455 left_pitch=-0.3919 left_roll=0.2656 left_gripper=0.1336 right_x=0.2019 right_y=0.0028 right_z=0.0841 right_yaw=0.0025 right_pitch=-0.5538 right_roll=0.0127 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -10.0034, 5.2718, 0.6569, -0.2564, -0.0073, 0.1929, -0.0479, -0.8957, 6.4479, 1.1209, -0.0611, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1012e44e60477970bd749af8ec3fcd9180e717c3e11f0e8cb23569f0af286b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a6d032dd9031d91bd3a2729ed4f1cfe34dd9a9beaa87c42fcbb968b3c00a5e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3ef9bf90e2e5801cea5dc5b3370350d56d77b29d13a789fed7dfc355f223597",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 3.829 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0847, 2.0453, 1.8851, -1.2118, -0.6918, -0.9916, 0.1266, -0.0212, 0.8448, 0.5991, -0.852, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3049 left_y=-0.3282 left_z=0.1651 left_yaw=0.081 left_pitch=-0.2922 left_roll=0.1993 left_gripper=0.1266 right_x=0.2094 right_y=0.0026 right_z=0.0886 right_yaw=0.0022 right_pitch=-0.5156 right_roll=0.0114 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -12.8615, 7.8427, 0.6716, -0.5641, 0.1392, 0.6813, -0.0615, -0.9094, 6.6256, 1.2625, -0.0659, -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 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7609, 2.093, 1.6993, -0.8932, -0.5655, -0.6682, 0.1317, -0.0212, 0.849, 0.5991, -0.8757, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4025 left_y=-0.2476 left_z=0.092 left_yaw=0.1425 left_pitch=-0.3966 left_roll=0.2638 left_gripper=0.1317 right_x=0.2041 right_y=0.0028 right_z=0.0852 right_yaw=0.0029 right_pitch=-0.5435 right_roll=0.0126 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -10.2085, 5.3265, 1.0769, -0.5153, -0.0366, 0.3297, -0.0889, -1.0462, 6.612, 1.3846, -0.0562, -0.0415, -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 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7643, 2.1242, 1.5841, -0.7479, -0.5716, -0.6731, 0.1336, -0.0212, 0.8494, 0.5991, -0.8856, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4011 left_y=-0.2472 left_z=0.0522 left_yaw=0.1455 left_pitch=-0.3919 left_roll=0.2656 left_gripper=0.1336 right_x=0.2019 right_y=0.0028 right_z=0.0841 right_yaw=0.0025 right_pitch=-0.5538 right_roll=0.0127 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -10.0034, 5.2718, 0.6569, -0.2564, -0.0073, 0.1929, -0.0479, -0.8957, 6.4479, 1.1209, -0.0611, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1012e44e60477970bd749af8ec3fcd9180e717c3e11f0e8cb23569f0af286b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a6d032dd9031d91bd3a2729ed4f1cfe34dd9a9beaa87c42fcbb968b3c00a5e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3ef9bf90e2e5801cea5dc5b3370350d56d77b29d13a789fed7dfc355f223597",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC4ogmW_1MpP9_zC8zVZ_XoQzx5-LSlc3XLhdYD34hisn1gmxjcN3QHmP52_aKD2EBb-b4FveYTAPdizIyBibT_JLnuiDFiXKD8j1nbPjSO5L5vbiYCcumfekTSoGKqdib2zpso0APbK3uV-C2Gwerkmo6Hrz5-XuNRSYkJGgoJO0u2V6Ov8nSry7QUMxeQAHBHTFlTcsc9tAwqjGm95kiDVvwRwMvHeeC0dlgxsZXVoWJB0N1uBbrSl2fTsVVn3j7HSG-GLjpiB6XvznEZ04Y_B7USWQGnPPAyP0Tfd4T9ag_-p44UYovSxqxqEwbo1SUVvMRJlGVUooEYYDbE082WRuWRlG3PBltqCfR997jWSV5j_jm0lNh3-LSSdRchJXU2G6D025UOoHyXzItlruvE_9eKwvHa2pWpJRmOtsl_APvNtiipcmRR2XHM1kuw3ZnQDqbNs_68ceFQ9zTZYTNsCWGK70g6VJ_eGSlq5v3nCEW1f62mgHTBOq-eTsSDulkbY4YG_TsjoX-flHe_j2SoYDtSGgbG5rtaakLUm1MFq81-ldB3lcEc-0PYXbQn8WpjgUSboNKCDIkvovBezX2fgNoy5E9FSLrBwTEJK3XWADz5IrnI6snPQTt55d50rNMFfAsNH14AnrWr1YVQ_0HFeMAvVgYosaqOlyLo_2cLGlrznrdWZkuLf1nxwkYRZyAUVzfrZhyq_z22qk9lqflzVf6Gv4wU65ty33ep9aUK5EHqxf8JW6vGNBwHWNGudCfeJhcnIXSo8PYIjyeAIC-HRb8cQn7u0fjeTLWVL6-BBRiiooNwjHqOWgOzGBBL7HGvUh6EeEiM7wPXT9PnC89f9zOJCVj7yCT3wXFVH_oVZwhGMDKH65fEM8aoWppfkurIRqblZBVrysVnhlneWDiO5-1g0-TorpSb1yEfYenq8jexqGB586YndQDCG4kKcsBBqu1kUh3QovZm2VmqVk_QkcleZy3nep57VvpIQwYsEXUVSSOPevfQdW67yjDEN5kdSRr0ZLKdIJZywTYhOe80pgvDnRLdVa9NTXHGClh-erPbztDGWE7KiCkI-FPpw7BSyqFqBczGefylY2CACp_u2Tu69w5HbjPmNS_zqKWGxWo3HP9bFqqZkj8QOGZ_hSLs44mZ4L6UyzR091KeR_1IH3rcleAUay3yKMge45fliZFiChYPrf5uFySz2Q1t3m-x2brY3phOWNLADhNe92y9K4A==",
  "id": "rs_0fc39f5ee15d6c09016ab42e2769d087d0ad1a176458b88558",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The brown plush’s head and body are resting in the red safe tray. I’ll release it, then lift the gripper away to check that it stays inside.\"}",
  "call_id": "call_CmY3Ztl5d8PCu2RSCECKKSEk",
  "id": "fc_0fc39f5ee15d6c09016ab42e27949887d08fe580afb611a9cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CmY3Ztl5d8PCu2RSCECKKSEk",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7654, 2.1284, 1.5749, -0.7029, -0.564, -0.6735, 0.9956, -0.0212, 0.8494, 0.5991, -0.9009, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.405 left_y=-0.2532 left_z=0.0498 left_yaw=0.1304 left_pitch=-0.378 left_roll=0.2337 left_gripper=0.9956 right_x=0.1984 right_y=0.0029 right_z=0.0825 right_yaw=0.0027 right_pitch=-0.569 right_roll=0.0131 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -10.441, 5.2034, 0.7253, -0.3639, 0.0024, -0.1538, -0.1026, -0.9094, 6.5846, 1.1844, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:169ec91763f9c2de6e5664f1a43c282f0b7fb6fca5f7938bcb8a3283105ef54a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:615fcc1252271c54e6717dbed5c9553f681f63fd205eceed3841697166465f2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d193fca1a11f5791e94f6d9395e4a37f0b7e00ad5fad855158283acd4500ede2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 4.842 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7479, 1.9518, 1.8668, -1.1561, -0.5777, -0.6472, 0.1284, -0.0212, 0.8455, 0.5991, -0.8597, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3891 left_y=-0.2244 left_z=0.1899 left_yaw=0.1359 left_pitch=-0.3618 left_roll=0.2464 left_gripper=0.1284 right_x=0.2077 right_y=0.0027 right_z=0.0876 right_yaw=0.0027 right_pitch=-0.524 right_roll=0.012 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -13.3675, 9.8667, 1.1209, -0.3639, 0.2418, 0.4615, -0.0889, -1.0735, 6.5573, 1.1893, -0.0757, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7643, 2.1242, 1.5841, -0.7479, -0.5716, -0.6731, 0.1336, -0.0212, 0.8494, 0.5991, -0.8856, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4011 left_y=-0.2472 left_z=0.0522 left_yaw=0.1455 left_pitch=-0.3919 left_roll=0.2656 left_gripper=0.1336 right_x=0.2019 right_y=0.0028 right_z=0.0841 right_yaw=0.0025 right_pitch=-0.5538 right_roll=0.0127 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -10.0034, 5.2718, 0.6569, -0.2564, -0.0073, 0.1929, -0.0479, -0.8957, 6.4479, 1.1209, -0.0611, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7654, 2.1284, 1.5749, -0.7029, -0.564, -0.6735, 0.9956, -0.0212, 0.8494, 0.5991, -0.9009, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.405 left_y=-0.2532 left_z=0.0498 left_yaw=0.1304 left_pitch=-0.378 left_roll=0.2337 left_gripper=0.9956 right_x=0.1984 right_y=0.0029 right_z=0.0825 right_yaw=0.0027 right_pitch=-0.569 right_roll=0.0131 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -10.441, 5.2034, 0.7253, -0.3639, 0.0024, -0.1538, -0.1026, -0.9094, 6.5846, 1.1844, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:169ec91763f9c2de6e5664f1a43c282f0b7fb6fca5f7938bcb8a3283105ef54a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:615fcc1252271c54e6717dbed5c9553f681f63fd205eceed3841697166465f2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d193fca1a11f5791e94f6d9395e4a37f0b7e00ad5fad855158283acd4500ede2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC4s2ZF8SOSwj-Q403YRFSh_lwIvyVtdZHxVXPKMZl-z20g82ClAO9uSAzTmDS8n_dp5Ze98HGbTjmZ0qJuBNgMrkDwBRdEC4jgHP3ZgKcQ8pWLaqGNoVPCc57zaQ7yteF91AHHDYDQK8VyVQvUkmaDuZtm2GCHjqY4Hm74XI8UIYWv_2gNG5bCF-Sa6GwTBUZUReedvYRzbKCYx6aKhZ1KyHdUGD4-yO9AlN-7IVH1HvCAWmONqjTJZF69uaBTauc389Duq8MVQNjE3lvgpQaQRe18PBRKy4VGhAYzyGaNUpm3SNS-oSFhWuqTzvZMhZULYZ9T_JdPcpAVCk6aSJbQHhCgkizfeAw4DwUsiuWH-HOdCXcMywpQUv3Fbzu9q6YmkHisuo4b8gQEWjIozQ1fBCFzsx3R_cWGNm3FVkN_PZPzyugrj4tXhU6-rsadrmxcc5_NurXxc2VgQnLnB9-nm9Ew4SsCq1PUd5PXSQapNOab-PI8wNqgu0Od1n_MiZPrCQpRUkROw2nIMqEElnnEZYIeWHsW2sAiJCW5ZpY_QAHI9QJxJUUZEoi6kQyqwmaiCHAeABTCBF1l2WQGqN_edpJaL6yuylzuk0--pDuf4Dc2IvBzRoGwuYqNGxTYS8xGDSbZsgdToG1OMo2bA97O0KXITpqRyoPeny3jjEIvu2SunI9c0SHZV9ynFCq25_vhh3MqP0uXjfQzapL8e2pvNEdIpOJrRB4MNJfqRA4_hht5kmGJQMNqUU9wxyxqnwnHrAavBfgS2gMRkaOIhMig2CxqRQHiTMO19LX_RbtpGaYwIWFrqNEkOnrO1DWDVrWbblpy13wFibAKZeBDXCCFetvCIWdNnS0pGvyEknHs-i-wzIvyXiBN2ChDW3UwnhkeZZ7SVQxUZ3unbct-C0DcQAmwNp-0mG9flCtS3Q56F6sMCpG6zH7uCiEos2Z6igpMaltQ6PxSE7MyRY3-26TMIK3PCc7NvMmqghqGZ0euUlDO8Wxa8DEyDZile7H42Lpnaox1fVZpl3_mlMDMbu9qmCLPMBnZbKjLiB4yW1QM3I7kDPBxcAIzfsmVf_BXWxWZ_aHtNt3imeQ1A8ZyyLRAwgFPlcVp6DfKyVcdZNz_5SqqJe9TPfMT1Uq3CGzTb04iIKiY9eddZj5JrhpyA3QO-d6OgAx-b4PQrxglyiLnvQBkkpY-k2Jqa9_cqdm0-gGQ076EPRte-UeH7sXc1m-fUs3sFVxZZW1es6-lcvoVRfe9rYPYTGdpO1sq8Uvakz0PEf4lAOkHcS5ZqOY0wpZ_lFPNooMKbeRsioStvWB7qjfWpv2eCrANP6F0b2r8k3cn2o3os70GGIz75CPTLcCfxdQtwJoFBjMOWfPClcfMYCn80cuSS89lGuXa8upY2xS3f3Q9DtsEuykJVxfSGZnzX5LTAfth3njZ_TPpBDKFad2S0Tdj-8OoHkHJt3nceqsv5lqXIcZmqWx6A9m__vnvC_qtzmnX9zge3Kq7ZByDghus1hf95WK6TwTZuxix4ORyL9Tr1XNgKAhMxd7EqZeWo_V3GQmkDPs0jCW_mdfSsdiDgq3v-PLQGAXJLJAHZ4dfk4sZwbpYe7ZjICqfQ3tPG4fhYSsyeOZzcXPOP0JyuV3VNI2jvfBbSlF47ZTPvgukhnJTgq6gJY8Uh3EP7NNBd2Sjt9CnutAf9DAfmOP7vRtuoykM9JAAugEq0unCcJBCcvssyUa9iAmfeysXsGH3mlrOg2KrwxSuO0Xmiu9ST8cOyIFn9GUSKXoJxU5p3zKPKcBpVJWnFdRp9s-dUaHBOhuHlnbbGzrm89mthJki0ImWD6UT9b5g4kqmEC9249Mg7GJw_NZYcAzBi65QlBQKYTYjbk_kmSdqj54HmZNQgQkPZcn-eZ-KPCG1YooK9S18rueIfsIsppRjzB0_YZeEjleBp2Fy-Y325a4i-Wu4cUwOGNvlh-bhM5_b2iT7mt9A665sfZB1BS95AT76hI-kBpsjd4IS5V0j_EJTc6AT3jjHxT1bEirThneT8ddJyElUXB5nxiuch6V2X3ztGfgfujB70obQXjIDH0krw1j4sPNGdvxlknVTeWxRpCtuOLxro7b6cO392kA9s0joM4XUzX4h7Y9YdteWicGnsk9prx25Wi_DSE9dSiLGaPAMLyYJaZYOBEz2ipVc7GQhzvzVT_4BXIcctKW9CJytKKIHSKPYpSrbAOrnQz4G5Ewy8Mfr5A7oCYErpIifhtwlpE-lyrG7NPhZA3LS2Kt03k_pzCGXs2B-D8arH0YoT-GIR7RuwszOP7wwRHGWOzdOzs2aAJW0XtIb8tBoJLR5njCcyr3ONIa1fr-6dVbHE-Tcvu3ADB2B91cRROgCzWYU64xHKYnZWdrw5Xb4XcxJ3iAzyJp_li8kbsb_bhdri3j2gdbK2NMWTFtv7jgLLarItUwiRsfbx6uSETdbgy5D0Yv8clNnpkl9LpelV7TZDyDJLz6ZMwJQRst5LDcGtGcmO1WnqccdEcEp3Seph48t7RRQTyXM=",
  "id": "rs_0fc39f5ee15d6c09016ab42e2a31f487d0aeef2106b6e5b214",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"The brown plush remains in the safe after release. I’ll lift the left gripper clear of the tray so it can reach the last object, the yellow piece to the right.\"}",
  "call_id": "call_O7fnAtVcSMag51ZzSdWH606s",
  "id": "fc_0fc39f5ee15d6c09016ab42e2c478487d0a5e91dec313c4e16",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_O7fnAtVcSMag51ZzSdWH606s",
  "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]: [-0.7654, 2.1105, 2.046, -1.1919, -0.5556, -0.6857, 0.9968, -0.0212, 0.8516, 0.5961, -0.9077, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4074 left_y=-0.2573 left_z=0.1733 left_yaw=0.1329 left_pitch=-0.3827 left_roll=0.2207 left_gripper=0.9968 right_x=0.1961 right_y=0.003 right_z=0.0804 right_yaw=0.0033 right_pitch=-0.5812 right_roll=0.0139 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -11.7402, 8.2667, 0.7888, -0.4127, 0.1148, 0.1148, -0.1299, -1.1692, 6.9812, 1.0525, -0.0904, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8ee9cc60e0118e2c5efd5c573e3a0805ba6ff542c5f9fd019a83a21021fa671",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81a97b71103213197b5d08382d3d9c7f88ff22e3b4e5822c6a324b3e3e992630",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:493860bb0d179b951796ae1b1af0f98b75c539ccbfdf3268b08d08f2f6faae02",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 3.851 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7609, 2.093, 1.6993, -0.8932, -0.5655, -0.6682, 0.1317, -0.0212, 0.849, 0.5991, -0.8757, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4025 left_y=-0.2476 left_z=0.092 left_yaw=0.1425 left_pitch=-0.3966 left_roll=0.2638 left_gripper=0.1317 right_x=0.2041 right_y=0.0028 right_z=0.0852 right_yaw=0.0029 right_pitch=-0.5435 right_roll=0.0126 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -10.2085, 5.3265, 1.0769, -0.5153, -0.0366, 0.3297, -0.0889, -1.0462, 6.612, 1.3846, -0.0562, -0.0415, -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 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7654, 2.1284, 1.5749, -0.7029, -0.564, -0.6735, 0.9956, -0.0212, 0.8494, 0.5991, -0.9009, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.405 left_y=-0.2532 left_z=0.0498 left_yaw=0.1304 left_pitch=-0.378 left_roll=0.2337 left_gripper=0.9956 right_x=0.1984 right_y=0.0029 right_z=0.0825 right_yaw=0.0027 right_pitch=-0.569 right_roll=0.0131 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -10.441, 5.2034, 0.7253, -0.3639, 0.0024, -0.1538, -0.1026, -0.9094, 6.5846, 1.1844, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7654, 2.1105, 2.046, -1.1919, -0.5556, -0.6857, 0.9968, -0.0212, 0.8516, 0.5961, -0.9077, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4074 left_y=-0.2573 left_z=0.1733 left_yaw=0.1329 left_pitch=-0.3827 left_roll=0.2207 left_gripper=0.9968 right_x=0.1961 right_y=0.003 right_z=0.0804 right_yaw=0.0033 right_pitch=-0.5812 right_roll=0.0139 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -11.7402, 8.2667, 0.7888, -0.4127, 0.1148, 0.1148, -0.1299, -1.1692, 6.9812, 1.0525, -0.0904, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8ee9cc60e0118e2c5efd5c573e3a0805ba6ff542c5f9fd019a83a21021fa671",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81a97b71103213197b5d08382d3d9c7f88ff22e3b4e5822c6a324b3e3e992630",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:493860bb0d179b951796ae1b1af0f98b75c539ccbfdf3268b08d08f2f6faae02",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC4y7FE2aOB711mC9XzeFoOtm1dCmx-SfdR86A9LDxW-l1Xl7kO3Y1bNVzHA7zwHQP_a5OfxUJdNDjxMT20RqedlmwMY4Uw9wlesgl3mZlRhK4tg3hb8RLzDuowo5WNpQH3uO9sH78v6AT-Sj8ggK1wehfupjlpcvB5Y9ZN8IFpD79D1G6H5H8wiVeDJbqOmYYz53yTyeDnQcGqmU2dBSnTgF_4Mig-pgEvf95nJeZcn8eBisUQP5I7CWQxkWy8r2NV7VM95_v8lJdAgd933mB-8g8WQ-5s4DdnS0c5JWZO_P2NeBp4cAP9edOlH6vn3FHGMQI_4uZ0xcuBsBDirZzK2IYjZIi5A1-wdF4hmp2zENfCI787r1AH_yzYpeUkvMuvksU4ptTZZBh5DjjAoI-mYWBoyYmgaK2SPrnLhXrYZBPBB6n9ZlNusuYUyEKvnU_lhDMCHXnDX_3ANUS2-Jey6pkX261t6siy4SbR15dZYqDn-kRJD_WjIJPNIXezvDmMs37vnz-DJV7uYNoidpg2Cx5dU_1bSsG-yCmMYNVHob3C55wsnNAX971ONHPjVl5Oihkho2vyPOXEJ2JPoMWge28eDeKGRzx0G6oBSJf123i1hQ2-AC3Xe5kjWNWSo0COZGJlgX81xxJh81B17sw9XcwGR56lVg5qPdAC_kEJf-8lIWvt8jtSXb97Ym96BpqJauNM9oRmVDa03QdA3ps-6fSbyWVZ28HvEK9pYzYTsOx5vcEwl-4P_iSNyN26Wvww_ee160iZX1ZNdSuL-egPCVKKyFExDuTa9bC7DXtKIxfgQW14GUqAdd2w37_WoMg2XOOuBJAdXSEvCbpjF5_hFMVXv4o7IpXkJQcRjbq0lQHDUFGT0adMOlW2UKQfviWQvq-MAPP-FZePjq-a5tdYhfEQsMJ6-U8NWurDGdAZnyf0oeymBRylwKw1ZTkHhKIXCYl0LwyMpwMq0NEGAzw3WzO5H6d8CJh7kJWbkiYaxFpbTfek0ng6X5wduXV8qbXIr0cjkYipeQEaIH3isfoe-rADHBn6aOGpE8iV2_Fw6vfG1uODNqthtafzjfZqsp2rFyTNIu4EHnCkYY9MFLSBTXL5bx4Lv3B1Rp5wMWaFoyJ5EMOI7x2iIC_tS1qSz5uQkY10ZZYJet5fUev2gzt4rU9GOaR_Q4LUPssBWV8PgObI-AmsIrTj4R4MVpoHdbXjWlhsbU03cP1Rg2Jbqsr4uW8pfv7iwV7JUJ1vowNSDF0qUM5Yf4k1zQXyrz4n9jKtUYUW7rG870A1hqp7DVjfbXUVR2G2VvOccnNo5KZR6EP50H7QXbnNjT07538xpSBVB7t4NfBbv5xsHB_Qds2NYLkgwBbq56vVKUmKnM0sBZdTAoX0BJG7DaVJ4P9FK_9JwRIr9ZJLnWJcnlL8jOJPGOOY-7NdpD3-j126zveeUachNiIp_B1BkLTeylYwUuzufkCdMMKOPkjBhmUQYxnlntUTNVZImpxmK4WwLFdEsxOcE8gqOm__XIXzNOWzeWLWIIGZq8m0BNFS5qOiUgT78k3fXpzs2zJBv8EjkMDQ-ByPErjpA5aRsMlcpBrcyblw_m03pp2zNyJfKayFb9TMAMouL5axnOGnATYKWEnRDC5OjvxFy6Sk5R_zho8Wkrh08zJCn38fx2rbrME6hI4t9PbEGn3w8DybpcR2RcqFezDpTLT0YAP44UUwEs-X8RyX0HqgOFmDvDCkgekeBL_doH6-CYLVA1Cx6DSvukLpDXX_FdkEZLq3SaaDJ5V6Ue-umxwoWTUhA26FNUHTuFZ9z1uxhEioZLvToDaVhh0DWOkYxokRvyJxtSgaPROa_AuH_7roC6uLF9kj0ehv2x3PC1wMpqW5OkvsE1A8CZGsE1OIFo86mVlGrlbvXUMS_28BKIZt8NuJsc0wCtoppOIAJPxQcgxX73cEYFKQLg1XVDvpHWT9vBx1hmPT_o9NdkKFN0wLhiKj_Ltij2R837nW-jh04lTCUHKAtF0dYMXS0RsziCYWlIR2rv4pTOWciyWbZdXR2nbjBUAHaEsdx1mYuNBolPnJRkQYLeGnWktO6k12y6qJZkTaUBObMLoZ6_5NEI_jk7l5lHhzwaPSD4v0X6Dxe6aBREgwxstBX1rGzlqR2BhfskQkjv2qtHAjLtw10rJ4DR3LuqWR2yum_sUZ3WwIMjt4pIdPpG7CT4qazLp7AYeMTJfe2U8haS0c71zdjmK3IAklIqNLqrQLGIIXnnYcKKvlta7YGXnh46BmSA-5xlREoZz84webJL5aMbVN39KSXQDqPL0ka4fj916x_H87ZsvTX_gFbNg31s5lV_RgiNcNOt-HP5OrakBlsY5aJFrYXyQLpECffF5Ix6lVtazTOeJMgwek8NxaZuSJT2VnnJTOsoS8Ms9Ne4po10XkzFjxpm2XumIjz8y6bu503y3b8Fp4JJbQaeHWYY78GCzU=",
  "id": "rs_0fc39f5ee15d6c09016ab42e2f21f887d0a430f07ed3bbd2e4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_y\":-0.34,\"left_z\":0.15},\"note\":\"The yellow object is visible beyond the safe’s right wall in the wrist view. I’ll move the open left gripper above it, staying high enough to clear the safe rim.\"}",
  "call_id": "call_9feQKnt6DReCzTV6ZRknG6UQ",
  "id": "fc_0fc39f5ee15d6c09016ab42e319b2487d0948abf12d1d67abf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9feQKnt6DReCzTV6ZRknG6UQ",
  "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]: [-0.7803, 2.7293, 2.9898, -1.5532, -0.5434, -0.7162, 0.997, -0.0212, 0.8555, 0.5961, -0.9245, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4533 left_y=-0.3151 left_z=0.1263 left_yaw=0.1411 left_pitch=-0.4104 left_roll=0.2253 left_gripper=0.997 right_x=0.1922 right_y=0.0031 right_z=0.0781 right_yaw=0.0039 right_pitch=-0.6018 right_roll=0.0143 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -14.0239, 7.3778, 0.8962, -0.5104, 0.1148, 0.0122, -0.1846, -1.2376, 6.4615, 1.0965, -0.0513, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36314db132f83b5b338617634e036069e79481ce70613e009022f64ce5e5034f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be18e136b1f06a8fae0a0ad057dd74c239af220ab33cc260e1738cf31344007c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f3427ea6f3249d55afc1ae6a9832f21d1a6e8d89997df264de5b885019c6bfa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 5.355 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7643, 2.1242, 1.5841, -0.7479, -0.5716, -0.6731, 0.1336, -0.0212, 0.8494, 0.5991, -0.8856, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4011 left_y=-0.2472 left_z=0.0522 left_yaw=0.1455 left_pitch=-0.3919 left_roll=0.2656 left_gripper=0.1336 right_x=0.2019 right_y=0.0028 right_z=0.0841 right_yaw=0.0025 right_pitch=-0.5538 right_roll=0.0127 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -10.0034, 5.2718, 0.6569, -0.2564, -0.0073, 0.1929, -0.0479, -0.8957, 6.4479, 1.1209, -0.0611, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7654, 2.1105, 2.046, -1.1919, -0.5556, -0.6857, 0.9968, -0.0212, 0.8516, 0.5961, -0.9077, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4074 left_y=-0.2573 left_z=0.1733 left_yaw=0.1329 left_pitch=-0.3827 left_roll=0.2207 left_gripper=0.9968 right_x=0.1961 right_y=0.003 right_z=0.0804 right_yaw=0.0033 right_pitch=-0.5812 right_roll=0.0139 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -11.7402, 8.2667, 0.7888, -0.4127, 0.1148, 0.1148, -0.1299, -1.1692, 6.9812, 1.0525, -0.0904, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7803, 2.7293, 2.9898, -1.5532, -0.5434, -0.7162, 0.997, -0.0212, 0.8555, 0.5961, -0.9245, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4533 left_y=-0.3151 left_z=0.1263 left_yaw=0.1411 left_pitch=-0.4104 left_roll=0.2253 left_gripper=0.997 right_x=0.1922 right_y=0.0031 right_z=0.0781 right_yaw=0.0039 right_pitch=-0.6018 right_roll=0.0143 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -14.0239, 7.3778, 0.8962, -0.5104, 0.1148, 0.0122, -0.1846, -1.2376, 6.4615, 1.0965, -0.0513, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36314db132f83b5b338617634e036069e79481ce70613e009022f64ce5e5034f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be18e136b1f06a8fae0a0ad057dd74c239af220ab33cc260e1738cf31344007c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f3427ea6f3249d55afc1ae6a9832f21d1a6e8d89997df264de5b885019c6bfa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC43X9Bfo7fX6NOTQHi28IvQoAUbkuzK4KNZl8gMFN1g0XPv_J0Cckebzowd-8grvIM_dIHqyqjqhOgeX87RqRVHHue1QAHMb1EpGTU2KK2wbs4bS6_aszk6VaFRTWi9EatKbDEnm50MdkpU41dWIaUxUTpGlTw8KYE8JoJ-WdCAZlkJYTsM6ehsxlWjztGFcw7WT44tRgruVDx3i1ghyCwDVlQ70Zt_CmZqmRZYb5kPfXyb7VCG4cIunkNgMWA6NQZ8iVli0InZal18kr6EhNzQyctwNqBIKo1iZk4LYEC5A425ZOfSng_ceHeKq8aWHBBSrICtCev8xaZcmhmBzdksqpVVwUh26r7ab0o1u7KCPXZkris-RmdhNqJgYdmiKmycAqH75iZZJJ8BgBpNpODN_JnlXMvS4sgMAP58f6c2z-jrYeZqwOoRpmMN7TSajitRm5jugL2w9yfje8lc2-OoGIO8Eo172D2qBBrCJhBQE0CFVIPbKshkWbCKOojDjo6Nz_P8_R1unNrH89fAbdIwFwbxEX0h0YnAh3_Zyo6BQKNWCHhCXgm47phUJfB_MGcMMkzzK4Q4JAVowb6s0N0yqrii4lr7-v0KTyAV_ba8DYN5cg8JKP1M0WjM96VV7N-SHd0M-c-rAv-T1XMIma2H2d2YQSVQmVJHE3jcTiJDueue2t4CCbdEx4NCK9qBqCGYRnqdKM-6Nle1NGm5GFIyupA46jqMXHV_pLB7Eb8-aNfQRAFS1rM9bqxnH_iWezuXfnqyvNoMKQS6UTIlSOY6bJ9ewMDqZiSEhlOQIaYTOtU9PEAvMVk88kZs5CnIDS6rOkmIzOAwuE6c-YVOTjMyKmiw6QHNh9FhkQ4YG86GLKzEtUYcCITyvKr8QrH_LNpHGJC5bDqwlQ97u44jPX2so75V2wj5sBZKRA7rCxrBz_Yc4sOSw0jNgZ0Zz2NDkEK7cmW8GemTScUtvPjbf28NTKj87f8Cuvymy5S42vHsTrl7o2PDh31WkrWLG6bRFAV0qSHfyxPc_tM0CSyruiZgehikCa4spMSKXkSYSI5NEySn3lDQhK2oJVo6QYioNVup4gj0DYOBY-5NYwvxPo6sCXQUXWaLNImmw9ejannfuDDrWcoyUvJ-_1Ggvyif1JYrl934zUdqjB3bxZzxu2EGxKERhojzkXzEs4WF9rPI-D0EYISlhyRg57kXBG9RiTvhYCNk2nYpuVDltwk7UCobDn9j2_FCSw5x_LeoRL1hNgTMcW1-CfYhQPJ92KDuUSxlrO9rU6iLS-AihD4HxQfzaKCF5BsHTEBu6nzL80UByncBgmztQsxKq-Ll7oDOUeoNgyUjZHAFLbta2WxlYlz7bQBFcLnf5TwnkolXelGd8t9XxINuThgOo2S6G6VW8eW-r3jAL_8FYkhna-KHUIcX1EgJWv0avmzBsQ5Tae0qS2cjkLLfkb2HUHhdrpBxrd1Wf-aqYSUyLsw7Nv9g2QUwFOmgAnEUoYQguVx8SWqH6FbpQkc7wC1152wLxXJWSYMrRk193akkKVaxRc0ZZSmvYw==",
  "id": "rs_0fc39f5ee15d6c09016ab42e34fca487d0a4eea617626a9d56",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.485,\"left_y\":-0.36,\"left_z\":0.07},\"note\":\"The yellow piece is just ahead and to the right of the left fingertips. I’ll advance and shift right slightly while lowering the jaws toward its middle.\"}",
  "call_id": "call_gtWnIXLCQPCPmLOUPg61wZXt",
  "id": "fc_0fc39f5ee15d6c09016ab42e35ef2c87d09505430647df4360",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gtWnIXLCQPCPmLOUPg61wZXt",
  "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]: [-0.7853, 2.8506, 3.0165, -1.5299, -0.5369, -0.7235, 0.9971, -0.0212, 0.8558, 0.5961, -0.9268, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4554 left_y=-0.3225 left_z=0.0704 left_yaw=0.1636 left_pitch=-0.4568 left_roll=0.2801 left_gripper=0.9971 right_x=0.1916 right_y=0.003 right_z=0.0778 right_yaw=0.0035 right_pitch=-0.6045 right_roll=0.0139 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -16.4034, 6.7624, 0.7595, -0.442, -0.0562, -0.0073, -0.1026, -0.9778, 6.2564, 0.9597, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:596a957b2ba0fffa5f03546ba616812a91933993aa5474c4b8a30a30bf2b759e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88bc1239caa31ef6d869b62f26c670bc4ed2eef68c46451bc3a82817a398351d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e90ac657b2a7c924268e8fe596849a8fa5626839e318192bde23a3d3a081c9c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /responses · status 200 · 2.977 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7654, 2.1284, 1.5749, -0.7029, -0.564, -0.6735, 0.9956, -0.0212, 0.8494, 0.5991, -0.9009, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.405 left_y=-0.2532 left_z=0.0498 left_yaw=0.1304 left_pitch=-0.378 left_roll=0.2337 left_gripper=0.9956 right_x=0.1984 right_y=0.0029 right_z=0.0825 right_yaw=0.0027 right_pitch=-0.569 right_roll=0.0131 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -10.441, 5.2034, 0.7253, -0.3639, 0.0024, -0.1538, -0.1026, -0.9094, 6.5846, 1.1844, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7803, 2.7293, 2.9898, -1.5532, -0.5434, -0.7162, 0.997, -0.0212, 0.8555, 0.5961, -0.9245, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4533 left_y=-0.3151 left_z=0.1263 left_yaw=0.1411 left_pitch=-0.4104 left_roll=0.2253 left_gripper=0.997 right_x=0.1922 right_y=0.0031 right_z=0.0781 right_yaw=0.0039 right_pitch=-0.6018 right_roll=0.0143 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -14.0239, 7.3778, 0.8962, -0.5104, 0.1148, 0.0122, -0.1846, -1.2376, 6.4615, 1.0965, -0.0513, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7853, 2.8506, 3.0165, -1.5299, -0.5369, -0.7235, 0.9971, -0.0212, 0.8558, 0.5961, -0.9268, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4554 left_y=-0.3225 left_z=0.0704 left_yaw=0.1636 left_pitch=-0.4568 left_roll=0.2801 left_gripper=0.9971 right_x=0.1916 right_y=0.003 right_z=0.0778 right_yaw=0.0035 right_pitch=-0.6045 right_roll=0.0139 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -16.4034, 6.7624, 0.7595, -0.442, -0.0562, -0.0073, -0.1026, -0.9778, 6.2564, 0.9597, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:596a957b2ba0fffa5f03546ba616812a91933993aa5474c4b8a30a30bf2b759e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88bc1239caa31ef6d869b62f26c670bc4ed2eef68c46451bc3a82817a398351d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e90ac657b2a7c924268e8fe596849a8fa5626839e318192bde23a3d3a081c9c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC49RFr0lCbMOvw9jxj1E_t0X_f2iAsd4N0agswHTSdkTOOn-Jv13OZVYsHLu1vgpuboztfKAmK2CQPXm16uakElnGDV2IZR5hvmAUR-ovaw4gWR8qqNoDLCVycrTCpD1zLNMwFPs85Bqxcd49S-Mf-kMOUo3uuQ6Ovtg-yVzAo66FFoej8O0y6m9vNGIoK6HQtJXcoANy_HHImqMNwrIj5_68rtFTV5Xbo5UoEA7Rc1svcr6Tu9KbBnw_S6PqwkKs_MXNFm9ST-Id6E-glkB4tMVAznCNBrHy0HtLZEMaqfobFUzifuaw8OaPWxCm0tPZkhLywBbedYx_8G3odU8R1sWPvv3m46eOIOQr6AUfIB7i1Zrx7Nr9oEtqclDlRtTbmOnA77vZwKg3e6GxkNo-0Dak85rmuWi3tudehU2YeiPTJBgNzikU8Duafw6uaWWnW44Hsf9099UFi6nLNw27lfhnEigUOcJayW89eUjZ7Qr78MK0-iuWGvVX8HZhW_FeZ0DtoRZjzjbBzm2HOHQDhsrwAnDi9v2GTkeq7wPcdp5oIKQtFfJKINBTNF7p4RDzP-Nj0osrBwSPWxIvKQzgc7L8MRKysMK_WsV2MU6T5BYosQhqCBTgtiTyKn91AdDc4pXqM4vzQIZk8oxF2rLRWxzHxvybEDO3-hkZ6izYRCPa1r1SRU5-BKtONdjGBFc30dGm3dV_OEJAyCgi011VbLdl8Ra2Wzkdw6-iOBYLL_4DPszHQxGxfpxp6wUdNV-DaUw8EfVAlOi_Uz-6yAIS8vSEsR8PtbmSrwIlLhO79C4v4uOJ05bDwvguwgj2reOtCInstL5d6SVcrtig_g8nED70IBOi7kyLq95gT0F6thH86k-QQ5Dqy1Dp0OttxhBUQZsrZhXwTNmaX7WHHujQvJE_PzRUI2jgkzxsmEMZxKMVnQ951LcDM9S3I74uEGs_iktto3fYLu8PhRwMAUbPdSP7Ab1F9z_RVdBYai_5MBUdcEdk7fBVSyVanbikGbK806Gi4eAFuhjTXx3dACAscC3s5LGUUG21AaNsR6rIoy4Fi-buWYXzI087ifxJ3rQ_eJ6viEXtqiDn6ygy_d4O4q3htnaQ2DzehtgVHlPzpagxed-QtCIY2T0FQsUvTpRiJ8q8umJSZy0TGMdnlZ1uwZhH889hWbBOzEFGLHKmAoXy3JvFi5K1fS7gZGH3jsYYrjgV4lpjpPURA4E-47ocQqZELvGzTjC1B4-jUIe-4KNr4A8qswQr-YvmH-vWhYGzbqhYfMDHXl0auDdlsFT5uBgdy3eXn20vXg8iHZ1fw6kki_kbJpH8Akt-fNk3VwlOJeCRYWQeco_KYtKEJl5DFzxj8CyEHdFIOuU2FM53YE6MCt7OswbcalOQt02A2Z5MIPr3K5f2vr_udnKlORvivYu-joUVk_j-2iWXIWY3YHI1n5x9nWFUgDvvs4Kp50Gihie-0x2lHnsxIfIrXUl_pJDa4w3KoRx-w0Rb-WRG17fmBnIPxFKxZKXEBFC4dmyOSPYUO740C10V_Cfo8TBKjKCt4fRLEw6EF8FJPFzT5RyHzoRndN3QhHSFMuB3k_EqtXJr3sOdlOSbilGt5psxpGt-aT_7HqjnRNxwENH9JveniUYXspEkA_ftD7K3WnYtFXCvjbdde7AcumJ0pwMl_FCgZmc7xrvFSCnYlDcL1x2xdIxxzLDmNRgr8-vEeMgRFCOfeZn7TlyYkW_Nb3VbMSdE7GOpExKugT0FHhphNKTfPnrvaz6mLtLvs33afyW__qsJ5MN9mRiCjZBhUWiy8jwb4jVrfhExzVuVFvGKLKk865G27D1fE0L_UpAjOl07bvGvw0-6pVomz5o_6r15J6bEtNUlq06xrlSZuNIIN-Z31fkreXK6aAuln9WxqW3-naeh04OHi6zJR08v1qTPYSG8YGW8f608vlY0GWq4dVybPXH3F8kzkDWJjlksEAhkMytyvvIQzne1_rqww8KLwFVuUKqnQ3GSdGm4ot1lqT6kfxxH1mSyeaMhyxnHUf3ZKQ_iub33lwGvFkdsElOoeqrL5ZKkbpVWTlsGAgxUoXqlI9L7xNyxhPaXkdiO63oPK2_fE81zMAzU2ljakE1MwwChCtDp6bkbTHkw1RBTrOGIV_sQdq9QFszZ9W-57iIVs2YH-HNgNubSSZjArdNTsKXAJsGYetDef2utuAQduK8pwaRyYQAXBNyBzw6s5mB8xqKHm1MGOHfbR2sTNP7fpcxhnVkIPGGFTR-bxImaqt3gQL_35qVRbo5qabFxlMOab6p92jpB7jkHzsXKGmyC3xtAlsyEOTu83nIUmkVAc_GUHbjs2PsHZlOqdW3l_ysR7QeYEPL3ecrz_TZ4vGTauK0f9iE4mkovYLU1NZsAFjRsAQfsJYE6-YyS7_bzwXEJhP8K1AP-Zz_w07yUYuaBFAq3hJeY3YWT19XDyDzKK6BmofSLfRi30bqXwYhMX9yyeEpkw5CyFX14-Yo2fj24x11a6qfnt3RJV0mIuAr66Gz4iimJJkF75_KoWDEhXKzmN9TH00xCJLSzEH-AKt-1mLwtga1ETfZFA31bpS-CBMDvXeP7mzcFdSv9hfa6_9V0o2OuIpsEJS5vD-jTubb4UplyYjDdq8i4UIDyHTTYa-lLClGL0fvXacoMvXdLF2JXVy0OV9Yw9wmRWpqEdMG2l--YlYSy1WlScb3nbCrfeUxEne617O9a5aqrBT5KaAgaxkeZDeaTMscaijqTwmh6wHGtCfjmaO24V4yrO5WnNU4gfBJ1-b50T7RD4GFfJ0shVpK2G8X7LaBFee0Rovrt8JpyeL0MIk0p3o09O0Zag-GbocIsmgZ51X9DcDBeDRE1dCATt8NYBvqoRS53a0kj8ziQ==",
  "id": "rs_0fc39f5ee15d6c09016ab42e38d73887d0a0fed8734b016414",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.21},\"note\":\"The left arm cannot advance far enough at this low height; the yellow object remains just beyond its fingertips. I’ll lift clear and use the right arm, whose approach to the yellow piece is less constrained.\"}",
  "call_id": "call_HrL1nkJ8GK2dpRJ1YHvegjZZ",
  "id": "fc_0fc39f5ee15d6c09016ab42e3bf34487d08f95b1db5ed44400",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HrL1nkJ8GK2dpRJ1YHvegjZZ",
  "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]: [-0.7818, 2.7743, 2.8689, -1.5364, -0.5282, -0.7158, 0.9971, -0.0212, 0.8558, 0.5945, -0.9447, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4436 left_y=-0.3099 left_z=0.069 left_yaw=0.192 left_pitch=-0.5098 left_roll=0.3509 left_gripper=0.9971 right_x=0.1871 right_y=0.0032 right_z=0.0757 right_yaw=0.0043 right_pitch=-0.6239 right_roll=0.015 right_gripper=0.9996\nstate[joint_eff]: [0.9915, -22.4615, 7.2821, 1.1258, -0.4518, 0.0757, -0.0122, -0.0479, -0.841, 6.3932, 1.1844, -0.0708, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ced5b97b0902c0318495e40068f8ae3826e17cf153b472907b57bd0b34738b7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acc218d8db8a46de6facd21c274221214d8d58de2c5d2e9ff3c4c8d917e570b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ba50ce4e17257e113339b88f63890559400745f5e6ba0a90a21b8b46875caae",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 3.732 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7654, 2.1105, 2.046, -1.1919, -0.5556, -0.6857, 0.9968, -0.0212, 0.8516, 0.5961, -0.9077, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4074 left_y=-0.2573 left_z=0.1733 left_yaw=0.1329 left_pitch=-0.3827 left_roll=0.2207 left_gripper=0.9968 right_x=0.1961 right_y=0.003 right_z=0.0804 right_yaw=0.0033 right_pitch=-0.5812 right_roll=0.0139 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -11.7402, 8.2667, 0.7888, -0.4127, 0.1148, 0.1148, -0.1299, -1.1692, 6.9812, 1.0525, -0.0904, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7853, 2.8506, 3.0165, -1.5299, -0.5369, -0.7235, 0.9971, -0.0212, 0.8558, 0.5961, -0.9268, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4554 left_y=-0.3225 left_z=0.0704 left_yaw=0.1636 left_pitch=-0.4568 left_roll=0.2801 left_gripper=0.9971 right_x=0.1916 right_y=0.003 right_z=0.0778 right_yaw=0.0035 right_pitch=-0.6045 right_roll=0.0139 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -16.4034, 6.7624, 0.7595, -0.442, -0.0562, -0.0073, -0.1026, -0.9778, 6.2564, 0.9597, -0.0415, -0.0659, -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 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7818, 2.7743, 2.8689, -1.5364, -0.5282, -0.7158, 0.9971, -0.0212, 0.8558, 0.5945, -0.9447, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4436 left_y=-0.3099 left_z=0.069 left_yaw=0.192 left_pitch=-0.5098 left_roll=0.3509 left_gripper=0.9971 right_x=0.1871 right_y=0.0032 right_z=0.0757 right_yaw=0.0043 right_pitch=-0.6239 right_roll=0.015 right_gripper=0.9996\nstate[joint_eff]: [0.9915, -22.4615, 7.2821, 1.1258, -0.4518, 0.0757, -0.0122, -0.0479, -0.841, 6.3932, 1.1844, -0.0708, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ced5b97b0902c0318495e40068f8ae3826e17cf153b472907b57bd0b34738b7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acc218d8db8a46de6facd21c274221214d8d58de2c5d2e9ff3c4c8d917e570b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ba50ce4e17257e113339b88f63890559400745f5e6ba0a90a21b8b46875caae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC5A0RuTj8TEs6ocxezzIX3SkoIxqMF8BdYHQjMWVvJSy1q2X433qVU8F-vy_Jm_Y8qcdhr-2VqVyI8-zQtb5cvm4oE9Y_0n_MigNY9o3jcPsYqsoMrBcv3gVcvqkyrY0ESDSLmk2ZOJix-FVY5C0QDlN1g408G1pCxLIfzite8v1SYlN1xWaYMhXhmr2JrNlAUcKBz3Nfphr2lFi6uOTR2UVxqffSFnjBh_R18t8XQFcJFmzANyiS02mIiSQlGg0NvI2m7yqQk8OJZtyT8NSPn45lDZN-jXlTp8YntKu_-NgWnmxHrcL_SgZmb_rfdtoI_25oD67vygM4zhDnUbJtHTi3kEmQ6APHM--FF7AMsTWJ8FdCnObwnHlgonIhklnDK4DilzGnN4XzTLo3gZEfNDuwX_ZfH9iiG3iYsldzyHOeONTpctE4GOgglL5yIqGIDJM0tPr_EgwJfVoXWdJcoMCgqUDYcwzqTh3cEE9grFA2q4Doo9s2jcptGvxEMp8vXCVTwtGGfcpLMVinXcDg_3c2zG6JbPp0EEZUVLDgckxDtf7m5xjD88eEFDA5oL7KUrnazu04hFSpnT6ZvGwqzfMW_hRtQFd_bDygDW5Kjz4WitFC_DM-ImcbwRYvMnMqHrPo7kTv6eFHaOTKjrU4AxJogGuonZEfS8ibQ4GSo96HmdEHqMKNmKNFfAMjAI068lwMb9LewIRKTFqgBX52HlzHkbA8z2suewEQLSzNu9jRbeeIUiZpKCwOLL5UqUsRMMEHJeqUldHKhZ3gQLNxS2pSgzP3dJnwCweJDLvauzPRh910R0BARlmyMeIcwH4k_o5kNCJIinZTf6SiqkcVpnzjpU_DoL0IYRnvV7xpAll6IOx_fbMA42AGviRmxUE6sjxCgtFwpKp54l1n2JLV8bUxwvus_MPFRyTBqZFWZEk1Feo-oVMytpafFNmLoAhPm1JkQO1JvALLAL9DOt2eHXYLJYzEQmePovWyooRVU8RgKdtQtm0uB6YKNjq01jHn_1GmQh9IJDxqZUePExxKbtJd8OgPemI_wSfnfLYWMG6ZSfKIZDyJIUtL-Qb-JYvaXPL-Uj73Db2qNoL5CfolxbRCwOWBlB4H181nJsEgaFHuKhCz2tAsGUfqI4CZYaOkBXuVbmCpzx3VzxNpegMpShR2XuBwsVRfgT3Ntj8oCOQWvkSFmpQXUQN4u9kFhKW6K9AsWtyfMHn-k7wsDsLRrnTSxfAI_3Rk17ObEfBY4KbvRZwrJbxSzNrNQczoWyBsAxcZTxGGX1eCyx9IIu2OlhdrqzqxV42C86l751X4mp9jylJ-k9pA43jg2ePDYN24Xb1EKydayKTDGfBZ_mJ6G-aZi9VfzEterjeThk-SoRU5Kd9zmSeq2KpZUJw3QbJjX3uWJYzKSgO2k3frRY91QP4DmZ3vP59p-rwIpkXd2zBLABPfiK8dOBpwUVnL4EtE2Le8etBjtXtkLX9BogoWESMHXnRScSa_9NKK3P2o5YozaSQuLcZszhC45S6vdXmnDwsx7gLHRJcoXcIS06-vC_T75xTfRbfAcjCaTebCWXvR1AqMAQ4bX-MqnZfFa6RccK0QkEjbeB929G2iuG6QkmeSzJJxYzud8frjZ3IanwYSBYKjoqTWz0-Rl_L0FplfTupiUSRYLqZhu2NHG8uSDH_w==",
  "id": "rs_0fc39f5ee15d6c09016ab42e3f21b087d0927fee7f509025b2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.27,\"left_z\":0.2},\"note\":\"The left arm did not rise from that extended pose, and its joint load increased, so I won’t force it upward there. I’ll bring it inward toward a less stretched position while requesting clearance height.\"}",
  "call_id": "call_3b2i1v6twQMIs9eyIX3xbD7W",
  "id": "fc_0fc39f5ee15d6c09016ab42e40046c87d0b4f1f4815b1d044b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3b2i1v6twQMIs9eyIX3xbD7W",
  "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]: [-0.9138, 2.1441, 2.1735, -1.5414, -0.5278, -0.8539, 0.9971, -0.0212, 0.8333, 0.5812, -0.9482, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3293 left_y=-0.2754 left_z=0.1788 left_yaw=0.1756 left_pitch=-0.52 left_roll=0.3446 left_gripper=0.9971 right_x=0.1841 right_y=0.0032 right_z=0.0746 right_yaw=0.0038 right_pitch=-0.6182 right_roll=0.0144 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -13.4632, 5.2991, 0.6325, -0.4078, -0.0757, -0.0122, -0.1436, -0.7453, 6.0513, 1.1551, -0.0269, -0.0757, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45b25952dbd3aa25da58b8a2b0a52e97cec91c5901938a56a93a51e460d4f8a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff93dc45c7c59459db8ed4903fab2bdd40d47c30ebb1f008b25f57125d89c92d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7035b26f6719615d6890e291b341efe519f542b3d81d05eabf3c007710aaae4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 3.018 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7803, 2.7293, 2.9898, -1.5532, -0.5434, -0.7162, 0.997, -0.0212, 0.8555, 0.5961, -0.9245, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4533 left_y=-0.3151 left_z=0.1263 left_yaw=0.1411 left_pitch=-0.4104 left_roll=0.2253 left_gripper=0.997 right_x=0.1922 right_y=0.0031 right_z=0.0781 right_yaw=0.0039 right_pitch=-0.6018 right_roll=0.0143 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -14.0239, 7.3778, 0.8962, -0.5104, 0.1148, 0.0122, -0.1846, -1.2376, 6.4615, 1.0965, -0.0513, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7818, 2.7743, 2.8689, -1.5364, -0.5282, -0.7158, 0.9971, -0.0212, 0.8558, 0.5945, -0.9447, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4436 left_y=-0.3099 left_z=0.069 left_yaw=0.192 left_pitch=-0.5098 left_roll=0.3509 left_gripper=0.9971 right_x=0.1871 right_y=0.0032 right_z=0.0757 right_yaw=0.0043 right_pitch=-0.6239 right_roll=0.015 right_gripper=0.9996\nstate[joint_eff]: [0.9915, -22.4615, 7.2821, 1.1258, -0.4518, 0.0757, -0.0122, -0.0479, -0.841, 6.3932, 1.1844, -0.0708, -0.0415, -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 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9138, 2.1441, 2.1735, -1.5414, -0.5278, -0.8539, 0.9971, -0.0212, 0.8333, 0.5812, -0.9482, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3293 left_y=-0.2754 left_z=0.1788 left_yaw=0.1756 left_pitch=-0.52 left_roll=0.3446 left_gripper=0.9971 right_x=0.1841 right_y=0.0032 right_z=0.0746 right_yaw=0.0038 right_pitch=-0.6182 right_roll=0.0144 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -13.4632, 5.2991, 0.6325, -0.4078, -0.0757, -0.0122, -0.1436, -0.7453, 6.0513, 1.1551, -0.0269, -0.0757, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45b25952dbd3aa25da58b8a2b0a52e97cec91c5901938a56a93a51e460d4f8a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff93dc45c7c59459db8ed4903fab2bdd40d47c30ebb1f008b25f57125d89c92d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7035b26f6719615d6890e291b341efe519f542b3d81d05eabf3c007710aaae4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC5F0ZVujl04e37F4c7EOEuf0ayGC7o_EEpz-TpE9EVOYWzAlyYamowTqJaZTxLjIz0xPSMWghHuDthyYRBpXv71fM1M-0MhIQlNdlY7EGgvgJ-lMLsQz5ikggNhf8HKzHV02sMTSNRVyiRjmJ7GN7wMVcsM78xAyNPh0aSeHGeM7WxEmQHl5V-Yi1r12HHZtTJXkNJU7vYh-QPpky2tQgrEafX5q-QaMfJsbpiw_96948ODYix-IeLZKKl4euyWF_x--MPUVYO6xuluIREf-MI_HWQ-kEWjEEpBLvOBdPq6fhG_BDNlws_6Zp6FJClKE6tBOzwZPmNdNrHW6uiq8PAPEprIYwbURl7iIkU7wobT4IxUc6ag-3RY9W0tmA878LIJD_P19cAdY8yoXzjsIWT4Wy29KgruVoDp4hpDtw1h-BrmkJqb5Bo74RZ3pndaNIzRMCwXy1Rhv4y1bqzjvVMYeovDGM9ZpTHapOiYXfbspGngIE3P9pE409CGztlKTRd0rEMulHjkEw3taTdCwO1F_RWbm6xe9R4A47eVHywEV3xVYKk_BTBn-TLYu7jtwdUeVndZ5eDFRdPKenK-YRkB7gZD_NUBvd5jBPcTPa3aEgnIwNujkVGdxeBKMWGpS45I4MQm7n6e02jMq0aQ5JvKLNYFCXRPNEt_yHeuamE1VE7USSIm-IyW7fuRy98iAEtAZ0HurEP8M7pM9EznKXfk1auMf68uF3-6PxGZSl4XRmdsu54HBD3D8RMCJVHfk5Lk-rdYnB0nc2qRPs5hLBi6nlk0SQC6JDQhHQTIKnm_8xLnYslPMm1xUTV4Pz44zU7A0Z3167MfKYRffSp4nTwkExVJ2PpZsMYpamuDC5ibx6KlS13bogZ6vXgBT9gadT1FDnVjfYjp_pDPvJHWmm7nsa3I-_OJgBFW96Br4Lfr_70ITG6ftqvpmSbrS9lITFHamaxrkMnd61hhht0AZ-i9QHQ6oWBzA0Xo2JxGdvspJDBD3vqNG_fxwFGk1bct0hZK6L-gCkCSYkIocb-ieal9KTw-c0P-73SoMEGQnmdtC58oH14NCzBJoA800LWltUlPpWazP4UlKna1qayr82xX9K-DjDWyRJgcmR8iILnlwBZ3BKrJWSjdYBNWVmYRPXWpkgmtse1c2bo0lyCP4imq6cdbCBP5LWVFfEHj8IumrUV7pjABaUY2-ayYRalc1iOvisnpq5As12vx4Pl_b5ieeJoznK8DHQ-QdLKAVS0w52ApTlnumeBBCJvx3eSzwwyZNEYn9ES62JgcsUmPMI7z5ZELjod5XYlByDvQj9lTxX7_DCKHW7A5uzP2HwCLXG3MBbxi2xCb0faxRvjmEvOTCXnXsgEWF6R2j_GyYFATu9kG2u7PBA1M1LizStBkjaCukaqrAnuP4t07iRzKDzxPUOiRUugDu0BGfUIGtuVRJqQsa39g52Wik5YAHtEWRuyewj5LGfQQL6sbqBD1GIrD1s64PBQV-AzVAI_yGxq2rV9ZXo3qK3e1-_QpnJ5XAvCGRpP-1zlqkjEA1K5tSHKQP8gBsM8-Vt7eE4_9LVoI1YDErBOjVL2pFkxfoa45z63MJsVMxT1lPHO-KZeY_vInsqIc06HfTyfzr19FsfiFijzRM72t8P9D4l4YqURlqMmJAzh9jxYFm0Kqqliau2DnNOB-9Tc4tUFzJ5neB_yDsyKMbQFkOTqOHDcKWTrEYkqV8DtLN5GyiQRGaOHGOgXIgbyeRjEPYl1bwfH-d-_K9lm7t952eZx00Jin1b3BGg8wPo3UXPYjtQBcjcag0oZsMhAZdJl5i1Dvcr9TvLe2Yi9dI43mEhPlCAuttpbVJH9hsnqBLwgIFh7nrxGRMLnnJdQ8g-S1WGQ85JV-D69kF0KU2FPKdmMfA6265LriMFI6GDckCv2XGLDI25iAhIg64apwjuybvsE2M4IrzjlutIY=",
  "id": "rs_0fc39f5ee15d6c09016ab42e437e5087d08d2be0e4b1cf84e3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.19,\"right_x\":0.32,\"right_y\":0.17,\"right_z\":0.17},\"note\":\"The left arm is free again. I can now see the brown plush has slipped partly over the safe’s front lip, so I’ll address that after the yellow piece; first I’ll park the left arm and bring the right one toward yellow.\"}",
  "call_id": "call_4e0ZZRpUGZFPnsK2cSD4HST6",
  "id": "fc_0fc39f5ee15d6c09016ab42e44940c87d0abbb80a573f2a776",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4e0ZZRpUGZFPnsK2cSD4HST6",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2535, 1.3029, 1.2121, -1.132, -0.3847, -0.178, 0.9971, 0.5705, 1.5929, 1.4178, -1.0916, 0.1772, 0.519, 0.9996]\nstate[eef_state]: left_x=0.2878 left_y=-0.0024 left_z=0.1845 left_yaw=0.2182 left_pitch=-0.541 left_roll=0.3496 left_gripper=0.9971 right_x=0.3099 right_y=0.1661 right_z=0.1597 right_yaw=0.0232 right_pitch=-0.6384 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -5.4222, 6.3521, 1.1404, -0.1734, 0.1245, -0.0122, 0.335, -6.612, 8.5675, 0.8132, 0.2515, 0.1734, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a852ad7fe632fdd9689199e30fdd76fedc97a08fb3d2e79d6d8b82f1cd29510",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb418cd80934098826c1da40c2feecc39866f6b678861717b836262b5e48357b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c019cb6d0c7eb56a7db63438bd89cc8a5a3a107978e89f966da36595dc751d5a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 4.249 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 130 changed as sent

message 138 changed as sent

message 142 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7853, 2.8506, 3.0165, -1.5299, -0.5369, -0.7235, 0.9971, -0.0212, 0.8558, 0.5961, -0.9268, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4554 left_y=-0.3225 left_z=0.0704 left_yaw=0.1636 left_pitch=-0.4568 left_roll=0.2801 left_gripper=0.9971 right_x=0.1916 right_y=0.003 right_z=0.0778 right_yaw=0.0035 right_pitch=-0.6045 right_roll=0.0139 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -16.4034, 6.7624, 0.7595, -0.442, -0.0562, -0.0073, -0.1026, -0.9778, 6.2564, 0.9597, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9138, 2.1441, 2.1735, -1.5414, -0.5278, -0.8539, 0.9971, -0.0212, 0.8333, 0.5812, -0.9482, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3293 left_y=-0.2754 left_z=0.1788 left_yaw=0.1756 left_pitch=-0.52 left_roll=0.3446 left_gripper=0.9971 right_x=0.1841 right_y=0.0032 right_z=0.0746 right_yaw=0.0038 right_pitch=-0.6182 right_roll=0.0144 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -13.4632, 5.2991, 0.6325, -0.4078, -0.0757, -0.0122, -0.1436, -0.7453, 6.0513, 1.1551, -0.0269, -0.0757, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2535, 1.3029, 1.2121, -1.132, -0.3847, -0.178, 0.9971, 0.5705, 1.5929, 1.4178, -1.0916, 0.1772, 0.519, 0.9996]\nstate[eef_state]: left_x=0.2878 left_y=-0.0024 left_z=0.1845 left_yaw=0.2182 left_pitch=-0.541 left_roll=0.3496 left_gripper=0.9971 right_x=0.3099 right_y=0.1661 right_z=0.1597 right_yaw=0.0232 right_pitch=-0.6384 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -5.4222, 6.3521, 1.1404, -0.1734, 0.1245, -0.0122, 0.335, -6.612, 8.5675, 0.8132, 0.2515, 0.1734, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a852ad7fe632fdd9689199e30fdd76fedc97a08fb3d2e79d6d8b82f1cd29510",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb418cd80934098826c1da40c2feecc39866f6b678861717b836262b5e48357b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c019cb6d0c7eb56a7db63438bd89cc8a5a3a107978e89f966da36595dc751d5a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0fc39f5ee15d6c09016ab42e49442c87d08d7e6c643207c7d2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.265,\"right_z\":0.14},\"note\":\"The yellow piece is ahead and left of the right gripper in the overhead view. I’ll bring the right arm above it while keeping the left arm parked.\"}",
  "call_id": "call_hBrZAfoeGbeL4fgW94FsMXsl",
  "id": "fc_0fc39f5ee15d6c09016ab42e4a6ba087d0bc658b9ff4194c46",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hBrZAfoeGbeL4fgW94FsMXsl",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2539, 1.3033, 1.2087, -1.1343, -0.371, -0.1764, 0.9971, 0.6472, 2.0808, 1.9419, -1.1385, 0.2085, 0.5694, 0.9996]\nstate[eef_state]: left_x=0.2865 left_y=-0.0045 left_z=0.1822 left_yaw=0.2069 left_pitch=-0.5526 left_roll=0.34 left_gripper=0.9971 right_x=0.3948 right_y=0.2571 right_z=0.1355 right_yaw=0.0336 right_pitch=-0.6309 right_roll=-0.0164 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -4.3692, 6.4342, 0.9011, -0.3248, -0.0366, -0.0122, 0.5538, -10.7419, 7.8017, 0.8034, 0.2076, 0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60360034f51b94f235ad88f6bf68ba8983920da89d182ae3cfe2191b716fc56c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39b42359c3f33658b93a0d24f7dedb14c21dc3c3d5afdec2e64c408f0d3ae444",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cc1f5d0a4aa6eb4fa75a038973ef656606903689ab4dd5c31abce6db53309ff",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 37 attempt 0 · /responses · status 200 · 3.411 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 134 changed as sent

message 142 changed as sent

message 146 changed as sent

message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7818, 2.7743, 2.8689, -1.5364, -0.5282, -0.7158, 0.9971, -0.0212, 0.8558, 0.5945, -0.9447, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4436 left_y=-0.3099 left_z=0.069 left_yaw=0.192 left_pitch=-0.5098 left_roll=0.3509 left_gripper=0.9971 right_x=0.1871 right_y=0.0032 right_z=0.0757 right_yaw=0.0043 right_pitch=-0.6239 right_roll=0.015 right_gripper=0.9996\nstate[joint_eff]: [0.9915, -22.4615, 7.2821, 1.1258, -0.4518, 0.0757, -0.0122, -0.0479, -0.841, 6.3932, 1.1844, -0.0708, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2535, 1.3029, 1.2121, -1.132, -0.3847, -0.178, 0.9971, 0.5705, 1.5929, 1.4178, -1.0916, 0.1772, 0.519, 0.9996]\nstate[eef_state]: left_x=0.2878 left_y=-0.0024 left_z=0.1845 left_yaw=0.2182 left_pitch=-0.541 left_roll=0.3496 left_gripper=0.9971 right_x=0.3099 right_y=0.1661 right_z=0.1597 right_yaw=0.0232 right_pitch=-0.6384 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -5.4222, 6.3521, 1.1404, -0.1734, 0.1245, -0.0122, 0.335, -6.612, 8.5675, 0.8132, 0.2515, 0.1734, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2539, 1.3033, 1.2087, -1.1343, -0.371, -0.1764, 0.9971, 0.6472, 2.0808, 1.9419, -1.1385, 0.2085, 0.5694, 0.9996]\nstate[eef_state]: left_x=0.2865 left_y=-0.0045 left_z=0.1822 left_yaw=0.2069 left_pitch=-0.5526 left_roll=0.34 left_gripper=0.9971 right_x=0.3948 right_y=0.2571 right_z=0.1355 right_yaw=0.0336 right_pitch=-0.6309 right_roll=-0.0164 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -4.3692, 6.4342, 0.9011, -0.3248, -0.0366, -0.0122, 0.5538, -10.7419, 7.8017, 0.8034, 0.2076, 0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60360034f51b94f235ad88f6bf68ba8983920da89d182ae3cfe2191b716fc56c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39b42359c3f33658b93a0d24f7dedb14c21dc3c3d5afdec2e64c408f0d3ae444",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cc1f5d0a4aa6eb4fa75a038973ef656606903689ab4dd5c31abce6db53309ff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC5QXjFBcOAJj7yqgwmfOvN4FnCrG_oBerodZQtpBVmGWyn0FB2wF9doJROXsUJW490knWZ7FqpwkhnGijRiwAr7LX8AIsQP2YcuFRe4VLOeA1L8IoK2L5KM4H_PhbeDOCFB0dD4CGkRhZ6XXYMiK_Ttg3J6wQ4Z8dXITEcJ5IEpDuHPxtZJaocNX1afd10UTmafrsXpk5lV8ckhheDENX-XQejz9Aq7vrE7K9d7SwwLOtHEe2g8P6VH1yOqfT3yp_9xfg-rzCswLV5ub4tQXgD6ZG0kGUmvEOTLgh9qtpfHpITKBggSlO8XzCFfin6g9zg6labRaKFWck0V3j171s0B8_sZCq3iy2TeGfXsb_4fVOIssZnAQ_BvfnL6_fFbAFSHjxEc8_6lJ6R8pBRz2T9FKqnSbx7oSdqDVYACKo79ouBHghtr6I9n0BlkJUn16CLm9t6soraUWh_Ga6gzbmpVmbEjHuPbi072OtF2oI_El4AZuhbjJWj97RkdZeF35YZbboqmT4DZomhar4cx2quR1yHMXXAFnqqZLLAKQGObm1Oat1TYsbh3oiVimrMHKxOh4zAxGvgeVtRRY3stOmvROyt7gBp7vs_epm4E6NvZZTZWP8aL4hnZHOG0RdjYxy6kGrCZ5mLyuiKA8EXiaeNS3tTA6SIiO87Yk07CJ0olhsizPlHI3cBahfUZBeRxqKOaVZpOoAqg_tlM4GWejggsL0KcTvNyyj5a3iNEsN4D1o-PbcvxTkRFEiFrdxVTxi9uaHCdcvWUpHqs5qbY6WMZA6xuRbu4kjRFbzaEzihPaVZKcdPtE82vkXWxEDIl42Zly4r0gElcz_o6KWSdBN-IS-uOB_coi-tQBJZapUGqBx9pEjIANACePL_Nb1yyAQzawD3juXSd8EV1YxQZ9HuIIyyZIqmoBjPZ0raERzhg1mCY5RowdFPY5YPAVP3x3pb2FuXSwU9EtCoCC9SBmpFu7CitF_tl4CE_I9c11ZGVGaLv3B-MIlsI42ZgkF6xd80ccbOgJOc5HSv04SiOAsRF2bQgsOrh8nAtuprMhemD5A7Bt7LHsTRryHDc_g9saiQdEh158eYBEPL1OsbR6w20inhr9jX3RD4TCaRxlLqeyMcjcOLrtBjIkbD0h86rx26LyxJMwcLXOv0I0-2pM9nRblsrFuPo7Nh3scRnhq3VSLY1yJuAxhebs1924JSCxo4GoKVUMvNK_WTmh_ljQKE2E4W-RITZf3qNWZBxvwvETyAZp7HfRnblPVr8vPZ_ztsWTBoMj9G4laCHk2xvsVeTk_UCxp92OThAkBjUO1RDOU2OwcBIFRmIV4fYBG-1YVArIHy1cic59-PuEX58EiKhbecKqukbgMOZtATcidnHi53zTwz2GZd9dfS-7d9tx-OZ0usvGAb7bOP74OkuXDiHNqXZHyfHMGcMi89mZsWlCkULv--8xwAHW0h6IbeWJaE0j-LN-XWVzhljTds11yzNDUpnYU_PCgqdXlc4ngt4Y42wmaRFYaKbhPJlyJjVbdKIAaIx4u-WsVLzklLRvEoiVMFintR6D2sgFD5uaPmuAFFCoNppSxebwxo-is4-bfnLVeCvGCk9pPukttaV37FO4fan-sGSeRBKDldNfEJOX-Jh4qhDitDCT_df5zFDlhmf35dg00ms90Ebd_7RLAznxbVIwHtaoYCZ7bY8ah7IHAY=",
  "id": "rs_0fc39f5ee15d6c09016ab42e4e282887d09fb3b9741b8011de",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.27,\"right_z\":0.075},\"note\":\"The yellow piece is centered near the top of the right wrist image, still ahead of the fingertips. I’ll advance radially and lower above it, then check alignment before grasping.\"}",
  "call_id": "call_gR8dmr5gBn5SuQegbJR5hnNV",
  "id": "fc_0fc39f5ee15d6c09016ab42e4f4c5887d09fc43374adc074ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gR8dmr5gBn5SuQegbJR5hnNV",
  "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]: [-0.2539, 1.3033, 1.2087, -1.1339, -0.3706, -0.1802, 0.9971, 0.6205, 2.2166, 1.9305, -1.0206, 0.2089, 0.5411, 0.9996]\nstate[eef_state]: left_x=0.2865 left_y=-0.0045 left_z=0.1822 left_yaw=0.2088 left_pitch=-0.5517 left_roll=0.3375 left_gripper=0.9971 right_x=0.4212 right_y=0.2604 right_z=0.0769 right_yaw=0.0133 right_pitch=-0.6552 right_roll=-0.0498 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -4.3692, 6.2017, 0.8913, -0.2369, 0.0073, -0.0122, -0.2803, -11.8222, 8.8, 0.9695, 0.1148, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3177d5b29866d53dc2da1da2c7cb6f68b1086c11c7fd3315354483800d019da4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80826f180bbc14b9f758f1859f3e43c66011b7544a40a6eb1ec8932dd0ff7371",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dad6aa60306cde222b53859f598a1c2eb75b52d22a81da37f26d997f78a963d7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 38 attempt 0 · /responses · status 200 · 4.797 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 138 changed as sent

message 146 changed as sent

message 150 changed as sent

message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9138, 2.1441, 2.1735, -1.5414, -0.5278, -0.8539, 0.9971, -0.0212, 0.8333, 0.5812, -0.9482, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3293 left_y=-0.2754 left_z=0.1788 left_yaw=0.1756 left_pitch=-0.52 left_roll=0.3446 left_gripper=0.9971 right_x=0.1841 right_y=0.0032 right_z=0.0746 right_yaw=0.0038 right_pitch=-0.6182 right_roll=0.0144 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -13.4632, 5.2991, 0.6325, -0.4078, -0.0757, -0.0122, -0.1436, -0.7453, 6.0513, 1.1551, -0.0269, -0.0757, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2539, 1.3033, 1.2087, -1.1343, -0.371, -0.1764, 0.9971, 0.6472, 2.0808, 1.9419, -1.1385, 0.2085, 0.5694, 0.9996]\nstate[eef_state]: left_x=0.2865 left_y=-0.0045 left_z=0.1822 left_yaw=0.2069 left_pitch=-0.5526 left_roll=0.34 left_gripper=0.9971 right_x=0.3948 right_y=0.2571 right_z=0.1355 right_yaw=0.0336 right_pitch=-0.6309 right_roll=-0.0164 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -4.3692, 6.4342, 0.9011, -0.3248, -0.0366, -0.0122, 0.5538, -10.7419, 7.8017, 0.8034, 0.2076, 0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2539, 1.3033, 1.2087, -1.1339, -0.3706, -0.1802, 0.9971, 0.6205, 2.2166, 1.9305, -1.0206, 0.2089, 0.5411, 0.9996]\nstate[eef_state]: left_x=0.2865 left_y=-0.0045 left_z=0.1822 left_yaw=0.2088 left_pitch=-0.5517 left_roll=0.3375 left_gripper=0.9971 right_x=0.4212 right_y=0.2604 right_z=0.0769 right_yaw=0.0133 right_pitch=-0.6552 right_roll=-0.0498 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -4.3692, 6.2017, 0.8913, -0.2369, 0.0073, -0.0122, -0.2803, -11.8222, 8.8, 0.9695, 0.1148, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3177d5b29866d53dc2da1da2c7cb6f68b1086c11c7fd3315354483800d019da4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80826f180bbc14b9f758f1859f3e43c66011b7544a40a6eb1ec8932dd0ff7371",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dad6aa60306cde222b53859f598a1c2eb75b52d22a81da37f26d997f78a963d7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC5TdK5mcyneiNDMUuQsMwlz5KMNsidkAKpV4F4SArw25aNTu5TGG3cNo3HeglqiJg6DCnzIC0gN8hPiYRU2k4qYHKyqSInY_Xr1j1BqKOpxKRBZY2cxEYymePBn_yazg3v5HTzK9H9SPqzI0ge9o2ymU9HGV6ZBloqUJJImkqvBKTo6nnzLJ9SY0xB2iSjnxc6yz6dHk_vjm4HghhnPAWwqNRsyUQopfX9z6mgfWazUYRJ0JmKe_D_5aEH2w9fDQBQQQQOrs8bxie_LtWgakDgyBSoNxpjbPY5CaHXkt6WDzrPMYjJ9DL5fhDkmDgjecgGTTNRfPhtJannqqg8c2fZrJURywblpHC252ok2Di7a6mMT2LwSvPRqVZv-CtlLlKEEm5v-0s8jNk2bV17-SSv7Jlz_C6ykyubgxKxdCh8DWAIiIVRFTgm8bIfiyqhfk7pYofWABXsVrU_rPETqY_guN4xeJIq_b_0SeJ4tZ45FA0hZzuAh-YNjGDCh99yu0gQUs1wNhVXg0I1g0jxbCTqQ14BgvcdW4frpNV59dWzys7H2VI-7z6JTaPzCZXqCzHFN3a-TiSZ4OwMmyNF_k8DzcpDVKCdqVjGUbJ2EtiACZGlmdZ9zLOi2i6BlY-6TKlPbX7U_TY1Av3EAYjk7dtxd_EQZzsVXxuUMAIwRMnkG1Tu7Jaws_Ztr6N_JmGLsGPDyHmDOZQXMDCXeUNv1eg4CSFwX15f10PXw3zQPC0ql_9SkFEwWis8e2GxQdzsqlzNcRrHp2XHRQdZ_3TlTaL-wAcGH3s08YxC2dBKH6764iAWBjFAvbff_5PL3WbpuiuXw7uFU1sn_6g5_3oqmutvzKjJSWGwGGxhWmtbqDX54sCALPJcyUXqiuclfykthmrLdELF0Ubnkm8BTQuMjZUxQL0rOH9OpYtsOvS4k_SlKjD0m9a-Xa-zBFYkVqwPuPaGQWmtPVzQVldkjRph8nBbz5kwbCrzuLfsy2CvGuEoipzH781Y9ONXenbddI5ZVMexpEVYAg8MlA37l5pVgvU0Na2seVBdBDfTra9YY57G0D8e0xo5YRLBG8CVgTI-8DjXMDrv73wNMsX2z6impa8dBFrMYXU41CCrKcl8ABKpK6EAAbEK7z915AEyBe1JIj-FQPfdd7NjFzlJyxNi0koQic3RXrQCJ7OeomZuUFMCpzQ5RWSM4fBEcO9poU4s-o1-Y58Y0ssArHSnLI30USd55Pkw_SbrYInrZvXpAe_ROotEBjJWQDzxYUtJWcYm7iovSfMX2jgJ9n8h77B1SN2zZDmzIF_hkq3nS_Fke9GdJWGULZeitVdbZXBPCyl4T27EX1H034uRrJqjDGuVM56DzrCh7mH6MUy3kERRWz6Tz6HBMhn72Th4nWZufChigEBEfJy8rMOy8GyS6-AQTvPsbpYdfGGvRLvvlH8hLHu4JOkk=",
  "id": "rs_0fc39f5ee15d6c09016ab42e52b33887d0b0587fd5e5e38b52",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.26,\"right_z\":0.025},\"note\":\"The yellow piece is on the jaw column but remains forward of the fingertips. I’ll make another short radial advance and descend to the object’s lower half.\"}",
  "call_id": "call_VqErFATdxVkQ92y4NaEAOpVy",
  "id": "fc_0fc39f5ee15d6c09016ab42e53359887d0b278bce0a913df05",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VqErFATdxVkQ92y4NaEAOpVy",
  "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]: [-0.2539, 1.3033, 1.2087, -1.1336, -0.3702, -0.1806, 0.9971, 0.6186, 2.2635, 1.932, -0.9882, 0.2054, 0.527, 0.9996]\nstate[eef_state]: left_x=0.2866 left_y=-0.0046 left_z=0.1822 left_yaw=0.2086 left_pitch=-0.5514 left_roll=0.3367 left_gripper=0.9971 right_x=0.4262 right_y=0.2635 right_z=0.0569 right_yaw=0.0185 right_pitch=-0.6681 right_roll=-0.0614 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -4.3145, 6.1744, 0.906, -0.2076, -0.0317, -0.0122, -0.1709, -13.9282, 8.1162, 1.0965, 0.1538, 0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05f582f521a374a5a93975a9a0adb89cd3a99059e6f272de8b583ae80e72df31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:172eb5f8805e1bff646e961896c374df38bfce2c9e0a0057f57c9844a970ac92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f5b06e82cc82c641a094ef0a0f3af1c0f0feb098d249f56cd4cc0a5b88977cd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 2.532 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 142 changed as sent

message 150 changed as sent

message 154 changed as sent

message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2535, 1.3029, 1.2121, -1.132, -0.3847, -0.178, 0.9971, 0.5705, 1.5929, 1.4178, -1.0916, 0.1772, 0.519, 0.9996]\nstate[eef_state]: left_x=0.2878 left_y=-0.0024 left_z=0.1845 left_yaw=0.2182 left_pitch=-0.541 left_roll=0.3496 left_gripper=0.9971 right_x=0.3099 right_y=0.1661 right_z=0.1597 right_yaw=0.0232 right_pitch=-0.6384 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -5.4222, 6.3521, 1.1404, -0.1734, 0.1245, -0.0122, 0.335, -6.612, 8.5675, 0.8132, 0.2515, 0.1734, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2539, 1.3033, 1.2087, -1.1339, -0.3706, -0.1802, 0.9971, 0.6205, 2.2166, 1.9305, -1.0206, 0.2089, 0.5411, 0.9996]\nstate[eef_state]: left_x=0.2865 left_y=-0.0045 left_z=0.1822 left_yaw=0.2088 left_pitch=-0.5517 left_roll=0.3375 left_gripper=0.9971 right_x=0.4212 right_y=0.2604 right_z=0.0769 right_yaw=0.0133 right_pitch=-0.6552 right_roll=-0.0498 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -4.3692, 6.2017, 0.8913, -0.2369, 0.0073, -0.0122, -0.2803, -11.8222, 8.8, 0.9695, 0.1148, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2539, 1.3033, 1.2087, -1.1336, -0.3702, -0.1806, 0.9971, 0.6186, 2.2635, 1.932, -0.9882, 0.2054, 0.527, 0.9996]\nstate[eef_state]: left_x=0.2866 left_y=-0.0046 left_z=0.1822 left_yaw=0.2086 left_pitch=-0.5514 left_roll=0.3367 left_gripper=0.9971 right_x=0.4262 right_y=0.2635 right_z=0.0569 right_yaw=0.0185 right_pitch=-0.6681 right_roll=-0.0614 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -4.3145, 6.1744, 0.906, -0.2076, -0.0317, -0.0122, -0.1709, -13.9282, 8.1162, 1.0965, 0.1538, 0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05f582f521a374a5a93975a9a0adb89cd3a99059e6f272de8b583ae80e72df31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:172eb5f8805e1bff646e961896c374df38bfce2c9e0a0057f57c9844a970ac92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f5b06e82cc82c641a094ef0a0f3af1c0f0feb098d249f56cd4cc0a5b88977cd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0fc39f5ee15d6c09016ab42e55717c87d0b54d50a8c21ae547",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.26,\"right_z\":0.13,\"right_pitch\":0.35},\"note\":\"The right arm stopped short on the low approach, leaving the yellow piece ahead of its jaws. I’ll raise the wrist and pitch it forward for better reach, then approach from above rather than forcing the low pose.\"}",
  "call_id": "call_vPX8jfkKtFTcgfTR7J9Xvah4",
  "id": "fc_0fc39f5ee15d6c09016ab42e58005887d08751c3ed457f735d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vPX8jfkKtFTcgfTR7J9Xvah4",
  "output": [
    {
      "text": "executing move_to over 34 steps (3.4s)",
      "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]: [-0.2546, 1.3033, 1.2087, -1.1374, -0.3702, -0.1806, 0.9971, 0.7254, 1.9827, 1.0649, 0.5133, 0.696, 0.1745, 0.9996]\nstate[eef_state]: left_x=0.2858 left_y=-0.0046 left_z=0.1819 left_yaw=0.2089 left_pitch=-0.5549 left_roll=0.3387 left_gripper=0.9971 right_x=0.4554 right_y=0.2572 right_z=0.115 right_yaw=0.0382 right_pitch=0.2728 right_roll=-0.0926 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -4.4103, 6.188, 0.9402, -0.2759, -0.0415, -0.0122, 0.1846, -9.3333, 6.0786, 2.1026, 0.2857, 0.0024, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edd77f0fff1c78eaa80bbf4ad6dded78a29105bab8ffbaae4ec50722ddd37dec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b20b3cbfd9ebf021d24e948928b6f66d289be3c4eee67161452cf83e94f57489",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4de086f7337795a8ad80ceb6ad5c5c990570d8e31edf120473901117640099d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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